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Code size optimization: 2KB down (#2687) 

* Combine repeated calls into functions with much less parameters -> 2KB
down.

* Save some bytes by removing unnecessary 1-character strings: "x" -> 'x'
used in SERIAL_xxx printing macros.
This is also saves some CPU cycles

* Fix compilation for MK25S and MK3

* Copy surrounding indentation

* Fix compilation for a rare HW setup

* rename mesh_planXX_buffer_line back to mesh_plan_buffer_line

* Remove active_extruder from remaining plan_buffer_line_destinationXYZE
calls and one more fix of indentation
This commit is contained in:
DRracer 2020-06-01 17:51:28 +02:00 committed by GitHub
parent 3cc87b17e5
commit eb44ee0f57
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 197 additions and 191 deletions
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236
Firmware/Marlin_main.cpp
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@ -1338,8 +1338,7 @@ void setup()
// Initialize current_position accounting for software endstops to // Initialize current_position accounting for software endstops to
// avoid unexpected initial shifts on the first move // avoid unexpected initial shifts on the first move
clamp_to_software_endstops(current_position); clamp_to_software_endstops(current_position);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], plan_set_position_curposXYZE();
current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef FILAMENT_SENSOR #ifdef FILAMENT_SENSOR
fsensor_init(); fsensor_init();
@ -1954,7 +1953,7 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
// put the bed at 0 so we don't go below it. // put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
} }
#else // not AUTO_BED_LEVELING_GRID #else // not AUTO_BED_LEVELING_GRID
@ -1982,7 +1981,7 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
// put the bed at 0 so we don't go below it. // put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = cs.zprobe_zoffset; current_position[Z_AXIS] = cs.zprobe_zoffset;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
} }
@ -2014,7 +2013,7 @@ static void run_z_probe() {
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
// make sure the planner knows where we are as it may be a bit different than we last said to move to // make sure the planner knows where we are as it may be a bit different than we last said to move to
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
} }
static void do_blocking_move_to(float x, float y, float z) { static void do_blocking_move_to(float x, float y, float z) {
@ -2135,7 +2134,7 @@ void raise_z_above(float target, bool plan)
if (axis_known_position[Z_AXIS] || z_min_endstop) if (axis_known_position[Z_AXIS] || z_min_endstop)
{ {
// current position is known or very low, it's safe to raise Z // current position is known or very low, it's safe to raise Z
if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS], active_extruder); if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
return; return;
} }
@ -2148,15 +2147,14 @@ void raise_z_above(float target, bool plan)
#ifdef TMC2130 #ifdef TMC2130
tmc2130_home_enter(Z_AXIS_MASK); tmc2130_home_enter(Z_AXIS_MASK);
#endif //TMC2130 #endif //TMC2130
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
st_synchronize(); st_synchronize();
#ifdef TMC2130 #ifdef TMC2130
if (endstop_z_hit_on_purpose()) if (endstop_z_hit_on_purpose())
{ {
// not necessarily exact, but will avoid further vertical moves // not necessarily exact, but will avoid further vertical moves
current_position[Z_AXIS] = max_pos[Z_AXIS]; current_position[Z_AXIS] = max_pos[Z_AXIS];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], plan_set_position_curposXYZE();
current_position[Z_AXIS], current_position[E_AXIS]);
} }
tmc2130_home_exit(); tmc2130_home_exit();
#endif //TMC2130 #endif //TMC2130
@ -2174,22 +2172,22 @@ bool calibrate_z_auto()
int axis_up_dir = -home_dir(Z_AXIS); int axis_up_dir = -home_dir(Z_AXIS);
tmc2130_home_enter(Z_AXIS_MASK); tmc2130_home_enter(Z_AXIS_MASK);
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
set_destination_to_current(); set_destination_to_current();
destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir); destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
feedrate = homing_feedrate[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder); plan_buffer_line_destinationXYZE(feedrate / 60);
st_synchronize(); st_synchronize();
// current_position[axis] = 0; // current_position[axis] = 0;
// plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); // plan_set_position_curposXYZE();
tmc2130_home_exit(); tmc2130_home_exit();
enable_endstops(false); enable_endstops(false);
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
set_destination_to_current(); set_destination_to_current();
destination[Z_AXIS] += 10 * axis_up_dir; //10mm up destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
feedrate = homing_feedrate[Z_AXIS] / 2; feedrate = homing_feedrate[Z_AXIS] / 2;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder); plan_buffer_line_destinationXYZE(feedrate / 60);
st_synchronize(); st_synchronize();
enable_endstops(endstops_enabled); enable_endstops(endstops_enabled);
if (PRINTER_TYPE == PRINTER_MK3) { if (PRINTER_TYPE == PRINTER_MK3) {
@ -2198,7 +2196,7 @@ bool calibrate_z_auto()
else { else {
current_position[Z_AXIS] = Z_MAX_POS + 9.0; current_position[Z_AXIS] = Z_MAX_POS + 9.0;
} }
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
return true; return true;
} }
#endif //TMC2130 #endif //TMC2130
@ -2209,9 +2207,9 @@ static void check_Z_crash(void)
if (READ(Z_TMC2130_DIAG) != 0) { //Z crash if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
FORCE_HIGH_POWER_END; FORCE_HIGH_POWER_END;
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
current_position[Z_AXIS] += MESH_HOME_Z_SEARCH; current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS], active_extruder); plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
st_synchronize(); st_synchronize();
kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW)); kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
} }
@ -2241,24 +2239,24 @@ void homeaxis(int axis, uint8_t cnt)
// and the following movement to endstop has a chance to achieve the required velocity // and the following movement to endstop has a chance to achieve the required velocity
// for the stall guard to work. // for the stall guard to work.
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
set_destination_to_current(); set_destination_to_current();
// destination[axis] = 11.f; // destination[axis] = 11.f;
destination[axis] = -3.f * axis_home_dir; destination[axis] = -3.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
// Move away from the possible collision with opposite endstop with the collision detection disabled. // Move away from the possible collision with opposite endstop with the collision detection disabled.
endstops_hit_on_purpose(); endstops_hit_on_purpose();
enable_endstops(false); enable_endstops(false);
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
destination[axis] = 1. * axis_home_dir; destination[axis] = 1. * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
// Now continue to move up to the left end stop with the collision detection enabled. // Now continue to move up to the left end stop with the collision detection enabled.
enable_endstops(true); enable_endstops(true);
destination[axis] = 1.1 * axis_home_dir * max_length(axis); destination[axis] = 1.1 * axis_home_dir * max_length(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
for (uint8_t i = 0; i < cnt; i++) for (uint8_t i = 0; i < cnt; i++)
{ {
@ -2266,9 +2264,9 @@ void homeaxis(int axis, uint8_t cnt)
endstops_hit_on_purpose(); endstops_hit_on_purpose();
enable_endstops(false); enable_endstops(false);
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
destination[axis] = -10.f * axis_home_dir; destination[axis] = -10.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
// Now move left up to the collision, this time with a repeatable velocity. // Now move left up to the collision, this time with a repeatable velocity.
@ -2279,7 +2277,7 @@ void homeaxis(int axis, uint8_t cnt)
#else //TMC2130 #else //TMC2130
feedrate = homing_feedrate[axis] / 2; feedrate = homing_feedrate[axis] / 2;
#endif //TMC2130 #endif //TMC2130
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
#ifdef TMC2130 #ifdef TMC2130
uint16_t mscnt = tmc2130_rd_MSCNT(axis); uint16_t mscnt = tmc2130_rd_MSCNT(axis);
@ -2313,10 +2311,10 @@ void homeaxis(int axis, uint8_t cnt)
float dist = - axis_home_dir * 0.01f * 64; float dist = - axis_home_dir * 0.01f * 64;
#endif //TMC2130 #endif //TMC2130
current_position[axis] -= dist; current_position[axis] -= dist;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
current_position[axis] += dist; current_position[axis] += dist;
destination[axis] = current_position[axis]; destination[axis] = current_position[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(0.5f*feedrate/60);
st_synchronize(); st_synchronize();
feedrate = 0.0; feedrate = 0.0;
@ -2328,22 +2326,22 @@ void homeaxis(int axis, uint8_t cnt)
#endif #endif
int axis_home_dir = home_dir(axis); int axis_home_dir = home_dir(axis);
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
