Revert the new relative handling for X, Y and Z.
These were commits 9dbfa7217e0de8b140846ab480d6b4a7fc9b6791 and 2b596cb05e621ed822071486f812eb334328267a. There are several reasons why this new approach didn't work out well: - The machine coordinate system is lost on relative movements. OK, we could keep tracking it, but this would mean even more code, so even more chances for bugs. - With the lost coordinate system, no software endstops are possible. - Neither of X, Y, Z will ever overflow. - If a movement planner would appear one day, he'd have to handle relative movements as well. Even more code duplication.
This commit is contained in:
Markus Hitter
parent
e5cc5ab066
commit
9dda3349be
48
dda.c
48
dda.c
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@ -225,41 +225,25 @@ void dda_create(DDA *dda, TARGET *target) {
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// TODO TODO: We should really make up a loop for all axes.
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// Think of what happens when a sixth axis (multi colour extruder)
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// appears?
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if (target->all_relative) {
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x_delta_um = labs(target->X);
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um_to_steps_x(dda->x_delta, x_delta_um);
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dda->x_direction = (target->X >= 0)?1:0;
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x_delta_um = (uint32_t)labs(target->X - startpoint.X);
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y_delta_um = (uint32_t)labs(target->Y - startpoint.Y);
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z_delta_um = (uint32_t)labs(target->Z - startpoint.Z);
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y_delta_um = labs(target->Y);
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um_to_steps_y(dda->y_delta, y_delta_um);
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dda->y_direction = (target->Y >= 0)?1:0;
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um_to_steps_x(steps, target->X);
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dda->x_delta = labs(steps - startpoint_steps.X);
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startpoint_steps.X = steps;
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um_to_steps_y(steps, target->Y);
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dda->y_delta = labs(steps - startpoint_steps.Y);
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startpoint_steps.Y = steps;
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um_to_steps_z(steps, target->Z);
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dda->z_delta = labs(steps - startpoint_steps.Z);
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startpoint_steps.Z = steps;
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z_delta_um = labs(target->Z);
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um_to_steps_z(dda->z_delta, z_delta_um);
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dda->z_direction = (target->Z >= 0)?1:0;
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}
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else {
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x_delta_um = (uint32_t)labs(target->X - startpoint.X);
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y_delta_um = (uint32_t)labs(target->Y - startpoint.Y);
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z_delta_um = (uint32_t)labs(target->Z - startpoint.Z);
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dda->x_direction = (target->X >= startpoint.X)?1:0;
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dda->y_direction = (target->Y >= startpoint.Y)?1:0;
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dda->z_direction = (target->Z >= startpoint.Z)?1:0;
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um_to_steps_x(steps, target->X);
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dda->x_delta = labs(steps - startpoint_steps.X);
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startpoint_steps.X = steps;
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um_to_steps_y(steps, target->Y);
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dda->y_delta = labs(steps - startpoint_steps.Y);
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startpoint_steps.Y = steps;
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um_to_steps_z(steps, target->Z);
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dda->z_delta = labs(steps - startpoint_steps.Z);
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startpoint_steps.Z = steps;
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dda->x_direction = (target->X >= startpoint.X)?1:0;
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dda->y_direction = (target->Y >= startpoint.Y)?1:0;
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dda->z_direction = (target->Z >= startpoint.Z)?1:0;
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}
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// This if() matches Sprinter's behaviour as of March 2012.
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if (target->all_relative || target->e_relative) {
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if (target->e_relative) {
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e_delta_um = labs(target->E);
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um_to_steps_e(dda->e_delta, e_delta_um);
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dda->e_direction = (target->E >= 0)?1:0;
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1
dda.h
1
dda.h
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@ -106,7 +106,6 @@ typedef struct {
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int32_t E;
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uint32_t F;
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uint8_t all_relative :1; ///< bool: relative coordinates?
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uint8_t e_relative :1; ///< bool: e axis relative? Overrides all_relative
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} TARGET;
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@ -346,10 +346,10 @@ void gcode_parse_char(uint8_t c) {
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next_target.seen_G = 1;
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next_target.G = 1;
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if (next_target.target.all_relative) {
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if (next_target.option_all_relative) {
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next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
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}
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if (next_target.target.all_relative || next_target.target.e_relative) {
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if (next_target.option_all_relative || next_target.option_e_relative) {
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next_target.target.E = 0;
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}
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}
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@ -40,6 +40,8 @@ typedef struct {
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uint8_t seen_checksum :1; ///< seen a checksum?
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uint8_t seen_semi_comment :1; ///< seen a semicolon?
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uint8_t seen_parens_comment :1; ///< seen an open parenthesis
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uint8_t option_all_relative :1; ///< relative or absolute coordinates?
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uint8_t option_e_relative :1; ///< same for e axis (M82/M83)
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uint8_t option_inches :1; ///< inches or millimeters?
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};
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uint16_t flags;
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111
gcode_process.c
111
gcode_process.c
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@ -41,7 +41,7 @@ uint8_t next_tool;
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#if E_STARTSTOP_STEPS > 0
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/// move E by a certain amount at a certain speed
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static void SpecialMoveE(int32_t e, uint32_t f) {
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TARGET t = { 0L, 0L, 0L, e, f, 1, 1 };
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TARGET t = { 0L, 0L, 0L, e, f, 1 };
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enqueue(&t);
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}
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#endif /* E_STARTSTOP_STEPS > 0 */
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@ -59,66 +59,44 @@ static void SpecialMoveE(int32_t e, uint32_t f) {
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void process_gcode_command() {
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uint32_t backup_f;
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// convert relative to absolute
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if (next_target.option_all_relative) {
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next_target.target.X += startpoint.X;
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next_target.target.Y += startpoint.Y;
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next_target.target.Z += startpoint.Z;
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}
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// E relative movement.
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// Matches Sprinter's behaviour as of March 2012.
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if (next_target.option_all_relative || next_target.option_e_relative)
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next_target.target.e_relative = 1;
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else
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next_target.target.e_relative = 0;
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// implement axis limits
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#ifdef X_MIN
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if (next_target.target.all_relative) {
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if (next_target.target.X += startpoint.X < X_MIN * 1000.)
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next_target.target.X = X_MIN * 1000. + startpoint.X;
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}
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else {
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if (next_target.target.X < X_MIN * 1000.)
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next_target.target.X = X_MIN * 1000.;
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}
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if (next_target.target.X < X_MIN * 1000.)
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next_target.target.X = X_MIN * 1000.;
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#endif
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#ifdef X_MAX
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if (next_target.target.all_relative) {
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if (next_target.target.X += startpoint.X > X_MAX * 1000.)
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next_target.target.X = X_MAX * 1000. - startpoint.X;
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}
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else {
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if (next_target.target.X > X_MAX * 1000.)
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next_target.target.X = X_MAX * 1000.;
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}
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if (next_target.target.X > X_MAX * 1000.)
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next_target.target.X = X_MAX * 1000.;
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#endif
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#ifdef Y_MIN
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if (next_target.target.all_relative) {
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if (next_target.target.Y += startpoint.Y < Y_MIN * 1000.)
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next_target.target.Y = Y_MIN * 1000. + startpoint.Y;
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}
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else {
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if (next_target.target.Y < Y_MIN * 1000.)
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next_target.target.Y = Y_MIN * 1000.;
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}
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if (next_target.target.Y < Y_MIN * 1000.)
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next_target.target.Y = Y_MIN * 1000.;
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#endif
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#ifdef Y_MAX
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if (next_target.target.all_relative) {
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if (next_target.target.Y += startpoint.Y > Y_MAX * 1000.)
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next_target.target.Y = Y_MAX * 1000. - startpoint.Y;
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}
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else {
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if (next_target.target.Y > Y_MAX * 1000.)
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next_target.target.Y = Y_MAX * 1000.;
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}
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if (next_target.target.Y > Y_MAX * 1000.)
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next_target.target.Y = Y_MAX * 1000.;
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#endif
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#ifdef Z_MIN
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if (next_target.target.all_relative) {
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if (next_target.target.Z += startpoint.Z < Z_MIN * 1000.)
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next_target.target.Z = Z_MIN * 1000. + startpoint.Z;
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}
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else {
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if (next_target.target.Z < Z_MIN * 1000.)
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next_target.target.Z = Z_MIN * 1000.;
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}
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if (next_target.target.Z < Z_MIN * 1000.)
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next_target.target.Z = Z_MIN * 1000.;
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#endif
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#ifdef Z_MAX
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if (next_target.target.all_relative) {
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if (next_target.target.Z += startpoint.Z > Z_MAX * 1000.)
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next_target.target.Z = Z_MAX * 1000. - startpoint.Z;
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}
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else {
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if (next_target.target.Z > Z_MAX * 1000.)
