From 3e3911fb81cef6f17f7e77c54f520e2a4579225b Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 13 Oct 2017 17:21:25 -0500 Subject: [PATCH] Use planner.leveling_active for all leveling systems --- Marlin/src/core/utility.cpp | 4 +- Marlin/src/feature/bedlevel/bedlevel.cpp | 24 +++---- Marlin/src/feature/bedlevel/bedlevel.h | 10 --- .../bedlevel/mbl/mesh_bed_leveling.cpp | 4 +- .../feature/bedlevel/mbl/mesh_bed_leveling.h | 13 +--- Marlin/src/feature/bedlevel/ubl/ubl.cpp | 4 +- Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 2 +- .../src/feature/bedlevel/ubl/ubl_motion.cpp | 32 +++------ Marlin/src/gcode/bedlevel/M420.cpp | 5 +- Marlin/src/gcode/bedlevel/abl/G29.cpp | 24 +++---- Marlin/src/gcode/bedlevel/mbl/G29.cpp | 4 +- Marlin/src/gcode/calibrate/G28.cpp | 2 +- Marlin/src/gcode/calibrate/M48.cpp | 2 +- Marlin/src/lcd/ultralcd.cpp | 8 +-- Marlin/src/lcd/ultralcd_impl_HD44780.h | 2 +- Marlin/src/module/configuration_store.cpp | 30 +++++---- Marlin/src/module/motion.cpp | 53 ++++++--------- Marlin/src/module/planner.cpp | 67 +++++++++---------- Marlin/src/module/planner.h | 23 +++++-- Marlin/src/module/probe.cpp | 2 +- Marlin/src/module/tool_change.cpp | 2 +- 21 files changed, 140 insertions(+), 177 deletions(-) diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp index c220368fe2..8206dc319f 100644 --- a/Marlin/src/core/utility.cpp +++ b/Marlin/src/core/utility.cpp @@ -333,7 +333,7 @@ void safe_delay(millis_t ms) { #elif ENABLED(AUTO_BED_LEVELING_UBL) SERIAL_ECHOPGM("UBL"); #endif - if (LEVELING_IS_ACTIVE()) { + if (planner.leveling_active) { SERIAL_ECHOLNPGM(" (enabled)"); #if ABL_PLANAR const float diff[XYZ] = { @@ -364,7 +364,7 @@ void safe_delay(millis_t ms) { #elif ENABLED(MESH_BED_LEVELING) SERIAL_ECHOPGM("Mesh Bed Leveling"); - if (LEVELING_IS_ACTIVE()) { + if (planner.leveling_active) { float lz = current_position[Z_AXIS]; planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz); SERIAL_ECHOLNPGM(" (enabled)"); diff --git a/Marlin/src/feature/bedlevel/bedlevel.cpp b/Marlin/src/feature/bedlevel/bedlevel.cpp index aa2d3d97ea..d91056bfc1 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.cpp +++ b/Marlin/src/feature/bedlevel/bedlevel.cpp @@ -44,7 +44,7 @@ bool leveling_is_valid() { return #if ENABLED(MESH_BED_LEVELING) - mbl.has_mesh() + mbl.has_mesh #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) !!bilinear_grid_spacing[X_AXIS] #elif ENABLED(AUTO_BED_LEVELING_UBL) @@ -70,7 +70,7 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) { constexpr bool can_change = true; #endif - if (can_change && enable != LEVELING_IS_ACTIVE()) { + if (can_change && enable != planner.leveling_active) { #if ENABLED(MESH_BED_LEVELING) @@ -78,23 +78,23 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) { planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); const bool enabling = enable && leveling_is_valid(); - mbl.set_active(enabling); + planner.leveling_active = enabling; if (enabling) planner.unapply_leveling(current_position); #elif ENABLED(AUTO_BED_LEVELING_UBL) #if PLANNER_LEVELING - if (ubl.state.active) { // leveling from on to off + if (planner.leveling_active) { // leveling from on to off // change unleveled current_position to physical current_position without moving steppers. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); - ubl.state.active = false; // disable only AFTER calling apply_leveling + planner.leveling_active = false; // disable only AFTER calling apply_leveling } else { // leveling from off to on - ubl.state.active = true; // enable BEFORE calling unapply_leveling, otherwise ignored + planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored // change physical current_position to unleveled current_position without moving steppers. planner.unapply_leveling(current_position); } #else - ubl.state.active = enable; // just flip the bit, current_position will be wrong until next move. + planner.leveling_active = enable; // just flip the bit, current_position will be wrong until next move. #endif #else // OLDSCHOOL_ABL @@ -106,7 +106,7 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) { #endif // Enable or disable leveling compensation in the planner - planner.abl_enabled = enable; + planner.leveling_active = enable; if (!enable) // When disabling just get the current position from the steppers. @@ -131,15 +131,13 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) { void set_z_fade_height(const float zfh) { - const bool level_active = LEVELING_IS_ACTIVE(); + const bool level_active = planner.leveling_active; #if ENABLED(AUTO_BED_LEVELING_UBL) if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position #endif - planner.z_fade_height = zfh; - planner.inverse_z_fade_height = RECIPROCAL(zfh); - planner.force_fade_recalc(); + planner.set_z_fade_height(zfh); if (level_active) { #if ENABLED(AUTO_BED_LEVELING_UBL) @@ -166,7 +164,7 @@ void reset_bed_level() { #if ENABLED(MESH_BED_LEVELING) if (leveling_is_valid()) { mbl.reset(); - mbl.set_has_mesh(false); + mbl.has_mesh = false; } #else #if ENABLED(DEBUG_LEVELING_FEATURE) diff --git a/Marlin/src/feature/bedlevel/bedlevel.h b/Marlin/src/feature/bedlevel/bedlevel.h index cdf1be2584..ecd2297032 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.h +++ b/Marlin/src/feature/bedlevel/bedlevel.h @@ -43,16 +43,6 @@ bool leveling_is_valid(); void set_bed_leveling_enabled(const bool enable=true); void reset_bed_level(); -#if ENABLED(MESH_BED_LEVELING) - #define LEVELING_IS_ACTIVE() (mbl.active()) -#elif ENABLED(AUTO_BED_LEVELING_UBL) - #define LEVELING_IS_ACTIVE() (ubl.state.active) -#elif HAS_ABL - #define LEVELING_IS_ACTIVE() (planner.abl_enabled) -#else - #define LEVELING_IS_ACTIVE() (false) -#endif - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) void set_z_fade_height(const float zfh); #endif diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp index dd5d1423c3..d0678e7514 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp @@ -31,7 +31,7 @@ mesh_bed_leveling mbl; - uint8_t mesh_bed_leveling::status; + bool mesh_bed_leveling::has_mesh; float mesh_bed_leveling::z_offset, mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], @@ -47,7 +47,7 @@ } void mesh_bed_leveling::reset() { - status = MBL_STATUS_NONE; + has_mesh = false; z_offset = 0; ZERO(z_values); } diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h index c9ff901ede..034328713c 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h @@ -34,18 +34,12 @@ enum MeshLevelingState { MeshReset }; -enum MBLStatus { - MBL_STATUS_NONE = 0, - MBL_STATUS_HAS_MESH_BIT = 0, - MBL_STATUS_ACTIVE_BIT = 1 -}; - #define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_POINTS_X - 1)) #define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_POINTS_Y - 1)) class mesh_bed_leveling { public: - static uint8_t status; // Has Mesh and Is Active bits + static bool has_mesh; static float z_offset, z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], index_to_xpos[GRID_MAX_POINTS_X], @@ -57,11 +51,6 @@ public: static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } - static bool active() { return TEST(status, MBL_STATUS_ACTIVE_BIT); } - static void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); } - static bool has_mesh() { return TEST(status, MBL_STATUS_HAS_MESH_BIT); } - static void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); } - static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) { px = index % (GRID_MAX_POINTS_X); py = index / (GRID_MAX_POINTS_X); diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp index 4ebd832383..5b1204c3b0 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp @@ -51,7 +51,7 @@ void unified_bed_leveling::report_state() { echo_name(); SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " "); - if (!state.active) SERIAL_PROTOCOLPGM("in"); + if (!planner.leveling_active) SERIAL_PROTOCOLPGM("in"); SERIAL_PROTOCOLLNPGM("active."); safe_delay(50); } @@ -93,7 +93,7 @@ set_bed_leveling_enabled(false); state.storage_slot = -1; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - planner.z_fade_height = 10.0; + planner.set_z_fade_height(10.0); #endif ZERO(z_values); last_specified_z = -999.9; diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 2c58750119..69a690ff19 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -1170,7 +1170,7 @@ return; } - ubl_state_at_invocation = state.active; + ubl_state_at_invocation = planner.leveling_active; set_bed_leveling_enabled(false); } diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp index c2a74e8282..977f2a865e 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp @@ -257,9 +257,8 @@ */ const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m; - float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi); - - z0 *= planner.fade_scaling_factor_for_z(end[Z_AXIS]); + float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi) + * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN @@ -322,9 +321,8 @@ const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi)), y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line - float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi); - - z0 *= planner.fade_scaling_factor_for_z(end[Z_AXIS]); + float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi) + * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN @@ -395,9 +393,8 @@ if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first // Yes! Crossing a Y Mesh Line next - float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi); - - z0 *= planner.fade_scaling_factor_for_z(end[Z_AXIS]); + float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi) + * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN @@ -423,9 +420,8 @@ } else { // Yes! Crossing a X Mesh Line next - float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag); - - z0 *= planner.fade_scaling_factor_for_z(end[Z_AXIS]); + float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag) + * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN @@ -580,17 +576,9 @@ seg_rz = RAW_Z_POSITION(current_position[Z_AXIS]), seg_le = current_position[E_AXIS]; - const bool above_fade_height = ( - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - planner.z_fade_height != 0 && planner.z_fade_height < RAW_Z_POSITION(ltarget[Z_AXIS]) - #else - false - #endif - ); - // Only compute leveling per segment if ubl active and target below z_fade_height. - if (!state.active || above_fade_height) { // no mesh leveling + if (!planner.leveling_active || !planner.leveling_active_at_z(ltarget[Z_AXIS])) { // no mesh leveling do { @@ -648,7 +636,7 @@ z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner - if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating state.active (G29 A) + if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A) if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell, if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points diff --git a/Marlin/src/gcode/bedlevel/M420.cpp b/Marlin/src/gcode/bedlevel/M420.cpp index 5fe1dfe1ba..0faf72aec1 100644 --- a/Marlin/src/gcode/bedlevel/M420.cpp +++ b/Marlin/src/gcode/bedlevel/M420.cpp @@ -105,14 +105,13 @@ void