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Ubl delta fixes and improvements (#6941)

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* Change all direct changes of ubl.state.active to
  set_bed_leveling_enabled() which handles apply/unapply
  leveling to maintain current_position consistency.

Fix invalidation of UBL mesh to invalid unreachable
  mesh points as well (delta corners).

Fix UBL_DELTA unapply_leveling logic and when
it gets applied, including fade_height changes.

Add optional M114 D for detailed position information,
disabled from compilation by default (M114_DETAIL).

* UBL_DELTA raw and inline kinematics

* UBL planner fall through fix

* consistent variable names

* Cleanup orphaned code and whitespace changes.
Use _O2.

* compile warnings cleanup

* Remove redundant #ifdef condition
This commit is contained in:
oldmcg
2017-06-03 17:11:43 -05:00
committed by Roxy-3D
parent 862def2ef4
commit 9f295581f0
7 changed files with 380 additions and 156 deletions
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207
Marlin/Marlin_main.cpp
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@ -699,7 +699,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis);
#endif
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
static void report_current_position();
void report_current_position();
void report_current_position_detail();
#if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
@ -1536,14 +1537,21 @@ inline void set_destination_to_current() { COPY(destination, current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif
if ( current_position[X_AXIS] == destination[X_AXIS]
&& current_position[Y_AXIS] == destination[Y_AXIS]
&& current_position[Z_AXIS] == destination[Z_AXIS]
&& current_position[E_AXIS] == destination[E_AXIS]
) return;
refresh_cmd_timeout();
planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
#if UBL_DELTA
// ubl segmented line will do z-only moves in single segment
ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
#else
if ( current_position[X_AXIS] == destination[X_AXIS]
&& current_position[Y_AXIS] == destination[Y_AXIS]
&& current_position[Z_AXIS] == destination[Z_AXIS]
&& current_position[E_AXIS] == destination[E_AXIS]
) return;
planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
#endif
set_current_to_destination();
}
#endif // IS_KINEMATIC
@ -2345,18 +2353,21 @@ static void clean_up_after_endstop_or_probe_move() {
if (enabling) planner.unapply_leveling(current_position);
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#if PLANNER_LEVELING
if (!enable) // leveling from on to off
if (ubl.state.active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
else
planner.unapply_leveling(current_position);
ubl.state.active = false; // disable only AFTER calling apply_leveling
}
else { // leveling from off to on
ubl.state.active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
// change physical current_position to unleveled current_position without moving steppers.
planner.unapply_leveling(current_position);
}
#else
ubl.state.active = enable; // just flip the bit, current_position will be wrong until next move.
#endif
ubl.state.active = enable;
#else // ABL
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -2384,17 +2395,34 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height(const float zfh) {
planner.z_fade_height = zfh;
planner.inverse_z_fade_height = RECIPROCAL(zfh);
if (leveling_is_active())
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
#if ENABLED(AUTO_BED_LEVELING_UBL)
const bool level_active = leveling_is_active();
if (level_active) {
set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
}
planner.z_fade_height = zfh;
planner.inverse_z_fade_height = RECIPROCAL(zfh);
if (level_active) {
set_bed_leveling_enabled(true); // turn back on after changing fade height
}
#else
planner.z_fade_height = zfh;
planner.inverse_z_fade_height = RECIPROCAL(zfh);
if (leveling_is_active()) {
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
}
#endif
}
#endif // LEVELING_FADE_HEIGHT
@ -3656,6 +3684,7 @@ inline void gcode_G28(const bool always_home_all) {
