sravan/Marlin-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

WIP. Adding bed leveling code.

Browse Source
This commit is contained in:
Edward Patel
2015-03-15 10:43:26 +01:00
parent d0d12962e0
commit 0e51e53813
6 changed files with 184 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

73
Marlin/Marlin_main.cpp
View File

@ -41,6 +41,10 @@
#define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
#if defined(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#endif // MESH_BED_LEVELING
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
@ -4987,6 +4991,65 @@ void calculate_delta(float cartesian[3])
}
#endif
#if defined(MESH_BED_LEVELING)
#if !defined(MIN)
#define MIN(_v1, _v2) (((_v1) < (_v2)) ? (_v1) : (_v2))
#endif // ! MIN
// This function is used to split lines on mesh borders so each segment is only part of one mesh area
void mesh_plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, uint8_t x_splits=0xff, uint8_t y_splits=0xff)
{
int pix = mbl.select_x_index(current_position[X_AXIS]);
int piy = mbl.select_y_index(current_position[Y_AXIS]);
int ix = mbl.select_x_index(x);
int iy = mbl.select_y_index(y);
pix = MIN(pix, MESH_NUM_X_POINTS-2);
piy = MIN(piy, MESH_NUM_Y_POINTS-2);
ix = MIN(ix, MESH_NUM_X_POINTS-2);
iy = MIN(iy, MESH_NUM_Y_POINTS-2);
if (ix > pix && (x_splits)&(1<<ix)) {
float nx = mbl.get_x(ix);
float normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]);
float ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
float ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
x_splits ^= 1 << ix;
mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits);
mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
return;
} else if (ix < pix && (x_splits)&(1<<pix)) {
float nx = mbl.get_x(pix);
float normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]);
float ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
float ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
x_splits ^= 1 << pix;
mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits);
mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
return;
} else if (iy > piy && (y_splits)&(1<<iy)) {
float ny = mbl.get_y(iy);
float normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]);
float nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
float ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
y_splits ^= 1 << iy;
mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits);
mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
return;
} else if (iy < piy && (y_splits)&(1<<piy)) {
float ny = mbl.get_y(piy);
float normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]);
float nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
float ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
y_splits ^= 1 << piy;
mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits);
mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
return;
}
plan_buffer_line(x, y, z, e, feedrate, extruder);
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
}
#endif // MESH_BED_LEVELING
void prepare_move()
{
clamp_to_software_endstops(destination);
@ -5102,10 +5165,14 @@ for (int s = 1; s <= steps; s++) {
#if ! (defined DELTA || defined SCARA)
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
}
else {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
} else {
#if defined(MESH_BED_LEVELING)
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
return;
#else
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
#endif // MESH_BED_LEVELING
}
#endif // !(DELTA || SCARA)