GcodeSuite::M420() { } const bool to_enable = parser.boolval('S'); - if (parser.seen('S')) - set_bed_leveling_enabled(to_enable); + if (parser.seen('S')) set_bed_leveling_enabled(to_enable); #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units()); #endif - const bool new_status = LEVELING_IS_ACTIVE(); + const bool new_status = planner.leveling_active; if (to_enable && !new_status) { SERIAL_ERROR_START(); diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp index 218a1c6d3e..dfd3734e59 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -247,7 +247,7 @@ void GcodeSuite::G29() { abl_probe_index = -1; #endif - abl_should_enable = LEVELING_IS_ACTIVE(); + abl_should_enable = planner.leveling_active; #if ENABLED(AUTO_BED_LEVELING_BILINEAR) @@ -388,7 +388,7 @@ void GcodeSuite::G29() { stepper.synchronize(); // Disable auto bed leveling during G29 - planner.abl_enabled = false; + planner.leveling_active = false; if (!dryrun) { // Re-orient the current position without leveling @@ -402,7 +402,7 @@ void GcodeSuite::G29() { #if HAS_BED_PROBE // Deploy the probe. Probe will raise if needed. if (DEPLOY_PROBE()) { - planner.abl_enabled = abl_should_enable; + planner.leveling_active = abl_should_enable; return; } #endif @@ -421,7 +421,7 @@ void GcodeSuite::G29() { ) { if (dryrun) { // Before reset bed level, re-enable to correct the position - planner.abl_enabled = abl_should_enable; + planner.leveling_active = abl_should_enable; } // Reset grid to 0.0 or "not probed". (Also disables ABL) reset_bed_level(); @@ -466,7 +466,7 @@ void GcodeSuite::G29() { #if HAS_SOFTWARE_ENDSTOPS soft_endstops_enabled = enable_soft_endstops; #endif - planner.abl_enabled = abl_should_enable; + planner.leveling_active = abl_should_enable; g29_in_progress = false; #if ENABLED(LCD_BED_LEVELING) lcd_wait_for_move = false; @@ -669,7 +669,7 @@ void GcodeSuite::G29() { measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); if (isnan(measured_z)) { - planner.abl_enabled = abl_should_enable; + planner.leveling_active = abl_should_enable; break; } @@ -705,7 +705,7 @@ void GcodeSuite::G29() { yProbe = LOGICAL_Y_POSITION(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.abl_enabled = abl_should_enable; + planner.leveling_active = abl_should_enable; break; } points[i].z = measured_z; @@ -728,7 +728,7 @@ void GcodeSuite::G29() { // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe. if (STOW_PROBE()) { - planner.abl_enabled = abl_should_enable; + planner.leveling_active = abl_should_enable; measured_z = NAN; } } @@ -896,9 +896,9 @@ void GcodeSuite::G29() { float converted[XYZ]; COPY(converted, current_position); - planner.abl_enabled = true; + planner.leveling_active = true; planner.unapply_leveling(converted); // use conversion machinery - planner.abl_enabled = false; + planner.leveling_active = false; // Use the last measured distance to the bed, if possible if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER)) @@ -950,7 +950,7 @@ void GcodeSuite::G29() { #endif // Auto Bed Leveling is complete! Enable if possible. - planner.abl_enabled = dryrun ? abl_should_enable : true; + planner.leveling_active = dryrun ? abl_should_enable : true; } // !isnan(measured_z) // Restore state after probing @@ -964,7 +964,7 @@ void GcodeSuite::G29() { KEEPALIVE_STATE(IN_HANDLER); - if (LEVELING_IS_ACTIVE()) + if (planner.leveling_active) SYNC_PLAN_POSITION_KINEMATIC(); } diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp index cd96bbf35e..58128aee76 100644 --- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp @@ -42,7 +42,7 @@ void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); } void mesh_probing_done() { - mbl.set_has_mesh(true); + mbl.has_mesh = true; gcode.home_all_axes(); set_bed_leveling_enabled(true); #if ENABLED(MESH_G28_REST_ORIGIN) @@ -92,7 +92,7 @@ void GcodeSuite::G29() { switch (state) { case MeshReport: if (leveling_is_valid()) { - SERIAL_PROTOCOLLNPAIR("State: ", LEVELING_IS_ACTIVE() ? MSG_ON : MSG_OFF); + SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF); mbl_mesh_report(); } else diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index d960088bbb..effa484d2b 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -157,7 +157,7 @@ void GcodeSuite::G28(const bool always_home_all) { // Disable the leveling matrix before homing #if HAS_LEVELING #if ENABLED(AUTO_BED_LEVELING_UBL) - const bool ubl_state_at_entry = LEVELING_IS_ACTIVE(); + const bool ubl_state_at_entry = planner.leveling_active; #endif set_bed_leveling_enabled(false); #endif diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp index d3c551f170..a910f02ee6 100644 --- a/Marlin/src/gcode/calibrate/M48.cpp +++ b/Marlin/src/gcode/calibrate/M48.cpp @@ -119,7 +119,7 @@ void GcodeSuite::M48() { // Disable bed level correction in M48 because we want the raw data when we probe #if HAS_LEVELING - const bool was_enabled = LEVELING_IS_ACTIVE(); + const bool was_enabled = planner.leveling_active; set_bed_leveling_enabled(false); #endif diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp index 5ea064803c..e8aa8067c5 100644 --- a/Marlin/src/lcd/ultralcd.cpp +++ b/Marlin/src/lcd/ultralcd.cpp @@ -1086,7 +1086,7 @@ void kill_screen(const char* lcd_msg) { const float new_zoffset = zprobe_zoffset + planner.steps_to_mm[Z_AXIS] * babystep_increment; if (WITHIN(new_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) { - if (LEVELING_IS_ACTIVE()) + if (planner.leveling_active) thermalManager.babystep_axis(Z_AXIS, babystep_increment); zprobe_zoffset = new_zoffset; @@ -1788,7 +1788,7 @@ void kill_screen(const char* lcd_msg) { _lcd_after_probing(); - mbl.set_has_mesh(true); + mbl.has_mesh = true; mesh_probing_done(); #endif @@ -1934,12 +1934,12 @@ void kill_screen(const char* lcd_msg) { if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) MENU_ITEM(gcode, MSG_AUTO_HOME, PSTR("G28")); else if (leveling_is_valid()) { - _level_state = LEVELING_IS_ACTIVE(); + _level_state = planner.leveling_active; MENU_ITEM_EDIT_CALLBACK(bool, MSG_BED_LEVELING, &_level_state, _lcd_toggle_bed_leveling); } #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - set_z_fade_height(planner.z_fade_height); + //set_z_fade_height(planner.z_fade_height); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float62, MSG_Z_FADE_HEIGHT, &planner.z_fade_height, 0.0, 100.0, _lcd_set_z_fade_height); #endif diff --git a/Marlin/src/lcd/ultralcd_impl_HD44780.h b/Marlin/src/lcd/ultralcd_impl_HD44780.h index 108451d3b7..7cf64789b8 100644 --- a/Marlin/src/lcd/ultralcd_impl_HD44780.h +++ b/Marlin/src/lcd/ultralcd_impl_HD44780.h @@ -795,7 +795,7 @@ static void lcd_implementation_status_screen() { lcd.print(ftostr52sp(FIXFLOAT(current_position[Z_AXIS]))); #if HAS_LEVELING - lcd.write(LEVELING_IS_ACTIVE() || blink ? '_' : ' '); + lcd.write(planner.leveling_active || blink ? '_' : ' '); #endif #endif // LCD_HEIGHT > 2 diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 49cc205c5f..85dae24751 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -68,7 +68,7 @@ * 219 z_fade_height (float) * * MESH_BED_LEVELING: 43 bytes - * 223 M420 S from mbl.status (bool) + * 223 M420 S planner.leveling_active (bool) * 224 mbl.z_offset (float) * 228 GRID_MAX_POINTS_X (uint8_t) * 229 GRID_MAX_POINTS_Y (uint8_t) @@ -88,7 +88,7 @@ * 316 z_values[][] (float x9, up to float x256) +988 * * AUTO_BED_LEVELING_UBL: 2 bytes - * 324 G29 A ubl.state.active (bool) + * 324 G29 A planner.leveling_active (bool) * 325 