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Patch G29 for linear leveling, reachable with probe

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This commit is contained in:
Scott Lahteine
2016-09-22 04:37:31 -05:00
parent b800eb0fed
commit e242946ac3
3 changed files with 117 additions and 116 deletions
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29
Marlin/Marlin_main.cpp
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@@ -3546,16 +3546,16 @@ inline void gcode_G28() {
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
int abl2 = abl_grid_points_x * abl_grid_points_y;
int abl2 = abl_grid_points_x * abl_grid_points_y,
indexIntoAB[abl_grid_points_x][abl_grid_points_y],
probePointCounter = -1;
double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
int indexIntoAB[abl_grid_points_x][abl_grid_points_y];
float eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
#endif // AUTO_BED_LEVELING_LINEAR_GRID
int probePointCounter = 0;
bool zig = abl_grid_points_y & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
for (uint8_t yCount = 0; yCount < abl_grid_points_y; yCount++) {
@@ -3581,10 +3581,14 @@ inline void gcode_G28() {
float xBase = left_probe_bed_position + xGridSpacing * xCount;
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
#if ENABLED(DELTA)
// Avoid probing outside the round or hexagonal area of a delta printer
float pos[XYZ] = { xProbe + X_PROBE_OFFSET_FROM_EXTRUDER, yProbe + Y_PROBE_OFFSET_FROM_EXTRUDER, 0 };
if (!position_is_reachable(pos)) continue;
#if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
indexIntoAB[xCount][yCount] = ++probePointCounter;
#endif
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
float pos[XYZ] = { xProbe, yProbe, 0 };
if (!position_is_reachable(pos, true)) continue;
#endif
measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
@@ -3596,7 +3600,6 @@ inline void gcode_G28() {
eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
eqnAMatrix[probePointCounter + 2 * abl2] = 1;
indexIntoAB[xCount][yCount] = probePointCounter;
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
@@ -3604,8 +3607,6 @@ inline void gcode_G28() {
#endif
probePointCounter++;
idle();
} //xProbe
@@ -3664,7 +3665,7 @@ inline void gcode_G28() {
// For LINEAR leveling calculate matrix, print reports, correct the position
// solve lsq problem
double plane_equation_coefficients[3];
float plane_equation_coefficients[3];
qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
mean /= abl2;