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28f1276286
Firmware2/Marlin/src/gcode/bedlevel/abl/G29.cpp
Scott Lahteine 28f1276286
[2.0.x] Add Z_AFTER_PROBING option (#10058) 
Some "fix-mounted" probes need manual stowing. And after probing some may prefer to raise or lower the nozzle. This restores an old option but tailors it to allow raise or lower as preferred.
2018-03-11 13:07:55 -05:00

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/**
* 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/>.
*
*/
/**
* G29.cpp - Auto Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if OLDSCHOOL_ABL
#include "../../gcode.h"
#include "../../../feature/bedlevel/bedlevel.h"
#include "../../../module/motion.h"
#include "../../../module/planner.h"
#include "../../../module/stepper.h"
#include "../../../module/probe.h"
#include "../../queue.h"
#if ENABLED(LCD_BED_LEVELING) && ENABLED(PROBE_MANUALLY)
#include "../../../lcd/ultralcd.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include "../../../libs/least_squares_fit.h"
#endif
#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
*
* D Dry-Run mode. Just evaluate the bed Topology - Don't apply
* 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 DEBUG_LEVELING_FEATURE only:
*
* C Make a totally fake grid with no actual probing.
* For use in testing when no probing is possible.
*
* Parameters with BILINEAR leveling only:
*
* Z Supply an additional Z probe offset
*
* Extra parameters with PROBE_MANUALLY:
*
* 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
*
* Extra parameters with BILINEAR only:
*
* W Write a mesh point. (If G29 is idle.)
* I X index for mesh point
* J Y index for mesh point
* X X for mesh point, overrides I
* Y Y for mesh point, overrides J
* Z Z for mesh point. Otherwise, raw current Z.
*
* 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.
*
*/
void GcodeSuite::G29() {
#if ENABLED(DEBUG_LEVELING_FEATURE) || ENABLED(PROBE_MANUALLY)
const bool seenQ = parser.seen('Q');
#else
constexpr bool seenQ = false;
#endif
// G29 Q is also available if debugging
#if ENABLED(DEBUG_LEVELING_FEATURE)
const uint8_t old_debug_flags = marlin_debug_flags;
if (seenQ) marlin_debug_flags |= DEBUG_LEVELING;
if (DEBUGGING(LEVELING)) {
DEBUG_POS(">>> G29", current_position);
log_machine_info();
}
marlin_debug_flags = old_debug_flags;
#if DISABLED(PROBE_MANUALLY)
if (seenQ) return;
#endif
#endif
#if ENABLED(PROBE_MANUALLY)
const bool seenA = parser.seen('A');
#else
constexpr bool seenA = false;
#endif
const bool no_action = seenA || seenQ,
faux =
#if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
parser.boolval('C')
#else
no_action
#endif
;
// Don't allow auto-leveling without homing first
if (axis_unhomed_error()) return;
// Define local vars 'static' for manual probing, 'auto' otherwise
#if ENABLED(PROBE_MANUALLY)
#define ABL_VAR static
#else
#define ABL_VAR
#endif
ABL_VAR int verbose_level;
ABL_VAR float xProbe, yProbe, measured_z;
ABL_VAR bool dryrun, abl_should_enable;
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int abl_probe_index;
#endif
#if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
ABL_VAR bool enable_soft_endstops = true;
#endif
#if ABL_GRID
#if ENABLED(PROBE_MANUALLY)
ABL_VAR uint8_t PR_OUTER_VAR;
ABL_VAR int8_t PR_INNER_VAR;
#endif
ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
ABL_VAR bool do_topography_map;
#else // Bilinear
uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
abl_grid_points_y = GRID_MAX_POINTS_Y;
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int abl2;
#elif ENABLED(PROBE_MANUALLY) // Bilinear
int constexpr abl2 = GRID_MAX_POINTS;
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
ABL_VAR float zoffset;
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
mean;
#endif
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(PROBE_MANUALLY)
int constexpr abl2 = 3; // used to show total points
#endif
// 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
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
struct linear_fit_data lsf_results;
incremental_LSF_reset(&lsf_results);
#endif
/**
* On the initial G29 fetch command parameters.
