1001 lines
40 KiB
C++
1001 lines
40 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* Marlin Firmware -- G26 - Mesh Validation Tool
|
|
*/
|
|
|
|
#define EXTRUSION_MULTIPLIER 1.0 // This is too much clutter for the main Configuration.h file But
|
|
#define RETRACTION_MULTIPLIER 1.0 // some user have expressed an interest in being able to customize
|
|
#define NOZZLE 0.3 // these numbers for thier printer so they don't need to type all
|
|
#define FILAMENT 1.75 // the options every time they do a Mesh Validation Print.
|
|
#define LAYER_HEIGHT 0.2
|
|
#define PRIME_LENGTH 10.0 // So, we put these number in an easy to find and change place.
|
|
#define BED_TEMP 60.0
|
|
#define HOTEND_TEMP 205.0
|
|
#define OOOOZE_AMOUNT 0.3
|
|
|
|
#include "Marlin.h"
|
|
#include "Configuration.h"
|
|
#include "planner.h"
|
|
#include "stepper.h"
|
|
#include "temperature.h"
|
|
#include "UBL.h"
|
|
#include "ultralcd.h"
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
|
|
#define SIZE_OF_INTERSECTION_CIRCLES 5
|
|
#define SIZE_OF_CROSS_HAIRS 3 // cross hairs inside the circle. This number should be
|
|
// less than SIZE_OR_INTERSECTION_CIRCLES
|
|
|
|
/**
|
|
* Roxy's G26 Mesh Validation Tool
|
|
*
|
|
* G26 Is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
|
|
* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
|
|
* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
|
|
* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
|
|
* the intersections of those lines (respectively).
|
|
*
|
|
* This action allows the user to immediately see where the Mesh is properly defined and where it needs to
|
|
* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
|
|
* the user can specify the X and Y position of interest with command parameters. This allows the user to
|
|
* focus on a particular area of the Mesh where attention is needed.
|
|
*
|
|
* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
|
|
*
|
|
* C Current When searching for Mesh Intersection points to draw, use the current nozzle location
|
|
* as the base for any distance comparison.
|
|
*
|
|
* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this
|
|
* command to see how well a Mesh as been adjusted to match a print surface. In order to do
|
|
* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
|
|
* alters the command's normal behaviour and disables the Unified Bed Leveling System even if
|
|
* it is on.
|
|
*
|
|
* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
|
|
*
|
|
* F # Filament Used to specify the diameter of the filament being used. If not specified
|
|
* 1.75mm filament is assumed. If you are not getting acceptable results by using the
|
|
* 'correct' numbers, you can scale this number up or down a little bit to change the amount
|
|
* of filament that is being extruded during the printing of the various lines on the bed.
|
|
*
|
|
* K Keep-On Keep the heaters turned on at the end of the command.
|
|
*
|
|
* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.
|
|
*
|
|
* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
|
|
* un-retraction is at 1.2mm These numbers will be scaled by the specified amount
|
|
*
|
|
* N # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
|
|
*
|
|
* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
|
|
* is over kill, but using this parameter will let you get the very first 'cicle' perfect
|
|
* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
|
|
* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
|
|
*
|
|
* P # Prime Prime the nozzle with specified length of filament. If this parameter is not
|
|
* given, no prime action will take place. If the parameter specifies an amount, that much
|
|
* will be purged before continuing. If no amount is specified the command will start
|
|
* purging filament until the user provides an LCD Click and then it will continue with
|
|
* printing the Mesh. You can carefully remove the spent filament with a needle nose
|
|
* pliers while holding the LCD Click wheel in a depressed state.
|
|
*
|
|
* R # Random Randomize the order that the circles are drawn on the bed. The search for the closest
|
|
* undrawn cicle is still done. But the distance to the location for each circle has a
|
|
* random number of the size specified added to it. Specifying R50 will give an interesting
|
|
* deviation from the normal behaviour on a 10 x 10 Mesh.
|
|
*
|
|
* X # X coordinate Specify the starting location of the drawing activity.
|
|
*
|
|
* Y # Y coordinate Specify the starting location of the drawing activity.
