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Revert "Change Auto_Bed_Leveling to Auto_Bed_Compensation"

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This commit is contained in:
alexborro
2014-12-21 10:06:05 -02:00
parent 60628864ca
commit d74aabf259
12 changed files with 113 additions and 113 deletions
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28
Marlin/Configuration.h
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@ -340,12 +340,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//============================= Bed Auto Compensation ===========================
//============================= Bed Auto Leveling ===========================
//#define ENABLE_AUTO_BED_COMPENSATION // Delete the comment to enable (remove // at the start of the line)
#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Compensation is Enabled.
//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe:
@ -353,18 +353,18 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Probe every point in a rectangular grid
// You must specify the rectangle, and the density of sample points
// This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_COMPENSATION but "grid" is more descriptive
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
// - "3-point" mode
// Probe 3 arbitrary points on the bed (that aren't colinear)
// You must specify the X & Y coordinates of all 3 points
#define AUTO_BED_COMPENSATION_GRID
// with AUTO_BED_COMPENSATION_GRID, the bed is sampled in a
// AUTO_BED_COMPENSATION_GRID_POINTSxAUTO_BED_COMPENSATION_GRID_POINTS grid
#define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_COMPENSATION_GRID
#ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
@ -374,10 +374,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
#define AUTO_BED_COMPENSATION_GRID_POINTS 2
#define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_COMPENSATION_GRID
#else // not AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
@ -388,7 +388,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 20
#endif // AUTO_BED_COMPENSATION_GRID
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
@ -414,7 +414,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// #define PROBE_SERVO_DEACTIVATION_DELAY 300
//If you have enabled the Bed Auto Compensation and are using the same Z Probe for Z Homing,
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
#define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
@ -431,7 +431,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
// The position of the homing switches

2
Marlin/ConfigurationStore.cpp
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@ -319,7 +319,7 @@ void Config_ResetDefault()
absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP;
absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
#endif
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#ifdef DOGLCD