destination[axis] = 1.5 * max_length(axis) * axis_home_dir; destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis]; feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
#ifdef TMC2130 #ifdef TMC2130
check_Z_crash(); check_Z_crash();
#endif //TMC2130 #endif //TMC2130
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
destination[axis] = -home_retract_mm(axis) * axis_home_dir; destination[axis] = -home_retract_mm(axis) * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir; destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
feedrate = homing_feedrate[axis]/2 ; feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
#ifdef TMC2130 #ifdef TMC2130
check_Z_crash(); check_Z_crash();
@ -2366,7 +2364,7 @@ void home_xy()
set_destination_to_current(); set_destination_to_current();
homeaxis(X_AXIS); homeaxis(X_AXIS);
homeaxis(Y_AXIS); homeaxis(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
} }
@ -2389,7 +2387,7 @@ void refresh_cmd_timeout(void)
retracted[active_extruder]=true; retracted[active_extruder]=true;
prepare_move(); prepare_move();
current_position[Z_AXIS]-=cs.retract_zlift; current_position[Z_AXIS]-=cs.retract_zlift;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
prepare_move(); prepare_move();
feedrate = oldFeedrate; feedrate = oldFeedrate;
} else if(!retracting && retracted[active_extruder]) { } else if(!retracting && retracted[active_extruder]) {
@ -2398,7 +2396,7 @@ void refresh_cmd_timeout(void)
destination[Z_AXIS]=current_position[Z_AXIS]; destination[Z_AXIS]=current_position[Z_AXIS];
destination[E_AXIS]=current_position[E_AXIS]; destination[E_AXIS]=current_position[E_AXIS];
current_position[Z_AXIS]+=cs.retract_zlift; current_position[Z_AXIS]+=cs.retract_zlift;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f; current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
plan_set_e_position(current_position[E_AXIS]); plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate; float oldFeedrate = feedrate;
@ -2601,7 +2599,7 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
int x_axis_home_dir = home_dir(X_AXIS); int x_axis_home_dir = home_dir(X_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS); destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
feedrate = homing_feedrate[X_AXIS]; feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate) if(homing_feedrate[Y_AXIS]<feedrate)
@ -2611,15 +2609,15 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
} else { } else {
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1); feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
} }
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
st_synchronize(); st_synchronize();
axis_is_at_home(X_AXIS); axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS); axis_is_at_home(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
destination[X_AXIS] = current_position[X_AXIS]; destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS]; destination[Y_AXIS] = current_position[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
feedrate = 0.0; feedrate = 0.0;
st_synchronize(); st_synchronize();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
@ -2683,14 +2681,14 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]); MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]); MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
#endif #endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
#ifdef DEBUG_BUILD #ifdef DEBUG_BUILD
SERIAL_ECHOLNPGM("plan_buffer_line()"); SERIAL_ECHOLNPGM("plan_buffer_line()");
MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]); MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]); MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder); MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
#endif #endif
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line_destinationXYZE(feedrate);
st_synchronize(); st_synchronize();
current_position[X_AXIS] = destination[X_AXIS]; current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS];
@ -2709,8 +2707,8 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
feedrate = XY_TRAVEL_SPEED/60; feedrate = XY_TRAVEL_SPEED/60;
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line_destinationXYZE(feedrate);
st_synchronize(); st_synchronize();
current_position[X_AXIS] = destination[X_AXIS]; current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS];
@ -2726,10 +2724,10 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) { && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line_destinationXYZE(feedrate);
st_synchronize(); st_synchronize();
homeaxis(Z_AXIS); homeaxis(Z_AXIS);
@ -2756,7 +2754,7 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
// Set the planner and stepper routine positions. // Set the planner and stepper routine positions.
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
// contains the machine coordinates. // contains the machine coordinates.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false); enable_endstops(false);
@ -2868,7 +2866,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
enable_endstops(false); enable_endstops(false);
current_position[X_AXIS] += 5; current_position[X_AXIS] += 5;
current_position[Y_AXIS] += 5; current_position[Y_AXIS] += 5;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize(); st_synchronize();
// Let the user move the Z axes up to the end stoppers. // Let the user move the Z axes up to the end stoppers.
@ -2918,7 +2916,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
bool endstops_enabled = enable_endstops(false); bool endstops_enabled = enable_endstops(false);
current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize(); st_synchronize();
// Move the print head close to the bed. // Move the print head close to the bed.
@ -2929,7 +2927,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
tmc2130_home_enter(Z_AXIS_MASK); tmc2130_home_enter(Z_AXIS_MASK);
#endif //TMC2130 #endif //TMC2130
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize(); st_synchronize();
#ifdef TMC2130 #ifdef TMC2130
@ -2970,7 +2968,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
clean_up_after_endstop_move(l_feedmultiply); clean_up_after_endstop_move(l_feedmultiply);
// Print head up. // Print head up.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize(); st_synchronize();
//#ifndef NEW_XYZCAL //#ifndef NEW_XYZCAL
if (result >= 0) if (result >= 0)
@ -2990,7 +2988,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
clean_up_after_endstop_move(l_feedmultiply); clean_up_after_endstop_move(l_feedmultiply);
// Print head up. // Print head up.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize(); st_synchronize();
// if (result >= 0) babystep_apply(); // if (result >= 0) babystep_apply();
#endif //HEATBED_V2 #endif //HEATBED_V2
@ -3103,18 +3101,18 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
//Retract E //Retract E
current_position[E_AXIS] += e_shift; current_position[E_AXIS] += e_shift;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED, active_extruder); plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED);
st_synchronize(); st_synchronize();
//Lift Z //Lift Z
current_position[Z_AXIS] += z_shift; current_position[Z_AXIS] += z_shift;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED, active_extruder); plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED);
st_synchronize(); st_synchronize();
//Move XY to side //Move XY to side
current_position[X_AXIS] = x_position; current_position[X_AXIS] = x_position;
current_position[Y_AXIS] = y_position; current_position[Y_AXIS] = y_position;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder); plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
st_synchronize(); st_synchronize();
//Beep, manage nozzle heater and wait for user to start unload filament //Beep, manage nozzle heater and wait for user to start unload filament
@ -3139,7 +3137,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
lcd_set_cursor(0, 2); lcd_set_cursor(0, 2);
lcd_puts_P(_T(MSG_PLEASE_WAIT)); lcd_puts_P(_T(MSG_PLEASE_WAIT));
current_position[X_AXIS] -= 100; current_position[X_AXIS] -= 100;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder); plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
st_synchronize(); st_synchronize();
lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4 lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
} }
@ -3176,7 +3174,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
if (!automatic) if (!automatic)
{ {
current_position[E_AXIS] += FILAMENTCHANGE_RECFEED; current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED, active_extruder); plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED);
} }
//Move XY back //Move XY back
@ -3234,12 +3232,12 @@ void gcode_M701()
lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT)); lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
current_position[E_AXIS] += 40; current_position[E_AXIS] += 40;
plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence plan_buffer_line_curposXYZE(400 / 60); //fast sequence
st_synchronize(); st_synchronize();
raise_z_above(MIN_Z_FOR_LOAD, false); raise_z_above(MIN_Z_FOR_LOAD, false);
current_position[E_AXIS] += 30; current_position[E_AXIS] += 30;
plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence plan_buffer_line_curposXYZE(400 / 60); //fast sequence
