bissen21/Marlin_Firmware
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Enable ABL by type, support bilinear on cartesian

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This commit is contained in:
Scott Lahteine
2016-09-25 23:17:39 -05:00
parent 9cebbabd05
commit ea0dbee3c9
34 changed files with 1466 additions and 1258 deletions
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97
Marlin/Marlin_main.cpp
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@ -21,7 +21,6 @@
*/
/**
*
* About Marlin
*
* This firmware is a mashup between Sprinter and grbl.
@ -34,11 +33,11 @@
#include "Marlin.h"
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
#include "vector_3.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include "qr_solve.h"
#elif ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
@ -397,7 +396,7 @@ static uint8_t target_extruder;
#define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
#elif defined(XY_PROBE_SPEED)
@ -490,8 +489,8 @@ static uint8_t target_extruder;
#endif
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
int nonlinear_grid_spacing[2] = { 0 };
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
int bilinear_grid_spacing[2] = { 0 };
float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
#endif
@ -631,7 +630,7 @@ static void report_current_position();
print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
}
@ -2120,7 +2119,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif // HAS_BED_PROBE
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
/**
* Reset calibration results to zero.
@ -2134,16 +2133,16 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#if ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
memset(bed_level_grid, 0, sizeof(bed_level_grid));
#endif
}
#endif // AUTO_BED_LEVELING_FEATURE
#endif // HAS_ABL
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
/**
* Extrapolate a single point from its neighbors
@ -2189,7 +2188,7 @@ static void clean_up_after_endstop_or_probe_move() {
}
}
#endif // AUTO_BED_LEVELING_NONLINEAR
#endif // AUTO_BED_LEVELING_BILINEAR
/**
* Home an individual linear axis
@ -2980,7 +2979,7 @@ inline void gcode_G28() {
stepper.synchronize();
// For auto bed leveling, clear the level matrix
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
reset_bed_level();
#endif
@ -3392,7 +3391,7 @@ inline void gcode_G28() {
report_current_position();
}
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
#elif HAS_ABL
/**
* G29: Detailed Z probe, probes the bed at 3 or more points.
@ -3400,7 +3399,7 @@ inline void gcode_G28() {
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* Parameters With AUTO_BED_LEVELING_GRID:
* Parameters With ABL_GRID:
*
* P Set the size of the grid that will be probed (P x P points).
* Not supported by non-linear delta printer bed leveling.
@ -3454,9 +3453,9 @@ inline void gcode_G28() {
bool dryrun = code_seen('D'),
stow_probe_after_each = code_seen('E');
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if ABL_GRID
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#if ABL_PLANAR
bool do_topography_map = verbose_level > 2 || code_seen('T');
#endif
@ -3468,7 +3467,7 @@ inline void gcode_G28() {
int abl_grid_points_x = ABL_GRID_POINTS_X,
abl_grid_points_y = ABL_GRID_POINTS_Y;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#if ABL_PLANAR
if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
if (abl_grid_points_x < 2) {
SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
@ -3512,7 +3511,7 @@ inline void gcode_G28() {
return;
}
#endif // AUTO_BED_LEVELING_GRID
#endif // ABL_GRID
stepper.synchronize();
@ -3541,25 +3540,25 @@ inline void gcode_G28() {
float xProbe = 0, yProbe = 0, measured_z = 0;
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if ABL_GRID
// probe at the points of a lattice grid
const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
float zoffset = zprobe_zoffset;
if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
if (xGridSpacing != nonlinear_grid_spacing[X_AXIS] || yGridSpacing != nonlinear_grid_spacing[Y_AXIS]) {
nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
if (xGridSpacing != bilinear_grid_spacing[X_AXIS] || yGridSpacing != bilinear_grid_spacing[Y_AXIS]) {
bilinear_grid_spacing[X_AXIS] = xGridSpacing;
bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
// Can't re-enable (on error) until the new grid is written
abl_should_reenable = false;
}
#elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
/**
* solve the plane equation ax + by + d = z
