diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index e5141429e7..151ec22e93 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -105,11 +105,10 @@ float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder -// Initialized by settings.load() -float Planner::e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement - Planner::filament_size[EXTRUDERS], // As a baseline for the multiplier, filament diameter +float Planner::e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement + Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder Planner::volumetric_area_nominal = CIRCLE_AREA((DEFAULT_NOMINAL_FILAMENT_DIA) * 0.5), // Nominal cross-sectional area - Planner::volumetric_multiplier[EXTRUDERS]; // May be auto-adjusted by a filament width sensor + Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N], Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software @@ -129,12 +128,11 @@ float Planner::min_feedrate_mm_s, #if ABL_PLANAR matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level #endif -#endif - -#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - float Planner::z_fade_height, // Initialized by settings.load() - Planner::inverse_z_fade_height, - Planner::last_fade_z; + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + float Planner::z_fade_height, // Initialized by settings.load() + Planner::inverse_z_fade_height, + Planner::last_fade_z; + #endif #endif #if ENABLED(AUTOTEMP) @@ -571,7 +569,7 @@ void Planner::calculate_volumetric_multipliers() { */ void Planner::apply_leveling(float &rx, float &ry, float &rz) { - if (!planner.leveling_active) return; + if (!leveling_active) return; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) const float fade_scaling_factor = fade_scaling_factor_for_z(rz); @@ -614,20 +612,22 @@ void Planner::calculate_volumetric_multipliers() { void Planner::unapply_leveling(float raw[XYZ]) { - if (!planner.leveling_active) return; + if (!leveling_active) return; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - if (z_fade_height && raw[Z_AXIS] >= z_fade_height) return; + if (!leveling_active_at_z(raw[Z_AXIS])) return; #endif #if ENABLED(AUTO_BED_LEVELING_UBL) - const float z_correct = ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]); - float z_raw = raw[Z_AXIS] - z_correct; + const float z_physical = raw[Z_AXIS], + z_correct = ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]), + z_virtual = z_physical - z_correct; + float z_raw = z_virtual; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - // for P=physical_z, L=raw_z, M=mesh_z, H=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_raw = raw[Z_AXIS]; + z_raw = z_physical; else z_raw /= 1.0 - z_correct * planner.inverse_z_fade_height; } @@ -646,28 +646,32 @@ void Planner::calculate_volumetric_multipliers() { raw[Z_AXIS] = z_raw; - #elif ENABLED(MESH_BED_LEVELING) + return; // don't fall thru to other ENABLE_LEVELING_FADE_HEIGHT logic - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - const float c = mbl.get_z(raw[X_AXIS], raw[Y_AXIS], 1.0); - raw[Z_AXIS] = (z_fade_height * (raw[Z_AXIS] - c)) / (z_fade_height - c); - #else - raw[Z_AXIS] -= mbl.get_z(raw[X_AXIS], raw[Y_AXIS]); - #endif + #endif + + #if ENABLED(MESH_BED_LEVELING) + + if (leveling_active) { + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + const float c = mbl.get_z(raw[X_AXIS], raw[Y_AXIS], 1.0); + raw[Z_AXIS] = (z_fade_height * (raw[Z_AXIS]) - c) / (z_fade_height - c); + #else + raw[Z_AXIS] -= mbl.get_z(raw[X_AXIS], raw[Y_AXIS]); + #endif + } #elif ABL_PLANAR matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix); float dx = raw[X_AXIS] - (X_TILT_FULCRUM), - dy = raw[Y_AXIS] - (Y_TILT_FULCRUM), - dz = raw[Z_AXIS]; + dy = raw[Y_AXIS] - (Y_TILT_FULCRUM); - apply_rotation_xyz(inverse, dx, dy, dz); + apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]); raw[X_AXIS] = dx + X_TILT_FULCRUM; raw[Y_AXIS] = dy + Y_TILT_FULCRUM; - raw[Z_AXIS] = dz; #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 1e70921283..db9d8efc52 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -144,7 +144,7 @@ class Planner { static uint8_t last_extruder; // Respond to extruder change #endif - static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder + static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder static float e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder @@ -167,7 +167,7 @@ class Planner { min_travel_feedrate_mm_s; #if HAS_LEVELING - static bool leveling_active; // Flag that bed leveling is enabled + 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 @@ -342,12 +342,12 @@ class Planner { /** * Planner::_buffer_line * - * Add a new direct linear movement to the buffer. + * Add a new linear movement to the buffer in axis units. * - * Leveling and kinematics should be applied ahead of this. + * Leveling and kinematics should be applied ahead of calling this. * - * a,b,c,e - target position in mm or degrees - * fr_mm_s - (target) speed of the move (mm/s) + * a,b,c,e - target positions in mm and/or degrees + * fr_mm_s - (target) speed of the move * extruder - target extruder */ static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder); @@ -444,7 +444,7 @@ class Planner { if (blocks_queued()) { block_t* block = &block_buffer[block_buffer_tail]; #if ENABLED(ULTRA_LCD) - block_buffer_runtime_us -= block->segment_time_us; //We can't be sure how long an active block will take, so don't count it. + block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it. #endif SBI(block->flag, BLOCK_BIT_BUSY); return block;