Improve planner kinematics, fix delta ABL

Marlin/Marlin_main.cpp

@@ -711,8 +711,7 @@ inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
     #endif
-    inverse_kinematics(current_position);
+    planner.set_position_mm_kinematic(current_position);
-    planner.set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
   }
   #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
 
@@ -1541,8 +1540,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
     ) return;
 
     refresh_cmd_timeout();
-    inverse_kinematics(destination);
+    planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
-    planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
     set_current_to_destination();
   }
 #endif // IS_KINEMATIC
@@ -6779,8 +6777,7 @@ inline void gcode_M503() {
 
     // Define runplan for move axes
     #if IS_KINEMATIC
-      #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
+      #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder);
-                                 planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
     #else
       #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
     #endif
@@ -6900,12 +6897,10 @@ inline void gcode_M503() {
     planner.set_e_position_mm(current_position[E_AXIS]);
 
     #if IS_KINEMATIC
-      // Move XYZ to starting position, then E
+      // Move XYZ to starting position
-      inverse_kinematics(lastpos);
+      planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
-      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
-      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
     #else
-      // Move XY to starting position, then Z, then E
+      // Move XY to starting position, then Z
       destination[X_AXIS] = lastpos[X_AXIS];
       destination[Y_AXIS] = lastpos[Y_AXIS];
       RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
@@ -8671,8 +8666,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
 
     // If the move is only in Z/E don't split up the move
     if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
-      inverse_kinematics(ltarget);
+      planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
-      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
       return true;
     }
 
@@ -8815,16 +8809,14 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
       // For non-interpolated delta calculate every segment
       for (uint16_t s = segments + 1; --s;) {
         DELTA_NEXT(segment_distance[i]);
-        DELTA_IK();
+        planner.buffer_line_kinematic(DELTA_VAR, _feedrate_mm_s, active_extruder);
-        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
       }
 
     #endif
 
     // Since segment_distance is only approximate,
     // the final move must be to the exact destination.
-    inverse_kinematics(ltarget);
+    planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
-    planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
     return true;
   }
 
@@ -9064,21 +9056,11 @@ void prepare_move_to_destination() {
 
       clamp_to_software_endstops(arc_target);
 
-      #if IS_KINEMATIC
+      planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
-        inverse_kinematics(arc_target);
-        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
-      #else
-        planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
-      #endif
     }
 
     // Ensure last segment arrives at target location.
-    #if IS_KINEMATIC
+    planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
-      inverse_kinematics(logical);
-      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
-    #else
-      planner.buffer_line(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
-    #endif
 
     // As far as the parser is concerned, the position is now == target. In reality the
     // motion control system might still be processing the action and the real tool position

Marlin/SanityCheck.h

@@ -518,6 +518,10 @@
  */
 #if HAS_ABL
 
+  #if ENABLED(USE_RAW_KINEMATICS) || ENABLED(USE_DELTA_IK_INTERPOLATION)
+    #error "USE_RAW_KINEMATICS and USE_DELTA_IK_INTERPOLATION are not compatible with AUTO_BED_LEVELING"
+  #endif
+
   /**
    * Delta and SCARA have limited bed leveling options
    */

Marlin/planner.cpp

@@ -522,7 +522,9 @@ void Planner::check_axes_activity() {
 }
 
 #if PLANNER_LEVELING
-
+  /**
+   * lx, ly, lz - logical (cartesian, not delta) positions in mm
+   */
   void Planner::apply_leveling(float &lx, float &ly, float &lz) {
 
     #if HAS_ABL
@@ -549,21 +551,9 @@ void Planner::check_axes_activity() {
     #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
       float tmp[XYZ] = { lx, ly, 0 };
-
-      #if ENABLED(DELTA)
-
-        float offset = bilinear_z_offset(tmp);
-        lx += offset;
-        ly += offset;
-        lz += offset;
-
-      #else
-
       lz += bilinear_z_offset(tmp);
 
     #endif
-
-    #endif
   }
 
   void Planner::unapply_leveling(float logical[XYZ]) {
@@ -601,15 +591,16 @@ void Planner::check_axes_activity() {
 #endif // PLANNER_LEVELING
 
 /**
- * Planner::buffer_line
+ * Planner::_buffer_line
  *
  * Add a new linear movement to the buffer.
+ * Not apply the leveling.
  *
  *  x,y,z,e   - target position in mm
  *  fr_mm_s   - (target) speed of the move
  *  extruder  - target extruder
  */
-void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
+void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, const float &e, float fr_mm_s, const uint8_t extruder) {
   // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);
 
@@ -617,10 +608,6 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
   // Rest here until there is room in the buffer.
   while (block_buffer_tail == next_buffer_head) idle();
 
-  #if PLANNER_LEVELING
-    apply_leveling(lx, ly, lz);
-  #endif
-
   // The target position of the tool in absolute steps
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
@@ -1196,12 +1183,8 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
  *
  * On CORE machines stepper ABC will be translated from the given XYZ.
  */
-void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
-
-  #if PLANNER_LEVELING
-    apply_leveling(lx, ly, lz);
-  #endif
 
+void Planner::_set_position_mm(const float &lx, const float &ly, const float &lz, const float &e) {
   long nx = position[X_AXIS] = lround(lx * axis_steps_per_mm[X_AXIS]),
        ny = position[Y_AXIS] = lround(ly * axis_steps_per_mm[Y_AXIS]),
        nz = position[Z_AXIS] = lround(lz * axis_steps_per_mm[Z_AXIS]),
@@ -1212,6 +1195,22 @@ void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
   memset(previous_speed, 0, sizeof(previous_speed));
 }
 
