Merge pull request #6827 from thinkyhead/bf_day_ending_in_y
Make UBL a complete singleton
This commit is contained in:
Scott Lahteine
commit
62d8e35adc
21 changed files with 635 additions and 629 deletions
|
|
@ -135,64 +135,78 @@
|
|||
float code_value_axis_units(const AxisEnum axis);
|
||||
bool code_value_bool();
|
||||
bool code_has_value();
|
||||
void lcd_init();
|
||||
void lcd_setstatuspgm(const char* const message, const uint8_t level);
|
||||
void sync_plan_position_e();
|
||||
void chirp_at_user();
|
||||
|
||||
// Private functions
|
||||
|
||||
void un_retract_filament(float where[XYZE]);
|
||||
void retract_filament(float where[XYZE]);
|
||||
bool look_for_lines_to_connect();
|
||||
bool parse_G26_parameters();
|
||||
void move_to(const float&, const float&, const float&, const float&) ;
|
||||
void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
|
||||
bool turn_on_heaters();
|
||||
bool prime_nozzle();
|
||||
|
||||
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
|
||||
float g26_e_axis_feedrate = 0.020,
|
||||
random_deviation = 0.0,
|
||||
layer_height = LAYER_HEIGHT;
|
||||
random_deviation = 0.0;
|
||||
|
||||
static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
|
||||
// retracts/recovers won't result in a bad state.
|
||||
|
||||
float valid_trig_angle(float);
|
||||
mesh_index_pair find_closest_circle_to_print(const float&, const float&);
|
||||
|
||||
static float extrusion_multiplier = EXTRUSION_MULTIPLIER,
|
||||
retraction_multiplier = RETRACTION_MULTIPLIER,
|
||||
nozzle = NOZZLE,
|
||||
filament_diameter = FILAMENT,
|
||||
prime_length = PRIME_LENGTH,
|
||||
x_pos, y_pos,
|
||||
ooze_amount = OOZE_AMOUNT;
|
||||
float unified_bed_leveling::g26_extrusion_multiplier,
|
||||
unified_bed_leveling::g26_retraction_multiplier,
|
||||
unified_bed_leveling::g26_nozzle,
|
||||
unified_bed_leveling::g26_filament_diameter,
|
||||
unified_bed_leveling::g26_layer_height,
|
||||
unified_bed_leveling::g26_prime_length,
|
||||
unified_bed_leveling::g26_x_pos,
|
||||
unified_bed_leveling::g26_y_pos,
|
||||
unified_bed_leveling::g26_ooze_amount;
|
||||
|
||||
static int16_t bed_temp = BED_TEMP,
|
||||
hotend_temp = HOTEND_TEMP;
|
||||
int16_t unified_bed_leveling::g26_bed_temp,
|
||||
unified_bed_leveling::g26_hotend_temp;
|
||||
|
||||
static int8_t prime_flag = 0;
|
||||
int8_t unified_bed_leveling::g26_prime_flag;
|
||||
|
||||
static bool continue_with_closest, keep_heaters_on;
|
||||
bool unified_bed_leveling::g26_continue_with_closest,
|
||||
unified_bed_leveling::g26_keep_heaters_on;
|
||||
|
||||
static int16_t g26_repeats;
|
||||
int16_t unified_bed_leveling::g26_repeats;
|
||||
|
||||
void G26_line_to_destination(const float &feed_rate) {
|
||||
void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) {
|
||||
const float save_feedrate = feedrate_mm_s;
|
||||
feedrate_mm_s = feed_rate; // use specified feed rate
|
||||
prepare_move_to_destination(); // will ultimately call ubl_line_to_destination_cartesian or ubl_prepare_linear_move_to for UBL_DELTA
|
||||
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
|
||||
feedrate_mm_s = save_feedrate; // restore global feed rate
|
||||
}
|
||||
|
||||
/**
|
||||
* Detect ubl_lcd_clicked, debounce it, and return true for cancel
|
||||
*/
|
||||
bool user_canceled() {
|
||||
if (!ubl_lcd_clicked()) return false;
|
||||
safe_delay(10); // Wait for click to settle
|
||||
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
lcd_setstatuspgm(PSTR("Mesh Validation Stopped."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
lcd_reset_alert_level();
|
||||
|
||||
while (!ubl_lcd_clicked()) idle(); // Wait for button release
|
||||
|
||||
// If the button is suddenly pressed again,
|
||||
// ask the user to resolve the issue
|
||||
lcd_setstatuspgm(PSTR("Release button"), 99); // will never appear...
|
||||
while (ubl_lcd_clicked()) idle(); // unless this loop happens
|
||||
lcd_setstatuspgm(PSTR(""));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* G26: Mesh Validation Pattern generation.
|
||||
*
|
||||
* Used to interactively edit UBL's Mesh by placing the
|
||||
* nozzle in a problem area and doing a G29 P4 R command.
|
||||
*/
|
||||
void gcode_G26() {
|
||||
void unified_bed_leveling::G26() {
|
||||
SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
|
||||
float tmp, start_angle, end_angle;
|
||||
int i, xi, yi;
|
||||
|
|
@ -213,7 +227,7 @@
|
|||
current_position[E_AXIS] = 0.0;
|
||||
sync_plan_position_e();
|
||||
|
||||
if (prime_flag && prime_nozzle()) goto LEAVE;
|
||||
if (g26_prime_flag && prime_nozzle()) goto LEAVE;
|
||||
|
||||
/**
|
||||
* Bed is preheated
|
||||
|
|
@ -231,11 +245,11 @@
|
|||
|
||||
// Move nozzle to the specified height for the first layer
|
||||
set_destination_to_current();
|
||||
destination[Z_AXIS] = layer_height;
|
||||
destination[Z_AXIS] = g26_layer_height;
|
||||
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0.0);
|
||||
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], ooze_amount);
|
||||
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], g26_ooze_amount);
|
||||
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
has_control_of_lcd_panel = true;
|
||||
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
|
||||
|
||||
/**
|
||||
|
|
@ -249,13 +263,13 @@
|
|||
}
|
||||
|
||||
do {
|
||||
location = continue_with_closest
|
||||
location = g26_continue_with_closest
|
||||
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
|
||||
: find_closest_circle_to_print(x_pos, y_pos); // Find the closest Mesh Intersection to where we are now.
|
||||
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
|
||||
|
||||
if (location.x_index >= 0 && location.y_index >= 0) {
|
||||
const float circle_x = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
|
||||
circle_y = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
|
||||
const float circle_x = mesh_index_to_xpos(location.x_index),
|
||||
circle_y = mesh_index_to_ypos(location.y_index);
|
||||
|
||||
// If this mesh location is outside the printable_radius, skip it.
|
||||
|
||||
|
|
@ -264,7 +278,7 @@
|
|||
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
|
||||
yi = location.y_index;
|
||||
|
||||
if (ubl.g26_debug_flag) {
|
||||
if (g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi);
|
||||
SERIAL_ECHOPAIR(", yi=", yi);
|
||||
SERIAL_CHAR(')');
|
||||
|
|
@ -300,25 +314,7 @@
|
|||
|
||||
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
|
||||
|
||||
// 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 ubl_G29.cpp). This
|
||||
// should be redone and compressed.
|
||||
if (ubl_lcd_clicked()) { // Check if the user wants to stop the Mesh Validation
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
lcd_setstatuspgm(PSTR("Mesh Validation Stopped."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
while (!ubl_lcd_clicked()) { // Wait until the user is done pressing the
|
||||
idle(); // Encoder Wheel if that is why we are leaving
|
||||
lcd_reset_alert_level();
|
||||
lcd_setstatuspgm(PSTR(""));
|
||||
}
|
||||
while (ubl_lcd_clicked()) { // Wait until the user is done pressing the
|
||||
idle(); // Encoder Wheel if that is why we are leaving
|
||||
lcd_setstatuspgm(PSTR("Unpress Wheel"), 99);
|
||||
}
|
||||
goto LEAVE;
|
||||
}
|
||||
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
|
||||
|
||||
int tmp_div_30 = tmp / 30.0;
|
||||
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
|
||||
|
|
@ -338,7 +334,7 @@
|
|||
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
#endif
|
||||
|
||||
//if (ubl.g26_debug_flag) {
|
||||
//if (g26_debug_flag) {
|
||||
// char ccc, *cptr, seg_msg[50], seg_num[10];
|
||||
// strcpy(seg_msg, " segment: ");
|
||||
// strcpy(seg_num, " \n");
|
||||
|
|
@ -349,7 +345,7 @@
|
|||
// debug_current_and_destination(seg_msg);
|
||||
//}
|
||||
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), layer_height);
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height);
|
||||
|
||||
}
|
||||
if (look_for_lines_to_connect())
|
||||
|
|
@ -368,16 +364,16 @@
|
|||
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle
|
||||
//debug_current_and_destination(PSTR("done doing Z-Raise."));
|
||||
|
||||
destination[X_AXIS] = x_pos; // Move back to the starting position
|
||||
destination[Y_AXIS] = y_pos;
|
||||
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
|
||||
destination[Y_AXIS] = g26_y_pos;
|
||||
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
|
||||
|
||||
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Move back to the starting position
|
||||
//debug_current_and_destination(PSTR("done doing X/Y move."));
|
||||
|
||||
ubl.has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
|
||||
has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
|
||||
|
||||
if (!keep_heaters_on) {
|
||||
if (!g26_keep_heaters_on) {
|
||||
#if HAS_TEMP_BED
|
||||
thermalManager.setTargetBed(0);
|
||||
#endif
|
||||
|
|
@ -385,14 +381,13 @@
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
float valid_trig_angle(float d) {
|
||||
while (d > 360.0) d -= 360.0;
|
||||
while (d < 0.0) d += 360.0;
|
||||
return d;
|
||||
}
|
||||
|
||||
mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
|
||||
mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) {
|
||||
float closest = 99999.99;
|
||||
mesh_index_pair return_val;
|
||||
|
||||
|
|
@ -401,8 +396,8 @@
|
|||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
||||
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
||||
if (!is_bit_set(circle_flags, i, j)) {
|
||||
const float mx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // We found a circle that needs to be printed
|
||||
my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
|
||||
const float mx = mesh_index_to_xpos(i), // We found a circle that needs to be printed
|
||||
my = mesh_index_to_ypos(j);
|
||||
|
||||
// Get the distance to this intersection
|
||||
float f = HYPOT(X - mx, Y - my);
|
||||
|
|
@ -411,7 +406,7 @@
|
|||
// to let us find the closest circle to the start position.
|
||||
// But if this is not the case, add a small weighting to the
|
||||
// distance calculation to help it choose a better place to continue.
|
||||
f += HYPOT(x_pos - mx, y_pos - my) / 15.0;
|
||||
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
|
||||
|
||||
// Add in the specified amount of Random Noise to our search
|
||||
if (random_deviation > 1.0)
|
||||
|
|
@ -430,34 +425,16 @@
|
|||
return return_val;
|
||||
}
|
||||
|
||||
bool look_for_lines_to_connect() {
|
||||
bool unified_bed_leveling::look_for_lines_to_connect() {
|
||||
float sx, sy, ex, ey;
|
||||
|
||||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
||||
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
||||
|
||||
// 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 ubl_G29.cpp). This
|
||||
// should be redone and compressed.
|
||||
if (ubl_lcd_clicked()) { // Check if the user wants to stop the Mesh Validation
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
lcd_setstatuspgm(PSTR("Mesh Validation Stopped."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
while (!ubl_lcd_clicked()) { // Wait until the user is done pressing the
|
||||
idle(); // Encoder Wheel if that is why we are leaving
|
||||
lcd_reset_alert_level();
|
||||
lcd_setstatuspgm(PSTR(""));
|
||||
}
|
||||
while (ubl_lcd_clicked()) { // Wait until the user is done pressing the
|
||||
idle(); // Encoder Wheel if that is why we are leaving
|
||||
lcd_setstatuspgm(PSTR("Unpress Wheel"), 99);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation
|
||||
|
||||
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
|
||||
// This is already a half circle because we are at the edge of the bed.
|
||||
// This is already a half circle because we are at the edge of the bed.
|
||||
|
||||
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
|
||||
if (!is_bit_set(horizontal_mesh_line_flags, i, j)) {
|
||||
|
|
@ -466,16 +443,16 @@
|
|||
// We found two circles that need a horizontal line to connect them
|
||||
// Print it!
|
||||
//
|
||||
sx = pgm_read_float(&ubl.mesh_index_to_xpos[ i ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
|
||||
ex = pgm_read_float(&ubl.mesh_index_to_xpos[i + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
|
||||
sx = mesh_index_to_xpos( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
|
||||
ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
|
||||
|
||||
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
|
||||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
|
||||
|
||||
if (ubl.g26_debug_flag) {
|
||||
if (g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
|
||||
SERIAL_ECHOPAIR(", sy=", sy);
|
||||
SERIAL_ECHOPAIR(") -> (ex=", ex);
|
||||
|
|
@ -485,7 +462,7 @@
|
|||
//debug_current_and_destination(PSTR("Connecting horizontal line."));
|
||||
}
|
||||
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
|
||||
}
|
||||
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
|
||||
}
|
||||
|
|
@ -500,16 +477,16 @@
|
|||
// We found two circles that need a vertical line to connect them
|
||||
// Print it!
