Merge pull request #3466 from thinkyhead/rc_look_for_leveling_bug

Add CORE support to st_set_position and plan_set_position

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();
@@ -3069,12 +3079,13 @@ 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);
+          if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
         #endif
 
+        sync_plan_position();
+
       #endif // !DELTA
     }
 

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

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;
 }
@@ -1099,15 +1124,22 @@ 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 +1148,14 @@ 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() {

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);