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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 //#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN) #if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3] // Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 } #define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3 #define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation // Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34 #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 #endif // !SWITCHING_EXTRUDER
const float olde = current_position[E_AXIS]; const float olde = current_position.e;
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE; current_position.e += EXTRUDER_RUNOUT_EXTRUDE;
planner.buffer_line(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder); line_to_current_position(MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED));
current_position[E_AXIS] = olde; current_position.e = olde;
planner.set_e_position_mm(olde); planner.set_e_position_mm(olde);
planner.synchronize(); 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()) { if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
// travel moves have been received so enact them // travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
set_destination_from_current(); destination = current_position;
prepare_move_to_destination(); prepare_move_to_destination();
} }
#endif #endif
@ -1002,7 +1002,7 @@ void setup() {
#if HAS_M206_COMMAND #if HAS_M206_COMMAND
// Initialize current position based on home_offset // Initialize current position based on home_offset
LOOP_XYZ(a) current_position[a] += home_offset[a]; current_position += home_offset;
#endif #endif
// Vital to init stepper/planner equivalent for current_position // 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 XYZE 4
#define ABC 3 #define ABC 3
#define XYZ 3 #define XYZ 3
#define XY 2
#define _AXIS(A) (A##_AXIS) #define _AXIS(A) (A##_AXIS)
@ -252,12 +253,6 @@
#define DECREMENT_(n) DEC_##n #define DECREMENT_(n) DEC_##n
#define DECREMENT(n) DECREMENT_(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 NOOP (void(0))
#define CEILING(x,y) (((x) + (y) - 1) / (y)) #define CEILING(x,y) (((x) + (y) - 1) / (y))

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

@ -22,7 +22,6 @@
#include "serial.h" #include "serial.h"
#include "language.h" #include "language.h"
#include "enum.h"
uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE; 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); serialprintPGM(prefix);
SERIAL_ECHOPAIR(" " MSG_X, x, " " MSG_Y, y, " " MSG_Z, z); SERIAL_ECHOPAIR(" " MSG_X, x, " " MSG_Y, y, " " MSG_Z, z);
if (suffix) serialprintPGM(suffix); else SERIAL_EOL(); 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_bin(const uint16_t val);
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]); void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
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) inline void print_xyz(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(PSTR(PREFIX), nullptr, V); }while(0) 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 #if HAS_BED_PROBE
SERIAL_ECHOPAIR("Probe Offset X:", probe_offset[X_AXIS], " Y:", probe_offset[Y_AXIS], " Z:", probe_offset[Z_AXIS]); SERIAL_ECHOPAIR("Probe Offset X", probe_offset.x, " Y", probe_offset.y, " Z", probe_offset.z);
if (probe_offset[X_AXIS] > 0) if (probe_offset.x > 0)
SERIAL_ECHOPGM(" (Right"); SERIAL_ECHOPGM(" (Right");
else if (probe_offset[X_AXIS] < 0) else if (probe_offset.x < 0)
SERIAL_ECHOPGM(" (Left"); SERIAL_ECHOPGM(" (Left");
else if (probe_offset[Y_AXIS] != 0) else if (probe_offset.y != 0)
SERIAL_ECHOPGM(" (Middle"); SERIAL_ECHOPGM(" (Middle");
else else
SERIAL_ECHOPGM(" (Aligned With"); SERIAL_ECHOPGM(" (Aligned With");
if (probe_offset[Y_AXIS] > 0) { if (probe_offset.y > 0) {
#if IS_SCARA #if IS_SCARA
SERIAL_ECHOPGM("-Distal"); SERIAL_ECHOPGM("-Distal");
#else #else
SERIAL_ECHOPGM("-Back"); SERIAL_ECHOPGM("-Back");
#endif #endif
} }
else if (probe_offset[Y_AXIS] < 0) { else if (probe_offset.y < 0) {
#if IS_SCARA #if IS_SCARA
SERIAL_ECHOPGM("-Proximal"); SERIAL_ECHOPGM("-Proximal");
#else #else
SERIAL_ECHOPGM("-Front"); SERIAL_ECHOPGM("-Front");
#endif #endif
} }
else if (probe_offset[X_AXIS] != 0) else if (probe_offset.x != 0)
SERIAL_ECHOPGM("-Center"); SERIAL_ECHOPGM("-Center");
if (probe_offset[Z_AXIS] < 0) if (probe_offset.z < 0)
SERIAL_ECHOPGM(" & Below"); SERIAL_ECHOPGM(" & Below");
else if (probe_offset[Z_AXIS] > 0) else if (probe_offset.z > 0)
SERIAL_ECHOPGM(" & Above"); SERIAL_ECHOPGM(" & Above");
else else
SERIAL_ECHOPGM(" & Same Z as"); SERIAL_ECHOPGM(" & Same Z as");
@ -134,24 +134,18 @@ void safe_delay(millis_t ms) {
SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height); SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
#endif #endif
#if ABL_PLANAR #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"); SERIAL_ECHOPGM("ABL Adjustment X");
if (diff[X_AXIS] > 0) SERIAL_CHAR('+'); LOOP_XYZ(a) {
SERIAL_ECHO(diff[X_AXIS]); float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
SERIAL_ECHOPGM(" Y"); SERIAL_CHAR(' ');
if (diff[Y_AXIS] > 0) SERIAL_CHAR('+'); SERIAL_CHAR('X' + char(a));
SERIAL_ECHO(diff[Y_AXIS]); if (v > 0) SERIAL_CHAR('+');
SERIAL_ECHOPGM(" Z"); SERIAL_ECHO(v);
if (diff[Z_AXIS] > 0) SERIAL_CHAR('+'); }
SERIAL_ECHO(diff[Z_AXIS]);
#else #else
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL Adjustment Z"); 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) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
SERIAL_ECHOPGM("ABL Adjustment Z"); SERIAL_ECHOPGM("ABL Adjustment Z");
const float rz = bilinear_z_offset(current_position); const float rz = bilinear_z_offset(current_position);
@ -159,7 +153,7 @@ void safe_delay(millis_t ms) {
SERIAL_ECHO(ftostr43sign(rz, '+')); SERIAL_ECHO(ftostr43sign(rz, '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_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(')'); SERIAL_CHAR(')');
} }
#endif #endif
@ -175,15 +169,11 @@ void safe_delay(millis_t ms) {
SERIAL_ECHOPGM("Mesh Bed Leveling"); SERIAL_ECHOPGM("Mesh Bed Leveling");
if (planner.leveling_active) { if (planner.leveling_active) {
SERIAL_ECHOLNPGM(" (enabled)"); SERIAL_ECHOLNPGM(" (enabled)");
SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS] SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position), '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, 1.0
#endif
), '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height) { if (planner.z_fade_height) {
SERIAL_ECHOPAIR(" (", ftostr43sign( 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(')'); SERIAL_CHAR(')');
} }

24
Marlin/src/core/utility.h
View file

@ -22,8 +22,7 @@
#pragma once #pragma once
#include "../inc/MarlinConfigPre.h" #include "../inc/MarlinConfigPre.h"
#include "../core/types.h"
constexpr char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
// Delay that ensures heaters and watchdog are kept alive // Delay that ensures heaters and watchdog are kept alive
void safe_delay(millis_t ms); void safe_delay(millis_t ms);
@ -37,10 +36,25 @@ inline void serial_delay(const millis_t ms) {
#endif #endif
} }
#if GRID_MAX_POINTS_X && GRID_MAX_POINTS_Y
// 16x16 bit arrays // 16x16 bit arrays
FORCE_INLINE void bitmap_clear(uint16_t bits[16], const uint8_t x, const uint8_t y) { CBI(bits[y], x); } template <int W, int H>
FORCE_INLINE void bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { SBI(bits[y], x); } struct FlagBits {
FORCE_INLINE bool is_bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { return TEST(bits[y], x); } 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) #if ENABLED(DEBUG_LEVELING_FEATURE)
void log_machine_info(); 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 //only works on XYZ cartesian machines for the time being
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false; 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.min[encoderAxis] + 10,
endPosition = soft_endstop.max[encoderAxis] - 10;
const float startPosition = soft_endstop[encoderAxis].min + 10,
endPosition = soft_endstop[encoderAxis].max - 10;
const feedRate_t fr_mm_s = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY)); const feedRate_t fr_mm_s = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY));
ec = false; ec = false;
LOOP_XYZ(i) { xyze_pos_t startCoord, endCoord;
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i); LOOP_XYZ(a) {
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i); startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
} }
startCoord[encoderAxis] = startPosition; startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition; endCoord[encoderAxis] = endPosition;
planner.synchronize(); planner.synchronize();
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS], planner.buffer_line(startCoord, fr_mm_s, 0);
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
planner.synchronize(); planner.synchronize();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working) // 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 if (trusted) { // if trusted, commence test
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS], endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0); planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize(); planner.synchronize();
} }
@ -376,8 +374,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
float old_steps_mm, new_steps_mm, float old_steps_mm, new_steps_mm,
startDistance, endDistance, startDistance, endDistance,
travelDistance, travelledDistance, total = 0, travelDistance, travelledDistance, total = 0;
startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
int32_t startCount, stopCount; int32_t startCount, stopCount;
@ -387,31 +384,31 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
ec = false; ec = false;
startDistance = 20; startDistance = 20;
endDistance = soft_endstop[encoderAxis].max - 20; endDistance = soft_endstop.max[encoderAxis] - 20;
travelDistance = endDistance - startDistance; travelDistance = endDistance - startDistance;
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) { LOOP_XYZ(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a); startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a); endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
} }
startCoord[encoderAxis] = startDistance; startCoord[encoderAxis] = startDistance;
endCoord[encoderAxis] = endDistance; endCoord[encoderAxis] = endDistance;
planner.synchronize(); planner.synchronize();
LOOP_L_N(i, iter) { LOOP_L_N(i, iter) {
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS], startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0); planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize(); planner.synchronize();
delay(250); delay(250);
startCount = get_position(); 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], endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0); planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize(); planner.synchronize();
//Read encoder distance //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 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) #define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0)
extern const char axis_codes[XYZE];
typedef union { typedef union {
volatile int32_t val = 0; volatile int32_t val = 0;
uint8_t bval[4]; uint8_t bval[4];

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

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

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

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

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

@ -35,9 +35,9 @@
#include "../../../lcd/extensible_ui/ui_api.h" #include "../../../lcd/extensible_ui/ui_api.h"
#endif #endif
int bilinear_grid_spacing[2], bilinear_start[2]; xy_int_t bilinear_grid_spacing, bilinear_start;
float bilinear_grid_factor[2], xy_float_t bilinear_grid_factor;
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; bed_mesh_t z_values;
/** /**
* Extrapolate a single point from its neighbors * 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_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 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]; float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
int bilinear_grid_spacing_virt[2] = { 0 }; xy_int_t bilinear_grid_spacing_virt;
float bilinear_grid_factor_virt[2] = { 0 }; xy_float_t bilinear_grid_factor_virt;
void print_bilinear_leveling_grid_virt() { void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:"); 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] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t)) + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - 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) { 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() { void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS); bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS); bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
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]);
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) 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 x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++) 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 // Refresh after other values have been updated
void refresh_bed_level() { void refresh_bed_level() {
bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]); bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
#if ENABLED(ABL_BILINEAR_SUBDIVISION) #if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate(); bed_level_virt_interpolate();
#endif #endif
} }
#if ENABLED(ABL_BILINEAR_SUBDIVISION) #if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_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_FACTOR(A) bilinear_grid_factor_virt.A
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y] #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else #else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A] #define ABL_BG_SPACING(A) bilinear_grid_spacing.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor[A] #define ABL_BG_FACTOR(A) bilinear_grid_factor.A
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y] #define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif #endif
// Get the Z adjustment for non-linear bed leveling // 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, static float z1, d2, z3, d4, L, D;
last_x = -999.999, last_y = -999.999;
static xy_pos_t prev { -999.999, -999.999 }, ratio;
// Whole units for the grid line indices. Constrained within bounds. // Whole units for the grid line indices. Constrained within bounds.
static int8_t gridx, gridy, nextx, nexty, static xy_int8_t thisg, nextg, lastg { -99, -99 };
last_gridx = -99, last_gridy = -99;
// XY relative to the probed area // XY relative to the probed area
const float rx = raw[X_AXIS] - bilinear_start[X_AXIS], xy_pos_t rel = raw - bilinear_start.asFloat();
ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
#if ENABLED(EXTRAPOLATE_BEYOND_GRID) #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
#define FAR_EDGE_OR_BOX 2 // Keep using the last grid box #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 #define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
#endif #endif
if (last_x != rx) { if (prev.x != rel.x) {
last_x = rx; prev.x = rel.x;
ratio_x = rx * ABL_BG_FACTOR(X_AXIS); ratio.x = rel.x * ABL_BG_FACTOR(x);
const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX)); 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 ratio.x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID) #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges // 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 #endif
gridx = gx; thisg.x = gx;
nextx = _MIN(gridx + 1, ABL_BG_POINTS_X - 1); 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) { if (prev.y != rel.y) {
last_y = ry; prev.y = rel.y;
ratio_y = ry * ABL_BG_FACTOR(Y_AXIS); ratio.y = rel.y * ABL_BG_FACTOR(y);
const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX)); const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio_y -= gy; ratio.y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID) #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges // 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 #endif
gridy = gy; thisg.y = gy;
nexty = _MIN(gridy + 1, ABL_BG_POINTS_Y - 1); nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
} }
if (last_gridx != gridx || last_gridy != gridy) { if (lastg != thisg) {
last_gridx = gridx; lastg = thisg;
last_gridy = gridy;
// Z at the box corners // Z at the box corners
z1 = ABL_BG_GRID(gridx, gridy); // left-front z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta) d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextx, gridy); // right-front z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front
d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta) d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta)
} }
// Bilinear interpolate. Needed since ry or gridx has changed. // Bilinear interpolate. Needed since rel.y or thisg.x has changed.
L = z1 + d2 * ratio_y; // Linear interp. LF -> LB L = z1 + d2 * ratio.y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB const float R = z3 + d4 * ratio.y; // Linear interp. RF -> RB
D = R - L; 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; static float last_offset = 0;
if (ABS(last_offset - offset) > 0.2) { if (ABS(last_offset - offset) > 0.2) {
SERIAL_ECHOLNPAIR("Sudden Shift at x=", rx, " / ", bilinear_grid_spacing[X_AXIS], " -> gridx=", gridx); SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
SERIAL_ECHOLNPAIR(" y=", ry, " / ", bilinear_grid_spacing[Y_AXIS], " -> gridy=", gridy); 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(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4); SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset); 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) #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, * 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) { 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 // Get current and destination cells for this line
int cx1 = CELL_INDEX(X, current_position[X_AXIS]), xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]), c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
cx2 = CELL_INDEX(X, destination[X_AXIS]), LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
cy2 = CELL_INDEX(Y, destination[Y_AXIS]); LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
LIMIT(cx1, 0, ABL_BG_POINTS_X - 2); LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(cy1, 0, ABL_BG_POINTS_Y - 2); LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
LIMIT(cx2, 0, ABL_BG_POINTS_X - 2);
LIMIT(cy2, 0, ABL_BG_POINTS_Y - 2);
// Start and end in the same cell? No split needed. // Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) { if (c1 == c2) {
set_current_from_destination(); current_position = destination;
line_to_current_position(scaled_fr_mm_s); line_to_current_position(scaled_fr_mm_s);
return; 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]; float normalized_dist;
const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2); 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? // Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors. // 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 // Split on the X grid line
CBI(x_splits, gcx); CBI(x_splits, gc.x);
COPY(end, destination); end = destination;
destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx; destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
destination[Y_AXIS] = LINE_SEGMENT_END(Y); destination.y = LINE_SEGMENT_END(y);
} }
// Crosses on the Y and not already split on this 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 // Split on the Y grid line
CBI(y_splits, gcy); CBI(y_splits, gc.y);
COPY(end, destination); end = destination;
destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy; destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
destination[X_AXIS] = LINE_SEGMENT_END(X); destination.x = LINE_SEGMENT_END(x);
} }
else { else {
// Must already have been split on these border(s) // Must already have been split on these border(s)
// This should be a rare case. // This should be a rare case.
set_current_from_destination(); current_position = destination;
line_to_current_position(scaled_fr_mm_s); line_to_current_position(scaled_fr_mm_s);
return; return;
} }
destination[Z_AXIS] = LINE_SEGMENT_END(Z); destination.z = LINE_SEGMENT_END(z);
destination[E_AXIS] = LINE_SEGMENT_END(E); destination.e = LINE_SEGMENT_END(e);
// Do the split and look for more borders // Do the split and look for more borders
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits); bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack // Restore destination from stack
COPY(destination, end); destination = end;
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits); 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" #include "../../../inc/MarlinConfigPre.h"
extern int bilinear_grid_spacing[2], bilinear_start[2]; extern xy_int_t bilinear_grid_spacing, bilinear_start;
extern float bilinear_grid_factor[2], extern xy_float_t bilinear_grid_factor;
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; extern bed_mesh_t z_values;
float bilinear_z_offset(const float raw[XYZ]); float bilinear_z_offset(const xy_pos_t &raw);
void extrapolate_unprobed_bed_level(); void extrapolate_unprobed_bed_level();
void print_bilinear_leveling_grid(); 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); void bilinear_line_to_destination(const feedRate_t &scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
#endif #endif
#define _GET_MESH_X(I) (bilinear_start[X_AXIS] + (I) * bilinear_grid_spacing[X_AXIS]) #define _GET_MESH_X(I) float(bilinear_start.x + (I) * bilinear_grid_spacing.x)
#define _GET_MESH_Y(J) (bilinear_start[Y_AXIS] + (J) * bilinear_grid_spacing[Y_AXIS]) #define _GET_MESH_Y(J) float(bilinear_start.y + (J) * bilinear_grid_spacing.y)
#define Z_VALUES_ARR z_values #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) #if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh() mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing[X_AXIS] !!bilinear_grid_spacing.x
#elif ENABLED(AUTO_BED_LEVELING_UBL) #elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.mesh_is_valid() ubl.mesh_is_valid()
#else // 3POINT, LINEAR #else // 3POINT, LINEAR
@ -81,13 +81,13 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time // 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); (void)bilinear_z_offset(reset);
#endif #endif
if (planner.leveling_active) { // leveling from on to off if (planner.leveling_active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers. // 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 planner.leveling_active = false; // disable only AFTER calling apply_leveling
} }
else { // leveling from off to on else { // leveling from off to on
@ -116,9 +116,9 @@ TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(
planner.set_z_fade_height(zfh); planner.set_z_fade_height(zfh);
if (leveling_was_active) { 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); set_bed_leveling_enabled(true);
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos))) if (do_report && oldpos != current_position)
report_current_position(); report_current_position();
} }
} }
@ -137,8 +137,8 @@ void reset_bed_level() {
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
mbl.reset(); mbl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] = bilinear_start.reset();
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0; bilinear_grid_spacing.reset();
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
z_values[x][y] = NAN; z_values[x][y] = NAN;
@ -223,25 +223,25 @@ void reset_bed_level() {
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) #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 #ifdef MANUAL_PROBE_START_Z
constexpr float startz = _MAX(0, MANUAL_PROBE_START_Z);
#if MANUAL_PROBE_HEIGHT > 0 #if MANUAL_PROBE_HEIGHT > 0
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT); do_blocking_move_to(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(_MAX(0,MANUAL_PROBE_START_Z)); do_blocking_move_to_z(startz);
#else #else
do_blocking_move_to(rx, ry, _MAX(0,MANUAL_PROBE_START_Z)); do_blocking_move_to(pos, startz);
#endif #endif
#elif MANUAL_PROBE_HEIGHT > 0 #elif MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position[Z_AXIS]; const float prev_z = current_position.z;
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT); do_blocking_move_to(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(prev_z); do_blocking_move_to_z(prev_z);
#else #else
do_blocking_move_to_xy(rx, ry); do_blocking_move_to_xy(pos);
#endif #endif
current_position[X_AXIS] = rx; current_position = pos;
current_position[Y_AXIS] = ry;
#if ENABLED(LCD_BED_LEVELING) #if ENABLED(LCD_BED_LEVELING)
ui.wait_for_bl_move = false; ui.wait_for_bl_move = false;

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

@ -38,7 +38,7 @@ void reset_bed_level();
#endif #endif
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) #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 #endif
/** /**
@ -57,11 +57,6 @@ class TemporaryBedLevelingState {
typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; 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) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "abl/abl.h" #include "abl/abl.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL) #elif ENABLED(AUTO_BED_LEVELING_UBL)
@ -71,6 +66,7 @@ class TemporaryBedLevelingState {
#endif #endif
#define Z_VALUES(X,Y) Z_VALUES_ARR[X][Y] #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) #if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
@ -85,4 +81,18 @@ class TemporaryBedLevelingState {
#endif #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 #endif

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

@ -24,10 +24,9 @@
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h" #include "../bedlevel.h"
#include "../../../module/motion.h" #include "../../../module/motion.h"
#include "../../../feature/bedlevel/bedlevel.h"
#if ENABLED(EXTENSIBLE_UI) #if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extensible_ui/ui_api.h" #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) { 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 // Get current and destination cells for this line
int cx1 = cell_index_x(current_position[X_AXIS]), xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination);
cy1 = cell_index_y(current_position[Y_AXIS]), NOMORE(scel.x, GRID_MAX_POINTS_X - 2);
cx2 = cell_index_x(destination[X_AXIS]), NOMORE(scel.y, GRID_MAX_POINTS_Y - 2);
cy2 = cell_index_y(destination[Y_AXIS]); NOMORE(ecel.x, GRID_MAX_POINTS_X - 2);
NOMORE(cx1, GRID_MAX_POINTS_X - 2); NOMORE(ecel.y, GRID_MAX_POINTS_Y - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2);
NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
// Start and end in the same cell? No split needed. // 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); line_to_destination(scaled_fr_mm_s);
set_current_from_destination(); current_position = destination;
return; 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]; float normalized_dist;
const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2); 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? // Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors. // 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 // Split on the X grid line
CBI(x_splits, gcx); CBI(x_splits, gcx);
COPY(end, destination); dest = destination;
destination[X_AXIS] = index_to_xpos[gcx]; destination.x = index_to_xpos[gcx];
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x);
destination[Y_AXIS] = MBL_SEGMENT_END(Y); destination.y = MBL_SEGMENT_END(y);
} }
// Crosses on the Y and not already split on this 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 // Split on the Y grid line
CBI(y_splits, gcy); CBI(y_splits, gcy);
COPY(end, destination); dest = destination;
destination[Y_AXIS] = index_to_ypos[gcy]; destination.y = index_to_ypos[gcy];
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y);
destination[X_AXIS] = MBL_SEGMENT_END(X); destination.x = MBL_SEGMENT_END(x);
} }
else { else {
// Must already have been split on these border(s) // Must already have been split on these border(s)
// This should be a rare case. // This should be a rare case.
line_to_destination(scaled_fr_mm_s); line_to_destination(scaled_fr_mm_s);
set_current_from_destination(); current_position = destination;
return; return;
} }
destination[Z_AXIS] = MBL_SEGMENT_END(Z); destination.z = MBL_SEGMENT_END(z);
destination[E_AXIS] = MBL_SEGMENT_END(E); destination.e = MBL_SEGMENT_END(e);
// Do the split and look for more borders // Do the split and look for more borders
line_to_destination(scaled_fr_mm_s, x_splits, y_splits); line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack // Restore destination from stack
COPY(destination, end); destination = dest;
line_to_destination(scaled_fr_mm_s, x_splits, y_splits); 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); int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2); return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
} }
static int8_t cell_index_y(const float &y) { static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST); int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2); 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) { 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); 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; return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
} }
static int8_t probe_index_y(const float &y) { 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); 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; 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) { 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), const float delta_z = (z2 - z1) / (a2 - a1),
@ -98,21 +104,21 @@ public:
return z1 + delta_a * delta_z; 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) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, const float &factor , const float &factor=1.0f
#endif #endif
) { ) {
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0); #if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]), constexpr float factor = 1.0f;
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);
return z_offset + z0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* factor
#endif #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 + calc_z0(pos.y, y1, z1, y2, z2) * factor;
} }
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) #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 // 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 // moving to the XY position to be measured. This ensures better agreement between
// the current Z position after G28 and the mesh values. // 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]), const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + xy_pos_t(probe_offset));
current_yi = find_closest_y_index(current_position[Y_AXIS] + probe_offset[Y_AXIS]);
if (!lcd) SERIAL_EOL(); if (!lcd) SERIAL_EOL();
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) { 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++) { for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
// Opening Brace or Space // 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 ? '[' : ' '); if (human) SERIAL_CHAR(is_current ? '[' : ' ');
// Z Value at current I, J // 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_OK false
#define UBL_ERR true #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 }; enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
// External references // 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_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)) #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_repetition_cnt,
g29_storage_slot, g29_storage_slot,
g29_map_type; g29_map_type;
static bool g29_c_flag, g29_x_flag, g29_y_flag; static bool g29_c_flag;
static float g29_x_pos, g29_y_pos, static float g29_card_thickness,
g29_card_thickness,
g29_constant; g29_constant;
static xy_pos_t g29_pos;
static xy_bool_t xy_seen;
#if HAS_BED_PROBE #if HAS_BED_PROBE
static int g29_grid_size; static int g29_grid_size;
@ -65,16 +63,19 @@ class unified_bed_leveling {
static void move_z_with_encoder(const float &multiplier); static void move_z_with_encoder(const float &multiplier);
static float measure_point_with_encoder(); static float measure_point_with_encoder();
static float measure_business_card_thickness(float in_height); 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 manually_probe_remaining_mesh(const xy_pos_t&, 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 fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0;
#endif #endif
static bool g29_parameter_parsing() _O0; static bool g29_parameter_parsing() _O0;
static void shift_mesh_height(); 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_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 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 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(); static void smart_fill_mesh();
#if ENABLED(UBL_DEVEL_DEBUGGING) #if ENABLED(UBL_DEVEL_DEBUGGING)
@ -91,7 +92,7 @@ class unified_bed_leveling {
static void save_ubl_active_state_and_disable(); static void save_ubl_active_state_and_disable();
static void restore_ubl_active_state_and_leave(); static void restore_ubl_active_state_and_leave();
static void display_map(const int) _O0; 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 mesh_index_pair find_furthest_invalid_mesh_point() _O0;
static void reset(); static void reset();
static void invalidate(); 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; } 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); 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 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 } // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably // to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from // that is OK because something else should be keeping that from
// happening and should not be worried about at this level. // 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); 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 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 } // 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 // that is OK because something else should be keeping that from
// happening and should not be worried about at this level. // 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); 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; return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
} }
static int8_t closest_y_index(const float &y) {
static int8_t find_closest_y_index(const float &y) {
const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST); 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; 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 --| * z2 --|
@ -228,8 +236,7 @@ class unified_bed_leveling {
* on the Y position within the cell. * on the Y position within the cell.
*/ */
static float get_z_correction(const float &rx0, const float &ry0) { static float get_z_correction(const float &rx0, const float &ry0) {
const int8_t cx = get_cell_index_x(rx0), const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped
cy = get_cell_index_y(ry0); // return values are clamped
/** /**
* Check if the requested location is off the mesh. If so, and * Check if the requested location is off the mesh. If so, and
@ -275,11 +282,11 @@ class unified_bed_leveling {
} }
return z0; 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) { 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); 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) { 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); return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
} }

