From fcadc7bb1af0db940b01fa617fd1669779483128 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 15 Mar 2017 03:32:00 -0500 Subject: [PATCH] Implement the "manual" option for ABL --- .travis.yml | 21 +- Marlin/Marlin_main.cpp | 739 +++++++++++++++++++++++++++++------------ Marlin/enum.h | 10 - Marlin/ultralcd.cpp | 16 +- 4 files changed, 549 insertions(+), 237 deletions(-) diff --git a/.travis.yml b/.travis.yml index 33af66982..5bfb6809b 100644 --- a/.travis.yml +++ b/.travis.yml @@ -124,24 +124,17 @@ script: - build_marlin # # Test a Sled Z Probe - # - - restore_configs - - opt_enable Z_PROBE_SLED - - build_marlin - # # ...with AUTO_BED_LEVELING_LINEAR, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, and EEPROM_CHITCHAT # - - opt_enable AUTO_BED_LEVELING_LINEAR DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT + - restore_configs + - opt_enable Z_PROBE_SLED AUTO_BED_LEVELING_LINEAR DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT - build_marlin # # Test a Servo Probe + # ...with AUTO_BED_LEVELING_3POINT, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, EEPROM_CHITCHAT, EXTENDED_CAPABILITIES_REPORT, and AUTO_REPORT_TEMPERATURES # - restore_configs - opt_enable NUM_SERVOS Z_ENDSTOP_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE - - build_marlin - # - # ...with AUTO_BED_LEVELING_3POINT, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, EEPROM_CHITCHAT, EXTENDED_CAPABILITIES_REPORT, and AUTO_REPORT_TEMPERATURES - # - opt_enable AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT - opt_enable_adv EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES - build_marlin @@ -149,7 +142,13 @@ script: # Test MESH_BED_LEVELING feature, with LCD # - restore_configs - - opt_enable MESH_BED_LEVELING MESH_G28_REST_ORIGIN MANUAL_BED_LEVELING ULTIMAKERCONTROLLER + - opt_enable MESH_BED_LEVELING MESH_G28_REST_ORIGIN LCD_BED_LEVELING ULTIMAKERCONTROLLER + - build_marlin + # + # Test PROBE_MANUALLY feature + # + - restore_configs + - opt_enable PROBE_MANUALLY AUTO_BED_LEVELING_BILINEAR - build_marlin # # Test EEPROM_SETTINGS, EEPROM_CHITCHAT, M100_FREE_MEMORY_WATCHER, diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index d1ae914ad..7be9be703 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -353,10 +353,10 @@ static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; * the main loop. The process_next_command function parses the next * command and hands off execution to individual handler functions. */ -static char command_queue[BUFSIZE][MAX_CMD_SIZE]; +uint8_t commands_in_queue = 0; // Count of commands in the queue static uint8_t cmd_queue_index_r = 0, // Ring buffer read position - cmd_queue_index_w = 0, // Ring buffer write position - commands_in_queue = 0; // Count of commands in the queue + cmd_queue_index_w = 0; // Ring buffer write position +static char command_queue[BUFSIZE][MAX_CMD_SIZE]; /** * Current GCode Command @@ -3502,6 +3502,12 @@ inline void gcode_G4() { #endif // Z_SAFE_HOMING +#if ENABLED(PROBE_MANUALLY) + static bool g29_in_progress = false; +#else + constexpr bool g29_in_progress = false; +#endif + /** * G28: Home all axes according to settings * @@ -3529,6 +3535,11 @@ inline void gcode_G28() { // Wait for planner moves to finish! stepper.synchronize(); + // Cancel the active G29 session + #if ENABLED(PROBE_MANUALLY) + g29_in_progress = false; + #endif + // Disable the leveling matrix before homing #if PLANNER_LEVELING #if ENABLED(AUTO_BED_LEVELING_UBL) @@ -3719,9 +3730,9 @@ inline void gcode_G28() { #endif -#if ENABLED(MESH_BED_LEVELING) +#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY) - inline void _mbl_goto_xy(const float &x, const float &y) { + inline void _manual_goto_xy(const float &x, const float &y) { const float old_feedrate_mm_s = feedrate_mm_s; #if MANUAL_PROBE_HEIGHT > 0 @@ -3745,6 +3756,10 @@ inline void gcode_G28() { stepper.synchronize(); } +#endif + +#if ENABLED(MESH_BED_LEVELING) + // Save 130 bytes with non-duplication of PSTR void say_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); } @@ -3835,7 +3850,7 @@ inline void gcode_G28() { // If