load_filament_final_feed(); //slow sequence load_filament_final_feed(); //slow sequence
st_synchronize(); st_synchronize();
@ -3405,8 +3403,7 @@ static void gcode_G92()
current_position[E_AXIS] = values[E_AXIS]; current_position[E_AXIS] = values[E_AXIS];
// Set all at once // Set all at once
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], plan_set_position_curposXYZE();
current_position[Z_AXIS], current_position[E_AXIS]);
} }
} }
@ -4359,7 +4356,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
current_position[X_AXIS] = uncorrected_position.x; current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y; current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z; current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
int l_feedmultiply = setup_for_endstop_move(); int l_feedmultiply = setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS];
@ -4473,7 +4470,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
} }
break; break;
#ifndef Z_PROBE_SLED #ifndef Z_PROBE_SLED
@ -4605,15 +4602,15 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
if (result) if (result)
{ {
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[Z_AXIS] = 50; current_position[Z_AXIS] = 50;
current_position[Y_AXIS] = 180; current_position[Y_AXIS] = 180;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET)); lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1); current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4); current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
gcode_G28(false, false, true); gcode_G28(false, false, true);
@ -4621,7 +4618,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
if ((current_temperature_pinda > 35) && (farm_mode == false)) { if ((current_temperature_pinda > 35) && (farm_mode == false)) {
//waiting for PIDNA probe to cool down in case that we are not in farm mode //waiting for PIDNA probe to cool down in case that we are not in farm mode
current_position[Z_AXIS] = 100; current_position[Z_AXIS] = 100;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
lcd_temp_cal_show_result(false); lcd_temp_cal_show_result(false);
break; break;
@ -4645,12 +4642,12 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
custom_message_state = 1; custom_message_state = 1;
lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION)); lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[X_AXIS] = PINDA_PREHEAT_X; current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y; current_position[Y_AXIS] = PINDA_PREHEAT_Y;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[Z_AXIS] = PINDA_PREHEAT_Z; current_position[Z_AXIS] = PINDA_PREHEAT_Z;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
while (current_temperature_pinda < start_temp) while (current_temperature_pinda < start_temp)
@ -4662,10 +4659,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4); current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1); current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
bool find_z_result = find_bed_induction_sensor_point_z(-1.f); bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
@ -4693,12 +4690,12 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
setTargetBed(50 + 10 * (temp - 30) / 5); setTargetBed(50 + 10 * (temp - 30) / 5);
// setTargetHotend(255, 0); // setTargetHotend(255, 0);
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[X_AXIS] = PINDA_PREHEAT_X; current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y; current_position[Y_AXIS] = PINDA_PREHEAT_Y;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[Z_AXIS] = PINDA_PREHEAT_Z; current_position[Z_AXIS] = PINDA_PREHEAT_Z;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
while (current_temperature_pinda < temp) while (current_temperature_pinda < temp)
{ {
@ -4706,10 +4703,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
serialecho_temperatures(); serialecho_temperatures();
} }
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4); current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1); current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
find_z_result = find_bed_induction_sensor_point_z(-1.f); find_z_result = find_bed_induction_sensor_point_z(-1.f);
if (find_z_result == false) { if (find_z_result == false) {
@ -4749,7 +4746,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
current_position[X_AXIS] = PINDA_PREHEAT_X; current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y; current_position[Y_AXIS] = PINDA_PREHEAT_Y;
current_position[Z_AXIS] = PINDA_PREHEAT_Z; current_position[Z_AXIS] = PINDA_PREHEAT_Z;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
while (abs(degBed() - PINDA_MIN_T) > 1) { while (abs(degBed() - PINDA_MIN_T) > 1) {
@ -4765,11 +4762,11 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
current_position[Z_AXIS] = 5; current_position[Z_AXIS] = 5;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[X_AXIS] = BED_X0; current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0; current_position[Y_AXIS] = BED_Y0;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
find_bed_induction_sensor_point_z(-1.f); find_bed_induction_sensor_point_z(-1.f);
@ -4786,7 +4783,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
current_position[X_AXIS] = PINDA_PREHEAT_X; current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y; current_position[Y_AXIS] = PINDA_PREHEAT_Y;
current_position[Z_AXIS] = PINDA_PREHEAT_Z; current_position[Z_AXIS] = PINDA_PREHEAT_Z;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
while (degBed() < t_c) { while (degBed() < t_c) {
delay_keep_alive(1000); delay_keep_alive(1000);
@ -4797,10 +4794,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
serialecho_temperatures(); serialecho_temperatures();
} }
current_position[Z_AXIS] = 5; current_position[Z_AXIS] = 5;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
current_position[X_AXIS] = BED_X0; current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0; current_position[Y_AXIS] = BED_Y0;
plan_buffer_line_curposXYZE(3000 / 60, active_extruder); plan_buffer_line_curposXYZE(3000 / 60);
st_synchronize(); st_synchronize();
find_bed_induction_sensor_point_z(-1.f); find_bed_induction_sensor_point_z(-1.f);
z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]); z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
@ -4943,7 +4940,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
// Cycle through all points and probe them // Cycle through all points and probe them
// First move up. During this first movement, the babystepping will be reverted. // First move up. During this first movement, the babystepping will be reverted.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
// The move to the first calibration point. // The move to the first calibration point.
current_position[X_AXIS] = BED_X0; current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0; current_position[Y_AXIS] = BED_Y0;
@ -4958,7 +4955,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#endif //SUPPORT_VERBOSITY #endif //SUPPORT_VERBOSITY
plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30);
// Wait until the move is finished. // Wait until the move is finished.
st_synchronize(); st_synchronize();
@ -5010,7 +5007,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster. else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
float init_z_bckp = current_position[Z_AXIS]; float init_z_bckp = current_position[Z_AXIS];
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize(); st_synchronize();
// Move to XY position of the sensor point. // Move to XY position of the sensor point.
@ -5031,7 +5028,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
//printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]); //printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
st_synchronize(); st_synchronize();
// Go down until endstop is hit // Go down until endstop is hit
@ -5043,7 +5040,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases. if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
//printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]); //printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize(); st_synchronize();
if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
@ -5098,7 +5095,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
MYSERIAL.print(current_position[Z_AXIS], 5); MYSERIAL.print(current_position[Z_AXIS], 5);
} }
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize(); st_synchronize();
if (mesh_point != nMeasPoints * nMeasPoints) { if (mesh_point != nMeasPoints * nMeasPoints) {
Sound_MakeSound(e_SOUND_TYPE_StandardAlert); Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
@ -5115,14 +5112,14 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
// ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing)) // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
bState=enable_z_endstop(false); bState=enable_z_endstop(false);
current_position[Z_AXIS] -= 1; current_position[Z_AXIS] -= 1;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize(); st_synchronize();
enable_z_endstop(true); enable_z_endstop(true);
#ifdef TMC2130 #ifdef TMC2130
tmc2130_home_enter(Z_AXIS_MASK); tmc2130_home_enter(Z_AXIS_MASK);
#endif // TMC2130 #endif // TMC2130
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize(); st_synchronize();
#ifdef TMC2130 #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
