1822 lines
73 KiB
C++
1822 lines
73 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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//#define UBL_DEVEL_DEBUGGING
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#include "ubl.h"
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#include "../../../Marlin.h"
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#include "../../../libs/hex_print_routines.h"
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#include "../../../module/configuration_store.h"
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#include "../../../lcd/ultralcd.h"
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#include "../../../module/stepper.h"
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#include "../../../module/planner.h"
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#include "../../../module/probe.h"
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#include "../../../gcode/gcode.h"
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#include "../../../core/serial.h"
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#include "../../../gcode/parser.h"
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#include "../../../feature/bedlevel/bedlevel.h"
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#include "../../../libs/least_squares_fit.h"
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#include "../../../feature/Max7219_Debug_LEDs.h"
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#include <math.h>
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#define UBL_G29_P31
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extern float destination[XYZE], current_position[XYZE];
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#if ENABLED(NEWPANEL)
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void lcd_return_to_status();
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void _lcd_ubl_output_map_lcd();
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#endif
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extern float meshedit_done;
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extern long babysteps_done;
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#define SIZE_OF_LITTLE_RAISE 1
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#define BIG_RAISE_NOT_NEEDED 0
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int unified_bed_leveling::g29_verbose_level,
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unified_bed_leveling::g29_phase_value,
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unified_bed_leveling::g29_repetition_cnt,
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unified_bed_leveling::g29_storage_slot = 0,
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unified_bed_leveling::g29_map_type;
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bool unified_bed_leveling::g29_c_flag,
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unified_bed_leveling::g29_x_flag,
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unified_bed_leveling::g29_y_flag;
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float unified_bed_leveling::g29_x_pos,
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unified_bed_leveling::g29_y_pos,
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unified_bed_leveling::g29_card_thickness = 0.0,
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unified_bed_leveling::g29_constant = 0.0;
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#if HAS_BED_PROBE
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int unified_bed_leveling::g29_grid_size;
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#endif
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/**
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* G29: Unified Bed Leveling by Roxy
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*
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* Parameters understood by this leveling system:
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*
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* A Activate Activate the Unified Bed Leveling system.
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*
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* B # Business Use the 'Business Card' mode of the Manual Probe subsystem with P2.
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* Note: A non-compressible Spark Gap feeler gauge is recommended over a business card.
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* In this mode of G29 P2, a business or index card is used as a shim that the nozzle can
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* grab onto as it is lowered. In principle, the nozzle-bed distance is the same when the
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* same resistance is felt in the shim. You can omit the numerical value on first invocation
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* of G29 P2 B to measure shim thickness. Subsequent use of 'B' will apply the previously-
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* measured thickness by default.
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*
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* C Continue G29 P1 C continues the generation of a partially-constructed Mesh without invalidating
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* previous measurements.
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*
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* C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle
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* location in its search for the closest unmeasured Mesh Point. Instead, attempt to
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* start at one end of the uprobed points and Continue sequentially.
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*
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* G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value.
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*
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* C Current G29 Z C uses the Current location (instead of bed center or nearest edge).
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*
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* D Disable Disable the Unified Bed Leveling system.
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*
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* E Stow_probe Stow the probe after each sampled point.
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*
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* F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the
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* specified height, no correction is applied and natural printer kenimatics take over. If no
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* number is specified for the command, 10mm is assumed to be reasonable.
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*
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* H # Height With P2, 'H' specifies the Height to raise the nozzle after each manual probe of the bed.
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* If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES.
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*
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* H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle.
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* If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used.
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*
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* I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted,
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* the nozzle location is used. If no 'I' value is given, only the point nearest to the location
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* is invalidated. Use 'T' to produce a map afterward. This command is useful to invalidate a
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* portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate
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* an isolated bad mesh point, the 'T' option shows the nozzle position in the Mesh with (#). You
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* can move the nozzle around and use this feature to select the center of the area (or cell) to
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* invalidate.
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*
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* J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
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* Not specifying a grid size will invoke the 3-Point leveling function.
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*
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* K # Kompare Kompare current Mesh with stored Mesh # replacing current Mesh with the result. This
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* command literally performs a diff between two Meshes.
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*
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* L Load Load Mesh from the previously activated location in the EEPROM.
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*
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* L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated
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* for subsequent Load and Store operations.
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*
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* The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will
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* start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with
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* each additional Phase that processes it.
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*
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* P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the
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* 3D Printer to the same state it was in before the Unified Bed Leveling Compensation
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* was turned on. Setting the entire Mesh to Zero is a special case that allows
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* a subsequent G or T leveling operation for backward compatibility.