there's another point to sample, move there with optional lift. if (mbl_probe_index < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) { mbl.zigzag(mbl_probe_index, px, py); - _mbl_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]); + _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]); #if HAS_SOFTWARE_ENDSTOPS // Disable software endstops to allow manual adjustment @@ -3917,50 +3932,86 @@ inline void gcode_G28() { #elif HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL) + #if ABL_GRID + #if ENABLED(PROBE_Y_FIRST) + #define PR_OUTER_VAR xCount + #define PR_OUTER_END abl_grid_points_x + #define PR_INNER_VAR yCount + #define PR_INNER_END abl_grid_points_y + #else + #define PR_OUTER_VAR yCount + #define PR_OUTER_END abl_grid_points_y + #define PR_INNER_VAR xCount + #define PR_INNER_END abl_grid_points_x + #endif + #endif + /** * G29: Detailed Z probe, probes the bed at 3 or more points. * Will fail if the printer has not been homed with G28. * * Enhanced G29 Auto Bed Leveling Probe Routine * - * Parameters With LINEAR and BILINEAR: - * - * P Set the size of the grid that will be probed (P x P points). - * Not supported by non-linear delta printer bed leveling. - * Example: "G29 P4" - * - * S Set the XY travel speed between probe points (in units/min) - * * D Dry-Run mode. Just evaluate the bed Topology - Don't apply - * or clean the rotation Matrix. Useful to check the topology + * or alter the bed level data. Useful to check the topology * after a first run of G29. * + * J Jettison current bed leveling data + * * V Set the verbose level (0-4). Example: "G29 V3" * + * Parameters With LINEAR leveling only: + * + * P Set the size of the grid that will be probed (P x P points). + * Example: "G29 P4" + * + * X Set the X size of the grid that will be probed (X x Y points). + * Example: "G29 X7 Y5" + * + * Y Set the Y size of the grid that will be probed (X x Y points). + * * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. * This is useful for manual bed leveling and finding flaws in the bed (to * assist with part placement). * Not supported by non-linear delta printer bed leveling. * + * Parameters With LINEAR and BILINEAR leveling only: + * + * S Set the XY travel speed between probe points (in units/min) + * * F Set the Front limit of the probing grid * B Set the Back limit of the probing grid * L Set the Left limit of the probing grid * R Set the Right limit of the probing grid * - * Parameters with BILINEAR only: + * Parameters with BILINEAR leveling only: * * Z Supply an additional Z probe offset * - * Global Parameters: + * Extra parameters with PROBE_MANUALLY: * - * E/e By default G29 will engage the Z probe, test the bed, then disengage. + * To do manual probing simply repeat G29 until the procedure is complete. + * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort. + * + * Q Query leveling and G29 state + * + * A Abort current leveling procedure + * + * W Write a mesh point. (Ignored during leveling.) + * X Required X for mesh point + * Y Required Y for mesh point + * Z Required Z for mesh point + * + * Without PROBE_MANUALLY: + * + * E By default G29 will engage the Z probe, test the bed, then disengage. * Include "E" to engage/disengage the Z probe for each sample. * There's no extra effect if you have a fixed Z probe. - * Usage: "G29 E" or "G29 e" * */ inline void gcode_G29() { + // G29 Q is also available if debugging #if ENABLED(DEBUG_LEVELING_FEATURE) const bool query = code_seen('Q'); const uint8_t old_debug_flags = marlin_debug_flags; @@ -3970,37 +4021,148 @@ inline void gcode_G28() { log_machine_info(); } marlin_debug_flags = old_debug_flags; - if (query) return; + #if DISABLED(PROBE_MANUALLY) + if (query) return; + #endif #endif // Don't allow auto-leveling without homing first if (axis_unhomed_error(true, true, true)) return; - const int verbose_level = code_seen('V') ? code_value_int() : 1; - if (verbose_level < 0 || verbose_level > 4) { - SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4)."); - return; - } + // Define local vars 'static' for manual probing, 