Add UBL support for G2/G3 and G5 (#10648)
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5 changed files with 34 additions and 9 deletions
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@ -199,6 +199,10 @@ void plan_arc(
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ADJUST_DELTA(raw);
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ADJUST_DELTA(raw);
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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);
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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);
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oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
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oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
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#elif HAS_UBL_AND_CURVES
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float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
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planner.apply_leveling(pos);
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planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder);
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#else
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#else
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planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
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planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
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#endif
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#endif
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@ -211,6 +215,10 @@ void plan_arc(
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const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
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const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
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if (diff2)
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if (diff2)
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
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#elif HAS_UBL_AND_CURVES
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float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
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planner.apply_leveling(pos);
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planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], cart[E_AXIS], fr_mm_s, active_extruder);
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#else
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#else
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planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
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planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
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#endif
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#endif
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@ -1058,6 +1058,7 @@
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#define HAS_MESH (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
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#define HAS_MESH (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
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#define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
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#define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
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#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
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#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
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#define HAS_UBL_AND_CURVES (ENABLED(AUTO_BED_LEVELING_UBL) && !PLANNER_LEVELING && (ENABLED(ARC_SUPPORT) || ENABLED(BEZIER_CURVE_SUPPORT)))
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#undef LCD_BED_LEVELING
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#undef LCD_BED_LEVELING
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@ -1190,7 +1190,7 @@ void Planner::check_axes_activity() {
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}
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}
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#endif
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#endif
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#if PLANNER_LEVELING
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#if PLANNER_LEVELING || HAS_UBL_AND_CURVES
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/**
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/**
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* rx, ry, rz - Cartesian positions in mm
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* rx, ry, rz - Cartesian positions in mm
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* Leveled XYZ on completion
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* Leveled XYZ on completion
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@ -1242,6 +1242,10 @@ void Planner::check_axes_activity() {
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#endif
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#endif
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}
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}
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#endif
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#if PLANNER_LEVELING
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void Planner::unapply_leveling(float raw[XYZ]) {
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void Planner::unapply_leveling(float raw[XYZ]) {
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if (leveling_active) {
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if (leveling_active) {
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@ -404,20 +404,25 @@ class Planner {
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#endif // SKEW_CORRECTION
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#endif // SKEW_CORRECTION
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#if PLANNER_LEVELING
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#if PLANNER_LEVELING || HAS_UBL_AND_CURVES
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#define ARG_X float rx
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#define ARG_Y float ry
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#define ARG_Z float rz
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/**
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/**
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* Apply leveling to transform a cartesian position
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* Apply leveling to transform a cartesian position
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* as it will be given to the planner and steppers.
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* as it will be given to the planner and steppers.
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*/
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*/
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static void apply_leveling(float &rx, float &ry, float &rz);
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static void apply_leveling(float &rx, float &ry, float &rz);
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static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
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FORCE_INLINE static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
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#if PLANNER_LEVELING
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#define ARG_X float rx
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#define ARG_Y float ry
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#define ARG_Z float rz
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static void unapply_leveling(float raw[XYZ]);
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static void unapply_leveling(float raw[XYZ]);
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#endif
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#else
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#else
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#define ARG_X const float &rx
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#define ARG_X const float &rx
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@ -190,7 +190,14 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
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bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
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bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
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bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
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bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
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clamp_to_software_endstops(bez_target);
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clamp_to_software_endstops(bez_target);
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#if HAS_UBL_AND_CURVES
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float pos[XYZ] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS] };
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planner.apply_leveling(pos);
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planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], bez_target[E_AXIS], fr_mm_s, active_extruder);
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#else
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planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder);
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planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder);
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#endif
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}
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}
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}
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}
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