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Version 1.09j

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Bug fix: Pause function sometimes used to hang while running pause macro
file
Don't wait for all moved to complete when executing a G92 command that
just resets extruder positions
M574 endstop configuration now overrides M558 when determining whether
or not to use the Z probe instead of a homing switch
Added XYZ parameters to M667 command to support CoreXZ etc. machines
with paired axis ratios that are not 1:1
Minor change to step ISR to improve timings and service drives in
round-robin order
This commit is contained in:
David Crocker 2015-09-06 14:10:42 +01:00
parent a996c7ec4f
commit b4b82c6546
8 changed files with 95 additions and 39 deletions
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4
Configuration.h
View file

@ -26,11 +26,11 @@ Licence: GPL
#define NAME "RepRapFirmware" #define NAME "RepRapFirmware"
#ifndef VERSION #ifndef VERSION
#define VERSION "1.09i-dc42" #define VERSION "1.09j-dc42"
#endif #endif
#ifndef DATE #ifndef DATE
#define DATE "2015-09-02" #define DATE "2015-09-06"
#endif #endif
#define AUTHORS "reprappro, dc42, zpl, t3p3, dnewman" #define AUTHORS "reprappro, dc42, zpl, t3p3, dnewman"

4
DDA.cpp
View file

@ -831,11 +831,11 @@ bool DDA::Step()
} }
const uint32_t elapsedTime = (Platform::GetInterruptClocks() - moveStartTime) + minInterruptInterval; const uint32_t elapsedTime = (Platform::GetInterruptClocks() - moveStartTime) + minInterruptInterval;
while (elapsedTime >= dm->nextStepTime) // if the next step is due while (elapsedTime >= dm->nextStepTime) // if the next step is due
{ {
size_t drive = dm->drive; size_t drive = dm->drive;
reprap.GetPlatform()->StepHigh(drive);
++numReps; ++numReps;
reprap.GetPlatform()->StepHigh(drive);
firstDM = dm->nextDM; firstDM = dm->nextDM;
bool moreSteps = (isDeltaMovement && drive < AXES) ? dm->CalcNextStepTimeDelta(*this, drive) : dm->CalcNextStepTimeCartesian(*this, drive); bool moreSteps = (isDeltaMovement && drive < AXES) ? dm->CalcNextStepTimeDelta(*this, drive) : dm->CalcNextStepTimeCartesian(*this, drive);
if (moreSteps) if (moreSteps)

5
DDA.h
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@ -140,11 +140,12 @@ inline void DDA::SetDriveCoordinate(int32_t a, size_t drive)
endCoordinatesValid = false; endCoordinatesValid = false;
} }
// Insert the specified drive into the step list, in step time order // Insert the specified drive into the step list, in step time order.
// We insert the drive after any existing entries with the same step time so that we service them in round-robin order.
inline void DDA::InsertDM(DriveMovement *dm) inline void DDA::InsertDM(DriveMovement *dm)
{ {
DriveMovement **dmp = &firstDM; DriveMovement **dmp = &firstDM;
while (*dmp != nullptr && (*dmp)->nextStepTime < dm->nextStepTime) while (*dmp != nullptr && (*dmp)->nextStepTime <= dm->nextStepTime)
{ {
dmp = &((*dmp)->nextDM); dmp = &((*dmp)->nextDM);
} }

