From 443e6d26fe624736dc1f38ced52da0d34ad55f90 Mon Sep 17 00:00:00 2001 From: jbrazio Date: Sun, 27 Mar 2016 04:36:36 +0100 Subject: [PATCH] Formatted multi-line comments --- Marlin/Marlin_main.cpp | 375 ++++++++++++++++++++++++++--------------- 1 file changed, 235 insertions(+), 140 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 4769c397d..38eef424c 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -456,9 +456,11 @@ static bool send_ok[BUFSIZE]; #define KEEPALIVE_STATE(n) ; #endif // HOST_KEEPALIVE_FEATURE -//=========================================================================== -//================================ Functions ================================ -//=========================================================================== +/** + * *************************************************************************** + * ******************************** FUNCTIONS ******************************** + * *************************************************************************** + */ void process_next_command(); @@ -877,16 +879,16 @@ void get_command() { } #endif - // - // Loop while serial characters are incoming and the queue is not full - // + /** + * Loop while serial characters are incoming and the queue is not full + */ while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) { char serial_char = MYSERIAL.read(); - // - // If the character ends the line - // + /** + * If the character ends the line + */ if (serial_char == '\n' || serial_char == '\r') { serial_comment_mode = false; // end of line == end of comment @@ -994,9 +996,12 @@ void get_command() { if (!card.sdprinting) return; - // '#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible - // if it occurs, stop_buffering is triggered and the buffer is run dry. - // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing + /** + * '#' stops reading from SD to the buffer prematurely, so procedural + * macro calls are possible. If it occurs, stop_buffering is triggered + * and the buffer is run dry; this character _can_ occur in serial com + * due to checksums, however, no checksums are used in SD printing. + */ if (commands_in_queue == 0) stop_buffering = false; @@ -1035,8 +1040,10 @@ void get_command() { _commit_command(false); } else if (sd_count >= MAX_CMD_SIZE - 1) { - // Keep fetching, but ignore normal characters beyond the max length - // The command will be injected when EOL is reached + /** + * Keep fetching, but ignore normal characters beyond the max length + * The command will be injected when EOL is reached + */ } else { if (sd_char == ';') sd_comment_mode = true; @@ -1110,10 +1117,12 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR); if (extruder == 0) return base_home_pos(X_AXIS) + home_offset[X_AXIS]; else - // In dual carriage mode the extruder offset provides an override of the - // second X-carriage offset when homed - otherwise X2_HOME_POS is used. - // This allow soft recalibration of the second extruder offset position without firmware reflash - // (through the M218 command). + /** + * In dual carriage mode the extruder offset provides an override of the + * second X-carriage offset when homed - otherwise X2_HOME_POS is used. + * This allow soft recalibration of the second extruder offset position + * without firmware reflash (through the M218 command). + */ return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS; } @@ -1173,8 +1182,11 @@ static void set_axis_is_at_home(AxisEnum axis) { // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]); - // Works out real Homeposition angles using inverse kinematics, - // and calculates homing offset using forward kinematics + + /** + * Works out real Homeposition angles using inverse kinematics, + * and calculates homing offset using forward kinematics + */ calculate_delta(homeposition); // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]); @@ -1194,8 +1206,10 @@ static void set_axis_is_at_home(AxisEnum axis) { current_position[axis] = delta[axis]; - // SCARA home positions are based on configuration since the actual limits are determined by the - // inverse kinematic transform. + /** + * SCARA home positions are based on configuration since the actual + * limits are determined by the inverse kinematic transform. + */ min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis)); max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis)); } @@ -1357,7 +1371,11 @@ static void setup_for_endstop_move() { static void run_z_probe() { - refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding + /** + * To prevent stepper_inactive_time from running out and + * EXTRUDER_RUNOUT_PREVENT from extruding + */ + refresh_cmd_timeout(); #if ENABLED(DELTA) @@ -1377,7 +1395,10 @@ static void setup_for_endstop_move() { st_synchronize(); endstops_hit_on_purpose(); // clear endstop hit flags - // we have to let the planner know where we are right now as it is not where we said to go. + /** + * We have to let the planner know where we are right now as it + * is not where we said to go. + */ long stop_steps = st_get_position(Z_AXIS); float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS]; current_position[Z_AXIS] = mm; @@ -1402,7 +1423,10 @@ static void setup_for_endstop_move() { // Tell the planner where we ended up - Get this from the stepper handler zPosition = st_get_axis_position_mm(Z_AXIS); - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]); + plan_set_position( + current_position[X_AXIS], current_position[Y_AXIS], zPosition, + current_position[E_AXIS] + ); // move up the retract distance zPosition += home_bump_mm(Z_AXIS); @@ -1474,10 +1498,21 @@ static void setup_for_endstop_move() { feedrate = oldFeedRate; } - inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); } - inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); } - inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); } - inline void raise_z_after_probing() { do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); } + inline void do_blocking_move_to_xy(float x, float y) { + do_blocking_move_to(x, y, current_position[Z_AXIS]); + } + + inline void do_blocking_move_to_x(float x) { + do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); + } + + inline void do_blocking_move_to_z(float z) { + do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); + } + + inline void raise_z_after_probing() { + do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); + } static void clean_up_after_endstop_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -1729,7 +1764,8 @@ static void setup_for_endstop_move() { } #endif - do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); // this also updates current_position + // this also updates current_position + do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY) if (probe_action & ProbeDeploy) { @@ -1780,7 +1816,6 @@ static void setup_for_endstop_move() { /** * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING */ - static void extrapolate_one_point(int x, int y, int xdir, int ydir) { if (bed_level[x][y] != 0.0) { return; // Don't overwrite good values. @@ -1800,8 +1835,10 @@ static void setup_for_endstop_move() { bed_level[x][y] = median; } - // Fill in the unprobed points (corners of circular print surface) - // using linear extrapolation, away from the center. + /** + * Fill in the unprobed points (corners of circular print surface) + * using linear extrapolation, away from the center. + */ static void extrapolate_unprobed_bed_level() { int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2; for (int y = 0; y <= half; y++) { @@ -1815,7 +1852,9 @@ static void setup_for_endstop_move() { } } - // Print calibration results for plotting or manual frame adjustment. + /** + * Print calibration results for plotting or manual frame adjustment. + */ static void print_bed_level() { for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) { for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) { @@ -1826,7 +1865,9 @@ static void setup_for_endstop_move() { } } - // Reset calibration results to zero. + /** + * Reset calibration results to zero. + */ void reset_bed_level() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (marlin_debug_flags & DEBUG_LEVELING) { @@ -1846,8 +1887,10 @@ static void setup_for_endstop_move() { void raise_z_for_servo() { float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING; - // The zprobe_zoffset is negative any switch below the nozzle, so - // multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe + /** + * The zprobe_zoffset is negative any switch below the nozzle, so + * multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe + */ z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos; if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position } @@ -1894,7 +1937,8 @@ static void axis_unhomed_error() { #if Z_RAISE_AFTER_PROBING > 0 raise_z_after_probing(); // raise Z #endif - do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); // Dock sled a bit closer to ensure proper capturing + // Dock sled a bit closer to ensure proper capturing + do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); digitalWrite(SLED_PIN, LOW); // turn off magnet } else { @@ -2190,9 +2234,9 @@ static void homeaxis(AxisEnum axis) { #endif // FWRETRACT /** - * - * G-Code Handler functions - * + * *************************************************************************** + * ***************************** G-CODE HANDLING ***************************** + * *************************************************************************** */ /** @@ -2383,7 +2427,10 @@ inline void gcode_G28() { #endif #endif - // For mesh bed leveling deactivate the mesh calculations, will be turned on again when homing all axis + /** + * For mesh bed leveling deactivate the mesh calculations, will be turned + * on again when homing all axis + */ #if ENABLED(MESH_BED_LEVELING) uint8_t mbl_was_active = mbl.active; mbl.active = 0; @@ -2391,13 +2438,19 @@ inline void gcode_G28() { setup_for_endstop_move(); - set_destination_to_current(); // Directly after a reset this is all 0. Later we get a hint if we have to raise z or not. + /** + * Directly after a reset this is all 0. Later we get a hint if we have + * to raise z or not. + */ + set_destination_to_current(); feedrate = 0.0; #if ENABLED(DELTA) - // A delta can only safely home all axis at the same time - // all axis have to home at the same time + /** + * A delta can only safely home all axis at the same time + * all axis have to home at the same time + */ // Pretend the current position is 0,0,0 for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0; @@ -2462,9 +2515,11 @@ inline void gcode_G28() { line_to_destination(); st_synchronize(); - // Update the current Z position even if it currently not real from Z-home - // otherwise each call to line_to_destination() will want to move Z-axis - // by MIN_Z_HEIGHT_FOR_HOMING. + /** + * Update the current Z position even if it currently not real from + * Z-home otherwise each call to line_to_destination() will want to + * move Z-axis by MIN_Z_HEIGHT_FOR_HOMING. + */ current_position[Z_AXIS] = destination[Z_AXIS]; } #endif @@ -2581,15 +2636,18 @@ inline void gcode_G28() { if (home_all_axis) { - // At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height - // No need to move Z any more as this height should already be safe - // enough to reach Z_SAFE_HOMING XY positions. - // Just make sure the planner is in sync. + /** + * At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height + * No need to move Z any more as this height should already be safe + * enough to reach Z_SAFE_HOMING XY positions. + * Just make sure the planner is in sync. + */ sync_plan_position(); - // - // Set the Z probe (or just the nozzle) destination to the safe homing point - // + /** + * Set the Z probe (or just the nozzle) destination to the safe + * homing point + */ destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER)); destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER)); destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height @@ -2606,8 +2664,10 @@ inline void gcode_G28() { line_to_destination(); st_synchronize(); - // Update the current positions for XY, Z is still at least at - // MIN_Z_HEIGHT_FOR_HOMING height, no changes there. + /** + * Update the current positions for XY, Z is still at least at + * MIN_Z_HEIGHT_FOR_HOMING height, no changes there. + */ current_position[X_AXIS] = destination[X_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS]; @@ -2620,8 +2680,11 @@ inline void gcode_G28() { // Let's see if X and Y are homed if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) { - // Make sure the Z probe is within the physical limits - // NOTE: This doesn't necessarily ensure the Z probe is also within the bed! + /** + * Make sure the Z probe is within the physical limits + * NOTE: This doesn't necessarily ensure the Z probe is also + * within the bed! + */ float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS]; if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER) && cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER) @@ -2858,7 +2921,7 @@ inline void gcode_G28() { case MeshSetZOffset: if (code_seen('Z')) { z = code_value(); - } + } else { SERIAL_PROTOCOLPGM("Z not entered.\n"); return; @@ -3038,11 +3101,14 @@ inline void gcode_G28() { float z_offset = zprobe_zoffset; if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value(); #else // !DELTA - // solve the plane equation ax + by + d = z - // A is the matrix with rows [x y 1] for all the probed points - // B is the vector of the Z positions - // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 - // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z + /** + * solve the plane equation ax + by + d = z + * A is the matrix with rows [x y 1] for all the probed points + * B is the vector of the Z positions + * the normal vector to the plane is formed by the coefficients of the + * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 + * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z + */ int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points; @@ -3273,9 +3339,11 @@ inline void gcode_G28() { plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); if (!dryrun) { - // Correct the Z height difference from Z probe position and nozzle tip position. - // The Z height on homing is measured by Z probe, but the Z probe is quite far from the nozzle. - // When the bed is uneven, this height must be corrected. + /** + * Correct the Z height difference from Z probe position and nozzle tip position. + * The Z height on homing is measured by Z probe, but the Z probe is quite far + * from the nozzle. When the bed is uneven, this height must be corrected. + */ float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER, y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER, z_tmp = current_position[Z_AXIS], @@ -3290,24 +3358,31 @@ inline void gcode_G28() { } #endif - apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the Z probe offset - - // Get the current Z position and send it to the planner. - // - // >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z (most recent plan_set_position/sync_plan_position) - // - // >> zprobe_zoffset : Z distance from nozzle to Z probe (set by default, M851, EEPROM, or Menu) - // - // >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted after the last probe - // - // >> Should home_offset[Z_AXIS] be included? - // - // Discussion: home_offset[Z_AXIS] was applied in G28 to set