|
|
*/
|
|
|
|
extern int UBL_has_control_of_LCD_Panel;
|
|
extern float feedrate;
|
|
//extern bool relative_mode;
|
|
extern Planner planner;
|
|
//#if ENABLED(ULTRA_LCD)
|
|
extern char lcd_status_message[];
|
|
//#endif
|
|
extern float destination[];
|
|
extern void set_destination_to_current();
|
|
extern void set_current_to_destination();
|
|
extern float code_value_float();
|
|
extern bool code_value_bool();
|
|
extern bool code_has_value();
|
|
extern void lcd_init();
|
|
#define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])) //bob
|
|
bool prepare_move_to_destination_cartesian();
|
|
void line_to_destination();
|
|
void line_to_destination(float );
|
|
void gcode_G28();
|
|
void sync_plan_position_e();
|
|
void un_retract_filament();
|
|
void retract_filament();
|
|
void 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(float sx, float sy, float sz, float ex, float ey, float ez);
|
|
bool turn_on_heaters();
|
|
bool prime_nozzle();
|
|
void chirp_at_user();
|
|
|
|
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16], Continue_with_closest = 0;
|
|
float G26_E_AXIS_feedrate = 0.020,
|
|
Random_Deviation = 0.0,
|
|
Layer_Height = LAYER_HEIGHT;
|
|
|
|
bool G26_retracted = false; // We keep track of the state of the nozzle to know if it
|
|
// is currently retracted or not. This allows us to be
|
|
// less careful because mis-matched retractions and un-retractions
|
|
// won't leave us in a bad state.
|
|
#if ENABLED(ULTRA_LCD)
|
|
void lcd_setstatus(const char* message, bool persist);
|
|
#endif
|
|
|
|
float valid_trig_angle(float);
|
|
mesh_index_pair find_closest_circle_to_print(float, float);
|
|
void debug_current_and_destination(char *title);
|
|
void UBL_line_to_destination(const float&, const float&, const float&, const float&, const float&, uint8_t);
|
|
//uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF); /* needed for the old mesh_buffer_line() routine */
|
|
|
|
static float E_Pos_Delta,
|
|
Extrusion_Multiplier = EXTRUSION_MULTIPLIER,
|
|
Retraction_Multiplier = RETRACTION_MULTIPLIER,
|
|
Nozzle = NOZZLE,
|
|
Filament = FILAMENT,
|
|
Prime_Length = PRIME_LENGTH,
|
|
X_Pos, Y_Pos,
|
|
bed_temp = BED_TEMP,
|
|
hotend_temp = HOTEND_TEMP,
|
|
Ooooze_Amount = OOOOZE_AMOUNT;
|
|
|
|
int8_t Prime_Flag = 0;
|
|
|
|
bool Keep_Heaters_On = false,
|
|
G26_Debug_flag = false;
|
|
|
|
/**
|
|
* These support functions allow the use of large bit arrays of flags that take very
|
|
* little RAM. Currently they are limited to being 16x16 in size. Changing the declaration
|
|
* to unsigned long will allow us to go to 32x32 if higher resolution Mesh's are needed
|
|
* in the future.
|
|
*/
|
|
void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y) { CBI(bits[y], x); }
|
|
void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); }
|
|
bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }
|
|
|
|
/**
|
|
* 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() {
|
|
float circle_x, circle_y, x, y, xe, ye, tmp,
|
|
start_angle, end_angle;
|
|
int i, xi, yi, lcd_init_counter = 0;
|
|
mesh_index_pair location;
|
|
|
|
if (axis_unhomed_error(true, true, true)) // Don't allow Mesh Validation without homing first
|
|
gcode_G28();
|
|
|
|
if (parse_G26_parameters()) return; // If the paramter parsing did not go OK, we abort the command
|
|
|
|
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
stepper.synchronize();
|
|
set_current_to_destination();
|
|
}
|
|
|
|
if (turn_on_heaters()) // Turn on the heaters, leave the command if anything
|
|
goto LEAVE; // has gone wrong.
|
|
|
|
axis_relative_modes[E_AXIS] = false; // Get things setup so we can take control of the
|
|
//relative_mode = false; // planner and stepper motors!
|
|
current_position[E_AXIS] = 0.0;
|
|
sync_plan_position_e();
|
|
|
|
if (Prime_Flag && prime_nozzle()) // if prime_nozzle() returns an error, we just bail out.
|
|
goto LEAVE;
|
|
|
|
/**
|
|
* Bed is preheated
|
|
*
|
|
* Nozzle is at temperature
|
|
*
|
|
* Filament is primed!
|
|
*
|
|
* It's "Show Time" !!!
|
|
*/
|
|
|
|
// Clear all of the flags we need
|
|
ZERO(circle_flags);
|
|
ZERO(horizontal_mesh_line_flags);
|
|
ZERO(vertical_mesh_line_flags);
|
|
|
|
//
|
|
// Move nozzle to the specified height for the first layer
|
|
//
|
|
set_destination_to_current();
|
|
destination[Z_AXIS] = 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], Ooooze_Amount);
|
|
|
|
UBL_has_control_of_LCD_Panel = 1; // Take control of the LCD Panel!
