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Operate in Native Machine Space

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This commit is contained in:
Scott Lahteine
2017-11-02 23:59:42 -05:00
parent 31f112cf58
commit f8393a0908
36 changed files with 449 additions and 489 deletions
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64
Marlin/src/gcode/bedlevel/abl/G29.cpp
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@ -258,28 +258,28 @@ void GcodeSuite::G29() {
return;
}
const float z = parser.floatval('Z', RAW_CURRENT_POSITION(Z));
if (!WITHIN(z, -10, 10)) {
const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
if (!WITHIN(rz, -10, 10)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Bad Z value");
return;
}
const float x = parser.floatval('X', NAN),
y = parser.floatval('Y', NAN);
const float rx = RAW_X_POSITION(parser.linearval('X', NAN)),
ry = RAW_Y_POSITION(parser.linearval('Y', NAN));
int8_t i = parser.byteval('I', -1),
j = parser.byteval('J', -1);
if (!isnan(x) && !isnan(y)) {
// Get nearest i / j from x / y
i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing;
j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing;
if (!isnan(rx) && !isnan(ry)) {
// Get nearest i / j from rx / ry
i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing;
j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing;
i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
}
if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
set_bed_leveling_enabled(false);
z_values[i][j] = z;
z_values[i][j] = rz;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
@ -340,36 +340,36 @@ void GcodeSuite::G29() {
xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
left_probe_bed_position = (int)parser.linearval('L', LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION));
right_probe_bed_position = (int)parser.linearval('R', LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION));
front_probe_bed_position = (int)parser.linearval('F', LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION));
back_probe_bed_position = (int)parser.linearval('B', LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION));
const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : LEFT_PROBE_BED_POSITION;
right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : RIGHT_PROBE_BED_POSITION;
front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : FRONT_PROBE_BED_POSITION;
back_probe_bed_position = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : BACK_PROBE_BED_POSITION;
const bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
right_out_r = right_probe_bed_position > MAX_PROBE_X,
right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
front_out_f = front_probe_bed_position < MIN_PROBE_Y,
front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
back_out_b = back_probe_bed_position > MAX_PROBE_Y,
back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
if (left_out || right_out || front_out || back_out) {
if (left_out) {
out_of_range_error(PSTR("(L)eft"));
left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
}
if (right_out) {
out_of_range_error(PSTR("(R)ight"));
right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
}
if (front_out) {
out_of_range_error(PSTR("(F)ront"));
front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
}
if (back_out) {
out_of_range_error(PSTR("(B)ack"));
back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
}
return;
}
@ -416,8 +416,8 @@ void GcodeSuite::G29() {
#endif
if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
|| yGridSpacing != bilinear_grid_spacing[Y_AXIS]
|| left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS])
|| front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS])
|| left_probe_bed_position != bilinear_start[X_AXIS]
|| front_probe_bed_position != bilinear_start[Y_AXIS]
) {
if (dryrun) {
// Before reset bed level, re-enable to correct the position
@ -429,8 +429,8 @@ void GcodeSuite::G29() {
// Initialize a grid with the given dimensions
bilinear_grid_spacing[X_AXIS] = xGridSpacing;
bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
bilinear_start[X_AXIS] = left_probe_bed_position;
bilinear_start[Y_AXIS] = front_probe_bed_position;
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
@ -555,7 +555,7 @@ void GcodeSuite::G29() {
#endif
// Keep looping till a reachable point is found
if (position_is_reachable_xy(xProbe, yProbe)) break;
if (position_is_reachable(xProbe, yProbe)) break;
++abl_probe_index;
}
@ -585,8 +585,8 @@ void GcodeSuite::G29() {
// Probe at 3 arbitrary points
if (abl_probe_index < 3) {
xProbe = LOGICAL_X_POSITION(points[abl_probe_index].x);
yProbe = LOGICAL_Y_POSITION(points[abl_probe_index].y);
xProbe = points[abl_probe_index].x;
yProbe = points[abl_probe_index].y;
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
@ -663,7 +663,7 @@ void GcodeSuite::G29() {
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue;
if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
#endif
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
@ -701,8 +701,8 @@ void GcodeSuite::G29() {
for (uint8_t i = 0; i < 3; ++i) {
// Retain the last probe position
xProbe = LOGICAL_X_POSITION(points[i].x);
yProbe = LOGICAL_Y_POSITION(points[i].y);
xProbe = points[i].x;
yProbe = points[i].y;
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (isnan(measured_z)) {
planner.leveling_active = abl_should_enable;