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New feature: BED_SKEW_CORRECTION

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This commit is contained in:
Scott Lahteine 2017-12-01 16:42:23 -06:00
parent 082ab8fcab
commit 0154e3480c
12 changed files with 394 additions and 46 deletions
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2
.travis.yml
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@ -62,7 +62,7 @@ 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

59
Marlin/Configuration.h
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@ -832,7 +832,7 @@
//===========================================================================
//=============================== Bed Leveling ==============================
//===========================================================================
// @section bedlevel
// @section calibrate
/**
* Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
#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 ===========================
//=============================================================================

4
Marlin/src/core/language.h
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@ -130,7 +130,6 @@
#define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line: "
#define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line: "
#define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line: "
#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line: "
#define MSG_FILE_PRINTED "Done printing file"
#define MSG_BEGIN_FILE_LIST "Begin file list"
#define MSG_END_FILE_LIST "End file list"
@ -163,6 +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<index> out of range (0-1)"
#define MSG_ERR_M355_NONE "No case light"

89
Marlin/src/gcode/calibrate/M852.cpp Normal file
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@ -0,0 +1,89 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(SKEW_CORRECTION_GCODE)
#include "../gcode.h"
#include "../../module/planner.h"
/**
* 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
*/
void GcodeSuite::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

6
Marlin/src/gcode/gcode.cpp
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@ -622,6 +622,12 @@ void GcodeSuite::process_parsed_command() {
break;
#endif // HAS_BED_PROBE
#if ENABLED(SKEW_CORRECTION_GCODE)
case 852: // M852: Set Skew factors
M852();
break;
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
case 600: // M600: Pause for filament change
M600();

5
Marlin/src/gcode/gcode.h
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@ -201,6 +201,7 @@
* M666 - Set delta endstop adjustment. (Requires DELTA)
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
* M852 - Set skew factors: "M852 [I<xy>] [J<xz>] [K<yz>]". (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.
@ -705,6 +706,10 @@ private:
static void M851();
#endif
#if ENABLED(SKEW_CORRECTION_GCODE)
static void M852();
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
FORCE_INLINE static void M860() { I2CPEM.M860(); }
FORCE_INLINE static void M861() { I2CPEM.M861(); }

43
Marlin/src/inc/Conditionals_post.h
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@ -888,6 +888,49 @@
#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
*/

14
Marlin/src/inc/SanityCheck.h
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@ -1483,4 +1483,18 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
#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
#endif // _SANITYCHECK_H_

3
Marlin/src/lcd/language/language_en.h
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@ -698,6 +698,9 @@
#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

73
Marlin/src/module/configuration_store.cpp
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@ -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)
@ -633,6 +638,10 @@ 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
@ -640,6 +649,19 @@ 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) {
#if ENABLED(EEPROM_CHITCHAT)
const int eeprom_size = eeprom_index;
@ -1078,6 +1100,23 @@ 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)
@ -1463,6 +1502,14 @@ 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)
@ -1887,6 +1934,24 @@ 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
*/

69
Marlin/src/module/planner.cpp
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@ -135,6 +135,20 @@ 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,
@ -565,6 +579,19 @@ 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
@ -611,7 +638,13 @@ void Planner::calculate_volumetric_multipliers() {
void Planner::unapply_leveling(float raw[XYZ]) {
if (!leveling_active) return;
#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 (leveling_active && fade_scaling_factor) {
#if ABL_PLANAR
@ -625,14 +658,7 @@ void Planner::calculate_volumetric_multipliers() {
raw[X_AXIS] = dx + X_TILT_FULCRUM;
raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
#else
#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
#else // !ABL_PLANAR
raw[Z_AXIS] -= (
#if ENABLED(AUTO_BED_LEVELING_UBL)
@ -650,6 +676,18 @@ void Planner::calculate_volumetric_multipliers() {
#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
}
@ -658,11 +696,11 @@ void Planner::calculate_volumetric_multipliers() {
/**
* Planner::_buffer_line
*
* Add a new linear movement to the buffer.
* Add a new linear movement to the buffer in axis units.
*
* Leveling and kinematics should be applied ahead of calling this.
*
* a,b,c,e - target positions in mm or degrees
* a,b,c,e - target positions in mm and/or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
@ -713,6 +751,10 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
SERIAL_EOL();
//*/
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
if (DEBUGGING(DRYRUN))
position[E_AXIS] = target[E_AXIS];
int32_t de = target[E_AXIS] - position[E_AXIS];
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
@ -736,6 +778,10 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
#endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
#if ENABLED(LIN_ADVANCE)
float de_float = de * steps_to_mm[E_AXIS_N];
#endif
// Compute direction bit-mask for this block
uint8_t dm = 0;
#if CORE_IS_XY
@ -1332,6 +1378,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)
/**
*
* Use LIN_ADVANCE for blocks if all these are true:

17
Marlin/src/module/planner.h
View File

@ -180,6 +180,23 @@ 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:
/**