9f295581f0
* Change all direct changes of ubl.state.active to set_bed_leveling_enabled() which handles apply/unapply leveling to maintain current_position consistency. Fix invalidation of UBL mesh to invalid unreachable mesh points as well (delta corners). Fix UBL_DELTA unapply_leveling logic and when it gets applied, including fade_height changes. Add optional M114 D for detailed position information, disabled from compilation by default (M114_DETAIL). * UBL_DELTA raw and inline kinematics * UBL planner fall through fix * consistent variable names * Cleanup orphaned code and whitespace changes. Use _O2. * compile warnings cleanup * Remove redundant #ifdef condition
1778 lines
75 KiB
C++
1778 lines
75 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "ubl.h"
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#include "Marlin.h"
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#include "hex_print_routines.h"
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#include "configuration_store.h"
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#include "ultralcd.h"
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#include "stepper.h"
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#include "planner.h"
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#include "gcode.h"
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#include <math.h>
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#include "least_squares_fit.h"
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#define UBL_G29_P31
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extern float destination[XYZE], current_position[XYZE];
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void lcd_return_to_status();
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void lcd_mesh_edit_setup(float initial);
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float lcd_mesh_edit();
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void lcd_z_offset_edit_setup(float);
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float lcd_z_offset_edit();
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extern float meshedit_done;
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extern long babysteps_done;
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extern float probe_pt(const float &x, const float &y, bool, int);
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extern bool set_probe_deployed(bool);
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extern void set_bed_leveling_enabled(bool);
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#define SIZE_OF_LITTLE_RAISE 1
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#define BIG_RAISE_NOT_NEEDED 0
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int unified_bed_leveling::g29_verbose_level,
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unified_bed_leveling::g29_phase_value,
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unified_bed_leveling::g29_repetition_cnt,
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unified_bed_leveling::g29_storage_slot = 0,
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unified_bed_leveling::g29_map_type,
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unified_bed_leveling::g29_grid_size;
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bool unified_bed_leveling::g29_c_flag,
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unified_bed_leveling::g29_x_flag,
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unified_bed_leveling::g29_y_flag;
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float unified_bed_leveling::g29_x_pos,
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unified_bed_leveling::g29_y_pos,
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unified_bed_leveling::g29_card_thickness = 0.0,
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unified_bed_leveling::g29_constant = 0.0;
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/**
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* G29: Unified Bed Leveling by Roxy
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*
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* Parameters understood by this leveling system:
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*
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* A Activate Activate the Unified Bed Leveling system.
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*
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* B # Business Use the 'Business Card' mode of the Manual Probe subsystem. This is invoked as
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* G29 P2 B. The mode of G29 P2 allows you to use a business card or recipe card
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* as a shim that the nozzle will pinch as it is lowered. The idea is that you
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* can easily feel the nozzle getting to the same height by the amount of resistance
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* the business card exhibits to movement. You should try to achieve the same amount
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* of resistance on each probed point to facilitate accurate and repeatable measurements.
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* You should be very careful not to drive the nozzle into the business card with a
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* lot of force as it is very possible to cause damage to your printer if your are
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* careless. If you use the B option with G29 P2 B you can omit the numeric value
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* on first use to measure the business card's thickness. Subsequent usage of 'B'
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* will apply the previously-measured thickness as the default.
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* Note: A non-compressible Spark Gap feeler gauge is recommended over a Business Card.
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*
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* C Continue Continue, Constant, Current Location. This is not a primary command. C is used to
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* further refine the behaviour of several other commands. Issuing a G29 P1 C will
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* continue the generation of a partially constructed Mesh without invalidating what has
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* been done. Issuing a G29 P2 C will tell the Manual Probe subsystem to use the current
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* location in its search for the closest unmeasured Mesh Point. When used with a G29 Z C
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* it indicates to use the current location instead of defaulting to the center of the print bed.
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*
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* D Disable Disable the Unified Bed Leveling system.
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*
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* E Stow_probe Stow the probe after each sampled point.
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*
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* F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the
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* specified height, no correction is applied and natural printer kenimatics take over. If no
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* number is specified for the command, 10mm is assumed to be reasonable.
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*
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* H # Height Specify the Height to raise the nozzle after each manual probe of the bed. The
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* default is 5mm.
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*
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* I # Invalidate Invalidate specified number of Mesh Points. The nozzle location is used unless
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* the X and Y parameter are used. If no number is specified, only the closest Mesh
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* point to the location is invalidated. The 'T' parameter is also available to produce
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* a map after the operation. This command is useful to invalidate a portion of the
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* Mesh so it can be adjusted using other tools in the Unified Bed Leveling System. When
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* attempting to invalidate an isolated bad point in the mesh, the 'T' option will indicate
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* where the nozzle is positioned in the Mesh with (#). You can move the nozzle around on
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* the bed and use this feature to select the center of the area (or cell) you want to
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* invalidate.
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*
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* J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
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* Not specifying a grid size will invoke the 3-Point leveling function.
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*
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* K # Kompare Kompare current Mesh with stored Mesh # replacing current Mesh with the result. This
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* command literally performs a diff between two Meshes.
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*
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* L Load Load Mesh from the previously activated location in the EEPROM.
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*
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* L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated
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* for subsequent Load and Store operations.
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*
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* The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will
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* start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with
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* each additional Phase that processes it.
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*
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* P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the
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* 3D Printer to the same state it was in before the Unified Bed Leveling Compensation
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* was turned on. Setting the entire Mesh to Zero is a special case that allows
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* a subsequent G or T leveling operation for backward compatibility.
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*
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* P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
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* the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. On
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* Cartesian printers, points within the X_PROBE_OFFSET_FROM_EXTRUDER and Y_PROBE_OFFSET_FROM_EXTRUDER
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* area cannot be automatically probed. For Delta printers the area in which DELTA_PROBEABLE_RADIUS
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* and DELTA_PRINTABLE_RADIUS do not overlap will not be automatically probed.
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*
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* These points will be handled in Phase 2 and Phase 3. If the Phase 1 command is given the
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* C (Continue) parameter it does not invalidate the Mesh prior to automatically
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* probing needed locations. This allows you to invalidate portions of the Mesh but still
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* use the automatic probing capabilities of the Unified Bed Leveling System. An X and Y
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* parameter can be given to prioritize where the command should be trying to measure points.
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* If the X and Y parameters are not specified the current probe position is used.
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* P1 accepts a 'T' (Topology) parameter so you can observe mesh generation.
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* P1 also watches for the LCD Panel Encoder Switch to be held down, and will suspend
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* generation of the Mesh in that case. (Note: This check is only done between probe points,
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* so you must press and hold the switch until the Phase 1 command detects it.)
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*
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* P2 Phase 2 Probe areas of the Mesh that can't be automatically handled. Phase 2 respects an H
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* parameter to control the height between Mesh points. The default height for movement
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* between Mesh points is 5mm. A smaller number can be used to make this part of the
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* calibration less time consuming. You will be running the nozzle down until it just barely
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* touches the glass. You should have the nozzle clean with no plastic obstructing your view.
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* Use caution and move slowly. It is possible to damage your printer if you are careless.
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* Note that this command will use the configuration #define SIZE_OF_LITTLE_RAISE if the
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* nozzle is moving a distance of less than BIG_RAISE_NOT_NEEDED.
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*
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* The H parameter can be set negative if your Mesh dips in a large area. You can press
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* and hold the LCD Panel's encoder wheel to terminate the current Phase 2 command. You
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* can then re-issue the G29 P 2 command with an H parameter that is more suitable for the
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* area you are manually probing. Note that the command tries to start you in a corner
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* of the bed where movement will be predictable. You can force the location to be used in
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* the distance calculations by using the X and Y parameters. You may find it is helpful to
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* print out a Mesh Map (G29 T) to understand where the mesh is invalidated and where
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* the nozzle will need to move in order to complete the command. The C parameter is
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* available on the Phase 2 command also and indicates the search for points to measure should
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* be done based on the current location of the nozzle.
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*
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* A B parameter is also available for this command and described up above. It places the
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* manual probe subsystem into Business Card mode where the thickness of a business card is
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* measured and then used to accurately set the nozzle height in all manual probing for the
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* duration of the command. (S for Shim mode would be a better parameter name, but S is needed
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* for Save or Store of the Mesh to EEPROM) A Business card can be used, but you will have
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* better results if you use a flexible Shim that does not compress very much. That makes it
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* easier for you to get the nozzle to press with similar amounts of force against the shim so you
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* can get accurate measurements. As you are starting to touch the nozzle against the shim try
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* to get it to grasp the shim with the same force as when you measured the thickness of the
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* shim at the start of the command.