446
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View file

@ -53,8 +53,6 @@
#define UBL_G29_P31 #define UBL_G29_P31
extern float destination[XYZE], current_position[XYZE];
#if HAS_LCD_MENU #if HAS_LCD_MENU
void _lcd_ubl_output_map_lcd(); void _lcd_ubl_output_map_lcd();
#endif #endif
@ -67,13 +65,11 @@
unified_bed_leveling::g29_repetition_cnt, unified_bed_leveling::g29_repetition_cnt,
unified_bed_leveling::g29_storage_slot = 0, unified_bed_leveling::g29_storage_slot = 0,
unified_bed_leveling::g29_map_type; unified_bed_leveling::g29_map_type;
bool unified_bed_leveling::g29_c_flag, bool unified_bed_leveling::g29_c_flag;
unified_bed_leveling::g29_x_flag, float unified_bed_leveling::g29_card_thickness = 0,
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,
unified_bed_leveling::g29_constant = 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 #if HAS_BED_PROBE
int unified_bed_leveling::g29_grid_size; int unified_bed_leveling::g29_grid_size;
@ -330,18 +326,19 @@
else { else {
while (g29_repetition_cnt--) { while (g29_repetition_cnt--) {
if (cnt > 20) { cnt = 0; idle(); } 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); const mesh_index_pair closest = find_closest_mesh_point_of_type(REAL, g29_pos);
if (location.x_index < 0) { const xy_int8_t &cpos = closest.pos;
// No more REACHABLE mesh points to invalidate, so we ASSUME the user 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 // 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); set_all_mesh_points_to_value(NAN);
SERIAL_ECHOLNPGM("Entire Mesh invalidated.\n"); SERIAL_ECHOLNPGM("Entire Mesh invalidated.\n");
break; // No more invalid Mesh Points to populate 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) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, 0); ExtUI::onMeshUpdate(closest, 0);
#endif #endif
cnt++; cnt++;
} }
@ -448,13 +445,13 @@
SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh."); SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh.");
} }
if (g29_verbose_level > 1) { if (g29_verbose_level > 1) {
SERIAL_ECHOPAIR("Probing around (", g29_x_pos); SERIAL_ECHOPAIR("Probing around (", g29_pos.x);
SERIAL_CHAR(','); SERIAL_CHAR(',');
SERIAL_ECHO(g29_y_pos); SERIAL_ECHO(g29_pos.y);
SERIAL_ECHOLNPGM(").\n"); SERIAL_ECHOLNPGM(").\n");
} }
probe_entire_mesh(g29_x_pos + probe_offset[X_AXIS], g29_y_pos + probe_offset[Y_AXIS], const xy_pos_t near = g29_pos + probe_offset;
parser.seen('T'), parser.seen('E'), parser.seen('U')); probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
report_current_position(); report_current_position();
probe_deployed = true; probe_deployed = true;
@ -470,7 +467,7 @@
SERIAL_ECHOLNPGM("Manually probing unreachable mesh locations."); SERIAL_ECHOLNPGM("Manually probing unreachable mesh locations.");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); 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. * Use a good default location for the path.
* The flipped > and < operators in these comparisons is intentional. * 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. * 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. * Until that is decided, this can be forced with the X and Y parameters.
*/ */
g29_pos.set(
#if IS_KINEMATIC #if IS_KINEMATIC
g29_x_pos = X_HOME_POS; X_HOME_POS, Y_HOME_POS
g29_y_pos = Y_HOME_POS; #else
#else // cartesian probe_offset.x > 0 ? X_BED_SIZE : 0,
g29_x_pos = probe_offset[X_AXIS] > 0 ? X_BED_SIZE : 0; probe_offset.y < 0 ? Y_BED_SIZE : 0
g29_y_pos = probe_offset[Y_AXIS] < 0 ? Y_BED_SIZE : 0;
#endif #endif
);
} }
if (parser.seen('B')) { if (parser.seen('B')) {
@ -496,13 +494,13 @@
probe_deployed = true; 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."); SERIAL_ECHOLNPGM("XY outside printable radius.");
return; return;
} }
const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES); 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."); SERIAL_ECHOLNPGM("G29 P2 finished.");
@ -530,23 +528,25 @@
} }
else { else {
while (g29_repetition_cnt--) { // this only populates reachable mesh points near 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); const mesh_index_pair closest = find_closest_mesh_point_of_type(INVALID, g29_pos);
if (location.x_index < 0) { const xy_int8_t &cpos = closest.pos;
// No more REACHABLE INVALID mesh points to populate, so we ASSUME 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 // user meant to populate ALL INVALID mesh points to value
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (isnan(z_values[x][y])) if (isnan(z_values[x][y])) z_values[x][y] = g29_constant;
z_values[x][y] = g29_constant;
break; // No more invalid Mesh Points to populate break; // No more invalid Mesh Points to populate
} }
z_values[location.x_index][location.y_index] = g29_constant; else {
z_values[cpos.x][cpos.y] = g29_constant;
#if ENABLED(EXTENSIBLE_UI) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, z_values[location.x_index][location.y_index]); ExtUI::onMeshUpdate(closest, g29_constant);
#endif #endif
} }
} }
} }
}
else { else {
const float cvf = parser.value_float(); const float cvf = parser.value_float();
switch ((int)truncf(cvf * 10.0f) - 30) { // 3.1 -> 1 switch ((int)truncf(cvf * 10.0f) - 30) { // 3.1 -> 1
@ -576,7 +576,7 @@
case 4: // Fine Tune (i.e., Edit) the Mesh case 4: // Fine Tune (i.e., Edit) the Mesh
#if HAS_LCD_MENU #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 #else
SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present."); SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present.");
return; return;
@ -740,9 +740,7 @@
* Probe all invalidated locations of the mesh that can be reached by the probe. * 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. * 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) { 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) {
mesh_index_pair location;
#if HAS_LCD_MENU #if HAS_LCD_MENU
ui.capture(); ui.capture();
#endif #endif
@ -752,6 +750,7 @@
uint8_t count = GRID_MAX_POINTS; uint8_t count = GRID_MAX_POINTS;
mesh_index_pair best;
do { do {
if (do_ubl_mesh_map) display_map(g29_map_type); if (do_ubl_mesh_map) display_map(g29_map_type);
@ -773,23 +772,23 @@
} }
#endif #endif
if (do_furthest) best = do_furthest
location = find_furthest_invalid_mesh_point(); ? find_furthest_invalid_mesh_point()
else : find_closest_mesh_point_of_type(INVALID, near, true);
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, nullptr);
if (location.x_index >= 0) { // mesh point found and is reachable by probe if (best.pos.x >= 0) { // mesh point found and is reachable by probe
const float rawx = mesh_index_to_xpos(location.x_index), const float measured_z = probe_at_point(
rawy = mesh_index_to_ypos(location.y_index), best.meshpos(),
measured_z = probe_at_point(rawx, rawy, stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level
z_values[location.x_index][location.y_index] = measured_z; );
z_values[best.pos.x][best.pos.y] = measured_z;
#if ENABLED(EXTENSIBLE_UI) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, measured_z); ExtUI::onMeshUpdate(best, measured_z);
#endif #endif
} }
SERIAL_FLUSH(); // Prevent host M105 buffer overrun. SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (location.x_index >= 0 && --count); } while (best.pos.x >= 0 && --count);
STOW_PROBE(); STOW_PROBE();
@ -800,8 +799,8 @@
restore_ubl_active_state_and_leave(); restore_ubl_active_state_and_leave();
do_blocking_move_to_xy( do_blocking_move_to_xy(
constrain(rx - probe_offset[X_AXIS], MESH_MIN_X, MESH_MAX_X), constrain(near.x - probe_offset.x, MESH_MIN_X, MESH_MAX_X),
constrain(ry - probe_offset[Y_AXIS], MESH_MIN_Y, MESH_MAX_Y) constrain(near.y - probe_offset.y, MESH_MIN_Y, MESH_MAX_Y)
); );
} }
@ -835,7 +834,7 @@
idle(); idle();
gcode.reset_stepper_timeout(); // Keep steppers powered gcode.reset_stepper_timeout(); // Keep steppers powered
if (encoder_diff) { 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; encoder_diff = 0;
} }
} }
@ -844,7 +843,7 @@
float unified_bed_leveling::measure_point_with_encoder() { float unified_bed_leveling::measure_point_with_encoder() {
KEEPALIVE_STATE(PAUSED_FOR_USER); KEEPALIVE_STATE(PAUSED_FOR_USER);
move_z_with_encoder(0.01f); 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."); } static void echo_and_take_a_measurement() { SERIAL_ECHOLNPGM(" and take a measurement."); }
@ -863,7 +862,7 @@
echo_and_take_a_measurement(); echo_and_take_a_measurement();
const float z1 = measure_point_with_encoder(); 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(); planner.synchronize();
SERIAL_ECHOPGM("Remove shim"); SERIAL_ECHOPGM("Remove shim");
@ -872,7 +871,7 @@
const float z2 = measure_point_with_encoder(); 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); const float thickness = ABS(z1 - z2);
@ -888,29 +887,33 @@
return thickness; 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(); ui.capture();
save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained 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(); ui.return_to_status();
mesh_index_pair location; mesh_index_pair location;
xy_int8_t &lpos = location.pos;
do { 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. // 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), const xyz_pos_t ppos = {
yProbe = mesh_index_to_ypos(location.y_index); 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); 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); do_blocking_move_to_z(z_clearance);
KEEPALIVE_STATE(PAUSED_FOR_USER); KEEPALIVE_STATE(PAUSED_FOR_USER);
@ -932,20 +935,20 @@
return restore_ubl_active_state_and_leave(); 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) #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 #endif
if (g29_verbose_level > 2) 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. 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 if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
restore_ubl_active_state_and_leave(); 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) { inline void set_message_with_feedback(PGM_P const msg_P) {
@ -959,7 +962,7 @@
set_message_with_feedback(PSTR(MSG_EDITING_STOPPED)); 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) { 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 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. g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
@ -973,7 +976,7 @@
mesh_index_pair location; mesh_index_pair location;
if (!position_is_reachable(rx, ry)) { if (!position_is_reachable(pos)) {
SERIAL_ECHOLNPGM("(X,Y) outside printable radius."); SERIAL_ECHOLNPGM("(X,Y) outside printable radius.");
return; return;
} }
@ -983,28 +986,30 @@
LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH); 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) #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 #endif
uint16_t not_done[16]; MeshFlags done_flags{0};
memset(not_done, 0xFF, sizeof(not_done)); xy_int8_t &lpos = location.pos;
do { 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 done_flags.mark(lpos); // Mark this location as 'adjusted' so a new
// location is used on the next loop // 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), if (!position_is_reachable(raw)) break; // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable)
rawy = mesh_index_to_ypos(location.y_index);
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(raw); // Move the nozzle to the edit point with probe clearance
do_blocking_move_to(rawx, rawy, Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to the edit point with probe clearance
#if ENABLED(UBL_MESH_EDIT_MOVES_Z) #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
@ -1016,7 +1021,7 @@
ui.refresh(); ui.refresh();
float new_z = z_values[location.x_index][location.y_index]; float new_z = z_values[lpos.x][lpos.y];
if (isnan(new_z)) new_z = 0; // Invalid points begin at 0 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 new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place
@ -1035,22 +1040,22 @@
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) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(location.x_index, location.y_index, new_z); ExtUI::onMeshUpdate(location, new_z);
#endif #endif
serial_delay(20); // No switch noise serial_delay(20); // No switch noise
ui.refresh(); ui.refresh();
} while (location.x_index >= 0 && --g29_repetition_cnt > 0); } while (lpos.x >= 0 && --g29_repetition_cnt > 0);
ui.release(); ui.release();
if (do_ubl_mesh_map) display_map(g29_map_type); if (do_ubl_mesh_map) display_map(g29_map_type);
restore_ubl_active_state_and_leave(); 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); LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
SERIAL_ECHOLNPGM("Done Editing Mesh"); SERIAL_ECHOLNPGM("Done Editing Mesh");
@ -1073,11 +1078,6 @@
g29_constant = 0; g29_constant = 0;
g29_repetition_cnt = 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')) { if (parser.seen('R')) {
g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS; g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
NOMORE(g29_repetition_cnt, GRID_MAX_POINTS); NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
@ -1124,17 +1124,24 @@
#endif #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"); SERIAL_ECHOLNPGM("Both X & Y locations must be specified.\n");
err_flag = true; err_flag = true;
} }
// If X or Y are not valid, use center of the bed values // 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(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER; if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
if (err_flag) return UBL_ERR; if (err_flag) return UBL_ERR;
g29_pos.set(sx, sy);
/** /**
* Activate or deactivate UBL * Activate or deactivate UBL
* Note: UBL's G29 restores the state set here when done. * Note: UBL's G29 restores the state set here when done.
@ -1215,24 +1222,20 @@
bool found_a_NAN = false, found_a_real = false; bool found_a_NAN = false, found_a_real = false;
mesh_index_pair out_mesh; mesh_index_pair farthest { -1, -1, -99999.99 };
out_mesh.x_index = out_mesh.y_index = -1;
out_mesh.distance = -99999.99f;
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { 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), // Skip points the probe can't reach
my = mesh_index_to_ypos(j); if (!position_is_reachable_by_probe(mesh_index_to_xpos(i), mesh_index_to_ypos(j)))
if (!position_is_reachable_by_probe(mx, my)) // make sure the probe can get to the mesh point
continue; continue;
found_a_NAN = true; found_a_NAN = true;
int8_t closest_x = -1, closest_y = -1; xy_int8_t near { -1, -1 };
float d1, d2 = 99999.9f; float d1, d2 = 99999.9f;
for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) { for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) { 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)); 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) if (d1 < d2) { // Invalid mesh point (i,j) is closer to the defined point (k,l)
d2 = d1; // found a closer location with d2 = d1;
closest_x = i; // an assigned mesh point value near.set(i, j);
closest_y = 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)) { if (found_a_real && near.x >= 0 && d2 > farthest.distance) {
out_mesh.distance = d2; // found an invalid location with a greater distance farthest.pos = near; // Found an invalid location farther from the defined mesh point
out_mesh.x_index = closest_x; // to a defined mesh point farthest.distance = d2;
out_mesh.y_index = closest_y;
} }
} }
} // for j } // for j
} // for i } // for i
if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing 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; farthest.pos.set(GRID_MAX_POINTS_X / 2, GRID_MAX_POINTS_Y / 2);
out_mesh.y_index = GRID_MAX_POINTS_Y / 2; farthest.distance = 1;
out_mesh.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 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 out_mesh; mesh_index_pair closest;
out_mesh.x_index = out_mesh.y_index = -1; closest.invalidate();
out_mesh.distance = -99999.9f; closest.distance = -99999.9f;
// Get our reference position. Either the nozzle or probe location. // Get the reference position, either nozzle or probe
const float px = rx + (probe_as_reference == USE_PROBE_AS_REFERENCE ? probe_offset[X_AXIS] : 0), const xy_pos_t ref = probe_relative ? pos + probe_offset : pos;
py = ry + (probe_as_reference == USE_PROBE_AS_REFERENCE ? probe_offset[Y_AXIS] : 0);
float best_so_far = 99999.99f; float best_so_far = 99999.99f;
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
if ( (type == INVALID && isnan(z_values[i][j])) // Check to see if this location holds the right thing || (type == SET_IN_BITMAP && !done_flags->marked(i, j))
|| (type == REAL && !isnan(z_values[i][j]))
|| (type == SET_IN_BITMAP && is_bitmap_set(bits, i, j))
) { ) {
// We only get here if we found a Mesh Point of the specified type // Found a Mesh Point of the specified type!
const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) };
const float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j);
// If using the probe as the reference there are some unreachable locations. // 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. // 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). // 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; continue;
// Reachable. Check if it's the best_so_far location to the nozzle. // 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 // factor in the distance from the current location for the normal case
// so the nozzle isn't running all over the bed. // 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) { if (distance < best_so_far) {
best_so_far = distance; // We found a closer location with best_so_far = distance; // Found a closer location with the desired value type.
out_mesh.x_index = i; // the specified type of mesh value. closest.pos.set(i, j);
out_mesh.y_index = j; closest.distance = best_so_far;
out_mesh.distance = best_so_far;
} }
} }
} // for j } // for j
} // for i } // for i
return out_mesh; return closest;
} }
/** /**
@ -1332,21 +1326,21 @@
*/ */
bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { 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, const float v = z_values[x][y];
y1 = y + ydir, y2 = y1 + ydir; if (isnan(v)) { // A NAN...
// A NAN next to a pair of real values? const int8_t dx = x + xdir, dy = y + ydir;
if (isnan(z_values[x][y]) && !isnan(z_values[x1][y1]) && !isnan(z_values[x2][y2])) { const float v1 = z_values[dx][dy];
if (z_values[x1][y1] < z_values[x2][y2]) // Angled downward? if (!isnan(v1)) { // ...next to a pair of real values?
z_values[x][y] = z_values[x1][y1]; // Use nearest (maybe a little too high.) const float v2 = z_values[dx + xdir][dy + ydir];
else if (!isnan(v2)) {
z_values[x][y] = 2.0f * z_values[x1][y1] - z_values[x2][y2]; // Angled upward... z_values[x][y] = v1 < v2 ? v1 : v1 + v1 - v2;
#if ENABLED(EXTENSIBLE_UI) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(x, y, z_values[x][y]); ExtUI::onMeshUpdate(x, y, z_values[pos.x][pos.y]);
#endif #endif
return true; return true;
} }
}
}
return false; return false;
} }
@ -1391,15 +1385,15 @@
dx = (x_max - x_min) / (g29_grid_size - 1), dx = (x_max - x_min) / (g29_grid_size - 1),
dy = (y_max - y_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) #if ENABLED(HAS_FIXED_3POINT)
vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0), { PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0), { PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0) { PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
#else #else
vector_3(x_min, y_min, 0), { x_min, y_min, 0 },
vector_3(x_max, y_min, 0), { x_max, y_min, 0 },
vector_3((x_max - x_min) / 2, y_max, 0) { (x_max - x_min) / 2, y_max, 0 }
#endif #endif
}; };
@ -1419,11 +1413,11 @@
ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 1/3")); ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 1/3"));
#endif #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)) if (isnan(measured_z))
abort_flag = true; abort_flag = true;
else { else {
measured_z -= get_z_correction(points[0].x, points[0].y); measured_z -= get_z_correction(points[0]);
#ifdef VALIDATE_MESH_TILT #ifdef VALIDATE_MESH_TILT
z1 = measured_z; z1 = measured_z;
#endif #endif
@ -1431,7 +1425,7 @@
serial_spaces(16); serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); 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) { if (!abort_flag) {
@ -1440,19 +1434,19 @@
ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 2/3")); ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 2/3"));
#endif #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 #ifdef VALIDATE_MESH_TILT
z2 = measured_z; z2 = measured_z;
#endif #endif
if (isnan(measured_z)) if (isnan(measured_z))
abort_flag = true; abort_flag = true;
else { else {
measured_z -= get_z_correction(points[1].x, points[1].y); measured_z -= get_z_correction(points[1]);
if (g29_verbose_level > 3) { if (g29_verbose_level > 3) {
serial_spaces(16); serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); 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")); ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 3/3"));
#endif #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 #ifdef VALIDATE_MESH_TILT
z3 = measured_z; z3 = measured_z;
#endif #endif
if (isnan(measured_z)) if (isnan(measured_z))
abort_flag = true; abort_flag = true;
else { else {
measured_z -= get_z_correction(points[2].x, points[2].y); measured_z -= get_z_correction(points[2]);
if (g29_verbose_level > 3) { if (g29_verbose_level > 3) {
serial_spaces(16); serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); 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; 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++) { 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++) { 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) { if (!abort_flag) {
SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n"); 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); ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " %i/%i"), point_num, total_points);
#endif #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); abort_flag = isnan(measured_z);
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
const xy_pos_t lpos = rpos.asLogical();
DEBUG_CHAR('('); DEBUG_CHAR('(');
DEBUG_ECHO_F(rx, 7); DEBUG_ECHO_F(rpos.x, 7);
DEBUG_CHAR(','); DEBUG_CHAR(',');
DEBUG_ECHO_F(ry, 7); DEBUG_ECHO_F(rpos.y, 7);
DEBUG_ECHOPGM(") logical: ("); DEBUG_ECHOPAIR_F(") logical: (", lpos.x, 7);
DEBUG_ECHO_F(LOGICAL_X_POSITION(rx), 7);
DEBUG_CHAR(','); 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(") 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); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7);
@ -1530,7 +1525,7 @@
serial_spaces(16); serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
} }
incremental_LSF(&lsf_results, rx, ry, measured_z); incremental_LSF(&lsf_results, rpos, measured_z);
} }
point_num++; point_num++;
@ -1564,33 +1559,33 @@
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp = mesh_index_to_xpos(i), float mx = mesh_index_to_xpos(i),
y_tmp = mesh_index_to_ypos(j), my = mesh_index_to_ypos(j),
z_tmp = z_values[i][j]; mz = z_values[i][j];
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR_F("before rotation = [", x_tmp, 7); DEBUG_ECHOPAIR_F("before rotation = [", mx, 7);
DEBUG_CHAR(','); DEBUG_CHAR(',');
DEBUG_ECHO_F(y_tmp, 7); DEBUG_ECHO_F(my, 7);
DEBUG_CHAR(','); DEBUG_CHAR(',');
DEBUG_ECHO_F(z_tmp, 7); DEBUG_ECHO_F(mz, 7);
DEBUG_ECHOPGM("] ---> "); DEBUG_ECHOPGM("] ---> ");
DEBUG_DELAY(20); DEBUG_DELAY(20);
} }
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp); apply_rotation_xyz(rotation, mx, my, mz);
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR_F("after rotation = [", x_tmp, 7); DEBUG_ECHOPAIR_F("after rotation = [", mx, 7);
DEBUG_CHAR(','); DEBUG_CHAR(',');
DEBUG_ECHO_F(y_tmp, 7); DEBUG_ECHO_F(my, 7);
DEBUG_CHAR(','); DEBUG_CHAR(',');
DEBUG_ECHO_F(z_tmp, 7); DEBUG_ECHO_F(mz, 7);
DEBUG_ECHOLNPGM("]"); 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) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(i, j, z_values[i][j]); ExtUI::onMeshUpdate(i, j, z_values[i][j]);
#endif #endif
@ -1613,41 +1608,32 @@
DEBUG_EOL(); DEBUG_EOL();
/** /**
* The following code can be used to check the validity of the mesh tilting algorithm. * Use the code below 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. * 3-Point Mesh Tilt uses the same algorithm as grid-based tilting, but only
* The only difference is just 3 points are used in the calculations. That fact guarantees * three points are used in the calculation. This guarantees that each probed point
* each probed point should have an exact match when a get_z_correction() for that location * has an exact match when get_z_correction() for that location is calculated.
* is calculated. The Z error between the probed point locations and the get_z_correction() * The Z error between the probed point locations and the get_z_correction()
* numbers for those locations should be 0. * numbers for those locations should be 0.
*/ */
#ifdef VALIDATE_MESH_TILT #ifdef VALIDATE_MESH_TILT
float t, t1, d; auto d_from = []() { DEBUG_ECHOPGM("D from "); };
t = normal.x * x_min + normal.y * y_min; auto normed = [&](const xy_pos_t &pos, const float &zadd) {
d = t + normal.z * z1; return normal.x * pos.x + normal.y * pos.y + zadd;
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); auto debug_pt = [](PGM_P const pre, const xy_pos_t &pos, const float &zadd) {
d_from(); serialprintPGM(pre);
t = normal.x * x_max + normal.y * y_min; DEBUG_ECHO_F(normed(pos, zadd), 6);
d = t + normal.z * z2; DEBUG_ECHOLNPAIR_F(" Z error: ", zadd - get_z_correction(pos), 6);
DEBUG_EOL(); };
DEBUG_ECHOPAIR_F("D from 2nd point: ", d, 6); debug_pt(PSTR("1st point: "), probe_pt[0], normal.z * z1);
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z * z2 - get_z_correction(x_max, y_min), 6); debug_pt(PSTR("2nd point: "), probe_pt[1], normal.z * z2);
debug_pt(PSTR("3rd point: "), probe_pt[2], normal.z * z3);
t = normal.x * ((x_max - x_min) / 2) + normal.y * (y_min); d_from(); DEBUG_ECHOPGM("safe home with Z=");
d = t + normal.z * z3; DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6);
DEBUG_ECHOPAIR_F("D from 3rd point: ", d, 6); d_from(); DEBUG_ECHOPGM("safe home with Z=");
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z * z3 - get_z_correction((x_max - x_min) / 2, y_max), 6); DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 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);
DEBUG_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); 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 #endif
} // DEBUGGING(LEVELING) } // DEBUGGING(LEVELING)
@ -1676,21 +1662,23 @@
if (!isnan(z_values[jx][jy])) if (!isnan(z_values[jx][jy]))
SBI(bitmap[jx], jy); SBI(bitmap[jx], jy);
xy_pos_t ppos;
for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) { 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++) { 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])) { 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); incremental_LSF_reset(&lsf_results);
xy_pos_t rpos;
for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) { 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++) { for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
if (TEST(bitmap[jx], jy)) { if (TEST(bitmap[jx], jy)) {
const float ry = mesh_index_to_ypos(jy), rpos.y = mesh_index_to_ypos(jy);
rz = z_values[jx][jy], const float rz = z_values[jx][jy],
w = 1 + weight_scaled / HYPOT((rx - px), (ry - py)); w = 1.0f + weight_scaled / (rpos - ppos).magnitude();
incremental_WLSF(&lsf_results, rx, ry, rz, w); incremental_WLSF(&lsf_results, rpos, rz, w);
} }
} }
} }
@ -1698,7 +1686,7 @@
SERIAL_ECHOLNPGM("Insufficient data"); SERIAL_ECHOLNPGM("Insufficient data");
return; 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; z_values[ix][iy] = ez;
#if ENABLED(EXTENSIBLE_UI) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy]); ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy]);
@ -1734,7 +1722,7 @@
adjust_mesh_to_mean(g29_c_flag, g29_constant); adjust_mesh_to_mean(g29_c_flag, g29_constant);
#if HAS_BED_PROBE #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 #endif
SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50); SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50);

343
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View file

@ -35,12 +35,6 @@
#include "../../../Marlin.h" #include "../../../Marlin.h"
#include <math.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 #if !UBL_SEGMENTED
void unified_bed_leveling::line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t extruder) { 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 * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/ */
#if HAS_POSITION_MODIFIERS #if HAS_POSITION_MODIFIERS
float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }, xyze_pos_t start = current_position, end = destination;
end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
planner.apply_modifiers(start); planner.apply_modifiers(start);
planner.apply_modifiers(end); planner.apply_modifiers(end);
#else #else
const float (&start)[XYZE] = current_position, const xyze_pos_t &start = current_position, &end = destination;
(&end)[XYZE] = destination;
#endif #endif
const int cell_start_xi = get_cell_index_x(start[X_AXIS]), const xy_int8_t istart = cell_indexes(start), iend = cell_indexes(end);
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]);
// A move within the same cell needs no splitting // 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 // 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 // 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 // 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. // 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 #ifdef UBL_Z_RAISE_WHEN_OFF_MESH
+ UBL_Z_RAISE_WHEN_OFF_MESH end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
#endif #endif
; planner.buffer_segment(end, scaled_fr_mm_s, extruder);
planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z_raise, end[E_AXIS], scaled_fr_mm_s, extruder); current_position = destination;
set_current_from_destination();
return; return;
} }
FINAL_MOVE: FINAL_MOVE:
// The distance is always MESH_X_DIST so multiply by the constant reciprocal. // 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 * float z1, z2;
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]), if (iend.x >= GRID_MAX_POINTS_X - 1)
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio * z1 = z2 = 0.0;
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]); else {
z1 = z_values[iend.x ][iend.y ] + xratio *
if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0; (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. // 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), const float yratio = (end.y - mesh_index_to_ypos(iend.y)) * 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; 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. // Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation. // 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); if (!isnan(z0)) end.z += z0;
set_current_from_destination(); planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return; return;
} }
@ -112,17 +103,11 @@
* case - crossing only one X or Y line - after details are worked out to reduce computation. * 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], const xy_float_t dist = end - start;
dy = end[Y_AXIS] - start[Y_AXIS]; 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 int left_flag = dx < 0.0 ? 1 : 0, const xy_float_t sign { neg.x ? -1.0f : 1.0f, neg.y ? -1.0f : 1.0f };
down_flag = dy < 0.0 ? 1 : 0; const xy_int8_t iadd { int8_t(iend.x == istart.x ? 0 : sign.x), int8_t(iend.y == istart.y ? 0 : sign.y) };
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;
/** /**
* Compute the extruder scaling factor for each partial move, checking for * 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. * 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, float on_axis_distance = use_x_dist ? dist.x : dist.y,
e_position = end[E_AXIS] - start[E_AXIS], e_position = end.e - start.e,
z_position = end[Z_AXIS] - start[Z_AXIS]; 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; z_normalized_dist = z_position / on_axis_distance;
int current_xi = cell_start_xi, xy_int8_t icell = istart;
current_yi = cell_start_yi;
const float m = dy / dx, const float ratio = dist.y / dist.x, // Allow divide by zero
c = start[Y_AXIS] - m * start[X_AXIS]; c = start.y - ratio * start.x;
const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0), const bool inf_normalized_flag = isinf(e_normalized_dist),
inf_m_flag = (isinf(m) != 0); inf_ratio_flag = isinf(ratio);
/** /**
* Handle vertical lines that stay within one column. * Handle vertical lines that stay within one column.
* These need not be perfectly vertical. * These need not be perfectly vertical.
*/ */
if (dxi == 0) { // Vertical line? if (iadd.x == 0) { // Vertical line?
current_yi += down_flag; // Line going down? Just go to the bottom. icell.y += ineg.y; // Line going down? Just go to the bottom.
while (current_yi != cell_dest_yi + down_flag) { while (icell.y != iend.y + ineg.y) {
current_yi += dyi; icell.y += iadd.y;
const float next_mesh_line_y = mesh_index_to_ypos(current_yi); const float next_mesh_line_y = mesh_index_to_ypos(icell.y);
/** /**
* Skip the calculations for an infinite slope. * Skip the calculations for an infinite slope.
* For others the next X is the same so this can continue. * For others the next X is the same so this can continue.
* Calculate X at the next Y mesh line. * 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) float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]); * planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN. // Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation. // Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0; 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 * 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 * 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. * it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/ */
if (ry != start[Y_AXIS]) { if (ry != start.y) {
if (!inf_normalized_flag) { if (!inf_normalized_flag) { // fall-through faster than branch
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; z_position = start.z + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = end[E_AXIS]; e_position = end.e;
z_position = end[Z_AXIS]; z_position = end.z;
} }
planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder); 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. // 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; goto FINAL_MOVE;
set_current_from_destination(); current_position = destination;
return; return;
} }
@ -208,36 +193,34 @@
* Handle horizontal lines that stay within one row. * Handle horizontal lines that stay within one row.
* These need not be perfectly horizontal. * These need not be perfectly horizontal.
*/ */
if (dyi == 0) { // Horizontal line? if (iadd.y == 0) { // Horizontal line?
current_xi += left_flag; // Heading left? Just go to the left edge of the cell for the first move. icell.x += ineg.x; // Heading left? Just go to the left edge of the cell for the first move.
while (current_xi != cell_dest_xi + left_flag) { while (icell.x != iend.x + ineg.x) {
current_xi += dxi; icell.x += iadd.x;
const float next_mesh_line_x = mesh_index_to_xpos(current_xi), const float rx = mesh_index_to_xpos(icell.x);
ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line 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) float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]); * planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN. // Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation. // Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0; 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 * 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 * 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. * 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) { if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move 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_AXIS] + on_axis_distance * z_normalized_dist; z_position = start.z + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = end[E_AXIS]; e_position = end.e;
z_position = end[Z_AXIS]; z_position = end.z;
} }
if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder)) 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 "); } //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; goto FINAL_MOVE;
set_current_from_destination(); current_position = destination;
return; 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, xy_int8_t cnt = (istart - iend).ABS();
yi_cnt = cell_start_yi - cell_dest_yi;
if (xi_cnt < 0) xi_cnt = -xi_cnt; icell += ineg;
if (yi_cnt < 0) yi_cnt = -yi_cnt;
current_xi += left_flag; while (cnt) {
current_yi += down_flag;
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),
const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi), ry = ratio * next_mesh_line_x + c, // Calculate Y at the next X mesh line
next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi), rx = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line
ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line // (No need to worry about ratio == 0.
rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line // In that case, it was already detected
// (No need to worry about m being zero.
// If that was the case, it was already detected
// as a vertical line move above.) // 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 // 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) 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_AXIS]); * planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN. // Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation. // Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0; if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) { if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS]; on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; z_position = start.z + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = end[E_AXIS]; e_position = end.e;
z_position = end[Z_AXIS]; z_position = end.z;
} }
if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder)) if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break; break;
current_yi += dyi; icell.y += iadd.y;
yi_cnt--; cnt.y--;
} }
else { else {
// Yes! Crossing a X Mesh Line next // 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) 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_AXIS]); * planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN. // Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation. // Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0; if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) { if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS]; on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; z_position = start.z + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = end[E_AXIS]; e_position = end.e;
z_position = end[Z_AXIS]; z_position = end.z;
} }
if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder)) if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break; break;
current_xi += dxi; icell.x += iadd.x;
xi_cnt--; 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; goto FINAL_MOVE;
set_current_from_destination(); current_position = destination;
} }
#else // UBL_SEGMENTED #else // UBL_SEGMENTED
@ -356,56 +334,42 @@
bool _O2 unified_bed_leveling::line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s) { 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 if (!position_is_reachable(destination)) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate return true; // did not move, so current_position still accurate
const float total[XYZE] = { const xyze_pos_t total = destination - current_position;
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 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 #if IS_KINEMATIC
const float seconds = cartesian_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate 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 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 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) NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
#else #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 #endif
NOLESS(segments, 1U); // must have at least one segment NOLESS(segments, 1U); // Must have at least one segment
const float inv_segments = 1.0f / segments; // divide once, multiply thereafter 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) #if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / segment_xyz_mm; const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
#endif #endif
const float diff[XYZE] = { xyze_float_t diff = total * inv_segments;
total[X_AXIS] * inv_segments,
total[Y_AXIS] * inv_segments,
total[Z_AXIS] * inv_segments,
total[E_AXIS] * inv_segments
};
// Note that E segment distance could vary slightly as z mesh height // Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore. // changes for each segment, but small enough to ignore.
float raw[XYZE] = { xyze_pos_t raw = current_position;
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
// Just do plain segmentation if UBL is inactive or the target is above the fade height // 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) { while (--segments) {
LOOP_XYZE(i) raw[i] += diff[i]; raw += diff;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING) #if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration , inv_duration
@ -417,17 +381,17 @@
, inv_duration , inv_duration
#endif #endif
); );
return false; // moved but did not set_current_from_destination(); return false; // Did not set current from destination
} }
// Otherwise perform per-segment leveling // Otherwise perform per-segment leveling
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #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 #endif
// increment to first segment destination // Move to first segment destination
LOOP_XYZE(i) raw[i] += diff[i]; raw += diff;
for (;;) { // for each mesh cell encountered during the move 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 // in top of loop and again re-find same adjacent cell and use it, just less efficient
// for mesh inset area. // for mesh inset area.
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST), xy_int8_t icell = {
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST); 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); float z_x0y0 = z_values[icell.x ][icell.y ], // z at lower left corner
LIMIT(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1); 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
const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add z_x1y1 = z_values[icell.x+1][icell.y+1]; // z at upper right corner
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
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A) 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_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_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
float cx = raw[X_AXIS] - x0, // cell-relative x and y const xy_pos_t pos = { mesh_index_to_xpos(icell.x), mesh_index_to_ypos(icell.y) };
cy = raw[Y_AXIS] - y0; 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) 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) 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 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 cx from y0 to y1 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 // 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. // each change by a constant for fixed segment lengths.
const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0 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_AXIS]; // per-segment adjustment to z_cxym 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 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) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* fade_scaling_factor // apply fade factor to interpolated mesh height * fade_scaling_factor // apply fade factor to interpolated mesh height
#endif #endif
; ;
const float z = raw[Z_AXIS]; planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
raw[Z_AXIS] += z_cxcy;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING) #if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration , inv_duration
#endif #endif
); );
raw[Z_AXIS] = z;
if (segments == 0) // done with last segment 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]; if (!WITHIN(cell.x, 0, MESH_X_DIST) || !WITHIN(cell.y, 0, MESH_Y_DIST)) // done within this cell, break to next
cy += diff[Y_AXIS];
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
break; break;
// Next segment still within same mesh cell, adjust the per-segment // 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" #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 * 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 * Receives all Drive strengths as 0-100 percent values, updates
* DAC Values array and calls fastwrite to update the DAC. * DAC Values array and calls fastwrite to update the DAC.
*/ */
void mcp4728_setDrvPct(uint8_t pct[XYZE]) { void mcp4728_setDrvPct(xyze_uint8_t &pct) {
LOOP_XYZE(i) mcp4728_values[i] = 0.01 * pct[i] * (DAC_STEPPER_MAX); mcp4728_values *= 0.01 * pct * (DAC_STEPPER_MAX);
mcp4728_fastWrite(); 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. * Arduino library for MicroChip MCP4728 I2C D/A converter.
*/ */
#include "../../core/types.h"
#include <Wire.h> #include <Wire.h>
#define defaultVDD DAC_STEPPER_MAX //was 5000 but differs with internal Vref #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_fastWrite();
uint8_t mcp4728_simpleCommand(const byte simpleCommand); uint8_t mcp4728_simpleCommand(const byte simpleCommand);
uint8_t mcp4728_getDrvPct(const uint8_t channel); 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" #include "stepper_dac.h"
bool dac_present = false; bool dac_present = false;
const uint8_t dac_order[NUM_AXIS] = DAC_STEPPER_ORDER; constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER;
uint8_t dac_channel_pct[XYZE] = DAC_MOTOR_CURRENT_DEFAULT; xyze_uint8_t dac_channel_pct = DAC_MOTOR_CURRENT_DEFAULT;
int dac_init() { int dac_init() {
#if PIN_EXISTS(DAC_DISABLE) #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_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); } 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]); } uint8_t dac_current_get_percent(const AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(const uint8_t pct[XYZE]) { void dac_current_set_percents(xyze_uint8_t &pct) {
LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]]; LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
mcp4728_setDrvPct(dac_channel_pct); 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_print_values();
void dac_commit_eeprom(); void dac_commit_eeprom();
uint8_t dac_current_get_percent(AxisEnum axis); 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]); SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif #endif
} }
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop); 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 // The current position will be the destination for E and Z moves
set_destination_from_current(); destination = current_position;
#if ENABLED(RETRACT_SYNC_MIXING) #if ENABLED(RETRACT_SYNC_MIXING)
const uint8_t old_mixing_tool = mixer.get_current_vtool(); const uint8_t old_mixing_tool = mixer.get_current_vtool();
@ -147,7 +147,7 @@ void FWRetract::retract(const bool retracting
if (retracting) { if (retracting) {
// Retract by moving from a faux E position back to the current E position // Retract by moving from a faux E position back to the current E position
current_retract[active_extruder] = base_retract; 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 settings.retract_feedrate_mm_s
#if ENABLED(RETRACT_SYNC_MIXING) #if ENABLED(RETRACT_SYNC_MIXING)
* (MIXING_STEPPERS) * (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; const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra;
if (extra_recover) { 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 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]); SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif #endif
} }
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]); SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop); 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 #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 // Do nothing if enable pin (active-low) is not LOW
#if HAS_JOY_ADC_EN #if HAS_JOY_ADC_EN
if (READ(JOY_EN_PIN)) return; if (READ(JOY_EN_PIN)) return;
#endif #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])) { if (WITHIN(raw, joy_limits[0], joy_limits[3])) {
// within limits, check deadzone // within limits, check deadzone
if (raw > joy_limits[2]) 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]) 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 // 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 #if HAS_JOY_ADC_X
static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS; 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 #endif
#if HAS_JOY_ADC_Y #if HAS_JOY_ADC_Y
static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS; 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 #endif
#if HAS_JOY_ADC_Z #if HAS_JOY_ADC_Z
static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS; 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 #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) // 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 // 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 // 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 // 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 #if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
@ -143,16 +143,13 @@ Joystick joystick;
ExtUI::_joystick_update(norm_jog); ExtUI::_joystick_update(norm_jog);
#endif #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] // 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]) { LOOP_XYZ(i) if (norm_jog[i]) {
move_dist[i] = seg_time * norm_jog[i] * move_dist[i] = seg_time * norm_jog[i] *
#if EITHER(ULTIPANEL, EXTENSIBLE_UI) #if EITHER(ULTIPANEL, EXTENSIBLE_UI)
MMM_TO_MMS(manual_feedrate[i]); MMM_TO_MMS(manual_feedrate_mm_m[i]);
#else #else
planner.settings.max_feedrate_mm_s[i]; planner.settings.max_feedrate_mm_s[i];
#endif #endif
@ -160,7 +157,7 @@ Joystick joystick;
} }
if (!UNEAR_ZERO(hypot2)) { if (!UNEAR_ZERO(hypot2)) {
LOOP_XYZ(i) current_position[i] += move_dist[i]; current_position += move_dist;
const float length = sqrt(hypot2); const float length = sqrt(hypot2);
injecting_now = true; injecting_now = true;
planner.buffer_line(current_position, length / seg_time, active_extruder, length); 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 * joystick.h - joystick input / jogging
*/ */
#include "../inc/MarlinConfigPre.h"
#include "../core/types.h"
#include "../core/macros.h" #include "../core/macros.h"
#include "../module/temperature.h" #include "../module/temperature.h"
@ -46,7 +48,7 @@ class Joystick {
#if ENABLED(JOYSTICK_DEBUG) #if ENABLED(JOYSTICK_DEBUG)
static void report(); static void report();
#endif #endif
static void calculate(float (&norm_jog)[XYZ]); static void calculate(xyz_float_t &norm_jog);
static void inject_jog_moves(); static void inject_jog_moves();
}; };

