diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 7efc15ada4e1e20456295adb51a99b63d302249a..d12d050d9bc5e927c54a1047845a84b5290af95a 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -29,12 +29,12 @@
#include "Marlin.h"
-#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
#include "vector_3.h"
- #ifdef AUTO_BED_LEVELING_GRID
+ #ifdef AUTO_BED_COMPENSATION_GRID
#include "qr_solve.h"
#endif
-#endif // ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_COMPENSATION
#include "ultralcd.h"
#include "planner.h"
@@ -520,7 +520,7 @@ void servo_init()
}
#endif
- #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+ #if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
@@ -962,16 +962,16 @@ static void axis_is_at_home(int axis) {
#endif
}
-#ifdef ENABLE_AUTO_BED_LEVELING
-#ifdef AUTO_BED_LEVELING_GRID
-static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
+#ifdef ENABLE_AUTO_BED_COMPENSATION
+#ifdef AUTO_BED_COMPENSATION_GRID
+static void set_bed_compensation_equation_lsq(double *plane_equation_coefficients)
{
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
planeNormal.debug("planeNormal");
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- //bedLevel.debug("bedLevel");
+ plan_bed_compensation_matrix = matrix_3x3::create_look_at(planeNormal);
+ //bedCompensation.debug("bedCompensation");
- //plan_bed_level_matrix.debug("bed level before");
+ //plan_bed_compensation_matrix.debug("bed compensation before");
//vector_3 uncorrected_position = plan_get_position_mm();
//uncorrected_position.debug("position before");
@@ -987,11 +987,11 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
-#else // not AUTO_BED_LEVELING_GRID
+#else // not AUTO_BED_COMPENSATION_GRID
-static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
+static void set_bed_compensation_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
- plan_bed_level_matrix.set_to_identity();
+ plan_bed_compensation_matrix.set_to_identity();
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
@@ -1002,7 +1002,7 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+ plan_bed_compensation_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
current_position[X_AXIS] = corrected_position.x;
@@ -1016,10 +1016,10 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
}
-#endif // AUTO_BED_LEVELING_GRID
+#endif // AUTO_BED_COMPENSATION_GRID
static void run_z_probe() {
- plan_bed_level_matrix.set_to_identity();
+ plan_bed_compensation_matrix.set_to_identity();
feedrate = homing_feedrate[Z_AXIS];
// move down until you find the bed
@@ -1088,11 +1088,11 @@ static void engage_z_probe() {
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
@@ -1104,11 +1104,11 @@ static void retract_z_probe() {
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
@@ -1142,7 +1142,7 @@ static float probe_pt(float x, float y, float z_before) {
return measured_z;
}
-#endif // #ifdef ENABLE_AUTO_BED_LEVELING
+#endif // #ifdef ENABLE_AUTO_BED_COMPENSATION
static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
@@ -1165,7 +1165,7 @@ static void homeaxis(int axis) {
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
- #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+ #if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
if (axis==Z_AXIS) {
engage_z_probe();
}
@@ -1216,7 +1216,7 @@ static void homeaxis(int axis) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
}
#endif
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#ifndef Z_PROBE_SLED
if (axis==Z_AXIS) retract_z_probe();
#endif
@@ -1325,7 +1325,7 @@ void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
-#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
float x_tmp, y_tmp, z_tmp, real_z;
#endif
if(code_seen('G'))
@@ -1399,9 +1399,9 @@ void process_commands()
break;
#endif //FWRETRACT
case 28: //G28 Home all Axis one at a time
-#ifdef ENABLE_AUTO_BED_LEVELING
- plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
-#endif //ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
+ plan_bed_compensation_matrix.set_to_identity(); //Reset the plane ("erase" all compensation data)
+#endif //ENABLE_AUTO_BED_COMPENSATION
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
@@ -1605,7 +1605,7 @@ void process_commands()
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
}
}
- #ifdef ENABLE_AUTO_BED_LEVELING
+ #ifdef ENABLE_AUTO_BED_COMPENSATION
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
}
@@ -1628,11 +1628,11 @@ void process_commands()
endstops_hit_on_purpose();
break;
-#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
{
#if Z_MIN_PIN == -1
- #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
+ #error "You must have a Z_MIN endstop in order to enable Auto Bed Compensation feature!!! Z_MIN_PIN must point to a valid hardware pin."
