diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index d09616937ec2f982176b4be9776fbfb5ffbe6b58..37f539320941e82d2d4acfcf718256ebb3271cce 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -438,63 +438,56 @@ void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s
#if IS_KINEMATIC // (DELTA or SCARA)
- #if ENABLED(DELTA)
- #define DELTA_PRINTABLE_RADIUS_SQUARED ((float)DELTA_PRINTABLE_RADIUS * (float)DELTA_PRINTABLE_RADIUS )
- #endif
-
#if IS_SCARA
extern const float L1, L2;
#endif
- inline bool position_is_reachable_raw_xy( float raw_x, float raw_y ) {
+ inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
#if ENABLED(DELTA)
- return ( HYPOT2( raw_x, raw_y ) <= DELTA_PRINTABLE_RADIUS_SQUARED );
+ return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
#elif IS_SCARA
#if MIDDLE_DEAD_ZONE_R > 0
- const float R2 = HYPOT2(raw_x - SCARA_OFFSET_X, raw_y - SCARA_OFFSET_Y);
+ const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
#else
- return HYPOT2(raw_x - SCARA_OFFSET_X, raw_y - SCARA_OFFSET_Y) <= sq(L1 + L2);
+ return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2);
#endif
#else // CARTESIAN
- #error
+ // To be migrated from MakerArm branch in future
#endif
}
- inline bool position_is_reachable_by_probe_raw_xy( float raw_x, float raw_y ) {
+ inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
- // both the nozzle and the probe must be able to reach the point
+ // Both the nozzle and the probe must be able to reach the point.
+ // This won't work on SCARA since the probe offset rotates with the arm.
- return ( position_is_reachable_raw_xy( raw_x, raw_y ) &&
- position_is_reachable_raw_xy(
- raw_x - X_PROBE_OFFSET_FROM_EXTRUDER,
- raw_y - Y_PROBE_OFFSET_FROM_EXTRUDER ));
+ return position_is_reachable_raw_xy(rx, ry)
+ && position_is_reachable_raw_xy(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER);
}
#else // CARTESIAN
- inline bool position_is_reachable_raw_xy( float raw_x, float raw_y ) {
- // note to reviewer: this +/-0.0001 logic is copied from original postion_is_reachable
- return WITHIN(raw_x, X_MIN_POS - 0.0001, X_MAX_POS + 0.0001)
- && WITHIN(raw_y, Y_MIN_POS - 0.0001, Y_MAX_POS + 0.0001);
+ inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
+ // Add 0.001 margin to deal with float imprecision
+ return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
+ && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
}
- inline bool position_is_reachable_by_probe_raw_xy( float raw_x, float raw_y ) {
- // note to reviewer: this logic is copied from UBL_G29.cpp and does not contain the +/-0.0001 above
- return WITHIN(raw_x, MIN_PROBE_X, MAX_PROBE_X)
- && WITHIN(raw_y, MIN_PROBE_Y, MAX_PROBE_Y);
+ inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
+ // Add 0.001 margin to deal with float imprecision
+ return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
+ && WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
}
#endif // CARTESIAN
-inline bool position_is_reachable_by_probe_xy( float target_x, float target_y ) {
- return position_is_reachable_by_probe_raw_xy(
- RAW_X_POSITION( target_x ),
- RAW_Y_POSITION( target_y ));
+FORCE_INLINE bool position_is_reachable_by_probe_xy(const float &lx, const float &ly) {
+ return position_is_reachable_by_probe_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
}
-inline bool position_is_reachable_xy( float target_x, float target_y ) {
- return position_is_reachable_raw_xy( RAW_X_POSITION( target_x ), RAW_Y_POSITION( target_y ));
+FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
+ return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
}
#endif //MARLIN_H
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3caccf8d943ab18a4c341e384ad78521bee6c5cd..7e408edbe41f9958c86e564e89290e66a1f01ce0 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1684,7 +1684,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
#if ENABLED(DELTA)
- if ( ! position_is_reachable_xy( x, y )) return;
+ if (!position_is_reachable_xy(x, y)) return;
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
@@ -1740,7 +1740,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
#elif IS_SCARA
- if ( ! position_is_reachable_xy( x, y )) return;
+ if (!position_is_reachable_xy(x, y)) return;
set_destination_to_current();