|
||||
//
|
||||
sy = pgm_read_float(&ubl.mesh_index_to_ypos[ j ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
|
||||
ey = pgm_read_float(&ubl.mesh_index_to_ypos[j + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
|
||||
sy = mesh_index_to_ypos( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
|
||||
ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
|
||||
|
||||
sx = ex = constrain(pgm_read_float(&ubl.mesh_index_to_xpos[i]), X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
|
||||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
|
||||
|
||||
if (ubl.g26_debug_flag) {
|
||||
if (g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
|
||||
SERIAL_ECHOPAIR(", sy=", sy);
|
||||
SERIAL_ECHOPAIR(") -> (ex=", ex);
|
||||
|
|
@ -518,7 +495,7 @@
|
|||
SERIAL_EOL;
|
||||
debug_current_and_destination(PSTR("Connecting vertical line."));
|
||||
}
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
|
||||
}
|
||||
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
|
||||
}
|
||||
|
|
@ -530,7 +507,7 @@
|
|||
return false;
|
||||
}
|
||||
|
||||
void move_to(const float &x, const float &y, const float &z, const float &e_delta) {
|
||||
void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) {
|
||||
float feed_value;
|
||||
static float last_z = -999.99;
|
||||
|
||||
|
|
@ -552,10 +529,10 @@
|
|||
}
|
||||
|
||||
// Check if X or Y is involved in the movement.
|
||||
// Yes: a 'normal' movement. No: a retract() or un_retract()
|
||||
// Yes: a 'normal' movement. No: a retract() or recover()
|
||||
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
|
||||
|
||||
if (ubl.g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
|
||||
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
|
||||
|
||||
destination[X_AXIS] = x;
|
||||
destination[Y_AXIS] = y;
|
||||
|
|
@ -568,16 +545,16 @@
|
|||
|
||||
}
|
||||
|
||||
void retract_filament(float where[XYZE]) {
|
||||
void unified_bed_leveling::retract_filament(float where[XYZE]) {
|
||||
if (!g26_retracted) { // Only retract if we are not already retracted!
|
||||
g26_retracted = true;
|
||||
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], -1.0 * retraction_multiplier);
|
||||
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], -1.0 * g26_retraction_multiplier);
|
||||
}
|
||||
}
|
||||
|
||||
void un_retract_filament(float where[XYZE]) {
|
||||
void unified_bed_leveling::recover_filament(float where[XYZE]) {
|
||||
if (g26_retracted) { // Only un-retract if we are retracted.
|
||||
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], 1.2 * retraction_multiplier);
|
||||
move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], 1.2 * g26_retraction_multiplier);
|
||||
g26_retracted = false;
|
||||
}
|
||||
}
|
||||
|
|
@ -597,7 +574,7 @@
|
|||
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
|
||||
* cases where the optimization comes into play.
|
||||
*/
|
||||
void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
|
||||
void unified_bed_leveling::print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
|
||||
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
|
||||
dy_s = current_position[Y_AXIS] - sy,
|
||||
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
|
||||
|
|
@ -625,9 +602,9 @@
|
|||
|
||||
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
|
||||
|
||||
const float e_pos_delta = line_length * g26_e_axis_feedrate * extrusion_multiplier;
|
||||
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
|
||||
|
||||
un_retract_filament(destination);
|
||||
recover_filament(destination);
|
||||
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
|
||||
}
|
||||
|
||||
|
|
@ -636,33 +613,33 @@
|
|||
* parameters it made sense to turn them into static globals and get
|
||||
* this code out of sight of the main routine.
|
||||
*/
|
||||
bool parse_G26_parameters() {
|
||||
bool unified_bed_leveling::parse_G26_parameters() {
|
||||
|
||||
extrusion_multiplier = EXTRUSION_MULTIPLIER;
|
||||
retraction_multiplier = RETRACTION_MULTIPLIER;
|
||||
nozzle = NOZZLE;
|
||||
filament_diameter = FILAMENT;
|
||||
layer_height = LAYER_HEIGHT;
|
||||
prime_length = PRIME_LENGTH;
|
||||
bed_temp = BED_TEMP;
|
||||
hotend_temp = HOTEND_TEMP;
|
||||
prime_flag = 0;
|
||||
g26_extrusion_multiplier = EXTRUSION_MULTIPLIER;
|
||||
g26_retraction_multiplier = RETRACTION_MULTIPLIER;
|
||||
g26_nozzle = NOZZLE;
|
||||
g26_filament_diameter = FILAMENT;
|
||||
g26_layer_height = LAYER_HEIGHT;
|
||||
g26_prime_length = PRIME_LENGTH;
|
||||
g26_bed_temp = BED_TEMP;
|
||||
g26_hotend_temp = HOTEND_TEMP;
|
||||
g26_prime_flag = 0;
|
||||
|
||||
ooze_amount = code_seen('O') && code_has_value() ? code_value_linear_units() : OOZE_AMOUNT;
|
||||
keep_heaters_on = code_seen('K') && code_value_bool();
|
||||
continue_with_closest = code_seen('C') && code_value_bool();
|
||||
g26_ooze_amount = code_seen('O') && code_has_value() ? code_value_linear_units() : OOZE_AMOUNT;
|
||||
g26_keep_heaters_on = code_seen('K') && code_value_bool();
|
||||
g26_continue_with_closest = code_seen('C') && code_value_bool();
|
||||
|
||||
if (code_seen('B')) {
|
||||
bed_temp = code_value_temp_abs();
|
||||
if (!WITHIN(bed_temp, 15, 140)) {
|
||||
g26_bed_temp = code_value_temp_abs();
|
||||
if (!WITHIN(g26_bed_temp, 15, 140)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
|
||||
if (code_seen('L')) {
|
||||
layer_height = code_value_linear_units();
|
||||
if (!WITHIN(layer_height, 0.0, 2.0)) {
|
||||
g26_layer_height = code_value_linear_units();
|
||||
if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
|
@ -670,8 +647,8 @@
|
|||
|
||||
if (code_seen('Q')) {
|
||||
if (code_has_value()) {
|
||||
retraction_multiplier = code_value_float();
|
||||
if (!WITHIN(retraction_multiplier, 0.05, 15.0)) {
|
||||
g26_retraction_multiplier = code_value_float();
|
||||
if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
|
@ -683,8 +660,8 @@
|
|||
}
|
||||
|
||||
if (code_seen('S')) {
|
||||
nozzle = code_value_float();
|
||||
if (!WITHIN(nozzle, 0.1, 1.0)) {
|
||||
g26_nozzle = code_value_float();
|
||||
if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
|
@ -692,11 +669,11 @@
|
|||
|
||||
if (code_seen('P')) {
|
||||
if (!code_has_value())
|
||||
prime_flag = -1;
|
||||
g26_prime_flag = -1;
|
||||
else {
|
||||
prime_flag++;
|
||||
prime_length = code_value_linear_units();
|
||||
if (!WITHIN(prime_length, 0.0, 25.0)) {
|
||||
g26_prime_flag++;
|
||||
g26_prime_length = code_value_linear_units();
|
||||
if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
|
@ -704,21 +681,21 @@
|
|||
}
|
||||
|
||||
if (code_seen('F')) {
|
||||
filament_diameter = code_value_linear_units();
|
||||
if (!WITHIN(filament_diameter, 1.0, 4.0)) {
|
||||
g26_filament_diameter = code_value_linear_units();
|
||||
if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
extrusion_multiplier *= sq(1.75) / sq(filament_diameter); // If we aren't using 1.75mm filament, we need to
|
||||
g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
|
||||
// scale up or down the length needed to get the
|
||||
// same volume of filament
|
||||
|
||||
extrusion_multiplier *= filament_diameter * sq(nozzle) / sq(0.3); // Scale up by nozzle size
|
||||
g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
|
||||
|
||||
if (code_seen('H')) {
|
||||
hotend_temp = code_value_temp_abs();
|
||||
if (!WITHIN(hotend_temp, 165, 280)) {
|
||||
g26_hotend_temp = code_value_temp_abs();
|
||||
if (!WITHIN(g26_hotend_temp, 165, 280)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
|
@ -735,9 +712,9 @@
|
|||
return UBL_ERR;
|
||||
}
|
||||
|
||||
x_pos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS];
|
||||
y_pos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS];
|
||||
if (!position_is_reachable_xy(x_pos, y_pos)) {
|
||||
g26_x_pos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS];
|
||||
g26_y_pos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS];
|
||||
if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
|
@ -745,12 +722,12 @@
|
|||
/**
|
||||
* Wait until all parameters are verified before altering the state!
|
||||
*/
|
||||
ubl.state.active = !code_seen('D');
|
||||
state.active = !code_seen('D');
|
||||
|
||||
return UBL_OK;
|
||||
}
|
||||
|
||||
bool exit_from_g26() {
|
||||
bool unified_bed_leveling::exit_from_g26() {
|
||||
lcd_reset_alert_level();
|
||||
lcd_setstatuspgm(PSTR("Leaving G26"));
|
||||
while (ubl_lcd_clicked()) idle();
|
||||
|
|
@ -761,18 +738,18 @@
|
|||
* Turn on the bed and nozzle heat and
|
||||
* wait for them to get up to temperature.
|
||||
*/
|
||||
bool turn_on_heaters() {
|
||||
bool unified_bed_leveling::turn_on_heaters() {
|
||||
millis_t next;
|
||||
#if HAS_TEMP_BED
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
if (bed_temp > 25) {
|
||||
if (g26_bed_temp > 25) {
|
||||
lcd_setstatuspgm(PSTR("G26 Heating Bed."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
thermalManager.setTargetBed(bed_temp);
|
||||
has_control_of_lcd_panel = true;
|
||||
thermalManager.setTargetBed(g26_bed_temp);
|
||||
next = millis() + 5000UL;
|
||||
while (abs(thermalManager.degBed() - bed_temp) > 3) {
|
||||
while (abs(thermalManager.degBed() - g26_bed_temp) > 3) {
|
||||
if (ubl_lcd_clicked()) return exit_from_g26();
|
||||
if (PENDING(millis(), next)) {
|
||||
next = millis() + 5000UL;
|
||||
|
|
@ -788,8 +765,8 @@
|
|||
#endif
|
||||
|
||||
// Start heating the nozzle and wait for it to reach temperature.
|
||||
thermalManager.setTargetHotend(hotend_temp, 0);
|
||||
while (abs(thermalManager.degHotend(0) - hotend_temp) > 3) {
|
||||
thermalManager.setTargetHotend(g26_hotend_temp, 0);
|
||||
while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {
|
||||
if (ubl_lcd_clicked()) return exit_from_g26();
|
||||
if (PENDING(millis(), next)) {
|
||||
next = millis() + 5000UL;
|
||||
|
|
@ -810,19 +787,19 @@
|
|||
/**
|
||||
* Prime the nozzle if needed. Return true on error.
|
||||
*/
|
||||
bool prime_nozzle() {
|
||||
bool unified_bed_leveling::prime_nozzle() {
|
||||
float Total_Prime = 0.0;
|
||||
|
||||
if (prime_flag == -1) { // The user wants to control how much filament gets purged
|
||||
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
|
||||
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
has_control_of_lcd_panel = true;
|
||||
|
||||
lcd_setstatuspgm(PSTR("User-Controlled Prime"), 99);
|
||||
chirp_at_user();
|
||||
|
||||
set_destination_to_current();
|
||||
|
||||
un_retract_filament(destination); // Make sure G26 doesn't think the filament is retracted().
|
||||
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
|
||||
|
||||
while (!ubl_lcd_clicked()) {
|
||||
chirp_at_user();
|
||||
|
|
@ -850,7 +827,7 @@
|
|||
lcd_quick_feedback();
|
||||
#endif
|
||||
|
||||
ubl.has_control_of_lcd_panel = false;
|
||||
has_control_of_lcd_panel = false;
|
||||
|
||||
}
|
||||
else {
|
||||
|
|
@ -859,7 +836,7 @@
|
|||
lcd_quick_feedback();
|
||||
#endif
|
||||
set_destination_to_current();
|
||||
destination[E_AXIS] += prime_length;
|
||||
destination[E_AXIS] += g26_prime_length;
|
||||
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
|
||||
stepper.synchronize();
|
||||
set_destination_to_current();
|
||||
|
|
|
|||
|
|
@ -2355,7 +2355,7 @@ static void clean_up_after_endstop_or_probe_move() {
|
|||
* - Raise to the BETWEEN height
|
||||
* - Return the probed Z position
|
||||
*/
|
||||
float probe_pt(const float x, const float y, const bool stow/*=true*/, const int verbose_level/*=1*/) {
|
||||
float probe_pt(const float &x, const float &y, const bool stow/*=true*/, const int verbose_level/*=1*/) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR(">>> probe_pt(", x);
|
||||
|
|
@ -3416,8 +3416,8 @@ inline void gcode_G7(
|
|||
return;
|
||||
}
|
||||
|
||||
destination[X_AXIS] = hasI ? pgm_read_float(&ubl.mesh_index_to_xpos[ix]) : current_position[X_AXIS];
|
||||
destination[Y_AXIS] = hasJ ? pgm_read_float(&ubl.mesh_index_to_ypos[iy]) : current_position[Y_AXIS];
|
||||
destination[X_AXIS] = hasI ? ubl.mesh_index_to_xpos(ix) : current_position[X_AXIS];
|
||||
destination[Y_AXIS] = hasJ ? ubl.mesh_index_to_ypos(iy) : current_position[Y_AXIS];
|
||||
destination[Z_AXIS] = current_position[Z_AXIS]; //todo: perhaps add Z-move support?
|
||||
destination[E_AXIS] = current_position[E_AXIS];
|
||||
|
||||
|
|
@ -5107,9 +5107,9 @@ void home_all_axes() { gcode_G28(true); }
|
|||
* P4-P7 Probe all positions at different locations and average them.
|
||||
*
|
||||
* T Don't calibrate tower angle corrections
|
||||
*
|
||||
*
|
||||
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
|
||||
*
|
||||
*
|
||||
* Vn Verbose level:
|
||||
*
|
||||
* V0 Dry-run mode. Report settings and probe results. No calibration.