#endif
// Prevent user from running a G29 without first homing in X and Y
@@ -1648,10 +1648,10 @@ void process_commands()
dock_sled(false);
#endif // Z_PROBE_SLED
st_synchronize();
- // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
+ // make sure the bed_compensation_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
- plan_bed_level_matrix.set_to_identity();
+ plan_bed_compensation_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
@@ -1661,11 +1661,11 @@ void process_commands()
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
-#ifdef AUTO_BED_LEVELING_GRID
+#ifdef AUTO_BED_COMPENSATION_GRID
// probe at the points of a lattice grid
- int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
- int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
+ int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_COMPENSATION_GRID_POINTS-1);
+ int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_COMPENSATION_GRID_POINTS-1);
// solve the plane equation ax + by + d = z
@@ -1675,9 +1675,9 @@ void process_commands()
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
- double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
+ double eqnAMatrix[AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS*3];
// "B" vector of Z points
- double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
+ double eqnBVector[AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS];
int probePointCounter = 0;
@@ -1700,7 +1700,7 @@ void process_commands()
zig = true;
}
- for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
+ for (int xCount=0; xCount < AUTO_BED_COMPENSATION_GRID_POINTS; xCount++)
{
float z_before;
if (probePointCounter == 0)
@@ -1717,9 +1717,9 @@ void process_commands()
eqnBVector[probePointCounter] = measured_z;
- eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
- eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
- eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
+ eqnAMatrix[probePointCounter + 0*AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS] = xProbe;
+ eqnAMatrix[probePointCounter + 1*AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS] = yProbe;
+ eqnAMatrix[probePointCounter + 2*AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS] = 1;
probePointCounter++;
xProbe += xInc;
}
@@ -1727,7 +1727,7 @@ void process_commands()
clean_up_after_endstop_move();
// solve lsq problem
- double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
+ double *plane_equation_coefficients = qr_solve(AUTO_BED_COMPENSATION_GRID_POINTS*AUTO_BED_COMPENSATION_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
@@ -1737,11 +1737,11 @@ void process_commands()
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
- set_bed_level_equation_lsq(plane_equation_coefficients);
+ set_bed_compensation_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
-#else // AUTO_BED_LEVELING_GRID not defined
+#else // AUTO_BED_COMPENSATION_GRID not defined
// Probe at 3 arbitrary points
// probe 1
@@ -1755,21 +1755,21 @@ void process_commands()
clean_up_after_endstop_move();
- set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
+ set_bed_compensation_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
-#endif // AUTO_BED_LEVELING_GRID
+#endif // AUTO_BED_COMPENSATION_GRID
st_synchronize();
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
- real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
+ real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed compensation is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
+ apply_rotation_xyz(plan_bed_compensation_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef Z_PROBE_SLED
@@ -1782,7 +1782,7 @@ void process_commands()
{
engage_z_probe(); // Engage Z Servo endstop if available
st_synchronize();
- // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
+ // TODO: make sure the bed_compensation_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
@@ -1809,7 +1809,7 @@ void process_commands()
dock_sled(false);
break;
#endif // Z_PROBE_SLED
-#endif // ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_COMPENSATION
case 90: // G90
relative_mode = false;
break;
@@ -2068,7 +2068,7 @@ void process_commands()
//
// This function assumes the bed has been homed. Specificaly, that a G28 command
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
-// Any information generated by a prior G29 Bed leveling command will be lost and need to be
+// Any information generated by a prior G29 Bed compensation command will be lost and need to be
// regenerated.
//
// The number of samples will default to 10 if not specified. You can use upper or lower case
@@ -2076,7 +2076,7 @@ void process_commands()
// N for its communication protocol and will get horribly confused if you send it a capital N.
//
-#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_COMPENSATION
#ifdef Z_PROBE_REPEATABILITY_TEST
case 48: // M48 Z-Probe repeatability
@@ -2154,7 +2154,7 @@ void process_commands()
//
st_synchronize();
- plan_bed_level_matrix.set_to_identity();
+ plan_bed_compensation_matrix.set_to_identity();
plan_buffer_line( X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS]/60,
@@ -2333,7 +2333,7 @@ Sigma_Exit:
break;
}
#endif // Z_PROBE_REPEATABILITY_TEST
-#endif // ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_COMPENSATION
case 104: // M104
if(setTargetedHotend(104)){
@@ -3093,11 +3093,11 @@ Sigma_Exit:
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#if defined (ENABLE_AUTO_BED_COMPENSATION) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif
@@ -3362,7 +3362,7 @@ Sigma_Exit:
st_synchronize();
}
break;
-#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
+#if defined(ENABLE_AUTO_BED_COMPENSATION) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401:
{
engage_z_probe(); // Engage Z Servo endstop if available