@ -3578,7 +3577,7 @@ inline void gcode_G28() {
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
#endif // AUTO_BED_LEVELING_LINEAR_GRID
#endif // AUTO_BED_LEVELING_LINEAR
bool zig = abl_grid_points_y & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
@ -3605,7 +3604,7 @@ inline void gcode_G28() {
float xBase = left_probe_bed_position + xGridSpacing * xCount;
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
#if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = ++probePointCounter;
#endif
@ -3622,7 +3621,7 @@ inline void gcode_G28() {
return;
}
#if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z;
eqnBVector[probePointCounter] = measured_z;
@ -3630,7 +3629,7 @@ inline void gcode_G28() {
eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
eqnAMatrix[probePointCounter + 2 * abl2] = 1;
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bed_level_grid[xCount][yCount] = measured_z + zoffset;
@ -3700,12 +3699,12 @@ inline void gcode_G28() {
#endif
// Calculate leveling, print reports, correct the position
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) extrapolate_unprobed_bed_level();
print_bed_level();
#elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
// For LINEAR leveling calculate matrix, print reports, correct the position
@ -3802,9 +3801,9 @@ inline void gcode_G28() {
}
} //do_topography_map
#endif // AUTO_BED_LEVELING_LINEAR_GRID
#endif // AUTO_BED_LEVELING_LINEAR
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#if ABL_PLANAR
// For LINEAR and 3POINT leveling correct the current position
@ -3863,7 +3862,7 @@ inline void gcode_G28() {
#endif
}
#endif // AUTO_BED_LEVELING_LINEAR
#endif // ABL_PLANAR
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -3885,7 +3884,7 @@ inline void gcode_G28() {
planner.abl_enabled = dryrun ? abl_should_reenable : true;
}
#endif // AUTO_BED_LEVELING_FEATURE
#endif // HAS_ABL
#if HAS_BED_PROBE
@ -3894,7 +3893,7 @@ inline void gcode_G28() {
*/
inline void gcode_G30() {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
reset_bed_level();
#endif
@ -4340,7 +4339,7 @@ inline void gcode_M42() {
SERIAL_PROTOCOLLNPGM("Positioning the probe...");
// Disable bed level correction in M48 because we want the raw data when we probe
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
reset_bed_level();
#endif
@ -6806,7 +6805,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
}
#endif
// No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
#else // !DUAL_X_CARRIAGE
#if ENABLED(SWITCHING_EXTRUDER)
@ -6865,7 +6864,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
* Z software endstop. But this is technically correct (and
* there is no viable alternative).
*/
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#if ABL_PLANAR
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
hotend_offset[Y_AXIS][tmp_extruder],
@ -6893,7 +6892,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
float xydiff[2] = { offset_vec.x, offset_vec.y };
current_position[Z_AXIS] += offset_vec.z;
#else // !AUTO_BED_LEVELING_LINEAR
#else // !ABL_PLANAR
float xydiff[2] = {
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
@ -6917,7 +6916,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // MESH_BED_LEVELING
#endif // !AUTO_BED_LEVELING_FEATURE
#endif // !HAS_ABL
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -7140,11 +7139,11 @@ void process_next_command() {
gcode_G28();
break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
#if HAS_ABL || ENABLED(MESH_BED_LEVELING)
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
gcode_G29();
break;
#endif // AUTO_BED_LEVELING_FEATURE
#endif // HAS_ABL
#if HAS_BED_PROBE
@ -7780,17 +7779,17 @@ void ok_to_send() {
#endif
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Get the Z adjustment for non-linear bed leveling
float nonlinear_z_offset(float cartesian[XYZ]) {
float bilinear_z_offset(float cartesian[XYZ]) {
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
float hx2 = half_x - 0.001, hx1 = -hx2,
hy2 = half_y - 0.001, hy1 = -hy2,
grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / bilinear_grid_spacing[X_AXIS])),
grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / bilinear_grid_spacing[Y_AXIS]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level_grid[floor_x + half_x][floor_y + half_y],
@ -7819,7 +7818,7 @@ void ok_to_send() {
return (1 - ratio_x) * left + ratio_x * right;
}
#endif // AUTO_BED_LEVELING_NONLINEAR
#endif // AUTO_BED_LEVELING_BILINEAR
#if ENABLED(DELTA)