@@ -2366,7 +2366,7 @@ static void clean_up_after_endstop_or_probe_move() {
}
#endif
- if ( ! position_is_reachable_by_probe_xy( x, y )) return NAN;
+ if (!position_is_reachable_by_probe_xy(x, y)) return NAN;
const float old_feedrate_mm_s = feedrate_mm_s;
@@ -3713,7 +3713,7 @@ inline void gcode_G7(
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
- if ( position_is_reachable_xy( destination[X_AXIS], destination[Y_AXIS] )) {
+ if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
@@ -4639,7 +4639,8 @@ void home_all_axes() { gcode_G28(true); }
indexIntoAB[xCount][yCount] = abl_probe_index;
#endif
- if (position_is_reachable_xy( xProbe, yProbe )) break;
+ // Keep looping till a reachable point is found
+ if (position_is_reachable_xy(xProbe, yProbe)) break;
++abl_probe_index;
}
@@ -4750,7 +4751,7 @@ void home_all_axes() { gcode_G28(true); }
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
- if (!position_is_reachable_by_probe_xy( xProbe, yProbe )) continue;
+ if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue;
#endif
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
@@ -5055,7 +5056,7 @@ void home_all_axes() { gcode_G28(true); }
const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
ypos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
- if (!position_is_reachable_by_probe_xy( xpos, ypos )) return;
+ if (!position_is_reachable_by_probe_xy(xpos, ypos)) return;
// Disable leveling so the planner won't mess with us
#if HAS_LEVELING
@@ -6513,7 +6514,7 @@ inline void gcode_M42() {
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
- while ( ! position_is_reachable_by_probe_xy( X_current, Y_current )) {
+ while (!position_is_reachable_by_probe_xy(X_current, Y_current)) {
X_current *= 0.8;
Y_current *= 0.8;
if (verbose_level > 3) {
diff --git a/Marlin/ubl_G29.cpp b/Marlin/ubl_G29.cpp
index b906a4760d5c59d6d5df9ae4804998368f8a50d7..b8b992baa1bc1d923e6f140ba15a45dc95480e79 100644
--- a/Marlin/ubl_G29.cpp
+++ b/Marlin/ubl_G29.cpp
@@ -135,9 +135,9 @@
* a subsequent G or T leveling operation for backward compatibility.
*
* P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
- * the Z-Probe. Usually the probe can not reach all areas that the nozzle can reach.
- * In Cartesian printers, mesh points within the X_OFFSET_FROM_EXTRUDER and Y_OFFSET_FROM_EXTRUDER
- * area can not be automatically probed. For Delta printers the area in which DELTA_PROBEABLE_RADIUS
+ * the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. On
+ * Cartesian printers, points within the X_PROBE_OFFSET_FROM_EXTRUDER and Y_PROBE_OFFSET_FROM_EXTRUDER
+ * area cannot be automatically probed. For Delta printers the area in which DELTA_PROBEABLE_RADIUS
* and DELTA_PRINTABLE_RADIUS do not overlap will not be automatically probed.
*
* These points will be handled in Phase 2 and Phase 3. If the Phase 1 command is given the
@@ -186,20 +186,20 @@
* of the Mesh being built.
*
* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths the
- * user can go down. If the user specifies the value using the C parameter, the closest invalid
- * mesh points to the nozzle will be filled. The user can specify a repeat count using the R
+ * user can go down. If the user specifies the value using the C parameter, the closest invalid
+ * mesh points to the nozzle will be filled. The user can specify a repeat count using the R
* parameter with the C version of the command.
*
- * A second version of the fill command is available if no C constant is specified. Not
- * specifying a C constant will invoke the 'Smart Fill' algorithm. The G29 P3 command will search
- * from the edges of the mesh inward looking for invalid mesh points. It will look at the next
- * several mesh points to determine if the print bed is sloped up or down. If the bed is sloped
+ * A second version of the fill command is available if no C constant is specified. Not
+ * specifying a C constant will invoke the 'Smart Fill' algorithm. The G29 P3 command will search
+ * from the edges of the mesh inward looking for invalid mesh points. It will look at the next
+ * several mesh points to determine if the print bed is sloped up or down. If the bed is sloped
* upward from the invalid mesh point, it will be replaced with the value of the nearest mesh point.