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*
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* P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
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* the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. On
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* Cartesian printers, points within the X_PROBE_OFFSET_FROM_EXTRUDER and Y_PROBE_OFFSET_FROM_EXTRUDER
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* area cannot be automatically probed. For Delta printers the area in which DELTA_PROBEABLE_RADIUS
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* and DELTA_PRINTABLE_RADIUS do not overlap will not be automatically probed.
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*
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* Unreachable points will be handled in Phase 2 and Phase 3.
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*
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* Use 'C' to leave the previous mesh intact and automatically probe needed points. This allows you
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* to invalidate parts of the Mesh but still use Automatic Probing.
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*
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* The 'X' and 'Y' parameters prioritize where to try and measure points. If omitted, the current
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* probe position is used.
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*
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* Use 'T' (Topology) to generate a report of mesh generation.
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*
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* P1 will suspend Mesh generation if the controller button is held down. Note that you may need
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* to press and hold the switch for several seconds if moves are underway.
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*
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* P2 Phase 2 Probe unreachable points.
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*
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* Use 'H' to set the height between Mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used.
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* Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the
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* nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer!
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* (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.)
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*
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* The 'H' value can be negative if the Mesh dips in a large area. Press and hold the
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* controller button to terminate the current Phase 2 command. You can then re-issue "G29 P 2"
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* with an 'H' parameter more suitable for the area you're manually probing. Note that the command
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* tries to start in a corner of the bed where movement will be predictable. Override the distance
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* calculation location with the X and Y parameters. You can print a Mesh Map (G29 T) to see where
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* the mesh is invalidated and where the nozzle needs to move to complete the command. Use 'C' to
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* indicate that the search should be based on the current position.
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*
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* The 'B' parameter for this command is described above. It places the manual probe subsystem into
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* Business Card mode where the thickness of a business card is measured and then used to accurately
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* set the nozzle height in all manual probing for the duration of the command. A Business card can
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* be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it
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* easier to produce similar amounts of force and get more accurate measurements. Google if you're
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* not sure how to use a shim.
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*
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* The 'T' (Map) parameter helps track Mesh building progress.
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*
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* NOTE: P2 requires an LCD controller!
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*
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* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths to
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* go down:
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*
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* - If a 'C' constant is specified, the closest invalid mesh points to the nozzle will be filled,
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* and a repeat count can then also be specified with 'R'.
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*
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* - Leaving out 'C' invokes Smart Fill, which scans the mesh from the edges inward looking for
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* invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped
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* upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's
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* replaced by a value that puts all three points in a line. This version of G29 P3 is a quick, easy
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* and (usually) safe way to populate unprobed mesh regions before continuing to G26 Mesh Validation
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* Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution.
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*
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* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assumes the existence of
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* an LCD Panel. It is possible to fine tune the mesh without an LCD Panel using
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* G42 and M421. See the UBL documentation for further details.
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*
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* Phase 4 is meant to be used with G26 Mesh Validation to fine tune the mesh by direct editing
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* of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable
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* adhesion.
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*
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* P4 moves to the closest Mesh Point (and/or the given X Y), raises the nozzle above the mesh height
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* by the given 'H' offset (or default Z_CLEARANCE_BETWEEN_PROBES), and waits while the controller is
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* used to adjust the nozzle height. On click the displayed height is saved in the mesh.
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*
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* Start Phase 4 at a specific location with X and Y. Adjust a specific number of Mesh Points with
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* the 'R' (Repeat) parameter. (If 'R' is left out, the whole matrix is assumed.) This command can be
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* terminated early (e.g., after editing the area of interest) by pressing and holding the encoder button.
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*
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* The general form is G29 P4 [R points] [X position] [Y position]
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*
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* The H [offset] parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the
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* command would be G29 P4 H0.4. The nozzle is moved to the shim height, you adjust height to the shim,
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* and on click the height minus the shim thickness will be saved in the mesh.
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*
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* !!Use with caution, as a very poor mesh could cause the nozzle to crash into the bed!!
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*
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* NOTE: P4 is not available unless you have LCD support enabled!
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*
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* P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and
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* work with the Mesh if it is Mean Adjusted. You can specify a C parameter to
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* Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically
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* execute a G29 P6 C <mean height>.
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*
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* P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified
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* with the C parameter. Being able to adjust the height of a Mesh is useful tool. It
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* can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally,
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* you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring
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* 0.000 at the Z Home location.