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

@ -64,7 +64,7 @@
// private: // private:
static float resume_position[XYZE]; static xyze_pos_t resume_position;
PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT; 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 #if HAS_FILAMENT_SENSOR
runout.reset(); runout.reset();
#endif #endif
current_position[E_AXIS] += length / planner.e_factor[active_extruder]; current_position.e += length / planner.e_factor[active_extruder];
planner.buffer_line(current_position, fr_mm_s, active_extruder); line_to_current_position(fr_mm_s);
planner.synchronize(); planner.synchronize();
} }
@ -385,7 +385,7 @@ bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
*/ */
uint8_t did_pause_print = 0; 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 #if !HAS_LCD_MENU
UNUSED(show_lcd); 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(); print_job_timer.pause();
// Save current position // Save current position
COPY(resume_position, current_position); resume_position = current_position;
// Wait for buffered blocks to complete // Wait for buffered blocks to complete
planner.synchronize(); 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" * - Display "wait for print to resume"
* - Re-prime the nozzle... * - Re-prime the nozzle...
* - FWRETRACT: Recover/prime from the prior G10. * - 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. * Not sure how this logic comes into use.
* - Move the nozzle back to resume_position * - 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 * - Send host action for resume, if configured
* - Resume the current SD print job, if any * - 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 #endif
// If resume_position is negative // 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 // 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 // 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 #if ADVANCED_PAUSE_RESUME_PRIME != 0
do_pause_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE)); 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 // Now all extrusion positions are resumed and ready to be confirmed
// Set extruder to saved position // 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 #if HAS_LCD_MENU
lcd_pause_show_message(PAUSE_MESSAGE_STATUS); 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); 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); void wait_for_confirmation(const bool is_reload=false, const int8_t max_beep_count=0 DXC_PARAMS);

26
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) || ELAPSED(ms, next_save_ms)
#endif #endif
// Save if Z is above the last-saved position by some minimum height // 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 #endif
) { ) {
@ -170,12 +170,12 @@ void PrintJobRecovery::save(const bool force/*=false*/, const bool save_queue/*=
info.valid_foot = info.valid_head; info.valid_foot = info.valid_head;
// Machine state // Machine state
COPY(info.current_position, current_position); info.current_position = current_position;
#if HAS_HOME_OFFSET #if HAS_HOME_OFFSET
COPY(info.home_offset, home_offset); info.home_offset = home_offset;
#endif #endif
#if HAS_POSITION_SHIFT #if HAS_POSITION_SHIFT
COPY(info.position_shift, position_shift); info.position_shift = position_shift;
#endif #endif
info.feedrate = uint16_t(feedrate_mm_s * 60.0f); info.feedrate = uint16_t(feedrate_mm_s * 60.0f);
@ -361,13 +361,13 @@ void PrintJobRecovery::resume() {
// Move back to the saved XY // Move back to the saved XY
sprintf_P(cmd, PSTR("G1 X%s Y%s F3000"), sprintf_P(cmd, PSTR("G1 X%s Y%s F3000"),
dtostrf(info.current_position[X_AXIS], 1, 3, str_1), dtostrf(info.current_position.x, 1, 3, str_1),
dtostrf(info.current_position[Y_AXIS], 1, 3, str_2) dtostrf(info.current_position.y, 1, 3, str_2)
); );
gcode.process_subcommands_now(cmd); gcode.process_subcommands_now(cmd);
// Move back to the saved Z // 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 #if Z_HOME_DIR > 0
sprintf_P(cmd, PSTR("G1 Z%s F200"), str_1); sprintf_P(cmd, PSTR("G1 Z%s F200"), str_1);
#else #else
@ -388,22 +388,20 @@ void PrintJobRecovery::resume() {
gcode.process_subcommands_now(cmd); gcode.process_subcommands_now(cmd);
// Restore E position with G92.9 // 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); gcode.process_subcommands_now(cmd);
// Relative axis modes // Relative axis modes
gcode.axis_relative = info.axis_relative; gcode.axis_relative = info.axis_relative;
#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
LOOP_XYZ(i) {
#if HAS_HOME_OFFSET #if HAS_HOME_OFFSET
home_offset[i] = info.home_offset[i]; home_offset = info.home_offset;
#endif #endif
#if HAS_POSITION_SHIFT #if HAS_POSITION_SHIFT
position_shift[i] = info.position_shift[i]; position_shift = info.position_shift;
#endif #endif
update_workspace_offset((AxisEnum)i); #if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
} LOOP_XYZ(i) update_workspace_offset((AxisEnum)i);
#endif #endif
// Resume the SD file from the last position // 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; uint8_t valid_head;
// Machine state // Machine state
float current_position[NUM_AXIS]; xyze_pos_t current_position;
#if HAS_HOME_OFFSET #if HAS_HOME_OFFSET
float home_offset[XYZ]; xyz_pos_t home_offset;
#endif #endif
#if HAS_POSITION_SHIFT #if HAS_POSITION_SHIFT
float position_shift[XYZ]; xyz_pos_t position_shift;
#endif #endif
uint16_t feedrate; 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) { 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; bool response = false;
mmu_print_saved = false; mmu_print_saved = false;
point_t park_point = NOZZLE_PARK_POINT; xyz_pos_t resume_position;
float resume_position[XYZE];
int16_t resume_hotend_temp; int16_t resume_hotend_temp;
KEEPALIVE_STATE(PAUSED_FOR_USER); 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"); SERIAL_ECHOLNPGM("MMU not responding");
resume_hotend_temp = thermalManager.degTargetHotend(active_extruder); resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
COPY(resume_position, current_position); resume_position = current_position;
if (move_axes && all_axes_homed()) if (move_axes && all_axes_homed())
nozzle.park(2, park_point /*= NOZZLE_PARK_POINT*/); 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); BUZZ(200, 404);
// Move XY to starting position, then Z // 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 // 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 { else {
BUZZ(200, 404); BUZZ(200, 404);
@ -698,8 +698,8 @@ void MMU2::filament_runout() {
LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT); LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT);
enable_E0(); enable_E0();
current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED; current_position.e -= 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); line_to_current_position(2500 / 60);
planner.synchronize(); planner.synchronize();
command(MMU_CMD_E0 + index); command(MMU_CMD_E0 + index);
manage_response(false, false); manage_response(false, false);
@ -787,7 +787,7 @@ void MMU2::filament_runout() {
DEBUG_ECHO_START(); DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("E step ", es, "/", fr_mm_m); 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)); line_to_current_position(MMM_TO_MMS(fr_mm_m));
planner.synchronize(); 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) { 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) #if ENABLED(ADVANCED_PAUSE_FEATURE)
|| did_pause_print // Allow pause purge move to re-trigger runout state || did_pause_print // Allow pause purge move to re-trigger runout state
#endif #endif
) { ) {
// Only trigger on extrusion with XYZ movement to allow filament change and retract/recover. // Only trigger on extrusion with XYZ movement to allow filament change and retract/recover.
const uint8_t e = b->extruder; 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)]; 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; constexpr uint16_t default_sg_guard_duration = 400;
struct slow_homing_t { struct slow_homing_t {
struct { uint32_t x, y; } acceleration; xy_ulong_t acceleration;
#if HAS_CLASSIC_JERK #if HAS_CLASSIC_JERK
struct { float x, y; } jerk; xy_float_t jerk_xy;
#endif #endif
}; };
#endif #endif

291
Marlin/src/gcode/bedlevel/G26.cpp
View file

@ -62,7 +62,7 @@
#define G26_ERR true #define G26_ERR true
#if ENABLED(ARC_SUPPORT) #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 #endif
/** /**
@ -142,7 +142,7 @@
// Private functions // 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, float g26_e_axis_feedrate = 0.025,
random_deviation = 0.0; random_deviation = 0.0;
@ -154,7 +154,7 @@ float g26_extrusion_multiplier,
g26_layer_height, g26_layer_height,
g26_prime_length; g26_prime_length;
float g26_x_pos = 0, g26_y_pos = 0; xy_pos_t g26_pos; // = { 0, 0 }
int16_t g26_bed_temp, int16_t g26_bed_temp,
g26_hotend_temp; g26_hotend_temp;
@ -178,85 +178,85 @@ int8_t g26_prime_flag;
#endif #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; 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 i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (!is_bitmap_set(circle_flags, i, j)) { if (!circle_flags.marked(i, j)) {
const float mx = _GET_MESH_X(i), // We found a circle that needs to be printed // We found a circle that needs to be printed
my = _GET_MESH_Y(j); const xy_pos_t m = { _GET_MESH_X(i), _GET_MESH_Y(j) };
// Get the distance to this intersection // 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 // It is possible that we are being called with the values
// to let us find the closest circle to the start position. // to let us find the closest circle to the start position.
// But if this is not the case, add a small weighting to the // But if this is not the case, add a small weighting to the
// distance calculation to help it choose a better place to continue. // 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 // Add the specified amount of Random Noise to our search
if (random_deviation > 1.0) if (random_deviation > 1.0) f += random(0.0, random_deviation);
f += random(0.0, random_deviation);
if (f < closest) { if (f < closest) {
closest = f; // We found a closer location that is still closest = f; // Found a closer un-printed location
return_val.x_index = i; // un-printed --- save the data for it out_point.pos.set(i, j); // Save its data
return_val.y_index = j; out_point.distance = closest;
return_val.distance = closest;
} }
} }
} }
} }
bitmap_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done. circle_flags.mark(out_point); // Mark this location as done.
return return_val; return out_point;
} }
void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) { void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
static float last_z = -999.99; 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) { 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 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); 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. // 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; 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); 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! if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true; 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. 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; 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 * 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. * 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) { void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
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),
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, // 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. // 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)) 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) { move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
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
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier; const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
recover_filament(destination); 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() { 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 i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { 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; if (user_canceled()) return true;
#endif #endif
if (i < GRID_MAX_POINTS_X) { // Can't connect to anything to the right than GRID_MAX_POINTS_X. 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. // 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 (circle_flags.marked(i, j) && circle_flags.marked(i + 1, j)) { // Test whether a leftward line can be done
if (!is_bitmap_set(horizontal_mesh_line_flags, i, j)) { if (!horizontal_mesh_line_flags.marked(i, j)) {
// Two circles need a horizontal line to connect them // Two circles need a horizontal line to connect them
sx = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge s.x = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
ex = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left 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); LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1); s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(ex, X_MIN_POS + 1, X_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)) if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height); 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. 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. // 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 (circle_flags.marked(i, j) && circle_flags.marked(i, j + 1)) { // Test whether a downward line can be done
if (!is_bitmap_set( vertical_mesh_line_flags, i, j)) { if (!vertical_mesh_line_flags.marked(i, j)) {
// Two circles that need a vertical line to connect them // Two circles that need a vertical line to connect them
sy = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge s.y = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
ey = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom 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); s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(sy, Y_MIN_POS + 1, Y_MAX_POS - 1); LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(ey, 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)) if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height); 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.set_status_P(PSTR(MSG_G26_MANUAL_PRIME), 99);
ui.chirp(); ui.chirp();
set_destination_from_current(); destination = current_position;
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted(). recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ui.button_pressed()) { while (!ui.button_pressed()) {
ui.chirp(); ui.chirp();
destination[E_AXIS] += 0.25; destination.e += 0.25;
#if ENABLED(PREVENT_LENGTHY_EXTRUDE) #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
Total_Prime += 0.25; Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR; if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
#endif #endif
prepare_internal_move_to_destination(fr_slow_e); 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, planner.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able // but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth // 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.set_status_P(PSTR(MSG_G26_FIXED_LENGTH), 99);
ui.quick_feedback(); ui.quick_feedback();
#endif #endif
set_destination_from_current(); destination = current_position;
destination[E_AXIS] += g26_prime_length; destination.e += g26_prime_length;
prepare_internal_move_to_destination(fr_slow_e); prepare_internal_move_to_destination(fr_slow_e);
set_destination_from_current(); destination.e -= g26_prime_length;
retract_filament(destination); retract_filament(destination);
} }
@ -630,9 +623,9 @@ void GcodeSuite::G26() {
return; return;
} }
g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS]; g26_pos.set(parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position.x,
g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS]; parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position.y);
if (!position_is_reachable(g26_x_pos, g26_y_pos)) { if (!position_is_reachable(g26_pos.x, g26_pos.y)) {
SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds."); SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds.");
return; return;
} }
@ -642,9 +635,9 @@ void GcodeSuite::G26() {
*/ */
set_bed_leveling_enabled(!parser.seen('D')); 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); do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
set_current_from_destination(); current_position = destination;
} }
#if DISABLED(NO_VOLUMETRICS) #if DISABLED(NO_VOLUMETRICS)
@ -655,7 +648,7 @@ void GcodeSuite::G26() {
if (turn_on_heaters() != G26_OK) goto LEAVE; if (turn_on_heaters() != G26_OK) goto LEAVE;
current_position[E_AXIS] = 0.0; current_position.e = 0.0;
sync_plan_position_e(); sync_plan_position_e();
if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE; if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;
@ -670,13 +663,13 @@ void GcodeSuite::G26() {
* It's "Show Time" !!! * It's "Show Time" !!!
*/ */
ZERO(circle_flags); circle_flags.reset();
ZERO(horizontal_mesh_line_flags); horizontal_mesh_line_flags.reset();
ZERO(vertical_mesh_line_flags); vertical_mesh_line_flags.reset();
// Move nozzle to the specified height for the first layer // Move nozzle to the specified height for the first layer
set_destination_from_current(); destination = current_position;
destination[Z_AXIS] = g26_layer_height; destination.z = g26_layer_height;
move_to(destination, 0.0); move_to(destination, 0.0);
move_to(destination, g26_ooze_amount); move_to(destination, g26_ooze_amount);
@ -706,71 +699,68 @@ void GcodeSuite::G26() {
mesh_index_pair location; mesh_index_pair location;
do { do {
location = g26_continue_with_closest // Find the nearest confluence
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS]) location = find_closest_circle_to_print(g26_continue_with_closest ? xy_pos_t(current_position) : g26_pos);
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
if (location.x_index >= 0 && location.y_index >= 0) { if (location.valid()) {
const float circle_x = _GET_MESH_X(location.x_index), const xy_pos_t circle = _GET_MESH_POS(location.pos);
circle_y = _GET_MESH_Y(location.y_index);
// If this mesh location is outside the printable_radius, skip it. // 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, // Determine where to start and end the circle,
// which is always drawn counter-clockwise. // which is always drawn counter-clockwise.
const uint8_t xi = location.x_index, yi = location.y_index; const xy_int8_t st = location;
const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1; 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) #if ENABLED(ARC_SUPPORT)
#define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2) #define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2)
#define INTERSECTION_CIRCLE_DIAM ((INTERSECTION_CIRCLE_RADIUS) * 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, xy_float_t e = { circle.x + INTERSECTION_CIRCLE_RADIUS, circle.y };
sy = circle_y, ey = circle_y, xyz_float_t s = e;
arc_length = ARC_LENGTH(4);
// Figure out where to start and end the arc - we always print counterclockwise // Figure out where to start and end the arc - we always print counterclockwise
if (xi == 0) { // left edge float arc_length = ARC_LENGTH(4);
if (!f) { sx = circle_x; sy -= INTERSECTION_CIRCLE_RADIUS; } if (st.x == 0) { // left edge
if (!b) { ex = circle_x; ey += INTERSECTION_CIRCLE_RADIUS; } 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); arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
} }
else if (r) { // right edge else if (r) { // right edge
sx = b ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x; if (b) s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
ex = f ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x; else s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS);
sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS; if (f) e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
ey = f ? circle_y : circle_y - (INTERSECTION_CIRCLE_RADIUS); else e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS));
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2); arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
} }
else if (f) { else if (f) {
ex -= INTERSECTION_CIRCLE_DIAM; e.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2); arc_length = ARC_LENGTH(2);
} }
else if (b) { else if (b) {
sx -= INTERSECTION_CIRCLE_DIAM; s.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2); arc_length = ARC_LENGTH(2);
} }
const float arc_offset[2] = { circle_x - sx, circle_y - sy }, const ab_float_t arc_offset = circle - s;
dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual circle const xy_float_t dist = current_position - s; // Distance from the start of the actual circle
dy_s = current_position[Y_AXIS] - sy, const float dist_start = HYPOT2(dist.x, dist.y);
dist_start = HYPOT2(dx_s, dy_s), const xyze_pos_t endpoint = {
endpoint[XYZE] = { e.x, e.y, g26_layer_height,
ex, ey, current_position.e + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
g26_layer_height,
current_position[E_AXIS] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
}; };
if (dist_start > 2.0) { if (dist_start > 2.0) {
retract_filament(destination); s.z = g26_layer_height + 0.5f;
//todo: parameterize the bump height with a define retract_lift_move(s);
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
} }
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); recover_filament(destination);
@ -778,7 +768,7 @@ void GcodeSuite::G26() {
feedrate_mm_s = PLANNER_XY_FEEDRATE() * 0.1f; feedrate_mm_s = PLANNER_XY_FEEDRATE() * 0.1f;
plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arc plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arc
feedrate_mm_s = old_feedrate; feedrate_mm_s = old_feedrate;
set_destination_from_current(); destination = current_position;
#if HAS_LCD_MENU #if HAS_LCD_MENU
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation 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 #else // !ARC_SUPPORT
int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00) 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 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 end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left
} }
@ -810,22 +800,20 @@ void GcodeSuite::G26() {
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif #endif
float rx = circle_x + _COS(ind), // For speed, these are now a lookup table entry xy_float_t p = { circle.x + _COS(ind ), circle.y + _SIN(ind ), g26_layer_height },
ry = circle_y + _SIN(ind), q = { circle.x + _COS(ind + 1), circle.y + _SIN(ind + 1), g26_layer_height };
xe = circle_x + _COS(ind + 1),
ye = circle_y + _SIN(ind + 1);
#if IS_KINEMATIC #if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not. // 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; if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
#else // not, we need to skip #else
LIMIT(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
LIMIT(ry, Y_MIN_POS + 1, Y_MAX_POS - 1); LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(xe, X_MIN_POS + 1, X_MAX_POS - 1); LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(ye, Y_MIN_POS + 1, Y_MAX_POS - 1); LIMIT(q.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif #endif
print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height); print_line_from_here_to_there(p, q);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun. SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} }
@ -836,19 +824,18 @@ void GcodeSuite::G26() {
SERIAL_FLUSH(); // Prevent host M105 buffer overrun. SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0); } while (--g26_repeats && location.valid());
LEAVE: LEAVE:
ui.set_status_P(PSTR(MSG_G26_LEAVING), -1); ui.set_status_P(PSTR(MSG_G26_LEAVING), -1);
retract_filament(destination); retract_filament(destination);
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; destination.z = Z_CLEARANCE_BETWEEN_PROBES;
move_to(destination, 0); // Raise the nozzle move_to(destination, 0); // Raise the nozzle
destination[X_AXIS] = g26_x_pos; // Move back to the starting position destination.set(g26_pos.x, g26_pos.y); // Move back to the starting position
destination[Y_AXIS] = g26_y_pos; //destination.z = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination, 0); // Move back to the starting position 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 "../gcode.h"
#include "../../Marlin.h" // for IsRunning() #include "../../Marlin.h" // for IsRunning()
#include "../../module/motion.h" #include "../../module/motion.h"
#include "../../module/probe.h" // for probe_offset
#include "../../feature/bedlevel/bedlevel.h" #include "../../feature/bedlevel/bedlevel.h"
/** /**
@ -44,15 +45,15 @@ void GcodeSuite::G42() {
return; return;
} }
set_destination_from_current(); destination = current_position;
if (hasI) destination[X_AXIS] = _GET_MESH_X(ix); if (hasI) destination.x = _GET_MESH_X(ix);
if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy); if (hasJ) destination.y = _GET_MESH_Y(iy);
#if HAS_BED_PROBE #if HAS_BED_PROBE
if (parser.boolval('P')) { if (parser.boolval('P')) {
if (hasI) destination[X_AXIS] -= probe_offset[X_AXIS]; if (hasI) destination.x -= probe_offset.x;
if (hasJ) destination[Y_AXIS] -= probe_offset[Y_AXIS]; if (hasJ) destination.y -= probe_offset.y;
} }
#endif #endif

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

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

310
Marlin/src/gcode/bedlevel/abl/G29.cpp
View file

@ -61,15 +61,15 @@
#if ABL_GRID #if ABL_GRID
#if ENABLED(PROBE_Y_FIRST) #if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount #define PR_OUTER_VAR meshCount.x
#define PR_OUTER_END abl_grid_points_x #define PR_OUTER_END abl_grid_points.x
#define PR_INNER_VAR yCount #define PR_INNER_VAR meshCount.y
#define PR_INNER_END abl_grid_points_y #define PR_INNER_END abl_grid_points.y
#else #else
#define PR_OUTER_VAR yCount #define PR_OUTER_VAR meshCount.y
#define PR_OUTER_END abl_grid_points_y #define PR_OUTER_END abl_grid_points.y
#define PR_INNER_VAR xCount #define PR_INNER_VAR meshCount.x
#define PR_INNER_END abl_grid_points_x #define PR_INNER_END abl_grid_points.x
#endif #endif
#endif #endif
@ -210,7 +210,8 @@ G29_TYPE GcodeSuite::G29() {
#endif #endif
ABL_VAR int verbose_level; 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; ABL_VAR bool dryrun, abl_should_enable;
#if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR) #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR)
@ -224,20 +225,17 @@ G29_TYPE GcodeSuite::G29() {
#if ABL_GRID #if ABL_GRID
#if ENABLED(PROBE_MANUALLY) #if ENABLED(PROBE_MANUALLY)
ABL_VAR uint8_t PR_OUTER_VAR; ABL_VAR xy_int8_t meshCount;
ABL_VAR int8_t PR_INNER_VAR;
#endif #endif
ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position; ABL_VAR xy_int_t probe_position_lf, probe_position_rb;
ABL_VAR float xGridSpacing = 0, yGridSpacing = 0; ABL_VAR xy_float_t gridSpacing = { 0, 0 };
#if ENABLED(AUTO_BED_LEVELING_LINEAR) #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 bool do_topography_map;
ABL_VAR xy_uint8_t abl_grid_points;
#else // Bilinear #else // Bilinear
uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X, constexpr xy_uint8_t abl_grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y };
abl_grid_points_y = GRID_MAX_POINTS_Y;
#endif #endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR) #if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -270,13 +268,13 @@ G29_TYPE GcodeSuite::G29() {
ABL_VAR vector_3 points[3] = { ABL_VAR vector_3 points[3] = {
#if ENABLED(HAS_FIXED_3POINT) #if ENABLED(HAS_FIXED_3POINT)
vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0), { PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0), { PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0) { PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
#else #else
vector_3(x_min, y_min, 0), { x_min, y_min, 0 },
vector_3(x_max, y_min, 0), { x_max, y_min, 0 },
vector_3((x_max - x_min) / 2, y_max, 0) { (x_max - x_min) / 2, y_max, 0 }
#endif #endif
}; };
@ -311,7 +309,7 @@ G29_TYPE GcodeSuite::G29() {
G29_RETURN(false); 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)) { if (!WITHIN(rz, -10, 10)) {
SERIAL_ERROR_MSG("Bad Z value"); SERIAL_ERROR_MSG("Bad Z value");
G29_RETURN(false); G29_RETURN(false);
@ -323,8 +321,8 @@ G29_TYPE GcodeSuite::G29() {
if (!isnan(rx) && !isnan(ry)) { if (!isnan(rx) && !isnan(ry)) {
// Get nearest i / j from rx / ry // Get nearest i / j from rx / ry
i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing; i = (rx - bilinear_start.x + 0.5 * gridSpacing.x) / gridSpacing.x;
j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing; j = (ry - bilinear_start.y + 0.5 * gridSpacing.y) / gridSpacing.y;
LIMIT(i, 0, GRID_MAX_POINTS_X - 1); LIMIT(i, 0, GRID_MAX_POINTS_X - 1);
LIMIT(j, 0, GRID_MAX_POINTS_Y - 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 // X and Y specify points in each direction, overriding the default
// These values may be saved with the completed mesh // These values may be saved with the completed mesh
abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X); abl_grid_points.set(
abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y); parser.byteval('X', GRID_MAX_POINTS_X),
if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int(); 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) ")."); SERIAL_ECHOLNPGM("?Probe points (X) implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ").");
G29_RETURN(false); 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) ")."); SERIAL_ECHOLNPGM("?Probe points (Y) implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
G29_RETURN(false); 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; mean = 0;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -404,27 +404,35 @@ G29_TYPE GcodeSuite::G29() {
if (parser.seen('H')) { if (parser.seen('H')) {
const int16_t size = (int16_t)parser.value_linear_units(); const int16_t size = (int16_t)parser.value_linear_units();
left_probe_bed_position = _MAX(X_CENTER - size / 2, x_min); probe_position_lf.set(
right_probe_bed_position = _MIN(left_probe_bed_position + size, x_max); _MAX(X_CENTER - size / 2, x_min),
front_probe_bed_position = _MAX(Y_CENTER - size / 2, y_min); _MAX(Y_CENTER - size / 2, y_min)
back_probe_bed_position = _MIN(front_probe_bed_position + size, y_max); );
probe_position_rb.set(
_MIN(probe_position_lf.x + size, x_max),
_MIN(probe_position_lf.y + size, y_max)
);
} }
else { 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); probe_position_lf.set(
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); parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MAX(X_CENTER - (X_BED_SIZE) / 2, x_min),
front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MAX(Y_CENTER - Y_BED_SIZE / 2, y_min); 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_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 (
#if IS_SCARA || ENABLED(DELTA) #if IS_SCARA || ENABLED(DELTA)
!position_is_reachable_by_probe(left_probe_bed_position, 0) !position_is_reachable_by_probe(probe_position_lf.x, 0)
|| !position_is_reachable_by_probe(right_probe_bed_position, 0) || !position_is_reachable_by_probe(probe_position_rb.x, 0)
|| !position_is_reachable_by_probe(0, front_probe_bed_position) || !position_is_reachable_by_probe(0, probe_position_lf.y)
|| !position_is_reachable_by_probe(0, back_probe_bed_position) || !position_is_reachable_by_probe(0, probe_position_rb.y)
#else #else
!position_is_reachable_by_probe(left_probe_bed_position, front_probe_bed_position) !position_is_reachable_by_probe(probe_position_lf)
|| !position_is_reachable_by_probe(right_probe_bed_position, back_probe_bed_position) || !position_is_reachable_by_probe(probe_position_rb)
#endif #endif
) { ) {
SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds."); 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 // probe at the points of a lattice grid
xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1); gridSpacing.set((probe_position_rb.x - probe_position_lf.x) / (abl_grid_points.x - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1); (probe_position_rb.y - probe_position_lf.y) / (abl_grid_points.y - 1));
#endif // ABL_GRID #endif // ABL_GRID
@ -464,19 +472,13 @@ G29_TYPE GcodeSuite::G29() {
#if ENABLED(PROBE_MANUALLY) #if ENABLED(PROBE_MANUALLY)
if (!no_action) if (!no_action)
#endif #endif
if ( xGridSpacing != bilinear_grid_spacing[X_AXIS] if (gridSpacing != bilinear_grid_spacing || probe_position_lf != bilinear_start) {
|| yGridSpacing != bilinear_grid_spacing[Y_AXIS]
|| left_probe_bed_position != bilinear_start[X_AXIS]
|| front_probe_bed_position != bilinear_start[Y_AXIS]
) {
// Reset grid to 0.0 or "not probed". (Also disables ABL) // Reset grid to 0.0 or "not probed". (Also disables ABL)
reset_bed_level(); reset_bed_level();
// Initialize a grid with the given dimensions // Initialize a grid with the given dimensions
bilinear_grid_spacing[X_AXIS] = xGridSpacing; bilinear_grid_spacing = gridSpacing.asInt();
bilinear_grid_spacing[Y_AXIS] = yGridSpacing; bilinear_start = probe_position_lf;
bilinear_start[X_AXIS] = left_probe_bed_position;
bilinear_start[Y_AXIS] = front_probe_bed_position;
// Can't re-enable (on error) until the new grid is written // Can't re-enable (on error) until the new grid is written
abl_should_enable = false; abl_should_enable = false;
@ -546,17 +548,17 @@ G29_TYPE GcodeSuite::G29() {
// For G29 after adjusting Z. // For G29 after adjusting Z.
// Save the previous Z before going to the next point // 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) #if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z; mean += measured_z;
eqnBVector[index] = measured_z; eqnBVector[index] = measured_z;
eqnAMatrix[index + 0 * abl_points] = xProbe; eqnAMatrix[index + 0 * abl_points] = probePos.x;
eqnAMatrix[index + 1 * abl_points] = yProbe; eqnAMatrix[index + 1 * abl_points] = probePos.y;
eqnAMatrix[index + 2 * abl_points] = 1; 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) #elif ENABLED(AUTO_BED_LEVELING_3POINT)
@ -564,12 +566,13 @@ G29_TYPE GcodeSuite::G29() {
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #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) #if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(xCount, yCount, z_values[xCount][yCount]); ExtUI::onMeshUpdate(meshCount, newz);
#endif #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 #endif
} }
@ -583,7 +586,7 @@ G29_TYPE GcodeSuite::G29() {
// Skip any unreachable points // Skip any unreachable points
while (abl_probe_index < abl_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_OUTER_VAR = abl_probe_index / PR_INNER_END;
PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * 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; if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
const float xBase = xCount * xGridSpacing + left_probe_bed_position, const xy_pos_t base = probe_position_lf.asFloat() + gridSpacing * meshCount.asFloat();
yBase = yCount * yGridSpacing + front_probe_bed_position;
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); probePos.set(FLOOR(base.x + (base.x < 0 ? 0 : 0.5)),
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); FLOOR(base.y + (base.y < 0 ? 0 : 0.5)));
#if ENABLED(AUTO_BED_LEVELING_LINEAR) #if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = abl_probe_index; indexIntoAB[meshCount.x][meshCount.y] = abl_probe_index;
#endif #endif
// Keep looping till a reachable point is found // Keep looping till a reachable point is found
if (position_is_reachable(xProbe, yProbe)) break; if (position_is_reachable(probePos)) break;
++abl_probe_index; ++abl_probe_index;
} }
// Is there a next point to move to? // Is there a next point to move to?
if (abl_probe_index < abl_points) { 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 #if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment // Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled // If G29 is not completed, they will not be re-enabled
@ -633,9 +635,8 @@ G29_TYPE GcodeSuite::G29() {
// Probe at 3 arbitrary points // Probe at 3 arbitrary points
if (abl_probe_index < abl_points) { if (abl_probe_index < abl_points) {
xProbe = points[abl_probe_index].x; probePos = points[abl_probe_index];
yProbe = points[abl_probe_index].y; _manual_goto_xy(probePos);
_manual_goto_xy(xProbe, yProbe);
#if HAS_SOFTWARE_ENDSTOPS #if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment // Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled // If G29 is not completed, they will not be re-enabled
@ -654,11 +655,7 @@ G29_TYPE GcodeSuite::G29() {
if (!dryrun) { if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) { if (planeNormal.z < 0) planeNormal *= -1;
planeNormal.x *= -1;
planeNormal.y *= -1;
planeNormal.z *= -1;
}
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written // Can't re-enable (on error) until the new grid is written
@ -681,8 +678,11 @@ G29_TYPE GcodeSuite::G29() {
measured_z = 0; 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 // 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; int8_t inStart, inStop, inInc;
@ -703,21 +703,21 @@ G29_TYPE GcodeSuite::G29() {
uint8_t pt_index = (PR_OUTER_VAR) * (PR_INNER_END) + 1; uint8_t pt_index = (PR_OUTER_VAR) * (PR_INNER_END) + 1;
// Inner loop is Y with PROBE_Y_FIRST enabled // 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, const xy_pos_t base = probe_position_lf.asFloat() + gridSpacing * meshCount.asFloat();
yBase = front_probe_bed_position + yGridSpacing * yCount;
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); probePos.set(FLOOR(base.x + (base.x < 0 ? 0 : 0.5)),
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); FLOOR(base.y + (base.y < 0 ? 0 : 0.5)));
#if ENABLED(AUTO_BED_LEVELING_LINEAR) #if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0... indexIntoAB[meshCount.x][meshCount.y] = ++abl_probe_index; // 0...
#endif #endif
#if IS_KINEMATIC #if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area // 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 #endif
if (verbose_level) SERIAL_ECHOLNPAIR("Probing mesh point ", int(pt_index), "/", int(GRID_MAX_POINTS), "."); 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)); ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), PSTR(MSG_PROBING_MESH), int(pt_index), int(GRID_MAX_POINTS));
#endif #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)) { if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable); set_bed_leveling_enabled(abl_should_enable);
@ -736,17 +736,17 @@ G29_TYPE GcodeSuite::G29() {
mean += measured_z; mean += measured_z;
eqnBVector[abl_probe_index] = measured_z; eqnBVector[abl_probe_index] = measured_z;
eqnAMatrix[abl_probe_index + 0 * abl_points] = xProbe; eqnAMatrix[abl_probe_index + 0 * abl_points] = probePos.x;
eqnAMatrix[abl_probe_index + 1 * abl_points] = yProbe; eqnAMatrix[abl_probe_index + 1 * abl_points] = probePos.y;
eqnAMatrix[abl_probe_index + 2 * abl_points] = 1; 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) #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) #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
#endif #endif
@ -768,9 +768,8 @@ G29_TYPE GcodeSuite::G29() {
#endif #endif
// Retain the last probe position // Retain the last probe position
xProbe = points[i].x; probePos = points[i];
yProbe = points[i].y; measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(xProbe, yProbe, raise_after, verbose_level);
if (isnan(measured_z)) { if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable); set_bed_leveling_enabled(abl_should_enable);
break; 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 * 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 * 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); 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.a = -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.b = -lsf_results.B; // but that is not yet tested.
plane_equation_coefficients[2] = -lsf_results.D; plane_equation_coefficients.d = -lsf_results.D;
mean /= abl_points; mean /= abl_points;
if (verbose_level) { if (verbose_level) {
SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients[0], 8); SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients.a, 8);
SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients[1], 8); SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients.b, 8);
SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients[2], 8); SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients.d, 8);
if (verbose_level > 2) if (verbose_level > 2)
SERIAL_ECHOPAIR_F("\nMean of sampled points: ", mean, 8); SERIAL_ECHOPAIR_F("\nMean of sampled points: ", mean, 8);
SERIAL_EOL(); SERIAL_EOL();
@ -866,13 +865,34 @@ G29_TYPE GcodeSuite::G29() {
// Create the matrix but don't correct the position yet // Create the matrix but don't correct the position yet
if (!dryrun) if (!dryrun)
planner.bed_level_matrix = matrix_3x3::create_look_at( 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 // Show the Topography map if enabled
if (do_topography_map) { 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" " +--- BACK --+\n"
" | |\n" " | |\n"
" L | (+) | R\n" " L | (+) | R\n"
@ -882,56 +902,10 @@ G29_TYPE GcodeSuite::G29() {
" | (-) | T\n" " | (-) | T\n"
" | |\n" " | |\n"
" O-- FRONT --+\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 } //do_topography_map
#endif // AUTO_BED_LEVELING_LINEAR #endif // AUTO_BED_LEVELING_LINEAR
@ -950,24 +924,20 @@ G29_TYPE GcodeSuite::G29() {
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
float converted[XYZ]; xyze_pos_t converted = current_position;
COPY(converted, current_position); planner.force_unapply_leveling(converted); // use conversion machinery
planner.leveling_active = true;
planner.unapply_leveling(converted); // use conversion machinery
planner.leveling_active = false;
// Use the last measured distance to the bed, if possible // Use the last measured distance to the bed, if possible
if ( NEAR(current_position[X_AXIS], xProbe - probe_offset[X_AXIS]) if ( NEAR(current_position.x, probePos.x - probe_offset.x)
&& NEAR(current_position[Y_AXIS], yProbe - probe_offset[Y_AXIS]) && NEAR(current_position.y, probePos.y - probe_offset.y)
) { ) {
const float simple_z = current_position[Z_AXIS] - measured_z; const float simple_z = current_position.z - measured_z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted[Z_AXIS], " Discrepancy ", simple_z - converted[Z_AXIS]); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z);
converted[Z_AXIS] = simple_z; converted.z = simple_z;
} }
// The rotated XY and corrected Z are now current_position // 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); if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
} }
@ -975,13 +945,13 @@ G29_TYPE GcodeSuite::G29() {
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) { 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 // Unapply the offset because it is going to be immediately applied
// and cause compensation movement in Z // 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 #endif // ABL_PLANAR

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

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

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

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

48
Marlin/src/gcode/calibrate/G28.cpp
View file

@ -59,7 +59,7 @@
static void quick_home_xy() { static void quick_home_xy() {
// Pretend the current position is 0,0 // 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(); sync_plan_position();
const int x_axis_home_dir = const int x_axis_home_dir =
@ -95,7 +95,7 @@
endstops.validate_homing_move(); 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) #if ENABLED(SENSORLESS_HOMING)
tmc_disable_stallguard(stepperX, stealth_states.x); tmc_disable_stallguard(stepperX, stealth_states.x);
@ -128,17 +128,15 @@
/** /**
* Move the Z probe (or just the nozzle) to the safe homing point * 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.set(safe_homing_xy, current_position.z);
destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if HOMING_Z_WITH_PROBE #if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= probe_offset[X_AXIS]; destination -= probe_offset;
destination[Y_AXIS] -= probe_offset[Y_AXIS];
#endif #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); if (DEBUGGING(LEVELING)) DEBUG_POS("home_z_safely", destination);
@ -151,7 +149,7 @@
safe_delay(500); // Short delay needed to settle safe_delay(500); // Short delay needed to settle
#endif #endif
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]); do_blocking_move_to_xy(destination);
homeaxis(Z_AXIS); homeaxis(Z_AXIS);
} }
else { else {
@ -233,15 +231,13 @@ void GcodeSuite::G28(const bool always_home_all) {
#if ENABLED(IMPROVE_HOMING_RELIABILITY) #if ENABLED(IMPROVE_HOMING_RELIABILITY)
slow_homing_t slow_homing{0}; slow_homing_t slow_homing{0};
slow_homing.acceleration.x = planner.settings.max_acceleration_mm_per_s2[X_AXIS]; slow_homing.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS];
slow_homing.acceleration.y = planner.settings.max_acceleration_mm_per_s2[Y_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[X_AXIS] = 100;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100; planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
#if HAS_CLASSIC_JERK #if HAS_CLASSIC_JERK
slow_homing.jerk.x = planner.max_jerk[X_AXIS]; slow_homing.jerk_xy = planner.max_jerk;
slow_homing.jerk.y = planner.max_jerk[Y_AXIS]; planner.max_jerk.set(0, 0);
planner.max_jerk[X_AXIS] = 0;
planner.max_jerk[Y_AXIS] = 0;
#endif #endif
planner.reset_acceleration_rates(); 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), home_all = always_home_all || (homeX == homeY && homeX == homeZ),
doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || 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 #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)) { if (z_homing_height && (doX || doY)) {
// Raise Z before homing any other axes and z is not already high enough (never lower z) // Raise Z before homing any other axes and z is not already high enough (never lower z)
destination[Z_AXIS] = z_homing_height; destination.z = z_homing_height;
if (destination[Z_AXIS] > current_position[Z_AXIS]) { if (destination.z > current_position.z) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination.z);
do_blocking_move_to_z(destination[Z_AXIS]); do_blocking_move_to_z(destination.z);
} }
} }
@ -329,14 +325,14 @@ void GcodeSuite::G28(const bool always_home_all) {
homeaxis(X_AXIS); homeaxis(X_AXIS);
// Remember this extruder's position for later tool change // 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 // Home the 1st (left) extruder
active_extruder = 0; active_extruder = 0;
homeaxis(X_AXIS); homeaxis(X_AXIS);
// Consider the active extruder to be parked // Consider the active extruder to be parked
COPY(raised_parked_position, current_position); raised_parked_position = current_position;
delayed_move_time = 0; delayed_move_time = 0;
active_extruder_parked = true; active_extruder_parked = true;
@ -390,14 +386,14 @@ void GcodeSuite::G28(const bool always_home_all) {
homeaxis(X_AXIS); homeaxis(X_AXIS);
// Remember this extruder's position for later tool change // 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 // Home the 1st (left) extruder
active_extruder = 0; active_extruder = 0;
homeaxis(X_AXIS); homeaxis(X_AXIS);
// Consider the active extruder to be parked // Consider the active extruder to be parked
COPY(raised_parked_position, current_position); raised_parked_position = current_position;
delayed_move_time = 0; delayed_move_time = 0;
active_extruder_parked = true; active_extruder_parked = true;
extruder_duplication_enabled = IDEX_saved_duplication_state; 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[X_AXIS] = slow_homing.acceleration.x;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y; planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y;
#if HAS_CLASSIC_JERK #if HAS_CLASSIC_JERK
planner.max_jerk[X_AXIS] = slow_homing.jerk.x; planner.max_jerk = slow_homing.jerk_xy;
planner.max_jerk[Y_AXIS] = slow_homing.jerk.y;
#endif #endif
planner.reset_acceleration_rates(); planner.reset_acceleration_rates();
#endif #endif

156
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() #define AC_CLEANUP() ac_cleanup()
#endif #endif
float lcd_probe_pt(const float &rx, const float &ry); float lcd_probe_pt(const xy_pos_t &xy);
void ac_home() { void ac_home() {
endstops.enable(true); 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) { static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
SERIAL_ECHOPAIR(".Height:", delta_height); SERIAL_ECHOPAIR(".Height:", delta_height);
if (end_stops) { if (end_stops) {
print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]); print_signed_float(PSTR("Ex"), delta_endstop_adj.a);
print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]); print_signed_float(PSTR("Ey"), delta_endstop_adj.b);
print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]); print_signed_float(PSTR("Ez"), delta_endstop_adj.c);
} }
if (end_stops && tower_angles) { if (end_stops && tower_angles) {
SERIAL_ECHOPAIR(" Radius:", delta_radius); 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); SERIAL_ECHO_SP(13);
} }
if (tower_angles) { if (tower_angles) {
print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]); print_signed_float(PSTR("Tx"), delta_tower_angle_trim.a);
print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]); print_signed_float(PSTR("Ty"), delta_tower_angle_trim.b);
print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]); print_signed_float(PSTR("Tz"), delta_tower_angle_trim.c);
} }
if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
SERIAL_ECHOPAIR(" Radius:", delta_radius); 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 * - 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 #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 #else
UNUSED(stow); UNUSED(stow);
return lcd_probe_pt(nx, ny); return lcd_probe_pt(xy);
#endif #endif
} }
@ -223,7 +223,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
if (!_0p_calibration) { if (!_0p_calibration) {
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center 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; 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) { I_LOOP_CAL_PT(rad, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * 0.1; 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; if (isnan(z_pt[CEN])) return false;
} }
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points); 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)), const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)), r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = FMOD(rad, 1); 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; if (isnan(z_temp)) return false;
// split probe point to neighbouring calibration points // 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))); 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 * - formulae for approximative forward kinematics in the end-stop displacement matrix
* - definition of the matrix scaling parameters * - 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]) { static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) {
float pos[XYZ] = { 0.0 }; xyz_pos_t pos{0};
LOOP_CAL_ALL(rad) { LOOP_CAL_ALL(rad) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = (rad == CEN ? 0.0f : delta_calibration_radius); r = (rad == CEN ? 0.0f : delta_calibration_radius);
pos[X_AXIS] = cos(a) * r; pos.set(cos(a) * r, sin(a) * r, z_pt[rad]);
pos[Y_AXIS] = sin(a) * r;
pos[Z_AXIS] = z_pt[rad];
inverse_kinematics(pos); 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; 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 Z00(I, A) ZPP( 0, I, A)
#define Zp1(I, A) ZPP(+1, I, A) #define Zp1(I, A) ZPP(+1, I, A)
#define Zm1(I, A) ZPP(-1, I, A) #define Zm1(I, A) ZPP(-1, I, A)
#define Zp2(I, A) ZPP(+2, I, A) #define Zp2(I, A) ZPP(+2, I, A)
#define Zm2(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[CEN] = Z00(CEN, a) + Z00(CEN, b) + Z00(CEN, c);
z_pt[__A] = Zp2(__A, A_AXIS) + Zm1(__A, B_AXIS) + Zm1(__A, C_AXIS); z_pt[__A] = Zp2(__A, a) + Zm1(__A, b) + Zm1(__A, c);
z_pt[__B] = Zm1(__B, A_AXIS) + Zp2(__B, B_AXIS) + Zm1(__B, C_AXIS); z_pt[__B] = Zm1(__B, a) + Zp2(__B, b) + Zm1(__B, c);
z_pt[__C] = Zm1(__C, A_AXIS) + Zm1(__C, B_AXIS) + Zp2(__C, C_AXIS); z_pt[__C] = Zm1(__C, a) + Zm1(__C, b) + Zp2(__C, c);
z_pt[_BC] = Zm2(_BC, A_AXIS) + Zp1(_BC, B_AXIS) + Zp1(_BC, C_AXIS); z_pt[_BC] = Zm2(_BC, a) + Zp1(_BC, b) + Zp1(_BC, c);
z_pt[_CA] = Zp1(_CA, A_AXIS) + Zm2(_CA, B_AXIS) + Zp1(_CA, C_AXIS); z_pt[_CA] = Zp1(_CA, a) + Zm2(_CA, b) + Zp1(_CA, c);
z_pt[_AB] = Zp1(_AB, A_AXIS) + Zp1(_AB, B_AXIS) + Zm2(_AB, C_AXIS); 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]; const float z_center = z_pt[CEN];
float diff_mm_at_pt_axis[NPP + 1][ABC], abc_float_t diff_mm_at_pt_axis[NPP + 1], new_mm_at_pt_axis[NPP + 1];
new_mm_at_pt_axis[NPP + 1][ABC];
reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis); reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis);
delta_radius += delta_r; delta_radius += delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += delta_t[axis]; delta_tower_angle_trim += delta_t;
recalc_delta_settings(); recalc_delta_settings();
reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis); 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); forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt);
LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center; LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center;
z_pt[CEN] = z_center; z_pt[CEN] = z_center;
delta_radius -= delta_r; delta_radius -= delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= delta_t[axis]; delta_tower_angle_trim -= delta_t;
recalc_delta_settings(); recalc_delta_settings();
} }
static float auto_tune_h() { static float auto_tune_h() {
const float r_quot = delta_calibration_radius / delta_radius; const float r_quot = delta_calibration_radius / delta_radius;
float h_fac = 0.0f; return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR
h_fac = r_quot / (2.0f / 3.0f);
h_fac = 1.0f / h_fac; // (2/3)/CR
return h_fac;
} }
static float auto_tune_r() { static float auto_tune_r() {
const float diff = 0.01f; constexpr float diff = 0.01f, delta_r = diff;
float r_fac = 0.0f, float r_fac = 0.0f, z_pt[NPP + 1] = { 0.0f };
z_pt[NPP + 1] = { 0.0f }, abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
delta_e[ABC] = { 0.0f },
delta_r = { 0.0f },
delta_t[ABC] = { 0.0f };
delta_r = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t); 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 = -(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) 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() { static float auto_tune_a() {
const float diff = 0.01f; constexpr float diff = 0.01f, delta_r = 0.0f;
float a_fac = 0.0f, float a_fac = 0.0f, z_pt[NPP + 1] = { 0.0f };
z_pt[NPP + 1] = { 0.0f }, abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
delta_e[ABC] = { 0.0f },
delta_r = { 0.0f },
delta_t[ABC] = { 0.0f };
ZERO(delta_t); delta_t.reset();
LOOP_XYZ(axis) { LOOP_XYZ(axis) {
delta_t[axis] = diff; delta_t[axis] = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t); 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 = (verbose_level ? 999.0f : 0.0f), // 0.0 in dry-run mode : forced end
zero_std_dev_min = zero_std_dev, zero_std_dev_min = zero_std_dev,
zero_std_dev_old = zero_std_dev, zero_std_dev_old = zero_std_dev,
h_factor, h_factor, r_factor, a_factor,
r_factor,
a_factor,
e_old[ABC] = {
delta_endstop_adj[A_AXIS],
delta_endstop_adj[B_AXIS],
delta_endstop_adj[C_AXIS]
},
r_old = delta_radius, r_old = delta_radius,
h_old = delta_height, h_old = delta_height;
a_old[ABC] = {
delta_tower_angle_trim[A_AXIS], abc_pos_t e_old = delta_endstop_adj, a_old = delta_tower_angle_trim;
delta_tower_angle_trim[B_AXIS],
delta_tower_angle_trim[C_AXIS]
};
SERIAL_ECHOLNPGM("G33 Auto Calibrate"); SERIAL_ECHOLNPGM("G33 Auto Calibrate");
@ -520,15 +499,14 @@ void GcodeSuite::G33() {
if (zero_std_dev < zero_std_dev_min) { if (zero_std_dev < zero_std_dev_min) {
// set roll-back point // set roll-back point
COPY(e_old, delta_endstop_adj); e_old = delta_endstop_adj;
r_old = delta_radius; r_old = delta_radius;
h_old = delta_height; h_old = delta_height;
COPY(a_old, delta_tower_angle_trim); a_old = delta_tower_angle_trim;
} }
float e_delta[ABC] = { 0.0f }, abc_float_t e_delta = { 0.0f }, t_delta = { 0.0f };
r_delta = 0.0f, float r_delta = 0.0f;
t_delta[ABC] = { 0.0f };
/** /**
* convergence matrices: * convergence matrices:
@ -563,42 +541,42 @@ void GcodeSuite::G33() {
case 2: case 2:
if (towers_set) { // see 4 point calibration (towers) matrix 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.set((+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN),
e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN); (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN),
e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__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; r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
} }
else { // see 4 point calibration (opposites) matrix else { // see 4 point calibration (opposites) matrix
e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN); e_delta.set((-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN),
e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN); (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN),
e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_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; r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
} }
break; break;
default: // see 7 point calibration (towers & opposites) matrix 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.set((+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); (-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); (-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; 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 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.set((+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; (+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; (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor);
} }
break; break;
} }
LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis]; delta_endstop_adj += e_delta;
delta_radius += r_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) { else if (zero_std_dev >= test_precision) {
// roll back // roll back
COPY(delta_endstop_adj, e_old); delta_endstop_adj = e_old;
delta_radius = r_old; delta_radius = r_old;
delta_height = h_old; delta_height = h_old;
COPY(delta_tower_angle_trim, a_old); delta_tower_angle_trim = a_old;
} }
if (verbose_level != 0) { // !dry run if (verbose_level != 0) { // !dry run
@ -611,7 +589,7 @@ void GcodeSuite::G33() {
} }
// adjust delta_height and endstops by the max amount // 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; delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= 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) #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h" #include "../../core/debug_out.h"
float z_auto_align_xpos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_X, // Sanity-check
z_auto_align_ypos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_Y; 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) { inline void set_all_z_lock(const bool lock) {
stepper.set_z_lock(lock); stepper.set_z_lock(lock);
@ -123,11 +132,11 @@ void GcodeSuite::G34() {
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * ( float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS) #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]), 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_xpos[1] - z_auto_align_ypos[1], z_auto_align_xpos[2] - z_auto_align_ypos[2]), 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_xpos[2] - z_auto_align_ypos[2], z_auto_align_xpos[0] - z_auto_align_ypos[0]))) 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 #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 #endif
); );
@ -135,7 +144,7 @@ void GcodeSuite::G34() {
if (!all_axes_known()) home_all_axes(); if (!all_axes_known()) home_all_axes();
// Move the Z coordinate realm towards the positive - dirty trick // 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), 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 }, 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); if (iteration == 0 || izstepper > 0) do_blocking_move_to_z(z_probe);
// Probe a Z height for each stepper. // 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)) { if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed."); SERIAL_ECHOLNPGM("Probing failed.");
err_break = true; err_break = true;
@ -240,7 +249,7 @@ void GcodeSuite::G34() {
} }
// Do a move to correct part of the misalignment for the current stepper // 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) } // for (zstepper)
// Back to normal stepper operations // Back to normal stepper operations
@ -299,20 +308,22 @@ void GcodeSuite::M422() {
return; return;
} }
const float x_pos = parser.floatval('X', z_auto_align_xpos[zstepper]); const xy_pos_t pos = {
if (!WITHIN(x_pos, X_MIN_POS, X_MAX_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."); SERIAL_ECHOLNPGM("?(X) out of bounds.");
return; return;
} }
const float y_pos = parser.floatval('Y', z_auto_align_ypos[zstepper]); if (!WITHIN(pos.y, Y_MIN_POS, Y_MAX_POS)) {
if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
SERIAL_ECHOLNPGM("?(Y) out of bounds."); SERIAL_ECHOLNPGM("?(Y) out of bounds.");
return; return;
} }
z_auto_align_xpos[zstepper] = x_pos; z_auto_align_pos[zstepper] = pos;
z_auto_align_ypos[zstepper] = y_pos;
} }
#endif // Z_STEPPER_AUTO_ALIGN #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 }; 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 { struct measurements_t {
static constexpr float dimensions[XYZ] = CALIBRATION_OBJECT_DIMENSIONS; xyz_pos_t obj_center = true_center; // Non-static must be assigned from xyz_pos_t
static constexpr float true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
float obj_center[XYZ] = CALIBRATION_OBJECT_CENTER; float obj_side[NUM_SIDES], backlash[NUM_SIDES];
float obj_side[NUM_SIDES]; xyz_float_t pos_error;
float backlash[NUM_SIDES]; xy_float_t nozzle_outer_dimension = nod;
float pos_error[XYZ];
float nozzle_outer_dimension[2] = {CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER};
}; };
#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable); #define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
@ -88,29 +88,8 @@ struct measurements_t {
#define TEMPORARY_BACKLASH_SMOOTHING(value) #define TEMPORARY_BACKLASH_SMOOTHING(value)
#endif #endif
/** inline void calibration_move() {
* Move to a particular location. Up to three individual axes do_blocking_move_to(current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
* 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));
} }
/** /**
@ -121,10 +100,12 @@ inline void move_to(
*/ */
inline void park_above_object(measurements_t &m, const float uncertainty) { inline void park_above_object(measurements_t &m, const float uncertainty) {
// Move to safe distance above calibration object // 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 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 #if HOTENDS > 1
@ -139,14 +120,9 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
inline void normalize_hotend_offsets() { inline void normalize_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++) { for (uint8_t e = 1; e < HOTENDS; e++)
hotend_offset[X_AXIS][e] -= hotend_offset[X_AXIS][0]; hotend_offset[e] -= hotend_offset[0];
hotend_offset[Y_AXIS][e] -= hotend_offset[Y_AXIS][0]; hotend_offset[0].reset();
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;
} }
#endif #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 feedRate_t mms = fast ? MMM_TO_MMS(CALIBRATION_FEEDRATE_FAST) : MMM_TO_MMS(CALIBRATION_FEEDRATE_SLOW);
const float limit = fast ? 50 : 5; const float limit = fast ? 50 : 5;
set_destination_from_current(); destination = current_position;
for (float travel = 0; travel < limit; travel += step) { for (float travel = 0; travel < limit; travel += step) {
destination[axis] += dir * step; destination[axis] += dir * step;
do_blocking_move_to(destination, mms); 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; const bool fast = uncertainty == CALIBRATION_MEASUREMENT_UNKNOWN;
// Save position // Save position
set_destination_from_current(); destination = current_position;
const float start_pos = destination[axis]; const float start_pos = destination[axis];
const float measured_pos = measuring_movement(axis, dir, stop_state, fast); const float measured_pos = measuring_movement(axis, dir, stop_state, fast);
// Measure backlash // 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 * 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) { 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; AxisEnum axis;
float dir; float dir;
@ -232,7 +208,7 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
switch (side) { switch (side) {
case TOP: { case TOP: {
const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty); 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; m.obj_side[TOP] = measurement;
return; 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 FRONT: axis = Y_AXIS; dir = 1; break;
case LEFT: axis = X_AXIS; dir = 1; break; case LEFT: axis = X_AXIS; dir = 1; break;
case BACK: axis = Y_AXIS; dir = -1; break; case BACK: axis = Y_AXIS; dir = -1; break;
default: default: return;
return;
} }
if (probe_top_at_edge) { if (probe_top_at_edge) {
// Probe top nearest the side we are probing // 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_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 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 // 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); 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_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
m.obj_side[side] = measurement; 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. // Compute the measured center of the calibration object.
#if HAS_X_CENTER #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 #endif
#if HAS_Y_CENTER #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 #endif
// Compute the outside diameter of the nozzle at the height // Compute the outside diameter of the nozzle at the height
// at which it makes contact with the calibration object // at which it makes contact with the calibration object
#if HAS_X_CENTER #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 #endif
#if HAS_Y_CENTER #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 #endif
park_above_object(m, uncertainty); park_above_object(m, uncertainty);
// The difference between the known and the measured location // The difference between the known and the measured location
// of the calibration object is the positional error // of the calibration object is the positional error
m.pos_error[X_AXIS] = (0 m.pos_error.x = (0
#if HAS_X_CENTER #if HAS_X_CENTER
+ m.true_center[X_AXIS] - m.obj_center[X_AXIS] + true_center.x - m.obj_center.x
#endif #endif
); );
m.pos_error[Y_AXIS] = (0 m.pos_error.y = (0
#if HAS_Y_CENTER #if HAS_Y_CENTER
+ m.true_center[Y_AXIS] - m.obj_center[Y_AXIS] + true_center.y - m.obj_center.y
#endif #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) #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) { inline void report_measured_center(const measurements_t &m) {
SERIAL_ECHOLNPGM("Center:"); SERIAL_ECHOLNPGM("Center:");
#if HAS_X_CENTER #if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.obj_center[X_AXIS]); SERIAL_ECHOLNPAIR(" X", m.obj_center.x);
#endif #endif
#if HAS_Y_CENTER #if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.obj_center[Y_AXIS]); SERIAL_ECHOLNPAIR(" Y", m.obj_center.y);
#endif #endif
SERIAL_ECHOLNPAIR(" Z", m.obj_center[Z_AXIS]); SERIAL_ECHOLNPAIR(" Z", m.obj_center.z);
SERIAL_EOL(); SERIAL_EOL();
} }
@ -380,12 +358,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
SERIAL_ECHO(int(active_extruder)); SERIAL_ECHO(int(active_extruder));
SERIAL_ECHOLNPGM(" Positional Error:"); SERIAL_ECHOLNPGM(" Positional Error:");
#if HAS_X_CENTER #if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.pos_error[X_AXIS]); SERIAL_ECHOLNPAIR(" X", m.pos_error.x);
#endif #endif
#if HAS_Y_CENTER #if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.pos_error[Y_AXIS]); SERIAL_ECHOLNPAIR(" Y", m.pos_error.y);
#endif #endif
SERIAL_ECHOLNPAIR(" Z", m.pos_error[Z_AXIS]); SERIAL_ECHOLNPAIR(" Z", m.pos_error.z);
SERIAL_EOL(); SERIAL_EOL();
} }
@ -393,10 +371,10 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:"); SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
#if HAS_X_CENTER || HAS_Y_CENTER #if HAS_X_CENTER || HAS_Y_CENTER
#if HAS_X_CENTER #if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.nozzle_outer_dimension[X_AXIS]); SERIAL_ECHOLNPAIR(" X", m.nozzle_outer_dimension.x);
#endif #endif
#if HAS_Y_CENTER #if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.nozzle_outer_dimension[Y_AXIS]); SERIAL_ECHOLNPAIR(" Y", m.nozzle_outer_dimension.y);
#endif #endif
#else #else
UNUSED(m); UNUSED(m);
@ -410,7 +388,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
// //
inline void report_hotend_offsets() { inline void report_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++) 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 #endif
@ -434,49 +412,40 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
#if ENABLED(BACKLASH_GCODE) #if ENABLED(BACKLASH_GCODE)
#if HAS_X_CENTER #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) #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) #elif ENABLED(CALIBRATION_MEASURE_RIGHT)
backlash.distance_mm[X_AXIS] = m.backlash[RIGHT]; backlash.distance_mm.x = m.backlash[RIGHT];
#endif #endif
#if HAS_Y_CENTER #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) #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) #elif ENABLED(CALIBRATION_MEASURE_BACK)
backlash.distance_mm[Y_AXIS] = m.backlash[BACK]; backlash.distance_mm.y = m.backlash[BACK];
#endif #endif
backlash.distance_mm[Z_AXIS] = m.backlash[TOP]; backlash.distance_mm.z = m.backlash[TOP];
#endif #endif
} }
#if ENABLED(BACKLASH_GCODE) #if ENABLED(BACKLASH_GCODE)
// Turn on backlash compensation and move in all // Turn on backlash compensation and move in all
// directions to take up any backlash // directions to take up any backlash
{ {
// New scope for TEMPORARY_BACKLASH_CORRECTION // New scope for TEMPORARY_BACKLASH_CORRECTION
TEMPORARY_BACKLASH_CORRECTION(all_on); TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f); TEMPORARY_BACKLASH_SMOOTHING(0.0f);
move_to( const xyz_float_t move = { 3, 3, 3 };
X_AXIS, current_position[X_AXIS] + 3, current_position += move; calibration_move();
Y_AXIS, current_position[Y_AXIS] + 3, current_position -= move; calibration_move();
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
);
} }
#endif #endif
} }
inline void update_measurements(measurements_t &m, const AxisEnum axis) { 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]; current_position[axis] += m.pos_error[axis];
m.obj_center[axis] = true_center[axis]; m.obj_center[axis] = true_center[axis];
m.pos_error[axis] = 0; m.pos_error[axis] = 0;
@ -508,12 +477,12 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
// Adjust the hotend offset // Adjust the hotend offset
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
#if HAS_X_CENTER #if HAS_X_CENTER
hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS]; hotend_offset[extruder].x += m.pos_error.x;
#endif #endif
#if HAS_Y_CENTER #if HAS_Y_CENTER
hotend_offset[Y_AXIS][extruder] += m.pos_error[Y_AXIS]; hotend_offset[extruder].y += m.pos_error.y;
#endif #endif
hotend_offset[Z_AXIS][extruder] += m.pos_error[Z_AXIS]; hotend_offset[extruder].z += m.pos_error.z;
normalize_hotend_offsets(); normalize_hotend_offsets();
#endif #endif
@ -589,7 +558,8 @@ inline void calibrate_all() {
// Do a slow and precise calibration of the toolheads // Do a slow and precise calibration of the toolheads
calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN); 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; const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
float X_current = current_position[X_AXIS], xy_float_t next_pos = current_position;
Y_current = current_position[Y_AXIS];
const float X_probe_location = parser.linearval('X', X_current + probe_offset[X_AXIS]), const xy_pos_t probe_pos = {
Y_probe_location = parser.linearval('Y', Y_current + probe_offset[Y_AXIS]); 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."); SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
return; 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]; 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 // 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); bool probing_good = !isnan(t);
if (probing_good) { 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 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. // 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; next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
Y_current = Y_probe_location - probe_offset[Y_AXIS] + sin(RADIANS(angle)) * radius; probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
#if DISABLED(DELTA) #if DISABLED(DELTA)
LIMIT(X_current, X_MIN_POS, X_MAX_POS); LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
LIMIT(Y_current, Y_MIN_POS, Y_MAX_POS); LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);
#else #else
// If we have gone out too far, we can do a simple fix and scale the numbers // If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin. // back in closer to the origin.
while (!position_is_reachable_by_probe(X_current, Y_current)) { while (!position_is_reachable_by_probe(next_pos)) {
X_current *= 0.8; next_pos *= 0.8;
Y_current *= 0.8;
if (verbose_level > 3) 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 #endif
if (verbose_level > 3) 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 loop
} // n_legs } // n_legs
// Probe a single point // 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 // Break the loop if the probe fails
probing_good = !isnan(sample_set[n]); probing_good = !isnan(sample_set[n]);

12
Marlin/src/gcode/calibrate/M665.cpp
View file

@ -48,9 +48,9 @@
if (parser.seen('R')) delta_radius = 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('S')) delta_segments_per_second = parser.value_float();
if (parser.seen('B')) delta_calibration_radius = 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('X')) delta_tower_angle_trim.a = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float(); if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float(); if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
recalc_delta_settings(); recalc_delta_settings();
} }
@ -76,13 +76,13 @@
#if HAS_SCARA_OFFSET #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 bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X');
const uint8_t sumAPX = hasA + hasP + hasX; const uint8_t sumAPX = hasA + hasP + hasX;
if (sumAPX) { if (sumAPX) {
if (sumAPX == 1) if (sumAPX == 1)
scara_home_offset[A_AXIS] = parser.value_float(); scara_home_offset.a = parser.value_float();
else { else {
SERIAL_ERROR_MSG("Only one of A, P, or X is allowed."); SERIAL_ERROR_MSG("Only one of A, P, or X is allowed.");
return; return;
@ -93,7 +93,7 @@
const uint8_t sumBTY = hasB + hasT + hasY; const uint8_t sumBTY = hasB + hasT + hasY;
if (sumBTY) { if (sumBTY) {
if (sumBTY == 1) if (sumBTY == 1)
scara_home_offset[B_AXIS] = parser.value_float(); scara_home_offset.b = parser.value_float();
else { else {
SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed."); SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed.");
return; return;

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

@ -152,17 +152,17 @@ void GcodeSuite::M205() {
} }
#endif #endif
#if HAS_CLASSIC_JERK #if HAS_CLASSIC_JERK
if (parser.seen('X')) planner.max_jerk[X_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_AXIS] = parser.value_linear_units(); if (parser.seen('Y')) planner.max_jerk.y = parser.value_linear_units();
if (parser.seen('Z')) { 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 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."); SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif #endif
} }
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE) #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
#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(); const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return; if (target_extruder < 0) return;
if (parser.seenval('X')) hotend_offset[X_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[Y_AXIS][target_extruder] = parser.value_linear_units(); if (parser.seenval('Y')) hotend_offset[target_extruder].y = parser.value_linear_units();
if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units(); if (parser.seenval('Z')) hotend_offset[target_extruder].z = parser.value_linear_units();
if (!parser.seen("XYZ")) { if (!parser.seen("XYZ")) {
SERIAL_ECHO_START(); SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
HOTEND_LOOP() { HOTEND_LOOP() {
SERIAL_CHAR(' '); SERIAL_CHAR(' ');
SERIAL_ECHO(hotend_offset[X_AXIS][e]); SERIAL_ECHO(hotend_offset[e].x);
SERIAL_CHAR(','); SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Y_AXIS][e]); SERIAL_ECHO(hotend_offset[e].y);
SERIAL_CHAR(','); SERIAL_CHAR(',');
SERIAL_ECHO_F(hotend_offset[Z_AXIS][e], 3); SERIAL_ECHO_F(hotend_offset[e].z, 3);
} }
SERIAL_EOL(); SERIAL_EOL();
} }
#if ENABLED(DELTA) #if ENABLED(DELTA)
if (target_extruder == active_extruder) 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 #endif
} }

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

@ -77,7 +77,7 @@ void GcodeSuite::M92() {
if (value < 20) { 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. 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) #if HAS_CLASSIC_JERK && !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
planner.max_jerk[E_AXIS] *= factor; planner.max_jerk.e *= factor;
#endif #endif
planner.settings.max_feedrate_mm_s[E_AXIS_N(target_extruder)] *= factor; planner.settings.max_feedrate_mm_s[E_AXIS_N(target_extruder)] *= factor;
planner.max_acceleration_steps_per_s2[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 * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
*/ */
void GcodeSuite::M211() { 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_ECHO_START();
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS); SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
if (parser.seen('S')) soft_endstops_enabled = parser.value_bool(); if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
serialprint_onoff(soft_endstops_enabled); serialprint_onoff(soft_endstops_enabled);
SERIAL_ECHOPGM(MSG_SOFT_MIN); print_xyz(l_soft_min, PSTR(MSG_SOFT_MIN), PSTR(" "));
SERIAL_ECHOPAIR( MSG_X, LOGICAL_X_POSITION(soft_endstop[X_AXIS].min)); print_xyz(l_soft_max, PSTR(MSG_SOFT_MAX));
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));
} }
#endif #endif

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

@ -79,9 +79,9 @@
} }
mirrored_duplication_mode = true; mirrored_duplication_mode = true;
stepper.set_directions(); stepper.set_directions();
float x_jog = current_position[X_AXIS] - .1; float x_jog = current_position.x - .1;
for (uint8_t i = 2; --i;) { 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; x_jog += .1;
} }
return; return;
@ -122,7 +122,7 @@
DEBUG_ECHOPAIR("\nActive Ext: ", int(active_extruder)); DEBUG_ECHOPAIR("\nActive Ext: ", int(active_extruder));
if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT "); if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT ");
DEBUG_ECHOPGM(" parked."); 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("\ninactive_extruder_x_pos: ", inactive_extruder_x_pos);
DEBUG_ECHOPAIR("\nextruder_duplication_enabled: ", int(extruder_duplication_enabled)); DEBUG_ECHOPAIR("\nextruder_duplication_enabled: ", int(extruder_duplication_enabled));
DEBUG_ECHOPAIR("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset); DEBUG_ECHOPAIR("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset);
@ -138,7 +138,7 @@
HOTEND_LOOP() { HOTEND_LOOP() {
DEBUG_ECHOPAIR(" T", int(e)); 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();
} }
DEBUG_EOL(); DEBUG_EOL();

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

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

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

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

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

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

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

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

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

@ -31,8 +31,8 @@
* M122: Debug TMC drivers * M122: Debug TMC drivers
*/ */
void GcodeSuite::M122() { void GcodeSuite::M122() {
bool print_axis[XYZE] = { false, false, false, false }, xyze_bool_t print_axis = { false, false, false, false };
print_all = true; bool print_all = true;
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; } 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; if (print_all) LOOP_XYZE(i) print_axis[i] = true;
@ -45,12 +45,12 @@ void GcodeSuite::M122() {
#endif #endif
if (parser.seen('V')) 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 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 #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 #endif // HAS_TRINAMIC

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

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

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

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

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

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

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

@ -36,9 +36,9 @@
bool GcodeSuite::select_coordinate_system(const int8_t _new) { bool GcodeSuite::select_coordinate_system(const int8_t _new) {
if (active_coordinate_system == _new) return false; if (active_coordinate_system == _new) return false;
active_coordinate_system = _new; active_coordinate_system = _new;
float new_offset[XYZ] = { 0 }; xyz_float_t new_offset{0};
if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1)) if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(new_offset, coordinate_system[_new]); new_offset = coordinate_system[_new];
LOOP_XYZ(i) { LOOP_XYZ(i) {
if (position_shift[i] != new_offset[i]) { if (position_shift[i] != new_offset[i]) {
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 #elif HAS_POSITION_SHIFT
if (i == E_AXIS) { if (i == E_AXIS) {
didE = true; 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 { else {
position_shift[i] += d; // Other axes simply offset the coordinate space position_shift[i] += d; // Other axes simply offset the coordinate space
@ -102,7 +102,7 @@ void GcodeSuite::G92() {
#if ENABLED(CNC_COORDINATE_SYSTEMS) #if ENABLED(CNC_COORDINATE_SYSTEMS)
// Apply workspace offset to the active coordinate system // Apply workspace offset to the active coordinate system
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1)) 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 #endif
if (didXYZ) sync_plan_position(); 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() { void GcodeSuite::M428() {
if (axis_unhomed_error()) return; if (axis_unhomed_error()) return;
float diff[XYZ]; xyz_float_t diff;
LOOP_XYZ(i) { LOOP_XYZ(i) {
diff[i] = base_home_pos((AxisEnum)i) - current_position[i]; diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0) 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" #include "../../core/debug_out.h"
#endif #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]; char str[12];
for (uint8_t a = 0; a < n; a++) { for (uint8_t a = 0; a < n; a++) {
SERIAL_CHAR(' '); SERIAL_CHAR(' ');
@ -47,22 +47,27 @@
SERIAL_EOL(); 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() { void report_current_position_detail() {
SERIAL_ECHOPGM("\nLogical:"); SERIAL_ECHOPGM("\nLogical:");
const float logical[XYZ] = { report_xyz(current_position.asLogical());
LOGICAL_X_POSITION(current_position[X_AXIS]),
LOGICAL_Y_POSITION(current_position[Y_AXIS]),
LOGICAL_Z_POSITION(current_position[Z_AXIS])
};
report_xyz(logical);
SERIAL_ECHOPGM("Raw: "); SERIAL_ECHOPGM("Raw: ");
report_xyz(current_position); 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 #if HAS_LEVELING
SERIAL_ECHOPGM("Leveled:"); SERIAL_ECHOPGM("Leveled:");
@ -70,7 +75,7 @@
report_xyz(leveled); report_xyz(leveled);
SERIAL_ECHOPGM("UnLevel:"); SERIAL_ECHOPGM("UnLevel:");
float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] }; xyze_pos_t unleveled = leveled;
planner.unapply_leveling(unleveled); planner.unapply_leveling(unleveled);
report_xyz(unleveled); report_xyz(unleveled);
#endif #endif
@ -153,7 +158,7 @@
SERIAL_EOL(); SERIAL_EOL();
#if IS_SCARA #if IS_SCARA
const float deg[XYZ] = { const xy_float_t deg = {
planner.get_axis_position_degrees(A_AXIS), planner.get_axis_position_degrees(A_AXIS),
planner.get_axis_position_degrees(B_AXIS) planner.get_axis_position_degrees(B_AXIS)
}; };
@ -162,17 +167,12 @@
#endif #endif
SERIAL_ECHOPGM("FromStp:"); SERIAL_ECHOPGM("FromStp:");
get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics) get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], planner.get_axis_position_mm(E_AXIS) }; xyze_pos_t from_steppers = { cartes.x, cartes.y, cartes.z, planner.get_axis_position_mm(E_AXIS) };
report_xyze(from_steppers); report_xyze(from_steppers);
const float diff[XYZE] = { const xyze_float_t diff = from_steppers - leveled;
from_steppers[X_AXIS] - leveled[X_AXIS], SERIAL_ECHOPGM("Diff: ");
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: ");
report_xyze(diff); report_xyze(diff);
} }

6
Marlin/src/gcode/motion/G0_G1.cpp
View file

@ -35,7 +35,7 @@
#include "../../module/stepper.h" #include "../../module/stepper.h"
#endif #endif
extern float destination[XYZE]; extern xyze_pos_t destination;
#if ENABLED(VARIABLE_G0_FEEDRATE) #if ENABLED(VARIABLE_G0_FEEDRATE)
feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE); feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE);
@ -87,10 +87,10 @@ void GcodeSuite::G0_G1(
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves // 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'))) { 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? // Is this a retract or recover move?
if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) { 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 current_position.e = destination.e; // Hide a G1-based retract/recover from calculations
sync_plan_position_e(); // AND from the planner sync_plan_position_e(); // AND from the planner
return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored) return fwretract.retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
} }

69
Marlin/src/gcode/motion/G2_G3.cpp
View file

@ -50,8 +50,8 @@
* options for G2/G3 arc generation. In future these options may be GCode tunable. * options for G2/G3 arc generation. In future these options may be GCode tunable.
*/ */
void plan_arc( void plan_arc(
const float (&cart)[XYZE], // Destination position const xyze_pos_t &cart, // Destination position
const float (&offset)[2], // Center of rotation relative to current_position const ab_float_t &offset, // Center of rotation relative to current_position
const uint8_t clockwise // Clockwise? const uint8_t clockwise // Clockwise?
) { ) {
#if ENABLED(CNC_WORKSPACE_PLANES) #if ENABLED(CNC_WORKSPACE_PLANES)
@ -67,21 +67,21 @@ void plan_arc(
#endif #endif
// Radius vector from center to current location // 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) #if ENABLED(AUTO_BED_LEVELING_UBL)
start_L = current_position[l_axis], start_L = current_position[l_axis],
#endif #endif
center_P = current_position[p_axis] - r_P, center_P = current_position[p_axis] - rvec.a,
center_Q = current_position[q_axis] - r_Q, center_Q = current_position[q_axis] - rvec.b,
rt_X = cart[p_axis] - center_P, rt_X = cart[p_axis] - center_P,
rt_Y = cart[q_axis] - center_Q, rt_Y = cart[q_axis] - center_Q,
linear_travel = cart[l_axis] - current_position[l_axis], 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. // 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); if (angular_travel < 0) angular_travel += RADIANS(360);
#ifdef MIN_ARC_SEGMENTS #ifdef MIN_ARC_SEGMENTS
uint16_t min_segments = CEIL((MIN_ARC_SEGMENTS) * (angular_travel / RADIANS(360))); 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. * This is important when there are successive arc motions.
*/ */
// Vector rotation matrix values // Vector rotation matrix values
float raw[XYZE]; xyze_pos_t raw;
const float theta_per_segment = angular_travel / segments, const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments, linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments, extruder_per_segment = extruder_travel / segments,
@ -144,7 +144,7 @@ void plan_arc(
raw[l_axis] = current_position[l_axis]; raw[l_axis] = current_position[l_axis];
// Initialize the extruder 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); 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 N_ARC_CORRECTION > 1
if (--arc_recalc_count) { if (--arc_recalc_count) {
// Apply vector rotation matrix to previous r_P / 1 // Apply vector rotation matrix to previous rvec.a / 1
const float r_new_Y = r_P * sin_T + r_Q * cos_T; const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
r_P = r_P * cos_T - r_Q * sin_T; rvec.a = rvec.a * cos_T - rvec.b * sin_T;
r_Q = r_new_Y; rvec.b = r_new_Y;
} }
else else
#endif #endif
@ -185,20 +185,20 @@ void plan_arc(
// To reduce stuttering, the sin and cos could be computed at different times. // To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time. // For now, compute both at the same time.
const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment); 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; rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti; rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
} }
// Update raw location // Update raw location
raw[p_axis] = center_P + r_P; raw[p_axis] = center_P + rvec.a;
raw[q_axis] = center_Q + r_Q; raw[q_axis] = center_Q + rvec.b;
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)
raw[l_axis] = start_L; raw[l_axis] = start_L;
UNUSED(linear_per_segment); UNUSED(linear_per_segment);
#else #else
raw[l_axis] += linear_per_segment; raw[l_axis] += linear_per_segment;
#endif #endif
raw[E_AXIS] += extruder_per_segment; raw.e += extruder_per_segment;
apply_motion_limits(raw); apply_motion_limits(raw);
@ -215,7 +215,7 @@ void plan_arc(
} }
// Ensure last segment arrives at target location. // Ensure last segment arrives at target location.
COPY(raw, cart); raw = cart;
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)
raw[l_axis] = start_L; raw[l_axis] = start_L;
#endif #endif
@ -235,7 +235,7 @@ void plan_arc(
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)
raw[l_axis] = start_L; raw[l_axis] = start_L;
#endif #endif
COPY(current_position, raw); current_position = raw;
} // plan_arc } // plan_arc
/** /**
@ -278,32 +278,27 @@ void GcodeSuite::G2_G3(const bool clockwise) {
relative_mode = relative_mode_backup; relative_mode = relative_mode_backup;
#endif #endif
float arc_offset[2] = { 0, 0 }; ab_float_t arc_offset = { 0, 0 };
if (parser.seenval('R')) { if (parser.seenval('R')) {
const float r = parser.value_linear_units(); const float r = parser.value_linear_units();
if (r) { if (r) {
const float p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS], const xy_pos_t p1 = current_position, p2 = destination;
p2 = destination[X_AXIS], q2 = destination[Y_AXIS]; if (p1 != p2) {
if (p2 != p1 || q2 != q1) { 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 const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
dx = p2 - p1, dy = q2 - q1, // X and Y differences len = d.magnitude(), // Total move length
d = HYPOT(dx, dy), // Linear distance between the points h = SQRT(sq(r) - sq(len * 0.5f)); // Distance to the arc pivot-point
dinv = 1/d, // Inverse of d const xy_pos_t s = { d.x, -d.y }; // Inverse Slope of the perpendicular bisector
h = SQRT(sq(r) - sq(d * 0.5f)), // Distance to the arc pivot-point arc_offset = m + s * RECIPROCAL(len) * e * h - p1; // The calculated offset
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;
} }
} }
} }
else { else {
if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units(); if (parser.seenval('I')) arc_offset.a = parser.value_linear_units();
if (parser.seenval('J')) arc_offset[1] = 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) #if ENABLED(ARC_P_CIRCLES)
// P indicates number of circles to do // 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/motion.h"
#include "../../module/planner_bezier.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: * Parameters interpreted according to:
* http://linuxcnc.org/docs/2.6/html/gcode/parser.html#sec:G5-Cubic-Spline * 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(); get_destination_from_command();
const float offset[4] = { const xy_pos_t offsets[2] = {
parser.linearval('I'), { parser.linearval('I'), parser.linearval('J') },
parser.linearval('J'), { parser.linearval('P'), parser.linearval('Q') }
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) #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 (true
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET) #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
&& active_extruder == 0 && active_extruder == 0
#endif #endif
) { ) {
probe_offset[Z_AXIS] += offs; probe_offset.z += offs;
SERIAL_ECHO_START(); 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 { else {
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET) #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
hotend_offset[Z_AXIS][active_extruder] -= offs; hotend_offset[active_extruder].z -= offs;
SERIAL_ECHO_START(); 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 #endif
} }
} }
@ -81,7 +81,7 @@ void GcodeSuite::M290() {
const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2); const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
babystep.add_mm((AxisEnum)a, offs); babystep.add_mm((AxisEnum)a, offs);
#if ENABLED(BABYSTEP_ZPROBE_OFFSET) #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 #endif
} }
#else #else
@ -89,7 +89,7 @@ void GcodeSuite::M290() {
const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2); const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
babystep.add_mm(Z_AXIS, offs); babystep.add_mm(Z_AXIS, offs);
#if ENABLED(BABYSTEP_ZPROBE_OFFSET) #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
} }
#endif #endif
@ -98,17 +98,17 @@ void GcodeSuite::M290() {
SERIAL_ECHO_START(); SERIAL_ECHO_START();
#if ENABLED(BABYSTEP_ZPROBE_OFFSET) #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 #endif
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET) #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
{ {
SERIAL_ECHOLNPAIR("Hotend ", int(active_extruder), "Offset" SERIAL_ECHOLNPAIR("Hotend ", int(active_extruder), "Offset"
#if ENABLED(BABYSTEP_XY) #if ENABLED(BABYSTEP_XY)
" X", hotend_offset[X_AXIS][active_extruder], " X", hotend_offset[active_extruder].x,
" Y", hotend_offset[Y_AXIS][active_extruder], " Y", hotend_offset[active_extruder].y,
#endif #endif
" Z", hotend_offset[Z_AXIS][active_extruder] " Z", hotend_offset[active_extruder].z
); );
} }
#endif #endif

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

@ -39,10 +39,10 @@
* E Engage the probe for each probe (default 1) * E Engage the probe for each probe (default 1)
*/ */
void GcodeSuite::G30() { void GcodeSuite::G30() {
const float xpos = parser.linearval('X', current_position[X_AXIS] + probe_offset[X_AXIS]), const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset.x),
ypos = parser.linearval('Y', current_position[Y_AXIS] + probe_offset[Y_AXIS]); 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 // Disable leveling so the planner won't mess with us
#if HAS_LEVELING #if HAS_LEVELING
@ -52,10 +52,9 @@ void GcodeSuite::G30() {
remember_feedrate_scaling_off(); remember_feedrate_scaling_off();
const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE; 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)) 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(); 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 #if MULTIPLE_PROBING > 1
// Get direction of move and retract // Get direction of move and retract
float retract_mm[XYZ]; xyz_float_t retract_mm;
LOOP_XYZ(i) { LOOP_XYZ(i) {
const float dist = destination[i] - current_position[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); 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 #if MULTIPLE_PROBING > 1
// Move away by the retract distance // Move away by the retract distance
set_destination_from_current(); destination = current_position + retract_mm;
LOOP_XYZ(i) destination[i] += retract_mm[i];
endstops.enable(false); endstops.enable(false);
prepare_move_to_destination(); prepare_move_to_destination();
planner.synchronize(); planner.synchronize();
@ -84,7 +83,7 @@ inline bool G38_run_probe() {
REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25); REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25);
// Bump the target more slowly // Bump the target more slowly
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2; destination -= retract_mm * 2;
G38_single_probe(move_value); G38_single_probe(move_value);
#endif #endif

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

@ -35,18 +35,18 @@ void GcodeSuite::M851() {
// Show usage with no parameters // Show usage with no parameters
if (!parser.seen("XYZ")) { 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; 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; bool ok = true;
if (parser.seenval('X')) { if (parser.seenval('X')) {
const float x = parser.value_float(); const float x = parser.value_float();
if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE)) if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
offs[X_AXIS] = x; offs.x = x;
else { else {
SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")"); SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
ok = false; ok = false;
@ -56,7 +56,7 @@ void GcodeSuite::M851() {
if (parser.seenval('Y')) { if (parser.seenval('Y')) {
const float y = parser.value_float(); const float y = parser.value_float();
if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE)) if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
offs[Y_AXIS] = y; offs.y = y;
else { else {
SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")"); SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
ok = false; ok = false;
@ -66,7 +66,7 @@ void GcodeSuite::M851() {
if (parser.seenval('Z')) { if (parser.seenval('Z')) {
const float z = parser.value_float(); const float z = parser.value_float();
if (WITHIN(z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) if (WITHIN(z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
offs[Z_AXIS] = z; offs.z = z;
else { else {
SERIAL_ECHOLNPAIR("?Z out of range (", int(Z_PROBE_OFFSET_RANGE_MIN), " to ", int(Z_PROBE_OFFSET_RANGE_MAX), ")"); SERIAL_ECHOLNPAIR("?Z out of range (", int(Z_PROBE_OFFSET_RANGE_MIN), " to ", int(Z_PROBE_OFFSET_RANGE_MAX), ")");
ok = false; ok = false;
@ -74,7 +74,7 @@ void GcodeSuite::M851() {
} }
// Save the new offsets // Save the new offsets
if (ok) COPY(probe_offset, offs); if (ok) probe_offset = offs;
} }
#endif // HAS_BED_PROBE #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) { inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
if (IsRunning()) { if (IsRunning()) {
forward_kinematics_SCARA(delta_a, delta_b); 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 true;
} }
return false; return false;

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

@ -1472,7 +1472,7 @@
#define _PROBE_RADIUS (DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE)) #define _PROBE_RADIUS (DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE))
#ifndef DELTA_CALIBRATION_RADIUS #ifndef DELTA_CALIBRATION_RADIUS
#ifdef NOZZLE_TO_PROBE_OFFSET #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 #else
#define DELTA_CALIBRATION_RADIUS _PROBE_RADIUS #define DELTA_CALIBRATION_RADIUS _PROBE_RADIUS
#endif #endif
@ -1506,6 +1506,7 @@
#define PROBE_Y_MIN (Y_CENTER - (SCARA_PRINTABLE_RADIUS) + MIN_PROBE_EDGE_FRONT) #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_X_MAX (X_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_RIGHT))
#define PROBE_Y_MAX (Y_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_BACK)) #define PROBE_Y_MAX (Y_CENTER + SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_BACK))
#endif #endif
#if ENABLED(SEGMENT_LEVELED_MOVES) && !defined(LEVELED_SEGMENT_LENGTH) #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_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
#define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS)) #define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
#else #else
#define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS + nozzle_to_probe_offset[X_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_AXIS])) #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_AXIS])) #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_AXIS])) #define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS + nozzle_to_probe_offset.y))
#endif #endif
#endif #endif

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

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

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

@ -34,7 +34,6 @@
#include "../core/boards.h" #include "../core/boards.h"
#include "../core/macros.h" #include "../core/macros.h"
#include "../core/millis_t.h"
#include "Version.h" #include "Version.h"
#include "../../Configuration.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." #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) #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." #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 #endif
#define BOARD_MKS_13 -1000 #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 #elif !HAS_BED_PROBE
#error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe." #error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
#endif #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 #endif
#if ENABLED(PRINTCOUNTER) && DISABLED(EEPROM_SETTINGS) #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 #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(' '); lcd_put_wchar(' ');
_draw_axis_value(Y_AXIS, ftostr4sign(lpos.y), blink);
_draw_axis_value(Y_AXIS, ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS])), blink);
#endif #endif
@ -830,7 +829,7 @@ void MarlinUI::draw_status_screen() {
#endif // LCD_WIDTH >= 20 #endif // LCD_WIDTH >= 20
lcd_moveto(LCD_WIDTH - 8, 1); 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 #if HAS_LEVELING && !HAS_HEATED_BED
lcd_put_wchar(planner.leveling_active || blink ? '_' : ' '); lcd_put_wchar(planner.leveling_active || blink ? '_' : ' ');
@ -902,7 +901,7 @@ void MarlinUI::draw_status_screen() {
// Z Coordinate // Z Coordinate
// //
lcd_moveto(LCD_WIDTH - 9, 0); 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) #if HAS_LEVELING && (HOTENDS > 1 || !HAS_HEATED_BED)
lcd_put_wchar(LCD_WIDTH - 1, 0, planner.leveling_active || blink ? '_' : ' '); 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 * Show X and Y positions
*/ */
_XLABEL(_PLOT_X, 0); _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); _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); lcd_moveto(_PLOT_X, 0);
@ -1395,9 +1393,9 @@ void MarlinUI::draw_status_screen() {
* Show all values at right of screen * Show all values at right of screen
*/ */
_XLABEL(_LCD_W_POS, 1); _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); _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 * 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 #endif
heat_bits = new_bits; heat_bits = new_bits;
#endif #endif
strcpy(xstring, ftostr4sign(LOGICAL_X_POSITION(current_position[X_AXIS]))); const xyz_pos_t lpos = current_position.asLogical();
strcpy(ystring, ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS]))); strcpy(xstring, ftostr4sign(lpos.x));
strcpy(zstring, ftostr52sp( LOGICAL_Z_POSITION(current_position[Z_AXIS]))); strcpy(ystring, ftostr4sign(lpos.y));
strcpy(zstring, ftostr52sp( lpos.z));
#if ENABLED(FILAMENT_LCD_DISPLAY) #if ENABLED(FILAMENT_LCD_DISPLAY)
strcpy(wstring, ftostr12ns(filwidth.measured_mm)); strcpy(wstring, ftostr12ns(filwidth.measured_mm));
strcpy(mstring, i16tostr3(planner.volumetric_percent(parser.volumetric_enabled))); 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 #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]; char str[7];
set_ddram_address(DDRAM_LINE_4); set_ddram_address(DDRAM_LINE_4);
begin_data(); 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); const unsigned char alt_label = position_known ? 0 : (ui.get_blink() ? ' ' : 0);
write_byte(alt_label ? alt_label : 'X'); 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_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_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() { 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() { 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 xyz_pos_t pos = current_position;
const uint8_t checksum = uint8_t(x_pos) ^ uint8_t(y_pos) ^ uint8_t(z_pos); 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; static uint8_t last_checksum = 0, changed = last_checksum != checksum;
if (changed) last_checksum = checksum; if (changed) last_checksum = checksum;
return changed; 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 "../../HAL/shared/HAL_ST7920.h"
#include "../../core/types.h"
#include "../../core/macros.h" #include "../../core/macros.h"
#include "../../libs/duration_t.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_print_time(const duration_t &elapsed);
static void draw_feedrate_percentage(const uint16_t percentage); static void draw_feedrate_percentage(const uint16_t percentage);
static void draw_status_message(); 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 indicators_changed();
static bool position_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 // Show X and Y positions at top of screen
u8g.setColorIndex(1); u8g.setColorIndex(1);
if (PAGE_UNDER(7)) { 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(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(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 // 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_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_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_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), VPHELPER(VP_MOVE_E1, nullptr, &DGUSScreenVariableHandler::HandleManualExtrude, nullptr),
#endif #endif
#if HOTENDS >= 2 #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 ), VPHELPER(VP_Feedrate_Percentage, &feedrate_percentage, DGUSScreenVariableHandler::DGUSLCD_SetValueDirectly<int16_t>, &DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay ),
// Position Data. // Position Data.
VPHELPER(VP_XPos, &current_position[0], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>), VPHELPER(VP_XPos, &current_position.x, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_YPos, &current_position[1], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>), VPHELPER(VP_YPos, &current_position.y, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
VPHELPER(VP_ZPos, &current_position[2], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>), VPHELPER(VP_ZPos, &current_position.z, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
// Print Progress. // Print Progress.
VPHELPER(VP_PrintProgress_Percentage, &ui.progress_bar_percent, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay ), VPHELPER(VP_PrintProgress_Percentage, &ui.progress_bar_percent, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay ),

