From 7f265db3ef77df6b87803b5f849ef1827f76b1f0 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 10 Apr 2016 23:40:11 -0700
Subject: [PATCH 1/4] Move sync_plan_position after DEBUG_LEVELING
---
Marlin/Marlin_main.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0b180c78e2..23f1c2ba36 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3069,12 +3069,13 @@ inline void gcode_G28() {
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
- sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", current_position);
#endif
+ sync_plan_position();
+
#endif // !DELTA
}
From fdee2be49c5258145e269bf2588afa5cc9aae738 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 11 Apr 2016 00:06:33 -0700
Subject: [PATCH 2/4] More logging of matrix behavior
---
Marlin/Marlin_main.cpp | 18 ++++++++++++++----
1 file changed, 14 insertions(+), 4 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 23f1c2ba36..69fcc07048 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1351,8 +1351,14 @@ static void setup_for_endstop_move() {
#if DISABLED(DELTA)
static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
+
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("BEFORE set_bed_level_equation_lsq", current_position);
+ plan_bed_level_matrix.set_to_identity();
+ if (DEBUGGING(LEVELING)) {
+ vector_3 uncorrected_position = plan_get_position();
+ DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
+ DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
+ }
#endif
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
@@ -1371,7 +1377,7 @@ static void setup_for_endstop_move() {
current_position[Z_AXIS] = corrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER set_bed_level_equation_lsq", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", current_position);
#endif
sync_plan_position();
@@ -3059,7 +3065,11 @@ inline void gcode_G28() {
#else //!DELTA
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
+ if (DEBUGGING(LEVELING)) {
+ vector_3 corrected_position = plan_get_position();
+ DEBUG_POS("BEFORE matrix.set_to_identity", corrected_position);
+ DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
+ }
#endif
//vector_3 corrected_position = plan_get_position();
@@ -3071,7 +3081,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = uncorrected_position.z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
#endif
sync_plan_position();
From e087a99a10b2c11a34876ea2ba4042a77f918544 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 11 Apr 2016 01:03:10 -0700
Subject: [PATCH 3/4] Some cleanup of st_get_pos functions
---
Marlin/planner.cpp | 12 ++++++++++++
Marlin/stepper.cpp | 19 +++++++++++++------
Marlin/stepper.h | 2 +-
3 files changed, 26 insertions(+), 7 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 318b5bdb28..e32c61230e 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1090,6 +1090,12 @@ float junction_deviation = 0.1;
} // plan_buffer_line()
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
+
+ /**
+ * Get the XYZ position of the steppers as a vector_3.
+ *
+ * On CORE machines XYZ is derived from ABC.
+ */
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
@@ -1102,8 +1108,14 @@ float junction_deviation = 0.1;
return position;
}
+
#endif // AUTO_BED_LEVELING_FEATURE && !DELTA
+/**
+ * Directly set the planner XYZ position (hence the stepper positions).
+ *
+ * On CORE machines stepper ABC will be translated from the given XYZ.
+ */
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
void plan_set_position(float x, float y, float z, const float& e)
#else
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index a371361c28..4bfe74ad15 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -1099,15 +1099,22 @@ void st_set_e_position(const long& e) {
CRITICAL_SECTION_END;
}
-long st_get_position(uint8_t axis) {
+/**
+ * Get a stepper's position in steps.
+ */
+long st_get_position(AxisEnum axis) {
CRITICAL_SECTION_START;
long count_pos = count_position[axis];
CRITICAL_SECTION_END;
return count_pos;
}
+/**
+ * Get an axis position according to stepper position(s)
+ * For CORE machines apply translation from ABC to XYZ.
+ */
float st_get_axis_position_mm(AxisEnum axis) {
- float axis_pos;
+ float axis_steps;
#if ENABLED(COREXY) | ENABLED(COREXZ)
if (axis == X_AXIS || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
@@ -1116,14 +1123,14 @@ float st_get_axis_position_mm(AxisEnum axis) {
CRITICAL_SECTION_END;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
- axis_pos = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
+ axis_steps = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
}
else
- axis_pos = st_get_position(axis);
+ axis_steps = st_get_position(axis);
#else
- axis_pos = st_get_position(axis);
+ axis_steps = st_get_position(axis);
#endif
- return axis_pos / axis_steps_per_unit[axis];
+ return axis_steps / axis_steps_per_unit[axis];
}
void finishAndDisableSteppers() {
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index aecbf58029..b0230b8cd2 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -61,7 +61,7 @@ void st_set_position(const long& x, const long& y, const long& z, const long& e)
void st_set_e_position(const long& e);
// Get current position in steps
-long st_get_position(uint8_t axis);
+long st_get_position(AxisEnum axis);
// Get current axis position in mm
float st_get_axis_position_mm(AxisEnum axis);
From 3e5312f116bbf08b93d5b26ab2f664f4b2e62dcc Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 11 Apr 2016 01:03:50 -0700
Subject: [PATCH 4/4] CORE support for st_set_position & plan_set_position
---
Marlin/stepper.cpp | 31 ++++++++++++++++++++++++++++---
1 file changed, 28 insertions(+), 3 deletions(-)
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 4bfe74ad15..f8f9312471 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -1084,11 +1084,36 @@ void st_init() {
*/
void st_synchronize() { while (blocks_queued()) idle(); }
+/**
+ * Set the stepper positions directly in steps
+ *
+ * The input is based on the typical per-axis XYZ steps.
+ * For CORE machines XYZ needs to be translated to ABC.
+ *
+ * This allows st_get_axis_position_mm to correctly
+ * derive the current XYZ position later on.
+ */
void st_set_position(const long& x, const long& y, const long& z, const long& e) {
CRITICAL_SECTION_START;
- count_position[X_AXIS] = x;
- count_position[Y_AXIS] = y;
- count_position[Z_AXIS] = z;
+
+ #if ENABLED(COREXY)
+ // corexy positioning
+ // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+ count_position[A_AXIS] = x + y;
+ count_position[B_AXIS] = x - y;
+ count_position[Z_AXIS] = z;
+ #elif ENABLED(COREXZ)
+ // corexz planning
+ count_position[A_AXIS] = x + z;
+ count_position[Y_AXIS] = y;
+ count_position[C_AXIS] = x - z;
+ #else
+ // default non-h-bot planning
+ count_position[X_AXIS] = x;
+ count_position[Y_AXIS] = y;
+ count_position[Z_AXIS] = z;
+ #endif
+
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}