G29 S ubl.state.storage_slot (int8_t) * * DELTA: 48 bytes @@ -202,6 +202,10 @@ MarlinSettings settings; #include "../feature/fwretract.h" #endif +#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + float new_z_fade_height; +#endif + /** * Post-process after Retrieve or Reset */ @@ -231,7 +235,7 @@ void MarlinSettings::postprocess() { #endif #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - set_z_fade_height(planner.z_fade_height); + set_z_fade_height(new_z_fade_height); #endif #if HAS_BED_PROBE @@ -329,7 +333,7 @@ void MarlinSettings::postprocess() { #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) const float zfh = planner.z_fade_height; #else - const float zfh = 10.0; + const float zfh = 0.0; #endif EEPROM_WRITE(zfh); @@ -343,7 +347,7 @@ void MarlinSettings::postprocess() { sizeof(mbl.z_values) == GRID_MAX_POINTS * sizeof(mbl.z_values[0][0]), "MBL Z array is the wrong size." ); - const bool leveling_is_on = TEST(mbl.status, MBL_STATUS_HAS_MESH_BIT); + const bool leveling_is_on = mbl.has_mesh; const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y; EEPROM_WRITE(leveling_is_on); EEPROM_WRITE(mbl.z_offset); @@ -406,7 +410,7 @@ void MarlinSettings::postprocess() { #endif // AUTO_BED_LEVELING_BILINEAR #if ENABLED(AUTO_BED_LEVELING_UBL) - EEPROM_WRITE(ubl.state.active); + EEPROM_WRITE(planner.leveling_active); EEPROM_WRITE(ubl.state.storage_slot); #else const bool ubl_active = false; @@ -720,7 +724,7 @@ void MarlinSettings::postprocess() { // #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - EEPROM_READ(planner.z_fade_height); + EEPROM_READ(new_z_fade_height); #else EEPROM_READ(dummy); #endif @@ -737,7 +741,7 @@ void MarlinSettings::postprocess() { EEPROM_READ(mesh_num_y); #if ENABLED(MESH_BED_LEVELING) - mbl.status = leveling_is_on ? _BV(MBL_STATUS_HAS_MESH_BIT) : 0; + mbl.has_mesh = leveling_is_on; mbl.z_offset = dummy; if (mesh_num_x == GRID_MAX_POINTS_X && mesh_num_y == GRID_MAX_POINTS_Y) { // EEPROM data fits the current mesh @@ -793,7 +797,7 @@ void MarlinSettings::postprocess() { } #if ENABLED(AUTO_BED_LEVELING_UBL) - EEPROM_READ(ubl.state.active); + EEPROM_READ(planner.leveling_active); EEPROM_READ(ubl.state.storage_slot); #else uint8_t dummyui8; @@ -1156,7 +1160,7 @@ void MarlinSettings::reset() { planner.max_jerk[E_AXIS] = DEFAULT_EJERK; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - planner.z_fade_height = 0.0; + new_z_fade_height = 0.0; #endif #if HAS_HOME_OFFSET @@ -1556,9 +1560,9 @@ void MarlinSettings::reset() { SERIAL_ECHOLNPGM(":"); } CONFIG_ECHO_START; - SERIAL_ECHOPAIR(" M420 S", LEVELING_IS_ACTIVE() ? 1 : 0); + SERIAL_ECHOPAIR(" M420 S", planner.leveling_active ? 1 : 0); #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - SERIAL_ECHOPAIR(" Z", planner.z_fade_height); + SERIAL_ECHOPAIR(" Z", LINEAR_UNIT(planner.z_fade_height)); #endif SERIAL_EOL(); @@ -1578,7 +1582,7 @@ void MarlinSettings::reset() { SERIAL_ECHOLNPGM("Auto Bed Leveling:"); } CONFIG_ECHO_START; - SERIAL_ECHOPAIR(" M420 S", LEVELING_IS_ACTIVE() ? 1 : 0); + SERIAL_ECHOPAIR(" M420 S", planner.leveling_active ? 1 : 0); #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) SERIAL_ECHOPAIR(" Z", LINEAR_UNIT(planner.z_fade_height)); #endif diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 0704e28c8d..ecc3f8bf97 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -490,14 +490,14 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, #if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(DELTA) #define ADJUST_DELTA(V) \ - if (LEVELING_IS_ACTIVE()) { \ + if (planner.leveling_active) { \ const float zadj = bilinear_z_offset(V); \ delta[A_AXIS] += zadj; \ delta[B_AXIS] += zadj; \ delta[C_AXIS] += zadj; \ } #else - #define