#if ENABLED(DELTA)
home_delta();
UNUSED(always_home_all);
#else // NOT DELTA
@ -7592,7 +7621,7 @@ inline void gcode_M92() {
/**
* Output the current position to serial
*/
static void report_current_position() {
void report_current_position() {
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
@ -7611,10 +7640,119 @@ static void report_current_position() {
#endif
}
#ifdef M114_DETAIL
static const char axis_char[XYZE] = {'X','Y','Z','E'};
void report_xyze(const float pos[XYZE], uint8_t n = 4, uint8_t precision = 3) {
char str[12];
for(uint8_t i=0; i<n; i++) {
SERIAL_CHAR(' ');
SERIAL_CHAR(axis_char[i]);
SERIAL_CHAR(':');
SERIAL_PROTOCOL(dtostrf(pos[i],8,precision,str));
}
SERIAL_EOL;
}
inline void report_xyz(const float pos[XYZ]) {
report_xyze(pos,3);
}
void report_current_position_detail() {
stepper.synchronize();
SERIAL_EOL;
SERIAL_PROTOCOLPGM("Logical:");
report_xyze(current_position);
SERIAL_PROTOCOLPGM("Raw: ");
const float raw[XYZ] = {
RAW_X_POSITION(current_position[X_AXIS]),
RAW_Y_POSITION(current_position[Y_AXIS]),
RAW_Z_POSITION(current_position[Z_AXIS])
};
report_xyz(raw);
SERIAL_PROTOCOLPGM("Leveled:");
float leveled[XYZ] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS]
};
planner.apply_leveling(leveled);
report_xyz(leveled);
SERIAL_PROTOCOLPGM("UnLevel:");
float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
planner.unapply_leveling(unleveled);
report_xyz(unleveled);
#if IS_KINEMATIC
#if IS_SCARA
SERIAL_PROTOCOLPGM("ScaraK: ");
#else
SERIAL_PROTOCOLPGM("DeltaK: ");
#endif
inverse_kinematics(leveled); // writes delta[]
report_xyz(delta);
#endif
SERIAL_PROTOCOLPGM("Stepper:");
const float step_count[XYZE] = {
(float)stepper.position(X_AXIS),
(float)stepper.position(Y_AXIS),
(float)stepper.position(Z_AXIS),
(float)stepper.position(E_AXIS)
};
report_xyze(step_count,4,0);
#if IS_SCARA
const float deg[XYZ] = {
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
};
SERIAL_PROTOCOLPGM("Degrees:");
report_xyze(deg,2);
#endif
SERIAL_PROTOCOLPGM("FromStp:");
get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
const float from_steppers[XYZE] = {
cartes[X_AXIS],
cartes[Y_AXIS],
cartes[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS)
};
report_xyze(from_steppers);
const float diff[XYZE] = {
from_steppers[X_AXIS] - leveled[X_AXIS],
from_steppers[Y_AXIS] - leveled[Y_AXIS],
from_steppers[Z_AXIS] - leveled[Z_AXIS],
from_steppers[E_AXIS] - current_position[E_AXIS]
};
SERIAL_PROTOCOLPGM("Differ: ");
report_xyze(diff);
}
#endif // M114_DETAIL
/**
* M114: Output current position to serial port
*/
inline void gcode_M114() { stepper.synchronize(); report_current_position(); }
inline void gcode_M114() {
#ifdef M114_DETAIL
if ( parser.seen('D') ) {
report_current_position_detail();
return;
}
#endif
stepper.synchronize();
report_current_position();
}
/**
* M115: Capabilities string
@ -10804,6 +10942,15 @@ void ok_to_send() {
/**
* Constrain the given coordinates to the software endstops.
*/
// NOTE: This makes no sense for delta beds other than Z-axis.
// For delta the X/Y would need to be clamped at
// DELTA_PRINTABLE_RADIUS from center of bed, but delta
// now enforces is_position_reachable for X/Y regardless
// of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
// redundant here. Probably should #ifdef out the X/Y
// axis clamps here for delta and just leave the Z clamp.
void clamp_to_software_endstops(float target[XYZ]) {
if (!soft_endstops_enabled) return;
#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
@ -11597,14 +11744,14 @@ void prepare_move_to_destination() {
if (
#if IS_KINEMATIC
#if UBL_DELTA
ubl.prepare_linear_move_to(destination, feedrate_mm_s)
ubl.prepare_segmented_line_to(destination, feedrate_mm_s)
#else
prepare_kinematic_move_to(destination)
#endif
#elif ENABLED(DUAL_X_CARRIAGE)
prepare_move_to_destination_dualx()
#elif UBL_DELTA // will work for CARTESIAN too (smaller segments follow mesh more closely)
ubl.prepare_linear_move_to(destination, feedrate_mm_s)
ubl.prepare_segmented_line_to(destination, feedrate_mm_s)
#else
prepare_move_to_destination_cartesian()
#endif