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Use cs.axis_steps_per_unit from ConfigurationStore.

This commit is contained in:
Marek Bel 2018-09-24 14:54:41 +02:00
parent d611cad087
commit 3f28632443
9 changed files with 71 additions and 72 deletions
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6
Firmware/ConfigurationStore.cpp
View File

@ -9,7 +9,7 @@
#include "mesh_bed_leveling.h"
#endif
//M500_conf cs;
M500_conf cs;
#ifdef DEBUG_EEPROM_WRITE
#define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value), #value)
@ -97,7 +97,7 @@ void Config_PrintSettings(uint8_t level)
"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)\n%S M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n"
"%SHome offset (mm):\n%S M206 X%.2f Y%.2f Z%.2f\n"
),
echomagic, echomagic, axis_steps_per_unit[X_AXIS], axis_steps_per_unit[Y_AXIS], axis_steps_per_unit[Z_AXIS], axis_steps_per_unit[E_AXIS],
echomagic, echomagic, cs.axis_steps_per_unit[X_AXIS], cs.axis_steps_per_unit[Y_AXIS], cs.axis_steps_per_unit[Z_AXIS], cs.axis_steps_per_unit[E_AXIS],
echomagic, echomagic, max_feedrate_normal[X_AXIS], max_feedrate_normal[Y_AXIS], max_feedrate_normal[Z_AXIS], max_feedrate_normal[E_AXIS],
echomagic, echomagic, max_feedrate_silent[X_AXIS], max_feedrate_silent[Y_AXIS], max_feedrate_silent[Z_AXIS], max_feedrate_silent[E_AXIS],
echomagic, echomagic, max_acceleration_units_per_sq_second_normal[X_AXIS], max_acceleration_units_per_sq_second_normal[Y_AXIS], max_acceleration_units_per_sq_second_normal[Z_AXIS], max_acceleration_units_per_sq_second_normal[E_AXIS],
@ -114,7 +114,7 @@ void Config_PrintSettings(uint8_t level)
"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)\n%S M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n"
"%SHome offset (mm):\n%S M206 X%.2f Y%.2f Z%.2f\n"
),
echomagic, echomagic, axis_steps_per_unit[X_AXIS], axis_steps_per_unit[Y_AXIS], axis_steps_per_unit[Z_AXIS], axis_steps_per_unit[E_AXIS],
echomagic, echomagic, cs.axis_steps_per_unit[X_AXIS], cs.axis_steps_per_unit[Y_AXIS], cs.axis_steps_per_unit[Z_AXIS], cs.axis_steps_per_unit[E_AXIS],
echomagic, echomagic, max_feedrate[X_AXIS], max_feedrate[Y_AXIS], max_feedrate[Z_AXIS], max_feedrate[E_AXIS],
echomagic, echomagic, max_acceleration_units_per_sq_second[X_AXIS], max_acceleration_units_per_sq_second[Y_AXIS], max_acceleration_units_per_sq_second[Z_AXIS], max_acceleration_units_per_sq_second[E_AXIS],
echomagic, echomagic, acceleration, retract_acceleration,

2
Firmware/ConfigurationStore.h
View File

@ -37,7 +37,7 @@ typedef struct
unsigned long max_acceleration_units_per_sq_second_silent[4];
} __attribute__ ((packed)) M500_conf;
//extern M500_conf cs;
extern M500_conf cs;
void Config_ResetDefault();

