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Merge pull request #3434 from thinkyhead/rc_more_debug_leveling

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Additional debug leveling output
This commit is contained in:
Scott Lahteine
2016-04-08 18:57:18 -07:00
parent 4e17187c96 a644ab1de4
commit 843aa90b5a
1 changed files with 37 additions and 13 deletions
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50
Marlin/Marlin_main.cpp
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@@ -1242,7 +1242,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
if (axis == Z_AXIS) {
current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("> zprobe_zoffset==", zprobe_zoffset);
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> zprobe_zoffset==", zprobe_zoffset);
SERIAL_EOL;
}
#endif
}
#endif
@@ -1288,10 +1291,16 @@ inline void line_to_destination() {
line_to_destination(feedrate);
}
inline void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#if ENABLED(DELTA) || ENABLED(SCARA)
inline void sync_plan_position_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
#endif
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
@@ -1332,13 +1341,17 @@ static void setup_for_endstop_move() {
#if DISABLED(DELTA)
static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("BEFORE set_bed_level_equation_lsq", current_position);
#endif
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
planeNormal.debug("planeNormal");
// planeNormal.debug("planeNormal");
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before");
//vector_3 uncorrected_position = plan_get_position_mm();
//vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position before");
vector_3 corrected_position = plan_get_position();
@@ -1348,7 +1361,7 @@ static void setup_for_endstop_move() {
current_position[Z_AXIS] = corrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_lsq", current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER set_bed_level_equation_lsq", current_position);
#endif
sync_plan_position();
@@ -3026,22 +3039,20 @@ inline void gcode_G28() {
#endif // AUTO_BED_LEVELING_GRID
#if ENABLED(Z_PROBE_SLED)
dock_sled(false); // engage (un-dock) the Z probe
#elif ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && SERVO_LEVELING)
deploy_z_probe();
#endif
st_synchronize();
if (!dryrun) {
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
plan_bed_level_matrix.set_to_identity();
#if ENABLED(DELTA)
reset_bed_level();
#else //!DELTA
//vector_3 corrected_position = plan_get_position_mm();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
#endif
//vector_3 corrected_position = plan_get_position();
//corrected_position.debug("position before G29");
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29");
@@ -3049,9 +3060,22 @@ inline void gcode_G28() {
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", current_position);
#endif
#endif // !DELTA
}
#if ENABLED(Z_PROBE_SLED)
dock_sled(false); // engage (un-dock) the Z probe
#elif ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && SERVO_LEVELING)
deploy_z_probe();
#endif
st_synchronize();
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];