|
|
debug_current_and_destination((char *)"Starting G26 Mesh Validation Pattern.");
|
|
|
|
do {
|
|
if (G29_lcd_clicked()) { // Check if the user wants to stop the Mesh Validation
|
|
strcpy(lcd_status_message, "Mesh Validation Stopped."); // We can't do lcd_setstatus() without having it continue;
|
|
while (G29_lcd_clicked()) idle(); // Debounce the switch click
|
|
#if ENABLED(ULTRA_LCD)
|
|
lcd_setstatus("Mesh Validation Stopped.", true);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
goto LEAVE;
|
|
}
|
|
|
|
if (Continue_with_closest)
|
|
location = find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS]);
|
|
else
|
|
location = find_closest_circle_to_print(X_Pos, Y_Pos); // Find the closest Mesh Intersection to where we are now.
|
|
|
|
if (location.x_index >= 0 && location.y_index >= 0) {
|
|
circle_x = blm.map_x_index_to_bed_location(location.x_index);
|
|
circle_y = blm.map_y_index_to_bed_location(location.y_index);
|
|
|
|
// Let's do a couple of quick sanity checks. We can pull this code out later if we never see it catch a problem
|
|
#ifdef DELTA
|
|
if (HYPOT2(circle_x, circle_y) > sq(DELTA_PRINTABLE_RADIUS)) {
|
|
SERIAL_PROTOCOLLNPGM("?Error: Attempt to print outside of DELTA_PRINTABLE_RADIUS.");
|
|
goto LEAVE;
|
|
}
|
|
#endif
|
|
|
|
if (circle_x < X_MIN_POS || circle_x > X_MAX_POS || circle_y < Y_MIN_POS || circle_y > Y_MAX_POS) {
|
|
SERIAL_PROTOCOLLNPGM("?Error: Attempt to print off the bed.");
|
|
goto LEAVE;
|
|
}
|
|
|
|
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
|
|
yi = location.y_index;
|
|
|
|
if (G26_Debug_flag) {
|
|
SERIAL_ECHOPGM(" Doing circle at: (xi=");
|
|
SERIAL_ECHO(xi);
|
|
SERIAL_ECHOPGM(", yi=");
|
|
SERIAL_ECHO(yi);
|
|
SERIAL_ECHOLNPGM(")");
|
|
}
|
|
|
|
start_angle = 0.0; // assume it is going to be a full circle
|
|
end_angle = 360.0;
|
|
if (xi == 0) { // Check for bottom edge
|
|
start_angle = -90.0;
|
|
end_angle = 90.0;
|
|
if (yi == 0) // it is an edge, check for the two left corners
|
|
start_angle = 0.0;
|
|
else if (yi == UBL_MESH_NUM_Y_POINTS - 1)
|
|
end_angle = 0.0;
|
|
}
|
|
else if (xi == UBL_MESH_NUM_X_POINTS - 1) { // Check for top edge
|
|
start_angle = 90.0;
|
|
end_angle = 270.0;
|
|
if (yi == 0) // it is an edge, check for the two right corners
|
|
end_angle = 180.0;
|
|
else if (yi == UBL_MESH_NUM_Y_POINTS - 1)
|
|
start_angle = 180.0;
|
|
}
|
|
else if (yi == 0) {
|
|
start_angle = 0.0; // only do the top side of the cirlce
|
|
end_angle = 180.0;
|
|
}
|
|
else if (yi == UBL_MESH_NUM_Y_POINTS - 1) {
|
|
start_angle = 180.0; // only do the bottom side of the cirlce
|
|
end_angle = 360.0;
|
|
}
|
|
|
|
/**
|
|
* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
|
|
* the CPU load and make the arc drawing faster and more smooth
|
|
*/
|
|
float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1];
|
|
int tmp_div_30;
|
|
for (i = 0; i <= 360 / 30; i++) {
|
|
cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0)));
|
|
sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0)));
|
|
}
|
|
|
|
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
|
|
tmp_div_30 = tmp / 30.0;
|
|
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
|
|
|
|
x = circle_x + cos_table[tmp_div_30]; // for speed, these are now a lookup table entry
|
|
y = circle_y + sin_table[tmp_div_30];
|
|
|
|
if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
|
|
xe = circle_x + cos_table[tmp_div_30 + 1]; // for speed, these are now a lookup table entry
|
|
ye = circle_y + sin_table[tmp_div_30 + 1];
|
|
#ifdef DELTA
|
|
if (HYPOT2(x, y) > sq(DELTA_PRINTABLE_RADIUS)) // Check to make sure this part of
|
|
continue; // the 'circle' is on the bed. If
|
|
#else // not, we need to skip
|
|
x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
|
|
y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
|
|
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
#endif
|
|
|
|
if (G26_Debug_flag) {
|
|
char ccc, *cptr, seg_msg[50], seg_num[10];
|
|
strcpy(seg_msg, " segment: ");
|
|
strcpy(seg_num, " \n");
|
|
cptr = (char *) "01234567890ABCDEF????????";
|
|
ccc = cptr[tmp_div_30];
|
|
seg_num[1] = ccc;
|
|
strcat(seg_msg, seg_num);
|
|
debug_current_and_destination(seg_msg);
|
|
}
|
|
|
|
print_line_from_here_to_there(x, y, Layer_Height, xe, ye, Layer_Height);
|
|
}
|
|
lcd_init_counter++;
|
|
if (lcd_init_counter > 10) {
|
|
lcd_init_counter = 0;