+void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
+  #if PLANNER_LEVELING
+    float pos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
+    apply_leveling(pos);
+  #else
+    const float * const pos = position;
+  #endif
+  #if IS_KINEMATIC
+    inverse_kinematics(pos);
+    _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
+  #else
+    _set_position_mm(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], position[E_AXIS]);
+  #endif
+}
+
+
 /**
  * Sync from the stepper positions. (e.g., after an interrupted move)
  */
@@ -1237,12 +1236,7 @@ void Planner::reset_acceleration_rates() {
 // Recalculate position, steps_to_mm if axis_steps_per_mm changes!
 void Planner::refresh_positioning() {
   LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
-  #if IS_KINEMATIC
+  set_position_mm_kinematic(current_position);
-    inverse_kinematics(current_position);
-    set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
-  #else
-    set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-  #endif
   reset_acceleration_rates();
 }
 

Marlin/planner.h

@@ -43,6 +43,12 @@
 class Planner;
 extern Planner planner;
 
+#if IS_KINEMATIC
+  // for inline buffer_line_kinematic
+  extern float delta[ABC];
+  void inverse_kinematics(const float logical[XYZ]);
+#endif
+
 /**
  * struct block_t
  *
@@ -218,18 +224,63 @@ class Planner {
        * as it will be given to the planner and steppers.
        */
       static void apply_leveling(float &lx, float &ly, float &lz);
+      static void apply_leveling(float logical[XYZ]) { apply_leveling(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS]); }
       static void unapply_leveling(float logical[XYZ]);
 
     #endif
 
     /**
+     * Planner::_buffer_line
+     *
      * Add a new linear movement to the buffer.
+     * Doesn't apply the leveling.
+     *
+     *  x,y,z,e   - target position in mm
+     *  fr_mm_s   - (target) speed of the move
+     *  extruder  - target extruder
+     */
+    static void _buffer_line(const float &lx, const float &ly, const float &lz, const float &e, float fr_mm_s, const uint8_t extruder);
+
+    static void _set_position_mm(const float &lx, const float &ly, const float &lz, const float &e);
+
+    /**
+     * Add a new linear movement to the buffer.
+     * The target is NOT translated to delta/scara
      *
      *  x,y,z,e   - target position in mm
      *  fr_mm_s   - (target) speed of the move (mm/s)
      *  extruder  - target extruder
      */
-    static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float& e, float fr_mm_s, const uint8_t extruder);
+    static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
+      #if PLANNER_LEVELING && ! IS_KINEMATIC
+        apply_leveling(lx, ly, lz);
+      #endif
+      _buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
+    }
+
+    /**
+     * Add a new linear movement to the buffer.
+     * The target is cartesian, it's translated to delta/scara if
+     * needed.
+     *
+     *  target   - x,y,z,e CARTESIAN target in mm
+     *  fr_mm_s  - (target) speed of the move (mm/s)
+     *  extruder - target extruder
+     */
+     static FORCE_INLINE void buffer_line_kinematic(const float target[NUM_AXIS], float fr_mm_s, const uint8_t extruder) {
+      #if PLANNER_LEVELING
+        float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
+        apply_leveling(pos);
+      #else
+        const float * const pos = target;
+      #endif
+      #if IS_KINEMATIC
+        inverse_kinematics(pos);
+        _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], target[E_AXIS], fr_mm_s, extruder);
+      #else
+        _buffer_line(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], target[E_AXIS], fr_mm_s, extruder);
+      #endif
+    }
 
     /**
      * Set the planner.position and individual stepper positions.
@@ -240,9 +291,14 @@ class Planner {
      *
      * Clears previous speed values.
      */
-    static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
+    static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
+      #if PLANNER_LEVELING && ! IS_KINEMATIC
+        apply_leveling(lx, ly, lz);
+      #endif
+      _set_position_mm(lx, ly, lz, e);
+    }
+    static void set_position_mm_kinematic(const float position[NUM_AXIS]);
     static void set_position_mm(const AxisEnum axis, const float& v);
-
     static FORCE_INLINE void set_z_position_mm(const float& z) { set_position_mm(Z_AXIS, z); }
     static FORCE_INLINE void set_e_position_mm(const float& e) { set_position_mm(E_AXIS, e); }
 

Marlin/planner_bezier.cpp

@@ -187,13 +187,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
     bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
     bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
     clamp_to_software_endstops(bez_target);
-
+    planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder);
-    #if IS_KINEMATIC
-      inverse_kinematics(bez_target);
-      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);
-    #else
-      planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);
-    #endif
   }
 }
 

Marlin/ultralcd.cpp

@@ -561,12 +561,7 @@ void kill_screen(const char* lcd_msg) {
 #if ENABLED(ULTIPANEL)
 
   inline void line_to_current(AxisEnum axis) {
-    #if ENABLED(DELTA)
+    planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
-      inverse_kinematics(current_position);
-      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
-    #else // !DELTA
-      planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
-    #endif // !DELTA
   }
 
   #if ENABLED(SDSUPPORT)
@@ -1351,12 +1346,7 @@ void kill_screen(const char* lcd_msg) {
    */
   inline void manage_manual_move() {
     if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) {
-      #if ENABLED(DELTA)
+      planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
-        inverse_kinematics(current_position);
-        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
-      #else
-        planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
-      #endif
       manual_move_axis = (int8_t)NO_AXIS;
     }
   }