|
||||
|
|
@ -5229,7 +5229,7 @@ void home_all_axes() { gcode_G28(true); }
|
|||
#endif
|
||||
|
||||
int8_t iterations = 0;
|
||||
|
||||
|
||||
home_offset[Z_AXIS] -= probe_pt(0.0, 0.0 , true, 1); // 1st probe to set height
|
||||
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
|
||||
|
||||
|
|
@ -5239,7 +5239,7 @@ void home_all_axes() { gcode_G28(true); }
|
|||
int16_t N = 0;
|
||||
|
||||
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
|
||||
|
||||
|
||||
iterations++;
|
||||
|
||||
// Probe the points
|
||||
|
|
@ -5286,7 +5286,7 @@ void home_all_axes() { gcode_G28(true); }
|
|||
}
|
||||
zero_std_dev_old = zero_std_dev;
|
||||
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
|
||||
|
||||
|
||||
if (iterations == 1) home_offset[Z_AXIS] = zh_old; // reset height after 1st probe change
|
||||
|
||||
// Solve matrices
|
||||
|
|
@ -5416,7 +5416,7 @@ void home_all_axes() { gcode_G28(true); }
|
|||
else {
|
||||
SERIAL_PROTOCOLPGM("std dev:");
|
||||
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
||||
}
|
||||
}
|
||||
SERIAL_EOL;
|
||||
LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
|
||||
}
|
||||
|
|
@ -5481,7 +5481,7 @@ void home_all_axes() { gcode_G28(true); }
|
|||
home_delta();
|
||||
endstops.not_homing();
|
||||
|
||||
}
|
||||
}
|
||||
while (zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31);
|
||||
|
||||
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
|
||||
|
|
@ -8704,7 +8704,7 @@ void quickstop_stepper() {
|
|||
const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
|
||||
|
||||
if (hasC) {
|
||||
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
|
||||
const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
|
||||
ix = location.x_index;
|
||||
iy = location.y_index;
|
||||
}
|
||||
|
|
@ -11467,7 +11467,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
const float fr_scaled = MMS_SCALED(feedrate_mm_s);
|
||||
if (ubl.state.active) {
|
||||
ubl_line_to_destination_cartesian(fr_scaled, active_extruder);
|
||||
ubl.line_to_destination_cartesian(fr_scaled, active_extruder);
|
||||
return true;
|
||||
}
|
||||
else
|
||||
|
|
@ -11612,14 +11612,14 @@ void prepare_move_to_destination() {
|
|||
if (
|
||||
#if IS_KINEMATIC
|
||||
#if UBL_DELTA
|
||||
ubl_prepare_linear_move_to(destination, feedrate_mm_s)
|
||||
ubl.prepare_linear_move_to(destination, feedrate_mm_s)
|
||||
#else
|
||||
prepare_kinematic_move_to(destination)
|
||||
#endif
|
||||
#elif ENABLED(DUAL_X_CARRIAGE)
|
||||
prepare_move_to_destination_dualx()
|
||||
#elif UBL_DELTA // will work for CARTESIAN too (smaller segments follow mesh more closely)
|
||||
ubl_prepare_linear_move_to(destination, feedrate_mm_s)
|
||||
ubl.prepare_linear_move_to(destination, feedrate_mm_s)
|
||||
#else
|
||||
prepare_move_to_destination_cartesian()
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -903,7 +903,7 @@
|
|||
#define UBL_PROBE_PT_3_Y 20
|
||||
#define UBL_G26_MESH_VALIDATION // Enable G26 mesh validation
|
||||
#define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle
|
||||
|
||||
|
||||
#elif ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
//===========================================================================
|
||||
|
|
|
|||
|
|
@ -907,7 +907,7 @@
|
|||
#define UBL_PROBE_PT_3_Y 20
|
||||
#define UBL_G26_MESH_VALIDATION // Enable G26 mesh validation
|
||||
#define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle
|
||||
|
||||
|
||||
#elif ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
//===========================================================================
|
||||
|
|
|
|||
|
|
@ -943,7 +943,7 @@
|
|||
#define UBL_PROBE_PT_3_Y 20
|
||||
#define UBL_G26_MESH_VALIDATION // Enable G26 mesh validation
|
||||
#define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle
|
||||
|
||||
|
||||
#elif ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
//===========================================================================
|
||||
|
|
|
|||
|
|
@ -878,7 +878,7 @@
|
|||
#define UBL_PROBE_PT_3_Y 20
|
||||
#define UBL_G26_MESH_VALIDATION // Enable G26 mesh validation
|
||||
#define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle
|
||||
|
||||
|
||||
#elif ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
//===========================================================================
|
||||
|
|
|
|||
|
|
@ -883,7 +883,7 @@
|
|||
#define UBL_PROBE_PT_3_Y 20
|
||||
#define UBL_G26_MESH_VALIDATION // Enable G26 mesh validation
|
||||
#define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle
|
||||
|
||||
|
||||
#elif ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
//===========================================================================
|
||||
|
|
|
|||
|
|
@ -21,24 +21,24 @@
|
|||
*/
|
||||
|
||||
/**
|
||||
* Contributed by Triffid_Hunter, modified by Kliment, extended by the Marlin team
|
||||
* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
|
||||
* Fast I/O Routines
|
||||
* Use direct port manipulation to save scads of processor time.
|
||||
* Contributed by Triffid_Hunter. Modified by Kliment and the Marlin team.
|
||||
*/
|
||||
|
||||
#ifndef _FASTIO_ARDUINO_H
|
||||
#ifndef _FASTIO_ARDUINO_H
|
||||
#define _FASTIO_ARDUINO_H
|
||||
|
||||
#include <avr/io.h>
|
||||
|
||||
/**
|
||||
* Include Ports and Functions
|
||||
*/
|
||||
|
||||
/**
|
||||
* Enable this option to use Teensy++ 2.0 assignments for AT90USB processors.
|
||||
*/
|
||||
//#define AT90USBxx_TEENSYPP_ASSIGNMENTS
|
||||
|
||||
/**
|
||||
* Include Ports and Functions
|
||||
*/
|
||||
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
|
||||
#include "fastio_168.h"
|
||||
#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
|
||||
|
|
@ -58,13 +58,15 @@
|
|||
#endif
|
||||
|
||||
#ifndef _BV
|
||||
#define _BV(PIN) (1 << PIN)
|
||||
#define _BV(PIN) (1UL << PIN)
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Magic I/O routines
|
||||
*
|
||||
* Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
|
||||
*
|
||||
* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
|
||||
*/
|
||||
|
||||
#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & _BV(DIO ## IO ## _PIN)))
|
||||
|
|
|
|||
|
|
@ -679,5 +679,4 @@
|
|||
#define PF7_PWM NULL
|
||||
#define PF7_DDR DDRF
|
||||
|
||||
#endif // AT90USBxx_TEENSYPP_ASSIGNMENTS Teensyduino assignments
|
||||
#endif // _FASTIO_AT90USB
|
||||
|
|
|
|||
|
|
@ -52,7 +52,7 @@ void inline incremental_LSF_reset(struct linear_fit_data *lsf) {
|
|||
memset(lsf, 0, sizeof(linear_fit_data));
|
||||
}
|
||||
|
||||
void inline incremental_WLSF(struct linear_fit_data *lsf, float x, float y, float z, float w) {
|
||||
void inline incremental_WLSF(struct linear_fit_data *lsf, const float &x, const float &y, const float &z, const float &w) {
|
||||
// weight each accumulator by factor w, including the "number" of samples
|
||||
// (analagous to calling inc_LSF twice with same values to weight it by 2X)
|
||||
lsf->xbar += w * x;
|
||||
|
|
@ -65,11 +65,11 @@ void inline incremental_WLSF(struct linear_fit_data *lsf, float x, float y, floa
|
|||
lsf->xzbar += w * x * z;
|
||||
lsf->yzbar += w * y * z;
|
||||
lsf->N += w;
|
||||
lsf->max_absx = max(fabs( w * x ), lsf->max_absx);
|
||||
lsf->max_absy = max(fabs( w * y ), lsf->max_absy);
|
||||
lsf->max_absx = max(fabs(w * x), lsf->max_absx);
|
||||
lsf->max_absy = max(fabs(w * y), lsf->max_absy);
|
||||
}
|
||||
|
||||
void inline incremental_LSF(struct linear_fit_data *lsf, float x, float y, float z) {
|
||||
void inline incremental_LSF(struct linear_fit_data *lsf, const float &x, const float &y, const float &z) {
|
||||
lsf->xbar += x;
|
||||
lsf->ybar += y;
|
||||
lsf->zbar += z;
|
||||
|
|
|
|||
|
|
@ -29,12 +29,12 @@
|
|||
#define XYZ 3
|
||||
|
||||
#define FORCE_INLINE __attribute__((always_inline)) inline
|
||||
|
||||
#define _O0 __attribute__((optimize("O0")))
|
||||
#define _Os __attribute__((optimize("Os")))
|
||||
#define _O1 __attribute__((optimize("O1")))
|
||||
#define _O2 __attribute__((optimize("O2")))
|
||||
#define _O3 __attribute__((optimize("O3")))
|
||||
#define _UNUSED __attribute__((unused))
|
||||
#define _O0 __attribute__((optimize("O0")))
|
||||
#define _Os __attribute__((optimize("Os")))
|
||||
#define _O1 __attribute__((optimize("O1")))
|
||||
#define _O2 __attribute__((optimize("O2")))
|
||||
#define _O3 __attribute__((optimize("O3")))
|
||||
|
||||
// Bracket code that shouldn't be interrupted
|
||||
#ifndef CRITICAL_SECTION_START
|
||||
|
|
|
|||
|
|
@ -12,9 +12,9 @@
|
|||
* @param strokes number of strokes to execute
|
||||
*/
|
||||
void Nozzle::stroke(
|
||||
__attribute__((unused)) point_t const &start,
|
||||
__attribute__((unused)) point_t const &end,
|
||||
__attribute__((unused)) uint8_t const &strokes
|
||||
_UNUSED point_t const &start,
|
||||
_UNUSED point_t const &end,
|
||||
_UNUSED uint8_t const &strokes
|
||||
) {
|
||||
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
||||
|
||||
|
|
@ -56,10 +56,10 @@ void Nozzle::stroke(
|
|||
* @param objects number of objects to create
|
||||
*/
|
||||
void Nozzle::zigzag(
|
||||
__attribute__((unused)) point_t const &start,
|
||||
__attribute__((unused)) point_t const &end,
|
||||
__attribute__((unused)) uint8_t const &strokes,
|
||||
__attribute__((unused)) uint8_t const &objects
|
||||
_UNUSED point_t const &start,
|
||||
_UNUSED point_t const &end,
|
||||
_UNUSED uint8_t const &strokes,
|
||||
_UNUSED uint8_t const &objects
|
||||
) {
|
||||
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
||||
const float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length, // [twice the] Amplitude
|
||||
|
|
@ -114,10 +114,10 @@ void Nozzle::zigzag(
|
|||
* @param radius radius of circle
|
||||
*/
|
||||
void Nozzle::circle(
|
||||
__attribute__((unused)) point_t const &start,
|
||||
__attribute__((unused)) point_t const &middle,
|
||||
__attribute__((unused)) uint8_t const &strokes,
|
||||
__attribute__((unused)) float const &radius
|
||||
_UNUSED point_t const &start,
|
||||
_UNUSED point_t const &middle,
|
||||
_UNUSED uint8_t const &strokes,
|
||||
_UNUSED float const &radius
|
||||
) {
|
||||
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
||||
if (strokes == 0) return;
|
||||
|
|
@ -177,10 +177,10 @@ void Nozzle::circle(
|
|||
* @param argument depends on the cleaning pattern
|
||||
*/
|
||||
void Nozzle::clean(
|
||||
__attribute__((unused)) uint8_t const &pattern,
|
||||
__attribute__((unused)) uint8_t const &strokes,
|
||||
__attribute__((unused)) float const &radius,
|
||||
__attribute__((unused)) uint8_t const &objects
|
||||
_UNUSED uint8_t const &pattern,
|
||||
_UNUSED uint8_t const &strokes,
|
||||
_UNUSED float const &radius,
|
||||
_UNUSED uint8_t const &objects
|
||||
) {
|
||||
#if ENABLED(NOZZLE_CLEAN_FEATURE)
|
||||
#if ENABLED(DELTA)
|
||||
|
|
@ -209,7 +209,7 @@ void Nozzle::clean(
|
|||
}
|
||||
|
||||
void Nozzle::park(
|
||||
__attribute__((unused)) uint8_t const &z_action
|
||||
_UNUSED uint8_t const &z_action
|
||||
) {
|
||||
#if ENABLED(NOZZLE_PARK_FEATURE)
|
||||
float const z = current_position[Z_AXIS];
|
||||
|
|
|
|||
|
|
@ -50,10 +50,10 @@ class Nozzle {
|
|||
* @param strokes number of strokes to execute
|
||||
*/
|
||||
static void stroke(
|
||||
__attribute__((unused)) point_t const &start,
|
||||
__attribute__((unused)) point_t const &end,
|
||||
__attribute__((unused)) uint8_t const &strokes
|
||||
) __attribute__((optimize ("Os")));
|
||||
_UNUSED point_t const &start,
|
||||
_UNUSED point_t const &end,
|
||||
_UNUSED uint8_t const &strokes
|
||||
) _Os;
|
||||
|
||||
/**
|
||||
* @brief Zig-zag clean pattern
|
||||
|
|
@ -65,11 +65,11 @@ class Nozzle {
|
|||
* @param objects number of objects to create
|
||||
*/
|
||||
static void zigzag(
|
||||
__attribute__((unused)) point_t const &start,
|
||||
__attribute__((unused)) point_t const &end,
|
||||
__attribute__((unused)) uint8_t const &strokes,
|
||||
__attribute__((unused)) uint8_t const &objects
|
||||
) __attribute__((optimize ("Os")));
|
||||
_UNUSED point_t const &start,
|
||||
_UNUSED point_t const &end,
|
||||
_UNUSED uint8_t const &strokes,
|
||||
_UNUSED uint8_t const &objects
|
||||
) _Os;
|
||||
|
||||
/**
|
||||
* @brief Circular clean pattern
|
||||
|
|
@ -80,11 +80,11 @@ class Nozzle {
|
|||
* @param radius radius of circle
|
||||
*/
|
||||
static void circle(