@ -5252,7 +5249,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
//unretract (after PINDA preheat retraction) //unretract (after PINDA preheat retraction)
if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) { if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
current_position[E_AXIS] += default_retraction; current_position[E_AXIS] += default_retraction;
plan_buffer_line_curposXYZE(400, active_extruder); plan_buffer_line_curposXYZE(400);
} }
KEEPALIVE_STATE(NOT_BUSY); KEEPALIVE_STATE(NOT_BUSY);
// Restore custom message state // Restore custom message state
@ -5274,7 +5271,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
if (mbl.active) { if (mbl.active) {
SERIAL_PROTOCOLPGM("Num X,Y: "); SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS); SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(","); SERIAL_PROTOCOL(',');
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS); SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: "); SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH); SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
@ -5284,7 +5281,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5); SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
} }
SERIAL_PROTOCOLPGM("\n"); SERIAL_PROTOCOLLN();
} }
} }
else else
@ -6292,7 +6289,7 @@ Sigma_Exit:
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) { for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T"); SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder); SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":"); SERIAL_PROTOCOL(':');
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1); SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
@ -7977,9 +7974,8 @@ Sigma_Exit:
{ {
SERIAL_PROTOCOLPGM("P:"); SERIAL_PROTOCOLPGM("P:");
SERIAL_PROTOCOL_F(current_temperature_pinda, 1); SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
SERIAL_PROTOCOLPGM("/"); SERIAL_PROTOCOL('/');
SERIAL_PROTOCOL(set_target_pinda); SERIAL_PROTOCOLLN(set_target_pinda);
SERIAL_PROTOCOLLN("");
codenum = _millis(); codenum = _millis();
} }
manage_heater(); manage_heater();
@ -8728,7 +8724,7 @@ Sigma_Exit:
#else //SNMM #else //SNMM
if (tmp_extruder >= EXTRUDERS) { if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPGM("T"); SERIAL_ECHO('T');
SERIAL_PROTOCOLLN((int)tmp_extruder); SERIAL_PROTOCOLLN((int)tmp_extruder);
SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER
} }
@ -8758,7 +8754,7 @@ Sigma_Exit:
} }
// Set the new active extruder and position // Set the new active extruder and position
active_extruder = tmp_extruder; active_extruder = tmp_extruder;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
// Move to the old position if 'F' was in the parameters // Move to the old position if 'F' was in the parameters
if (make_move && Stopped == false) { if (make_move && Stopped == false) {
prepare_move(); prepare_move();
@ -9308,13 +9304,13 @@ void prepare_move()
// Do not use feedmultiply for E or Z only moves // Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line_destinationXYZE(feedrate/60);
} }
else { else {
#ifdef MESH_BED_LEVELING #ifdef MESH_BED_LEVELING
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder); mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
#else #else
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder); plan_buffer_line_destinationXYZE(feedrate*feedmultiply*(1./(60.f*100.f)));
#endif #endif
} }
@ -9946,7 +9942,7 @@ static void wait_for_heater(long codenum, uint8_t extruder) {
} }
else else
{ {
SERIAL_PROTOCOLLN("?"); SERIAL_PROTOCOLLN('?');
} }
} }
#else #else
@ -10077,16 +10073,16 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
card.openFile(filename_wldsd, false); card.openFile(filename_wldsd, false);
/*destination[Z_AXIS] = mesh_home_z_search; /*destination[Z_AXIS] = mesh_home_z_search;
//plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder); //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i]; current_position[i] = destination[i];
} }
st_synchronize(); st_synchronize();
*/ */
destination[Z_AXIS] = measure_z_height; destination[Z_AXIS] = measure_z_height;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i]; current_position[i] = destination[i];
} }
@ -10111,9 +10107,9 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
float z0 = 0.f; float z0 = 0.f;
/*destination[Z_AXIS] = mesh_home_z_search; /*destination[Z_AXIS] = mesh_home_z_search;
//plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder); //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i]; current_position[i] = destination[i];
} }
@ -10126,8 +10122,8 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x; destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y; destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], XY_AXIS_FEEDRATE/6, active_extruder); mesh_plan_buffer_line_destinationXYZE(XY_AXIS_FEEDRATE/6);
set_current_to_destination(); set_current_to_destination();
st_synchronize(); st_synchronize();
// printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]); // printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
@ -10550,12 +10546,12 @@ void long_pause() //long pause print
//lift z //lift z
current_position[Z_AXIS] += Z_PAUSE_LIFT; current_position[Z_AXIS] += Z_PAUSE_LIFT;
if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS; if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
plan_buffer_line_curposXYZE(15, active_extruder); plan_buffer_line_curposXYZE(15);
//Move XY to side //Move XY to side
current_position[X_AXIS] = X_PAUSE_POS; current_position[X_AXIS] = X_PAUSE_POS;
current_position[Y_AXIS] = Y_PAUSE_POS; current_position[Y_AXIS] = Y_PAUSE_POS;
plan_buffer_line_curposXYZE(50, active_extruder); plan_buffer_line_curposXYZE(50);
// Turn off the print fan // Turn off the print fan
fanSpeed = 0; fanSpeed = 0;
@ -10665,7 +10661,7 @@ void uvlo_()
// Retract // Retract
current_position[E_AXIS] -= default_retraction; current_position[E_AXIS] -= default_retraction;
plan_buffer_line_curposXYZE(95, active_extruder); plan_buffer_line_curposXYZE(95);
st_synchronize(); st_synchronize();
disable_e0(); disable_e0();
@ -10678,7 +10674,7 @@ void uvlo_()
current_position[Z_AXIS] += float(1024 - z_microsteps) current_position[Z_AXIS] += float(1024 - z_microsteps)
/ (z_res * cs.axis_steps_per_unit[Z_AXIS]) / (z_res * cs.axis_steps_per_unit[Z_AXIS])
+ UVLO_Z_AXIS_SHIFT; + UVLO_Z_AXIS_SHIFT;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
st_synchronize(); st_synchronize();
poweroff_z(); poweroff_z();
@ -10741,7 +10737,7 @@ void uvlo_()
// All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print // All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print
poweron_z(); poweron_z();
current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS; current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
plan_buffer_line_curposXYZE(500, active_extruder); plan_buffer_line_curposXYZE(500);
st_synchronize(); st_synchronize();
wdt_enable(WDTO_1S); wdt_enable(WDTO_1S);
@ -10792,7 +10788,7 @@ void uvlo_tiny()
current_position[Z_AXIS] += float(1024 - z_microsteps) current_position[Z_AXIS] += float(1024 - z_microsteps)
/ (z_res * cs.axis_steps_per_unit[Z_AXIS]) / (z_res * cs.axis_steps_per_unit[Z_AXIS])
+ UVLO_TINY_Z_AXIS_SHIFT; + UVLO_TINY_Z_AXIS_SHIFT;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
st_synchronize(); st_synchronize();
poweroff_z(); poweroff_z();
@ -10971,7 +10967,7 @@ bool recover_machine_state_after_power_panic()
// 5) Set the physical positions from the logical positions using the world2machine transformation // 5) Set the physical positions from the logical positions using the world2machine transformation
// This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown. // This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
// 6) Power up the Z motors, mark their positions as known. // 6) Power up the Z motors, mark their positions as known.
axis_known_position[Z_AXIS] = true; axis_known_position[Z_AXIS] = true;
@ -11395,9 +11391,9 @@ void print_mesh_bed_leveling_table()
for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y) for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) { for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
MYSERIAL.print(mbl.z_values[y][x], 3); MYSERIAL.print(mbl.z_values[y][x], 3);
SERIAL_ECHOPGM(" "); SERIAL_ECHO(' ');
} }
SERIAL_ECHOLNPGM(""); SERIAL_ECHOLN();
} }
uint16_t print_time_remaining() { uint16_t print_time_remaining() {
@ -11445,7 +11441,7 @@ static void print_time_remaining_init()
void load_filament_final_feed() void load_filament_final_feed()
{ {
current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED; current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL, active_extruder); plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL);
} }
//! @brief Wait for user to check the state //! @brief Wait for user to check the state
@ -11590,7 +11586,7 @@ void M600_load_filament_movements()
plan_buffer_line_curposXYZE(50, active_extruder); plan_buffer_line_curposXYZE(50, active_extruder);
#else #else
current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ; current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST, active_extruder); plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST);
#endif #endif
load_filament_final_feed(); load_filament_final_feed();
lcd_loading_filament(); lcd_loading_filament();

