From ee5b8d6dc8b337817236ea3db8100239e2698bf4 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Tue, 1 Nov 2016 07:19:00 -0500
Subject: [PATCH] Split moves on grid boundaries with bilinear ABL on cartesian
---
Marlin/Marlin_main.cpp | 69 +++++++++++++++++++++++++++++++++++++++++-
1 file changed, 68 insertions(+), 1 deletion(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 918bae1a0d9..5d3a43183dd 100755
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -8652,7 +8652,68 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
-#endif // MESH_BED_LEVELING
+#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ /**
+ * Prepare a mesh-leveled linear move in a Cartesian setup,
+ * splitting the move where it crosses mesh borders.
+ */
+ void bilinear_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
+ int cx1 = RAW_CURRENT_POSITION(X_AXIS) / bilinear_grid_spacing[X_AXIS],
+ cy1 = RAW_CURRENT_POSITION(Y_AXIS) / bilinear_grid_spacing[Y_AXIS],
+ cx2 = RAW_X_POSITION(destination[X_AXIS]) / bilinear_grid_spacing[X_AXIS],
+ cy2 = RAW_Y_POSITION(destination[Y_AXIS]) / bilinear_grid_spacing[Y_AXIS];
+ NOMORE(cx1, ABL_GRID_POINTS_X - 2);
+ NOMORE(cy1, ABL_GRID_POINTS_Y - 2);
+ NOMORE(cx2, ABL_GRID_POINTS_X - 2);
+ NOMORE(cy2, ABL_GRID_POINTS_Y - 2);
+
+ if (cx1 == cx2 && cy1 == cy2) {
+ // Start and end on same mesh square
+ line_to_destination(fr_mm_s);
+ set_current_to_destination();
+ return;
+ }
+
+ #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
+
+ float normalized_dist, end[NUM_AXIS];
+
+ // Split at the left/front border of the right/top square
+ int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
+ if (cx2 != cx1 && TEST(x_splits, gcx)) {
+ memcpy(end, destination, sizeof(end));
+ destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + bilinear_grid_spacing[X_AXIS] * gcx);
+ normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
+ destination[Y_AXIS] = LINE_SEGMENT_END(Y);
+ CBI(x_splits, gcx);
+ }
+ else if (cy2 != cy1 && TEST(y_splits, gcy)) {
+ memcpy(end, destination, sizeof(end));
+ destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + bilinear_grid_spacing[Y_AXIS] * gcy);
+ normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
+ destination[X_AXIS] = LINE_SEGMENT_END(X);
+ CBI(y_splits, gcy);
+ }
+ else {
+ // Already split on a border
+ line_to_destination(fr_mm_s);
+ set_current_to_destination();
+ return;
+ }
+
+ destination[Z_AXIS] = LINE_SEGMENT_END(Z);
+ destination[E_AXIS] = LINE_SEGMENT_END(E);
+
+ // Do the split and look for more borders
+ bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
+
+ // Restore destination from stack
+ memcpy(destination, end, sizeof(end));
+ bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
+ }
+
+#endif // AUTO_BED_LEVELING_BILINEAR
#if IS_KINEMATIC
@@ -8846,6 +8907,12 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
return false;
}
else
+ #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+ if (planner.abl_enabled) {
+ bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
+ return false;
+ }
+ else
#endif
line_to_destination(MMS_SCALED(feedrate_mm_s));
}