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Add UBL support for G2/G3 and G5 (#10648)

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Scott Lahteine 2018-05-08 11:10:45 -05:00 committed by GitHub
parent 2cdaf76c40
commit 19f189b4e5
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 34 additions and 9 deletions
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8
Marlin/src/gcode/motion/G2_G3.cpp
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@ -199,6 +199,10 @@ void plan_arc(
ADJUST_DELTA(raw);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
#endif
@ -211,6 +215,10 @@ void plan_arc(
const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
if (diff2)
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], cart[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
#endif

1
Marlin/src/inc/Conditionals_post.h
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@ -1058,6 +1058,7 @@
#define HAS_MESH (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
#define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
#define HAS_UBL_AND_CURVES (ENABLED(AUTO_BED_LEVELING_UBL) && !PLANNER_LEVELING && (ENABLED(ARC_SUPPORT) || ENABLED(BEZIER_CURVE_SUPPORT)))
#if ENABLED(AUTO_BED_LEVELING_UBL)
#undef LCD_BED_LEVELING

6
Marlin/src/module/planner.cpp
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@ -1190,7 +1190,7 @@ void Planner::check_axes_activity() {
}
#endif
#if PLANNER_LEVELING
#if PLANNER_LEVELING || HAS_UBL_AND_CURVES
/**
* rx, ry, rz - Cartesian positions in mm
* Leveled XYZ on completion
@ -1242,6 +1242,10 @@ void Planner::check_axes_activity() {
#endif
}
#endif
#if PLANNER_LEVELING
void Planner::unapply_leveling(float raw[XYZ]) {
if (leveling_active) {

17
Marlin/src/module/planner.h
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@ -404,20 +404,25 @@ class Planner {
#endif // SKEW_CORRECTION
#if PLANNER_LEVELING
#define ARG_X float rx
#define ARG_Y float ry
#define ARG_Z float rz
#if PLANNER_LEVELING || HAS_UBL_AND_CURVES
/**
* Apply leveling to transform a cartesian position
* as it will be given to the planner and steppers.
*/
static void apply_leveling(float &rx, float &ry, float &rz);
static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
FORCE_INLINE static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
#if PLANNER_LEVELING
#define ARG_X float rx
#define ARG_Y float ry
#define ARG_Z float rz
static void unapply_leveling(float raw[XYZ]);
#endif
#else
#define ARG_X const float &rx

7
Marlin/src/module/planner_bezier.cpp
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@ -190,7 +190,14 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
clamp_to_software_endstops(bez_target);
#if HAS_UBL_AND_CURVES
float pos[XYZ] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS] };
planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], bez_target[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder);
#endif
}
}