From 3255712343fdc9177cc94c86b2c31bf94ffbb8ca Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 9 Dec 2017 07:50:55 -0600
Subject: [PATCH] Skew Correction for UBL
Also remove unused grid slicing function when using UBL segmented.
---
Marlin/src/feature/bedlevel/ubl/ubl.h | 2 +-
.../src/feature/bedlevel/ubl/ubl_motion.cpp | 47 ++++++++++---------
Marlin/src/module/planner.cpp | 18 +------
Marlin/src/module/planner.h | 24 ++++++++++
4 files changed, 53 insertions(+), 38 deletions(-)
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.h b/Marlin/src/feature/bedlevel/ubl/ubl.h
index 1a294d4f75..e7adb083df 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl.h
+++ b/Marlin/src/feature/bedlevel/ubl/ubl.h
@@ -321,8 +321,8 @@ class unified_bed_leveling {
return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
}
- static bool prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate);
static void line_to_destination_cartesian(const float &fr, const uint8_t e);
+ static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
#define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
#define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
index 942c5dbdbd..63ea07472c 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
@@ -47,18 +47,16 @@
* as possible to determine if this is the case. If this move is within the same cell, we will
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
- const float start[XYZE] = {
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- },
- end[XYZE] = {
- destination[X_AXIS],
- destination[Y_AXIS],
- destination[Z_AXIS],
- destination[E_AXIS]
- };
+ #if ENABLED(SKEW_CORRECTION)
+ // For skew correction just adjust the destination point and we're done
+ float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
+ end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
+ planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
+ planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
+ #else
+ const float (&start)[XYZE] = current_position,
+ (&end)[XYZE] = destination;
+ #endif
const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
cell_start_yi = get_cell_index_y(start[Y_AXIS]),
@@ -66,10 +64,10 @@
cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
if (g26_debug_flag) {
- SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
- SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
- SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
- SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
+ SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]);
+ SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]);
+ SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]);
+ SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]);
SERIAL_CHAR(')');
SERIAL_EOL();
debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
@@ -416,12 +414,19 @@
// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
// so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
- inline void _O2 ubl_buffer_segment_raw(const float (&raw)[XYZE], const float &fr) {
+ inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) {
+
+ #if ENABLED(SKEW_CORRECTION)
+ float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] };
+ planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
+ #else
+ const float (&raw)[XYZE] = in_raw;
+ #endif
#if ENABLED(DELTA) // apply delta inverse_kinematics
DELTA_RAW_IK();
- planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder);
+ planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
@@ -434,11 +439,11 @@
scara_oldB = delta[B_AXIS];
float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
- planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder);
+ planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder);
#else // CARTESIAN
- planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder);
+ planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder);
#endif
}
@@ -461,7 +466,7 @@
* Returns true if did NOT move, false if moved (requires current_position update).
*/
- bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) {
+ bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) {
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 0d3f9c9562..cf3a316059 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -580,14 +580,7 @@ void Planner::calculate_volumetric_multipliers() {
void Planner::apply_leveling(float &rx, float &ry, float &rz) {
#if ENABLED(SKEW_CORRECTION)
- if (WITHIN(rx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(ry, Y_MIN_POS + 1, Y_MAX_POS)) {
- const float tempry = ry - (rz * planner.yz_skew_factor),
- temprx = rx - (ry * planner.xy_skew_factor) - (rz * (planner.xz_skew_factor - (planner.xy_skew_factor * planner.yz_skew_factor)));
- if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
- rx = temprx;
- ry = tempry;
- }
- }
+ skew(rx, ry, rz);
#endif
if (!leveling_active) return;
@@ -678,14 +671,7 @@ void Planner::calculate_volumetric_multipliers() {
}
#if ENABLED(SKEW_CORRECTION)
- if (WITHIN(raw[X_AXIS], X_MIN_POS, X_MAX_POS) && WITHIN(raw[Y_AXIS], Y_MIN_POS, Y_MAX_POS)) {
- const float temprx = raw[X_AXIS] + raw[Y_AXIS] * planner.xy_skew_factor + raw[Z_AXIS] * planner.xz_skew_factor,
- tempry = raw[Y_AXIS] + raw[Z_AXIS] * planner.yz_skew_factor;
- if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
- raw[X_AXIS] = temprx;
- raw[Y_AXIS] = tempry;
- }
- }
+ unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
#endif
}
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 4cdd9cb7ea..6134f57659 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -345,6 +345,30 @@ class Planner {
#endif
+ #if ENABLED(SKEW_CORRECTION)
+
+ FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
+ if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
+ const float sx = cx - (cy * xy_skew_factor) - (cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor))),
+ sy = cy - (cz * yz_skew_factor);
+ if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
+ cx = sx; cy = sy;
+ }
+ }
+ }
+
+ FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
+ if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
+ const float sx = cx + cy * xy_skew_factor + cz * xz_skew_factor,
+ sy = cy + cz * yz_skew_factor;
+ if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
+ cx = sx; cy = sy;
+ }
+ }
+ }
+
+ #endif // SKEW_CORRECTION
+
#if PLANNER_LEVELING
#define ARG_X float rx
--
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