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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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24
Marlin/planner.cpp
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@@ -98,11 +98,11 @@ float Planner::min_feedrate_mm_s,
Planner::max_e_jerk,
Planner::min_travel_feedrate_mm_s;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#if ABL_PLANAR
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#endif
@@ -142,7 +142,7 @@ void Planner::init() {
memset(position, 0, sizeof(position));
memset(previous_speed, 0, sizeof(previous_speed));
previous_nominal_speed = 0.0;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#if ABL_PLANAR
bed_level_matrix.set_to_identity();
#endif
}
@@ -529,7 +529,7 @@ void Planner::check_axes_activity() {
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
if (!abl_enabled) return;
#endif
@@ -538,7 +538,7 @@ void Planner::check_axes_activity() {
if (mbl.active())
lz += mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
#elif ABL_PLANAR
float dx = RAW_X_POSITION(lx) - (X_TILT_FULCRUM),
dy = RAW_Y_POSITION(ly) - (Y_TILT_FULCRUM),
@@ -550,20 +550,20 @@ void Planner::check_axes_activity() {
ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
lz = LOGICAL_Z_POSITION(dz);
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
float tmp[XYZ] = { lx, ly, 0 };
#if ENABLED(DELTA)
float offset = nonlinear_z_offset(tmp);
float offset = bilinear_z_offset(tmp);
lx += offset;
ly += offset;
lz += offset;
#else
lz += nonlinear_z_offset(tmp);
lz += bilinear_z_offset(tmp);
#endif
@@ -572,7 +572,7 @@ void Planner::check_axes_activity() {
void Planner::unapply_leveling(float logical[XYZ]) {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if HAS_ABL
if (!abl_enabled) return;
#endif
@@ -581,7 +581,7 @@ void Planner::check_axes_activity() {
if (mbl.active())
logical[Z_AXIS] -= mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]));
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
#elif ABL_PLANAR
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
@@ -595,9 +595,9 @@ void Planner::check_axes_activity() {
logical[Y_AXIS] = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
logical[Z_AXIS] = LOGICAL_Z_POSITION(dz);
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
logical[Z_AXIS] -= nonlinear_z_offset(logical);
logical[Z_AXIS] -= bilinear_z_offset(logical);
#endif
}