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Add a proper flag for ABL enabled

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This commit is contained in:
Scott Lahteine 2016-09-22 18:57:04 -05:00
parent 666e944336
commit cbc158eb62
3 changed files with 64 additions and 15 deletions
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61
Marlin/Marlin_main.cpp
View File

@ -2119,8 +2119,13 @@ static void clean_up_after_endstop_or_probe_move() {
/**
* Reset calibration results to zero.
*
* TODO: Proper functions to disable / enable
* bed leveling via a flag, correcting the
* current position in each case.
*/
void reset_bed_level() {
planner.abl_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
@ -2128,7 +2133,6 @@ static void clean_up_after_endstop_or_probe_move() {
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
memset(bed_level_grid, 0, sizeof(bed_level_grid));
nonlinear_grid_spacing[X_AXIS] = nonlinear_grid_spacing[Y_AXIS] = 0;
#endif
}
@ -3505,16 +3509,15 @@ inline void gcode_G28() {
stepper.synchronize();
// Disable auto bed leveling during G29
bool auto_bed_leveling_was_enabled = planner.abl_enabled,
abl_should_reenable = auto_bed_leveling_was_enabled;
planner.abl_enabled = false;
if (!dryrun) {
// Reset the bed_level_matrix because leveling
// needs to be done without leveling enabled.
reset_bed_level();
//
// Re-orient the current position without leveling
// based on where the steppers are positioned.
//
get_cartesian_from_steppers();
memcpy(current_position, cartes, sizeof(cartes));
@ -3525,7 +3528,10 @@ inline void gcode_G28() {
setup_for_endstop_or_probe_move();
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) return;
if (DEPLOY_PROBE()) {
planner.abl_enabled = abl_should_reenable;
return;
}
float xProbe = 0, yProbe = 0, measured_z = 0;
@ -3537,11 +3543,16 @@ inline void gcode_G28() {
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
float zoffset = zprobe_zoffset;
if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
if (xGridSpacing != nonlinear_grid_spacing[X_AXIS] || yGridSpacing != nonlinear_grid_spacing[Y_AXIS]) {
nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
// Can't re-enable (on error) until the new grid is written
abl_should_reenable = false;
}
#elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
/**
@ -3600,6 +3611,11 @@ inline void gcode_G28() {
measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (measured_z == NAN) {
planner.abl_enabled = abl_should_reenable;
return;
}
#if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
mean += measured_z;
@ -3639,6 +3655,11 @@ inline void gcode_G28() {
measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
}
if (measured_z == NAN) {
planner.abl_enabled = abl_should_reenable;
return;
}
if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
@ -3647,12 +3668,23 @@ inline void gcode_G28() {
planeNormal.z *= -1;
}
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
abl_should_reenable = false;
}
#endif // AUTO_BED_LEVELING_3POINT
// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
if (STOW_PROBE()) return;
if (STOW_PROBE()) {
planner.abl_enabled = abl_should_reenable;
return;
}
//
// Unless this is a dry run, auto bed leveling will
// definitely be enabled after this point
//
// Restore state after probing
clean_up_after_endstop_or_probe_move();
@ -3842,6 +3874,9 @@ inline void gcode_G28() {
report_current_position();
KEEPALIVE_STATE(IN_HANDLER);
// Auto Bed Leveling is complete! Enable if possible.
planner.abl_enabled = dryrun ? abl_should_reenable : true;
}
#endif // AUTO_BED_LEVELING_FEATURE
@ -7738,7 +7773,7 @@ void ok_to_send() {
// Get the Z adjustment for non-linear bed leveling
float nonlinear_z_offset(float cartesian[XYZ]) {
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return 0; // G29 not done!
if (planner.abl_enabled) return;
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;

17
Marlin/planner.cpp
View File

@ -98,6 +98,10 @@ float Planner::min_feedrate_mm_s,
Planner::max_e_jerk,
Planner::min_travel_feedrate_mm_s;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#endif
@ -524,6 +528,11 @@ void Planner::check_axes_activity() {
#if PLANNER_LEVELING
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (!abl_enabled) return;
#endif
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active())
@ -562,6 +571,11 @@ void Planner::check_axes_activity() {
}
void Planner::unapply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (!abl_enabled) return;
#endif
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active())
@ -627,8 +641,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
dz = target[Z_AXIS] - position[Z_AXIS];
/*
SERIAL_ECHOPGM(" Planner ");
SERIAL_ECHOPAIR("FR:", fr_mm_s);
SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
SERIAL_CHAR(' ');
#if IS_KINEMATIC
SERIAL_ECHOPAIR("A:", lx);

1
Marlin/planner.h
View File

@ -137,6 +137,7 @@ class Planner {
static float min_travel_feedrate_mm_s;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
static bool abl_enabled; // Flag that bed leveling is enabled
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
#endif