*/
if (!g29_in_progress) {
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
abl_probe_index = -1;
#endif
abl_should_enable = planner.leveling_active;
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const bool seen_w = parser.seen('W');
if (seen_w) {
if (!leveling_is_valid()) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("No bilinear grid");
return;
}
const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
if (!WITHIN(rz, -10, 10)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Bad Z value");
return;
}
const float rx = RAW_X_POSITION(parser.linearval('X', NAN)),
ry = RAW_Y_POSITION(parser.linearval('Y', NAN));
int8_t i = parser.byteval('I', -1),
j = parser.byteval('J', -1);
if (!isnan(rx) && !isnan(ry)) {
// Get nearest i / j from rx / ry
i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing;
j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing;
i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
}
if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
set_bed_leveling_enabled(false);
z_values[i][j] = rz;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
set_bed_leveling_enabled(abl_should_enable);
if (abl_should_enable) report_current_position();
}
return;
} // parser.seen('W')
#else
constexpr bool seen_w = false;
#endif
// Jettison bed leveling data
if (!seen_w && parser.seen('J')) {
reset_bed_level();
return;
}
verbose_level = parser.intval('V');
if (!WITHIN(verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
return;
}
dryrun = parser.boolval('D')
#if ENABLED(PROBE_MANUALLY)
|| no_action
#endif
;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
do_topography_map = verbose_level > 2 || parser.boolval('T');
// X and Y specify points in each direction, overriding the default
// These values may be saved with the completed mesh
abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
if (!WITHIN(abl_grid_points_x, 2, GRID_MAX_POINTS_X)) {
SERIAL_PROTOCOLLNPGM("?Probe points (X) is implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ").");
return;
}
if (!WITHIN(abl_grid_points_y, 2, GRID_MAX_POINTS_Y)) {
SERIAL_PROTOCOLLNPGM("?Probe points (Y) is implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
return;
}
abl2 = abl_grid_points_x * abl_grid_points_y;
mean = 0;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
zoffset = parser.linearval('Z');
#endif
#if ABL_GRID
xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : LEFT_PROBE_BED_POSITION;
right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : RIGHT_PROBE_BED_POSITION;
front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : FRONT_PROBE_BED_POSITION;
back_probe_bed_position = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : BACK_PROBE_BED_POSITION;
const bool left_out_l = left_probe_bed_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 > 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 < 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 > 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 ? 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 ? 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 ? 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 ? 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_PROTOCOLPGM("G29 Auto Bed Leveling");
if (dryrun) SERIAL_PROTOCOLPGM(" (DRYRUN)");
SERIAL_EOL();
}
stepper.synchronize();
// Disable auto bed leveling during G29.
// Be formal so G29 can be done successively without G28.
if (!no_action) set_bed_leveling_enabled(false);
#if HAS_BED_PROBE
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) {
set_bed_leveling_enabled(abl_should_enable);
return;
}
#endif
if (!faux) setup_for_endstop_or_probe_move();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(PROBE_MANUALLY)
if (!no_action)
#endif
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]
) {
// Reset grid to 0.0 or "not probed". (Also disables ABL)
reset_bed_level();
// Initialize a grid with the given dimensions
bilinear_grid_spacing[X_AXIS] = xGridSpacing;
bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
bilinear_start[X_AXIS] = left_probe_bed_position;
bilinear_start[Y_AXIS] = front_probe_bed_position;
// Can't re-enable (on error) until the new grid is written
abl_should_enable = false;
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
// Probe at 3 arbitrary points
points[0].z = points[1].z = points[2].z = 0;
#endif // AUTO_BED_LEVELING_3POINT
} // !g29_in_progress
#if ENABLED(PROBE_MANUALLY)
// For manual probing, get the next index to probe now.
// On the first probe this will be incremented to 0.
if (!no_action) {
++abl_probe_index;
g29_in_progress = true;
}
// Abort current G29 procedure, go back to idle state
if (seenA && g29_in_progress) {
SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
set_bed_leveling_enabled(abl_should_enable);
g29_in_progress = false;
#if ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
}
// Query G29 status
if (verbose_level || seenQ) {
SERIAL_PROTOCOLPGM("Manual G29 ");
if (g29_in_progress) {
SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl2));
SERIAL_PROTOCOLLNPAIR(" of ", abl2);
}
else
SERIAL_PROTOCOLLNPGM("idle");
}
if (no_action) return;
if (abl_probe_index == 0) {
// For the initial G29 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;
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
z_values[xCount][yCount] = measured_z + zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_PROTOCOLPAIR("Save X", xCount);
SERIAL_PROTOCOLPAIR(" Y", yCount);
SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset);
}
#endif
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
points[abl_probe_index].z = measured_z;
#endif
}
//
// If there's another point to sample, move there with optional lift.
//
#if ABL_GRID
// Skip any unreachable points
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);
// Probe in reverse order for every other row/column
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 = xCount * xGridSpacing + left_probe_bed_position,
yBase = yCount * yGridSpacing + front_probe_bed_position;
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
// Keep looping till a reachable point is found
if (position_is_reachable(xProbe, yProbe)) 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!
