Fix up bed leveling code
- Init `zprobe_zoffset` - Remove `current_position[Z_AXIS] = zprobe_zoffset` lines from the `set_bed_level_equation_*` functions - Apply standards to `mesh_bed_leveling` files - Document `MESH_BED_LEVELING`
This commit is contained in:
Scott Lahteine
parent
c2ba5d0c09
commit
96b5da7198
@ -11,7 +11,7 @@
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* max_acceleration_units_per_sq_second (x4)
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* acceleration
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* retract_acceleration
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* travel_aceeleration
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* travel_acceleration
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* minimumfeedrate
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* mintravelfeedrate
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* minsegmenttime
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@ -255,7 +255,7 @@ float home_offset[3] = { 0, 0, 0 };
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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bool axis_known_position[3] = { false, false, false };
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float zprobe_zoffset;
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float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
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// Extruder offset
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#if EXTRUDERS > 1
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@ -1092,9 +1092,6 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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// put the bed at 0 so we don't go below it.
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current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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#endif
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@ -1121,9 +1118,6 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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// put the bed at 0 so we don't go below it.
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current_position[Z_AXIS] = zprobe_zoffset;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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@ -2010,8 +2004,19 @@ inline void gcode_G28() {
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endstops_hit_on_purpose();
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}
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#if defined(MESH_BED_LEVELING)
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#ifdef MESH_BED_LEVELING
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/**
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* G29: Mesh-based Z-Probe, probes a grid and produces a
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* mesh to compensate for variable bed height
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*
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* Parameters With MESH_BED_LEVELING:
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*
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* S0 Produce a mesh report
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* S1 Start probing mesh points
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* S2 Probe the next mesh point
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*
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*/
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inline void gcode_G29() {
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static int probe_point = -1;
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int state = 0;
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@ -2053,7 +2058,7 @@ inline void gcode_G28() {
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} else if (state == 2) { // Goto next point
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if (probe_point < 0) {
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SERIAL_PROTOCOLPGM("Mesh probing not started.\n");
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SERIAL_PROTOCOLPGM("Start mesh probing with \"G29 S1\" first.\n");
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return;
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}
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int ix, iy;
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@ -2063,16 +2068,14 @@ inline void gcode_G28() {
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} else {
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ix = (probe_point-1) % MESH_NUM_X_POINTS;
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iy = (probe_point-1) / MESH_NUM_X_POINTS;
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if (iy&1) { // Zig zag
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ix = (MESH_NUM_X_POINTS - 1) - ix;
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}
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
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mbl.set_z(ix, iy, current_position[Z_AXIS]);
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
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st_synchronize();
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}
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if (probe_point == MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
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SERIAL_PROTOCOLPGM("Mesh done.\n");
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SERIAL_PROTOCOLPGM("Mesh probing done.\n");
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probe_point = -1;
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mbl.active = 1;
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enquecommands_P(PSTR("G28"));
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@ -2080,9 +2083,7 @@ inline void gcode_G28() {
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}
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ix = probe_point % MESH_NUM_X_POINTS;
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iy = probe_point / MESH_NUM_X_POINTS;
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if (iy&1) { // Zig zag
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ix = (MESH_NUM_X_POINTS - 1) - ix;
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}
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
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current_position[X_AXIS] = mbl.get_x(ix);
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current_position[Y_AXIS] = mbl.get_y(iy);
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
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@ -2091,9 +2092,7 @@ inline void gcode_G28() {
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}
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}
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#endif
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#ifdef ENABLE_AUTO_BED_LEVELING
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#elif defined(ENABLE_AUTO_BED_LEVELING)
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/**
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* G29: Detailed Z-Probe, probes the bed at 3 or more points.
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@ -2210,7 +2209,7 @@ inline void gcode_G28() {
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#ifdef Z_PROBE_SLED
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dock_sled(false); // engage (un-dock) the probe
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#elif defined(Z_PROBE_ALLEN_KEY)
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#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
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engage_z_probe();
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#endif
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@ -2218,9 +2217,8 @@ inline void gcode_G28() {
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#ifdef DELTA
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reset_bed_level();
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#else
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// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
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#else //!DELTA
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// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
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//vector_3 corrected_position = plan_get_position_mm();
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//corrected_position.debug("position before G29");
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plan_bed_level_matrix.set_to_identity();
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@ -2230,7 +2228,7 @@ inline void gcode_G28() {
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current_position[Y_AXIS] = uncorrected_position.y;
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current_position[Z_AXIS] = uncorrected_position.z;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#endif
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#endif //!DELTA
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setup_for_endstop_move();
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@ -2242,7 +2240,12 @@ inline void gcode_G28() {
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const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
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const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
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#ifndef DELTA
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#ifdef DELTA
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delta_grid_spacing[0] = xGridSpacing;
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delta_grid_spacing[1] = yGridSpacing;
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float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
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if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
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#else // !DELTA
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// solve the plane equation ax + by + d = z
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// A is the matrix with rows [x y 1] for all the probed points
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// B is the vector of the Z positions
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@ -2254,14 +2257,7 @@ inline void gcode_G28() {
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double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
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eqnBVector[abl2], // "B" vector of Z points
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mean = 0.0;
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#else
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delta_grid_spacing[0] = xGridSpacing;
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delta_grid_spacing[1] = yGridSpacing;
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float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
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if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
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#endif
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#endif // !DELTA
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int probePointCounter = 0;
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bool zig = true;
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@ -2333,7 +2329,10 @@ inline void gcode_G28() {
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clean_up_after_endstop_move();
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#ifndef DELTA
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#ifdef DELTA
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extrapolate_unprobed_bed_level();
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print_bed_level();
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#else // !DELTA
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// solve lsq problem
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double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
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@ -2383,10 +2382,8 @@ inline void gcode_G28() {
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set_bed_level_equation_lsq(plane_equation_coefficients);
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free(plane_equation_coefficients);
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#else
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extrapolate_unprobed_bed_level();
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print_bed_level();
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#endif
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#endif // !DELTA
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#else // !AUTO_BED_LEVELING_GRID
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@ -2428,7 +2425,7 @@ inline void gcode_G28() {
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#ifdef Z_PROBE_SLED
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dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
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#elif defined(Z_PROBE_ALLEN_KEY)
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#elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
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retract_z_probe();
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#endif
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@ -1,20 +1,16 @@
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#include "mesh_bed_leveling.h"
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#if defined(MESH_BED_LEVELING)
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#ifdef MESH_BED_LEVELING
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mesh_bed_leveling mbl;
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mesh_bed_leveling::mesh_bed_leveling() {
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reset();
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}
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mesh_bed_leveling::mesh_bed_leveling() { reset(); }
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void mesh_bed_leveling::reset() {
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for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
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for (int x=0; x<MESH_NUM_X_POINTS; x++) {
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z_values[y][x] = 0;
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}
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}
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active = 0;
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for (int y = 0; y < MESH_NUM_Y_POINTS; y++)
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for (int x = 0; x < MESH_NUM_X_POINTS; x++)
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z_values[y][x] = 0;
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}
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#endif // MESH_BED_LEVELING
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@ -20,17 +20,13 @@ public:
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int select_x_index(float x) {
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int i = 1;
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while (x > get_x(i) && i < MESH_NUM_X_POINTS-1) {
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i++;
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}
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while (x > get_x(i) && i < MESH_NUM_X_POINTS-1) i++;
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return i - 1;
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}
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int select_y_index(float y) {
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int i = 1;
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while (y > get_y(i) && i < MESH_NUM_Y_POINTS-1) {
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i++;
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}
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while (y > get_y(i) && i < MESH_NUM_Y_POINTS - 1) i++;
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return i - 1;
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}
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