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*
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* Q Test Load specified Test Pattern to assist in checking correct operation of system. This
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* command is not anticipated to be of much value to the typical user. It is intended
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* for developers to help them verify correct operation of the Unified Bed Leveling System.
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*
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* R # Repeat Repeat this command the specified number of times. If no number is specified the
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* command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
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*
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* S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
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* current state of the Unified Bed Leveling system in the EEPROM.
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*
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* S # Store Store the current Mesh at the specified location in EEPROM. Activate this location
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* for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
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* extend to a limit related to the available EEPROM storage.
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*
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* S -1 Store Store the current Mesh as a print out that is suitable to be feed back into the system
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* at a later date. The GCode output can be saved and later replayed by the host software
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* to reconstruct the current mesh on another machine.
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*
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* T Topology Display the Mesh Map Topology.
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* 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands.
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* This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O)
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* This parameter can also specify a Map Type. T0 (the default) is user-readable. T1 can
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* is suitable to paste into a spreadsheet for a 3D graph of the mesh.
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*
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* U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
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* Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful
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* when the entire bed doesn't need to be probed because it will be adjusted.
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*
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* V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0)
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*
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* W What? Display valuable Unified Bed Leveling System data.
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*
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* X # X Location for this command
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*
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* Y # Y Location for this command
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*
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*
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* Release Notes:
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* You MUST do M502, M500 to initialize the storage. Failure to do this will cause all
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* kinds of problems. Enabling EEPROM Storage is required.
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*
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* When you do a G28 and then a G29 P1 to automatically build your first mesh, you are going to notice
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* the Unified Bed Leveling probes points further and further away from the starting location. (The
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* starting location defaults to the center of the bed.) The original Grid and Mesh leveling used
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* a Zig Zag pattern. The new pattern is better, especially for people with Delta printers. This
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* allows you to get the center area of the Mesh populated (and edited) quicker. This allows you to
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* perform a small print and check out your settings quicker. You do not need to populate the
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* entire mesh to use it. (You don't want to spend a lot of time generating a mesh only to realize
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* you don't have the resolution or zprobe_zoffset set correctly. The Mesh generation
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* gathers points closest to where the nozzle is located unless you specify an (X,Y) coordinate pair.
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*
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* The Unified Bed Leveling uses a lot of EEPROM storage to hold its data. And it takes some effort
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* to get this Mesh data correct for a user's printer. We do not want this data destroyed as
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* new versions of Marlin add or subtract to the items stored in EEPROM. So, for the benefit of
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* the users, we store the Mesh data at the end of the EEPROM and do not keep it contiguous with the
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* other data stored in the EEPROM. (For sure the developers are going to complain about this, but
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* this is going to be helpful to the users!)
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*
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* The foundation of this Bed Leveling System is built on Epatel's Mesh Bed Leveling code. A big
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* 'Thanks!' to him and the creators of 3-Point and Grid Based leveling. Combining their contributions
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* we now have the functionality and features of all three systems combined.
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*/
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void unified_bed_leveling::G29() {
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if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
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// Check for commands that require the printer to be homed
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if (axis_unhomed_error()) {
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const int8_t p_val = parser.intval('P', -1);
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if (p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'))
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gcode.home_all_axes();
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}
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// Invalidate Mesh Points. This command is a little bit asymmetrical because
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// it directly specifies the repetition count and does not use the 'R' parameter.
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if (parser.seen('I')) {
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uint8_t cnt = 0;
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g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1;
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if (g29_repetition_cnt >= GRID_MAX_POINTS) {
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set_all_mesh_points_to_value(NAN);
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}
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else {
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while (g29_repetition_cnt--) {
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if (cnt > 20) { cnt = 0; idle(); }
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const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL);
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if (location.x_index < 0) {
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// No more REACHABLE mesh points to invalidate, so we ASSUME the user
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// meant to invalidate the ENTIRE mesh, which cannot be done with
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// find_closest_mesh_point loop which only returns REACHABLE points.
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set_all_mesh_points_to_value(NAN);
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SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
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break; // No more invalid Mesh Points to populate
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}
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z_values[location.x_index][location.y_index] = NAN;
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cnt++;
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}
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}
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SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
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}
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if (parser.seen('Q')) {
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const int test_pattern = parser.has_value() ? parser.value_int() : -99;
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if (!WITHIN(test_pattern, -1, 2)) {
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SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (-1 to 2)\n");
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return;
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}
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SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
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switch (test_pattern) {
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case -1:
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g29_eeprom_dump();
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break;
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case 0:
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a bowl shape - similar to
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta.
