diff --git a/.travis.yml b/.travis.yml index 21c6332b82..b14b43d9cf 100644 --- a/.travis.yml +++ b/.travis.yml @@ -89,7 +89,7 @@ script: - opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS - opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED - - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE + - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE - opt_enable_adv FWRETRACT MAX7219_DEBUG LED_CONTROL_MENU - opt_set ABL_GRID_POINTS_X 16 - opt_set ABL_GRID_POINTS_Y 16 diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h index 5dfe82fcd1..91f20aa5e6 100644 --- a/Marlin/Conditionals_post.h +++ b/Marlin/Conditionals_post.h @@ -844,6 +844,49 @@ #define Z_PROBE_OFFSET_FROM_EXTRUDER 0 #endif + /** + * XYZ Bed Skew Correction + */ + #if ENABLED(SKEW_CORRECTION) + #define SKEW_FACTOR_MIN -1 + #define SKEW_FACTOR_MAX 1 + + #define _GET_SIDE(a,b,c) (SQRT(2*sq(a)+2*sq(b)-4*sq(c))*0.5) + #define _SKEW_SIDE(a,b,c) tan(M_PI*0.5-acos((sq(a)-sq(b)-sq(c))/(2*c*b))) + #define _SKEW_FACTOR(a,b,c) _SKEW_SIDE(a,_GET_SIDE(a,b,c),c) + + #ifndef XY_SKEW_FACTOR + constexpr float XY_SKEW_FACTOR = ( + #if defined(XY_DIAG_AC) && defined(XY_DIAG_BD) && defined(XY_SIDE_AD) + _SKEW_FACTOR(XY_DIAG_AC, XY_DIAG_BD, XY_SIDE_AD) + #else + 0.0 + #endif + ); + #endif + #ifndef XZ_SKEW_FACTOR + #if defined(XY_SIDE_AD) && !defined(XZ_SIDE_AD) + #define XZ_SIDE_AD XY_SIDE_AD + #endif + constexpr float XZ_SKEW_FACTOR = ( + #if defined(XZ_DIAG_AC) && defined(XZ_DIAG_BD) && defined(XZ_SIDE_AD) + _SKEW_FACTOR(XZ_DIAG_AC, XZ_DIAG_BD, XZ_SIDE_AD) + #else + 0.0 + #endif + ); + #endif + #ifndef YZ_SKEW_FACTOR + constexpr float YZ_SKEW_FACTOR = ( + #if defined(YZ_DIAG_AC) && defined(YZ_DIAG_BD) && defined(YZ_SIDE_AD) + _SKEW_FACTOR(YZ_DIAG_AC, YZ_DIAG_BD, YZ_SIDE_AD) + #else + 0.0 + #endif + ); + #endif + #endif // SKEW_CORRECTION + /** * Heater & Fan Pausing */ @@ -898,7 +941,7 @@ #define HAS_LEVELING (HAS_ABL || ENABLED(MESH_BED_LEVELING)) #define HAS_AUTOLEVEL (HAS_ABL && DISABLED(PROBE_MANUALLY)) #define HAS_MESH (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING)) - #define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_DELTA) + #define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_DELTA || ENABLED(SKEW_CORRECTION)) #define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)) #if HAS_PROBING_PROCEDURE #define PROBE_BED_WIDTH abs(RIGHT_PROBE_BED_POSITION - (LEFT_PROBE_BED_POSITION)) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 2f42574eb8..5e658f0c06 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -832,7 +832,7 @@ //=========================================================================== //=============================== Bed Leveling ============================== //=========================================================================== -// @section bedlevel +// @section calibrate /** * Choose one of the options below to enable G29 Bed Leveling. The parameters @@ -1044,6 +1044,63 @@ #define HOMING_FEEDRATE_XY (50*60) #define HOMING_FEEDRATE_Z (4*60) +// @section calibrate + +/** + * Bed Skew Compensation + * + * This feature corrects for misalignment in the XYZ axes. + * + * Take the following steps to get the bed skew in the XY plane: + * 1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185) + * 2. For XY_DIAG_AC measure the diagonal A to C + * 3. For