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UBL implementation

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This commit is contained in:
Scott Lahteine 2017-03-18 10:15:54 -05:00
parent 238b8fd2a3
commit fb60aa3736
7 changed files with 268 additions and 41 deletions
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28
Marlin/M100_Free_Mem_Chk.cpp
View file

@ -35,7 +35,7 @@
* M100 C x Corrupts x locations within the free memory block. This is useful to check the
* correctness of the M100 F and M100 D commands.
*
* Initial version by Roxy-3DPrintBoard
* Initial version by Roxy-3D
*/
#define M100_FREE_MEMORY_DUMPER // Comment out to remove Dump sub-command
#define M100_FREE_MEMORY_CORRUPTOR // Comment out to remove Corrupt sub-command
@ -51,10 +51,9 @@ extern char __bss_end;
// Utility functions used by M100 to get its work done.
//
#include "hex_print_routines.h"
char* top_of_stack();
void prt_hex_nibble(unsigned int);
void prt_hex_byte(unsigned int);
void prt_hex_word(unsigned int);
int how_many_E5s_are_here(char*);
void gcode_M100() {
@ -211,27 +210,6 @@ char* top_of_stack() {
return &x + 1; // x is pulled on return;
}
//
// 3 support routines to print hex numbers. We can print a nibble, byte and word
//
void prt_hex_nibble(unsigned int n) {
if (n <= 9)
SERIAL_ECHO(n);
else
SERIAL_ECHO((char)('A' + n - 10));
}
void prt_hex_byte(unsigned int b) {
prt_hex_nibble((b & 0xf0) >> 4);
prt_hex_nibble(b & 0x0f);
}
void prt_hex_word(unsigned int w) {
prt_hex_byte((w & 0xff00) >> 8);
prt_hex_byte(w & 0x0ff);
}
// how_many_E5s_are_here() is a utility function to easily find out how many 0xE5's are
// at the specified location. Having this logic as a function simplifies the search code.
//

3
Marlin/Marlin.h
View file

@ -40,6 +40,7 @@
#include "fastio.h"
#include "utility.h"
#ifdef USBCON
#include "HardwareSerial.h"
#if ENABLED(BLUETOOTH)
@ -82,6 +83,7 @@ extern const char errormagic[] PROGMEM;
#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
#define SERIAL_ECHOPAIR(name,value) SERIAL_PROTOCOLPAIR(name, value)
#define SERIAL_ECHOLNPAIR(name, value) SERIAL_PROTOCOLLNPAIR(name, value)
#define SERIAL_ECHO_F(x,y) SERIAL_PROTOCOL_F(x,y)
#define SERIAL_ERROR_START (serialprintPGM(errormagic))
#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
@ -95,6 +97,7 @@ void serial_echopair_P(const char* s_P, int v);
void serial_echopair_P(const char* s_P, long v);
void serial_echopair_P(const char* s_P, float v);
void serial_echopair_P(const char* s_P, double v);
void serial_echopair_P(const char* s_P, unsigned int v);
void serial_echopair_P(const char* s_P, unsigned long v);
FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }

64
Marlin/Marlin_main.cpp
View file

@ -1,6 +1,6 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
@ -234,6 +234,10 @@
#include "duration_t.h"
#include "types.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
#endif
#if HAS_ABL
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -297,6 +301,10 @@
G38_endstop_hit = false;
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
bed_leveling blm;
#endif
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
@ -315,7 +323,7 @@ float current_position[XYZE] = { 0.0 };
* Set with 'gcode_get_destination' or 'set_destination_to_current'.
* 'line_to_destination' sets 'current_position' to 'destination'.
*/
static float destination[XYZE] = { 0.0 };
float destination[XYZE] = { 0.0 };
/**
* axis_homed
@ -1760,7 +1768,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif //HAS_BED_PROBE
#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
zz = z && !axis_homed[Z_AXIS];
@ -2009,7 +2017,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
// returns false for ok and true for failure
static bool set_probe_deployed(bool deploy) {
bool set_probe_deployed(bool deploy) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -2184,7 +2192,8 @@ static void clean_up_after_endstop_or_probe_move() {
// - Raise to the BETWEEN height
// - Return the probed Z position
//
static 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) {
float probe_pt(const float x, const float y, const bool stow, const int verbose_level) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", x);
@ -3279,10 +3288,12 @@ inline void gcode_G4() {
SERIAL_ECHOPGM("BILINEAR");
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
SERIAL_ECHOPGM("3POINT");
#elif ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL");
#endif
if (planner.abl_enabled) {
SERIAL_ECHOLNPGM(" (enabled)");
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT) || ENABLED(AUTO_BED_LEVELING_UBL)
float diff[XYZ] = {
stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
@ -3830,7 +3841,7 @@ inline void gcode_G28() {
report_current_position();
}
#elif HAS_ABL
#elif HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
/**
* G29: Detailed Z probe, probes the bed at 3 or more points.
@ -4383,7 +4394,7 @@ inline void gcode_G28() {
SYNC_PLAN_POSITION_KINEMATIC();
}
#endif // HAS_ABL
#endif // HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)
#if HAS_BED_PROBE
@ -6993,6 +7004,8 @@ void quickstop_stepper() {
bed_level_virt_print();
#endif
}
#elif ENABLED(AUTO_BED_LEVELING_UBL)
blm.display_map(0); // Right now, we only support one type of map
#elif ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
@ -8303,6 +8316,12 @@ void process_next_command() {
break;
#endif // INCH_MODE_SUPPORT
#if ENABLED(AUTO_BED_LEVELING_UBL)
case 26: // G26: Mesh Validation Pattern generation
gcode_G26();
break;
#endif // AUTO_BED_LEVELING_UBL
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: // G27: Nozzle Park
gcode_G27();
@ -8314,7 +8333,8 @@ void process_next_command() {
break;
#if PLANNER_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
// or provides access to the UBL System if enabled.
gcode_G29();
break;
#endif // PLANNER_LEVELING
@ -8421,12 +8441,24 @@ void process_next_command() {
gcode_M43(); break;
#endif
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
case 48: // M48: Z probe repeatability test
gcode_M48();
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
#if ENABLED(AUTO_BED_LEVELING_UBL)
case 49: // M49: Turn on or off G26_Debug_flag for verbose output
if (G26_Debug_flag) {
SERIAL_PROTOCOLPGM("UBL Debug Flag turned off.\n");
G26_Debug_flag = 0; }
else {
SERIAL_PROTOCOLPGM("UBL Debug Flag turned on.\n");
G26_Debug_flag++; }
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
case 75: // M75: Start print timer
gcode_M75(); break;
case 76: // M76: Pause print timer
@ -9066,7 +9098,7 @@ void ok_to_send() {
SERIAL_ECHOLNPAIR(" offset=", offset);
}
last_offset = offset;
//*/
*/
return offset;
}
@ -9552,6 +9584,18 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
return false;
}
else
#elif ENABLED(AUTO_BED_LEVELING_UBL)
if (blm.state.active) {
// UBL_line_to_destination(MMS_SCALED(feedrate_mm_s));
UBL_line_to_destination(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS],
// (feedrate*(1.0/60.0))*(feedrate_percentage*(1.0/100.0) ), active_extruder);
MMS_SCALED(feedrate_mm_s), active_extruder);
return false;
}
else
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (planner.abl_enabled) {
bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));

