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Add delta_height variable in lieu of using home_offset

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2.0.x
Thomas Moore 7 years ago
parent 09b05c9d79
commit f34c3597dc
9 changed files with 78 additions and 93 deletions
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14
Marlin/src/gcode/calibrate/G33.cpp
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@ -69,7 +69,7 @@ static void print_signed_float(const char * const prefix, const float &f) {
}
static void print_G33_settings(const bool end_stops, const bool tower_angles) {
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
SERIAL_PROTOCOLPAIR(".Height:", delta_height);
if (end_stops) {
print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
@ -317,7 +317,7 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
@ -337,7 +337,7 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
switch (axis) {
@ -446,7 +446,7 @@ void GcodeSuite::G33() {
delta_endstop_adj[C_AXIS]
},
dr_old = delta_radius,
zh_old = home_offset[Z_AXIS],
zh_old = delta_height,
ta_old[ABC] = {
delta_tower_angle_trim[A_AXIS],
delta_tower_angle_trim[B_AXIS],
@ -525,7 +525,7 @@ void GcodeSuite::G33() {
if (zero_std_dev < zero_std_dev_min) {
COPY(e_old, delta_endstop_adj);
dr_old = delta_radius;
zh_old = home_offset[Z_AXIS];
zh_old = delta_height;
COPY(ta_old, delta_tower_angle_trim);
}
@ -609,7 +609,7 @@ void GcodeSuite::G33() {
else if (zero_std_dev >= test_precision) { // step one back
COPY(delta_endstop_adj, e_old);
delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old;
delta_height = zh_old;
COPY(delta_tower_angle_trim, ta_old);
}
@ -623,7 +623,7 @@ void GcodeSuite::G33() {
// adjust delta_height and endstops by the max amount
const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
}
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);

2
Marlin/src/gcode/calibrate/M665.cpp
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@ -45,7 +45,7 @@
*/
void GcodeSuite::M665() {
if (parser.seen('H')) {
home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT;
delta_height = parser.value_linear_units();
update_software_endstops(Z_AXIS);
}
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();

2
Marlin/src/inc/Conditionals_post.h
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@ -1082,7 +1082,7 @@
// Updated G92 behavior shifts the workspace
#define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS)
// The home offset also shifts the coordinate space
#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DELTA))
#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA))
// Either offset yields extra calculations on all moves
#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET)
// M206 doesn't apply to DELTA

5
Marlin/src/lcd/ultralcd.cpp
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@ -2743,9 +2743,7 @@ void kill_screen(const char* lcd_msg) {
void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); }
void _goto_center() { _man_probe_pt(0,0); }
static float _delta_height = DELTA_HEIGHT;
void _lcd_set_delta_height() {
home_offset[Z_AXIS] = _delta_height - DELTA_HEIGHT;
update_software_endstops(Z_AXIS);
}
@ -2753,8 +2751,7 @@ void kill_screen(const char* lcd_msg) {
START_MENU();
MENU_BACK(MSG_DELTA_CALIBRATE);
MENU_ITEM_EDIT(float52, MSG_DELTA_DIAG_ROG, &delta_diagonal_rod, DELTA_DIAGONAL_ROD - 5.0, DELTA_DIAGONAL_ROD + 5.0);
_delta_height = DELTA_HEIGHT + home_offset[Z_AXIS];
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &_delta_height, _delta_height - 10.0, _delta_height + 10.0, _lcd_set_delta_height);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, _lcd_set_delta_height);
MENU_ITEM_EDIT(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0);
MENU_ITEM_EDIT(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0);
MENU_ITEM_EDIT(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0);