114
Marlin/Marlin_main.cpp
View File

@ -29,12 +29,12 @@
#include "Marlin.h"
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
#ifdef AUTO_BED_COMPENSATION_GRID
#ifdef AUTO_BED_LEVELING_GRID
#include "qr_solve.h"
#endif
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
#include "ultralcd.h"
#include "planner.h"
@ -525,7 +525,7 @@ void servo_init()
}
#endif
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
@ -967,16 +967,16 @@ static void axis_is_at_home(int axis) {
#endif
}
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef AUTO_BED_COMPENSATION_GRID
static void set_bed_compensation_equation_lsq(double *plane_equation_coefficients)
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
{
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
planeNormal.debug("planeNormal");
plan_bed_compensation_matrix = matrix_3x3::create_look_at(planeNormal);
//bedCompensation.debug("bedCompensation");
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//bedLevel.debug("bedLevel");
//plan_bed_compensation_matrix.debug("bed compensation before");
//plan_bed_level_matrix.debug("bed level before");
//vector_3 uncorrected_position = plan_get_position_mm();
//uncorrected_position.debug("position before");
@ -992,11 +992,11 @@ static void set_bed_compensation_equation_lsq(double *plane_equation_coefficient
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#else // not AUTO_BED_COMPENSATION_GRID
#else // not AUTO_BED_LEVELING_GRID
static void set_bed_compensation_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
plan_bed_compensation_matrix.set_to_identity();
plan_bed_level_matrix.set_to_identity();
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
@ -1007,7 +1007,7 @@ static void set_bed_compensation_equation_3pts(float z_at_pt_1, float z_at_pt_2,
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
plan_bed_compensation_matrix = matrix_3x3::create_look_at(planeNormal);
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
current_position[X_AXIS] = corrected_position.x;
@ -1021,10 +1021,10 @@ static void set_bed_compensation_equation_3pts(float z_at_pt_1, float z_at_pt_2,
}
#endif // AUTO_BED_COMPENSATION_GRID
#endif // AUTO_BED_LEVELING_GRID
static void run_z_probe() {
plan_bed_compensation_matrix.set_to_identity();
plan_bed_level_matrix.set_to_identity();
feedrate = homing_feedrate[Z_AXIS];
// move down until you find the bed
@ -1098,11 +1098,11 @@ static void engage_z_probe() {
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
@ -1114,11 +1114,11 @@ static void retract_z_probe() {
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
@ -1152,7 +1152,7 @@ static float probe_pt(float x, float y, float z_before) {
return measured_z;
}
#endif // #ifdef ENABLE_AUTO_BED_COMPENSATION
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
@ -1175,7 +1175,7 @@ static void homeaxis(int axis) {
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
if (axis==Z_AXIS) {
engage_z_probe();
}
@ -1226,7 +1226,7 @@ static void homeaxis(int axis) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
}
#endif
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#ifndef Z_PROBE_SLED
if (axis==Z_AXIS) retract_z_probe();
#endif
@ -1335,7 +1335,7 @@ void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
float x_tmp, y_tmp, z_tmp, real_z;
#endif
if(code_seen('G'))
@ -1409,9 +1409,9 @@ void process_commands()
break;
#endif //FWRETRACT
case 28: //G28 Home all Axis one at a time
#ifdef ENABLE_AUTO_BED_COMPENSATION
plan_bed_compensation_matrix.set_to_identity(); //Reset the plane ("erase" all compensation data)
#endif //ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
@ -1615,7 +1615,7 @@ void process_commands()
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
}
}
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
}
@ -1638,11 +1638,11 @@ void process_commands()
endstops_hit_on_purpose();
break;
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Compensation feature!!! Z_MIN_PIN must point to a valid hardware pin."
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
#endif
// Prevent user from running a G29 without first homing in X and Y
@ -1658,10 +1658,10 @@ void process_commands()
dock_sled(false);
#endif // Z_PROBE_SLED
st_synchronize();
// make sure the bed_compensation_rotation_matrix is identity or the planner will get it incorectly
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_compensation_matrix.set_to_identity();
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
@ -1671,11 +1671,11 @@ void process_commands()
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_COMPENSATION_GRID
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_COMPENSATION_GRID_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_COMPENSATION_GRID_POINTS-1);
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
// solve the plane equation ax + by + d = z
@ -1685,9 +1685,9 @@ void process_commands()
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix[AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS*3];
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
// "B" vector of Z points
double eqnBVector[AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS];
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
int probePointCounter = 0;
@ -1710,7 +1710,7 @@ void process_commands()
zig = true;
}
for (int xCount=0; xCount < AUTO_BED_COMPENSATION_GRID_POINTS; xCount++)
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
{
float z_before;
if (probePointCounter == 0)
@ -1727,9 +1727,9 @@ void process_commands()
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS] = 1;
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
probePointCounter++;
xProbe += xInc;
}
@ -1737,7 +1737,7 @@ void process_commands()
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
@ -1747,11 +1747,11 @@ void process_commands()
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
set_bed_compensation_equation_lsq(plane_equation_coefficients);
set_bed_level_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
#else // AUTO_BED_COMPENSATION_GRID not defined
#else // AUTO_BED_LEVELING_GRID not defined
// Probe at 3 arbitrary points
// probe 1
@ -1765,21 +1765,21 @@ void process_commands()
clean_up_after_endstop_move();
set_bed_compensation_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // AUTO_BED_COMPENSATION_GRID
#endif // AUTO_BED_LEVELING_GRID
st_synchronize();
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed compensation is already correcting the plane)
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_compensation_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef Z_PROBE_SLED
@ -1792,7 +1792,7 @@ void process_commands()
{
engage_z_probe(); // Engage Z Servo endstop if available
st_synchronize();
// TODO: make sure the bed_compensation_rotation_matrix is identity or the planner will get set incorectly
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
@ -1819,7 +1819,7 @@ void process_commands()
dock_sled(false);
break;
#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
case 90: // G90
relative_mode = false;
break;
@ -2078,7 +2078,7 @@ void process_commands()
//
// This function assumes the bed has been homed. Specificaly, that a G28 command
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
// Any information generated by a prior G29 Bed compensation command will be lost and need to be
// Any information generated by a prior G29 Bed leveling command will be lost and need to be
// regenerated.
//
// The number of samples will default to 10 if not specified. You can use upper or lower case
@ -2086,7 +2086,7 @@ void process_commands()
// N for its communication protocol and will get horribly confused if you send it a capital N.
//
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef Z_PROBE_REPEATABILITY_TEST
case 48: // M48 Z-Probe repeatability
@ -2164,7 +2164,7 @@ void process_commands()
//
st_synchronize();
plan_bed_compensation_matrix.set_to_identity();
plan_bed_level_matrix.set_to_identity();
plan_buffer_line( X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS]/60,
@ -2343,7 +2343,7 @@ Sigma_Exit:
break;
}
#endif // Z_PROBE_REPEATABILITY_TEST
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
case 104: // M104
if(setTargetedHotend(104)){
@ -3104,11 +3104,11 @@ Sigma_Exit:
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif
@ -3373,7 +3373,7 @@ Sigma_Exit:
st_synchronize();
}
break;
#if defined(ENABLE_AUTO_BED_COMPENSATION) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401:
{
engage_z_probe(); // Engage Z Servo endstop if available

2
Marlin/Servo.cpp
View File

@ -262,7 +262,7 @@ uint8_t Servo::attach(int pin)
uint8_t Servo::attach(int pin, int min, int max)
{
if(this->servoIndex < MAX_SERVOS ) {
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
if (pin > 0) this->pin = pin; else pin = this->pin;
#endif
pinMode( pin, OUTPUT) ; // set servo pin to output

2
Marlin/Servo.h
View File

@ -123,7 +123,7 @@ public:
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false
#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
int pin; // store the hardware pin of the servo
#endif
private:

32
Marlin/planner.cpp
View File

@ -75,14 +75,14 @@ float max_e_jerk;
float mintravelfeedrate;
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#ifdef ENABLE_AUTO_BED_COMPENSATION
// this holds the required transform to compensate for bed compensation
matrix_3x3 plan_bed_compensation_matrix = {
#ifdef ENABLE_AUTO_BED_LEVELING
// this holds the required transform to compensate for bed level
matrix_3x3 plan_bed_level_matrix = {
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
};
#endif // #ifdef ENABLE_AUTO_BED_COMPENSATION
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
// The current position of the tool in absolute steps
long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
@ -528,11 +528,11 @@ float junction_deviation = 0.1;
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
#else
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
#endif //ENABLE_AUTO_BED_COMPENSATION
#endif //ENABLE_AUTO_BED_LEVELING
{
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
@ -546,9 +546,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
lcd_update();
}
#ifdef ENABLE_AUTO_BED_COMPENSATION
apply_rotation_xyz(plan_bed_compensation_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_LEVELING
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
@ -1021,29 +1021,29 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
st_wake_up();
}
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
//position.debug("in plan_get position");
//plan_bed_compensation_matrix.debug("in plan_get bed_compensation");
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_compensation_matrix);
//plan_bed_level_matrix.debug("in plan_get bed_level");
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
//inverse.debug("in plan_get inverse");
position.apply_rotation(inverse);
//position.debug("after rotation");
return position;
}
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
void plan_set_position(float x, float y, float z, const float &e)
{
apply_rotation_xyz(plan_bed_compensation_matrix, x, y, z);
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#else
void plan_set_position(const float &x, const float &y, const float &z, const float &e)
{
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);

22
Marlin/planner.h
View File

@ -26,9 +26,9 @@
#include "Marlin.h"
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active.
@ -71,10 +71,10 @@ typedef struct {
volatile char busy;
} block_t;
#ifdef ENABLE_AUTO_BED_COMPENSATION
// this holds the required transform to compensate for bed compensation
extern matrix_3x3 plan_bed_compensation_matrix;
#endif // #ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
// this holds the required transform to compensate for bed level
extern matrix_3x3 plan_bed_level_matrix;
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
// Initialize the motion plan subsystem
void plan_init();
@ -82,21 +82,21 @@ void plan_init();
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// millimaters. Feed rate specifies the speed of the motion.
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
// Get the position applying the bed compensation matrix if enabled
// Get the position applying the bed level matrix if enabled
vector_3 plan_get_position();
#else
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
// Set position. Used for G92 instructions.
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
void plan_set_position(float x, float y, float z, const float &e);
#else
void plan_set_position(const float &x, const float &y, const float &z, const float &e);
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
void plan_set_e_position(const float &e);

2
Marlin/qr_solve.cpp
View File

@ -1,6 +1,6 @@
#include "qr_solve.h"
#ifdef AUTO_BED_COMPENSATION_GRID
#ifdef AUTO_BED_LEVELING_GRID
#include <stdlib.h>
#include <math.h>

2
Marlin/qr_solve.h
View File

@ -1,6 +1,6 @@
#include "Configuration.h"
#ifdef AUTO_BED_COMPENSATION_GRID
#ifdef AUTO_BED_LEVELING_GRID
void daxpy ( int n, double da, double dx[], int incx, double dy[], int incy );
double ddot ( int n, double dx[], int incx, double dy[], int incy );

6
Marlin/vector_3.cpp
View File

@ -1,5 +1,5 @@
/*
vector_3.cpp - Vector library for bed compensation
vector_3.cpp - Vector library for bed leveling
Copyright (c) 2012 Lars Brubaker. All right reserved.
This library is free software; you can redistribute it and/or
@ -19,7 +19,7 @@
#include <math.h>
#include "Marlin.h"
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
vector_3::vector_3() : x(0), y(0), z(0) { }
@ -163,5 +163,5 @@ void matrix_3x3::debug(char* title)
}
}
#endif // #ifdef ENABLE_AUTO_BED_COMPENSATION
#endif // #ifdef ENABLE_AUTO_BED_LEVELING

6
Marlin/vector_3.h
View File

@ -1,5 +1,5 @@
/*
vector_3.cpp - Vector library for bed compensation
vector_3.cpp - Vector library for bed leveling
Copyright (c) 2012 Lars Brubaker. All right reserved.
This library is free software; you can redistribute it and/or
@ -19,7 +19,7 @@
#ifndef VECTOR_3_H
#define VECTOR_3_H
#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef ENABLE_AUTO_BED_LEVELING
class matrix_3x3;
struct vector_3
@ -57,6 +57,6 @@ struct matrix_3x3
void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float& y, float& z);
#endif // ENABLE_AUTO_BED_COMPENSATION
#endif // ENABLE_AUTO_BED_LEVELING
#endif // VECTOR_3_H