19
Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/bio_status_screen.cpp
View file

@ -267,11 +267,11 @@ bool StatusScreen::onTouchEnd(uint8_t tag) {
jog_xy = true; jog_xy = true;
injectCommands_P(PSTR("M17")); injectCommands_P(PSTR("M17"));
} }
jog(0, 0, 0); jog({ 0, 0, 0 });
break; break;
case 5: case 5:
case 6: case 6:
jog(0, 0, 0); jog({ 0, 0, 0 });
break; break;
case 9: GOTO_SCREEN(FilesScreen); break; case 9: GOTO_SCREEN(FilesScreen); break;
case 10: GOTO_SCREEN(MainMenu); break; case 10: GOTO_SCREEN(MainMenu); break;
@ -291,14 +291,13 @@ bool StatusScreen::onTouchHeld(uint8_t tag) {
if (tag >= 1 && tag <= 4 && !jog_xy) return false; if (tag >= 1 && tag <= 4 && !jog_xy) return false;
const float s = min_speed + (fine_motion ? 0 : (max_speed - min_speed) * sq(increment)); const float s = min_speed + (fine_motion ? 0 : (max_speed - min_speed) * sq(increment));
switch (tag) { switch (tag) {
case 1: jog(-s, 0, 0); break; case 1: jog({-s, 0, 0}); break;
case 2: 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 4: jog({ 0, -s, 0}); break; // NOTE: Y directions inverted because bed rather than needle moves
case 3: jog( 0, s, 0); break; case 3: jog({ 0, s, 0}); break;
case 5: jog( 0, 0, -s); break; case 5: jog({ 0, 0, -s}); break;
case 6: jog( 0, 0, s); break; case 6: jog({ 0, 0, s}); break;
case 7: case 7: case 8:
case 8:
{ {
if (ExtUI::isMoving()) return false; if (ExtUI::isMoving()) return false;
const feedRate_t feedrate = emin_speed + (fine_motion ? 0 : (emax_speed - emin_speed) * sq(increment)); 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) { bool ChangeFilamentScreen::onTouchHeld(uint8_t tag) {
if (ExtUI::isMoving()) return false; // Don't allow moves to accumulate if (ExtUI::isMoving()) return false; // Don't allow moves to accumulate
constexpr float increment = 1; constexpr float increment = 1;
#define UI_INCREMENT_AXIS(axis) MoveAxisScreen::setManualFeedrate(axis, increment); UI_INCREMENT(AxisPosition_mm, axis); #define UI_INCREMENT_AXIS(axis) UI_INCREMENT(AxisPosition_mm, axis);
#define UI_DECREMENT_AXIS(axis) MoveAxisScreen::setManualFeedrate(axis, increment); UI_DECREMENT(AxisPosition_mm, axis); #define UI_DECREMENT_AXIS(axis) UI_DECREMENT(AxisPosition_mm, axis);
switch (tag) { switch (tag) {
case 5: case 7: UI_DECREMENT_AXIS(getExtruder()); break; case 5: case 7: UI_DECREMENT_AXIS(getExtruder()); break;
case 6: case 8: UI_INCREMENT_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 // Compute feedrate so that the tool lags the adjuster when it is
// being held down, this allows enough margin for the planner to // being held down, this allows enough margin for the planner to
// connect segments and even out the motion. // connect segments and even out the motion.
constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE; constexpr xyze_feedrate_t max_manual_feedrate = MANUAL_FEEDRATE;
return min(manual_feedrate[axis] / 60.0f, abs(increment_mm * (TOUCH_REPEATS_PER_SECOND) * 0.80f)); 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) { 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 #if EXTRUDERS > 1
screen_data.NudgeNozzleScreen.link_nozzles = true; screen_data.NudgeNozzleScreen.link_nozzles = true;
#endif #endif
LOOP_XYZ(i) { screen_data.NudgeNozzleScreen.rel.reset();
screen_data.NudgeNozzleScreen.rel[i] = 0;
}
BaseNumericAdjustmentScreen::onEntry(); BaseNumericAdjustmentScreen::onEntry();
} }
@ -48,10 +47,10 @@ void NudgeNozzleScreen::onRedraw(draw_mode_t what) {
w.heading( GET_TEXTF(NUDGE_NOZZLE)); w.heading( GET_TEXTF(NUDGE_NOZZLE));
#if ENABLED(BABYSTEP_XY) #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(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[1] / getAxisSteps_per_mm(Y)); w.color(y_axis).adjuster(4, GET_TEXTF(AXIS_Y), screen_data.NudgeNozzleScreen.rel.y / getAxisSteps_per_mm(Y));
#endif #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(); w.increments();
#if EXTRUDERS > 1 #if EXTRUDERS > 1
w.toggle (8, GET_TEXTF(ADJUST_BOTH_NOZZLES), screen_data.NudgeNozzleScreen.link_nozzles); w.toggle (8, GET_TEXTF(ADJUST_BOTH_NOZZLES), screen_data.NudgeNozzleScreen.link_nozzles);
@ -90,12 +89,12 @@ bool NudgeNozzleScreen::onTouchHeld(uint8_t tag) {
#endif #endif
int16_t steps; int16_t steps;
switch (tag) { switch (tag) {
case 2: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps(-steps, X, link); screen_data.NudgeNozzleScreen.rel[0] -= 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[0] += 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[1] -= 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[1] += 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[2] -= 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[2] += steps; break; case 7: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps( steps, Z, link); screen_data.NudgeNozzleScreen.rel.z += steps; break;
#if EXTRUDERS > 1 #if EXTRUDERS > 1
case 8: screen_data.NudgeNozzleScreen.link_nozzles = !link; break; case 8: screen_data.NudgeNozzleScreen.link_nozzles = !link; break;
#endif #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) #if ENABLED(BABYSTEPPING)
struct { struct {
struct base_numeric_adjustment_t placeholder; struct base_numeric_adjustment_t placeholder;
int16_t rel[XYZ]; xyz_int_t rel;
#if EXTRUDERS > 1 #if EXTRUDERS > 1
bool link_nozzles; bool link_nozzles;
#endif #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 * The axis will continue to jog until this function is
* called with all zeros. * 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 // The "destination" variable is used as a scratchpad in
// Marlin by GCODE routines, but should remain untouched // Marlin by GCODE routines, but should remain untouched
// during manual jogging, allowing us to reuse the space // during manual jogging, allowing us to reuse the space
// for our direction vector. // for our direction vector.
destination[X] = dx; destination = dir;
destination[Y] = dy; flags.jogging = !NEAR_ZERO(dir.x) || !NEAR_ZERO(dir.y) || !NEAR_ZERO(dir.z);
destination[Z] = dz;
flags.jogging = !NEAR_ZERO(dx) || !NEAR_ZERO(dy) || !NEAR_ZERO(dz);
} }
// Called by the polling routine in "joystick.cpp" // 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) { if (flags.jogging) {
#define OUT_OF_RANGE(VALUE) (VALUE < -1.0f || VALUE > 1.0f) #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 (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 // If destination on any axis is out of range, it
// probably means the UI forgot to stop jogging and // 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. // To prevent a disaster, stop jogging.
flags.jogging = false; flags.jogging = false;
return; return;
} }
norm_jog[X_AXIS] = destination[X_AXIS]; norm_jog = destination;
norm_jog[Y_AXIS] = destination[Y_AXIS];
norm_jog[Z_AXIS] = destination[Z_AXIS];
} }
} }
#endif #endif
@ -328,18 +324,16 @@ namespace ExtUI {
float getAxisPosition_mm(const extruder_t extruder) { float getAxisPosition_mm(const extruder_t extruder) {
const extruder_t old_tool = getActiveTool(); const extruder_t old_tool = getActiveTool();
setActiveTool(extruder, true); setActiveTool(extruder, true);
const float pos = ( const float epos = (
#if ENABLED(JOYSTICK) #if ENABLED(JOYSTICK)
flags.jogging ? destination[E_AXIS] : flags.jogging ? destination.e :
#endif #endif
current_position[E_AXIS] current_position.e
); );
setActiveTool(old_tool, true); 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) { void setAxisPosition_mm(const float position, const axis_t axis) {
// Start with no limits to movement // Start with no limits to movement
float min = current_position[axis] - 1000, float min = current_position[axis] - 1000,
@ -350,26 +344,26 @@ namespace ExtUI {
if (soft_endstops_enabled) switch (axis) { if (soft_endstops_enabled) switch (axis) {
case X_AXIS: case X_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_X) #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
min = soft_endstop[X_AXIS].min; min = soft_endstop.min.x;
#endif #endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_X) #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
max = soft_endstop[X_AXIS].max; max = soft_endstop.max.x;
#endif #endif
break; break;
case Y_AXIS: case Y_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y) #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
min = soft_endstop[Y_AXIS].min; min = soft_endstop.min.y;
#endif #endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y) #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
max = soft_endstop[Y_AXIS].max; max = soft_endstop.max.y;
#endif #endif
break; break;
case Z_AXIS: case Z_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z) #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
min = soft_endstop[Z_AXIS].min; min = soft_endstop.min.z;
#endif #endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z) #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
max = soft_endstop[Z_AXIS].max; max = soft_endstop.max.z;
#endif #endif
default: break; default: break;
} }
@ -391,8 +385,8 @@ namespace ExtUI {
void setAxisPosition_mm(const float position, const extruder_t extruder) { void setAxisPosition_mm(const float position, const extruder_t extruder) {
setActiveTool(extruder, true); setActiveTool(extruder, true);
current_position[E_AXIS] = position; current_position.e = position;
line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m[E_AXIS])); line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.e));
} }
void setActiveTool(const extruder_t extruder, bool no_move) { void setActiveTool(const extruder_t extruder, bool no_move) {
@ -652,7 +646,7 @@ namespace ExtUI {
} }
float getAxisMaxJerk_mm_s(const extruder_t) { 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) { 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) { void setAxisMaxJerk_mm_s(const float value, const extruder_t) {
planner.max_jerk[E_AXIS] = value; planner.max_jerk.e = value;
} }
#endif #endif
@ -710,7 +704,7 @@ namespace ExtUI {
#if EXTRUDERS > 1 #if EXTRUDERS > 1
&& (linked_nozzles || active_extruder == 0) && (linked_nozzles || active_extruder == 0)
#endif #endif
) probe_offset[Z_AXIS] += mm; ) probe_offset.z += mm;
#else #else
UNUSED(mm); UNUSED(mm);
#endif #endif
@ -724,7 +718,7 @@ namespace ExtUI {
if (!linked_nozzles) { if (!linked_nozzles) {
HOTEND_LOOP() HOTEND_LOOP()
if (e != active_extruder) if (e != active_extruder)
hotend_offset[axis][e] += mm; hotend_offset[e][axis] += mm;
normalizeNozzleOffset(X); normalizeNozzleOffset(X);
normalizeNozzleOffset(Y); normalizeNozzleOffset(Y);
@ -748,7 +742,7 @@ namespace ExtUI {
float getZOffset_mm() { float getZOffset_mm() {
#if HAS_BED_PROBE #if HAS_BED_PROBE
return probe_offset[Z_AXIS]; return probe_offset.z;
#elif ENABLED(BABYSTEP_DISPLAY_TOTAL) #elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
return babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]; return babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
#else #else
@ -759,7 +753,7 @@ namespace ExtUI {
void setZOffset_mm(const float value) { void setZOffset_mm(const float value) {
#if HAS_BED_PROBE #if HAS_BED_PROBE
if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) 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) #elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
babystep.add_mm(Z_AXIS, (value - babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1])); babystep.add_mm(Z_AXIS, (value - babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]));
#else #else
@ -771,12 +765,12 @@ namespace ExtUI {
float getNozzleOffset_mm(const axis_t axis, const extruder_t extruder) { float getNozzleOffset_mm(const axis_t axis, const extruder_t extruder) {
if (extruder - E0 >= HOTENDS) return 0; 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) { void setNozzleOffset_mm(const float value, const axis_t axis, const extruder_t extruder) {
if (extruder - E0 >= HOTENDS) return; 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). * user to edit the offset the first nozzle).
*/ */
void normalizeNozzleOffset(const axis_t axis) { void normalizeNozzleOffset(const axis_t axis) {
const float offs = hotend_offset[axis][0]; const float offs = hotend_offset[0][axis];
HOTEND_LOOP() hotend_offset[axis][e] -= offs; HOTEND_LOOP() hotend_offset[e][axis] -= offs;
} }
#endif // HAS_HOTEND_OFFSET #endif // HAS_HOTEND_OFFSET
@ -820,10 +814,10 @@ namespace ExtUI {
bool getMeshValid() { return leveling_is_valid(); } bool getMeshValid() { return leveling_is_valid(); }
#if HAS_MESH #if HAS_MESH
bed_mesh_t& getMeshArray() { return Z_VALUES_ARR; } bed_mesh_t& getMeshArray() { return Z_VALUES_ARR; }
float getMeshPoint(const uint8_t xpos, const uint8_t ypos) { return Z_VALUES(xpos,ypos); } float getMeshPoint(const xy_uint8_t &pos) { return Z_VALUES(pos.x, pos.y); }
void setMeshPoint(const uint8_t xpos, const uint8_t ypos, const float zoff) { void setMeshPoint(const xy_uint8_t &pos, const float zoff) {
if (WITHIN(xpos, 0, GRID_MAX_POINTS_X) && WITHIN(ypos, 0, GRID_MAX_POINTS_Y)) { if (WITHIN(pos.x, 0, GRID_MAX_POINTS_X) && WITHIN(pos.y, 0, GRID_MAX_POINTS_Y)) {
Z_VALUES(xpos, ypos) = zoff; Z_VALUES(pos.x, pos.y) = zoff;
#if ENABLED(ABL_BILINEAR_SUBDIVISION) #if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate(); bed_level_virt_interpolate();
#endif #endif

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

@ -81,8 +81,8 @@ namespace ExtUI {
void enableHeater(const extruder_t); void enableHeater(const extruder_t);
#if ENABLED(JOYSTICK) #if ENABLED(JOYSTICK)
void jog(float dx, float dy, float dz); void jog(const xyz_float_t &dir);
void _joystick_update(float (&norm_jog)[XYZ]); void _joystick_update(xyz_float_t &norm_jog);
#endif #endif
/** /**
@ -135,9 +135,10 @@ namespace ExtUI {
bool getMeshValid(); bool getMeshValid();
#if HAS_MESH #if HAS_MESH
bed_mesh_t& getMeshArray(); bed_mesh_t& getMeshArray();
float getMeshPoint(const uint8_t xpos, const uint8_t ypos); float getMeshPoint(const xy_uint8_t &pos);
void setMeshPoint(const uint8_t xpos, const uint8_t ypos, const float zval); void setMeshPoint(const xy_uint8_t &pos, const float zval);
void onMeshUpdate(const uint8_t xpos, const uint8_t ypos, 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
#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 #if HAS_LINE_TO_Z
void line_to_z(const float &z) { void line_to_z(const float &z) {
current_position[Z_AXIS] = z; current_position.z = z;
planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[Z_AXIS]), active_extruder); line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.z));
} }
#endif #endif
@ -402,10 +402,10 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
ui.encoderPosition = 0; ui.encoderPosition = 0;
const float diff = planner.steps_to_mm[Z_AXIS] * babystep_increment, 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 = new_offs =
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET) #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 #else
new_probe_offset new_probe_offset
#endif #endif
@ -414,9 +414,9 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
babystep.add_steps(Z_AXIS, babystep_increment); 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) #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
else hotend_offset[Z_AXIS][active_extruder] = new_offs; else hotend_offset[active_extruder].z = new_offs;
#endif #endif
ui.refresh(LCDVIEW_CALL_REDRAW_NEXT); 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 (ui.should_draw()) {
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET) #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
if (!do_probe) 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 else
#endif #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 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 #endif
} }
} }

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

@ -55,7 +55,7 @@ void menu_backlash();
#include "../../feature/dac/stepper_dac.h" #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); } 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); } static void dac_driver_commit() { dac_current_set_percents(driverPercent); }
@ -552,7 +552,7 @@ void menu_backlash();
#if ENABLED(DELTA) #if ENABLED(DELTA)
EDIT_JERK(C); EDIT_JERK(C);
#else #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 #endif
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE) #if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
EDIT_JERK(E); 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); line_to_z(LEVEL_CORNERS_Z_HOP);
switch (bed_corner) { switch (bed_corner) {
case 0: case 0:
current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET; current_position.set(X_MIN_BED + LEVEL_CORNERS_INSET, Y_MIN_BED + LEVEL_CORNERS_INSET);
current_position[Y_AXIS] = Y_MIN_BED + LEVEL_CORNERS_INSET;
break; break;
case 1: case 1:
current_position[X_AXIS] = X_MAX_BED - (LEVEL_CORNERS_INSET); current_position.x = X_MAX_BED - (LEVEL_CORNERS_INSET);
break; break;
case 2: case 2:
current_position[Y_AXIS] = Y_MAX_BED - (LEVEL_CORNERS_INSET); current_position.y = Y_MAX_BED - (LEVEL_CORNERS_INSET);
break; break;
case 3: case 3:
current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET; current_position.x = X_MIN_BED + LEVEL_CORNERS_INSET;
break; break;
#if ENABLED(LEVEL_CENTER_TOO) #if ENABLED(LEVEL_CENTER_TOO)
case 4: case 4:
current_position[X_AXIS] = X_CENTER; current_position.set(X_CENTER, Y_CENTER);
current_position[Y_AXIS] = Y_CENTER;
break; break;
#endif #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); line_to_z(LEVEL_CORNERS_HEIGHT);
if (++bed_corner > 3 if (++bed_corner > 3
#if ENABLED(LEVEL_CENTER_TOO) #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 // Encoder knob or keypad buttons adjust the Z position
// //
if (ui.encoderPosition) { 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)); line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5f, (LCD_PROBE_Z_RANGE) * 0.5f));
ui.refresh(LCDVIEW_CALL_REDRAW_NEXT); ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
ui.encoderPosition = 0; ui.encoderPosition = 0;
@ -131,7 +131,7 @@
// Draw on first display, then only on Z change // Draw on first display, then only on Z change
// //
if (ui.should_draw()) { 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), '+')); 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) #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset); MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
#elif HAS_BED_PROBE #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 #endif
#if ENABLED(LEVEL_BED_CORNERS) #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(); START_MENU();
MENU_BACK(MSG_CONFIGURATION); MENU_BACK(MSG_CONFIGURATION);
#if ENABLED(DUAL_X_CARRIAGE) #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 #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 #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_Y_OFFSET, &hotend_offset[1].y, -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_Z_OFFSET, &hotend_offset[1].z, Z_PROBE_LOW_POINT, 10.0, _recalc_offsets);
#if ENABLED(EEPROM_SETTINGS) #if ENABLED(EEPROM_SETTINGS)
MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings); MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings);
#endif #endif
@ -347,7 +347,7 @@ void menu_configuration() {
#if ENABLED(BABYSTEP_ZPROBE_OFFSET) #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset); MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
#elif HAS_BED_PROBE #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 #endif
const bool busy = printer_busy(); 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" #include "../../lcd/extensible_ui/ui_api.h"
#endif #endif
void _man_probe_pt(const float &rx, const float &ry) { void _man_probe_pt(const xy_pos_t &xy) {
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES); do_blocking_move_to(xy, Z_CLEARANCE_BETWEEN_PROBES);
ui.synchronize(); ui.synchronize();
move_menu_scale = _MAX(PROBE_MANUALLY_STEP, MIN_STEPS_PER_SEGMENT / float(DEFAULT_XYZ_STEPS_PER_UNIT)); move_menu_scale = _MAX(PROBE_MANUALLY_STEP, MIN_STEPS_PER_SEGMENT / float(DEFAULT_XYZ_STEPS_PER_UNIT));
ui.goto_screen(lcd_move_z); ui.goto_screen(lcd_move_z);
@ -51,8 +51,8 @@ void _man_probe_pt(const float &rx, const float &ry) {
#include "../../gcode/gcode.h" #include "../../gcode/gcode.h"
float lcd_probe_pt(const float &rx, const float &ry) { float lcd_probe_pt(const xy_pos_t &xy) {
_man_probe_pt(rx, ry); _man_probe_pt(xy);
KEEPALIVE_STATE(PAUSED_FOR_USER); KEEPALIVE_STATE(PAUSED_FOR_USER);
ui.defer_status_screen(); ui.defer_status_screen();
wait_for_user = true; wait_for_user = true;
@ -64,7 +64,7 @@ void _man_probe_pt(const float &rx, const float &ry) {
#endif #endif
while (wait_for_user) idle(); while (wait_for_user) idle();
ui.goto_previous_screen_no_defer(); ui.goto_previous_screen_no_defer();
return current_position[Z_AXIS]; return current_position.z;
} }
#endif #endif
@ -83,10 +83,14 @@ void _man_probe_pt(const float &rx, const float &ry) {
ui.goto_screen(_lcd_calibrate_homing); 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_a(const float &a) {
void _goto_tower_y() { _man_probe_pt(cos(RADIANS(330)) * delta_calibration_radius, sin(RADIANS(330)) * delta_calibration_radius); } xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); } _man_probe_pt(tower_vec * delta_calibration_radius);
void _goto_center() { _man_probe_pt(0,0); } }
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 #endif
@ -101,15 +105,15 @@ void lcd_delta_settings() {
START_MENU(); START_MENU();
MENU_BACK(MSG_DELTA_CALIBRATE); MENU_BACK(MSG_DELTA_CALIBRATE);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10, delta_height + 10, _recalc_delta_settings); 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) #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("Ex",a);
EDIT_ENDSTOP_ADJ("Ey",B); EDIT_ENDSTOP_ADJ("Ey",b);
EDIT_ENDSTOP_ADJ("Ez",C); EDIT_ENDSTOP_ADJ("Ez",c);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5, delta_radius + 5, _recalc_delta_settings); 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) #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("Tx",a);
EDIT_ANGLE_TRIM("Ty",B); EDIT_ANGLE_TRIM("Ty",b);
EDIT_ANGLE_TRIM("Tz",C); 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); 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(); 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) { if (soft_endstops_enabled) switch (axis) {
case X_AXIS: case X_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_X) #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
min = soft_endstop[X_AXIS].min; min = soft_endstop.min.x;
#endif #endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_X) #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
max = soft_endstop[X_AXIS].max; max = soft_endstop.max.x;
#endif #endif
break; break;
case Y_AXIS: case Y_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y) #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
min = soft_endstop[Y_AXIS].min; min = soft_endstop.min.y;
#endif #endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y) #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
max = soft_endstop[Y_AXIS].max; max = soft_endstop.max.y;
#endif #endif
break; break;
case Z_AXIS: case Z_AXIS:
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z) #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
min = soft_endstop[Z_AXIS].min; min = soft_endstop.min.z;
#endif #endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z) #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
max = soft_endstop[Z_AXIS].max; max = soft_endstop.max.z;
#endif #endif
default: break; default: break;
} }
@ -173,7 +173,7 @@ void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
#if IS_KINEMATIC #if IS_KINEMATIC
manual_move_offset += diff; manual_move_offset += diff;
#else #else
current_position[E_AXIS] += diff; current_position.e += diff;
#endif #endif
manual_move_to_current(E_AXIS manual_move_to_current(E_AXIS
#if E_MANUAL > 1 #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 #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 #if IS_KINEMATIC
+ manual_move_offset + manual_move_offset
#endif #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; case Z_AXIS: STATIC_ITEM(MSG_MOVE_Z, SS_CENTER|SS_INVERT); break;
default: default:
#if ENABLED(MANUAL_E_MOVES_RELATIVE) #if ENABLED(MANUAL_E_MOVES_RELATIVE)
manual_move_e_origin = current_position[E_AXIS]; manual_move_e_origin = current_position.e;
#endif #endif
STATIC_ITEM(MSG_MOVE_E, SS_CENTER|SS_INVERT); STATIC_ITEM(MSG_MOVE_E, SS_CENTER|SS_INVERT);
break; break;
@ -345,7 +345,7 @@ void menu_move() {
) { ) {
if ( if (
#if ENABLED(DELTA) #if ENABLED(DELTA)
current_position[Z_AXIS] <= delta_clip_start_height current_position.z <= delta_clip_start_height
#else #else
true true
#endif #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() { void ubl_map_move_to_xy() {
const feedRate_t fr_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); 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 ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height) { if (current_position.z > delta_clip_start_height) {
destination[Z_AXIS] = delta_clip_start_height; destination.z = delta_clip_start_height;
prepare_internal_move_to_destination(fr_mm_s); prepare_internal_move_to_destination(fr_mm_s);
} }
#endif #endif
destination[X_AXIS] = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]); destination.set(ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot));
destination[Y_AXIS] = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]);
prepare_internal_move_to_destination(fr_mm_s); 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 (y_plot < 0) y_plot = GRID_MAX_POINTS_Y - 1;
#if IS_KINEMATIC #if IS_KINEMATIC
const float x = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]), const xy_pos_t xy = { ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot) };
y = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]); if (position_is_reachable(xy)) break; // Found a valid point
if (position_is_reachable(x, y)) break; // Found a valid point
x_plot += (step_scaler < 0) ? -1 : 1; x_plot += (step_scaler < 0) ? -1 : 1;
#endif #endif

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

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

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

@ -90,7 +90,6 @@
typedef void (*menuAction_t)(); typedef void (*menuAction_t)();
// Manual Movement // Manual Movement
constexpr feedRate_t manual_feedrate_mm_m[XYZE] = MANUAL_FEEDRATE;
extern float move_menu_scale; extern float move_menu_scale;
#if ENABLED(ADVANCED_PAUSE_FEATURE) #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 // Position calcs & checks
// //
const float center[] = { const xyze_pos_t center = {
LOGICAL_X_POSITION(current_position[X_AXIS]), LOGICAL_X_POSITION(current_position.x),
LOGICAL_Y_POSITION(current_position[Y_AXIS]), LOGICAL_Y_POSITION(current_position.y),
LOGICAL_Z_POSITION(current_position[Z_AXIS]), LOGICAL_Z_POSITION(current_position.z),
current_position[E_AXIS] current_position.e
}; };
switch (axis_mon[0][0]) { switch (axis_mon[0][0]) {
default: position_max = position_min = 0; break; default: position_max = position_min = 0; break;
case 'X': { case 'X': {
position_min = center[X_AXIS] - displacement; position_min = center.x - displacement;
position_max = center[X_AXIS] + displacement; position_max = center.x + displacement;
echo_min_max('X', position_min, position_max); echo_min_max('X', position_min, position_max);
if (false if (false
#ifdef X_MIN_POS #ifdef X_MIN_POS
@ -367,8 +367,8 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
} break; } break;
case 'Y': { case 'Y': {
position_min = center[Y_AXIS] - displacement; position_min = center.y - displacement;
position_max = center[Y_AXIS] + displacement; position_max = center.y + displacement;
echo_min_max('Y', position_min, position_max); echo_min_max('Y', position_min, position_max);
if (false if (false
#ifdef Y_MIN_POS #ifdef Y_MIN_POS
@ -384,8 +384,8 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
} break; } break;
case 'Z': { case 'Z': {
position_min = center[Z_AXIS] - displacement; position_min = center.z - displacement;
position_max = center[Z_AXIS] + displacement; position_max = center.z + displacement;
echo_min_max('Z', position_min, position_max); echo_min_max('Z', position_min, position_max);
if (false if (false
#ifdef Z_MIN_POS #ifdef Z_MIN_POS
@ -401,8 +401,8 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
} break; } break;
case 'E': { case 'E': {
position_min = center[E_AXIS] - displacement; position_min = center.e - displacement;
position_max = center[E_AXIS] + displacement; position_max = center.e + displacement;
echo_min_max('E', position_min, position_max); echo_min_max('E', position_min, position_max);
} break; } 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_absx = _MAX(ABS(wx), lsf->max_absx);
lsf->max_absy = _MAX(ABS(wy), lsf->max_absy); 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) { inline void incremental_LSF(struct linear_fit_data *lsf, const float &x, const float &y, const float &z) {
lsf->xbar += x; 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->max_absy = _MAX(ABS(y), lsf->max_absy);
lsf->N += 1.0; 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 *); 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 "../Marlin.h"
#include "../module/motion.h" #include "../module/motion.h"
#include "point_t.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE) #if ENABLED(NOZZLE_CLEAN_FEATURE)
@ -38,30 +37,30 @@ Nozzle nozzle;
* @brief Stroke clean pattern * @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement * @details Wipes the nozzle back and forth in a linear movement
* *
* @param start point_t defining the starting point * @param start xyz_pos_t defining the starting point
* @param end point_t defining the ending point * @param end xyz_pos_t defining the ending point
* @param strokes number of strokes to execute * @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) #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 #endif
// Move to the starting point // Move to the starting point
#if ENABLED(NOZZLE_CLEAN_NO_Z) #if ENABLED(NOZZLE_CLEAN_NO_Z)
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to_xy(start);
#else #else
do_blocking_move_to(start.x, start.y, start.z); do_blocking_move_to(start);
#endif #endif
// Start the stroke pattern // Start the stroke pattern
for (uint8_t i = 0; i < (strokes >> 1); i++) { for (uint8_t i = 0; i < (strokes >> 1); i++) {
do_blocking_move_to_xy(end.x, end.y); do_blocking_move_to_xy(end);
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to_xy(start);
} }
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz); do_blocking_move_to(oldpos);
#endif #endif
} }
@ -69,29 +68,29 @@ Nozzle nozzle;
* @brief Zig-zag clean pattern * @brief Zig-zag clean pattern
* @details Apply a zig-zag cleaning pattern * @details Apply a zig-zag cleaning pattern
* *
* @param start point_t defining the starting point * @param start xyz_pos_t defining the starting point
* @param end point_t defining the ending point * @param end xyz_pos_t defining the ending point
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
* @param objects number of triangles to do * @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) { void Nozzle::zigzag(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes, const uint8_t &objects) {
const float diffx = end.x - start.x, diffy = end.y - start.y; const xy_pos_t diff = end - start;
if (!diffx || !diffy) return; if (!diff.x || !diff.y) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK) #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 #endif
#if ENABLED(NOZZLE_CLEAN_NO_Z) #if ENABLED(NOZZLE_CLEAN_NO_Z)
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to_xy(start);
#else #else
do_blocking_move_to(start.x, start.y, start.z); do_blocking_move_to(start);
#endif #endif
const uint8_t zigs = objects << 1; const uint8_t zigs = objects << 1;
const bool horiz = ABS(diffx) >= ABS(diffy); // Do a horizontal wipe? const bool horiz = ABS(diff.x) >= ABS(diff.y); // Do a horizontal wipe?
const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag const float P = (horiz ? diff.x : diff.y) / zigs; // Period of each zig / zag
const point_t *side; const xyz_pos_t *side;
for (uint8_t j = 0; j < strokes; j++) { for (uint8_t j = 0; j < strokes; j++) {
for (int8_t i = 0; i < zigs; i++) { for (int8_t i = 0; i < zigs; i++) {
side = (i & 1) ? &end : &start; side = (i & 1) ? &end : &start;
@ -110,7 +109,7 @@ Nozzle nozzle;
} }
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz); do_blocking_move_to(back);
#endif #endif
} }
@ -118,21 +117,21 @@ Nozzle nozzle;
* @brief Circular clean pattern * @brief Circular clean pattern
* @details Apply a circular cleaning 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 strokes number of strokes to execute
* @param radius radius of circle * @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 (strokes == 0) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK) #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 #endif
#if ENABLED(NOZZLE_CLEAN_NO_Z) #if ENABLED(NOZZLE_CLEAN_NO_Z)
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to_xy(start);
#else #else
do_blocking_move_to(start.x, start.y, start.z); do_blocking_move_to(start);
#endif #endif
for (uint8_t s = 0; s < strokes; s++) for (uint8_t s = 0; s < strokes; s++)
@ -143,10 +142,10 @@ Nozzle nozzle;
); );
// Let's be safe // Let's be safe
do_blocking_move_to_xy(start.x, start.y); do_blocking_move_to_xy(start);
#if ENABLED(NOZZLE_CLEAN_GOBACK) #if ENABLED(NOZZLE_CLEAN_GOBACK)
do_blocking_move_to(ix, iy, iz); do_blocking_move_to(back);
#endif #endif
} }
@ -158,21 +157,21 @@ Nozzle nozzle;
* @param argument depends on the cleaning pattern * @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) { 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; xyz_pos_t start = NOZZLE_CLEAN_START_POINT, end = NOZZLE_CLEAN_END_POINT;
point_t end = NOZZLE_CLEAN_END_POINT;
if (pattern == 2) { if (pattern == 2) {
if (!(cleans & (_BV(X_AXIS) | _BV(Y_AXIS)))) { if (!(cleans & (_BV(X_AXIS) | _BV(Y_AXIS)))) {
SERIAL_ECHOLNPGM("Warning : Clean Circle requires XY"); SERIAL_ECHOLNPGM("Warning : Clean Circle requires XY");
return; return;
} }
end = NOZZLE_CLEAN_CIRCLE_MIDDLE; constexpr xyz_pos_t middle NOZZLE_CLEAN_CIRCLE_MIDDLE;
end = middle;
} }
else { else {
if (!TEST(cleans, X_AXIS)) start.x = end.x = current_position[X_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_AXIS]; 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) { switch (pattern) {
case 1: zigzag(start, end, strokes, objects); break; case 1: zigzag(start, end, strokes, objects); break;
@ -185,7 +184,7 @@ Nozzle nozzle;
#if ENABLED(NOZZLE_PARK_FEATURE) #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; constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE, fr_z = NOZZLE_PARK_Z_FEEDRATE;
switch (z_action) { switch (z_action) {
@ -194,14 +193,14 @@ Nozzle nozzle;
break; break;
case 2: // Raise by Z-park height 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; break;
default: // Raise to at least the Z-park height 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(); report_current_position();
} }