49
GCodes.cpp
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@ -890,9 +890,23 @@ bool GCodes::DoCannedCycleMove(EndstopChecks ce)
// This sets positions. I.e. it handles G92. // This sets positions. I.e. it handles G92.
bool GCodes::SetPositions(GCodeBuffer *gb) bool GCodes::SetPositions(GCodeBuffer *gb)
{ {
if (!AllMovesAreFinishedAndMoveBufferIsLoaded()) // Don't pause the machine if only extruder drives are being reset (DC, 2015-09-06)
bool doPause = false;
for (size_t drive = 0; drive < AXES; ++drive)
{ {
return false; if (gb->Seen(axisLetters[drive]))
{
doPause = true;
break;
}
}
if (doPause)
{
if (!AllMovesAreFinishedAndMoveBufferIsLoaded())
{
return false;
}
} }
reprap.GetMove()->GetCurrentUserPosition(moveBuffer, 0); // make sure move buffer is up to date reprap.GetMove()->GetCurrentUserPosition(moveBuffer, 0); // make sure move buffer is up to date
@ -4264,21 +4278,36 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
case 667: // Set CoreXY mode case 667: // Set CoreXY mode
{ {
Move* move = reprap.GetMove(); Move* move = reprap.GetMove();
bool seen = false;
float positionNow[DRIVES];
move->GetCurrentUserPosition(positionNow, 0); // get the current position, we may need it later
if (gb->Seen('S')) if (gb->Seen('S'))
{ {
float positionNow[DRIVES]; move->SetCoreXYMode(gb->GetIValue());
move->GetCurrentUserPosition(positionNow, 0); // get the current position, we may need it later seen = true;
int newMode = gb->GetIValue(); }
if (newMode != move->GetCoreXYMode()) for (size_t axis = 0; axis < AXES; ++axis)
{
if (gb->Seen(axisLetters[axis]))
{ {
move->SetCoreXYMode(newMode); move->setCoreAxisFactor(axis, gb->GetFValue());
SetPositions(positionNow); seen = true;
SetAllAxesNotHomed();
} }
} }
if (seen)
{
SetPositions(positionNow);
SetAllAxesNotHomed();
}
else else
{ {
reply.printf("Printer mode is %s\n", move->GetGeometryString()); reply.printf("Printer mode is %s with axis factors", move->GetGeometryString());
for (size_t axis = 0; axis < AXES; ++axis)
{
reply.catf(" %c:%f", move->GetCoreAxisFactor(axis));
}
reply.cat("\n");
} }
} }
break; break;

52
Move.cpp
View file

@ -29,6 +29,10 @@ void Move::Init()
// Reset Cartesian mode // Reset Cartesian mode
deltaParams.Init(); deltaParams.Init();
coreXYMode = 0; coreXYMode = 0;
for (size_t axis = 0; axis < AXES; ++axis)
{
axisFactors[axis] = 1.0;
}
deltaProbing = false; deltaProbing = false;
// Empty the ring // Empty the ring
@ -297,6 +301,7 @@ FilePosition Move::PausePrint(float positions[DRIVES+1])
DDA *dda = currentDda; DDA *dda = currentDda;
if (dda != nullptr) if (dda != nullptr)
{ {
// A move is being executed. See if we can safely pause at the end of it.
if (dda->CanPause()) if (dda->CanPause())
{ {
ddaRingAddPointer = dda->GetNext(); ddaRingAddPointer = dda->GetNext();
@ -311,6 +316,11 @@ FilePosition Move::PausePrint(float positions[DRIVES+1])
if (dda->CanPause()) if (dda->CanPause())
{ {
ddaRingAddPointer = dda->GetNext(); ddaRingAddPointer = dda->GetNext();
if (ddaRingAddPointer->GetState() == DDA::frozen)
{
// Change the state so that the ISR won't start executing this move
ddaRingAddPointer->Free();
}
break; break;
} }
dda = dda->GetNext(); dda = dda->GetNext();
@ -319,8 +329,10 @@ FilePosition Move::PausePrint(float positions[DRIVES+1])
} }
else else
{ {
// No move being executed
ddaRingAddPointer = ddaRingGetPointer; ddaRingAddPointer = ddaRingGetPointer;
} }
cpu_irq_enable(); cpu_irq_enable();
FilePosition fPos = noFilePosition; FilePosition fPos = noFilePosition;
@ -350,7 +362,7 @@ FilePosition Move::PausePrint(float positions[DRIVES+1])
{ {
fPos = dda->GetFilePosition(); fPos = dda->GetFilePosition();
} }
dda->Complete(); dda->Free();
dda = dda->GetNext(); dda = dda->GetNext();
} }
while (dda != savedDdaRingAddPointer); while (dda != savedDdaRingAddPointer);
@ -454,21 +466,27 @@ void Move::MachineToEndPoint(const int32_t motorPos[], float machinePos[], size_
switch (coreXYMode) switch (coreXYMode)
{ {
case 1: // CoreXY case 1: // CoreXY
machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerUnit[X_AXIS]))/(2 * stepsPerUnit[X_AXIS] * stepsPerUnit[Y_AXIS]); machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerUnit[X_AXIS]))
machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerUnit[X_AXIS]))/(2 * stepsPerUnit[X_AXIS] * stepsPerUnit[Y_AXIS]); /(2 * axisFactors[X_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Y_AXIS]);
machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerUnit[X_AXIS]))
/(2 * axisFactors[Y_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Y_AXIS]);
machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerUnit[Z_AXIS]; machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerUnit[Z_AXIS];
break; break;
case 2: // CoreXZ case 2: // CoreXZ
machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Z_AXIS]) - (motorPos[Z_AXIS] * stepsPerUnit[X_AXIS]))/(2 * stepsPerUnit[X_AXIS] * stepsPerUnit[Z_AXIS]); machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Z_AXIS]) - (motorPos[Z_AXIS] * stepsPerUnit[X_AXIS]))
/(2 * axisFactors[X_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Z_AXIS]);
machinePos[Y_AXIS] = motorPos[Y_AXIS]/stepsPerUnit[Y_AXIS]; machinePos[Y_AXIS] = motorPos[Y_AXIS]/stepsPerUnit[Y_AXIS];
machinePos[Z_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerUnit[X_AXIS]))/(2 * stepsPerUnit[X_AXIS] * stepsPerUnit[Z_AXIS]); machinePos[Z_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerUnit[X_AXIS]))
/(2 * axisFactors[Z_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Z_AXIS]);
break; break;
case 3: // CoreYZ case 3: // CoreYZ
machinePos[X_AXIS] = motorPos[X_AXIS]/stepsPerUnit[X_AXIS]; machinePos[X_AXIS] = motorPos[X_AXIS]/stepsPerUnit[X_AXIS];
machinePos[Y_AXIS] = ((motorPos[Y_AXIS] * stepsPerUnit[Z_AXIS]) - (motorPos[Z_AXIS] * stepsPerUnit[Y_AXIS]))/(2 * stepsPerUnit[Y_AXIS] * stepsPerUnit[Z_AXIS]); machinePos[Y_AXIS] = ((motorPos[Y_AXIS] * stepsPerUnit[Z_AXIS]) - (motorPos[Z_AXIS] * stepsPerUnit[Y_AXIS]))
machinePos[Z_AXIS] = ((motorPos[Y_AXIS] * stepsPerUnit[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerUnit[Y_AXIS]))/(2 * stepsPerUnit[Y_AXIS] * stepsPerUnit[Z_AXIS]); /(2 * axisFactors[Y_AXIS] * stepsPerUnit[Y_AXIS] * stepsPerUnit[Z_AXIS]);
machinePos[Z_AXIS] = ((motorPos[Y_AXIS] * stepsPerUnit[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerUnit[Y_AXIS]))
/(2 * axisFactors[Z_AXIS] * stepsPerUnit[Y_AXIS] * stepsPerUnit[Z_AXIS]);
break; break;
default: default:
@ -505,25 +523,25 @@ void Move::MotorTransform(const float machinePos[AXES], int32_t motorPos[AXES])
{ {
switch (coreXYMode) switch (coreXYMode)
{ {
case 1: case 1: // CoreXY
motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, machinePos[X_AXIS] + machinePos[Y_AXIS]); motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, (machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Y_AXIS] * axisFactors[Y_AXIS]));
motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, machinePos[Y_AXIS] - machinePos[X_AXIS]); motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, (machinePos[Y_AXIS] * axisFactors[Y_AXIS]) - (machinePos[X_AXIS] * axisFactors[X_AXIS]));
motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, machinePos[Z_AXIS]); motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, machinePos[Z_AXIS]);
break; break;
case 2: case 2: // CoreXZ
motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, machinePos[X_AXIS] + machinePos[Z_AXIS]); motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, (machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Z_AXIS] * axisFactors[Z_AXIS]));
motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, machinePos[Y_AXIS]); motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, machinePos[Y_AXIS]);
motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, machinePos[Z_AXIS] - machinePos[X_AXIS]); motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, (machinePos[Z_AXIS] * axisFactors[Z_AXIS]) - (machinePos[X_AXIS] * axisFactors[X_AXIS]));
break; break;
case 3: case 3: // CoreYZ
motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, machinePos[X_AXIS]); motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, machinePos[X_AXIS]);
motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, machinePos[Y_AXIS] + machinePos[Z_AXIS]); motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, (machinePos[Y_AXIS] * axisFactors[Y_AXIS]) + (machinePos[Z_AXIS] * axisFactors[Z_AXIS]));
motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, machinePos[Z_AXIS] - machinePos[Y_AXIS]); motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, (machinePos[Z_AXIS] * axisFactors[Z_AXIS]) - (machinePos[Y_AXIS] * axisFactors[Y_AXIS]));
break; break;
default: default: // Cartesian
motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, machinePos[X_AXIS]); motorPos[X_AXIS] = MotorEndPointToMachine(X_AXIS, machinePos[X_AXIS]);
motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, machinePos[Y_AXIS]); motorPos[Y_AXIS] = MotorEndPointToMachine(Y_AXIS, machinePos[Y_AXIS]);
motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, machinePos[Z_AXIS]); motorPos[Z_AXIS] = MotorEndPointToMachine(Z_AXIS, machinePos[Z_AXIS]);