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next_target.target.Z = Z_MAX * 1000.;
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}
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if (next_target.target.Z > Z_MAX * 1000.)
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next_target.target.Z = Z_MAX * 1000.;
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#endif
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@ -276,12 +254,14 @@ void process_gcode_command() {
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//? All coordinates from now on are absolute relative to the origin
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//? of the machine. This is the RepRap default.
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//?
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//? If you ever want to switch back and forth between relative and
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//? absolute movement keep in mind, X, Y and Z follow the machine's
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//? coordinate system while E doesn't change it's position in the
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//? coordinate system on relative movements.
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//?
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// No queue_wait() needed.
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next_target.target.all_relative = 0;
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// TODO: What's about startpoint, next_target an friends?
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// What should a machine do when returning from relative
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// to absolute mode?
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// No wait_queue() needed.
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next_target.option_all_relative = 0;
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break;
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case 91:
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@ -292,8 +272,8 @@ void process_gcode_command() {
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//? All coordinates from now on are relative to the last position.
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//?
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// No queue_wait() needed.
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next_target.target.all_relative = 1;
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// No wait_queue() needed.
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next_target.option_all_relative = 1;
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break;
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case 92:
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@ -319,9 +299,7 @@ void process_gcode_command() {
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axisSelected = 1;
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}
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if (next_target.seen_E) {
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#ifdef E_ABSOLUTE
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startpoint.E = next_target.target.E;
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#endif
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startpoint.E = next_target.target.E;
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axisSelected = 1;
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}
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@ -424,21 +402,26 @@ void process_gcode_command() {
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case 82:
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//? --- M82 - Set E codes absolute ---
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//?
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//? This is the default. M82/M83 is not documented in the
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//? RepRap wiki, behaviours was taken from Sprinter as of March 2012.
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//? This is the default and overrides G90/G91.
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//? M82/M83 is not documented in the RepRap wiki, behaviour
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//? was taken from Sprinter as of March 2012.
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//?
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//? While E does relative movements, it doesn't change its
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//? position in the coordinate system. See also comment on G90.
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//?
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// No wait_queue() needed.
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next_target.target.e_relative = 0;
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next_target.option_e_relative = 0;
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break;
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// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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case 83:
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//? --- M83 - Set E codes relative ---
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//?
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//? Counterpart to M82.
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//?
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// No wait_queue() needed.
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next_target.target.e_relative = 1;
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next_target.option_e_relative = 1;
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break;
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// M84- stop idle hold
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12
home.c
12
home.c
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@ -34,7 +34,7 @@ void home() {
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/// find X MIN endstop
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void home_x_negative() {
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#if defined X_MIN_PIN
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TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
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TARGET t = startpoint;
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t.X = -1000000;
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#ifdef SLOW_HOMING
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@ -70,7 +70,7 @@ void home_x_positive() {
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#warning X_MAX_PIN defined, but not X_MAX. home_x_positive() disabled.
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#endif
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#if defined X_MAX_PIN && defined X_MAX
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TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
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TARGET t = startpoint;
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t.X = +1000000;
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#ifdef SLOW_HOMING
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@ -104,7 +104,7 @@ void home_x_positive() {
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/// fund Y MIN endstop
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void home_y_negative() {
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#if defined Y_MIN_PIN
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TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
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TARGET t = startpoint;
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t.Y = -1000000;
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#ifdef SLOW_HOMING
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@ -140,7 +140,7 @@ void home_y_positive() {
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#warning Y_MAX_PIN defined, but not Y_MAX. home_y_positive() disabled.
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#endif
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#if defined Y_MAX_PIN && defined Y_MAX
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TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
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TARGET t = startpoint;
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t.Y = +1000000;
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#ifdef SLOW_HOMING
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@ -174,7 +174,7 @@ void home_y_positive() {
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/// find Z MIN endstop
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void home_z_negative() {
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#if defined Z_MIN_PIN
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TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
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TARGET t = startpoint;
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t.Z = -1000000;
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#ifdef SLOW_HOMING
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@ -211,7 +211,7 @@ void home_z_positive() {
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#warning Z_MAX_PIN defined, but not Z_MAX. home_z_positive() disabled.
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#endif
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#if defined Z_MAX_PIN && defined Z_MAX
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TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
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TARGET t = startpoint;
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t.Z = +1000000;
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#ifdef SLOW_HOMING
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