ADJUST_DELTA(V) if (LEVELING_IS_ACTIVE()) { delta[Z_AXIS] += bilinear_z_offset(V); } + #define ADJUST_DELTA(V) if (planner.leveling_active) { delta[Z_AXIS] += bilinear_z_offset(V); } #endif #else #define ADJUST_DELTA(V) NOOP @@ -630,41 +630,30 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, /** * Prepare a linear move in a Cartesian setup. - * If Mesh Bed Leveling is enabled, perform a mesh move. + * Bed Leveling will be applied to the move if enabled. * - * Returns true if the caller didn't update current_position. + * Returns true if current_position[] was set to destination[] */ inline bool prepare_move_to_destination_cartesian() { - #if ENABLED(AUTO_BED_LEVELING_UBL) + if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) { const float fr_scaled = MMS_SCALED(feedrate_mm_s); - if (ubl.state.active) { // direct use of ubl.state.active for speed - ubl.line_to_destination_cartesian(fr_scaled, active_extruder); - return true; - } - else - line_to_destination(fr_scaled); - #else - // Do not use feedrate_percentage for E or Z only moves - if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) - line_to_destination(); - else { - const float fr_scaled = MMS_SCALED(feedrate_mm_s); - #if ENABLED(MESH_BED_LEVELING) - if (mbl.active()) { // direct used of mbl.active() for speed + #if HAS_MESH + if (planner.leveling_active) { + #if ENABLED(AUTO_BED_LEVELING_UBL) + ubl.line_to_destination_cartesian(fr_scaled, active_extruder); + #elif ENABLED(MESH_BED_LEVELING) mesh_line_to_destination(fr_scaled); - return true; - } - else - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - if (planner.abl_enabled) { // direct use of abl_enabled for speed + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) bilinear_line_to_destination(fr_scaled); - return true; - } - else - #endif - line_to_destination(fr_scaled); - } - #endif + #endif + return true; + } + #endif // HAS_MESH + line_to_destination(fr_scaled); + } + else + line_to_destination(); + return false; } @@ -699,6 +688,8 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, /** * Prepare a linear move in a dual X axis setup + * + * Return true if current_position[] was set to destination[] */ inline bool prepare_move_to_destination_dualx() { if (active_extruder_parked) { diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 57bd730f20..7da09c8c1f 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -122,8 +122,8 @@ float Planner::min_feedrate_mm_s, Planner::max_jerk[XYZE], // The largest speed change requiring no acceleration Planner::min_travel_feedrate_mm_s; -#if OLDSCHOOL_ABL - bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled +#if HAS_LEVELING + bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled #if ABL_PLANAR matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level #endif @@ -556,7 +556,7 @@ void Planner::calculate_volumetric_multipliers() { */ void Planner::apply_leveling(float &lx, float &ly, float &lz) { - if (!LEVELING_IS_ACTIVE()) return; + if (!planner.leveling_active) return; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) const float fade_scaling_factor = fade_scaling_factor_for_z(lz); @@ -601,48 +601,41 @@ void Planner::calculate_volumetric_multipliers() { void Planner::unapply_leveling(float logical[XYZ]) { - #if ENABLED(AUTO_BED_LEVELING_UBL) - - if (ubl.state.active) { - - const float z_physical = RAW_Z_POSITION(logical[Z_AXIS]), - z_correct = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]), - z_virtual = z_physical - z_correct; - float z_logical = LOGICAL_Z_POSITION(z_virtual); - - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - - // for P=physical_z, L=logical_z, M=mesh_z, H=fade_height, - // Given P=L+M(1-L/H) (faded mesh correction