84
Marlin/configuration_store.cpp
View file

@ -164,6 +164,10 @@
#include "stepper_indirection.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
#endif
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
extern void bed_level_virt_interpolate();
#endif
@ -534,6 +538,11 @@ void Config_Postprocess() {
SERIAL_ECHOPAIR("Settings Stored (", eeprom_size - (EEPROM_OFFSET));
SERIAL_ECHOLNPGM(" bytes)");
}
#if ENABLED(AUTO_BED_LEVELING_UBL)
blm.store_state();
if (blm.state.EEPROM_storage_slot >= 0)
blm.store_mesh(blm.state.EEPROM_storage_slot);
#endif
}
/**
@ -832,8 +841,45 @@ void Config_Postprocess() {
SERIAL_ERRORLNPGM("EEPROM checksum mismatch");
Config_ResetDefault();
}
}
#if ENABLED(AUTO_BED_LEVELING_UBL)
Unified_Bed_Leveling_EEPROM_start = (eeprom_index + 32) & 0xFFF8; // Pad the end of configuration data so it
// can float up or down a little bit without
// disrupting the Unified Bed Leveling data
blm.load_state();
SERIAL_ECHOPGM(" UBL ");
if (!blm.state.active) SERIAL_ECHO("not ");
SERIAL_ECHOLNPGM("active!");
if (!blm.sanity_check()) {
int tmp_mesh; // We want to preserve whether the UBL System is Active
bool tmp_active; // If it is, we want to preserve the Mesh that is being used.
tmp_mesh = blm.state.EEPROM_storage_slot;
tmp_active = blm.state.active;
SERIAL_ECHOLNPGM("\nInitializing Bed Leveling State to current firmware settings.\n");
blm.state = blm.pre_initialized; // Initialize with the pre_initialized data structure
blm.state.EEPROM_storage_slot = tmp_mesh; // But then restore some data we don't want mangled
blm.state.active = tmp_active;
}
else {
SERIAL_PROTOCOLPGM("?Unable to enable Unified Bed Leveling.\n");
blm.state = blm.pre_initialized;
blm.reset();
blm.store_state();
}
if (blm.state.EEPROM_storage_slot >= 0) {
blm.load_mesh(blm.state.EEPROM_storage_slot);
SERIAL_ECHOPAIR("Mesh ", blm.state.EEPROM_storage_slot);
SERIAL_ECHOLNPGM(" loaded from storage.");
}
else {
blm.reset();
SERIAL_ECHOPGM("UBL System reset() \n");
}
#endif
}
#if ENABLED(EEPROM_CHITCHAT)
Config_PrintSettings();
#endif
@ -1126,6 +1172,42 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
SERIAL_EOL;
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOLNPGM("Unified Bed Leveling:");
CONFIG_ECHO_START;
SERIAL_ECHOPGM("System is: ");
if (blm.state.active)
SERIAL_ECHOLNPGM("Active\n");
else
SERIAL_ECHOLNPGM("Deactive\n");
SERIAL_ECHOPAIR("Active Mesh Slot: ", blm.state.EEPROM_storage_slot);
SERIAL_EOL;
SERIAL_ECHOPGM("z_offset: ");
SERIAL_ECHO_F(blm.state.z_offset, 6);
SERIAL_EOL;
SERIAL_ECHOPAIR("EEPROM can hold ", (int)((E2END - sizeof(blm.state) - Unified_Bed_Leveling_EEPROM_start) / sizeof(z_values)));
SERIAL_ECHOLNPGM(" meshes. \n");
SERIAL_ECHOPAIR("\nUBL_MESH_NUM_X_POINTS ", UBL_MESH_NUM_X_POINTS);
SERIAL_ECHOPAIR("\nUBL_MESH_NUM_Y_POINTS ", UBL_MESH_NUM_Y_POINTS);
SERIAL_ECHOPAIR("\nUBL_MESH_MIN_X ", UBL_MESH_MIN_X);
SERIAL_ECHOPAIR("\nUBL_MESH_MIN_Y ", UBL_MESH_MIN_Y);
SERIAL_ECHOPAIR("\nUBL_MESH_MAX_X ", UBL_MESH_MAX_X);
SERIAL_ECHOPAIR("\nUBL_MESH_MAX_Y ", UBL_MESH_MAX_Y);
SERIAL_ECHOPGM("\nMESH_X_DIST ");
SERIAL_ECHO_F(MESH_X_DIST, 6);
SERIAL_ECHOPGM("\nMESH_Y_DIST ");
SERIAL_ECHO_F(MESH_Y_DIST, 6);
SERIAL_EOL;
SERIAL_EOL;
#endif
#if HOTENDS > 1
CONFIG_ECHO_START;

