@ -98,7 +98,7 @@ float Planner::min_feedrate_mm_s,
Planner : : max_e_jerk , Planner : : max_e_jerk ,
Planner : : min_travel_feedrate_mm_s ; Planner : : min_travel_feedrate_mm_s ;
# if ENABLED(AUTO_BED_LEVELING_FEATURE ) # if ENABLED(AUTO_BED_LEVELING_LINEAR )
matrix_3x3 Planner : : bed_level_matrix ; // Transform to compensate for bed level
matrix_3x3 Planner : : bed_level_matrix ; // Transform to compensate for bed level
# endif # endif
@ -138,7 +138,7 @@ void Planner::init() {
memset ( position , 0 , sizeof ( position ) ) ; // clear position
memset ( position , 0 , sizeof ( position ) ) ; // clear position
LOOP_XYZE ( i ) previous_speed [ i ] = 0.0 ; LOOP_XYZE ( i ) previous_speed [ i ] = 0.0 ;
previous_nominal_speed = 0.0 ; previous_nominal_speed = 0.0 ;
# if ENABLED(AUTO_BED_LEVELING_FEATURE ) # if ENABLED(AUTO_BED_LEVELING_LINEAR )
bed_level_matrix . set_to_identity ( ) ; bed_level_matrix . set_to_identity ( ) ;
# endif # endif
} }
@ -521,37 +521,51 @@ void Planner::check_axes_activity() {
# endif # endif
} }
# if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING) # if PLANNER_LEVELING
void Planner : : apply_leveling ( void Planner : : apply_leveling ( float & lx , float & ly , float & lz ) {
# if ENABLED(MESH_BED_LEVELING) # if ENABLED(MESH_BED_LEVELING)
const float & x , const float & y
# else if ( mbl . active ( ) )
float & x , float & y lz + = mbl . get_z ( RAW_X_POSITION ( lx ) , RAW_Y_POSITION ( ly ) ) ;
# elif ENABLED(AUTO_BED_LEVELING_LINEAR)
float dx = RAW_X_POSITION ( lx ) - ( X_TILT_FULCRUM ) ,
dy = RAW_Y_POSITION ( ly ) - ( Y_TILT_FULCRUM ) ,
dz = RAW_Z_POSITION ( lz ) ;
apply_rotation_xyz ( bed_level_matrix , dx , dy , dz ) ;
lx = LOGICAL_X_POSITION ( dx + X_TILT_FULCRUM ) ;
ly = LOGICAL_Y_POSITION ( dy + Y_TILT_FULCRUM ) ;
lz = LOGICAL_Z_POSITION ( dz ) ;
# endif # endif
, float & z }
) {
void Planner : : unapply_leveling ( float & lx , float & ly , float & lz ) {
# if ENABLED(MESH_BED_LEVELING) # if ENABLED(MESH_BED_LEVELING)
if ( mbl . active ( ) ) if ( mbl . active ( ) )
z + = mbl . get_z ( RAW_X_POSITION ( x ) , RAW_Y_POSITION ( y ) ) ; lz - = mbl . get_z ( RAW_X_POSITION ( lx ) , RAW_Y_POSITION ( ly ) ) ;
# elif ENABLED(AUTO_BED_LEVELING_LINEAR)
# elif ENABLED(AUTO_BED_LEVELING_FEATURE) matrix_3x3 inverse = matrix_3x3 : : transpose ( bed_level_matrix ) ;
float tx = RAW_X_POSITION ( x ) - ( X_TILT_FULCRUM ) , float dx = lx - ( X_TILT_FULCRUM ) , dy = ly - ( Y_TILT_FULCRUM ) , dz = lz ;
ty = RAW_Y_POSITION ( y ) - ( Y_TILT_FULCRUM ) ,
tz = RAW_Z_POSITION ( z ) ;
apply_rotation_xyz ( bed_level_matrix , tx , ty , t z) ; apply_rotation_xyz ( inverse , dx , dy , dz ) ;
x = LOGICAL_X_POSITION ( t x+ X_TILT_FULCRUM ) ; l x= LOGICAL_X_POSITION ( d x+ X_TILT_FULCRUM ) ;
y = LOGICAL_Y_POSITION ( t y+ Y_TILT_FULCRUM ) ; l y= LOGICAL_Y_POSITION ( d y+ Y_TILT_FULCRUM ) ;
z = LOGICAL_Z_POSITION ( t z) ; l z= LOGICAL_Z_POSITION ( d z) ;
# endif # endif
} }
# endif # endif // PLANNER_LEVELING
/**
/**
* Planner : : buffer_line * Planner : : buffer_line
@ -562,15 +576,7 @@ void Planner::check_axes_activity() {
* fr_mm_s - ( target ) speed of the move * fr_mm_s - ( target ) speed of the move
* extruder - target extruder * 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 (
# if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
float x , float y , float z
# else
const float & x , const float & y , const float & z
# endif
, const float & e , float fr_mm_s , const uint8_t extruder
) {
// Calculate the buffer head after we push this byte
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index ( block_buffer_head ) ; int next_buffer_head = next_block_index ( block_buffer_head ) ;
@ -578,17 +584,17 @@ void Planner::buffer_line(
// Rest here until there is room in the buffer.