|
||||
__attribute__((unused)) point_t const &start,
|
||||
__attribute__((unused)) point_t const &middle,
|
||||
__attribute__((unused)) uint8_t const &strokes,
|
||||
__attribute__((unused)) float const &radius
|
||||
) __attribute__((optimize ("Os")));
|
||||
_UNUSED point_t const &start,
|
||||
_UNUSED point_t const &middle,
|
||||
_UNUSED uint8_t const &strokes,
|
||||
_UNUSED float const &radius
|
||||
) _Os;
|
||||
|
||||
public:
|
||||
/**
|
||||
|
|
@ -95,15 +95,15 @@ class Nozzle {
|
|||
* @param argument depends on the cleaning pattern
|
||||
*/
|
||||
static void clean(
|
||||
__attribute__((unused)) uint8_t const &pattern,
|
||||
__attribute__((unused)) uint8_t const &strokes,
|
||||
__attribute__((unused)) float const &radius,
|
||||
__attribute__((unused)) uint8_t const &objects = 0
|
||||
) __attribute__((optimize ("Os")));
|
||||
_UNUSED uint8_t const &pattern,
|
||||
_UNUSED uint8_t const &strokes,
|
||||
_UNUSED float const &radius,
|
||||
_UNUSED uint8_t const &objects = 0
|
||||
) _Os;
|
||||
|
||||
static void park(
|
||||
__attribute__((unused)) uint8_t const &z_action
|
||||
) __attribute__((optimize ("Os")));
|
||||
_UNUSED uint8_t const &z_action
|
||||
) _Os;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
31
Marlin/spi.h
31
Marlin/spi.h
|
|
@ -27,37 +27,26 @@
|
|||
#include "softspi.h"
|
||||
|
||||
template<uint8_t MisoPin, uint8_t MosiPin, uint8_t SckPin>
|
||||
class Spi {
|
||||
static SoftSPI<MisoPin, MosiPin, SckPin> softSpi;
|
||||
class SPI {
|
||||
static SoftSPI<MisoPin, MosiPin, SckPin> softSPI;
|
||||
public:
|
||||
inline __attribute__((always_inline))
|
||||
static void init() {
|
||||
softSpi.begin();
|
||||
}
|
||||
inline __attribute__((always_inline))
|
||||
static void send(uint8_t data) {
|
||||
softSpi.send(data);
|
||||
}
|
||||
inline __attribute__((always_inline))
|
||||
static uint8_t receive() {
|
||||
return softSpi.receive();
|
||||
}
|
||||
FORCE_INLINE static void init() { softSPI.begin(); }
|
||||
FORCE_INLINE static void send(uint8_t data) { softSPI.send(data); }
|
||||
FORCE_INLINE static uint8_t receive() { return softSPI.receive(); }
|
||||
};
|
||||
|
||||
|
||||
//hardware spi
|
||||
// Hardware SPI
|
||||
template<>
|
||||
class Spi<MISO_PIN, MOSI_PIN, SCK_PIN> {
|
||||
class SPI<MISO_PIN, MOSI_PIN, SCK_PIN> {
|
||||
public:
|
||||
inline __attribute__((always_inline))
|
||||
static void init() {
|
||||
FORCE_INLINE static void init() {
|
||||
OUT_WRITE(SCK_PIN, LOW);
|
||||
OUT_WRITE(MOSI_PIN, HIGH);
|
||||
SET_INPUT(MISO_PIN);
|
||||
WRITE(MISO_PIN, HIGH);
|
||||
}
|
||||
inline __attribute__((always_inline))
|
||||
static uint8_t receive() {
|
||||
FORCE_INLINE static uint8_t receive() {
|
||||
SPDR = 0;
|
||||
for (;!TEST(SPSR, SPIF););
|
||||
return SPDR;
|
||||
|
|
@ -65,4 +54,4 @@ class Spi<MISO_PIN, MOSI_PIN, SCK_PIN> {
|
|||
|
||||
};
|
||||
|
||||
#endif
|
||||
#endif // __SPI_H__
|
||||
|
|
|
|||
|
|
@ -935,7 +935,7 @@ void Temperature::updateTemperaturesFromRawValues() {
|
|||
#ifndef MAX6675_DO_PIN
|
||||
#define MAX6675_DO_PIN MISO_PIN
|
||||
#endif
|
||||
Spi<MAX6675_DO_PIN, MOSI_PIN, MAX6675_SCK_PIN> max6675_spi;
|
||||
SPI<MAX6675_DO_PIN, MOSI_PIN, MAX6675_SCK_PIN> max6675_spi;
|
||||
#endif
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -288,8 +288,7 @@ class Temperature {
|
|||
/**
|
||||
* Call periodically to manage heaters
|
||||
*/
|
||||
//static void manage_heater(); // changed to address compiler error
|
||||
static void manage_heater() __attribute__((__optimize__("O2")));
|
||||
static void manage_heater() _O2; // Added _O2 to work around a compiler error
|
||||
|
||||
/**
|
||||
* Preheating hotends
|
||||
|
|
|
|||
|
|
@ -69,8 +69,8 @@
|
|||
|
||||
// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
|
||||
// until determinism prevails
|
||||
constexpr float unified_bed_leveling::mesh_index_to_xpos[16],
|
||||
unified_bed_leveling::mesh_index_to_ypos[16];
|
||||
constexpr float unified_bed_leveling::_mesh_index_to_xpos[16],
|
||||
unified_bed_leveling::_mesh_index_to_ypos[16];
|
||||
|
||||
bool unified_bed_leveling::g26_debug_flag = false,
|
||||
unified_bed_leveling::has_control_of_lcd_panel = false;
|
||||
|
|
@ -117,8 +117,8 @@
|
|||
SERIAL_EOL;
|
||||
}
|
||||
|
||||
const float current_xi = ubl.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
|
||||
current_yi = ubl.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
|
||||
const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
|
||||
current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
|
||||
|
||||
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
|
||||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
||||
|
|
|
|||
161
Marlin/ubl.h
161
Marlin/ubl.h
|
|
@ -53,30 +53,16 @@
|
|||
// ubl_motion.cpp
|
||||
|
||||
void debug_current_and_destination(const char * const title);
|
||||
void ubl_line_to_destination_cartesian(const float&, uint8_t);
|
||||
bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate );
|
||||
|
||||
// ubl_G29.cpp
|
||||
|
||||
enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
|
||||
|
||||
void dump(char * const str, const float &f);
|
||||
void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool);
|
||||
float measure_business_card_thickness(float&);
|
||||
mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
|
||||
void shift_mesh_height();
|
||||
void fine_tune_mesh(const float&, const float&, const bool);
|
||||
bool g29_parameter_parsing();
|
||||
void g29_eeprom_dump();
|
||||
void g29_compare_current_mesh_to_stored_mesh();
|
||||
|
||||
// External references
|
||||
|
||||
char *ftostr43sign(const float&, char);
|
||||
bool ubl_lcd_clicked();
|
||||
void home_all_axes();
|
||||
void gcode_G26();
|
||||
void gcode_G29();
|
||||
|
||||
extern uint8_t ubl_cnt;
|
||||
|
||||
|
|
@ -101,26 +87,81 @@
|
|||
|
||||
static float last_specified_z;
|
||||
|
||||
static int g29_verbose_level,
|
||||
g29_phase_value,
|
||||
g29_repetition_cnt,
|
||||
g29_storage_slot,
|
||||
g29_map_type,
|
||||
g29_grid_size;
|
||||
static bool g29_c_flag, g29_x_flag, g29_y_flag;
|
||||
static float g29_x_pos, g29_y_pos,
|
||||
g29_card_thickness,
|
||||
g29_constant;
|
||||
|
||||
#if ENABLED(UBL_G26_MESH_VALIDATION)
|
||||
static float g26_extrusion_multiplier,
|
||||
g26_retraction_multiplier,
|
||||
g26_nozzle,
|
||||
g26_filament_diameter,
|
||||
g26_prime_length,
|
||||
g26_x_pos, g26_y_pos,
|
||||
g26_ooze_amount,
|
||||
g26_layer_height;
|
||||
static int16_t g26_bed_temp,
|
||||
g26_hotend_temp,
|
||||
g26_repeats;
|
||||
static int8_t g26_prime_flag;
|
||||
static bool g26_continue_with_closest, g26_keep_heaters_on;
|
||||
#endif
|
||||
|
||||
static float measure_point_with_encoder();
|
||||
static float measure_business_card_thickness(float&);
|
||||
static bool g29_parameter_parsing();
|
||||
static void find_mean_mesh_height();
|
||||
static void shift_mesh_height();
|
||||
static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
|
||||
static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
|
||||
static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
|
||||
static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
|
||||
static void g29_what_command();
|
||||
static void g29_eeprom_dump();
|
||||
static void g29_compare_current_mesh_to_stored_mesh();
|
||||
static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
|
||||
static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
|
||||
static void smart_fill_mesh();
|
||||
|
||||
#if ENABLED(UBL_G26_MESH_VALIDATION)
|
||||
static bool exit_from_g26();
|
||||
static bool parse_G26_parameters();
|
||||
static void G26_line_to_destination(const float &feed_rate);
|
||||
static mesh_index_pair find_closest_circle_to_print(const float&, const float&);
|
||||
static bool look_for_lines_to_connect();
|
||||
static bool turn_on_heaters();
|
||||
static bool prime_nozzle();
|
||||
static void retract_filament(float where[XYZE]);
|
||||
static void recover_filament(float where[XYZE]);
|
||||
static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
|
||||
static void move_to(const float&, const float&, const float&, const float&);
|
||||
#endif
|
||||
|
||||
public:
|
||||
|
||||
void echo_name();
|
||||
void report_state();
|
||||
void find_mean_mesh_height();
|
||||
void shift_mesh_height();
|
||||
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
|
||||
void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
|
||||
void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
|
||||
void save_ubl_active_state_and_disable();
|
||||
void restore_ubl_active_state_and_leave();
|
||||
void g29_what_command();
|
||||
void g29_eeprom_dump();
|
||||
void g29_compare_current_mesh_to_stored_mesh();
|
||||
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
|
||||
void smart_fill_mesh();
|
||||
void display_map(const int);
|
||||
void reset();
|
||||
void invalidate();
|
||||
bool sanity_check();
|
||||
static void echo_name();
|
||||
static void report_state();
|
||||
static void save_ubl_active_state_and_disable();
|
||||
static void restore_ubl_active_state_and_leave();
|
||||
static void display_map(const int);
|
||||
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
|
||||
static void reset();
|
||||
static void invalidate();
|
||||
static bool sanity_check();
|
||||
|
||||
static void G29() _O0; // O0 for no optimization
|
||||
static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
|
||||
|
||||
#if ENABLED(UBL_G26_MESH_VALIDATION)
|
||||
static void G26();
|
||||
#endif
|
||||
|
||||
static ubl_state state;
|
||||
|
||||
|
|
@ -128,7 +169,7 @@
|
|||
|
||||
// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
|
||||
// until determinism prevails
|
||||
constexpr static float mesh_index_to_xpos[16] PROGMEM = {
|
||||
constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
|
||||
UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST),
|
||||
UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST),
|
||||
UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST),
|
||||
|
|
@ -139,7 +180,7 @@
|
|||
UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST)
|
||||
};
|
||||
|
||||
constexpr static float mesh_index_to_ypos[16] PROGMEM = {
|
||||
constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
|
||||
UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST),
|
||||
UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST),
|
||||
UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST),
|
||||
|
|
@ -156,16 +197,16 @@
|
|||
|
||||
unified_bed_leveling();
|
||||
|
||||
FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
|
||||
FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
|
||||
|
||||
int8_t get_cell_index_x(const float &x) {
|
||||
static int8_t get_cell_index_x(const float &x) {
|
||||
const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
|
||||
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
|
||||
} // position. But with this defined this way, it is possible
|
||||
// to extrapolate off of this point even further out. Probably
|
||||
// that is OK because something else should be keeping that from
|
||||
// happening and should not be worried about at this level.
|
||||
int8_t get_cell_index_y(const float &y) {
|
||||
static int8_t get_cell_index_y(const float &y) {
|
||||
const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
|
||||
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
|
||||
} // position. But with this defined this way, it is possible
|
||||
|
|
@ -173,12 +214,12 @@
|
|||
// that is OK because something else should be keeping that from
|
||||
// happening and should not be worried about at this level.
|
||||
|
||||
int8_t find_closest_x_index(const float &x) {
|
||||
static int8_t find_closest_x_index(const float &x) {
|
||||
const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
|
||||
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
|
||||
}
|
||||
|
||||
int8_t find_closest_y_index(const float &y) {
|
||||
static int8_t find_closest_y_index(const float &y) {
|
||||
const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
|
||||
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
|
||||
}
|
||||
|
|
@ -198,7 +239,7 @@
|
|||
* It is fairly expensive with its 4 floating point additions and 2 floating point
|
||||
* multiplications.