50
Firmware/Marlin_main.cpp
View File

@ -3054,13 +3054,13 @@ void gcode_M114()
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
SERIAL_PROTOCOLLN("");
}
@ -3942,7 +3942,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
@ -4148,7 +4148,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
lcd_temp_cal_show_result(find_z_result);
break;
}
z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
@ -4235,7 +4235,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
find_bed_induction_sensor_point_z(-1.f);
z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
@ -5699,15 +5699,15 @@ Sigma_Exit:
if(i == 3) { // E
float value = code_value();
if(value < 20.0) {
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
max_jerk[E_AXIS] *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
axis_steps_per_unit[i] = value;
cs.axis_steps_per_unit[i] = value;
}
else {
axis_steps_per_unit[i] = code_value();
cs.axis_steps_per_unit[i] = code_value();
}
}
}
@ -5905,7 +5905,7 @@ Sigma_Exit:
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
}
break;
#endif
@ -6548,7 +6548,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
for (uint8_t i = 0; i < 6; i++)
{
if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(35 + (i * 5));
@ -6591,7 +6591,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
{
usteps = 0;
if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(35 + (i * 5));
@ -6740,13 +6740,13 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
if (res_new > res)
{
uint16_t fac = (res_new / res);
axis_steps_per_unit[axis] *= fac;
cs.axis_steps_per_unit[axis] *= fac;
position[E_AXIS] *= fac;
}
else
{
uint16_t fac = (res / res_new);
axis_steps_per_unit[axis] /= fac;
cs.axis_steps_per_unit[axis] /= fac;
position[E_AXIS] /= fac;
}
}
@ -7450,8 +7450,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
plan_set_e_position(oldepos);
@ -8030,10 +8030,10 @@ void temp_compensation_apply() {
if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
i_add = (target_temperature_bed - 60) / 10;
EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
}else {
//interpolation
z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
}
printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - z_shift_mm, current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
@ -8116,7 +8116,7 @@ float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
{
if (!temp_cal_active) return 0;
if (!calibration_status_pinda()) return 0;
return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
}
#endif //PINDA_THERMISTOR
@ -8246,7 +8246,7 @@ void uvlo_()
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS] - default_retraction,
40, active_extruder);
@ -8256,7 +8256,7 @@ void uvlo_()
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS] - default_retraction,
40, active_extruder);
st_synchronize();
@ -8348,7 +8348,7 @@ plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
// current_position[Z_AXIS]+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS],
current_position[Z_AXIS]+UVLO_Z_AXIS_SHIFT+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS],
current_position[Z_AXIS]+UVLO_Z_AXIS_SHIFT+float((1024-z_microsteps+7)>>4)/cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS],
40, active_extruder);
st_synchronize();
@ -8472,10 +8472,10 @@ void recover_machine_state_after_power_panic(bool bTiny)
// The current position after power panic is moved to the next closest 0th full step.
if(bTiny)
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z)) +
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
else
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
sprintf_P(cmd, PSTR("G92 E"));

3
Firmware/fsensor.cpp
View File

@ -7,6 +7,7 @@
#include "planner.h"
#include "fastio.h"
#include "cmdqueue.h"
#include "ConfigurationStore.h"
//Basic params
#define FSENSOR_CHUNK_LEN 0.64F //filament sensor chunk length 0.64mm
@ -114,7 +115,7 @@ void fsensor_init(void)
printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
fsensor_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
fsensor_chunk_len = (int16_t)(FSENSOR_CHUNK_LEN * axis_steps_per_unit[E_AXIS]);
fsensor_chunk_len = (int16_t)(FSENSOR_CHUNK_LEN * cs.axis_steps_per_unit[E_AXIS]);
if (!pat9125)
{

4
Firmware/mesh_bed_calibration.cpp
View File

@ -3009,7 +3009,7 @@ void babystep_apply()
{
babystep_load();
#ifdef BABYSTEP_LOADZ_BY_PLANNER
shift_z(- float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
shift_z(- float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS]));
#else
babystepsTodoZadd(babystepLoadZ);
#endif /* BABYSTEP_LOADZ_BY_PLANNER */
@ -3018,7 +3018,7 @@ void babystep_apply()
void babystep_undo()
{
#ifdef BABYSTEP_LOADZ_BY_PLANNER
shift_z(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
shift_z(float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS]));
#else
babystepsTodoZsubtract(babystepLoadZ);
#endif /* BABYSTEP_LOADZ_BY_PLANNER */

59
Firmware/planner.cpp
View File

@ -57,6 +57,7 @@
#include "temperature.h"
#include "ultralcd.h"
#include "language.h"
#include "ConfigurationStore.h"
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
@ -78,8 +79,6 @@ float max_feedrate_normal[NUM_AXIS]; // max speeds for normal mode
float max_feedrate_silent[NUM_AXIS]; // max speeds for silent mode
float* max_feedrate = max_feedrate_normal;
// Use M92 to override by software
float axis_steps_per_unit[NUM_AXIS];
// Use M201 to override by software
unsigned long max_acceleration_units_per_sq_second_normal[NUM_AXIS];
@ -623,9 +622,9 @@ void planner_abort_hard()
else {
float t = float(step_events_completed) / float(current_block->step_event_count);
float vec[3] = {
current_block->steps_x / axis_steps_per_unit[X_AXIS],
current_block->steps_y / axis_steps_per_unit[Y_AXIS],
current_block->steps_z / axis_steps_per_unit[Z_AXIS]
current_block->steps_x / cs.axis_steps_per_unit[X_AXIS],
current_block->steps_y / cs.axis_steps_per_unit[Y_AXIS],
current_block->steps_z / cs.axis_steps_per_unit[Z_AXIS]
};
float pos1[3], pos2[3];
for (int8_t i = 0; i < 3; ++ i) {
@ -743,18 +742,18 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
long target[4];
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
target[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]);
#ifdef MESH_BED_LEVELING
if (mbl.active){
target[Z_AXIS] = lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
target[Z_AXIS] = lround((z+mbl.get_z(x, y))*cs.axis_steps_per_unit[Z_AXIS]);
}else{
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
}
#else
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
target[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]);
#ifdef LIN_ADVANCE
const float mm_D_float = sqrt(sq(x - position_float[X_AXIS]) + sq(y - position_float[Y_AXIS]));
@ -776,7 +775,7 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
}
#ifdef PREVENT_LENGTHY_EXTRUDE
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
if(labs(target[E_AXIS]-position[E_AXIS])>cs.axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
#ifdef LIN_ADVANCE
@ -931,17 +930,17 @@ Having the real displacement of the head, we can calculate the total movement le
*/
#ifndef COREXY
float delta_mm[4];
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/cs.axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/cs.axis_steps_per_unit[Y_AXIS];
#else
float delta_mm[6];
delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/cs.axis_steps_per_unit[X_AXIS];
delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/cs.axis_steps_per_unit[Y_AXIS];
delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/cs.axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/cs.axis_steps_per_unit[Y_AXIS];
#endif
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/cs.axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/cs.axis_steps_per_unit[E_AXIS];
if ( block->steps_x.wide <=dropsegments && block->steps_y.wide <=dropsegments && block->steps_z.wide <=dropsegments )
{
block->millimeters = fabs(delta_mm[E_AXIS]);
@ -1188,7 +1187,7 @@ Having the real displacement of the head, we can calculate the total movement le
extruder_advance_k
* ((advance_ed_ratio < 0.000001) ? de_float / mm_D_float : advance_ed_ratio) // Use the fixed ratio, if set
* (block->nominal_speed / (float)block->nominal_rate)
* axis_steps_per_unit[E_AXIS] * 256.0
* cs.axis_steps_per_unit[E_AXIS] * 256.0
);
#endif
@ -1263,16 +1262,16 @@ void plan_set_position(float x, float y, float z, const float &e)
y = world2machine_rotation_and_skew[1][0] * tmpx + world2machine_rotation_and_skew[1][1] * tmpy + world2machine_shift[1];
}
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
position[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]);
#ifdef MESH_BED_LEVELING
position[Z_AXIS] = mbl.active ?
lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]) :
lround(z*axis_steps_per_unit[Z_AXIS]);
lround((z+mbl.get_z(x, y))*cs.axis_steps_per_unit[Z_AXIS]) :
lround(z*cs.axis_steps_per_unit[Z_AXIS]);
#else
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]);
#ifdef LIN_ADVANCE
position_float[X_AXIS] = x;
position_float[Y_AXIS] = y;
@ -1293,7 +1292,7 @@ void plan_set_z_position(const float &z)
#ifdef LIN_ADVANCE
position_float[Z_AXIS] = z;
#endif
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
}
@ -1302,7 +1301,7 @@ void plan_set_e_position(const float &e)
#ifdef LIN_ADVANCE
position_float[E_AXIS] = e;
#endif
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]);
st_set_e_position(position[E_AXIS]);
}
@ -1317,7 +1316,7 @@ void set_extrude_min_temp(float temp)
void reset_acceleration_rates()
{
for(int8_t i=0; i < NUM_AXIS; i++)
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * cs.axis_steps_per_unit[i];
}
#ifdef TMC2130