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*
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* Phase 2 allows the T (Map) parameter to be specified. This helps the user see the progression
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* of the Mesh being built.
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*
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* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths the
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* user can go down. If the user specifies the value using the C parameter, the closest invalid
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* mesh points to the nozzle will be filled. The user can specify a repeat count using the R
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* parameter with the C version of the command.
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*
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* A second version of the fill command is available if no C constant is specified. Not
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* specifying a C constant will invoke the 'Smart Fill' algorithm. The G29 P3 command will search
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* from the edges of the mesh inward looking for invalid mesh points. It will look at the next
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* several mesh points to determine if the print bed is sloped up or down. If the bed is sloped
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* upward from the invalid mesh point, it will be replaced with the value of the nearest mesh point.
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* If the bed is sloped downward from the invalid mesh point, it will be replaced with a value that
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* puts all three points in a line. The second version of the G29 P3 command is a quick, easy and
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* usually safe way to populate the unprobed regions of your mesh so you can continue to the G26
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* Mesh Validation Pattern phase. Please note that you are populating your mesh with unverified
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* numbers. You should use some scrutiny and caution.
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*
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* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existence of
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* an LCD Panel. It is possible to fine tune the mesh without the use of an LCD Panel.
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* (More work and details on doing this later!)
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* The System will search for the closest Mesh Point to the nozzle. It will move the
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* nozzle to this location. The user can use the LCD Panel to carefully adjust the nozzle
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* so it is just barely touching the bed. When the user clicks the control, the System
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* will lock in that height for that point in the Mesh Compensation System.
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*
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* Phase 4 has several additional parameters that the user may find helpful. Phase 4
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* can be started at a specific location by specifying an X and Y parameter. Phase 4
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* can be requested to continue the adjustment of Mesh Points by using the R(epeat)
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* parameter. If the Repetition count is not specified, it is assumed the user wishes
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* to adjust the entire matrix. The nozzle is moved to the Mesh Point being edited.
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* The command can be terminated early (or after the area of interest has been edited) by
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* pressing and holding the encoder wheel until the system recognizes the exit request.
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* Phase 4's general form is G29 P4 [R # of points] [X position] [Y position]
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*
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* Phase 4 is intended to be used with the G26 Mesh Validation Command. Using the
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* information left on the printer's bed from the G26 command it is very straight forward
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* and easy to fine tune the Mesh. One concept that is important to remember and that
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* will make using the Phase 4 command easy to use is this: You are editing the Mesh Points.
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* If you have too little clearance and not much plastic was extruded in an area, you want to
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* LOWER the Mesh Point at the location. If you did not get good adheasion, you want to
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* RAISE the Mesh Point at that location.
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*
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*
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* P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and
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* work with the Mesh if it is Mean Adjusted. You can specify a C parameter to
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* Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically
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* execute a G29 P6 C <mean height>.
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*
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* P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified
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* with the C parameter. Being able to adjust the height of a Mesh is useful tool. It
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* can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally,
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* you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring
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* 0.000 at the Z Home location.
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*
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* Q Test Load specified Test Pattern to assist in checking correct operation of system. This
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* command is not anticipated to be of much value to the typical user. It is intended
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* for developers to help them verify correct operation of the Unified Bed Leveling System.
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*
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* R # Repeat Repeat this command the specified number of times. If no number is specified the
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* command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
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*
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* S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
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* current state of the Unified Bed Leveling system in the EEPROM.
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*
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* S # Store Store the current Mesh at the specified location in EEPROM. Activate this location
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* for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
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* extend to a limit related to the available EEPROM storage.
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*
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* S -1 Store Store the current Mesh as a print out that is suitable to be feed back into the system
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* at a later date. The GCode output can be saved and later replayed by the host software
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* to reconstruct the current mesh on another machine.
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*
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* T Topology Display the Mesh Map Topology.
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* 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands.
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* This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O)
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* This parameter can also specify a Map Type. T0 (the default) is user-readable. T1 can
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* is suitable to paste into a spreadsheet for a 3D graph of the mesh.
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*
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* U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
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* Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful
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* when the entire bed doesn't need to be probed because it will be adjusted.
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*
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* V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0)
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*
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* W What? Display valuable Unified Bed Leveling System data.
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*
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* X # X Location for this command
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*
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* Y # Y Location for this command
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*
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*
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* Release Notes:
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* You MUST do M502, M500 to initialize the storage. Failure to do this will cause all
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* kinds of problems. Enabling EEPROM Storage is highly recommended. With EEPROM Storage
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* of the mesh, you are limited to 3-Point and Grid Leveling. (G29 P0 T and G29 P0 G
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* respectively.)
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*
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* When you do a G28 and then a G29 P1 to automatically build your first mesh, you are going to notice
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* the Unified Bed Leveling probes points further and further away from the starting location. (The
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* starting location defaults to the center of the bed.) The original Grid and Mesh leveling used
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* a Zig Zag pattern. The new pattern is better, especially for people with Delta printers. This
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* allows you to get the center area of the Mesh populated (and edited) quicker. This allows you to
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* perform a small print and check out your settings quicker. You do not need to populate the
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* entire mesh to use it. (You don't want to spend a lot of time generating a mesh only to realize
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* you don't have the resolution or zprobe_zoffset set correctly. The Mesh generation
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* gathers points closest to where the nozzle is located unless you specify an (X,Y) coordinate pair.
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*
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* The Unified Bed Leveling uses a lot of EEPROM storage to hold its data. And it takes some effort
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* to get this Mesh data correct for a user's printer. We do not want this data destroyed as
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* new versions of Marlin add or subtract to the items stored in EEPROM. So, for the benefit of
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* the users, we store the Mesh data at the end of the EEPROM and do not keep it contiguous with the
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* other data stored in the EEPROM. (For sure the developers are going to complain about this, but
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* this is going to be helpful to the users!)
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*
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* The foundation of this Bed Leveling System is built on Epatel's Mesh Bed Leveling code. A big
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* 'Thanks!' to him and the creators of 3-Point and Grid Based leveling. Combining their contributions
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* we now have the functionality and features of all three systems combined.
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*/
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void unified_bed_leveling::G29() {
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if (!settings.calc_num_meshes()) {
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SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
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SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
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return;
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}
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// Check for commands that require the printer to be homed
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if (axis_unhomed_error()) {
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const int8_t p_val = parser.seen('P') && parser.has_value() ? parser.value_int() : -1;
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if (p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'))
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home_all_axes();
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}
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if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
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// Invalidate Mesh Points. This command is a little bit asymmetrical because
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// it directly specifies the repetition count and does not use the 'R' parameter.
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if (parser.seen('I')) {
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uint8_t cnt = 0;
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g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1;
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if (g29_repetition_cnt >= GRID_MAX_POINTS) {
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set_all_mesh_points_to_value(NAN);
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} else {
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while (g29_repetition_cnt--) {
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if (cnt > 20) { cnt = 0; idle(); }
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const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
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if (location.x_index < 0) {
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// No more REACHABLE mesh points to invalidate, so we ASSUME the user
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// meant to invalidate the ENTIRE mesh, which cannot be done with
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// find_closest_mesh_point loop which only returns REACHABLE points.
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set_all_mesh_points_to_value(NAN);
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SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
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break; // No more invalid Mesh Points to populate
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}
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z_values[location.x_index][location.y_index] = NAN;
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cnt++;
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}
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}
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SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
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}
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if (parser.seen('Q')) {
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const int test_pattern = parser.has_value() ? parser.value_int() : -99;
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if (!WITHIN(test_pattern, -1, 2)) {
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SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (-1 to 2)\n");
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return;
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}
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SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
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switch (test_pattern) {
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case -1:
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g29_eeprom_dump();
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break;
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case 0:
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a bowl shape - similar to
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta.
