bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Ubl delta fixes and improvements (#6941)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

38
Marlin/planner.cpp
View File

@ -535,7 +535,7 @@ void Planner::check_axes_activity() {
*/
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(AUTO_BED_LEVELING_UBL) && UBL_DELTA // probably should also be enabled for UBL without UBL_DELTA
#if ENABLED(AUTO_BED_LEVELING_UBL)
if (!ubl.state.active) return;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
// if z_fade_height enabled (nonzero) and raw_z above it, no leveling required
@ -550,7 +550,7 @@ void Planner::check_axes_activity() {
if (!abl_enabled) return;
#endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_UBL)
static float z_fade_factor = 1.0, last_raw_lz = -999.0;
if (z_fade_height) {
const float raw_lz = RAW_Z_POSITION(lz);
@ -599,36 +599,38 @@ void Planner::check_axes_activity() {
void Planner::unapply_leveling(float logical[XYZ]) {
#if ENABLED(AUTO_BED_LEVELING_UBL) && UBL_DELTA
#if ENABLED(AUTO_BED_LEVELING_UBL)
if (ubl.state.active) {
const float z_leveled = RAW_Z_POSITION(logical[Z_AXIS]),
z_ublmesh = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]);
float z_unlevel = z_leveled - ubl.state.z_offset - z_ublmesh;
const float z_physical = RAW_Z_POSITION(logical[Z_AXIS]);
const float z_ublmesh = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]);
const float z_virtual = z_physical - ubl.state.z_offset - z_ublmesh;
float z_logical = LOGICAL_Z_POSITION(z_virtual);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
// for L=leveled, U=unleveled, M=mesh, O=offset, H=fade_height,
// Given L==U+O+M(1-U/H) (faded mesh correction formula for U<H)
// then U==L-O-M(1-U/H)
// so U==L-O-M+MU/H
// so U-MU/H==L-O-M
// so U(1-M/H)==L-O-M
// so U==(L-O-M)/(1-M/H) for U<H
// for P=physical_z, L=logical_z, M=mesh_z, O=z_offset, H=fade_height,
// Given P=L+O+M(1-L/H) (faded mesh correction formula for L<H)
// then L=P-O-M(1-L/H)
// so L=P-O-M+ML/H
// so L-ML/H=P-O-M
// so L(1-M/H)=P-O-M
// so L=(P-O-M)/(1-M/H) for L<H
if (planner.z_fade_height) {
const float z_unfaded = z_unlevel / (1.0 - z_ublmesh * planner.inverse_z_fade_height);
if (z_unfaded < planner.z_fade_height) // don't know until after compute
z_unlevel = z_unfaded;
if (z_logical < planner.z_fade_height )
z_logical = z_logical / (1.0 - (z_ublmesh * planner.inverse_z_fade_height));
if (z_logical >= planner.z_fade_height)
z_logical = LOGICAL_Z_POSITION(z_physical - ubl.state.z_offset);
}
#endif // ENABLE_LEVELING_FADE_HEIGHT
logical[Z_AXIS] = z_unlevel;
logical[Z_AXIS] = z_logical;
}
return; // don't fall thru to HAS_ABL or other ENABLE_LEVELING_FADE_HEIGHT logic
return; // don't fall thru to other ENABLE_LEVELING_FADE_HEIGHT logic
#endif