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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 2012-03-05 21:32:20 +01:00
parent e5cc5ab066
commit 9dda3349be
6 changed files with 73 additions and 105 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
dda.c
View File

@ -225,41 +225,25 @@ void dda_create(DDA *dda, TARGET *target) {
// TODO TODO: We should really make up a loop for all axes. // TODO TODO: We should really make up a loop for all axes.
// Think of what happens when a sixth axis (multi colour extruder) // Think of what happens when a sixth axis (multi colour extruder)
// appears? // appears?
if (target->all_relative) { x_delta_um = (uint32_t)labs(target->X - startpoint.X);
x_delta_um = labs(target->X); y_delta_um = (uint32_t)labs(target->Y - startpoint.Y);
um_to_steps_x(dda->x_delta, x_delta_um); z_delta_um = (uint32_t)labs(target->Z - startpoint.Z);
dda->x_direction = (target->X >= 0)?1:0;
y_delta_um = labs(target->Y); um_to_steps_x(steps, target->X);
um_to_steps_y(dda->y_delta, y_delta_um); dda->x_delta = labs(steps - startpoint_steps.X);
dda->y_direction = (target->Y >= 0)?1:0; startpoint_steps.X = steps;
um_to_steps_y(steps, target->Y);
dda->y_delta = labs(steps - startpoint_steps.Y);
startpoint_steps.Y = steps;
um_to_steps_z(steps, target->Z);
dda->z_delta = labs(steps - startpoint_steps.Z);
startpoint_steps.Z = steps;
z_delta_um = labs(target->Z); dda->x_direction = (target->X >= startpoint.X)?1:0;
um_to_steps_z(dda->z_delta, z_delta_um); dda->y_direction = (target->Y >= startpoint.Y)?1:0;
dda->z_direction = (target->Z >= 0)?1:0; dda->z_direction = (target->Z >= startpoint.Z)?1:0;
}
else {
x_delta_um = (uint32_t)labs(target->X - startpoint.X);
y_delta_um = (uint32_t)labs(target->Y - startpoint.Y);
z_delta_um = (uint32_t)labs(target->Z - startpoint.Z);
um_to_steps_x(steps, target->X); if (target->e_relative) {
dda->x_delta = labs(steps - startpoint_steps.X);
startpoint_steps.X = steps;
um_to_steps_y(steps, target->Y);
dda->y_delta = labs(steps - startpoint_steps.Y);
startpoint_steps.Y = steps;
um_to_steps_z(steps, target->Z);
dda->z_delta = labs(steps - startpoint_steps.Z);
startpoint_steps.Z = steps;
dda->x_direction = (target->X >= startpoint.X)?1:0;
dda->y_direction = (target->Y >= startpoint.Y)?1:0;
dda->z_direction = (target->Z >= startpoint.Z)?1:0;
}
// This if() matches Sprinter's behaviour as of March 2012.
if (target->all_relative || target->e_relative) {
e_delta_um = labs(target->E); e_delta_um = labs(target->E);
um_to_steps_e(dda->e_delta, e_delta_um); um_to_steps_e(dda->e_delta, e_delta_um);
dda->e_direction = (target->E >= 0)?1:0; dda->e_direction = (target->E >= 0)?1:0;

1
dda.h
View File

@ -106,7 +106,6 @@ typedef struct {
int32_t E; int32_t E;
uint32_t F; uint32_t F;
uint8_t all_relative :1; ///< bool: relative coordinates?
uint8_t e_relative :1; ///< bool: e axis relative? Overrides all_relative uint8_t e_relative :1; ///< bool: e axis relative? Overrides all_relative
} TARGET; } TARGET;

4
gcode_parse.c
View File

@ -346,10 +346,10 @@ void gcode_parse_char(uint8_t c) {
next_target.seen_G = 1; next_target.seen_G = 1;
next_target.G = 1; next_target.G = 1;
if (next_target.target.all_relative) { if (next_target.option_all_relative) {
next_target.target.X = next_target.target.Y = next_target.target.Z = 0; next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
} }
if (next_target.target.all_relative || next_target.target.e_relative) { if (next_target.option_all_relative || next_target.option_e_relative) {
next_target.target.E = 0; next_target.target.E = 0;
} }
} }

2
gcode_parse.h
View File

@ -40,6 +40,8 @@ typedef struct {
uint8_t seen_checksum :1; ///< seen a checksum? uint8_t seen_checksum :1; ///< seen a checksum?
uint8_t seen_semi_comment :1; ///< seen a semicolon? uint8_t seen_semi_comment :1; ///< seen a semicolon?
uint8_t seen_parens_comment :1; ///< seen an open parenthesis uint8_t seen_parens_comment :1; ///< seen an open parenthesis
uint8_t option_all_relative :1; ///< relative or absolute coordinates?
uint8_t option_e_relative :1; ///< same for e axis (M82/M83)
uint8_t option_inches :1; ///< inches or millimeters? uint8_t option_inches :1; ///< inches or millimeters?
}; };
uint16_t flags; uint16_t flags;