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

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

90
Marlin/src/libs/vector_3.cpp
View file

@ -47,79 +47,72 @@
#include <math.h> #include <math.h>
vector_3::vector_3() : x(0), y(0), z(0) { } /**
* vector_3
vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { } */
vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) { vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
return vector_3(left.y * right.z - left.z * right.y, const xyz_float_t &lv = left, &rv = right;
left.z * right.x - left.x * right.z, return vector_3(lv.y * rv.z - lv.z * rv.y, // YZ cross
left.x * right.y - left.y * right.x); 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 vector_3::get_normal() const {
vector_3 normalized = vector_3(x, y, z); vector_3 normalized = *this;
normalized.normalize(); normalized.normalize();
return normalized; return normalized;
} }
float vector_3::get_length() const { return SQRT(sq(x) + sq(y) + sq(z)); }
void vector_3::normalize() { void vector_3::normalize() {
const float inv_length = RSQRT(sq(x) + sq(y) + sq(z)); *this *= RSQRT(sq(x) + sq(y) + sq(z));
x *= inv_length;
y *= inv_length;
z *= inv_length;
} }
// Apply a rotation to the matrix
void vector_3::apply_rotation(const matrix_3x3 &matrix) { void vector_3::apply_rotation(const matrix_3x3 &matrix) {
const float _x = x, _y = y; const float _x = x, _y = y, _z = z;
x = _x * matrix.matrix[3 * 0 + 0] + _y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0]; *this = matrix.vectors[0] * _x + matrix.vectors[1] * _y + matrix.vectors[2] * _z;
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];
} }
void vector_3::debug(PGM_P const title) { void vector_3::debug(PGM_P const title) {
serialprintPGM(title); serialprintPGM(title);
SERIAL_ECHOPAIR_F(" x: ", x, 6); SERIAL_ECHOPAIR_F(" X", x, 6);
SERIAL_ECHOPAIR_F(" y: ", y, 6); SERIAL_ECHOPAIR_F(" Y", y, 6);
SERIAL_ECHOLNPAIR_F(" z: ", z, 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); * matrix_3x3
vector.apply_rotation(matrix); */
x = vector.x;
y = vector.y; void apply_rotation_xyz(const matrix_3x3 &matrix, float &_x, float &_y, float &_z) {
z = vector.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) { 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_0.debug(PSTR("row_0"));
//row_1.debug(PSTR("row_1")); //row_1.debug(PSTR("row_1"));
//row_2.debug(PSTR("row_2")); //row_2.debug(PSTR("row_2"));
matrix_3x3 new_matrix; 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.vectors[0] = row_0;
new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z; new_matrix.vectors[1] = row_1;
new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z; new_matrix.vectors[2] = row_2;
//new_matrix.debug(PSTR("new_matrix")); //new_matrix.debug(PSTR("new_matrix"));
return new_matrix; return new_matrix;
} }
void matrix_3x3::set_to_identity() { // Create a matrix rotated to point towards a target
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;
}
matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) { matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
vector_3 z_row = target.get_normal(), const vector_3 z_row = target.get_normal(),
x_row = vector_3(1, 0, -target.x / target.z).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(); y_row = vector_3::cross(z_row, x_row).get_normal();
@ -134,11 +127,12 @@ matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
return rot; return rot;
} }
// Get a transposed copy of the matrix
matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) { matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) {
matrix_3x3 new_matrix; 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]; for (uint8_t i = 0; i < 3; i++)
new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7]; for (uint8_t j = 0; j < 3; j++)
new_matrix.matrix[6] = original.matrix[2]; new_matrix.matrix[7] = original.matrix[5]; new_matrix.matrix[8] = original.matrix[8]; new_matrix.vectors[i][j] = original.vectors[j][i];
return new_matrix; return new_matrix;
} }
@ -147,13 +141,11 @@ void matrix_3x3::debug(PGM_P const title) {
serialprintPGM(title); serialprintPGM(title);
SERIAL_EOL(); SERIAL_EOL();
} }
uint8_t count = 0;
for (uint8_t i = 0; i < 3; i++) { for (uint8_t i = 0; i < 3; i++) {
for (uint8_t j = 0; j < 3; j++) { for (uint8_t j = 0; j < 3; j++) {
if (matrix[count] >= 0.0) SERIAL_CHAR('+'); if (vectors[i][j] >= 0.0) SERIAL_CHAR('+');
SERIAL_ECHO_F(matrix[count], 6); SERIAL_ECHO_F(vectors[i][j], 6);
SERIAL_CHAR(' '); SERIAL_CHAR(' ');
count++;
} }
SERIAL_EOL(); 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 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/ */
#include "../core/types.h"
class matrix_3x3; class matrix_3x3;
struct vector_3 { struct vector_3 : xyz_float_t {
float x, y, z;
vector_3(); vector_3(const float &_x, const float &_y, const float &_z) { set(_x, _y, _z); }
vector_3(float x, float y, float 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); static vector_3 cross(const vector_3 &a, const vector_3 &b);
vector_3 operator+(const vector_3 &v); // Modifiers
vector_3 operator-(const vector_3 &v);
vector_3 operator* (const float &v);
vector_3& operator*=(const float &v);
void normalize(); void normalize();
void apply_rotation(const matrix_3x3 &matrix);
// Accessors
float get_length() const; float get_length() const;
vector_3 get_normal() 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 debug(PGM_P const title);
void apply_rotation(const matrix_3x3 &matrix);
}; };
struct matrix_3x3 { 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_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 create_look_at(const vector_3 &target);
static matrix_3x3 transpose(const matrix_3x3 &original); static matrix_3x3 transpose(const matrix_3x3 &original);
@ -76,5 +83,7 @@ struct matrix_3x3 {
void debug(PGM_P const title); void debug(PGM_P const title);
}; };
void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, float &x, float &y, float &z); 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 "temperature.h"
#include "../lcd/ultralcd.h" #include "../lcd/ultralcd.h"
#include "../core/language.h" #include "../core/language.h"
#include "../libs/vector_3.h" #include "../libs/vector_3.h" // for matrix_3x3
#include "../gcode/gcode.h" #include "../gcode/gcode.h"
#include "../Marlin.h" #include "../Marlin.h"
@ -146,13 +146,13 @@ typedef struct SettingsDataStruct {
planner_settings_t planner_settings; planner_settings_t planner_settings;
float planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE] xyze_float_t planner_max_jerk; // M205 XYZE planner.max_jerk
planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm 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 #if HAS_HOTEND_OFFSET
float hotend_offset[XYZ][HOTENDS - 1]; // M218 XYZ xyz_pos_t hotend_offset[HOTENDS - 1]; // M218 XYZ
#endif #endif
// //
@ -181,7 +181,7 @@ typedef struct SettingsDataStruct {
// HAS_BED_PROBE // HAS_BED_PROBE
// //
float probe_offset[XYZ]; xyz_pos_t probe_offset;
// //
// ABL_PLANAR // ABL_PLANAR
@ -192,10 +192,9 @@ typedef struct SettingsDataStruct {
// AUTO_BED_LEVELING_BILINEAR // AUTO_BED_LEVELING_BILINEAR
// //
uint8_t grid_max_x, grid_max_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y uint8_t grid_max_x, grid_max_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y
int bilinear_grid_spacing[2], xy_int_t bilinear_grid_spacing, bilinear_start; // G29 L F
bilinear_start[2]; // G29 L F
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #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 #else
float z_values[3][3]; float z_values[3][3];
#endif #endif
@ -220,13 +219,13 @@ typedef struct SettingsDataStruct {
// DELTA / [XYZ]_DUAL_ENDSTOPS // DELTA / [XYZ]_DUAL_ENDSTOPS
// //
#if ENABLED(DELTA) #if ENABLED(DELTA)
float delta_height, // M666 H float delta_height; // M666 H
delta_endstop_adj[ABC], // M666 XYZ abc_float_t delta_endstop_adj; // M666 XYZ
delta_radius, // M665 R float delta_radius, // M665 R
delta_diagonal_rod, // M665 L delta_diagonal_rod, // M665 L
delta_segments_per_second, // M665 S delta_segments_per_second, // M665 S
delta_calibration_radius, // M665 B delta_calibration_radius; // M665 B
delta_tower_angle_trim[ABC]; // M665 XYZ abc_float_t delta_tower_angle_trim; // M665 XYZ
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS #elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
float x2_endstop_adj, // M666 X float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y y2_endstop_adj, // M666 Y
@ -302,7 +301,7 @@ typedef struct SettingsDataStruct {
// //
// CNC_COORDINATE_SYSTEMS // 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 // SKEW_CORRECTION
@ -326,7 +325,7 @@ typedef struct SettingsDataStruct {
// //
// BACKLASH_COMPENSATION // 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 uint8_t backlash_correction; // M425 F
float backlash_smoothing_mm; // M425 S float backlash_smoothing_mm; // M425 S
@ -355,7 +354,7 @@ uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); }
#endif #endif
void MarlinSettings::postprocess() { 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 // steps per s2 needs to be updated to agree with units per s2
planner.reset_acceleration_rates(); planner.reset_acceleration_rates();
@ -408,7 +407,7 @@ void MarlinSettings::postprocess() {
planner.refresh_positioning(); planner.refresh_positioning();
// Various factors can change the current position // Various factors can change the current position
if (memcmp(oldpos, current_position, sizeof(oldpos))) if (oldpos != current_position)
report_current_position(); report_current_position();
} }
@ -522,7 +521,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(dummy); EEPROM_WRITE(dummy);
#endif #endif
#else #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); EEPROM_WRITE(planner_max_jerk);
#endif #endif
@ -544,7 +543,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(scara_home_offset); EEPROM_WRITE(scara_home_offset);
#else #else
#if !HAS_HOME_OFFSET #if !HAS_HOME_OFFSET
const float home_offset[XYZ] = { 0 }; const xyz_pos_t home_offset{0};
#endif #endif
EEPROM_WRITE(home_offset); EEPROM_WRITE(home_offset);
#endif #endif
@ -552,7 +551,7 @@ void MarlinSettings::postprocess() {
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
// Skip hotend 0 which must be 0 // Skip hotend 0 which must be 0
for (uint8_t e = 1; e < HOTENDS; e++) for (uint8_t e = 1; e < HOTENDS; e++)
LOOP_XYZ(i) EEPROM_WRITE(hotend_offset[i][e]); EEPROM_WRITE(hotend_offset[e]);
#endif #endif
} }
@ -618,7 +617,7 @@ void MarlinSettings::postprocess() {
// Probe Z Offset // Probe Z Offset
// //
{ {
_FIELD_TEST(probe_offset[Z_AXIS]); _FIELD_TEST(probe_offset.z);
EEPROM_WRITE(probe_offset); EEPROM_WRITE(probe_offset);
} }
@ -653,7 +652,7 @@ void MarlinSettings::postprocess() {
#else #else
// For disabled Bilinear Grid write an empty 3x3 grid // For disabled Bilinear Grid write an empty 3x3 grid
const uint8_t grid_max_x = 3, grid_max_y = 3; 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; dummy = 0;
EEPROM_WRITE(grid_max_x); EEPROM_WRITE(grid_max_x);
EEPROM_WRITE(grid_max_y); EEPROM_WRITE(grid_max_y);
@ -1033,7 +1032,7 @@ void MarlinSettings::postprocess() {
// TMC StallGuard threshold // TMC StallGuard threshold
// //
{ {
tmc_sgt_t tmc_sgt = { 0 }; tmc_sgt_t tmc_sgt{0};
#if USE_SENSORLESS #if USE_SENSORLESS
#if X_SENSORLESS #if X_SENSORLESS
tmc_sgt.X = stepperX.homing_threshold(); tmc_sgt.X = stepperX.homing_threshold();
@ -1138,8 +1137,8 @@ void MarlinSettings::postprocess() {
#if HAS_MOTOR_CURRENT_PWM #if HAS_MOTOR_CURRENT_PWM
EEPROM_WRITE(stepper.motor_current_setting); EEPROM_WRITE(stepper.motor_current_setting);
#else #else
const uint32_t dummyui32[XYZ] = { 0 }; const xyz_ulong_t no_current{0};
EEPROM_WRITE(dummyui32); EEPROM_WRITE(no_current);
#endif #endif
} }
@ -1152,7 +1151,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(CNC_COORDINATE_SYSTEMS) #if ENABLED(CNC_COORDINATE_SYSTEMS)
EEPROM_WRITE(gcode.coordinate_system); EEPROM_WRITE(gcode.coordinate_system);
#else #else
const float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ] = { { 0 } }; const xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS] = { { 0 } };
EEPROM_WRITE(coordinate_system); EEPROM_WRITE(coordinate_system);
#endif #endif
@ -1189,10 +1188,10 @@ void MarlinSettings::postprocess() {
// //
{ {
#if ENABLED(BACKLASH_GCODE) #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; const uint8_t &backlash_correction = backlash.correction;
#else #else
const float backlash_distance_mm[XYZ] = { 0 }; const xyz_float_t backlash_distance_mm{0};
const uint8_t backlash_correction = 0; const uint8_t backlash_correction = 0;
#endif #endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM) #if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
@ -1341,7 +1340,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ(scara_home_offset); EEPROM_READ(scara_home_offset);
#else #else
#if !HAS_HOME_OFFSET #if !HAS_HOME_OFFSET
float home_offset[XYZ]; xyz_pos_t home_offset;
#endif #endif
EEPROM_READ(home_offset); EEPROM_READ(home_offset);
#endif #endif
@ -1354,7 +1353,7 @@ void MarlinSettings::postprocess() {
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
// Skip hotend 0 which must be 0 // Skip hotend 0 which must be 0
for (uint8_t e = 1; e < HOTENDS; e++) for (uint8_t e = 1; e < HOTENDS; e++)
LOOP_XYZ(i) EEPROM_READ(hotend_offset[i][e]); EEPROM_READ(hotend_offset[e]);
#endif #endif
} }
@ -1418,12 +1417,11 @@ void MarlinSettings::postprocess() {
// Probe Z Offset // Probe Z Offset
// //
{ {
_FIELD_TEST(probe_offset[Z_AXIS]); _FIELD_TEST(probe_offset);
#if HAS_BED_PROBE #if HAS_BED_PROBE
float (&zpo)[XYZ] = probe_offset; xyz_pos_t &zpo = probe_offset;
#else #else
float zpo[XYZ]; xyz_pos_t zpo;
#endif #endif
EEPROM_READ(zpo); EEPROM_READ(zpo);
} }
@ -1457,7 +1455,7 @@ void MarlinSettings::postprocess() {
#endif // AUTO_BED_LEVELING_BILINEAR #endif // AUTO_BED_LEVELING_BILINEAR
{ {
// Skip past disabled (or stale) Bilinear Grid data // Skip past disabled (or stale) Bilinear Grid data
int bgs[2], bs[2]; xy_int_t bgs, bs;
EEPROM_READ(bgs); EEPROM_READ(bgs);
EEPROM_READ(bs); EEPROM_READ(bs);
for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_READ(dummy); 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 if (!validating) (void)gcode.select_coordinate_system(-1); // Go back to machine space
EEPROM_READ(gcode.coordinate_system); EEPROM_READ(gcode.coordinate_system);
#else #else
float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ]; xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS];
EEPROM_READ(coordinate_system); EEPROM_READ(coordinate_system);
#endif #endif
} }
@ -1989,7 +1987,7 @@ void MarlinSettings::postprocess() {
// //
{ {
#if ENABLED(BACKLASH_GCODE) #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; uint8_t &backlash_correction = backlash.correction;
#else #else
float backlash_distance_mm[XYZ]; float backlash_distance_mm[XYZ];
@ -2231,11 +2229,9 @@ void MarlinSettings::reset() {
#ifndef DEFAULT_ZJERK #ifndef DEFAULT_ZJERK
#define DEFAULT_ZJERK 0 #define DEFAULT_ZJERK 0
#endif #endif
planner.max_jerk[X_AXIS] = DEFAULT_XJERK; planner.max_jerk.set(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK);
planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE) #if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
planner.max_jerk[E_AXIS] = DEFAULT_EJERK; planner.max_jerk.e = DEFAULT_EJERK;
#endif #endif
#endif #endif
@ -2244,9 +2240,9 @@ void MarlinSettings::reset() {
#endif #endif
#if HAS_SCARA_OFFSET #if HAS_SCARA_OFFSET
ZERO(scara_home_offset); scara_home_offset.reset();
#elif HAS_HOME_OFFSET #elif HAS_HOME_OFFSET
ZERO(home_offset); home_offset.reset();
#endif #endif
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
@ -2277,17 +2273,16 @@ void MarlinSettings::reset() {
toolchange_settings.retract_speed = TOOLCHANGE_FIL_SWAP_RETRACT_SPEED; toolchange_settings.retract_speed = TOOLCHANGE_FIL_SWAP_RETRACT_SPEED;
#endif #endif
#if ENABLED(TOOLCHANGE_PARK) #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 #endif
toolchange_settings.z_raise = TOOLCHANGE_ZRAISE; toolchange_settings.z_raise = TOOLCHANGE_ZRAISE;
#endif #endif
#if ENABLED(BACKLASH_GCODE) #if ENABLED(BACKLASH_GCODE)
backlash.correction = (BACKLASH_CORRECTION) * 255; backlash.correction = (BACKLASH_CORRECTION) * 255;
constexpr float tmp[XYZ] = BACKLASH_DISTANCE_MM; constexpr xyz_float_t tmp = BACKLASH_DISTANCE_MM;
backlash.distance_mm[X_AXIS] = tmp[X_AXIS]; backlash.distance_mm = tmp;
backlash.distance_mm[Y_AXIS] = tmp[Y_AXIS];
backlash.distance_mm[Z_AXIS] = tmp[Z_AXIS];
#ifdef BACKLASH_SMOOTHING_MM #ifdef BACKLASH_SMOOTHING_MM
backlash.smoothing_mm = BACKLASH_SMOOTHING_MM; backlash.smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif #endif
@ -2346,14 +2341,14 @@ void MarlinSettings::reset() {
// //
#if ENABLED(DELTA) #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; delta_height = DELTA_HEIGHT;
COPY(delta_endstop_adj, adj); delta_endstop_adj = adj;
delta_radius = DELTA_RADIUS; delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD; delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_calibration_radius = DELTA_CALIBRATION_RADIUS; 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 #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) , " J", LINEAR_UNIT(planner.junction_deviation_mm)
#endif #endif
#if HAS_CLASSIC_JERK #if HAS_CLASSIC_JERK
, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS]) , " X", LINEAR_UNIT(planner.max_jerk.x)
, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS]) , " Y", LINEAR_UNIT(planner.max_jerk.y)
, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS]) , " Z", LINEAR_UNIT(planner.max_jerk.z)
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE) #if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS]) , " E", LINEAR_UNIT(planner.max_jerk.e)
#endif #endif
#endif #endif
); );
@ -2783,10 +2778,10 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START(); CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(" M206" SERIAL_ECHOLNPAIR(" M206"
#if IS_CARTESIAN #if IS_CARTESIAN
" X", LINEAR_UNIT(home_offset[X_AXIS]), " X", LINEAR_UNIT(home_offset.x),
" Y", LINEAR_UNIT(home_offset[Y_AXIS]), " Y", LINEAR_UNIT(home_offset.y),
#endif #endif
" Z", LINEAR_UNIT(home_offset[Z_AXIS]) " Z", LINEAR_UNIT(home_offset.z)
); );
#endif #endif
@ -2796,9 +2791,9 @@ void MarlinSettings::reset() {
for (uint8_t e = 1; e < HOTENDS; e++) { for (uint8_t e = 1; e < HOTENDS; e++) {
SERIAL_ECHOPAIR( SERIAL_ECHOPAIR(
" M218 T", (int)e, " 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 #endif
@ -2901,9 +2896,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START(); CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR( SERIAL_ECHOLNPAIR(
" M665 S", delta_segments_per_second " M665 S", delta_segments_per_second
, " P", scara_home_offset[A_AXIS] , " P", scara_home_offset.a
, " T", scara_home_offset[B_AXIS] , " T", scara_home_offset.b
, " Z", LINEAR_UNIT(scara_home_offset[Z_AXIS]) , " Z", LINEAR_UNIT(scara_home_offset.z)
); );
#elif ENABLED(DELTA) #elif ENABLED(DELTA)
@ -2911,9 +2906,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_HEADING("Endstop adjustment:"); CONFIG_ECHO_HEADING("Endstop adjustment:");
CONFIG_ECHO_START(); CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR( SERIAL_ECHOLNPAIR(
" M666 X", LINEAR_UNIT(delta_endstop_adj[A_AXIS]) " M666 X", LINEAR_UNIT(delta_endstop_adj.a)
, " Y", LINEAR_UNIT(delta_endstop_adj[B_AXIS]) , " Y", LINEAR_UNIT(delta_endstop_adj.b)
, " Z", LINEAR_UNIT(delta_endstop_adj[C_AXIS]) , " 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>"); 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) , " H", LINEAR_UNIT(delta_height)
, " S", delta_segments_per_second , " S", delta_segments_per_second
, " B", LINEAR_UNIT(delta_calibration_radius) , " B", LINEAR_UNIT(delta_calibration_radius)
, " X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]) , " X", LINEAR_UNIT(delta_tower_angle_trim.a)
, " Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]) , " Y", LINEAR_UNIT(delta_tower_angle_trim.b)
, " Z", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS]) , " Z", LINEAR_UNIT(delta_tower_angle_trim.c)
); );
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS #elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@ -3072,9 +3067,9 @@ void MarlinSettings::reset() {
say_units(true); say_units(true);
} }
CONFIG_ECHO_START(); CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(" M851 X", LINEAR_UNIT(probe_offset[X_AXIS]), SERIAL_ECHOLNPAIR(" M851 X", LINEAR_UNIT(probe_offset.x),
" Y", LINEAR_UNIT(probe_offset[Y_AXIS]), " Y", LINEAR_UNIT(probe_offset.y),
" Z", LINEAR_UNIT(probe_offset[Z_AXIS])); " Z", LINEAR_UNIT(probe_offset.z));
#endif #endif
/** /**
@ -3421,9 +3416,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START(); CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR( SERIAL_ECHOLNPAIR(
" M425 F", backlash.get_correction(), " M425 F", backlash.get_correction(),
" X", LINEAR_UNIT(backlash.distance_mm[X_AXIS]), " X", LINEAR_UNIT(backlash.distance_mm.x),
" Y", LINEAR_UNIT(backlash.distance_mm[Y_AXIS]), " Y", LINEAR_UNIT(backlash.distance_mm.y),
" Z", LINEAR_UNIT(backlash.distance_mm[Z_AXIS]) " Z", LINEAR_UNIT(backlash.distance_mm.z)
#ifdef BACKLASH_SMOOTHING_MM #ifdef BACKLASH_SMOOTHING_MM
, " S", LINEAR_UNIT(backlash.smoothing_mm) , " S", LINEAR_UNIT(backlash.smoothing_mm)
#endif #endif

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

@ -50,17 +50,16 @@
#include "../core/debug_out.h" #include "../core/debug_out.h"
// Initialized by settings.load() // Initialized by settings.load()
float delta_height, float delta_height;
delta_endstop_adj[ABC] = { 0 }, abc_float_t delta_endstop_adj{0};
delta_radius, float delta_radius,
delta_diagonal_rod, delta_diagonal_rod,
delta_segments_per_second, delta_segments_per_second,
delta_calibration_radius, delta_calibration_radius;
delta_tower_angle_trim[ABC]; abc_float_t delta_tower_angle_trim;
xy_float_t delta_tower[ABC];
float delta_tower[ABC][2], abc_float_t delta_diagonal_rod_2_tower;
delta_diagonal_rod_2_tower[ABC], float delta_clip_start_height = Z_MAX_POS;
delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top(); float delta_safe_distance_from_top();
@ -69,17 +68,17 @@ float delta_safe_distance_from_top();
* settings have been changed (e.g., by M665). * settings have been changed (e.g., by M665).
*/ */
void recalc_delta_settings() { void recalc_delta_settings() {
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER, constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER; drt = 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].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]); sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
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].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]); sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
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].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]); sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
delta_diagonal_rod_2_tower[A_AXIS] = sq(delta_diagonal_rod + drt[A_AXIS]); delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + drt.a),
delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]); sq(delta_diagonal_rod + drt.b),
delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]); sq(delta_diagonal_rod + drt.c));
update_software_endstops(Z_AXIS); update_software_endstops(Z_AXIS);
set_all_unhomed(); set_all_unhomed();
} }
@ -101,18 +100,16 @@ void recalc_delta_settings() {
*/ */
#define DELTA_DEBUG(VAR) do { \ #define DELTA_DEBUG(VAR) do { \
SERIAL_ECHOLNPAIR("Cartesian X", VAR[X_AXIS], " Y", VAR[Y_AXIS], " Z", VAR[Z_AXIS]); \ SERIAL_ECHOLNPAIR("Cartesian X", VAR.x, " Y", VAR.y, " Z", VAR.z); \
SERIAL_ECHOLNPAIR("Delta A", delta[A_AXIS], " B", delta[B_AXIS], " C", delta[C_AXIS]); \ SERIAL_ECHOLNPAIR("Delta A", delta.a, " B", delta.b, " C", delta.c); \
}while(0) }while(0)
void inverse_kinematics(const float (&raw)[XYZ]) { void inverse_kinematics(const xyz_pos_t &raw) {
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
// Delta hotend offsets must be applied in Cartesian space with no "spoofing" // Delta hotend offsets must be applied in Cartesian space with no "spoofing"
const float pos[XYZ] = { xyz_pos_t pos = { raw.x - hotend_offset[active_extruder].x,
raw[X_AXIS] - hotend_offset[X_AXIS][active_extruder], raw.y - hotend_offset[active_extruder].y,
raw[Y_AXIS] - hotend_offset[Y_AXIS][active_extruder], raw.z };
raw[Z_AXIS]
};
DELTA_IK(pos); DELTA_IK(pos);
//DELTA_DEBUG(pos); //DELTA_DEBUG(pos);
#else #else
@ -126,12 +123,12 @@ void inverse_kinematics(const float (&raw)[XYZ]) {
* effector has the full range of XY motion. * effector has the full range of XY motion.
*/ */
float delta_safe_distance_from_top() { float delta_safe_distance_from_top() {
float cartesian[XYZ] = { 0, 0, 0 }; xyz_pos_t cartesian{0};
inverse_kinematics(cartesian); inverse_kinematics(cartesian);
float centered_extent = delta[A_AXIS]; const float centered_extent = delta.a;
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS; cartesian.y = DELTA_PRINTABLE_RADIUS;
inverse_kinematics(cartesian); 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) { 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 // 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. // Get the reciprocal of Magnitude of vector.
d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2), 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 }, 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. // 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. // 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], 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. // 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 // 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, 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_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + sq(i) + j2) * 0.5 - i * Xnew) * inv_j, 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_AXIS] - HYPOT2(Xnew, Ynew)); Znew = SQRT(delta_diagonal_rod_2_tower.a - HYPOT2(Xnew, Ynew));
// Start from the origin of the old coordinates and add vectors in the // 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 // old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system. // in the old system.
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew; cartes.set(delta_tower[A_AXIS].x + 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; delta_tower[A_AXIS].y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew,
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * 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() { void home_delta() {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
// Init the current position of all carriages to 0,0,0 // Init the current position of all carriages to 0,0,0
ZERO(current_position); current_position.reset();
ZERO(destination); destination.reset();
sync_plan_position(); sync_plan_position();
// Disable stealthChop if used. Enable diag1 pin on driver. // Disable stealthChop if used. Enable diag1 pin on driver.
@ -231,9 +228,9 @@ void home_delta() {
#endif #endif
// Move all carriages together linearly until an endstop is hit. // 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 #if HAS_BED_PROBE
- probe_offset[Z_AXIS] - probe_offset.z
#endif #endif
); );
line_to_current_position(homing_feedrate(X_AXIS)); 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 * delta.h - Delta-specific functions
*/ */
extern float delta_height, #include "../core/types.h"
delta_endstop_adj[ABC],
delta_radius, extern float delta_height;
extern abc_float_t delta_endstop_adj;
extern float delta_radius,
delta_diagonal_rod, delta_diagonal_rod,
delta_segments_per_second, delta_segments_per_second,
delta_calibration_radius, delta_calibration_radius;
delta_tower_angle_trim[ABC]; extern abc_float_t delta_tower_angle_trim;
extern xy_float_t delta_tower[ABC];
extern float delta_tower[ABC][2], extern abc_float_t delta_diagonal_rod_2_tower;
delta_diagonal_rod_2_tower[ABC], extern float delta_clip_start_height;
delta_clip_start_height;
/** /**
* Recalculate factors used for delta kinematics whenever * 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 // 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_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - V[X_AXIS], \ delta_tower[T].x - V.x, \
delta_tower[T][Y_AXIS] - V[Y_AXIS] \ delta_tower[T].y - V.y \
) \ ) \
) )
#define DELTA_IK(V) do { \ #define DELTA_IK(V) delta.set(DELTA_Z(V, A_AXIS), DELTA_Z(V, B_AXIS), DELTA_Z(V, C_AXIS))
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)
void inverse_kinematics(const float (&raw)[XYZ]); void inverse_kinematics(const xyz_pos_t &raw);
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);
}
/** /**
* Calculate the highest Z position where the * 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); void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3);
FORCE_INLINE void forward_kinematics_DELTA(const float (&point)[ABC]) { FORCE_INLINE void forward_kinematics_DELTA(const abc_float_t &point) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]); forward_kinematics_DELTA(point.a, point.b, point.c);
} }
void home_delta(); void home_delta();