XY_DIAG_BD measure the diagonal B to D + * 4. For XY_SIDE_AD measure the edge A to D + * + * Marlin automatically computes skew factors from these measurements. + * Skew factors may also be computed and set manually: + * + * - Compute AB : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2 + * - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD))) + * + * If desired, follow the same procedure for XZ and YZ. + * Use these diagrams for reference: + * + * Y Z Z + * ^ B-------C ^ B-------C ^ B-------C + * | / / | / / | / / + * | / / | / / | / / + * | A-------D | A-------D | A-------D + * +-------------->X +-------------->X +-------------->Y + * XY_SKEW_FACTOR XZ_SKEW_FACTOR YZ_SKEW_FACTOR + */ +//#define SKEW_CORRECTION + +#if ENABLED(SKEW_CORRECTION) + // Input all length measurements here: + #define XY_DIAG_AC 282.8427124746 + #define XY_DIAG_BD 282.8427124746 + #define XY_SIDE_AD 200 + + // Or, set the default skew factors directly here + // to override the above measurements: + #define XY_SKEW_FACTOR 0.0 + + //#define SKEW_CORRECTION_FOR_Z + #if ENABLED(SKEW_CORRECTION_FOR_Z) + #define XZ_DIAG_AC 282.8427124746 + #define XZ_DIAG_BD 282.8427124746 + #define YZ_DIAG_AC 282.8427124746 + #define YZ_DIAG_BD 282.8427124746 + #define YZ_SIDE_AD 200 + #define XZ_SKEW_FACTOR 0.0 + #define YZ_SKEW_FACTOR 0.0 + #endif + + // Enable this option for M852 to set skew at runtime + //#define SKEW_CORRECTION_GCODE +#endif + //============================================================================= //============================= Additional Features =========================== //============================================================================= diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 65abe7dcb6..07f0f6e9c4 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -205,6 +205,7 @@ * M666 - Set delta endstop adjustment. (Requires DELTA) * M605 - Set dual x-carriage movement mode: "M605 S [X] [R]". (Requires DUAL_X_CARRIAGE) * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) + * M852 - Set skew factors: "M852 [I] [J] [K]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ) * M860 - Report the position of position encoder modules. * M861 - Report the status of position encoder modules. * M862 - Perform an axis continuity test for position encoder modules. @@ -9942,6 +9943,69 @@ inline void gcode_M502() { #endif // HAS_BED_PROBE +#if ENABLED(SKEW_CORRECTION_GCODE) + + /** + * M852: Get or set the machine skew factors. Reports current values with no arguments. + * + * S[xy_factor] - Alias for 'I' + * I[xy_factor] - New XY skew factor + * J[xz_factor] - New XZ skew factor + * K[yz_factor] - New YZ skew factor + */ + inline void gcode_M852() { + const bool ijk = parser.seen('I') || parser.seen('S') + #if ENABLED(SKEW_CORRECTION_FOR_Z) + || parser.seen('J') || parser.seen('K') + #endif + ; + bool badval = false; + + if (parser.seen('I') || parser.seen('S')) { + const float value = parser.value_linear_units(); + if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) + planner.xy_skew_factor = value; + else + badval = true; + } + + #if ENABLED(SKEW_CORRECTION_FOR_Z) + + if (parser.seen('J')) { + const float value = parser.value_linear_units(); + if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) + planner.xz_skew_factor = value; + else + badval = true; + } + + if (parser.seen('K')) { + const float value = parser.value_linear_units(); + if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) + planner.yz_skew_factor = value; + else + badval = true; + } + + #endif + + if (badval) + SERIAL_ECHOLNPGM(MSG_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " MSG_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX)); + + if (!ijk) { + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR(MSG_SKEW_FACTOR " XY: ", planner.xy_skew_factor); + #if ENABLED(SKEW_CORRECTION_FOR_Z) + SERIAL_ECHOPAIR(" XZ: ", planner.xz_skew_factor); + SERIAL_ECHOLNPAIR(" YZ: ", planner.yz_skew_factor); + #else + SERIAL_EOL(); + #endif + } + } + +#endif // SKEW_CORRECTION_GCODE + #if ENABLED(ADVANCED_PAUSE_FEATURE) /** @@ -11787,6 +11851,12 @@ void process_parsed_command() { break; #endif // HAS_BED_PROBE + #if ENABLED(SKEW_CORRECTION_GCODE) + case 852: // M852: Set Skew factors + gcode_M852(); + break; + #endif + #if ENABLED(ADVANCED_PAUSE_FEATURE) case 600: // M600: Pause for filament change gcode_M600(); diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h index 5204502147..0d2fac1c6e 100644 --- a/Marlin/SanityCheck.h +++ b/Marlin/SanityCheck.h @@ -1518,3 +1518,17 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m #if ENABLED(LED_CONTROL_MENU) && DISABLED(ULTIPANEL) #error "LED_CONTROL_MENU requires an LCD controller." #endif + +#if ENABLED(SKEW_CORRECTION) + #if !defined(XY_SKEW_FACTOR) && !(defined(XY_DIAG_AC) && defined(XY_DIAG_BD) && defined(XY_SIDE_AD)) + #error "SKEW_CORRECTION requires XY_SKEW_FACTOR or XY_DIAG_AC, XY_DIAG_BD, XY_SIDE_AD." + #endif + #if ENABLED(SKEW_CORRECTION_FOR_Z) + #if !defined(XZ_SKEW_FACTOR) && !(defined(XZ_DIAG_AC) && defined(XZ_DIAG_BD) && defined(XZ_SIDE_AD)) + #error "SKEW_CORRECTION requires XZ_SKEW_FACTOR or XZ_DIAG_AC, XZ_DIAG_BD, XZ_SIDE_AD." + #endif + #if !defined(YZ_SKEW_FACTOR) && !(defined(YZ_DIAG_AC) && defined(YZ_DIAG_BD) && defined(YZ_SIDE_AD)) + #error "SKEW_CORRECTION requires YZ_SKEW_FACTOR or YZ_DIAG_AC, YZ_DIAG_BD, YZ_SIDE_AD." + #endif + #endif +#endif diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index a3453b40ea..ad6f21b92a 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -36,13 +36,13 @@ * */ -#define EEPROM_VERSION "V45" +#define EEPROM_VERSION "V46" // Change EEPROM version if these are changed: #define EEPROM_OFFSET 100 /** - * V45 EEPROM Layout: + * V46 EEPROM Layout: * * 100 Version (char x4) * 104 EEPROM CRC16 (uint16_t) @@ -166,8 +166,13 @@ * CNC_COORDINATE_SYSTEMS 108 bytes * 602 G54-G59.3 coordinate_system (float x 27) * - * 710 Minimum end-point - * 2239 (710 + 208 + 36 + 9 + 288 + 988) Maximum end-point + * SKEW_CORRECTION: 12 bytes + * 710 M852 I planner.xy_skew_factor (float) + * 714 M852 J planner.xz_skew_factor (float) + * 718 M852 K planner.yz_skew_factor (float) + * + * 722 Minimum end-point + * 2251 (722 + 208 + 36 + 9 + 288 + 988) Maximum end-point * * ======================================================================== * meshes_begin (between max and min end-point, directly above) @@ -664,6 +669,10 @@ void MarlinSettings::postprocess() { for (uint8_t q = 3; q--;) EEPROM_WRITE(dummyui32); #endif + // + // CNC Coordinate Systems + // + #if ENABLED(CNC_COORDINATE_SYSTEMS) EEPROM_WRITE(coordinate_system); // 27 floats #else @@ -671,6 +680,19 @@ void