'auto' otherwise + #if ENABLED(PROBE_MANUALLY) + #define ABL_VAR static + #else + #define ABL_VAR + #endif - bool dryrun = code_seen('D'), - stow_probe_after_each = code_seen('E'); + ABL_VAR int verbose_level, abl_probe_index; + ABL_VAR float xProbe, yProbe, measured_z; + ABL_VAR bool dryrun, abl_should_enable; + + #if HAS_SOFTWARE_ENDSTOPS + ABL_VAR bool enable_soft_endstops = true; + #endif #if ABL_GRID + ABL_VAR uint8_t PR_OUTER_VAR; + ABL_VAR int8_t PR_INNER_VAR; + ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position; + ABL_VAR float xGridSpacing, yGridSpacing; - if (verbose_level > 0) { - SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling"); - if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode"); - } + #define ABL_GRID_MAX (ABL_GRID_MAX_POINTS_X) * (ABL_GRID_MAX_POINTS_Y) #if ABL_PLANAR + ABL_VAR uint8_t abl_grid_points_x = ABL_GRID_MAX_POINTS_X, + abl_grid_points_y = ABL_GRID_MAX_POINTS_Y; + ABL_VAR int abl2; + ABL_VAR bool do_topography_map; + #else // 3-point + uint8_t constexpr abl_grid_points_x = ABL_GRID_MAX_POINTS_X, + abl_grid_points_y = ABL_GRID_MAX_POINTS_Y; - bool do_topography_map = verbose_level > 2 || code_seen('T'); + int constexpr abl2 = ABL_GRID_MAX; + #endif + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + ABL_VAR float zoffset; + + #elif ENABLED(AUTO_BED_LEVELING_LINEAR) + + ABL_VAR int indexIntoAB[ABL_GRID_MAX_POINTS_X][ABL_GRID_MAX_POINTS_Y]; + + ABL_VAR float eqnAMatrix[ABL_GRID_MAX * 3], // "A" matrix of the linear system of equations + eqnBVector[ABL_GRID_MAX], // "B" vector of Z points + mean; + #endif + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + // Probe at 3 arbitrary points + ABL_VAR vector_3 points[3] = { + vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0), + vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0), + vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0) + }; + + #endif // AUTO_BED_LEVELING_3POINT + + /** + * On the initial G29 fetch command parameters. + */ + if (!g29_in_progress) { + + abl_probe_index = 0; + abl_should_enable = planner.abl_enabled; + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + if (code_seen('W')) { + if (!bilinear_grid_spacing[X_AXIS]) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("No bilinear grid"); + return; + } + + const float z = code_seen('Z') && code_has_value() ? code_value_float() : 99999; + if (!WITHIN(z, -10, 10)) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Bad Z value"); + return; + } + + const float x = code_seen('X') && code_has_value() ? code_value_float() : 99999, + y = code_seen('Y') && code_has_value() ? code_value_float() : 99999; + int8_t i = code_seen('I') && code_has_value() ? code_value_byte() : -1, + j = code_seen('J') && code_has_value() ? code_value_byte() : -1; + + if (x < 99998 && y < 99998) { + // Get nearest i / j from x / y + i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing; + j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing; + i = constrain(i, 0, ABL_GRID_MAX_POINTS_X - 1); + j = constrain(j, 0, ABL_GRID_MAX_POINTS_Y - 1); + } + if (WITHIN(i, 0, ABL_GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, ABL_GRID_MAX_POINTS_Y)) { + set_bed_leveling_enabled(false); + bed_level_grid[i][j] = z; + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + bed_level_virt_interpolate(); + #endif + set_bed_leveling_enabled(abl_should_enable); + } + return; + } // code_seen('W') + + #endif + + #if PLANNER_LEVELING + + // Jettison bed leveling data + if (code_seen('J')) { + reset_bed_level(); + return; + } + + #endif + + verbose_level = code_seen('V') && code_has_value() ? code_value_int() : 0; + if (!WITHIN(verbose_level, 0, 4)) { + SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4)."); + return; + } + + dryrun = code_seen('D') ? code_value_bool() : false; + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + do_topography_map = verbose_level > 2 || code_seen('T'); // X and Y specify points in each direction, overriding the default // These values may be saved with the completed mesh - int abl_grid_points_x = code_seen('X') ? code_value_int() : ABL_GRID_MAX_POINTS_X, - abl_grid_points_y = code_seen('Y') ? code_value_int() : ABL_GRID_MAX_POINTS_Y; - + abl_grid_points_x = code_seen('X') ? code_value_int() : ABL_GRID_MAX_POINTS_X; + abl_grid_points_y = code_seen('Y') ? code_value_int() : ABL_GRID_MAX_POINTS_Y; if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int(); if (abl_grid_points_x < 2 || abl_grid_points_y < 2) { @@ -4008,91 +4170,98 @@ inline void gcode_G28() { return; } - #else + abl2 = abl_grid_points_x * abl_grid_points_y; - const uint8_t abl_grid_points_x = ABL_GRID_MAX_POINTS_X, abl_grid_points_y = ABL_GRID_MAX_POINTS_Y; + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + zoffset = code_seen('Z') ? code_value_axis_units(Z_AXIS) : 0; + #if HAS_BED_PROBE + zoffset += zprobe_zoffset; + #endif #endif - xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED); + #if ABL_GRID - int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION), - right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION), - front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION), - back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION); + xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED); - const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X), - left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE), - right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X), - right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, - front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y), - front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE), - back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y), - back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE; + left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION); + right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION); + front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION); + back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION); - if (left_out || right_out || front_out || back_out) { - if (left_out) { - out_of_range_error(PSTR("(L)eft")); - left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE); + const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X), + left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE), + right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X), + right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, + front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y), + front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE), + back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y), + back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE; + + if (left_out || right_out || front_out || back_out) { + if (left_out) { + out_of_range_error(PSTR("(L)eft")); + left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE); + } + if (right_out) { + out_of_range_error(PSTR("(R)ight")); + right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE; + } + if (front_out) { + out_of_range_error(PSTR("(F)ront")); + front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE); + } + if (back_out) { + out_of_range_error(PSTR("(B)ack")); + back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE; + } + return; } - if (right_out) { - out_of_range_error(PSTR("(R)ight")); - right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE; - } - if (front_out) { - out_of_range_error(PSTR("(F)ront")); - front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE); - } - if (back_out) { - out_of_range_error(PSTR("(B)ack")); - back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE; - } - return; + + // probe at the points of a lattice grid + xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1); + yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1); + + #endif // ABL_GRID + + if (verbose_level > 0) { + SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling"); + if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode"); } - #endif // ABL_GRID + stepper.synchronize(); - stepper.synchronize(); + // Disable auto bed leveling during G29 + planner.abl_enabled = false; - // Disable auto bed