// Rest here until there is room in the buffer.
while ( block_buffer_tail = = next_buffer_head ) idle ( ) ; while ( block_buffer_tail = = next_buffer_head ) idle ( ) ;
# if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE) # if PLANNER_LEVELING
apply_leveling ( x , y , z ) ; apply_leveling ( l x, l y, l z) ;
# endif # endif
// The target position of the tool in absolute steps
// The target position of the tool in absolute steps
// Calculate target position 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
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
long target [ NUM_AXIS ] = { long target [ NUM_AXIS ] = {
lround ( x * axis_steps_per_mm [ X_AXIS ] ) , lround ( l x* axis_steps_per_mm [ X_AXIS ] ) ,
lround ( y * axis_steps_per_mm [ Y_AXIS ] ) , lround ( l y* axis_steps_per_mm [ Y_AXIS ] ) ,
lround ( z * axis_steps_per_mm [ Z_AXIS ] ) , lround ( l z* axis_steps_per_mm [ Z_AXIS ] ) ,
lround ( e * axis_steps_per_mm [ E_AXIS ] ) lround ( e * axis_steps_per_mm [ E_AXIS ] )
} ; } ;
@ -598,11 +604,22 @@ void Planner::buffer_line(
/*
/*
SERIAL_ECHO_START ; SERIAL_ECHO_START ;
SERIAL_ECHOPAIR ( " Planner X: " , x ) ; SERIAL_ECHOPGM ( " Planner " , x ) ;
# if IS_KINEMATIC
SERIAL_ECHOPAIR ( " A: " , x ) ;
SERIAL_ECHOPAIR ( " ( " , dx ) ;
SERIAL_ECHOPAIR ( " ) B: " , y ) ;
# else
SERIAL_ECHOPAIR ( " X: " , x ) ;
SERIAL_ECHOPAIR ( " ( " , dx ) ; SERIAL_ECHOPAIR ( " ( " , dx ) ;
SERIAL_ECHOPAIR ( " ) Y: " , y ) ; SERIAL_ECHOPAIR ( " ) Y: " , y ) ;
# endif
SERIAL_ECHOPAIR ( " ( " , dy ) ; SERIAL_ECHOPAIR ( " ( " , dy ) ;
# elif ENABLED(DELTA)
SERIAL_ECHOPAIR ( " ) C: " , z ) ;
# else
SERIAL_ECHOPAIR ( " ) Z: " , z ) ; SERIAL_ECHOPAIR ( " ) Z: " , z ) ;
# endif
SERIAL_ECHOPAIR ( " ( " , dz ) ; SERIAL_ECHOPAIR ( " ( " , dz ) ;
SERIAL_ECHOLNPGM ( " ) " ) ; SERIAL_ECHOLNPGM ( " ) " ) ;
//*/
//*/
@ -671,7 +688,7 @@ void Planner::buffer_line(
// For a mixing extruder, get a magnified step_event_count for each
// For a mixing extruder, get a magnified step_event_count for each
# if ENABLED(MIXING_EXTRUDER) # if ENABLED(MIXING_EXTRUDER)
for ( uint8_t i = 0 ; i < MIXING_STEPPERS ; i + + ) for ( uint8_t i = 0 ; i < MIXING_STEPPERS ; i + + )
block - > mix_event_count [ i ] = ( mixing_factor [ i ] < 0.0001 ) ? 0 : block - > step_event_count / mixing_factor [ i ] ; block - > mix_event_count [ i ] = UNEAR_ZERO ( mixing_factor [ i ] ) ? 0 : block - > step_event_count / mixing_factor [ i ] ;
# endif # endif
# if FAN_COUNT > 0 # if FAN_COUNT > 0
@ -1152,22 +1169,15 @@ void Planner::buffer_line(
* *
* On CORE machines stepper ABC will be translated from the given XYZ . * On CORE machines stepper ABC will be translated from the given XYZ .
*/ */
void Planner : : set_position_mm ( void Planner : : set_position_mm ( ARG_X , ARG_Y , ARG_Z , const float & e ) {
# if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
float x , float y , float z
# else
const float & x , const float & y , const float & z
# endif
, const float & e
) {
# if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE) # if PLANNER_LEVELING
apply_leveling ( x , y , z ) ; apply_leveling ( lx , ly , lz ) ;
# endif # endif
long nx = position [ X_AXIS ] = lround ( x * axis_steps_per_mm [ X_AXIS ] ) , long nx = position [ X_AXIS ] = lround ( lx * axis_steps_per_mm [ X_AXIS ] ) ,
ny = position [ Y_AXIS ] = lround ( y * axis_steps_per_mm [ Y_AXIS ] ) , ny = position [ Y_AXIS ] = lround ( ly * axis_steps_per_mm [ Y_AXIS ] ) ,
nz = position [ Z_AXIS ] = lround ( z * axis_steps_per_mm [ Z_AXIS ] ) , nz = position [ Z_AXIS ] = lround ( l z* axis_steps_per_mm [ Z_AXIS ] ) ,
ne = position [ E_AXIS ] = lround ( e * axis_steps_per_mm [ E_AXIS ] ) ; ne = position [ E_AXIS ] = lround ( e * axis_steps_per_mm [ E_AXIS ] ) ;
stepper . set_position ( nx , ny , nz , ne ) ; stepper . set_position ( nx , ny , nz , ne ) ;
previous_nominal_speed = 0.0 ; // Resets planner junction speeds. Assumes start from rest.
previous_nominal_speed = 0.0 ; // Resets planner junction speeds. Assumes start from rest.
@ -1193,7 +1203,7 @@ void Planner::reset_acceleration_rates() {
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
void Planner : : refresh_positioning ( ) { void Planner : : refresh_positioning ( ) {
LOOP_XYZE ( i ) steps_to_mm [ i ] = 1.0 / axis_steps_per_mm [ i ] ; LOOP_XYZE ( i ) steps_to_mm [ i ] = 1.0 / axis_steps_per_mm [ i ] ;
# if ENABLED(DELTA) || ENABLED(SCARA) # if IS_KINEMATIC
inverse_kinematics ( current_position ) ; inverse_kinematics ( current_position ) ;
set_position_mm ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ; set_position_mm ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else # else
Scott Lahteine
8 years ago
GitHub