From cbc158eb62d44128372e17602f675d5772ad70c6 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 22 Sep 2016 18:57:04 -0500 Subject: [PATCH] Add a proper flag for ABL enabled --- Marlin/Marlin_main.cpp | 61 +++++++++++++++++++++++++++++++++--------- Marlin/planner.cpp | 17 ++++++++++-- Marlin/planner.h | 1 + 3 files changed, 64 insertions(+), 15 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 7fa235fb8..7cd480115 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -2119,8 +2119,13 @@ static void clean_up_after_endstop_or_probe_move() { /** * Reset calibration results to zero. + * + * TODO: Proper functions to disable / enable + * bed leveling via a flag, correcting the + * current position in each case. */ void reset_bed_level() { + planner.abl_enabled = false; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level"); #endif @@ -2128,7 +2133,6 @@ static void clean_up_after_endstop_or_probe_move() { planner.bed_level_matrix.set_to_identity(); #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR) memset(bed_level_grid, 0, sizeof(bed_level_grid)); - nonlinear_grid_spacing[X_AXIS] = nonlinear_grid_spacing[Y_AXIS] = 0; #endif } @@ -3505,16 +3509,15 @@ inline void gcode_G28() { stepper.synchronize(); + // Disable auto bed leveling during G29 + bool auto_bed_leveling_was_enabled = planner.abl_enabled, + abl_should_reenable = auto_bed_leveling_was_enabled; + + planner.abl_enabled = false; + if (!dryrun) { - - // Reset the bed_level_matrix because leveling - // needs to be done without leveling enabled. - reset_bed_level(); - - // // Re-orient the current position without leveling // based on where the steppers are positioned. - // get_cartesian_from_steppers(); memcpy(current_position, cartes, sizeof(cartes)); @@ -3525,7 +3528,10 @@ inline void gcode_G28() { setup_for_endstop_or_probe_move(); // Deploy the probe. Probe will raise if needed. - if (DEPLOY_PROBE()) return; + if (DEPLOY_PROBE()) { + planner.abl_enabled = abl_should_reenable; + return; + } float xProbe = 0, yProbe = 0, measured_z = 0; @@ -3537,11 +3543,16 @@ inline void gcode_G28() { #if ENABLED(AUTO_BED_LEVELING_NONLINEAR) - nonlinear_grid_spacing[X_AXIS] = xGridSpacing; - nonlinear_grid_spacing[Y_AXIS] = yGridSpacing; float zoffset = zprobe_zoffset; if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS); + if (xGridSpacing != nonlinear_grid_spacing[X_AXIS] || yGridSpacing != nonlinear_grid_spacing[Y_AXIS]) { + nonlinear_grid_spacing[X_AXIS] = xGridSpacing; + nonlinear_grid_spacing[Y_AXIS] = yGridSpacing; + // Can't re-enable (on error) until the new grid is written + abl_should_reenable = false; + } + #elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID) /** @@ -3600,6 +3611,11 @@ inline void gcode_G28() { measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); + if (measured_z == NAN) { + planner.abl_enabled = abl_should_reenable; + return; + } + #if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID) mean += measured_z; @@ -3639,6 +3655,11 @@ inline void gcode_G28() { measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); } + if (measured_z == NAN) { + planner.abl_enabled = abl_should_reenable; + return; + } + if (!dryrun) { vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); if (planeNormal.z < 0) { @@ -3647,12 +3668,23 @@ inline void gcode_G28() { planeNormal.z *= -1; } planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + // Can't re-enable (on error) until the new grid is written + abl_should_reenable = false; } #endif // AUTO_BED_LEVELING_3POINT // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe. - if (STOW_PROBE()) return; + if (STOW_PROBE()) { + planner.abl_enabled = abl_should_reenable; + return; + } + + // + // Unless this is a dry run, auto bed leveling will + // definitely be enabled after this point + // // Restore state after probing clean_up_after_endstop_or_probe_move(); @@ -3842,6 +3874,9 @@ inline void gcode_G28() { report_current_position(); KEEPALIVE_STATE(IN_HANDLER); + + // Auto Bed Leveling is complete! Enable if possible. + planner.abl_enabled = dryrun ? abl_should_reenable : true; } #endif // AUTO_BED_LEVELING_FEATURE @@ -7738,7 +7773,7 @@ void ok_to_send() { // Get the Z adjustment for non-linear bed leveling float nonlinear_z_offset(float cartesian[XYZ]) { - if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return 0; // G29 not done! + if (planner.abl_enabled) return; int half_x = (ABL_GRID_POINTS_X - 1) / 2, half_y = (ABL_GRID_POINTS_Y - 1) / 2; diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 477dca909..3964a7f51 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -98,6 +98,10 @@ float Planner::min_feedrate_mm_s, Planner::max_e_jerk, Planner::min_travel_feedrate_mm_s; +#if ENABLED(AUTO_BED_LEVELING_FEATURE) + bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled +#endif + #if ENABLED(AUTO_BED_LEVELING_LINEAR) matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level #endif @@ -524,6 +528,11 @@ void Planner::check_axes_activity() { #if PLANNER_LEVELING void Planner::apply_leveling(float &lx, float &ly, float &lz) { + + #if ENABLED(AUTO_BED_LEVELING_FEATURE) + if (!abl_enabled) return; + #endif + #if ENABLED(MESH_BED_LEVELING) if (mbl.active()) @@ -562,6 +571,11 @@ void Planner::check_axes_activity() { } void Planner::unapply_leveling(float &lx, float &ly, float &lz) { + + #if ENABLED(AUTO_BED_LEVELING_FEATURE) + if (!abl_enabled) return; + #endif + #if ENABLED(MESH_BED_LEVELING) if (mbl.active()) @@ -627,8 +641,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co dz = target[Z_AXIS] - position[Z_AXIS]; /* - SERIAL_ECHOPGM(" Planner "); - SERIAL_ECHOPAIR("FR:", fr_mm_s); + SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s); SERIAL_CHAR(' '); #if IS_KINEMATIC SERIAL_ECHOPAIR("A:", lx); diff --git a/Marlin/planner.h b/Marlin/planner.h index 17408afca..1d82ee57d 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -137,6 +137,7 @@ class Planner { static float min_travel_feedrate_mm_s; #if ENABLED(AUTO_BED_LEVELING_FEATURE) + static bool abl_enabled; // Flag that bed leveling is enabled static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level #endif