|
||||
*/
|
||||
FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
|
||||
FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
|
||||
return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
|
||||
}
|
||||
|
||||
|
|
@ -206,7 +247,7 @@
|
|||
* z_correction_for_x_on_horizontal_mesh_line is an optimization for
|
||||
* the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
|
||||
*/
|
||||
inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
|
||||
inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
|
||||
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
|
||||
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
|
||||
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
|
||||
|
|
@ -217,7 +258,7 @@
|
|||
return NAN;
|
||||
}
|
||||
|
||||
const float xratio = (RAW_X_POSITION(lx0) - pgm_read_float(&mesh_index_to_xpos[x1_i])) * (1.0 / (MESH_X_DIST)),
|
||||
const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
|
||||
z1 = z_values[x1_i][yi];
|
||||
|
||||
return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
|
||||
|
|
@ -226,7 +267,7 @@
|
|||
//
|
||||
// See comments above for z_correction_for_x_on_horizontal_mesh_line
|
||||
//
|
||||
inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
|
||||
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
|
||||
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
|
||||
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
|
||||
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
|
||||
|
|
@ -237,7 +278,7 @@
|
|||
return NAN;
|
||||
}
|
||||
|
||||
const float yratio = (RAW_Y_POSITION(ly0) - pgm_read_float(&mesh_index_to_ypos[y1_i])) * (1.0 / (MESH_Y_DIST)),
|
||||
const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
|
||||
z1 = z_values[xi][y1_i];
|
||||
|
||||
return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
|
||||
|
|
@ -249,7 +290,7 @@
|
|||
* Z-Height at both ends. Then it does a linear interpolation of these heights based
|
||||
* on the Y position within the cell.
|
||||
*/
|
||||
float get_z_correction(const float &lx0, const float &ly0) {
|
||||
static float get_z_correction(const float &lx0, const float &ly0) {
|
||||
const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
|
||||
cy = get_cell_index_y(RAW_Y_POSITION(ly0));
|
||||
|
||||
|
|
@ -268,16 +309,16 @@
|
|||
}
|
||||
|
||||
const float z1 = calc_z0(RAW_X_POSITION(lx0),
|
||||
pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy],
|
||||
pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy]);
|
||||
mesh_index_to_xpos(cx), z_values[cx][cy],
|
||||
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]);
|
||||
|
||||
const float z2 = calc_z0(RAW_X_POSITION(lx0),
|
||||
pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy + 1],
|
||||
pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy + 1]);
|
||||
mesh_index_to_xpos(cx), z_values[cx][cy + 1],
|
||||
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]);
|
||||
|
||||
float z0 = calc_z0(RAW_Y_POSITION(ly0),
|
||||
pgm_read_float(&mesh_index_to_ypos[cy]), z1,
|
||||
pgm_read_float(&mesh_index_to_ypos[cy + 1]), z2);
|
||||
mesh_index_to_ypos(cy), z1,
|
||||
mesh_index_to_ypos(cy + 1), z2);
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(MESH_ADJUST)) {
|
||||
|
|
@ -324,7 +365,7 @@
|
|||
* Returns 0.0 if Z is past the specified 'Fade Height'.
|
||||
*/
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
inline float fade_scaling_factor_for_z(const float &lz) {
|
||||
static inline float fade_scaling_factor_for_z(const float &lz) {
|
||||
if (planner.z_fade_height == 0.0) return 1.0;
|
||||
static float fade_scaling_factor = 1.0;
|
||||
const float rz = RAW_Z_POSITION(lz);
|
||||
|
|
@ -338,14 +379,24 @@
|
|||
return fade_scaling_factor;
|
||||
}
|
||||
#else
|
||||
inline float fade_scaling_factor_for_z(const float &lz) {
|
||||
return 1.0;
|
||||
}
|
||||
FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; }
|
||||
#endif
|
||||
|
||||
FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_xpos[i]); }
|
||||
FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_ypos[i]); }
|
||||
|
||||
static bool prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate);
|
||||
static void line_to_destination_cartesian(const float &fr, uint8_t e);
|
||||
|
||||
}; // class unified_bed_leveling
|
||||
|
||||
extern unified_bed_leveling ubl;
|
||||
|
||||
#if ENABLED(UBL_G26_MESH_VALIDATION)
|
||||
FORCE_INLINE void gcode_G26() { ubl.G26(); }
|
||||
#endif
|
||||
|
||||
FORCE_INLINE void gcode_G29() { ubl.G29(); }
|
||||
|
||||
#endif // AUTO_BED_LEVELING_UBL
|
||||
#endif // UNIFIED_BED_LEVELING_H
|
||||
|
|
|
|||
|
|
@ -36,8 +36,7 @@
|
|||
|
||||
#define UBL_G29_P31
|
||||
|
||||
extern float destination[XYZE];
|
||||
extern float current_position[XYZE];
|
||||
extern float destination[XYZE], current_position[XYZE];
|
||||
|
||||
void lcd_return_to_status();
|
||||
bool lcd_clicked();
|
||||
|
|
@ -52,20 +51,31 @@
|
|||
extern uint8_t code_value_byte();
|
||||
extern bool code_value_bool();
|
||||
extern bool code_has_value();
|
||||
extern float probe_pt(float x, float y, bool, int);
|
||||
extern float probe_pt(const float &x, const float &y, bool, int);
|
||||
extern bool set_probe_deployed(bool);
|
||||
void smart_fill_mesh();
|
||||
void smart_fill_wlsf(float);
|
||||
float measure_business_card_thickness(float &in_height);
|
||||
void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
|
||||
|
||||
bool ProbeStay = true;
|
||||
|
||||
#define SIZE_OF_LITTLE_RAISE 1
|
||||
#define BIG_RAISE_NOT_NEEDED 0
|
||||
|
||||
extern void lcd_status_screen();
|
||||
typedef void (*screenFunc_t)();
|
||||
extern void lcd_goto_screen(screenFunc_t screen, const uint32_t encoder = 0);
|
||||
extern void lcd_setstatus(const char* message, const bool persist);
|
||||
extern void lcd_setstatuspgm(const char* message, const uint8_t level);
|
||||
|
||||
int unified_bed_leveling::g29_verbose_level,
|
||||
unified_bed_leveling::g29_phase_value,
|
||||
unified_bed_leveling::g29_repetition_cnt,
|
||||
unified_bed_leveling::g29_storage_slot = 0,
|
||||
unified_bed_leveling::g29_map_type,
|
||||
unified_bed_leveling::g29_grid_size;
|
||||
bool unified_bed_leveling::g29_c_flag,
|
||||
unified_bed_leveling::g29_x_flag,
|
||||
unified_bed_leveling::g29_y_flag;
|
||||
float unified_bed_leveling::g29_x_pos,
|
||||
unified_bed_leveling::g29_y_pos,
|
||||
unified_bed_leveling::g29_card_thickness = 0.0,
|
||||
unified_bed_leveling::g29_constant = 0.0;
|
||||
|
||||
/**
|
||||
* G29: Unified Bed Leveling by Roxy
|
||||
|
|
@ -304,16 +314,7 @@
|
|||
* we now have the functionality and features of all three systems combined.
|
||||
*/
|
||||
|
||||
// The simple parameter flags and values are 'static' so parameter parsing can be in a support routine.
|
||||
static int g29_verbose_level, phase_value, repetition_cnt,
|
||||
storage_slot = 0, map_type, grid_size;
|
||||
static bool repeat_flag, c_flag, x_flag, y_flag;
|
||||
static float x_pos, y_pos, card_thickness = 0.0, ubl_constant = 0.0;
|
||||
|
||||
extern void lcd_setstatus(const char* message, const bool persist);
|
||||
extern void lcd_setstatuspgm(const char* message, const uint8_t level);
|
||||
|
||||
void _O0 gcode_G29() {
|
||||
void unified_bed_leveling::G29() {
|
||||
|
||||
if (!settings.calc_num_meshes()) {
|
||||
SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
|
||||
|
|
@ -340,15 +341,15 @@
|
|||
// it directly specifies the repetition count and does not use the 'R' parameter.
|
||||
if (code_seen('I')) {
|
||||
uint8_t cnt = 0;
|
||||
repetition_cnt = code_has_value() ? code_value_int() : 1;
|
||||
while (repetition_cnt--) {
|
||||
g29_repetition_cnt = code_has_value() ? code_value_int() : 1;
|
||||
while (g29_repetition_cnt--) {
|
||||
if (cnt > 20) { cnt = 0; idle(); }
|
||||
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
|
||||
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
|
||||
if (location.x_index < 0) {
|
||||
SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
|
||||
break; // No more invalid Mesh Points to populate
|
||||
}
|
||||
ubl.z_values[location.x_index][location.y_index] = NAN;
|
||||
z_values[location.x_index][location.y_index] = NAN;
|
||||
cnt++;
|
||||
}
|
||||
SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
|
||||
|
|
@ -370,30 +371,30 @@
|
|||
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta.
|
||||
const float p1 = 0.5 * (GRID_MAX_POINTS_X) - x,
|
||||
p2 = 0.5 * (GRID_MAX_POINTS_Y) - y;
|
||||
ubl.z_values[x][y] += 2.0 * HYPOT(p1, p2);
|
||||
z_values[x][y] += 2.0 * HYPOT(p1, p2);
|
||||
}
|
||||
}
|
||||
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
|
||||
ubl.z_values[x][x] += 9.999;
|
||||
ubl.z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
|
||||
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
|
||||
ubl.z_values[x][y] += code_seen('C') ? ubl_constant : 9.99;
|
||||
z_values[x][y] += code_seen('C') ? g29_constant : 9.99;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (code_seen('J')) {
|
||||
if (grid_size) { // if not 0 it is a normal n x n grid being probed
|
||||
ubl.save_ubl_active_state_and_disable();
|
||||
ubl.tilt_mesh_based_on_probed_grid(code_seen('T'));
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
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(code_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);
|
||||
|
|
@ -413,29 +414,29 @@
|
|||
// doesn't mean the Mesh is tilted! (Compensate each probe point by what the Mesh says
|
||||
// its height is.)
|
||||
|
||||
ubl.save_ubl_active_state_and_disable();
|
||||
z1 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
|
||||
z2 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
|
||||
z3 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
|
||||
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)));
|
||||
ubl.tilt_mesh_based_on_3pts(z1, z2, z3);
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
tilt_mesh_based_on_3pts(z1, z2, z3);
|
||||
restore_ubl_active_state_and_leave();
|
||||
}
|
||||
}
|
||||
|
||||
if (code_seen('P')) {
|
||||
if (WITHIN(phase_value, 0, 1) && ubl.state.storage_slot == -1) {
|
||||
ubl.state.storage_slot = 0;
|
||||
if (WITHIN(g29_phase_value, 0, 1) && state.storage_slot == -1) {
|
||||
state.storage_slot = 0;
|
||||
SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.");
|
||||
}
|
||||
|
||||
switch (phase_value) {
|
||||
switch (g29_phase_value) {
|
||||
case 0:
|
||||
//
|
||||
// Zero Mesh Data
|
||||
//
|
||||
ubl.reset();
|
||||
reset();
|
||||
SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
|
||||
break;
|
||||
|
||||
|
|
@ -444,16 +445,16 @@
|
|||
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
|
||||
//
|
||||
if (!code_seen('C')) {
|
||||
ubl.invalidate();
|
||||
invalidate();
|
||||
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
|
||||
}
|
||||
if (g29_verbose_level > 1) {
|
||||
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", x_pos);
|
||||
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", g29_x_pos);
|
||||
SERIAL_PROTOCOLCHAR(',');
|
||||
SERIAL_PROTOCOL(y_pos);
|
||||
SERIAL_PROTOCOL(g29_y_pos);
|
||||
SERIAL_PROTOCOLLNPGM(").\n");
|
||||
}
|
||||
ubl.probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
||||
probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
||||
code_seen('T'), code_seen('E'), code_seen('U'));
|
||||
break;
|
||||
|
||||
|
|
@ -463,7 +464,7 @@
|
|||
//
|
||||
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.");
|
||||
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
||||
if (!x_flag && !y_flag) {
|
||||
if (!g29_x_flag && !g29_y_flag) {
|
||||
/**
|
||||
* Use a good default location for the path.
|
||||
* The flipped > and < operators in these comparisons is intentional.
|
||||
|
|
@ -472,25 +473,25 @@
|
|||
* Until that is decided, this can be forced with the X and Y parameters.
|
||||
*/
|
||||
#if IS_KINEMATIC
|
||||
x_pos = X_HOME_POS;
|
||||
y_pos = Y_HOME_POS;
|
||||
g29_x_pos = X_HOME_POS;
|
||||
g29_y_pos = Y_HOME_POS;
|
||||
#else // cartesian
|
||||
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS;
|
||||
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS;
|
||||
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 (code_seen('C')) {
|
||||
x_pos = current_position[X_AXIS];
|
||||
y_pos = current_position[Y_AXIS];
|
||||
g29_x_pos = current_position[X_AXIS];
|
||||
g29_y_pos = current_position[Y_AXIS];
|
||||
}
|
||||
|
||||
float height = Z_CLEARANCE_BETWEEN_PROBES;
|
||||
|
||||
if (code_seen('B')) {
|
||||
card_thickness = code_has_value() ? code_value_float() : measure_business_card_thickness(height);
|
||||
g29_card_thickness = code_has_value() ? code_value_float() : measure_business_card_thickness(height);
|
||||
|
||||
if (fabs(card_thickness) > 1.5) {
|
||||
if (fabs(g29_card_thickness) > 1.5) {
|
||||
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.");
|
||||
return;
|
||||
}
|
||||
|
|
@ -498,12 +499,12 @@
|
|||
|
||||
if (code_seen('H') && code_has_value()) height = code_value_float();
|
||||
|
||||
if (!position_is_reachable_xy(x_pos, y_pos)) {
|
||||
if (!position_is_reachable_xy(g29_x_pos, g29_y_pos)) {
|
||||
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
|
||||
return;
|
||||
}
|
||||
|
||||
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('T'));
|
||||
manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, code_seen('T'));
|
||||
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
|
||||
} break;
|
||||
|
||||
|
|
@ -514,24 +515,24 @@
|
|||
* - Specify a constant with the 'C' parameter.