3
Move.h
View file

@ -76,6 +76,8 @@ public:
int GetCoreXYMode() const { return coreXYMode; } int GetCoreXYMode() const { return coreXYMode; }
void SetCoreXYMode(int mode) { coreXYMode = mode; } void SetCoreXYMode(int mode) { coreXYMode = mode; }
float GetCoreAxisFactor(size_t axis) const { return axisFactors[axis]; }
void setCoreAxisFactor(size_t axis, float f) { axisFactors[axis] = f; }
bool IsCoreXYAxis(size_t axis) const; // return true if the specified axis shares its motors with another bool IsCoreXYAxis(size_t axis) const; // return true if the specified axis shares its motors with another
void CurrentMoveCompleted(); // signals that the current move has just been completed void CurrentMoveCompleted(); // signals that the current move has just been completed
@ -158,6 +160,7 @@ private:
uint32_t deltaProbingStartTime; uint32_t deltaProbingStartTime;
bool deltaProbing; bool deltaProbing;
int coreXYMode; // 0 = Cartesian, 1 = CoreXY, 2 = CoreXZ, 3 = CoreYZ int coreXYMode; // 0 = Cartesian, 1 = CoreXY, 2 = CoreXZ, 3 = CoreYZ
float axisFactors[AXES]; // How much further the motors need to move for each axis movement, on a CoreXY/CoreXZ/CoreYZ machine
unsigned int stepErrors; // count of step errors, for diagnostics unsigned int stepErrors; // count of step errors, for diagnostics
}; };

17
Platform.cpp
View file

@ -251,8 +251,10 @@ void Platform::Init()
SetElasticComp(drive, 0.0); SetElasticComp(drive, 0.0);
if (drive <= AXES) if (drive <= AXES)
{ {
endStopType[drive] = EndStopType::lowEndStop; // assume all endstops are low endstops endStopType[drive] = (drive == Y_AXIS)
endStopLogicLevel[drive] = true; // assume all endstops use active high logic e.g. normally-closed switch to ground ? EndStopType::lowEndStop // for Ormerod 2/Huxley/Mendel compatibility
: EndStopType::noEndStop; // for Ormerod/Huxley/Mendel compatibility
endStopLogicLevel[drive] = true; // assume all endstops use active high logic e.g. normally-closed switch to ground
} }
} }
@ -1247,12 +1249,15 @@ void Platform::SetHeater(size_t heater, float power)
EndStopHit Platform::Stopped(size_t drive) const EndStopHit Platform::Stopped(size_t drive) const
{ {
if (nvData.zProbeType > 0 && drive < AXES && nvData.zProbeAxes[drive]) if (endStopType[drive] == EndStopType::noEndStop)
{ {
return GetZProbeResult(); // using the Z probe as am endstop for this axis, so just get its result // No homing switch is configured for this axis, so see if we should use the Z probe
if (nvData.zProbeType > 0 && drive < AXES && nvData.zProbeAxes[drive])
{
return GetZProbeResult(); // using the Z probe as a low homing stop for this axis, so just get its result
}
} }
else if (endStopPins[drive] >= 0)
if (endStopPins[drive] >= 0 && endStopType[drive] != EndStopType::noEndStop)
{ {
if (digitalReadNonDue(endStopPins[drive]) == ((endStopLogicLevel[drive]) ? 1 : 0)) if (digitalReadNonDue(endStopPins[drive]) == ((endStopLogicLevel[drive]) ? 1 : 0))
{ {

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Release/RepRapFirmware-1.09j-dc42.bin Normal file
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