324
Marlin/src/module/motion.cpp
View file

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

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

@ -61,15 +61,15 @@ constexpr float slop = 0.0001;
extern bool relative_mode; extern bool relative_mode;
extern float current_position[XYZE], // High-level current tool position extern xyze_pos_t current_position, // High-level current tool position
destination[XYZE]; // Destination for a move destination; // Destination for a move
// Scratch space for a cartesian result // Scratch space for a cartesian result
extern float cartes[XYZ]; extern xyz_pos_t cartes;
// Until kinematics.cpp is created, declare this here // Until kinematics.cpp is created, declare this here
#if IS_KINEMATIC #if IS_KINEMATIC
extern float delta[ABC]; extern abc_pos_t delta;
#endif #endif
#if HAS_ABL_NOT_UBL #if HAS_ABL_NOT_UBL
@ -81,6 +81,10 @@ extern float cartes[XYZ];
#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE() #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
#endif #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 * Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units. * 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 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); } FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
#define XYZ_DEFS(type, array, CONFIG) \ #define XYZ_DEFS(T, NAME, OPT) \
extern const type array##_P[XYZ]; \ extern const XYZval<T> NAME##_P; \
FORCE_INLINE type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \ FORCE_INLINE T NAME(AxisEnum axis) { return pgm_read_any(&NAME##_P[axis]); } \
typedef void __void_##CONFIG##__ typedef void __void_##OPT##__
XYZ_DEFS(float, base_min_pos, MIN_POS); XYZ_DEFS(float, base_min_pos, MIN_POS);
XYZ_DEFS(float, base_max_pos, MAX_POS); XYZ_DEFS(float, base_max_pos, MAX_POS);
@ -125,19 +129,19 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
#endif #endif
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
extern float hotend_offset[XYZ][HOTENDS]; extern xyz_pos_t hotend_offset[HOTENDS];
void reset_hotend_offsets(); void reset_hotend_offsets();
#elif HOTENDS > 0 #elif HOTENDS
constexpr float hotend_offset[XYZ][HOTENDS] = { { 0 }, { 0 }, { 0 } }; constexpr xyz_pos_t hotend_offset[HOTENDS] = { { 0 } };
#else #else
constexpr float hotend_offset[XYZ][1] = { { 0 }, { 0 }, { 0 } }; constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
#endif #endif
typedef struct { float min, max; } axis_limits_t; typedef struct { xyz_pos_t min, max; } axis_limits_t;
#if HAS_SOFTWARE_ENDSTOPS #if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled; extern bool soft_endstops_enabled;
extern axis_limits_t soft_endstop[XYZ]; extern axis_limits_t soft_endstop;
void apply_motion_limits(float target[XYZ]); void apply_motion_limits(xyz_pos_t &target);
void update_software_endstops(const AxisEnum axis void update_software_endstops(const AxisEnum axis
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
, const uint8_t old_tool_index=0, const uint8_t new_tool_index=0 , 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 #else
constexpr bool soft_endstops_enabled = false; 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 apply_motion_limits(V) NOOP
#define update_software_endstops(...) NOOP #define update_software_endstops(...) NOOP
#endif #endif
void report_current_position(); 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 get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(const AxisEnum axis); 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_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); 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) { 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_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s); do_blocking_move_to(raw.x, raw.y, current_position.z, fr_mm_s);
} }
FORCE_INLINE void do_blocking_move_to(const xyz_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) {
FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZE], const feedRate_t &fr_mm_s=0) { do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s);
do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], 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(); 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 || HAS_POSITION_SHIFT
#if HAS_HOME_OFFSET #if HAS_HOME_OFFSET
extern float home_offset[XYZ]; extern xyz_pos_t home_offset;
#endif #endif
#if HAS_POSITION_SHIFT #if HAS_POSITION_SHIFT
extern float position_shift[XYZ]; extern xyz_pos_t position_shift;
#endif #endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
extern float workspace_offset[XYZ]; extern xyz_pos_t workspace_offset;
#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS] #define _WS workspace_offset
#elif HAS_HOME_OFFSET #elif HAS_HOME_OFFSET
#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS] #define _WS home_offset
#else #else
#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS] #define _WS position_shift
#endif #endif
#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS)) #define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + _WS[AXIS])
#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(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 #else
#define NATIVE_TO_LOGICAL(POS, AXIS) (POS) #define NATIVE_TO_LOGICAL(POS, AXIS) (POS)
#define LOGICAL_TO_NATIVE(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 #endif
#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS) #define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_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 IS_KINEMATIC // (DELTA or SCARA)
#if HAS_SCARA_OFFSET #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 #endif
// Return true if the given point is within the printable area // Return true if the given point is within the printable area
@ -288,11 +308,15 @@ void homeaxis(const AxisEnum axis);
#endif #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 #if HAS_BED_PROBE
// Return true if the both nozzle and the probe can reach the given point. // 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. // 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) { 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)); && position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
} }
#endif #endif
@ -311,6 +335,7 @@ void homeaxis(const AxisEnum axis);
return WITHIN(rx, X_MIN_POS - slop, X_MAX_POS + slop); return WITHIN(rx, X_MIN_POS - slop, X_MAX_POS + slop);
#endif #endif
} }
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
#if HAS_BED_PROBE #if HAS_BED_PROBE
/** /**
@ -321,7 +346,7 @@ void homeaxis(const AxisEnum axis);
* nozzle must be be able to reach +10,-10. * nozzle must be be able to reach +10,-10.
*/ */
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) { 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(rx, probe_min_x() - slop, probe_max_x() + slop)
&& WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop); && WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop);
} }
@ -332,6 +357,8 @@ void homeaxis(const AxisEnum axis);
#if !HAS_BED_PROBE #if !HAS_BED_PROBE
FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) { return position_is_reachable(rx, ry); } FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) { return position_is_reachable(rx, ry); }
#endif #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 * Duplication mode
@ -358,8 +385,8 @@ void homeaxis(const AxisEnum axis);
extern DualXMode dual_x_carriage_mode; extern DualXMode dual_x_carriage_mode;
extern float inactive_extruder_x_pos, // Used in mode 0 & 1 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 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 bool active_extruder_parked; // Used in mode 1, 2 & 3
extern millis_t delayed_move_time; // Used in mode 1 extern millis_t delayed_move_time; // Used in mode 1
extern int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3 extern int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3

422
Marlin/src/module/planner.cpp
View file

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

96
Marlin/src/module/planner.h
View file

@ -40,7 +40,7 @@
#endif #endif
#if ABL_PLANAR #if ABL_PLANAR
#include "../libs/vector_3.h" #include "../libs/vector_3.h" // for matrix_3x3
#endif #endif
#if ENABLED(FWRETRACT) #if ENABLED(FWRETRACT)
@ -51,6 +51,11 @@
#include "../feature/mixing.h" #include "../feature/mixing.h"
#endif #endif
// Feedrate for manual moves
#ifdef MANUAL_FEEDRATE
constexpr xyze_feedrate_t manual_feedrate_mm_m = MANUAL_FEEDRATE;
#endif
enum BlockFlagBit : char { enum BlockFlagBit : char {
// Recalculate trapezoids on entry junction. For optimization. // Recalculate trapezoids on entry junction. For optimization.
BLOCK_BIT_RECALCULATE, BLOCK_BIT_RECALCULATE,
@ -95,15 +100,8 @@ typedef struct block_t {
acceleration; // acceleration mm/sec^2 acceleration; // acceleration mm/sec^2
union { union {
// Data used by all move blocks abce_ulong_t steps; // Step count along each axis
struct { abce_long_t position; // New position to force when this sync block is executed
// 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
};
}; };
uint32_t step_event_count; // The number of step events required to complete this block uint32_t step_event_count; // The number of step events required to complete this block
@ -259,19 +257,18 @@ class Planner {
#endif #endif
#if HAS_CLASSIC_JERK #if HAS_CLASSIC_JERK
static float max_jerk[
#if BOTH(JUNCTION_DEVIATION, LIN_ADVANCE) #if BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
XYZ // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration. static xyz_pos_t max_jerk; // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
#else #else
XYZE // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. static xyze_pos_t max_jerk; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
#endif #endif
];
#endif #endif
#if HAS_LEVELING #if HAS_LEVELING
static bool leveling_active; // Flag that bed leveling is enabled static bool leveling_active; // Flag that bed leveling is enabled
#if ABL_PLANAR #if ABL_PLANAR
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level 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 #endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
static float z_fade_height, inverse_z_fade_height; static float z_fade_height, inverse_z_fade_height;
@ -285,11 +282,11 @@ class Planner {
#endif #endif
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
static float position_float[XYZE]; static xyze_pos_t position_float;
#endif #endif
#if IS_KINEMATIC #if IS_KINEMATIC
static float position_cart[XYZE]; static xyze_pos_t position_cart;
#endif #endif
static skew_factor_t skew_factor; static skew_factor_t skew_factor;
@ -304,12 +301,12 @@ class Planner {
* The current position of the tool in absolute steps * The current position of the tool in absolute steps
* Recalculated if any axis_steps_per_mm are changed by gcode * 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 * 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 * Nominal speed of previous path line segment (mm/s)^2
@ -338,7 +335,7 @@ class Planner {
// Old direction bits. Used for speed calculations // Old direction bits. Used for speed calculations
static unsigned char old_direction_bits; static unsigned char old_direction_bits;
// Segment times (in µs). Used for speed calculations // 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 #endif
#if HAS_SPI_LCD #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(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); }
FORCE_INLINE static void skew(float (&raw)[XYZE]) { skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) { 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)) { 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(xyz_pos_t &raw) { unskew(raw.x, raw.y, raw.z); }
FORCE_INLINE static void unskew(float (&raw)[XYZE]) { unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
#endif // SKEW_CORRECTION #endif // SKEW_CORRECTION
@ -476,22 +471,24 @@ class Planner {
* Apply leveling to transform a cartesian position * Apply leveling to transform a cartesian position
* as it will be given to the planner and steppers. * as it will be given to the planner and steppers.
*/ */
static void apply_leveling(float &rx, float &ry, float &rz); static void apply_leveling(xyz_pos_t &raw);
FORCE_INLINE static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); } static void unapply_leveling(xyz_pos_t &raw);
FORCE_INLINE static void apply_leveling(float (&raw)[XYZE]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); } FORCE_INLINE static void force_unapply_leveling(xyz_pos_t &raw) {
leveling_active = true;
static void unapply_leveling(float raw[XYZ]); unapply_leveling(raw);
leveling_active = false;
}
#endif #endif
#if ENABLED(FWRETRACT) #if ENABLED(FWRETRACT)
static void apply_retract(float &rz, float &e); 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); 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 #endif
#if HAS_POSITION_MODIFIERS #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 #if HAS_LEVELING
, bool leveling = , bool leveling =
#if PLANNER_LEVELING #if PLANNER_LEVELING
@ -512,7 +509,7 @@ class Planner {
#endif #endif
} }
FORCE_INLINE static void unapply_modifiers(float (&pos)[XYZE] FORCE_INLINE static void unapply_modifiers(xyze_pos_t &pos
#if HAS_LEVELING #if HAS_LEVELING
, bool leveling = , bool leveling =
#if PLANNER_LEVELING #if PLANNER_LEVELING
@ -578,12 +575,12 @@ class Planner {
* *
* Returns true if movement was buffered, false otherwise * 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 #if HAS_POSITION_FLOAT
, const float (&target_float)[ABCE] , const xyze_pos_t &target_float
#endif #endif
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION) #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE] , const xyze_float_t &delta_mm_cart
#endif #endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 , 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 * Returns true is movement is acceptable, false otherwise
*/ */
static bool _populate_block(block_t * const block, bool split_move, 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 #if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE] , const xyze_pos_t &target_float
#endif #endif
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION) #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE] , const xyze_float_t &delta_mm_cart
#endif #endif
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 , 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 static bool buffer_segment(const float &a, const float &b, const float &c, const float &e
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION) #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE] , const xyze_float_t &delta_mm_cart
#endif #endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 , 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) #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE] , const xyze_float_t &delta_mm_cart
#endif #endif
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 , 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) #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, delta_mm_cart , delta_mm_cart
#endif #endif
@ -675,12 +672,12 @@ class Planner {
#endif #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) #if ENABLED(SCARA_FEEDRATE_SCALING)
, const float &inv_duration=0.0 , const float &inv_duration=0.0
#endif #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) #if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration , inv_duration
#endif #endif
@ -701,7 +698,7 @@ class Planner {
* Clears previous speed values. * Clears previous speed values.
*/ */
static void set_position_mm(const float &rx, const float &ry, const float &rz, const float &e); 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); static void set_e_position_mm(const float &e);
/** /**
@ -711,7 +708,7 @@ class Planner {
* conversions are applied. * conversions are applied.
*/ */
static void set_machine_position_mm(const float &a, const float &b, const float &c, const float &e); 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) * Get an axis position according to stepper position(s)
@ -942,14 +939,13 @@ class Planner {
#if ENABLED(JUNCTION_DEVIATION) #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; float magnitude_sq = 0;
LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]); LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]);
const float inv_magnitude = RSQRT(magnitude_sq); vector *= RSQRT(magnitude_sq);
LOOP_XYZE(idx) vector[idx] *= inv_magnitude;
} }
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; float limit_value = max_value;
LOOP_XYZE(idx) if (unit_vec[idx]) // Avoid divide by zero 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])); 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. * power available on Arduino, I think it is not wise to implement it.
*/ */
void cubic_b_spline( void cubic_b_spline(
const float position[NUM_AXIS], // current position const xyze_pos_t &position, // current position
const float target[NUM_AXIS], // target position const xyze_pos_t &target, // target position
const float (&offset)[4], // a pair of offsets const xy_pos_t (&offsets)[2], // a pair of offsets
const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate % const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate %
const uint8_t extruder const uint8_t extruder
) { ) {
// Absolute first and second control points are recovered. // Absolute first and second control points are recovered.
const float first0 = position[X_AXIS] + offset[0], const xy_pos_t first = position + offsets[0], second = target + offsets[1];
first1 = position[Y_AXIS] + offset[1],
second0 = target[X_AXIS] + offset[2],
second1 = target[Y_AXIS] + offset[3];
float bez_target[4]; xyze_pos_t bez_target;
bez_target[X_AXIS] = position[X_AXIS]; bez_target.set(position.x, position.y);
bez_target[Y_AXIS] = position[Y_AXIS];
float step = MAX_STEP; float step = MAX_STEP;
millis_t next_idle_ms = millis() + 200UL; millis_t next_idle_ms = millis() + 200UL;
@ -141,15 +137,15 @@ void cubic_b_spline(
bool did_reduce = false; bool did_reduce = false;
float new_t = t + step; float new_t = t + step;
NOMORE(new_t, 1); NOMORE(new_t, 1);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t), float new_pos0 = eval_bezier(position.x, first.x, second.x, target.x, new_t),
new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t); new_pos1 = eval_bezier(position.y, first.y, second.y, target.y, new_t);
for (;;) { for (;;) {
if (new_t - t < (MIN_STEP)) break; if (new_t - t < (MIN_STEP)) break;
const float candidate_t = 0.5f * (t + new_t), const float candidate_t = 0.5f * (t + new_t),
candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t), candidate_pos0 = eval_bezier(position.x, first.x, second.x, target.x, candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t), candidate_pos1 = eval_bezier(position.y, first.y, second.y, target.y, candidate_t),
interp_pos0 = 0.5f * (bez_target[X_AXIS] + new_pos0), interp_pos0 = 0.5f * (bez_target.x + new_pos0),
interp_pos1 = 0.5f * (bez_target[Y_AXIS] + new_pos1); interp_pos1 = 0.5f * (bez_target.y + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break; if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t; new_t = candidate_t;
new_pos0 = candidate_pos0; new_pos0 = candidate_pos0;
@ -162,10 +158,10 @@ void cubic_b_spline(
if (new_t - t > MAX_STEP) break; if (new_t - t > MAX_STEP) break;
const float candidate_t = t + 2 * (new_t - t); const float candidate_t = t + 2 * (new_t - t);
if (candidate_t >= 1) break; if (candidate_t >= 1) break;
const float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t), const float candidate_pos0 = eval_bezier(position.x, first.x, second.x, target.x, candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t), candidate_pos1 = eval_bezier(position.y, first.y, second.y, target.y, candidate_t),
interp_pos0 = 0.5f * (bez_target[X_AXIS] + candidate_pos0), interp_pos0 = 0.5f * (bez_target.x + candidate_pos0),
interp_pos1 = 0.5f * (bez_target[Y_AXIS] + candidate_pos1); interp_pos1 = 0.5f * (bez_target.y + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break; if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t; new_t = candidate_t;
new_pos0 = candidate_pos0; new_pos0 = candidate_pos0;
@ -187,19 +183,19 @@ void cubic_b_spline(
t = new_t; t = new_t;
// Compute and send new position // Compute and send new position
bez_target[X_AXIS] = new_pos0; xyze_pos_t new_bez = {
bez_target[Y_AXIS] = new_pos1; new_pos0, new_pos1,
// FIXME. The following two are wrong, since the parameter t is interp(position.z, target.z, t), // FIXME. These two are wrong, since the parameter t is
// not linear in the distance. interp(position.e, target.e, t) // 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(new_bez);
apply_motion_limits(bez_target); bez_target = new_bez;
#if HAS_LEVELING && !PLANNER_LEVELING #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); planner.apply_leveling(pos);
#else #else
const float (&pos)[XYZE] = bez_target; const xyze_pos_t &pos = bez_target;
#endif #endif
if (!planner.buffer_line(pos, scaled_fr_mm_s, active_extruder, step)) 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/types.h"
#include "../core/macros.h"
void cubic_b_spline( void cubic_b_spline(
const float position[NUM_AXIS], // current position const xyze_pos_t &position, // current position
const float target[NUM_AXIS], // target position const xyze_pos_t &target, // target position
const float (&offset)[4], // a pair of offsets const xy_pos_t (&offsets)[2], // a pair of offsets
const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate % const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate %
const uint8_t extruder const uint8_t extruder
); );

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

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

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

@ -29,9 +29,9 @@
#if HAS_BED_PROBE #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); bool set_probe_deployed(const bool deploy);
#ifdef Z_AFTER_PROBING #ifdef Z_AFTER_PROBING
@ -44,6 +44,9 @@
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe 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); 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 DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false) #define STOW_PROBE() set_probe_deployed(false)
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER) #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
@ -52,7 +55,8 @@
#else #else
constexpr float probe_offset[XYZ] = { 0 }; constexpr xyz_pos_t probe_offset{0};
#define DEPLOY_PROBE() #define DEPLOY_PROBE()
#define STOW_PROBE() #define STOW_PROBE()
@ -64,7 +68,7 @@
#if IS_KINEMATIC #if IS_KINEMATIC
PROBE_X_MIN, MESH_MIN_X PROBE_X_MIN, MESH_MIN_X
#else #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 #endif
); );
} }
@ -73,7 +77,7 @@
#if IS_KINEMATIC #if IS_KINEMATIC
PROBE_X_MAX, MESH_MAX_X PROBE_X_MAX, MESH_MAX_X
#else #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 #endif
); );
} }
@ -82,7 +86,7 @@
#if IS_KINEMATIC #if IS_KINEMATIC
PROBE_Y_MIN, MESH_MIN_Y PROBE_Y_MIN, MESH_MIN_Y
#else #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 #endif
); );
} }
@ -91,7 +95,7 @@
#if IS_KINEMATIC #if IS_KINEMATIC
PROBE_Y_MAX, MESH_MAX_Y PROBE_Y_MAX, MESH_MAX_Y
#else #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 #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) { void scara_set_axis_is_at_home(const AxisEnum axis) {
if (axis == Z_AXIS) if (axis == Z_AXIS)
current_position[Z_AXIS] = Z_HOME_POS; current_position.z = Z_HOME_POS;
else { else {
/** /**
* SCARA homes XY at the same time * SCARA homes XY at the same time
*/ */
float homeposition[XYZ]; xyz_pos_t homeposition;
LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i); 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, * Get Home position SCARA arm angles using inverse kinematics,
* and calculate homing offset using forward kinematics * and calculate homing offset using forward kinematics
*/ */
inverse_kinematics(homeposition); 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]; 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. * Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny. * 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_sin = sin(RADIANS(b)) * L2,
b_cos = cos(RADIANS(b)) * L2; b_cos = cos(RADIANS(b)) * L2;
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta cartes.set(a_cos + b_cos + scara_offset.x, // theta
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi a_sin + b_sin + scara_offset.y); // theta+phi
/* /*
SERIAL_ECHOLNPAIR( SERIAL_ECHOLNPAIR(
@ -86,31 +88,32 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
" b_sin=", b_sin, " b_sin=", b_sin,
" b_cos=", b_cos " 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 * See http://forums.reprap.org/read.php?185,283327
* *
* Maths and first version by QHARLEY. * Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny. * 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 // Translate SCARA to standard XY with scaling factor
sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor. const xy_pos_t spos = raw - scara_offset;
const float H2 = HYPOT2(spos.x, spos.y);
if (L1 == L2) if (L1 == L2)
C2 = HYPOT2(sx, sy) / L1_2_2 - 1; C2 = H2 / L1_2_2 - 1;
else 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 // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2; SK1 = L1 + L2 * C2;
@ -119,14 +122,12 @@ void inverse_kinematics(const float (&raw)[XYZ]) {
SK2 = L2 * S2; SK2 = L2 * S2;
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow // 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 // Angle of Arm2
PSI = ATAN2(S2, C2); PSI = ATAN2(S2, C2);
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle delta.set(DEGREES(THETA), DEGREES(THETA + PSI), raw.z);
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[C_AXIS] = raw[Z_AXIS];
/* /*
DEBUG_POS("SCARA IK", raw); 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 scara_set_axis_is_at_home(const AxisEnum axis);
void inverse_kinematics(const float (&raw)[XYZ]); void inverse_kinematics(const xyz_pos_t &raw);
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 forward_kinematics_SCARA(const float &a, const float &b); void forward_kinematics_SCARA(const float &a, const float &b);
void scara_report_positions(); void scara_report_positions();

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

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

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

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

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

@ -133,8 +133,8 @@
#endif // SWITCHING_NOZZLE #endif // SWITCHING_NOZZLE
inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1.0f) { inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1) {
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[fr_axis] * fscale, active_extruder); 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 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); } 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) { 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), grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance),
offsetcompensation = (0 offsetcompensation = (0
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
+ hotend_offset[X_AXIS][active_extruder] * mpe_settings.compensation_factor + hotend_offset[active_extruder].x * mpe_settings.compensation_factor
#endif #endif
); );
@ -174,7 +174,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
// STEP 1 // 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)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool)); 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 // STEP 2
current_position[X_AXIS] = grabpos + offsetcompensation; current_position.x = grabpos + offsetcompensation;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool)); 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 // 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)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool)); DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool));
DEBUG_POS(" back to new extruder ParkPos", current_position); 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 // 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)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool)); DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool));
DEBUG_POS(" close to old extruder ParkPos", current_position); 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 // 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)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool)); 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 // STEP 6
current_position[X_AXIS] = oldx; current_position.x = oldx;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool)); 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; constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X;
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
const float x_offset = hotend_offset[X_AXIS][active_extruder]; const float x_offset = hotend_offset[active_extruder].x;
#else #else
constexpr float x_offset = 0; constexpr float x_offset = 0;
#endif #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; 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); 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)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder)); DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position); 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 // 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)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("(3) Move near new extruder"); DEBUG_ECHOLNPGM("(3) Move near new extruder");
DEBUG_POS("Move away from parked extruder", current_position); 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 // 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); fast_line_to_current(X_AXIS);
current_position[X_AXIS] = grabpos; current_position.x = grabpos;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("(5) Unpark extruder", current_position); 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 // STEP 6
current_position[X_AXIS] = midpos current_position.x = midpos
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
- hotend_offset[X_AXIS][new_tool] - hotend_offset[new_tool].x
#endif #endif
; ;
if (DEBUGGING(LEVELING)) { 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); if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
current_position[X_AXIS] = placexpos; current_position.x = placexpos;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position); DEBUG_POS("Move X SwitchPos", current_position);
} }
fast_line_to_current(X_AXIS); 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)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position); 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]); MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500); 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); if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS); 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(); planner.synchronize();
safe_delay(200); 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); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead fast_line_to_current(Y_AXIS); // move away from docked toolhead
// 3. Move to the new toolhead // 3. Move to the new toolhead
current_position[X_AXIS] = grabxpos; current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); 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); 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)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position); 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 // 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)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead"); 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]); MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
safe_delay(500); 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); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // Move away from docked toolhead fast_line_to_current(Y_AXIS); // Move away from docked toolhead
planner.synchronize(); // Always sync the final move 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 // 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)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position); DEBUG_POS("Move Y SwitchPos + Security", current_position);
} }
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
current_position[X_AXIS] = placexclear; current_position.x = placexclear;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("Move X SwitchPos + Security", current_position); DEBUG_POS("Move X SwitchPos + Security", current_position);
} }
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS; current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position); DEBUG_POS("Move Y SwitchPos", current_position);
} }
fast_line_to_current(Y_AXIS); fast_line_to_current(Y_AXIS);
current_position[X_AXIS] = placexpos; current_position.x = placexpos;
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("Move X SwitchPos", current_position); 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 // 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"); 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); 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)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position); 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 // 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"); 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); if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
fast_line_to_current(X_AXIS); 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"); 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); 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)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position); 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 ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM)
#if SWITCHING_TOOLHEAD_PRIME_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); planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_PRIME_FEEDRATE), new_tool);
#endif #endif
#if SWITCHING_TOOLHEAD_RETRACT_MM #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); planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_RETRACT_FEEDRATE), new_tool);
#endif #endif
#else #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 safe_delay(100); // Give switch time to settle
#endif #endif
current_position[X_AXIS] = grabxclear; current_position.x = grabxclear;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position);
_line_to_current(X_AXIS, 0.1f); _line_to_current(X_AXIS, 0.1f);
planner.synchronize(); planner.synchronize();
safe_delay(100); // Give switch time to settle 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); if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); // Always sync last tool-change move 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; constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder], const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[new_tool]; grabxpos = toolheadposx[new_tool];
const xyz_pos_t &hoffs = hotend_offset[active_extruder];
/** /**
* 1. Raise Z-Axis to give enough clearance * 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 // 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); if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position);
fast_line_to_current(Z_AXIS); 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); SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder);
DEBUG_POS("Moving ParkPos", current_position); DEBUG_POS("Moving ParkPos", current_position);
} }
current_position[X_AXIS] = hotend_offset[X_AXIS][active_extruder] + placexpos; current_position.set(hoffs.x + placexpos,
current_position[Y_AXIS] = hotend_offset[Y_AXIS][active_extruder] + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
// 3. Move gently to park position of active extruder // 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); 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); slow_line_to_current(Y_AXIS);
// 4. Disengage magnetic field, wait for delay // 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); 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); slow_line_to_current(Y_AXIS);
current_position.set(hoffs.x + grabxpos,
current_position[X_AXIS] = hotend_offset[X_AXIS][active_extruder] + grabxpos; hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
current_position[Y_AXIS] = hotend_offset[Y_AXIS][active_extruder] + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
// 6. Move gently to park position of new extruder // 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)) { if (DEBUGGING(LEVELING)) {
planner.synchronize(); planner.synchronize();
DEBUG_ECHOLNPGM("(6) Move near new extruder"); 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 // 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"); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(8) Unpark extruder");
slow_line_to_current(X_AXIS); slow_line_to_current(X_AXIS);
planner.synchronize(); // Always sync the final move 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 // 9. Apply Z hotend offset to current position
if (DEBUGGING(LEVELING)) DEBUG_POS("(9) Applying Z-offset", 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); 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); const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning() && IsRunning() && !no_move
&& (delayed_move_time || current_position[X_AXIS] != xhome) && ! no_move && (delayed_move_time || current_position.x != xhome)
) { ) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome);
// Park old head // 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(); 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) { switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder // 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) // 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; break;
case DXC_AUTO_PARK_MODE: case DXC_AUTO_PARK_MODE:
// record current raised toolhead position for use by unpark // record current raised toolhead position for use by unpark
COPY(raised_parked_position, current_position); raised_parked_position = current_position;
active_extruder_parked = true; active_extruder_parked = true;
delayed_move_time = 0; delayed_move_time = 0;
break; break;
@ -852,7 +853,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(ADVANCED_PAUSE_FEATURE) #if ENABLED(ADVANCED_PAUSE_FEATURE)
do_pause_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed)); do_pause_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
#else #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.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), old_tool);
planner.synchronize(); planner.synchronize();
#endif #endif
@ -886,19 +887,18 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif #endif
#endif #endif
set_destination_from_current(); destination = current_position;
#if DISABLED(SWITCHING_NOZZLE) #if DISABLED(SWITCHING_NOZZLE)
if (can_move_away) { if (can_move_away) {
// Do a small lift to avoid the workpiece in the move back (below) // 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 #if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max); NOMORE(current_position.z, soft_endstop.max.z);
#endif #endif
fast_line_to_current(Z_AXIS); fast_line_to_current(Z_AXIS);
#if ENABLED(TOOLCHANGE_PARK) #if ENABLED(TOOLCHANGE_PARK)
current_position[X_AXIS] = toolchange_settings.change_point.x; current_position = toolchange_settings.change_point;
current_position[Y_AXIS] = toolchange_settings.change_point.y;
#endif #endif
planner.buffer_line(current_position, feedrate_mm_s, old_tool); planner.buffer_line(current_position, feedrate_mm_s, old_tool);
planner.synchronize(); planner.synchronize();
@ -906,15 +906,12 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif #endif
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
xyz_pos_t diff = hotend_offset[new_tool];
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
constexpr float xdiff = 0; diff.x = 0;
#else
const float xdiff = hotend_offset[X_AXIS][new_tool] - hotend_offset[X_AXIS][old_tool];
#endif #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 #else
constexpr float xdiff = 0, ydiff = 0, zdiff = 0; constexpr xyz_pos_t diff{0};
#endif #endif
#if ENABLED(DUAL_X_CARRIAGE) #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) #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo)
// Raise by a configured distance to avoid workpiece, except with // Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead. // 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 #if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max); NOMORE(current_position.z, soft_endstop.max.z);
#endif #endif
if (!no_move) fast_line_to_current(Z_AXIS); if (!no_move) fast_line_to_current(Z_AXIS);
move_nozzle_servo(new_tool); move_nozzle_servo(new_tool);
#endif #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... // The newly-selected extruder XYZ is actually at...
current_position[X_AXIS] += xdiff; if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
current_position[Y_AXIS] += ydiff; current_position += diff;
current_position[Z_AXIS] += zdiff;
// Set the new active extruder if not already done in tool specific function above
active_extruder = new_tool;
// Tell the planner the new "current position" // Tell the planner the new "current position"
sync_plan_position(); sync_plan_position();
#if ENABLED(DELTA) #if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function //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 #else
constexpr bool safe_to_move = true; constexpr bool safe_to_move = true;
#endif #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.swap_length, MMM_TO_MMS(toolchange_settings.prime_speed));
do_pause_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE); do_pause_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE);
#else #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); 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); planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed * 0.2f), new_tool);
#endif #endif
planner.synchronize(); 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 #endif
// Prevent a move outside physical bounds // Prevent a move outside physical bounds
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
// If the original position is within tool store area, go to X origin at once // 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) { if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
current_position[X_AXIS] = 0; current_position.x = 0;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool); planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool);
planner.synchronize(); planner.synchronize();
} }
@ -1012,7 +1007,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(TOOLCHANGE_NO_RETURN) #if ENABLED(TOOLCHANGE_NO_RETURN)
// Just move back down // Just move back down
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only"); 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 #else
// Move back to the original (or adjusted) position // Move back to the original (or adjusted) position
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination); 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) #if ENABLED(SWITCHING_NOZZLE)
else { else {
// Move back down. (Including when the new tool is higher.) // 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 #endif

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

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

4
config/default/Configuration_adv.h
View file

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

4
config/examples/UltiMachine/Archim1/Configuration_adv.h
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@ -602,9 +602,7 @@
//#define Z_STEPPER_AUTO_ALIGN //#define Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN) #if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3] // Define probe X and Y positions for Z1, Z2 [, Z3]
#define Z_STEPPER_ALIGN_X { 10, 150, 290 } #define Z_STEPPER_ALIGN_XY { { 10, 290 }, { 150, 10 }, { 290, 290 } } // Set number of iterations to align
#define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
// Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 3 #define Z_STEPPER_ALIGN_ITERATIONS 3
// Enable to restore leveling setup after operation // Enable to restore leveling setup after operation
#define RESTORE_LEVELING_AFTER_G34 #define RESTORE_LEVELING_AFTER_G34

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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