#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 {
// Leveling done! Fall through to G29 finishing code below
SERIAL_PROTOCOLLNPGM("Grid probing done.");
// 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 < abl2) {
xProbe = points[abl_probe_index].x;
yProbe = points[abl_probe_index].y;
_manual_goto_xy(xProbe, yProbe);
#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.");
// Re-enable software endstops, if needed
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
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
#else // !PROBE_MANUALLY
{
const bool stow_probe_after_each = parser.boolval('E');
measured_z = 0;
#if ABL_GRID
bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
measured_z = 0;
// Outer loop is Y with PROBE_Y_FIRST disabled
for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
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;
}
zig ^= true; // 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; // 0...
#endif
#if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area
if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
#endif
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
break;
}
#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;
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
z_values[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 = points[i].x;
yProbe = points[i].y;
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
break;
}
points[i].z = measured_z;
}
if (!dryrun && !isnan(measured_z)) {
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
// Stow the probe. No raise for FIX_MOUNTED_PROBE.
if (STOW_PROBE()) {
set_bed_leveling_enabled(abl_should_enable);
measured_z = NAN;
}
}
#endif // !PROBE_MANUALLY
//
// G29 Finishing Code
//
// Unless this is a dry run, auto bed leveling will
// definitely be enabled after this point.
//
// If code above wants to continue leveling, it should
// return or loop before this point.
//
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#endif
#if ENABLED(PROBE_MANUALLY)
g29_in_progress = false;
#if ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
#endif
// Calculate leveling, print reports, correct the position
if (!isnan(measured_z)) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) extrapolate_unprobed_bed_level();
print_bilinear_leveling_grid();
refresh_bed_level();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
print_bilinear_leveling_grid_virt();
#endif
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
// For LINEAR leveling calculate matrix, print reports, correct the position
/**
* 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];
finish_incremental_LSF(&lsf_results);
plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
plane_equation_coefficients[2] = -lsf_results.D;
mean /= abl2;
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL();
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 8);
SERIAL_EOL();
}
}
// Create the matrix but don't correct the position yet
if (!dryrun)
planner.bed_level_matrix = matrix_3x3::create_look_at(
vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
);
// Show the Topography map if enabled
if (do_topography_map) {
SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
" +--- BACK --+\n"
" | |\n"
" L | (+) | R\n"
" E | | I\n"
" F | (-) N (+) | G\n"
" T | | H\n"
" | (-) | T\n"
" | |\n"
" O-- FRONT --+\n"
" (0,0)");
float min_diff = 999;
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean,
x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
z_tmp = 0;
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
NOMORE(min_diff, eqnBVector[ind] - z_tmp);
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
else
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
if (verbose_level > 3) {
SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
z_tmp = 0;
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
float diff = eqnBVector[ind] - z_tmp - min_diff;
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +");
// Include + for column alignment
else
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
}
} //do_topography_map
#endif // AUTO_BED_LEVELING_LINEAR
#if ABL_PLANAR
// For LINEAR and 3POINT leveling correct the current position
if (verbose_level > 0)
planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
if (!dryrun) {
//
// Correct the current XYZ position based on the tilted plane.
//
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
#endif
float converted[XYZ];
COPY(converted, current_position);
planner.leveling_active = true;
planner.unapply_leveling(converted); // use conversion machinery
planner.leveling_active = false;
// Use the last measured distance to the bed, if possible
if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
) {
const float simple_z = current_position[Z_AXIS] - measured_z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z from Probe:", simple_z);
SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
}
#endif
converted[Z_AXIS] = simple_z;
}
// The rotated XY and corrected Z are now current_position
COPY(current_position, converted);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
#endif
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
#endif
// Unapply the offset because it is going to be immediately applied
// and cause compensation movement in Z
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
#endif
}
#endif // ABL_PLANAR
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
#endif
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
stepper.synchronize();
#endif
// Auto Bed Leveling is complete! Enable if possible.
planner.leveling_active = dryrun ? abl_should_enable : true;
} // !isnan(measured_z)
// Restore state after probing
if (!faux) clean_up_after_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G29");
#endif
KEEPALIVE_STATE(IN_HANDLER);
if (planner.leveling_active)
SYNC_PLAN_POSITION_KINEMATIC();
#if HAS_BED_PROBE
move_z_after_probing();
#endif
report_current_position();
}
#endif // OLDSCHOOL_ABL
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