Merge pull request #4310 from thinkyhead/rc_mbl_position_shift
Fix position shift with MBL
This commit is contained in:
Scott Lahteine
GitHub
commit
3422103863
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@ -7831,76 +7831,59 @@ void clamp_to_software_endstops(float target[3]) {
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#if ENABLED(MESH_BED_LEVELING)
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// This function is used to split lines on mesh borders so each segment is only part of one mesh area
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void mesh_buffer_line(float x, float y, float z, const float e, float fr_mm_s, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
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if (!mbl.active()) {
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planner.buffer_line(x, y, z, e, fr_mm_s, extruder);
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set_current_to_destination();
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return;
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}
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int pcx = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
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pcy = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
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cx = mbl.cell_index_x(RAW_POSITION(x, X_AXIS)),
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cy = mbl.cell_index_y(RAW_POSITION(y, Y_AXIS));
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NOMORE(pcx, MESH_NUM_X_POINTS - 2);
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NOMORE(pcy, MESH_NUM_Y_POINTS - 2);
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NOMORE(cx, MESH_NUM_X_POINTS - 2);
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NOMORE(cy, MESH_NUM_Y_POINTS - 2);
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if (pcx == cx && pcy == cy) {
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void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
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int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
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cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
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cx2 = mbl.cell_index_x(RAW_POSITION(destination[X_AXIS], X_AXIS)),
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cy2 = mbl.cell_index_y(RAW_POSITION(destination[Y_AXIS], Y_AXIS));
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NOMORE(cx1, MESH_NUM_X_POINTS - 2);
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NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
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NOMORE(cx2, MESH_NUM_X_POINTS - 2);
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NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
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if (cx1 == cx2 && cy1 == cy2) {
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// Start and end on same mesh square
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planner.buffer_line(x, y, z, e, fr_mm_s, extruder);
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line_to_destination(fr_mm_m);
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set_current_to_destination();
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return;
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}
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float nx, ny, nz, ne, normalized_dist;
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if (cx > pcx && TEST(x_splits, cx)) {
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nx = mbl.get_probe_x(cx) + home_offset[X_AXIS];
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normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
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ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(x_splits, cx);
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#define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
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float normalized_dist, end[NUM_AXIS];
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// Split at the left/front border of the right/top square
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int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
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if (cx2 != cx1 && TEST(x_splits, gcx)) {
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memcpy(end, destination, sizeof(end));
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destination[X_AXIS] = mbl.get_probe_x(gcx) + home_offset[X_AXIS] + position_shift[X_AXIS];
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normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
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destination[Y_AXIS] = MBL_SEGMENT_END(Y);
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CBI(x_splits, gcx);
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}
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else if (cx < pcx && TEST(x_splits, pcx)) {
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nx = mbl.get_probe_x(pcx) + home_offset[X_AXIS];
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normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
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ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(x_splits, pcx);
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}
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else if (cy > pcy && TEST(y_splits, cy)) {
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ny = mbl.get_probe_y(cy) + home_offset[Y_AXIS];
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normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
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nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(y_splits, cy);
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}
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else if (cy < pcy && TEST(y_splits, pcy)) {
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ny = mbl.get_probe_y(pcy) + home_offset[Y_AXIS];
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normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
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nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(y_splits, pcy);
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else if (cy2 != cy1 && TEST(y_splits, gcy)) {
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memcpy(end, destination, sizeof(end));
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destination[Y_AXIS] = mbl.get_probe_y(gcy) + home_offset[Y_AXIS] + position_shift[Y_AXIS];
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normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
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destination[X_AXIS] = MBL_SEGMENT_END(X);
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CBI(y_splits, gcy);
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}
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else {
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// Already split on a border
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planner.buffer_line(x, y, z, e, fr_mm_s, extruder);
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line_to_destination(fr_mm_m);
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set_current_to_destination();
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return;
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}
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destination[Z_AXIS] = MBL_SEGMENT_END(Z);
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destination[E_AXIS] = MBL_SEGMENT_END(E);
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// Do the split and look for more borders
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destination[X_AXIS] = nx;
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destination[Y_AXIS] = ny;
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destination[Z_AXIS] = nz;
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destination[E_AXIS] = ne;
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mesh_buffer_line(nx, ny, nz, ne, fr_mm_s, extruder, x_splits, y_splits);
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destination[X_AXIS] = x;
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destination[Y_AXIS] = y;
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destination[Z_AXIS] = z;
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destination[E_AXIS] = e;
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mesh_buffer_line(x, y, z, e, fr_mm_s, extruder, x_splits, y_splits);
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mesh_line_to_destination(fr_mm_m, x_splits, y_splits);
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// Restore destination from stack
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memcpy(destination, end, sizeof(end));
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mesh_line_to_destination(fr_mm_m, x_splits, y_splits);
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}
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#endif // MESH_BED_LEVELING
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@ -7997,11 +7980,13 @@ void mesh_buffer_line(float x, float y, float z, const float e, float fr_mm_s, c
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}
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else {
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#if ENABLED(MESH_BED_LEVELING)
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mesh_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
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return false;
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#else
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line_to_destination(MMM_SCALED(feedrate_mm_m));
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if (mbl.active()) {
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mesh_line_to_destination(MMM_SCALED(feedrate_mm_m));
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return false;
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}
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else
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#endif
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line_to_destination(MMM_SCALED(feedrate_mm_m));
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}
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return true;
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}
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@ -238,8 +238,8 @@
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#error "MESH_BED_LEVELING does not yet support DELTA printers."
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#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
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#error "Select AUTO_BED_LEVELING_FEATURE or MESH_BED_LEVELING, not both."
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#elif MESH_NUM_X_POINTS > 7 || MESH_NUM_Y_POINTS > 7
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#error "MESH_NUM_X_POINTS and MESH_NUM_Y_POINTS need to be less than 8."
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#elif MESH_NUM_X_POINTS > 9 || MESH_NUM_Y_POINTS > 9
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#error "MESH_NUM_X_POINTS and MESH_NUM_Y_POINTS must be less than 10."
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#endif
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#elif ENABLED(MANUAL_BED_LEVELING)
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#error "MESH_BED_LEVELING is required for MANUAL_BED_LEVELING."
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@ -67,7 +67,7 @@
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* 203 z_offset (float)
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* 207 mesh_num_x (uint8 as set in firmware)
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* 208 mesh_num_y (uint8 as set in firmware)
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* 209 G29 S3 XYZ z_values[][] (float x9, by default)
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* 209 G29 S3 XYZ z_values[][] (float x9, by default, up to float x 81)
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*
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* AUTO BED LEVELING
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* 245 M851 zprobe_zoffset (float)
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