16
Firmware/cardreader.cpp
View File

@ -331,7 +331,7 @@ void CardReader::diveSubfolder (const char *fileName, SdFile& dir)
{ {
SERIAL_PROTOCOLRPGM(MSG_SD_OPEN_FILE_FAIL); SERIAL_PROTOCOLRPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(subdirname); SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLLNPGM("."); SERIAL_PROTOCOLLN('.');
return; return;
} }
else else
@ -430,7 +430,7 @@ void CardReader::openFile(const char* name,bool read, bool replace_current/*=tru
{ {
SERIAL_PROTOCOLRPGM(MSG_SD_OPEN_FILE_FAIL); SERIAL_PROTOCOLRPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname); SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM("."); SERIAL_PROTOCOLLN('.');
} }
} }
else else
@ -439,7 +439,7 @@ void CardReader::openFile(const char* name,bool read, bool replace_current/*=tru
{ {
SERIAL_PROTOCOLRPGM(MSG_SD_OPEN_FILE_FAIL); SERIAL_PROTOCOLRPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname); SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM("."); SERIAL_PROTOCOLLN('.');
} }
else else
{ {
@ -496,17 +496,15 @@ void CardReader::getStatus()
SERIAL_PROTOCOLLNPGM("Print saved"); SERIAL_PROTOCOLLNPGM("Print saved");
} }
else { else {
SERIAL_PROTOCOL(longFilename); SERIAL_PROTOCOLLN(longFilename);
SERIAL_PROTOCOLPGM("\n");
SERIAL_PROTOCOLRPGM(_N("SD printing byte "));////MSG_SD_PRINTING_BYTE SERIAL_PROTOCOLRPGM(_N("SD printing byte "));////MSG_SD_PRINTING_BYTE
SERIAL_PROTOCOL(sdpos); SERIAL_PROTOCOL(sdpos);
SERIAL_PROTOCOLPGM("/"); SERIAL_PROTOCOL('/');
SERIAL_PROTOCOLLN(filesize); SERIAL_PROTOCOLLN(filesize);
uint16_t time = _millis()/60000 - starttime/60000; uint16_t time = ( _millis() - starttime ) / 60000U;
SERIAL_PROTOCOL(itostr2(time/60)); SERIAL_PROTOCOL(itostr2(time/60));
SERIAL_PROTOCOL(':'); SERIAL_PROTOCOL(':');
SERIAL_PROTOCOL(itostr2(time%60)); SERIAL_PROTOCOLLN(itostr2(time%60));
SERIAL_PROTOCOLPGM("\n");
} }
} }
else { else {

6
Firmware/fsensor.cpp
View File

@ -624,7 +624,7 @@ void fsensor_update(void)
// move the nozzle away while checking the filament // move the nozzle away while checking the filament
current_position[Z_AXIS] += 0.8; current_position[Z_AXIS] += 0.8;
if(current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS; if(current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS], active_extruder); plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
st_synchronize(); st_synchronize();
// check the filament in isolation // check the filament in isolation
@ -632,9 +632,9 @@ void fsensor_update(void)
fsensor_oq_meassure_start(0); fsensor_oq_meassure_start(0);
float e_tmp = current_position[E_AXIS]; float e_tmp = current_position[E_AXIS];
current_position[E_AXIS] -= 3; current_position[E_AXIS] -= 3;
plan_buffer_line_curposXYZE(250/60, active_extruder); plan_buffer_line_curposXYZE(250/60);
current_position[E_AXIS] = e_tmp; current_position[E_AXIS] = e_tmp;
plan_buffer_line_curposXYZE(200/60, active_extruder); plan_buffer_line_curposXYZE(200/60);
st_synchronize(); st_synchronize();
fsensor_oq_meassure_stop(); fsensor_oq_meassure_stop();

4
Firmware/mesh_bed_calibration.cpp
View File

@ -920,7 +920,7 @@ static inline void go_xy(float x, float y, float fr)
static inline void go_to_current(float fr) static inline void go_to_current(float fr)
{ {
plan_buffer_line_curposXYZE(fr, active_extruder); plan_buffer_line_curposXYZE(fr);
st_synchronize(); st_synchronize();
} }
@ -929,7 +929,7 @@ static inline void update_current_position_xyz()
current_position[X_AXIS] = st_get_position_mm(X_AXIS); current_position[X_AXIS] = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = st_get_position_mm(Y_AXIS); current_position[Y_AXIS] = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
} }
static inline void update_current_position_z() static inline void update_current_position_z()