formula for L= planner.z_fade_height) - z_logical = LOGICAL_Z_POSITION(z_physical); - else - z_logical /= 1.0 - z_correct * planner.inverse_z_fade_height; - } + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (z_fade_height && RAW_Z_POSITION(logical[Z_AXIS]) >= z_fade_height) return; + #endif - #endif // ENABLE_LEVELING_FADE_HEIGHT + #if ENABLED(AUTO_BED_LEVELING_UBL) - logical[Z_AXIS] = z_logical; - } + const float z_physical = RAW_Z_POSITION(logical[Z_AXIS]), + z_correct = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]), + z_virtual = z_physical - z_correct; + float z_logical = LOGICAL_Z_POSITION(z_virtual); - return; // don't fall thru to other ENABLE_LEVELING_FADE_HEIGHT logic + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - #endif + // for P=physical_z, L=logical_z, M=mesh_z, H=fade_height, + // Given P=L+M(1-L/H) (faded mesh correction formula for L= planner.z_fade_height) + z_logical = LOGICAL_Z_POSITION(z_physical); + else + z_logical /= 1.0 - z_correct * planner.inverse_z_fade_height; + } - if (!LEVELING_IS_ACTIVE()) return; + #endif // ENABLE_LEVELING_FADE_HEIGHT - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - if (z_fade_height && RAW_Z_POSITION(logical[Z_AXIS]) >= z_fade_height) return; - #endif + logical[Z_AXIS] = z_logical; - #if ENABLED(MESH_BED_LEVELING) + #elif ENABLED(MESH_BED_LEVELING) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) const float c = mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]), 1.0); diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 38ae94d188..36f4e4e9a0 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -164,15 +164,14 @@ class Planner { max_jerk[XYZE], // The largest speed change requiring no acceleration min_travel_feedrate_mm_s; - #if OLDSCHOOL_ABL - static bool abl_enabled; // Flag that bed leveling is enabled + #if HAS_LEVELING + static bool leveling_active; // Flag that bed leveling is enabled #if ABL_PLANAR static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level #endif - #endif - - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - static float z_fade_height, inverse_z_fade_height; + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + static float z_fade_height, inverse_z_fade_height; + #endif #endif #if ENABLED(LIN_ADVANCE) @@ -292,6 +291,16 @@ class Planner { FORCE_INLINE static void force_fade_recalc() { last_raw_lz = -999.999; } + FORCE_INLINE static void set_z_fade_height(const float &zfh) { + z_fade_height = zfh > 0 ? zfh : 0; + inverse_z_fade_height = RECIPROCAL(z_fade_height); + force_fade_recalc(); + } + + FORCE_INLINE static bool leveling_active_at_z(const float &lz) { + return !z_fade_height || RAW_Z_POSITION(lz) < z_fade_height; + } + #else FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { @@ -299,6 +308,8 @@ class Planner { return 1.0; } + FORCE_INLINE static bool leveling_active_at_z(const float &lz) { return true; } + #endif #if PLANNER_LEVELING diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 743cefb0de..9c7cc3371f 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -679,7 +679,7 @@ void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) { #endif #if ENABLED(BABYSTEP_ZPROBE_OFFSET) - if (!no_babystep && LEVELING_IS_ACTIVE()) + if (!no_babystep && planner.leveling_active) thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS])); #else UNUSED(no_babystep); diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 8594fa9c49..aef82c0299 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -464,7 +464,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n #if ENABLED(MESH_BED_LEVELING) - if (LEVELING_IS_ACTIVE()) { + if (planner.leveling_active) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]); #endif