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const float p1 = 0.5 * (GRID_MAX_POINTS_X) - x,
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p2 = 0.5 * (GRID_MAX_POINTS_Y) - y;
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z_values[x][y] += 2.0 * HYPOT(p1, p2);
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|
}
|
|
}
|
|
break;
|
|
case 1:
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a diagonal line several Mesh cells thick that is raised
|
|
z_values[x][x] += 9.999;
|
|
z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
|
|
}
|
|
break;
|
|
case 2:
|
|
// Allow the user to specify the height because 10mm is a little extreme in some cases.
|
|
for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in
|
|
for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) // the center of the bed
|
|
z_values[x][y] += parser.seen('C') ? g29_constant : 9.99;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (parser.seen('J')) {
|
|
if (g29_grid_size) { // if not 0 it is a normal n x n grid being probed
|
|
save_ubl_active_state_and_disable();
|
|
tilt_mesh_based_on_probed_grid(parser.seen('T'));
|
|
restore_ubl_active_state_and_leave();
|
|
}
|
|
else { // grid_size == 0 : A 3-Point leveling has been requested
|
|
float z3, z2, z1 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y), false, g29_verbose_level);
|
|
if (!isnan(z1)) {
|
|
z2 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level);
|
|
if (!isnan(z2))
|
|
z3 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
|
|
}
|
|
|
|
if (isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
|
|
goto LEAVE;
|
|
}
|
|
|
|
// Adjust z1, z2, z3 by the Mesh Height at these points. Just because they're non-zero
|
|
// doesn't mean the Mesh is tilted! (Compensate each probe point by what the Mesh says
|
|
// its height is.)
|
|
|
|
save_ubl_active_state_and_disable();
|
|
z1 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
|
|
z2 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
|
|
z3 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
|
|
|
|
do_blocking_move_to_xy(0.5 * (UBL_MESH_MAX_X - (UBL_MESH_MIN_X)), 0.5 * (UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)));
|
|
tilt_mesh_based_on_3pts(z1, z2, z3);
|
|
restore_ubl_active_state_and_leave();
|
|
}
|
|
}
|
|
|
|
if (parser.seen('P')) {
|
|
if (WITHIN(g29_phase_value, 0, 1) && state.storage_slot == -1) {
|
|
state.storage_slot = 0;
|
|
SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.");
|
|
}
|
|
|
|
switch (g29_phase_value) {
|
|
case 0:
|
|
//
|
|
// Zero Mesh Data
|
|
//
|
|
reset();
|
|
SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
|
|
break;
|
|
|
|
case 1:
|
|
//
|
|
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
|
|
//
|
|
if (!parser.seen('C')) {
|
|
invalidate();
|
|
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
|
|
}
|
|
if (g29_verbose_level > 1) {
|
|
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", g29_x_pos);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL(g29_y_pos);
|
|
SERIAL_PROTOCOLLNPGM(").\n");
|
|
}
|
|
probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
|
parser.seen('T'), parser.seen('E'), parser.seen('U'));
|
|
break;
|
|
|
|
case 2: {
|
|
//
|
|
// Manually Probe Mesh in areas that can't be reached by the probe
|
|
//
|
|
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.");
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
if (!g29_x_flag && !g29_y_flag) {
|
|
/**
|
|
* Use a good default location for the path.
|
|
* The flipped > and < operators in these comparisons is intentional.
|
|
* It should cause the probed points to follow a nice path on Cartesian printers.
|
|
* It may make sense to have Delta printers default to the center of the bed.
|
|
* Until that is decided, this can be forced with the X and Y parameters.
|
|
*/
|
|
#if IS_KINEMATIC
|
|
g29_x_pos = X_HOME_POS;
|
|
g29_y_pos = Y_HOME_POS;
|
|
#else // cartesian
|
|
g29_x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS;
|
|
g29_y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS;
|
|
#endif
|
|
}
|
|
|
|
if (parser.seen('C')) {
|
|
g29_x_pos = current_position[X_AXIS];
|
|
g29_y_pos = current_position[Y_AXIS];
|
|
}
|
|
|
|
float height = Z_CLEARANCE_BETWEEN_PROBES;
|
|
|
|
if (parser.seen('B')) {
|
|
g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness(height);
|
|
if (fabs(g29_card_thickness) > 1.5) {
|
|
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.");
|
|
return;
|
|
}
|
|
}
|
|
|
|
if (parser.seen('H') && parser.has_value()) height = parser.value_float();
|
|
|
|
if (!position_is_reachable_xy(g29_x_pos, g29_y_pos)) {
|
|
SERIAL_PROTOCOLLNPGM("XY outside printable radius.");
|
|
return;
|
|
}
|
|
|
|
manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, parser.seen('T'));
|
|
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
|
|
} break;
|
|
|
|
case 3: {
|
|
/**
|
|
* Populate invalid mesh areas. Proceed with caution.
|
|
* Two choices are available:
|
|
* - Specify a constant with the 'C' parameter.
|
|
* - Allow 'G29 P3' to choose a 'reasonable' constant.
|
|
*/
|
|
|
|
if (g29_c_flag) {
|
|
if (g29_repetition_cnt >= GRID_MAX_POINTS) {
|
|
set_all_mesh_points_to_value(g29_constant);
|
|
}
|
|
else {
|
|
while (g29_repetition_cnt--) { // this only populates reachable mesh points near
|
|
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
|
|
if (location.x_index < 0) {
|
|
// No more REACHABLE INVALID mesh points to populate, so we ASSUME
|
|
// user meant to populate ALL INVALID mesh points to value
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) {
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
|
|
if ( isnan(z_values[x][y])) {
|
|
z_values[x][y] = g29_constant;
|
|
}
|
|
}
|
|
}
|
|
break; // No more invalid Mesh Points to populate
|
|
}
|
|
z_values[location.x_index][location.y_index] = g29_constant;
|
|
}
|
|
}
|
|
} else {
|
|
const float cvf = parser.value_float();
|
|
switch((int)truncf(cvf * 10.0) - 30) { // 3.1 -> 1
|
|
#if ENABLED(UBL_G29_P31)
|
|
case 1: {
|
|
|
|
// P3.1 use least squares fit to fill missing mesh values
|
|
// P3.10 zero weighting for distance, all grid points equal, best fit tilted plane
|
|
// P3.11 10X weighting for nearest grid points versus farthest grid points
|
|
// P3.12 100X distance weighting
|
|
// P3.13 1000X distance weighting, approaches simple average of nearest points
|
|
|
|
const float weight_power = (cvf - 3.10) * 100.0, // 3.12345 -> 2.345
|
|
weight_factor = weight_power ? pow(10.0, weight_power) : 0;
|
|
smart_fill_wlsf(weight_factor);
|
|
}
|
|
break;
|
|
#endif
|
|
case 0: // P3 or P3.0
|
|
default: // and anything P3.x that's not P3.1
|
|
smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 4:
|
|
//
|
|
// Fine Tune (i.e., Edit) the Mesh
|
|
//
|
|
fine_tune_mesh(g29_x_pos, g29_y_pos, parser.seen('T'));
|
|
break;
|
|
|
|
case 5: find_mean_mesh_height(); break;
|
|
|
|
case 6: shift_mesh_height(); break;
|
|
}
|
|
}
|
|
|
|
//
|
|
// Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
|
|
// good to have the extra information. Soon... we prune this to just a few items
|
|
//
|
|
if (parser.seen('W')) g29_what_command();
|
|
|
|
//
|
|
// When we are fully debugged, this may go away. But there are some valid
|
|
// use cases for the users. So we can wait and see what to do with it.
|
|
//
|
|
|
|
if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
|
|
g29_compare_current_mesh_to_stored_mesh();
|
|
|
|
//
|
|
// Load a Mesh from the EEPROM
|
|
//
|
|
|
|
if (parser.seen('L')) { // Load Current Mesh Data
|
|
g29_storage_slot = parser.has_value() ? parser.value_int() : state.storage_slot;
|
|
|
|
int16_t a = settings.calc_num_meshes();
|
|
|
|
if (!a) {
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
|
|
return;
|
|
}
|
|
|
|
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
|
|
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
|
|
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
|
|
return;
|
|
}
|
|
|
|
settings.load_mesh(g29_storage_slot);
|
|
state.storage_slot = g29_storage_slot;
|
|
|
|
SERIAL_PROTOCOLLNPGM("Done.");
|
|
}
|
|
|
|
//
|
|
// Store a Mesh in the EEPROM
|
|
//
|
|
|
|
if (parser.seen('S')) { // Store (or Save) Current Mesh Data
|
|
g29_storage_slot = parser.has_value() ? parser.value_int() : state.storage_slot;
|
|
|
|
if (g29_storage_slot == -1) { // Special case, we are going to 'Export' the mesh to the
|
|
SERIAL_ECHOLNPGM("G29 I 999"); // host in a form it can be reconstructed on a different machine
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
if (!isnan(z_values[x][y])) {
|
|
SERIAL_ECHOPAIR("M421 I ", x);
|
|
SERIAL_ECHOPAIR(" J ", y);
|
|
SERIAL_ECHOPGM(" Z ");
|
|
SERIAL_ECHO_F(z_values[x][y], 6);
|
|
SERIAL_ECHOPAIR(" ; X ", LOGICAL_X_POSITION(mesh_index_to_xpos(x)));
|
|
SERIAL_ECHOPAIR(", Y ", LOGICAL_Y_POSITION(mesh_index_to_ypos(y)));
|
|
SERIAL_EOL;
|
|
}
|
|
return;
|
|
}
|
|
|
|
int16_t a = settings.calc_num_meshes();
|
|
|
|
if (!a) {
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
|
|
goto LEAVE;
|
|
}
|
|
|
|
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
|
|
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
|
|
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
|
|
goto LEAVE;
|
|
}
|
|
|
|
settings.store_mesh(g29_storage_slot);
|
|
state.storage_slot = g29_storage_slot;
|
|
|
|
SERIAL_PROTOCOLLNPGM("Done.");
|
|
}
|
|
|
|
if (parser.seen('T'))
|
|
display_map(parser.has_value() ? parser.value_int() : 0);
|
|
|
|
/**
|
|
* This code may not be needed... Prepare for its removal...
|
|
*
|
|
*/
|
|
#if 0
|
|
if (parser.seen('Z')) {
|
|
if (parser.has_value())
|
|
state.z_offset = parser.value_float(); // do the simple case. Just lock in the specified value
|
|
else {
|
|
save_ubl_active_state_and_disable();
|
|
//float measured_z = probe_pt(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
|
|
|
|
has_control_of_lcd_panel = true; // Grab the LCD Hardware
|
|
float measured_z = 1.5;
|
|
do_blocking_move_to_z(measured_z); // Get close to the bed, but leave some space so we don't damage anything
|
|
// The user is not going to be locking in a new Z-Offset very often so
|
|
// it won't be that painful to spin the Encoder Wheel for 1.5mm
|
|
lcd_refresh();
|
|
lcd_z_offset_edit_setup(measured_z);
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
do {
|
|
measured_z = lcd_z_offset_edit();
|
|
idle();
|
|
do_blocking_move_to_z(measured_z);
|
|
} while (!ubl_lcd_clicked());
|
|
|
|
has_control_of_lcd_panel = true; // There is a race condition for the encoder click.
|
|
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
|
|
// or here. So, until we are done looking for a long encoder press,
|
|
// we need to take control of the panel
|
|
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
lcd_return_to_status();
|
|
|
|
const millis_t nxt = millis() + 1500UL;
|
|
while (ubl_lcd_clicked()) { // debounce and watch for abort
|
|
idle();
|
|
if (ELAPSED(millis(), nxt)) {
|
|
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
|
|
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
|
LCD_MESSAGEPGM("Z-Offset Stopped"); // TODO: Make translatable string
|
|
restore_ubl_active_state_and_leave();
|
|
goto LEAVE;
|
|
}
|
|
}
|
|
has_control_of_lcd_panel = false;
|
|
safe_delay(20); // We don't want any switch noise.
|
|
|
|
state.z_offset = measured_z;
|
|
|
|
lcd_refresh();
|
|
restore_ubl_active_state_and_leave();
|
|
}
|
|
}
|
|
#endif
|
|
|
|
LEAVE:
|
|
|
|
lcd_reset_alert_level();
|
|
LCD_MESSAGEPGM("");
|
|
lcd_quick_feedback();
|
|
|
|
has_control_of_lcd_panel = false;
|
|
}
|
|
|
|
void unified_bed_leveling::find_mean_mesh_height() {
|
|
float sum = 0.0;
|
|
int n = 0;
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
if (!isnan(z_values[x][y])) {
|
|
sum += z_values[x][y];
|
|
n++;
|
|
}
|
|
|
|
const float mean = sum / n;
|
|
|
|
//
|
|
// Sum the squares of difference from mean
|
|
//
|
|
float sum_of_diff_squared = 0.0;
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
if (!isnan(z_values[x][y]))
|
|
sum_of_diff_squared += sq(z_values[x][y] - mean);
|
|
|
|
SERIAL_ECHOLNPAIR("# of samples: ", n);
|
|
SERIAL_ECHOPGM("Mean Mesh Height: ");
|
|
SERIAL_ECHO_F(mean, 6);
|
|
SERIAL_EOL;
|
|
|
|
const float sigma = sqrt(sum_of_diff_squared / (n + 1));
|
|
SERIAL_ECHOPGM("Standard Deviation: ");
|
|
SERIAL_ECHO_F(sigma, 6);
|
|
SERIAL_EOL;
|
|
|
|
if (g29_c_flag)
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
if (!isnan(z_values[x][y]))
|
|
z_values[x][y] -= mean + g29_constant;
|
|
}
|
|
|
|
void unified_bed_leveling::shift_mesh_height() {
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
if (!isnan(z_values[x][y]))
|
|
z_values[x][y] += g29_constant;
|
|
}
|
|
|
|
/**
|
|
* Probe all invalidated locations of the mesh that can be reached by the probe.
|
|
* This attempts to fill in locations closest to the nozzle's start location first.
|
|
*/
|
|
void unified_bed_leveling::probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool close_or_far) {
|
|
mesh_index_pair location;
|
|
|
|
has_control_of_lcd_panel = true;
|
|
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
|
|
DEPLOY_PROBE();
|
|
|
|
uint16_t max_iterations = GRID_MAX_POINTS;
|
|
|
|
do {
|
|
if (ubl_lcd_clicked()) {
|
|
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
|
|
lcd_quick_feedback();
|
|
STOW_PROBE();
|
|
while (ubl_lcd_clicked()) idle();
|
|
has_control_of_lcd_panel = false;
|
|
restore_ubl_active_state_and_leave();
|
|
safe_delay(50); // Debounce the Encoder wheel
|
|
return;
|
|
}
|
|
|
|
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, close_or_far);
|
|
|
|
if (location.x_index >= 0) { // mesh point found and is reachable by probe
|
|
const float rawx = mesh_index_to_xpos(location.x_index),
|
|
rawy = mesh_index_to_ypos(location.y_index);
|
|
|
|
const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level); // TODO: Needs error handling
|
|
z_values[location.x_index][location.y_index] = measured_z;
|
|
}
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type);
|
|
|
|
} while (location.x_index >= 0 && --max_iterations);
|
|
|
|
STOW_PROBE();
|
|
restore_ubl_active_state_and_leave();
|
|
|
|
do_blocking_move_to_xy(
|
|
constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_X, UBL_MESH_MAX_X),
|
|
constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)
|
|
);
|
|
}
|
|
|
|
void unified_bed_leveling::tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
|
|
matrix_3x3 rotation;
|
|
vector_3 v1 = vector_3( (UBL_PROBE_PT_1_X - UBL_PROBE_PT_2_X),
|
|
(UBL_PROBE_PT_1_Y - UBL_PROBE_PT_2_Y),
|
|
(z1 - z2) ),
|
|
|
|
v2 = vector_3( (UBL_PROBE_PT_3_X - UBL_PROBE_PT_2_X),
|
|
(UBL_PROBE_PT_3_Y - UBL_PROBE_PT_2_Y),
|
|
(z3 - z2) ),
|
|
|
|
normal = vector_3::cross(v1, v2);
|
|
|
|
normal = normal.get_normal();
|
|
|
|
/**
|
|
* This vector is normal to the tilted plane.
|
|
* However, we don't know its direction. We need it to point up. So if
|
|
* Z is negative, we need to invert the sign of all components of the vector
|
|
*/
|
|
if (normal.z < 0.0) {
|
|
normal.x = -normal.x;
|
|
normal.y = -normal.y;
|
|
normal.z = -normal.z;
|
|
}
|
|
|
|
rotation = matrix_3x3::create_look_at(vector_3(normal.x, normal.y, 1));
|
|
|
|
if (g29_verbose_level > 2) {
|
|
SERIAL_ECHOPGM("bed plane normal = [");
|
|
SERIAL_PROTOCOL_F(normal.x, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.y, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.z, 7);
|
|
SERIAL_ECHOLNPGM("]");
|
|
rotation.debug(PSTR("rotation matrix:"));
|
|
}
|
|
|
|
//
|
|
// All of 3 of these points should give us the same d constant
|
|
//
|
|
|
|
float t = normal.x * (UBL_PROBE_PT_1_X) + normal.y * (UBL_PROBE_PT_1_Y),
|
|
d = t + normal.z * z1;
|
|
|
|
if (g29_verbose_level>2) {
|
|
SERIAL_ECHOPGM("D constant: ");
|
|
SERIAL_PROTOCOL_F(d, 7);
|
|
SERIAL_ECHOLNPGM(" ");
|
|
}
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM("d from 1st point: ");
|
|
SERIAL_ECHO_F(d, 6);
|
|
SERIAL_EOL;
|
|
t = normal.x * (UBL_PROBE_PT_2_X) + normal.y * (UBL_PROBE_PT_2_Y);
|
|
d = t + normal.z * z2;
|
|
SERIAL_ECHOPGM("d from 2nd point: ");
|
|
SERIAL_ECHO_F(d, 6);
|
|
SERIAL_EOL;
|
|
t = normal.x * (UBL_PROBE_PT_3_X) + normal.y * (UBL_PROBE_PT_3_Y);
|
|
d = t + normal.z * z3;
|
|
SERIAL_ECHOPGM("d from 3rd point: ");
|
|
SERIAL_ECHO_F(d, 6);
|
|
SERIAL_EOL;
|
|
}
|
|
#endif
|
|
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
|
float x_tmp = mesh_index_to_xpos(i),
|
|
y_tmp = mesh_index_to_ypos(j),
|
|
z_tmp = z_values[i][j];
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM("before rotation = [");
|
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
|
SERIAL_ECHOPGM("] ---> ");
|
|
safe_delay(20);
|
|
}
|
|
#endif
|
|
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM("after rotation = [");
|
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
|
SERIAL_ECHOLNPGM("]");
|
|
safe_delay(55);
|
|
}
|
|
#endif
|
|
z_values[i][j] += z_tmp - d;
|
|
}
|
|
}
|
|
}
|
|
|
|
float unified_bed_leveling::measure_point_with_encoder() {
|
|
|
|
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
|
|
delay(50); // debounce
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
|
|
idle();
|
|
if (encoder_diff) {
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + 0.01 * float(encoder_diff));
|
|
encoder_diff = 0;
|
|
}
|
|
}
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
return current_position[Z_AXIS];
|
|
}
|
|
|
|
static void echo_and_take_a_measurement() { SERIAL_PROTOCOLLNPGM(" and take a measurement."); }
|
|
|
|
float unified_bed_leveling::measure_business_card_thickness(float &in_height) {
|
|
has_control_of_lcd_panel = true;
|
|
save_ubl_active_state_and_disable(); // Disable bed level correction for probing
|
|
|
|
do_blocking_move_to_z(in_height);
|
|
do_blocking_move_to_xy(0.5 * (UBL_MESH_MAX_X - (UBL_MESH_MIN_X)), 0.5 * (UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)));
|
|
//, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) / 2.0);
|
|
stepper.synchronize();
|
|
|
|
SERIAL_PROTOCOLPGM("Place shim under nozzle");
|
|
LCD_MESSAGEPGM("Place shim & measure"); // TODO: Make translatable string
|
|
lcd_return_to_status();
|
|
echo_and_take_a_measurement();
|
|
|
|
const float z1 = measure_point_with_encoder();
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
|
|
stepper.synchronize();
|
|
|
|
SERIAL_PROTOCOLPGM("Remove shim");
|
|
LCD_MESSAGEPGM("Remove & measure bed"); // TODO: Make translatable string
|
|
echo_and_take_a_measurement();
|
|
|
|
const float z2 = measure_point_with_encoder();
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
const float thickness = abs(z1 - z2);
|
|
|
|
if (g29_verbose_level > 1) {
|
|
SERIAL_PROTOCOLPGM("Business Card is ");
|
|
SERIAL_PROTOCOL_F(thickness, 4);
|
|
SERIAL_PROTOCOLLNPGM("mm thick.");
|
|
}
|
|
|
|
in_height = current_position[Z_AXIS]; // do manual probing at lower height
|
|
|
|
has_control_of_lcd_panel = false;
|
|
|
|
restore_ubl_active_state_and_leave();
|
|
|
|
return thickness;
|
|
}
|
|
|
|
void unified_bed_leveling::manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
|
|
|
|
has_control_of_lcd_panel = true;
|
|
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
do_blocking_move_to_xy(lx, ly);
|
|
|
|
lcd_return_to_status();
|
|
mesh_index_pair location;
|
|
do {
|
|
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_NOZZLE_AS_REFERENCE, NULL, false);
|
|
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
|
|
if (location.x_index < 0 && location.y_index < 0) continue;
|
|
|
|
const float rawx = mesh_index_to_xpos(location.x_index),
|
|
rawy = mesh_index_to_ypos(location.y_index),
|
|
xProbe = LOGICAL_X_POSITION(rawx),
|
|
yProbe = LOGICAL_Y_POSITION(rawy);
|
|
|
|
if (!position_is_reachable_raw_xy(rawx, rawy)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
|
|
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
LCD_MESSAGEPGM("Moving to next"); // TODO: Make translatable string
|
|
|
|
do_blocking_move_to_xy(xProbe, yProbe);
|
|
do_blocking_move_to_z(z_clearance);
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
has_control_of_lcd_panel = true;
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
|
|
|
|
serialprintPGM(parser.seen('B') ? PSTR("Place shim & measure") : PSTR("Measure")); // TODO: Make translatable strings
|
|
|
|
const float z_step = 0.01; // existing behavior: 0.01mm per click, occasionally step
|
|
//const float z_step = 1.0 / planner.axis_steps_per_mm[Z_AXIS]; // approx one step each click
|
|
|
|
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
|
|
delay(50); // debounce
|
|
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
|
|
idle();
|
|
if (encoder_diff) {
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * z_step);
|
|
encoder_diff = 0;
|
|
}
|
|
}
|
|
|
|
// this sequence to detect an ubl_lcd_clicked() debounce it and leave if it is
|
|
// a Press and Hold is repeated in a lot of places (including G26_Mesh_Validation.cpp). This
|
|
// should be redone and compressed.
|
|
const millis_t nxt = millis() + 1500L;
|
|
while (ubl_lcd_clicked()) { // debounce and watch for abort
|
|
idle();
|
|
if (ELAPSED(millis(), nxt)) {
|
|
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
|
|
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
|
lcd_quick_feedback();
|
|
while (ubl_lcd_clicked()) idle();
|
|
has_control_of_lcd_panel = false;
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
restore_ubl_active_state_and_leave();
|
|
return;
|
|
}
|
|
}
|
|
|
|
z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - thick;
|
|
if (g29_verbose_level > 2) {
|
|
SERIAL_PROTOCOLPGM("Mesh Point Measured at: ");
|
|
SERIAL_PROTOCOL_F(z_values[location.x_index][location.y_index], 6);
|
|
SERIAL_EOL;
|
|
}
|
|
} while (location.x_index >= 0 && location.y_index >= 0);
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type);
|
|
|
|
restore_ubl_active_state_and_leave();
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
|
do_blocking_move_to_xy(lx, ly);
|
|
}
|
|
|
|
bool unified_bed_leveling::g29_parameter_parsing() {
|
|
bool err_flag = false;
|
|
|
|
LCD_MESSAGEPGM("Doing G29 UBL!"); // TODO: Make translatable string
|
|
lcd_quick_feedback();
|
|
|
|
g29_constant = 0.0;
|
|
g29_repetition_cnt = 0;
|
|
|
|
g29_x_flag = parser.seen('X') && parser.has_value();
|
|
g29_x_pos = g29_x_flag ? parser.value_float() : current_position[X_AXIS];
|
|
g29_y_flag = parser.seen('Y') && parser.has_value();
|
|
g29_y_pos = g29_y_flag ? parser.value_float() : current_position[Y_AXIS];
|
|
|
|
if (parser.seen('R')) {
|
|
g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
|
|
NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
|
|
if (g29_repetition_cnt < 1) {
|
|
SERIAL_PROTOCOLLNPGM("?(R)epetition count invalid (1+).\n");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
g29_verbose_level = parser.seen('V') ? parser.value_int() : 0;
|
|
if (!WITHIN(g29_verbose_level, 0, 4)) {
|
|
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).\n");
|
|
err_flag = true;
|
|
}
|
|
|
|
if (parser.seen('P')) {
|
|
g29_phase_value = parser.value_int();
|
|
if (!WITHIN(g29_phase_value, 0, 6)) {
|
|
SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
|
|
err_flag = true;
|
|
}
|
|
}
|
|
|
|
if (parser.seen('J')) {
|
|
g29_grid_size = parser.has_value() ? parser.value_int() : 0;
|
|
if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) {
|
|
SERIAL_PROTOCOLLNPGM("?Invalid grid size (J) specified (2-9).\n");
|
|
err_flag = true;
|
|
}
|
|
}
|
|
|
|
if (g29_x_flag != g29_y_flag) {
|
|
SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n");
|
|
err_flag = true;
|
|
}
|
|
if (!WITHIN(RAW_X_POSITION(g29_x_pos), X_MIN_POS, X_MAX_POS)) {
|
|
SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n");
|
|
err_flag = true;
|
|
}
|
|
|
|
if (!WITHIN(RAW_Y_POSITION(g29_y_pos), Y_MIN_POS, Y_MAX_POS)) {
|
|
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
|
|
err_flag = true;
|
|
}
|
|
|
|
if (err_flag) return UBL_ERR;
|
|
|
|
/**
|
|
* Activate or deactivate UBL
|
|
* Note: UBL's G29 restores the state set here when done.
|
|
* Leveling is being enabled here with old data, possibly
|
|
* none. Error handling should disable for safety...
|
|
*/
|
|
if (parser.seen('A')) {
|
|
if (parser.seen('D')) {
|
|
SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
|
|
return UBL_ERR;
|
|
}
|
|
set_bed_leveling_enabled(true);
|
|
report_state();
|
|
}
|
|
else if (parser.seen('D')) {
|
|
set_bed_leveling_enabled(false);
|
|
report_state();
|
|
}
|
|
|
|
// Set global 'C' flag and its value
|
|
if ((g29_c_flag = parser.seen('C')))
|
|
g29_constant = parser.value_float();
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
if (parser.seen('F') && parser.has_value()) {
|
|
const float fh = parser.value_float();
|
|
if (!WITHIN(fh, 0.0, 100.0)) {
|
|
SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
|
|
return UBL_ERR;
|
|
}
|
|
set_z_fade_height(fh);
|
|
}
|
|
#endif
|
|
|
|
g29_map_type = parser.seen('T') && parser.has_value() ? parser.value_int() : 0;
|
|
if (!WITHIN(g29_map_type, 0, 1)) {
|
|
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
|
|
return UBL_ERR;
|
|
}
|
|
return UBL_OK;
|
|
}
|
|
|
|
static int ubl_state_at_invocation = 0,
|
|
ubl_state_recursion_chk = 0;
|
|
|
|
void unified_bed_leveling::save_ubl_active_state_and_disable() {
|
|
ubl_state_recursion_chk++;
|
|
if (ubl_state_recursion_chk != 1) {
|
|
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
|
|
LCD_MESSAGEPGM("save_UBL_active() error"); // TODO: Make translatable string
|
|
lcd_quick_feedback();
|
|
return;
|
|
}
|
|
ubl_state_at_invocation = state.active;
|
|
set_bed_leveling_enabled(false);
|
|
}
|
|
|
|
void unified_bed_leveling::restore_ubl_active_state_and_leave() {
|
|
if (--ubl_state_recursion_chk) {
|
|
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
|
|
LCD_MESSAGEPGM("restore_UBL_active() error"); // TODO: Make translatable string
|
|
lcd_quick_feedback();
|
|
return;
|
|
}
|
|
set_bed_leveling_enabled(ubl_state_at_invocation);
|
|
}
|
|
|
|
/**
|
|
* Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
|
|
* good to have the extra information. Soon... we prune this to just a few items
|
|
*/
|
|
void unified_bed_leveling::g29_what_command() {
|
|
report_state();
|
|
|
|
if (state.storage_slot == -1)
|
|
SERIAL_PROTOCOLPGM("No Mesh Loaded.");
|
|
else {
|
|
SERIAL_PROTOCOLPAIR("Mesh ", state.storage_slot);
|
|
SERIAL_PROTOCOLPGM(" Loaded.");
|
|
}
|
|
SERIAL_EOL;
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLLNPAIR("UBL object count: ", (int)ubl_cnt);
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
SERIAL_PROTOCOL("planner.z_fade_height : ");
|
|
SERIAL_PROTOCOL_F(planner.z_fade_height, 4);
|
|
SERIAL_EOL;
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
SERIAL_PROTOCOLPGM("zprobe_zoffset: ");
|
|
SERIAL_PROTOCOL_F(zprobe_zoffset, 7);
|
|
SERIAL_EOL;
|
|
#endif
|
|
|
|
SERIAL_ECHOLNPAIR("UBL_MESH_MIN_X " STRINGIFY(UBL_MESH_MIN_X) "=", UBL_MESH_MIN_X);
|
|
SERIAL_ECHOLNPAIR("UBL_MESH_MIN_Y " STRINGIFY(UBL_MESH_MIN_Y) "=", UBL_MESH_MIN_Y);
|
|
safe_delay(25);
|
|
SERIAL_ECHOLNPAIR("UBL_MESH_MAX_X " STRINGIFY(UBL_MESH_MAX_X) "=", UBL_MESH_MAX_X);
|
|
SERIAL_ECHOLNPAIR("UBL_MESH_MAX_Y " STRINGIFY(UBL_MESH_MAX_Y) "=", UBL_MESH_MAX_Y);
|
|
safe_delay(25);
|
|
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
|
|
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
|
|
safe_delay(25);
|
|
SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST);
|
|
SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST);
|
|
safe_delay(25);
|
|
|
|
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3);
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
safe_delay(25);
|
|
}
|
|
SERIAL_EOL;
|
|
|
|
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
|
|
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3);
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
safe_delay(25);
|
|
}
|
|
SERIAL_EOL;
|
|
|
|
#if HAS_KILL
|
|
SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
|
|
SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
|
|
#endif
|
|
SERIAL_EOL;
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation);
|
|
SERIAL_EOL;
|
|
SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk);
|
|
SERIAL_EOL;
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLPAIR("Meshes go from ", hex_address((void*)settings.get_start_of_meshes()));
|
|
SERIAL_PROTOCOLLNPAIR(" to ", hex_address((void*)settings.get_end_of_meshes()));
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
|
|
SERIAL_EOL;
|
|
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(z_values));
|
|
SERIAL_EOL;
|
|
safe_delay(25);
|
|
|
|
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.get_end_of_meshes() - settings.get_start_of_meshes())));
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLPAIR("EEPROM can hold ", settings.calc_num_meshes());
|
|
SERIAL_PROTOCOLLNPGM(" meshes.\n");
|
|
safe_delay(25);
|
|
|
|
if (!sanity_check()) {
|
|
echo_name();
|
|
SERIAL_PROTOCOLLNPGM(" sanity checks passed.");
|
|
}
|
|
}
|
|
|
|
/**
|
|
* When we are fully debugged, the EEPROM dump command will get deleted also. But
|
|
* right now, it is good to have the extra information. Soon... we prune this.
|
|
*/
|
|
void unified_bed_leveling::g29_eeprom_dump() {
|
|
unsigned char cccc;
|
|
uint16_t kkkk;
|
|
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM("EEPROM Dump:");
|
|
for (uint16_t i = 0; i < E2END + 1; i += 16) {
|
|
if (!(i & 0x3)) idle();
|
|
print_hex_word(i);
|
|
SERIAL_ECHOPGM(": ");
|
|
for (uint16_t j = 0; j < 16; j++) {
|
|
kkkk = i + j;
|
|
eeprom_read_block(&cccc, (void *)kkkk, 1);
|
|
print_hex_byte(cccc);
|
|
SERIAL_ECHO(' ');
|
|
}
|
|
SERIAL_EOL;
|
|
}
|
|
SERIAL_EOL;
|
|
}
|
|
|
|
/**
|
|
* When we are fully debugged, this may go away. But there are some valid
|
|
* use cases for the users. So we can wait and see what to do with it.
|
|
*/
|
|
void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() {
|
|
int16_t a = settings.calc_num_meshes();
|
|
|
|
if (!a) {
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
|
|
return;
|
|
}
|
|
|
|
if (!parser.has_value()) {
|
|
SERIAL_PROTOCOLLNPGM("?Storage slot # required.");
|
|
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
|
|
return;
|
|
}
|
|
|
|
g29_storage_slot = parser.value_int();
|
|
|
|
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
|
|
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
|
|
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
|
|
return;
|
|
}
|
|
|
|
float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
|
|
settings.load_mesh(g29_storage_slot, &tmp_z_values);
|
|
|
|
SERIAL_PROTOCOLPAIR("Subtracting mesh in slot ", g29_storage_slot);
|
|
SERIAL_PROTOCOLLNPGM(" from current mesh.");
|
|
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
z_values[x][y] -= tmp_z_values[x][y];
|
|
}
|
|
|
|
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16], const bool far_flag) {
|
|
mesh_index_pair out_mesh;
|
|
out_mesh.x_index = out_mesh.y_index = -1;
|
|
|
|
// Get our reference position. Either the nozzle or probe location.
|
|
const float px = RAW_X_POSITION(lx) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
|
|
py = RAW_Y_POSITION(ly) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
|
|
|
|
float best_so_far = far_flag ? -99999.99 : 99999.99;
|
|
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
|
|
|
if ( (type == INVALID && isnan(z_values[i][j])) // Check to see if this location holds the right thing
|
|
|| (type == REAL && !isnan(z_values[i][j]))
|
|
|| (type == SET_IN_BITMAP && is_bit_set(bits, i, j))
|
|
) {
|
|
// We only get here if we found a Mesh Point of the specified type
|
|
|
|
float raw_x = RAW_CURRENT_POSITION(X), raw_y = RAW_CURRENT_POSITION(Y);
|
|
const float mx = mesh_index_to_xpos(i),
|
|
my = mesh_index_to_ypos(j);
|
|
|
|
// If using the probe as the reference there are some unreachable locations.
|
|
// Also for round beds, there are grid points outside the bed the nozzle can't reach.
|
|
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
|
|
|
|
if (probe_as_reference ? !position_is_reachable_by_probe_raw_xy(mx, my) : !position_is_reachable_raw_xy(mx, my))
|
|
continue;
|
|
|
|
// Reachable. Check if it's the best_so_far location to the nozzle.
|
|
// Add in a weighting factor that considers the current location of the nozzle.
|
|
|
|
float distance = HYPOT(px - mx, py - my);
|
|
|
|
/**
|
|
* If doing the far_flag action, we want to be as far as possible
|
|
* from the starting point and from any other probed points. We
|
|
* want the next point spread out and filling in any blank spaces
|
|
* in the mesh. So we add in some of the distance to every probed
|
|
* point we can find.
|
|
*/
|
|
if (far_flag) {
|
|
for (uint8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
|
|
for (uint8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
|
|
if (i != k && j != l && !isnan(z_values[k][l])) {
|
|
//distance += pow((float) abs(i - k) * (MESH_X_DIST), 2) + pow((float) abs(j - l) * (MESH_Y_DIST), 2); // working here
|
|
distance += HYPOT(MESH_X_DIST, MESH_Y_DIST) / log(HYPOT((i - k) * (MESH_X_DIST) + .001, (j - l) * (MESH_Y_DIST)) + .001);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
// factor in the distance from the current location for the normal case
|
|
// so the nozzle isn't running all over the bed.
|
|
distance += HYPOT(raw_x - mx, raw_y - my) * 0.1;
|
|
|
|
// if far_flag, look for farthest point
|
|
if (far_flag == (distance > best_so_far) && distance != best_so_far) {
|
|
best_so_far = distance; // We found a closer/farther location with
|
|
out_mesh.x_index = i; // the specified type of mesh value.
|
|
out_mesh.y_index = j;
|
|
out_mesh.distance = best_so_far;
|
|
}
|
|
}
|
|
} // for j
|
|
} // for i
|
|
|
|
return out_mesh;
|
|
}
|
|
|
|
void unified_bed_leveling::fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
|
|
if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
|
|
g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
|
|
|
|
mesh_index_pair location;
|
|
uint16_t not_done[16];
|
|
|
|
if (!position_is_reachable_xy(lx, ly)) {
|
|
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
|
|
return;
|
|
}
|
|
|
|
save_ubl_active_state_and_disable();
|
|
|
|
memset(not_done, 0xFF, sizeof(not_done));
|
|
|
|
LCD_MESSAGEPGM("Fine Tuning Mesh"); // TODO: Make translatable string
|
|
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
do_blocking_move_to_xy(lx, ly);
|
|
do {
|
|
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done, false);
|
|
|
|
if (location.x_index < 0) break; // stop when we can't find any more reachable points.
|
|
|
|
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
|
|
// different location the next time through the loop
|
|
|
|
const float rawx = mesh_index_to_xpos(location.x_index),
|
|
rawy = mesh_index_to_ypos(location.y_index);
|
|
|
|
if (!position_is_reachable_raw_xy(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
|
|
break;
|
|
|
|
float new_z = z_values[location.x_index][location.y_index];
|
|
|
|
if (isnan(new_z)) // if the mesh point is invalid, set it to 0.0 so it can be edited
|
|
new_z = 0.0;
|
|
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to where we are going to edit
|
|
do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
|
|
|
|
new_z = floor(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
has_control_of_lcd_panel = true;
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type); // show the user which point is being adjusted
|
|
|
|
lcd_refresh();
|
|
|
|
lcd_mesh_edit_setup(new_z);
|
|
|
|
do {
|
|
new_z = lcd_mesh_edit();
|
|
#ifdef UBL_MESH_EDIT_MOVES_Z
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES + new_z); // Move the nozzle as the point is edited
|
|
#endif
|
|
idle();
|
|
} while (!ubl_lcd_clicked());
|
|
|
|
lcd_return_to_status();
|
|
|
|
// The technique used here generates a race condition for the encoder click.
|
|
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) or here.
|
|
// Let's work on specifying a proper API for the LCD ASAP, OK?
|
|
has_control_of_lcd_panel = true;
|
|
|
|
// this sequence to detect an ubl_lcd_clicked() debounce it and leave if it is
|
|
// a Press and Hold is repeated in a lot of places (including G26_Mesh_Validation.cpp). This
|
|
// should be redone and compressed.
|
|
const millis_t nxt = millis() + 1500UL;
|
|
while (ubl_lcd_clicked()) { // debounce and watch for abort
|
|
idle();
|
|
if (ELAPSED(millis(), nxt)) {
|
|
lcd_return_to_status();
|
|
//SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped.");
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
LCD_MESSAGEPGM("Mesh Editing Stopped"); // TODO: Make translatable string
|
|
|
|
while (ubl_lcd_clicked()) idle();
|
|
|
|
goto FINE_TUNE_EXIT;
|
|
}
|
|
}
|
|
|
|
safe_delay(20); // We don't want any switch noise.
|
|
|
|
z_values[location.x_index][location.y_index] = new_z;
|
|
|
|
lcd_refresh();
|
|
|
|
} while (location.x_index >= 0 && --g29_repetition_cnt > 0);
|
|
|
|
FINE_TUNE_EXIT:
|
|
|
|
has_control_of_lcd_panel = false;
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type);
|
|
restore_ubl_active_state_and_leave();
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
do_blocking_move_to_xy(lx, ly);
|
|
|
|
LCD_MESSAGEPGM("Done Editing Mesh"); // TODO: Make translatable string
|
|
SERIAL_ECHOLNPGM("Done Editing Mesh");
|
|
}
|
|
|
|
/**
|
|
* 'Smart Fill': Scan from the outward edges of the mesh towards the center.
|
|
* If an invalid location is found, use the next two points (if valid) to
|
|
* calculate a 'reasonable' value for the unprobed mesh point.
|
|
*/
|
|
|
|
bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
|
|
const int8_t x1 = x + xdir, x2 = x1 + xdir,
|
|
y1 = y + ydir, y2 = y1 + ydir;
|
|
// A NAN next to a pair of real values?
|
|
if (isnan(z_values[x][y]) && !isnan(z_values[x1][y1]) && !isnan(z_values[x2][y2])) {
|
|
if (z_values[x1][y1] < z_values[x2][y2]) // Angled downward?
|
|
z_values[x][y] = z_values[x1][y1]; // Use nearest (maybe a little too high.)
|
|
else
|
|
z_values[x][y] = 2.0 * z_values[x1][y1] - z_values[x2][y2]; // Angled upward...
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
|
|
|
|
void unified_bed_leveling::smart_fill_mesh() {
|
|
const smart_fill_info info[] = {
|
|
{ 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up
|
|
{ 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down
|
|
{ 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right
|
|
{ GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true } // Right side of the mesh looking left
|
|
};
|
|
for (uint8_t i = 0; i < COUNT(info); ++i) {
|
|
const smart_fill_info &f = info[i];
|
|
if (f.yfirst) {
|
|
const int8_t dir = f.ex > f.sx ? 1 : -1;
|
|
for (uint8_t y = f.sy; y != f.ey; ++y)
|
|
for (uint8_t x = f.sx; x != f.ex; x += dir)
|
|
if (smart_fill_one(x, y, dir, 0)) break;
|
|
}
|
|
else {
|
|
const int8_t dir = f.ey > f.sy ? 1 : -1;
|
|
for (uint8_t x = f.sx; x != f.ex; ++x)
|
|
for (uint8_t y = f.sy; y != f.ey; y += dir)
|
|
if (smart_fill_one(x, y, 0, dir)) break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
|
|
constexpr int16_t x_min = max(MIN_PROBE_X, UBL_MESH_MIN_X),
|
|
x_max = min(MAX_PROBE_X, UBL_MESH_MAX_X),
|
|
y_min = max(MIN_PROBE_Y, UBL_MESH_MIN_Y),
|
|
y_max = min(MAX_PROBE_Y, UBL_MESH_MAX_Y);
|
|
|
|
const float dx = float(x_max - x_min) / (g29_grid_size - 1.0),
|
|
dy = float(y_max - y_min) / (g29_grid_size - 1.0);
|
|
|
|
struct linear_fit_data lsf_results;
|
|
incremental_LSF_reset(&lsf_results);
|
|
|
|
bool zig_zag = false;
|
|
for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
|
|
const float x = float(x_min) + ix * dx;
|
|
for (int8_t iy = 0; iy < g29_grid_size; iy++) {
|
|
const float y = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
|
|
float measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_CHAR('(');
|
|
SERIAL_PROTOCOL_F(x, 7);
|
|
SERIAL_CHAR(',');
|
|
SERIAL_PROTOCOL_F(y, 7);
|
|
SERIAL_ECHOPGM(") logical: ");
|
|
SERIAL_CHAR('(');
|
|
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(x), 7);
|
|
SERIAL_CHAR(',');
|
|
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(y), 7);
|
|
SERIAL_ECHOPGM(") measured: ");
|
|
SERIAL_PROTOCOL_F(measured_z, 7);
|
|
SERIAL_ECHOPGM(" correction: ");
|
|
SERIAL_PROTOCOL_F(get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)), 7);
|
|
}
|
|
#endif
|
|
|
|
measured_z -= get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM(" final >>>---> ");
|
|
SERIAL_PROTOCOL_F(measured_z, 7);
|
|
SERIAL_EOL;
|
|
}
|
|
#endif
|
|
|
|
incremental_LSF(&lsf_results, x, y, measured_z);
|
|
}
|
|
|
|
zig_zag ^= true;
|
|
}
|
|
|
|
if (finish_incremental_LSF(&lsf_results)) {
|
|
SERIAL_ECHOPGM("Could not complete LSF!");
|
|
return;
|
|
}
|
|
|
|
if (g29_verbose_level > 3) {
|
|
SERIAL_ECHOPGM("LSF Results A=");
|
|
SERIAL_PROTOCOL_F(lsf_results.A, 7);
|
|
SERIAL_ECHOPGM(" B=");
|
|
SERIAL_PROTOCOL_F(lsf_results.B, 7);
|
|
SERIAL_ECHOPGM(" D=");
|
|
SERIAL_PROTOCOL_F(lsf_results.D, 7);
|
|
SERIAL_EOL;
|
|
}
|
|
|
|
vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal();
|
|
|
|
if (g29_verbose_level > 2) {
|
|
SERIAL_ECHOPGM("bed plane normal = [");
|
|
SERIAL_PROTOCOL_F(normal.x, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.y, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.z, 7);
|
|
SERIAL_ECHOLNPGM("]");
|
|
}
|
|
|
|
matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1));
|
|
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
|
float x_tmp = mesh_index_to_xpos(i),
|
|
y_tmp = mesh_index_to_ypos(j),
|
|
z_tmp = z_values[i][j];
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM("before rotation = [");
|
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
|
SERIAL_ECHOPGM("] ---> ");
|
|
safe_delay(20);
|
|
}
|
|
#endif
|
|
|
|
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM("after rotation = [");
|
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
|
SERIAL_ECHOLNPGM("]");
|
|
safe_delay(55);
|
|
}
|
|
#endif
|
|
|
|
z_values[i][j] += z_tmp - lsf_results.D;
|
|
}
|
|
}
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
rotation.debug(PSTR("rotation matrix:"));
|
|
SERIAL_ECHOPGM("LSF Results A=");
|
|
SERIAL_PROTOCOL_F(lsf_results.A, 7);
|
|
SERIAL_ECHOPGM(" B=");
|
|
SERIAL_PROTOCOL_F(lsf_results.B, 7);
|
|
SERIAL_ECHOPGM(" D=");
|
|
SERIAL_PROTOCOL_F(lsf_results.D, 7);
|
|
SERIAL_EOL;
|
|
safe_delay(55);
|
|
|
|
SERIAL_ECHOPGM("bed plane normal = [");
|
|
SERIAL_PROTOCOL_F(normal.x, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.y, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.z, 7);
|
|
SERIAL_ECHOPGM("]\n");
|
|
SERIAL_EOL;
|
|
}
|
|
#endif
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type);
|
|
}
|
|
|
|
#if ENABLED(UBL_G29_P31)
|
|
void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) {
|
|
|
|
// For each undefined mesh point, compute a distance-weighted least squares fit
|
|
// from all the originally populated mesh points, weighted toward the point
|
|
// being extrapolated so that nearby points will have greater influence on
|
|
// the point being extrapolated. Then extrapolate the mesh point from WLSF.
|
|
|
|
static_assert(GRID_MAX_POINTS_Y <= 16, "GRID_MAX_POINTS_Y too big");
|
|
uint16_t bitmap[GRID_MAX_POINTS_X] = { 0 };
|
|
struct linear_fit_data lsf_results;
|
|
|
|
SERIAL_ECHOPGM("Extrapolating mesh...");
|
|
|
|
const float weight_scaled = weight_factor * max(MESH_X_DIST, MESH_Y_DIST);
|
|
|
|
for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++)
|
|
for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++)
|
|
if (!isnan(z_values[jx][jy]))
|
|
SBI(bitmap[jx], jy);
|
|
|
|
for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) {
|
|
const float px = mesh_index_to_xpos(ix);
|
|
for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; iy++) {
|
|
const float py = mesh_index_to_ypos(iy);
|
|
if (isnan(z_values[ix][iy])) {
|
|
// undefined mesh point at (px,py), compute weighted LSF from original valid mesh points.
|
|
incremental_LSF_reset(&lsf_results);
|
|
for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) {
|
|
const float rx = mesh_index_to_xpos(jx);
|
|
for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
|
|
if (TEST(bitmap[jx], jy)) {
|
|
const float ry = mesh_index_to_ypos(jy),
|
|
rz = z_values[jx][jy],
|
|
w = 1.0 + weight_scaled / HYPOT((rx - px), (ry - py));
|
|
incremental_WLSF(&lsf_results, rx, ry, rz, w);
|
|
}
|
|
}
|
|
}
|
|
if (finish_incremental_LSF(&lsf_results)) {
|
|
SERIAL_ECHOLNPGM("Insufficient data");
|
|
return;
|
|
}
|
|
const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
|
|
z_values[ix][iy] = ez;
|
|
idle(); // housekeeping
|
|
}
|
|
}
|
|
}
|
|
|
|
SERIAL_ECHOLNPGM("done");
|
|
}
|
|
#endif // UBL_G29_P31
|
|
|
|
#endif // AUTO_BED_LEVELING_UBL
|