Remove legacy Auto Bed Leveling code

The goal is to clean up the project
prusa3d · Aug 20, 2024 · 93d7e4b · 93d7e4b
1 parent f64f2bb
commit 93d7e4b
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Showing 14 changed files with 3 additions and 3,083 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -246,7 +246,6 @@ set(FW_SOURCES
     power_panic.cpp
     printer_state.cpp
     Prusa_farm.cpp
-    qr_solve.cpp
     rbuf.c
     Sd2Card.cpp
     SdBaseFile.cpp
@@ -272,7 +271,6 @@ set(FW_SOURCES
     uart2.c
     ultralcd.cpp
     util.cpp
-    vector_3.cpp
     xflash.c
     xflash_dump.cpp
     xyzcal.cpp

diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
@@ -284,117 +284,6 @@ your extruder heater takes 2 minutes to hit the target on heating.
 
 #define HOME_Z_SEARCH_THRESHOLD 0.15f             // Threshold of the Z height in calibration
 
-//============================= Bed Auto Leveling ===========================
-
-//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
-#define Z_PROBE_REPEATABILITY_TEST  // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
-
-#ifdef ENABLE_AUTO_BED_LEVELING
-
-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
-
-  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
-  #ifdef AUTO_BED_LEVELING_GRID
-
-    // set the rectangle in which to probe
-    #define LEFT_PROBE_BED_POSITION 15
-    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
-    #define FRONT_PROBE_BED_POSITION 20
-
-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
-
-
-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
-
-      #define ABL_PROBE_PT_1_X 15
-      #define ABL_PROBE_PT_1_Y 180
-      #define ABL_PROBE_PT_2_X 15
-      #define ABL_PROBE_PT_2_Y 20
-      #define ABL_PROBE_PT_3_X 170
-      #define ABL_PROBE_PT_3_Y 20
-
-  #endif // AUTO_BED_LEVELING_GRID
-
-
-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
-  // X and Y offsets must be integers
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
-
-  #define Z_RAISE_BEFORE_HOMING 5       // (in mm) Raise Z before homing (G28) for Probe Clearance.
-                                        // Be sure you have this distance over your Z_MAX_POS in case
-
-  #define XY_TRAVEL_SPEED 8000         // X and Y axis travel speed between probes, in mm/min
-
-  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
-  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
-
-  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
-  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
-
-//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
-//it is highly recommended you let this Z_SAFE_HOMING enabled!
-
-  //#define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
-                          // When defined, it will:
-                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
-                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
-                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
-                          // - Block Z homing only when the probe is outside bed area.
-
-  #ifdef Z_SAFE_HOMING
-
-    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
-    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
-
-  #endif
-
-  #ifdef AUTO_BED_LEVELING_GRID	// Check if Probe_Offset * Grid Points is greater than Probing Range
-    #if X_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(X_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((X_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-    #if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((Y_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-
-
-  #endif
-
-#endif // ENABLE_AUTO_BED_LEVELING
-
-
 // The position of the homing switches
 //#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
 //#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
@@ -414,13 +303,6 @@ your extruder heater takes 2 minutes to hit the target on heating.
 
 // Custom M code points
 #define CUSTOM_M_CODES
-#ifdef CUSTOM_M_CODES
-#ifdef ENABLE_AUTO_BED_LEVELING
-  #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
-  #define Z_PROBE_OFFSET_RANGE_MIN -15
-  #define Z_PROBE_OFFSET_RANGE_MAX -5
-#endif // ENABLE_AUTO_BED_LEVELING
-#endif // CUSTOM_M_CODES
 
 
 // Host Keepalive

diff --git a/Firmware/ConfigurationStore.cpp b/Firmware/ConfigurationStore.cpp
@@ -116,10 +116,6 @@ static_assert (EXTRUDERS == 1, "ConfigurationStore M500_conf not implemented for
 static_assert (NUM_AXIS == 4, "ConfigurationStore M500_conf not implemented for more axis."
         "Fix axis_steps_per_mm max_feedrate_normal max_acceleration_mm_per_s2_normal max_jerk max_feedrate_silent"
         " max_acceleration_mm_per_s2_silent array size.");
-#ifdef ENABLE_AUTO_BED_LEVELING
-static_assert (false, "zprobe_zoffset was not initialized in printers in field to -(Z_PROBE_OFFSET_FROM_EXTRUDER), so it contains"
-        "0.0, if this is not acceptable, increment EEPROM_VERSION to force use default_conf");
-#endif
 
 static_assert (sizeof(M500_conf) == 209, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
         "or if you added members in the end of struct, ensure that historically uninitialized values will be initialized."

diff --git a/Firmware/ConfigurationStore.h b/Firmware/ConfigurationStore.h
@@ -19,7 +19,7 @@ typedef struct
     uint32_t min_segment_time_us; //!< (µs) M205 B
     float max_jerk[4]; //!< Jerk is a maximum immediate velocity change.
     float add_homing[3];
-    float zprobe_zoffset; //!< Only used with define ENABLE_AUTO_BED_LEVELING
+    float zprobe_zoffset; //!< unused
     float Kp;
     float Ki;
     float Kd;

diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h
@@ -411,7 +411,7 @@ extern uint8_t calc_percent_done();
 /*enum MarlinBusyState {
 	NOT_BUSY,           // Not in a handler
 	IN_HANDLER,         // Processing a GCode
-	IN_PROCESS,         // Known to be blocking command input (as in G29)
+	IN_PROCESS,         // Known to be blocking command input
 	PAUSED_FOR_USER,    // Blocking pending any input
 	PAUSED_FOR_INPUT    // Blocking pending text input (concept)
 };*/