diff options
Diffstat (limited to 'src/Movement/DDA.cpp')
| -rw-r--r-- | src/Movement/DDA.cpp | 24 |
1 files changed, 16 insertions, 8 deletions
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index e98c7042..880f02f5 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -316,8 +316,10 @@ bool DDA::InitStandardMove(DDARing& ring, const RawMove &nextMove, bool doMotorM { return false; // throw away the move if it couldn't be transformed } +#if SUPPORT_LINEAR_DELTA flags.isDeltaMovement = move.IsDeltaMode() && (endPoint[X_AXIS] != positionNow[X_AXIS] || endPoint[Y_AXIS] != positionNow[Y_AXIS] || endPoint[Z_AXIS] != positionNow[Z_AXIS]); +#endif } bool linearAxesMoving = false; @@ -1085,6 +1087,7 @@ float DDA::AdvanceBabyStepping(DDARing& ring, size_t axis, float amount) noexcep // Even if there is no babystepping to do this move, we may need to adjust the end coordinates cdda->endCoordinates[Z_AXIS] += babySteppingDone; +#if SUPPORT_LINEAR_DELTA if (cdda->flags.isDeltaMovement) { for (size_t motor = 0; motor < reprap.GetGCodes().GetTotalAxes(); ++motor) @@ -1096,6 +1099,7 @@ float DDA::AdvanceBabyStepping(DDARing& ring, size_t axis, float amount) noexcep } } else +#endif { cdda->endPoint[Z_AXIS] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS)); } @@ -1320,26 +1324,28 @@ void DDA::Prepare(SimulationMode simMode) noexcept if (simMode < SimulationMode::normal) { +#if SUPPORT_LINEAR_DELTA if (flags.isDeltaMovement) { // This code assumes that the previous move in the DDA ring is the previously-executed move, because it fetches the X and Y end coordinates from that move. // Therefore the Move code must not store a new move in that entry until this one has been prepared! (It took me ages to track this down.) // Ideally we would store the initial X and Y coordinates in the DDA, but we need to be economical with memory -#if MS_USE_FPU +# if MS_USE_FPU // Nothing needed here, use directionVector[Z_AXIS] directly -#else +# else afterPrepare.cKc = lrintf(directionVector[Z_AXIS] * MoveSegment::KdirectionVector); -#endif +# endif params.a2plusb2 = fsquare(directionVector[X_AXIS]) + fsquare(directionVector[Y_AXIS]); params.initialX = prev->GetEndCoordinate(X_AXIS, false); params.initialY = prev->GetEndCoordinate(Y_AXIS, false); -#if SUPPORT_CAN_EXPANSION + params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics())); +# if SUPPORT_CAN_EXPANSION params.finalX = GetEndCoordinate(X_AXIS, false); params.finalY = GetEndCoordinate(Y_AXIS, false); params.zMovement = GetEndCoordinate(Z_AXIS, false) - prev->GetEndCoordinate(Z_AXIS, false); -#endif - params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics())); +# endif } +#endif activeDMs = completedDMs = nullptr; @@ -1405,6 +1411,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept } } } +#if SUPPORT_LINEAR_DELTA else if (flags.isDeltaMovement && reprap.GetMove().GetKinematics().GetMotionType(drive) == MotionType::segmentFreeDelta) { // On a delta we need to move all towers even if some of them have no net movement @@ -1438,7 +1445,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept } } -#if SUPPORT_CAN_EXPANSION +# if SUPPORT_CAN_EXPANSION afterPrepare.drivesMoving.SetBit(drive); const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive); for (size_t i = 0; i < config.numDrivers; ++i) @@ -1449,9 +1456,10 @@ void DDA::Prepare(SimulationMode simMode) noexcept CanMotion::AddMovement(params, driver, delta, false); } } -#endif +# endif axisMotorsEnabled.SetBit(drive); } +#endif else if (drive < reprap.GetGCodes().GetTotalAxes()) { // It's a linear axis |