32
Firmware/mmu.cpp
View File

@ -540,7 +540,7 @@ void mmu_command(MmuCmd cmd)
void mmu_load_step(bool synchronize) void mmu_load_step(bool synchronize)
{ {
current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1; current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1;
plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
if (synchronize) st_synchronize(); if (synchronize) st_synchronize();
} }
@ -605,7 +605,7 @@ bool mmu_get_response(uint8_t move)
{ {
printf_P(PSTR("Unload 1\n")); printf_P(PSTR("Unload 1\n"));
current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001; current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
st_synchronize(); st_synchronize();
} }
} }
@ -623,7 +623,7 @@ bool mmu_get_response(uint8_t move)
{ {
printf_P(PSTR("Unload 2\n")); printf_P(PSTR("Unload 2\n"));
current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001; current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
st_synchronize(); st_synchronize();
} }
} }
@ -701,13 +701,13 @@ void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
//lift z //lift z
current_position[Z_AXIS] += Z_PAUSE_LIFT; current_position[Z_AXIS] += Z_PAUSE_LIFT;
if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS; if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
plan_buffer_line_curposXYZE(15, active_extruder); plan_buffer_line_curposXYZE(15);
st_synchronize(); st_synchronize();
//Move XY to side //Move XY to side
current_position[X_AXIS] = X_PAUSE_POS; current_position[X_AXIS] = X_PAUSE_POS;
current_position[Y_AXIS] = Y_PAUSE_POS; current_position[Y_AXIS] = Y_PAUSE_POS;
plan_buffer_line_curposXYZE(50, active_extruder); plan_buffer_line_curposXYZE(50);
st_synchronize(); st_synchronize();
} }
if (turn_off_nozzle) { if (turn_off_nozzle) {
@ -758,17 +758,17 @@ void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature...")); lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature..."));
delay_keep_alive(3000); delay_keep_alive(3000);
} }
mmu_wait_for_heater_blocking(); mmu_wait_for_heater_blocking();
} }
if (move_axes) { if (move_axes) {
lcd_clear(); lcd_clear();
lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position...")); lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position..."));
current_position[X_AXIS] = x_position_bckp; current_position[X_AXIS] = x_position_bckp;
current_position[Y_AXIS] = y_position_bckp; current_position[Y_AXIS] = y_position_bckp;
plan_buffer_line_curposXYZE(50, active_extruder); plan_buffer_line_curposXYZE(50);
st_synchronize(); st_synchronize();
current_position[Z_AXIS] = z_position_bckp; current_position[Z_AXIS] = z_position_bckp;
plan_buffer_line_curposXYZE(15, active_extruder); plan_buffer_line_curposXYZE(15);
st_synchronize(); st_synchronize();
} }
else { else {
@ -807,19 +807,19 @@ void mmu_load_to_nozzle()
current_position[E_AXIS] += 7.2f; current_position[E_AXIS] += 7.2f;
} }
float feedrate = 562; float feedrate = 562;
plan_buffer_line_curposXYZE(feedrate / 60, active_extruder); plan_buffer_line_curposXYZE(feedrate / 60);
st_synchronize(); st_synchronize();
current_position[E_AXIS] += 14.4f; current_position[E_AXIS] += 14.4f;
feedrate = 871; feedrate = 871;
plan_buffer_line_curposXYZE(feedrate / 60, active_extruder); plan_buffer_line_curposXYZE(feedrate / 60);
st_synchronize(); st_synchronize();
current_position[E_AXIS] += 36.0f; current_position[E_AXIS] += 36.0f;
feedrate = 1393; feedrate = 1393;
plan_buffer_line_curposXYZE(feedrate / 60, active_extruder); plan_buffer_line_curposXYZE(feedrate / 60);
st_synchronize(); st_synchronize();
current_position[E_AXIS] += 14.4f; current_position[E_AXIS] += 14.4f;
feedrate = 871; feedrate = 871;
plan_buffer_line_curposXYZE(feedrate / 60, active_extruder); plan_buffer_line_curposXYZE(feedrate / 60);
st_synchronize(); st_synchronize();
if (!saved_e_relative_mode) axis_relative_modes &= ~E_AXIS_MASK; if (!saved_e_relative_mode) axis_relative_modes &= ~E_AXIS_MASK;
} }
@ -1072,7 +1072,7 @@ void mmu_filament_ramming()
for(uint8_t i = 0; i < (sizeof(ramming_sequence)/sizeof(E_step));++i) for(uint8_t i = 0; i < (sizeof(ramming_sequence)/sizeof(E_step));++i)
{ {
current_position[E_AXIS] += pgm_read_float(&(ramming_sequence[i].extrude)); current_position[E_AXIS] += pgm_read_float(&(ramming_sequence[i].extrude));
plan_buffer_line_curposXYZE(pgm_read_float(&(ramming_sequence[i].feed_rate)), active_extruder); plan_buffer_line_curposXYZE(pgm_read_float(&(ramming_sequence[i].feed_rate)));
st_synchronize(); st_synchronize();
} }
} }
@ -1446,9 +1446,9 @@ bFilamentAction=false; // NOT in "mmu_fil_eject_menu(
static bool can_load() static bool can_load()
{ {
current_position[E_AXIS] += 60; current_position[E_AXIS] += 60;
plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
current_position[E_AXIS] -= 52; current_position[E_AXIS] -= 52;
plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
st_synchronize(); st_synchronize();
uint_least8_t filament_detected_count = 0; uint_least8_t filament_detected_count = 0;
@ -1458,7 +1458,7 @@ static bool can_load()
for(uint_least8_t i = 0; i < steps; ++i) for(uint_least8_t i = 0; i < steps; ++i)
{ {
current_position[E_AXIS] -= e_increment; current_position[E_AXIS] -= e_increment;
plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder); plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
st_synchronize(); st_synchronize();
if(0 == PIN_GET(IR_SENSOR_PIN)) if(0 == PIN_GET(IR_SENSOR_PIN))
{ {

12
Firmware/planner.cpp
View File

@ -671,8 +671,16 @@ void planner_abort_hard()
waiting_inside_plan_buffer_line_print_aborted = true; waiting_inside_plan_buffer_line_print_aborted = true;
} }
void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder) { void plan_buffer_line_curposXYZE(float feed_rate) {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, extruder ); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, active_extruder );
}
void plan_buffer_line_destinationXYZE(float feed_rate) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feed_rate, active_extruder);
}
void plan_set_position_curposXYZE(){
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
} }
float junction_deviation = 0.1; float junction_deviation = 0.1;

6
Firmware/planner.h
View File

@ -154,7 +154,11 @@ vector_3 plan_get_position();
/// plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], ... /// plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], ...
/// saves almost 5KB. /// saves almost 5KB.
/// The performance penalty is negligible, since these planned lines are usually maintenance moves with the extruder. /// The performance penalty is negligible, since these planned lines are usually maintenance moves with the extruder.
void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder); void plan_buffer_line_curposXYZE(float feed_rate);
void plan_buffer_line_destinationXYZE(float feed_rate);
void plan_set_position_curposXYZE();
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder, const float* gcode_target = NULL); void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder, const float* gcode_target = NULL);
//void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); //void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);