111
gcode_process.c
View File

@ -41,7 +41,7 @@ uint8_t next_tool;
#if E_STARTSTOP_STEPS > 0 #if E_STARTSTOP_STEPS > 0
/// move E by a certain amount at a certain speed /// move E by a certain amount at a certain speed
static void SpecialMoveE(int32_t e, uint32_t f) { static void SpecialMoveE(int32_t e, uint32_t f) {
TARGET t = { 0L, 0L, 0L, e, f, 1, 1 }; TARGET t = { 0L, 0L, 0L, e, f, 1 };
enqueue(&t); enqueue(&t);
} }
#endif /* E_STARTSTOP_STEPS > 0 */ #endif /* E_STARTSTOP_STEPS > 0 */
@ -59,66 +59,44 @@ static void SpecialMoveE(int32_t e, uint32_t f) {
void process_gcode_command() { void process_gcode_command() {
uint32_t backup_f; uint32_t backup_f;
// convert relative to absolute
if (next_target.option_all_relative) {
next_target.target.X += startpoint.X;
next_target.target.Y += startpoint.Y;
next_target.target.Z += startpoint.Z;
}
// E relative movement.
// Matches Sprinter's behaviour as of March 2012.
if (next_target.option_all_relative || next_target.option_e_relative)
next_target.target.e_relative = 1;
else
next_target.target.e_relative = 0;
// implement axis limits // implement axis limits
#ifdef X_MIN #ifdef X_MIN
if (next_target.target.all_relative) { if (next_target.target.X < X_MIN * 1000.)
if (next_target.target.X += startpoint.X < X_MIN * 1000.) next_target.target.X = X_MIN * 1000.;
next_target.target.X = X_MIN * 1000. + startpoint.X;
}
else {
if (next_target.target.X < X_MIN * 1000.)
next_target.target.X = X_MIN * 1000.;
}
#endif #endif
#ifdef X_MAX #ifdef X_MAX
if (next_target.target.all_relative) { if (next_target.target.X > X_MAX * 1000.)
if (next_target.target.X += startpoint.X > X_MAX * 1000.) next_target.target.X = X_MAX * 1000.;
next_target.target.X = X_MAX * 1000. - startpoint.X;
}
else {
if (next_target.target.X > X_MAX * 1000.)
next_target.target.X = X_MAX * 1000.;
}
#endif #endif
#ifdef Y_MIN #ifdef Y_MIN
if (next_target.target.all_relative) { if (next_target.target.Y < Y_MIN * 1000.)
if (next_target.target.Y += startpoint.Y < Y_MIN * 1000.) next_target.target.Y = Y_MIN * 1000.;
next_target.target.Y = Y_MIN * 1000. + startpoint.Y;
}
else {
if (next_target.target.Y < Y_MIN * 1000.)
next_target.target.Y = Y_MIN * 1000.;
}
#endif #endif
#ifdef Y_MAX #ifdef Y_MAX
if (next_target.target.all_relative) { if (next_target.target.Y > Y_MAX * 1000.)
if (next_target.target.Y += startpoint.Y > Y_MAX * 1000.) next_target.target.Y = Y_MAX * 1000.;
next_target.target.Y = Y_MAX * 1000. - startpoint.Y;
}
else {
if (next_target.target.Y > Y_MAX * 1000.)
next_target.target.Y = Y_MAX * 1000.;
}
#endif #endif
#ifdef Z_MIN #ifdef Z_MIN
if (next_target.target.all_relative) { if (next_target.target.Z < Z_MIN * 1000.)
if (next_target.target.Z += startpoint.Z < Z_MIN * 1000.) next_target.target.Z = Z_MIN * 1000.;
next_target.target.Z = Z_MIN * 1000. + startpoint.Z;
}
else {
if (next_target.target.Z < Z_MIN * 1000.)
next_target.target.Z = Z_MIN * 1000.;
}
#endif #endif
#ifdef Z_MAX #ifdef Z_MAX
if (next_target.target.all_relative) { if (next_target.target.Z > Z_MAX * 1000.)
if (next_target.target.Z += startpoint.Z > Z_MAX * 1000.) next_target.target.Z = Z_MAX * 1000.;
next_target.target.Z = Z_MAX * 1000. - startpoint.Z;
}
else {
if (next_target.target.Z > Z_MAX * 1000.)
next_target.target.Z = Z_MAX * 1000.;
}
#endif #endif
@ -276,12 +254,14 @@ void process_gcode_command() {
//? All coordinates from now on are absolute relative to the origin //? All coordinates from now on are absolute relative to the origin
//? of the machine. This is the RepRap default. //? of the machine. This is the RepRap default.
//? //?
//? If you ever want to switch back and forth between relative and
//? absolute movement keep in mind, X, Y and Z follow the machine's
//? coordinate system while E doesn't change it's position in the
//? coordinate system on relative movements.
//?
// No queue_wait() needed. // No wait_queue() needed.
next_target.target.all_relative = 0; next_target.option_all_relative = 0;
// TODO: What's about startpoint, next_target an friends?
// What should a machine do when returning from relative
// to absolute mode?
break; break;
case 91: case 91:
@ -292,8 +272,8 @@ void process_gcode_command() {
//? All coordinates from now on are relative to the last position. //? All coordinates from now on are relative to the last position.
//? //?
// No queue_wait() needed. // No wait_queue() needed.
next_target.target.all_relative = 1; next_target.option_all_relative = 1;
break; break;
case 92: case 92:
@ -319,9 +299,7 @@ void process_gcode_command() {
axisSelected = 1; axisSelected = 1;
} }
if (next_target.seen_E) { if (next_target.seen_E) {
#ifdef E_ABSOLUTE startpoint.E = next_target.target.E;
startpoint.E = next_target.target.E;
#endif
axisSelected = 1; axisSelected = 1;
} }
@ -424,21 +402,26 @@ void process_gcode_command() {
case 82: case 82:
//? --- M82 - Set E codes absolute --- //? --- M82 - Set E codes absolute ---
//? //?
//? This is the default. M82/M83 is not documented in the //? This is the default and overrides G90/G91.
//? RepRap wiki, behaviours was taken from Sprinter as of March 2012. //? M82/M83 is not documented in the RepRap wiki, behaviour
//? was taken from Sprinter as of March 2012.
//?
//? While E does relative movements, it doesn't change its
//? position in the coordinate system. See also comment on G90.
//?
// No wait_queue() needed. // No wait_queue() needed.
next_target.target.e_relative = 0; next_target.option_e_relative = 0;
break; break;
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
case 83: case 83:
//? --- M83 - Set E codes relative --- //? --- M83 - Set E codes relative ---
//? //?
//? Counterpart to M82. //? Counterpart to M82.
//?
// No wait_queue() needed. // No wait_queue() needed.
next_target.target.e_relative = 1; next_target.option_e_relative = 1;
break; break;
// M84- stop idle hold // M84- stop idle hold

12
home.c
View File

@ -34,7 +34,7 @@ void home() {
/// find X MIN endstop /// find X MIN endstop
void home_x_negative() { void home_x_negative() {
#if defined X_MIN_PIN #if defined X_MIN_PIN
TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 }; TARGET t = startpoint;
t.X = -1000000; t.X = -1000000;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -70,7 +70,7 @@ void home_x_positive() {
#warning X_MAX_PIN defined, but not X_MAX. home_x_positive() disabled. #warning X_MAX_PIN defined, but not X_MAX. home_x_positive() disabled.
#endif #endif
#if defined X_MAX_PIN && defined X_MAX #if defined X_MAX_PIN && defined X_MAX
TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 }; TARGET t = startpoint;
t.X = +1000000; t.X = +1000000;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -104,7 +104,7 @@ void home_x_positive() {
/// fund Y MIN endstop /// fund Y MIN endstop
void home_y_negative() { void home_y_negative() {
#if defined Y_MIN_PIN #if defined Y_MIN_PIN
TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 }; TARGET t = startpoint;
t.Y = -1000000; t.Y = -1000000;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -140,7 +140,7 @@ void home_y_positive() {
#warning Y_MAX_PIN defined, but not Y_MAX. home_y_positive() disabled. #warning Y_MAX_PIN defined, but not Y_MAX. home_y_positive() disabled.
#endif #endif
#if defined Y_MAX_PIN && defined Y_MAX #if defined Y_MAX_PIN && defined Y_MAX
TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 }; TARGET t = startpoint;
t.Y = +1000000; t.Y = +1000000;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -174,7 +174,7 @@ void home_y_positive() {
/// find Z MIN endstop /// find Z MIN endstop
void home_z_negative() { void home_z_negative() {
#if defined Z_MIN_PIN #if defined Z_MIN_PIN
TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 }; TARGET t = startpoint;
t.Z = -1000000; t.Z = -1000000;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -211,7 +211,7 @@ void home_z_positive() {
#warning Z_MAX_PIN defined, but not Z_MAX. home_z_positive() disabled. #warning Z_MAX_PIN defined, but not Z_MAX. home_z_positive() disabled.
#endif #endif
#if defined Z_MAX_PIN && defined Z_MAX #if defined Z_MAX_PIN && defined Z_MAX
TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 }; TARGET t = startpoint;
t.Z = +1000000; t.Z = +1000000;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING