Merge pull request #6697 from thinkyhead/bf_wednesday_cleanup
Wednesday-Thursday cleaning up after
This commit is contained in:
Scott Lahteine
GitHub
commit
0d48fd4b6b
@ -731,15 +731,12 @@
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* Set granular options based on the specific type of leveling
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*/
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#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(DELTA)
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#define UBL_DELTA
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#endif
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#define UBL_DELTA (ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(DELTA))
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#define ABL_PLANAR (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT))
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#define ABL_GRID (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
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#define HAS_ABL (ABL_PLANAR || ABL_GRID || ENABLED(AUTO_BED_LEVELING_UBL))
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#define HAS_LEVELING (HAS_ABL || ENABLED(MESH_BED_LEVELING))
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#define PLANNER_LEVELING (ABL_PLANAR || ABL_GRID || ENABLED(MESH_BED_LEVELING) || ENABLED(UBL_DELTA))
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#define PLANNER_LEVELING (ABL_PLANAR || ABL_GRID || ENABLED(MESH_BED_LEVELING) || UBL_DELTA)
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#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
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#if HAS_PROBING_PROCEDURE
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#define PROBE_BED_WIDTH abs(RIGHT_PROBE_BED_POSITION - (LEFT_PROBE_BED_POSITION))
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@ -823,8 +820,7 @@
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/**
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* DELTA_SEGMENT_MIN_LENGTH for UBL_DELTA
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*/
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#if ENABLED(UBL_DELTA)
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#if UBL_DELTA
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#ifndef DELTA_SEGMENT_MIN_LENGTH
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#if IS_SCARA
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#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
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@ -836,4 +832,7 @@
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#endif
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#endif
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// Shorthand
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#define GRID_MAX_POINTS ((GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y))
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#endif // CONDITIONALS_POST_H
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@ -100,7 +100,7 @@
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* 'n' can be used instead if your host program does not appreciate you using 'N'.
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*
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* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
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* is over kill, but using this parameter will let you get the very first 'cicle' perfect
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* is over kill, but using this parameter will let you get the very first 'circle' perfect
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* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
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* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
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*
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@ -152,7 +152,7 @@
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bool turn_on_heaters();
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bool prime_nozzle();
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static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16], continue_with_closest = 0;
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static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
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float g26_e_axis_feedrate = 0.020,
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random_deviation = 0.0,
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layer_height = LAYER_HEIGHT;
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@ -176,7 +176,7 @@
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static int8_t prime_flag = 0;
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static bool keep_heaters_on = false;
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static bool continue_with_closest, keep_heaters_on;
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static int16_t g26_repeats;
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@ -278,8 +278,7 @@
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// If this mesh location is outside the printable_radius, skip it.
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if ( ! position_is_reachable_raw_xy( circle_x, circle_y ))
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continue;
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if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue;
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xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
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yi = location.y_index;
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@ -329,9 +328,7 @@
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ye = circle_y + sin_table[tmp_div_30 + 1];
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#if IS_KINEMATIC
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// Check to make sure this segment is entirely on the bed, skip if not.
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if (( ! position_is_reachable_raw_xy( x , y )) ||
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( ! position_is_reachable_raw_xy( xe, ye )))
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continue;
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if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue;
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#else // not, we need to skip
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x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
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y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
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@ -361,7 +358,7 @@
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//debug_current_and_destination(PSTR("Done with current circle."));
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} while (location.x_index >= 0 && location.y_index >= 0 && g26_repeats--);
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} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
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LEAVE:
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lcd_reset_alert_level();
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@ -459,8 +456,7 @@
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sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
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ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
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if (( position_is_reachable_raw_xy( sx, sy )) &&
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( position_is_reachable_raw_xy( ex, ey ))) {
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if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
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if (ubl.g26_debug_flag) {
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SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
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@ -494,8 +490,7 @@
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sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
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ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
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if (( position_is_reachable_raw_xy( sx, sy )) &&
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( position_is_reachable_raw_xy( ex, ey ))) {
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if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
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if (ubl.g26_debug_flag) {
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SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
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@ -623,8 +618,8 @@
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//if (ubl.g26_debug_flag) SERIAL_ECHOLNPGM(" Z bumping by 0.500 to minimize scraping.");
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//todo: parameterize the bump height with a define
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move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]+0.500, 0.0); // Z bump to minimize scraping
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move_to(sx, sy, sz+0.500, 0.0); // Get to the starting point with no extrusion while bumped
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move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
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move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
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}
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move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
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@ -655,9 +650,11 @@
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prime_length = PRIME_LENGTH;
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bed_temp = BED_TEMP;
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hotend_temp = HOTEND_TEMP;
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ooze_amount = OOZE_AMOUNT;
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prime_flag = 0;
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keep_heaters_on = false;
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ooze_amount = code_seen('O') && code_has_value() ? code_value_linear_units() : OOZE_AMOUNT;
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keep_heaters_on = code_seen('K') && code_value_bool();
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continue_with_closest = code_seen('C') && code_value_bool();
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if (code_seen('B')) {
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bed_temp = code_value_temp_abs();
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@ -667,8 +664,6 @@
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}
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}
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if (code_seen('C')) continue_with_closest++;
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if (code_seen('L')) {
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layer_height = code_value_linear_units();
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if (!WITHIN(layer_height, 0.0, 2.0)) {
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@ -691,7 +686,7 @@
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}
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}
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if (code_seen('N') || code_seen('n')) {
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if (code_seen('N') || code_seen('n')) { // Warning! Use of 'N' / lowercase flouts established standards.
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nozzle = code_value_float();
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if (!WITHIN(nozzle, 0.1, 1.0)) {
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SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
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@ -699,11 +694,6 @@
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}
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}
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if (code_seen('K')) keep_heaters_on++;
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if (code_seen('O') && code_has_value())
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ooze_amount = code_value_linear_units();
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if (code_seen('P')) {
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if (!code_has_value())
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prime_flag = -1;
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@ -738,35 +728,21 @@
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}
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}
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if (code_seen('M')) {
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if (code_seen('M')) { // Warning! Use of 'M' flouts established standards.
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randomSeed(millis());
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// This setting will persist for the next G26
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random_deviation = code_has_value() ? code_value_float() : 50.0;
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}
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if (code_seen('R')) {
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g26_repeats = code_has_value() ? code_value_int() : 999;
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if (g26_repeats <= 0) {
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SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be greater than 0.");
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g26_repeats = code_seen('R') ? (code_has_value() ? code_value_int() : 999) : 1;
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if (g26_repeats < 1) {
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SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");
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return UBL_ERR;
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}
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g26_repeats--;
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}
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x_pos = current_position[X_AXIS];
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y_pos = current_position[Y_AXIS];
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if (code_seen('X')) {
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x_pos = code_value_float();
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}
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if (code_seen('Y')) {
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y_pos = code_value_float();
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}
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if ( ! position_is_reachable_xy( x_pos, y_pos )) {
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x_pos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS];
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y_pos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS];
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if (!position_is_reachable_xy(x_pos, y_pos)) {
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SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
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return UBL_ERR;
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}
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@ -56,6 +56,8 @@
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* G12 - Clean tool
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* G20 - Set input units to inches
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* G21 - Set input units to millimeters
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* G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_EDITING)
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* G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
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* G28 - Home one or more axes
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* G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
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* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
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@ -97,14 +99,15 @@
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* M76 - Pause the print job timer.
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* M77 - Stop the print job timer.
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* M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
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* M80 - Turn on Power Supply. (Requires POWER_SUPPLY)
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* M81 - Turn off Power Supply. (Requires POWER_SUPPLY)
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* M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
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* M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
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* M82 - Set E codes absolute (default).
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* M83 - Set E codes relative while in Absolute (G90) mode.
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* M84 - Disable steppers until next move, or use S<seconds> to specify an idle
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* duration after which steppers should turn off. S0 disables the timeout.
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* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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* M92 - Set planner.axis_steps_per_mm for one or more axes.
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* M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
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* M104 - Set extruder target temp.
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* M105 - Report current temperatures.
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* M106 - Fan on.
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@ -210,7 +213,6 @@
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* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
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*
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* ************ Custom codes - This can change to suit future G-code regulations
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* M100 - Watch Free Memory (For Debugging). (Requires M100_FREE_MEMORY_WATCHER)
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* M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
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* M999 - Restart after being stopped by error
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*
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@ -2425,8 +2427,11 @@ static void clean_up_after_endstop_or_probe_move() {
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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#if ENABLED(UBL_DELTA)
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if (( ubl.state.active ) && ( ! enable )) { // leveling from on to off
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#if PLANNER_LEVELING
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if (ubl.state.active != enable) {
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if (!enable) // leveling from on to off
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planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
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else
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planner.unapply_leveling(current_position);
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}
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#endif
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@ -3729,7 +3734,7 @@ inline void gcode_G28() {
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// Disable the leveling matrix before homing
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#if HAS_LEVELING
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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const bool bed_leveling_state_at_entry = ubl.state.active;
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const bool ubl_state_at_entry = ubl.state.active;
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#endif
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set_bed_leveling_enabled(false);
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#endif
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@ -3872,8 +3877,9 @@ inline void gcode_G28() {
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// move to a height where we can use the full xy-area
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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set_bed_leveling_enabled(bed_leveling_state_at_entry);
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set_bed_leveling_enabled(ubl_state_at_entry);
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#endif
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clean_up_after_endstop_or_probe_move();
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@ -4028,7 +4034,7 @@ void home_all_axes() { gcode_G28(); }
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#endif
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}
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// If there's another point to sample, move there with optional lift.
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if (mbl_probe_index < (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)) {
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if (mbl_probe_index < GRID_MAX_POINTS) {
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mbl.zigzag(mbl_probe_index, px, py);
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_manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
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@ -4247,8 +4253,6 @@ void home_all_axes() { gcode_G28(); }
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ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
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ABL_VAR float xGridSpacing, yGridSpacing;
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#define ABL_GRID_MAX (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)
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#if ABL_PLANAR
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ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
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abl_grid_points_y = GRID_MAX_POINTS_Y;
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@ -4262,7 +4266,7 @@ void home_all_axes() { gcode_G28(); }
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#if ABL_PLANAR
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ABL_VAR int abl2;
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#else // 3-point
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int constexpr abl2 = ABL_GRID_MAX;
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int constexpr abl2 = GRID_MAX_POINTS;
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#endif
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#endif
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@ -4274,8 +4278,8 @@ void home_all_axes() { gcode_G28(); }
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ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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ABL_VAR float eqnAMatrix[ABL_GRID_MAX * 3], // "A" matrix of the linear system of equations
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eqnBVector[ABL_GRID_MAX], // "B" vector of Z points
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ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
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eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
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mean;
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#endif
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@ -7619,7 +7623,6 @@ inline void gcode_M205() {
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if (code_seen('H')) {
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home_offset[Z_AXIS] = code_value_linear_units() - DELTA_HEIGHT;
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current_position[Z_AXIS] += code_value_linear_units() - DELTA_HEIGHT - home_offset[Z_AXIS];
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home_offset[Z_AXIS] = code_value_linear_units() - DELTA_HEIGHT;
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update_software_endstops(Z_AXIS);
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}
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if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
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@ -8413,17 +8416,15 @@ void quickstop_stepper() {
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* Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
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*/
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inline void gcode_M421() {
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int8_t px = 0, py = 0;
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float z = 0;
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bool hasX, hasY, hasZ, hasI, hasJ;
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if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_linear_units());
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if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_linear_units());
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if ((hasI = code_seen('I'))) px = code_value_linear_units();
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if ((hasJ = code_seen('J'))) py = code_value_linear_units();
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if ((hasZ = code_seen('Z'))) z = code_value_linear_units();
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const bool hasX = code_seen('X'), hasI = !hasX && code_seen('I');
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const int8_t px = hasX || hasI ? mbl.probe_index_x(code_value_linear_units()) : 0;
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const bool hasY = code_seen('Y'), hasJ = !hasY && code_seen('J');
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const int8_t py = hasY || hasJ ? mbl.probe_index_y(code_value_linear_units()) : 0;
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const bool hasZ = code_seen('Z');
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const float z = hasZ ? code_value_linear_units() : 0;
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if (hasX && hasY && hasZ) {
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if (px >= 0 && py >= 0)
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mbl.set_z(px, py, z);
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else {
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@ -8450,18 +8451,18 @@ void quickstop_stepper() {
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/**
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* M421: Set a single Mesh Bed Leveling Z coordinate
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*
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* Usage:
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* M421 I<xindex> J<yindex> Z<linear>
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* or
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* M421 I<xindex> J<yindex> Q<offset>
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*/
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inline void gcode_M421() {
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int8_t px = 0, py = 0;
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float z = 0;
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bool hasI, hasJ, hasZ, hasQ;
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||||
if ((hasI = code_seen('I'))) px = code_value_int();
|
||||
if ((hasJ = code_seen('J'))) py = code_value_int();
|
||||
if ((hasZ = code_seen('Z'))) z = code_value_linear_units();
|
||||
if ((hasQ = code_seen('Q'))) z = code_value_linear_units();
|
||||
|
||||
const bool hasI = code_seen('I');
|
||||
const int8_t px = hasI ? code_value_int() : 0;
|
||||
const bool hasJ = code_seen('J');
|
||||
const int8_t py = hasJ ? code_value_int() : 0;
|
||||
const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
|
||||
const float z = hasZ || hasQ ? code_value_linear_units() : 0;
|
||||
|
||||
if (!hasI || !hasJ || (hasQ && hasZ) || (!hasQ && !hasZ)) {
|
||||
SERIAL_ERROR_START;
|
||||
@ -8494,35 +8495,33 @@ void quickstop_stepper() {
|
||||
/**
|
||||
* M421: Set a single Mesh Bed Leveling Z coordinate
|
||||
*
|
||||
* Usage:
|
||||
* M421 I<xindex> J<yindex> Z<linear>
|
||||
* or
|
||||
* M421 I<xindex> J<yindex> Q<offset>
|
||||
* M421 C Z<linear>
|
||||
* M421 C Q<offset>
|
||||
*/
|
||||
|
||||
//todo: change multiple points simultaneously?
|
||||
|
||||
inline void gcode_M421() {
|
||||
int8_t px = 0, py = 0;
|
||||
float z = 0;
|
||||
bool hasI, hasJ, hasZ, hasQ, hasC;
|
||||
if ((hasI = code_seen('I'))) px = code_value_int();
|
||||
if ((hasJ = code_seen('J'))) py = code_value_int();
|
||||
if ((hasZ = code_seen('Z'))) z = code_value_linear_units();
|
||||
if ((hasQ = code_seen('Q'))) z = code_value_linear_units();
|
||||
hasC = code_seen('C');
|
||||
|
||||
if ( (!(hasI && hasJ) && !hasC) || (hasQ && hasZ) || (!hasQ && !hasZ)) {
|
||||
// Get the closest position for 'C', if needed
|
||||
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
|
||||
|
||||
const bool hasC = code_seen('C'), hasI = code_seen('I');
|
||||
const int8_t px = hasC ? location.x_index : hasI ? code_value_int() : 0;
|
||||
|
||||
const bool hasJ = code_seen('J');
|
||||
const int8_t py = hasC ? location.y_index : hasJ ? code_value_int() : 0;
|
||||
|
||||
const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
|
||||
const float z = hasZ || hasQ ? code_value_linear_units() : 0;
|
||||
|
||||
if ( ((hasI && hasJ) == hasC) || (hasQ && hasZ) || (!hasQ && !hasZ)) {
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
|
||||
return;
|
||||
}
|
||||
|
||||
if (hasC) { // get closest position
|
||||
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
|
||||
px = location.x_index;
|
||||
py = location.y_index;
|
||||
}
|
||||
|
||||
if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
|
||||
if (hasZ) // doing an absolute mesh value
|
||||
ubl.z_values[px][py] = z;
|
||||
@ -8534,7 +8533,8 @@ void quickstop_stepper() {
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // AUTO_BED_LEVELING_UBL
|
||||
|
||||
#if HAS_M206_COMMAND
|
||||
|
||||
@ -11106,7 +11106,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
|
||||
#endif // AUTO_BED_LEVELING_BILINEAR
|
||||
|
||||
#if IS_KINEMATIC && DISABLED(UBL_DELTA)
|
||||
#if IS_KINEMATIC && !UBL_DELTA
|
||||
|
||||
/**
|
||||
* Prepare a linear move in a DELTA or SCARA setup.
|
||||
@ -11117,7 +11117,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
|
||||
|
||||
// Get the top feedrate of the move in the XY plane
|
||||
float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
|
||||
const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
|
||||
|
||||
// If the move is only in Z/E don't split up the move
|
||||
if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
|
||||
@ -11126,7 +11126,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
}
|
||||
|
||||
// Fail if attempting move outside printable radius
|
||||
if ( ! position_is_reachable_xy( ltarget[X_AXIS], ltarget[Y_AXIS] )) return true;
|
||||
if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true;
|
||||
|
||||
// Get the cartesian distances moved in XYZE
|
||||
float difference[XYZE];
|
||||
@ -11142,7 +11142,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
if (UNEAR_ZERO(cartesian_mm)) return true;
|
||||
|
||||
// Minimum number of seconds to move the given distance
|
||||
float seconds = cartesian_mm / _feedrate_mm_s;
|
||||
const float seconds = cartesian_mm / _feedrate_mm_s;
|
||||
|
||||
// The number of segments-per-second times the duration
|
||||
// gives the number of segments
|
||||
@ -11227,7 +11227,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
return false;
|
||||
}
|
||||
|
||||
#else // !IS_KINEMATIC
|
||||
#else // !IS_KINEMATIC || UBL_DELTA
|
||||
|
||||
/**
|
||||
* Prepare a linear move in a Cartesian setup.
|
||||
@ -11265,7 +11265,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif // !IS_KINEMATIC
|
||||
#endif // !IS_KINEMATIC || UBL_DELTA
|
||||
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
|
||||
@ -11377,21 +11377,21 @@ void prepare_move_to_destination() {
|
||||
|
||||
#endif
|
||||
|
||||
if (
|
||||
#if IS_KINEMATIC
|
||||
#if ENABLED(UBL_DELTA)
|
||||
if (ubl_prepare_linear_move_to(destination,feedrate_mm_s)) return;
|
||||
#if UBL_DELTA
|
||||
ubl_prepare_linear_move_to(destination, feedrate_mm_s)
|
||||
#else
|
||||
if (prepare_kinematic_move_to(destination)) return;
|
||||
prepare_kinematic_move_to(destination)
|
||||
#endif
|
||||
#elif ENABLED(DUAL_X_CARRIAGE)
|
||||
prepare_move_to_destination_dualx()
|
||||
#elif UBL_DELTA // will work for CARTESIAN too (smaller segments follow mesh more closely)
|
||||
ubl_prepare_linear_move_to(destination, feedrate_mm_s)
|
||||
#else
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
if (prepare_move_to_destination_dualx()) return;
|
||||
#elif ENABLED(UBL_DELTA) // will work for CARTESIAN too (smaller segments follow mesh more closely)
|
||||
if (ubl_prepare_linear_move_to(destination,feedrate_mm_s)) return;
|
||||
#else
|
||||
if (prepare_move_to_destination_cartesian()) return;
|
||||
#endif
|
||||
prepare_move_to_destination_cartesian()
|
||||
#endif
|
||||
) return;
|
||||
|
||||
set_current_to_destination();
|
||||
}
|
||||
@ -11432,7 +11432,7 @@ void prepare_move_to_destination() {
|
||||
if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
|
||||
angular_travel += RADIANS(360);
|
||||
|
||||
float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
|
||||
const float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
|
||||
if (mm_of_travel < 0.001) return;
|
||||
|
||||
uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
|
||||
|
||||
@ -248,11 +248,9 @@
|
||||
#if ENABLED(DELTA)
|
||||
#if DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
|
||||
#error "You probably want to use Max Endstops for DELTA!"
|
||||
#endif
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(UBL_DELTA)
|
||||
#error "ENABLE_LEVELING_FADE_HEIGHT for DELTA requires UBL_DELTA and AUTO_BED_LEVELING_UBL."
|
||||
#endif
|
||||
#if ABL_GRID
|
||||
#elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_DELTA
|
||||
#error "ENABLE_LEVELING_FADE_HEIGHT on DELTA requires AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL."
|
||||
#elif ABL_GRID
|
||||
#if (GRID_MAX_POINTS_X & 1) == 0 || (GRID_MAX_POINTS_Y & 1) == 0
|
||||
#error "DELTA requires GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y to be odd numbers."
|
||||
#elif GRID_MAX_POINTS_X < 3
|
||||
@ -431,20 +429,11 @@ static_assert(1 >= 0
|
||||
* Unified Bed Leveling
|
||||
*/
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
#if IS_KINEMATIC
|
||||
#if ENABLED(DELTA)
|
||||
#if DISABLED(UBL_DELTA)
|
||||
#error "AUTO_BED_LEVELING_UBL requires UBL_DELTA for DELTA printers."
|
||||
#endif
|
||||
#else // SCARA
|
||||
#error "AUTO_BED_LEVELING_UBL not supported for SCARA printers."
|
||||
#endif
|
||||
#endif
|
||||
#if DISABLED(NEWPANEL)
|
||||
#if IS_SCARA
|
||||
#error "AUTO_BED_LEVELING_UBL does not yet support SCARA printers."
|
||||
#elif DISABLED(NEWPANEL)
|
||||
#error "AUTO_BED_LEVELING_UBL requires an LCD controller."
|
||||
#endif
|
||||
#elif ENABLED(UBL_DELTA)
|
||||
#error "UBL_DELTA requires AUTO_BED_LEVELING_UBL."
|
||||
#endif
|
||||
|
||||
/**
|
||||
@ -603,10 +592,8 @@ static_assert(1 >= 0
|
||||
/**
|
||||
* Delta and SCARA have limited bed leveling options
|
||||
*/
|
||||
#if IS_KINEMATIC
|
||||
#if DISABLED(AUTO_BED_LEVELING_BILINEAR) && DISABLED(UBL_DELTA)
|
||||
#error "Only AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL with UBL_DELTA support DELTA and SCARA bed leveling."
|
||||
#endif
|
||||
#if IS_SCARA && DISABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
#error "Only AUTO_BED_LEVELING_BILINEAR currently supports SCARA bed leveling."
|
||||
#endif
|
||||
|
||||
/**
|
||||
|
||||
@ -342,7 +342,7 @@ void MarlinSettings::postprocess() {
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
// Compile time test that sizeof(mbl.z_values) is as expected
|
||||
static_assert(
|
||||
sizeof(mbl.z_values) == (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y) * sizeof(mbl.z_values[0][0]),
|
||||
sizeof(mbl.z_values) == GRID_MAX_POINTS * sizeof(mbl.z_values[0][0]),
|
||||
"MBL Z array is the wrong size."
|
||||
);
|
||||
const bool leveling_is_on = TEST(mbl.status, MBL_STATUS_HAS_MESH_BIT);
|
||||
@ -386,7 +386,7 @@ void MarlinSettings::postprocess() {
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
// Compile time test that sizeof(z_values) is as expected
|
||||
static_assert(
|
||||
sizeof(z_values) == (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y) * sizeof(z_values[0][0]),
|
||||
sizeof(z_values) == GRID_MAX_POINTS * sizeof(z_values[0][0]),
|
||||
"Bilinear Z array is the wrong size."
|
||||
);
|
||||
const uint8_t grid_max_x = GRID_MAX_POINTS_X, grid_max_y = GRID_MAX_POINTS_Y;
|
||||
|
||||
@ -534,12 +534,12 @@ void Planner::check_axes_activity() {
|
||||
*/
|
||||
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_DELTA) // probably should also be enabled for UBL without UBL_DELTA
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL) && UBL_DELTA // probably should also be enabled for UBL without UBL_DELTA
|
||||
if (!ubl.state.active) return;
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
// if z_fade_height enabled (nonzero) and raw_z above it, no leveling required
|
||||
if ((planner.z_fade_height) && (planner.z_fade_height <= RAW_Z_POSITION(lz))) return;
|
||||
lz += ubl.state.z_offset + ( ubl.get_z_correction(lx,ly) * ubl.fade_scaling_factor_for_z(lz));
|
||||
lz += ubl.state.z_offset + ubl.get_z_correction(lx,ly) * ubl.fade_scaling_factor_for_z(lz);
|
||||
#else // no fade
|
||||
lz += ubl.state.z_offset + ubl.get_z_correction(lx,ly);
|
||||
#endif // FADE
|
||||
@ -598,12 +598,12 @@ void Planner::check_axes_activity() {
|
||||
|
||||
void Planner::unapply_leveling(float logical[XYZ]) {
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_DELTA)
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL) && UBL_DELTA
|
||||
|
||||
if ( ubl.state.active ) {
|
||||
if (ubl.state.active) {
|
||||
|
||||
float z_leveled = RAW_Z_POSITION(logical[Z_AXIS]);
|
||||
float z_ublmesh = ubl.get_z_correction(logical[X_AXIS],logical[Y_AXIS]);
|
||||
const float z_leveled = RAW_Z_POSITION(logical[Z_AXIS]),
|
||||
z_ublmesh = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]);
|
||||
float z_unlevel = z_leveled - ubl.state.z_offset - z_ublmesh;
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
@ -616,9 +616,9 @@ void Planner::check_axes_activity() {
|
||||
// so U(1-M/H)==L-O-M
|
||||
// so U==(L-O-M)/(1-M/H) for U<H
|
||||
|
||||
if ( planner.z_fade_height ) {
|
||||
float z_unfaded = z_unlevel / ( 1.0 - ( z_ublmesh * planner.inverse_z_fade_height ));
|
||||
if ( z_unfaded < planner.z_fade_height ) // don't know until after compute
|
||||
if (planner.z_fade_height) {
|
||||
float z_unfaded = z_unlevel / (1.0 - z_ublmesh * planner.inverse_z_fade_height);
|
||||
if (z_unfaded < planner.z_fade_height) // don't know until after compute
|
||||
z_unlevel = z_unfaded;
|
||||
}
|
||||
|
||||
|
||||
@ -209,7 +209,7 @@
|
||||
* Mesh Validation Pattern phase. Please note that you are populating your mesh with unverified
|
||||
* numbers. You should use some scrutiny and caution.
|
||||
*
|
||||
* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existance of
|
||||
* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existence of
|
||||
* an LCD Panel. It is possible to fine tune the mesh without the use of an LCD Panel.
|
||||
* (More work and details on doing this later!)
|
||||
* The System will search for the closest Mesh Point to the nozzle. It will move the
|
||||
@ -328,7 +328,8 @@
|
||||
return;
|
||||
}
|
||||
|
||||
if (!code_seen('N') && axis_unhomed_error(true, true, true)) // Don't allow auto-leveling without homing first
|
||||
// Don't allow auto-leveling without homing first
|
||||
if (!code_seen('N') && axis_unhomed_error(true, true, true)) // Warning! Use of 'N' flouts established standards.
|
||||
home_all_axes();
|
||||
|
||||
if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
|
||||
@ -385,7 +386,7 @@
|
||||
|
||||
if (code_seen('J')) {
|
||||
ubl.save_ubl_active_state_and_disable();
|
||||
ubl.tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M'));
|
||||
ubl.tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M')); // Warning! Use of 'M' flouts established standards.
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
}
|
||||
|
||||
@ -419,7 +420,7 @@
|
||||
SERIAL_PROTOCOLLNPGM(").\n");
|
||||
}
|
||||
ubl.probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
||||
code_seen('O') || code_seen('M'), code_seen('E'), code_seen('U'));
|
||||
code_seen('O') || code_seen('M'), code_seen('E'), code_seen('U')); // Warning! Use of 'M' flouts established standards.
|
||||
break;
|
||||
|
||||
case 2: {
|
||||
@ -468,7 +469,7 @@
|
||||
return;
|
||||
}
|
||||
|
||||
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M'));
|
||||
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M')); // Warning! Use of 'M' flouts established standards.
|
||||
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
|
||||
} break;
|
||||
|
||||
@ -504,7 +505,7 @@
|
||||
//
|
||||
// Fine Tune (i.e., Edit) the Mesh
|
||||
//
|
||||
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M'));
|
||||
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M')); // Warning! Use of 'M' flouts established standards.
|
||||
break;
|
||||
|
||||
case 5: ubl.find_mean_mesh_height(); break;
|
||||
@ -549,7 +550,7 @@
|
||||
// When we are fully debugged, the EEPROM dump command will get deleted also. But
|
||||
// right now, it is good to have the extra information. Soon... we prune this.
|
||||
//
|
||||
if (code_seen('j')) g29_eeprom_dump(); // EEPROM Dump
|
||||
if (code_seen('j')) g29_eeprom_dump(); // Warning! Use of lowercase flouts established standards.
|
||||
|
||||
//
|
||||
// When we are fully debugged, this may go away. But there are some valid
|
||||
@ -613,7 +614,7 @@
|
||||
SERIAL_PROTOCOLLNPGM("Done.\n");
|
||||
}
|
||||
|
||||
if (code_seen('O') || code_seen('M'))
|
||||
if (code_seen('O') || code_seen('M')) // Warning! Use of 'M' flouts established standards.
|
||||
ubl.display_map(code_has_value() ? code_value_int() : 0);
|
||||
|
||||
if (code_seen('Z')) {
|
||||
@ -1048,8 +1049,8 @@
|
||||
|
||||
repeat_flag = code_seen('R');
|
||||
if (repeat_flag) {
|
||||
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
|
||||
repetition_cnt = min(repetition_cnt, (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y));
|
||||
repetition_cnt = code_has_value() ? code_value_int() : GRID_MAX_POINTS;
|
||||
NOMORE(repetition_cnt, GRID_MAX_POINTS);
|
||||
if (repetition_cnt < 1) {
|
||||
SERIAL_PROTOCOLLNPGM("?(R)epetition count invalid (1+).\n");
|
||||
return UBL_ERR;
|
||||
@ -1128,8 +1129,8 @@
|
||||
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
||||
if (code_seen('M')) { // Check if a map type was specified
|
||||
// Check if a map type was specified
|
||||
if (code_seen('M')) { // Warning! Use of 'M' flouts established standards.