MarlinSettings::postprocess() { for (uint8_t q = 27; q--;) EEPROM_WRITE(dummy); #endif + // + // Skew correction factors + // + + #if ENABLED(SKEW_CORRECTION) + EEPROM_WRITE(planner.xy_skew_factor); + EEPROM_WRITE(planner.xz_skew_factor); + EEPROM_WRITE(planner.yz_skew_factor); + #else + dummy = 0.0f; + for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy); + #endif + if (!eeprom_error) { const int eeprom_size = eeprom_index; @@ -1105,6 +1127,23 @@ void MarlinSettings::postprocess() { for (uint8_t q = 27; q--;) EEPROM_READ(dummy); #endif + // + // Skew correction factors + // + + #if ENABLED(SKEW_CORRECTION_GCODE) + EEPROM_READ(planner.xy_skew_factor); + #if ENABLED(SKEW_CORRECTION_FOR_Z) + EEPROM_READ(planner.xz_skew_factor); + EEPROM_READ(planner.yz_skew_factor); + #else + EEPROM_READ(dummy); + EEPROM_READ(dummy); + #endif + #else + for (uint8_t q = 3; q--;) EEPROM_READ(dummy); + #endif + if (working_crc == stored_crc) { postprocess(); #if ENABLED(EEPROM_CHITCHAT) @@ -1483,6 +1522,14 @@ void MarlinSettings::reset() { ubl.reset(); #endif + #if ENABLED(SKEW_CORRECTION_GCODE) + planner.xy_skew_factor = XY_SKEW_FACTOR; + #if ENABLED(SKEW_CORRECTION_FOR_Z) + planner.xz_skew_factor = XZ_SKEW_FACTOR; + planner.yz_skew_factor = YZ_SKEW_FACTOR; + #endif + #endif + postprocess(); #if ENABLED(EEPROM_CHITCHAT) @@ -1912,6 +1959,24 @@ void MarlinSettings::reset() { SERIAL_ECHOLNPAIR(" M851 Z", LINEAR_UNIT(zprobe_zoffset)); #endif + /** + * Bed Skew Correction + */ + #if ENABLED(SKEW_CORRECTION_GCODE) + if (!forReplay) { + CONFIG_ECHO_START; + SERIAL_ECHOLNPGM("Skew Factor: "); + } + CONFIG_ECHO_START; + #if ENABLED(SKEW_CORRECTION_FOR_Z) + SERIAL_ECHOPAIR(" M852 I", LINEAR_UNIT(planner.xy_skew_factor)); + SERIAL_ECHOPAIR(" J", LINEAR_UNIT(planner.xz_skew_factor)); + SERIAL_ECHOLNPAIR(" K", LINEAR_UNIT(planner.yz_skew_factor)); + #else + SERIAL_ECHOLNPAIR(" M852 S", LINEAR_UNIT(planner.xy_skew_factor)); + #endif + #endif + /** * TMC2130 stepper driver current */ diff --git a/Marlin/language.h b/Marlin/language.h index 94b5813a60..20440a1d7e 100644 --- a/Marlin/language.h +++ b/Marlin/language.h @@ -162,6 +162,9 @@ #define MSG_Z2_MAX "z2_max: " #define MSG_Z_PROBE "z_probe: " #define MSG_PROBE_Z_OFFSET "Probe Z Offset" +#define MSG_SKEW_MIN "min_skew_factor: " +#define MSG_SKEW_MAX "max_skew_factor: " +#define MSG_SKEW_WARN "WARNING: Skew compensation disabled (outside MIN/MAX limits)" #define MSG_FILAMENT_RUNOUT_SENSOR "filament: " #define MSG_ERR_MATERIAL_INDEX "M145 S out of range (0-1)" #define MSG_ERR_M355_NONE "No case light" diff --git a/Marlin/language_en.h b/Marlin/language_en.h index a4cd4ef97b..69d40d1ad9 100644 --- a/Marlin/language_en.h +++ b/Marlin/language_en.h @@ -699,6 +699,9 @@ #ifndef MSG_ZPROBE_OUT #define MSG_ZPROBE_OUT _UxGT("Z probe out. bed") #endif +#ifndef MSG_SKEW_FACTOR + #define MSG_SKEW_FACTOR _UxGT("Skew Factor") +#endif #ifndef MSG_BLTOUCH #define MSG_BLTOUCH _UxGT("BLTouch") #endif diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 8a883f2168..6d2cf9815f 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -124,6 +124,20 @@ float Planner::min_feedrate_mm_s, #endif #endif +#if ENABLED(SKEW_CORRECTION) + #if ENABLED(SKEW_CORRECTION_GCODE) + // Initialized by settings.load() + float Planner::xy_skew_factor; + #if ENABLED(SKEW_CORRECTION_FOR_Z) + float