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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine 2019-09-29 04:25:39 -05:00 committed by GitHub
parent 43d6e9fa43
commit 50e4545255
Signed by: GitHub
GPG key ID: 4AEE18F83AFDEB23
227 changed files with 3147 additions and 3264 deletions
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4
Marlin/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

12
Marlin/src/Marlin.cpp
View file

@ -582,10 +582,10 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
}
#endif // !SWITCHING_EXTRUDER
const float olde = current_position[E_AXIS];
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
planner.buffer_line(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
current_position[E_AXIS] = olde;
const float olde = current_position.e;
current_position.e += EXTRUDER_RUNOUT_EXTRUDE;
line_to_current_position(MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED));
current_position.e = olde;
planner.set_e_position_mm(olde);
planner.synchronize();
@ -629,7 +629,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
set_destination_from_current();
destination = current_position;
prepare_move_to_destination();
}
#endif
@ -1002,7 +1002,7 @@ void setup() {
#if HAS_M206_COMMAND
// Initialize current position based on home_offset
LOOP_XYZ(a) current_position[a] += home_offset[a];
current_position += home_offset;
#endif
// Vital to init stepper/planner equivalent for current_position

63
Marlin/src/core/enum.h
View file

@ -1,63 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* Axis indices as enumerated constants
*
* - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
* - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
* - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
*/
enum AxisEnum : unsigned char {
X_AXIS = 0,
A_AXIS = 0,
Y_AXIS = 1,
B_AXIS = 1,
Z_AXIS = 2,
C_AXIS = 2,
E_AXIS = 3,
X_HEAD = 4,
Y_HEAD = 5,
Z_HEAD = 6,
E0_AXIS = 3,
E1_AXIS = 4,
E2_AXIS = 5,
E3_AXIS = 6,
E4_AXIS = 7,
E5_AXIS = 8,
ALL_AXES = 0xFE,
NO_AXIS = 0xFF
};
#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++)
#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++)
#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N)
#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N)
#define LOOP_NA(VAR) LOOP_L_N(VAR, NUM_AXIS)
#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)

7
Marlin/src/core/macros.h
View file

@ -26,6 +26,7 @@
#define XYZE 4
#define ABC 3
#define XYZ 3
#define XY 2
#define _AXIS(A) (A##_AXIS)
@ -252,12 +253,6 @@
#define DECREMENT_(n) DEC_##n
#define DECREMENT(n) DECREMENT_(n)
// Feedrate
typedef float feedRate_t;
#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
#define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage)
#define NOOP (void(0))
#define CEILING(x,y) (((x) + (y) - 1) / (y))

7
Marlin/src/core/serial.cpp
View file

@ -22,7 +22,6 @@
#include "serial.h"
#include "language.h"
#include "enum.h"
uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE;
@ -68,12 +67,8 @@ void print_bin(const uint16_t val) {
}
}
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float &x, const float &y, const float &z) {
void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
serialprintPGM(prefix);
SERIAL_ECHOPAIR(" " MSG_X, x, " " MSG_Y, y, " " MSG_Z, z);
if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
}
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]) {
print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}

12
Marlin/src/core/serial.h
View file

@ -213,7 +213,11 @@ void serial_spaces(uint8_t count);
void print_bin(const uint16_t val);
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]);
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float &x, const float &y, const float &z);
#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(PSTR(PREFIX), nullptr, V); }while(0)
void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
inline void print_xyz(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
print_xyz(xyz.x, xyz.y, xyz.z, prefix, suffix);
}
#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(V, PSTR(PREFIX), nullptr); }while(0)

486
Marlin/src/core/types.h Normal file
View file

@ -0,0 +1,486 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <math.h>
#include <stddef.h>
#include "millis_t.h"
//
// Enumerated axis indices
//
// - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
// - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
// - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
//
enum AxisEnum : uint8_t {
X_AXIS = 0, A_AXIS = 0,
Y_AXIS = 1, B_AXIS = 1,
Z_AXIS = 2, C_AXIS = 2,
E_AXIS = 3,
X_HEAD = 4, Y_HEAD = 5, Z_HEAD = 6,
E0_AXIS = 3,
E1_AXIS = 4,
E2_AXIS = 5,
E3_AXIS = 6,
E4_AXIS = 7,
E5_AXIS = 8,
ALL_AXES = 0xFE, NO_AXIS = 0xFF
};
//
// Loop over XYZE axes
//
#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++)
#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++)
#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N)
#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N)
#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)
//
// Conditional type assignment magic. For example...
//
// typename IF<(MYOPT==12), int, float>::type myvar;
//
template <bool, class L, class R>
struct IF { typedef R type; };
template <class L, class R>
struct IF<true, L, R> { typedef L type; };
//
// feedRate_t is just a humble float
//
typedef float feedRate_t;
// Conversion macros
#define MMM_TO_MMS(MM_M) feedRate_t(float(MM_M) / 60.0f)
#define MMS_TO_MMM(MM_S) (float(MM_S) * 60.0f)
#define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage)
//
// Coordinates structures for XY, XYZ, XYZE...
//
// Helpers
#define _RECIP(N) ((N) ? 1.0f / float(N) : 0.0f)
#define _ABS(N) ((N) < 0 ? -(N) : (N))
#define _LS(N) (N = (T)(uint32_t(N) << v))
#define _RS(N) (N = (T)(uint32_t(N) >> v))
#define FI FORCE_INLINE
// Forward declarations
template<typename T> struct XYval;
template<typename T> struct XYZval;
template<typename T> struct XYZEval;
typedef struct XYval<bool> xy_bool_t;
typedef struct XYZval<bool> xyz_bool_t;
typedef struct XYZEval<bool> xyze_bool_t;
typedef struct XYval<char> xy_char_t;
typedef struct XYZval<char> xyz_char_t;
typedef struct XYZEval<char> xyze_char_t;
typedef struct XYval<unsigned char> xy_uchar_t;
typedef struct XYZval<unsigned char> xyz_uchar_t;
typedef struct XYZEval<unsigned char> xyze_uchar_t;
typedef struct XYval<int8_t> xy_int8_t;
typedef struct XYZval<int8_t> xyz_int8_t;
typedef struct XYZEval<int8_t> xyze_int8_t;
typedef struct XYval<uint8_t> xy_uint8_t;
typedef struct XYZval<uint8_t> xyz_uint8_t;
typedef struct XYZEval<uint8_t> xyze_uint8_t;
typedef struct XYval<int16_t> xy_int_t;
typedef struct XYZval<int16_t> xyz_int_t;
typedef struct XYZEval<int16_t> xyze_int_t;
typedef struct XYval<uint16_t> xy_uint_t;
typedef struct XYZval<uint16_t> xyz_uint_t;
typedef struct XYZEval<uint16_t> xyze_uint_t;
typedef struct XYval<int32_t> xy_long_t;
typedef struct XYZval<int32_t> xyz_long_t;
typedef struct XYZEval<int32_t> xyze_long_t;
typedef struct XYval<uint32_t> xy_ulong_t;
typedef struct XYZval<uint32_t> xyz_ulong_t;
typedef struct XYZEval<uint32_t> xyze_ulong_t;
typedef struct XYZval<volatile int32_t> xyz_vlong_t;
typedef struct XYZEval<volatile int32_t> xyze_vlong_t;
typedef struct XYval<float> xy_float_t;
typedef struct XYZval<float> xyz_float_t;
typedef struct XYZEval<float> xyze_float_t;
typedef struct XYval<feedRate_t> xy_feedrate_t;
typedef struct XYZval<feedRate_t> xyz_feedrate_t;
typedef struct XYZEval<feedRate_t> xyze_feedrate_t;
typedef xy_uint8_t xy_byte_t;
typedef xyz_uint8_t xyz_byte_t;
typedef xyze_uint8_t xyze_byte_t;
typedef xyz_long_t abc_long_t;
typedef xyze_long_t abce_long_t;
typedef xyz_ulong_t abc_ulong_t;
typedef xyze_ulong_t abce_ulong_t;
typedef xy_float_t xy_pos_t;
typedef xyz_float_t xyz_pos_t;
typedef xyze_float_t xyze_pos_t;
typedef xy_float_t ab_float_t;
typedef xyz_float_t abc_float_t;
typedef xyze_float_t abce_float_t;
typedef ab_float_t ab_pos_t;
typedef abc_float_t abc_pos_t;
typedef abce_float_t abce_pos_t;
// External conversion methods
void toLogical(xy_pos_t &raw);
void toLogical(xyz_pos_t &raw);
void toLogical(xyze_pos_t &raw);
void toNative(xy_pos_t &raw);
void toNative(xyz_pos_t &raw);
void toNative(xyze_pos_t &raw);
//
// XY coordinates, counters, etc.
//
template<typename T>
struct XYval {
union {
struct { T x, y; };
struct { T a, b; };
T pos[2];
};
FI void set(const T px) { x = px; }
FI void set(const T px, const T py) { x = px; y = py; }
FI void reset() { x = y = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y); }
FI operator T* () { return pos; }
FI operator bool() { return x || y; }
FI XYval<T> copy() const { return *this; }
FI XYval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; }
FI XYval<int16_t> asInt() { return { int16_t(x), int16_t(y) }; }
FI XYval<int16_t> asInt() const { return { int16_t(x), int16_t(y) }; }
FI XYval<int32_t> asLong() { return { int32_t(x), int32_t(y) }; }
FI XYval<int32_t> asLong() const { return { int32_t(x), int32_t(y) }; }
FI XYval<float> asFloat() { return { float(x), float(y) }; }
FI XYval<float> asFloat() const { return { float(x), float(y) }; }
FI XYval<float> reciprocal() const { return { _RECIP(x), _RECIP(y) }; }
FI XYval<float> asLogical() const { XYval<float> o = asFloat(); toLogical(o); return o; }
FI XYval<float> asNative() const { XYval<float> o = asFloat(); toNative(o); return o; }
FI operator XYZval<T>() { return { x, y }; }
FI operator XYZval<T>() const { return { x, y }; }
FI operator XYZEval<T>() { return { x, y }; }
FI operator XYZEval<T>() const { return { x, y }; }
FI T& operator[](const int i) { return pos[i]; }
FI const T& operator[](const int i) const { return pos[i]; }
FI XYval<T>& operator= (const T v) { set(v, v ); return *this; }
FI XYval<T>& operator= (const XYZval<T> &rs) { set(rs.x, rs.y); return *this; }
FI XYval<T>& operator= (const XYZEval<T> &rs) { set(rs.x, rs.y); return *this; }
FI XYval<T> operator+ (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator+ (const XYval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator- (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator- (const XYval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator* (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator* (const XYval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator/ (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator/ (const XYval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator+ (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator+ (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator- (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator- (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator* (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator* (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator/ (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator/ (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator+ (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator+ (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator- (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator- (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator* (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator* (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator/ (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator/ (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator* (const float &v) const { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator* (const float &v) { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator* (const int &v) const { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator* (const int &v) { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator/ (const float &v) const { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator/ (const float &v) { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator/ (const int &v) const { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator/ (const int &v) { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator>>(const int &v) const { XYval<T> ls = *this; _RS(ls.x); _RS(ls.y); return ls; }
FI XYval<T> operator>>(const int &v) { XYval<T> ls = *this; _RS(ls.x); _RS(ls.y); return ls; }
FI XYval<T> operator<<(const int &v) const { XYval<T> ls = *this; _LS(ls.x); _LS(ls.y); return ls; }
FI XYval<T> operator<<(const int &v) { XYval<T> ls = *this; _LS(ls.x); _LS(ls.y); return ls; }
FI XYval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYval<T>& operator+=(const XYZval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYval<T>& operator-=(const XYZval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYval<T>& operator*=(const XYZval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYval<T>& operator+=(const XYZEval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYval<T>& operator-=(const XYZEval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYval<T>& operator*=(const XYZEval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYval<T>& operator*=(const float &v) { x *= v; y *= v; return *this; }
FI XYval<T>& operator*=(const int &v) { x *= v; y *= v; return *this; }
FI XYval<T>& operator>>=(const int &v) { _RS(x); _RS(y); return *this; }
FI XYval<T>& operator<<=(const int &v) { _LS(x); _LS(y); return *this; }
FI bool operator==(const XYval<T> &rs) { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZval<T> &rs) { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZEval<T> &rs) { return x == rs.x && y == rs.y; }
FI bool operator==(const XYval<T> &rs) const { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZval<T> &rs) const { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZEval<T> &rs) const { return x == rs.x && y == rs.y; }
FI bool operator!=(const XYval<T> &rs) { return !operator==(rs); }
FI bool operator!=(const XYZval<T> &rs) { return !operator==(rs); }
FI bool operator!=(const XYZEval<T> &rs) { return !operator==(rs); }
FI bool operator!=(const XYval<T> &rs) const { return !operator==(rs); }
FI bool operator!=(const XYZval<T> &rs) const { return !operator==(rs); }
FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
FI XYval<T> operator-() { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
FI const XYval<T> operator-() const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
};
//
// XYZ coordinates, counters, etc.
//
template<typename T>
struct XYZval {
union {
struct { T x, y, z; };
struct { T a, b, c; };
T pos[3];
};
FI void set(const T px) { x = px; }
FI void set(const T px, const T py) { x = px; y = py; }
FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; }
FI void set(const XYval<T> pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; }
FI void reset() { x = y = z = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y + z*z); }
FI operator T* () { return pos; }
FI operator bool() { return z || x || y; }
FI XYZval<T> copy() const { XYZval<T> o = *this; return o; }
FI XYZval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)) }; }
FI XYZval<int16_t> asInt() { return { int16_t(x), int16_t(y), int16_t(z) }; }
FI XYZval<int16_t> asInt() const { return { int16_t(x), int16_t(y), int16_t(z) }; }
FI XYZval<int32_t> asLong() { return { int32_t(x), int32_t(y), int32_t(z) }; }
FI XYZval<int32_t> asLong() const { return { int32_t(x), int32_t(y), int32_t(z) }; }
FI XYZval<float> asFloat() { return { float(x), float(y), float(z) }; }
FI XYZval<float> asFloat() const { return { float(x), float(y), float(z) }; }
FI XYZval<float> reciprocal() const { return { _RECIP(x), _RECIP(y), _RECIP(z) }; }
FI XYZval<float> asLogical() const { XYZval<float> o = asFloat(); toLogical(o); return o; }
FI XYZval<float> asNative() const { XYZval<float> o = asFloat(); toNative(o); return o; }
FI operator XYval<T>&() { return *(XYval<T>*)this; }
FI operator const XYval<T>&() const { return *(const XYval<T>*)this; }
FI operator XYZEval<T>() const { return { x, y, z }; }
FI T& operator[](const int i) { return pos[i]; }
FI const T& operator[](const int i) const { return pos[i]; }
FI XYZval<T>& operator= (const T v) { set(v, v, v ); return *this; }
FI XYZval<T>& operator= (const XYval<T> &rs) { set(rs.x, rs.y ); return *this; }
FI XYZval<T>& operator= (const XYZEval<T> &rs) { set(rs.x, rs.y, rs.z); return *this; }
FI XYZval<T> operator+ (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZval<T> operator+ (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZval<T> operator- (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZval<T> operator- (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZval<T> operator* (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZval<T> operator* (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZval<T> operator/ (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZval<T> operator/ (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZval<T> operator+ (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator+ (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator- (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator- (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator* (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator* (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator+ (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator- (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator* (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator* (const float &v) const { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator* (const float &v) { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator* (const int &v) const { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator* (const int &v) { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator/ (const float &v) const { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator/ (const float &v) { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator/ (const int &v) const { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator/ (const int &v) { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator>>(const int &v) const { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
FI XYZval<T> operator>>(const int &v) { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
FI XYZval<T> operator<<(const int &v) const { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
FI XYZval<T> operator<<(const int &v) { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
FI XYZval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYZval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYZval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYZval<T>& operator/=(const XYval<T> &rs) { x /= rs.x; y /= rs.y; return *this; }
FI XYZval<T>& operator+=(const XYZval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; }
FI XYZval<T>& operator-=(const XYZval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
FI XYZval<T>& operator*=(const XYZval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
FI XYZval<T>& operator/=(const XYZval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
FI XYZval<T>& operator+=(const XYZEval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; }
FI XYZval<T>& operator-=(const XYZEval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
FI XYZval<T>& operator*=(const XYZEval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
FI XYZval<T>& operator/=(const XYZEval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
FI XYZval<T>& operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; }
FI XYZval<T>& operator*=(const int &v) { x *= v; y *= v; z *= v; return *this; }
FI XYZval<T>& operator>>=(const int &v) { _RS(x); _RS(y); _RS(z); return *this; }
FI XYZval<T>& operator<<=(const int &v) { _LS(x); _LS(y); _LS(z); return *this; }
FI bool operator==(const XYZEval<T> &rs) { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZEval<T> &rs) { return !operator==(rs); }
FI bool operator==(const XYZEval<T> &rs) const { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
FI XYZval<T> operator-() { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
FI const XYZval<T> operator-() const { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
};
//
// XYZE coordinates, counters, etc.
//
template<typename T>
struct XYZEval {
union {
struct{ T x, y, z, e; };
struct{ T a, b, c; };
T pos[4];
};
FI void reset() { x = y = z = e = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y + z*z + e*e); }
FI operator T* () { return pos; }
FI operator bool() { return e || z || x || y; }
FI void set(const T px) { x = px; }
FI void set(const T px, const T py) { x = px; y = py; }
FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; }
FI void set(const T px, const T py, const T pz, const T pe) { x = px; y = py; z = pz; e = pe; }
FI void set(const XYval<T> pxy) { x = pxy.x; y = pxy.y; }
FI void set(const XYval<T> pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; }
FI void set(const XYZval<T> pxyz) { x = pxyz.x; y = pxyz.y; z = pxyz.z; }
FI void set(const XYval<T> pxy, const T pz, const T pe) { x = pxy.x; y = pxy.y; z = pz; e = pe; }
FI void set(const XYval<T> pxy, const XYval<T> pze) { x = pxy.x; y = pxy.y; z = pze.z; e = pze.e; }
FI void set(const XYZval<T> pxyz, const T pe) { x = pxyz.x; y = pxyz.y; z = pxyz.z; e = pe; }
FI XYZEval<T> copy() const { return *this; }
FI XYZEval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(e)) }; }
FI XYZEval<int16_t> asInt() { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
FI XYZEval<int16_t> asInt() const { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
FI XYZEval<int32_t> asLong() const { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
FI XYZEval<int32_t> asLong() { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
FI XYZEval<float> asFloat() { return { float(x), float(y), float(z), float(e) }; }
FI XYZEval<float> asFloat() const { return { float(x), float(y), float(z), float(e) }; }
FI XYZEval<float> reciprocal() const { return { _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(e) }; }
FI XYZEval<float> asLogical() const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
FI XYZEval<float> asNative() const { XYZEval<float> o = asFloat(); toNative(o); return o; }
FI operator XYval<T>&() { return *(XYval<T>*)this; }
FI operator const XYval<T>&() const { return *(const XYval<T>*)this; }
FI operator XYZval<T>&() { return *(XYZval<T>*)this; }
FI operator const XYZval<T>&() const { return *(const XYZval<T>*)this; }
FI T& operator[](const int i) { return pos[i]; }
FI const T& operator[](const int i) const { return pos[i]; }
FI XYZEval<T>& operator= (const T v) { set(v, v, v, v); return *this; }
FI XYZEval<T>& operator= (const XYval<T> &rs) { set(rs.x, rs.y); return *this; }
FI XYZEval<T>& operator= (const XYZval<T> &rs) { set(rs.x, rs.y, rs.z); return *this; }
FI XYZEval<T> operator+ (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZEval<T> operator+ (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZEval<T> operator- (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZEval<T> operator- (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZEval<T> operator* (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZEval<T> operator* (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZEval<T> operator/ (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZEval<T> operator/ (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZEval<T> operator+ (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZEval<T> operator+ (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZEval<T> operator- (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZEval<T> operator- (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZEval<T> operator* (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZEval<T> operator* (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZEval<T> operator/ (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZEval<T> operator/ (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZEval<T> operator+ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
FI XYZEval<T> operator+ (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
FI XYZEval<T> operator- (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
FI XYZEval<T> operator- (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
FI XYZEval<T> operator* (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
FI XYZEval<T> operator* (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
FI XYZEval<T> operator/ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
FI XYZEval<T> operator/ (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
FI XYZEval<T> operator* (const float &v) const { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator* (const float &v) { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator* (const int &v) const { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator* (const int &v) { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator/ (const float &v) const { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator/ (const float &v) { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator/ (const int &v) const { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator/ (const int &v) { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator>>(const int &v) const { XYZEval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); _RS(ls.e); return ls; }
FI XYZEval<T> operator>>(const int &v) { XYZEval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); _RS(ls.e); return ls; }
FI XYZEval<T> operator<<(const int &v) const { XYZEval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); _LS(ls.e); return ls; }
FI XYZEval<T> operator<<(const int &v) { XYZEval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); _LS(ls.e); return ls; }
FI XYZEval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYZEval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYZEval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYZEval<T>& operator/=(const XYval<T> &rs) { x /= rs.x; y /= rs.y; return *this; }
FI XYZEval<T>& operator+=(const XYZval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; }
FI XYZEval<T>& operator-=(const XYZval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
FI XYZEval<T>& operator*=(const XYZval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
FI XYZEval<T>& operator/=(const XYZval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
FI XYZEval<T>& operator+=(const XYZEval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; e += rs.e; return *this; }
FI XYZEval<T>& operator-=(const XYZEval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; e -= rs.e; return *this; }
FI XYZEval<T>& operator*=(const XYZEval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; e *= rs.e; return *this; }
FI XYZEval<T>& operator/=(const XYZEval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; e /= rs.e; return *this; }
FI XYZEval<T>& operator*=(const T &v) { x *= v; y *= v; z *= v; e *= v; return *this; }
FI XYZEval<T>& operator>>=(const int &v) { _RS(x); _RS(y); _RS(z); _RS(e); return *this; }
FI XYZEval<T>& operator<<=(const int &v) { _LS(x); _LS(y); _LS(z); _LS(e); return *this; }
FI bool operator==(const XYZval<T> &rs) { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZval<T> &rs) { return !operator==(rs); }
FI bool operator==(const XYZval<T> &rs) const { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZval<T> &rs) const { return !operator==(rs); }
FI XYZEval<T> operator-() { return { -x, -y, -z, -e }; }
FI const XYZEval<T> operator-() const { return { -x, -y, -z, -e }; }
};
#undef _RECIP
#undef _ABS
#undef _LS
#undef _RS
#undef FI
const xyze_char_t axis_codes { 'X', 'Y', 'Z', 'E' };

50
Marlin/src/core/utility.cpp
View file

@ -79,36 +79,36 @@ void safe_delay(millis_t ms) {
);
#if HAS_BED_PROBE
SERIAL_ECHOPAIR("Probe Offset X:", probe_offset[X_AXIS], " Y:", probe_offset[Y_AXIS], " Z:", probe_offset[Z_AXIS]);
if (probe_offset[X_AXIS] > 0)
SERIAL_ECHOPAIR("Probe Offset X", probe_offset.x, " Y", probe_offset.y, " Z", probe_offset.z);
if (probe_offset.x > 0)
SERIAL_ECHOPGM(" (Right");
else if (probe_offset[X_AXIS] < 0)
else if (probe_offset.x < 0)
SERIAL_ECHOPGM(" (Left");
else if (probe_offset[Y_AXIS] != 0)
else if (probe_offset.y != 0)
SERIAL_ECHOPGM(" (Middle");
else
SERIAL_ECHOPGM(" (Aligned With");
if (probe_offset[Y_AXIS] > 0) {
if (probe_offset.y > 0) {
#if IS_SCARA
SERIAL_ECHOPGM("-Distal");
#else
SERIAL_ECHOPGM("-Back");
#endif
}
else if (probe_offset[Y_AXIS] < 0) {
else if (probe_offset.y < 0) {
#if IS_SCARA
SERIAL_ECHOPGM("-Proximal");
#else
SERIAL_ECHOPGM("-Front");
#endif
}
else if (probe_offset[X_AXIS] != 0)
else if (probe_offset.x != 0)
SERIAL_ECHOPGM("-Center");
if (probe_offset[Z_AXIS] < 0)
if (probe_offset.z < 0)
SERIAL_ECHOPGM(" & Below");
else if (probe_offset[Z_AXIS] > 0)
else if (probe_offset.z > 0)
SERIAL_ECHOPGM(" & Above");
else
SERIAL_ECHOPGM(" & Same Z as");
@ -134,24 +134,18 @@ void safe_delay(millis_t ms) {
SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
#endif
#if ABL_PLANAR
const float diff[XYZ] = {
planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
};
SERIAL_ECHOPGM("ABL Adjustment X");
if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[X_AXIS]);
SERIAL_ECHOPGM(" Y");
if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Y_AXIS]);
SERIAL_ECHOPGM(" Z");
if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Z_AXIS]);
LOOP_XYZ(a) {
float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
SERIAL_CHAR(' ');
SERIAL_CHAR('X' + char(a));
if (v > 0) SERIAL_CHAR('+');
SERIAL_ECHO(v);
}
#else
#if ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL Adjustment Z");
const float rz = ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS]);
const float rz = ubl.get_z_correction(current_position);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
SERIAL_ECHOPGM("ABL Adjustment Z");
const float rz = bilinear_z_offset(current_position);
@ -159,7 +153,7 @@ void safe_delay(millis_t ms) {
SERIAL_ECHO(ftostr43sign(rz, '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height) {
SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position[Z_AXIS]), '+'));
SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position.z), '+'));
SERIAL_CHAR(')');
}
#endif
@ -175,15 +169,11 @@ void safe_delay(millis_t ms) {
SERIAL_ECHOPGM("Mesh Bed Leveling");
if (planner.leveling_active) {
SERIAL_ECHOLNPGM(" (enabled)");
SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, 1.0
#endif
), '+'));
SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position), '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height) {
SERIAL_ECHOPAIR(" (", ftostr43sign(
mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS], planner.fade_scaling_factor_for_z(current_position[Z_AXIS])), '+'
mbl.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+'
));
SERIAL_CHAR(')');
}

26
Marlin/src/core/utility.h
View file

@ -22,8 +22,7 @@
#pragma once
#include "../inc/MarlinConfigPre.h"
constexpr char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
#include "../core/types.h"
// Delay that ensures heaters and watchdog are kept alive
void safe_delay(millis_t ms);
@ -37,10 +36,25 @@ inline void serial_delay(const millis_t ms) {
#endif
}
// 16x16 bit arrays
FORCE_INLINE void bitmap_clear(uint16_t bits[16], const uint8_t x, const uint8_t y) { CBI(bits[y], x); }
FORCE_INLINE void bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { SBI(bits[y], x); }
FORCE_INLINE bool is_bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
#if GRID_MAX_POINTS_X && GRID_MAX_POINTS_Y
// 16x16 bit arrays
template <int W, int H>
struct FlagBits {
typename IF<(W>8), uint16_t, uint8_t>::type bits[H];
void fill() { memset(bits, 0xFF, sizeof(bits)); }
void reset() { memset(bits, 0x00, sizeof(bits)); }
void unmark(const uint8_t x, const uint8_t y) { CBI(bits[y], x); }
void mark(const uint8_t x, const uint8_t y) { SBI(bits[y], x); }
bool marked(const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
inline void unmark(const xy_int8_t &xy) { unmark(xy.y, xy.x); }
inline void mark(const xy_int8_t &xy) { mark(xy.y, xy.x); }
inline bool marked(const xy_int8_t &xy) { return marked(xy.y, xy.x); }
};
typedef FlagBits<GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y> MeshFlags;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
void log_machine_info();

39
Marlin/src/feature/I2CPositionEncoder.cpp
View file

@ -326,25 +326,23 @@ bool I2CPositionEncoder::test_axis() {
//only works on XYZ cartesian machines for the time being
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;
float startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
const float startPosition = soft_endstop[encoderAxis].min + 10,
endPosition = soft_endstop[encoderAxis].max - 10;
const float startPosition = soft_endstop.min[encoderAxis] + 10,
endPosition = soft_endstop.max[encoderAxis] - 10;
const feedRate_t fr_mm_s = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY));
ec = false;
LOOP_XYZ(i) {
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition;
planner.synchronize();
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
@ -355,8 +353,8 @@ bool I2CPositionEncoder::test_axis() {
}
if (trusted) { // if trusted, commence test
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
}
@ -376,8 +374,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
float old_steps_mm, new_steps_mm,
startDistance, endDistance,
travelDistance, travelledDistance, total = 0,
startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
travelDistance, travelledDistance, total = 0;
int32_t startCount, stopCount;
@ -387,31 +384,31 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
ec = false;
startDistance = 20;
endDistance = soft_endstop[encoderAxis].max - 20;
endDistance = soft_endstop.max[encoderAxis] - 20;
travelDistance = endDistance - startDistance;
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
startCoord[encoderAxis] = startDistance;
endCoord[encoderAxis] = endDistance;
planner.synchronize();
LOOP_L_N(i, iter) {
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
delay(250);
startCount = get_position();
//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
//do_blocking_move_to(endCoord);
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
//Read encoder distance

2
Marlin/src/feature/I2CPositionEncoder.h
View file

@ -93,8 +93,6 @@
#define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT)
#define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0)
extern const char axis_codes[XYZE];
typedef union {
volatile int32_t val = 0;
uint8_t bval[4];

24
Marlin/src/feature/backlash.cpp
View file

@ -31,9 +31,9 @@
#ifdef BACKLASH_DISTANCE_MM
#if ENABLED(BACKLASH_GCODE)
float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM;
#else
const float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
const xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM;
#endif
#endif
@ -45,8 +45,8 @@
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
float Backlash::measured_mm[XYZ] = { 0 };
uint8_t Backlash::measured_count[XYZ] = { 0 };
xyz_float_t Backlash::measured_mm{0};
xyz_uint8_t Backlash::measured_count{0};
#endif
Backlash backlash;
@ -80,12 +80,12 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
// Residual error carried forward across multiple segments, so correction can be applied
// to segments where there is no direction change.
static int32_t residual_error[XYZ] = { 0 };
static xyz_long_t residual_error{0};
#else
// No direction change, no correction.
if (!changed_dir) return;
// No leftover residual error from segment to segment
int32_t residual_error[XYZ] = { 0 };
xyz_long_t residual_error{0};
#endif
const float f_corr = float(correction) / 255.0f;
@ -131,15 +131,15 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
// Measure Z backlash by raising nozzle in increments until probe deactivates
void Backlash::measure_with_probe() {
if (measured_count[Z_AXIS] == 255) return;
if (measured_count.z == 255) return;
float start_height = current_position[Z_AXIS];
while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
const float start_height = current_position.z;
while (current_position.z < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
do_blocking_move_to_z(current_position.z + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
// The backlash from all probe points is averaged, so count the number of measurements
measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
measured_count[Z_AXIS]++;
measured_mm.z += current_position.z - start_height;
measured_count.z++;
}
#endif

8
Marlin/src/feature/backlash.h
View file

@ -29,7 +29,7 @@ constexpr uint8_t all_on = 0xFF, all_off = 0x00;
class Backlash {
public:
#if ENABLED(BACKLASH_GCODE)
static float distance_mm[XYZ];
static xyz_float_t distance_mm;
static uint8_t correction;
#ifdef BACKLASH_SMOOTHING_MM
static float smoothing_mm;
@ -39,7 +39,7 @@ public:
static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
#else
static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
static const float distance_mm[XYZ];
static const xyz_float_t distance_mm;
#ifdef BACKLASH_SMOOTHING_MM
static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
@ -47,8 +47,8 @@ public:
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
private:
static float measured_mm[XYZ];
static uint8_t measured_count[XYZ];
static xyz_float_t measured_mm;
static xyz_uint8_t measured_count;
public:
static void measure_with_probe();
#endif

162
Marlin/src/feature/bedlevel/abl/abl.cpp
View file

@ -35,9 +35,9 @@
#include "../../../lcd/extensible_ui/ui_api.h"
#endif
int bilinear_grid_spacing[2], bilinear_start[2];
float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
xy_int_t bilinear_grid_spacing, bilinear_start;
xy_float_t bilinear_grid_factor;
bed_mesh_t z_values;
/**
* Extrapolate a single point from its neighbors
@ -153,8 +153,8 @@ void print_bilinear_leveling_grid() {
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
int bilinear_grid_spacing_virt[2] = { 0 };
float bilinear_grid_factor_virt[2] = { 0 };
xy_int_t bilinear_grid_spacing_virt;
xy_float_t bilinear_grid_factor_virt;
void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
@ -207,7 +207,7 @@ void print_bilinear_leveling_grid() {
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - t)
) * 0.5;
) * 0.5f;
}
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
@ -222,10 +222,8 @@ void print_bilinear_leveling_grid() {
}
void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
@ -245,40 +243,38 @@ void print_bilinear_leveling_grid() {
// Refresh after other values have been updated
void refresh_bed_level() {
bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt.A
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
#define ABL_BG_SPACING(A) bilinear_grid_spacing.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor.A
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif
// Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(const float raw[XYZ]) {
float bilinear_z_offset(const xy_pos_t &raw) {
static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
last_x = -999.999, last_y = -999.999;
static float z1, d2, z3, d4, L, D;
static xy_pos_t prev { -999.999, -999.999 }, ratio;
// Whole units for the grid line indices. Constrained within bounds.
static int8_t gridx, gridy, nextx, nexty,
last_gridx = -99, last_gridy = -99;
static xy_int8_t thisg, nextg, lastg { -99, -99 };
// XY relative to the probed area
const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
xy_pos_t rel = raw - bilinear_start.asFloat();
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
#define FAR_EDGE_OR_BOX 2 // Keep using the last grid box
@ -286,63 +282,62 @@ float bilinear_z_offset(const float raw[XYZ]) {
#define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
#endif
if (last_x != rx) {
last_x = rx;
ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
ratio_x -= gx; // Subtract whole to get the ratio within the grid box
if (prev.x != rel.x) {
prev.x = rel.x;
ratio.x = rel.x * ABL_BG_FACTOR(x);
const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
ratio.x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x)
#endif
gridx = gx;
nextx = _MIN(gridx + 1, ABL_BG_POINTS_X - 1);
thisg.x = gx;
nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
}
if (last_y != ry || last_gridx != gridx) {
if (prev.y != rel.y || lastg.x != thisg.x) {
if (last_y != ry) {
last_y = ry;
ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio_y -= gy;
if (prev.y != rel.y) {
prev.y = rel.y;
ratio.y = rel.y * ABL_BG_FACTOR(y);
const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio.y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.)
#endif
gridy = gy;
nexty = _MIN(gridy + 1, ABL_BG_POINTS_Y - 1);
thisg.y = gy;
nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
}
if (last_gridx != gridx || last_gridy != gridy) {
last_gridx = gridx;
last_gridy = gridy;
if (lastg != thisg) {
lastg = thisg;
// Z at the box corners
z1 = ABL_BG_GRID(gridx, gridy); // left-front
d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextx, gridy); // right-front
d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front
d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta)
}
// Bilinear interpolate. Needed since ry or gridx has changed.
L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
// Bilinear interpolate. Needed since rel.y or thisg.x has changed.
L = z1 + d2 * ratio.y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio.y; // Linear interp. RF -> RB
D = R - L;
}
const float offset = L + ratio_x * D; // the offset almost always changes
const float offset = L + ratio.x * D; // the offset almost always changes
/*
static float last_offset = 0;
if (ABS(last_offset - offset) > 0.2) {
SERIAL_ECHOLNPAIR("Sudden Shift at x=", rx, " / ", bilinear_grid_spacing[X_AXIS], " -> gridx=", gridx);
SERIAL_ECHOLNPAIR(" y=", ry, " / ", bilinear_grid_spacing[Y_AXIS], " -> gridy=", gridy);
SERIAL_ECHOLNPAIR(" ratio_x=", ratio_x, " ratio_y=", ratio_y);
SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
}
@ -354,7 +349,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
#define CELL_INDEX(A,V) ((V - bilinear_start[_AXIS(A)]) * ABL_BG_FACTOR(_AXIS(A)))
#define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
@ -362,62 +357,61 @@ float bilinear_z_offset(const float raw[XYZ]) {
*/
void bilinear_line_to_destination(const feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
// Get current and destination cells for this line
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
LIMIT(cx1, 0, ABL_BG_POINTS_X - 2);
LIMIT(cy1, 0, ABL_BG_POINTS_Y - 2);
LIMIT(cx2, 0, ABL_BG_POINTS_X - 2);
LIMIT(cy2, 0, ABL_BG_POINTS_Y - 2);
xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) {
set_current_from_destination();
if (c1 == c2) {
current_position = destination;
line_to_current_position(scaled_fr_mm_s);
return;
}
#define LINE_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
#define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
float normalized_dist, end[XYZE];
const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2);
float normalized_dist;
xyze_pos_t end;
const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) };
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (cx2 != cx1 && TEST(x_splits, gcx)) {
if (c2.x != c1.x && TEST(x_splits, gc.x)) {
// Split on the X grid line
CBI(x_splits, gcx);
COPY(end, destination);
destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
CBI(x_splits, gc.x);
end = destination;
destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
destination.y = LINE_SEGMENT_END(y);
}
// Crosses on the Y and not already split on this Y?
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
else if (c2.y != c1.y && TEST(y_splits, gc.y)) {
// Split on the Y grid line
CBI(y_splits, gcy);
COPY(end, destination);
destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
CBI(y_splits, gc.y);
end = destination;
destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
destination.x = LINE_SEGMENT_END(x);
}
else {
// Must already have been split on these border(s)
// This should be a rare case.
set_current_from_destination();
current_position = destination;
line_to_current_position(scaled_fr_mm_s);
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_AXIS] = LINE_SEGMENT_END(E);
destination.z = LINE_SEGMENT_END(z);
destination.e = LINE_SEGMENT_END(e);
// Do the split and look for more borders
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
destination = end;
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}

12
Marlin/src/feature/bedlevel/abl/abl.h
View file

@ -23,10 +23,10 @@
#include "../../../inc/MarlinConfigPre.h"
extern int bilinear_grid_spacing[2], bilinear_start[2];
extern float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
float bilinear_z_offset(const float raw[XYZ]);
extern xy_int_t bilinear_grid_spacing, bilinear_start;
extern xy_float_t bilinear_grid_factor;
extern bed_mesh_t z_values;
float bilinear_z_offset(const xy_pos_t &raw);
void extrapolate_unprobed_bed_level();
void print_bilinear_leveling_grid();
@ -40,6 +40,6 @@ void refresh_bed_level();
void bilinear_line_to_destination(const feedRate_t &scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
#endif
#define _GET_MESH_X(I) (bilinear_start[X_AXIS] + (I) * bilinear_grid_spacing[X_AXIS])
#define _GET_MESH_Y(J) (bilinear_start[Y_AXIS] + (J) * bilinear_grid_spacing[Y_AXIS])
#define _GET_MESH_X(I) float(bilinear_start.x + (I) * bilinear_grid_spacing.x)
#define _GET_MESH_Y(J) float(bilinear_start.y + (J) * bilinear_grid_spacing.y)
#define Z_VALUES_ARR z_values

32
Marlin/src/feature/bedlevel/bedlevel.cpp
View file

@ -51,7 +51,7 @@ bool leveling_is_valid() {
#if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing[X_AXIS]
!!bilinear_grid_spacing.x
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.mesh_is_valid()
#else // 3POINT, LINEAR
@ -81,13 +81,13 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
const xyz_pos_t reset { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
if (planner.leveling_active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
planner.apply_leveling(current_position);
planner.leveling_active = false; // disable only AFTER calling apply_leveling
}
else { // leveling from off to on
@ -116,9 +116,9 @@ TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(
planner.set_z_fade_height(zfh);
if (leveling_was_active) {
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
const xyz_pos_t oldpos = current_position;
set_bed_leveling_enabled(true);
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
if (do_report && oldpos != current_position)
report_current_position();
}
}
@ -137,8 +137,8 @@ void reset_bed_level() {
#if ENABLED(MESH_BED_LEVELING)
mbl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
bilinear_start.reset();
bilinear_grid_spacing.reset();
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
z_values[x][y] = NAN;
@ -223,25 +223,25 @@ void reset_bed_level() {
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
void _manual_goto_xy(const float &rx, const float &ry) {
void _manual_goto_xy(const xy_pos_t &pos) {
#ifdef MANUAL_PROBE_START_Z
constexpr float startz = _MAX(0, MANUAL_PROBE_START_Z);
#if MANUAL_PROBE_HEIGHT > 0
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(_MAX(0,MANUAL_PROBE_START_Z));
do_blocking_move_to(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(startz);
#else
do_blocking_move_to(rx, ry, _MAX(0,MANUAL_PROBE_START_Z));
do_blocking_move_to(pos, startz);
#endif
#elif MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position[Z_AXIS];
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
const float prev_z = current_position.z;
do_blocking_move_to(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(prev_z);
#else
do_blocking_move_to_xy(rx, ry);
do_blocking_move_to_xy(pos);
#endif
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
current_position = pos;
#if ENABLED(LCD_BED_LEVELING)
ui.wait_for_bl_move = false;

22
Marlin/src/feature/bedlevel/bedlevel.h
View file

@ -38,7 +38,7 @@ void reset_bed_level();
#endif
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
void _manual_goto_xy(const float &x, const float &y);
void _manual_goto_xy(const xy_pos_t &pos);
#endif
/**
@ -57,11 +57,6 @@ class TemporaryBedLevelingState {
typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
typedef struct {
int8_t x_index, y_index;
float distance; // When populated, the distance from the search location
} mesh_index_pair;
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "abl/abl.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL)
@ -71,6 +66,7 @@ class TemporaryBedLevelingState {
#endif
#define Z_VALUES(X,Y) Z_VALUES_ARR[X][Y]
#define _GET_MESH_POS(M) { _GET_MESH_X(M.a), _GET_MESH_Y(M.b) }
#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
@ -85,4 +81,18 @@ class TemporaryBedLevelingState {
#endif
struct mesh_index_pair {
xy_int8_t pos;
float distance; // When populated, the distance from the search location
void invalidate() { pos = -1; }
bool valid() const { return pos.x >= 0 && pos.y >= 0; }
#if ENABLED(AUTO_BED_LEVELING_UBL)
xy_pos_t meshpos() {
return { ubl.mesh_index_to_xpos(pos.x), ubl.mesh_index_to_ypos(pos.y) };
}
#endif
operator xy_int8_t&() { return pos; }
operator const xy_int8_t&() const { return pos; }
};
#endif

55
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
View file

@ -24,10 +24,9 @@
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#include "../bedlevel.h"
#include "../../../module/motion.h"
#include "../../../feature/bedlevel/bedlevel.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extensible_ui/ui_api.h"
@ -66,62 +65,60 @@
*/
void mesh_bed_leveling::line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
// Get current and destination cells for this line
int cx1 = cell_index_x(current_position[X_AXIS]),
cy1 = cell_index_y(current_position[Y_AXIS]),
cx2 = cell_index_x(destination[X_AXIS]),
cy2 = cell_index_y(destination[Y_AXIS]);
NOMORE(cx1, GRID_MAX_POINTS_X - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2);
NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination);
NOMORE(scel.x, GRID_MAX_POINTS_X - 2);
NOMORE(scel.y, GRID_MAX_POINTS_Y - 2);
NOMORE(ecel.x, GRID_MAX_POINTS_X - 2);
NOMORE(ecel.y, GRID_MAX_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) {
if (scel == ecel) {
line_to_destination(scaled_fr_mm_s);
set_current_from_destination();
current_position = destination;
return;
}
#define MBL_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
#define MBL_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
float normalized_dist, end[XYZE];
const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2);
float normalized_dist;
xyze_pos_t dest;
const int8_t gcx = _MAX(scel.x, ecel.x), gcy = _MAX(scel.y, ecel.y);
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (cx2 != cx1 && TEST(x_splits, gcx)) {
if (ecel.x != scel.x && TEST(x_splits, gcx)) {
// Split on the X grid line
CBI(x_splits, gcx);
COPY(end, destination);
destination[X_AXIS] = index_to_xpos[gcx];
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y);
dest = destination;
destination.x = index_to_xpos[gcx];
normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x);
destination.y = MBL_SEGMENT_END(y);
}
// Crosses on the Y and not already split on this Y?
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
else if (ecel.y != scel.y && TEST(y_splits, gcy)) {
// Split on the Y grid line
CBI(y_splits, gcy);
COPY(end, destination);
destination[Y_AXIS] = index_to_ypos[gcy];
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X);
dest = destination;
destination.y = index_to_ypos[gcy];
normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y);
destination.x = MBL_SEGMENT_END(x);
}
else {
// Must already have been split on these border(s)
// This should be a rare case.
line_to_destination(scaled_fr_mm_s);
set_current_from_destination();
current_position = destination;
return;
}
destination[Z_AXIS] = MBL_SEGMENT_END(Z);
destination[E_AXIS] = MBL_SEGMENT_END(E);
destination.z = MBL_SEGMENT_END(z);
destination.e = MBL_SEGMENT_END(e);
// Do the split and look for more borders
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
destination = dest;
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}

32
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
View file

@ -76,21 +76,27 @@ public:
int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
}
static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
}
static inline xy_int8_t cell_indexes(const float &x, const float &y) {
return { cell_index_x(x), cell_index_y(y) };
}
static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
static int8_t probe_index_x(const float &x) {
int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST);
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static int8_t probe_index_y(const float &y) {
int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST);
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
static inline xy_int8_t probe_indexes(const float &x, const float &y) {
return { probe_index_x(x), probe_index_y(y) };
}
static inline xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); }
static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1) / (a2 - a1),
@ -98,21 +104,21 @@ public:
return z1 + delta_a * delta_z;
}
static float get_z(const float &x0, const float &y0
static float get_z(const xy_pos_t &pos
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, const float &factor
, const float &factor=1.0f
#endif
) {
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),
z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),
z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
#if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
constexpr float factor = 1.0f;
#endif
const xy_int8_t ind = cell_indexes(pos);
const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1],
z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y ], x2, z_values[ind.x+1][ind.y ]),
z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]);
return z_offset + z0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* factor
#endif
;
return z_offset + calc_z0(pos.y, y1, z1, y2, z2) * factor;
}
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)

5
Marlin/src/feature/bedlevel/ubl/ubl.cpp
View file

@ -176,8 +176,7 @@
// Add XY probe offset from extruder because probe_at_point() subtracts them when
// moving to the XY position to be measured. This ensures better agreement between
// the current Z position after G28 and the mesh values.
const float current_xi = find_closest_x_index(current_position[X_AXIS] + probe_offset[X_AXIS]),
current_yi = find_closest_y_index(current_position[Y_AXIS] + probe_offset[Y_AXIS]);
const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + xy_pos_t(probe_offset));
if (!lcd) SERIAL_EOL();
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
@ -193,7 +192,7 @@
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
// Opening Brace or Space
const bool is_current = i == current_xi && j == current_yi;
const bool is_current = i == curr.x && j == curr.y;
if (human) SERIAL_CHAR(is_current ? '[' : ' ');
// Z Value at current I, J

47
Marlin/src/feature/bedlevel/ubl/ubl.h
View file

@ -32,15 +32,12 @@
#define UBL_OK false
#define UBL_ERR true
#define USE_NOZZLE_AS_REFERENCE 0
#define USE_PROBE_AS_REFERENCE 1
// ubl_G29.cpp
enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
// External references
struct mesh_index_pair;
#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
@ -52,10 +49,11 @@ class unified_bed_leveling {
g29_repetition_cnt,
g29_storage_slot,
g29_map_type;
static bool g29_c_flag, g29_x_flag, g29_y_flag;
static float g29_x_pos, g29_y_pos,
g29_card_thickness,
static bool g29_c_flag;
static float g29_card_thickness,
g29_constant;
static xy_pos_t g29_pos;
static xy_bool_t xy_seen;
#if HAS_BED_PROBE
static int g29_grid_size;
@ -65,16 +63,19 @@ class unified_bed_leveling {
static void move_z_with_encoder(const float &multiplier);
static float measure_point_with_encoder();
static float measure_business_card_thickness(float in_height);
static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;
static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;
static void manually_probe_remaining_mesh(const xy_pos_t&, const float&, const float&, const bool) _O0;
static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0;
#endif
static bool g29_parameter_parsing() _O0;
static void shift_mesh_height();
static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
static inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) {
return smart_fill_one(pos.x, pos.y, dir.x, dir.y);
}
static void smart_fill_mesh();
#if ENABLED(UBL_DEVEL_DEBUGGING)
@ -91,7 +92,7 @@ class unified_bed_leveling {
static void save_ubl_active_state_and_disable();
static void restore_ubl_active_state_and_leave();
static void display_map(const int) _O0;
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0;
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
static void reset();
static void invalidate();
@ -118,14 +119,14 @@ class unified_bed_leveling {
FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static int8_t get_cell_index_x(const float &x) {
static int8_t cell_index_x(const float &x) {
const int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
static int8_t get_cell_index_y(const float &y) {
static int8_t cell_index_y(const float &y) {
const int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible
@ -133,15 +134,22 @@ class unified_bed_leveling {
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
static int8_t find_closest_x_index(const float &x) {
static inline xy_int8_t cell_indexes(const float &x, const float &y) {
return { cell_index_x(x), cell_index_y(y) };
}
static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
static int8_t closest_x_index(const float &x) {
const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST);
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static int8_t find_closest_y_index(const float &y) {
static int8_t closest_y_index(const float &y) {
const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST);
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
static inline xy_int8_t closest_indexes(const xy_pos_t &xy) {
return { closest_x_index(xy.x), closest_y_index(xy.y) };
}
/**
* z2 --|
@ -228,8 +236,7 @@ class unified_bed_leveling {
* on the Y position within the cell.
*/
static float get_z_correction(const float &rx0, const float &ry0) {
const int8_t cx = get_cell_index_x(rx0),
cy = get_cell_index_y(ry0); // return values are clamped
const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped
/**
* Check if the requested location is off the mesh. If so, and
@ -275,11 +282,11 @@ class unified_bed_leveling {
}
return z0;
}
static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); }
static inline float mesh_index_to_xpos(const uint8_t i) {
return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
}
static inline float mesh_index_to_ypos(const uint8_t i) {
return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
}

