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UBL implementation

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This commit is contained in:
Scott Lahteine
2017-03-18 10:15:54 -05:00
parent 238b8fd2a3
commit fb60aa3736
7 changed files with 268 additions and 41 deletions
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64
Marlin/Marlin_main.cpp
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@ -1,6 +1,6 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
@ -234,6 +234,10 @@
#include "duration_t.h"
#include "types.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
#endif
#if HAS_ABL
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -297,6 +301,10 @@
G38_endstop_hit = false;
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
bed_leveling blm;
#endif
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
@ -315,7 +323,7 @@ float current_position[XYZE] = { 0.0 };
* Set with 'gcode_get_destination' or 'set_destination_to_current'.
* 'line_to_destination' sets 'current_position' to 'destination'.
*/
static float destination[XYZE] = { 0.0 };
float destination[XYZE] = { 0.0 };
/**
* axis_homed
@ -1760,7 +1768,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif //HAS_BED_PROBE
#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
zz = z && !axis_homed[Z_AXIS];
@ -2009,7 +2017,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
// returns false for ok and true for failure
static bool set_probe_deployed(bool deploy) {
bool set_probe_deployed(bool deploy) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -2184,7 +2192,8 @@ static void clean_up_after_endstop_or_probe_move() {
// - Raise to the BETWEEN height
// - Return the probed Z position
//
static float probe_pt(const float &x, const float &y, const bool stow = true, const int verbose_level = 1) {
//float probe_pt(const float &x, const float &y, const bool stow = true, const int verbose_level = 1) {
float probe_pt(const float x, const float y, const bool stow, const int verbose_level) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", x);
@ -3279,10 +3288,12 @@ inline void gcode_G4() {
SERIAL_ECHOPGM("BILINEAR");
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
SERIAL_ECHOPGM("3POINT");
#elif ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL");
#endif
if (planner.abl_enabled) {
SERIAL_ECHOLNPGM(" (enabled)");
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT) || ENABLED(AUTO_BED_LEVELING_UBL)
float diff[XYZ] = {
stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
@ -3830,7 +3841,7 @@ inline void gcode_G28() {
report_current_position();
}
#elif HAS_ABL
#elif HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
/**
* G29: Detailed Z probe, probes the bed at 3 or more points.
@ -4383,7 +4394,7 @@ inline void gcode_G28() {
SYNC_PLAN_POSITION_KINEMATIC();
}
#endif // HAS_ABL
#endif // HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
#if HAS_BED_PROBE
@ -6993,6 +7004,8 @@ void quickstop_stepper() {
bed_level_virt_print();
#endif
}
#elif ENABLED(AUTO_BED_LEVELING_UBL)
blm.display_map(0); // Right now, we only support one type of map
#elif ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
@ -8303,6 +8316,12 @@ void process_next_command() {
break;
#endif // INCH_MODE_SUPPORT
#if ENABLED(AUTO_BED_LEVELING_UBL)
case 26: // G26: Mesh Validation Pattern generation
gcode_G26();
break;
#endif // AUTO_BED_LEVELING_UBL
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: // G27: Nozzle Park
gcode_G27();
@ -8314,7 +8333,8 @@ void process_next_command() {
break;
#if PLANNER_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
// or provides access to the UBL System if enabled.
gcode_G29();
break;
#endif // PLANNER_LEVELING
@ -8421,12 +8441,24 @@ void process_next_command() {
gcode_M43(); break;
#endif
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
case 48: // M48: Z probe repeatability test
gcode_M48();
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
#if ENABLED(AUTO_BED_LEVELING_UBL)
case 49: // M49: Turn on or off G26_Debug_flag for verbose output
if (G26_Debug_flag) {
SERIAL_PROTOCOLPGM("UBL Debug Flag turned off.\n");
G26_Debug_flag = 0; }
else {
SERIAL_PROTOCOLPGM("UBL Debug Flag turned on.\n");
G26_Debug_flag++; }
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
case 75: // M75: Start print timer
gcode_M75(); break;
case 76: // M76: Pause print timer
@ -9066,7 +9098,7 @@ void ok_to_send() {
SERIAL_ECHOLNPAIR(" offset=", offset);
}
last_offset = offset;
//*/
*/
return offset;
}
@ -9552,6 +9584,18 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
return false;
}
else
#elif ENABLED(AUTO_BED_LEVELING_UBL)
if (blm.state.active) {
// UBL_line_to_destination(MMS_SCALED(feedrate_mm_s));
UBL_line_to_destination(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS],
// (feedrate*(1.0/60.0))*(feedrate_percentage*(1.0/100.0) ), active_extruder);
MMS_SCALED(feedrate_mm_s), active_extruder);
return false;
}
else
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (planner.abl_enabled) {
bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));