leveling during G29 - bool abl_should_enable = planner.abl_enabled; + if (!dryrun) { + // Re-orient the current position without leveling + // based on where the steppers are positioned. + set_current_from_steppers_for_axis(ALL_AXES); - planner.abl_enabled = false; + // Sync the planner to where the steppers stopped + SYNC_PLAN_POSITION_KINEMATIC(); + } - if (!dryrun) { - // Re-orient the current position without leveling - // based on where the steppers are positioned. - set_current_from_steppers_for_axis(ALL_AXES); + setup_for_endstop_or_probe_move(); - // Sync the planner to where the steppers stopped - SYNC_PLAN_POSITION_KINEMATIC(); - } + //xProbe = yProbe = measured_z = 0; - setup_for_endstop_or_probe_move(); - - // Deploy the probe. Probe will raise if needed. - if (DEPLOY_PROBE()) { - planner.abl_enabled = abl_should_enable; - return; - } - - float xProbe = 0, yProbe = 0, measured_z = 0; - - #if ABL_GRID - - // probe at the points of a lattice grid - const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1), - yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1); + #if HAS_BED_PROBE + // Deploy the probe. Probe will raise if needed. + if (DEPLOY_PROBE()) { + planner.abl_enabled = abl_should_enable; + return; + } + #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - float zoffset = zprobe_zoffset; - if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS); - if ( xGridSpacing != bilinear_grid_spacing[X_AXIS] || yGridSpacing != bilinear_grid_spacing[Y_AXIS] - || left_probe_bed_position != bilinear_start[X_AXIS] - || front_probe_bed_position != bilinear_start[Y_AXIS] + || left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + || front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) ) { if (dryrun) { // Before reset bed level, re-enable to correct the position @@ -4101,164 +4270,311 @@ inline void gcode_G28() { // Reset grid to 0.0 or "not probed". (Also disables ABL) reset_bed_level(); - #if ENABLED(ABL_BILINEAR_SUBDIVISION) - bilinear_grid_spacing_virt[X_AXIS] = xGridSpacing / (BILINEAR_SUBDIVISIONS); - bilinear_grid_spacing_virt[Y_AXIS] = yGridSpacing / (BILINEAR_SUBDIVISIONS); - #endif + // Initialize a grid with the given dimensions bilinear_grid_spacing[X_AXIS] = xGridSpacing; bilinear_grid_spacing[Y_AXIS] = yGridSpacing; bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position); bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position); + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + bilinear_grid_spacing_virt[X_AXIS] = xGridSpacing / (BILINEAR_SUBDIVISIONS); + bilinear_grid_spacing_virt[Y_AXIS] = yGridSpacing / (BILINEAR_SUBDIVISIONS); + #endif + // Can't re-enable (on error) until the new grid is written abl_should_enable = false; } #elif ENABLED(AUTO_BED_LEVELING_LINEAR) - /** - * solve the plane equation ax + by + d = z - * A is the matrix with rows [x y 1] for all the probed points - * B is the vector of the Z positions - * the normal vector to the plane is formed by the coefficients of the - * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 - * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z - */ - - const int abl2 = abl_grid_points_x * abl_grid_points_y; - - int indexIntoAB[abl_grid_points_x][abl_grid_points_y], - probe_index = -1; - - float eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations - eqnBVector[abl2], // "B" vector of Z points - mean = 0.0; + mean = 0.0; #endif // AUTO_BED_LEVELING_LINEAR - #if ENABLED(PROBE_Y_FIRST) - #define PR_OUTER_VAR xCount - #define PR_OUTER_NUM abl_grid_points_x - #define PR_INNER_VAR yCount - #define PR_INNER_NUM abl_grid_points_y - #else - #define PR_OUTER_VAR yCount - #define PR_OUTER_NUM abl_grid_points_y - #define PR_INNER_VAR xCount - #define PR_INNER_NUM abl_grid_points_x - #endif + #if ENABLED(AUTO_BED_LEVELING_3POINT) - bool zig = PR_OUTER_NUM & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling"); + #endif - // Outer loop is Y with PROBE_Y_FIRST disabled - for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) { + // Probe at 3 arbitrary points + points[0].z = points[1].z = points[2].z = 0; - int8_t inStart, inStop, inInc; + #endif // AUTO_BED_LEVELING_3POINT - if (zig) { // away from origin - inStart = 0; - inStop = PR_INNER_NUM; - inInc = 1; - } - else { // towards origin - inStart = PR_INNER_NUM - 1; - inStop = -1; - inInc = -1; + } // !g29_in_progress + + #if ENABLED(PROBE_MANUALLY) + + // Abort current G29 procedure, go back to ABLStart + if (code_seen('A') && g29_in_progress) { + SERIAL_PROTOCOLLNPGM("Manual G29 aborted"); + #if HAS_SOFTWARE_ENDSTOPS + soft_endstops_enabled = enable_soft_endstops; + #endif + planner.abl_enabled = abl_should_enable; + g29_in_progress = false; + } + + // Query G29 status + if (code_seen('Q')) { + if (!g29_in_progress) + SERIAL_PROTOCOLLNPGM("Manual G29 idle"); + else { + SERIAL_PROTOCOLPAIR("Manual G29 point ", abl_probe_index + 1); + SERIAL_PROTOCOLLNPAIR(" of ", abl2); } + } - zig = !zig; // zag + if (code_seen('A') || code_seen('Q')) return; - // Inner loop is Y with PROBE_Y_FIRST enabled - for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) { + // Fall through to probe the first point + g29_in_progress = true; - float xBase = left_probe_bed_position + xGridSpacing * xCount, - yBase = front_probe_bed_position + yGridSpacing * yCount; + if (abl_probe_index == 0) { + // For the initial G29 S2 save software endstop state + #if HAS_SOFTWARE_ENDSTOPS + enable_soft_endstops = soft_endstops_enabled; + #endif + } + else { + // For G29 after adjusting Z. + // Save the previous Z before going to the next point + measured_z = current_position[Z_AXIS]; + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + mean += measured_z; + eqnBVector[abl_probe_index] = measured_z; + eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe; + eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe; + eqnAMatrix[abl_probe_index + 2 * abl2] = 1; + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + bed_level_grid[xCount][yCount] = measured_z + zoffset; + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + points[i].z = measured_z; + + #endif + } + + // + // If there's another point to sample, move there with optional lift. + // + + #if ABL_GRID + + // Find a next point to probe + // On the first G29 this will be the first probe point + while (abl_probe_index < abl2) { + + // Set xCount, yCount based on abl_probe_index, with zig-zag + PR_OUTER_VAR = abl_probe_index / PR_INNER_END; + PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END); + + bool zig = (PR_OUTER_VAR & 1) != ((PR_OUTER_END) & 1); + + if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR; + + const float xBase = left_probe_bed_position + xGridSpacing * xCount, + yBase = front_probe_bed_position + yGridSpacing * yCount; xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5)); yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5)); #if ENABLED(AUTO_BED_LEVELING_LINEAR) - indexIntoAB[xCount][yCount] = ++probe_index; + indexIntoAB[xCount][yCount] = abl_probe_index; #endif - #if IS_KINEMATIC - // Avoid probing outside the round or hexagonal area - float pos[XYZ] = { xProbe, yProbe, 0 }; - if (!position_is_reachable(pos, true)) continue; + float pos[XYZ] = { xProbe, yProbe, 0 }; + if (position_is_reachable(pos)) break; + ++abl_probe_index; + } + + // Is there a next point to move to? + if (abl_probe_index < abl2) { + _manual_goto_xy(xProbe, yProbe); // Can be used here too! + ++abl_probe_index; + #if HAS_SOFTWARE_ENDSTOPS + // Disable software endstops to allow manual adjustment + // If G29 is not completed, they will not be re-enabled + soft_endstops_enabled = false; + #endif + return; + } + else { + // Then leveling is done! + // G29 finishing code goes here + + // After recording the last point, activate abl + SERIAL_PROTOCOLLNPGM("Grid probing done."); + g29_in_progress = false; + + // Re-enable software endstops, if needed + #if HAS_SOFTWARE_ENDSTOPS + soft_endstops_enabled = enable_soft_endstops; + #endif + } + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + // Probe at 3 arbitrary points + if (abl_probe_index < 3) { + xProbe = LOGICAL_X_POSITION(points[i].x); + yProbe = LOGICAL_Y_POSITION(points[i].y); + ++abl_probe_index; + #if