the starting Z. - // If Z is not tweaked in G29 -and- the Z probe in G29 is not actually "homing" Z... - // then perhaps it should not be included here. The purpose of home_offset[] is to - // adjust for inaccurate endstops, not for reasonably accurate probes. If it were - // added here, it could be seen as a compensating factor for the Z probe. - // + // Apply the correction sending the Z probe offset + apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); + + /* + * Get the current Z position and send it to the planner. + * + * >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z + * (most recent plan_set_position/sync_plan_position) + * + * >> zprobe_zoffset : Z distance from nozzle to Z probe + * (set by default, M851, EEPROM, or Menu) + * + * >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted + * after the last probe + * + * >> Should home_offset[Z_AXIS] be included? + * + * + * Discussion: home_offset[Z_AXIS] was applied in G28 to set the + * starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is + * not actually "homing" Z... then perhaps it should not be included + * here. The purpose of home_offset[] is to adjust for inaccurate + * endstops, not for reasonably accurate probes. If it were added + * here, it could be seen as a compensating factor for the Z probe. + */ #if ENABLED(DEBUG_LEVELING_FEATURE) if (marlin_debug_flags & DEBUG_LEVELING) { SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp); @@ -3697,7 +3772,10 @@ inline void gcode_M42() { #if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) - // This is redundant since the SanityCheck.h already checks for a valid Z_MIN_PROBE_PIN, but here for clarity. + /** + * This is redundant since the SanityCheck.h already checks for a valid + * Z_MIN_PROBE_PIN, but here for clarity. + */ #if ENABLED(Z_MIN_PROBE_ENDSTOP) #if !HAS_Z_PROBE #error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation. @@ -3804,17 +3882,20 @@ inline void gcode_M42() { if (!seen_L) n_legs = 7; } - // Now get everything to the specified probe point So we can safely do a probe to - // get us close to the bed. If the Z-Axis is far from the bed, we don't want to - // use that as a starting point for each probe. - // + /** + * Now get everything to the specified probe point So we can safely do a + * probe to get us close to the bed. If the Z-Axis is far from the bed, + * we don't want to use that as a starting point for each probe. + */ if (verbose_level > 2) SERIAL_PROTOCOLPGM("Positioning the probe...\n"); #if ENABLED(DELTA) - reset_bed_level(); // we don't do bed level correction in M48 because we want the raw data when we probe + // we don't do bed level correction in M48 because we want the raw data when we probe + reset_bed_level(); #else - plan_bed_level_matrix.set_to_identity(); // we don't do bed level correction in M48 because we wantthe raw data when we probe + // we don't do bed level correction in M48 because we want the raw data when we probe + plan_bed_level_matrix.set_to_identity(); #endif if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0) @@ -3822,10 +3903,10 @@ inline void gcode_M42() { do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER); - // - // OK, do the initial probe to get us close to the bed. - // Then retrace the right amount and use that in subsequent probes - // + /** + * OK, do the initial probe to get us close to the bed. + * Then retrace the right amount and use that in subsequent probes + */ setup_for_endstop_move(); probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, @@ -3862,19 +3943,27 @@ inline void gcode_M42() { for (uint8_t l = 0; l < n_legs - 1; l++) { double delta_angle; + if (schizoid_flag) - delta_angle = dir * 2.0 * 72.0; // The points of a 5 point star are 72 degrees apart. We need to - // skip a point and go to the next one on the star. + // The points of a 5 point star are 72 degrees apart. We need to + // skip a point and go to the next one on the star. + delta_angle = dir * 2.0 * 72.0; + else - delta_angle = dir * (float) random(25, 45); // If we do this line, we are just trying to move further - // around the circle. + // If we do this line, we are just trying to move further + // around the circle. + delta_angle = dir * (float) random(25, 45); + angle += delta_angle; + while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the angle -= 360.0; // Arduino documentation says the trig functions should not be given values while (angle < 0.0) // outside of this range. It looks like they behave correctly with angle += 360.0; // numbers outside of the range, but just to be safe we clamp them. + X_current = X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER + cos(RADIANS(angle)) * radius; Y_current = Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER + sin(RADIANS(angle)) * radius; + #if DISABLED(DELTA) X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); @@ -3904,10 +3993,13 @@ inline void gcode_M42() { } // n_legs loop } // n_legs - // We don't really have to do this move, but if we don't we can see a funny shift in the Z Height - // Because the user might not have the Z_RAISE_BEFORE_PROBING height identical to the - // Z_RAISE_BETWEEN_PROBING