2
Firmware/planner.h
View File

@ -165,8 +165,6 @@ extern float max_feedrate_normal[NUM_AXIS];
extern float max_feedrate_silent[NUM_AXIS];
extern float* max_feedrate;
// Use M92 to override by software
extern float axis_steps_per_unit[NUM_AXIS];
// Use M201 to override by software
extern unsigned long max_acceleration_units_per_sq_second_normal[NUM_AXIS];

9
Firmware/stepper.cpp
View File

@ -42,6 +42,7 @@ int fsensor_counter = 0; //counter for e-steps
#endif //FILAMENT_SENSOR
#include "mmu.h"
#include "ConfigurationStore.h"
#ifdef DEBUG_STACK_MONITOR
uint16_t SP_min = 0x21FF;
@ -231,15 +232,15 @@ void checkHitEndstops()
SERIAL_ECHO_START;
SERIAL_ECHORPGM(_T(MSG_ENDSTOPS_HIT));
if(endstop_x_hit) {
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/cs.axis_steps_per_unit[X_AXIS]);
// LCD_MESSAGERPGM(CAT2(_T(MSG_ENDSTOPS_HIT), PSTR("X")));
}
if(endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/cs.axis_steps_per_unit[Y_AXIS]);
// LCD_MESSAGERPGM(CAT2(_T(MSG_ENDSTOPS_HIT), PSTR("Y")));
}
if(endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/cs.axis_steps_per_unit[Z_AXIS]);
// LCD_MESSAGERPGM(CAT2(_T(MSG_ENDSTOPS_HIT),PSTR("Z")));
}
SERIAL_ECHOLN("");
@ -1390,7 +1391,7 @@ void st_get_position_xy(long &x, long &y)
float st_get_position_mm(uint8_t axis)
{
float steper_position_in_steps = st_get_position(axis);
return steper_position_in_steps / axis_steps_per_unit[axis];
return steper_position_in_steps / cs.axis_steps_per_unit[axis];
}

8
Firmware/ultralcd.cpp
View File

@ -2764,9 +2764,9 @@ static void _lcd_babystep(int axis, const char *msg)
if (calibration_status() >= CALIBRATION_STATUS_LIVE_ADJUST)
_md->babystepMem[2] = 0;
_md->babystepMemMM[0] = _md->babystepMem[0]/axis_steps_per_unit[X_AXIS];
_md->babystepMemMM[1] = _md->babystepMem[1]/axis_steps_per_unit[Y_AXIS];
_md->babystepMemMM[2] = _md->babystepMem[2]/axis_steps_per_unit[Z_AXIS];
_md->babystepMemMM[0] = _md->babystepMem[0]/cs.axis_steps_per_unit[X_AXIS];
_md->babystepMemMM[1] = _md->babystepMem[1]/cs.axis_steps_per_unit[Y_AXIS];
_md->babystepMemMM[2] = _md->babystepMem[2]/cs.axis_steps_per_unit[Z_AXIS];
lcd_draw_update = 1;
//SERIAL_ECHO("Z baby step: ");
//SERIAL_ECHO(_md->babystepMem[2]);
@ -2789,7 +2789,7 @@ static void _lcd_babystep(int axis, const char *msg)
CRITICAL_SECTION_END
}
}
_md->babystepMemMM[axis] = _md->babystepMem[axis]/axis_steps_per_unit[axis];
_md->babystepMemMM[axis] = _md->babystepMem[axis]/cs.axis_steps_per_unit[axis];
delay(50);
lcd_encoder = 0;
lcd_draw_update = 1;