From 3e4f30c24aac4c658ee3730e60232b70bc525beb Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 17 May 2022 16:56:57 -0500 Subject: [PATCH] cleanup --- Marlin/src/HAL/AVR/inc/SanityCheck.h | 6 +-- Marlin/src/HAL/DUE/inc/SanityCheck.h | 6 +-- Marlin/src/feature/bedlevel/bedlevel.cpp | 34 ++++++------ .../feature/bedlevel/mbl/mesh_bed_leveling.h | 6 +-- Marlin/src/module/planner.cpp | 54 ++++++++----------- 5 files changed, 45 insertions(+), 61 deletions(-) diff --git a/Marlin/src/HAL/AVR/inc/SanityCheck.h b/Marlin/src/HAL/AVR/inc/SanityCheck.h index 7936de8b99030..1c1d8d441351d 100644 --- a/Marlin/src/HAL/AVR/inc/SanityCheck.h +++ b/Marlin/src/HAL/AVR/inc/SanityCheck.h @@ -37,16 +37,16 @@ || X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \ ) #if CONF_SERIAL_IS(0) // D0-D1. No known conflicts. -#endif +#endif #if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19)) #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board." -#endif +#endif #if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17)) #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board." #endif #if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15)) #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board." -#endif +#endif #undef CHECK_SERIAL_PIN /** diff --git a/Marlin/src/HAL/DUE/inc/SanityCheck.h b/Marlin/src/HAL/DUE/inc/SanityCheck.h index dd37a7bde1837..13484f7029d10 100644 --- a/Marlin/src/HAL/DUE/inc/SanityCheck.h +++ b/Marlin/src/HAL/DUE/inc/SanityCheck.h @@ -37,16 +37,16 @@ || X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \ ) #if CONF_SERIAL_IS(0) // D0-D1. No known conflicts. -#endif +#endif #if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19)) #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board." -#endif +#endif #if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17)) #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board." #endif #if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15)) #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board." -#endif +#endif #undef CHECK_SERIAL_PIN /** diff --git a/Marlin/src/feature/bedlevel/bedlevel.cpp b/Marlin/src/feature/bedlevel/bedlevel.cpp index 0ed4d7173a67b..806f9859ec2b8 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.cpp +++ b/Marlin/src/feature/bedlevel/bedlevel.cpp @@ -53,8 +53,7 @@ bool leveling_is_valid() { } /** - * Turn bed leveling on or off, fixing the current - * position as-needed. + * Turn bed leveling on or off, correcting the current position. * * Disable: Current position = physical position * Enable: Current position = "unleveled" physical position @@ -65,26 +64,25 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) { if (can_change && enable != planner.leveling_active) { + auto _report_leveling = []{ + if (DEBUGGING(LEVELING)) { + if (planner.leveling_active) + DEBUG_POS("Leveling ON", current_position); + else + DEBUG_POS("Leveling OFF", current_position); + } + }; + + _report_leveling(); planner.synchronize(); - if (planner.leveling_active) { // leveling from on to off - if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling ON", current_position); - // change unleveled current_position to physical current_position without moving steppers. - planner.apply_modifiers(current_position); - planner.leveling_active = false; // disable only BETWEEN calling apply_modifiers() and unapply_modifiers() - planner.unapply_modifiers(current_position); - if (DEBUGGING(LEVELING)) DEBUG_POS("...Now OFF", current_position); - } - else { // leveling from off to on - if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling OFF", current_position); - // change physical current_position to unleveled current_position without moving steppers. - planner.apply_modifiers(current_position); - planner.leveling_active = true; // enable BETWEEN calling apply_modifiers() and unapply_modifiers() - planner.unapply_modifiers(current_position); - if (DEBUGGING(LEVELING)) DEBUG_POS("...Now ON", current_position); - } + // Get the corrected leveled / unleveled position + planner.apply_modifiers(current_position); // Physical position with all modifiers + planner.leveling_active ^= true; // Toggle leveling between apply and unapply + planner.unapply_modifiers(current_position); // Logical position with modifiers removed sync_plan_position(); + _report_leveling(); } } diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h index 06ca6600e51e3..4fc93d127e38b 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h @@ -102,11 +102,9 @@ class mesh_bed_leveling { return z1 + delta_a * delta_z; } - static float get_z_correction_fixed() { - return z_offset; - } + static float get_z_offset() { return z_offset; } - static float get_z_correction_fadable(const xy_pos_t &pos) { + static float get_z_correction(const xy_pos_t &pos) { const xy_int8_t ind = cell_indexes(pos); const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1], y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1], diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index b6ae397df61b4..9a580e1bc6528 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -1570,6 +1570,14 @@ void Planner::check_axes_activity() { TERN(Z_SAFE_HOMING, Z_SAFE_HOMING_Y_POINT, Y_HOME_POS) }; + #if ENABLED(MESH_BED_LEVELING) + #define BLS mbl + #elif ENABLED(AUTO_BED_LEVELING_UBL) + #define BLS ubl + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + #define BLS bbl + #endif + /** * rx, ry, rz - Cartesian positions in mm * Leveled XYZ on completion @@ -1591,16 +1599,10 @@ void Planner::check_axes_activity() { constexpr float fade_scaling_factor = 1.0; #endif - raw.z += ( - #if ENABLED(MESH_BED_LEVELING) - mbl.get_z_correction_fixed() + - fade_scaling_factor ? fade_scaling_factor * mbl.get_z_correction_fadable(raw) : 0.0 - #elif ENABLED(AUTO_BED_LEVELING_UBL) - fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw) : 0.0 - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - fade_scaling_factor ? fade_scaling_factor * bbl.get_z_correction(raw) : 0.0 - #endif - ); + if (fade_scaling_factor) + raw.z += fade_scaling_factor * BLS.get_z_correction(raw); + + TERN_(MESH_BED_LEVELING, raw.z += BLS.get_z_offset()); #endif } @@ -1618,31 +1620,17 @@ void Planner::check_axes_activity() { #elif HAS_MESH - #if ENABLED(MESH_BED_LEVELING) - const float z_correction_fixed = mbl.get_z_correction_fixed(); - #else - constexpr float z_correction_fixed = 0.0f; - #endif - - float z_correction_fadable = - #if ENABLED(MESH_BED_LEVELING) - mbl.get_z_correction_fadable(raw); - #elif ENABLED(AUTO_BED_LEVELING_UBL) - ubl.get_z_correction(raw); - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - bbl.get_z_correction(raw); - #endif - - const float z_full_fade = raw.z - z_correction_fixed; - const float z_no_fade = z_full_fade - z_correction_fadable; + const float z_correction = BLS.get_z_correction(raw), + z_full_fade = DIFF_TERN(MESH_BED_LEVELING, raw.z, BLS.get_z_offset()), + z_no_fade = z_full_fade - z_correction; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - if (!z_fade_height || z_no_fade <= 0.0f) - raw.z = z_no_fade; - else if (z_full_fade >= z_fade_height) - raw.z = z_full_fade; - else - raw.z = z_no_fade / (1.0f - z_correction_fadable * inverse_z_fade_height); + if (!z_fade_height || z_no_fade <= 0.0f) // Not fading or at bed level? + raw.z = z_no_fade; // Unapply full mesh Z. + else if (z_full_fade >= z_fade_height) // Above the fade height? + raw.z = z_full_fade; // Nothing more to unapply. + else // Within the fade zone? + raw.z = z_no_fade / (1.0f - z_correction * inverse_z_fade_height); // Unapply the faded Z offset #else raw.z = z_no_fade; #endif