* If the bed is sloped downward from the invalid mesh point, it will be replaced with a value that
- * puts all three points in a line. The second version of the G29 P3 command is a quick, easy and
+ * puts all three points in a line. The second version of the G29 P3 command is a quick, easy and
* usually safe way to populate the unprobed regions of your mesh so you can continue to the G26
- * Mesh Validation Pattern phase. Please note that you are populating your mesh with unverified
- * numbers. You should use some scrutiny and caution.
+ * Mesh Validation Pattern phase. Please note that you are populating your mesh with unverified
+ * numbers. You should use some scrutiny and caution.
*
* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existence of
* an LCD Panel. It is possible to fine tune the mesh without the use of an LCD Panel.
@@ -242,7 +242,7 @@
* command is not anticipated to be of much value to the typical user. It is intended
* for developers to help them verify correct operation of the Unified Bed Leveling System.
*
- * R # Repeat Repeat this command the specified number of times. If no number is specified the
+ * R # Repeat Repeat this command the specified number of times. If no number is specified the
* command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
*
* S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
@@ -497,7 +497,7 @@
if (code_seen('H') && code_has_value()) height = code_value_float();
- if ( !position_is_reachable_xy( x_pos, y_pos )) {
+ if (!position_is_reachable_xy(x_pos, y_pos)) {
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
return;
}
@@ -635,7 +635,7 @@
ubl.display_map(code_has_value() ? code_value_int() : 0);
/*
- * This code may not be needed... Prepare for its removal...
+ * This code may not be needed... Prepare for its removal...
*
if (code_seen('Z')) {
if (code_has_value())
@@ -660,9 +660,9 @@
do_blocking_move_to_z(measured_z);
} while (!ubl_lcd_clicked());
- ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
+ ubl.has_control_of_lcd_panel = true; // There is a race condition for the encoder click.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
- // or here. So, until we are done looking for a long Encoder Wheel Press,
+ // or here. So, until we are done looking for a long encoder press,
// we need to take control of the panel
KEEPALIVE_STATE(IN_HANDLER);
@@ -1346,10 +1346,10 @@
my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
// If using the probe as the reference there are some unreachable locations.
- // Also for round beds, there are grid points outside the bed that nozzle can't reach.
+ // Also for round beds, there are grid points outside the bed the nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
- if ( ! (probe_as_reference ? position_is_reachable_by_probe_raw_xy(mx, my) : position_is_reachable_raw_xy(mx, my)) )
+ if (probe_as_reference ? !position_is_reachable_by_probe_raw_xy(mx, my) : !position_is_reachable_raw_xy(mx, my))
continue;
// Reachable. Check if it's the closest location to the nozzle.
@@ -1390,14 +1390,14 @@
}
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
- if (!code_seen('R')) // fine_tune_mesh() is special. If no repetion count flag is specified
- repetition_cnt = 1; // we know to do exactly one mesh location. Otherwise we use what the parser decided.
+ if (!code_seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
+ repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
mesh_index_pair location;
uint16_t not_done[16];
int32_t round_off;
- if ( ! position_is_reachable_xy( lx, ly )) {
+ if (!position_is_reachable_xy(lx, ly)) {
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
return;
}
@@ -1413,7 +1413,7 @@
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done, false);
- if (location.x_index < 0 ) break; // stop when we can't find any more reachable points.
+ if (location.x_index < 0) break; // stop when we can't find any more reachable points.
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
// different location the next time through the loop
@@ -1421,9 +1421,8 @@
const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
- if ( ! position_is_reachable_raw_xy( rawx, rawy )) { // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
+ if (!position_is_reachable_raw_xy(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
break;
- }
float new_z = ubl.z_values[location.x_index][location.y_index];
@@ -1432,8 +1431,7 @@
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit
do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
- round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the
- new_z = float(round_off) / 1000.0;
+ new_z = floor(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
@@ -1451,9 +1449,9 @@
lcd_return_to_status();
- // There is a race condition for the Encoder Wheel getting clicked.
- // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
- // or here.
+ // The technique used here generates a race condition for the encoder click.
+ // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) or here.
+ // Let's work on specifying a proper API for the LCD ASAP, OK?
ubl.has_control_of_lcd_panel = true;
}
@@ -1478,7 +1476,7 @@
lcd_implementation_clear();
- } while (( location.x_index >= 0 ) && (--repetition_cnt>0));
+ } while (location.x_index >= 0 && --repetition_cnt > 0);
FINE_TUNE_EXIT: