Merge pull request #7916 from thinkyhead/bf2_probeless_ubl
[2.0.x] Allow UBL G29 and G26 to build without a probe
This commit is contained in:
Scott Lahteine
commit
1d04197f2f
5 changed files with 375 additions and 343 deletions
12
.travis.yml
12
.travis.yml
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@ -73,11 +73,17 @@ script:
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- opt_set ABL_GRID_POINTS_Y 16
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- opt_set ABL_GRID_POINTS_Y 16
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- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
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- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
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#
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#
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# Test a simple build of AUTO_BED_LEVELING_UBL
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# Test a probeless build of AUTO_BED_LEVELING_UBL
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#
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#
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- restore_configs
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- restore_configs
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- opt_enable AUTO_BED_LEVELING_UBL UBL_G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT BLTOUCH EEPROM_SETTINGS G3D_PANEL
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- opt_enable AUTO_BED_LEVELING_UBL UBL_G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT EEPROM_SETTINGS G3D_PANEL
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- opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING BABYSTEP_ZPROBE_OFFSET
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- opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING
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- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
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#
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# ...and with a probe
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#
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- opt_enable BLTOUCH
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- opt_enable_adv BABYSTEP_ZPROBE_OFFSET
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- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
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- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
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#
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#
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# Test a Sled Z Probe
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# Test a Sled Z Probe
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@ -135,17 +135,6 @@
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extern char lcd_status_message[];
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extern char lcd_status_message[];
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#endif
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#endif
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// Remove this if all is well with Teensy compile:
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#if 0
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
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inline void set_current_to_destination() { COPY(current_position, destination); }
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#else
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extern void sync_plan_position_e();
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extern void set_current_to_destination();
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#endif
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#endif
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#if ENABLED(NEWPANEL)
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#if ENABLED(NEWPANEL)
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void lcd_setstatusPGM(const char* const message, const int8_t level);
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void lcd_setstatusPGM(const char* const message, const int8_t level);
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void chirp_at_user();
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void chirp_at_user();
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@ -85,13 +85,16 @@ class unified_bed_leveling {
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g29_phase_value,
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g29_phase_value,
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g29_repetition_cnt,
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g29_repetition_cnt,
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g29_storage_slot,
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g29_storage_slot,
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g29_map_type,
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g29_map_type;
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g29_grid_size;
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static bool g29_c_flag, g29_x_flag, g29_y_flag;
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static bool g29_c_flag, g29_x_flag, g29_y_flag;
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static float g29_x_pos, g29_y_pos,
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static float g29_x_pos, g29_y_pos,
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g29_card_thickness,
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g29_card_thickness,
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g29_constant;
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g29_constant;
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#if HAS_BED_PROBE
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static int g29_grid_size;
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#endif
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#if ENABLED(UBL_G26_MESH_VALIDATION)
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#if ENABLED(UBL_G26_MESH_VALIDATION)
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static float g26_extrusion_multiplier,
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static float g26_extrusion_multiplier,
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g26_retraction_multiplier,
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g26_retraction_multiplier,
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@ -65,8 +65,7 @@
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unified_bed_leveling::g29_phase_value,
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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_repetition_cnt,
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unified_bed_leveling::g29_storage_slot = 0,
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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_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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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_x_flag,
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unified_bed_leveling::g29_y_flag;
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unified_bed_leveling::g29_y_flag;
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@ -75,6 +74,10 @@
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unified_bed_leveling::g29_card_thickness = 0.0,
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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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unified_bed_leveling::g29_constant = 0.0;
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#if HAS_BED_PROBE
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int unified_bed_leveling::g29_grid_size;
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#endif
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/**
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/**
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* G29: Unified Bed Leveling by Roxy
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* G29: Unified Bed Leveling by Roxy
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*
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*
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@ -310,6 +313,8 @@
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return;
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return;
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}
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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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// Check for commands that require the printer to be homed
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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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if (axis_unhomed_error()) {
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const int8_t p_val = parser.intval('P', -1);
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const int8_t p_val = parser.intval('P', -1);
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@ -317,8 +322,6 @@
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gcode.home_all_axes();
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gcode.home_all_axes();
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}
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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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// 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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// 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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if (parser.seen('I')) {
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@ -381,40 +384,44 @@
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}
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}
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}
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}
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if (parser.seen('J')) {
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#if HAS_BED_PROBE
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if (g29_grid_size) { // if not 0 it is a normal n x n grid being probed
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save_ubl_active_state_and_disable();
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if (parser.seen('J')) {
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tilt_mesh_based_on_probed_grid(parser.seen('T'));
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if (g29_grid_size) { // if not 0 it is a normal n x n grid being probed
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restore_ubl_active_state_and_leave();
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save_ubl_active_state_and_disable();
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}
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tilt_mesh_based_on_probed_grid(parser.seen('T'));
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else { // grid_size == 0 : A 3-Point leveling has been requested
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restore_ubl_active_state_and_leave();
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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);
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if (!isnan(z1)) {
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z2 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level);
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if (!isnan(z2))
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z3 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
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}
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}
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else { // grid_size == 0 : A 3-Point leveling has been requested
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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);
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if (!isnan(z1)) {
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z2 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level);
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if (!isnan(z2))
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z3 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
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}
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if (isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
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if (isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
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SERIAL_ERROR_START();
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
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SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
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goto LEAVE;
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goto LEAVE;
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}
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// Adjust z1, z2, z3 by the Mesh Height at these points. Just because they're non-zero
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// doesn't mean the Mesh is tilted! (Compensate each probe point by what the Mesh says
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// its height is.)
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save_ubl_active_state_and_disable();
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z1 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
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z2 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
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z3 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
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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)));
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tilt_mesh_based_on_3pts(z1, z2, z3);
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restore_ubl_active_state_and_leave();
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}
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}
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// Adjust z1, z2, z3 by the Mesh Height at these points. Just because they're non-zero
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// doesn't mean the Mesh is tilted! (Compensate each probe point by what the Mesh says
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// its height is.)
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save_ubl_active_state_and_disable();
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z1 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
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z2 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
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z3 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
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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)));
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tilt_mesh_based_on_3pts(z1, z2, z3);
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restore_ubl_active_state_and_leave();
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}
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}
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}
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#endif // HAS_BED_PROBE
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if (parser.seen('P')) {
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if (parser.seen('P')) {
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if (WITHIN(g29_phase_value, 0, 1) && state.storage_slot == -1) {
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if (WITHIN(g29_phase_value, 0, 1) && state.storage_slot == -1) {
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@ -431,23 +438,27 @@
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SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
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SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
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break;
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break;
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case 1:
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#if HAS_BED_PROBE
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//
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// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
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case 1:
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//
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//
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if (!parser.seen('C')) {
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// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
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invalidate();
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//
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SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
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if (!parser.seen('C')) {
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}
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invalidate();
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if (g29_verbose_level > 1) {
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SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
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SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", g29_x_pos);
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}
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SERIAL_PROTOCOLCHAR(',');
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if (g29_verbose_level > 1) {
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SERIAL_PROTOCOL(g29_y_pos);
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SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", g29_x_pos);
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SERIAL_PROTOCOLLNPGM(").\n");
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SERIAL_PROTOCOLCHAR(',');
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}
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SERIAL_PROTOCOL(g29_y_pos);
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probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
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SERIAL_PROTOCOLLNPGM(").\n");
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parser.seen('T'), parser.seen('E'), parser.seen('U'));
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}
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break;
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probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
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parser.seen('T'), parser.seen('E'), parser.seen('U'));
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break;
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#endif
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case 2: {
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case 2: {
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#if ENABLED(NEWPANEL)
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#if ENABLED(NEWPANEL)
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@ -776,161 +787,166 @@
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z_values[x][y] += g29_constant;
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z_values[x][y] += g29_constant;
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}
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}
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/**
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#if HAS_BED_PROBE
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* Probe all invalidated locations of the mesh that can be reached by the probe.
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* This attempts to fill in locations closest to the nozzle's start location first.
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*/
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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) {
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mesh_index_pair location;
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has_control_of_lcd_panel = true;
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/**
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save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
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* Probe all invalidated locations of the mesh that can be reached by the probe.
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DEPLOY_PROBE();
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* This attempts to fill in locations closest to the nozzle's start location first.
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*/
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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) {
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mesh_index_pair location;
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uint16_t max_iterations = GRID_MAX_POINTS;
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has_control_of_lcd_panel = true;
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save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
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DEPLOY_PROBE();
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do {
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uint16_t max_iterations = GRID_MAX_POINTS;
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#if ENABLED(NEWPANEL)
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if (ubl_lcd_clicked()) {
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do {
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SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
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#if ENABLED(NEWPANEL)
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lcd_quick_feedback();
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if (ubl_lcd_clicked()) {
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STOW_PROBE();
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SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
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while (ubl_lcd_clicked()) idle();
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lcd_quick_feedback();
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has_control_of_lcd_panel = false;
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STOW_PROBE();
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restore_ubl_active_state_and_leave();
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while (ubl_lcd_clicked()) idle();
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safe_delay(50); // Debounce the Encoder wheel
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has_control_of_lcd_panel = false;
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return;
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restore_ubl_active_state_and_leave();
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safe_delay(50); // Debounce the Encoder wheel
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|
return;
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}
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#endif
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location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, close_or_far);
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if (location.x_index >= 0) { // mesh point found and is reachable by probe
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const float rawx = mesh_index_to_xpos(location.x_index),
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rawy = mesh_index_to_ypos(location.y_index);
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const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level); // TODO: Needs error handling
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z_values[location.x_index][location.y_index] = measured_z;
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}
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if (do_ubl_mesh_map) display_map(g29_map_type);
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} while (location.x_index >= 0 && --max_iterations);
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STOW_PROBE();
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restore_ubl_active_state_and_leave();
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do_blocking_move_to_xy(
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constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_X, UBL_MESH_MAX_X),
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constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)
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);
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}
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void unified_bed_leveling::tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
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|
matrix_3x3 rotation;
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|
vector_3 v1 = vector_3( (UBL_PROBE_PT_1_X - UBL_PROBE_PT_2_X),
|
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(UBL_PROBE_PT_1_Y - UBL_PROBE_PT_2_Y),
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(z1 - z2) ),
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|
||||||
|
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
|
#endif
|
||||||
|
|
||||||
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, close_or_far);
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
||||||
|
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
||||||
if (location.x_index >= 0) { // mesh point found and is reachable by probe
|
float x_tmp = mesh_index_to_xpos(i),
|
||||||
const float rawx = mesh_index_to_xpos(location.x_index),
|
y_tmp = mesh_index_to_ypos(j),
|
||||||
rawy = mesh_index_to_ypos(location.y_index);
|
z_tmp = z_values[i][j];
|
||||||
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level); // TODO: Needs error handling
|
if (DEBUGGING(LEVELING)) {
|
||||||
z_values[location.x_index][location.y_index] = measured_z;
|
SERIAL_ECHOPGM("before rotation = [");
|
||||||
}
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
||||||
|
SERIAL_PROTOCOLCHAR(',');
|
||||||
if (do_ubl_mesh_map) display_map(g29_map_type);
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
||||||
|
SERIAL_PROTOCOLCHAR(',');
|
||||||
} while (location.x_index >= 0 && --max_iterations);
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
||||||
|
SERIAL_ECHOPGM("] ---> ");
|
||||||
STOW_PROBE();
|
safe_delay(20);
|
||||||
restore_ubl_active_state_and_leave();
|
}
|
||||||
|
#endif
|
||||||
do_blocking_move_to_xy(
|
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
|
||||||
constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_X, UBL_MESH_MAX_X),
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)
|
if (DEBUGGING(LEVELING)) {
|
||||||
);
|
SERIAL_ECHOPGM("after rotation = [");
|
||||||
}
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
||||||
|
SERIAL_PROTOCOLCHAR(',');
|
||||||
void unified_bed_leveling::tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
||||||
matrix_3x3 rotation;
|
SERIAL_PROTOCOLCHAR(',');
|
||||||
vector_3 v1 = vector_3( (UBL_PROBE_PT_1_X - UBL_PROBE_PT_2_X),
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
||||||
(UBL_PROBE_PT_1_Y - UBL_PROBE_PT_2_Y),
|
SERIAL_ECHOLNPGM("]");
|
||||||
(z1 - z2) ),
|
safe_delay(55);
|
||||||
|
}
|
||||||
v2 = vector_3( (UBL_PROBE_PT_3_X - UBL_PROBE_PT_2_X),
|
#endif
|
||||||
(UBL_PROBE_PT_3_Y - UBL_PROBE_PT_2_Y),
|
z_values[i][j] += z_tmp - d;
|
||||||
(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;
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
|
||||||
|
#endif // HAS_BED_PROBE
|
||||||
|
|
||||||
#if ENABLED(NEWPANEL)
|
#if ENABLED(NEWPANEL)
|
||||||
|
|
||||||
float unified_bed_leveling::measure_point_with_encoder() {
|
float unified_bed_leveling::measure_point_with_encoder() {
|
||||||
|
|
||||||
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
|
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
|
||||||
|
|
@ -1080,7 +1096,8 @@
|
||||||
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
||||||
do_blocking_move_to_xy(lx, ly);
|
do_blocking_move_to_xy(lx, ly);
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
|
#endif // NEWPANEL
|
||||||
|
|
||||||
bool unified_bed_leveling::g29_parameter_parsing() {
|
bool unified_bed_leveling::g29_parameter_parsing() {
|
||||||
bool err_flag = false;
|
bool err_flag = false;
|
||||||
|
|
@ -1114,19 +1131,34 @@
|
||||||
}
|
}
|
||||||
|
|
||||||
if (parser.seen('P')) {
|
if (parser.seen('P')) {
|
||||||
g29_phase_value = parser.value_int();
|
const int pv = parser.value_int();
|
||||||
if (!WITHIN(g29_phase_value, 0, 6)) {
|
#if !HAS_BED_PROBE
|
||||||
SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
|
if (pv == 1) {
|
||||||
err_flag = true;
|
SERIAL_PROTOCOLLNPGM("G29 P1 requires a probe.\n");
|
||||||
}
|
err_flag = true;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
#endif
|
||||||
|
{
|
||||||
|
g29_phase_value = pv;
|
||||||
|
if (!WITHIN(g29_phase_value, 0, 6)) {
|
||||||
|
SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
|
||||||
|
err_flag = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if (parser.seen('J')) {
|
if (parser.seen('J')) {
|
||||||
g29_grid_size = parser.has_value() ? parser.value_int() : 0;
|
#if HAS_BED_PROBE
|
||||||
if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) {
|
g29_grid_size = parser.has_value() ? parser.value_int() : 0;
|
||||||
SERIAL_PROTOCOLLNPGM("?Invalid grid size (J) specified (2-9).\n");
|
if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) {
|
||||||
|
SERIAL_PROTOCOLLNPGM("?Invalid grid size (J) specified (2-9).\n");
|
||||||
|
err_flag = true;
|
||||||
|
}
|
||||||
|
#else
|
||||||
|
SERIAL_PROTOCOLLNPGM("G29 J action requires a probe.\n");
|
||||||
err_flag = true;
|
err_flag = true;
|
||||||
}
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
if (g29_x_flag != g29_y_flag) {
|
if (g29_x_flag != g29_y_flag) {
|
||||||
|
|
@ -1624,128 +1656,66 @@
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
|
#if HAS_BED_PROBE
|
||||||
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),
|
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
|
||||||
dy = float(y_max - y_min) / (g29_grid_size - 1.0);
|
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);
|
||||||
|
|
||||||
struct linear_fit_data lsf_results;
|
const float dx = float(x_max - x_min) / (g29_grid_size - 1.0),
|
||||||
incremental_LSF_reset(&lsf_results);
|
dy = float(y_max - y_min) / (g29_grid_size - 1.0);
|
||||||
|
|
||||||
bool zig_zag = false;
|
struct linear_fit_data lsf_results;
|
||||||
for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
|
incremental_LSF_reset(&lsf_results);
|
||||||
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 */ ;
|
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
|
||||||
|
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
measured_z -= get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
|
||||||
if (DEBUGGING(LEVELING)) {
|
|
||||||
SERIAL_ECHOPGM(" final >>>---> ");
|
|
||||||
SERIAL_PROTOCOL_F(measured_z, 7);
|
|
||||||
SERIAL_EOL();
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
incremental_LSF(&lsf_results, x, y, measured_z);
|
#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;
|
||||||
}
|
}
|
||||||
|
|
||||||
zig_zag ^= true;
|
if (finish_incremental_LSF(&lsf_results)) {
|
||||||
}
|
SERIAL_ECHOPGM("Could not complete LSF!");
|
||||||
|
return;
|
||||||
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 (g29_verbose_level > 3) {
|
||||||
if (DEBUGGING(LEVELING)) {
|
|
||||||
rotation.debug(PSTR("rotation matrix:"));
|
|
||||||
SERIAL_ECHOPGM("LSF Results A=");
|
SERIAL_ECHOPGM("LSF Results A=");
|
||||||
SERIAL_PROTOCOL_F(lsf_results.A, 7);
|
SERIAL_PROTOCOL_F(lsf_results.A, 7);
|
||||||
SERIAL_ECHOPGM(" B=");
|
SERIAL_ECHOPGM(" B=");
|
||||||
|
|
@ -1753,21 +1723,87 @@
|
||||||
SERIAL_ECHOPGM(" D=");
|
SERIAL_ECHOPGM(" D=");
|
||||||
SERIAL_PROTOCOL_F(lsf_results.D, 7);
|
SERIAL_PROTOCOL_F(lsf_results.D, 7);
|
||||||
SERIAL_EOL();
|
SERIAL_EOL();
|
||||||
safe_delay(55);
|
}
|
||||||
|
|
||||||
|
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_ECHOPGM("bed plane normal = [");
|
||||||
SERIAL_PROTOCOL_F(normal.x, 7);
|
SERIAL_PROTOCOL_F(normal.x, 7);
|
||||||
SERIAL_PROTOCOLCHAR(',');
|
SERIAL_PROTOCOLCHAR(',');
|
||||||
SERIAL_PROTOCOL_F(normal.y, 7);
|
SERIAL_PROTOCOL_F(normal.y, 7);
|
||||||
SERIAL_PROTOCOLCHAR(',');
|
SERIAL_PROTOCOLCHAR(',');
|
||||||
SERIAL_PROTOCOL_F(normal.z, 7);
|
SERIAL_PROTOCOL_F(normal.z, 7);
|
||||||
SERIAL_ECHOPGM("]\n");
|
SERIAL_ECHOLNPGM("]");
|
||||||
SERIAL_EOL();
|
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
|
|
||||||
if (do_ubl_mesh_map) display_map(g29_map_type);
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // HAS_BED_PROBE
|
||||||
|
|
||||||
#if ENABLED(UBL_G29_P31)
|
#if ENABLED(UBL_G29_P31)
|
||||||
void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) {
|
void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) {
|
||||||
|
|
|
||||||
|
|
@ -647,9 +647,7 @@ static_assert(1 >= 0
|
||||||
/**
|
/**
|
||||||
* Require some kind of probe for bed leveling and probe testing
|
* Require some kind of probe for bed leveling and probe testing
|
||||||
*/
|
*/
|
||||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
#if HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
|
||||||
#error "Unified Bed Leveling requires a probe: FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or Z Servo."
|
|
||||||
#elif HAS_ABL
|
|
||||||
#error "Auto Bed Leveling requires one of these: PROBE_MANUALLY, FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or a Z Servo."
|
#error "Auto Bed Leveling requires one of these: PROBE_MANUALLY, FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or a Z Servo."
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
|
||||||
Reference in a new issue