Bed leveling that accounts for home XYZ
This commit is contained in:
Scott Lahteine
@ -521,6 +521,38 @@ void Planner::check_axes_activity() {
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#endif
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}
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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void Planner::apply_leveling(
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#if ENABLED(MESH_BED_LEVELING)
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const float &x, const float &y
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#else
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float &x, float &y
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#endif
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, float &z
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) {
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#if ENABLED(MESH_BED_LEVELING)
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if (mbl.active())
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z += mbl.get_z(RAW_X_POSITION(x), RAW_Y_POSITION(y));
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#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
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float tx = RAW_X_POSITION(x) - (X_TILT_FULCRUM),
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ty = RAW_Y_POSITION(y) - (Y_TILT_FULCRUM),
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tz = RAW_Z_POSITION(z);
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apply_rotation_xyz(bed_level_matrix, tx, ty, tz);
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x = LOGICAL_X_POSITION(tx + X_TILT_FULCRUM);
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y = LOGICAL_Y_POSITION(ty + Y_TILT_FULCRUM);
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z = LOGICAL_Z_POSITION(tz);
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#endif
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}
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#endif
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/**
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* Planner::buffer_line
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*
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@ -531,12 +563,14 @@ void Planner::check_axes_activity() {
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* extruder - target extruder
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*/
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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void Planner::buffer_line(float x, float y, float z, const float& e, float fr_mm_s, const uint8_t extruder)
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#else
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void Planner::buffer_line(const float& x, const float& y, const float& z, const float& e, float fr_mm_s, const uint8_t extruder)
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#endif // AUTO_BED_LEVELING_FEATURE
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{
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void Planner::buffer_line(
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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float x, float y, float z
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#else
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const float& x, const float& y, const float& z
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#endif
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, const float& e, float fr_mm_s, const uint8_t extruder
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) {
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// Calculate the buffer head after we push this byte
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int next_buffer_head = next_block_index(block_buffer_head);
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@ -544,11 +578,8 @@ void Planner::check_axes_activity() {
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// Rest here until there is room in the buffer.
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while (block_buffer_tail == next_buffer_head) idle();
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#if ENABLED(MESH_BED_LEVELING)
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if (mbl.active())
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z += mbl.get_z(x - home_offset[X_AXIS], y - home_offset[Y_AXIS]);
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#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
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apply_rotation_xyz(bed_level_matrix, x, y, z);
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#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
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apply_leveling(x, y, z);
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#endif
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// The target position of the tool in absolute steps
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@ -1116,61 +1147,33 @@ void Planner::check_axes_activity() {
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} // buffer_line()
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
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/**
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* Get the XYZ position of the steppers as a vector_3.
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*
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* On CORE machines XYZ is derived from ABC.
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*/
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vector_3 Planner::adjusted_position() {
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vector_3 pos = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
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//pos.debug("in Planner::adjusted_position");
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//bed_level_matrix.debug("in Planner::adjusted_position");
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matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
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//inverse.debug("in Planner::inverse");
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pos.apply_rotation(inverse);
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//pos.debug("after rotation");
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return pos;
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}
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#endif // AUTO_BED_LEVELING_FEATURE && !DELTA
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/**
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* Directly set the planner XYZ position (hence the stepper positions).
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*
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* On CORE machines stepper ABC will be translated from the given XYZ.
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*/
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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void Planner::set_position_mm(float x, float y, float z, const float& e)
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#else
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void Planner::set_position_mm(const float& x, const float& y, const float& z, const float& e)
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#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
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{
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#if ENABLED(MESH_BED_LEVELING)
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void Planner::set_position_mm(
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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float x, float y, float z
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#else
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const float& x, const float& y, const float& z
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#endif
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, const float& e
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) {
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if (mbl.active())
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z += mbl.get_z(RAW_X_POSITION(x), RAW_Y_POSITION(y));
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#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
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apply_leveling(x, y, z);
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#endif
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#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
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long nx = position[X_AXIS] = lround(x * axis_steps_per_mm[X_AXIS]),
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ny = position[Y_AXIS] = lround(y * axis_steps_per_mm[Y_AXIS]),
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nz = position[Z_AXIS] = lround(z * axis_steps_per_mm[Z_AXIS]),
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ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
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stepper.set_position(nx, ny, nz, ne);
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previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
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apply_rotation_xyz(bed_level_matrix, x, y, z);
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#endif
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long nx = position[X_AXIS] = lround(x * axis_steps_per_mm[X_AXIS]),
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ny = position[Y_AXIS] = lround(y * axis_steps_per_mm[Y_AXIS]),
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nz = position[Z_AXIS] = lround(z * axis_steps_per_mm[Z_AXIS]),
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ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
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stepper.set_position(nx, ny, nz, ne);
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previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
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LOOP_XYZE(i) previous_speed[i] = 0.0;
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}
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LOOP_XYZE(i) previous_speed[i] = 0.0;
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}
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/**
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* Directly set the planner E position (hence the stepper E position).
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