126
Marlin/ultralcd.cpp
View file

@ -30,6 +30,8 @@
#include "configuration_store.h"
#include "utility.h"
extern float zprobe_zoffset;
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
#include "buzzer.h"
#endif
@ -121,6 +123,11 @@ uint16_t max_display_update_time = 0;
bool encoderRateMultiplierEnabled;
int32_t lastEncoderMovementMillis;
#if ENABLED(AUTO_BED_LEVELING_UBL)
extern int UBL_has_control_of_LCD_Panel;
extern int G29_encoderDiff;
#endif
#if HAS_POWER_SWITCH
extern bool powersupply;
#endif
@ -801,6 +808,89 @@ void kill_screen(const char* lcd_msg) {
#endif //BABYSTEPPING
#if ENABLED(AUTO_BED_LEVELING_UBL)
float Mesh_Edit_Value, Mesh_Edit_Accumulator; // We round Mesh_Edit_Value to 2.5 decimal places. So we keep a
// seperate value that doesn't lose precision.
static int loop_cnt=0, last_seen_bits;
static void _lcd_mesh_fine_tune( const char* msg) {
static unsigned long last_click=0;
int last_digit, movement;
long int rounded;
defer_return_to_status = true;
if (encoderPosition) { // If moving the Encoder wheel very slowly, we just go
if ( (millis() - last_click) > 500L) { // up or down by 1 position
if ( ((int32_t)encoderPosition) > 0 ) {
encoderPosition = 1;
}
else {
encoderPosition = (uint32_t) -1;
}
}
last_click = millis();
Mesh_Edit_Accumulator += ( (float) ((int32_t)encoderPosition)) * .005 / 2.0 ;
Mesh_Edit_Value = Mesh_Edit_Accumulator;
encoderPosition = 0;
lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
rounded = (long int) (Mesh_Edit_Value * 1000.0);
last_digit = rounded % 5L; //10L;
rounded = rounded - last_digit;
last_digit = rounded % 5L; //10L;
Mesh_Edit_Value = ((float) rounded) / 1000.0;
}
if (lcdDrawUpdate) {
lcd_implementation_drawedit(msg, ftostr43sign( (float) Mesh_Edit_Value ));
}
if ( !UBL_has_control_of_LCD_Panel && LCD_CLICKED ) {
UBL_has_control_of_LCD_Panel=1; // We need to lock the normal LCD Panel System outbecause G29 (and G26) are looking for
lcd_return_to_status(); // long presses of the Encoder Wheel and the LCD System goes spastic when that happens.
// We will give back control from those routines when the switch is debounced.
}
}
void _lcd_mesh_edit() {
_lcd_mesh_fine_tune( PSTR("Mesh Editor: "));
}
float lcd_mesh_edit() {
lcd_goto_screen(_lcd_mesh_edit);
return Mesh_Edit_Value;
}
void lcd_mesh_edit_setup(float inital) {
Mesh_Edit_Value = inital;
Mesh_Edit_Accumulator = inital;
lcd_goto_screen(_lcd_mesh_edit);
return ;
}
void _lcd_z_offset_edit() {
_lcd_mesh_fine_tune( PSTR("Z-Offset: "));
}
float lcd_z_offset_edit() {
lcd_goto_screen(_lcd_z_offset_edit);
return Mesh_Edit_Value;
}
void lcd_z_offset_edit_setup(float inital) {
Mesh_Edit_Value = inital;
Mesh_Edit_Accumulator = inital;
lcd_goto_screen(_lcd_z_offset_edit);
return ;
}
#endif // AUTO_BED_LEVELING_UBL
/**
* Watch temperature callbacks
*/
@ -1307,7 +1397,11 @@ KeepDrawing:
void _lcd_level_bed_moving() {
if (lcdDrawUpdate) {
char msg[10];
sprintf_P(msg, PSTR("%i / %u"), (int)(manual_probe_index + 1), (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS));
#if ENABLED(MESH_BED_LEVELING)
sprintf_P(msg, PSTR("%i / %u"), (int)(manual_probe_index + 1), (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS));
#elif ENABLED(AUTO_BED_LEVELING_UBL)
sprintf_P(msg, PSTR("%i / %u"), (int)(manual_probe_index + 1), (UBL_MESH_NUM_X_POINTS) * (UBL_MESH_NUM_Y_POINTS));
#endif
lcd_implementation_drawedit(PSTR(MSG_LEVEL_BED_NEXT_POINT), msg);
}
@ -3110,8 +3204,14 @@ void lcd_update() {
lcd_buttons_update();
#if ENABLED(AUTO_BED_LEVELING_UBL)
const bool UBL_CONDITION = !UBL_has_control_of_LCD_Panel;
#else
constexpr bool UBL_CONDITION = true;
#endif
// If the action button is pressed...
if (LCD_CLICKED) {
if (UBL_CONDITION && LCD_CLICKED) {
if (!wait_for_unclick) { // If not waiting for a debounce release:
wait_for_unclick = true; // Set debounce flag to ignore continous clicks
lcd_clicked = !wait_for_user; // Keep the click if not waiting for a user-click
@ -3520,8 +3620,15 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
case encrot2: ENCODER_SPIN(encrot1, encrot3); break;
case encrot3: ENCODER_SPIN(encrot2, encrot0); break;
}
#if ENABLED(AUTO_BED_LEVELING_UBL)
if (UBL_has_control_of_LCD_Panel) {
G29_encoderDiff = 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.
}
#endif
lastEncoderBits = enc;
}
lastEncoderBits = enc;
}
#if (ENABLED(LCD_I2C_TYPE_MCP23017) || ENABLED(LCD_I2C_TYPE_MCP23008)) && ENABLED(DETECT_DEVICE)
@ -3530,6 +3637,19 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
bool lcd_detected() { return true; }
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
void chirp_at_user() {
#if ENABLED(LCD_USE_I2C_BUZZER)
lcd.buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
#elif PIN_EXISTS(BEEPER)
buzzer.tone(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
#endif
}
bool G29_lcd_clicked() { return LCD_CLICKED; }
#endif
#endif // ULTIPANEL
#endif // ULTRA_LCD

2
Marlin/ultralcd_impl_DOGM.h
View file

@ -320,7 +320,7 @@ void lcd_kill_screen() {
lcd_printPGM(PSTR(MSG_PLEASE_RESET));
}
static void lcd_implementation_clear() { } // Automatically cleared by Picture Loop
void lcd_implementation_clear() { } // Automatically cleared by Picture Loop
//
// Status Screen

2
Marlin/ultralcd_impl_HD44780.h
View file

@ -378,7 +378,7 @@ static void lcd_implementation_init(
lcd.clear();
}
static void lcd_implementation_clear() { lcd.clear(); }
void lcd_implementation_clear() { lcd.clear(); }
/* Arduino < 1.0.0 is missing a function to print PROGMEM strings, so we need to implement our own */
void lcd_printPGM(const char *str) {