76
Firmware/ultralcd.cpp
View File

@ -2919,7 +2919,7 @@ static void _lcd_move(const char *name, int axis, int min, int max)
if (max_software_endstops && current_position[axis] > max) current_position[axis] = max; if (max_software_endstops && current_position[axis] > max) current_position[axis] = max;
lcd_encoder = 0; lcd_encoder = 0;
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
plan_buffer_line_curposXYZE(manual_feedrate[axis] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[axis] / 60);
lcd_draw_update = 1; lcd_draw_update = 1;
} }
} }
@ -2944,7 +2944,7 @@ static void lcd_move_e()
{ {
current_position[E_AXIS] += float((int)lcd_encoder) * move_menu_scale; current_position[E_AXIS] += float((int)lcd_encoder) * move_menu_scale;
lcd_encoder = 0; lcd_encoder = 0;
plan_buffer_line_curposXYZE(manual_feedrate[E_AXIS] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[E_AXIS] / 60);
lcd_draw_update = 1; lcd_draw_update = 1;
} }
} }
@ -3462,7 +3462,7 @@ bool lcd_calibrate_z_end_stop_manual(bool only_z)
{ {
// Don't know where we are. Let's claim we are Z=0, so the soft end stops will not be triggered when moving up. // Don't know where we are. Let's claim we are Z=0, so the soft end stops will not be triggered when moving up.
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
// Until confirmed by the confirmation dialog. // Until confirmed by the confirmation dialog.
for (;;) { for (;;) {
@ -3484,7 +3484,7 @@ bool lcd_calibrate_z_end_stop_manual(bool only_z)
// Only move up, whatever direction the user rotates the encoder. // Only move up, whatever direction the user rotates the encoder.
current_position[Z_AXIS] += fabs(lcd_encoder); current_position[Z_AXIS] += fabs(lcd_encoder);
lcd_encoder = 0; lcd_encoder = 0;
plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60);
} }
} }
if (lcd_clicked()) { if (lcd_clicked()) {
@ -3520,7 +3520,7 @@ calibrated:
else { else {
current_position[Z_AXIS] = Z_MAX_POS+4.f; current_position[Z_AXIS] = Z_MAX_POS+4.f;
} }
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
return true; return true;
canceled: canceled:
@ -4038,7 +4038,7 @@ void prusa_statistics_err(char c){
} }
static void prusa_statistics_case0(uint8_t statnr){ static void prusa_statistics_case0(uint8_t statnr){
SERIAL_ECHO("{"); SERIAL_ECHO('{');
prusa_stat_printerstatus(statnr); prusa_stat_printerstatus(statnr);
prusa_stat_farm_number(); prusa_stat_farm_number();
prusa_stat_printinfo(); prusa_stat_printinfo();
@ -4066,7 +4066,7 @@ void prusa_statistics(int _message, uint8_t _fil_nr) {
} }
else else
{ {
SERIAL_ECHO("{"); SERIAL_ECHO('{');
prusa_stat_printerstatus(1); prusa_stat_printerstatus(1);
prusa_stat_farm_number(); prusa_stat_farm_number();
prusa_stat_diameter(); prusa_stat_diameter();
@ -4899,7 +4899,7 @@ void lcd_language()
static void wait_preheat() static void wait_preheat()
{ {
current_position[Z_AXIS] = 100; //move in z axis to make space for loading filament current_position[Z_AXIS] = 100; //move in z axis to make space for loading filament
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder); plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
delay_keep_alive(2000); delay_keep_alive(2000);
lcd_display_message_fullscreen_P(_T(MSG_WIZARD_HEATING)); lcd_display_message_fullscreen_P(_T(MSG_WIZARD_HEATING));
lcd_set_custom_characters(); lcd_set_custom_characters();
@ -6387,13 +6387,13 @@ void unload_filament()
// extr_unload2(); // extr_unload2();
current_position[E_AXIS] -= 45; current_position[E_AXIS] -= 45;
plan_buffer_line_curposXYZE(5200 / 60, active_extruder); plan_buffer_line_curposXYZE(5200 / 60);
st_synchronize(); st_synchronize();
current_position[E_AXIS] -= 15; current_position[E_AXIS] -= 15;
plan_buffer_line_curposXYZE(1000 / 60, active_extruder); plan_buffer_line_curposXYZE(1000 / 60);
st_synchronize(); st_synchronize();
current_position[E_AXIS] -= 20; current_position[E_AXIS] -= 20;
plan_buffer_line_curposXYZE(1000 / 60, active_extruder); plan_buffer_line_curposXYZE(1000 / 60);
st_synchronize(); st_synchronize();
lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT)); lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
@ -7353,13 +7353,13 @@ void lcd_print_stop()
cancel_heatup = true; //unroll temperature wait loop stack. cancel_heatup = true; //unroll temperature wait loop stack.
current_position[Z_AXIS] += 10; //lift Z. current_position[Z_AXIS] += 10; //lift Z.
plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60);
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) //if axis are homed, move to parked position. if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) //if axis are homed, move to parked position.
{ {
current_position[X_AXIS] = X_CANCEL_POS; current_position[X_AXIS] = X_CANCEL_POS;
current_position[Y_AXIS] = Y_CANCEL_POS; current_position[Y_AXIS] = Y_CANCEL_POS;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
} }
st_synchronize(); st_synchronize();
@ -7713,7 +7713,7 @@ bool lcd_selftest()
current_position[Y_AXIS] += 4; current_position[Y_AXIS] += 4;
#endif //TMC2130 #endif //TMC2130
current_position[Z_AXIS] = current_position[Z_AXIS] + 10; current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
set_destination_to_current(); set_destination_to_current();
_progress = lcd_selftest_screen(TestScreen::AxisZ, _progress, 3, true, 1500); _progress = lcd_selftest_screen(TestScreen::AxisZ, _progress, 3, true, 1500);
@ -7725,7 +7725,7 @@ bool lcd_selftest()
//raise Z to not damage the bed during and hotend testing //raise Z to not damage the bed during and hotend testing
current_position[Z_AXIS] += 20; current_position[Z_AXIS] += 20;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
} }
@ -7733,7 +7733,7 @@ bool lcd_selftest()
if (_result) if (_result)
{ {
current_position[Z_AXIS] = current_position[Z_AXIS] + 10; current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
_progress = lcd_selftest_screen(TestScreen::Home, 0, 2, true, 0); _progress = lcd_selftest_screen(TestScreen::Home, 0, 2, true, 0);
bool bres = tmc2130_home_calibrate(X_AXIS); bool bres = tmc2130_home_calibrate(X_AXIS);
@ -7829,7 +7829,7 @@ bool lcd_selftest()
static void reset_crash_det(unsigned char axis) { static void reset_crash_det(unsigned char axis) {
current_position[axis] += 10; current_position[axis] += 10;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET)) tmc2130_sg_stop_on_crash = true; if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET)) tmc2130_sg_stop_on_crash = true;
} }
@ -7858,7 +7858,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
// first axis length measurement begin // first axis length measurement begin
current_position[axis] -= (axis_length + margin); current_position[axis] -= (axis_length + margin);
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
@ -7868,11 +7868,11 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
current_position_init = st_get_position_mm(axis); current_position_init = st_get_position_mm(axis);
current_position[axis] += 2 * margin; current_position[axis] += 2 * margin;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