|
||||
* - Allow 'G29 P3' to choose a 'reasonable' constant.
|
||||
*/
|
||||
if (c_flag) {
|
||||
if (repetition_cnt >= GRID_MAX_POINTS) {
|
||||
if (g29_c_flag) {
|
||||
if (g29_repetition_cnt >= GRID_MAX_POINTS) {
|
||||
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) {
|
||||
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
|
||||
ubl.z_values[x][y] = ubl_constant;
|
||||
z_values[x][y] = g29_constant;
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
while (repetition_cnt--) { // this only populates reachable mesh points near
|
||||
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
|
||||
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) break; // No more reachable invalid Mesh Points to populate
|
||||
ubl.z_values[location.x_index][location.y_index] = ubl_constant;
|
||||
z_values[location.x_index][location.y_index] = g29_constant;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
const float cvf = code_value_float();
|
||||
switch( (int)truncf( cvf * 10.0 ) - 30 ) { // 3.1 -> 1
|
||||
switch((int)truncf(cvf * 10.0) - 30) { // 3.1 -> 1
|
||||
#if ENABLED(UBL_G29_P31)
|
||||
case 1: {
|
||||
|
||||
|
|
@ -541,9 +542,9 @@
|
|||
// 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
|
||||
const float weight_factor = weight_power ? pow( 10.0, weight_power ) : 0;
|
||||
smart_fill_wlsf( weight_factor );
|
||||
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
|
||||
|
|
@ -561,13 +562,13 @@
|
|||
// Fine Tune (i.e., Edit) the Mesh
|
||||
//
|
||||
|
||||
fine_tune_mesh(x_pos, y_pos, code_seen('T'));
|
||||
fine_tune_mesh(g29_x_pos, g29_y_pos, code_seen('T'));
|
||||
|
||||
break;
|
||||
|
||||
case 5: ubl.find_mean_mesh_height(); break;
|
||||
case 5: find_mean_mesh_height(); break;
|
||||
|
||||
case 6: ubl.shift_mesh_height(); break;
|
||||
case 6: shift_mesh_height(); break;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -575,7 +576,7 @@
|
|||
// 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 (code_seen('W')) ubl.g29_what_command();
|
||||
if (code_seen('W')) g29_what_command();
|
||||
|
||||
//
|
||||
// When we are fully debugged, this may go away. But there are some valid
|
||||
|
|
@ -590,7 +591,7 @@
|
|||
//
|
||||
|
||||
if (code_seen('L')) { // Load Current Mesh Data
|
||||
storage_slot = code_has_value() ? code_value_int() : ubl.state.storage_slot;
|
||||
g29_storage_slot = code_has_value() ? code_value_int() : state.storage_slot;
|
||||
|
||||
int16_t a = settings.calc_num_meshes();
|
||||
|
||||
|
|
@ -599,14 +600,14 @@
|
|||
return;
|
||||
}
|
||||
|
||||
if (!WITHIN(storage_slot, 0, a - 1)) {
|
||||
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
|
||||
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
|
||||
return;
|
||||
}
|
||||
|
||||
settings.load_mesh(storage_slot);
|
||||
ubl.state.storage_slot = storage_slot;
|
||||
settings.load_mesh(g29_storage_slot);
|
||||
state.storage_slot = g29_storage_slot;
|
||||
|
||||
SERIAL_PROTOCOLLNPGM("Done.");
|
||||
}
|
||||
|
|
@ -616,19 +617,19 @@
|
|||
//
|
||||
|
||||
if (code_seen('S')) { // Store (or Save) Current Mesh Data
|
||||
storage_slot = code_has_value() ? code_value_int() : ubl.state.storage_slot;
|
||||
g29_storage_slot = code_has_value() ? code_value_int() : state.storage_slot;
|
||||
|
||||
if (storage_slot == -1) { // Special case, we are going to 'Export' the mesh to the
|
||||
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(ubl.z_values[x][y])) {
|
||||
if (!isnan(z_values[x][y])) {
|
||||
SERIAL_ECHOPAIR("M421 I ", x);
|
||||
SERIAL_ECHOPAIR(" J ", y);
|
||||
SERIAL_ECHOPGM(" Z ");
|
||||
SERIAL_ECHO_F(ubl.z_values[x][y], 6);
|
||||
SERIAL_ECHOPAIR(" ; X ", LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[x])));
|
||||
SERIAL_ECHOPAIR(", Y ", LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[y])));
|
||||
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;
|
||||
|
|
@ -641,32 +642,32 @@
|
|||
goto LEAVE;
|
||||
}
|
||||
|
||||
if (!WITHIN(storage_slot, 0, a - 1)) {
|
||||
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(storage_slot);
|
||||
ubl.state.storage_slot = storage_slot;
|
||||
settings.store_mesh(g29_storage_slot);
|
||||
state.storage_slot = g29_storage_slot;
|
||||
|
||||
SERIAL_PROTOCOLLNPGM("Done.");
|
||||
}
|
||||
|
||||
if (code_seen('T'))
|
||||
ubl.display_map(code_has_value() ? code_value_int() : 0);
|
||||
display_map(code_has_value() ? code_value_int() : 0);
|
||||
|
||||
/*
|
||||
* This code may not be needed... Prepare for its removal...
|
||||
*
|
||||
if (code_seen('Z')) {
|
||||
if (code_has_value())
|
||||
ubl.state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
|
||||
state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
|
||||
else {
|
||||
ubl.save_ubl_active_state_and_disable();
|
||||
//float measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
|
||||
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);
|
||||
|
||||
ubl.has_control_of_lcd_panel = true; // Grab the LCD Hardware
|
||||
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
|
||||
|
|
@ -682,7 +683,7 @@
|
|||
do_blocking_move_to_z(measured_z);
|
||||
} while (!ubl_lcd_clicked());
|
||||
|
||||
ubl.has_control_of_lcd_panel = true; // There is a race condition for the encoder click.
|
||||
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
|
||||
|
|
@ -698,17 +699,17 @@
|
|||
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
|
||||
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
||||
LCD_MESSAGEPGM("Z-Offset Stopped"); // TODO: Make translatable string
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
restore_ubl_active_state_and_leave();
|
||||
goto LEAVE;
|
||||
}
|
||||
}
|
||||
ubl.has_control_of_lcd_panel = false;
|
||||
has_control_of_lcd_panel = false;
|
||||
safe_delay(20); // We don't want any switch noise.
|
||||
|
||||
ubl.state.z_offset = measured_z;
|
||||
state.z_offset = measured_z;
|
||||
|
||||
lcd_implementation_clear();
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
restore_ubl_active_state_and_leave();
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
|
@ -719,7 +720,7 @@
|
|||
LCD_MESSAGEPGM("");
|
||||
lcd_quick_feedback();
|
||||
|
||||
ubl.has_control_of_lcd_panel = false;
|
||||
has_control_of_lcd_panel = false;
|
||||
}
|
||||
|
||||
void unified_bed_leveling::find_mean_mesh_height() {
|
||||
|
|
@ -727,8 +728,8 @@
|
|||
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(ubl.z_values[x][y])) {
|
||||
sum += ubl.z_values[x][y];
|
||||
if (!isnan(z_values[x][y])) {
|
||||
sum += z_values[x][y];
|
||||
n++;
|
||||
}
|
||||
|
||||
|
|
@ -740,8 +741,8 @@
|
|||
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(ubl.z_values[x][y]))
|
||||
sum_of_diff_squared += sq(ubl.z_values[x][y] - mean);
|
||||
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: ");
|
||||
|
|
@ -753,18 +754,18 @@
|
|||
SERIAL_ECHO_F(sigma, 6);
|
||||
SERIAL_EOL;
|
||||
|
||||
if (c_flag)
|
||||
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(ubl.z_values[x][y]))
|
||||
ubl.z_values[x][y] -= mean + ubl_constant;
|
||||
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(ubl.z_values[x][y]))
|
||||
ubl.z_values[x][y] += ubl_constant;
|
||||
if (!isnan(z_values[x][y]))
|
||||
z_values[x][y] += g29_constant;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -774,8 +775,8 @@
|
|||
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;
|
||||
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
|
||||
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;
|
||||
|
|
@ -786,8 +787,8 @@
|
|||
lcd_quick_feedback();
|
||||
STOW_PROBE();
|
||||
while (ubl_lcd_clicked()) idle();
|
||||
ubl.has_control_of_lcd_panel = false;
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
has_control_of_lcd_panel = false;
|
||||
restore_ubl_active_state_and_leave();
|
||||
safe_delay(50); // Debounce the Encoder wheel
|
||||
return;
|
||||
}
|
||||
|
|
@ -795,19 +796,19 @@
|
|||
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 = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
|
||||
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
|
||||
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
|
||||
ubl.z_values[location.x_index][location.y_index] = measured_z;
|
||||
z_values[location.x_index][location.y_index] = measured_z;
|
||||
}
|
||||
|
||||
if (do_ubl_mesh_map) ubl.display_map(map_type);
|
||||
if (do_ubl_mesh_map) display_map(g29_map_type);
|
||||
|
||||
} while (location.x_index >= 0 && --max_iterations);
|
||||
|
||||
STOW_PROBE();
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
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),
|
||||
|
|
@ -886,9 +887,9 @@
|
|||
|
||||
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 = pgm_read_float(&ubl.mesh_index_to_xpos[i]),
|
||||
y_tmp = pgm_read_float(&ubl.mesh_index_to_ypos[j]),
|
||||
z_tmp = ubl.z_values[i][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 = [");
|
||||
|
|
@ -914,12 +915,12 @@
|
|||
safe_delay(55);
|
||||
}
|
||||
#endif
|
||||
ubl.z_values[i][j] += z_tmp - d;
|
||||
z_values[i][j] += z_tmp - d;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float use_encoder_wheel_to_measure_point() {
|
||||
float unified_bed_leveling::measure_point_with_encoder() {
|
||||
|
||||
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
|
||||
delay(50); // debounce
|
||||
|
|
@ -927,22 +928,20 @@
|
|||
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 (ubl.encoder_diff) {
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + 0.01 * float(ubl.encoder_diff));
|
||||
ubl.encoder_diff = 0;
|
||||
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.");
|
||||
}
|
||||
static void echo_and_take_a_measurement() { SERIAL_PROTOCOLLNPGM(" and take a measurement."); }
|
||||
|
||||
float measure_business_card_thickness(float &in_height) {
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
ubl.save_ubl_active_state_and_disable(); // Disable bed level correction for probing
|
||||
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)));
|
||||
|
|
@ -954,7 +953,7 @@
|
|||
lcd_goto_screen(lcd_status_screen);
|
||||
echo_and_take_a_measurement();
|
||||
|
||||
const float z1 = use_encoder_wheel_to_measure_point();
|
||||
const float z1 = measure_point_with_encoder();
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
|
||||
stepper.synchronize();
|
||||
|
||||
|
|
@ -962,7 +961,7 @@
|
|||
LCD_MESSAGEPGM("Remove & measure bed"); // TODO: Make translatable string
|
||||
echo_and_take_a_measurement();
|
||||
|
||||
const float z2 = use_encoder_wheel_to_measure_point();
|
||||
const float z2 = measure_point_with_encoder();
|
||||
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES);
|
||||
|
||||
|
|
@ -976,17 +975,17 @@
|
|||
|
||||
in_height = current_position[Z_AXIS]; // do manual probing at lower height
|
||||
|
||||
ubl.has_control_of_lcd_panel = false;
|
||||
has_control_of_lcd_panel = false;
|
||||
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
restore_ubl_active_state_and_leave();
|
||||
|
||||
return thickness;
|
||||
}
|
||||
|
||||
void manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &card_thickness, const bool do_ubl_mesh_map) {
|
||||
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) {
|
||||
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
|
||||
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);
|
||||
|
||||
|
|
@ -997,8 +996,8 @@
|
|||
// 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 = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
|
||||
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]),
|
||||
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);
|
||||
|
||||
|
|
@ -1012,9 +1011,9 @@
|
|||
do_blocking_move_to_z(z_clearance);
|
||||
|
||||
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
has_control_of_lcd_panel = true;
|
||||
|
||||
if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing
|
||||
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
|
||||
|
||||
if (code_seen('B'))
|
||||
LCD_MESSAGEPGM("Place shim & measure"); // TODO: Make translatable string
|
||||
|
|
@ -1025,9 +1024,9 @@
|
|||
delay(50); // debounce
|
||||
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
|
||||
idle();
|
||||
if (ubl.encoder_diff) {
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl.encoder_diff) / 100.0);
|
||||
ubl.encoder_diff = 0;
|
||||
if (encoder_diff) {
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) / 100.0);
|
||||
encoder_diff = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1042,48 +1041,47 @@
|
|||
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
||||
lcd_quick_feedback();
|
||||
while (ubl_lcd_clicked()) idle();
|
||||
ubl.has_control_of_lcd_panel = false;
|
||||
has_control_of_lcd_panel = false;
|
||||
KEEPALIVE_STATE(IN_HANDLER);
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
restore_ubl_active_state_and_leave();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
ubl.z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - card_thickness;
|
||||
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(ubl.z_values[location.x_index][location.y_index], 6);
|
||||
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) ubl.display_map(map_type);
|
||||
if (do_ubl_mesh_map) display_map(g29_map_type);
|
||||
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
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 g29_parameter_parsing() {
|
||||
bool unified_bed_leveling::g29_parameter_parsing() {
|
||||
bool err_flag = false;
|
||||
|
||||
LCD_MESSAGEPGM("Doing G29 UBL!"); // TODO: Make translatable string
|
||||
lcd_quick_feedback();
|
||||
|
||||
ubl_constant = 0.0;
|
||||
repetition_cnt = 0;
|
||||
g29_constant = 0.0;
|
||||
g29_repetition_cnt = 0;
|
||||
|
||||
x_flag = code_seen('X') && code_has_value();
|
||||
x_pos = x_flag ? code_value_float() : current_position[X_AXIS];
|
||||
y_flag = code_seen('Y') && code_has_value();
|
||||
y_pos = y_flag ? code_value_float() : current_position[Y_AXIS];
|
||||
g29_x_flag = code_seen('X') && code_has_value();
|
||||
g29_x_pos = g29_x_flag ? code_value_float() : current_position[X_AXIS];