121
Marlin/src/module/configuration_store.cpp
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@ -36,7 +36,7 @@
*
*/
#define EEPROM_VERSION "V44"
#define EEPROM_VERSION "V45"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
@ -91,15 +91,16 @@
* 324 G29 A planner.leveling_active (bool)
* 325 G29 S ubl.storage_slot (int8_t)
*
* DELTA: 40 bytes
* 352 M666 XYZ delta_endstop_adj (float x3)
* 364 M665 R delta_radius (float)
* 368 M665 L delta_diagonal_rod (float)
* 372 M665 S delta_segments_per_second (float)
* 376 M665 B delta_calibration_radius (float)
* 380 M665 X delta_tower_angle_trim[A] (float)
* 384 M665 Y delta_tower_angle_trim[B] (float)
* 388 M665 Z delta_tower_angle_trim[C] (float)
* DELTA: 44 bytes
* 352 M666 H delta_height (float)
* 364 M666 XYZ delta_endstop_adj (float x3)
* 368 M665 R delta_radius (float)
* 372 M665 L delta_diagonal_rod (float)
* 376 M665 S delta_segments_per_second (float)
* 380 M665 B delta_calibration_radius (float)
* 384 M665 X delta_tower_angle_trim[A] (float)
* 388 M665 Y delta_tower_angle_trim[B] (float)
* 392 M665 Z delta_tower_angle_trim[C] (float)
*
* [XYZ]_DUAL_ENDSTOPS: 12 bytes
* 352 M666 X endstops.x_endstop_adj (float)
@ -107,65 +108,65 @@
* 360 M666 Z endstops.z_endstop_adj (float)
*
* ULTIPANEL: 6 bytes
* 392 M145 S0 H lcd_preheat_hotend_temp (int x2)
* 396 M145 S0 B lcd_preheat_bed_temp (int x2)
* 400 M145 S0 F lcd_preheat_fan_speed (int x2)
* 396 M145 S0 H lcd_preheat_hotend_temp (int x2)
* 400 M145 S0 B lcd_preheat_bed_temp (int x2)
* 404 M145 S0 F lcd_preheat_fan_speed (int x2)
*
* PIDTEMP: 82 bytes
* 404 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
* 420 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
* 436 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
* 452 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 468 M301 E4 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 484 M301 L lpq_len (int)
* 408 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
* 428 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
* 440 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
* 456 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 472 M301 E4 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 488 M301 L lpq_len (int)
*
* PIDTEMPBED: 12 bytes
* 486 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3)
* 490 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3)
*
* DOGLCD: 2 bytes
* 498 M250 C lcd_contrast (uint16_t)
* 502 M250 C lcd_contrast (uint16_t)
*
* FWRETRACT: 33 bytes
* 500 M209 S autoretract_enabled (bool)
* 501 M207 S retract_length (float)
* 505 M207 F retract_feedrate_mm_s (float)
* 509 M207 Z retract_zlift (float)
* 513 M208 S retract_recover_length (float)
* 517 M208 F retract_recover_feedrate_mm_s (float)
* 521 M207 W swap_retract_length (float)
* 525 M208 W swap_retract_recover_length (float)
* 529 M208 R swap_retract_recover_feedrate_mm_s (float)
* 504 M209 S autoretract_enabled (bool)
* 505 M207 S retract_length (float)
* 509 M207 F retract_feedrate_mm_s (float)
* 513 M207 Z retract_zlift (float)
* 517 M208 S retract_recover_length (float)
* 521 M208 F retract_recover_feedrate_mm_s (float)
* 525 M207 W swap_retract_length (float)
* 529 M208 W swap_retract_recover_length (float)
* 533 M208 R swap_retract_recover_feedrate_mm_s (float)
*
* Volumetric Extrusion: 21 bytes
* 533 M200 D volumetric_enabled (bool)
* 534 M200 T D filament_size (float x5) (T0..3)
* 537 M200 D volumetric_enabled (bool)
* 538 M200 T D filament_size (float x5) (T0..3)
*
* HAVE_TMC2130: 22 bytes
* 554 M906 X Stepper X current (uint16_t)
* 556 M906 Y Stepper Y current (uint16_t)
* 558 M906 Z Stepper Z current (uint16_t)
* 560 M906 X2 Stepper X2 current (uint16_t)
* 562 M906 Y2 Stepper Y2 current (uint16_t)
* 564 M906 Z2 Stepper Z2 current (uint16_t)
* 566 M906 E0 Stepper E0 current (uint16_t)
* 568 M906 E1 Stepper E1 current (uint16_t)
* 570 M906 E2 Stepper E2 current (uint16_t)
* 572 M906 E3 Stepper E3 current (uint16_t)
* 574 M906 E4 Stepper E4 current (uint16_t)
* 558 M906 X Stepper X current (uint16_t)
* 560 M906 Y Stepper Y current (uint16_t)
* 562 M906 Z Stepper Z current (uint16_t)
* 564 M906 X2 Stepper X2 current (uint16_t)
* 566 M906 Y2 Stepper Y2 current (uint16_t)
* 568 M906 Z2 Stepper Z2 current (uint16_t)
* 570 M906 E0 Stepper E0 current (uint16_t)
* 572 M906 E1 Stepper E1 current (uint16_t)
* 574 M906 E2 Stepper E2 current (uint16_t)
* 576 M906 E3 Stepper E3 current (uint16_t)
* 578 M906 E4 Stepper E4 current (uint16_t)
*
* LIN_ADVANCE: 8 bytes
* 576 M900 K extruder_advance_k (float)
* 580 M900 WHD advance_ed_ratio (float)
* 580 M900 K extruder_advance_k (float)
* 584 M900 WHD advance_ed_ratio (float)
*
* HAS_MOTOR_CURRENT_PWM:
* 584 M907 X Stepper XY current (uint32_t)
* 588 M907 Z Stepper Z current (uint32_t)
* 592 M907 E Stepper E current (uint32_t)
* 588 M907 X Stepper XY current (uint32_t)
* 592 M907 Z Stepper Z current (uint32_t)
* 596 M907 E Stepper E current (uint32_t)
*
* CNC_COORDINATE_SYSTEMS 108 bytes
* 596 G54-G59.3 coordinate_system (float x 27)
* 600 G54-G59.3 coordinate_system (float x 27)
*
* 704 Minimum end-point
* 708 Minimum end-point
* 2025 (704 + 36 + 9 + 288 + 988) Maximum end-point
*
* ========================================================================
@ -325,15 +326,7 @@ void MarlinSettings::postprocess() {
#if !HAS_HOME_OFFSET
const float home_offset[XYZ] = { 0 };
#endif
#if ENABLED(DELTA)
dummy = 0.0;
EEPROM_WRITE(dummy);
EEPROM_WRITE(dummy);
dummy = DELTA_HEIGHT + home_offset[Z_AXIS];
EEPROM_WRITE(dummy);
#else
EEPROM_WRITE(home_offset);
#endif
#if HOTENDS > 1
// Skip hotend 0 which must be 0
@ -436,6 +429,7 @@ void MarlinSettings::postprocess() {
// 10 floats for DELTA / [XYZ]_DUAL_ENDSTOPS
#if ENABLED(DELTA)
EEPROM_WRITE(delta_height); // 1 float
EEPROM_WRITE(delta_endstop_adj); // 3 floats
EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float
@ -756,12 +750,6 @@ void MarlinSettings::postprocess() {
#endif
EEPROM_READ(home_offset);
#if ENABLED(DELTA)
home_offset[X_AXIS] = 0.0;
home_offset[Y_AXIS] = 0.0;
home_offset[Z_AXIS] -= DELTA_HEIGHT;
#endif
//
// Hotend Offsets, if any
//
@ -867,6 +855,7 @@ void MarlinSettings::postprocess() {
//
#if ENABLED(DELTA)
EEPROM_READ(delta_height); // 1 float
EEPROM_READ(delta_endstop_adj); // 3 floats
EEPROM_READ(delta_radius); // 1 float
EEPROM_READ(delta_diagonal_rod); // 1 float
@ -1333,13 +1322,13 @@ void MarlinSettings::reset() {
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ,
dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
delta_height = DELTA_HEIGHT;
COPY(delta_endstop_adj, adj);
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
COPY(delta_tower_angle_trim, dta);
home_offset[Z_AXIS] = 0;
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
@ -1763,7 +1752,7 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M665 L", LINEAR_UNIT(delta_diagonal_rod));
SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
SERIAL_ECHOPAIR(" H", LINEAR_UNIT(delta_height));
SERIAL_ECHOPAIR(" S", delta_segments_per_second);
SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius));
SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));

