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🏗️ Support for up to 6 linear axes (#19112)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
2021-06-05 09:18:47 +02:00
committed by Scott Lahteine
parent d3c56a76e7
commit c1fca91103
98 changed files with 5040 additions and 2256 deletions
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124
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
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@ -113,20 +113,22 @@
const xy_float_t ad = sign * dist;
const bool use_x_dist = ad.x > ad.y;
float on_axis_distance = use_x_dist ? dist.x : dist.y,
e_position = end.e - start.e,
z_position = end.z - start.z;
float on_axis_distance = use_x_dist ? dist.x : dist.y;
const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero
z_normalized_dist = z_position / on_axis_distance;
const float z_normalized_dist = (end.z - start.z) / on_axis_distance; // Allow divide by zero
#if HAS_EXTRUDERS
const float e_normalized_dist = (end.e - start.e) / on_axis_distance;
const bool inf_normalized_flag = isinf(e_normalized_dist);
#endif
xy_int8_t icell = istart;
const float ratio = dist.y / dist.x, // Allow divide by zero
c = start.y - ratio * start.x;
const bool inf_normalized_flag = isinf(e_normalized_dist),
inf_ratio_flag = isinf(ratio);
const bool inf_ratio_flag = isinf(ratio);
xyze_pos_t dest; // Stores XYZE for segmented moves
/**
* Handle vertical lines that stay within one column.
@ -143,34 +145,36 @@
* For others the next X is the same so this can continue.
* Calculate X at the next Y mesh line.
*/
const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
dest.x = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
const float ry = mesh_index_to_ypos(icell.y);
dest.y = mesh_index_to_ypos(icell.y);
/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading down, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (ry != start.y) {
if (dest.y != start.y) {
if (!inf_normalized_flag) { // fall-through faster than branch
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
dest.z = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
TERN_(HAS_EXTRUDERS, dest.e = end.e);
dest.z = end.z;
}
planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
dest.z += z0;
planner.buffer_segment(dest, scaled_fr_mm_s, extruder);
} //else printf("FIRST MOVE PRUNED ");
}
@ -188,12 +192,13 @@
*/
if (iadd.y == 0) { // Horizontal line?
icell.x += ineg.x; // Heading left? Just go to the left edge of the cell for the first move.
while (icell.x != iend.x + ineg.x) {
icell.x += iadd.x;
const float rx = mesh_index_to_xpos(icell.x);
const float ry = ratio * rx + c; // Calculate Y at the next X mesh line
dest.x = mesh_index_to_xpos(icell.x);
dest.y = ratio * dest.x + c; // Calculate Y at the next X mesh line
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
@ -205,19 +210,20 @@
* the line is heading left, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (rx != start.x) {
if (dest.x != start.x) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start.z + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); // Based on X or Y because the move is horizontal
dest.z = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
TERN_(HAS_EXTRUDERS, dest.e = end.e);
dest.z = end.z;
}
if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
dest.z += z0;
if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
} //else printf("FIRST MOVE PRUNED ");
}
@ -239,57 +245,65 @@
while (cnt) {
const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x),
next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y),
ry = ratio * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line
// (No need to worry about ratio == 0.
// In that case, it was already detected
// as a vertical line move above.)
next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y);
if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
dest.y = ratio * next_mesh_line_x + c; // Calculate Y at the next X mesh line
dest.x = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line
// (No need to worry about ratio == 0.
// In that case, it was already detected
// as a vertical line move above.)
if (neg.x == (dest.x > next_mesh_line_x)) { // Check if we hit the Y line first
// Yes! Crossing a Y Mesh Line next
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y)
float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x - ineg.x, icell.y + iadd.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
dest.y = next_mesh_line_y;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
dest.z = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
TERN_(HAS_EXTRUDERS, dest.e = end.e);
dest.z = end.z;
}
if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
dest.z += z0;
if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
icell.y += iadd.y;
cnt.y--;
}
else {
// Yes! Crossing a X Mesh Line next
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y)
float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x + iadd.x, icell.y - ineg.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
dest.x = next_mesh_line_x;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
dest.z = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
TERN_(HAS_EXTRUDERS, dest.e = end.e);
dest.z = end.z;
}
if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
dest.z += z0;
if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
icell.x += iadd.x;
cnt.x--;
}
@ -438,11 +452,9 @@
#endif
;
planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
const float oldz = raw.z; raw.z += z_cxcy;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) );
raw.z = oldz;
if (segments == 0) // done with last segment
return false; // didn't set current from destination