|
||||
g29_y_flag = code_seen('Y') && code_has_value();
|
||||
g29_y_pos = g29_y_flag ? code_value_float() : current_position[Y_AXIS];
|
||||
|
||||
repeat_flag = code_seen('R');
|
||||
if (repeat_flag) {
|
||||
repetition_cnt = code_has_value() ? code_value_int() : GRID_MAX_POINTS;
|
||||
NOMORE(repetition_cnt, GRID_MAX_POINTS);
|
||||
if (repetition_cnt < 1) {
|
||||
if (code_seen('R')) {
|
||||
g29_repetition_cnt = code_has_value() ? code_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;
|
||||
}
|
||||
|
|
@ -1096,31 +1094,31 @@
|
|||
}
|
||||
|
||||
if (code_seen('P')) {
|
||||
phase_value = code_value_int();
|
||||
if (!WITHIN(phase_value, 0, 6)) {
|
||||
g29_phase_value = code_value_int();
|
||||
if (!WITHIN(g29_phase_value, 0, 6)) {
|
||||
SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
|
||||
err_flag = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (code_seen('J')) {
|
||||
grid_size = code_has_value() ? code_value_int() : 0;
|
||||
if (grid_size!=0 && !WITHIN(grid_size, 2, 9)) {
|
||||
g29_grid_size = code_has_value() ? code_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 (x_flag != y_flag) {
|
||||
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(x_pos), X_MIN_POS, X_MAX_POS)) {
|
||||
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(y_pos), Y_MIN_POS, Y_MAX_POS)) {
|
||||
if (!WITHIN(RAW_Y_POSITION(g29_y_pos), Y_MIN_POS, Y_MAX_POS)) {
|
||||
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
|
||||
err_flag = true;
|
||||
}
|
||||
|
|
@ -1133,17 +1131,17 @@
|
|||
SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
|
||||
return UBL_ERR;
|
||||
}
|
||||
ubl.state.active = true;
|
||||
ubl.report_state();
|
||||
state.active = true;
|
||||
report_state();
|
||||
}
|
||||
else if (code_seen('D')) {
|
||||
ubl.state.active = false;
|
||||
ubl.report_state();
|
||||
state.active = false;
|
||||
report_state();
|
||||
}
|
||||
|
||||
// Set global 'C' flag and its value
|
||||
if ((c_flag = code_seen('C')))
|
||||
ubl_constant = code_value_float();
|
||||
if ((g29_c_flag = code_seen('C')))
|
||||
g29_constant = code_value_float();
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
if (code_seen('F') && code_has_value()) {
|
||||
|
|
@ -1156,8 +1154,8 @@
|
|||
}
|
||||
#endif
|
||||
|
||||
map_type = code_seen('T') && code_has_value() ? code_value_int() : 0;
|
||||
if (!WITHIN(map_type, 0, 1)) {
|
||||
g29_map_type = code_seen('T') && code_has_value() ? code_value_int() : 0;
|
||||
if (!WITHIN(g29_map_type, 0, 1)) {
|
||||
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
|
@ -1175,8 +1173,8 @@
|
|||
lcd_quick_feedback();
|
||||
return;
|
||||
}
|
||||
ubl_state_at_invocation = ubl.state.active;
|
||||
ubl.state.active = 0;
|
||||
ubl_state_at_invocation = state.active;
|
||||
state.active = 0;
|
||||
}
|
||||
|
||||
void unified_bed_leveling::restore_ubl_active_state_and_leave() {
|
||||
|
|
@ -1186,7 +1184,7 @@
|
|||
lcd_quick_feedback();
|
||||
return;
|
||||
}
|
||||
ubl.state.active = ubl_state_at_invocation;
|
||||
state.active = ubl_state_at_invocation;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -1234,7 +1232,7 @@
|
|||
|
||||
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
|
||||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
||||
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(pgm_read_float(&mesh_index_to_xpos[i])), 3);
|
||||
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3);
|
||||
SERIAL_PROTOCOLPGM(" ");
|
||||
safe_delay(25);
|
||||
}
|
||||
|
|
@ -1242,7 +1240,7 @@
|
|||
|
||||
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
|
||||
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
|
||||
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(pgm_read_float(&mesh_index_to_ypos[i])), 3);
|
||||
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3);
|
||||
SERIAL_PROTOCOLPGM(" ");
|
||||
safe_delay(25);
|
||||
}
|
||||
|
|
@ -1288,7 +1286,7 @@
|
|||
* 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 g29_eeprom_dump() {
|
||||
void unified_bed_leveling::g29_eeprom_dump() {
|
||||
unsigned char cccc;
|
||||
uint16_t kkkk;
|
||||
|
||||
|
|
@ -1313,7 +1311,7 @@
|
|||
* 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 g29_compare_current_mesh_to_stored_mesh() {
|
||||
void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() {
|
||||
int16_t a = settings.calc_num_meshes();
|
||||
|
||||
if (!a) {
|
||||
|
|
@ -1327,26 +1325,26 @@
|
|||
return;
|
||||
}
|
||||
|
||||
storage_slot = code_value_int();
|
||||
g29_storage_slot = code_value_int();
|
||||
|
||||
if (!WITHIN(storage_slot, 0, a - 1)) {
|
||||
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(storage_slot, &tmp_z_values);
|
||||
settings.load_mesh(g29_storage_slot, &tmp_z_values);
|
||||
|
||||
SERIAL_PROTOCOLPAIR("Subtracting mesh in slot ", storage_slot);
|
||||
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++)
|
||||
ubl.z_values[x][y] -= tmp_z_values[x][y];
|
||||
z_values[x][y] -= tmp_z_values[x][y];
|
||||
}
|
||||
|
||||
mesh_index_pair 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 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;
|
||||
|
||||
|
|
@ -1359,15 +1357,15 @@
|
|||
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(ubl.z_values[i][j])) // Check to see if this location holds the right thing
|
||||
|| (type == REAL && !isnan(ubl.z_values[i][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 = pgm_read_float(&ubl.mesh_index_to_xpos[i]),
|
||||
my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
|
||||
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.
|
||||
|
|
@ -1391,9 +1389,9 @@
|
|||
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(ubl.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);
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1417,20 +1415,19 @@
|
|||
return out_mesh;
|
||||
}
|
||||
|
||||
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
|
||||
void unified_bed_leveling::fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
|
||||
if (!code_seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
|
||||
repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
|
||||
g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
|
||||
|
||||
mesh_index_pair location;
|
||||
uint16_t not_done[16];
|
||||
int32_t round_off;
|
||||
|
||||
if (!position_is_reachable_xy(lx, ly)) {
|
||||
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
|
||||
return;
|
||||
}
|
||||
|
||||
ubl.save_ubl_active_state_and_disable();
|
||||
save_ubl_active_state_and_disable();
|
||||
|
||||
memset(not_done, 0xFF, sizeof(not_done));
|
||||
|
||||
|
|
@ -1446,13 +1443,13 @@
|
|||
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 = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
|
||||
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
|
||||
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 = ubl.z_values[location.x_index][location.y_index];
|
||||
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;
|
||||
|
|
@ -1463,9 +1460,9 @@
|
|||
new_z = floor(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place
|
||||
|
||||
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
has_control_of_lcd_panel = true;
|
||||
|
||||
if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted
|
||||
if (do_ubl_mesh_map) display_map(g29_map_type); // show the user which point is being adjusted
|
||||
|
||||
lcd_implementation_clear();
|
||||
|
||||
|
|
@ -1474,7 +1471,7 @@
|
|||
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
|
||||
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());
|
||||
|
|
@ -1484,7 +1481,7 @@
|
|||
// 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?
|
||||
ubl.has_control_of_lcd_panel = true;
|
||||
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
|
||||
|
|
@ -1506,19 +1503,19 @@
|
|||
|
||||
safe_delay(20); // We don't want any switch noise.
|
||||
|
||||
ubl.z_values[location.x_index][location.y_index] = new_z;
|
||||
z_values[location.x_index][location.y_index] = new_z;
|
||||
|
||||
lcd_implementation_clear();
|
||||
|
||||
} while (location.x_index >= 0 && --repetition_cnt > 0);
|
||||
} while (location.x_index >= 0 && --g29_repetition_cnt > 0);
|
||||
|
||||
FINE_TUNE_EXIT:
|
||||
|
||||
ubl.has_control_of_lcd_panel = false;
|
||||
has_control_of_lcd_panel = false;
|
||||
KEEPALIVE_STATE(IN_HANDLER);
|
||||
|
||||
if (do_ubl_mesh_map) ubl.display_map(map_type);
|
||||
ubl.restore_ubl_active_state_and_leave();
|
||||
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);
|
||||
|
|
@ -1533,15 +1530,15 @@
|
|||
* calculate a 'reasonable' value for the unprobed mesh point.
|
||||
*/
|
||||
|
||||
bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
|
||||
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(ubl.z_values[x][y]) && !isnan(ubl.z_values[x1][y1]) && !isnan(ubl.z_values[x2][y2])) {
|
||||
if (ubl.z_values[x1][y1] < ubl.z_values[x2][y2]) // Angled downward?
|
||||
ubl.z_values[x][y] = ubl.z_values[x1][y1]; // Use nearest (maybe a little too high.)
|
||||
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
|
||||
ubl.z_values[x][y] = 2.0 * ubl.z_values[x1][y1] - ubl.z_values[x2][y2]; // Angled upward...
|
||||
z_values[x][y] = 2.0 * z_values[x1][y1] - z_values[x2][y2]; // Angled upward...
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
|
@ -1549,7 +1546,7 @@
|
|||
|
||||
typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
|
||||
|
||||
void smart_fill_mesh() {
|
||||
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
|
||||
|
|
@ -1579,17 +1576,17 @@
|
|||
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) / (grid_size - 1.0),
|
||||
dy = float(y_max - y_min) / (grid_size - 1.0);
|
||||
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 < grid_size; ix++) {
|
||||
for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
|
||||
const float x = float(x_min) + ix * dx;
|
||||
for (int8_t iy = 0; iy < grid_size; iy++) {
|
||||
const float y = float(y_min) + dy * (zig_zag ? grid_size - 1 - iy : iy);
|
||||
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), code_seen('E'), g29_verbose_level); // TODO: Needs error handling
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
|
|
@ -1656,8 +1653,8 @@
|
|||
|
||||
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 = pgm_read_float(&mesh_index_to_xpos[i]),
|
||||
y_tmp = pgm_read_float(&mesh_index_to_ypos[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)
|
||||
|
|
@ -1717,47 +1714,40 @@
|
|||
}
|
||||
|
||||
#if ENABLED(UBL_G29_P31)
|
||||
|
||||
// Note: using optimize("O2") for this routine results in smaller
|
||||
// codegen than default optimize("Os") on A2560.
|
||||
|
||||
void _O2 smart_fill_wlsf( float weight_factor ) {
|
||||
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};
|
||||
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( ubl.z_values[jx][jy] )) {
|
||||
bitmap[jx] |= (uint16_t)1 << jy;
|
||||
}
|
||||
}
|
||||
}
|
||||
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 = pgm_read_float(&(ubl.mesh_index_to_xpos[ix]));
|
||||
const float px = mesh_index_to_xpos(ix);
|
||||
for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; iy++) {
|
||||
const float py = pgm_read_float(&(ubl.mesh_index_to_ypos[iy]));
|
||||
if ( isnan( ubl.z_values[ix][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 = pgm_read_float(&(ubl.mesh_index_to_xpos[jx]));
|
||||
const float rx = mesh_index_to_xpos(jx);
|
||||
for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
|
||||
if ( bitmap[jx] & (uint16_t)1 << jy ) {
|
||||
const float ry = pgm_read_float(&(ubl.mesh_index_to_ypos[jy]));
|
||||
const float rz = ubl.z_values[jx][jy];
|
||||
const float w = 1.0 + weight_scaled / HYPOT((rx - px),(ry - py));
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
|
@ -1767,7 +1757,7 @@
|
|||
return;
|
||||
}
|
||||
const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
|
||||
ubl.z_values[ix][iy] = ez;
|
||||
z_values[ix][iy] = ez;
|
||||
idle(); // housekeeping
|
||||
}
|
||||
}
|
||||
|
|
@ -1777,5 +1767,4 @@
|
|||
}
|
||||
#endif // UBL_G29_P31
|
||||
|
||||
|
||||
#endif // AUTO_BED_LEVELING_UBL
|
||||
|
|
|
|||
|
|
@ -85,7 +85,7 @@
|
|||
|
||||
}
|
||||
|
||||
void ubl_line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
|
||||
void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
|
||||
/**
|
||||
* Much of the nozzle movement will be within the same cell. So we will do as little computation
|
||||
* as possible to determine if this is the case. If this move is within the same cell, we will
|
||||
|
|
@ -104,19 +104,19 @@
|
|||
destination[E_AXIS]
|
||||
};
|
||||
|
||||
const int cell_start_xi = ubl.get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
|
||||
cell_start_yi = ubl.get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
|
||||
cell_dest_xi = ubl.get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
|
||||
cell_dest_yi = ubl.get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
|
||||
const int cell_start_xi = get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
|
||||
cell_start_yi = get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
|
||||
cell_dest_xi = get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
|
||||
cell_dest_yi = get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
|
||||
|
||||
if (ubl.g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" ubl_line_to_destination(xe=", end[X_AXIS]);
|
||||
if (g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
|
||||
SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
|
||||
SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
|
||||
SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL;
|
||||
debug_current_and_destination(PSTR("Start of ubl_line_to_destination()"));
|
||||
debug_current_and_destination(PSTR("Start of ubl.line_to_destination()"));
|
||||
}
|
||||
|
||||
if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
|
||||
|
|
@ -132,11 +132,11 @@
|
|||
// Note: There is no Z Correction in this case. We are off the grid and don't know what
|
||||
// a reasonable correction would be.