490
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View file

@ -53,8 +53,6 @@
#define UBL_G29_P31
extern float destination[XYZE], current_position[XYZE];
#if HAS_LCD_MENU
void _lcd_ubl_output_map_lcd();
#endif
@ -67,13 +65,11 @@
unified_bed_leveling::g29_repetition_cnt,
unified_bed_leveling::g29_storage_slot = 0,
unified_bed_leveling::g29_map_type;
bool unified_bed_leveling::g29_c_flag,
unified_bed_leveling::g29_x_flag,
unified_bed_leveling::g29_y_flag;
float unified_bed_leveling::g29_x_pos,
unified_bed_leveling::g29_y_pos,
unified_bed_leveling::g29_card_thickness = 0,
bool unified_bed_leveling::g29_c_flag;
float unified_bed_leveling::g29_card_thickness = 0,
unified_bed_leveling::g29_constant = 0;
xy_bool_t unified_bed_leveling::xy_seen;
xy_pos_t unified_bed_leveling::g29_pos;
#if HAS_BED_PROBE
int unified_bed_leveling::g29_grid_size;
@ -330,18 +326,19 @@
else {
while (g29_repetition_cnt--) {
if (cnt > 20) { cnt = 0; idle(); }
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, nullptr);
if (location.x_index < 0) {
// No more REACHABLE mesh points to invalidate, so we ASSUME the user
const mesh_index_pair closest = find_closest_mesh_point_of_type(REAL, g29_pos);
const xy_int8_t &cpos = closest.pos;
if (cpos.x < 0) {
// No more REAL mesh points to invalidate, so we ASSUME the user
// meant to invalidate the ENTIRE mesh, which cannot be done with
// find_closest_mesh_point loop which only returns REACHABLE points.
// find_closest_mesh_point loop which only returns REAL points.
set_all_mesh_points_to_value(NAN);
SERIAL_ECHOLNPGM("Entire Mesh invalidated.\n");
break; // No more invalid Mesh Points to populate
}
z_values[location.x_index][location.y_index] = NAN;
z_values[cpos.x][cpos.y] = NAN;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, 0);
ExtUI::onMeshUpdate(closest, 0);
#endif
cnt++;
}
@ -448,13 +445,13 @@
SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh.");
}
if (g29_verbose_level > 1) {
SERIAL_ECHOPAIR("Probing around (", g29_x_pos);
SERIAL_ECHOPAIR("Probing around (", g29_pos.x);
SERIAL_CHAR(',');
SERIAL_ECHO(g29_y_pos);
SERIAL_ECHO(g29_pos.y);
SERIAL_ECHOLNPGM(").\n");
}
probe_entire_mesh(g29_x_pos + probe_offset[X_AXIS], g29_y_pos + probe_offset[Y_AXIS],
parser.seen('T'), parser.seen('E'), parser.seen('U'));
const xy_pos_t near = g29_pos + probe_offset;
probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
report_current_position();
probe_deployed = true;
@ -470,7 +467,7 @@
SERIAL_ECHOLNPGM("Manually probing unreachable mesh locations.");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (parser.seen('C') && !g29_x_flag && !g29_y_flag) {
if (parser.seen('C') && !xy_seen) {
/**
* Use a good default location for the path.
* The flipped > and < operators in these comparisons is intentional.
@ -478,13 +475,14 @@
* It may make sense to have Delta printers default to the center of the bed.
* Until that is decided, this can be forced with the X and Y parameters.
*/
#if IS_KINEMATIC
g29_x_pos = X_HOME_POS;
g29_y_pos = Y_HOME_POS;
#else // cartesian
g29_x_pos = probe_offset[X_AXIS] > 0 ? X_BED_SIZE : 0;
g29_y_pos = probe_offset[Y_AXIS] < 0 ? Y_BED_SIZE : 0;
#endif
g29_pos.set(
#if IS_KINEMATIC
X_HOME_POS, Y_HOME_POS
#else
probe_offset.x > 0 ? X_BED_SIZE : 0,
probe_offset.y < 0 ? Y_BED_SIZE : 0
#endif
);
}
if (parser.seen('B')) {
@ -496,13 +494,13 @@
probe_deployed = true;
}
if (!position_is_reachable(g29_x_pos, g29_y_pos)) {
if (!position_is_reachable(g29_pos)) {
SERIAL_ECHOLNPGM("XY outside printable radius.");
return;
}
const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, parser.seen('T'));
manually_probe_remaining_mesh(g29_pos, height, g29_card_thickness, parser.seen('T'));
SERIAL_ECHOLNPGM("G29 P2 finished.");
@ -530,20 +528,22 @@
}
else {
while (g29_repetition_cnt--) { // this only populates reachable mesh points near
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, nullptr);
if (location.x_index < 0) {
// No more REACHABLE INVALID mesh points to populate, so we ASSUME
const mesh_index_pair closest = find_closest_mesh_point_of_type(INVALID, g29_pos);
const xy_int8_t &cpos = closest.pos;
if (cpos.x < 0) {
// No more REAL INVALID mesh points to populate, so we ASSUME
// user meant to populate ALL INVALID mesh points to value
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (isnan(z_values[x][y]))
z_values[x][y] = g29_constant;
if (isnan(z_values[x][y])) z_values[x][y] = g29_constant;
break; // No more invalid Mesh Points to populate
}
z_values[location.x_index][location.y_index] = g29_constant;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, z_values[location.x_index][location.y_index]);
#endif
else {
z_values[cpos.x][cpos.y] = g29_constant;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(closest, g29_constant);
#endif
}
}
}
}
@ -576,7 +576,7 @@
case 4: // Fine Tune (i.e., Edit) the Mesh
#if HAS_LCD_MENU
fine_tune_mesh(g29_x_pos, g29_y_pos, parser.seen('T'));
fine_tune_mesh(g29_pos, parser.seen('T'));
#else
SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present.");
return;
@ -740,9 +740,7 @@
* Probe all invalidated locations of the mesh that can be reached by the probe.
* This attempts to fill in locations closest to the nozzle's start location first.
*/
void unified_bed_leveling::probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
mesh_index_pair location;
void unified_bed_leveling::probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
#if HAS_LCD_MENU
ui.capture();
#endif
@ -752,6 +750,7 @@
uint8_t count = GRID_MAX_POINTS;
mesh_index_pair best;
do {
if (do_ubl_mesh_map) display_map(g29_map_type);
@ -773,23 +772,23 @@
}
#endif
if (do_furthest)
location = find_furthest_invalid_mesh_point();
else
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, nullptr);
best = do_furthest
? find_furthest_invalid_mesh_point()
: find_closest_mesh_point_of_type(INVALID, near, true);
if (location.x_index >= 0) { // mesh point found and is reachable by probe
const float rawx = mesh_index_to_xpos(location.x_index),
rawy = mesh_index_to_ypos(location.y_index),
measured_z = probe_at_point(rawx, rawy, stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
z_values[location.x_index][location.y_index] = measured_z;
if (best.pos.x >= 0) { // mesh point found and is reachable by probe
const float measured_z = probe_at_point(
best.meshpos(),
stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level
);
z_values[best.pos.x][best.pos.y] = measured_z;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, measured_z);
ExtUI::onMeshUpdate(best, measured_z);
#endif
}
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (location.x_index >= 0 && --count);
} while (best.pos.x >= 0 && --count);
STOW_PROBE();
@ -800,8 +799,8 @@
restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
constrain(rx - probe_offset[X_AXIS], MESH_MIN_X, MESH_MAX_X),
constrain(ry - probe_offset[Y_AXIS], MESH_MIN_Y, MESH_MAX_Y)
constrain(near.x - probe_offset.x, MESH_MIN_X, MESH_MAX_X),
constrain(near.y - probe_offset.y, MESH_MIN_Y, MESH_MAX_Y)
);
}
@ -835,7 +834,7 @@
idle();
gcode.reset_stepper_timeout(); // Keep steppers powered
if (encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * multiplier);
do_blocking_move_to_z(current_position.z + float(encoder_diff) * multiplier);
encoder_diff = 0;
}
}
@ -844,7 +843,7 @@
float unified_bed_leveling::measure_point_with_encoder() {
KEEPALIVE_STATE(PAUSED_FOR_USER);
move_z_with_encoder(0.01f);
return current_position[Z_AXIS];
return current_position.z;
}
static void echo_and_take_a_measurement() { SERIAL_ECHOLNPGM(" and take a measurement."); }
@ -863,7 +862,7 @@
echo_and_take_a_measurement();
const float z1 = measure_point_with_encoder();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
do_blocking_move_to_z(current_position.z + SIZE_OF_LITTLE_RAISE);
planner.synchronize();
SERIAL_ECHOPGM("Remove shim");
@ -872,7 +871,7 @@
const float z2 = measure_point_with_encoder();
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES);
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
const float thickness = ABS(z1 - z2);
@ -888,29 +887,33 @@
return thickness;
}
void unified_bed_leveling::manually_probe_remaining_mesh(const float &rx, const float &ry, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
void unified_bed_leveling::manually_probe_remaining_mesh(const xy_pos_t &pos, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
ui.capture();
save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_clearance);
do_blocking_move_to(current_position.x, current_position.y, z_clearance);
ui.return_to_status();
mesh_index_pair location;
xy_int8_t &lpos = location.pos;
do {
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_NOZZLE_AS_REFERENCE, nullptr);
location = find_closest_mesh_point_of_type(INVALID, pos);
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
if (location.x_index < 0 && location.y_index < 0) continue;
if (!location.valid()) continue;
const float xProbe = mesh_index_to_xpos(location.x_index),
yProbe = mesh_index_to_ypos(location.y_index);
const xyz_pos_t ppos = {
mesh_index_to_xpos(lpos.x),
mesh_index_to_ypos(lpos.y),
Z_CLEARANCE_BETWEEN_PROBES
};
if (!position_is_reachable(xProbe, yProbe)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
do_blocking_move_to(xProbe, yProbe, Z_CLEARANCE_BETWEEN_PROBES);
do_blocking_move_to(ppos);
do_blocking_move_to_z(z_clearance);
KEEPALIVE_STATE(PAUSED_FOR_USER);
@ -932,20 +935,20 @@
return restore_ubl_active_state_and_leave();
}
z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - thick;
z_values[lpos.x][lpos.y] = current_position.z - thick;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, z_values[location.x_index][location.y_index]);
ExtUI::onMeshUpdate(location, z_values[lpos.x][lpos.y]);
#endif
if (g29_verbose_level > 2)
SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[location.x_index][location.y_index], 6);
SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[lpos.x][lpos.y], 6);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (location.x_index >= 0 && location.y_index >= 0);
} while (location.valid());
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
restore_ubl_active_state_and_leave();
do_blocking_move_to(rx, ry, Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to(pos, Z_CLEARANCE_DEPLOY_PROBE);
}
inline void set_message_with_feedback(PGM_P const msg_P) {
@ -959,8 +962,8 @@
set_message_with_feedback(PSTR(MSG_EDITING_STOPPED));
}
void unified_bed_leveling::fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) {
if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) {
if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
@ -973,7 +976,7 @@
mesh_index_pair location;
if (!position_is_reachable(rx, ry)) {
if (!position_is_reachable(pos)) {
SERIAL_ECHOLNPGM("(X,Y) outside printable radius.");
return;
}
@ -981,76 +984,78 @@
save_ubl_active_state_and_disable();
LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
ui.capture(); // Take over control of the LCD encoder
ui.capture(); // Take over control of the LCD encoder
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance
do_blocking_move_to(pos, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
do_blocking_move_to_z(h_offset); // Move Z to the given 'H' offset
do_blocking_move_to_z(h_offset); // Move Z to the given 'H' offset
#endif
uint16_t not_done[16];
memset(not_done, 0xFF, sizeof(not_done));
MeshFlags done_flags{0};
xy_int8_t &lpos = location.pos;
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, rx, ry, USE_NOZZLE_AS_REFERENCE, not_done);
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags);
if (location.x_index < 0) break; // Stop when there are no more reachable points
if (lpos.x < 0) break; // Stop when there are no more reachable points
bitmap_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so a new
// location is used on the next loop
done_flags.mark(lpos); // Mark this location as 'adjusted' so a new
// location is used on the next loop
const xyz_pos_t raw = {
mesh_index_to_xpos(lpos.x),
mesh_index_to_ypos(lpos.y),
Z_CLEARANCE_BETWEEN_PROBES
};
const float rawx = mesh_index_to_xpos(location.x_index),
rawy = mesh_index_to_ypos(location.y_index);
if (!position_is_reachable(raw)) break; // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable)
if (!position_is_reachable(rawx, rawy)) break; // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
do_blocking_move_to(rawx, rawy, Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to the edit point with probe clearance
do_blocking_move_to(raw); // Move the nozzle to the edit point with probe clearance
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
do_blocking_move_to_z(h_offset); // Move Z to the given 'H' offset before editing
do_blocking_move_to_z(h_offset); // Move Z to the given 'H' offset before editing
#endif
KEEPALIVE_STATE(PAUSED_FOR_USER);
if (do_ubl_mesh_map) display_map(g29_map_type); // Display the current point
if (do_ubl_mesh_map) display_map(g29_map_type); // Display the current point
ui.refresh();
float new_z = z_values[location.x_index][location.y_index];
if (isnan(new_z)) new_z = 0; // Invalid points begin at 0
new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place
float new_z = z_values[lpos.x][lpos.y];
if (isnan(new_z)) new_z = 0; // Invalid points begin at 0
new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place
lcd_mesh_edit_setup(new_z);
do {
new_z = lcd_mesh_edit();
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
do_blocking_move_to_z(h_offset + new_z); // Move the nozzle as the point is edited
do_blocking_move_to_z(h_offset + new_z); // Move the nozzle as the point is edited
#endif
idle();
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (!ui.button_pressed());
if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status
if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status
if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing
if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing
z_values[location.x_index][location.y_index] = new_z; // Save the updated Z value
z_values[lpos.x][lpos.y] = new_z; // Save the updated Z value
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, new_z);
ExtUI::onMeshUpdate(location, new_z);
#endif
serial_delay(20); // No switch noise
serial_delay(20); // No switch noise
ui.refresh();
} while (location.x_index >= 0 && --g29_repetition_cnt > 0);
} while (lpos.x >= 0 && --g29_repetition_cnt > 0);
ui.release();
if (do_ubl_mesh_map) display_map(g29_map_type);
restore_ubl_active_state_and_leave();
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
do_blocking_move_to(pos, Z_CLEARANCE_BETWEEN_PROBES);
LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
SERIAL_ECHOLNPGM("Done Editing Mesh");
@ -1073,11 +1078,6 @@
g29_constant = 0;
g29_repetition_cnt = 0;
g29_x_flag = parser.seenval('X');
g29_x_pos = g29_x_flag ? parser.value_float() : current_position[X_AXIS];
g29_y_flag = parser.seenval('Y');
g29_y_pos = g29_y_flag ? parser.value_float() : current_position[Y_AXIS];
if (parser.seen('R')) {
g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
@ -1124,17 +1124,24 @@
#endif
}
if (g29_x_flag != g29_y_flag) {
xy_seen.x = parser.seenval('X');
float sx = xy_seen.x ? parser.value_float() : current_position.x;
xy_seen.y = parser.seenval('Y');
float sy = xy_seen.y ? parser.value_float() : current_position.y;
if (xy_seen.x != xy_seen.y) {
SERIAL_ECHOLNPGM("Both X & Y locations must be specified.\n");
err_flag = true;
}
// If X or Y are not valid, use center of the bed values
if (!WITHIN(g29_x_pos, X_MIN_BED, X_MAX_BED)) g29_x_pos = X_CENTER;
if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER;
if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
if (err_flag) return UBL_ERR;
g29_pos.set(sx, sy);
/**
* Activate or deactivate UBL
* Note: UBL's G29 restores the state set here when done.
@ -1213,26 +1220,22 @@
mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
bool found_a_NAN = false, found_a_real = false;
bool found_a_NAN = false, found_a_real = false;
mesh_index_pair out_mesh;
out_mesh.x_index = out_mesh.y_index = -1;
out_mesh.distance = -99999.99f;
mesh_index_pair farthest { -1, -1, -99999.99 };
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (isnan(z_values[i][j])) { // Check to see if this location holds an invalid mesh point
if (isnan(z_values[i][j])) { // Invalid mesh point?
const float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j);
if (!position_is_reachable_by_probe(mx, my)) // make sure the probe can get to the mesh point
// Skip points the probe can't reach
if (!position_is_reachable_by_probe(mesh_index_to_xpos(i), mesh_index_to_ypos(j)))
continue;
found_a_NAN = true;
int8_t closest_x = -1, closest_y = -1;
xy_int8_t near { -1, -1 };
float d1, d2 = 99999.9f;
for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
@ -1245,84 +1248,75 @@
d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13));
if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l)
d2 = d1; // found a closer location with
closest_x = i; // an assigned mesh point value
closest_y = j;
if (d1 < d2) { // Invalid mesh point (i,j) is closer to the defined point (k,l)
d2 = d1;
near.set(i, j);
}
}
}
}
//
// At this point d2 should have the closest defined mesh point to invalid mesh point (i,j)
// At this point d2 should have the near defined mesh point to invalid mesh point (i,j)
//
if (found_a_real && (closest_x >= 0) && (d2 > out_mesh.distance)) {
out_mesh.distance = d2; // found an invalid location with a greater distance
out_mesh.x_index = closest_x; // to a defined mesh point
out_mesh.y_index = closest_y;
if (found_a_real && near.x >= 0 && d2 > farthest.distance) {
farthest.pos = near; // Found an invalid location farther from the defined mesh point
farthest.distance = d2;
}
}
} // for j
} // for i
if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing
out_mesh.x_index = GRID_MAX_POINTS_X / 2;
out_mesh.y_index = GRID_MAX_POINTS_Y / 2;
out_mesh.distance = 1;
farthest.pos.set(GRID_MAX_POINTS_X / 2, GRID_MAX_POINTS_Y / 2);
farthest.distance = 1;
}
return out_mesh;
return farthest;
}
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) {
mesh_index_pair out_mesh;
out_mesh.x_index = out_mesh.y_index = -1;
out_mesh.distance = -99999.9f;
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) {
mesh_index_pair closest;
closest.invalidate();
closest.distance = -99999.9f;
// Get our reference position. Either the nozzle or probe location.
const float px = rx + (probe_as_reference == USE_PROBE_AS_REFERENCE ? probe_offset[X_AXIS] : 0),
py = ry + (probe_as_reference == USE_PROBE_AS_REFERENCE ? probe_offset[Y_AXIS] : 0);
// Get the reference position, either nozzle or probe
const xy_pos_t ref = probe_relative ? pos + probe_offset : pos;
float best_so_far = 99999.99f;
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if ( (type == INVALID && isnan(z_values[i][j])) // Check to see if this location holds the right thing
|| (type == REAL && !isnan(z_values[i][j]))
|| (type == SET_IN_BITMAP && is_bitmap_set(bits, i, j))
if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
|| (type == SET_IN_BITMAP && !done_flags->marked(i, j))
) {
// We only get here if we found a Mesh Point of the specified type
const float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j);
// Found a Mesh Point of the specified type!
const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) };
// If using the probe as the reference there are some unreachable locations.
// Also for round beds, there are grid points outside the bed the nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (probe_as_reference ? !position_is_reachable_by_probe(mx, my) : !position_is_reachable(mx, my))
if (probe_relative ? !position_is_reachable_by_probe(mpos) : !position_is_reachable(mpos))
continue;
// Reachable. Check if it's the best_so_far location to the nozzle.
float distance = HYPOT(px - mx, py - my);
const xy_pos_t diff = current_position - mpos;
const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f;
// factor in the distance from the current location for the normal case
// so the nozzle isn't running all over the bed.
distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1f;
if (distance < best_so_far) {
best_so_far = distance; // We found a closer location with
out_mesh.x_index = i; // the specified type of mesh value.
out_mesh.y_index = j;
out_mesh.distance = best_so_far;
best_so_far = distance; // Found a closer location with the desired value type.
closest.pos.set(i, j);
closest.distance = best_so_far;
}
}
} // for j
} // for i
return out_mesh;
return closest;
}
/**
@ -1332,20 +1326,20 @@
*/
bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
const int8_t x1 = x + xdir, x2 = x1 + xdir,
y1 = y + ydir, y2 = y1 + ydir;
// A NAN next to a pair of real values?
if (isnan(z_values[x][y]) && !isnan(z_values[x1][y1]) && !isnan(z_values[x2][y2])) {
if (z_values[x1][y1] < z_values[x2][y2]) // Angled downward?
z_values[x][y] = z_values[x1][y1]; // Use nearest (maybe a little too high.)
else
z_values[x][y] = 2.0f * z_values[x1][y1] - z_values[x2][y2]; // Angled upward...
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(x, y, z_values[x][y]);
#endif
return true;
const float v = z_values[x][y];
if (isnan(v)) { // A NAN...
const int8_t dx = x + xdir, dy = y + ydir;
const float v1 = z_values[dx][dy];
if (!isnan(v1)) { // ...next to a pair of real values?
const float v2 = z_values[dx + xdir][dy + ydir];
if (!isnan(v2)) {
z_values[x][y] = v1 < v2 ? v1 : v1 + v1 - v2;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(x, y, z_values[pos.x][pos.y]);
#endif
return true;
}
}
}
return false;
}
@ -1391,15 +1385,15 @@
dx = (x_max - x_min) / (g29_grid_size - 1),
dy = (y_max - y_min) / (g29_grid_size - 1);
vector_3 points[3] = {
const vector_3 points[3] = {
#if ENABLED(HAS_FIXED_3POINT)
vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0),
vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0),
vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0)
{ PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
{ PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
{ PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
#else
vector_3(x_min, y_min, 0),
vector_3(x_max, y_min, 0),
vector_3((x_max - x_min) / 2, y_max, 0)
{ x_min, y_min, 0 },
{ x_max, y_min, 0 },
{ (x_max - x_min) / 2, y_max, 0 }
#endif
};
@ -1419,11 +1413,11 @@
ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 1/3"));
#endif
measured_z = probe_at_point(points[0].x, points[0].y, PROBE_PT_RAISE, g29_verbose_level);
measured_z = probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
if (isnan(measured_z))
abort_flag = true;
else {
measured_z -= get_z_correction(points[0].x, points[0].y);
measured_z -= get_z_correction(points[0]);
#ifdef VALIDATE_MESH_TILT
z1 = measured_z;
#endif
@ -1431,7 +1425,7 @@
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, points[0].x, points[0].y, measured_z);
incremental_LSF(&lsf_results, points[0], measured_z);
}
if (!abort_flag) {
@ -1440,19 +1434,19 @@
ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 2/3"));
#endif
measured_z = probe_at_point(points[1].x, points[1].y, PROBE_PT_RAISE, g29_verbose_level);
measured_z = probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
#ifdef VALIDATE_MESH_TILT
z2 = measured_z;
#endif
if (isnan(measured_z))
abort_flag = true;
else {
measured_z -= get_z_correction(points[1].x, points[1].y);
measured_z -= get_z_correction(points[1]);
if (g29_verbose_level > 3) {
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, points[1].x, points[1].y, measured_z);
incremental_LSF(&lsf_results, points[1], measured_z);
}
}
@ -1462,19 +1456,19 @@
ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 3/3"));
#endif
measured_z = probe_at_point(points[2].x, points[2].y, PROBE_PT_STOW, g29_verbose_level);
measured_z = probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
#ifdef VALIDATE_MESH_TILT
z3 = measured_z;
#endif
if (isnan(measured_z))
abort_flag = true;
else {
measured_z -= get_z_correction(points[2].x, points[2].y);
measured_z -= get_z_correction(points[2]);
if (g29_verbose_level > 3) {
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, points[2].x, points[2].y, measured_z);
incremental_LSF(&lsf_results, points[2], measured_z);
}
}
@ -1494,10 +1488,11 @@
uint16_t total_points = g29_grid_size * g29_grid_size, point_num = 1;
xy_pos_t rpos;
for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
const float rx = x_min + ix * dx;
rpos.x = x_min + ix * dx;
for (int8_t iy = 0; iy < g29_grid_size; iy++) {
const float ry = y_min + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
rpos.y = y_min + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
if (!abort_flag) {
SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n");
@ -1505,24 +1500,24 @@
ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " %i/%i"), point_num, total_points);
#endif
measured_z = probe_at_point(rx, ry, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
measured_z = probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
abort_flag = isnan(measured_z);
if (DEBUGGING(LEVELING)) {
const xy_pos_t lpos = rpos.asLogical();
DEBUG_CHAR('(');
DEBUG_ECHO_F(rx, 7);
DEBUG_ECHO_F(rpos.x, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(ry, 7);
DEBUG_ECHOPGM(") logical: (");
DEBUG_ECHO_F(LOGICAL_X_POSITION(rx), 7);
DEBUG_ECHO_F(rpos.y, 7);
DEBUG_ECHOPAIR_F(") logical: (", lpos.x, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(LOGICAL_Y_POSITION(ry), 7);
DEBUG_ECHO_F(lpos.y, 7);
DEBUG_ECHOPAIR_F(") measured: ", measured_z, 7);
DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rx, ry), 7);
DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rpos), 7);
}
measured_z -= get_z_correction(rx, ry) /* + probe_offset[Z_AXIS] */ ;
measured_z -= get_z_correction(rpos) /* + probe_offset.z */ ;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7);
@ -1530,7 +1525,7 @@
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, rx, ry, measured_z);
incremental_LSF(&lsf_results, rpos, measured_z);
}
point_num++;
@ -1564,33 +1559,33 @@
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp = mesh_index_to_xpos(i),
y_tmp = mesh_index_to_ypos(j),
z_tmp = z_values[i][j];
float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j),
mz = z_values[i][j];
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR_F("before rotation = [", x_tmp, 7);
DEBUG_ECHOPAIR_F("before rotation = [", mx, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(y_tmp, 7);
DEBUG_ECHO_F(my, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(z_tmp, 7);
DEBUG_ECHO_F(mz, 7);
DEBUG_ECHOPGM("] ---> ");
DEBUG_DELAY(20);
}
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
apply_rotation_xyz(rotation, mx, my, mz);
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR_F("after rotation = [", x_tmp, 7);
DEBUG_ECHOPAIR_F("after rotation = [", mx, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(y_tmp, 7);
DEBUG_ECHO_F(my, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(z_tmp, 7);
DEBUG_ECHO_F(mz, 7);
DEBUG_ECHOLNPGM("]");
DEBUG_DELAY(55);
DEBUG_DELAY(20);
}
z_values[i][j] = z_tmp - lsf_results.D;
z_values[i][j] = mz - lsf_results.D;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(i, j, z_values[i][j]);
#endif
@ -1613,41 +1608,32 @@
DEBUG_EOL();
/**
* The following code can be used to check the validity of the mesh tilting algorithm.
* When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting.
* The only difference is just 3 points are used in the calculations. That fact guarantees
* each probed point should have an exact match when a get_z_correction() for that location
* is calculated. The Z error between the probed point locations and the get_z_correction()
* Use the code below to check the validity of the mesh tilting algorithm.
* 3-Point Mesh Tilt uses the same algorithm as grid-based tilting, but only
* three points are used in the calculation. This guarantees that each probed point
* has an exact match when get_z_correction() for that location is calculated.
* The Z error between the probed point locations and the get_z_correction()
* numbers for those locations should be 0.
*/
#ifdef VALIDATE_MESH_TILT
float t, t1, d;
t = normal.x * x_min + normal.y * y_min;
d = t + normal.z * z1;
DEBUG_ECHOPAIR_F("D from 1st point: ", d, 6);
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z * z1 - get_z_correction(x_min, y_min), 6);
t = normal.x * x_max + normal.y * y_min;
d = t + normal.z * z2;
DEBUG_EOL();
DEBUG_ECHOPAIR_F("D from 2nd point: ", d, 6);
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z * z2 - get_z_correction(x_max, y_min), 6);
t = normal.x * ((x_max - x_min) / 2) + normal.y * (y_min);
d = t + normal.z * z3;
DEBUG_ECHOPAIR_F("D from 3rd point: ", d, 6);
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z * z3 - get_z_correction((x_max - x_min) / 2, y_max), 6);
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + normal.z * 0;
DEBUG_ECHOLNPAIR_F("D from home location with Z=0 : ", d, 6);
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0;
DEBUG_ECHOPAIR_F("D from home location using mesh value for Z: ", d, 6);
auto d_from = []() { DEBUG_ECHOPGM("D from "); };
auto normed = [&](const xy_pos_t &pos, const float &zadd) {
return normal.x * pos.x + normal.y * pos.y + zadd;
};
auto debug_pt = [](PGM_P const pre, const xy_pos_t &pos, const float &zadd) {
d_from(); serialprintPGM(pre);
DEBUG_ECHO_F(normed(pos, zadd), 6);
DEBUG_ECHOLNPAIR_F(" Z error: ", zadd - get_z_correction(pos), 6);
};
debug_pt(PSTR("1st point: "), probe_pt[0], normal.z * z1);
debug_pt(PSTR("2nd point: "), probe_pt[1], normal.z * z2);
debug_pt(PSTR("3rd point: "), probe_pt[2], normal.z * z3);
d_from(); DEBUG_ECHOPGM("safe home with Z=");
DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6);
d_from(); DEBUG_ECHOPGM("safe home with Z=");
DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 6);
DEBUG_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT);
DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT), 6);
DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6);
#endif
} // DEBUGGING(LEVELING)
@ -1676,21 +1662,23 @@
if (!isnan(z_values[jx][jy]))
SBI(bitmap[jx], jy);
xy_pos_t ppos;
for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) {
const float px = mesh_index_to_xpos(ix);
ppos.x = mesh_index_to_xpos(ix);
for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; iy++) {
const float py = mesh_index_to_ypos(iy);
ppos.y = mesh_index_to_ypos(iy);
if (isnan(z_values[ix][iy])) {
// undefined mesh point at (px,py), compute weighted LSF from original valid mesh points.
// undefined mesh point at (ppos.x,ppos.y), compute weighted LSF from original valid mesh points.
incremental_LSF_reset(&lsf_results);
xy_pos_t rpos;
for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) {
const float rx = mesh_index_to_xpos(jx);
rpos.x = mesh_index_to_xpos(jx);
for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
if (TEST(bitmap[jx], jy)) {
const float ry = mesh_index_to_ypos(jy),
rz = z_values[jx][jy],
w = 1 + weight_scaled / HYPOT((rx - px), (ry - py));
incremental_WLSF(&lsf_results, rx, ry, rz, w);
rpos.y = mesh_index_to_ypos(jy);
const float rz = z_values[jx][jy],
w = 1.0f + weight_scaled / (rpos - ppos).magnitude();
incremental_WLSF(&lsf_results, rpos, rz, w);
}
}
}
@ -1698,12 +1686,12 @@
SERIAL_ECHOLNPGM("Insufficient data");
return;
}
const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
const float ez = -lsf_results.D - lsf_results.A * ppos.x - lsf_results.B * ppos.y;
z_values[ix][iy] = ez;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy]);
#endif
idle(); // housekeeping
idle(); // housekeeping
}
}
}
@ -1734,7 +1722,7 @@
adjust_mesh_to_mean(g29_c_flag, g29_constant);
#if HAS_BED_PROBE
SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe_offset[Z_AXIS], 7);
SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe_offset.z, 7);
#endif
SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50);

355
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View file

@ -35,12 +35,6 @@
#include "../../../Marlin.h"
#include <math.h>
#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
inline void set_current_from_destination() { COPY(current_position, destination); }
#else
extern void set_current_from_destination();
#endif
#if !UBL_SEGMENTED
void unified_bed_leveling::line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t extruder) {
@ -50,60 +44,57 @@
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
#if HAS_POSITION_MODIFIERS
float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
xyze_pos_t start = current_position, end = destination;
planner.apply_modifiers(start);
planner.apply_modifiers(end);
#else
const float (&start)[XYZE] = current_position,
(&end)[XYZE] = destination;
const xyze_pos_t &start = current_position, &end = destination;
#endif
const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
cell_start_yi = get_cell_index_y(start[Y_AXIS]),
cell_dest_xi = get_cell_index_x(end[X_AXIS]),
cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
const xy_int8_t istart = cell_indexes(start), iend = cell_indexes(end);
// A move within the same cell needs no splitting
if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) {
if (istart == iend) {
// For a move off the bed, use a constant Z raise
if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) {
if (!WITHIN(iend.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iend.y, 0, GRID_MAX_POINTS_Y - 1)) {
// Note: There is no Z Correction in this case. We are off the grid and don't know what
// a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH
// value, that will be used instead of a calculated (Bi-Linear interpolation) correction.
const float z_raise = 0.0
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
+ UBL_Z_RAISE_WHEN_OFF_MESH
#endif
;
planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z_raise, end[E_AXIS], scaled_fr_mm_s, extruder);
set_current_from_destination();
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
#endif
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
FINAL_MOVE:
// The distance is always MESH_X_DIST so multiply by the constant reciprocal.
const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * RECIPROCAL(MESH_X_DIST);
const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST);
float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0;
float z1, z2;
if (iend.x >= GRID_MAX_POINTS_X - 1)
z1 = z2 = 0.0;
else {
z1 = z_values[iend.x ][iend.y ] + xratio *
(z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]),
z2 = z_values[iend.x ][iend.y + 1] + xratio *
(z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);
}
// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * RECIPROCAL(MESH_Y_DIST),
z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
const float yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
z0 = iend.y < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z) : 0.0;
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + (isnan(z0) ? 0.0 : z0), end[E_AXIS], scaled_fr_mm_s, extruder);
set_current_from_destination();
if (!isnan(z0)) end.z += z0;
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
@ -112,17 +103,11 @@
* case - crossing only one X or Y line - after details are worked out to reduce computation.
*/
const float dx = end[X_AXIS] - start[X_AXIS],
dy = end[Y_AXIS] - start[Y_AXIS];
const int left_flag = dx < 0.0 ? 1 : 0,
down_flag = dy < 0.0 ? 1 : 0;
const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy;
const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
const xy_float_t dist = end - start;
const xy_bool_t neg { dist.x < 0, dist.y < 0 };
const xy_int8_t ineg { int8_t(neg.x), int8_t(neg.y) };
const xy_float_t sign { neg.x ? -1.0f : 1.0f, neg.y ? -1.0f : 1.0f };
const xy_int8_t iadd { int8_t(iend.x == istart.x ? 0 : sign.x), int8_t(iend.y == istart.y ? 0 : sign.y) };
/**
* Compute the extruder scaling factor for each partial move, checking for
@ -132,64 +117,64 @@
* components. The larger of the two is used to preserve precision.
*/
const bool use_x_dist = adx > ady;
const xy_float_t ad = sign * dist;
const bool use_x_dist = ad.x > ad.y;
float on_axis_distance = use_x_dist ? dx : dy,
e_position = end[E_AXIS] - start[E_AXIS],
z_position = end[Z_AXIS] - start[Z_AXIS];
float on_axis_distance = use_x_dist ? dist.x : dist.y,
e_position = end.e - start.e,
z_position = end.z - start.z;
const float e_normalized_dist = e_position / on_axis_distance,
const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero
z_normalized_dist = z_position / on_axis_distance;
int current_xi = cell_start_xi,
current_yi = cell_start_yi;
xy_int8_t icell = istart;
const float m = dy / dx,
c = start[Y_AXIS] - m * start[X_AXIS];
const float ratio = dist.y / dist.x, // Allow divide by zero
c = start.y - ratio * start.x;
const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0),
inf_m_flag = (isinf(m) != 0);
const bool inf_normalized_flag = isinf(e_normalized_dist),
inf_ratio_flag = isinf(ratio);
/**
* Handle vertical lines that stay within one column.
* These need not be perfectly vertical.
*/
if (dxi == 0) { // Vertical line?
current_yi += down_flag; // Line going down? Just go to the bottom.
while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi;
const float next_mesh_line_y = mesh_index_to_ypos(current_yi);
if (iadd.x == 0) { // Vertical line?
icell.y += ineg.y; // Line going down? Just go to the bottom.
while (icell.y != iend.y + ineg.y) {
icell.y += iadd.y;
const float next_mesh_line_y = mesh_index_to_ypos(icell.y);
/**
* Skip the calculations for an infinite slope.
* For others the next X is the same so this can continue.
* Calculate X at the next Y mesh line.
*/
const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
const float ry = mesh_index_to_ypos(current_yi);
const float ry = mesh_index_to_ypos(icell.y);
/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading down, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (ry != start[Y_AXIS]) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
if (ry != start.y) {
if (!inf_normalized_flag) { // fall-through faster than branch
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
@ -197,10 +182,10 @@
}
// At the final destination? Usually not, but when on a Y Mesh Line it's completed.
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
set_current_from_destination();
current_position = destination;
return;
}
@ -208,36 +193,34 @@
* Handle horizontal lines that stay within one row.
* These need not be perfectly horizontal.
*/
if (dyi == 0) { // Horizontal line?
current_xi += left_flag; // Heading left? Just go to the left edge of the cell for the first move.
while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
const float next_mesh_line_x = mesh_index_to_xpos(current_xi),
ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
if (iadd.y == 0) { // Horizontal line?
icell.x += ineg.x; // Heading left? Just go to the left edge of the cell for the first move.
while (icell.x != iend.x + ineg.x) {
icell.x += iadd.x;
const float rx = mesh_index_to_xpos(icell.x);
const float ry = ratio * rx + c; // Calculate Y at the next X mesh line
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
const float rx = mesh_index_to_xpos(current_xi);
/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading left, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (rx != start[X_AXIS]) {
if (rx != start.x) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
@ -245,93 +228,88 @@
} //else printf("FIRST MOVE PRUNED ");
}
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
set_current_from_destination();
current_position = destination;
return;
}
/**
*
* Handle the generic case of a line crossing both X and Y Mesh lines.
* Generic case of a line crossing both X and Y Mesh lines.
*
*/
int xi_cnt = cell_start_xi - cell_dest_xi,
yi_cnt = cell_start_yi - cell_dest_yi;
xy_int8_t cnt = (istart - iend).ABS();
if (xi_cnt < 0) xi_cnt = -xi_cnt;
if (yi_cnt < 0) yi_cnt = -yi_cnt;
icell += ineg;
current_xi += left_flag;
current_yi += down_flag;
while (cnt) {
while (xi_cnt || yi_cnt) {
const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x),
next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y),
ry = ratio * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line
// (No need to worry about ratio == 0.
// In that case, it was already detected
// as a vertical line move above.)
const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi),
next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi),
ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero.
// If that was the case, it was already detected
// as a vertical line move above.)
if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
// Yes! Crossing a Y Mesh Line next
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
current_yi += dyi;
yi_cnt--;
icell.y += iadd.y;
cnt.y--;
}
else {
// Yes! Crossing a X Mesh Line next
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
current_xi += dxi;
xi_cnt--;
icell.x += iadd.x;
cnt.x--;
}
if (xi_cnt < 0 || yi_cnt < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
if (cnt.x < 0 || cnt.y < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
}
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
set_current_from_destination();
current_position = destination;
}
#else // UBL_SEGMENTED
@ -356,56 +334,42 @@
bool _O2 unified_bed_leveling::line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s) {
if (!position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
if (!position_is_reachable(destination)) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
const float total[XYZE] = {
destination[X_AXIS] - current_position[X_AXIS],
destination[Y_AXIS] - current_position[Y_AXIS],
destination[Z_AXIS] - current_position[Z_AXIS],
destination[E_AXIS] - current_position[E_AXIS]
};
const xyze_pos_t total = destination - current_position;
const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance
const float cart_xy_mm_2 = HYPOT2(total.x, total.y),
cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance
#if IS_KINEMATIC
const float seconds = cartesian_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(delta_segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(delta_segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cart_xy_mm * RECIPROCAL(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 = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // cartesian fixed segment length
uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
#endif
NOLESS(segments, 1U); // must have at least one segment
const float inv_segments = 1.0f / segments; // divide once, multiply thereafter
NOLESS(segments, 1U); // Must have at least one segment
const float inv_segments = 1.0f / segments, // Reciprocal to save calculation
segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments; // Length of each segment
const float segment_xyz_mm = HYPOT(cartesian_xy_mm, total[Z_AXIS]) * inv_segments; // length of each segment
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
#endif
const float diff[XYZE] = {
total[X_AXIS] * inv_segments,
total[Y_AXIS] * inv_segments,
total[Z_AXIS] * inv_segments,
total[E_AXIS] * inv_segments
};
xyze_float_t diff = total * inv_segments;
// Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore.
float raw[XYZE] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
xyze_pos_t raw = current_position;
// Just do plain segmentation if UBL is inactive or the target is above the fade height
if (!planner.leveling_active || !planner.leveling_active_at_z(destination[Z_AXIS])) {
if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) {
while (--segments) {
LOOP_XYZE(i) raw[i] += diff[i];
raw += diff;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
@ -417,17 +381,17 @@
, inv_duration
#endif
);
return false; // moved but did not set_current_from_destination();
return false; // Did not set current from destination
}
// Otherwise perform per-segment leveling
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination[Z_AXIS]);
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination.z);
#endif
// increment to first segment destination
LOOP_XYZE(i) raw[i] += diff[i];
// Move to first segment destination
raw += diff;
for (;;) { // for each mesh cell encountered during the move
@ -438,75 +402,68 @@
// 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 = (raw[X_AXIS] - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST),
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
xy_int8_t icell = {
int8_t((raw.x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)),
int8_t((raw.y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST))
};
LIMIT(icell.x, 0, (GRID_MAX_POINTS_X) - 1);
LIMIT(icell.y, 0, (GRID_MAX_POINTS_Y) - 1);
LIMIT(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
LIMIT(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add
y0 = mesh_index_to_ypos(cell_yi);
float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
float z_x0y0 = z_values[icell.x ][icell.y ], // z at lower left corner
z_x1y0 = z_values[icell.x+1][icell.y ], // z at upper left corner
z_x0y1 = z_values[icell.x ][icell.y+1], // z at lower right corner
z_x1y1 = z_values[icell.x+1][icell.y+1]; // z at upper right corner
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_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 cx = raw[X_AXIS] - x0, // cell-relative x and y
cy = raw[Y_AXIS] - y0;
const xy_pos_t pos = { mesh_index_to_xpos(icell.x), mesh_index_to_ypos(icell.y) };
xy_pos_t cell = raw - pos;
const float z_xmy0 = (z_x1y0 - z_x0y0) * RECIPROCAL(MESH_X_DIST), // z slope per x along y0 (lower left to lower right)
z_xmy1 = (z_x1y1 - z_x0y1) * RECIPROCAL(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 (changes for each cx in cell)
float z_cxy0 = z_x0y0 + z_xmy0 * cell.x; // z height along y0 at cell.x (changes for each cell.x in cell)
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
const float z_cxy1 = z_x0y1 + z_xmy1 * cell.x, // z height along y1 at cell.x
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cell.x from y0 to y1
float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cell.x from pos.y to y1 (changes for each cell.x in cell)
// float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
// float z_cxcy = z_cxy0 + z_cxym * cell.y; // interpolated mesh z height along cell.x at cell.y (do inside the segment loop)
// 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
// and the z_cxym slope will change, both as a function of cell.x within the cell, and
// each change by a constant for fixed segment lengths.
const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff[X_AXIS]; // per-segment adjustment to z_cxym
const float z_sxy0 = z_xmy0 * diff.x, // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff.x; // per-segment adjustment to z_cxym
for (;;) { // for all segments within this mesh cell
if (--segments == 0) COPY(raw, destination); // if this is last segment, use destination for exact
if (--segments == 0) raw = destination; // if this is last segment, use destination for exact
const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
const float z_cxcy = (z_cxy0 + z_cxym * cell.y) // interpolated mesh z height along cell.x at cell.y
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* fade_scaling_factor // apply fade factor to interpolated mesh height
#endif
;
const float z = raw[Z_AXIS];
raw[Z_AXIS] += z_cxcy;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
raw[Z_AXIS] = z;
if (segments == 0) // done with last segment
return false; // did not set_current_from_destination()
return false; // didn't set current from destination
LOOP_XYZE(i) raw[i] += diff[i];
raw += diff;
cell += diff;
cx += diff[X_AXIS];
cy += diff[Y_AXIS];
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
if (!WITHIN(cell.x, 0, MESH_X_DIST) || !WITHIN(cell.y, 0, MESH_Y_DIST)) // done within this cell, break to next
break;
// Next segment still within same mesh cell, adjust the per-segment

6
Marlin/src/feature/dac/dac_mcp4728.cpp
View file

@ -36,7 +36,7 @@
#include "dac_mcp4728.h"
uint16_t mcp4728_values[XYZE];
xyze_uint_t mcp4728_values;
/**
* Begin I2C, get current values (input register and eeprom) of mcp4728
@ -121,8 +121,8 @@ uint8_t mcp4728_getDrvPct(const uint8_t channel) { return uint8_t(100.0 * mcp472
* Receives all Drive strengths as 0-100 percent values, updates
* DAC Values array and calls fastwrite to update the DAC.
*/
void mcp4728_setDrvPct(uint8_t pct[XYZE]) {
LOOP_XYZE(i) mcp4728_values[i] = 0.01 * pct[i] * (DAC_STEPPER_MAX);
void mcp4728_setDrvPct(xyze_uint8_t &pct) {
mcp4728_values *= 0.01 * pct * (DAC_STEPPER_MAX);
mcp4728_fastWrite();
}

4
Marlin/src/feature/dac/dac_mcp4728.h
View file

@ -25,6 +25,8 @@
* Arduino library for MicroChip MCP4728 I2C D/A converter.
*/
#include "../../core/types.h"
#include <Wire.h>
#define defaultVDD DAC_STEPPER_MAX //was 5000 but differs with internal Vref
@ -54,4 +56,4 @@ uint16_t mcp4728_getValue(const uint8_t channel);
uint8_t mcp4728_fastWrite();
uint8_t mcp4728_simpleCommand(const byte simpleCommand);
uint8_t mcp4728_getDrvPct(const uint8_t channel);
void mcp4728_setDrvPct(uint8_t pct[XYZE]);
void mcp4728_setDrvPct(xyze_uint8_t &pct);

8
Marlin/src/feature/dac/stepper_dac.cpp
View file

@ -31,8 +31,8 @@
#include "stepper_dac.h"
bool dac_present = false;
const uint8_t dac_order[NUM_AXIS] = DAC_STEPPER_ORDER;
uint8_t dac_channel_pct[XYZE] = DAC_MOTOR_CURRENT_DEFAULT;
constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER;
xyze_uint8_t dac_channel_pct = DAC_MOTOR_CURRENT_DEFAULT;
int dac_init() {
#if PIN_EXISTS(DAC_DISABLE)
@ -77,8 +77,8 @@ void dac_current_raw(uint8_t channel, uint16_t val) {
static float dac_perc(int8_t n) { return 100.0 * mcp4728_getValue(dac_order[n]) * RECIPROCAL(DAC_STEPPER_MAX); }
static float dac_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * RECIPROCAL(DAC_STEPPER_SENSE); }
uint8_t dac_current_get_percent(AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(const uint8_t pct[XYZE]) {
uint8_t dac_current_get_percent(const AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(xyze_uint8_t &pct) {
LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
mcp4728_setDrvPct(dac_channel_pct);
}

2
Marlin/src/feature/dac/stepper_dac.h
View file

@ -33,4 +33,4 @@ void dac_current_raw(uint8_t channel, uint16_t val);
void dac_print_values();
void dac_commit_eeprom();
uint8_t dac_current_get_percent(AxisEnum axis);
void dac_current_set_percents(const uint8_t pct[XYZE]);
void dac_current_set_percents(xyze_uint8_t &pct);

14
Marlin/src/feature/fwretract.cpp
View file

@ -123,8 +123,8 @@ void FWRetract::retract(const bool retracting
SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop);
//*/
@ -136,7 +136,7 @@ void FWRetract::retract(const bool retracting
);
// The current position will be the destination for E and Z moves
set_destination_from_current();
destination = current_position;
#if ENABLED(RETRACT_SYNC_MIXING)
const uint8_t old_mixing_tool = mixer.get_current_vtool();
@ -147,7 +147,7 @@ void FWRetract::retract(const bool retracting
if (retracting) {
// Retract by moving from a faux E position back to the current E position
current_retract[active_extruder] = base_retract;
prepare_internal_move_to_destination( // set_current_to_destination
prepare_internal_move_to_destination( // set current to destination
settings.retract_feedrate_mm_s
#if ENABLED(RETRACT_SYNC_MIXING)
* (MIXING_STEPPERS)
@ -171,7 +171,7 @@ void FWRetract::retract(const bool retracting
const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra;
if (extra_recover) {
current_position[E_AXIS] -= extra_recover; // Adjust the current E position by the extra amount to recover
current_position.e -= extra_recover; // Adjust the current E position by the extra amount to recover
sync_plan_position_e(); // Sync the planner position so the extra amount is recovered
}
@ -207,8 +207,8 @@ void FWRetract::retract(const bool retracting
SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop);
//*/
}

29
Marlin/src/feature/joystick.cpp
View file

@ -71,35 +71,35 @@ Joystick joystick;
#if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
void Joystick::calculate(float (&norm_jog)[XYZ]) {
void Joystick::calculate(xyz_float_t &norm_jog) {
// Do nothing if enable pin (active-low) is not LOW
#if HAS_JOY_ADC_EN
if (READ(JOY_EN_PIN)) return;
#endif
auto _normalize_joy = [](float &norm_jog, const int16_t raw, const int16_t (&joy_limits)[4]) {
auto _normalize_joy = [](float &axis_jog, const int16_t raw, const int16_t (&joy_limits)[4]) {
if (WITHIN(raw, joy_limits[0], joy_limits[3])) {
// within limits, check deadzone
if (raw > joy_limits[2])
norm_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
axis_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
else if (raw < joy_limits[1])
norm_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
axis_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
// Map normal to jog value via quadratic relationship
norm_jog = SIGN(norm_jog) * sq(norm_jog);
axis_jog = SIGN(axis_jog) * sq(axis_jog);
}
};
#if HAS_JOY_ADC_X
static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS;
_normalize_joy(norm_jog[X_AXIS], x.raw, joy_x_limits);
_normalize_joy(norm_jog.x, x.raw, joy_x_limits);
#endif
#if HAS_JOY_ADC_Y
static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS;
_normalize_joy(norm_jog[Y_AXIS], y.raw, joy_y_limits);
_normalize_joy(norm_jog.y, y.raw, joy_y_limits);
#endif
#if HAS_JOY_ADC_Z
static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS;
_normalize_joy(norm_jog[Z_AXIS], z.raw, joy_z_limits);
_normalize_joy(norm_jog.z, z.raw, joy_z_limits);
#endif
}
@ -129,7 +129,7 @@ Joystick joystick;
// Normalized jog values are 0 for no movement and -1 or +1 for as max feedrate (nonlinear relationship)
// Jog are initialized to zero and handling input can update values but doesn't have to
// You could use a two-axis joystick and a one-axis keypad and they might work together
float norm_jog[XYZ] = { 0 };
xyz_float_t norm_jog{0};
// Use ADC values and defined limits. The active zone is normalized: -1..0 (dead) 0..1
#if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
@ -143,16 +143,13 @@ Joystick joystick;
ExtUI::_joystick_update(norm_jog);
#endif
#if EITHER(ULTIPANEL, EXTENSIBLE_UI)
constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
#endif
// norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
float move_dist[XYZ] = { 0 }, hypot2 = 0;
xyz_float_t move_dist{0};
float hypot2 = 0;
LOOP_XYZ(i) if (norm_jog[i]) {
move_dist[i] = seg_time * norm_jog[i] *
#if EITHER(ULTIPANEL, EXTENSIBLE_UI)
MMM_TO_MMS(manual_feedrate[i]);
MMM_TO_MMS(manual_feedrate_mm_m[i]);
#else
planner.settings.max_feedrate_mm_s[i];
#endif
@ -160,7 +157,7 @@ Joystick joystick;
}
if (!UNEAR_ZERO(hypot2)) {
LOOP_XYZ(i) current_position[i] += move_dist[i];
current_position += move_dist;
const float length = sqrt(hypot2);
injecting_now = true;
planner.buffer_line(current_position, length / seg_time, active_extruder, length);

4
Marlin/src/feature/joystick.h
View file

@ -25,6 +25,8 @@
* joystick.h - joystick input / jogging
*/
#include "../inc/MarlinConfigPre.h"
#include "../core/types.h"
#include "../core/macros.h"
#include "../module/temperature.h"
@ -46,7 +48,7 @@ class Joystick {
#if ENABLED(JOYSTICK_DEBUG)
static void report();
#endif
static void calculate(float (&norm_jog)[XYZ]);
static void calculate(xyz_float_t &norm_jog);
static void inject_jog_moves();
};

22
Marlin/src/feature/pause.cpp
View file

@ -64,7 +64,7 @@
// private:
static float resume_position[XYZE];
static xyze_pos_t resume_position;
PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
@ -126,8 +126,8 @@ void do_pause_e_move(const float &length, const feedRate_t &fr_mm_s) {
#if HAS_FILAMENT_SENSOR
runout.reset();
#endif
current_position[E_AXIS] += length / planner.e_factor[active_extruder];
planner.buffer_line(current_position, fr_mm_s, active_extruder);
current_position.e += length / planner.e_factor[active_extruder];
line_to_current_position(fr_mm_s);
planner.synchronize();
}
@ -385,7 +385,7 @@ bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
*/
uint8_t did_pause_print = 0;
bool pause_print(const float &retract, const point_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
bool pause_print(const float &retract, const xyz_pos_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
#if !HAS_LCD_MENU
UNUSED(show_lcd);
@ -432,7 +432,7 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
print_job_timer.pause();
// Save current position
COPY(resume_position, current_position);
resume_position = current_position;
// Wait for buffered blocks to complete
planner.synchronize();
@ -611,10 +611,10 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
* - Display "wait for print to resume"
* - Re-prime the nozzle...
* - FWRETRACT: Recover/prime from the prior G10.
* - !FWRETRACT: Retract by resume_position[E], if negative.
* - !FWRETRACT: Retract by resume_position.e, if negative.
* Not sure how this logic comes into use.
* - Move the nozzle back to resume_position
* - Sync the planner E to resume_position[E]
* - Sync the planner E to resume_position.e
* - Send host action for resume, if configured
* - Resume the current SD print job, if any
*/
@ -652,13 +652,13 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
#endif
// If resume_position is negative
if (resume_position[E_AXIS] < 0) do_pause_e_move(resume_position[E_AXIS], feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
if (resume_position.e < 0) do_pause_e_move(resume_position.e, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
// Move XY to starting position, then Z
do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
do_blocking_move_to_xy(xy_pos_t(resume_position), feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
// Move Z_AXIS to saved position
do_blocking_move_to_z(resume_position[Z_AXIS], feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
#if ADVANCED_PAUSE_RESUME_PRIME != 0
do_pause_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE));
@ -666,7 +666,7 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
// Now all extrusion positions are resumed and ready to be confirmed
// Set extruder to saved position
planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS]));
planner.set_e_position_mm((destination.e = current_position.e = resume_position.e));
#if HAS_LCD_MENU
lcd_pause_show_message(PAUSE_MESSAGE_STATUS);

2
Marlin/src/feature/pause.h
View file

@ -83,7 +83,7 @@ extern uint8_t did_pause_print;
void do_pause_e_move(const float &length, const feedRate_t &fr_mm_s);
bool pause_print(const float &retract, const point_t &park_point, const float &unload_length=0, const bool show_lcd=false DXC_PARAMS);
bool pause_print(const float &retract, const xyz_pos_t &park_point, const float &unload_length=0, const bool show_lcd=false DXC_PARAMS);
void wait_for_confirmation(const bool is_reload=false, const int8_t max_beep_count=0 DXC_PARAMS);

32
Marlin/src/feature/power_loss_recovery.cpp
View file

@ -156,7 +156,7 @@ void PrintJobRecovery::save(const bool force/*=false*/, const bool save_queue/*=
|| ELAPSED(ms, next_save_ms)
#endif
// Save if Z is above the last-saved position by some minimum height
|| current_position[Z_AXIS] > info.current_position[Z_AXIS] + POWER_LOSS_MIN_Z_CHANGE
|| current_position.z > info.current_position.z + POWER_LOSS_MIN_Z_CHANGE
#endif
) {
@ -170,12 +170,12 @@ void PrintJobRecovery::save(const bool force/*=false*/, const bool save_queue/*=
info.valid_foot = info.valid_head;
// Machine state
COPY(info.current_position, current_position);
info.current_position = current_position;
#if HAS_HOME_OFFSET
COPY(info.home_offset, home_offset);
info.home_offset = home_offset;
#endif
#if HAS_POSITION_SHIFT
COPY(info.position_shift, position_shift);
info.position_shift = position_shift;
#endif
info.feedrate = uint16_t(feedrate_mm_s * 60.0f);
@ -361,13 +361,13 @@ void PrintJobRecovery::resume() {
// Move back to the saved XY
sprintf_P(cmd, PSTR("G1 X%s Y%s F3000"),
dtostrf(info.current_position[X_AXIS], 1, 3, str_1),
dtostrf(info.current_position[Y_AXIS], 1, 3, str_2)
dtostrf(info.current_position.x, 1, 3, str_1),
dtostrf(info.current_position.y, 1, 3, str_2)
);
gcode.process_subcommands_now(cmd);
// Move back to the saved Z
dtostrf(info.current_position[Z_AXIS], 1, 3, str_1);
dtostrf(info.current_position.z, 1, 3, str_1);
#if Z_HOME_DIR > 0
sprintf_P(cmd, PSTR("G1 Z%s F200"), str_1);
#else
@ -388,22 +388,20 @@ void PrintJobRecovery::resume() {
gcode.process_subcommands_now(cmd);
// Restore E position with G92.9
sprintf_P(cmd, PSTR("G92.9 E%s"), dtostrf(info.current_position[E_AXIS], 1, 3, str_1));
sprintf_P(cmd, PSTR("G92.9 E%s"), dtostrf(info.current_position.e, 1, 3, str_1));
gcode.process_subcommands_now(cmd);
// Relative axis modes
gcode.axis_relative = info.axis_relative;
#if HAS_HOME_OFFSET
home_offset = info.home_offset;
#endif
#if HAS_POSITION_SHIFT
position_shift = info.position_shift;
#endif
#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
LOOP_XYZ(i) {
#if HAS_HOME_OFFSET
home_offset[i] = info.home_offset[i];
#endif
#if HAS_POSITION_SHIFT
position_shift[i] = info.position_shift[i];
#endif
update_workspace_offset((AxisEnum)i);
}
LOOP_XYZ(i) update_workspace_offset((AxisEnum)i);
#endif
// Resume the SD file from the last position

6
Marlin/src/feature/power_loss_recovery.h
View file

@ -44,13 +44,13 @@ typedef struct {
uint8_t valid_head;
// Machine state
float current_position[NUM_AXIS];
xyze_pos_t current_position;
#if HAS_HOME_OFFSET
float home_offset[XYZ];
xyz_pos_t home_offset;
#endif
#if HAS_POSITION_SHIFT
float position_shift[XYZ];
xyz_pos_t position_shift;
#endif
uint16_t feedrate;

16
Marlin/src/feature/prusa_MMU2/mmu2.cpp
View file

@ -550,10 +550,10 @@ bool MMU2::get_response() {
*/
void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT;
bool response = false;
mmu_print_saved = false;
point_t park_point = NOZZLE_PARK_POINT;
float resume_position[XYZE];
xyz_pos_t resume_position;
int16_t resume_hotend_temp;
KEEPALIVE_STATE(PAUSED_FOR_USER);
@ -572,7 +572,7 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
SERIAL_ECHOLNPGM("MMU not responding");
resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
COPY(resume_position, current_position);
resume_position = current_position;
if (move_axes && all_axes_homed())
nozzle.park(2, park_point /*= NOZZLE_PARK_POINT*/);
@ -604,10 +604,10 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
BUZZ(200, 404);
// Move XY to starting position, then Z
do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
// Move Z_AXIS to saved position
do_blocking_move_to_z(resume_position[Z_AXIS], feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
}
else {
BUZZ(200, 404);
@ -698,8 +698,8 @@ void MMU2::filament_runout() {
LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT);
enable_E0();
current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
current_position.e -= MMU2_FILAMENTCHANGE_EJECT_FEED;
line_to_current_position(2500 / 60);
planner.synchronize();
command(MMU_CMD_E0 + index);
manage_response(false, false);
@ -787,7 +787,7 @@ void MMU2::filament_runout() {
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("E step ", es, "/", fr_mm_m);
current_position[E_AXIS] += es;
current_position.e += es;
line_to_current_position(MMM_TO_MMS(fr_mm_m));
planner.synchronize();

4
Marlin/src/feature/runout.h
View file

@ -327,14 +327,14 @@ class FilamentSensorBase {
}
static inline void block_completed(const block_t* const b) {
if (b->steps[X_AXIS] || b->steps[Y_AXIS] || b->steps[Z_AXIS]
if (b->steps.x || b->steps.y || b->steps.z
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|| did_pause_print // Allow pause purge move to re-trigger runout state
#endif
) {
// Only trigger on extrusion with XYZ movement to allow filament change and retract/recover.
const uint8_t e = b->extruder;
const int32_t steps = b->steps[E_AXIS];
const int32_t steps = b->steps.e;
runout_mm_countdown[e] -= (TEST(b->direction_bits, E_AXIS) ? -steps : steps) * planner.steps_to_mm[E_AXIS_N(e)];
}
}

4
Marlin/src/feature/tmc_util.h
View file

@ -367,9 +367,9 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
constexpr uint16_t default_sg_guard_duration = 400;
struct slow_homing_t {
struct { uint32_t x, y; } acceleration;
xy_ulong_t acceleration;
#if HAS_CLASSIC_JERK
struct { float x, y; } jerk;
xy_float_t jerk_xy;
#endif
};
#endif

297
Marlin/src/gcode/bedlevel/G26.cpp
View file

@ -62,7 +62,7 @@
#define G26_ERR true
#if ENABLED(ARC_SUPPORT)
void plan_arc(const float (&cart)[XYZE], const float (&offset)[2], const uint8_t clockwise);
void plan_arc(const xyze_pos_t &cart, const ab_float_t &offset, const uint8_t clockwise);
#endif
/**
@ -142,7 +142,7 @@
// Private functions
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
static MeshFlags circle_flags, horizontal_mesh_line_flags, vertical_mesh_line_flags;
float g26_e_axis_feedrate = 0.025,
random_deviation = 0.0;
@ -154,7 +154,7 @@ float g26_extrusion_multiplier,
g26_layer_height,
g26_prime_length;
float g26_x_pos = 0, g26_y_pos = 0;
xy_pos_t g26_pos; // = { 0, 0 }
int16_t g26_bed_temp,
g26_hotend_temp;
@ -178,85 +178,85 @@ int8_t g26_prime_flag;
#endif
mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) {
float closest = 99999.99;
mesh_index_pair return_val;
mesh_index_pair out_point;
return_val.x_index = return_val.y_index = -1;
out_point.pos = -1;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (!is_bitmap_set(circle_flags, i, j)) {
const float mx = _GET_MESH_X(i), // We found a circle that needs to be printed
my = _GET_MESH_Y(j);
if (!circle_flags.marked(i, j)) {
// We found a circle that needs to be printed
const xy_pos_t m = { _GET_MESH_X(i), _GET_MESH_Y(j) };
// Get the distance to this intersection
float f = HYPOT(X - mx, Y - my);
float f = (pos - m).magnitude();
// It is possible that we are being called with the values
// to let us find the closest circle to the start position.
// But if this is not the case, add a small weighting to the
// distance calculation to help it choose a better place to continue.
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
f += (g26_pos - m).magnitude() / 15.0f;
// Add in the specified amount of Random Noise to our search
if (random_deviation > 1.0)
f += random(0.0, random_deviation);
// Add the specified amount of Random Noise to our search
if (random_deviation > 1.0) f += random(0.0, random_deviation);
if (f < closest) {
closest = f; // We found a closer location that is still
return_val.x_index = i; // un-printed --- save the data for it
return_val.y_index = j;
return_val.distance = closest;
closest = f; // Found a closer un-printed location
out_point.pos.set(i, j); // Save its data
out_point.distance = closest;
}
}
}
}
bitmap_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
return return_val;
circle_flags.mark(out_point); // Mark this location as done.
return out_point;
}
void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
static float last_z = -999.99;
bool has_xy_component = (rx != current_position[X_AXIS] || ry != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
const xy_pos_t dest = { rx, ry };
const bool has_xy_component = dest != current_position; // Check if X or Y is involved in the movement.
destination = current_position;
if (z != last_z) {
last_z = z;
last_z = destination.z = z;
const feedRate_t feed_value = planner.settings.max_feedrate_mm_s[Z_AXIS] * 0.5f; // Use half of the Z_AXIS max feed rate
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
destination[Z_AXIS] = z; // We know the last_z!=z or we wouldn't be in this block of code.
destination[E_AXIS] = current_position[E_AXIS];
prepare_internal_move_to_destination(feed_value);
set_destination_from_current();
destination = current_position;
}
// If X or Y is involved do a 'normal' move. Otherwise retract/recover/hop.
destination = dest;
destination.e += e_delta;
const feedRate_t feed_value = has_xy_component ? feedRate_t(G26_XY_FEEDRATE) : planner.settings.max_feedrate_mm_s[E_AXIS] * 0.666f;
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
destination[E_AXIS] += e_delta;
prepare_internal_move_to_destination(feed_value);
set_destination_from_current();
destination = current_position;
}
FORCE_INLINE void move_to(const float (&where)[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
FORCE_INLINE void move_to(const xyz_pos_t &where, const float &de) { move_to(where.x, where.y, where.z, de); }
void retract_filament(const float (&where)[XYZE]) {
void retract_filament(const xyz_pos_t &where) {
if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true;
move_to(where, -1.0 * g26_retraction_multiplier);
move_to(where, -1.0f * g26_retraction_multiplier);
}
}
void recover_filament(const float (&where)[XYZE]) {
// TODO: Parameterize the Z lift with a define
void retract_lift_move(const xyz_pos_t &s) {
retract_filament(destination);
move_to(current_position.x, current_position.y, current_position.z + 0.5f, 0.0); // Z lift to minimize scraping
move_to(s.x, s.y, s.z + 0.5f, 0.0); // Get to the starting point with no extrusion while lifted
}
void recover_filament(const xyz_pos_t &where) {
if (g26_retracted) { // Only un-retract if we are retracted.
move_to(where, 1.2 * g26_retraction_multiplier);
move_to(where, 1.2f * g26_retraction_multiplier);
g26_retracted = false;
}
}
@ -276,41 +276,34 @@ void recover_filament(const float (&where)[XYZE]) {
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
* cases where the optimization comes into play.
*/
void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
// to save computation time
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
dy_e = current_position[Y_AXIS] - ey,
dist_end = HYPOT2(dx_e, dy_e),
void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
line_length = HYPOT(ex - sx, ey - sy);
// Distances to the start / end of the line
xy_float_t svec = current_position - s, evec = current_position - e;
const float dist_start = HYPOT2(svec.x, svec.y),
dist_end = HYPOT2(evec.x, evec.y),
line_length = HYPOT(e.x - s.x, e.y - s.y);
// If the end point of the line is closer to the nozzle, flip the direction,
// moving from the end to the start. On very small lines the optimization isn't worth it.
if (dist_end < dist_start && (INTERSECTION_CIRCLE_RADIUS) < ABS(line_length))
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
return print_line_from_here_to_there(e, s);
// Decide whether to retract & bump
// Decide whether to retract & lift
if (dist_start > 2.0) retract_lift_move(s);
if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
}
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
recover_filament(destination);
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
move_to(e, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
}
inline bool look_for_lines_to_connect() {
float sx, sy, ex, ey;
xyz_pos_t s, e;
s.z = e.z = g26_layer_height;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
@ -319,43 +312,43 @@ inline bool look_for_lines_to_connect() {
if (user_canceled()) return true;
#endif
if (i < GRID_MAX_POINTS_X) { // Can't connect to anything to the right than GRID_MAX_POINTS_X.
// Already a half circle at the edge of the bed.
if (i < GRID_MAX_POINTS_X) { // Can't connect to anything farther to the right than GRID_MAX_POINTS_X.
// Already a half circle at the edge of the bed.
if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
if (!is_bitmap_set(horizontal_mesh_line_flags, i, j)) {
if (circle_flags.marked(i, j) && circle_flags.marked(i + 1, j)) { // Test whether a leftward line can be done
if (!horizontal_mesh_line_flags.marked(i, j)) {
// Two circles need a horizontal line to connect them
sx = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
ex = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
s.x = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
e.x = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
LIMIT(sx, X_MIN_POS + 1, X_MAX_POS - 1);
sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(ex, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey))
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(s, e);
bitmap_set(horizontal_mesh_line_flags, i, j); // Mark done, even if skipped
horizontal_mesh_line_flags.mark(i, j); // Mark done, even if skipped
}
}
if (j < GRID_MAX_POINTS_Y) { // Can't connect to anything further back than GRID_MAX_POINTS_Y.
// Already a half circle at the edge of the bed.
if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
if (!is_bitmap_set( vertical_mesh_line_flags, i, j)) {
if (circle_flags.marked(i, j) && circle_flags.marked(i, j + 1)) { // Test whether a downward line can be done
if (!vertical_mesh_line_flags.marked(i, j)) {
// Two circles that need a vertical line to connect them
sy = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
ey = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
s.y = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
e.y = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
sx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey))
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(s, e);
bitmap_set(vertical_mesh_line_flags, i, j); // Mark done, even if skipped
vertical_mesh_line_flags.mark(i, j); // Mark done, even if skipped
}
}
}
@ -436,19 +429,19 @@ inline bool prime_nozzle() {
ui.set_status_P(PSTR(MSG_G26_MANUAL_PRIME), 99);
ui.chirp();
set_destination_from_current();
destination = current_position;
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ui.button_pressed()) {
ui.chirp();
destination[E_AXIS] += 0.25;
destination.e += 0.25;
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
#endif
prepare_internal_move_to_destination(fr_slow_e);
set_destination_from_current();
destination = current_position;
planner.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
@ -468,10 +461,10 @@ inline bool prime_nozzle() {
ui.set_status_P(PSTR(MSG_G26_FIXED_LENGTH), 99);
ui.quick_feedback();
#endif
set_destination_from_current();
destination[E_AXIS] += g26_prime_length;
destination = current_position;
destination.e += g26_prime_length;
prepare_internal_move_to_destination(fr_slow_e);
set_destination_from_current();
destination.e -= g26_prime_length;
retract_filament(destination);
}
@ -630,9 +623,9 @@ void GcodeSuite::G26() {
return;
}
g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS];
g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS];
if (!position_is_reachable(g26_x_pos, g26_y_pos)) {
g26_pos.set(parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position.x,
parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position.y);
if (!position_is_reachable(g26_pos.x, g26_pos.y)) {
SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds.");
return;
}
@ -642,9 +635,9 @@ void GcodeSuite::G26() {
*/
set_bed_leveling_enabled(!parser.seen('D'));
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
if (current_position.z < Z_CLEARANCE_BETWEEN_PROBES) {
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
set_current_from_destination();
current_position = destination;
}
#if DISABLED(NO_VOLUMETRICS)
@ -655,7 +648,7 @@ void GcodeSuite::G26() {
if (turn_on_heaters() != G26_OK) goto LEAVE;
current_position[E_AXIS] = 0.0;
current_position.e = 0.0;
sync_plan_position_e();
if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;
@ -670,13 +663,13 @@ void GcodeSuite::G26() {
* It's "Show Time" !!!
*/
ZERO(circle_flags);
ZERO(horizontal_mesh_line_flags);
ZERO(vertical_mesh_line_flags);
circle_flags.reset();
horizontal_mesh_line_flags.reset();
vertical_mesh_line_flags.reset();
// Move nozzle to the specified height for the first layer
set_destination_from_current();
destination[Z_AXIS] = g26_layer_height;
destination = current_position;
destination.z = g26_layer_height;
move_to(destination, 0.0);
move_to(destination, g26_ooze_amount);
@ -706,71 +699,68 @@ void GcodeSuite::G26() {
mesh_index_pair location;
do {
location = g26_continue_with_closest
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
// Find the nearest confluence
location = find_closest_circle_to_print(g26_continue_with_closest ? xy_pos_t(current_position) : g26_pos);
if (location.x_index >= 0 && location.y_index >= 0) {
const float circle_x = _GET_MESH_X(location.x_index),
circle_y = _GET_MESH_Y(location.y_index);
if (location.valid()) {
const xy_pos_t circle = _GET_MESH_POS(location.pos);
// If this mesh location is outside the printable_radius, skip it.
if (!position_is_reachable(circle_x, circle_y)) continue;
if (!position_is_reachable(circle)) continue;
// Determine where to start and end the circle,
// which is always drawn counter-clockwise.
const uint8_t xi = location.x_index, yi = location.y_index;
const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1;
const xy_int8_t st = location;
const bool f = st.y == 0,
r = st.x >= GRID_MAX_POINTS_X - 1,
b = st.y >= GRID_MAX_POINTS_Y - 1;
#if ENABLED(ARC_SUPPORT)
#define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2)
#define INTERSECTION_CIRCLE_DIAM ((INTERSECTION_CIRCLE_RADIUS) * 2)
float sx = circle_x + INTERSECTION_CIRCLE_RADIUS, // default to full circle
ex = circle_x + INTERSECTION_CIRCLE_RADIUS,
sy = circle_y, ey = circle_y,
arc_length = ARC_LENGTH(4);
xy_float_t e = { circle.x + INTERSECTION_CIRCLE_RADIUS, circle.y };
xyz_float_t s = e;
// Figure out where to start and end the arc - we always print counterclockwise
if (xi == 0) { // left edge
if (!f) { sx = circle_x; sy -= INTERSECTION_CIRCLE_RADIUS; }
if (!b) { ex = circle_x; ey += INTERSECTION_CIRCLE_RADIUS; }
float arc_length = ARC_LENGTH(4);
if (st.x == 0) { // left edge
if (!f) { s.x = circle.x; s.y -= INTERSECTION_CIRCLE_RADIUS; }
if (!b) { e.x = circle.x; e.y += INTERSECTION_CIRCLE_RADIUS; }
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (r) { // right edge
sx = b ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x;
ex = f ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x;
sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;
ey = f ? circle_y : circle_y - (INTERSECTION_CIRCLE_RADIUS);
if (b) s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
else s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS);
if (f) e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
else e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS));
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (f) {
ex -= INTERSECTION_CIRCLE_DIAM;
e.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2);
}
else if (b) {
sx -= INTERSECTION_CIRCLE_DIAM;
s.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2);
}
const float arc_offset[2] = { circle_x - sx, circle_y - sy },
dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual circle
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s),
endpoint[XYZE] = {
ex, ey,
g26_layer_height,
current_position[E_AXIS] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
};
const ab_float_t arc_offset = circle - s;
const xy_float_t dist = current_position - s; // Distance from the start of the actual circle
const float dist_start = HYPOT2(dist.x, dist.y);
const xyze_pos_t endpoint = {
e.x, e.y, g26_layer_height,
current_position.e + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
};
if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
s.z = g26_layer_height + 0.5f;
retract_lift_move(s);
}
move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bump
s.z = g26_layer_height;
move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
recover_filament(destination);
@ -778,7 +768,7 @@ void GcodeSuite::G26() {
feedrate_mm_s = PLANNER_XY_FEEDRATE() * 0.1f;
plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arc
feedrate_mm_s = old_feedrate;
set_destination_from_current();
destination = current_position;
#if HAS_LCD_MENU
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
@ -787,7 +777,7 @@ void GcodeSuite::G26() {
#else // !ARC_SUPPORT
int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)
if (xi == 0) { // Left edge? Just right half.
if (st.x == 0) { // Left edge? Just right half.
start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left
end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left
}
@ -810,23 +800,21 @@ void GcodeSuite::G26() {
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif
float rx = circle_x + _COS(ind), // For speed, these are now a lookup table entry
ry = circle_y + _SIN(ind),
xe = circle_x + _COS(ind + 1),
ye = circle_y + _SIN(ind + 1);
xy_float_t p = { circle.x + _COS(ind ), circle.y + _SIN(ind ), g26_layer_height },
q = { circle.x + _COS(ind + 1), circle.y + _SIN(ind + 1), g26_layer_height };
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;
#else // not, we need to skip
LIMIT(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
LIMIT(ry, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(xe, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
#else
LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(q.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif
print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
print_line_from_here_to_there(p, q);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
}
#endif // !ARC_SUPPORT
@ -836,19 +824,18 @@ void GcodeSuite::G26() {
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
} while (--g26_repeats && location.valid());
LEAVE:
ui.set_status_P(PSTR(MSG_G26_LEAVING), -1);
retract_filament(destination);
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
destination.z = Z_CLEARANCE_BETWEEN_PROBES;
move_to(destination, 0); // Raise the nozzle
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
destination[Y_AXIS] = g26_y_pos;
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
destination.set(g26_pos.x, g26_pos.y); // Move back to the starting position
//destination.z = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination, 0); // Move back to the starting position

11
Marlin/src/gcode/bedlevel/G42.cpp
View file

@ -27,6 +27,7 @@
#include "../gcode.h"
#include "../../Marlin.h" // for IsRunning()
#include "../../module/motion.h"
#include "../../module/probe.h" // for probe_offset
#include "../../feature/bedlevel/bedlevel.h"
/**
@ -44,15 +45,15 @@ void GcodeSuite::G42() {
return;
}
set_destination_from_current();
destination = current_position;
if (hasI) destination[X_AXIS] = _GET_MESH_X(ix);
if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy);
if (hasI) destination.x = _GET_MESH_X(ix);
if (hasJ) destination.y = _GET_MESH_Y(iy);
#if HAS_BED_PROBE
if (parser.boolval('P')) {
if (hasI) destination[X_AXIS] -= probe_offset[X_AXIS];
if (hasJ) destination[Y_AXIS] -= probe_offset[Y_AXIS];
if (hasI) destination.x -= probe_offset.x;
if (hasJ) destination.y -= probe_offset.y;
}
#endif

11
Marlin/src/gcode/bedlevel/M420.cpp
View file

@ -66,10 +66,9 @@ void GcodeSuite::M420() {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const float x_min = probe_min_x(), x_max = probe_max_x(),
y_min = probe_min_y(), y_max = probe_max_y();
bilinear_start[X_AXIS] = x_min;
bilinear_start[Y_AXIS] = y_min;
bilinear_grid_spacing[X_AXIS] = (x_max - x_min) / (GRID_MAX_POINTS_X - 1);
bilinear_grid_spacing[Y_AXIS] = (y_max - y_min) / (GRID_MAX_POINTS_Y - 1);
bilinear_start.set(x_min, y_min);
bilinear_grid_spacing.set((x_max - x_min) / (GRID_MAX_POINTS_X - 1),
(y_max - y_min) / (GRID_MAX_POINTS_Y - 1));
#endif
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
@ -91,7 +90,7 @@ void GcodeSuite::M420() {
// (Don't disable for just M420 or M420 V)
if (seen_S && !to_enable) set_bed_leveling_enabled(false);
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
xyz_pos_t oldpos = current_position;
#if ENABLED(AUTO_BED_LEVELING_UBL)
@ -251,7 +250,7 @@ void GcodeSuite::M420() {
#endif
// Report change in position
if (memcmp(oldpos, current_position, sizeof(oldpos)))
if (oldpos != current_position)
report_current_position();
}

316
Marlin/src/gcode/bedlevel/abl/G29.cpp
View file

@ -61,15 +61,15 @@
#if ABL_GRID
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_END abl_grid_points_x
#define PR_INNER_VAR yCount
#define PR_INNER_END abl_grid_points_y
#define PR_OUTER_VAR meshCount.x
#define PR_OUTER_END abl_grid_points.x
#define PR_INNER_VAR meshCount.y
#define PR_INNER_END abl_grid_points.y
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_END abl_grid_points_y
#define PR_INNER_VAR xCount
#define PR_INNER_END abl_grid_points_x
#define PR_OUTER_VAR meshCount.y
#define PR_OUTER_END abl_grid_points.y
#define PR_INNER_VAR meshCount.x
#define PR_INNER_END abl_grid_points.x
#endif
#endif
@ -210,7 +210,8 @@ G29_TYPE GcodeSuite::G29() {
#endif
ABL_VAR int verbose_level;
ABL_VAR float xProbe, yProbe, measured_z;
ABL_VAR xy_pos_t probePos;
ABL_VAR float measured_z;
ABL_VAR bool dryrun, abl_should_enable;
#if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR)
@ -224,20 +225,17 @@ G29_TYPE GcodeSuite::G29() {
#if ABL_GRID
#if ENABLED(PROBE_MANUALLY)
ABL_VAR uint8_t PR_OUTER_VAR;
ABL_VAR int8_t PR_INNER_VAR;
ABL_VAR xy_int8_t meshCount;
#endif
ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
ABL_VAR xy_int_t probe_position_lf, probe_position_rb;
ABL_VAR xy_float_t gridSpacing = { 0, 0 };
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
ABL_VAR bool do_topography_map;
ABL_VAR xy_uint8_t abl_grid_points;
#else // Bilinear
uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
constexpr xy_uint8_t abl_grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y };
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -269,15 +267,15 @@ G29_TYPE GcodeSuite::G29() {
const float x_min = probe_min_x(), x_max = probe_max_x(), y_min = probe_min_y(), y_max = probe_max_y();
ABL_VAR vector_3 points[3] = {
#if ENABLED(HAS_FIXED_3POINT)
vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0),
vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0),
vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0)
#else
vector_3(x_min, y_min, 0),
vector_3(x_max, y_min, 0),
vector_3((x_max - x_min) / 2, y_max, 0)
#endif
#if ENABLED(HAS_FIXED_3POINT)
{ PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
{ PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
{ PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
#else
{ x_min, y_min, 0 },
{ x_max, y_min, 0 },
{ (x_max - x_min) / 2, y_max, 0 }
#endif
};
#endif // AUTO_BED_LEVELING_3POINT
@ -311,7 +309,7 @@ G29_TYPE GcodeSuite::G29() {
G29_RETURN(false);
}
const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position.z;
if (!WITHIN(rz, -10, 10)) {
SERIAL_ERROR_MSG("Bad Z value");
G29_RETURN(false);
@ -323,8 +321,8 @@ G29_TYPE GcodeSuite::G29() {
if (!isnan(rx) && !isnan(ry)) {
// Get nearest i / j from rx / ry
i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing;
j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing;
i = (rx - bilinear_start.x + 0.5 * gridSpacing.x) / gridSpacing.x;
j = (ry - bilinear_start.y + 0.5 * gridSpacing.y) / gridSpacing.y;
LIMIT(i, 0, GRID_MAX_POINTS_X - 1);
LIMIT(j, 0, GRID_MAX_POINTS_Y - 1);
}
@ -373,20 +371,22 @@ G29_TYPE GcodeSuite::G29() {
// X and Y specify points in each direction, overriding the default
// These values may be saved with the completed mesh
abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
abl_grid_points.set(
parser.byteval('X', GRID_MAX_POINTS_X),
parser.byteval('Y', GRID_MAX_POINTS_Y)
);
if (parser.seenval('P')) abl_grid_points.x = abl_grid_points.y = parser.value_int();
if (!WITHIN(abl_grid_points_x, 2, GRID_MAX_POINTS_X)) {
if (!WITHIN(abl_grid_points.x, 2, GRID_MAX_POINTS_X)) {
SERIAL_ECHOLNPGM("?Probe points (X) implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ").");
G29_RETURN(false);
}
if (!WITHIN(abl_grid_points_y, 2, GRID_MAX_POINTS_Y)) {
if (!WITHIN(abl_grid_points.y, 2, GRID_MAX_POINTS_Y)) {
SERIAL_ECHOLNPGM("?Probe points (Y) implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
G29_RETURN(false);
}
abl_points = abl_grid_points_x * abl_grid_points_y;
abl_points = abl_grid_points.x * abl_grid_points.y;
mean = 0;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -404,27 +404,35 @@ G29_TYPE GcodeSuite::G29() {
if (parser.seen('H')) {
const int16_t size = (int16_t)parser.value_linear_units();
left_probe_bed_position = _MAX(X_CENTER - size / 2, x_min);
right_probe_bed_position = _MIN(left_probe_bed_position + size, x_max);
front_probe_bed_position = _MAX(Y_CENTER - size / 2, y_min);
back_probe_bed_position = _MIN(front_probe_bed_position + size, y_max);
probe_position_lf.set(
_MAX(X_CENTER - size / 2, x_min),
_MAX(Y_CENTER - size / 2, y_min)
);
probe_position_rb.set(
_MIN(probe_position_lf.x + size, x_max),
_MIN(probe_position_lf.y + size, y_max)
);
}
else {
left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MAX(X_CENTER - X_BED_SIZE / 2, x_min);
right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MIN(left_probe_bed_position + X_BED_SIZE, x_max);
front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MAX(Y_CENTER - Y_BED_SIZE / 2, y_min);
back_probe_bed_position = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MIN(front_probe_bed_position + Y_BED_SIZE, y_max);
probe_position_lf.set(
parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MAX(X_CENTER - (X_BED_SIZE) / 2, x_min),
parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MAX(Y_CENTER - (Y_BED_SIZE) / 2, y_min)
);
probe_position_rb.set(
parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MIN(probe_position_lf.x + X_BED_SIZE, x_max),
parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MIN(probe_position_lf.y + Y_BED_SIZE, y_max)
);
}
if (
#if IS_SCARA || ENABLED(DELTA)
!position_is_reachable_by_probe(left_probe_bed_position, 0)
|| !position_is_reachable_by_probe(right_probe_bed_position, 0)
|| !position_is_reachable_by_probe(0, front_probe_bed_position)
|| !position_is_reachable_by_probe(0, back_probe_bed_position)
!position_is_reachable_by_probe(probe_position_lf.x, 0)
|| !position_is_reachable_by_probe(probe_position_rb.x, 0)
|| !position_is_reachable_by_probe(0, probe_position_lf.y)
|| !position_is_reachable_by_probe(0, probe_position_rb.y)
#else
!position_is_reachable_by_probe(left_probe_bed_position, front_probe_bed_position)
|| !position_is_reachable_by_probe(right_probe_bed_position, back_probe_bed_position)
!position_is_reachable_by_probe(probe_position_lf)
|| !position_is_reachable_by_probe(probe_position_rb)
#endif
) {
SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds.");
@ -432,8 +440,8 @@ G29_TYPE GcodeSuite::G29() {
}
// probe at the points of a lattice grid
xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
gridSpacing.set((probe_position_rb.x - probe_position_lf.x) / (abl_grid_points.x - 1),
(probe_position_rb.y - probe_position_lf.y) / (abl_grid_points.y - 1));
#endif // ABL_GRID
@ -464,19 +472,13 @@ G29_TYPE GcodeSuite::G29() {
#if ENABLED(PROBE_MANUALLY)
if (!no_action)
#endif
if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
|| yGridSpacing != bilinear_grid_spacing[Y_AXIS]
|| left_probe_bed_position != bilinear_start[X_AXIS]
|| front_probe_bed_position != bilinear_start[Y_AXIS]
) {
if (gridSpacing != bilinear_grid_spacing || probe_position_lf != bilinear_start) {
// Reset grid to 0.0 or "not probed". (Also disables ABL)
reset_bed_level();
// Initialize a grid with the given dimensions
bilinear_grid_spacing[X_AXIS] = xGridSpacing;
bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
bilinear_start[X_AXIS] = left_probe_bed_position;
bilinear_start[Y_AXIS] = front_probe_bed_position;
bilinear_grid_spacing = gridSpacing.asInt();
bilinear_start = probe_position_lf;
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
@ -546,17 +548,17 @@ G29_TYPE GcodeSuite::G29() {
// For G29 after adjusting Z.
// Save the previous Z before going to the next point
measured_z = current_position[Z_AXIS];
measured_z = current_position.z;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z;
eqnBVector[index] = measured_z;
eqnAMatrix[index + 0 * abl_points] = xProbe;
eqnAMatrix[index + 1 * abl_points] = yProbe;
eqnAMatrix[index + 0 * abl_points] = probePos.x;
eqnAMatrix[index + 1 * abl_points] = probePos.y;
eqnAMatrix[index + 2 * abl_points] = 1;
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
incremental_LSF(&lsf_results, probePos, measured_z);
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
@ -564,12 +566,13 @@ G29_TYPE GcodeSuite::G29() {
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
z_values[xCount][yCount] = measured_z + zoffset;
const float newz = measured_z + zoffset;
z_values[meshCount.x][meshCount.y] = newz;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(xCount, yCount, z_values[xCount][yCount]);
ExtUI::onMeshUpdate(meshCount, newz);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Save X", xCount, " Y", yCount, " Z", measured_z + zoffset);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Save X", meshCount.x, " Y", meshCount.y, " Z", measured_z + zoffset);
#endif
}
@ -583,7 +586,7 @@ G29_TYPE GcodeSuite::G29() {
// Skip any unreachable points
while (abl_probe_index < abl_points) {
// Set xCount, yCount based on abl_probe_index, with zig-zag
// Set meshCount.x, meshCount.y based on abl_probe_index, with zig-zag
PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
@ -592,24 +595,23 @@ G29_TYPE GcodeSuite::G29() {
if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
const float xBase = xCount * xGridSpacing + left_probe_bed_position,
yBase = yCount * yGridSpacing + front_probe_bed_position;
const xy_pos_t base = probe_position_lf.asFloat() + gridSpacing * meshCount.asFloat();
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
probePos.set(FLOOR(base.x + (base.x < 0 ? 0 : 0.5)),
FLOOR(base.y + (base.y < 0 ? 0 : 0.5)));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = abl_probe_index;
indexIntoAB[meshCount.x][meshCount.y] = abl_probe_index;
#endif
// Keep looping till a reachable point is found
if (position_is_reachable(xProbe, yProbe)) break;
if (position_is_reachable(probePos)) break;
++abl_probe_index;
}
// Is there a next point to move to?
if (abl_probe_index < abl_points) {
_manual_goto_xy(xProbe, yProbe); // Can be used here too!
_manual_goto_xy(probePos); // Can be used here too!
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
@ -633,9 +635,8 @@ G29_TYPE GcodeSuite::G29() {
// Probe at 3 arbitrary points
if (abl_probe_index < abl_points) {
xProbe = points[abl_probe_index].x;
yProbe = points[abl_probe_index].y;
_manual_goto_xy(xProbe, yProbe);
probePos = points[abl_probe_index];
_manual_goto_xy(probePos);
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
@ -654,11 +655,7 @@ G29_TYPE GcodeSuite::G29() {
if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
planeNormal.x *= -1;
planeNormal.y *= -1;
planeNormal.z *= -1;
}
if (planeNormal.z < 0) planeNormal *= -1;
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
@ -681,8 +678,11 @@ G29_TYPE GcodeSuite::G29() {
measured_z = 0;
xy_int8_t meshCount;
// Outer loop is X with PROBE_Y_FIRST enabled
// Outer loop is Y with PROBE_Y_FIRST disabled
for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
@ -703,21 +703,21 @@ G29_TYPE GcodeSuite::G29() {
uint8_t pt_index = (PR_OUTER_VAR) * (PR_INNER_END) + 1;
// Inner loop is Y with PROBE_Y_FIRST enabled
for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; pt_index++, PR_INNER_VAR += inInc) {
// Inner loop is X with PROBE_Y_FIRST disabled
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; pt_index++, PR_INNER_VAR += inInc) {
const float xBase = left_probe_bed_position + xGridSpacing * xCount,
yBase = front_probe_bed_position + yGridSpacing * yCount;
const xy_pos_t base = probe_position_lf.asFloat() + gridSpacing * meshCount.asFloat();
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
probePos.set(FLOOR(base.x + (base.x < 0 ? 0 : 0.5)),
FLOOR(base.y + (base.y < 0 ? 0 : 0.5)));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
indexIntoAB[meshCount.x][meshCount.y] = ++abl_probe_index; // 0...
#endif
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
if (!position_is_reachable_by_probe(probePos)) continue;
#endif
if (verbose_level) SERIAL_ECHOLNPAIR("Probing mesh point ", int(pt_index), "/", int(GRID_MAX_POINTS), ".");
@ -725,7 +725,7 @@ G29_TYPE GcodeSuite::G29() {
ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), PSTR(MSG_PROBING_MESH), int(pt_index), int(GRID_MAX_POINTS));
#endif
measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(xProbe, yProbe, raise_after, verbose_level);
measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
@ -736,17 +736,17 @@ G29_TYPE GcodeSuite::G29() {
mean += measured_z;
eqnBVector[abl_probe_index] = measured_z;
eqnAMatrix[abl_probe_index + 0 * abl_points] = xProbe;
eqnAMatrix[abl_probe_index + 1 * abl_points] = yProbe;
eqnAMatrix[abl_probe_index + 0 * abl_points] = probePos.x;
eqnAMatrix[abl_probe_index + 1 * abl_points] = probePos.y;
eqnAMatrix[abl_probe_index + 2 * abl_points] = 1;
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
incremental_LSF(&lsf_results, probePos, measured_z);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
z_values[xCount][yCount] = measured_z + zoffset;
z_values[meshCount.x][meshCount.y] = measured_z + zoffset;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(xCount, yCount, z_values[xCount][yCount]);
ExtUI::onMeshUpdate(meshCount.x, meshCount.y, z_values[meshCount.x][meshCount.y]);
#endif
#endif
@ -768,9 +768,8 @@ G29_TYPE GcodeSuite::G29() {
#endif
// Retain the last probe position
xProbe = points[i].x;
yProbe = points[i].y;
measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(xProbe, yProbe, raise_after, verbose_level);
probePos = points[i];
measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
break;
@ -845,19 +844,19 @@ G29_TYPE GcodeSuite::G29() {
* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
float plane_equation_coefficients[3];
struct { float a, b, d; } plane_equation_coefficients;
finish_incremental_LSF(&lsf_results);
plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
plane_equation_coefficients[2] = -lsf_results.D;
plane_equation_coefficients.a = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
plane_equation_coefficients.b = -lsf_results.B; // but that is not yet tested.
plane_equation_coefficients.d = -lsf_results.D;
mean /= abl_points;
if (verbose_level) {
SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients[0], 8);
SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients[1], 8);
SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients[2], 8);
SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients.a, 8);
SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients.b, 8);
SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients.d, 8);
if (verbose_level > 2)
SERIAL_ECHOPAIR_F("\nMean of sampled points: ", mean, 8);
SERIAL_EOL();
@ -866,13 +865,34 @@ G29_TYPE GcodeSuite::G29() {
// Create the matrix but don't correct the position yet
if (!dryrun)
planner.bed_level_matrix = matrix_3x3::create_look_at(
vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
vector_3(-plane_equation_coefficients.a, -plane_equation_coefficients.b, 1) // We can eliminate the '-' here and up above
);
// Show the Topography map if enabled
if (do_topography_map) {
SERIAL_ECHOLNPGM("\nBed Height Topography:\n"
float min_diff = 999;
auto print_topo_map = [&](PGM_P const title, const bool get_min) {
serialprintPGM(title);
for (int8_t yy = abl_grid_points.y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points.x; xx++) {
const int ind = indexIntoAB[xx][yy];
xyz_float_t tmp = { eqnAMatrix[ind + 0 * abl_points],
eqnAMatrix[ind + 1 * abl_points], 0 };
apply_rotation_xyz(planner.bed_level_matrix, tmp);
if (get_min) NOMORE(min_diff, eqnBVector[ind] - tmp.z);
const float subval = get_min ? mean : tmp.z + min_diff,
diff = eqnBVector[ind] - subval;
SERIAL_CHAR(' '); if (diff >= 0.0) SERIAL_CHAR('+'); // Include + for column alignment
SERIAL_ECHO_F(diff, 5);
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
};
print_topo_map(PSTR("\nBed Height Topography:\n"
" +--- BACK --+\n"
" | |\n"
" L | (+) | R\n"
@ -882,56 +902,10 @@ G29_TYPE GcodeSuite::G29() {
" | (-) | T\n"
" | |\n"
" O-- FRONT --+\n"
" (0,0)");
" (0,0)\n"), true);
if (verbose_level > 3)
print_topo_map(PSTR("\nCorrected Bed Height vs. Bed Topology:\n"), false);
float min_diff = 999;
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean,
x_tmp = eqnAMatrix[ind + 0 * abl_points],
y_tmp = eqnAMatrix[ind + 1 * abl_points],
z_tmp = 0;
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
NOMORE(min_diff, eqnBVector[ind] - z_tmp);
if (diff >= 0.0)
SERIAL_ECHOPGM(" +"); // Include + for column alignment
else
SERIAL_CHAR(' ');
SERIAL_ECHO_F(diff, 5);
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
if (verbose_level > 3) {
SERIAL_ECHOLNPGM("\nCorrected Bed Height vs. Bed Topology:");
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float x_tmp = eqnAMatrix[ind + 0 * abl_points],
y_tmp = eqnAMatrix[ind + 1 * abl_points],
z_tmp = 0;
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
float diff = eqnBVector[ind] - z_tmp - min_diff;
if (diff >= 0.0)
SERIAL_ECHOPGM(" +");
// Include + for column alignment
else
SERIAL_CHAR(' ');
SERIAL_ECHO_F(diff, 5);
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
}
} //do_topography_map
#endif // AUTO_BED_LEVELING_LINEAR
@ -950,24 +924,20 @@ G29_TYPE GcodeSuite::G29() {
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
float converted[XYZ];
COPY(converted, current_position);
planner.leveling_active = true;
planner.unapply_leveling(converted); // use conversion machinery
planner.leveling_active = false;
xyze_pos_t converted = current_position;
planner.force_unapply_leveling(converted); // use conversion machinery
// Use the last measured distance to the bed, if possible
if ( NEAR(current_position[X_AXIS], xProbe - probe_offset[X_AXIS])
&& NEAR(current_position[Y_AXIS], yProbe - probe_offset[Y_AXIS])
if ( NEAR(current_position.x, probePos.x - probe_offset.x)
&& NEAR(current_position.y, probePos.y - probe_offset.y)
) {
const float simple_z = current_position[Z_AXIS] - measured_z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted[Z_AXIS], " Discrepancy ", simple_z - converted[Z_AXIS]);
converted[Z_AXIS] = simple_z;
const float simple_z = current_position.z - measured_z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z);
converted.z = simple_z;
}
// The rotated XY and corrected Z are now current_position
COPY(current_position, converted);
current_position = converted;
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
}
@ -975,13 +945,13 @@ G29_TYPE GcodeSuite::G29() {
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("G29 uncorrected Z:", current_position.z);
// Unapply the offset because it is going to be immediately applied
// and cause compensation movement in Z
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
current_position.z -= bilinear_z_offset(current_position);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(" corrected Z:", current_position.z);
}
#endif // ABL_PLANAR

8
Marlin/src/gcode/bedlevel/mbl/G29.cpp
View file

@ -110,7 +110,7 @@ void GcodeSuite::G29() {
}
else {
// Save Z for the previous mesh position
mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z);
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = saved_soft_endstops_state;
#endif
@ -124,11 +124,11 @@ void GcodeSuite::G29() {
#endif
mbl.zigzag(mbl_probe_index++, ix, iy);
_manual_goto_xy(mbl.index_to_xpos[ix], mbl.index_to_ypos[iy]);
_manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] });
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
current_position.z = MANUAL_PROBE_HEIGHT;
line_to_current_position();
planner.synchronize();
@ -142,7 +142,7 @@ void GcodeSuite::G29() {
set_bed_leveling_enabled(true);
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = 0;
current_position.z = 0;
line_to_current_position(homing_feedrate(Z_AXIS));
planner.synchronize();
#endif

19
Marlin/src/gcode/bedlevel/ubl/M421.cpp
View file

@ -46,28 +46,25 @@
* M421 C Q<offset>
*/
void GcodeSuite::M421() {
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
const bool hasI = ix >= 0,
hasJ = iy >= 0,
xy_int8_t ij = { int8_t(parser.intval('I', -1)), int8_t(parser.intval('J', -1)) };
const bool hasI = ij.x >= 0,
hasJ = ij.y >= 0,
hasC = parser.seen('C'),
hasN = parser.seen('N'),
hasZ = parser.seen('Z'),
hasQ = !hasZ && parser.seen('Q');
if (hasC) {
const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, nullptr);
ix = location.x_index;
iy = location.y_index;
}
if (hasC) ij = ubl.find_closest_mesh_point_of_type(REAL, current_position);
if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN))
SERIAL_ERROR_MSG(MSG_ERR_M421_PARAMETERS);
else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))
else if (!WITHIN(ij.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(ij.y, 0, GRID_MAX_POINTS_Y - 1))
SERIAL_ERROR_MSG(MSG_ERR_MESH_XY);
else {
ubl.z_values[ix][iy] = hasN ? NAN : parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
float &zval = ubl.z_values[ij.x][ij.y];
zval = hasN ? NAN : parser.value_linear_units() + (hasQ ? zval : 0);
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(ix, iy, ubl.z_values[ix][iy]);
ExtUI::onMeshUpdate(ij.x, ij.y, zval);
#endif
}
}

50
Marlin/src/gcode/calibrate/G28.cpp
View file

@ -59,7 +59,7 @@
static void quick_home_xy() {
// Pretend the current position is 0,0
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
current_position.set(0.0, 0.0);
sync_plan_position();
const int x_axis_home_dir =
@ -95,7 +95,7 @@
endstops.validate_homing_move();
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
current_position.set(0.0, 0.0);
#if ENABLED(SENSORLESS_HOMING)
tmc_disable_stallguard(stepperX, stealth_states.x);
@ -128,17 +128,15 @@
/**
* Move the Z probe (or just the nozzle) to the safe homing point
* (Z is already at the right height)
*/
destination[X_AXIS] = Z_SAFE_HOMING_X_POINT;
destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
destination.set(safe_homing_xy, current_position.z);
#if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= probe_offset[X_AXIS];
destination[Y_AXIS] -= probe_offset[Y_AXIS];
destination -= probe_offset;
#endif
if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
if (position_is_reachable(destination)) {
if (DEBUGGING(LEVELING)) DEBUG_POS("home_z_safely", destination);
@ -151,7 +149,7 @@
safe_delay(500); // Short delay needed to settle
#endif
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
do_blocking_move_to_xy(destination);
homeaxis(Z_AXIS);
}
else {
@ -232,16 +230,14 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
slow_homing_t slow_homing { 0 };
slow_homing.acceleration.x = planner.settings.max_acceleration_mm_per_s2[X_AXIS];
slow_homing.acceleration.y = planner.settings.max_acceleration_mm_per_s2[Y_AXIS];
slow_homing_t slow_homing{0};
slow_homing.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS];
planner.settings.max_acceleration_mm_per_s2[Y_AXIS]);
planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
#if HAS_CLASSIC_JERK
slow_homing.jerk.x = planner.max_jerk[X_AXIS];
slow_homing.jerk.y = planner.max_jerk[Y_AXIS];
planner.max_jerk[X_AXIS] = 0;
planner.max_jerk[Y_AXIS] = 0;
slow_homing.jerk_xy = planner.max_jerk;
planner.max_jerk.set(0, 0);
#endif
planner.reset_acceleration_rates();
@ -274,7 +270,7 @@ void GcodeSuite::G28(const bool always_home_all) {
home_all = always_home_all || (homeX == homeY && homeX == homeZ),
doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
set_destination_from_current();
destination = current_position;
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
@ -291,10 +287,10 @@ void GcodeSuite::G28(const bool always_home_all) {
if (z_homing_height && (doX || doY)) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
destination[Z_AXIS] = z_homing_height;
if (destination[Z_AXIS] > current_position[Z_AXIS]) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
do_blocking_move_to_z(destination[Z_AXIS]);
destination.z = z_homing_height;
if (destination.z > current_position.z) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination.z);
do_blocking_move_to_z(destination.z);
}
}
@ -329,14 +325,14 @@ void GcodeSuite::G28(const bool always_home_all) {
homeaxis(X_AXIS);
// Remember this extruder's position for later tool change
inactive_extruder_x_pos = current_position[X_AXIS];
inactive_extruder_x_pos = current_position.x;
// Home the 1st (left) extruder
active_extruder = 0;
homeaxis(X_AXIS);
// Consider the active extruder to be parked
COPY(raised_parked_position, current_position);
raised_parked_position = current_position;
delayed_move_time = 0;
active_extruder_parked = true;
@ -390,14 +386,14 @@ void GcodeSuite::G28(const bool always_home_all) {
homeaxis(X_AXIS);
// Remember this extruder's position for later tool change
inactive_extruder_x_pos = current_position[X_AXIS];
inactive_extruder_x_pos = current_position.x;
// Home the 1st (left) extruder
active_extruder = 0;
homeaxis(X_AXIS);
// Consider the active extruder to be parked
COPY(raised_parked_position, current_position);
raised_parked_position = current_position;
delayed_move_time = 0;
active_extruder_parked = true;
extruder_duplication_enabled = IDEX_saved_duplication_state;
@ -441,10 +437,8 @@ void GcodeSuite::G28(const bool always_home_all) {
planner.settings.max_acceleration_mm_per_s2[X_AXIS] = slow_homing.acceleration.x;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y;
#if HAS_CLASSIC_JERK
planner.max_jerk[X_AXIS] = slow_homing.jerk.x;
planner.max_jerk[Y_AXIS] = slow_homing.jerk.y;
planner.max_jerk = slow_homing.jerk_xy;
#endif
planner.reset_acceleration_rates();
#endif

162
Marlin/src/gcode/calibrate/G33.cpp
View file

@ -70,7 +70,7 @@ enum CalEnum : char { // the 7 main calibration points -
#define AC_CLEANUP() ac_cleanup()
#endif
float lcd_probe_pt(const float &rx, const float &ry);
float lcd_probe_pt(const xy_pos_t &xy);
void ac_home() {
endstops.enable(true);
@ -122,9 +122,9 @@ void print_signed_float(PGM_P const prefix, const float &f) {
static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
SERIAL_ECHOPAIR(".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]);
print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
print_signed_float(PSTR("Ex"), delta_endstop_adj.a);
print_signed_float(PSTR("Ey"), delta_endstop_adj.b);
print_signed_float(PSTR("Ez"), delta_endstop_adj.c);
}
if (end_stops && tower_angles) {
SERIAL_ECHOPAIR(" Radius:", delta_radius);
@ -133,9 +133,9 @@ static void print_calibration_settings(const bool end_stops, const bool tower_an
SERIAL_ECHO_SP(13);
}
if (tower_angles) {
print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
print_signed_float(PSTR("Tx"), delta_tower_angle_trim.a);
print_signed_float(PSTR("Ty"), delta_tower_angle_trim.b);
print_signed_float(PSTR("Tz"), delta_tower_angle_trim.c);
}
if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
SERIAL_ECHOPAIR(" Radius:", delta_radius);
@ -188,12 +188,12 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
/**
* - Probe a point
*/
static float calibration_probe(const float &nx, const float &ny, const bool stow) {
static float calibration_probe(const xy_pos_t &xy, const bool stow) {
#if HAS_BED_PROBE
return probe_at_point(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
return probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
#else
UNUSED(stow);
return lcd_probe_pt(nx, ny);
return lcd_probe_pt(xy);
#endif
}
@ -223,7 +223,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
if (!_0p_calibration) {
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
z_pt[CEN] += calibration_probe(0, 0, stow_after_each);
const xy_pos_t center{0};
z_pt[CEN] += calibration_probe(center, stow_after_each);
if (isnan(z_pt[CEN])) return false;
}
@ -233,7 +234,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
I_LOOP_CAL_PT(rad, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * 0.1;
z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
const xy_pos_t vec = { cos(a), sin(a) };
z_pt[CEN] += calibration_probe(vec * r, stow_after_each);
if (isnan(z_pt[CEN])) return false;
}
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
@ -257,7 +259,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = FMOD(rad, 1);
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
const xy_pos_t vec = { cos(a), sin(a) };
const float z_temp = calibration_probe(vec * r, stow_after_each);
if (isnan(z_temp)) return false;
// split probe point to neighbouring calibration points
z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
@ -281,80 +284,69 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
* - formulae for approximative forward kinematics in the end-stop displacement matrix
* - definition of the matrix scaling parameters
*/
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_axis[NPP + 1][ABC]) {
float pos[XYZ] = { 0.0 };
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) {
xyz_pos_t pos{0};
LOOP_CAL_ALL(rad) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = (rad == CEN ? 0.0f : delta_calibration_radius);
pos[X_AXIS] = cos(a) * r;
pos[Y_AXIS] = sin(a) * r;
pos[Z_AXIS] = z_pt[rad];
pos.set(cos(a) * r, sin(a) * r, z_pt[rad]);
inverse_kinematics(pos);
LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
mm_at_pt_axis[rad] = delta;
}
}
static void forward_kinematics_probe_points(float mm_at_pt_axis[NPP + 1][ABC], float z_pt[NPP + 1]) {
static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) {
const float r_quot = delta_calibration_radius / delta_radius;
#define ZPP(N,I,A) ((1 / 3.0f + r_quot * (N) / 3.0f ) * mm_at_pt_axis[I][A])
#define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A)
#define Z00(I, A) ZPP( 0, I, A)
#define Zp1(I, A) ZPP(+1, I, A)
#define Zm1(I, A) ZPP(-1, I, A)
#define Zp2(I, A) ZPP(+2, I, A)
#define Zm2(I, A) ZPP(-2, I, A)
z_pt[CEN] = Z00(CEN, A_AXIS) + Z00(CEN, B_AXIS) + Z00(CEN, C_AXIS);
z_pt[__A] = Zp2(__A, A_AXIS) + Zm1(__A, B_AXIS) + Zm1(__A, C_AXIS);
z_pt[__B] = Zm1(__B, A_AXIS) + Zp2(__B, B_AXIS) + Zm1(__B, C_AXIS);
z_pt[__C] = Zm1(__C, A_AXIS) + Zm1(__C, B_AXIS) + Zp2(__C, C_AXIS);
z_pt[_BC] = Zm2(_BC, A_AXIS) + Zp1(_BC, B_AXIS) + Zp1(_BC, C_AXIS);
z_pt[_CA] = Zp1(_CA, A_AXIS) + Zm2(_CA, B_AXIS) + Zp1(_CA, C_AXIS);
z_pt[_AB] = Zp1(_AB, A_AXIS) + Zp1(_AB, B_AXIS) + Zm2(_AB, C_AXIS);
z_pt[CEN] = Z00(CEN, a) + Z00(CEN, b) + Z00(CEN, c);
z_pt[__A] = Zp2(__A, a) + Zm1(__A, b) + Zm1(__A, c);
z_pt[__B] = Zm1(__B, a) + Zp2(__B, b) + Zm1(__B, c);
z_pt[__C] = Zm1(__C, a) + Zm1(__C, b) + Zp2(__C, c);
z_pt[_BC] = Zm2(_BC, a) + Zp1(_BC, b) + Zp1(_BC, c);
z_pt[_CA] = Zp1(_CA, a) + Zm2(_CA, b) + Zp1(_CA, c);
z_pt[_AB] = Zp1(_AB, a) + Zp1(_AB, b) + Zm2(_AB, c);
}
static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], float delta_e[ABC], float delta_r, float delta_t[ABC]) {
static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t delta_e, const float delta_r, abc_float_t delta_t) {
const float z_center = z_pt[CEN];
float diff_mm_at_pt_axis[NPP + 1][ABC],
new_mm_at_pt_axis[NPP + 1][ABC];
abc_float_t diff_mm_at_pt_axis[NPP + 1], new_mm_at_pt_axis[NPP + 1];
reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis);
delta_radius += delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += delta_t[axis];
delta_tower_angle_trim += delta_t;
recalc_delta_settings();
reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis);
LOOP_XYZ(axis) LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad][axis] -= new_mm_at_pt_axis[rad][axis] + delta_e[axis];
LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad] -= new_mm_at_pt_axis[rad] + delta_e;
forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt);
LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center;
z_pt[CEN] = z_center;
delta_radius -= delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= delta_t[axis];
delta_tower_angle_trim -= delta_t;
recalc_delta_settings();
}
static float auto_tune_h() {
const float r_quot = delta_calibration_radius / delta_radius;
float h_fac = 0.0f;
h_fac = r_quot / (2.0f / 3.0f);
h_fac = 1.0f / h_fac; // (2/3)/CR
return h_fac;
return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR
}
static float auto_tune_r() {
const float diff = 0.01f;
float r_fac = 0.0f,
z_pt[NPP + 1] = { 0.0f },
delta_e[ABC] = { 0.0f },
delta_r = { 0.0f },
delta_t[ABC] = { 0.0f };
constexpr float diff = 0.01f, delta_r = diff;
float r_fac = 0.0f, z_pt[NPP + 1] = { 0.0f };
abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
delta_r = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0f;
r_fac = diff / r_fac / 3.0f; // 1/(3*delta_Z)
@ -362,14 +354,11 @@ static float auto_tune_r() {
}
static float auto_tune_a() {
const float diff = 0.01f;
float a_fac = 0.0f,
z_pt[NPP + 1] = { 0.0f },
delta_e[ABC] = { 0.0f },
delta_r = { 0.0f },
delta_t[ABC] = { 0.0f };
constexpr float diff = 0.01f, delta_r = 0.0f;
float a_fac = 0.0f, z_pt[NPP + 1] = { 0.0f };
abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
ZERO(delta_t);
delta_t.reset();
LOOP_XYZ(axis) {
delta_t[axis] = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
@ -453,21 +442,11 @@ void GcodeSuite::G33() {
zero_std_dev = (verbose_level ? 999.0f : 0.0f), // 0.0 in dry-run mode : forced end
zero_std_dev_min = zero_std_dev,
zero_std_dev_old = zero_std_dev,
h_factor,
r_factor,
a_factor,
e_old[ABC] = {
delta_endstop_adj[A_AXIS],
delta_endstop_adj[B_AXIS],
delta_endstop_adj[C_AXIS]
},
h_factor, r_factor, a_factor,
r_old = delta_radius,
h_old = delta_height,
a_old[ABC] = {
delta_tower_angle_trim[A_AXIS],
delta_tower_angle_trim[B_AXIS],
delta_tower_angle_trim[C_AXIS]
};
h_old = delta_height;
abc_pos_t e_old = delta_endstop_adj, a_old = delta_tower_angle_trim;
SERIAL_ECHOLNPGM("G33 Auto Calibrate");
@ -520,15 +499,14 @@ void GcodeSuite::G33() {
if (zero_std_dev < zero_std_dev_min) {
// set roll-back point
COPY(e_old, delta_endstop_adj);
e_old = delta_endstop_adj;
r_old = delta_radius;
h_old = delta_height;
COPY(a_old, delta_tower_angle_trim);
a_old = delta_tower_angle_trim;
}
float e_delta[ABC] = { 0.0f },
r_delta = 0.0f,
t_delta[ABC] = { 0.0f };
abc_float_t e_delta = { 0.0f }, t_delta = { 0.0f };
float r_delta = 0.0f;
/**
* convergence matrices:
@ -563,42 +541,42 @@ void GcodeSuite::G33() {
case 2:
if (towers_set) { // see 4 point calibration (towers) matrix
e_delta[A_AXIS] = (+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN);
r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
e_delta.set((+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN),
(-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN),
(-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN));
r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
}
else { // see 4 point calibration (opposites) matrix
e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN);
r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
e_delta.set((-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN),
(+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN),
(+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN));
r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
}
break;
default: // see 7 point calibration (towers & opposites) matrix
e_delta[A_AXIS] = (+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN);
r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
e_delta.set((+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN),
(-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN),
(-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN));
r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix
t_delta[A_AXIS] = (+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor;
t_delta[B_AXIS] = (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor;
t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor;
t_delta.set((+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor,
(+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor,
(-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor);
}
break;
}
LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
delta_endstop_adj += e_delta;
delta_radius += r_delta;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
delta_tower_angle_trim += t_delta;
}
else if (zero_std_dev >= test_precision) {
// roll back
COPY(delta_endstop_adj, e_old);
delta_endstop_adj = e_old;
delta_radius = r_old;
delta_height = h_old;
COPY(delta_tower_angle_trim, a_old);
delta_tower_angle_trim = a_old;
}
if (verbose_level != 0) { // !dry run
@ -611,7 +589,7 @@ void GcodeSuite::G33() {
}
// adjust delta_height and endstops by the max amount
const float z_temp = _MAX(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
const float z_temp = _MAX(delta_endstop_adj.a, delta_endstop_adj.b, delta_endstop_adj.c);
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
}

41
Marlin/src/gcode/calibrate/G34_M422.cpp
View file

@ -45,8 +45,17 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
float z_auto_align_xpos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_X,
z_auto_align_ypos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_Y;
// Sanity-check
constexpr xy_pos_t sanity_arr_z_align[] = Z_STEPPER_ALIGN_XY;
static_assert(COUNT(sanity_arr_z_align) == Z_STEPPER_COUNT,
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
"Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
#else
"Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
#endif
);
xy_pos_t z_auto_align_pos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_XY;
inline void set_all_z_lock(const bool lock) {
stepper.set_z_lock(lock);
@ -123,11 +132,11 @@ void GcodeSuite::G34() {
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
SQRT(_MAX(HYPOT2(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1]),
HYPOT2(z_auto_align_xpos[1] - z_auto_align_ypos[1], z_auto_align_xpos[2] - z_auto_align_ypos[2]),
HYPOT2(z_auto_align_xpos[2] - z_auto_align_ypos[2], z_auto_align_xpos[0] - z_auto_align_ypos[0])))
SQRT(_MAX(HYPOT2(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y),
HYPOT2(z_auto_align_pos[1].x - z_auto_align_pos[1].y, z_auto_align_pos[2].x - z_auto_align_pos[2].y),
HYPOT2(z_auto_align_pos[2].x - z_auto_align_pos[2].y, z_auto_align_pos[0].x - z_auto_align_pos[0].y)))
#else
HYPOT(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1])
HYPOT(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y)
#endif
);
@ -135,7 +144,7 @@ void GcodeSuite::G34() {
if (!all_axes_known()) home_all_axes();
// Move the Z coordinate realm towards the positive - dirty trick
current_position[Z_AXIS] -= z_probe * 0.5;
current_position.z -= z_probe * 0.5f;
float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
z_measured[Z_STEPPER_COUNT] = { 0 },
@ -162,7 +171,7 @@ void GcodeSuite::G34() {
if (iteration == 0 || izstepper > 0) do_blocking_move_to_z(z_probe);
// Probe a Z height for each stepper.
const float z_probed_height = probe_at_point(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], raise_after, 0, true);
const float z_probed_height = probe_at_point(z_auto_align_pos[zstepper], raise_after, 0, true);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed.");
err_break = true;
@ -240,7 +249,7 @@ void GcodeSuite::G34() {
}
// Do a move to correct part of the misalignment for the current stepper
do_blocking_move_to_z(amplification * z_align_move + current_position[Z_AXIS]);
do_blocking_move_to_z(amplification * z_align_move + current_position.z);
} // for (zstepper)
// Back to normal stepper operations
@ -299,20 +308,22 @@ void GcodeSuite::M422() {
return;
}
const float x_pos = parser.floatval('X', z_auto_align_xpos[zstepper]);
if (!WITHIN(x_pos, X_MIN_POS, X_MAX_POS)) {
const xy_pos_t pos = {
parser.floatval('X', z_auto_align_pos[zstepper].x),
parser.floatval('Y', z_auto_align_pos[zstepper].y)
};
if (!WITHIN(pos.x, X_MIN_POS, X_MAX_POS)) {
SERIAL_ECHOLNPGM("?(X) out of bounds.");
return;
}
const float y_pos = parser.floatval('Y', z_auto_align_ypos[zstepper]);
if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
if (!WITHIN(pos.y, Y_MIN_POS, Y_MAX_POS)) {
SERIAL_ECHOLNPGM("?(Y) out of bounds.");
return;
}
z_auto_align_xpos[zstepper] = x_pos;
z_auto_align_ypos[zstepper] = y_pos;
z_auto_align_pos[zstepper] = pos;
}
#endif // Z_STEPPER_AUTO_ALIGN

154
Marlin/src/gcode/calibrate/G425.cpp
View file

@ -61,17 +61,17 @@
enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
static constexpr xyz_float_t dimensions CALIBRATION_OBJECT_DIMENSIONS;
static constexpr xy_float_t nod = { CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER };
struct measurements_t {
static constexpr float dimensions[XYZ] = CALIBRATION_OBJECT_DIMENSIONS;
static constexpr float true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
xyz_pos_t obj_center = true_center; // Non-static must be assigned from xyz_pos_t
float obj_center[XYZ] = CALIBRATION_OBJECT_CENTER;
float obj_side[NUM_SIDES];
float obj_side[NUM_SIDES], backlash[NUM_SIDES];
xyz_float_t pos_error;
float backlash[NUM_SIDES];
float pos_error[XYZ];
float nozzle_outer_dimension[2] = {CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER};
xy_float_t nozzle_outer_dimension = nod;
};
#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
@ -88,29 +88,8 @@ struct measurements_t {
#define TEMPORARY_BACKLASH_SMOOTHING(value)
#endif
/**
* Move to a particular location. Up to three individual axes
* and their destinations can be specified, in any order.
*/
inline void move_to(
const AxisEnum a1 = NO_AXIS, const float p1 = 0,
const AxisEnum a2 = NO_AXIS, const float p2 = 0,
const AxisEnum a3 = NO_AXIS, const float p3 = 0
) {
set_destination_from_current();
// Note: The order of p1, p2, p3 may not correspond to X, Y, Z
if (a1 != NO_AXIS) destination[a1] = p1;
if (a2 != NO_AXIS) destination[a2] = p2;
if (a3 != NO_AXIS) destination[a3] = p3;
// Make sure coordinates are within bounds
destination[X_AXIS] = _MAX(_MIN(destination[X_AXIS], X_MAX_POS), X_MIN_POS);
destination[Y_AXIS] = _MAX(_MIN(destination[Y_AXIS], Y_MAX_POS), Y_MIN_POS);
destination[Z_AXIS] = _MAX(_MIN(destination[Z_AXIS], Z_MAX_POS), Z_MIN_POS);
// Move to position
do_blocking_move_to(destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
inline void calibration_move() {
do_blocking_move_to(current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
}
/**
@ -121,10 +100,12 @@ inline void move_to(
*/
inline void park_above_object(measurements_t &m, const float uncertainty) {
// Move to safe distance above calibration object
move_to(Z_AXIS, m.obj_center[Z_AXIS] + m.dimensions[Z_AXIS] / 2 + uncertainty);
current_position.z = m.obj_center.z + dimensions.z / 2 + uncertainty;
calibration_move();
// Move to center of calibration object in XY
move_to(X_AXIS, m.obj_center[X_AXIS], Y_AXIS, m.obj_center[Y_AXIS]);
current_position = xy_pos_t(m.obj_center);
calibration_move();
}
#if HOTENDS > 1
@ -139,14 +120,9 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
#if HAS_HOTEND_OFFSET
inline void normalize_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++) {
hotend_offset[X_AXIS][e] -= hotend_offset[X_AXIS][0];
hotend_offset[Y_AXIS][e] -= hotend_offset[Y_AXIS][0];
hotend_offset[Z_AXIS][e] -= hotend_offset[Z_AXIS][0];
}
hotend_offset[X_AXIS][0] = 0;
hotend_offset[Y_AXIS][0] = 0;
hotend_offset[Z_AXIS][0] = 0;
for (uint8_t e = 1; e < HOTENDS; e++)
hotend_offset[e] -= hotend_offset[0];
hotend_offset[0].reset();
}
#endif
@ -175,7 +151,7 @@ float measuring_movement(const AxisEnum axis, const int dir, const bool stop_sta
const feedRate_t mms = fast ? MMM_TO_MMS(CALIBRATION_FEEDRATE_FAST) : MMM_TO_MMS(CALIBRATION_FEEDRATE_SLOW);
const float limit = fast ? 50 : 5;
set_destination_from_current();
destination = current_position;
for (float travel = 0; travel < limit; travel += step) {
destination[axis] += dir * step;
do_blocking_move_to(destination, mms);
@ -199,7 +175,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
const bool fast = uncertainty == CALIBRATION_MEASUREMENT_UNKNOWN;
// Save position
set_destination_from_current();
destination = current_position;
const float start_pos = destination[axis];
const float measured_pos = measuring_movement(axis, dir, stop_state, fast);
// Measure backlash
@ -223,7 +199,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
* to find out height of edge
*/
inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
const float dimensions[] = CALIBRATION_OBJECT_DIMENSIONS;
const xyz_float_t dimensions = CALIBRATION_OBJECT_DIMENSIONS;
AxisEnum axis;
float dir;
@ -232,7 +208,7 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
switch (side) {
case TOP: {
const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
m.obj_center[Z_AXIS] = measurement - dimensions[Z_AXIS] / 2;
m.obj_center.z = measurement - dimensions.z / 2;
m.obj_side[TOP] = measurement;
return;
}
@ -240,22 +216,24 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
case FRONT: axis = Y_AXIS; dir = 1; break;
case LEFT: axis = X_AXIS; dir = 1; break;
case BACK: axis = Y_AXIS; dir = -1; break;
default:
return;
default: return;
}
if (probe_top_at_edge) {
// Probe top nearest the side we are probing
move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]));
current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
calibration_move();
m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
m.obj_center[Z_AXIS] = m.obj_side[TOP] - dimensions[Z_AXIS] / 2;
m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
}
// Move to safe distance to the side of the calibration object
move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty));
current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
calibration_move();
// Plunge below the side of the calibration object and measure
move_to(Z_AXIS, m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7);
current_position.z = m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7;
calibration_move();
const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
m.obj_side[side] = measurement;
@ -294,36 +272,36 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
// Compute the measured center of the calibration object.
#if HAS_X_CENTER
m.obj_center[X_AXIS] = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2;
m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2;
#endif
#if HAS_Y_CENTER
m.obj_center[Y_AXIS] = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2;
m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2;
#endif
// Compute the outside diameter of the nozzle at the height
// at which it makes contact with the calibration object
#if HAS_X_CENTER
m.nozzle_outer_dimension[X_AXIS] = m.obj_side[RIGHT] - m.obj_side[LEFT] - m.dimensions[X_AXIS];
m.nozzle_outer_dimension.x = m.obj_side[RIGHT] - m.obj_side[LEFT] - dimensions.x;
#endif
#if HAS_Y_CENTER
m.nozzle_outer_dimension[Y_AXIS] = m.obj_side[BACK] - m.obj_side[FRONT] - m.dimensions[Y_AXIS];
m.nozzle_outer_dimension.y = m.obj_side[BACK] - m.obj_side[FRONT] - dimensions.y;
#endif
park_above_object(m, uncertainty);
// The difference between the known and the measured location
// of the calibration object is the positional error
m.pos_error[X_AXIS] = (0
m.pos_error.x = (0
#if HAS_X_CENTER
+ m.true_center[X_AXIS] - m.obj_center[X_AXIS]
+ true_center.x - m.obj_center.x
#endif
);
m.pos_error[Y_AXIS] = (0
m.pos_error.y = (0
#if HAS_Y_CENTER
+ m.true_center[Y_AXIS] - m.obj_center[Y_AXIS]
+ true_center.y - m.obj_center.y
#endif
);
m.pos_error[Z_AXIS] = m.true_center[Z_AXIS] - m.obj_center[Z_AXIS];
m.pos_error.z = true_center.z - m.obj_center.z;
}
#if ENABLED(CALIBRATION_REPORTING)
@ -348,12 +326,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
inline void report_measured_center(const measurements_t &m) {
SERIAL_ECHOLNPGM("Center:");
#if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.obj_center[X_AXIS]);
SERIAL_ECHOLNPAIR(" X", m.obj_center.x);
#endif
#if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.obj_center[Y_AXIS]);
SERIAL_ECHOLNPAIR(" Y", m.obj_center.y);
#endif
SERIAL_ECHOLNPAIR(" Z", m.obj_center[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Z", m.obj_center.z);
SERIAL_EOL();
}
@ -380,12 +358,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
SERIAL_ECHO(int(active_extruder));
SERIAL_ECHOLNPGM(" Positional Error:");
#if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.pos_error[X_AXIS]);
SERIAL_ECHOLNPAIR(" X", m.pos_error.x);
#endif
#if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.pos_error[Y_AXIS]);
SERIAL_ECHOLNPAIR(" Y", m.pos_error.y);
#endif
SERIAL_ECHOLNPAIR(" Z", m.pos_error[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Z", m.pos_error.z);
SERIAL_EOL();
}
@ -393,10 +371,10 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
#if HAS_X_CENTER || HAS_Y_CENTER
#if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.nozzle_outer_dimension[X_AXIS]);
SERIAL_ECHOLNPAIR(" X", m.nozzle_outer_dimension.x);
#endif
#if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.nozzle_outer_dimension[Y_AXIS]);
SERIAL_ECHOLNPAIR(" Y", m.nozzle_outer_dimension.y);
#endif
#else
UNUSED(m);
@ -410,7 +388,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
//
inline void report_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++)
SERIAL_ECHOLNPAIR("T", int(e), " Hotend Offset X", hotend_offset[X_AXIS][e], " Y", hotend_offset[Y_AXIS][e], " Z", hotend_offset[Z_AXIS][e]);
SERIAL_ECHOLNPAIR("T", int(e), " Hotend Offset X", hotend_offset[e].x, " Y", hotend_offset[e].y, " Z", hotend_offset[e].z);
}
#endif
@ -434,49 +412,40 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
#if ENABLED(BACKLASH_GCODE)
#if HAS_X_CENTER
backlash.distance_mm[X_AXIS] = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
#elif ENABLED(CALIBRATION_MEASURE_LEFT)
backlash.distance_mm[X_AXIS] = m.backlash[LEFT];
backlash.distance_mm.x = m.backlash[LEFT];
#elif ENABLED(CALIBRATION_MEASURE_RIGHT)
backlash.distance_mm[X_AXIS] = m.backlash[RIGHT];
backlash.distance_mm.x = m.backlash[RIGHT];
#endif
#if HAS_Y_CENTER
backlash.distance_mm[Y_AXIS] = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
backlash.distance_mm.y = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
#elif ENABLED(CALIBRATION_MEASURE_FRONT)
backlash.distance_mm[Y_AXIS] = m.backlash[FRONT];
backlash.distance_mm.y = m.backlash[FRONT];
#elif ENABLED(CALIBRATION_MEASURE_BACK)
backlash.distance_mm[Y_AXIS] = m.backlash[BACK];
backlash.distance_mm.y = m.backlash[BACK];
#endif
backlash.distance_mm[Z_AXIS] = m.backlash[TOP];
backlash.distance_mm.z = m.backlash[TOP];
#endif
}
#if ENABLED(BACKLASH_GCODE)
// Turn on backlash compensation and move in all
// directions to take up any backlash
{
// New scope for TEMPORARY_BACKLASH_CORRECTION
TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
move_to(
X_AXIS, current_position[X_AXIS] + 3,
Y_AXIS, current_position[Y_AXIS] + 3,
Z_AXIS, current_position[Z_AXIS] + 3
);
move_to(
X_AXIS, current_position[X_AXIS] - 3,
Y_AXIS, current_position[Y_AXIS] - 3,
Z_AXIS, current_position[Z_AXIS] - 3
);
const xyz_float_t move = { 3, 3, 3 };
current_position += move; calibration_move();
current_position -= move; calibration_move();
}
#endif
}
inline void update_measurements(measurements_t &m, const AxisEnum axis) {
const float true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
current_position[axis] += m.pos_error[axis];
m.obj_center[axis] = true_center[axis];
m.pos_error[axis] = 0;
@ -508,12 +477,12 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
// Adjust the hotend offset
#if HAS_HOTEND_OFFSET
#if HAS_X_CENTER
hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS];
hotend_offset[extruder].x += m.pos_error.x;
#endif
#if HAS_Y_CENTER
hotend_offset[Y_AXIS][extruder] += m.pos_error[Y_AXIS];
hotend_offset[extruder].y += m.pos_error.y;
#endif
hotend_offset[Z_AXIS][extruder] += m.pos_error[Z_AXIS];
hotend_offset[extruder].z += m.pos_error.z;
normalize_hotend_offsets();
#endif
@ -589,7 +558,8 @@ inline void calibrate_all() {
// Do a slow and precise calibration of the toolheads
calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
move_to(X_AXIS, 150); // Park nozzle away from calibration object
current_position.x = X_CENTER;
calibration_move(); // Park nozzle away from calibration object
}
/**

34
Marlin/src/gcode/calibrate/M48.cpp
View file

@ -74,13 +74,14 @@ void GcodeSuite::M48() {
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
xy_float_t next_pos = current_position;
const float X_probe_location = parser.linearval('X', X_current + probe_offset[X_AXIS]),
Y_probe_location = parser.linearval('Y', Y_current + probe_offset[Y_AXIS]);
const xy_pos_t probe_pos = {
parser.linearval('X', next_pos.x + probe_offset.x),
parser.linearval('Y', next_pos.y + probe_offset.y)
};
if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
if (!position_is_reachable_by_probe(probe_pos)) {
SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
return;
}
@ -116,7 +117,7 @@ void GcodeSuite::M48() {
float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
// Move to the first point, deploy, and probe
const float t = probe_at_point(X_probe_location, Y_probe_location, raise_after, verbose_level);
const float t = probe_at_point(probe_pos, raise_after, verbose_level);
bool probing_good = !isnan(t);
if (probing_good) {
@ -165,32 +166,31 @@ void GcodeSuite::M48() {
while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with
// numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - probe_offset[X_AXIS] + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - probe_offset[Y_AXIS] + sin(RADIANS(angle)) * radius;
next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
#if DISABLED(DELTA)
LIMIT(X_current, X_MIN_POS, X_MAX_POS);
LIMIT(Y_current, Y_MIN_POS, Y_MAX_POS);
LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
while (!position_is_reachable_by_probe(X_current, Y_current)) {
X_current *= 0.8;
Y_current *= 0.8;
while (!position_is_reachable_by_probe(next_pos)) {
next_pos *= 0.8;
if (verbose_level > 3)
SERIAL_ECHOLNPAIR("Moving inward: X", X_current, " Y", Y_current);
SERIAL_ECHOLNPAIR("Moving inward: X", next_pos.x, " Y", next_pos.y);
}
#endif
if (verbose_level > 3)
SERIAL_ECHOLNPAIR("Going to: X", X_current, " Y", Y_current, " Z", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("Going to: X", next_pos.x, " Y", next_pos.y);
do_blocking_move_to_xy(X_current, Y_current);
do_blocking_move_to_xy(next_pos);
} // n_legs loop
} // n_legs
// Probe a single point
sample_set[n] = probe_at_point(X_probe_location, Y_probe_location, raise_after, 0);
sample_set[n] = probe_at_point(probe_pos, raise_after, 0);
// Break the loop if the probe fails
probing_good = !isnan(sample_set[n]);

22
Marlin/src/gcode/calibrate/M665.cpp
View file

@ -43,14 +43,14 @@
* Z = Gamma (Tower 3) angle trim
*/
void GcodeSuite::M665() {
if (parser.seen('H')) delta_height = parser.value_linear_units();
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
if (parser.seen('R')) delta_radius = parser.value_linear_units();
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
if (parser.seen('B')) delta_calibration_radius = parser.value_float();
if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float();
if (parser.seen('H')) delta_height = parser.value_linear_units();
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
if (parser.seen('R')) delta_radius = parser.value_linear_units();
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
if (parser.seen('B')) delta_calibration_radius = parser.value_float();
if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
recalc_delta_settings();
}
@ -76,13 +76,13 @@
#if HAS_SCARA_OFFSET
if (parser.seenval('Z')) scara_home_offset[Z_AXIS] = parser.value_linear_units();
if (parser.seenval('Z')) scara_home_offset.z = parser.value_linear_units();
const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X');
const uint8_t sumAPX = hasA + hasP + hasX;
if (sumAPX) {
if (sumAPX == 1)
scara_home_offset[A_AXIS] = parser.value_float();
scara_home_offset.a = parser.value_float();
else {
SERIAL_ERROR_MSG("Only one of A, P, or X is allowed.");
return;
@ -93,7 +93,7 @@
const uint8_t sumBTY = hasB + hasT + hasY;
if (sumBTY) {
if (sumBTY == 1)
scara_home_offset[B_AXIS] = parser.value_float();
scara_home_offset.b = parser.value_float();
else {
SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed.");
return;

10
Marlin/src/gcode/config/M200-M205.cpp
View file

@ -152,17 +152,17 @@ void GcodeSuite::M205() {
}
#endif
#if HAS_CLASSIC_JERK
if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
if (parser.seen('X')) planner.max_jerk.x = parser.value_linear_units();
if (parser.seen('Y')) planner.max_jerk.y = parser.value_linear_units();
if (parser.seen('Z')) {
planner.max_jerk[Z_AXIS] = parser.value_linear_units();
planner.max_jerk.z = parser.value_linear_units();
#if HAS_MESH
if (planner.max_jerk[Z_AXIS] <= 0.1f)
if (planner.max_jerk.z <= 0.1f)
SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif
}
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
if (parser.seen('E')) planner.max_jerk.e = parser.value_linear_units();
#endif
#endif
}

14
Marlin/src/gcode/config/M218.cpp
View file

@ -44,27 +44,27 @@ void GcodeSuite::M218() {
const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return;
if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units();
if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units();
if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units();
if (parser.seenval('X')) hotend_offset[target_extruder].x = parser.value_linear_units();
if (parser.seenval('Y')) hotend_offset[target_extruder].y = parser.value_linear_units();
if (parser.seenval('Z')) hotend_offset[target_extruder].z = parser.value_linear_units();
if (!parser.seen("XYZ")) {
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
HOTEND_LOOP() {
SERIAL_CHAR(' ');
SERIAL_ECHO(hotend_offset[X_AXIS][e]);
SERIAL_ECHO(hotend_offset[e].x);
SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
SERIAL_ECHO(hotend_offset[e].y);
SERIAL_CHAR(',');
SERIAL_ECHO_F(hotend_offset[Z_AXIS][e], 3);
SERIAL_ECHO_F(hotend_offset[e].z, 3);
}
SERIAL_EOL();
}
#if ENABLED(DELTA)
if (target_extruder == active_extruder)
do_blocking_move_to_xy(current_position[X_AXIS], current_position[Y_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS]);
do_blocking_move_to_xy(current_position, planner.settings.max_feedrate_mm_s[X_AXIS]);
#endif
}

2
Marlin/src/gcode/config/M92.cpp
View file

@ -77,7 +77,7 @@ void GcodeSuite::M92() {
if (value < 20) {
float factor = planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] / value; // increase e constants if M92 E14 is given for netfab.
#if HAS_CLASSIC_JERK && !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
planner.max_jerk[E_AXIS] *= factor;
planner.max_jerk.e *= factor;
#endif
planner.settings.max_feedrate_mm_s[E_AXIS_N(target_extruder)] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS_N(target_extruder)] *= factor;

12
Marlin/src/gcode/control/M211.cpp
View file

@ -33,18 +33,14 @@
* Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
*/
void GcodeSuite::M211() {
const xyz_pos_t l_soft_min = soft_endstop.min.asLogical(),
l_soft_max = soft_endstop.max.asLogical();
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
serialprint_onoff(soft_endstops_enabled);
SERIAL_ECHOPGM(MSG_SOFT_MIN);
SERIAL_ECHOPAIR( MSG_X, LOGICAL_X_POSITION(soft_endstop[X_AXIS].min));
SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop[Y_AXIS].min));
SERIAL_ECHOPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop[Z_AXIS].min));
SERIAL_ECHOPGM(MSG_SOFT_MAX);
SERIAL_ECHOPAIR( MSG_X, LOGICAL_X_POSITION(soft_endstop[X_AXIS].max));
SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop[Y_AXIS].max));
SERIAL_ECHOLNPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop[Z_AXIS].max));
print_xyz(l_soft_min, PSTR(MSG_SOFT_MIN), PSTR(" "));
print_xyz(l_soft_max, PSTR(MSG_SOFT_MAX));
}
#endif

8
Marlin/src/gcode/control/M605.cpp
View file

@ -79,9 +79,9 @@
}
mirrored_duplication_mode = true;
stepper.set_directions();
float x_jog = current_position[X_AXIS] - .1;
float x_jog = current_position.x - .1;
for (uint8_t i = 2; --i;) {
planner.buffer_line(x_jog, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, 0);
planner.buffer_line(x_jog, current_position.y, current_position.z, current_position.e, feedrate_mm_s, 0);
x_jog += .1;
}
return;
@ -122,7 +122,7 @@
DEBUG_ECHOPAIR("\nActive Ext: ", int(active_extruder));
if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT ");
DEBUG_ECHOPGM(" parked.");
DEBUG_ECHOPAIR("\nactive_extruder_x_pos: ", current_position[X_AXIS]);
DEBUG_ECHOPAIR("\nactive_extruder_x_pos: ", current_position.x);
DEBUG_ECHOPAIR("\ninactive_extruder_x_pos: ", inactive_extruder_x_pos);
DEBUG_ECHOPAIR("\nextruder_duplication_enabled: ", int(extruder_duplication_enabled));
DEBUG_ECHOPAIR("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset);
@ -138,7 +138,7 @@
HOTEND_LOOP() {
DEBUG_ECHOPAIR(" T", int(e));
LOOP_XYZ(a) DEBUG_ECHOPAIR(" hotend_offset[", axis_codes[a], "_AXIS][", int(e), "]=", hotend_offset[a][e]);
LOOP_XYZ(a) DEBUG_ECHOPAIR(" hotend_offset[", int(e), "].", axis_codes[a] | 0x20, "=", hotend_offset[e][a]);
DEBUG_EOL();
}
DEBUG_EOL();

32
Marlin/src/gcode/feature/camera/M240.cpp
View file

@ -48,8 +48,8 @@
#if ENABLED(ADVANCED_PAUSE_FEATURE)
do_pause_e_move(length, fr_mm_s);
#else
current_position[E_AXIS] += length / planner.e_factor[active_extruder];
planner.buffer_line(current_position, fr_mm_s, active_extruder);
current_position.e += length / planner.e_factor[active_extruder];
line_to_current_position(fr_mm_s);
#endif
}
}
@ -97,10 +97,10 @@ void GcodeSuite::M240() {
if (axis_unhomed_error()) return;
const float old_pos[XYZ] = {
current_position[X_AXIS] + parser.linearval('A'),
current_position[Y_AXIS] + parser.linearval('B'),
current_position[Z_AXIS]
const xyz_pos_t old_pos = {
current_position.x + parser.linearval('A'),
current_position.y + parser.linearval('B'),
current_position.z
};
#ifdef PHOTO_RETRACT_MM
@ -121,22 +121,22 @@ void GcodeSuite::M240() {
feedRate_t fr_mm_s = MMM_TO_MMS(parser.linearval('F'));
if (fr_mm_s) NOLESS(fr_mm_s, 10.0f);
constexpr float photo_position[XYZ] = PHOTO_POSITION;
float raw[XYZ] = {
parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : photo_position[X_AXIS],
parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_position[Y_AXIS],
(parser.seenval('Z') ? parser.value_linear_units() : photo_position[Z_AXIS]) + current_position[Z_AXIS]
constexpr xyz_pos_t photo_position = PHOTO_POSITION;
xyz_pos_t raw = {
parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : photo_position.x,
parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_position.y,
(parser.seenval('Z') ? parser.value_linear_units() : photo_position.z) + current_position.z
};
apply_motion_limits(raw);
do_blocking_move_to(raw, fr_mm_s);
#ifdef PHOTO_SWITCH_POSITION
constexpr float photo_switch_position[2] = PHOTO_SWITCH_POSITION;
const float sraw[] = {
parser.seenval('I') ? RAW_X_POSITION(parser.value_linear_units()) : photo_switch_position[X_AXIS],
parser.seenval('J') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_switch_position[Y_AXIS]
constexpr xy_pos_t photo_switch_position = PHOTO_SWITCH_POSITION;
const xy_pos_t sraw = {
parser.seenval('I') ? RAW_X_POSITION(parser.value_linear_units()) : photo_switch_position.x,
parser.seenval('J') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_switch_position.y
};
do_blocking_move_to_xy(sraw[X_AXIS], sraw[Y_AXIS], get_homing_bump_feedrate(X_AXIS));
do_blocking_move_to_xy(sraw, get_homing_bump_feedrate(X_AXIS));
#if PHOTO_SWITCH_MS > 0
safe_delay(parser.intval('D', PHOTO_SWITCH_MS));
#endif

5
Marlin/src/gcode/feature/pause/M125.cpp
View file

@ -58,7 +58,7 @@ void GcodeSuite::M125() {
#endif
);
point_t park_point = NOZZLE_PARK_POINT;
xyz_pos_t park_point = NOZZLE_PARK_POINT;
// Move XY axes to filament change position or given position
if (parser.seenval('X')) park_point.x = RAW_X_POSITION(parser.linearval('X'));
@ -68,8 +68,7 @@ void GcodeSuite::M125() {
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
#if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
park_point.x += hotend_offset[X_AXIS][active_extruder];
park_point.y += hotend_offset[Y_AXIS][active_extruder];
park_point += hotend_offset[active_extruder];
#endif
#if ENABLED(SDSUPPORT)

6
Marlin/src/gcode/feature/pause/M600.cpp
View file

@ -60,7 +60,6 @@
* Default values are used for omitted arguments.
*/
void GcodeSuite::M600() {
point_t park_point = NOZZLE_PARK_POINT;
#if ENABLED(MIXING_EXTRUDER)
const int8_t target_e_stepper = get_target_e_stepper_from_command();
@ -119,6 +118,8 @@ void GcodeSuite::M600() {
#endif
);
xyz_pos_t park_point NOZZLE_PARK_POINT;
// Lift Z axis
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
@ -127,8 +128,7 @@ void GcodeSuite::M600() {
if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
#if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
park_point.x += hotend_offset[X_AXIS][active_extruder];
park_point.y += hotend_offset[Y_AXIS][active_extruder];
park_point += hotend_offset[active_extruder];
#endif
#if ENABLED(MMU2_MENUS)

13
Marlin/src/gcode/feature/pause/M701_M702.cpp
View file

@ -28,7 +28,6 @@
#include "../../../Marlin.h"
#include "../../../module/motion.h"
#include "../../../module/temperature.h"
#include "../../../libs/point_t.h"
#if EXTRUDERS > 1
#include "../../../module/tool_change.h"
@ -57,7 +56,7 @@
* Default values are used for omitted arguments.
*/
void GcodeSuite::M701() {
point_t park_point = NOZZLE_PARK_POINT;
xyz_pos_t park_point = NOZZLE_PARK_POINT;
#if ENABLED(NO_MOTION_BEFORE_HOMING)
// Don't raise Z if the machine isn't homed
@ -97,7 +96,7 @@ void GcodeSuite::M701() {
// Lift Z axis
if (park_point.z > 0)
do_blocking_move_to_z(_MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
do_blocking_move_to_z(_MIN(current_position.z + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
// Load filament
#if ENABLED(PRUSA_MMU2)
@ -116,7 +115,7 @@ void GcodeSuite::M701() {
// Restore Z axis
if (park_point.z > 0)
do_blocking_move_to_z(_MAX(current_position[Z_AXIS] - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
#if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
// Restore toolhead if it was changed
@ -146,7 +145,7 @@ void GcodeSuite::M701() {
* Default values are used for omitted arguments.
*/
void GcodeSuite::M702() {
point_t park_point = NOZZLE_PARK_POINT;
xyz_pos_t park_point = NOZZLE_PARK_POINT;
#if ENABLED(NO_MOTION_BEFORE_HOMING)
// Don't raise Z if the machine isn't homed
@ -196,7 +195,7 @@ void GcodeSuite::M702() {
// Lift Z axis
if (park_point.z > 0)
do_blocking_move_to_z(_MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
do_blocking_move_to_z(_MIN(current_position.z + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
// Unload filament
#if ENABLED(PRUSA_MMU2)
@ -226,7 +225,7 @@ void GcodeSuite::M702() {
// Restore Z axis
if (park_point.z > 0)
do_blocking_move_to_z(_MAX(current_position[Z_AXIS] - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
#if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
// Restore toolhead if it was changed

10
Marlin/src/gcode/feature/trinamic/M122.cpp
View file

@ -31,8 +31,8 @@
* M122: Debug TMC drivers
*/
void GcodeSuite::M122() {
bool print_axis[XYZE] = { false, false, false, false },
print_all = true;
xyze_bool_t print_axis = { false, false, false, false };
bool print_all = true;
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; }
if (print_all) LOOP_XYZE(i) print_axis[i] = true;
@ -45,12 +45,12 @@ void GcodeSuite::M122() {
#endif
if (parser.seen('V'))
tmc_get_registers(print_axis[X_AXIS], print_axis[Y_AXIS], print_axis[Z_AXIS], print_axis[E_AXIS]);
tmc_get_registers(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
else
tmc_report_all(print_axis[X_AXIS], print_axis[Y_AXIS], print_axis[Z_AXIS], print_axis[E_AXIS]);
tmc_report_all(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
#endif
test_tmc_connection(print_axis[X_AXIS], print_axis[Y_AXIS], print_axis[Z_AXIS], print_axis[E_AXIS]);
test_tmc_connection(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
}
#endif // HAS_TRINAMIC

16
Marlin/src/gcode/feature/trinamic/M911-M914.cpp
View file

@ -104,25 +104,25 @@
*/
void GcodeSuite::M912() {
#if M91x_SOME_X
const bool hasX = parser.seen(axis_codes[X_AXIS]);
const bool hasX = parser.seen(axis_codes.x);
#else
constexpr bool hasX = false;
#endif
#if M91x_SOME_Y
const bool hasY = parser.seen(axis_codes[Y_AXIS]);
const bool hasY = parser.seen(axis_codes.y);
#else
constexpr bool hasY = false;
#endif
#if M91x_SOME_Z
const bool hasZ = parser.seen(axis_codes[Z_AXIS]);
const bool hasZ = parser.seen(axis_codes.z);
#else
constexpr bool hasZ = false;
#endif
#if M91x_SOME_E
const bool hasE = parser.seen(axis_codes[E_AXIS]);
const bool hasE = parser.seen(axis_codes.e);
#else
constexpr bool hasE = false;
#endif
@ -130,7 +130,7 @@
const bool hasNone = !hasX && !hasY && !hasZ && !hasE;
#if M91x_SOME_X
const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
const int8_t xval = int8_t(parser.byteval(axis_codes.x, 0xFF));
#if M91x_USE(X)
if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
#endif
@ -140,7 +140,7 @@
#endif
#if M91x_SOME_Y
const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
const int8_t yval = int8_t(parser.byteval(axis_codes.y, 0xFF));
#if M91x_USE(Y)
if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
#endif
@ -150,7 +150,7 @@
#endif
#if M91x_SOME_Z
const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
const int8_t zval = int8_t(parser.byteval(axis_codes.z, 0xFF));
#if M91x_USE(Z)
if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
#endif
@ -163,7 +163,7 @@
#endif
#if M91x_SOME_E
const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
const int8_t eval = int8_t(parser.byteval(axis_codes.e, 0xFF));
#if M91x_USE_E(0)
if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
#endif

19
Marlin/src/gcode/gcode.cpp
View file

@ -49,12 +49,13 @@ GcodeSuite gcode;
millis_t GcodeSuite::previous_move_ms;
static constexpr bool ar_init[XYZE] = AXIS_RELATIVE_MODES;
// Relative motion mode for each logical axis
static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
uint8_t GcodeSuite::axis_relative = (
(ar_init[X_AXIS] ? _BV(REL_X) : 0)
| (ar_init[Y_AXIS] ? _BV(REL_Y) : 0)
| (ar_init[Z_AXIS] ? _BV(REL_Z) : 0)
| (ar_init[E_AXIS] ? _BV(REL_E) : 0)
(ar_init.x ? _BV(REL_X) : 0)
| (ar_init.y ? _BV(REL_Y) : 0)
| (ar_init.z ? _BV(REL_Z) : 0)
| (ar_init.e ? _BV(REL_E) : 0)
);
#if ENABLED(HOST_KEEPALIVE_FEATURE)
@ -68,7 +69,7 @@ uint8_t GcodeSuite::axis_relative = (
#if ENABLED(CNC_COORDINATE_SYSTEMS)
int8_t GcodeSuite::active_coordinate_system = -1; // machine space
float GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
xyz_pos_t GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS];
#endif
/**
@ -112,7 +113,7 @@ int8_t GcodeSuite::get_target_e_stepper_from_command() {
* - Set the feedrate, if included
*/
void GcodeSuite::get_destination_from_command() {
bool seen[XYZE] = { false, false, false, false };
xyze_bool_t seen = { false, false, false, false };
LOOP_XYZE(i) {
if ( (seen[i] = parser.seenval(axis_codes[i])) ) {
const float v = parser.value_axis_units((AxisEnum)i);
@ -124,7 +125,7 @@ void GcodeSuite::get_destination_from_command() {
#if ENABLED(POWER_LOSS_RECOVERY) && !PIN_EXISTS(POWER_LOSS)
// Only update power loss recovery on moves with E
if (recovery.enabled && IS_SD_PRINTING() && seen[E_AXIS] && (seen[X_AXIS] || seen[Y_AXIS]))
if (recovery.enabled && IS_SD_PRINTING() && seen.e && (seen.x || seen.y))
recovery.save();
#endif
@ -133,7 +134,7 @@ void GcodeSuite::get_destination_from_command() {
#if ENABLED(PRINTCOUNTER)
if (!DEBUGGING(DRYRUN))
print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
print_job_timer.incFilamentUsed(destination.e - current_position.e);
#endif
// Get ABCDHI mixing factors

2
Marlin/src/gcode/gcode.h
View file

@ -321,7 +321,7 @@ public:
#define MAX_COORDINATE_SYSTEMS 9
#if ENABLED(CNC_COORDINATE_SYSTEMS)
static int8_t active_coordinate_system;
static float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
static xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS];
static bool select_coordinate_system(const int8_t _new);
#endif

4
Marlin/src/gcode/geometry/G53-G59.cpp
View file

@ -36,9 +36,9 @@
bool GcodeSuite::select_coordinate_system(const int8_t _new) {
if (active_coordinate_system == _new) return false;
active_coordinate_system = _new;
float new_offset[XYZ] = { 0 };
xyz_float_t new_offset{0};
if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(new_offset, coordinate_system[_new]);
new_offset = coordinate_system[_new];
LOOP_XYZ(i) {
if (position_shift[i] != new_offset[i]) {
position_shift[i] = new_offset[i];

4
Marlin/src/gcode/geometry/G92.cpp
View file

@ -86,7 +86,7 @@ void GcodeSuite::G92() {
#elif HAS_POSITION_SHIFT
if (i == E_AXIS) {
didE = true;
current_position[E_AXIS] = v; // When using coordinate spaces, only E is set directly
current_position.e = v; // When using coordinate spaces, only E is set directly
}
else {
position_shift[i] += d; // Other axes simply offset the coordinate space
@ -102,7 +102,7 @@ void GcodeSuite::G92() {
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Apply workspace offset to the active coordinate system
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(coordinate_system[active_coordinate_system], position_shift);
coordinate_system[active_coordinate_system] = position_shift;
#endif
if (didXYZ) sync_plan_position();

2
Marlin/src/gcode/geometry/M206_M428.cpp
View file

@ -63,7 +63,7 @@ void GcodeSuite::M206() {
void GcodeSuite::M428() {
if (axis_unhomed_error()) return;
float diff[XYZ];
xyz_float_t diff;
LOOP_XYZ(i) {
diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)

40
Marlin/src/gcode/host/M114.cpp
View file

@ -36,7 +36,7 @@
#include "../../core/debug_out.h"
#endif
void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
void report_xyze(const xyze_pos_t &pos, const uint8_t n=4, const uint8_t precision=3) {
char str[12];
for (uint8_t a = 0; a < n; a++) {
SERIAL_CHAR(' ');
@ -47,22 +47,27 @@
SERIAL_EOL();
}
inline void report_xyz(const float pos[]) { report_xyze(pos, 3); }
void report_xyz(const xyz_pos_t &pos, const uint8_t precision=3) {
char str[12];
for (uint8_t a = X_AXIS; a <= Z_AXIS; a++) {
SERIAL_CHAR(' ');
SERIAL_CHAR(axis_codes[a]);
SERIAL_CHAR(':');
SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
}
SERIAL_EOL();
}
inline void report_xyz(const xyze_pos_t &pos) { report_xyze(pos, 3); }
void report_current_position_detail() {
SERIAL_ECHOPGM("\nLogical:");
const float logical[XYZ] = {
LOGICAL_X_POSITION(current_position[X_AXIS]),
LOGICAL_Y_POSITION(current_position[Y_AXIS]),
LOGICAL_Z_POSITION(current_position[Z_AXIS])
};
report_xyz(logical);
report_xyz(current_position.asLogical());
SERIAL_ECHOPGM("Raw: ");
report_xyz(current_position);
float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
xyze_pos_t leveled = current_position;
#if HAS_LEVELING
SERIAL_ECHOPGM("Leveled:");
@ -70,7 +75,7 @@
report_xyz(leveled);
SERIAL_ECHOPGM("UnLevel:");
float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
xyze_pos_t unleveled = leveled;
planner.unapply_leveling(unleveled);
report_xyz(unleveled);
#endif
@ -153,7 +158,7 @@
SERIAL_EOL();
#if IS_SCARA
const float deg[XYZ] = {
const xy_float_t deg = {
planner.get_axis_position_degrees(A_AXIS),
planner.get_axis_position_degrees(B_AXIS)
};
@ -162,17 +167,12 @@
#endif
SERIAL_ECHOPGM("FromStp:");
get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], planner.get_axis_position_mm(E_AXIS) };
get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
xyze_pos_t from_steppers = { cartes.x, cartes.y, cartes.z, planner.get_axis_position_mm(E_AXIS) };
report_xyze(from_steppers);
const float diff[XYZE] = {
from_steppers[X_AXIS] - leveled[X_AXIS],
from_steppers[Y_AXIS] - leveled[Y_AXIS],
from_steppers[Z_AXIS] - leveled[Z_AXIS],
from_steppers[E_AXIS] - current_position[E_AXIS]
};
SERIAL_ECHOPGM("Differ: ");
const xyze_float_t diff = from_steppers - leveled;
SERIAL_ECHOPGM("Diff: ");
report_xyze(diff);
}

10
Marlin/src/gcode/motion/G0_G1.cpp
View file

@ -35,7 +35,7 @@
#include "../../module/stepper.h"
#endif
extern float destination[XYZE];
extern xyze_pos_t destination;
#if ENABLED(VARIABLE_G0_FEEDRATE)
feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE);
@ -87,12 +87,12 @@ void GcodeSuite::G0_G1(
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
const float echange = destination[E_AXIS] - current_position[E_AXIS];
const float echange = destination.e - current_position.e;
// Is this a retract or recover move?
if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
current_position.e = destination.e; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
}
}
}

73
Marlin/src/gcode/motion/G2_G3.cpp
View file

@ -50,9 +50,9 @@
* options for G2/G3 arc generation. In future these options may be GCode tunable.
*/
void plan_arc(
const float (&cart)[XYZE], // Destination position
const float (&offset)[2], // Center of rotation relative to current_position
const uint8_t clockwise // Clockwise?
const xyze_pos_t &cart, // Destination position
const ab_float_t &offset, // Center of rotation relative to current_position
const uint8_t clockwise // Clockwise?
) {
#if ENABLED(CNC_WORKSPACE_PLANES)
AxisEnum p_axis, q_axis, l_axis;
@ -67,21 +67,21 @@ void plan_arc(
#endif
// Radius vector from center to current location
float r_P = -offset[0], r_Q = -offset[1];
ab_float_t rvec = -offset;
const float radius = HYPOT(r_P, r_Q),
const float radius = HYPOT(rvec.a, rvec.b),
#if ENABLED(AUTO_BED_LEVELING_UBL)
start_L = current_position[l_axis],
#endif
center_P = current_position[p_axis] - r_P,
center_Q = current_position[q_axis] - r_Q,
center_P = current_position[p_axis] - rvec.a,
center_Q = current_position[q_axis] - rvec.b,
rt_X = cart[p_axis] - center_P,
rt_Y = cart[q_axis] - center_Q,
linear_travel = cart[l_axis] - current_position[l_axis],
extruder_travel = cart[E_AXIS] - current_position[E_AXIS];
extruder_travel = cart.e - current_position.e;
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
float angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);
if (angular_travel < 0) angular_travel += RADIANS(360);
#ifdef MIN_ARC_SEGMENTS
uint16_t min_segments = CEIL((MIN_ARC_SEGMENTS) * (angular_travel / RADIANS(360)));
@ -133,7 +133,7 @@ void plan_arc(
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float raw[XYZE];
xyze_pos_t raw;
const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments,
@ -144,7 +144,7 @@ void plan_arc(
raw[l_axis] = current_position[l_axis];
// Initialize the extruder axis
raw[E_AXIS] = current_position[E_AXIS];
raw.e = current_position.e;
const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
@ -168,10 +168,10 @@ void plan_arc(
#if N_ARC_CORRECTION > 1
if (--arc_recalc_count) {
// Apply vector rotation matrix to previous r_P / 1
const float r_new_Y = r_P * sin_T + r_Q * cos_T;
r_P = r_P * cos_T - r_Q * sin_T;
r_Q = r_new_Y;
// Apply vector rotation matrix to previous rvec.a / 1
const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
rvec.a = rvec.a * cos_T - rvec.b * sin_T;
rvec.b = r_new_Y;
}
else
#endif
@ -185,20 +185,20 @@ void plan_arc(
// To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time.
const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
}
// Update raw location
raw[p_axis] = center_P + r_P;
raw[q_axis] = center_Q + r_Q;
raw[p_axis] = center_P + rvec.a;
raw[q_axis] = center_Q + rvec.b;
#if ENABLED(AUTO_BED_LEVELING_UBL)
raw[l_axis] = start_L;
UNUSED(linear_per_segment);
#else
raw[l_axis] += linear_per_segment;
#endif
raw[E_AXIS] += extruder_per_segment;
raw.e += extruder_per_segment;
apply_motion_limits(raw);
@ -215,7 +215,7 @@ void plan_arc(
}
// Ensure last segment arrives at target location.
COPY(raw, cart);
raw = cart;
#if ENABLED(AUTO_BED_LEVELING_UBL)
raw[l_axis] = start_L;
#endif
@ -235,7 +235,7 @@ void plan_arc(
#if ENABLED(AUTO_BED_LEVELING_UBL)
raw[l_axis] = start_L;
#endif
COPY(current_position, raw);
current_position = raw;
} // plan_arc
/**
@ -278,32 +278,27 @@ void GcodeSuite::G2_G3(const bool clockwise) {
relative_mode = relative_mode_backup;
#endif
float arc_offset[2] = { 0, 0 };
ab_float_t arc_offset = { 0, 0 };
if (parser.seenval('R')) {
const float r = parser.value_linear_units();
if (r) {
const float p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
if (p2 != p1 || q2 != q1) {
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
dx = p2 - p1, dy = q2 - q1, // X and Y differences
d = HYPOT(dx, dy), // Linear distance between the points
dinv = 1/d, // Inverse of d
h = SQRT(sq(r) - sq(d * 0.5f)), // Distance to the arc pivot-point
mx = (p1 + p2) * 0.5f, my = (q1 + q2) * 0.5f,// Point between the two points
sx = -dy * dinv, sy = dx * dinv, // Slope of the perpendicular bisector
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
arc_offset[0] = cx - p1;
arc_offset[1] = cy - q1;
const xy_pos_t p1 = current_position, p2 = destination;
if (p1 != p2) {
const xy_pos_t d = p2 - p1, m = (p1 + p2) * 0.5f; // XY distance and midpoint
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
len = d.magnitude(), // Total move length
h = SQRT(sq(r) - sq(len * 0.5f)); // Distance to the arc pivot-point
const xy_pos_t s = { d.x, -d.y }; // Inverse Slope of the perpendicular bisector
arc_offset = m + s * RECIPROCAL(len) * e * h - p1; // The calculated offset
}
}
}
else {
if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
if (parser.seenval('I')) arc_offset.a = parser.value_linear_units();
if (parser.seenval('J')) arc_offset.b = parser.value_linear_units();
}
if (arc_offset[0] || arc_offset[1]) {
if (arc_offset) {
#if ENABLED(ARC_P_CIRCLES)
// P indicates number of circles to do

16
Marlin/src/gcode/motion/G5.cpp
View file

@ -27,11 +27,6 @@
#include "../../module/motion.h"
#include "../../module/planner_bezier.h"
void plan_cubic_move(const float (&cart)[XYZE], const float (&offset)[4]) {
cubic_b_spline(current_position, cart, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
COPY(current_position, cart);
}
/**
* Parameters interpreted according to:
* http://linuxcnc.org/docs/2.6/html/gcode/parser.html#sec:G5-Cubic-Spline
@ -57,14 +52,13 @@ void GcodeSuite::G5() {
get_destination_from_command();
const float offset[4] = {
parser.linearval('I'),
parser.linearval('J'),
parser.linearval('P'),
parser.linearval('Q')
const xy_pos_t offsets[2] = {
{ parser.linearval('I'), parser.linearval('J') },
{ parser.linearval('P'), parser.linearval('Q') }
};
plan_cubic_move(destination, offset);
cubic_b_spline(current_position, destination, offsets, MMS_SCALED(feedrate_mm_s), active_extruder);
current_position = destination;
}
}

22
Marlin/src/gcode/motion/M290.cpp
View file

@ -40,21 +40,21 @@
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
FORCE_INLINE void mod_zprobe_zoffset(const float &offs) {
FORCE_INLINE void mod_probe_offset(const float &offs) {
if (true
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
&& active_extruder == 0
#endif
) {
probe_offset[Z_AXIS] += offs;
probe_offset.z += offs;
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe_offset[Z_AXIS]);
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe_offset.z);
}
else {
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
hotend_offset[Z_AXIS][active_extruder] -= offs;
hotend_offset[active_extruder].z -= offs;
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", hotend_offset[Z_AXIS][active_extruder]);
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", hotend_offset[active_extruder].z);
#endif
}
}
@ -81,7 +81,7 @@ void GcodeSuite::M290() {
const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
babystep.add_mm((AxisEnum)a, offs);
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
if (a == Z_AXIS && (!parser.seen('P') || parser.value_bool())) mod_zprobe_zoffset(offs);
if (a == Z_AXIS && (!parser.seen('P') || parser.value_bool())) mod_probe_offset(offs);
#endif
}
#else
@ -89,7 +89,7 @@ void GcodeSuite::M290() {
const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
babystep.add_mm(Z_AXIS, offs);
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
if (!parser.seen('P') || parser.value_bool()) mod_zprobe_zoffset(offs);
if (!parser.seen('P') || parser.value_bool()) mod_probe_offset(offs);
#endif
}
#endif
@ -98,17 +98,17 @@ void GcodeSuite::M290() {
SERIAL_ECHO_START();
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe_offset[Z_AXIS]);
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe_offset.z);
#endif
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
{
SERIAL_ECHOLNPAIR("Hotend ", int(active_extruder), "Offset"
#if ENABLED(BABYSTEP_XY)
" X", hotend_offset[X_AXIS][active_extruder],
" Y", hotend_offset[Y_AXIS][active_extruder],
" X", hotend_offset[active_extruder].x,
" Y", hotend_offset[active_extruder].y,
#endif
" Z", hotend_offset[Z_AXIS][active_extruder]
" Z", hotend_offset[active_extruder].z
);
}
#endif

11
Marlin/src/gcode/probe/G30.cpp
View file

@ -39,10 +39,10 @@
* E Engage the probe for each probe (default 1)
*/
void GcodeSuite::G30() {
const float xpos = parser.linearval('X', current_position[X_AXIS] + probe_offset[X_AXIS]),
ypos = parser.linearval('Y', current_position[Y_AXIS] + probe_offset[Y_AXIS]);
const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset.x),
parser.linearval('Y', current_position.y + probe_offset.y) };
if (!position_is_reachable_by_probe(xpos, ypos)) return;
if (!position_is_reachable_by_probe(pos)) return;
// Disable leveling so the planner won't mess with us
#if HAS_LEVELING
@ -52,10 +52,9 @@ void GcodeSuite::G30() {
remember_feedrate_scaling_off();
const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
const float measured_z = probe_at_point(xpos, ypos, raise_after, 1);
const float measured_z = probe_at_point(pos, raise_after, 1);
if (!isnan(measured_z))
SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(xpos), " Y: ", FIXFLOAT(ypos), " Z: ", FIXFLOAT(measured_z));
SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(pos.x), " Y: ", FIXFLOAT(pos.y), " Z: ", FIXFLOAT(measured_z));
restore_feedrate_and_scaling();

7
Marlin/src/gcode/probe/G38.cpp
View file

@ -48,7 +48,7 @@ inline bool G38_run_probe() {
#if MULTIPLE_PROBING > 1
// Get direction of move and retract
float retract_mm[XYZ];
xyz_float_t retract_mm;
LOOP_XYZ(i) {
const float dist = destination[i] - current_position[i];
retract_mm[i] = ABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
@ -75,8 +75,7 @@ inline bool G38_run_probe() {
#if MULTIPLE_PROBING > 1
// Move away by the retract distance
set_destination_from_current();
LOOP_XYZ(i) destination[i] += retract_mm[i];
destination = current_position + retract_mm;
endstops.enable(false);
prepare_move_to_destination();
planner.synchronize();
@ -84,7 +83,7 @@ inline bool G38_run_probe() {
REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25);
// Bump the target more slowly
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
destination -= retract_mm * 2;
G38_single_probe(move_value);
#endif

12
Marlin/src/gcode/probe/M851.cpp
View file

@ -35,18 +35,18 @@ void GcodeSuite::M851() {
// Show usage with no parameters
if (!parser.seen("XYZ")) {
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " X", probe_offset[X_AXIS], " Y", probe_offset[Y_AXIS], " Z", probe_offset[Z_AXIS]);
SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " X", probe_offset.x, " Y", probe_offset.y, " Z", probe_offset.z);
return;
}
float offs[XYZ] = { probe_offset[X_AXIS], probe_offset[Y_AXIS], probe_offset[Z_AXIS] };
xyz_pos_t offs = probe_offset;
bool ok = true;
if (parser.seenval('X')) {
const float x = parser.value_float();
if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
offs[X_AXIS] = x;
offs.x = x;
else {
SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
ok = false;
@ -56,7 +56,7 @@ void GcodeSuite::M851() {
if (parser.seenval('Y')) {
const float y = parser.value_float();
if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
offs[Y_AXIS] = y;
offs.y = y;
else {
SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
ok = false;
@ -66,7 +66,7 @@ void GcodeSuite::M851() {
if (parser.seenval('Z')) {
const float z = parser.value_float();
if (WITHIN(z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
offs[Z_AXIS] = z;
offs.z = z;
else {
SERIAL_ECHOLNPAIR("?Z out of range (", int(Z_PROBE_OFFSET_RANGE_MIN), " to ", int(Z_PROBE_OFFSET_RANGE_MAX), ")");
ok = false;
@ -74,7 +74,7 @@ void GcodeSuite::M851() {
}
// Save the new offsets
if (ok) COPY(probe_offset, offs);
if (ok) probe_offset = offs;
}
#endif // HAS_BED_PROBE

2
Marlin/src/gcode/scara/M360-M364.cpp
View file

@ -32,7 +32,7 @@
inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
if (IsRunning()) {
forward_kinematics_SCARA(delta_a, delta_b);
do_blocking_move_to_xy(cartes[X_AXIS], cartes[Y_AXIS]);
do_blocking_move_to_xy(cartes);
return true;
}
return false;

11
Marlin/src/inc/Conditionals_post.h
View file

@ -1472,7 +1472,7 @@
#define _PROBE_RADIUS (DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE))
#ifndef DELTA_CALIBRATION_RADIUS
#ifdef NOZZLE_TO_PROBE_OFFSET
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - _MAX(ABS(nozzle_to_probe_offset[X_AXIS]), ABS(nozzle_to_probe_offset[Y_AXIS]), ABS(MIN_PROBE_EDGE)))
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - _MAX(ABS(nozzle_to_probe_offset.x), ABS(nozzle_to_probe_offset.y), ABS(MIN_PROBE_EDGE)))
#else
#define DELTA_CALIBRATION_RADIUS _PROBE_RADIUS
#endif
@ -1506,6 +1506,7 @@
#define PROBE_Y_MIN (Y_CENTER - (SCARA_PRINTABLE_RADIUS) + MIN_PROBE_EDGE_FRONT)
#define PROBE_X_MAX (X_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_RIGHT))
#define PROBE_Y_MAX (Y_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_BACK))
#endif
#if ENABLED(SEGMENT_LEVELED_MOVES) && !defined(LEVELED_SEGMENT_LENGTH)
@ -1532,10 +1533,10 @@
#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
#else
#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS + nozzle_to_probe_offset[X_AXIS]))
#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS + nozzle_to_probe_offset[Y_AXIS]))
#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS + nozzle_to_probe_offset[X_AXIS]))
#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS + nozzle_to_probe_offset[Y_AXIS]))
#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS + nozzle_to_probe_offset.x))
#define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS + nozzle_to_probe_offset.y))
#define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS + nozzle_to_probe_offset.x))
#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS + nozzle_to_probe_offset.y))
#endif
#endif

2
Marlin/src/inc/MarlinConfig.h
View file

@ -39,7 +39,7 @@
#include HAL_PATH(../HAL, inc/SanityCheck.h)
// Include all core headers
#include "../core/enum.h"
#include "../core/types.h"
#include "../core/language.h"
#include "../core/utility.h"
#include "../core/serial.h"

1
Marlin/src/inc/MarlinConfigPre.h
View file

@ -34,7 +34,6 @@
#include "../core/boards.h"
#include "../core/macros.h"
#include "../core/millis_t.h"
#include "Version.h"
#include "../../Configuration.h"

7
Marlin/src/inc/SanityCheck.h
View file

@ -402,6 +402,8 @@
#error "[XYZ]_PROBE_OFFSET_FROM_EXTRUDER is now NOZZLE_TO_PROBE_OFFSET. Please update your configuration."
#elif defined(MIN_PROBE_X) || defined(MIN_PROBE_Y) || defined(MAX_PROBE_X) || defined(MAX_PROBE_Y)
#error "(MIN|MAX)_PROBE_[XY] are now calculated at runtime. Please remove them from Configuration.h."
#elif defined(Z_STEPPER_ALIGN_X) || defined(Z_STEPPER_ALIGN_X)
#error "Z_STEPPER_ALIGN_X and Z_STEPPER_ALIGN_Y are now combined as Z_STEPPER_ALIGN_XY. Please update your Configuration_adv.h."
#endif
#define BOARD_MKS_13 -1000
@ -2305,11 +2307,6 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#elif !HAS_BED_PROBE
#error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
#endif
constexpr float sanity_arr_z_align_x[] = Z_STEPPER_ALIGN_X, sanity_arr_z_align_y[] = Z_STEPPER_ALIGN_Y;
static_assert(
COUNT(sanity_arr_z_align_x) == Z_STEPPER_COUNT && COUNT(sanity_arr_z_align_y) == Z_STEPPER_COUNT,
"Z_STEPPER_ALIGN_[XY] settings require one element per Z stepper."
);
#endif
#if ENABLED(PRINTCOUNTER) && DISABLED(EEPROM_SETTINGS)

20
Marlin/src/lcd/HD44780/ultralcd_HD44780.cpp
View file

@ -817,11 +817,10 @@ void MarlinUI::draw_status_screen() {
#else
_draw_axis_value(X_AXIS, ftostr4sign(LOGICAL_X_POSITION(current_position[X_AXIS])), blink);
xy_pos_t lpos = current_position; toLogical(lpos);
_draw_axis_value(X_AXIS, ftostr4sign(lpos.x), blink);
lcd_put_wchar(' ');
_draw_axis_value(Y_AXIS, ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS])), blink);
_draw_axis_value(Y_AXIS, ftostr4sign(lpos.y), blink);
#endif
@ -830,7 +829,7 @@ void MarlinUI::draw_status_screen() {
#endif // LCD_WIDTH >= 20
lcd_moveto(LCD_WIDTH - 8, 1);
_draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position[Z_AXIS])), blink);
_draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position.z)), blink);
#if HAS_LEVELING && !HAS_HEATED_BED
lcd_put_wchar(planner.leveling_active || blink ? '_' : ' ');
@ -902,7 +901,7 @@ void MarlinUI::draw_status_screen() {
// Z Coordinate
//
lcd_moveto(LCD_WIDTH - 9, 0);
_draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position[Z_AXIS])), blink);
_draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position.z)), blink);
#if HAS_LEVELING && (HOTENDS > 1 || !HAS_HEATED_BED)
lcd_put_wchar(LCD_WIDTH - 1, 0, planner.leveling_active || blink ? '_' : ' ');
@ -1189,10 +1188,9 @@ void MarlinUI::draw_status_screen() {
* Show X and Y positions
*/
_XLABEL(_PLOT_X, 0);
lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]))));
lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(ubl.mesh_index_to_xpos(x_plot))));
_YLABEL(_LCD_W_POS, 0);
lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]))));
lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos(y_plot))));
lcd_moveto(_PLOT_X, 0);
@ -1395,9 +1393,9 @@ void MarlinUI::draw_status_screen() {
* Show all values at right of screen
*/
_XLABEL(_LCD_W_POS, 1);
lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]))));
lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(ubl.mesh_index_to_xpos(x_plot))));
_YLABEL(_LCD_W_POS, 2);
lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]))));
lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos(y_plot))));
/**
* Show the location value

7
Marlin/src/lcd/dogm/status_screen_DOGM.cpp
View file

@ -345,9 +345,10 @@ void MarlinUI::draw_status_screen() {
#endif
heat_bits = new_bits;
#endif
strcpy(xstring, ftostr4sign(LOGICAL_X_POSITION(current_position[X_AXIS])));
strcpy(ystring, ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS])));
strcpy(zstring, ftostr52sp( LOGICAL_Z_POSITION(current_position[Z_AXIS])));
const xyz_pos_t lpos = current_position.asLogical();
strcpy(xstring, ftostr4sign(lpos.x));
strcpy(ystring, ftostr4sign(lpos.y));
strcpy(zstring, ftostr52sp( lpos.z));
#if ENABLED(FILAMENT_LCD_DISPLAY)
strcpy(wstring, ftostr12ns(filwidth.measured_mm));
strcpy(mstring, i16tostr3(planner.volumetric_percent(parser.volumetric_enabled)));

12
Marlin/src/lcd/dogm/status_screen_lite_ST7920.cpp
View file

@ -660,7 +660,7 @@ void ST7920_Lite_Status_Screen::draw_status_message() {
#endif
}
void ST7920_Lite_Status_Screen::draw_position(const float (&pos)[XYZE], const bool position_known) {
void ST7920_Lite_Status_Screen::draw_position(const xyz_pos_t &pos, const bool position_known) {
char str[7];
set_ddram_address(DDRAM_LINE_4);
begin_data();
@ -669,13 +669,13 @@ void ST7920_Lite_Status_Screen::draw_position(const float (&pos)[XYZE], const bo
const unsigned char alt_label = position_known ? 0 : (ui.get_blink() ? ' ' : 0);
write_byte(alt_label ? alt_label : 'X');
write_str(dtostrf(pos[X_AXIS], -4, 0, str), 4);
write_str(dtostrf(pos.x, -4, 0, str), 4);
write_byte(alt_label ? alt_label : 'Y');
write_str(dtostrf(pos[Y_AXIS], -4, 0, str), 4);
write_str(dtostrf(pos.y, -4, 0, str), 4);
write_byte(alt_label ? alt_label : 'Z');
write_str(dtostrf(pos[Z_AXIS], -5, 1, str), 5);
write_str(dtostrf(pos.z, -5, 1, str), 5);
}
bool ST7920_Lite_Status_Screen::indicators_changed() {
@ -750,8 +750,8 @@ void ST7920_Lite_Status_Screen::update_indicators(const bool forceUpdate) {
}
bool ST7920_Lite_Status_Screen::position_changed() {
const float x_pos = current_position[X_AXIS], y_pos = current_position[Y_AXIS], z_pos = current_position[Z_AXIS];
const uint8_t checksum = uint8_t(x_pos) ^ uint8_t(y_pos) ^ uint8_t(z_pos);
const xyz_pos_t pos = current_position;
const uint8_t checksum = uint8_t(pos.x) ^ uint8_t(pos.y) ^ uint8_t(pos.z);
static uint8_t last_checksum = 0, changed = last_checksum != checksum;
if (changed) last_checksum = checksum;
return changed;

3
Marlin/src/lcd/dogm/status_screen_lite_ST7920.h
View file

@ -17,6 +17,7 @@
#include "../../HAL/shared/HAL_ST7920.h"
#include "../../core/types.h"
#include "../../core/macros.h"
#include "../../libs/duration_t.h"
@ -86,7 +87,7 @@ class ST7920_Lite_Status_Screen {
static void draw_print_time(const duration_t &elapsed);
static void draw_feedrate_percentage(const uint16_t percentage);
static void draw_status_message();
static void draw_position(const float (&pos)[XYZE], bool position_known = true);
static void draw_position(const xyz_pos_t &pos, bool position_known = true);
static bool indicators_changed();
static bool position_changed();

6
Marlin/src/lcd/dogm/ultralcd_DOGM.cpp
View file

@ -547,10 +547,12 @@ void MarlinUI::clear_lcd() { } // Automatically cleared by Picture Loop
// Show X and Y positions at top of screen
u8g.setColorIndex(1);
if (PAGE_UNDER(7)) {
const xy_pos_t pos = { ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot) },
lpos = pos.asLogical();
lcd_put_u8str(5, 7, "X:");
lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]))));
lcd_put_u8str(ftostr52(lpos.x));
lcd_put_u8str(74, 7, "Y:");
lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]))));
lcd_put_u8str(ftostr52(lpos.y));
}
// Print plot position

8
Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinition.cpp
View file

@ -169,7 +169,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
VPHELPER(VP_T_E1_Is, &thermalManager.temp_hotend[0].celsius, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<0>),
VPHELPER(VP_T_E1_Set, &thermalManager.temp_hotend[0].target, DGUSScreenVariableHandler::HandleTemperatureChanged, &DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay),
VPHELPER(VP_Flowrate_E1, nullptr, DGUSScreenVariableHandler::HandleFlowRateChanged, &DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay),
VPHELPER(VP_EPos, &destination[3], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_EPos, &destination.e, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_MOVE_E1, nullptr, &DGUSScreenVariableHandler::HandleManualExtrude, nullptr),
#endif
#if HOTENDS >= 2
@ -195,9 +195,9 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
VPHELPER(VP_Feedrate_Percentage, &feedrate_percentage, DGUSScreenVariableHandler::DGUSLCD_SetValueDirectly<int16_t>, &DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay ),
// Position Data.
VPHELPER(VP_XPos, &current_position[0], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_YPos, &current_position[1], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_ZPos, &current_position[2], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_XPos, &current_position.x, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_YPos, &current_position.y, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_ZPos, &current_position.z, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
// Print Progress.
VPHELPER(VP_PrintProgress_Percentage, &ui.progress_bar_percent, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay ),

33
Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/bio_status_screen.cpp
View file

@ -258,22 +258,22 @@ bool StatusScreen::onTouchStart(uint8_t) {
bool StatusScreen::onTouchEnd(uint8_t tag) {
switch (tag) {
case 1:
case 2:
case 3:
case 4:
case 1:
case 2:
case 3:
case 4:
case 12:
if (!jog_xy) {
jog_xy = true;
injectCommands_P(PSTR("M17"));
}
jog(0, 0, 0);
jog({ 0, 0, 0 });
break;
case 5:
case 6:
jog(0, 0, 0);
case 5:
case 6:
jog({ 0, 0, 0 });
break;
case 9: GOTO_SCREEN(FilesScreen); break;
case 9: GOTO_SCREEN(FilesScreen); break;
case 10: GOTO_SCREEN(MainMenu); break;
case 13: SpinnerDialogBox::enqueueAndWait_P(F("G112")); break;
case 14: SpinnerDialogBox::enqueueAndWait_P(F("G28 Z")); break;
@ -291,14 +291,13 @@ bool StatusScreen::onTouchHeld(uint8_t tag) {
if (tag >= 1 && tag <= 4 && !jog_xy) return false;
const float s = min_speed + (fine_motion ? 0 : (max_speed - min_speed) * sq(increment));
switch (tag) {
case 1: jog(-s, 0, 0); break;
case 2: jog( s, 0, 0); break;
case 4: jog( 0, -s, 0); break; // NOTE: Y directions inverted because bed rather than needle moves
case 3: jog( 0, s, 0); break;
case 5: jog( 0, 0, -s); break;
case 6: jog( 0, 0, s); break;
case 7:
case 8:
case 1: jog({-s, 0, 0}); break;
case 2: jog({ s, 0, 0}); break;
case 4: jog({ 0, -s, 0}); break; // NOTE: Y directions inverted because bed rather than needle moves
case 3: jog({ 0, s, 0}); break;
case 5: jog({ 0, 0, -s}); break;
case 6: jog({ 0, 0, s}); break;
case 7: case 8:
{
if (ExtUI::isMoving()) return false;
const feedRate_t feedrate = emin_speed + (fine_motion ? 0 : (emax_speed - emin_speed) * sq(increment));

4
Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/change_filament_screen.cpp
View file

@ -305,8 +305,8 @@ bool ChangeFilamentScreen::onTouchEnd(uint8_t tag) {
bool ChangeFilamentScreen::onTouchHeld(uint8_t tag) {
if (ExtUI::isMoving()) return false; // Don't allow moves to accumulate
constexpr float increment = 1;
#define UI_INCREMENT_AXIS(axis) MoveAxisScreen::setManualFeedrate(axis, increment); UI_INCREMENT(AxisPosition_mm, axis);
#define UI_DECREMENT_AXIS(axis) MoveAxisScreen::setManualFeedrate(axis, increment); UI_DECREMENT(AxisPosition_mm, axis);
#define UI_INCREMENT_AXIS(axis) UI_INCREMENT(AxisPosition_mm, axis);
#define UI_DECREMENT_AXIS(axis) UI_DECREMENT(AxisPosition_mm, axis);
switch (tag) {
case 5: case 7: UI_DECREMENT_AXIS(getExtruder()); break;
case 6: case 8: UI_INCREMENT_AXIS(getExtruder()); break;

4
Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/move_axis_screen.cpp
View file

@ -110,8 +110,8 @@ float MoveAxisScreen::getManualFeedrate(uint8_t axis, float increment_mm) {
// Compute feedrate so that the tool lags the adjuster when it is
// being held down, this allows enough margin for the planner to
// connect segments and even out the motion.
constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
return min(manual_feedrate[axis] / 60.0f, abs(increment_mm * (TOUCH_REPEATS_PER_SECOND) * 0.80f));
constexpr xyze_feedrate_t max_manual_feedrate = MANUAL_FEEDRATE;
return min(max_manual_feedrate[axis] / 60.0f, abs(increment_mm * (TOUCH_REPEATS_PER_SECOND) * 0.80f));
}
void MoveAxisScreen::setManualFeedrate(ExtUI::axis_t axis, float increment_mm) {

23
Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/nudge_nozzle_screen.cpp
View file

@ -36,9 +36,8 @@ void NudgeNozzleScreen::onEntry() {
#if EXTRUDERS > 1
screen_data.NudgeNozzleScreen.link_nozzles = true;
#endif
LOOP_XYZ(i) {
screen_data.NudgeNozzleScreen.rel[i] = 0;
}
screen_data.NudgeNozzleScreen.rel.reset();
BaseNumericAdjustmentScreen::onEntry();
}
@ -48,10 +47,10 @@ void NudgeNozzleScreen::onRedraw(draw_mode_t what) {
w.heading( GET_TEXTF(NUDGE_NOZZLE));
#if ENABLED(BABYSTEP_XY)
w.color(x_axis).adjuster(2, GET_TEXTF(AXIS_X), screen_data.NudgeNozzleScreen.rel[0] / getAxisSteps_per_mm(X));
w.color(y_axis).adjuster(4, GET_TEXTF(AXIS_Y), screen_data.NudgeNozzleScreen.rel[1] / getAxisSteps_per_mm(Y));
w.color(x_axis).adjuster(2, GET_TEXTF(AXIS_X), screen_data.NudgeNozzleScreen.rel.x / getAxisSteps_per_mm(X));
w.color(y_axis).adjuster(4, GET_TEXTF(AXIS_Y), screen_data.NudgeNozzleScreen.rel.y / getAxisSteps_per_mm(Y));
#endif
w.color(z_axis).adjuster(6, GET_TEXTF(AXIS_Z), screen_data.NudgeNozzleScreen.rel[2] / getAxisSteps_per_mm(Z));
w.color(z_axis).adjuster(6, GET_TEXTF(AXIS_Z), screen_data.NudgeNozzleScreen.rel.z / getAxisSteps_per_mm(Z));
w.increments();
#if EXTRUDERS > 1
w.toggle (8, GET_TEXTF(ADJUST_BOTH_NOZZLES), screen_data.NudgeNozzleScreen.link_nozzles);
@ -90,12 +89,12 @@ bool NudgeNozzleScreen::onTouchHeld(uint8_t tag) {
#endif
int16_t steps;
switch (tag) {
case 2: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps(-steps, X, link); screen_data.NudgeNozzleScreen.rel[0] -= steps; break;
case 3: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps( steps, X, link); screen_data.NudgeNozzleScreen.rel[0] += steps; break;
case 4: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps(-steps, Y, link); screen_data.NudgeNozzleScreen.rel[1] -= steps; break;
case 5: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps( steps, Y, link); screen_data.NudgeNozzleScreen.rel[1] += steps; break;
case 6: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps(-steps, Z, link); screen_data.NudgeNozzleScreen.rel[2] -= steps; break;
case 7: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps( steps, Z, link); screen_data.NudgeNozzleScreen.rel[2] += steps; break;
case 2: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps(-steps, X, link); screen_data.NudgeNozzleScreen.rel.x -= steps; break;
case 3: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps( steps, X, link); screen_data.NudgeNozzleScreen.rel.x += steps; break;
case 4: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps(-steps, Y, link); screen_data.NudgeNozzleScreen.rel.y -= steps; break;
case 5: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps( steps, Y, link); screen_data.NudgeNozzleScreen.rel.y += steps; break;
case 6: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps(-steps, Z, link); screen_data.NudgeNozzleScreen.rel.z -= steps; break;
case 7: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps( steps, Z, link); screen_data.NudgeNozzleScreen.rel.z += steps; break;
#if EXTRUDERS > 1
case 8: screen_data.NudgeNozzleScreen.link_nozzles = !link; break;
#endif

2
Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/screen_data.h
View file

@ -65,7 +65,7 @@ union screen_data_t {
#if ENABLED(BABYSTEPPING)
struct {
struct base_numeric_adjustment_t placeholder;
int16_t rel[XYZ];
xyz_int_t rel;
#if EXTRUDERS > 1
bool link_nozzles;
#endif

74
Marlin/src/lcd/extensible_ui/ui_api.cpp
View file

@ -204,33 +204,29 @@ namespace ExtUI {
* The axis will continue to jog until this function is
* called with all zeros.
*/
void jog(float dx, float dy, float dz) {
void jog(const xyz_float_t &dir) {
// The "destination" variable is used as a scratchpad in
// Marlin by GCODE routines, but should remain untouched
// during manual jogging, allowing us to reuse the space
// for our direction vector.
destination[X] = dx;
destination[Y] = dy;
destination[Z] = dz;
flags.jogging = !NEAR_ZERO(dx) || !NEAR_ZERO(dy) || !NEAR_ZERO(dz);
destination = dir;
flags.jogging = !NEAR_ZERO(dir.x) || !NEAR_ZERO(dir.y) || !NEAR_ZERO(dir.z);
}
// Called by the polling routine in "joystick.cpp"
void _joystick_update(float (&norm_jog)[XYZ]) {
void _joystick_update(xyz_float_t &norm_jog) {
if (flags.jogging) {
#define OUT_OF_RANGE(VALUE) (VALUE < -1.0f || VALUE > 1.0f)
if (OUT_OF_RANGE(destination[X_AXIS]) || OUT_OF_RANGE(destination[Y_AXIS]) || OUT_OF_RANGE(destination[Z_AXIS])) {
// If destination[] on any axis is out of range, it
if (OUT_OF_RANGE(destination.x) || OUT_OF_RANGE(destination.y) || OUT_OF_RANGE(destination.z)) {
// If destination on any axis is out of range, it
// probably means the UI forgot to stop jogging and
// ran GCODE that wrote a position to destination[].
// ran GCODE that wrote a position to destination.
// To prevent a disaster, stop jogging.
flags.jogging = false;
return;
}
norm_jog[X_AXIS] = destination[X_AXIS];
norm_jog[Y_AXIS] = destination[Y_AXIS];
norm_jog[Z_AXIS] = destination[Z_AXIS];
norm_jog = destination;
}
}
#endif
@ -328,18 +324,16 @@ namespace ExtUI {
float getAxisPosition_mm(const extruder_t extruder) {
const extruder_t old_tool = getActiveTool();
setActiveTool(extruder, true);
const float pos = (
const float epos = (
#if ENABLED(JOYSTICK)
flags.jogging ? destination[E_AXIS] :
flags.jogging ? destination.e :
#endif
current_position[E_AXIS]
current_position.e
);
setActiveTool(old_tool, true);
return pos;
return epos;
}
constexpr feedRate_t manual_feedrate_mm_m[XYZE] = MANUAL_FEEDRATE;
void setAxisPosition_mm(const float position, const axis_t axis) {
// Start with no limits to movement
float min = current_position[axis] - 1000,
@ -350,26 +344,26 @@ namespace ExtUI {
if (soft_endstops_enabled) switch (axis) {
case X_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
min = soft_endstop[X_AXIS].min;
min = soft_endstop.min.x;
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
max = soft_endstop[X_AXIS].max;
max = soft_endstop.max.x;
#endif
break;
case Y_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
min = soft_endstop[Y_AXIS].min;
min = soft_endstop.min.y;
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
max = soft_endstop[Y_AXIS].max;
max = soft_endstop.max.y;
#endif
break;
case Z_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
min = soft_endstop[Z_AXIS].min;
min = soft_endstop.min.z;
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
max = soft_endstop[Z_AXIS].max;
max = soft_endstop.max.z;
#endif
default: break;
}
@ -391,8 +385,8 @@ namespace ExtUI {
void setAxisPosition_mm(const float position, const extruder_t extruder) {
setActiveTool(extruder, true);
current_position[E_AXIS] = position;
line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m[E_AXIS]));
current_position.e = position;
line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.e));
}
void setActiveTool(const extruder_t extruder, bool no_move) {
@ -652,7 +646,7 @@ namespace ExtUI {
}
float getAxisMaxJerk_mm_s(const extruder_t) {
return planner.max_jerk[E_AXIS];
return planner.max_jerk.e;
}
void setAxisMaxJerk_mm_s(const float value, const axis_t axis) {
@ -660,7 +654,7 @@ namespace ExtUI {
}
void setAxisMaxJerk_mm_s(const float value, const extruder_t) {
planner.max_jerk[E_AXIS] = value;
planner.max_jerk.e = value;
}
#endif
@ -710,7 +704,7 @@ namespace ExtUI {
#if EXTRUDERS > 1
&& (linked_nozzles || active_extruder == 0)
#endif
) probe_offset[Z_AXIS] += mm;
) probe_offset.z += mm;
#else
UNUSED(mm);
#endif
@ -724,7 +718,7 @@ namespace ExtUI {
if (!linked_nozzles) {
HOTEND_LOOP()
if (e != active_extruder)
hotend_offset[axis][e] += mm;
hotend_offset[e][axis] += mm;
normalizeNozzleOffset(X);
normalizeNozzleOffset(Y);
@ -748,7 +742,7 @@ namespace ExtUI {
float getZOffset_mm() {
#if HAS_BED_PROBE
return probe_offset[Z_AXIS];
return probe_offset.z;
#elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
return babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
#else
@ -759,7 +753,7 @@ namespace ExtUI {
void setZOffset_mm(const float value) {
#if HAS_BED_PROBE
if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
probe_offset[Z_AXIS] = value;
probe_offset.z = value;
#elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
babystep.add_mm(Z_AXIS, (value - babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]));
#else
@ -771,12 +765,12 @@ namespace ExtUI {
float getNozzleOffset_mm(const axis_t axis, const extruder_t extruder) {
if (extruder - E0 >= HOTENDS) return 0;
return hotend_offset[axis][extruder - E0];
return hotend_offset[extruder - E0][axis];
}
void setNozzleOffset_mm(const float value, const axis_t axis, const extruder_t extruder) {
if (extruder - E0 >= HOTENDS) return;
hotend_offset[axis][extruder - E0] = value;
hotend_offset[extruder - E0][axis] = value;
}
/**
@ -785,8 +779,8 @@ namespace ExtUI {
* user to edit the offset the first nozzle).
*/
void normalizeNozzleOffset(const axis_t axis) {
const float offs = hotend_offset[axis][0];
HOTEND_LOOP() hotend_offset[axis][e] -= offs;
const float offs = hotend_offset[0][axis];
HOTEND_LOOP() hotend_offset[e][axis] -= offs;
}
#endif // HAS_HOTEND_OFFSET
@ -820,10 +814,10 @@ namespace ExtUI {
bool getMeshValid() { return leveling_is_valid(); }
#if HAS_MESH
bed_mesh_t& getMeshArray() { return Z_VALUES_ARR; }
float getMeshPoint(const uint8_t xpos, const uint8_t ypos) { return Z_VALUES(xpos,ypos); }
void setMeshPoint(const uint8_t xpos, const uint8_t ypos, const float zoff) {
if (WITHIN(xpos, 0, GRID_MAX_POINTS_X) && WITHIN(ypos, 0, GRID_MAX_POINTS_Y)) {
Z_VALUES(xpos, ypos) = zoff;
float getMeshPoint(const xy_uint8_t &pos) { return Z_VALUES(pos.x, pos.y); }
void setMeshPoint(const xy_uint8_t &pos, const float zoff) {
if (WITHIN(pos.x, 0, GRID_MAX_POINTS_X) && WITHIN(pos.y, 0, GRID_MAX_POINTS_Y)) {
Z_VALUES(pos.x, pos.y) = zoff;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif

9
Marlin/src/lcd/extensible_ui/ui_api.h
View file

@ -81,8 +81,8 @@ namespace ExtUI {
void enableHeater(const extruder_t);
#if ENABLED(JOYSTICK)
void jog(float dx, float dy, float dz);
void _joystick_update(float (&norm_jog)[XYZ]);
void jog(const xyz_float_t &dir);
void _joystick_update(xyz_float_t &norm_jog);
#endif
/**
@ -135,9 +135,10 @@ namespace ExtUI {
bool getMeshValid();
#if HAS_MESH
bed_mesh_t& getMeshArray();
float getMeshPoint(const uint8_t xpos, const uint8_t ypos);
void setMeshPoint(const uint8_t xpos, const uint8_t ypos, const float zval);
float getMeshPoint(const xy_uint8_t &pos);
void setMeshPoint(const xy_uint8_t &pos, const float zval);
void onMeshUpdate(const uint8_t xpos, const uint8_t ypos, const float zval);
inline void onMeshUpdate(const xy_uint8_t &pos, const float zval) { setMeshPoint(pos, zval); }
#endif
#endif

18
Marlin/src/lcd/menu/menu.cpp
View file

@ -379,8 +379,8 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
#if HAS_LINE_TO_Z
void line_to_z(const float &z) {
current_position[Z_AXIS] = z;
planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[Z_AXIS]), active_extruder);
current_position.z = z;
line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.z));
}
#endif
@ -402,10 +402,10 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
ui.encoderPosition = 0;
const float diff = planner.steps_to_mm[Z_AXIS] * babystep_increment,
new_probe_offset = probe_offset[Z_AXIS] + diff,
new_probe_offset = probe_offset.z + diff,
new_offs =
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
do_probe ? new_probe_offset : hotend_offset[Z_AXIS][active_extruder] - diff
do_probe ? new_probe_offset : hotend_offset[active_extruder].z - diff
#else
new_probe_offset
#endif
@ -414,9 +414,9 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
babystep.add_steps(Z_AXIS, babystep_increment);
if (do_probe) probe_offset[Z_AXIS] = new_offs;
if (do_probe) probe_offset.z = new_offs;
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
else hotend_offset[Z_AXIS][active_extruder] = new_offs;
else hotend_offset[active_extruder].z = new_offs;
#endif
ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
@ -425,13 +425,13 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
if (ui.should_draw()) {
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
if (!do_probe)
draw_edit_screen(PSTR(MSG_Z_OFFSET), ftostr43sign(hotend_offset[Z_AXIS][active_extruder]));
draw_edit_screen(PSTR(MSG_Z_OFFSET), ftostr43sign(hotend_offset[active_extruder].z));
else
#endif
draw_edit_screen(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(probe_offset[Z_AXIS]));
draw_edit_screen(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(probe_offset.z));
#if ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY)
if (do_probe) _lcd_zoffset_overlay_gfx(probe_offset[Z_AXIS]);
if (do_probe) _lcd_zoffset_overlay_gfx(probe_offset.z);
#endif
}
}

4
Marlin/src/lcd/menu/menu_advanced.cpp
View file

@ -55,7 +55,7 @@ void menu_backlash();
#include "../../feature/dac/stepper_dac.h"
uint8_t driverPercent[XYZE];
xyze_uint8_t driverPercent;
inline void dac_driver_getValues() { LOOP_XYZE(i) driverPercent[i] = dac_current_get_percent((AxisEnum)i); }
static void dac_driver_commit() { dac_current_set_percents(driverPercent); }
@ -552,7 +552,7 @@ void menu_backlash();
#if ENABLED(DELTA)
EDIT_JERK(C);
#else
MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1f, 990);
MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk.c, 0.1f, 990);
#endif
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
EDIT_JERK(E);

14
Marlin/src/lcd/menu/menu_bed_corners.cpp
View file

@ -58,26 +58,24 @@ static inline void _lcd_goto_next_corner() {
line_to_z(LEVEL_CORNERS_Z_HOP);
switch (bed_corner) {
case 0:
current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
current_position[Y_AXIS] = Y_MIN_BED + LEVEL_CORNERS_INSET;
current_position.set(X_MIN_BED + LEVEL_CORNERS_INSET, Y_MIN_BED + LEVEL_CORNERS_INSET);
break;
case 1:
current_position[X_AXIS] = X_MAX_BED - (LEVEL_CORNERS_INSET);
current_position.x = X_MAX_BED - (LEVEL_CORNERS_INSET);
break;
case 2:
current_position[Y_AXIS] = Y_MAX_BED - (LEVEL_CORNERS_INSET);
current_position.y = Y_MAX_BED - (LEVEL_CORNERS_INSET);
break;
case 3:
current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
current_position.x = X_MIN_BED + LEVEL_CORNERS_INSET;
break;
#if ENABLED(LEVEL_CENTER_TOO)
case 4:
current_position[X_AXIS] = X_CENTER;
current_position[Y_AXIS] = Y_CENTER;
current_position.set(X_CENTER, Y_CENTER);
break;
#endif
}
planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[X_AXIS]), active_extruder);
line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.x));
line_to_z(LEVEL_CORNERS_HEIGHT);
if (++bed_corner > 3
#if ENABLED(LEVEL_CENTER_TOO)

6
Marlin/src/lcd/menu/menu_bed_leveling.cpp
View file

@ -121,7 +121,7 @@
// Encoder knob or keypad buttons adjust the Z position
//
if (ui.encoderPosition) {
const float z = current_position[Z_AXIS] + float(int16_t(ui.encoderPosition)) * (MESH_EDIT_Z_STEP);
const float z = current_position.z + float(int16_t(ui.encoderPosition)) * (MESH_EDIT_Z_STEP);
line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5f, (LCD_PROBE_Z_RANGE) * 0.5f));
ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
ui.encoderPosition = 0;
@ -131,7 +131,7 @@
// Draw on first display, then only on Z change
//
if (ui.should_draw()) {
const float v = current_position[Z_AXIS];
const float v = current_position.z;
draw_edit_screen(PSTR(MSG_MOVE_Z), ftostr43sign(v + (v < 0 ? -0.0001f : 0.0001f), '+'));
}
}
@ -279,7 +279,7 @@ void menu_bed_leveling() {
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
#elif HAS_BED_PROBE
MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset[Z_AXIS], Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
#endif
#if ENABLED(LEVEL_BED_CORNERS)

10
Marlin/src/lcd/menu/menu_configuration.cpp
View file

@ -145,12 +145,12 @@ static void lcd_factory_settings() {
START_MENU();
MENU_BACK(MSG_CONFIGURATION);
#if ENABLED(DUAL_X_CARRIAGE)
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float51, MSG_X_OFFSET, &hotend_offset[X_AXIS][1], float(X2_HOME_POS - 25), float(X2_HOME_POS + 25), _recalc_offsets);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float51, MSG_X_OFFSET, &hotend_offset[1].x, float(X2_HOME_POS - 25), float(X2_HOME_POS + 25), _recalc_offsets);
#else
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_X_OFFSET, &hotend_offset[X_AXIS][1], -99.0, 99.0, _recalc_offsets);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_X_OFFSET, &hotend_offset[1].x, -99.0, 99.0, _recalc_offsets);
#endif
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Y_OFFSET, &hotend_offset[Y_AXIS][1], -99.0, 99.0, _recalc_offsets);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Z_OFFSET, &hotend_offset[Z_AXIS][1], Z_PROBE_LOW_POINT, 10.0, _recalc_offsets);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Y_OFFSET, &hotend_offset[1].y, -99.0, 99.0, _recalc_offsets);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Z_OFFSET, &hotend_offset[1].z, Z_PROBE_LOW_POINT, 10.0, _recalc_offsets);
#if ENABLED(EEPROM_SETTINGS)
MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings);
#endif
@ -347,7 +347,7 @@ void menu_configuration() {
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
#elif HAS_BED_PROBE
MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset[Z_AXIS], Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
#endif
const bool busy = printer_busy();

38
Marlin/src/lcd/menu/menu_delta_calibrate.cpp
View file

@ -40,8 +40,8 @@
#include "../../lcd/extensible_ui/ui_api.h"
#endif
void _man_probe_pt(const float &rx, const float &ry) {
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
void _man_probe_pt(const xy_pos_t &xy) {
do_blocking_move_to(xy, Z_CLEARANCE_BETWEEN_PROBES);
ui.synchronize();
move_menu_scale = _MAX(PROBE_MANUALLY_STEP, MIN_STEPS_PER_SEGMENT / float(DEFAULT_XYZ_STEPS_PER_UNIT));
ui.goto_screen(lcd_move_z);
@ -51,8 +51,8 @@ void _man_probe_pt(const float &rx, const float &ry) {
#include "../../gcode/gcode.h"
float lcd_probe_pt(const float &rx, const float &ry) {
_man_probe_pt(rx, ry);
float lcd_probe_pt(const xy_pos_t &xy) {
_man_probe_pt(xy);
KEEPALIVE_STATE(PAUSED_FOR_USER);
ui.defer_status_screen();
wait_for_user = true;
@ -64,7 +64,7 @@ void _man_probe_pt(const float &rx, const float &ry) {
#endif
while (wait_for_user) idle();
ui.goto_previous_screen_no_defer();
return current_position[Z_AXIS];
return current_position.z;
}
#endif
@ -83,10 +83,14 @@ void _man_probe_pt(const float &rx, const float &ry) {
ui.goto_screen(_lcd_calibrate_homing);
}
void _goto_tower_x() { _man_probe_pt(cos(RADIANS(210)) * delta_calibration_radius, sin(RADIANS(210)) * delta_calibration_radius); }
void _goto_tower_y() { _man_probe_pt(cos(RADIANS(330)) * delta_calibration_radius, sin(RADIANS(330)) * delta_calibration_radius); }
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); }
void _goto_tower_a(const float &a) {
xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
_man_probe_pt(tower_vec * delta_calibration_radius);
}
void _goto_tower_x() { _goto_tower_a(210); }
void _goto_tower_y() { _goto_tower_a(330); }
void _goto_tower_z() { _goto_tower_a( 90); }
void _goto_center() { xy_pos_t ctr{0}; _man_probe_pt(ctr); }
#endif
@ -101,15 +105,15 @@ void lcd_delta_settings() {
START_MENU();
MENU_BACK(MSG_DELTA_CALIBRATE);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10, delta_height + 10, _recalc_delta_settings);
#define EDIT_ENDSTOP_ADJ(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_endstop_adj[_AXIS(N)], -5, 5, _recalc_delta_settings)
EDIT_ENDSTOP_ADJ("Ex",A);
EDIT_ENDSTOP_ADJ("Ey",B);
EDIT_ENDSTOP_ADJ("Ez",C);
#define EDIT_ENDSTOP_ADJ(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_endstop_adj.N, -5, 5, _recalc_delta_settings)
EDIT_ENDSTOP_ADJ("Ex",a);
EDIT_ENDSTOP_ADJ("Ey",b);
EDIT_ENDSTOP_ADJ("Ez",c);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5, delta_radius + 5, _recalc_delta_settings);
#define EDIT_ANGLE_TRIM(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_tower_angle_trim[_AXIS(N)], -5, 5, _recalc_delta_settings)
EDIT_ANGLE_TRIM("Tx",A);
EDIT_ANGLE_TRIM("Ty",B);
EDIT_ANGLE_TRIM("Tz",C);
#define EDIT_ANGLE_TRIM(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_tower_angle_trim.N, -5, 5, _recalc_delta_settings)
EDIT_ANGLE_TRIM("Tx",a);
EDIT_ANGLE_TRIM("Ty",b);
EDIT_ANGLE_TRIM("Tz",c);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5, delta_diagonal_rod + 5, _recalc_delta_settings);
END_MENU();
}

20
Marlin/src/lcd/menu/menu_motion.cpp
View file

@ -92,26 +92,26 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) {
if (soft_endstops_enabled) switch (axis) {
case X_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
min = soft_endstop[X_AXIS].min;
min = soft_endstop.min.x;
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
max = soft_endstop[X_AXIS].max;
max = soft_endstop.max.x;
#endif
break;
case Y_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
min = soft_endstop[Y_AXIS].min;
min = soft_endstop.min.y;
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
max = soft_endstop[Y_AXIS].max;
max = soft_endstop.max.y;
#endif
break;
case Z_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
min = soft_endstop[Z_AXIS].min;
min = soft_endstop.min.z;
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
max = soft_endstop[Z_AXIS].max;
max = soft_endstop.max.z;
#endif
default: break;
}
@ -173,7 +173,7 @@ void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
#if IS_KINEMATIC
manual_move_offset += diff;
#else
current_position[E_AXIS] += diff;
current_position.e += diff;
#endif
manual_move_to_current(E_AXIS
#if E_MANUAL > 1
@ -207,7 +207,7 @@ void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
}
#endif // E_MANUAL > 1
draw_edit_screen(pos_label, ftostr41sign(current_position[E_AXIS]
draw_edit_screen(pos_label, ftostr41sign(current_position.e
#if IS_KINEMATIC
+ manual_move_offset
#endif
@ -267,7 +267,7 @@ void _menu_move_distance(const AxisEnum axis, const screenFunc_t func, const int
case Z_AXIS: STATIC_ITEM(MSG_MOVE_Z, SS_CENTER|SS_INVERT); break;
default:
#if ENABLED(MANUAL_E_MOVES_RELATIVE)
manual_move_e_origin = current_position[E_AXIS];
manual_move_e_origin = current_position.e;
#endif
STATIC_ITEM(MSG_MOVE_E, SS_CENTER|SS_INVERT);
break;
@ -345,7 +345,7 @@ void menu_move() {
) {
if (
#if ENABLED(DELTA)
current_position[Z_AXIS] <= delta_clip_start_height
current_position.z <= delta_clip_start_height
#else
true
#endif

15
Marlin/src/lcd/menu/menu_ubl.cpp
View file

@ -432,18 +432,16 @@ void _lcd_ubl_map_lcd_edit_cmd() {
void ubl_map_move_to_xy() {
const feedRate_t fr_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
set_destination_from_current(); // sync destination at the start
destination = current_position; // sync destination at the start
#if ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height) {
destination[Z_AXIS] = delta_clip_start_height;
if (current_position.z > delta_clip_start_height) {
destination.z = delta_clip_start_height;
prepare_internal_move_to_destination(fr_mm_s);
}
#endif
destination[X_AXIS] = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]);
destination[Y_AXIS] = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]);
destination.set(ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot));
prepare_internal_move_to_destination(fr_mm_s);
}
@ -491,9 +489,8 @@ void _lcd_ubl_output_map_lcd() {
if (y_plot < 0) y_plot = GRID_MAX_POINTS_Y - 1;
#if IS_KINEMATIC
const float x = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]),
y = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]);
if (position_is_reachable(x, y)) break; // Found a valid point
const xy_pos_t xy = { ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot) };
if (position_is_reachable(xy)) break; // Found a valid point
x_plot += (step_scaler < 0) ? -1 : 1;
#endif

2
Marlin/src/lcd/ultralcd.cpp
View file

@ -671,7 +671,7 @@ void MarlinUI::quick_feedback(const bool clear_buttons/*=true*/) {
#endif
// Set movement on a single axis
set_destination_from_current();
destination = current_position;
destination[manual_move_axis] += manual_move_offset;
// Reset for the next move

1
Marlin/src/lcd/ultralcd.h
View file

@ -90,7 +90,6 @@
typedef void (*menuAction_t)();
// Manual Movement
constexpr feedRate_t manual_feedrate_mm_m[XYZE] = MANUAL_FEEDRATE;
extern float move_menu_scale;
#if ENABLED(ADVANCED_PAUSE_FEATURE)

26
Marlin/src/libs/L6470/L6470_Marlin.cpp
View file

@ -339,19 +339,19 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
// Position calcs & checks
//
const float center[] = {
LOGICAL_X_POSITION(current_position[X_AXIS]),
LOGICAL_Y_POSITION(current_position[Y_AXIS]),
LOGICAL_Z_POSITION(current_position[Z_AXIS]),
current_position[E_AXIS]
const xyze_pos_t center = {
LOGICAL_X_POSITION(current_position.x),
LOGICAL_Y_POSITION(current_position.y),
LOGICAL_Z_POSITION(current_position.z),
current_position.e
};
switch (axis_mon[0][0]) {
default: position_max = position_min = 0; break;
case 'X': {
position_min = center[X_AXIS] - displacement;
position_max = center[X_AXIS] + displacement;
position_min = center.x - displacement;
position_max = center.x + displacement;
echo_min_max('X', position_min, position_max);
if (false
#ifdef X_MIN_POS
@ -367,8 +367,8 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
} break;
case 'Y': {
position_min = center[Y_AXIS] - displacement;
position_max = center[Y_AXIS] + displacement;
position_min = center.y - displacement;
position_max = center.y + displacement;
echo_min_max('Y', position_min, position_max);
if (false
#ifdef Y_MIN_POS
@ -384,8 +384,8 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
} break;
case 'Z': {
position_min = center[Z_AXIS] - displacement;
position_max = center[Z_AXIS] + displacement;
position_min = center.z - displacement;
position_max = center.z + displacement;
echo_min_max('Z', position_min, position_max);
if (false
#ifdef Z_MIN_POS
@ -401,8 +401,8 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
} break;
case 'E': {
position_min = center[E_AXIS] - displacement;
position_max = center[E_AXIS] + displacement;
position_min = center.e - displacement;
position_max = center.e + displacement;
echo_min_max('E', position_min, position_max);
} break;
}

6
Marlin/src/libs/least_squares_fit.h
View file

@ -65,6 +65,9 @@ inline void incremental_WLSF(struct linear_fit_data *lsf, const float &x, const
lsf->max_absx = _MAX(ABS(wx), lsf->max_absx);
lsf->max_absy = _MAX(ABS(wy), lsf->max_absy);
}
inline void incremental_WLSF(struct linear_fit_data *lsf, const xy_pos_t &pos, const float &z, const float &w) {
incremental_WLSF(lsf, pos.x, pos.y, z, w);
}
inline void incremental_LSF(struct linear_fit_data *lsf, const float &x, const float &y, const float &z) {
lsf->xbar += x;
@ -80,5 +83,8 @@ inline void incremental_LSF(struct linear_fit_data *lsf, const float &x, const f
lsf->max_absy = _MAX(ABS(y), lsf->max_absy);
lsf->N += 1.0;
}
inline void incremental_LSF(struct linear_fit_data *lsf, const xy_pos_t &pos, const float &z) {
incremental_LSF(lsf, pos.x, pos.y, z);
}
int finish_incremental_LSF(struct linear_fit_data *);

77
Marlin/src/libs/nozzle.cpp
View file

@ -30,7 +30,6 @@ Nozzle nozzle;
#include "../Marlin.h"
#include "../module/motion.h"
#include "point_t.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE)
@ -38,30 +37,30 @@ Nozzle nozzle;
* @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param start xyz_pos_t defining the starting point
* @param end xyz_pos_t defining the ending point
* @param strokes number of strokes to execute
*/
void Nozzle::stroke(const point_t &start, const point_t &end, const uint8_t &strokes) {
void Nozzle::stroke(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes) {
#if ENABLED(NOZZLE_CLEAN_GOBACK)
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
const xyz_pos_t oldpos = current_position;
#endif
// Move to the starting point
#if ENABLED(NOZZLE_CLEAN_NO_Z)
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_xy(start);
#else
do_blocking_move_to(start.x, start.y, start.z);
do_blocking_move_to(start);
#endif
// Start the stroke pattern
for (uint8_t i = 0; i < (strokes >> 1); i++) {
do_blocking_move_to_xy(end.x, end.y);
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_xy(end);
do_blocking_move_to_xy(start);
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz);
do_blocking_move_to(oldpos);
#endif
}
@ -69,29 +68,29 @@ Nozzle nozzle;
* @brief Zig-zag clean pattern
* @details Apply a zig-zag cleaning pattern
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param start xyz_pos_t defining the starting point
* @param end xyz_pos_t defining the ending point
* @param strokes number of strokes to execute
* @param objects number of triangles to do
*/
void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
const float diffx = end.x - start.x, diffy = end.y - start.y;
if (!diffx || !diffy) return;
void Nozzle::zigzag(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes, const uint8_t &objects) {
const xy_pos_t diff = end - start;
if (!diff.x || !diff.y) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
const xyz_pos_t back = current_position;
#endif
#if ENABLED(NOZZLE_CLEAN_NO_Z)
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_xy(start);
#else
do_blocking_move_to(start.x, start.y, start.z);
do_blocking_move_to(start);
#endif
const uint8_t zigs = objects << 1;
const bool horiz = ABS(diffx) >= ABS(diffy); // Do a horizontal wipe?
const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag
const point_t *side;
const bool horiz = ABS(diff.x) >= ABS(diff.y); // Do a horizontal wipe?
const float P = (horiz ? diff.x : diff.y) / zigs; // Period of each zig / zag
const xyz_pos_t *side;
for (uint8_t j = 0; j < strokes; j++) {
for (int8_t i = 0; i < zigs; i++) {
side = (i & 1) ? &end : &start;
@ -110,7 +109,7 @@ Nozzle nozzle;
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz);
do_blocking_move_to(back);
#endif
}
@ -118,21 +117,21 @@ Nozzle nozzle;
* @brief Circular clean pattern
* @details Apply a circular cleaning pattern
*
* @param start point_t defining the middle of circle
* @param start xyz_pos_t defining the middle of circle
* @param strokes number of strokes to execute
* @param radius radius of circle
*/
void Nozzle::circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
void Nozzle::circle(const xyz_pos_t &start, const xyz_pos_t &middle, const uint8_t &strokes, const float &radius) {
if (strokes == 0) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
const xyz_pos_t back = current_position;
#endif
#if ENABLED(NOZZLE_CLEAN_NO_Z)
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_xy(start);
#else
do_blocking_move_to(start.x, start.y, start.z);
do_blocking_move_to(start);
#endif
for (uint8_t s = 0; s < strokes; s++)
@ -143,10 +142,10 @@ Nozzle nozzle;
);
// Let's be safe
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_xy(start);
#if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz);
do_blocking_move_to(back);
#endif
}
@ -158,21 +157,21 @@ Nozzle nozzle;
* @param argument depends on the cleaning pattern
*/
void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects, const uint8_t cleans) {
point_t start = NOZZLE_CLEAN_START_POINT;
point_t end = NOZZLE_CLEAN_END_POINT;
xyz_pos_t start = NOZZLE_CLEAN_START_POINT, end = NOZZLE_CLEAN_END_POINT;
if (pattern == 2) {
if (!(cleans & (_BV(X_AXIS) | _BV(Y_AXIS)))) {
SERIAL_ECHOLNPGM("Warning : Clean Circle requires XY");
return;
}
end = NOZZLE_CLEAN_CIRCLE_MIDDLE;
constexpr xyz_pos_t middle NOZZLE_CLEAN_CIRCLE_MIDDLE;
end = middle;
}
else {
if (!TEST(cleans, X_AXIS)) start.x = end.x = current_position[X_AXIS];
if (!TEST(cleans, Y_AXIS)) start.y = end.y = current_position[Y_AXIS];
if (!TEST(cleans, X_AXIS)) start.x = end.x = current_position.x;
if (!TEST(cleans, Y_AXIS)) start.y = end.y = current_position.y;
}
if (!TEST(cleans, Z_AXIS)) start.z = end.z = current_position[Z_AXIS];
if (!TEST(cleans, Z_AXIS)) start.z = end.z = current_position.z;
switch (pattern) {
case 1: zigzag(start, end, strokes, objects); break;
@ -185,7 +184,7 @@ Nozzle nozzle;
#if ENABLED(NOZZLE_PARK_FEATURE)
void Nozzle::park(const uint8_t z_action, const point_t &park/*=NOZZLE_PARK_POINT*/) {
void Nozzle::park(const uint8_t z_action, const xyz_pos_t &park/*=NOZZLE_PARK_POINT*/) {
constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE, fr_z = NOZZLE_PARK_Z_FEEDRATE;
switch (z_action) {
@ -194,14 +193,14 @@ Nozzle nozzle;
break;
case 2: // Raise by Z-park height
do_blocking_move_to_z(_MIN(current_position[Z_AXIS] + park.z, Z_MAX_POS), fr_z);
do_blocking_move_to_z(_MIN(current_position.z + park.z, Z_MAX_POS), fr_z);
break;
default: // Raise to at least the Z-park height
do_blocking_move_to_z(_MAX(park.z, current_position[Z_AXIS]), fr_z);
do_blocking_move_to_z(_MAX(park.z, current_position.z), fr_z);
}
do_blocking_move_to_xy(park.x, park.y, fr_xy);
do_blocking_move_to_xy(park, fr_xy);
report_current_position();
}

19
Marlin/src/libs/nozzle.h
View file

@ -22,7 +22,6 @@
#pragma once
#include "../inc/MarlinConfig.h"
#include "point_t.h"
/**
* @brief Nozzle class
@ -38,32 +37,32 @@ class Nozzle {
* @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param start xyz_pos_t defining the starting point
* @param end xyz_pos_t defining the ending point
* @param strokes number of strokes to execute
*/
static void stroke(const point_t &start, const point_t &end, const uint8_t &strokes) _Os;
static void stroke(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes) _Os;
/**
* @brief Zig-zag clean pattern
* @details Apply a zig-zag cleaning pattern
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param start xyz_pos_t defining the starting point
* @param end xyz_pos_t defining the ending point
* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
static void zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) _Os;
static void zigzag(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes, const uint8_t &objects) _Os;
/**
* @brief Circular clean pattern
* @details Apply a circular cleaning pattern
*
* @param start point_t defining the middle of circle
* @param start xyz_pos_t defining the middle of circle
* @param strokes number of strokes to execute
* @param radius radius of circle
*/
static void circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) _Os;
static void circle(const xyz_pos_t &start, const xyz_pos_t &middle, const uint8_t &strokes, const float &radius) _Os;
#endif // NOZZLE_CLEAN_FEATURE
@ -84,7 +83,7 @@ class Nozzle {
#if ENABLED(NOZZLE_PARK_FEATURE)
static void park(const uint8_t z_action, const point_t &park=NOZZLE_PARK_POINT) _Os;
static void park(const uint8_t z_action, const xyz_pos_t &park=NOZZLE_PARK_POINT) _Os;
#endif
};

55
Marlin/src/libs/point_t.h
View file

@ -1,55 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <math.h>
/**
* @brief Cartesian Point
* @details Represents a three dimensional point on Cartesian coordinate system,
* using an additional fourth dimension for the extrusion length.
*
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
*/
struct point_t {
float x, y, z;
/**
* @brief Three dimensional point constructor
*
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
* @param z The z-coordinate of the point.
*/
point_t(const float x, const float y, const float z) : x(x), y(y), z(z) {}
/**
* @brief Two dimensional point constructor
*
* @param x The x-coordinate of the point.
* @param y The y-coordinate of the point.
*/
point_t(const float x, const float y) : point_t(x, y, NAN) {}
};

94
Marlin/src/libs/vector_3.cpp
View file

@ -47,81 +47,74 @@
#include <math.h>
vector_3::vector_3() : x(0), y(0), z(0) { }
vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
/**
* vector_3
*/
vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
return vector_3(left.y * right.z - left.z * right.y,
left.z * right.x - left.x * right.z,
left.x * right.y - left.y * right.x);
const xyz_float_t &lv = left, &rv = right;
return vector_3(lv.y * rv.z - lv.z * rv.y, // YZ cross
lv.z * rv.x - lv.x * rv.z, // ZX cross
lv.x * rv.y - lv.y * rv.x); // XY cross
}
vector_3 vector_3::operator+(const vector_3 &v) { return vector_3(x + v.x, y + v.y, z + v.z); }
vector_3 vector_3::operator-(const vector_3 &v) { return vector_3(x - v.x, y - v.y, z - v.z); }
vector_3 vector_3::operator* (const float &v) { return vector_3(x * v, y * v, z * v); }
vector_3& vector_3::operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; }
vector_3 vector_3::get_normal() const {
vector_3 normalized = vector_3(x, y, z);
vector_3 normalized = *this;
normalized.normalize();
return normalized;
}
float vector_3::get_length() const { return SQRT(sq(x) + sq(y) + sq(z)); }
void vector_3::normalize() {
const float inv_length = RSQRT(sq(x) + sq(y) + sq(z));
x *= inv_length;
y *= inv_length;
z *= inv_length;
*this *= RSQRT(sq(x) + sq(y) + sq(z));
}
// Apply a rotation to the matrix
void vector_3::apply_rotation(const matrix_3x3 &matrix) {
const float _x = x, _y = y;
x = _x * matrix.matrix[3 * 0 + 0] + _y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0];
y = _x * matrix.matrix[3 * 0 + 1] + _y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1];
z = _x * matrix.matrix[3 * 0 + 2] + _y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
const float _x = x, _y = y, _z = z;
*this = matrix.vectors[0] * _x + matrix.vectors[1] * _y + matrix.vectors[2] * _z;
}
void vector_3::debug(PGM_P const title) {
serialprintPGM(title);
SERIAL_ECHOPAIR_F(" x: ", x, 6);
SERIAL_ECHOPAIR_F(" y: ", y, 6);
SERIAL_ECHOLNPAIR_F(" z: ", z, 6);
SERIAL_ECHOPAIR_F(" X", x, 6);
SERIAL_ECHOPAIR_F(" Y", y, 6);
SERIAL_ECHOLNPAIR_F(" Z", z, 6);
}
void apply_rotation_xyz(const matrix_3x3 &matrix, float &x, float &y, float &z) {
vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix);
x = vector.x;
y = vector.y;
z = vector.z;
/**
* matrix_3x3
*/
void apply_rotation_xyz(const matrix_3x3 &matrix, float &_x, float &_y, float &_z) {
vector_3 vec = vector_3(_x, _y, _z); vec.apply_rotation(matrix);
_x = vec.x; _y = vec.y; _z = vec.z;
}
// Reset to identity. No rotate or translate.
void matrix_3x3::set_to_identity() {
for (uint8_t i = 0; i < 3; i++)
for (uint8_t j = 0; j < 3; j++)
vectors[i][j] = float(i == j);
}
// Create a matrix from 3 vector_3 inputs
matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2) {
//row_0.debug(PSTR("row_0"));
//row_1.debug(PSTR("row_1"));
//row_2.debug(PSTR("row_2"));
matrix_3x3 new_matrix;
new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
new_matrix.vectors[0] = row_0;
new_matrix.vectors[1] = row_1;
new_matrix.vectors[2] = row_2;
//new_matrix.debug(PSTR("new_matrix"));
return new_matrix;
}
void matrix_3x3::set_to_identity() {
matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
}
// Create a matrix rotated to point towards a target
matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
vector_3 z_row = target.get_normal(),
x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
y_row = vector_3::cross(z_row, x_row).get_normal();
const vector_3 z_row = target.get_normal(),
x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
y_row = vector_3::cross(z_row, x_row).get_normal();
// x_row.debug(PSTR("x_row"));
// y_row.debug(PSTR("y_row"));
@ -134,11 +127,12 @@ matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
return rot;
}
// Get a transposed copy of the matrix
matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) {
matrix_3x3 new_matrix;
new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];
new_matrix.matrix[6] = original.matrix[2]; new_matrix.matrix[7] = original.matrix[5]; new_matrix.matrix[8] = original.matrix[8];
for (uint8_t i = 0; i < 3; i++)
for (uint8_t j = 0; j < 3; j++)
new_matrix.vectors[i][j] = original.vectors[j][i];
return new_matrix;
}
@ -147,13 +141,11 @@ void matrix_3x3::debug(PGM_P const title) {
serialprintPGM(title);
SERIAL_EOL();
}
uint8_t count = 0;
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t j = 0; j < 3; j++) {
if (matrix[count] >= 0.0) SERIAL_CHAR('+');
SERIAL_ECHO_F(matrix[count], 6);
if (vectors[i][j] >= 0.0) SERIAL_CHAR('+');
SERIAL_ECHO_F(vectors[i][j], 6);
SERIAL_CHAR(' ');
count++;
}
SERIAL_EOL();
}

35
Marlin/src/libs/vector_3.h
View file

@ -40,33 +40,40 @@
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include "../core/types.h"
class matrix_3x3;
struct vector_3 {
float x, y, z;
struct vector_3 : xyz_float_t {
vector_3();
vector_3(float x, float y, float z);
vector_3(const float &_x, const float &_y, const float &_z) { set(_x, _y, _z); }
vector_3(const xy_float_t &in) { set(in.x, in.y); }
vector_3(const xyz_float_t &in) { set(in.x, in.y, in.z); }
vector_3(const xyze_float_t &in) { set(in.x, in.y, in.z); }
// Factory method
static vector_3 cross(const vector_3 &a, const vector_3 &b);
vector_3 operator+(const vector_3 &v);
vector_3 operator-(const vector_3 &v);
vector_3 operator* (const float &v);
vector_3& operator*=(const float &v);
// Modifiers
void normalize();
void apply_rotation(const matrix_3x3 &matrix);
// Accessors
float get_length() const;
vector_3 get_normal() const;
// Operators
FORCE_INLINE vector_3 operator+(const vector_3 &v) const { vector_3 o = *this; o += v; return o; }
FORCE_INLINE vector_3 operator-(const vector_3 &v) const { vector_3 o = *this; o -= v; return o; }
FORCE_INLINE vector_3 operator*(const float &v) const { vector_3 o = *this; o *= v; return o; }
void debug(PGM_P const title);
void apply_rotation(const matrix_3x3 &matrix);
};
struct matrix_3x3 {
float matrix[9];
abc_float_t vectors[3];
// Factory methods
static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2);
static matrix_3x3 create_look_at(const vector_3 &target);
static matrix_3x3 transpose(const matrix_3x3 &original);
@ -76,5 +83,7 @@ struct matrix_3x3 {
void debug(PGM_P const title);
};
void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, float &x, float &y, float &z);
FORCE_INLINE void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, xyz_pos_t &pos) {
apply_rotation_xyz(rotationMatrix, pos.x, pos.y, pos.z);
}

147
Marlin/src/module/configuration_store.cpp
View file

@ -52,7 +52,7 @@
#include "temperature.h"
#include "../lcd/ultralcd.h"
#include "../core/language.h"
#include "../libs/vector_3.h"
#include "../libs/vector_3.h" // for matrix_3x3
#include "../gcode/gcode.h"
#include "../Marlin.h"
@ -146,13 +146,13 @@ typedef struct SettingsDataStruct {
planner_settings_t planner_settings;
float planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE]
planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
xyze_float_t planner_max_jerk; // M205 XYZE planner.max_jerk
float planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
float home_offset[XYZ]; // M206 XYZ / M665 TPZ
xyz_pos_t home_offset; // M206 XYZ / M665 TPZ
#if HAS_HOTEND_OFFSET
float hotend_offset[XYZ][HOTENDS - 1]; // M218 XYZ
xyz_pos_t hotend_offset[HOTENDS - 1]; // M218 XYZ
#endif
//
@ -181,7 +181,7 @@ typedef struct SettingsDataStruct {
// HAS_BED_PROBE
//
float probe_offset[XYZ];
xyz_pos_t probe_offset;
//
// ABL_PLANAR
@ -192,10 +192,9 @@ typedef struct SettingsDataStruct {
// AUTO_BED_LEVELING_BILINEAR
//
uint8_t grid_max_x, grid_max_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y
int bilinear_grid_spacing[2],
bilinear_start[2]; // G29 L F
xy_int_t bilinear_grid_spacing, bilinear_start; // G29 L F
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; // G29
bed_mesh_t z_values; // G29
#else
float z_values[3][3];
#endif
@ -220,13 +219,13 @@ typedef struct SettingsDataStruct {
// DELTA / [XYZ]_DUAL_ENDSTOPS
//
#if ENABLED(DELTA)
float delta_height, // M666 H
delta_endstop_adj[ABC], // M666 XYZ
delta_radius, // M665 R
float delta_height; // M666 H
abc_float_t delta_endstop_adj; // M666 XYZ
float delta_radius, // M665 R
delta_diagonal_rod, // M665 L
delta_segments_per_second, // M665 S
delta_calibration_radius, // M665 B
delta_tower_angle_trim[ABC]; // M665 XYZ
delta_calibration_radius; // M665 B
abc_float_t delta_tower_angle_trim; // M665 XYZ
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y
@ -302,7 +301,7 @@ typedef struct SettingsDataStruct {
//
// CNC_COORDINATE_SYSTEMS
//
float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ]; // G54-G59.3
xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS]; // G54-G59.3
//
// SKEW_CORRECTION
@ -326,7 +325,7 @@ typedef struct SettingsDataStruct {
//
// BACKLASH_COMPENSATION
//
float backlash_distance_mm[XYZ]; // M425 X Y Z
xyz_float_t backlash_distance_mm; // M425 X Y Z
uint8_t backlash_correction; // M425 F
float backlash_smoothing_mm; // M425 S
@ -355,7 +354,7 @@ uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); }
#endif
void MarlinSettings::postprocess() {
const float oldpos[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] };
xyze_pos_t oldpos = current_position;
// steps per s2 needs to be updated to agree with units per s2
planner.reset_acceleration_rates();
@ -408,7 +407,7 @@ void MarlinSettings::postprocess() {
planner.refresh_positioning();
// Various factors can change the current position
if (memcmp(oldpos, current_position, sizeof(oldpos)))
if (oldpos != current_position)
report_current_position();
}
@ -522,7 +521,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(dummy);
#endif
#else
const float planner_max_jerk[XYZE] = { float(DEFAULT_EJERK) };
const xyze_pos_t planner_max_jerk = { 10, 10, 0.4, float(DEFAULT_EJERK) };
EEPROM_WRITE(planner_max_jerk);
#endif
@ -544,7 +543,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(scara_home_offset);
#else
#if !HAS_HOME_OFFSET
const float home_offset[XYZ] = { 0 };
const xyz_pos_t home_offset{0};
#endif
EEPROM_WRITE(home_offset);
#endif
@ -552,7 +551,7 @@ void MarlinSettings::postprocess() {
#if HAS_HOTEND_OFFSET
// Skip hotend 0 which must be 0
for (uint8_t e = 1; e < HOTENDS; e++)
LOOP_XYZ(i) EEPROM_WRITE(hotend_offset[i][e]);
EEPROM_WRITE(hotend_offset[e]);
#endif
}
@ -618,7 +617,7 @@ void MarlinSettings::postprocess() {
// Probe Z Offset
//
{
_FIELD_TEST(probe_offset[Z_AXIS]);
_FIELD_TEST(probe_offset.z);
EEPROM_WRITE(probe_offset);
}
@ -653,7 +652,7 @@ void MarlinSettings::postprocess() {
#else
// For disabled Bilinear Grid write an empty 3x3 grid
const uint8_t grid_max_x = 3, grid_max_y = 3;
const int bilinear_start[2] = { 0 }, bilinear_grid_spacing[2] = { 0 };
const xy_int_t bilinear_start{0}, bilinear_grid_spacing{0};
dummy = 0;
EEPROM_WRITE(grid_max_x);
EEPROM_WRITE(grid_max_y);
@ -1033,7 +1032,7 @@ void MarlinSettings::postprocess() {
// TMC StallGuard threshold
//
{
tmc_sgt_t tmc_sgt = { 0 };
tmc_sgt_t tmc_sgt{0};
#if USE_SENSORLESS
#if X_SENSORLESS
tmc_sgt.X = stepperX.homing_threshold();
@ -1138,8 +1137,8 @@ void MarlinSettings::postprocess() {
#if HAS_MOTOR_CURRENT_PWM
EEPROM_WRITE(stepper.motor_current_setting);
#else
const uint32_t dummyui32[XYZ] = { 0 };
EEPROM_WRITE(dummyui32);
const xyz_ulong_t no_current{0};
EEPROM_WRITE(no_current);
#endif
}
@ -1152,7 +1151,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(CNC_COORDINATE_SYSTEMS)
EEPROM_WRITE(gcode.coordinate_system);
#else
const float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ] = { { 0 } };
const xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS] = { { 0 } };
EEPROM_WRITE(coordinate_system);
#endif
@ -1189,10 +1188,10 @@ void MarlinSettings::postprocess() {
//
{
#if ENABLED(BACKLASH_GCODE)
const float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
const xyz_float_t &backlash_distance_mm = backlash.distance_mm;
const uint8_t &backlash_correction = backlash.correction;
#else
const float backlash_distance_mm[XYZ] = { 0 };
const xyz_float_t backlash_distance_mm{0};
const uint8_t backlash_correction = 0;
#endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
@ -1341,7 +1340,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ(scara_home_offset);
#else
#if !HAS_HOME_OFFSET
float home_offset[XYZ];
xyz_pos_t home_offset;
#endif
EEPROM_READ(home_offset);
#endif
@ -1354,7 +1353,7 @@ void MarlinSettings::postprocess() {
#if HAS_HOTEND_OFFSET
// Skip hotend 0 which must be 0
for (uint8_t e = 1; e < HOTENDS; e++)
LOOP_XYZ(i) EEPROM_READ(hotend_offset[i][e]);
EEPROM_READ(hotend_offset[e]);
#endif
}
@ -1418,12 +1417,11 @@ void MarlinSettings::postprocess() {
// Probe Z Offset
//
{
_FIELD_TEST(probe_offset[Z_AXIS]);
_FIELD_TEST(probe_offset);
#if HAS_BED_PROBE
float (&zpo)[XYZ] = probe_offset;
xyz_pos_t &zpo = probe_offset;
#else
float zpo[XYZ];
xyz_pos_t zpo;
#endif
EEPROM_READ(zpo);
}
@ -1457,7 +1455,7 @@ void MarlinSettings::postprocess() {
#endif // AUTO_BED_LEVELING_BILINEAR
{
// Skip past disabled (or stale) Bilinear Grid data
int bgs[2], bs[2];
xy_int_t bgs, bs;
EEPROM_READ(bgs);
EEPROM_READ(bs);
for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_READ(dummy);
@ -1940,7 +1938,7 @@ void MarlinSettings::postprocess() {
if (!validating) (void)gcode.select_coordinate_system(-1); // Go back to machine space
EEPROM_READ(gcode.coordinate_system);
#else
float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS];
EEPROM_READ(coordinate_system);
#endif
}
@ -1989,7 +1987,7 @@ void MarlinSettings::postprocess() {
//
{
#if ENABLED(BACKLASH_GCODE)
float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
xyz_float_t &backlash_distance_mm = backlash.distance_mm;
uint8_t &backlash_correction = backlash.correction;
#else
float backlash_distance_mm[XYZ];
@ -2231,11 +2229,9 @@ void MarlinSettings::reset() {
#ifndef DEFAULT_ZJERK
#define DEFAULT_ZJERK 0
#endif
planner.max_jerk[X_AXIS] = DEFAULT_XJERK;
planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
planner.max_jerk.set(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK);
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
planner.max_jerk.e = DEFAULT_EJERK;
#endif
#endif
@ -2244,9 +2240,9 @@ void MarlinSettings::reset() {
#endif
#if HAS_SCARA_OFFSET
ZERO(scara_home_offset);
scara_home_offset.reset();
#elif HAS_HOME_OFFSET
ZERO(home_offset);
home_offset.reset();
#endif
#if HAS_HOTEND_OFFSET
@ -2277,17 +2273,16 @@ void MarlinSettings::reset() {
toolchange_settings.retract_speed = TOOLCHANGE_FIL_SWAP_RETRACT_SPEED;
#endif
#if ENABLED(TOOLCHANGE_PARK)
toolchange_settings.change_point = TOOLCHANGE_PARK_XY;
constexpr xyz_pos_t tpxy = TOOLCHANGE_PARK_XY;
toolchange_settings.change_point = tpxy;
#endif
toolchange_settings.z_raise = TOOLCHANGE_ZRAISE;
#endif
#if ENABLED(BACKLASH_GCODE)
backlash.correction = (BACKLASH_CORRECTION) * 255;
constexpr float tmp[XYZ] = BACKLASH_DISTANCE_MM;
backlash.distance_mm[X_AXIS] = tmp[X_AXIS];
backlash.distance_mm[Y_AXIS] = tmp[Y_AXIS];
backlash.distance_mm[Z_AXIS] = tmp[Z_AXIS];
constexpr xyz_float_t tmp = BACKLASH_DISTANCE_MM;
backlash.distance_mm = tmp;
#ifdef BACKLASH_SMOOTHING_MM
backlash.smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
@ -2346,14 +2341,14 @@ void MarlinSettings::reset() {
//
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM;
delta_height = DELTA_HEIGHT;
COPY(delta_endstop_adj, adj);
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);
delta_tower_angle_trim = dta;
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@ -2769,11 +2764,11 @@ void MarlinSettings::reset() {
, " J", LINEAR_UNIT(planner.junction_deviation_mm)
#endif
#if HAS_CLASSIC_JERK
, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS])
, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS])
, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS])
, " X", LINEAR_UNIT(planner.max_jerk.x)
, " Y", LINEAR_UNIT(planner.max_jerk.y)
, " Z", LINEAR_UNIT(planner.max_jerk.z)
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS])
, " E", LINEAR_UNIT(planner.max_jerk.e)
#endif
#endif
);
@ -2783,10 +2778,10 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(" M206"
#if IS_CARTESIAN
" X", LINEAR_UNIT(home_offset[X_AXIS]),
" Y", LINEAR_UNIT(home_offset[Y_AXIS]),
" X", LINEAR_UNIT(home_offset.x),
" Y", LINEAR_UNIT(home_offset.y),
#endif
" Z", LINEAR_UNIT(home_offset[Z_AXIS])
" Z", LINEAR_UNIT(home_offset.z)
);
#endif
@ -2796,9 +2791,9 @@ void MarlinSettings::reset() {
for (uint8_t e = 1; e < HOTENDS; e++) {
SERIAL_ECHOPAIR(
" M218 T", (int)e,
" X", LINEAR_UNIT(hotend_offset[X_AXIS][e]), " Y", LINEAR_UNIT(hotend_offset[Y_AXIS][e])
" X", LINEAR_UNIT(hotend_offset[e].x), " Y", LINEAR_UNIT(hotend_offset[e].y)
);
SERIAL_ECHOLNPAIR_F(" Z", LINEAR_UNIT(hotend_offset[Z_AXIS][e]), 3);
SERIAL_ECHOLNPAIR_F(" Z", LINEAR_UNIT(hotend_offset[e].z), 3);
}
#endif
@ -2901,9 +2896,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M665 S", delta_segments_per_second
, " P", scara_home_offset[A_AXIS]
, " T", scara_home_offset[B_AXIS]
, " Z", LINEAR_UNIT(scara_home_offset[Z_AXIS])
, " P", scara_home_offset.a
, " T", scara_home_offset.b
, " Z", LINEAR_UNIT(scara_home_offset.z)
);
#elif ENABLED(DELTA)
@ -2911,9 +2906,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_HEADING("Endstop adjustment:");
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M666 X", LINEAR_UNIT(delta_endstop_adj[A_AXIS])
, " Y", LINEAR_UNIT(delta_endstop_adj[B_AXIS])
, " Z", LINEAR_UNIT(delta_endstop_adj[C_AXIS])
" M666 X", LINEAR_UNIT(delta_endstop_adj.a)
, " Y", LINEAR_UNIT(delta_endstop_adj.b)
, " Z", LINEAR_UNIT(delta_endstop_adj.c)
);
CONFIG_ECHO_HEADING("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");
@ -2924,9 +2919,9 @@ void MarlinSettings::reset() {
, " H", LINEAR_UNIT(delta_height)
, " S", delta_segments_per_second
, " B", LINEAR_UNIT(delta_calibration_radius)
, " X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS])
, " Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS])
, " Z", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS])
, " X", LINEAR_UNIT(delta_tower_angle_trim.a)
, " Y", LINEAR_UNIT(delta_tower_angle_trim.b)
, " Z", LINEAR_UNIT(delta_tower_angle_trim.c)
);
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@ -3072,9 +3067,9 @@ void MarlinSettings::reset() {
say_units(true);
}
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(" M851 X", LINEAR_UNIT(probe_offset[X_AXIS]),
" Y", LINEAR_UNIT(probe_offset[Y_AXIS]),
" Z", LINEAR_UNIT(probe_offset[Z_AXIS]));
SERIAL_ECHOLNPAIR(" M851 X", LINEAR_UNIT(probe_offset.x),
" Y", LINEAR_UNIT(probe_offset.y),
" Z", LINEAR_UNIT(probe_offset.z));
#endif
/**
@ -3421,9 +3416,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M425 F", backlash.get_correction(),
" X", LINEAR_UNIT(backlash.distance_mm[X_AXIS]),
" Y", LINEAR_UNIT(backlash.distance_mm[Y_AXIS]),
" Z", LINEAR_UNIT(backlash.distance_mm[Z_AXIS])
" X", LINEAR_UNIT(backlash.distance_mm.x),
" Y", LINEAR_UNIT(backlash.distance_mm.y),
" Z", LINEAR_UNIT(backlash.distance_mm.z)
#ifdef BACKLASH_SMOOTHING_MM
, " S", LINEAR_UNIT(backlash.smoothing_mm)
#endif

85
Marlin/src/module/delta.cpp
View file

@ -50,17 +50,16 @@
#include "../core/debug_out.h"
// Initialized by settings.load()
float delta_height,
delta_endstop_adj[ABC] = { 0 },
delta_radius,
float delta_height;
abc_float_t delta_endstop_adj{0};
float delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[ABC];
float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
delta_clip_start_height = Z_MAX_POS;
delta_calibration_radius;
abc_float_t delta_tower_angle_trim;
xy_float_t delta_tower[ABC];
abc_float_t delta_diagonal_rod_2_tower;
float delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top();
@ -69,17 +68,17 @@ float delta_safe_distance_from_top();
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings() {
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = cos(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]); // back middle tower
delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(delta_diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]);
constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER,
drt = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + drt.a),
sq(delta_diagonal_rod + drt.b),
sq(delta_diagonal_rod + drt.c));
update_software_endstops(Z_AXIS);
set_all_unhomed();
}
@ -101,18 +100,16 @@ void recalc_delta_settings() {
*/
#define DELTA_DEBUG(VAR) do { \
SERIAL_ECHOLNPAIR("Cartesian X", VAR[X_AXIS], " Y", VAR[Y_AXIS], " Z", VAR[Z_AXIS]); \
SERIAL_ECHOLNPAIR("Delta A", delta[A_AXIS], " B", delta[B_AXIS], " C", delta[C_AXIS]); \
SERIAL_ECHOLNPAIR("Cartesian X", VAR.x, " Y", VAR.y, " Z", VAR.z); \
SERIAL_ECHOLNPAIR("Delta A", delta.a, " B", delta.b, " C", delta.c); \
}while(0)
void inverse_kinematics(const float (&raw)[XYZ]) {
void inverse_kinematics(const xyz_pos_t &raw) {
#if HAS_HOTEND_OFFSET
// Delta hotend offsets must be applied in Cartesian space with no "spoofing"
const float pos[XYZ] = {
raw[X_AXIS] - hotend_offset[X_AXIS][active_extruder],
raw[Y_AXIS] - hotend_offset[Y_AXIS][active_extruder],
raw[Z_AXIS]
};
xyz_pos_t pos = { raw.x - hotend_offset[active_extruder].x,
raw.y - hotend_offset[active_extruder].y,
raw.z };
DELTA_IK(pos);
//DELTA_DEBUG(pos);
#else
@ -126,12 +123,12 @@ void inverse_kinematics(const float (&raw)[XYZ]) {
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top() {
float cartesian[XYZ] = { 0, 0, 0 };
xyz_pos_t cartesian{0};
inverse_kinematics(cartesian);
float centered_extent = delta[A_AXIS];
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
const float centered_extent = delta.a;
cartesian.y = DELTA_PRINTABLE_RADIUS;
inverse_kinematics(cartesian);
return ABS(centered_extent - delta[A_AXIS]);
return ABS(centered_extent - delta.a);
}
/**
@ -161,7 +158,7 @@ float delta_safe_distance_from_top() {
*/
void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) {
// Create a vector in old coordinates along x axis of new coordinate
const float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 },
const float p12[3] = { delta_tower[B_AXIS].x - delta_tower[A_AXIS].x, delta_tower[B_AXIS].y - delta_tower[A_AXIS].y, z2 - z1 },
// Get the reciprocal of Magnitude of vector.
d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2),
@ -170,7 +167,7 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
ex[3] = { p12[0] * inv_d, p12[1] * inv_d, p12[2] * inv_d },
// Get the vector from the origin of the new system to the third point.
p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 },
p13[3] = { delta_tower[C_AXIS].x - delta_tower[A_AXIS].x, delta_tower[C_AXIS].y - delta_tower[A_AXIS].y, z3 - z1 },
// Use the dot product to find the component of this vector on the X axis.
i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2],
@ -198,16 +195,16 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + d2) * inv_d * 0.5,
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + sq(i) + j2) * 0.5 - i * Xnew) * inv_j,
Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
Xnew = (delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.b + d2) * inv_d * 0.5,
Ynew = ((delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.c + sq(i) + j2) * 0.5 - i * Xnew) * inv_j,
Znew = SQRT(delta_diagonal_rod_2_tower.a - HYPOT2(Xnew, Ynew));
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
cartes.set(delta_tower[A_AXIS].x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew,
delta_tower[A_AXIS].y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew,
z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew);
}
/**
@ -217,8 +214,8 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
void home_delta() {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
// Init the current position of all carriages to 0,0,0
ZERO(current_position);
ZERO(destination);
current_position.reset();
destination.reset();
sync_plan_position();
// Disable stealthChop if used. Enable diag1 pin on driver.
@ -231,9 +228,9 @@ void home_delta() {
#endif
// Move all carriages together linearly until an endstop is hit.
current_position[Z_AXIS] = (delta_height + 10
current_position.z = (delta_height + 10
#if HAS_BED_PROBE
- probe_offset[Z_AXIS]
- probe_offset.z
#endif
);
line_to_current_position(homing_feedrate(X_AXIS));

41
Marlin/src/module/delta.h
View file

@ -25,17 +25,18 @@
* delta.h - Delta-specific functions
*/
extern float delta_height,
delta_endstop_adj[ABC],
delta_radius,
#include "../core/types.h"
extern float delta_height;
extern abc_float_t delta_endstop_adj;
extern float delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[ABC];
extern float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
delta_clip_start_height;
delta_calibration_radius;
extern abc_float_t delta_tower_angle_trim;
extern xy_float_t delta_tower[ABC];
extern abc_float_t delta_diagonal_rod_2_tower;
extern float delta_clip_start_height;
/**
* Recalculate factors used for delta kinematics whenever
@ -63,24 +64,16 @@ void recalc_delta_settings();
*/
// Macro to obtain the Z position of an individual tower
#define DELTA_Z(V,T) V[Z_AXIS] + SQRT( \
#define DELTA_Z(V,T) V.z + SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - V[X_AXIS], \
delta_tower[T][Y_AXIS] - V[Y_AXIS] \
delta_tower[T].x - V.x, \
delta_tower[T].y - V.y \
) \
)
#define DELTA_IK(V) do { \
delta[A_AXIS] = DELTA_Z(V, A_AXIS); \
delta[B_AXIS] = DELTA_Z(V, B_AXIS); \
delta[C_AXIS] = DELTA_Z(V, C_AXIS); \
}while(0)
#define DELTA_IK(V) delta.set(DELTA_Z(V, A_AXIS), DELTA_Z(V, B_AXIS), DELTA_Z(V, C_AXIS))
void inverse_kinematics(const float (&raw)[XYZ]);
FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
inverse_kinematics(raw_xyz);
}
void inverse_kinematics(const xyz_pos_t &raw);
/**
* Calculate the highest Z position where the
@ -115,8 +108,8 @@ float delta_safe_distance_from_top();
*/
void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3);
FORCE_INLINE void forward_kinematics_DELTA(const float (&point)[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
FORCE_INLINE void forward_kinematics_DELTA(const abc_float_t &point) {
forward_kinematics_DELTA(point.a, point.b, point.c);
}
void home_delta();

326
Marlin/src/module/motion.cpp
View file

@ -70,7 +70,7 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#define XYZ_CONSTS(type, array, CONFIG) const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }
#define XYZ_CONSTS(T, NAME, OPT) const PROGMEM XYZval<T> NAME##_P = { X_##OPT, Y_##OPT, Z_##OPT }
XYZ_CONSTS(float, base_min_pos, MIN_POS);
XYZ_CONSTS(float, base_max_pos, MAX_POS);
@ -99,7 +99,7 @@ bool relative_mode; // = false;
* Used by 'line_to_current_position' to do a move after changing it.
* Used by 'sync_plan_position' to update 'planner.position'.
*/
float current_position[XYZE] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
/**
* Cartesian Destination
@ -107,7 +107,7 @@ float current_position[XYZE] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
* and expected by functions like 'prepare_move_to_destination'.
* G-codes can set destination using 'get_destination_from_command'
*/
float destination[XYZE]; // = { 0 }
xyze_pos_t destination; // {0}
// The active extruder (tool). Set with T<extruder> command.
#if EXTRUDERS > 1
@ -116,16 +116,17 @@ float destination[XYZE]; // = { 0 }
// Extruder offsets
#if HAS_HOTEND_OFFSET
float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
xyz_pos_t hotend_offset[HOTENDS]; // Initialized by settings.load()
void reset_hotend_offsets() {
constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
static_assert(
tmp[X_AXIS][0] == 0 && tmp[Y_AXIS][0] == 0 && tmp[Z_AXIS][0] == 0,
!tmp[X_AXIS][0] && !tmp[Y_AXIS][0] && !tmp[Z_AXIS][0],
"Offsets for the first hotend must be 0.0."
);
LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
// Transpose from [XYZ][HOTENDS] to [HOTENDS][XYZ]
HOTEND_LOOP() LOOP_XYZ(a) hotend_offset[e][a] = tmp[a][e];
#if ENABLED(DUAL_X_CARRIAGE)
hotend_offset[X_AXIS][1] = _MAX(X2_HOME_POS, X2_MAX_POS);
hotend_offset[1].x = _MAX(X2_HOME_POS, X2_MAX_POS);
#endif
}
#endif
@ -148,14 +149,14 @@ const feedRate_t homing_feedrate_mm_s[XYZ] PROGMEM = {
};
// Cartesian conversion result goes here:
float cartes[XYZ];
xyz_pos_t cartes;
#if IS_KINEMATIC
float delta[ABC];
abc_pos_t delta;
#if HAS_SCARA_OFFSET
float scara_home_offset[ABC];
abc_pos_t scara_home_offset;
#endif
#if HAS_SOFTWARE_ENDSTOPS
@ -176,16 +177,16 @@ float cartes[XYZ];
*/
#if HAS_POSITION_SHIFT
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 };
xyz_pos_t position_shift{0};
#endif
#if HAS_HOME_OFFSET
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 };
xyz_pos_t home_offset{0};
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
xyz_pos_t workspace_offset{0};
#endif
#if HAS_ABL_NOT_UBL
@ -196,10 +197,8 @@ float cartes[XYZ];
* Output the current position to serial
*/
void report_current_position() {
SERIAL_ECHOPAIR("X:", LOGICAL_X_POSITION(current_position[X_AXIS]));
SERIAL_ECHOPAIR(" Y:", LOGICAL_Y_POSITION(current_position[Y_AXIS]));
SERIAL_ECHOPAIR(" Z:", LOGICAL_Z_POSITION(current_position[Z_AXIS]));
SERIAL_ECHOPAIR(" E:", current_position[E_AXIS]);
const xyz_pos_t lpos = current_position.asLogical();
SERIAL_ECHOPAIR("X:", lpos.x, " Y:", lpos.y, " Z:", lpos.z, " E:", current_position.e);
stepper.report_positions();
@ -216,10 +215,10 @@ void report_current_position() {
*/
void sync_plan_position() {
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.set_position_mm(current_position);
}
void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
void sync_plan_position_e() { planner.set_e_position_mm(current_position.e); }
/**
* Get the stepper positions in the cartes[] array.
@ -244,10 +243,9 @@ void get_cartesian_from_steppers() {
planner.get_axis_position_degrees(B_AXIS)
);
#else
cartes[X_AXIS] = planner.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = planner.get_axis_position_mm(Y_AXIS);
cartes.set(planner.get_axis_position_mm(X_AXIS), planner.get_axis_position_mm(Y_AXIS));
#endif
cartes[Z_AXIS] = planner.get_axis_position_mm(Z_AXIS);
cartes.z = planner.get_axis_position_mm(Z_AXIS);
#endif
}
@ -266,16 +264,16 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
#if HAS_POSITION_MODIFIERS
float pos[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], current_position[E_AXIS] };
xyze_pos_t pos = { cartes.x, cartes.y, cartes.z, current_position.e };
planner.unapply_modifiers(pos
#if HAS_LEVELING
, true
#endif
);
const float (&cartes)[XYZE] = pos;
xyze_pos_t &cartes = pos;
#endif
if (axis == ALL_AXES)
COPY(current_position, cartes);
current_position = cartes;
else
current_position[axis] = cartes[axis];
}
@ -300,16 +298,12 @@ void line_to_current_position(const feedRate_t &fr_mm_s/*=feedrate_mm_s*/) {
// UBL segmented line will do Z-only moves in single segment
ubl.line_to_destination_segmented(scaled_fr_mm_s);
#else
if ( current_position[X_AXIS] == destination[X_AXIS]
&& current_position[Y_AXIS] == destination[Y_AXIS]
&& current_position[Z_AXIS] == destination[Z_AXIS]
&& current_position[E_AXIS] == destination[E_AXIS]
) return;
if (current_position == destination) return;
planner.buffer_line(destination, scaled_fr_mm_s, active_extruder);
#endif
set_current_from_destination();
current_position = destination;
}
#endif // IS_KINEMATIC
@ -355,39 +349,36 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
REMEMBER(fr, feedrate_mm_s, xy_feedrate);
set_destination_from_current(); // sync destination at the start
destination = current_position; // sync destination at the start
if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_from_current", destination);
if (DEBUGGING(LEVELING)) DEBUG_POS("destination = current_position", destination);
// when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) {
if (rz > delta_clip_start_height) { // staying in the danger zone
destination[X_AXIS] = rx; // move directly (uninterpolated)
destination[Y_AXIS] = ry;
destination[Z_AXIS] = rz;
prepare_internal_fast_move_to_destination(); // set_current_from_destination()
if (current_position.z > delta_clip_start_height) {
if (rz > delta_clip_start_height) { // staying in the danger zone
destination.set(rx, ry, rz); // move directly (uninterpolated)
prepare_internal_fast_move_to_destination(); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
return;
}
destination[Z_AXIS] = delta_clip_start_height;
prepare_internal_fast_move_to_destination(); // set_current_from_destination()
destination.z = delta_clip_start_height;
prepare_internal_fast_move_to_destination(); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
}
if (rz > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = rz;
prepare_internal_fast_move_to_destination(z_feedrate); // set_current_from_destination()
if (rz > current_position.z) { // raising?
destination.z = rz;
prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
}
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
prepare_internal_move_to_destination(); // set_current_from_destination()
destination.set(rx, ry);
prepare_internal_move_to_destination(); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
if (rz < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = rz;
prepare_fast_move_to_destination(z_feedrate); // set_current_from_destination()
if (rz < current_position.z) { // lowering?
destination.z = rz;
prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
}
@ -395,39 +386,37 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
if (!position_is_reachable(rx, ry)) return;
set_destination_from_current();
destination = current_position;
// If Z needs to raise, do it before moving XY
if (destination[Z_AXIS] < rz) {
destination[Z_AXIS] = rz;
if (destination.z < rz) {
destination.z = rz;
prepare_internal_fast_move_to_destination(z_feedrate);
}
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
destination.set(rx, ry);
prepare_internal_fast_move_to_destination(xy_feedrate);
// If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > rz) {
destination[Z_AXIS] = rz;
if (destination.z > rz) {
destination.z = rz;
prepare_internal_fast_move_to_destination(z_feedrate);
}
#else
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < rz) {
current_position[Z_AXIS] = rz;
if (current_position.z < rz) {
current_position.z = rz;
line_to_current_position(z_feedrate);
}
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
current_position.set(rx, ry);
line_to_current_position(xy_feedrate);
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > rz) {
current_position[Z_AXIS] = rz;
if (current_position.z > rz) {
current_position.z = rz;
line_to_current_position(z_feedrate);
}
@ -438,16 +427,16 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
planner.synchronize();
}
void do_blocking_move_to_x(const float &rx, const feedRate_t &fr_mm_s/*=0.0*/) {
do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
do_blocking_move_to(rx, current_position.y, current_position.z, fr_mm_s);
}
void do_blocking_move_to_y(const float &ry, const feedRate_t &fr_mm_s/*=0.0*/) {
do_blocking_move_to(current_position[X_AXIS], ry, current_position[Z_AXIS], fr_mm_s);
do_blocking_move_to(current_position.x, ry, current_position.z, fr_mm_s);
}
void do_blocking_move_to_z(const float &rz, const feedRate_t &fr_mm_s/*=0.0*/) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], rz, fr_mm_s);
do_blocking_move_to(current_position.x, current_position.y, rz, fr_mm_s);
}
void do_blocking_move_to_xy(const float &rx, const float &ry, const feedRate_t &fr_mm_s/*=0.0*/) {
do_blocking_move_to(rx, ry, current_position[Z_AXIS], fr_mm_s);
do_blocking_move_to(rx, ry, current_position.z, fr_mm_s);
}
//
@ -474,7 +463,10 @@ void restore_feedrate_and_scaling() {
bool soft_endstops_enabled = true;
// Software Endstops are based on the configured limits.
axis_limits_t soft_endstop[XYZ] = { { X_MIN_BED, X_MAX_BED }, { Y_MIN_BED, Y_MAX_BED }, { Z_MIN_POS, Z_MAX_POS } };
axis_limits_t soft_endstop = {
{ X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
{ X_MAX_POS, Y_MAX_POS, Z_MAX_POS }
};
/**
* Software endstops can be used to monitor the open end of
@ -496,33 +488,33 @@ void restore_feedrate_and_scaling() {
if (axis == X_AXIS) {
// In Dual X mode hotend_offset[X] is T1's home position
const float dual_max_x = _MAX(hotend_offset[X_AXIS][1], X2_MAX_POS);
const float dual_max_x = _MAX(hotend_offset[1].x, X2_MAX_POS);
if (new_tool_index != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop[X_AXIS].min = X2_MIN_POS;
soft_endstop[X_AXIS].max = dual_max_x;
soft_endstop.min.x = X2_MIN_POS;
soft_endstop.max.x = dual_max_x;
}
else if (dxc_is_duplicating()) {
// In Duplication Mode, T0 can move as far left as X1_MIN_POS
// but not so far to the right that T1 would move past the end
soft_endstop[X_AXIS].min = X1_MIN_POS;
soft_endstop[X_AXIS].max = _MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
soft_endstop.min.x = X1_MIN_POS;
soft_endstop.max.x = _MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
}
else {
// In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
soft_endstop[X_AXIS].min = X1_MIN_POS;
soft_endstop[X_AXIS].max = X1_MAX_POS;
soft_endstop.min.x = X1_MIN_POS;
soft_endstop.max.x = X1_MAX_POS;
}
}
#elif ENABLED(DELTA)
soft_endstop[axis].min = base_min_pos(axis);
soft_endstop[axis].max = (axis == Z_AXIS ? delta_height
soft_endstop.min[axis] = base_min_pos(axis);
soft_endstop.max[axis] = (axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- probe_offset[Z_AXIS]
- probe_offset.z
#endif
: base_max_pos(axis));
@ -530,11 +522,11 @@ void restore_feedrate_and_scaling() {
case X_AXIS:
case Y_AXIS:
// Get a minimum radius for clamping
delta_max_radius = _MIN(ABS(_MAX(soft_endstop[X_AXIS].min, soft_endstop[Y_AXIS].min)), soft_endstop[X_AXIS].max, soft_endstop[Y_AXIS].max);
delta_max_radius = _MIN(ABS(_MAX(soft_endstop.min.x, soft_endstop.min.y)), soft_endstop.max.x, soft_endstop.max.y);
delta_max_radius_2 = sq(delta_max_radius);
break;
case Z_AXIS:
delta_clip_start_height = soft_endstop[axis].max - delta_safe_distance_from_top();
delta_clip_start_height = soft_endstop.max[axis] - delta_safe_distance_from_top();
default: break;
}
@ -544,25 +536,25 @@ void restore_feedrate_and_scaling() {
// the movement limits must be shifted by the tool offset to
// retain the same physical limit when other tools are selected.
if (old_tool_index != new_tool_index) {
const float offs = hotend_offset[axis][new_tool_index] - hotend_offset[axis][old_tool_index];
soft_endstop[axis].min += offs;
soft_endstop[axis].max += offs;
const float offs = hotend_offset[new_tool_index][axis] - hotend_offset[old_tool_index][axis];
soft_endstop.min[axis] += offs;
soft_endstop.max[axis] += offs;
}
else {
const float offs = hotend_offset[axis][active_extruder];
soft_endstop[axis].min = base_min_pos(axis) + offs;
soft_endstop[axis].max = base_max_pos(axis) + offs;
const float offs = hotend_offset[active_extruder][axis];
soft_endstop.min[axis] = base_min_pos(axis) + offs;
soft_endstop.max[axis] = base_max_pos(axis) + offs;
}
#else
soft_endstop[axis].min = base_min_pos(axis);
soft_endstop[axis].max = base_max_pos(axis);
soft_endstop.min[axis] = base_min_pos(axis);
soft_endstop.max[axis] = base_max_pos(axis);
#endif
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Axis ", axis_codes[axis], " min:", soft_endstop[axis].min, " max:", soft_endstop[axis].max);
SERIAL_ECHOLNPAIR("Axis ", axis_codes[axis], " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
}
/**
@ -571,7 +563,7 @@ void restore_feedrate_and_scaling() {
* For DELTA/SCARA the XY constraint is based on the smallest
* radius within the set software endstops.
*/
void apply_motion_limits(float target[XYZ]) {
void apply_motion_limits(xyz_pos_t &target) {
if (!soft_endstops_enabled || !all_axes_homed()) return;
@ -579,41 +571,38 @@ void restore_feedrate_and_scaling() {
#if HAS_HOTEND_OFFSET && ENABLED(DELTA)
// The effector center position will be the target minus the hotend offset.
const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
const xy_pos_t offs = hotend_offset[active_extruder];
#else
// SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
constexpr float offx = 0, offy = 0;
constexpr xy_pos_t offs{0};
#endif
const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
if (dist_2 > delta_max_radius_2) {
const float ratio = (delta_max_radius) / SQRT(dist_2); // 200 / 300 = 0.66
target[X_AXIS] *= ratio;
target[Y_AXIS] *= ratio;
}
const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
if (dist_2 > delta_max_radius_2)
target *= delta_max_radius / SQRT(dist_2); // 200 / 300 = 0.66
#else
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
NOLESS(target[X_AXIS], soft_endstop[X_AXIS].min);
NOLESS(target.x, soft_endstop.min.x);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
NOMORE(target[X_AXIS], soft_endstop[X_AXIS].max);
NOMORE(target.x, soft_endstop.max.x);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
NOLESS(target[Y_AXIS], soft_endstop[Y_AXIS].min);
NOLESS(target.y, soft_endstop.min.y);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
NOMORE(target[Y_AXIS], soft_endstop[Y_AXIS].max);
NOMORE(target.y, soft_endstop.max.y);
#endif
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
NOLESS(target[Z_AXIS], soft_endstop[Z_AXIS].min);
NOLESS(target.z, soft_endstop.min.z);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
NOMORE(target[Z_AXIS], soft_endstop[Z_AXIS].max);
NOMORE(target.z, soft_endstop.max.z);
#endif
}
@ -656,27 +645,22 @@ void restore_feedrate_and_scaling() {
// Get the top feedrate of the move in the XY plane
const float scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
const float xdiff = destination[X_AXIS] - current_position[X_AXIS],
ydiff = destination[Y_AXIS] - current_position[Y_AXIS];
const xyze_float_t diff = destination - current_position;
// If the move is only in Z/E don't split up the move
if (!xdiff && !ydiff) {
if (!diff.x && !diff.y) {
planner.buffer_line(destination, scaled_fr_mm_s, active_extruder);
return false; // caller will update current_position
}
// Fail if attempting move outside printable radius
if (!position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) return true;
// Remaining cartesian distances
const float zdiff = destination[Z_AXIS] - current_position[Z_AXIS],
ediff = destination[E_AXIS] - current_position[E_AXIS];
if (!position_is_reachable(destination)) return true;
// Get the linear distance in XYZ
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
float cartesian_mm = diff.magnitude();
// If the move is very short, check the E move distance
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(ediff);
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e);
// No E move either? Game over.
if (UNEAR_ZERO(cartesian_mm)) return true;
@ -698,13 +682,8 @@ void restore_feedrate_and_scaling() {
// The approximate length of each segment
const float inv_segments = 1.0f / float(segments),
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
},
cartesian_segment_mm = cartesian_mm * inv_segments;
const xyze_float_t segment_distance = diff * inv_segments;
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm;
@ -719,8 +698,7 @@ void restore_feedrate_and_scaling() {
//*/
// Get the current position as starting point
float raw[XYZE];
COPY(raw, current_position);
xyze_pos_t raw = current_position;
// Calculate and execute the segments
while (--segments) {
@ -732,7 +710,7 @@ void restore_feedrate_and_scaling() {
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
raw += segment_distance;
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
@ -765,24 +743,19 @@ void restore_feedrate_and_scaling() {
*/
inline void segmented_line_to_destination(const feedRate_t &fr_mm_s, const float segment_size=LEVELED_SEGMENT_LENGTH) {
const float xdiff = destination[X_AXIS] - current_position[X_AXIS],
ydiff = destination[Y_AXIS] - current_position[Y_AXIS];
const xyze_float_t diff = destination - current_position;
// If the move is only in Z/E don't split up the move
if (!xdiff && !ydiff) {
if (!diff.x && !diff.y) {
planner.buffer_line(destination, fr_mm_s, active_extruder);
return;
}
// Remaining cartesian distances
const float zdiff = destination[Z_AXIS] - current_position[Z_AXIS],
ediff = destination[E_AXIS] - current_position[E_AXIS];
// Get the linear distance in XYZ
// If the move is very short, check the E move distance
// No E move either? Game over.
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(ediff);
float cartesian_mm = diff.magnitude();
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e);
if (UNEAR_ZERO(cartesian_mm)) return;
// The length divided by the segment size
@ -792,13 +765,8 @@ void restore_feedrate_and_scaling() {
// The approximate length of each segment
const float inv_segments = 1.0f / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments,
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
};
cartesian_segment_mm = cartesian_mm * inv_segments;
const xyze_float_t segment_distance = diff * inv_segments;
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm;
@ -809,8 +777,7 @@ void restore_feedrate_and_scaling() {
// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
// Get the raw current position as starting point
float raw[XYZE];
COPY(raw, current_position);
xyze_pos_t raw = current_position;
// Calculate and execute the segments
while (--segments) {
@ -820,7 +787,7 @@ void restore_feedrate_and_scaling() {
next_idle_ms = millis() + 200UL;
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
raw += segment_distance;
if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
@ -846,12 +813,12 @@ void restore_feedrate_and_scaling() {
* When a mesh-based leveling system is active, moves are segmented
* according to the configuration of the leveling system.
*
* Returns true if current_position[] was set to destination[]
* Return true if 'current_position' was set to 'destination'
*/
inline bool prepare_move_to_destination_cartesian() {
const float scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
#if HAS_MESH
if (planner.leveling_active && planner.leveling_active_at_z(destination[Z_AXIS])) {
if (planner.leveling_active && planner.leveling_active_at_z(destination.z)) {
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.line_to_destination_cartesian(scaled_fr_mm_s, active_extruder); // UBL's motion routine needs to know about
return true; // all moves, including Z-only moves.
@ -863,7 +830,7 @@ void restore_feedrate_and_scaling() {
* For MBL and ABL-BILINEAR only segment moves when X or Y are involved.
* Otherwise fall through to do a direct single move.
*/
if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
if (xy_pos_t(current_position) != xy_pos_t(destination)) {
#if ENABLED(MESH_BED_LEVELING)
mbl.line_to_destination(scaled_fr_mm_s);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -894,8 +861,8 @@ void restore_feedrate_and_scaling() {
DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
float inactive_extruder_x_pos = X2_MAX_POS, // used in mode 0 & 1
raised_parked_position[XYZE], // used in mode 1
duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
xyz_pos_t raised_parked_position; // used in mode 1
bool active_extruder_parked = false; // used in mode 1 & 2
millis_t delayed_move_time = 0; // used in mode 1
int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
@ -910,7 +877,7 @@ void restore_feedrate_and_scaling() {
* This allows soft recalibration of the second extruder home position
* without firmware reflash (through the M218 command).
*/
return hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
return hotend_offset[1].x > 0 ? hotend_offset[1].x : X2_HOME_POS;
}
/**
@ -924,30 +891,30 @@ void restore_feedrate_and_scaling() {
case DXC_FULL_CONTROL_MODE:
break;
case DXC_AUTO_PARK_MODE:
if (current_position[E_AXIS] == destination[E_AXIS]) {
if (current_position.e == destination.e) {
// This is a travel move (with no extrusion)
// Skip it, but keep track of the current position
// (so it can be used as the start of the next non-travel move)
if (delayed_move_time != 0xFFFFFFFFUL) {
set_current_from_destination();
NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
current_position = destination;
NOLESS(raised_parked_position.z, destination.z);
delayed_move_time = millis();
return true;
}
}
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
#define CUR_X current_position[X_AXIS]
#define CUR_Y current_position[Y_AXIS]
#define CUR_Z current_position[Z_AXIS]
#define CUR_E current_position[E_AXIS]
#define RAISED_X raised_parked_position[X_AXIS]
#define RAISED_Y raised_parked_position[Y_AXIS]
#define RAISED_Z raised_parked_position[Z_AXIS]
#define CUR_X current_position.x
#define CUR_Y current_position.y
#define CUR_Z current_position.z
#define CUR_E current_position.e
#define RAISED_X raised_parked_position.x
#define RAISED_Y raised_parked_position.y
#define RAISED_Z raised_parked_position.z
if ( planner.buffer_line(RAISED_X, RAISED_Y, RAISED_Z, CUR_E, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder))
if (planner.buffer_line( CUR_X, CUR_Y, RAISED_Z, CUR_E, PLANNER_XY_FEEDRATE(), active_extruder))
planner.buffer_line( CUR_X, CUR_Y, CUR_Z, CUR_E, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[Z_AXIS]);
delayed_move_time = 0;
active_extruder_parked = false;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Clear active_extruder_parked");
@ -955,16 +922,15 @@ void restore_feedrate_and_scaling() {
case DXC_MIRRORED_MODE:
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x_pos, " ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
xyze_pos_t new_pos = current_position;
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
new_pos.x += duplicate_extruder_x_offset;
else
new_pos.x = inactive_extruder_x_pos;
// move duplicate extruder into correct duplication position.
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
if (!planner.buffer_line(
dual_x_carriage_mode == DXC_DUPLICATION_MODE ? duplicate_extruder_x_offset + current_position[X_AXIS] : inactive_extruder_x_pos,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.settings.max_feedrate_mm_s[X_AXIS], 1
)
) break;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x_pos, " ... Line to X", new_pos.x);
planner.set_position_mm(inactive_extruder_x_pos, current_position.y, current_position.z, current_position.e);
if (!planner.buffer_line(new_pos, planner.settings.max_feedrate_mm_s[X_AXIS], 1)) break;
planner.synchronize();
sync_plan_position();
extruder_duplication_enabled = true;
@ -987,7 +953,7 @@ void restore_feedrate_and_scaling() {
* This may result in several calls to planner.buffer_line to
* do smaller moves for DELTA, SCARA, mesh moves, etc.
*
* Make sure current_position[E] and destination[E] are good
* Make sure current_position.e and destination.e are good
* before calling or cold/lengthy extrusion may get missed.
*
* Before exit, current_position is set to destination.
@ -998,15 +964,15 @@ void prepare_move_to_destination() {
#if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE)
if (!DEBUGGING(DRYRUN)) {
if (destination[E_AXIS] != current_position[E_AXIS]) {
if (destination.e != current_position.e) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (thermalManager.tooColdToExtrude(active_extruder)) {
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
current_position.e = destination.e; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_MSG(MSG_ERR_COLD_EXTRUDE_STOP);
}
#endif // PREVENT_COLD_EXTRUSION
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
const float e_delta = ABS(destination[E_AXIS] - current_position[E_AXIS]) * planner.e_factor[active_extruder];
const float e_delta = ABS(destination.e - current_position.e) * planner.e_factor[active_extruder];
if (e_delta > (EXTRUDE_MAXLENGTH)) {
#if ENABLED(MIXING_EXTRUDER)
bool ignore_e = false;
@ -1018,7 +984,7 @@ void prepare_move_to_destination() {
constexpr bool ignore_e = true;
#endif
if (ignore_e) {
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
current_position.e = destination.e; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_MSG(MSG_ERR_LONG_EXTRUDE_STOP);
}
}
@ -1046,7 +1012,7 @@ void prepare_move_to_destination() {
#endif
) return;
set_current_from_destination();
current_position = destination;
}
uint8_t axes_need_homing(uint8_t axis_bits/*=0x07*/) {
@ -1293,13 +1259,13 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
current_position[axis] = distance;
line_to_current_position(real_fr_mm_s);
#else
float target[ABCE] = { planner.get_axis_position_mm(A_AXIS), planner.get_axis_position_mm(B_AXIS), planner.get_axis_position_mm(C_AXIS), planner.get_axis_position_mm(E_AXIS) };
abce_pos_t target = { planner.get_axis_position_mm(A_AXIS), planner.get_axis_position_mm(B_AXIS), planner.get_axis_position_mm(C_AXIS), planner.get_axis_position_mm(E_AXIS) };
target[axis] = 0;
planner.set_machine_position_mm(target);
target[axis] = distance;
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
const float delta_mm_cart[XYZE] = {0, 0, 0, 0};
const xyze_float_t delta_mm_cart{0};
#endif
// Set delta/cartesian axes directly
@ -1356,7 +1322,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
current_position[X_AXIS] = x_home_pos(active_extruder);
current_position.x = x_home_pos(active_extruder);
return;
}
#endif
@ -1366,7 +1332,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
#elif ENABLED(DELTA)
current_position[axis] = (axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- probe_offset[Z_AXIS]
- probe_offset.z
#endif
: base_home_pos(axis));
#else
@ -1380,9 +1346,9 @@ void set_axis_is_at_home(const AxisEnum axis) {
if (axis == Z_AXIS) {
#if HOMING_Z_WITH_PROBE
current_position[Z_AXIS] -= probe_offset[Z_AXIS];
current_position.z -= probe_offset.z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe_offset[Z_AXIS] = ", probe_offset[Z_AXIS]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe_offset.z = ", probe_offset.z);
#else
@ -1677,7 +1643,7 @@ void homeaxis(const AxisEnum axis) {
#endif
#ifdef HOMING_BACKOFF_MM
constexpr float endstop_backoff[XYZ] = HOMING_BACKOFF_MM;
constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_MM;
const float backoff_mm = endstop_backoff[
#if ENABLED(DELTA)
Z_AXIS

99
Marlin/src/module/motion.h
View file

@ -61,15 +61,15 @@ constexpr float slop = 0.0001;
extern bool relative_mode;
extern float current_position[XYZE], // High-level current tool position
destination[XYZE]; // Destination for a move
extern xyze_pos_t current_position, // High-level current tool position
destination; // Destination for a move
// Scratch space for a cartesian result
extern float cartes[XYZ];
extern xyz_pos_t cartes;
// Until kinematics.cpp is created, declare this here
#if IS_KINEMATIC
extern float delta[ABC];
extern abc_pos_t delta;
#endif
#if HAS_ABL_NOT_UBL
@ -81,6 +81,10 @@ extern float cartes[XYZ];
#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
#endif
#if ENABLED(Z_SAFE_HOMING)
constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT };
#endif
/**
* Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units.
@ -106,10 +110,10 @@ extern int16_t feedrate_percentage;
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); }
FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
#define XYZ_DEFS(type, array, CONFIG) \
extern const type array##_P[XYZ]; \
FORCE_INLINE type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
typedef void __void_##CONFIG##__
#define XYZ_DEFS(T, NAME, OPT) \
extern const XYZval<T> NAME##_P; \
FORCE_INLINE T NAME(AxisEnum axis) { return pgm_read_any(&NAME##_P[axis]); } \
typedef void __void_##OPT##__
XYZ_DEFS(float, base_min_pos, MIN_POS);
XYZ_DEFS(float, base_max_pos, MAX_POS);
@ -125,19 +129,19 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
#endif
#if HAS_HOTEND_OFFSET
extern float hotend_offset[XYZ][HOTENDS];
extern xyz_pos_t hotend_offset[HOTENDS];
void reset_hotend_offsets();
#elif HOTENDS > 0
constexpr float hotend_offset[XYZ][HOTENDS] = { { 0 }, { 0 }, { 0 } };
#elif HOTENDS
constexpr xyz_pos_t hotend_offset[HOTENDS] = { { 0 } };
#else
constexpr float hotend_offset[XYZ][1] = { { 0 }, { 0 }, { 0 } };
constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
#endif
typedef struct { float min, max; } axis_limits_t;
typedef struct { xyz_pos_t min, max; } axis_limits_t;
#if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled;
extern axis_limits_t soft_endstop[XYZ];
void apply_motion_limits(float target[XYZ]);
extern axis_limits_t soft_endstop;
void apply_motion_limits(xyz_pos_t &target);
void update_software_endstops(const AxisEnum axis
#if HAS_HOTEND_OFFSET
, const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
@ -145,16 +149,15 @@ typedef struct { float min, max; } axis_limits_t;
);
#else
constexpr bool soft_endstops_enabled = false;
//constexpr axis_limits_t soft_endstop[XYZ] = { { X_MIN_POS, X_MAX_POS }, { Y_MIN_POS, Y_MAX_POS }, { Z_MIN_POS, Z_MAX_POS } };
//constexpr axis_limits_t soft_endstop = {
// { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
// { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } };
#define apply_motion_limits(V) NOOP
#define update_software_endstops(...) NOOP
#endif
void report_current_position();
inline void set_current_from_destination() { COPY(current_position, destination); }
inline void set_destination_from_current() { COPY(destination, current_position); }
void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(const AxisEnum axis);
@ -202,12 +205,17 @@ void do_blocking_move_to_y(const float &ry, const feedRate_t &fr_mm_s=0.0f);
void do_blocking_move_to_z(const float &rz, const feedRate_t &fr_mm_s=0.0f);
void do_blocking_move_to_xy(const float &rx, const float &ry, const feedRate_t &fr_mm_s=0.0f);
FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZ], const feedRate_t &fr_mm_s=0) {
do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
FORCE_INLINE void do_blocking_move_to(const xy_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to(raw.x, raw.y, current_position.z, fr_mm_s);
}
FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZE], const feedRate_t &fr_mm_s=0) {
do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
FORCE_INLINE void do_blocking_move_to(const xyz_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s);
}
FORCE_INLINE void do_blocking_move_to(const xyze_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s);
}
FORCE_INLINE void do_blocking_move_to_xy(const xy_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s);
}
void remember_feedrate_and_scaling();
@ -238,24 +246,36 @@ void homeaxis(const AxisEnum axis);
*/
#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
#if HAS_HOME_OFFSET
extern float home_offset[XYZ];
extern xyz_pos_t home_offset;
#endif
#if HAS_POSITION_SHIFT
extern float position_shift[XYZ];
extern xyz_pos_t position_shift;
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
extern float workspace_offset[XYZ];
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
extern xyz_pos_t workspace_offset;
#define _WS workspace_offset
#elif HAS_HOME_OFFSET
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
#define _WS home_offset
#else
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
#define _WS position_shift
#endif
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + _WS[AXIS])
#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - _WS[AXIS])
FORCE_INLINE void toLogical(xy_pos_t &raw) { raw += _WS; }
FORCE_INLINE void toLogical(xyz_pos_t &raw) { raw += _WS; }
FORCE_INLINE void toLogical(xyze_pos_t &raw) { raw += _WS; }
FORCE_INLINE void toNative(xy_pos_t &raw) { raw -= _WS; }
FORCE_INLINE void toNative(xyz_pos_t &raw) { raw -= _WS; }
FORCE_INLINE void toNative(xyze_pos_t &raw) { raw -= _WS; }
#else
#define NATIVE_TO_LOGICAL(POS, AXIS) (POS)
#define LOGICAL_TO_NATIVE(POS, AXIS) (POS)
FORCE_INLINE void toLogical(xy_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toLogical(xyz_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toLogical(xyze_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toNative(xy_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toNative(xyz_pos_t &raw) { UNUSED(raw); }
FORCE_INLINE void toNative(xyze_pos_t &raw) { UNUSED(raw); }
#endif
#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
@ -270,7 +290,7 @@ void homeaxis(const AxisEnum axis);
#if IS_KINEMATIC // (DELTA or SCARA)
#if HAS_SCARA_OFFSET
extern float scara_home_offset[ABC]; // A and B angular offsets, Z mm offset
extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset
#endif
// Return true if the given point is within the printable area
@ -288,11 +308,15 @@ void homeaxis(const AxisEnum axis);
#endif
}
inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) {
return position_is_reachable(pos.x, pos.y, inset);
}
#if HAS_BED_PROBE
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe_offset[X_AXIS], ry - probe_offset[Y_AXIS])
return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
&& position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
}
#endif
@ -311,6 +335,7 @@ void homeaxis(const AxisEnum axis);
return WITHIN(rx, X_MIN_POS - slop, X_MAX_POS + slop);
#endif
}
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
#if HAS_BED_PROBE
/**
@ -321,7 +346,7 @@ void homeaxis(const AxisEnum axis);
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe_offset[X_AXIS], ry - probe_offset[Y_AXIS])
return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
&& WITHIN(rx, probe_min_x() - slop, probe_max_x() + slop)
&& WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop);
}
@ -332,6 +357,8 @@ void homeaxis(const AxisEnum axis);
#if !HAS_BED_PROBE
FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
#endif
FORCE_INLINE bool position_is_reachable_by_probe(const xy_int_t &pos) { return position_is_reachable_by_probe(pos.x, pos.y); }
FORCE_INLINE bool position_is_reachable_by_probe(const xy_pos_t &pos) { return position_is_reachable_by_probe(pos.x, pos.y); }
/**
* Duplication mode
@ -358,8 +385,8 @@ void homeaxis(const AxisEnum axis);
extern DualXMode dual_x_carriage_mode;
extern float inactive_extruder_x_pos, // Used in mode 0 & 1
raised_parked_position[XYZE], // Used in mode 1
duplicate_extruder_x_offset; // Used in mode 2 & 3
extern xyz_pos_t raised_parked_position; // Used in mode 1
extern bool active_extruder_parked; // Used in mode 1, 2 & 3
extern millis_t delayed_move_time; // Used in mode 1
extern int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3

432
Marlin/src/module/planner.cpp
View file

@ -137,9 +137,9 @@ float Planner::steps_to_mm[XYZE_N]; // (mm) Millimeters per step
#endif
#if HAS_CLASSIC_JERK
#if BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
float Planner::max_jerk[XYZ]; // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
xyz_pos_t Planner::max_jerk; // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
#else
float Planner::max_jerk[XYZE]; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
xyze_pos_t Planner::max_jerk; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
#endif
#endif
@ -187,12 +187,12 @@ skew_factor_t Planner::skew_factor; // Initialized by settings.load()
// private:
int32_t Planner::position[NUM_AXIS] = { 0 };
xyze_long_t Planner::position{0};
uint32_t Planner::cutoff_long;
float Planner::previous_speed[NUM_AXIS],
Planner::previous_nominal_speed_sqr;
xyze_float_t Planner::previous_speed;
float Planner::previous_nominal_speed_sqr;
#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 };
@ -202,7 +202,7 @@ float Planner::previous_speed[NUM_AXIS],
// Old direction bits. Used for speed calculations
unsigned char Planner::old_direction_bits = 0;
// Segment times (in µs). Used for speed calculations
uint32_t Planner::axis_segment_time_us[2][3] = { { MAX_FREQ_TIME_US + 1, 0, 0 }, { MAX_FREQ_TIME_US + 1, 0, 0 } };
xy_ulong_t Planner::axis_segment_time_us[3] = { { MAX_FREQ_TIME_US + 1, MAX_FREQ_TIME_US + 1 } };
#endif
#if ENABLED(LIN_ADVANCE)
@ -210,11 +210,11 @@ float Planner::previous_speed[NUM_AXIS],
#endif
#if HAS_POSITION_FLOAT
float Planner::position_float[XYZE]; // Needed for accurate maths. Steps cannot be used!
xyze_pos_t Planner::position_float; // Needed for accurate maths. Steps cannot be used!
#endif
#if IS_KINEMATIC
float Planner::position_cart[XYZE];
xyze_pos_t Planner::position_cart;
#endif
#if HAS_SPI_LCD
@ -228,14 +228,14 @@ float Planner::previous_speed[NUM_AXIS],
Planner::Planner() { init(); }
void Planner::init() {
ZERO(position);
position.reset();
#if HAS_POSITION_FLOAT
ZERO(position_float);
position_float.reset();
#endif
#if IS_KINEMATIC
ZERO(position_cart);
position_cart.reset();
#endif
ZERO(previous_speed);
previous_speed.reset();
previous_nominal_speed_sqr = 0;
#if ABL_PLANAR
bed_level_matrix.set_to_identity();
@ -1155,8 +1155,8 @@ void Planner::recalculate() {
float high = 0.0;
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
block_t* block = &block_buffer[b];
if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
const float se = (float)block->steps[E_AXIS] / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
if (block->steps.x || block->steps.y || block->steps.z) {
const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
NOLESS(high, se);
}
}
@ -1176,7 +1176,7 @@ void Planner::recalculate() {
void Planner::check_axes_activity() {
#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_E)
uint8_t axis_active[NUM_AXIS] = { 0 };
xyze_bool_t axis_active = { false };
#endif
#if FAN_COUNT > 0
@ -1236,16 +1236,16 @@ void Planner::check_axes_activity() {
}
#if ENABLED(DISABLE_X)
if (!axis_active[X_AXIS]) disable_X();
if (!axis_active.x) disable_X();
#endif
#if ENABLED(DISABLE_Y)
if (!axis_active[Y_AXIS]) disable_Y();
if (!axis_active.y) disable_Y();
#endif
#if ENABLED(DISABLE_Z)
if (!axis_active[Z_AXIS]) disable_Z();
if (!axis_active.z) disable_Z();
#endif
#if ENABLED(DISABLE_E)
if (!axis_active[E_AXIS]) disable_e_steppers();
if (!axis_active.e) disable_e_steppers();
#endif
#if FAN_COUNT > 0
@ -1354,40 +1354,32 @@ void Planner::check_axes_activity() {
* rx, ry, rz - Cartesian positions in mm
* Leveled XYZ on completion
*/
void Planner::apply_leveling(float &rx, float &ry, float &rz) {
void Planner::apply_leveling(xyz_pos_t &raw) {
if (!leveling_active) return;
#if ABL_PLANAR
float dx = rx - (X_TILT_FULCRUM),
dy = ry - (Y_TILT_FULCRUM);
apply_rotation_xyz(bed_level_matrix, dx, dy, rz);
rx = dx + X_TILT_FULCRUM;
ry = dy + Y_TILT_FULCRUM;
xy_pos_t d = raw - level_fulcrum;
apply_rotation_xyz(bed_level_matrix, d.x, d.y, raw.z);
raw = d + level_fulcrum;
#elif HAS_MESH
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = fade_scaling_factor_for_z(rz);
const float fade_scaling_factor = fade_scaling_factor_for_z(raw.z);
#else
constexpr float fade_scaling_factor = 1.0;
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const float raw[XYZ] = { rx, ry, 0 };
#endif
rz += (
raw.z += (
#if ENABLED(MESH_BED_LEVELING)
mbl.get_z(rx, ry
mbl.get_z(raw
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, fade_scaling_factor
#endif
)
#elif ENABLED(AUTO_BED_LEVELING_UBL)
fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(rx, ry) : 0.0
fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw) : 0.0
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
fade_scaling_factor ? fade_scaling_factor * bilinear_z_offset(raw) : 0.0
#endif
@ -1396,7 +1388,7 @@ void Planner::check_axes_activity() {
#endif
}
void Planner::unapply_leveling(float raw[XYZ]) {
void Planner::unapply_leveling(xyz_pos_t &raw) {
if (leveling_active) {
@ -1404,31 +1396,27 @@ void Planner::check_axes_activity() {
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
float dx = raw[X_AXIS] - (X_TILT_FULCRUM),
dy = raw[Y_AXIS] - (Y_TILT_FULCRUM);
apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]);
raw[X_AXIS] = dx + X_TILT_FULCRUM;
raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
xy_pos_t d = raw - level_fulcrum;
apply_rotation_xyz(inverse, d.x, d.y, raw.z);
raw = d + level_fulcrum;
#elif HAS_MESH
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
const float fade_scaling_factor = fade_scaling_factor_for_z(raw.z);
#else
constexpr float fade_scaling_factor = 1.0;
#endif
raw[Z_AXIS] -= (
raw.z -= (
#if ENABLED(MESH_BED_LEVELING)
mbl.get_z(raw[X_AXIS], raw[Y_AXIS]
mbl.get_z(raw
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, fade_scaling_factor
#endif
)
#elif ENABLED(AUTO_BED_LEVELING_UBL)
fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]) : 0.0
fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw) : 0.0
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
fade_scaling_factor ? fade_scaling_factor * bilinear_z_offset(raw) : 0.0
#endif
@ -1438,7 +1426,7 @@ void Planner::check_axes_activity() {
}
#if ENABLED(SKEW_CORRECTION)
unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
unskew(raw);
#endif
}
@ -1563,12 +1551,12 @@ void Planner::synchronize() {
*
* Returns true if movement was properly queued, false otherwise
*/
bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
bool Planner::_buffer_steps(const xyze_long_t &target
#if HAS_POSITION_FLOAT
, const float (&target_float)[ABCE]
, const xyze_pos_t &target_float
#endif
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
, const xyze_float_t &delta_mm_cart
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters
) {
@ -1627,33 +1615,33 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
* Returns true is movement is acceptable, false otherwise
*/
bool Planner::_populate_block(block_t * const block, bool split_move,
const int32_t (&target)[ABCE]
const abce_long_t &target
#if HAS_POSITION_FLOAT
, const float (&target_float)[ABCE]
, const xyze_pos_t &target_float
#endif
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
, const xyze_float_t &delta_mm_cart
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
) {
const int32_t da = target[A_AXIS] - position[A_AXIS],
db = target[B_AXIS] - position[B_AXIS],
dc = target[C_AXIS] - position[C_AXIS];
const int32_t da = target.a - position.a,
db = target.b - position.b,
dc = target.c - position.c;
#if EXTRUDERS
int32_t de = target[E_AXIS] - position[E_AXIS];
int32_t de = target.e - position.e;
#else
constexpr int32_t de = 0;
#endif
/* <-- add a slash to enable
SERIAL_ECHOLNPAIR(" _populate_block FR:", fr_mm_s,
" A:", target[A_AXIS], " (", da, " steps)"
" B:", target[B_AXIS], " (", db, " steps)"
" C:", target[C_AXIS], " (", dc, " steps)"
" A:", target.a, " (", da, " steps)"
" B:", target.b, " (", db, " steps)"
" C:", target.c, " (", dc, " steps)"
#if EXTRUDERS
" E:", target[E_AXIS], " (", de, " steps)"
" E:", target.e, " (", de, " steps)"
#endif
);
//*/
@ -1662,9 +1650,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (de) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (thermalManager.tooColdToExtrude(extruder)) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
position.e = target.e; // Behave as if the move really took place, but ignore E part
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = target_float[E_AXIS];
position_float.e = target_float.e;
#endif
de = 0; // no difference
SERIAL_ECHO_MSG(MSG_ERR_COLD_EXTRUDE_STOP);
@ -1684,9 +1672,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
constexpr bool ignore_e = true;
#endif
if (ignore_e) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
position.e = target.e; // Behave as if the move really took place, but ignore E part
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = target_float[E_AXIS];
position_float.e = target_float.e;
#endif
de = 0; // no difference
SERIAL_ECHO_MSG(MSG_ERR_LONG_EXTRUDE_STOP);
@ -1739,26 +1727,16 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Number of steps for each axis
// See http://www.corexy.com/theory.html
#if CORE_IS_XY
block->steps[A_AXIS] = ABS(da + db);
block->steps[B_AXIS] = ABS(da - db);
block->steps[Z_AXIS] = ABS(dc);
block->steps.set(ABS(da + db), ABS(da - db), ABS(dc));
#elif CORE_IS_XZ
block->steps[A_AXIS] = ABS(da + dc);
block->steps[Y_AXIS] = ABS(db);
block->steps[C_AXIS] = ABS(da - dc);
block->steps.set(ABS(da + dc), ABS(db), ABS(da - dc));
#elif CORE_IS_YZ
block->steps[X_AXIS] = ABS(da);
block->steps[B_AXIS] = ABS(db + dc);
block->steps[C_AXIS] = ABS(db - dc);
block->steps.set(ABS(da), ABS(db + dc), ABS(db - dc));
#elif IS_SCARA
block->steps[A_AXIS] = ABS(da);
block->steps[B_AXIS] = ABS(db);
block->steps[Z_AXIS] = ABS(dc);
block->steps.set(ABS(da), ABS(db), ABS(dc));
#else
// default non-h-bot planning
block->steps[A_AXIS] = ABS(da);
block->steps[B_AXIS] = ABS(db);
block->steps[C_AXIS] = ABS(dc);
block->steps.set(ABS(da), ABS(db), ABS(dc));
#endif
/**
@ -1769,42 +1747,45 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
struct DeltaMM : abce_float_t {
#if IS_CORE
xyz_pos_t head;
#endif
} delta_mm;
#if IS_CORE
float delta_mm[Z_HEAD + 1];
#if CORE_IS_XY
delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
delta_mm[B_AXIS] = CORESIGN(da - db) * steps_to_mm[B_AXIS];
delta_mm.head.x = da * steps_to_mm[A_AXIS];
delta_mm.head.y = db * steps_to_mm[B_AXIS];
delta_mm.z = dc * steps_to_mm[Z_AXIS];
delta_mm.a = (da + db) * steps_to_mm[A_AXIS];
delta_mm.b = CORESIGN(da - db) * steps_to_mm[B_AXIS];
#elif CORE_IS_XZ
delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
delta_mm[C_AXIS] = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
delta_mm.head.x = da * steps_to_mm[A_AXIS];
delta_mm.y = db * steps_to_mm[Y_AXIS];
delta_mm.head.z = dc * steps_to_mm[C_AXIS];
delta_mm.a = (da + dc) * steps_to_mm[A_AXIS];
delta_mm.c = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
#elif CORE_IS_YZ
delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
delta_mm[C_AXIS] = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
delta_mm.x = da * steps_to_mm[X_AXIS];
delta_mm.head.y = db * steps_to_mm[B_AXIS];
delta_mm.head.z = dc * steps_to_mm[C_AXIS];
delta_mm.b = (db + dc) * steps_to_mm[B_AXIS];
delta_mm.c = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
#endif
#else
float delta_mm[ABCE];
delta_mm[A_AXIS] = da * steps_to_mm[A_AXIS];
delta_mm[B_AXIS] = db * steps_to_mm[B_AXIS];
delta_mm[C_AXIS] = dc * steps_to_mm[C_AXIS];
delta_mm.a = da * steps_to_mm[A_AXIS];
delta_mm.b = db * steps_to_mm[B_AXIS];
delta_mm.c = dc * steps_to_mm[C_AXIS];
#endif
#if EXTRUDERS
delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS_N(extruder)];
delta_mm.e = esteps_float * steps_to_mm[E_AXIS_N(extruder)];
#endif
if (block->steps[A_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[B_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[C_AXIS] < MIN_STEPS_PER_SEGMENT) {
if (block->steps.a < MIN_STEPS_PER_SEGMENT && block->steps.b < MIN_STEPS_PER_SEGMENT && block->steps.c < MIN_STEPS_PER_SEGMENT) {
block->millimeters = (0
#if EXTRUDERS
+ ABS(delta_mm[E_AXIS])
+ ABS(delta_mm.e)
#endif
);
}
@ -1814,13 +1795,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
else
block->millimeters = SQRT(
#if CORE_IS_XY
sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS])
sq(delta_mm.head.x) + sq(delta_mm.head.y) + sq(delta_mm.z)
#elif CORE_IS_XZ
sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
sq(delta_mm.head.x) + sq(delta_mm.y) + sq(delta_mm.head.z)
#elif CORE_IS_YZ
sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
sq(delta_mm.x) + sq(delta_mm.head.y) + sq(delta_mm.head.z)
#else
sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
sq(delta_mm.x) + sq(delta_mm.y) + sq(delta_mm.z)
#endif
);
@ -1839,10 +1820,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
}
#if EXTRUDERS
block->steps[E_AXIS] = esteps;
block->steps.e = esteps;
#endif
block->step_event_count = _MAX(block->steps[A_AXIS], block->steps[B_AXIS], block->steps[C_AXIS], esteps);
block->step_event_count = _MAX(block->steps.a, block->steps.b, block->steps.c, esteps);
// Bail if this is a zero-length block
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return false;
@ -1865,36 +1846,36 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif
#if ENABLED(AUTO_POWER_CONTROL)
if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS])
if (block->steps.x || block->steps.y || block->steps.z)
powerManager.power_on();
#endif
// Enable active axes
#if CORE_IS_XY
if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
if (block->steps.a || block->steps.b) {
enable_X();
enable_Y();
}
#if DISABLED(Z_LATE_ENABLE)
if (block->steps[Z_AXIS]) enable_Z();
if (block->steps.z) enable_Z();
#endif
#elif CORE_IS_XZ
if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
if (block->steps.a || block->steps.c) {
enable_X();
enable_Z();
}
if (block->steps[Y_AXIS]) enable_Y();
if (block->steps.y) enable_Y();
#elif CORE_IS_YZ
if (block->steps[B_AXIS] || block->steps[C_AXIS]) {
if (block->steps.b || block->steps.c) {
enable_Y();
enable_Z();
}
if (block->steps[X_AXIS]) enable_X();
if (block->steps.x) enable_X();
#else
if (block->steps[X_AXIS]) enable_X();
if (block->steps[Y_AXIS]) enable_Y();
if (block->steps.x) enable_X();
if (block->steps.y) enable_Y();
#if DISABLED(Z_LATE_ENABLE)
if (block->steps[Z_AXIS]) enable_Z();
if (block->steps.z) enable_Z();
#endif
#endif
@ -2074,20 +2055,21 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#if ENABLED(FILAMENT_WIDTH_SENSOR)
if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM) // Only for extruder with filament sensor
filwidth.advance_e(delta_mm[E_AXIS]);
filwidth.advance_e(delta_mm.e);
#endif
// Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS], speed_factor = 1.0f; // factor <1 decreases speed
xyze_float_t current_speed;
float speed_factor = 1.0f; // factor <1 decreases speed
LOOP_XYZE(i) {
#if BOTH(MIXING_EXTRUDER, RETRACT_SYNC_MIXING)
// In worst case, only one extruder running, no change is needed.
// In best case, all extruders run the same amount, we can divide by MIXING_STEPPERS
float delta_mm_i = 0;
if (i == E_AXIS && mixer.get_current_vtool() == MIXER_AUTORETRACT_TOOL)
delta_mm_i = delta_mm[i] / MIXING_STEPPERS;
delta_mm_i = delta_mm.e / MIXING_STEPPERS;
else
delta_mm_i = delta_mm[i];
delta_mm_i = delta_mm.e;
#else
const float delta_mm_i = delta_mm[i];
#endif
@ -2106,26 +2088,26 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
old_direction_bits = block->direction_bits;
segment_time_us = LROUND((float)segment_time_us / speed_factor);
uint32_t xs0 = axis_segment_time_us[X_AXIS][0],
xs1 = axis_segment_time_us[X_AXIS][1],
xs2 = axis_segment_time_us[X_AXIS][2],
ys0 = axis_segment_time_us[Y_AXIS][0],
ys1 = axis_segment_time_us[Y_AXIS][1],
ys2 = axis_segment_time_us[Y_AXIS][2];
uint32_t xs0 = axis_segment_time_us[0].x,
xs1 = axis_segment_time_us[1].x,
xs2 = axis_segment_time_us[2].x,
ys0 = axis_segment_time_us[0].y,
ys1 = axis_segment_time_us[1].y,
ys2 = axis_segment_time_us[2].y;
if (TEST(direction_change, X_AXIS)) {
xs2 = axis_segment_time_us[X_AXIS][2] = xs1;
xs1 = axis_segment_time_us[X_AXIS][1] = xs0;
xs2 = axis_segment_time_us[2].x = xs1;
xs1 = axis_segment_time_us[1].x = xs0;
xs0 = 0;
}
xs0 = axis_segment_time_us[X_AXIS][0] = xs0 + segment_time_us;
xs0 = axis_segment_time_us[0].x = xs0 + segment_time_us;
if (TEST(direction_change, Y_AXIS)) {
ys2 = axis_segment_time_us[Y_AXIS][2] = axis_segment_time_us[Y_AXIS][1];
ys1 = axis_segment_time_us[Y_AXIS][1] = axis_segment_time_us[Y_AXIS][0];
ys2 = axis_segment_time_us[2].y = axis_segment_time_us[1].y;
ys1 = axis_segment_time_us[1].y = axis_segment_time_us[0].y;
ys0 = 0;
}
ys0 = axis_segment_time_us[Y_AXIS][0] = ys0 + segment_time_us;
ys0 = axis_segment_time_us[0].y = ys0 + segment_time_us;
const uint32_t max_x_segment_time = _MAX(xs0, xs1, xs2),
max_y_segment_time = _MAX(ys0, ys1, ys2),
@ -2138,7 +2120,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Correct the speed
if (speed_factor < 1.0f) {
LOOP_XYZE(i) current_speed[i] *= speed_factor;
current_speed *= speed_factor;
block->nominal_rate *= speed_factor;
block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor);
}
@ -2146,7 +2128,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Compute and limit the acceleration rate for the trapezoid generator.
const float steps_per_mm = block->step_event_count * inverse_millimeters;
uint32_t accel;
if (!block->steps[A_AXIS] && !block->steps[B_AXIS] && !block->steps[C_AXIS]) {
if (!block->steps.a && !block->steps.b && !block->steps.c) {
// convert to: acceleration steps/sec^2
accel = CEIL(settings.retract_acceleration * steps_per_mm);
#if ENABLED(LIN_ADVANCE)
@ -2180,7 +2162,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#define MAX_E_JERK max_e_jerk
#endif
#else
#define MAX_E_JERK max_jerk[E_AXIS]
#define MAX_E_JERK max_jerk.e
#endif
/**
@ -2198,13 +2180,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
&& de > 0;
if (block->use_advance_lead) {
block->e_D_ratio = (target_float[E_AXIS] - position_float[E_AXIS]) /
block->e_D_ratio = (target_float.e - position_float.e) /
#if IS_KINEMATIC
block->millimeters
#else
SQRT(sq(target_float[X_AXIS] - position_float[X_AXIS])
+ sq(target_float[Y_AXIS] - position_float[Y_AXIS])
+ sq(target_float[Z_AXIS] - position_float[Z_AXIS]))
SQRT(sq(target_float.x - position_float.x)
+ sq(target_float.y - position_float.y)
+ sq(target_float.z - position_float.z))
#endif
;
@ -2297,23 +2279,16 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
already calculated in a different place. */
// Unit vector of previous path line segment
static float previous_unit_vec[XYZE];
static xyze_float_t prev_unit_vec;
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
float unit_vec[] = {
delta_mm_cart[X_AXIS] * inverse_millimeters,
delta_mm_cart[Y_AXIS] * inverse_millimeters,
delta_mm_cart[Z_AXIS] * inverse_millimeters,
delta_mm_cart[E_AXIS] * inverse_millimeters
};
#else
float unit_vec[] = {
delta_mm[X_AXIS] * inverse_millimeters,
delta_mm[Y_AXIS] * inverse_millimeters,
delta_mm[Z_AXIS] * inverse_millimeters,
delta_mm[E_AXIS] * inverse_millimeters
};
#endif
xyze_float_t unit_vec =
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
delta_mm_cart
#else
{ delta_mm.x, delta_mm.y, delta_mm.z, delta_mm.e }
#endif
;
unit_vec *= inverse_millimeters;
#if IS_CORE && ENABLED(JUNCTION_DEVIATION)
/**
@ -2328,11 +2303,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
float junction_cos_theta = -previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
-previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
-previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS]
-previous_unit_vec[E_AXIS] * unit_vec[E_AXIS]
;
float junction_cos_theta = (-prev_unit_vec.x * unit_vec.x) + (-prev_unit_vec.y * unit_vec.y)
+ (-prev_unit_vec.z * unit_vec.z) + (-prev_unit_vec.e * unit_vec.e);
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
if (junction_cos_theta > 0.999999f) {
@ -2343,12 +2315,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero.
// Convert delta vector to unit vector
float junction_unit_vec[XYZE] = {
unit_vec[X_AXIS] - previous_unit_vec[X_AXIS],
unit_vec[Y_AXIS] - previous_unit_vec[Y_AXIS],
unit_vec[Z_AXIS] - previous_unit_vec[Z_AXIS],
unit_vec[E_AXIS] - previous_unit_vec[E_AXIS]
};
xyze_float_t junction_unit_vec = unit_vec - prev_unit_vec;
normalize_junction_vector(junction_unit_vec);
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
@ -2374,7 +2341,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later.
vmax_junction_sqr = 0;
COPY(previous_unit_vec, unit_vec);
prev_unit_vec = unit_vec;
#endif
@ -2497,18 +2464,17 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->flag |= block->nominal_speed_sqr <= v_allowable_sqr ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE;
// Update previous path unit_vector and nominal speed
COPY(previous_speed, current_speed);
previous_speed = current_speed;
previous_nominal_speed_sqr = block->nominal_speed_sqr;
// Update the position
static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!");
COPY(position, target);
position = target;
#if HAS_POSITION_FLOAT
COPY(position_float, target_float);
position_float = target_float;
#endif
#if ENABLED(GRADIENT_MIX)
mixer.gradient_control(target_float[Z_AXIS]);
mixer.gradient_control(target_float.z);
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
@ -2533,10 +2499,7 @@ void Planner::buffer_sync_block() {
block->flag = BLOCK_FLAG_SYNC_POSITION;
block->position[A_AXIS] = position[A_AXIS];
block->position[B_AXIS] = position[B_AXIS];
block->position[C_AXIS] = position[C_AXIS];
block->position[E_AXIS] = position[E_AXIS];
block->position = position;
// If this is the first added movement, reload the delay, otherwise, cancel it.
if (block_buffer_head == block_buffer_tail) {
@ -2567,7 +2530,7 @@ void Planner::buffer_sync_block() {
*/
bool Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
, const xyze_float_t &delta_mm_cart
#endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
) {
@ -2578,14 +2541,14 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
// When changing extruders recalculate steps corresponding to the E position
#if ENABLED(DISTINCT_E_FACTORS)
if (last_extruder != extruder && settings.axis_steps_per_mm[E_AXIS_N(extruder)] != settings.axis_steps_per_mm[E_AXIS_N(last_extruder)]) {
position[E_AXIS] = LROUND(position[E_AXIS] * settings.axis_steps_per_mm[E_AXIS_N(extruder)] * steps_to_mm[E_AXIS_N(last_extruder)]);
position.e = LROUND(position.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)] * steps_to_mm[E_AXIS_N(last_extruder)]);
last_extruder = extruder;
}
#endif
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
const int32_t target[ABCE] = {
const abce_long_t target = {
int32_t(LROUND(a * settings.axis_steps_per_mm[A_AXIS])),
int32_t(LROUND(b * settings.axis_steps_per_mm[B_AXIS])),
int32_t(LROUND(c * settings.axis_steps_per_mm[C_AXIS])),
@ -2593,14 +2556,14 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
};
#if HAS_POSITION_FLOAT
const float target_float[XYZE] = { a, b, c, e };
const xyze_pos_t target_float = { a, b, c, e };
#endif
// DRYRUN prevents E moves from taking place
if (DEBUGGING(DRYRUN)) {
position[E_AXIS] = target[E_AXIS];
position.e = target.e;
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = e;
position_float.e = e;
#endif
}
@ -2608,27 +2571,27 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
SERIAL_ECHOPAIR(" buffer_segment FR:", fr_mm_s);
#if IS_KINEMATIC
SERIAL_ECHOPAIR(" A:", a);
SERIAL_ECHOPAIR(" (", position[A_AXIS]);
SERIAL_ECHOPAIR("->", target[A_AXIS]);
SERIAL_ECHOPAIR(" (", position.a);
SERIAL_ECHOPAIR("->", target.a);
SERIAL_ECHOPAIR(") B:", b);
#else
SERIAL_ECHOPAIR(" X:", a);
SERIAL_ECHOPAIR(" (", position[X_AXIS]);
SERIAL_ECHOPAIR("->", target[X_AXIS]);
SERIAL_ECHOPAIR(" (", position.x);
SERIAL_ECHOPAIR("->", target.x);
SERIAL_ECHOPAIR(") Y:", b);
#endif
SERIAL_ECHOPAIR(" (", position[Y_AXIS]);
SERIAL_ECHOPAIR("->", target[Y_AXIS]);
SERIAL_ECHOPAIR(" (", position.y);
SERIAL_ECHOPAIR("->", target.y);
#if ENABLED(DELTA)
SERIAL_ECHOPAIR(") C:", c);
#else
SERIAL_ECHOPAIR(") Z:", c);
#endif
SERIAL_ECHOPAIR(" (", position[Z_AXIS]);
SERIAL_ECHOPAIR("->", target[Z_AXIS]);
SERIAL_ECHOPAIR(" (", position.z);
SERIAL_ECHOPAIR("->", target.z);
SERIAL_ECHOPAIR(") E:", e);
SERIAL_ECHOPAIR(" (", position[E_AXIS]);
SERIAL_ECHOPAIR("->", target[E_AXIS]);
SERIAL_ECHOPAIR(" (", position.e);
SERIAL_ECHOPAIR("->", target.e);
SERIAL_ECHOLNPGM(")");
//*/
@ -2665,51 +2628,49 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
, const float &inv_duration
#endif
) {
float raw[XYZE] = { rx, ry, rz, e };
xyze_pos_t machine = { rx, ry, rz, e };
#if HAS_POSITION_MODIFIERS
apply_modifiers(raw);
apply_modifiers(machine);
#endif
#if IS_KINEMATIC
const float delta_mm_cart[] = {
rx - position_cart[X_AXIS],
ry - position_cart[Y_AXIS],
rz - position_cart[Z_AXIS]
#if ENABLED(JUNCTION_DEVIATION)
, e - position_cart[E_AXIS]
#endif
};
#if ENABLED(JUNCTION_DEVIATION)
const xyze_pos_t delta_mm_cart = {
rx - position_cart.x, ry - position_cart.y,
rz - position_cart.z, e - position_cart.e
};
#else
const xyz_pos_t delta_mm_cart = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z };
#endif
float mm = millimeters;
if (mm == 0.0)
mm = (delta_mm_cart[X_AXIS] != 0.0 || delta_mm_cart[Y_AXIS] != 0.0) ? SQRT(sq(delta_mm_cart[X_AXIS]) + sq(delta_mm_cart[Y_AXIS]) + sq(delta_mm_cart[Z_AXIS])) : ABS(delta_mm_cart[Z_AXIS]);
mm = (delta_mm_cart.x != 0.0 || delta_mm_cart.y != 0.0) ? delta_mm_cart.magnitude() : ABS(delta_mm_cart.z);
inverse_kinematics(raw);
inverse_kinematics(machine);
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
const float duration_recip = inv_duration ? inv_duration : fr_mm_s / mm;
const feedRate_t feedrate = HYPOT(delta[A_AXIS] - position_float[A_AXIS], delta[B_AXIS] - position_float[B_AXIS]) * duration_recip;
const feedRate_t feedrate = HYPOT(delta.a - position_float.a, delta.b - position_float.b) * duration_recip;
#else
const feedRate_t feedrate = fr_mm_s;
#endif
if (buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS]
if (buffer_segment(delta.a, delta.b, delta.c, machine.e
#if ENABLED(JUNCTION_DEVIATION)
, delta_mm_cart
#endif
, feedrate, extruder, mm
)) {
position_cart[X_AXIS] = rx;
position_cart[Y_AXIS] = ry;
position_cart[Z_AXIS] = rz;
position_cart[E_AXIS] = e;
position_cart.set(rx, ry, rz, e);
return true;
}
else
return false;
#else
return buffer_segment(raw, fr_mm_s, extruder, millimeters);
return buffer_segment(machine, fr_mm_s, extruder, millimeters);
#endif
} // buffer_line()
@ -2724,30 +2685,27 @@ void Planner::set_machine_position_mm(const float &a, const float &b, const floa
#if ENABLED(DISTINCT_E_FACTORS)
last_extruder = active_extruder;
#endif
position[A_AXIS] = LROUND(a * settings.axis_steps_per_mm[A_AXIS]);
position[B_AXIS] = LROUND(b * settings.axis_steps_per_mm[B_AXIS]);
position[C_AXIS] = LROUND(c * settings.axis_steps_per_mm[C_AXIS]);
position[E_AXIS] = LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)]);
#if HAS_POSITION_FLOAT
position_float[A_AXIS] = a;
position_float[B_AXIS] = b;
position_float[C_AXIS] = c;
position_float[E_AXIS] = e;
position_float.set(a, b, c, e);
#endif
position.set(LROUND(a * settings.axis_steps_per_mm[A_AXIS]),
LROUND(b * settings.axis_steps_per_mm[B_AXIS]),
LROUND(c * settings.axis_steps_per_mm[C_AXIS]),
LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)]));
if (has_blocks_queued()) {
//previous_nominal_speed_sqr = 0.0; // Reset planner junction speeds. Assume start from rest.
//ZERO(previous_speed);
//previous_speed.reset();
buffer_sync_block();
}
else
stepper.set_position(position[A_AXIS], position[B_AXIS], position[C_AXIS], position[E_AXIS]);
stepper.set_position(position);
}
void Planner::set_position_mm(const float &rx, const float &ry, const float &rz, const float &e) {
float raw[XYZE] = { rx, ry, rz, e };
xyze_pos_t machine = { rx, ry, rz, e };
#if HAS_POSITION_MODIFIERS
{
apply_modifiers(raw
apply_modifiers(machine
#if HAS_LEVELING
, true
#endif
@ -2755,15 +2713,11 @@ void Planner::set_position_mm(const float &rx, const float &ry, const float &rz,
}
#endif
#if IS_KINEMATIC
position_cart[X_AXIS] = rx;
position_cart[Y_AXIS] = ry;
position_cart[Z_AXIS] = rz;
position_cart[E_AXIS] = e;
inverse_kinematics(raw);
set_machine_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS]);
position_cart.set(rx, ry, rz, e);
inverse_kinematics(machine);
set_machine_position_mm(delta.a, delta.b, delta.c, machine.e);
#else
set_machine_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS]);
set_machine_position_mm(machine);
#endif
}
@ -2780,17 +2734,17 @@ void Planner::set_e_position_mm(const float &e) {
#else
const float e_new = e;
#endif
position[E_AXIS] = LROUND(settings.axis_steps_per_mm[axis_index] * e_new);
position.e = LROUND(settings.axis_steps_per_mm[axis_index] * e_new);
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = e_new;
position_float.e = e_new;
#endif
#if IS_KINEMATIC
position_cart[E_AXIS] = e;
position_cart.e = e;
#endif
if (has_blocks_queued())
buffer_sync_block();
else
stepper.set_position(E_AXIS, position[E_AXIS]);
stepper.set_axis_position(E_AXIS, position.e);
}
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2

