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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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55
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
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@@ -24,10 +24,9 @@
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#include "../bedlevel.h"
#include "../../../module/motion.h"
#include "../../../feature/bedlevel/bedlevel.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extensible_ui/ui_api.h"
@@ -66,62 +65,60 @@
*/
void mesh_bed_leveling::line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
// Get current and destination cells for this line
int cx1 = cell_index_x(current_position[X_AXIS]),
cy1 = cell_index_y(current_position[Y_AXIS]),
cx2 = cell_index_x(destination[X_AXIS]),
cy2 = cell_index_y(destination[Y_AXIS]);
NOMORE(cx1, GRID_MAX_POINTS_X - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2);
NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination);
NOMORE(scel.x, GRID_MAX_POINTS_X - 2);
NOMORE(scel.y, GRID_MAX_POINTS_Y - 2);
NOMORE(ecel.x, GRID_MAX_POINTS_X - 2);
NOMORE(ecel.y, GRID_MAX_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) {
if (scel == ecel) {
line_to_destination(scaled_fr_mm_s);
set_current_from_destination();
current_position = destination;
return;
}
#define MBL_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
#define MBL_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
float normalized_dist, end[XYZE];
const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2);
float normalized_dist;
xyze_pos_t dest;
const int8_t gcx = _MAX(scel.x, ecel.x), gcy = _MAX(scel.y, ecel.y);
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (cx2 != cx1 && TEST(x_splits, gcx)) {
if (ecel.x != scel.x && TEST(x_splits, gcx)) {
// Split on the X grid line
CBI(x_splits, gcx);
COPY(end, destination);
destination[X_AXIS] = index_to_xpos[gcx];
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y);
dest = destination;
destination.x = index_to_xpos[gcx];
normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x);
destination.y = MBL_SEGMENT_END(y);
}
// Crosses on the Y and not already split on this Y?
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
else if (ecel.y != scel.y && TEST(y_splits, gcy)) {
// Split on the Y grid line
CBI(y_splits, gcy);
COPY(end, destination);
destination[Y_AXIS] = index_to_ypos[gcy];
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X);
dest = destination;
destination.y = index_to_ypos[gcy];
normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y);
destination.x = MBL_SEGMENT_END(x);
}
else {
// Must already have been split on these border(s)
// This should be a rare case.
line_to_destination(scaled_fr_mm_s);
set_current_from_destination();
current_position = destination;
return;
}
destination[Z_AXIS] = MBL_SEGMENT_END(Z);
destination[E_AXIS] = MBL_SEGMENT_END(E);
destination.z = MBL_SEGMENT_END(z);
destination.e = MBL_SEGMENT_END(e);
// Do the split and look for more borders
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
destination = dest;
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}