current_position[axis] += axis_length; current_position[axis] += axis_length;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
@ -7888,11 +7888,11 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
current_position[axis] -= margin; current_position[axis] -= margin;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
current_position[axis] -= (axis_length + margin); current_position[axis] -= (axis_length + margin);
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
@ -7917,7 +7917,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
lcd_selftest_error(TestError::Axis, _error_1, ""); lcd_selftest_error(TestError::Axis, _error_1, "");
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
reset_crash_det(axis); reset_crash_det(axis);
enable_endstops(true); enable_endstops(true);
endstops_hit_on_purpose(); endstops_hit_on_purpose();
@ -7937,13 +7937,13 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
lcd_selftest_error(TestError::Pulley, _error_1, ""); lcd_selftest_error(TestError::Pulley, _error_1, "");
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
reset_crash_det(axis); reset_crash_det(axis);
endstops_hit_on_purpose(); endstops_hit_on_purpose();
return false; return false;
} }
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
reset_crash_det(axis); reset_crash_det(axis);
endstops_hit_on_purpose(); endstops_hit_on_purpose();
return true; return true;
@ -7965,13 +7965,13 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
if (_axis == X_AXIS) { if (_axis == X_AXIS) {
current_position[Z_AXIS] += 17; current_position[Z_AXIS] += 17;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
} }
do { do {
current_position[_axis] = current_position[_axis] - 1; current_position[_axis] = current_position[_axis] - 1;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
#ifdef TMC2130 #ifdef TMC2130
if ((READ(Z_MIN_PIN) ^ (bool)Z_MIN_ENDSTOP_INVERTING)) if ((READ(Z_MIN_PIN) ^ (bool)Z_MIN_ENDSTOP_INVERTING))
@ -8051,7 +8051,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
} }
} }
current_position[_axis] = 0; //simulate axis home to avoid negative numbers for axis position, especially Z. current_position[_axis] = 0; //simulate axis home to avoid negative numbers for axis position, especially Z.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position_curposXYZE();
return _stepresult; return _stepresult;
} }
@ -8074,17 +8074,17 @@ static bool lcd_selfcheck_pulleys(int axis)
current_position_init = current_position[axis]; current_position_init = current_position[axis];
current_position[axis] += 2; current_position[axis] += 2;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
for (i = 0; i < 5; i++) { for (i = 0; i < 5; i++) {
refresh_cmd_timeout(); refresh_cmd_timeout();
current_position[axis] = current_position[axis] + move; current_position[axis] = current_position[axis] + move;
st_current_set(0, 850); //set motor current higher st_current_set(0, 850); //set motor current higher
plan_buffer_line_curposXYZE(200, active_extruder); plan_buffer_line_curposXYZE(200);
st_synchronize(); st_synchronize();
if (SilentModeMenu != SILENT_MODE_OFF) st_current_set(0, tmp_motor[0]); //set back to normal operation currents if (SilentModeMenu != SILENT_MODE_OFF) st_current_set(0, tmp_motor[0]); //set back to normal operation currents
else st_current_set(0, tmp_motor_loud[0]); //set motor current back else st_current_set(0, tmp_motor_loud[0]); //set motor current back
current_position[axis] = current_position[axis] - move; current_position[axis] = current_position[axis] - move;
plan_buffer_line_curposXYZE(50, active_extruder); plan_buffer_line_curposXYZE(50);
st_synchronize(); st_synchronize();
if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) || if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1)) { ((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1)) {
@ -8101,7 +8101,7 @@ static bool lcd_selfcheck_pulleys(int axis)
endstop_triggered = true; endstop_triggered = true;
if (current_position_init - 1 <= current_position[axis] && current_position_init + 1 >= current_position[axis]) { if (current_position_init - 1 <= current_position[axis] && current_position_init + 1 >= current_position[axis]) {
current_position[axis] += 10; current_position[axis] += 10;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
return(true); return(true);
} }
@ -8112,7 +8112,7 @@ static bool lcd_selfcheck_pulleys(int axis)
} }
else { else {
current_position[axis] -= 1; current_position[axis] -= 1;
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
if (_millis() > timeout_counter) { if (_millis() > timeout_counter) {
lcd_selftest_error(TestError::Pulley, (axis == 0) ? "X" : "Y", ""); lcd_selftest_error(TestError::Pulley, (axis == 0) ? "X" : "Y", "");
@ -8142,7 +8142,7 @@ static bool lcd_selfcheck_endstops()
#endif //!TMC2130 #endif //!TMC2130
if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) current_position[2] += 10; if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) current_position[2] += 10;
} }
plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder); plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
st_synchronize(); st_synchronize();
if ( if (
@ -8653,7 +8653,7 @@ static FanCheck lcd_selftest_fan_auto(int _fan)
static int lcd_selftest_screen(TestScreen screen, int _progress, int _progress_scale, bool _clear, int _delay) static int lcd_selftest_screen(TestScreen screen, int _progress, int _progress_scale, bool _clear, int _delay)
{ {
lcd_update_enable(false); lcd_update_enable(false);
const char *_indicator = (_progress >= _progress_scale) ? "-" : "|"; const char *_indicator = (_progress >= _progress_scale) ? "-" : "|";
@ -8701,7 +8701,7 @@ static int lcd_selftest_screen(TestScreen screen, int _progress, int _progress_s
{ {
//SERIAL_ECHOLNPGM("Other tests"); //SERIAL_ECHOLNPGM("Other tests");
TestScreen _step_block = TestScreen::AxisX; TestScreen _step_block = TestScreen::AxisX;
lcd_selftest_screen_step(2, 2, ((screen == _step_block) ? 1 : (screen < _step_block) ? 0 : 2), "X", _indicator); lcd_selftest_screen_step(2, 2, ((screen == _step_block) ? 1 : (screen < _step_block) ? 0 : 2), "X", _indicator);
_step_block = TestScreen::AxisY; _step_block = TestScreen::AxisY;
@ -8713,8 +8713,8 @@ static int lcd_selftest_screen(TestScreen screen, int _progress, int _progress_s
_step_block = TestScreen::Bed; _step_block = TestScreen::Bed;
lcd_selftest_screen_step(3, 0, ((screen == _step_block) ? 1 : (screen < _step_block) ? 0 : 2), "Bed", _indicator); lcd_selftest_screen_step(3, 0, ((screen == _step_block) ? 1 : (screen < _step_block) ? 0 : 2), "Bed", _indicator);
_step_block = TestScreen::Hotend; _step_block = TestScreen::Hotend;
lcd_selftest_screen_step(3, 9, ((screen == _step_block) ? 1 : (screen < _step_block) ? 0 : 2), "Hotend", _indicator); lcd_selftest_screen_step(3, 9, ((screen == _step_block) ? 1 : (screen < _step_block) ? 0 : 2), "Hotend", _indicator);
} }
if (_delay > 0) delay_keep_alive(_delay); if (_delay > 0) delay_keep_alive(_delay);