height. This gets us back to the probe location at the same height that - // we have been running around the circle at. + /** + * We don't really have to do this move, but if we don't we can see a + * funny shift in the Z Height because the user might not have the + * Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING + * height. This gets us back to the probe location at the same height that + * we have been running around the circle at. + */ do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER); if (deploy_probe_for_each_reading) sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level); @@ -3917,17 +4009,17 @@ inline void gcode_M42() { sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level); } - // - // Get the current mean for the data points we have so far - // + /** + * Get the current mean for the data points we have so far + */ sum = 0.0; for (uint8_t j = 0; j <= n; j++) sum += sample_set[j]; mean = sum / (n + 1); - // - // Now, use that mean to calculate the standard deviation for the - // data points we have so far - // + /** + * Now, use that mean to calculate the standard deviation for the + * data points we have so far + */ sum = 0.0; for (uint8_t j = 0; j <= n; j++) { float ss = sample_set[j] - mean; @@ -4367,9 +4459,11 @@ inline void gcode_M140() { inline void gcode_M80() { OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND - // If you have a switch on suicide pin, this is useful - // if you want to start another print with suicide feature after - // a print without suicide... + /** + * If you have a switch on suicide pin, this is useful + * if you want to start another print with suicide feature after + * a print without suicide... + */ #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, HIGH); #endif @@ -6973,31 +7067,32 @@ void plan_arc( float linear_per_segment = linear_travel / segments; float extruder_per_segment = extruder_travel / segments; - /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, - and phi is the angle of rotation. Based on the solution approach by Jens Geisler. - r_T = [cos(phi) -sin(phi); - sin(phi) cos(phi] * r ; - - For arc generation, the center of the circle is the axis of rotation and the radius vector is - defined from the circle center to the initial position. Each line segment is formed by successive - vector rotations. This requires only two cos() and sin() computations to form the rotation - matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since - all double numbers are single precision on the Arduino. (True double precision will not have - round off issues for CNC applications.) Single precision error can accumulate to be greater than - tool precision in some cases. Therefore, arc path correction is implemented. - - Small angle approximation may be used to reduce computation overhead further. This approximation - holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words, - theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large - to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for - numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an - issue for CNC machines with the single precision Arduino calculations. - - This approximation also allows plan_arc to immediately insert a line segment into the planner - without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied - a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead. - This is important when there are successive arc motions. - */ + /** + * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, + * and phi is the angle of rotation. Based on the solution approach by Jens Geisler. + * r_T = [cos(phi) -sin(phi); + * sin(phi) cos(phi] * r ; + * + * For arc generation, the center of the circle is the axis of rotation and the radius vector is + * defined from the circle center to the initial position. Each line segment is formed by successive + * vector rotations. This requires only two cos() and sin() computations to form the rotation + * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since + * all double numbers are single precision on the Arduino. (True double precision will not have + * round off issues for CNC applications.) Single precision error can accumulate to be greater than + * tool precision in some cases. Therefore, arc path correction is implemented. + * + * Small angle approximation may be used to reduce computation overhead further. This approximation + * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words, + * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large + * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for + * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an + * issue for CNC machines with the single precision Arduino calculations. + * + * This approximation also allows plan_arc to immediately insert a line segment into the planner + * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied + * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead. + * This is important when there are successive arc motions. + */ // Vector rotation matrix values float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation float sin_T = theta_per_segment;