Planner::xz_skew_factor, Planner::yz_skew_factor; + #else + constexpr float Planner::xz_skew_factor, Planner::yz_skew_factor; + #endif + #else + constexpr float Planner::xy_skew_factor, Planner::xz_skew_factor, Planner::yz_skew_factor; + #endif +#endif + #if ENABLED(AUTOTEMP) float Planner::autotemp_max = 250, Planner::autotemp_min = 210, @@ -554,6 +568,19 @@ 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; + } + else + SERIAL_ECHOLN(MSG_SKEW_WARN); + } + #endif + if (!leveling_active) return; #if ABL_PLANAR @@ -600,45 +627,56 @@ void Planner::calculate_volumetric_multipliers() { void Planner::unapply_leveling(float raw[XYZ]) { - if (!leveling_active) return; - - #if ABL_PLANAR - - matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix); - - float dx = raw[X_AXIS] - (X_TILT_FULCRUM), - dy = raw[Y_AXIS] - (Y_TILT_FULCRUM); - - apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]); - - raw[X_AXIS] = dx + X_TILT_FULCRUM; - raw[Y_AXIS] = dy + Y_TILT_FULCRUM; - + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]); #else + constexpr float fade_scaling_factor = 1.0; + #endif - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]); - if (!fade_scaling_factor) return; - #elif HAS_MESH - constexpr float fade_scaling_factor = 1.0; - #endif + if (leveling_active && fade_scaling_factor) { - raw[Z_AXIS] -= ( - #if ENABLED(AUTO_BED_LEVELING_UBL) - ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]) * fade_scaling_factor - #elif ENABLED(MESH_BED_LEVELING) - mbl.get_z(raw[X_AXIS], raw[Y_AXIS] - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - , fade_scaling_factor - #endif - ) - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - bilinear_z_offset(raw) * fade_scaling_factor - #else - 0 - #endif - ); + #if ABL_PLANAR + matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix); + + float dx = raw[X_AXIS] - (X_TILT_FULCRUM), + dy = raw[Y_AXIS] - (Y_TILT_FULCRUM); + + apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]); + + raw[X_AXIS] = dx + X_TILT_FULCRUM; + raw[Y_AXIS] = dy + Y_TILT_FULCRUM; + + #else // !ABL_PLANAR + + raw[Z_AXIS] -= ( + #if ENABLED(AUTO_BED_LEVELING_UBL) + ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]) * fade_scaling_factor + #elif ENABLED(MESH_BED_LEVELING) + mbl.get_z(raw[X_AXIS], raw[Y_AXIS] + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + , fade_scaling_factor + #endif + ) + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + bilinear_z_offset(raw) * fade_scaling_factor + #else + 0 + #endif + ); + + #endif // !ABL_PLANAR + } + + #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; + } + } #endif } diff --git a/Marlin/planner.h b/Marlin/planner.h index 66ac746e53..75983922d3 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -176,6 +176,23 @@ class Planner { static float extruder_advance_k, advance_ed_ratio; #endif + #if ENABLED(SKEW_CORRECTION) + #if ENABLED(SKEW_CORRECTION_GCODE) + static float xy_skew_factor; + #else + static constexpr float xy_skew_factor = XY_SKEW_FACTOR; + #endif + #if ENABLED(SKEW_CORRECTION_FOR_Z) + #if ENABLED(SKEW_CORRECTION_GCODE) + static float xz_skew_factor, yz_skew_factor; + #else + static constexpr float xz_skew_factor = XZ_SKEW_FACTOR, yz_skew_factor = YZ_SKEW_FACTOR; + #endif + #else + static constexpr float xz_skew_factor = 0, yz_skew_factor = 0; + #endif + #endif + private: /**