|
|
lcd_init(); // Some people's LCD Displays are locking up. This might help them
|
|
}
|
|
|
|
debug_current_and_destination((char *)"Looking for lines to connect.");
|
|
look_for_lines_to_connect();
|
|
debug_current_and_destination((char *)"Done with line connect.");
|
|
}
|
|
|
|
debug_current_and_destination((char *)"Done with current circle.");
|
|
|
|
}
|
|
while (location.x_index >= 0 && location.y_index >= 0) ;
|
|
|
|
LEAVE:
|
|
|
|
retract_filament();
|
|
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Raise the nozzle
|
|
|
|
debug_current_and_destination((char *)"ready to do Z-Raise.");
|
|
move_to( destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle
|
|
debug_current_and_destination((char *)"done doing Z-Raise.");
|
|
|
|
destination[X_AXIS] = X_Pos; // Move back to the starting position
|
|
destination[Y_AXIS] = 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((char *)"done doing X/Y move.");
|
|
|
|
UBL_has_control_of_LCD_Panel = 0; // Give back control of the LCD Panel!
|
|
|
|
if (!Keep_Heaters_On) {
|
|
#if HAS_TEMP_BED
|
|
thermalManager.setTargetBed(0.0);
|
|
#endif
|
|
thermalManager.setTargetHotend(0.0, 0);
|
|
}
|
|
lcd_init(); // Some people's LCD Displays are locking up. This might help them
|
|
}
|
|
|
|
|
|
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( float X, float Y) {
|
|
float f, mx, my, dx, dy, closest = 99999.99;
|
|
mesh_index_pair return_val;
|
|
|
|
return_val.x_index = return_val.y_index = -1;
|
|
|
|
for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
|
|
for (uint8_t j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
|
|
if (!is_bit_set(circle_flags, i, j)) {
|
|
mx = blm.map_x_index_to_bed_location(i); // We found a circle that needs to be printed
|
|
my = blm.map_y_index_to_bed_location(j);
|
|
|
|
dx = X - mx; // Get the distance to this intersection
|
|
dy = Y - my;
|
|
f = HYPOT(dx, dy);
|
|
|
|
dx = X_Pos - mx; // It is possible that we are being called with the values
|
|
dy = Y_Pos - my; // to let us find the closest circle to the start position.
|
|
f += HYPOT(dx, dy) / 15.0; // But if this is not the case,
|
|
// we are going to add in a small
|
|
// weighting to the distance calculation to help it choose
|
|
// a better place to continue.
|
|
|
|
if (Random_Deviation > 1.0)
|
|
f += random(0.0, Random_Deviation); // Add in the specified amount of Random Noise to our search
|
|
|
|
if (f < closest) {
|
|
closest = f; // We found a closer location that is still
|
|
return_val.x_index = i; // un-printed --- save the data for it
|
|
return_val.y_index = j;
|
|
return_val.distance= closest;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
|
|
return return_val;
|
|
}
|
|
|
|
void look_for_lines_to_connect() {
|
|
float sx, sy, ex, ey;
|
|
|
|
for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
|
|
for (uint8_t j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
|
|
|
|
if (i < UBL_MESH_NUM_X_POINTS) { // We can't connect to anything to the right than UBL_MESH_NUM_X_POINTS.
|
|
// 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)) {
|
|
|
|
//
|
|
// We found two circles that need a horizontal line to connect them
|
|
// Print it!
|
|
//
|
|
sx = blm.map_x_index_to_bed_location(i);
|
|
sx = sx + SIZE_OF_INTERSECTION_CIRCLES - SIZE_OF_CROSS_HAIRS; // get the right edge of the circle
|
|
sy = blm.map_y_index_to_bed_location(j);
|
|
|
|
ex = blm.map_x_index_to_bed_location(i + 1);
|
|
ex = ex - SIZE_OF_INTERSECTION_CIRCLES + SIZE_OF_CROSS_HAIRS; // get the left edge of the circle
|
|
ey = sy;
|
|
|
|
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
|
|
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
|
|
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
|
|
if (G26_Debug_flag) {
|
|
SERIAL_ECHOPGM(" Connecting with horizontal line (sx=");
|
|
SERIAL_ECHO(sx);
|
|
SERIAL_ECHOPGM(", sy=");
|
|
SERIAL_ECHO(sy);
|
|
SERIAL_ECHOPGM(") -> (ex=");
|
|
SERIAL_ECHO(ex);
|
|
SERIAL_ECHOPGM(", ey=");
|
|
SERIAL_ECHO(ey);
|
|
SERIAL_ECHOLNPGM(")");
|
|
debug_current_and_destination((char *)"Connecting horizontal line.");
|
|
}
|
|
|
|
print_line_from_here_to_there(sx, sy, Layer_Height, ex, ey, Layer_Height);
|
|
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again
|
|
}
|
|
}
|
|
|
|
if (j < UBL_MESH_NUM_Y_POINTS) { // We can't connect to anything further back than UBL_MESH_NUM_Y_POINTS.
|
|
// 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, j + 1)) { // check if we can do a line straight down
|
|
if (!is_bit_set( vertical_mesh_line_flags, i, j)) {
|
|
//
|
|
// We found two circles that need a vertical line to connect them
|
|
// Print it!
|
|
//
|
|
sx = blm.map_x_index_to_bed_location(i);
|
|
sy = blm.map_y_index_to_bed_location(j);
|
|
sy = sy + SIZE_OF_INTERSECTION_CIRCLES - SIZE_OF_CROSS_HAIRS; // get the top edge of the circle
|
|
|
|
ex = sx;
|
|
ey = blm.map_y_index_to_bed_location(j + 1);
|
|
ey = ey - SIZE_OF_INTERSECTION_CIRCLES + SIZE_OF_CROSS_HAIRS; // get the bottom edge of the circle
|
|
|
|
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
|
|
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
|
|
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
|
|
|
if (G26_Debug_flag) {
|
|
SERIAL_ECHOPGM(" Connecting with vertical line (sx=");
|
|
SERIAL_ECHO(sx);
|
|
SERIAL_ECHOPGM(", sy=");
|
|
SERIAL_ECHO(sy);
|
|
SERIAL_ECHOPGM(") -> (ex=");
|
|
SERIAL_ECHO(ex);
|
|
SERIAL_ECHOPGM(", ey=");
|
|
SERIAL_ECHO(ey);
|
|
SERIAL_ECHOLNPGM(")");
|
|
debug_current_and_destination((char *)"Connecting vertical line.");
|
|
}
|
|
print_line_from_here_to_there(sx, sy, Layer_Height, ex, ey, Layer_Height);
|
|
bit_set( vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void debug_current_and_destination(char *title) {
|
|
float dx, dy, de, xy_dist, fpmm;
|
|
|
|
// if the title message starts with a '!' it is so important, we are going to
|
|
// ignore the status of the G26_Debug_Flag
|
|
if (*title != '!' && !G26_Debug_flag) return;
|
|
|
|
dx = current_position[X_AXIS] - destination[X_AXIS];
|
|
dy = current_position[Y_AXIS] - destination[Y_AXIS];
|
|
de = destination[E_AXIS] - current_position[E_AXIS];
|
|
if (de == 0.0) return;
|
|
|
|
xy_dist = HYPOT(dx, dy);
|
|
if (xy_dist == 0.0) {
|
|
return;
|
|
//SERIAL_ECHOPGM(" FPMM=");
|
|
//fpmm = de;
|
|
//SERIAL_PROTOCOL_F(fpmm, 6);
|
|
}
|
|
else {
|
|
SERIAL_ECHOPGM(" fpmm=");
|
|
fpmm = de / xy_dist;
|
|
SERIAL_PROTOCOL_F(fpmm, 6);
|
|
}
|
|
|
|
SERIAL_ECHOPGM(" current=( ");
|
|
SERIAL_PROTOCOL_F(current_position[X_AXIS], 6);
|
|
SERIAL_ECHOPGM(", ");
|
|
SERIAL_PROTOCOL_F(current_position[Y_AXIS], 6);
|
|
SERIAL_ECHOPGM(", ");
|
|
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
|
|
SERIAL_ECHOPGM(", ");
|
|
SERIAL_PROTOCOL_F(current_position[E_AXIS], 6);
|
|
SERIAL_ECHOPGM(" ) destination=( ");
|
|
if (current_position[X_AXIS] == destination[X_AXIS])
|
|
SERIAL_ECHOPGM("-------------");
|
|
else
|
|
SERIAL_PROTOCOL_F(destination[X_AXIS], 6);
|
|
|
|
SERIAL_ECHOPGM(", ");
|
|
|
|
if (current_position[Y_AXIS] == destination[Y_AXIS])
|
|
SERIAL_ECHOPGM("-------------");
|
|
else
|
|
SERIAL_PROTOCOL_F(destination[Y_AXIS], 6);
|
|
|
|
SERIAL_ECHOPGM(", ");
|
|
|
|
if (current_position[Z_AXIS] == destination[Z_AXIS])
|
|
SERIAL_ECHOPGM("-------------");
|
|
else
|
|
SERIAL_PROTOCOL_F(destination[Z_AXIS], 6);
|
|
|
|
SERIAL_ECHOPGM(", ");
|
|
|
|
if (current_position[E_AXIS] == destination[E_AXIS])
|
|
SERIAL_ECHOPGM("-------------");
|
|
else
|
|
SERIAL_PROTOCOL_F(destination[E_AXIS], 6);
|
|
|
|
SERIAL_ECHOPGM(" ) ");
|
|
SERIAL_ECHO(title);
|
|
SERIAL_EOL;
|
|
|
|
SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66. Right Switch is on pin 65
|
|
|
|
//if (been_to_2_6) {
|
|
//while ((digitalRead(66) & 0x01) != 0)
|
|
// idle();
|
|
//}
|
|
}
|
|
|
|
void move_to(const float &x, const float &y, const float &z, const float &e_delta) {
|
|
float feed_value;
|
|
static float last_z = -999.99;
|
|
|
|
bool has_XY_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
|
|
|
|
if (G26_Debug_flag) {
|
|
SERIAL_ECHOPAIR("in move_to() has_XY_component:", (int)has_XY_component);
|
|
SERIAL_EOL;
|
|
}
|
|
|
|
if (z != last_z) {
|
|
|
|
if (G26_Debug_flag) {
|
|
SERIAL_ECHOPAIR("in move_to() changing Z to ", (int)z);
|
|
SERIAL_EOL;
|
|
}
|
|
last_z = z;
|
|
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
|
|
|
|
destination[X_AXIS] = current_position[X_AXIS];
|
|
destination[Y_AXIS] = current_position[Y_AXIS];
|
|
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
|
|
destination[E_AXIS] = current_position[E_AXIS];
|
|
|
|
UBL_line_to_destination(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feed_value, 0);
|
|
|
|
stepper.synchronize();
|
|
set_destination_to_current();
|
|
|
|
if (G26_Debug_flag)
|
|
debug_current_and_destination((char *)" in move_to() done with Z move");
|
|
}
|
|
|
|
// Check if X or Y is involved in the movement.
|
|
// Yes: a 'normal' movement. No: a retract() or un_retract()
|
|
feed_value = has_XY_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
|
|
|
|
if (G26_Debug_flag) {
|
|
SERIAL_ECHOPAIR("in move_to() feed_value for XY:", feed_value);
|
|
SERIAL_EOL;
|
|
}
|
|
|
|
destination[X_AXIS] = x;
|
|
destination[Y_AXIS] = y;
|
|
destination[E_AXIS] += e_delta;
|
|
|
|
if (G26_Debug_flag)
|
|
debug_current_and_destination((char *)" in move_to() doing last move");
|
|
|
|
UBL_line_to_destination(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feed_value, 0);
|
|
|
|
if (G26_Debug_flag)
|
|
debug_current_and_destination((char *)" in move_to() after last move");
|
|
|
|
stepper.synchronize();
|
|
set_destination_to_current();
|
|
}
|
|
|
|
void retract_filament() {
|
|
if (!G26_retracted) { // Only retract if we are not already retracted!
|
|
G26_retracted = true;
|
|
if (G26_Debug_flag) SERIAL_ECHOLNPGM(" Decided to do retract.");
|
|
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], -1.0 * Retraction_Multiplier);
|
|
if (G26_Debug_flag) SERIAL_ECHOLNPGM(" Retraction done.");
|
|
}
|
|
}
|
|
|
|
void un_retract_filament() {
|
|
if (G26_retracted) { // Only un-retract if we are retracted.
|
|
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 1.2 * Retraction_Multiplier);
|
|
G26_retracted = false;
|
|
if (G26_Debug_flag) SERIAL_ECHOLNPGM(" unretract done.");
|
|
}
|
|
}
|
|
|
|
/**
|
|
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
|
|
* to the other. But there are really three sets of coordinates involved. The first coordinate
|
|
* is the present location of the nozzle. We don't necessarily want to print from this location.
|
|
* We first need to move the nozzle to the start of line segment where we want to print. Once
|
|
* there, we can use the two coordinates supplied to draw the line.
|
|
*
|
|
* Note: Although we assume the first set of coordinates is the start of the line and the second
|
|
* set of coordinates is the end of the line, it does not always work out that way. This function
|
|
* optimizes the movement to minimize the travel distance before it can start printing. This saves
|
|
* a lot of time and eleminates a lot of non-sensical movement of the nozzle. However, it does
|
|
* cause a lot of very little short retracement of th nozzle when it draws the very first line
|
|
* 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( float sx, float sy, float sz, float ex, float ey, float ez) {
|
|
float dx, dy, dx_s, dy_s, dx_e, dy_e, dist_start, dist_end, Line_Length;
|
|
|
|
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
|
|
// to save computation time
|
|
dx_e = current_position[X_AXIS] - ex; // find our distance from the end of the actual line segment
|
|
dy_e = current_position[Y_AXIS] - ey;
|
|
dist_end = HYPOT2(dx_e, dy_e);
|
|
|
|
dx = ex - sx;
|
|
dy = ey - sy;
|
|
Line_Length = HYPOT(dx, dy);
|
|
|
|
// If the end point of the line is closer to the nozzle, we are going to
|
|
// flip the direction of this line. We will print it from the end to the start.
|
|
// On very small lines we don't do the optimization because it just isn't worth it.
|
|
//
|
|
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < abs(Line_Length)) {
|
|
if (G26_Debug_flag)
|
|
SERIAL_ECHOLNPGM(" Reversing start and end of print_line_from_here_to_there()");
|
|
print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
|
|
return;
|
|
}
|
|
|
|
// Now decide if we should retract.
|
|
|
|
if (dist_start > 2.0) {
|
|
retract_filament();
|
|
if (G26_Debug_flag)
|
|
SERIAL_ECHOLNPGM(" filament retracted.");
|
|
}
|
|
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion
|
|
|
|
E_Pos_Delta = Line_Length * G26_E_AXIS_feedrate * Extrusion_Multiplier;
|
|
|
|
un_retract_filament();
|
|
if (G26_Debug_flag) {
|
|
SERIAL_ECHOLNPGM(" doing printing move.");
|
|
debug_current_and_destination((char *)"doing final move_to() inside print_line_from_here_to_there()");
|
|
}
|
|
move_to(ex, ey, ez, E_Pos_Delta); // Get to the ending point with an appropriate amount of extrusion
|
|
}
|
|
|
|
/**
|
|
* This function used to be inline code in G26. But there are so many
|
|
* 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() {
|
|
|
|
Extrusion_Multiplier = EXTRUSION_MULTIPLIER;
|
|
Retraction_Multiplier = RETRACTION_MULTIPLIER;
|
|
Nozzle = NOZZLE;
|
|
Filament = FILAMENT;
|
|
Layer_Height = LAYER_HEIGHT;
|
|
Prime_Length = PRIME_LENGTH;
|
|
bed_temp = BED_TEMP;
|
|
hotend_temp = HOTEND_TEMP;
|
|
Ooooze_Amount = OOOOZE_AMOUNT;
|
|
Prime_Flag = 0;
|
|
Keep_Heaters_On = false;
|
|
|
|
if (code_seen('B')) {
|
|
bed_temp = code_value_float();
|
|
if (bed_temp < 15.0 || bed_temp > 140.0) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('C')) Continue_with_closest++;
|
|
|
|
if (code_seen('L')) {
|
|
Layer_Height = code_value_float();
|
|
if (Layer_Height<0.0 || Layer_Height>2.0) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('Q')) {
|
|
if (code_has_value()) {
|
|
Retraction_Multiplier = code_value_float();
|
|
if (Retraction_Multiplier<.05 || Retraction_Multiplier>15.0) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
else {
|
|
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('N')) {
|
|
Nozzle = code_value_float();
|
|
if (Nozzle < 0.1 || Nozzle > 1.0) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('K')) Keep_Heaters_On++;
|
|
|
|
if (code_seen('O') && code_has_value())
|
|
Ooooze_Amount = code_value_float();
|
|
|
|
if (code_seen('P')) {
|
|
if (!code_has_value())
|
|
Prime_Flag = -1;
|
|
else {
|
|
Prime_Flag++;
|
|
Prime_Length = code_value_float();
|
|
if (Prime_Length < 0.0 || Prime_Length > 25.0) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (code_seen('F')) {
|
|
Filament = code_value_float();
|
|
if (Filament < 1.0 || Filament > 4.0) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
Extrusion_Multiplier *= sq(1.75) / sq(Filament); // 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 * sq(Nozzle) / sq(0.3); // Scale up by nozzle size
|
|
|
|
if (code_seen('H')) {
|
|
hotend_temp = code_value_float();
|
|
if (hotend_temp < 165.0 || hotend_temp > 280.0) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
if (code_seen('R')) {
|
|
randomSeed(millis());
|
|
Random_Deviation = code_has_value() ? code_value_float() : 50.0;
|
|
}
|
|
|
|
X_Pos = current_position[X_AXIS];
|
|
Y_Pos = current_position[Y_AXIS];
|
|
|
|
if (code_seen('X')) {
|
|
X_Pos = code_value_float();
|
|
if (X_Pos < X_MIN_POS || X_Pos > X_MAX_POS) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified X coordinate not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
else
|
|
|
|
if (code_seen('Y')) {
|
|
Y_Pos = code_value_float();
|
|
if (Y_Pos < Y_MIN_POS || Y_Pos > Y_MAX_POS) {
|
|
SERIAL_PROTOCOLLNPGM("?Specified Y coordinate not plausible.");
|
|
return UBL_ERR;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* We save the question of what to do with the Unified Bed Leveling System's Activation until the very
|
|
* end. The reason is, if one of the parameters specified up above is incorrect, we don't want to
|
|
* alter the system's status. We wait until we know everything is correct before altering the state
|
|
* of the system.
|
|
*/
|
|
blm.state.active = !code_seen('D');
|
|
|
|
return UBL_OK;
|
|
}
|
|
|
|
/**
|
|
* Turn on the bed and nozzle heat and
|
|
* wait for them to get up to temperature.
|
|
*/
|
|
bool turn_on_heaters() {
|
|
#if HAS_TEMP_BED
|
|
#if ENABLED(ULTRA_LCD)
|
|
if (bed_temp > 25) {
|
|
lcd_setstatus("G26 Heating Bed.", true);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
UBL_has_control_of_LCD_Panel++;
|
|
thermalManager.setTargetBed(bed_temp);
|
|
while (abs(thermalManager.degBed() - bed_temp) > 3) {
|
|
if (G29_lcd_clicked()) {
|
|
strcpy(lcd_status_message, "Leaving G26"); // We can't do lcd_setstatus() without having it continue;
|
|
while (G29_lcd_clicked()) idle(); // Debounce the switch
|
|
lcd_setstatus("Leaving G26", true); // Now we do it right.
|
|
return UBL_ERR;
|
|
}
|
|
idle();
|
|
}
|
|
#if ENABLED(ULTRA_LCD)
|
|
}
|
|
lcd_setstatus("G26 Heating Nozzle.", true);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
#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) {
|
|
if (G29_lcd_clicked()) {
|
|
strcpy(lcd_status_message, "Leaving G26"); // We can't do lcd_setstatus() without having it continue;
|
|
while (G29_lcd_clicked()) idle(); // Debounce the switch
|
|
lcd_setstatus("Leaving G26", true); // Now we do it right.
|
|
return UBL_ERR;
|
|
}
|
|
idle();
|
|
}
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
lcd_setstatus("", true);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
return UBL_OK;
|
|
}
|
|
|
|
/**
|
|
* Prime the nozzle if needed. Return true on error.
|
|
*/
|
|
bool prime_nozzle() {
|
|
float Total_Prime = 0.0;
|
|
|
|
if (Prime_Flag == -1) { // The user wants to control how much filament gets purged
|
|
lcd_setstatus("User Controled Prime", true);
|
|
chirp_at_user();
|
|
|
|
set_destination_to_current();
|
|
|
|
un_retract_filament(); // Lets make sure the G26 command doesn't think the filament is
|
|
// retracted(). We are here because we want to prime the nozzle.
|
|
// So let's just unretract just to be sure.
|
|
|
|
UBL_has_control_of_LCD_Panel++;
|
|
while (!G29_lcd_clicked()) {
|
|
chirp_at_user();
|
|
destination[E_AXIS] += 0.25;
|
|
#ifdef PREVENT_LENGTHY_EXTRUDE
|
|
Total_Prime += 0.25;
|
|
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
|
|
#endif
|
|
UBL_line_to_destination(
|
|
destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS],
|
|
//planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0, 0xFFFF, 0xFFFF);
|
|
planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0
|
|
);
|
|
|
|
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
|
|
// but because the planner has a buffer, we won't be able
|
|
// to stop as quickly. So we put up with the less smooth
|
|
// action to give the user a more responsive 'Stop'.
|
|
set_destination_to_current();
|
|
idle();
|
|
}
|
|
|
|
strcpy(lcd_status_message, "Done Priming"); // We can't do lcd_setstatus() without having it continue;
|
|
// So... We cheat to get a message up.
|
|
|
|
while (G29_lcd_clicked()) idle(); // Debounce the switch
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
UBL_has_control_of_LCD_Panel = 0;
|
|
lcd_setstatus("Done Priming", true); // Now we do it right.
|
|
lcd_quick_feedback();
|
|
#endif
|
|
}
|
|
else {
|
|
#if ENABLED(ULTRA_LCD)
|
|
lcd_setstatus("Fixed Length Prime.", true);
|
|
lcd_quick_feedback();
|
|
#endif
|
|
set_destination_to_current();
|
|
destination[E_AXIS] += Prime_Length;
|
|
UBL_line_to_destination(
|
|
destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS],
|
|
//planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0, 0xFFFF, 0xFFFF);
|
|
planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0
|
|
);
|
|
stepper.synchronize();
|
|
set_destination_to_current();
|
|
retract_filament();
|
|
}
|
|
return UBL_OK;
|
|
}
|
|
|
|
#endif // AUTO_BED_LEVELING_UBL
|