102
Marlin/src/module/planner.h
View file

@ -40,7 +40,7 @@
#endif
#if ABL_PLANAR
#include "../libs/vector_3.h"
#include "../libs/vector_3.h" // for matrix_3x3
#endif
#if ENABLED(FWRETRACT)
@ -51,6 +51,11 @@
#include "../feature/mixing.h"
#endif
// Feedrate for manual moves
#ifdef MANUAL_FEEDRATE
constexpr xyze_feedrate_t manual_feedrate_mm_m = MANUAL_FEEDRATE;
#endif
enum BlockFlagBit : char {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_BIT_RECALCULATE,
@ -95,15 +100,8 @@ typedef struct block_t {
acceleration; // acceleration mm/sec^2
union {
// Data used by all move blocks
struct {
// Fields used by the Bresenham algorithm for tracing the line
uint32_t steps[NUM_AXIS]; // Step count along each axis
};
// Data used by all sync blocks
struct {
int32_t position[NUM_AXIS]; // New position to force when this sync block is executed
};
abce_ulong_t steps; // Step count along each axis
abce_long_t position; // New position to force when this sync block is executed
};
uint32_t step_event_count; // The number of step events required to complete this block
@ -259,19 +257,18 @@ class Planner {
#endif
#if HAS_CLASSIC_JERK
static float max_jerk[
#if BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
XYZ // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
#else
XYZE // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
#endif
];
#if BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
static xyz_pos_t max_jerk; // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
#else
static xyze_pos_t max_jerk; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
#endif
#endif
#if HAS_LEVELING
static bool leveling_active; // Flag that bed leveling is enabled
#if ABL_PLANAR
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
static constexpr xy_pos_t level_fulcrum = { X_TILT_FULCRUM, Y_TILT_FULCRUM };
#endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
static float z_fade_height, inverse_z_fade_height;
@ -285,11 +282,11 @@ class Planner {
#endif
#if HAS_POSITION_FLOAT
static float position_float[XYZE];
static xyze_pos_t position_float;
#endif
#if IS_KINEMATIC
static float position_cart[XYZE];
static xyze_pos_t position_cart;
#endif
static skew_factor_t skew_factor;
@ -304,12 +301,12 @@ class Planner {
* The current position of the tool in absolute steps
* Recalculated if any axis_steps_per_mm are changed by gcode
*/
static int32_t position[NUM_AXIS];
static xyze_long_t position;
/**
* Speed of previous path line segment
*/
static float previous_speed[NUM_AXIS];
static xyze_float_t previous_speed;
/**
* Nominal speed of previous path line segment (mm/s)^2
@ -338,7 +335,7 @@ class Planner {
// Old direction bits. Used for speed calculations
static unsigned char old_direction_bits;
// Segment times (in µs). Used for speed calculations
static uint32_t axis_segment_time_us[2][3];
static xy_ulong_t axis_segment_time_us[3];
#endif
#if HAS_SPI_LCD
@ -454,8 +451,7 @@ class Planner {
}
}
}
FORCE_INLINE static void skew(float (&raw)[XYZ]) { skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
FORCE_INLINE static void skew(float (&raw)[XYZE]) { skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
FORCE_INLINE static void skew(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); }
FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
@ -466,8 +462,7 @@ class Planner {
}
}
}
FORCE_INLINE static void unskew(float (&raw)[XYZ]) { unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
FORCE_INLINE static void unskew(float (&raw)[XYZE]) { unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
FORCE_INLINE static void unskew(xyz_pos_t &raw) { unskew(raw.x, raw.y, raw.z); }
#endif // SKEW_CORRECTION
@ -476,22 +471,24 @@ class Planner {
* 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);
FORCE_INLINE 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)[XYZE]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
static void unapply_leveling(float raw[XYZ]);
static void apply_leveling(xyz_pos_t &raw);
static void unapply_leveling(xyz_pos_t &raw);
FORCE_INLINE static void force_unapply_leveling(xyz_pos_t &raw) {
leveling_active = true;
unapply_leveling(raw);
leveling_active = false;
}
#endif
#if ENABLED(FWRETRACT)
static void apply_retract(float &rz, float &e);
FORCE_INLINE static void apply_retract(float (&raw)[XYZE]) { apply_retract(raw[Z_AXIS], raw[E_AXIS]); }
FORCE_INLINE static void apply_retract(xyze_pos_t &raw) { apply_retract(raw.z, raw.e); }
static void unapply_retract(float &rz, float &e);
FORCE_INLINE static void unapply_retract(float (&raw)[XYZE]) { unapply_retract(raw[Z_AXIS], raw[E_AXIS]); }
FORCE_INLINE static void unapply_retract(xyze_pos_t &raw) { unapply_retract(raw.z, raw.e); }
#endif
#if HAS_POSITION_MODIFIERS
FORCE_INLINE static void apply_modifiers(float (&pos)[XYZE]
FORCE_INLINE static void apply_modifiers(xyze_pos_t &pos
#if HAS_LEVELING
, bool leveling =
#if PLANNER_LEVELING
@ -512,7 +509,7 @@ class Planner {
#endif
}
FORCE_INLINE static void unapply_modifiers(float (&pos)[XYZE]
FORCE_INLINE static void unapply_modifiers(xyze_pos_t &pos
#if HAS_LEVELING
, bool leveling =
#if PLANNER_LEVELING
@ -578,12 +575,12 @@ class Planner {
*
* Returns true if movement was buffered, false otherwise
*/
static bool _buffer_steps(const int32_t (&target)[XYZE]
static bool _buffer_steps(const xyze_long_t &target
#if HAS_POSITION_FLOAT
, const float (&target_float)[ABCE]
, const xyze_pos_t &target_float
#endif
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
, const xyze_float_t &delta_mm_cart
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
@ -601,12 +598,12 @@ class Planner {
* Returns true is movement is acceptable, false otherwise
*/
static bool _populate_block(block_t * const block, bool split_move,
const int32_t (&target)[XYZE]
const xyze_long_t &target
#if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE]
, const xyze_pos_t &target_float
#endif
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
, const xyze_float_t &delta_mm_cart
#endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
@ -638,18 +635,18 @@ class Planner {
*/
static bool buffer_segment(const float &a, const float &b, const float &c, const float &e
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
, const xyze_float_t &delta_mm_cart
#endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
FORCE_INLINE static bool buffer_segment(const float (&abce)[ABCE]
FORCE_INLINE static bool buffer_segment(abce_pos_t &abce
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
, const xyze_float_t &delta_mm_cart
#endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
) {
return buffer_segment(abce[A_AXIS], abce[B_AXIS], abce[C_AXIS], abce[E_AXIS]
return buffer_segment(abce.a, abce.b, abce.c, abce.e
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, delta_mm_cart
#endif
@ -675,12 +672,12 @@ class Planner {
#endif
);
FORCE_INLINE static bool buffer_line(const float (&cart)[XYZE], const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
FORCE_INLINE static bool buffer_line(const xyze_pos_t &cart, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
#if ENABLED(SCARA_FEEDRATE_SCALING)
, const float &inv_duration=0.0
#endif
) {
return buffer_line(cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters
return buffer_line(cart.x, cart.y, cart.z, cart.e, fr_mm_s, extruder, millimeters
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
@ -701,7 +698,7 @@ class Planner {
* Clears previous speed values.
*/
static void set_position_mm(const float &rx, const float &ry, const float &rz, const float &e);
FORCE_INLINE static void set_position_mm(const float (&cart)[XYZE]) { set_position_mm(cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS], cart[E_AXIS]); }
FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) { set_position_mm(cart.x, cart.y, cart.z, cart.e); }
static void set_e_position_mm(const float &e);
/**
@ -711,7 +708,7 @@ class Planner {
* conversions are applied.
*/
static void set_machine_position_mm(const float &a, const float &b, const float &c, const float &e);
FORCE_INLINE static void set_machine_position_mm(const float (&abce)[ABCE]) { set_machine_position_mm(abce[A_AXIS], abce[B_AXIS], abce[C_AXIS], abce[E_AXIS]); }
FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) { set_machine_position_mm(abce.a, abce.b, abce.c, abce.e); }
/**
* Get an axis position according to stepper position(s)
@ -942,14 +939,13 @@ class Planner {
#if ENABLED(JUNCTION_DEVIATION)
FORCE_INLINE static void normalize_junction_vector(float (&vector)[XYZE]) {
FORCE_INLINE static void normalize_junction_vector(xyze_float_t &vector) {
float magnitude_sq = 0;
LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]);
const float inv_magnitude = RSQRT(magnitude_sq);
LOOP_XYZE(idx) vector[idx] *= inv_magnitude;
vector *= RSQRT(magnitude_sq);
}
FORCE_INLINE static float limit_value_by_axis_maximum(const float &max_value, float (&unit_vec)[XYZE]) {
FORCE_INLINE static float limit_value_by_axis_maximum(const float &max_value, xyze_float_t &unit_vec) {
float limit_value = max_value;
LOOP_XYZE(idx) if (unit_vec[idx]) // Avoid divide by zero
NOMORE(limit_value, ABS(settings.max_acceleration_mm_per_s2[idx] / unit_vec[idx]));

54
Marlin/src/module/planner_bezier.cpp
View file

@ -108,21 +108,17 @@ static inline float dist1(const float &x1, const float &y1, const float &x2, con
* power available on Arduino, I think it is not wise to implement it.
*/
void cubic_b_spline(
const float position[NUM_AXIS], // current position
const float target[NUM_AXIS], // target position
const float (&offset)[4], // a pair of offsets
const xyze_pos_t &position, // current position
const xyze_pos_t &target, // target position
const xy_pos_t (&offsets)[2], // a pair of offsets
const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate %
const uint8_t extruder
) {
// Absolute first and second control points are recovered.
const float first0 = position[X_AXIS] + offset[0],
first1 = position[Y_AXIS] + offset[1],
second0 = target[X_AXIS] + offset[2],
second1 = target[Y_AXIS] + offset[3];
const xy_pos_t first = position + offsets[0], second = target + offsets[1];
float bez_target[4];
bez_target[X_AXIS] = position[X_AXIS];
bez_target[Y_AXIS] = position[Y_AXIS];
xyze_pos_t bez_target;
bez_target.set(position.x, position.y);
float step = MAX_STEP;
millis_t next_idle_ms = millis() + 200UL;
@ -141,15 +137,15 @@ void cubic_b_spline(
bool did_reduce = false;
float new_t = t + step;
NOMORE(new_t, 1);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t),
new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t);
float new_pos0 = eval_bezier(position.x, first.x, second.x, target.x, new_t),
new_pos1 = eval_bezier(position.y, first.y, second.y, target.y, new_t);
for (;;) {
if (new_t - t < (MIN_STEP)) break;
const float candidate_t = 0.5f * (t + new_t),
candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5f * (bez_target[X_AXIS] + new_pos0),
interp_pos1 = 0.5f * (bez_target[Y_AXIS] + new_pos1);
candidate_pos0 = eval_bezier(position.x, first.x, second.x, target.x, candidate_t),
candidate_pos1 = eval_bezier(position.y, first.y, second.y, target.y, candidate_t),
interp_pos0 = 0.5f * (bez_target.x + new_pos0),
interp_pos1 = 0.5f * (bez_target.y + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
@ -162,10 +158,10 @@ void cubic_b_spline(
if (new_t - t > MAX_STEP) break;
const float candidate_t = t + 2 * (new_t - t);
if (candidate_t >= 1) break;
const float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5f * (bez_target[X_AXIS] + candidate_pos0),
interp_pos1 = 0.5f * (bez_target[Y_AXIS] + candidate_pos1);
const float candidate_pos0 = eval_bezier(position.x, first.x, second.x, target.x, candidate_t),
candidate_pos1 = eval_bezier(position.y, first.y, second.y, target.y, candidate_t),
interp_pos0 = 0.5f * (bez_target.x + candidate_pos0),
interp_pos1 = 0.5f * (bez_target.y + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
@ -187,19 +183,19 @@ void cubic_b_spline(
t = new_t;
// Compute and send new position
bez_target[X_AXIS] = new_pos0;
bez_target[Y_AXIS] = new_pos1;
// FIXME. The following two are wrong, since the parameter t is
// not linear in the distance.
bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
apply_motion_limits(bez_target);
xyze_pos_t new_bez = {
new_pos0, new_pos1,
interp(position.z, target.z, t), // FIXME. These two are wrong, since the parameter t is
interp(position.e, target.e, t) // not linear in the distance.
};
apply_motion_limits(new_bez);
bez_target = new_bez;
#if HAS_LEVELING && !PLANNER_LEVELING
float pos[XYZE] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS] };
xyze_pos_t pos = bez_target;
planner.apply_leveling(pos);
#else
const float (&pos)[XYZE] = bez_target;
const xyze_pos_t &pos = bez_target;
#endif
if (!planner.buffer_line(pos, scaled_fr_mm_s, active_extruder, step))

9
Marlin/src/module/planner_bezier.h
View file

@ -28,13 +28,12 @@
*
*/
#include <stdint.h>
#include "../core/macros.h"
#include "../core/types.h"
void cubic_b_spline(
const float position[NUM_AXIS], // current position
const float target[NUM_AXIS], // target position
const float (&offset)[4], // a pair of offsets
const xyze_pos_t &position, // current position
const xyze_pos_t &target, // target position
const xy_pos_t (&offsets)[2], // a pair of offsets
const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate %
const uint8_t extruder
);

80
Marlin/src/module/probe.cpp
View file

@ -56,7 +56,7 @@
#include "../feature/backlash.h"
#endif
float probe_offset[XYZ]; // Initialized by settings.load()
xyz_pos_t probe_offset; // Initialized by settings.load()
#if ENABLED(BLTOUCH)
#include "../feature/bltouch.h"
@ -146,10 +146,10 @@ float probe_offset[XYZ]; // Initialized by settings.load()
// Move down to the bed to stow the probe
void run_stow_moves_script() {
const float old_pos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
const xyz_pos_t oldpos = current_position;
endstops.enable_z_probe(false);
do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z));
do_blocking_move_to(old_pos, MMM_TO_MMS(HOMING_FEEDRATE_Z));
do_blocking_move_to(oldpos, MMM_TO_MMS(HOMING_FEEDRATE_Z));
}
#elif ENABLED(Z_PROBE_ALLEN_KEY)
@ -159,35 +159,35 @@ float probe_offset[XYZ]; // Initialized by settings.load()
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
#endif
constexpr float deploy_1[] = Z_PROBE_ALLEN_KEY_DEPLOY_1;
constexpr xyz_pos_t deploy_1 = Z_PROBE_ALLEN_KEY_DEPLOY_1;
do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_2
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
#endif
constexpr float deploy_2[] = Z_PROBE_ALLEN_KEY_DEPLOY_2;
constexpr xyz_pos_t deploy_2 = Z_PROBE_ALLEN_KEY_DEPLOY_2;
do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
#endif
constexpr float deploy_3[] = Z_PROBE_ALLEN_KEY_DEPLOY_3;
constexpr xyz_pos_t deploy_3 = Z_PROBE_ALLEN_KEY_DEPLOY_3;
do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_4
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
#endif
constexpr float deploy_4[] = Z_PROBE_ALLEN_KEY_DEPLOY_4;
constexpr xyz_pos_t deploy_4 = Z_PROBE_ALLEN_KEY_DEPLOY_4;
do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_5
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
#endif
constexpr float deploy_5[] = Z_PROBE_ALLEN_KEY_DEPLOY_5;
constexpr xyz_pos_t deploy_5 = Z_PROBE_ALLEN_KEY_DEPLOY_5;
do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
#endif
}
@ -197,35 +197,35 @@ float probe_offset[XYZ]; // Initialized by settings.load()
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
#endif
constexpr float stow_1[] = Z_PROBE_ALLEN_KEY_STOW_1;
constexpr xyz_pos_t stow_1 = Z_PROBE_ALLEN_KEY_STOW_1;
do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_2
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
#endif
constexpr float stow_2[] = Z_PROBE_ALLEN_KEY_STOW_2;
constexpr xyz_pos_t stow_2 = Z_PROBE_ALLEN_KEY_STOW_2;
do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_3
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
#endif
constexpr float stow_3[] = Z_PROBE_ALLEN_KEY_STOW_3;
constexpr xyz_pos_t stow_3 = Z_PROBE_ALLEN_KEY_STOW_3;
do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_4
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
#endif
constexpr float stow_4[] = Z_PROBE_ALLEN_KEY_STOW_4;
constexpr xyz_pos_t stow_4 = Z_PROBE_ALLEN_KEY_STOW_4;
do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
#endif
#ifdef Z_PROBE_ALLEN_KEY_STOW_5
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
#endif
constexpr float stow_5[] = Z_PROBE_ALLEN_KEY_STOW_5;
constexpr xyz_pos_t stow_5 = Z_PROBE_ALLEN_KEY_STOW_5;
do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
#endif
}
@ -263,11 +263,11 @@ inline void do_probe_raise(const float z_raise) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
float z_dest = z_raise;
if (probe_offset[Z_AXIS] < 0) z_dest -= probe_offset[Z_AXIS];
if (probe_offset.z < 0) z_dest -= probe_offset.z;
NOMORE(z_dest, Z_MAX_POS);
if (z_dest > current_position[Z_AXIS])
if (z_dest > current_position.z)
do_blocking_move_to_z(z_dest);
}
@ -384,8 +384,7 @@ bool set_probe_deployed(const bool deploy) {
}
#endif
const float oldXpos = current_position[X_AXIS],
oldYpos = current_position[Y_AXIS];
const xy_pos_t old_xy = current_position;
#if ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST)
#if USES_Z_MIN_PROBE_ENDSTOP
@ -419,7 +418,7 @@ bool set_probe_deployed(const bool deploy) {
#endif
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
do_blocking_move_to(old_xy);
endstops.enable_z_probe(deploy);
return false;
}
@ -427,9 +426,9 @@ bool set_probe_deployed(const bool deploy) {
#ifdef Z_AFTER_PROBING
// After probing move to a preferred Z position
void move_z_after_probing() {
if (current_position[Z_AXIS] != Z_AFTER_PROBING) {
if (current_position.z != Z_AFTER_PROBING) {
do_blocking_move_to_z(Z_AFTER_PROBING);
current_position[Z_AXIS] = Z_AFTER_PROBING;
current_position.z = Z_AFTER_PROBING;
}
}
#endif
@ -532,7 +531,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
* @brief Probe at the current XY (possibly more than once) to find the bed Z.
*
* @details Used by probe_at_point to get the bed Z height at the current XY.
* Leaves current_position[Z_AXIS] at the height where the probe triggered.
* Leaves current_position.z at the height where the probe triggered.
*
* @return The Z position of the bed at the current XY or NAN on error.
*/
@ -542,7 +541,7 @@ static float run_z_probe() {
// Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm.
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset[Z_AXIS] + Z_PROBE_LOW_POINT : -10.0;
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset.z + Z_PROBE_LOW_POINT : -10.0;
// Double-probing does a fast probe followed by a slow probe
#if TOTAL_PROBING == 2
@ -556,22 +555,22 @@ static float run_z_probe() {
return NAN;
}
const float first_probe_z = current_position[Z_AXIS];
const float first_probe_z = current_position.z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("1st Probe Z:", first_probe_z);
// Raise to give the probe clearance
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
#elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset[Z_AXIS] < 0 ? -probe_offset[Z_AXIS] : 0);
if (current_position[Z_AXIS] > z) {
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset.z < 0 ? -probe_offset.z : 0);
if (current_position.z > z) {
// Probe down fast. If the probe never triggered, raise for probe clearance
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
#endif
@ -603,7 +602,7 @@ static float run_z_probe() {
backlash.measure_with_probe();
#endif
const float z = current_position[Z_AXIS];
const float z = current_position.z;
#if EXTRA_PROBING
// Insert Z measurement into probes[]. Keep it sorted ascending.
@ -654,7 +653,7 @@ static float run_z_probe() {
#elif TOTAL_PROBING == 2
const float z2 = current_position[Z_AXIS];
const float z2 = current_position.z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2);
@ -664,7 +663,7 @@ static float run_z_probe() {
#else
// Return the single probe result
const float measured_z = current_position[Z_AXIS];
const float measured_z = current_position.z;
#endif
@ -694,20 +693,19 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
}
// TODO: Adapt for SCARA, where the offset rotates
float nx = rx, ny = ry;
xyz_pos_t npos = { rx, ry };
if (probe_relative) {
if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
nx -= probe_offset[X_AXIS]; // Get the nozzle position
ny -= probe_offset[Y_AXIS];
if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
npos -= probe_offset; // Get the nozzle position
}
else if (!position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
const float nz =
npos.z =
#if ENABLED(DELTA)
// Move below clip height or xy move will be aborted by do_blocking_move_to
_MIN(current_position[Z_AXIS], delta_clip_start_height)
_MIN(current_position.z, delta_clip_start_height)
#else
current_position[Z_AXIS]
current_position.z
#endif
;
@ -715,15 +713,15 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the starting XYZ
do_blocking_move_to(nx, ny, nz);
do_blocking_move_to(npos);
float measured_z = NAN;
if (!DEPLOY_PROBE()) {
measured_z = run_z_probe() + probe_offset[Z_AXIS];
measured_z = run_z_probe() + probe_offset.z;
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
if (big_raise || raise_after == PROBE_PT_RAISE)
do_blocking_move_to_z(current_position[Z_AXIS] + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else if (raise_after == PROBE_PT_STOW)
if (STOW_PROBE()) measured_z = NAN;
}

18
Marlin/src/module/probe.h
View file

@ -29,9 +29,9 @@
#if HAS_BED_PROBE
constexpr float nozzle_to_probe_offset[XYZ] = NOZZLE_TO_PROBE_OFFSET;
constexpr xyz_pos_t nozzle_to_probe_offset = NOZZLE_TO_PROBE_OFFSET;
extern float probe_offset[XYZ];
extern xyz_pos_t probe_offset;
bool set_probe_deployed(const bool deploy);
#ifdef Z_AFTER_PROBING
@ -44,6 +44,9 @@
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
};
float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
}
#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
@ -52,7 +55,8 @@
#else
constexpr float probe_offset[XYZ] = { 0 };
constexpr xyz_pos_t probe_offset{0};
#define DEPLOY_PROBE()
#define STOW_PROBE()
@ -64,7 +68,7 @@
#if IS_KINEMATIC
PROBE_X_MIN, MESH_MIN_X
#else
(X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset[X_AXIS]
(X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset.x
#endif
);
}
@ -73,7 +77,7 @@
#if IS_KINEMATIC
PROBE_X_MAX, MESH_MAX_X
#else
(X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset[X_AXIS]
(X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset.x
#endif
);
}
@ -82,7 +86,7 @@
#if IS_KINEMATIC
PROBE_Y_MIN, MESH_MIN_Y
#else
(Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset[Y_AXIS]
(Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset.y
#endif
);
}
@ -91,7 +95,7 @@
#if IS_KINEMATIC
PROBE_Y_MAX, MESH_MAX_Y
#else
(Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset[Y_AXIS]
(Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset.y
#endif
);
}

43
Marlin/src/module/scara.cpp
View file

@ -36,25 +36,25 @@ float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
void scara_set_axis_is_at_home(const AxisEnum axis) {
if (axis == Z_AXIS)
current_position[Z_AXIS] = Z_HOME_POS;
current_position.z = Z_HOME_POS;
else {
/**
* SCARA homes XY at the same time
*/
float homeposition[XYZ];
xyz_pos_t homeposition;
LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
// SERIAL_ECHOLNPAIR("homeposition X:", homeposition[X_AXIS], " Y:", homeposition[Y_AXIS]);
// SERIAL_ECHOLNPAIR("homeposition X:", homeposition.x, " Y:", homeposition.y);
/**
* Get Home position SCARA arm angles using inverse kinematics,
* and calculate homing offset using forward kinematics
*/
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
forward_kinematics_SCARA(delta.a, delta.b);
// SERIAL_ECHOLNPAIR("Cartesian X:", cartes[X_AXIS], " Y:", cartes[Y_AXIS]);
// SERIAL_ECHOLNPAIR("Cartesian X:", cartes.x, " Y:", cartes.y);
current_position[axis] = cartes[axis];
@ -62,8 +62,10 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
}
}
static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y };
/**
* Morgan SCARA Forward Kinematics. Results in cartes[].
* Morgan SCARA Forward Kinematics. Results in 'cartes'.
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
@ -74,8 +76,8 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
b_sin = sin(RADIANS(b)) * L2,
b_cos = cos(RADIANS(b)) * L2;
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
cartes.set(a_cos + b_cos + scara_offset.x, // theta
a_sin + b_sin + scara_offset.y); // theta+phi
/*
SERIAL_ECHOLNPAIR(
@ -86,31 +88,32 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
" b_sin=", b_sin,
" b_cos=", b_cos
);
SERIAL_ECHOLNPAIR(" cartes (X,Y) = "(cartes[X_AXIS], ", ", cartes[Y_AXIS], ")");
SERIAL_ECHOLNPAIR(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")");
//*/
}
/**
* Morgan SCARA Inverse Kinematics. Results in delta[].
* Morgan SCARA Inverse Kinematics. Results in 'delta'.
*
* See http://forums.reprap.org/read.php?185,283327
*
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void inverse_kinematics(const float (&raw)[XYZ]) {
void inverse_kinematics(const xyz_pos_t &raw) {
static float C2, S2, SK1, SK2, THETA, PSI;
float C2, S2, SK1, SK2, THETA, PSI;
float sx = raw[X_AXIS] - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
// Translate SCARA to standard XY with scaling factor
const xy_pos_t spos = raw - scara_offset;
const float H2 = HYPOT2(spos.x, spos.y);
if (L1 == L2)
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
C2 = H2 / L1_2_2 - 1;
else
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
C2 = (H2 - (L1_2 + L2_2)) / (2.0 * L1 * L2);
S2 = SQRT(1 - sq(C2));
S2 = SQRT(1.0f - sq(C2));
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2;
@ -119,14 +122,12 @@ void inverse_kinematics(const float (&raw)[XYZ]) {
SK2 = L2 * S2;
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
THETA = ATAN2(SK1, SK2) - ATAN2(spos.x, spos.y);
// Angle of Arm2
PSI = ATAN2(S2, C2);
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[C_AXIS] = raw[Z_AXIS];
delta.set(DEGREES(THETA), DEGREES(THETA + PSI), raw.z);
/*
DEBUG_POS("SCARA IK", raw);

6
Marlin/src/module/scara.h
View file

@ -36,11 +36,7 @@ float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
void scara_set_axis_is_at_home(const AxisEnum axis);
void inverse_kinematics(const float (&raw)[XYZ]);
FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
inverse_kinematics(raw_xyz);
}
void inverse_kinematics(const xyz_pos_t &raw);
void forward_kinematics_SCARA(const float &a, const float &b);
void scara_report_positions();

109
Marlin/src/module/stepper.cpp
View file

@ -169,10 +169,10 @@ uint8_t Stepper::steps_per_isr;
#endif
uint8_t Stepper::oversampling_factor;
int32_t Stepper::delta_error[XYZE] = { 0 };
xyze_long_t Stepper::delta_error{0};
uint32_t Stepper::advance_dividend[XYZE] = { 0 },
Stepper::advance_divisor = 0,
xyze_ulong_t Stepper::advance_dividend{0};
uint32_t Stepper::advance_divisor = 0,
Stepper::step_events_completed = 0, // The number of step events executed in the current block
Stepper::accelerate_until, // The count at which to stop accelerating
Stepper::decelerate_after, // The count at which to start decelerating
@ -218,10 +218,9 @@ int32_t Stepper::ticks_nominal = -1;
uint32_t Stepper::acc_step_rate; // needed for deceleration start point
#endif
volatile int32_t Stepper::endstops_trigsteps[XYZ];
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
xyz_long_t Stepper::endstops_trigsteps;
xyze_long_t Stepper::count_position{0};
xyze_int8_t Stepper::count_direction{0};
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
@ -390,20 +389,20 @@ void Stepper::set_directions() {
// what e-steppers will step. Likely all. Set all.
if (motor_direction(E_AXIS)) {
MIXER_STEPPER_LOOP(j) REV_E_DIR(j);
count_direction[E_AXIS] = -1;
count_direction.e = -1;
}
else {
MIXER_STEPPER_LOOP(j) NORM_E_DIR(j);
count_direction[E_AXIS] = 1;
count_direction.e = 1;
}
#else
if (motor_direction(E_AXIS)) {
REV_E_DIR(stepper_extruder);
count_direction[E_AXIS] = -1;
count_direction.e = -1;
}
else {
NORM_E_DIR(stepper_extruder);
count_direction[E_AXIS] = 1;
count_direction.e = 1;
}
#endif
#endif // !LIN_ADVANCE
@ -1459,15 +1458,15 @@ void Stepper::stepper_pulse_phase_isr() {
// Pulse Extruders
// Tick the E axis, correct error term and update position
#if EITHER(LIN_ADVANCE, MIXING_EXTRUDER)
delta_error[E_AXIS] += advance_dividend[E_AXIS];
if (delta_error[E_AXIS] >= 0) {
count_position[E_AXIS] += count_direction[E_AXIS];
delta_error.e += advance_dividend.e;
if (delta_error.e >= 0) {
count_position.e += count_direction.e;
#if ENABLED(LIN_ADVANCE)
delta_error[E_AXIS] -= advance_divisor;
delta_error.e -= advance_divisor;
// Don't step E here - But remember the number of steps to perform
motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
#else // !LIN_ADVANCE && MIXING_EXTRUDER
// Don't adjust delta_error[E_AXIS] here!
// Don't adjust delta_error.e here!
// Being positive is the criteria for ending the pulse.
E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
#endif
@ -1504,8 +1503,8 @@ void Stepper::stepper_pulse_phase_isr() {
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
if (delta_error[E_AXIS] >= 0) {
delta_error[E_AXIS] -= advance_divisor;
if (delta_error.e >= 0) {
delta_error.e -= advance_divisor;
E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
}
#else // !MIXING_EXTRUDER
@ -1660,10 +1659,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// Sync block? Sync the stepper counts and return
while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
_set_position(
current_block->position[A_AXIS], current_block->position[B_AXIS],
current_block->position[C_AXIS], current_block->position[E_AXIS]
);
_set_position(current_block->position);
planner.discard_current_block();
// Try to get a new block
@ -1698,7 +1694,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
#endif
#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
#else
#define X_MOVE_TEST !!current_block->steps[A_AXIS]
#define X_MOVE_TEST !!current_block->steps.a
#endif
#if CORE_IS_XY || CORE_IS_YZ
@ -1716,7 +1712,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
#endif
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
#else
#define Y_MOVE_TEST !!current_block->steps[B_AXIS]
#define Y_MOVE_TEST !!current_block->steps.b
#endif
#if CORE_IS_XZ || CORE_IS_YZ
@ -1734,17 +1730,17 @@ uint32_t Stepper::stepper_block_phase_isr() {
#endif
#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
#else
#define Z_MOVE_TEST !!current_block->steps[C_AXIS]
#define Z_MOVE_TEST !!current_block->steps.c
#endif
uint8_t axis_bits = 0;
if (X_MOVE_TEST) SBI(axis_bits, A_AXIS);
if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS);
if (Z_MOVE_TEST) SBI(axis_bits, C_AXIS);
//if (!!current_block->steps[E_AXIS]) SBI(axis_bits, E_AXIS);
//if (!!current_block->steps[A_AXIS]) SBI(axis_bits, X_HEAD);
//if (!!current_block->steps[B_AXIS]) SBI(axis_bits, Y_HEAD);
//if (!!current_block->steps[C_AXIS]) SBI(axis_bits, Z_HEAD);
//if (!!current_block->steps.e) SBI(axis_bits, E_AXIS);
//if (!!current_block->steps.a) SBI(axis_bits, X_HEAD);
//if (!!current_block->steps.b) SBI(axis_bits, Y_HEAD);
//if (!!current_block->steps.c) SBI(axis_bits, Z_HEAD);
axis_did_move = axis_bits;
// No acceleration / deceleration time elapsed so far
@ -1767,15 +1763,10 @@ uint32_t Stepper::stepper_block_phase_isr() {
step_event_count = current_block->step_event_count << oversampling;
// Initialize Bresenham delta errors to 1/2
delta_error[X_AXIS] = delta_error[Y_AXIS] = delta_error[Z_AXIS] = delta_error[E_AXIS] = -int32_t(step_event_count);
delta_error = -int32_t(step_event_count);
// Calculate Bresenham dividends
advance_dividend[X_AXIS] = current_block->steps[X_AXIS] << 1;
advance_dividend[Y_AXIS] = current_block->steps[Y_AXIS] << 1;
advance_dividend[Z_AXIS] = current_block->steps[Z_AXIS] << 1;
advance_dividend[E_AXIS] = current_block->steps[E_AXIS] << 1;
// Calculate Bresenham divisor
// Calculate Bresenham dividends and divisors
advance_dividend = current_block->steps << 1;
advance_divisor = step_event_count << 1;
// No step events completed so far
@ -1840,7 +1831,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// If delayed Z enable, enable it now. This option will severely interfere with
// timing between pulses when chaining motion between blocks, and it could lead
// to lost steps in both X and Y axis, so avoid using it unless strictly necessary!!
if (current_block->steps[Z_AXIS]) enable_Z();
if (current_block->steps.z) enable_Z();
#endif
// Mark the time_nominal as not calculated yet
@ -2195,26 +2186,18 @@ void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
count_position[A_AXIS] = a + b;
count_position[B_AXIS] = CORESIGN(a - b);
count_position[Z_AXIS] = c;
count_position.set(a + b, CORESIGN(a - b), c);
#elif CORE_IS_XZ
// corexz planning
count_position[A_AXIS] = a + c;
count_position[Y_AXIS] = b;
count_position[C_AXIS] = CORESIGN(a - c);
count_position.set(a + c, b, CORESIGN(a - c));
#elif CORE_IS_YZ
// coreyz planning
count_position[X_AXIS] = a;
count_position[B_AXIS] = b + c;
count_position[C_AXIS] = CORESIGN(b - c);
count_position.set(a, b + c, CORESIGN(b - c));
#else
// default non-h-bot planning
count_position[X_AXIS] = a;
count_position[Y_AXIS] = b;
count_position[Z_AXIS] = c;
count_position.set(a, b, c);
#endif
count_position[E_AXIS] = e;
count_position.e = e;
}
/**
@ -2290,36 +2273,22 @@ void Stepper::report_positions() {
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
const int32_t xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
const xyz_long_t pos = count_position;
#ifdef __AVR__
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
#if CORE_IS_XY || CORE_IS_XZ || ENABLED(DELTA) || IS_SCARA
SERIAL_ECHOPGM(MSG_COUNT_A);
SERIAL_ECHOPAIR(MSG_COUNT_A, pos.x, " B:", pos.y);
#else
SERIAL_ECHOPGM(MSG_COUNT_X);
SERIAL_ECHOPAIR(MSG_COUNT_X, pos.x, " Y:", pos.y);
#endif
SERIAL_ECHO(xpos);
#if CORE_IS_XY || CORE_IS_YZ || ENABLED(DELTA) || IS_SCARA
SERIAL_ECHOPGM(" B:");
#else
SERIAL_ECHOPGM(" Y:");
#endif
SERIAL_ECHO(ypos);
#if CORE_IS_XZ || CORE_IS_YZ || ENABLED(DELTA)
SERIAL_ECHOPGM(" C:");
SERIAL_ECHOLNPAIR(" C:", pos.z);
#else
SERIAL_ECHOPGM(" Z:");
SERIAL_ECHOLNPAIR(" Z:", pos.z);
#endif
SERIAL_ECHO(zpos);
SERIAL_EOL();
}
#if ENABLED(BABYSTEPPING)

26
Marlin/src/module/stepper.h
View file

@ -278,9 +278,9 @@ class Stepper {
#endif
// Delta error variables for the Bresenham line tracer
static int32_t delta_error[XYZE];
static uint32_t advance_dividend[XYZE],
advance_divisor,
static xyze_long_t delta_error;
static xyze_ulong_t advance_dividend;
static uint32_t advance_divisor,
step_events_completed, // The number of step events executed in the current block
accelerate_until, // The point from where we need to stop acceleration
decelerate_after, // The point from where we need to start decelerating
@ -320,17 +320,17 @@ class Stepper {
//
// Exact steps at which an endstop was triggered
//
static volatile int32_t endstops_trigsteps[XYZ];
static xyz_long_t endstops_trigsteps;
//
// Positions of stepper motors, in step units
//
static volatile int32_t count_position[NUM_AXIS];
static xyze_long_t count_position;
//
// Current direction of stepper motors (+1 or -1)
//
static int8_t count_direction[NUM_AXIS];
static xyze_int8_t count_direction;
public:
@ -382,13 +382,11 @@ class Stepper {
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() {
return
#if ENABLED(MIXING_EXTRUDER) || EXTRUDERS < 2
0
#else
last_moved_extruder
return (0
#if EXTRUDERS > 1 && DISABLED(MIXING_EXTRUDER)
+ last_moved_extruder
#endif
;
);
}
// Handle a triggered endstop
@ -443,8 +441,9 @@ class Stepper {
_set_position(a, b, c, e);
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
static inline void set_position(const AxisEnum a, const int32_t &v) {
static inline void set_axis_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
#ifdef __AVR__
@ -469,6 +468,7 @@ class Stepper {
// Set the current position in steps
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
FORCE_INLINE static void _set_position(const abce_long_t &spos) { _set_position(spos.a, spos.b, spos.c, spos.e); }
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
uint32_t timer;

175
Marlin/src/module/tool_change.cpp
View file

@ -133,8 +133,8 @@
#endif // SWITCHING_NOZZLE
inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1.0f) {
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[fr_axis] * fscale, active_extruder);
inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1) {
line_to_current_position(planner.settings.max_feedrate_mm_s[fr_axis] * fscale);
}
inline void slow_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.5f); }
inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis); }
@ -150,11 +150,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
inline void magnetic_parking_extruder_tool_change(const uint8_t new_tool) {
const float oldx = current_position[X_AXIS],
const float oldx = current_position.x,
grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance),
offsetcompensation = (0
#if HAS_HOTEND_OFFSET
+ hotend_offset[X_AXIS][active_extruder] * mpe_settings.compensation_factor
+ hotend_offset[active_extruder].x * mpe_settings.compensation_factor
#endif
);
@ -174,7 +174,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 1
current_position[X_AXIS] = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool));
@ -186,7 +186,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 2
current_position[X_AXIS] = grabpos + offsetcompensation;
current_position.x = grabpos + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool));
@ -201,7 +201,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 3
current_position[X_AXIS] = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool));
DEBUG_POS(" back to new extruder ParkPos", current_position);
@ -212,7 +212,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 4
current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool));
DEBUG_POS(" close to old extruder ParkPos", current_position);
@ -223,7 +223,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 5
current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool));
@ -235,7 +235,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 6
current_position[X_AXIS] = oldx;
current_position.x = oldx;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool));
@ -275,12 +275,12 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X;
#if HAS_HOTEND_OFFSET
const float x_offset = hotend_offset[X_AXIS][active_extruder];
const float x_offset = hotend_offset[active_extruder].x;
#else
constexpr float x_offset = 0;
#endif
const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + x_offset,
const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5f + x_offset,
grabpos = parkingposx[new_tool] + (new_tool ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
/**
@ -296,7 +296,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
current_position.x = parkingposx[active_extruder] + x_offset;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
@ -311,7 +311,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 3
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("(3) Move near new extruder");
DEBUG_POS("Move away from parked extruder", current_position);
@ -329,10 +329,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 5
current_position[X_AXIS] = grabpos + (new_tool ? -10 : 10);
current_position.x = grabpos + (new_tool ? -10 : 10);
fast_line_to_current(X_AXIS);
current_position[X_AXIS] = grabpos;
current_position.x = grabpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("(5) Unpark extruder", current_position);
@ -341,9 +341,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 6
current_position[X_AXIS] = midpos
current_position.x = midpos
#if HAS_HOTEND_OFFSET
- hotend_offset[X_AXIS][new_tool]
- hotend_offset[new_tool].x
#endif
;
if (DEBUGGING(LEVELING)) {
@ -388,14 +388,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
current_position[X_AXIS] = placexpos;
current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
fast_line_to_current(X_AXIS);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
@ -409,7 +409,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS);
@ -417,13 +417,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
planner.synchronize();
safe_delay(200);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
// 3. Move to the new toolhead
current_position[X_AXIS] = grabxpos;
current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
@ -431,7 +431,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
}
fast_line_to_current(X_AXIS);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
@ -440,7 +440,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 4. Grab and lock the new toolhead
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
@ -454,7 +454,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
safe_delay(500);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // Move away from docked toolhead
planner.synchronize(); // Always sync the final move
@ -486,33 +486,33 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 1. Move to switch position current toolhead
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS);
current_position[X_AXIS] = placexclear;
current_position.x = placexclear;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move X SwitchPos + Security", current_position);
}
fast_line_to_current(X_AXIS);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
}
fast_line_to_current(Y_AXIS);
current_position[X_AXIS] = placexpos;
current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move X SwitchPos", current_position);
}
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f);
// 2. Release and place toolhead in the dock
@ -521,16 +521,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_ECHOLNPGM("(2) Release and Place Toolhead");
}
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
// 3. Move to new toolhead position
@ -539,7 +539,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
}
current_position[X_AXIS] = grabxpos;
current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
fast_line_to_current(X_AXIS);
@ -550,11 +550,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position");
}
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
@ -563,11 +563,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM)
#if SWITCHING_TOOLHEAD_PRIME_MM
current_position[E_AXIS] += SWITCHING_TOOLHEAD_PRIME_MM;
current_position.e += SWITCHING_TOOLHEAD_PRIME_MM;
planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_PRIME_FEEDRATE), new_tool);
#endif
#if SWITCHING_TOOLHEAD_RETRACT_MM
current_position[E_AXIS] -= SWITCHING_TOOLHEAD_RETRACT_MM;
current_position.e -= SWITCHING_TOOLHEAD_RETRACT_MM;
planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_RETRACT_FEEDRATE), new_tool);
#endif
#else
@ -575,13 +575,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
safe_delay(100); // Give switch time to settle
#endif
current_position[X_AXIS] = grabxclear;
current_position.x = grabxclear;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position);
_line_to_current(X_AXIS, 0.1f);
planner.synchronize();
safe_delay(100); // Give switch time to settle
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); // Always sync last tool-change move
@ -601,6 +601,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[new_tool];
const xyz_pos_t &hoffs = hotend_offset[active_extruder];
/**
* 1. Raise Z-Axis to give enough clearance
@ -618,7 +619,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 1. Raise Z-Axis to give enough clearance
current_position[Z_AXIS] += SWITCHING_TOOLHEAD_Z_HOP;
current_position.z += SWITCHING_TOOLHEAD_Z_HOP;
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position);
fast_line_to_current(Z_AXIS);
@ -629,8 +630,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder);
DEBUG_POS("Moving ParkPos", current_position);
}
current_position[X_AXIS] = hotend_offset[X_AXIS][active_extruder] + placexpos;
current_position[Y_AXIS] = hotend_offset[Y_AXIS][active_extruder] + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.set(hoffs.x + placexpos,
hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS);
// 3. Move gently to park position of active extruder
@ -641,7 +642,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_POS("Moving ParkPos", current_position);
}
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS);
// 4. Disengage magnetic field, wait for delay
@ -657,16 +658,15 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_POS("Moving ParkPos", current_position);
}
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS);
current_position[X_AXIS] = hotend_offset[X_AXIS][active_extruder] + grabxpos;
current_position[Y_AXIS] = hotend_offset[Y_AXIS][active_extruder] + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.set(hoffs.x + grabxpos,
hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS);
// 6. Move gently to park position of new extruder
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(6) Move near new extruder");
@ -681,7 +681,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 8. Unpark extruder
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(8) Unpark extruder");
slow_line_to_current(X_AXIS);
planner.synchronize(); // Always sync the final move
@ -689,7 +689,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// 9. Apply Z hotend offset to current position
if (DEBUGGING(LEVELING)) DEBUG_POS("(9) Applying Z-offset", current_position);
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][new_tool];
current_position.z += hoffs.z - hotend_offset[new_tool].z;
if (DEBUGGING(LEVELING)) DEBUG_POS("EMST Tool-Change done.", current_position);
}
@ -719,14 +719,15 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome) && ! no_move
&& IsRunning() && !no_move
&& (delayed_move_time || current_position.x != xhome)
) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome);
// Park old head
planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
current_position.x = xhome;
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]);
planner.synchronize();
}
@ -741,13 +742,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = inactive_extruder_x_pos;
current_position.x = inactive_extruder_x_pos;
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = destination[X_AXIS];
inactive_extruder_x_pos = destination.x;
break;
case DXC_AUTO_PARK_MODE:
// record current raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position = current_position;
active_extruder_parked = true;
delayed_move_time = 0;
break;
@ -852,7 +853,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(ADVANCED_PAUSE_FEATURE)
do_pause_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
#else
current_position[E_AXIS] -= toolchange_settings.swap_length / planner.e_factor[old_tool];
current_position.e -= toolchange_settings.swap_length / planner.e_factor[old_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), old_tool);
planner.synchronize();
#endif
@ -886,19 +887,18 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif
#endif
set_destination_from_current();
destination = current_position;
#if DISABLED(SWITCHING_NOZZLE)
if (can_move_away) {
// Do a small lift to avoid the workpiece in the move back (below)
current_position[Z_AXIS] += toolchange_settings.z_raise;
current_position.z += toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
NOMORE(current_position.z, soft_endstop.max.z);
#endif
fast_line_to_current(Z_AXIS);
#if ENABLED(TOOLCHANGE_PARK)
current_position[X_AXIS] = toolchange_settings.change_point.x;
current_position[Y_AXIS] = toolchange_settings.change_point.y;
current_position = toolchange_settings.change_point;
#endif
planner.buffer_line(current_position, feedrate_mm_s, old_tool);
planner.synchronize();
@ -906,15 +906,12 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif
#if HAS_HOTEND_OFFSET
xyz_pos_t diff = hotend_offset[new_tool];
#if ENABLED(DUAL_X_CARRIAGE)
constexpr float xdiff = 0;
#else
const float xdiff = hotend_offset[X_AXIS][new_tool] - hotend_offset[X_AXIS][old_tool];
diff.x = 0;
#endif
const float ydiff = hotend_offset[Y_AXIS][new_tool] - hotend_offset[Y_AXIS][old_tool],
zdiff = hotend_offset[Z_AXIS][new_tool] - hotend_offset[Z_AXIS][old_tool];
#else
constexpr float xdiff = 0, ydiff = 0, zdiff = 0;
constexpr xyz_pos_t diff{0};
#endif
#if ENABLED(DUAL_X_CARRIAGE)
@ -932,30 +929,28 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo)
// Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
current_position[Z_AXIS] += _MAX(-zdiff, 0.0) + toolchange_settings.z_raise;
current_position.z += _MAX(-zdiff, 0.0) + toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
NOMORE(current_position.z, soft_endstop.max.z);
#endif
if (!no_move) fast_line_to_current(Z_AXIS);
move_nozzle_servo(new_tool);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", xdiff, ", ", ydiff, ", ", zdiff, " }");
#if DISABLED(DUAL_X_CARRIAGE)
active_extruder = new_tool; // Set the new active extruder
#endif
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xdiff;
current_position[Y_AXIS] += ydiff;
current_position[Z_AXIS] += zdiff;
// Set the new active extruder if not already done in tool specific function above
active_extruder = new_tool;
// The newly-selected extruder XYZ is actually at...
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
current_position += diff;
// Tell the planner the new "current position"
sync_plan_position();
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
const bool safe_to_move = current_position.z < delta_clip_start_height - 1;
#else
constexpr bool safe_to_move = true;
#endif
@ -985,21 +980,21 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
do_pause_e_move(toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.prime_speed));
do_pause_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE);
#else
current_position[E_AXIS] += toolchange_settings.swap_length / planner.e_factor[new_tool];
current_position.e += toolchange_settings.swap_length / planner.e_factor[new_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), new_tool);
current_position[E_AXIS] += toolchange_settings.extra_prime / planner.e_factor[new_tool];
current_position.e += toolchange_settings.extra_prime / planner.e_factor[new_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed * 0.2f), new_tool);
#endif
planner.synchronize();
planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = current_position[E_AXIS] - (TOOLCHANGE_FIL_EXTRA_PRIME)));
planner.set_e_position_mm((destination.e = current_position.e = current_position.e - (TOOLCHANGE_FIL_EXTRA_PRIME)));
}
#endif
// Prevent a move outside physical bounds
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
// If the original position is within tool store area, go to X origin at once
if (destination[Y_AXIS] < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
current_position[X_AXIS] = 0;
if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
current_position.x = 0;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool);
planner.synchronize();
}
@ -1012,7 +1007,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(TOOLCHANGE_NO_RETURN)
// Just move back down
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only");
do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
#else
// Move back to the original (or adjusted) position
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
@ -1028,7 +1023,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(SWITCHING_NOZZLE)
else {
// Move back down. (Including when the new tool is higher.)
do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
}
#endif

3
Marlin/src/module/tool_change.h
View file

@ -22,6 +22,7 @@
#pragma once
#include "../inc/MarlinConfigPre.h"
#include "../core/types.h"
#if EXTRUDERS > 1
@ -31,7 +32,7 @@
int16_t prime_speed, retract_speed;
#endif
#if ENABLED(TOOLCHANGE_PARK)
struct { float x, y; } change_point;
xy_pos_t change_point;
#endif
float z_raise;
} toolchange_settings_t;

4
config/default/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/3DFabXYZ/Migbot/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/ADIMLab/Gantry v1/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/ADIMLab/Gantry v2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/AlephObjects/TAZ4/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Alfawise/U20-bltouch/Configuration_adv.h
View file

@ -603,9 +603,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Alfawise/U20/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/AliExpress/UM2pExt/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Anet/A2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Anet/A2plus/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Anet/A6/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Anet/A8/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Anet/A8plus/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Anet/E16/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/AnyCubic/i3/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/ArmEd/Configuration_adv.h
View file

@ -606,9 +606,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/BIBO/TouchX/cyclops/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/BIBO/TouchX/default/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/BQ/Hephestos/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/BQ/Hephestos_2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/BQ/WITBOX/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Cartesio/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/CR-10/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/CR-10S/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/CR-10_5S/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/CR-10mini/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/CR-20 Pro/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/CR-20/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/CR-8/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/Ender-2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/Ender-3/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/Ender-4/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Creality/Ender-5/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Dagoma/Disco Ultimate/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/EVNOVO (Artillery)/Sidewinder X1/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Einstart-S/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FYSETC/AIO_II/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FYSETC/Cheetah 1.2/BLTouch/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FYSETC/Cheetah 1.2/base/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FYSETC/Cheetah/BLTouch/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FYSETC/Cheetah/base/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FYSETC/F6_13/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Felix/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FlashForge/CreatorPro/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/FolgerTech/i3-2020/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Formbot/Raptor/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Formbot/T_Rex_2+/Configuration_adv.h
View file

@ -606,9 +606,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Formbot/T_Rex_3/Configuration_adv.h
View file

@ -606,9 +606,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Geeetech/A10/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Geeetech/A10M/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Geeetech/A20M/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Geeetech/MeCreator2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Geeetech/Prusa i3 Pro C/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Geeetech/Prusa i3 Pro W/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/HMS434/Configuration_adv.h
View file

@ -594,9 +594,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Infitary/i3-M508/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/JGAurora/A1/Configuration_adv.h
View file

@ -607,9 +607,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/JGAurora/A5/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/JGAurora/A5S/Configuration_adv.h
View file

@ -607,9 +607,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/MakerParts/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Malyan/M150/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Malyan/M200/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Micromake/C1/enhanced/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Mks/Robin/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Mks/Sbase/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/RapideLite/RL200/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/RigidBot/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/SCARA/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/STM32/Black_STM32F407VET6/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Sanguinololu/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Tevo/Michelangelo/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Tevo/Tarantula Pro/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Tevo/Tornado/V2 (MKS GEN-L)/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/TheBorg/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/TinyBoy2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Tronxy/X3A/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Tronxy/X5S-2E/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/UltiMachine/Archim1/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/UltiMachine/Archim2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/VORONDesign/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Velleman/K8200/Configuration_adv.h
View file

@ -615,9 +615,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Velleman/K8400/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/WASP/PowerWASP/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Wanhao/Duplicator 6/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/Wanhao/Duplicator i3 Mini/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/Anycubic/Kossel/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/Dreammaker/Overlord/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/Dreammaker/Overlord_Pro/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/FLSUN/kossel/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/Geeetech/Rostock 301/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/MKS/SBASE/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/Tevo Little Monster/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/generic/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/kossel_mini/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/delta/kossel_xl/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/gCreate/gMax1.5+/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/makibox/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/tvrrug/Round2/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34

4
config/examples/wt150/Configuration_adv.h
View file

@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 }
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34