HAS_SOFTWARE_ENDSTOPS + // Disable software endstops to allow manual adjustment + // If G29 is not completed, they will not be re-enabled + soft_endstops_enabled = false; + #endif + return; + } + else { + + SERIAL_PROTOCOLLNPGM("3-point probing done."); + g29_in_progress = false; + + // Re-enable software endstops, if needed + #if HAS_SOFTWARE_ENDSTOPS + soft_endstops_enabled = enable_soft_endstops; #endif - measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); + if (!dryrun) { + vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); + if (planeNormal.z < 0) { + planeNormal.x *= -1; + planeNormal.y *= -1; + planeNormal.z *= -1; + } + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); - if (measured_z == NAN) { - planner.abl_enabled = abl_should_enable; - return; + // Can't re-enable (on error) until the new grid is written + abl_should_enable = false; } - #if ENABLED(AUTO_BED_LEVELING_LINEAR) + } - mean += measured_z; - eqnBVector[probe_index] = measured_z; - eqnAMatrix[probe_index + 0 * abl2] = xProbe; - eqnAMatrix[probe_index + 1 * abl2] = yProbe; - eqnAMatrix[probe_index + 2 * abl2] = 1; + #endif // AUTO_BED_LEVELING_3POINT - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - bed_level_grid[xCount][yCount] = measured_z + zoffset; + #else // !PROBE_MANUALLY - #endif - idle(); + bool stow_probe_after_each = code_seen('E'); - } // inner - } // outer + #if ABL_GRID - #elif ENABLED(AUTO_BED_LEVELING_3POINT) + bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling"); - #endif + // Outer loop is Y with PROBE_Y_FIRST disabled + for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) { - // Probe at 3 arbitrary points - vector_3 points[3] = { - vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0), - vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0), - vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0) - }; + int8_t inStart, inStop, inInc; - for (uint8_t i = 0; i < 3; ++i) { - // Retain the last probe position - xProbe = LOGICAL_X_POSITION(points[i].x); - yProbe = LOGICAL_Y_POSITION(points[i].y); - measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); - } + if (zig) { // away from origin + inStart = 0; + inStop = PR_INNER_END; + inInc = 1; + } + else { // towards origin + inStart = PR_INNER_END - 1; + inStop = -1; + inInc = -1; + } - if (measured_z == NAN) { + zig = !zig; // zag + + // Inner loop is Y with PROBE_Y_FIRST enabled + for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) { + + float xBase = left_probe_bed_position + xGridSpacing * xCount, + yBase = front_probe_bed_position + yGridSpacing * yCount; + + xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5)); + yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5)); + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + indexIntoAB[xCount][yCount] = ++abl_probe_index; + #endif + + #if IS_KINEMATIC + // Avoid probing outside the round or hexagonal area + float pos[XYZ] = { xProbe, yProbe, 0 }; + if (!position_is_reachable(pos, true)) continue; + #endif + + measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); + + if (measured_z == NAN) { + planner.abl_enabled = abl_should_enable; + return; + } + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + mean += measured_z; + eqnBVector[abl_probe_index] = measured_z; + eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe; + eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe; + eqnAMatrix[abl_probe_index + 2 * abl2] = 1; + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + bed_level_grid[xCount][yCount] = measured_z + zoffset; + + #endif + + abl_should_enable = false; + idle(); + + } // inner + } // outer + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + // Probe at 3 arbitrary points + + for (uint8_t i = 0; i < 3; ++i) { + // Retain the last probe position + xProbe = LOGICAL_X_POSITION(points[i].x); + yProbe = LOGICAL_Y_POSITION(points[i].y); + measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); + } + + if (measured_z == NAN) { + planner.abl_enabled = abl_should_enable; + return; + } + + if (!dryrun) { + vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); + if (planeNormal.z < 0) { + planeNormal.x *= -1; + planeNormal.y *= -1; + planeNormal.z *= -1; + } + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + // Can't re-enable (on error) until the new grid is written + abl_should_enable = false; + } + + #endif // AUTO_BED_LEVELING_3POINT + + // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe. + if (STOW_PROBE()) { planner.abl_enabled = abl_should_enable; return; } - if (!dryrun) { - vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); - if (planeNormal.z < 0) { - planeNormal.x *= -1; - planeNormal.y *= -1; - planeNormal.z *= -1; - } - planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); - - // Can't re-enable (on error) until the new grid is written - abl_should_enable = false; - } - - #endif // AUTO_BED_LEVELING_3POINT - - // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe. - if (STOW_PROBE()) { - planner.abl_enabled = abl_should_enable; - return; - } + #endif // !PROBE_MANUALLY + // + // G29 Finishing Code // // Unless this is a dry run, auto bed leveling will // definitely be enabled after this point @@ -4286,7 +4602,14 @@ inline void gcode_G28() { // For LINEAR leveling calculate matrix, print reports, correct the position - // solve lsq problem + /** + * solve the plane equation ax + by + d = z + * A is the matrix with rows [x y 1] for all the probed points + * B is the vector of the Z positions + * the normal vector to the plane is formed by the coefficients of the + * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 + * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z + */ float plane_equation_coefficients[3]; qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector); diff --git a/Marlin/enum.h b/Marlin/enum.h index 70d725648..542f10f8d 100755 --- a/Marlin/enum.h +++ b/Marlin/enum.h @@ -165,16 +165,6 @@ enum TempState { }; #endif -#if ENABLED(PROBE_MANUALLY) - enum ABLState { - ABLReport, - ABLStart, - ABLNext, - ABLSet, - ABLReset - }; -#endif - /** * SD Card */ diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 551d7879f..f8cdec5f5 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -181,7 +181,7 @@ uint16_t max_display_update_time = 0; void lcd_delta_calibrate_menu(); #endif - #if ENABLED(MANUAL_BED_LEVELING) + #if ENABLED(MESH_BED_LEVELING) && ENABLED(LCD_BED_LEVELING) #include "mesh_bed_leveling.h" #endif @@ -982,7 +982,7 @@ void kill_screen(const char* lcd_msg) { MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_percentage, 10, 999); // Manual bed leveling, Bed Z: - #if ENABLED(MANUAL_BED_LEVELING) + #if ENABLED(LCD_BED_LEVELING) MENU_ITEM_EDIT(float43, MSG_BED_Z, &mbl.z_offset, -1, 1); #endif @@ -1321,7 +1321,7 @@ void kill_screen(const char* lcd_msg) { #endif - #if ENABLED(MANUAL_BED_LEVELING) + #if ENABLED(LCD_BED_LEVELING) /** * @@ -1367,8 +1367,8 @@ void kill_screen(const char* lcd_msg) { if (encoderPosition) { refresh_cmd_timeout(); current_position[Z_AXIS] += float((int32_t)encoderPosition) * (MBL_Z_STEP); - NOLESS(current_position[Z_AXIS], -(MANUAL_PROBE_Z_RANGE) * 0.5); - NOMORE(current_position[Z_AXIS], (MANUAL_PROBE_Z_RANGE) * 0.5); + NOLESS(current_position[Z_AXIS], -(LCD_PROBE_Z_RANGE) * 0.5); + NOMORE(current_position[Z_AXIS], (LCD_PROBE_Z_RANGE) * 0.5); line_to_current(Z_AXIS); lcdDrawUpdate = LCDVIEW_KEEP_REDRAWING; encoderPosition = 0; @@ -1483,7 +1483,7 @@ KeepDrawing: END_MENU(); } - #endif // MANUAL_BED_LEVELING + #endif // LCD_BED_LEVELING /** * @@ -1524,7 +1524,7 @@ KeepDrawing: MENU_ITEM(gcode, MSG_LEVEL_BED, axis_homed[X_AXIS] && axis_homed[Y_AXIS] ? PSTR("G29") : PSTR("G28\nG29") ); - #elif ENABLED(MANUAL_BED_LEVELING) + #elif ENABLED(LCD_BED_LEVELING) MENU_ITEM(submenu, MSG_LEVEL_BED, lcd_level_bed); #endif @@ -2253,7 +2253,7 @@ KeepDrawing: MENU_ITEM_EDIT(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX); #endif // Manual bed leveling, Bed Z: - #if ENABLED(MANUAL_BED_LEVELING) + #if ENABLED(LCD_BED_LEVELING) MENU_ITEM_EDIT(float43, MSG_BED_Z, &mbl.z_offset, -1, 1); #endif MENU_ITEM_EDIT(float5, MSG_ACC, &planner.acceleration, 10, 99000);