|
||||
|
||||
planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
|
||||
planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + state.z_offset, end[E_AXIS], feed_rate, extruder);
|
||||
set_current_to_destination();
|
||||
|
||||
if (ubl.g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("out of bounds in ubl_line_to_destination()"));
|
||||
if (g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()"));
|
||||
|
||||
return;
|
||||
}
|
||||
|
|
@ -152,20 +152,20 @@
|
|||
* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
|
||||
*/
|
||||
|
||||
const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&ubl.mesh_index_to_xpos[cell_dest_xi])) * (1.0 / (MESH_X_DIST)),
|
||||
z1 = ubl.z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
|
||||
(ubl.z_values[cell_dest_xi + 1][cell_dest_yi ] - ubl.z_values[cell_dest_xi][cell_dest_yi ]),
|
||||
z2 = ubl.z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
|
||||
(ubl.z_values[cell_dest_xi + 1][cell_dest_yi + 1] - ubl.z_values[cell_dest_xi][cell_dest_yi + 1]);
|
||||
const float xratio = (RAW_X_POSITION(end[X_AXIS]) - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST)),
|
||||
z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
|
||||
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
|
||||
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
|
||||
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
|
||||
|
||||
// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
|
||||
// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
|
||||
|
||||
const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&ubl.mesh_index_to_ypos[cell_dest_yi])) * (1.0 / (MESH_Y_DIST));
|
||||
const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
|
||||
|
||||
float z0 = z1 + (z2 - z1) * yratio;
|
||||
|
||||
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
|
||||
/**
|
||||
* If part of the Mesh is undefined, it will show up as NAN
|
||||
|
|
@ -176,10 +176,10 @@
|
|||
*/
|
||||
if (isnan(z0)) z0 = 0.0;
|
||||
|
||||
planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
|
||||
planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + state.z_offset, end[E_AXIS], feed_rate, extruder);
|
||||
|
||||
if (ubl.g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("FINAL_MOVE in ubl_line_to_destination()"));
|
||||
if (g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()"));
|
||||
|
||||
set_current_to_destination();
|
||||
return;
|
||||
|
|
@ -240,7 +240,7 @@
|
|||
current_yi += down_flag; // Line is heading down, we just want to go to the bottom
|
||||
while (current_yi != cell_dest_yi + down_flag) {
|
||||
current_yi += dyi;
|
||||
const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
|
||||
const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
|
||||
|
||||
/**
|
||||
* if the slope of the line is infinite, we won't do the calculations
|
||||
|
|
@ -249,9 +249,9 @@
|
|||
*/
|
||||
const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
|
||||
|
||||
float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
|
||||
float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
|
||||
|
||||
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
|
||||
/**
|
||||
* If part of the Mesh is undefined, it will show up as NAN
|
||||
|
|
@ -262,7 +262,7 @@
|
|||
*/
|
||||
if (isnan(z0)) z0 = 0.0;
|
||||
|
||||
const float y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
|
||||
const float y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
|
||||
|
||||
/**
|
||||
* Without this check, it is possible for the algorithm to generate a zero length move in the case
|
||||
|
|
@ -281,12 +281,12 @@
|
|||
z_position = end[Z_AXIS];
|
||||
}
|
||||
|
||||
planner._buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
||||
planner._buffer_line(x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
|
||||
} //else printf("FIRST MOVE PRUNED ");
|
||||
}
|
||||
|
||||
if (ubl.g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("vertical move done in ubl_line_to_destination()"));
|
||||
if (g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()"));
|
||||
|
||||
//
|
||||
// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
|
||||
|
|
@ -311,12 +311,12 @@
|
|||
// edge of this cell for the first move.
|
||||
while (current_xi != cell_dest_xi + left_flag) {
|
||||
current_xi += dxi;
|
||||
const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi])),
|
||||
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi)),
|
||||
y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
|
||||
|
||||
float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
|
||||
float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
|
||||
|
||||
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
|
||||
/**
|
||||
* If part of the Mesh is undefined, it will show up as NAN
|
||||
|
|
@ -327,7 +327,7 @@
|
|||
*/
|
||||
if (isnan(z0)) z0 = 0.0;
|
||||
|
||||
const float x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi]));
|
||||
const float x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi));
|
||||
|
||||
/**
|
||||
* Without this check, it is possible for the algorithm to generate a zero length move in the case
|
||||
|
|
@ -346,12 +346,12 @@
|
|||
z_position = end[Z_AXIS];
|
||||
}
|
||||
|
||||
planner._buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
||||
planner._buffer_line(x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
|
||||
} //else printf("FIRST MOVE PRUNED ");
|
||||
}
|
||||
|
||||
if (ubl.g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("horizontal move done in ubl_line_to_destination()"));
|
||||
if (g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()"));
|
||||
|
||||
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
|
||||
goto FINAL_MOVE;
|
||||
|
|
@ -377,8 +377,8 @@
|
|||
|
||||
while (xi_cnt > 0 || yi_cnt > 0) {
|
||||
|
||||
const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi + dxi])),
|
||||
next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi + dyi])),
|
||||
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi + dxi)),
|
||||
next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi + dyi)),
|
||||
y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
|
||||
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
|
||||
// (No need to worry about m being zero.
|
||||
|
|
@ -387,9 +387,9 @@
|
|||
|
||||
if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
|
||||
// Yes! Crossing a Y Mesh Line next
|
||||
float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
|
||||
float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
|
||||
|
||||
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
|
||||
/**
|
||||
* If part of the Mesh is undefined, it will show up as NAN
|
||||
|
|
@ -409,15 +409,15 @@
|
|||
e_position = end[E_AXIS];
|
||||
z_position = end[Z_AXIS];
|
||||
}
|
||||
planner._buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
||||
planner._buffer_line(x, next_mesh_line_y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
|
||||
current_yi += dyi;
|
||||
yi_cnt--;
|
||||
}
|
||||
else {
|
||||
// Yes! Crossing a X Mesh Line next
|
||||
float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
|
||||
float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
|
||||
|
||||
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
|
||||
|
||||
/**
|
||||
* If part of the Mesh is undefined, it will show up as NAN
|
||||
|
|
@ -438,7 +438,7 @@
|
|||
z_position = end[Z_AXIS];
|
||||
}
|
||||
|
||||
planner._buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
||||
planner._buffer_line(next_mesh_line_x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
|
||||
current_xi += dxi;
|
||||
xi_cnt--;
|
||||
}
|
||||
|
|
@ -446,8 +446,8 @@
|
|||
if (xi_cnt < 0 || yi_cnt < 0) break; // we've gone too far, so exit the loop and move on to FINAL_MOVE
|
||||
}
|
||||
|
||||
if (ubl.g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("generic move done in ubl_line_to_destination()"));
|
||||
if (g26_debug_flag)
|
||||
debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()"));
|
||||
|
||||
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
|
||||
goto FINAL_MOVE;
|
||||
|
|
@ -502,7 +502,7 @@
|
|||
* Returns true if the caller did NOT update current_position, otherwise false.
|
||||
*/
|
||||
|
||||
static bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate) {
|
||||
static bool unified_bed_leveling::prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate) {
|
||||
|
||||
if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) // fail if moving outside reachable boundary
|
||||
return true; // did not move, so current_position still accurate
|
||||
|
|
@ -554,9 +554,9 @@
|
|||
|
||||
// Only compute leveling per segment if ubl active and target below z_fade_height.
|
||||
|
||||
if (!ubl.state.active || above_fade_height) { // no mesh leveling
|
||||
if (!state.active || above_fade_height) { // no mesh leveling
|
||||
|
||||
const float z_offset = ubl.state.active ? ubl.state.z_offset : 0.0;
|
||||
const float z_offset = state.active ? state.z_offset : 0.0;
|
||||
|
||||
float seg_dest[XYZE]; // per-segment destination,
|
||||
COPY_XYZE(seg_dest, current_position); // starting from current position
|
||||
|
|
@ -579,7 +579,7 @@
|
|||
// Otherwise perform per-segment leveling
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
const float fade_scaling_factor = ubl.fade_scaling_factor_for_z(ltarget[Z_AXIS]);
|
||||
const float fade_scaling_factor = fade_scaling_factor_for_z(ltarget[Z_AXIS]);
|
||||
#endif
|
||||
|
||||
float seg_dest[XYZE]; // per-segment destination, initialize to first segment
|
||||
|
|
@ -591,7 +591,7 @@
|
|||
float rx = RAW_X_POSITION(seg_dest[X_AXIS]), // assume raw vs logical coordinates shifted but not scaled.
|
||||
ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
|
||||
|
||||
do { // for each mesh cell encountered during the move
|
||||
for(;;) { // for each mesh cell encountered during the move
|
||||
|
||||
// Compute mesh cell invariants that remain constant for all segments within cell.
|
||||
// Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
|
||||
|
|
@ -606,19 +606,19 @@
|
|||
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
|
||||
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
|
||||
|
||||
const float x0 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi ])), // 64 byte table lookup avoids mul+add
|
||||
y0 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi ])), // 64 byte table lookup avoids mul+add
|
||||
x1 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi+1])), // 64 byte table lookup avoids mul+add
|
||||
y1 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi+1])); // 64 byte table lookup avoids mul+add
|
||||
const float x0 = pgm_read_float(&(mesh_index_to_xpos[cell_xi ])), // 64 byte table lookup avoids mul+add
|
||||
y0 = pgm_read_float(&(mesh_index_to_ypos[cell_yi ])), // 64 byte table lookup avoids mul+add
|
||||
x1 = pgm_read_float(&(mesh_index_to_xpos[cell_xi+1])), // 64 byte table lookup avoids mul+add
|
||||
y1 = pgm_read_float(&(mesh_index_to_ypos[cell_yi+1])); // 64 byte table lookup avoids mul+add
|
||||
|
||||
float cx = rx - x0, // cell-relative x
|
||||
cy = ry - y0, // cell-relative y
|
||||
z_x0y0 = ubl.z_values[cell_xi ][cell_yi ], // z at lower left corner
|
||||
z_x1y0 = ubl.z_values[cell_xi+1][cell_yi ], // z at upper left corner
|
||||
z_x0y1 = ubl.z_values[cell_xi ][cell_yi+1], // z at lower right corner
|
||||
z_x1y1 = ubl.z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
|
||||
z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
|
||||
z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
|
||||
z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
|
||||
z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
|
||||
|
||||
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating ubl.state.active (G29 A)
|
||||
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating state.active (G29 A)
|
||||
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
|
||||
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
|
||||
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
|
||||
|
|
@ -642,7 +642,7 @@
|
|||
const float z_sxy0 = z_xmy0 * dx_seg, // per-segment adjustment to z_cxy0
|
||||
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * dx_seg; // per-segment adjustment to z_cxym
|
||||
|
||||
do { // for all segments within this mesh cell
|
||||
for(;;) { // for all segments within this mesh cell
|
||||
|
||||
float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy
|
||||
|
||||
|
|
@ -650,7 +650,7 @@
|
|||
z_cxcy *= fade_scaling_factor; // apply fade factor to interpolated mesh height
|
||||
#endif
|
||||
|
||||
z_cxcy += ubl.state.z_offset; // add fixed mesh offset from G29 Z
|
||||
z_cxcy += state.z_offset; // add fixed mesh offset from G29 Z
|
||||
|
||||
if (--segments == 0) { // if this is last segment, use ltarget for exact
|
||||
COPY_XYZE(seg_dest, ltarget);
|
||||
|
|
@ -681,9 +681,9 @@
|
|||
z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0
|
||||
z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym
|
||||
|
||||
} while (true); // per-segment loop exits by break after last segment within cell, or by return on final segment
|
||||
} while (true); // per-cell loop
|
||||
} // end of function
|
||||
} // segment loop
|
||||
} // cell loop
|
||||
}
|
||||
|
||||
#endif // UBL_DELTA
|
||||
|
||||
|
|
|
|||
|
|
@ -1480,7 +1480,7 @@ void kill_screen(const char* lcd_msg) {
|
|||
void _lcd_level_bed_get_z() {
|
||||
ENCODER_DIRECTION_NORMAL();
|
||||
|
||||
// Encoder wheel adjusts the Z position
|
||||
// Encoder knob or keypad buttons adjust the Z position
|
||||
if (encoderPosition) {
|
||||
refresh_cmd_timeout();
|
||||
current_position[Z_AXIS] += float((int32_t)encoderPosition) * (MBL_Z_STEP);
|
||||
|
|
@ -4202,9 +4202,9 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
|
|||
}
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
if (ubl.has_control_of_lcd_panel) {
|
||||
ubl.encoder_diff = encoderDiff; // Make the encoder's rotation available to G29's Mesh Editor
|
||||
ubl.encoder_diff = encoderDiff; // Make the encoder's rotation available to G29's Mesh Editor
|
||||
encoderDiff = 0; // We are going to lie to the LCD Panel and claim the encoder
|
||||
// wheel has not turned.
|
||||
// knob has not turned.
|
||||
}
|
||||
#endif
|
||||
lastEncoderBits = enc;
|
||||
|
|
|
|||
Reference in a new issue