From e5a27d9f36e03e5dd9a2f39de113db64fe92dabb Mon Sep 17 00:00:00 2001 From: Bob-the-Kuhn Date: Sun, 30 Apr 2017 00:43:28 -0500 Subject: [PATCH] G29 P2 & P4 bug fixes & improvements --- Marlin/ubl_G29.cpp | 168 ++++++++++++++++++++++++++++----------------- 1 file changed, 104 insertions(+), 64 deletions(-) diff --git a/Marlin/ubl_G29.cpp b/Marlin/ubl_G29.cpp index b2c4a7ef4..7cf3d5893 100644 --- a/Marlin/ubl_G29.cpp +++ b/Marlin/ubl_G29.cpp @@ -31,10 +31,14 @@ #include "hex_print_routines.h" #include "configuration_store.h" #include "ultralcd.h" + #include "stepper.h" #include #include "least_squares_fit.h" + extern float destination[XYZE]; + extern float current_position[XYZE]; + void lcd_return_to_status(); bool lcd_clicked(); void lcd_implementation_clear(); @@ -317,6 +321,7 @@ void __attribute__((optimize("O0"))) gcode_G29() { + if (ubl.eeprom_start < 0) { SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it"); SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n"); @@ -435,8 +440,8 @@ // have Delta printers default to the center of the bed. // For now, until that is decided, it can be forced with the X // and Y parameters. - 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; + x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? UBL_MESH_MAX_X : UBL_MESH_MIN_X; + y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? UBL_MESH_MAX_Y : UBL_MESH_MIN_Y; } if (code_seen('C')) { @@ -455,8 +460,9 @@ } } manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M')); - - } break; + SERIAL_PROTOCOLLNPGM("G29 P2 finished"); + } + break; case 3: { // @@ -900,6 +906,10 @@ } float use_encoder_wheel_to_measure_point() { + + while (ubl_lcd_clicked()) delay(50);; // wait for user to release encoder wheel + delay(50); // debounce + KEEPALIVE_STATE(PAUSED_FOR_USER); while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here! idle(); @@ -917,15 +927,18 @@ 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 - SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement."); do_blocking_move_to_z(in_height); - do_blocking_move_to_xy((float(X_MAX_POS) - float(X_MIN_POS)) / 2.0, (float(Y_MAX_POS) - float(Y_MIN_POS)) / 2.0); + do_blocking_move_to_xy((float(UBL_MESH_MAX_X) - float(UBL_MESH_MIN_X)) / 2.0, (float(UBL_MESH_MAX_Y) - float(UBL_MESH_MIN_Y)) / 2.0); //, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])/2.0); + stepper.synchronize(); + SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement."); + + const float z1 = use_encoder_wheel_to_measure_point(); do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE); - ubl.has_control_of_lcd_panel = false; + stepper.synchronize(); SERIAL_PROTOCOLLNPGM("Remove Shim and Measure Bed Height."); const float z2 = use_encoder_wheel_to_measure_point(); do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE); @@ -935,6 +948,8 @@ SERIAL_PROTOCOL_F(abs(z1 - z2), 6); SERIAL_PROTOCOLLNPGM("mm thick."); } + ubl.has_control_of_lcd_panel = false; + ubl.restore_ubl_active_state_and_leave(); return abs(z1 - z2); } @@ -957,7 +972,7 @@ rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index])); // TODO: Change to use `position_is_reachable` (for SCARA-compatibility) - if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) { + if (!WITHIN(rawx, UBL_MESH_MIN_X, UBL_MESH_MAX_X) || !WITHIN(rawy, UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Attempt to probe off the bed."); ubl.has_control_of_lcd_panel = false; @@ -984,6 +999,10 @@ if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing + + while (ubl_lcd_clicked()) delay(50);; // wait for user to release encoder wheel + delay(50); // debounce + while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here! idle(); if (ubl.encoder_diff) { @@ -992,6 +1011,7 @@ } } + const millis_t nxt = millis() + 1500L; while (ubl_lcd_clicked()) { // debounce and watch for abort idle(); @@ -1038,6 +1058,7 @@ y_flag = code_seen('Y') && code_has_value(); y_pos = 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_X) * (GRID_MAX_POINTS_Y); @@ -1436,33 +1457,52 @@ goto FINE_TUNE_EXIT; } - do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit - do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy)); - float new_z = ubl.z_values[location.x_index][location.y_index]; - round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the - new_z = float(round_off) / 1000.0; + if (!isnan(new_z)) { //can't fine tune a point that hasn't been probed - KEEPALIVE_STATE(PAUSED_FOR_USER); - ubl.has_control_of_lcd_panel = true; + do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit + do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy)); - if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted - lcd_implementation_clear(); - lcd_mesh_edit_setup(new_z); - do { - new_z = lcd_mesh_edit(); - idle(); - } while (!ubl_lcd_clicked()); - lcd_return_to_status(); - ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked. - // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) - // or here. + round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the + new_z = float(round_off) / 1000.0; + + + + KEEPALIVE_STATE(PAUSED_FOR_USER); + ubl.has_control_of_lcd_panel = true; + + + if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted + + + + lcd_implementation_clear(); + + lcd_mesh_edit_setup(new_z); + + + + do { + new_z = lcd_mesh_edit(); + idle(); + } while (!ubl_lcd_clicked()); + + + lcd_return_to_status(); + + + + + ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked. + // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) + // or here. + } const millis_t nxt = millis() + 1500UL; while (ubl_lcd_clicked()) { // debounce and watch for abort idle(); @@ -1630,10 +1670,10 @@ SERIAL_ECHOPGM(" final >>>---> "); SERIAL_PROTOCOL_F( measured_z, 7); SERIAL_ECHOPGM("\n"); - } + } #endif incremental_LSF(&lsf_results, x, y, measured_z); - } + } zig_zag = !zig_zag; } @@ -1647,7 +1687,7 @@ SERIAL_ECHOPGM(" D="); SERIAL_PROTOCOL_F( lsf_results.D, 7); SERIAL_CHAR('\n'); - } + } normal = vector_3( lsf_results.A, lsf_results.B, 1.0000); normal = normal.get_normal(); @@ -1660,46 +1700,46 @@ SERIAL_ECHOPGM(","); SERIAL_PROTOCOL_F( normal.z, 7); SERIAL_ECHOPGM("]\n"); - } + } rotation = matrix_3x3::create_look_at( vector_3( lsf_results.A, lsf_results.B, 1)); for (i = 0; i < GRID_MAX_POINTS_X; i++) { for (j = 0; j < GRID_MAX_POINTS_Y; j++) { float x_tmp, y_tmp, z_tmp; - 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]; - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPGM("before rotation = ["); - SERIAL_PROTOCOL_F( x_tmp, 7); - SERIAL_ECHOPGM(","); - SERIAL_PROTOCOL_F( y_tmp, 7); - SERIAL_ECHOPGM(","); - SERIAL_PROTOCOL_F( z_tmp, 7); - SERIAL_ECHOPGM("] ---> "); - safe_delay(20); - } - #endif - apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp); - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPGM("after rotation = ["); - SERIAL_PROTOCOL_F( x_tmp, 7); - SERIAL_ECHOPGM(","); - SERIAL_PROTOCOL_F( y_tmp, 7); - SERIAL_ECHOPGM(","); - SERIAL_PROTOCOL_F( z_tmp, 7); - SERIAL_ECHOPGM("]\n"); - safe_delay(55); + 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]; + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPGM("before rotation = ["); + SERIAL_PROTOCOL_F( x_tmp, 7); + SERIAL_ECHOPGM(","); + SERIAL_PROTOCOL_F( y_tmp, 7); + SERIAL_ECHOPGM(","); + SERIAL_PROTOCOL_F( z_tmp, 7); + SERIAL_ECHOPGM("] ---> "); + safe_delay(20); + } + #endif + apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp); + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPGM("after rotation = ["); + SERIAL_PROTOCOL_F( x_tmp, 7); + SERIAL_ECHOPGM(","); + SERIAL_PROTOCOL_F( y_tmp, 7); + SERIAL_ECHOPGM(","); + SERIAL_PROTOCOL_F( z_tmp, 7); + SERIAL_ECHOPGM("]\n"); + safe_delay(55); + } + + #endif + + ubl.z_values[i][j] += z_tmp - lsf_results.D; } - - #endif - - ubl.z_values[i][j] += z_tmp - lsf_results.D; - } - } + } #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { @@ -1723,7 +1763,7 @@ SERIAL_CHAR('\n'); } #endif - return; - } + return; + } #endif // AUTO_BED_LEVELING_UBL