8
Marlin/src/module/delta.cpp
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@ -38,7 +38,8 @@
#include "../Marlin.h"
// Initialized by settings.load()
float delta_endstop_adj[ABC] = { 0 },
float delta_height,
delta_endstop_adj[ABC] = { 0 },
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
@ -224,14 +225,13 @@ bool home_delta() {
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
feedrate_mm_s = homing_feedrate(X_AXIS);
line_to_current_position();
stepper.synchronize();
// If an endstop was not hit, then damage can occur if homing is continued.
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
// not set correctly.
// This can occur if the delta height not set correctly.
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
SERIAL_ERROR_START();

3
Marlin/src/module/delta.h
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@ -27,7 +27,8 @@
#ifndef __DELTA_H__
#define __DELTA_H__
extern float delta_endstop_adj[ABC],
extern float delta_height,
delta_endstop_adj[ABC],
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,

6
Marlin/src/module/motion.cpp
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@ -970,6 +970,8 @@ void set_axis_is_at_home(const AxisEnum axis) {
#if ENABLED(MORGAN_SCARA)
scara_set_axis_is_at_home(axis);
#elif ENABLED(DELTA)
current_position[axis] = (axis == Z_AXIS ? delta_height : base_home_pos(axis));
#else
current_position[axis] = base_home_pos(axis);
#endif
@ -1251,8 +1253,8 @@ void homeaxis(const AxisEnum axis) {
}
}
#elif ENABLED(DELTA)
soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs);
soft_endstop_max[axis] = base_max_pos(axis) + offs;
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height : base_max_pos(axis)) + offs;
#else
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;

8
Marlin/src/module/probe.cpp
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@ -564,11 +564,7 @@ static float run_z_probe(const bool short_move=true) {
}
#endif
return current_position[Z_AXIS] + zprobe_zoffset
#if ENABLED(DELTA)
+ home_offset[Z_AXIS] // Account for delta height adjustment
#endif
;
return current_position[Z_AXIS] + zprobe_zoffset;
}
/**
@ -686,7 +682,7 @@ void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
#endif
#if ENABLED(DELTA) // correct the delta_height
home_offset[Z_AXIS] -= diff;
delta_height -= diff;
#endif
}

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