|
||||
map_type = code_has_value() ? code_value_int() : 0;
|
||||
if (!WITHIN(map_type, 0, 1)) {
|
||||
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
|
||||
|
||||
@ -474,20 +474,10 @@
|
||||
set_current_to_destination();
|
||||
}
|
||||
|
||||
|
||||
#ifdef UBL_DELTA
|
||||
|
||||
#define COPY_XYZE( target, source ) { \
|
||||
target[X_AXIS] = source[X_AXIS]; \
|
||||
target[Y_AXIS] = source[Y_AXIS]; \
|
||||
target[Z_AXIS] = source[Z_AXIS]; \
|
||||
target[E_AXIS] = source[E_AXIS]; \
|
||||
}
|
||||
#if UBL_DELTA
|
||||
|
||||
#if IS_SCARA // scale the feed rate from mm/s to degrees/s
|
||||
static float scara_feed_factor;
|
||||
static float scara_oldA;
|
||||
static float scara_oldB;
|
||||
static float scara_feed_factor, scara_oldA, scara_oldB;
|
||||
#endif
|
||||
|
||||
// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
|
||||
@ -501,18 +491,18 @@
|
||||
float feedrate = fr_mm_s;
|
||||
|
||||
#if IS_SCARA // scale the feed rate from mm/s to degrees/s
|
||||
float adiff = abs(delta[A_AXIS] - scara_oldA);
|
||||
float bdiff = abs(delta[B_AXIS] - scara_oldB);
|
||||
float adiff = abs(delta[A_AXIS] - scara_oldA),
|
||||
bdiff = abs(delta[B_AXIS] - scara_oldB);
|
||||
scara_oldA = delta[A_AXIS];
|
||||
scara_oldB = delta[B_AXIS];
|
||||
feedrate = max(adiff, bdiff) * scara_feed_factor;
|
||||
#endif
|
||||
|
||||
planner._buffer_line( delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], feedrate, extruder );
|
||||
planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], feedrate, extruder);
|
||||
|
||||
#else // cartesian
|
||||
|
||||
planner._buffer_line( ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder );
|
||||
planner._buffer_line(ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
|
||||
|
||||
#endif
|
||||
}
|
||||
@ -525,7 +515,7 @@
|
||||
|
||||
static bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate) {
|
||||
|
||||
if ( ! position_is_reachable_xy( ltarget[X_AXIS], ltarget[Y_AXIS] )) // fail if moving outside reachable boundary
|
||||
if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) // fail if moving outside reachable boundary
|
||||
return true; // did not move, so current_position still accurate
|
||||
|
||||
const float difference[XYZE] = { // cartesian distances moved in XYZE
|
||||
@ -535,19 +525,19 @@
|
||||
ltarget[E_AXIS] - current_position[E_AXIS]
|
||||
};
|
||||
|
||||
float cartesian_xy_mm = sqrtf( sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) ); // total horizontal xy distance
|
||||
const float cartesian_xy_mm = HYPOT(difference[X_AXIS], difference[Y_AXIS]); // total horizontal xy distance
|
||||
|
||||
#if IS_KINEMATIC
|
||||
float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
|
||||
uint16_t segments = lroundf( delta_segments_per_second * seconds ); // preferred number of segments for distance @ feedrate
|
||||
uint16_t seglimit = lroundf( cartesian_xy_mm * (1.0/(DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
|
||||
NOMORE( segments, seglimit ); // limit to minimum segment length (fewer segments)
|
||||
const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
|
||||
uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate
|
||||
seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
|
||||
NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments)
|
||||
#else
|
||||
uint16_t segments = lroundf( cartesian_xy_mm * (1.0/(DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
|
||||
uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
|
||||
#endif
|
||||
|
||||
NOLESS( segments, 1 ); // must have at least one segment
|
||||
float inv_segments = 1.0 / segments; // divide once, multiply thereafter
|
||||
NOLESS(segments, 1); // must have at least one segment
|
||||
const float inv_segments = 1.0 / segments; // divide once, multiply thereafter
|
||||
|
||||
#if IS_SCARA // scale the feed rate from mm/s to degrees/s
|
||||
scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
|
||||
@ -565,52 +555,48 @@
|
||||
// Note that E segment distance could vary slightly as z mesh height
|
||||
// changes for each segment, but small enough to ignore.
|
||||
|
||||
bool above_fade_height = false;
|
||||
const bool above_fade_height = (
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
if (( planner.z_fade_height != 0 ) &&
|
||||
( planner.z_fade_height < RAW_Z_POSITION(ltarget[Z_AXIS]) )) {
|
||||
above_fade_height = true;
|
||||
}
|
||||
planner.z_fade_height != 0 && planner.z_fade_height < RAW_Z_POSITION(ltarget[Z_AXIS])
|
||||
#else
|
||||
false
|
||||
#endif
|
||||
);
|
||||
|
||||
// Only compute leveling per segment if ubl active and target below z_fade_height.
|
||||
|
||||
if (( ! ubl.state.active ) || ( above_fade_height )) { // no mesh leveling
|
||||
if (!ubl.state.active || above_fade_height) { // no mesh leveling
|
||||
|
||||
const float z_offset = ubl.state.active ? ubl.state.z_offset : 0.0;
|
||||
|
||||
float seg_dest[XYZE]; // per-segment destination,
|
||||
COPY_XYZE( seg_dest, current_position ); // starting from current position
|
||||
COPY(seg_dest, current_position); // starting from current position
|
||||
|
||||
while (--segments) {
|
||||
LOOP_XYZE(i) seg_dest[i] += segment_distance[i];
|
||||
float ztemp = seg_dest[Z_AXIS];
|
||||
seg_dest[Z_AXIS] += z_offset;
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
seg_dest[Z_AXIS] = ztemp;
|
||||
}
|
||||
|
||||
// Since repeated adding segment_distance accumulates small errors, final move to exact destination.
|
||||
COPY_XYZE( seg_dest, ltarget );
|
||||
COPY(seg_dest, ltarget);
|
||||
seg_dest[Z_AXIS] += z_offset;
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
return false; // moved but did not set_current_to_destination();
|
||||
}
|
||||
|
||||
// Otherwise perform per-segment leveling
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
float fade_scaling_factor = ubl.fade_scaling_factor_for_z(ltarget[Z_AXIS]);
|
||||
#endif
|
||||
|
||||
float seg_dest[XYZE]; // per-segment destination, initialize to first segment
|
||||
LOOP_XYZE(i) seg_dest[i] = current_position[i] + segment_distance[i];
|
||||
|
||||
const float& dx_seg = segment_distance[X_AXIS]; // alias for clarity
|
||||
const float& dy_seg = segment_distance[Y_AXIS];
|
||||
|
||||
float rx = RAW_X_POSITION(seg_dest[X_AXIS]); // assume raw vs logical coordinates shifted but not scaled.
|
||||
float ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
|
||||
float rx = RAW_X_POSITION(seg_dest[X_AXIS]), // assume raw vs logical coordinates shifted but not scaled.
|
||||
ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
|
||||
|
||||
do { // for each mesh cell encountered during the move
|
||||
|
||||
@ -621,66 +607,67 @@
|
||||
// in top of loop and again re-find same adjacent cell and use it, just less efficient
|
||||
// for mesh inset area.
|
||||
|
||||
int8_t cell_xi = (rx - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
|
||||
cell_xi = constrain( cell_xi, 0, (GRID_MAX_POINTS_X) - 1 );
|
||||
int8_t cell_xi = (rx - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
|
||||
cell_yi = (ry - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
|
||||
|
||||
int8_t cell_yi = (ry - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
|
||||
cell_yi = constrain( cell_yi, 0, (GRID_MAX_POINTS_Y) - 1 );
|
||||
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
|
||||
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
|
||||
|
||||
// float x0 = (UBL_MESH_MIN_X) + ((MESH_X_DIST) * cell_xi ); // lower left cell corner
|
||||
// float y0 = (UBL_MESH_MIN_Y) + ((MESH_Y_DIST) * cell_yi ); // lower left cell corner
|
||||
// float x1 = x0 + MESH_X_DIST; // upper right cell corner
|
||||
// float y1 = y0 + MESH_Y_DIST; // upper right cell corner
|
||||
|
||||
float x0 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi ])); // 64 byte table lookup avoids mul+add
|
||||
float y0 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi ])); // 64 byte table lookup avoids mul+add
|
||||
float x1 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi+1])); // 64 byte table lookup avoids mul+add
|
||||
float y1 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi+1])); // 64 byte table lookup avoids mul+add
|
||||
const float x0 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi ])), // 64 byte table lookup avoids mul+add
|
||||
y0 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi ])), // 64 byte table lookup avoids mul+add
|
||||
x1 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi+1])), // 64 byte table lookup avoids mul+add
|
||||
y1 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi+1])), // 64 byte table lookup avoids mul+add
|
||||
|
||||
float cx = rx - x0; // cell-relative x
|
||||
float cy = ry - y0; // cell-relative y
|
||||
cx = rx - x0, // cell-relative x
|
||||
cy = ry - y0; // cell-relative y
|
||||
|
||||
float z_x0y0 = ubl.z_values[cell_xi ][cell_yi ]; // z at lower left corner
|
||||
float z_x1y0 = ubl.z_values[cell_xi+1][cell_yi ]; // z at upper left corner
|
||||
float z_x0y1 = ubl.z_values[cell_xi ][cell_yi+1]; // z at lower right corner
|
||||
float z_x1y1 = ubl.z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
|
||||
float z_x0y0 = ubl.z_values[cell_xi ][cell_yi ], // z at lower left corner
|
||||
z_x1y0 = ubl.z_values[cell_xi+1][cell_yi ], // z at upper left corner
|
||||
z_x0y1 = ubl.z_values[cell_xi ][cell_yi+1], // z at lower right corner
|
||||
z_x1y1 = ubl.z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
|
||||
|
||||
if ( isnan( z_x0y0 )) z_x0y0 = 0; // ideally activating ubl.state.active (G29 A)
|
||||
if ( isnan( z_x1y0 )) z_x1y0 = 0; // should refuse if any invalid mesh points
|
||||
if ( isnan( z_x0y1 )) z_x0y1 = 0; // in order to avoid isnan tests per cell,
|
||||
if ( isnan( z_x1y1 )) z_x1y1 = 0; // thus guessing zero for undefined points
|
||||
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating ubl.state.active (G29 A)
|
||||
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
|
||||
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
|
||||
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
|
||||
|
||||
float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0/MESH_X_DIST); // z slope per x along y0 (lower left to lower right)
|
||||
float z_xmy1 = (z_x1y1 - z_x0y1) * (1.0/MESH_X_DIST); // z slope per x along y1 (upper left to upper right)
|
||||
const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
|
||||
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
|
||||
|
||||
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx
|
||||
float z_cxy1 = z_x0y1 + z_xmy1 * cx; // z height along y1 at cx
|
||||
float z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
|
||||
|
||||
float z_cxym = z_cxyd * (1.0/MESH_Y_DIST); // z slope per y along cx from y0 to y1
|
||||
float z_cxcy = z_cxy0 + z_cxym * cy; // z height along cx at cy
|
||||
const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
|
||||
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
|
||||
|
||||
float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST)), // z slope per y along cx from y0 to y1
|
||||
z_cxcy = z_cxy0 + z_cxym * cy; // z height along cx at cy
|
||||
|
||||
// As subsequent segments step through this cell, the z_cxy0 intercept will change
|
||||
// and the z_cxym slope will change, both as a function of cx within the cell, and
|
||||
// each change by a constant for fixed segment lengths.
|
||||
|
||||
float z_sxy0 = z_xmy0 * dx_seg; // per-segment adjustment to z_cxy0
|
||||
float z_sxym = ( z_xmy1 - z_xmy0 ) * (1.0/MESH_Y_DIST) * dx_seg; // per-segment adjustment to z_cxym
|
||||
const float z_sxy0 = z_xmy0 * dx_seg, // per-segment adjustment to z_cxy0
|
||||
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * dx_seg; // per-segment adjustment to z_cxym
|
||||
|
||||
do { // for all segments within this mesh cell
|
||||
|
||||
z_cxcy += ubl.state.z_offset;
|
||||
|
||||
if ( --segments == 0 ) { // this is last segment, use ltarget for exact
|
||||
COPY_XYZE( seg_dest, ltarget );
|
||||
if (--segments == 0) { // this is last segment, use ltarget for exact
|
||||
COPY(seg_dest, ltarget);
|
||||
seg_dest[Z_AXIS] += z_cxcy;
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
return false; // did not set_current_to_destination()
|
||||
}
|
||||
|
||||
float z_orig = seg_dest[Z_AXIS]; // remember the pre-leveled segment z value
|
||||
const float z_orig = seg_dest[Z_AXIS]; // remember the pre-leveled segment z value
|
||||
seg_dest[Z_AXIS] = z_orig + z_cxcy; // adjust segment z height per mesh leveling
|
||||
ubl_buffer_line_segment( seg_dest, feedrate, active_extruder );
|
||||
ubl_buffer_line_segment(seg_dest, feedrate, active_extruder);
|
||||
seg_dest[Z_AXIS] = z_orig; // restore pre-leveled z before incrementing
|
||||
|
||||
LOOP_XYZE(i) seg_dest[i] += segment_distance[i]; // adjust seg_dest for next segment
|
||||
@ -688,7 +675,7 @@
|
||||
cx += dx_seg;
|
||||
cy += dy_seg;
|
||||
|
||||
if ( !WITHIN(cx,0,MESH_X_DIST) || !WITHIN(cy,0,MESH_Y_DIST)) { // done within this cell, break to next
|
||||
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) { // done within this cell, break to next
|
||||
rx = RAW_X_POSITION(seg_dest[X_AXIS]);
|
||||
ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
|
||||
break;
|
||||
|
||||
@ -1430,17 +1430,13 @@ void kill_screen(const char* lcd_msg) {
|
||||
#endif
|
||||
|
||||
// LCD probed points are from defaults
|
||||
constexpr uint8_t total_probe_points =
|
||||
#if ABL_GRID
|
||||
(GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)
|
||||
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
|
||||
int(3)
|
||||
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
(GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)
|
||||
#elif ENABLED(MESH_BED_LEVELING)
|
||||
(GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y)
|
||||
constexpr uint8_t total_probe_points = (
|
||||
#if ENABLED(AUTO_BED_LEVELING_3POINT)
|
||||
3
|
||||
#elif ABL_GRID || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING)
|
||||
GRID_MAX_POINTS
|
||||
#endif
|
||||
;
|
||||
);
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
|
||||
@ -16,12 +16,6 @@ if [[ $ORG != "MarlinFirmware" || $REPO != "MarlinDocumentation" ]]; then
|
||||
exit
|
||||
fi
|
||||
|
||||
if [[ $BRANCH != "master" ]]; then
|
||||
echo "Stashing changes and changing to master."
|
||||
git stash
|
||||
git checkout master
|
||||
fi
|
||||
|
||||
opensite() {
|
||||
TOOL=$(which gnome-open xdg-open open | awk '{ print $1 }')
|
||||
URL="http://127.0.0.1:4000/"
|
||||
@ -40,9 +34,3 @@ echo "Previewing MarlinDocumentation..."
|
||||
( sleep 45; opensite ) &
|
||||
|
||||
bundle exec jekyll serve --watch --incremental
|
||||
|
||||
if [[ $BRANCH != "master" ]]; then
|
||||
echo "Restoring branch '$BRANCH'"
|
||||
git checkout $BRANCH
|
||||
git stash pop
|
||||
fi
|
||||
|
||||
@ -30,26 +30,25 @@ if [[ $BRANCH == "gh-pages" ]]; then
|
||||
exit
|
||||
fi
|
||||
|
||||
if [[ $BRANCH != "master" ]]; then
|
||||
echo "Stashing any changes to files..."
|
||||
echo "Don't forget to update and push 'master'!"
|
||||
# GOJF Card
|
||||
git stash
|
||||
fi
|
||||
echo "Stashing any changes to files..."
|
||||
echo "Don't forget to update and push 'master'!"
|
||||
# GOJF Card
|
||||
git stash
|
||||
|
||||
COMMIT=$( git log --format="%H" -n 1 )
|
||||
|
||||
# Clean out changes and other junk in the branch
|
||||
git reset --hard
|
||||
git clean -d -f
|
||||
|
||||
# Push 'master' to the fork and make a proper PR...
|
||||
if [[ $BRANCH == "master" ]]; then
|
||||
|
||||
# Allow working directly with the main fork
|
||||
echo
|
||||
echo -n "Pushing to origin/master... "
|
||||
git push -f origin
|
||||
|
||||
echo
|
||||
echo -n "Pushing to upstream/master... "
|
||||
git push -f upstream
|
||||
|
||||
@ -58,6 +57,7 @@ else
|
||||
if [ -z "$(git branch -vv | grep ^\* | grep \\[origin)" ]; then
|
||||
firstpush
|
||||
else
|
||||
echo
|
||||
echo -n "Pushing to origin/$BRANCH... "
|
||||
git push -f origin
|
||||
fi
|
||||
@ -79,6 +79,7 @@ fi
|
||||
# mv ./_plugins/jekyll-press.rb-disabled ./_plugins/jekyll-press.rb
|
||||
# bundle install
|
||||
|
||||
echo
|
||||
echo "Generating MarlinDocumentation..."
|
||||
|
||||
# build the site statically and proof it
|
||||
|
||||
Loading…
Reference in New Issue
Block a user