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const float p1 = 0.5 * (GRID_MAX_POINTS_X) - x,
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p2 = 0.5 * (GRID_MAX_POINTS_Y) - y;
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z_values[x][y] += 2.0 * HYPOT(p1, p2);
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}
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}
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break;
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case 1:
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a diagonal line several Mesh cells thick that is raised
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z_values[x][x] += 9.999;
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z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
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}
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break;
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case 2:
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// Allow the user to specify the height because 10mm is a little extreme in some cases.
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for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in
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for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) // the center of the bed
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z_values[x][y] += parser.seen('C') ? g29_constant : 9.99;
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break;
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}
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}
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#if HAS_BED_PROBE
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if (parser.seen('J')) {
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if (g29_grid_size) { // if not 0 it is a normal n x n grid being probed
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save_ubl_active_state_and_disable();
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tilt_mesh_based_on_probed_grid(false /* false says to do normal grid probing */ );
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restore_ubl_active_state_and_leave();
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}
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else { // grid_size == 0 : A 3-Point leveling has been requested
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|
|
save_ubl_active_state_and_disable();
|
|
tilt_mesh_based_on_probed_grid(true /* true says to do 3-Point leveling */ );
|
|
restore_ubl_active_state_and_leave();
|
|
}
|
|
do_blocking_move_to_xy(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)));
|
|
}
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|
|
if (parser.seen('P')) {
|
|
if (WITHIN(g29_phase_value, 0, 1) && storage_slot == -1) {
|
|
storage_slot = 0;
|
|
SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.");
|
|
}
|
|
|
|
switch (g29_phase_value) {
|
|
case 0:
|
|
//
|
|
// Zero Mesh Data
|
|
//
|
|
reset();
|
|
SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
|
|
break;
|
|
|
|
#if HAS_BED_PROBE
|
|
|
|
case 1:
|
|
//
|
|
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
|
|
//
|
|
if (!parser.seen('C')) {
|
|
invalidate();
|
|
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
|
|
}
|
|
if (g29_verbose_level > 1) {
|
|
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", g29_x_pos);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL(g29_y_pos);
|
|
SERIAL_PROTOCOLLNPGM(").\n");
|
|
}
|
|
probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
|
parser.seen('T'), parser.seen('E'), parser.seen('U'));
|
|
break;
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|
|
case 2: {
|
|
#if ENABLED(NEWPANEL)
|
|
//
|
|
// Manually Probe Mesh in areas that can't be reached by the probe
|
|
//
|
|
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.");
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
if (parser.seen('C') && !g29_x_flag && !g29_y_flag) {
|
|
/**
|
|
* Use a good default location for the path.
|
|
* The flipped > and < operators in these comparisons is intentional.
|
|
* It should cause the probed points to follow a nice path on Cartesian printers.
|
|
* It may make sense to have Delta printers default to the center of the bed.
|
|
* Until that is decided, this can be forced with the X and Y parameters.
|
|
*/
|
|
#if IS_KINEMATIC
|
|
g29_x_pos = X_HOME_POS;
|
|
g29_y_pos = Y_HOME_POS;
|
|
#else // cartesian
|
|
g29_x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_BED_SIZE : 0;
|
|
g29_y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_BED_SIZE : 0;
|
|
#endif
|
|
}
|
|
|
|
if (parser.seen('B')) {
|
|
g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness((float) Z_CLEARANCE_BETWEEN_PROBES);
|
|
if (FABS(g29_card_thickness) > 1.5) {
|
|
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.");
|
|
return;
|
|
}
|
|
}
|
|
|
|
if (!position_is_reachable(g29_x_pos, g29_y_pos)) {
|
|
SERIAL_PROTOCOLLNPGM("XY outside printable radius.");
|
|
return;
|
|
}
|
|
|
|
const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
|
|
manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, parser.seen('T'));
|
|
|
|
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
|
|
|
|
#else
|
|
|
|
SERIAL_PROTOCOLLNPGM("?P2 is only available when an LCD is present.");
|
|
return;
|
|
|
|
#endif
|
|
} break;
|
|
|
|
case 3: {
|
|
/**
|
|
* Populate invalid mesh areas. Proceed with caution.
|
|
* Two choices are available:
|
|
* - Specify a constant with the 'C' parameter.
|
|
* - Allow 'G29 P3' to choose a 'reasonable' constant.
|
|
*/
|
|
|
|
if (g29_c_flag) {
|
|
if (g29_repetition_cnt >= GRID_MAX_POINTS) {
|
|
set_all_mesh_points_to_value(g29_constant);
|
|
}
|
|
else {
|
|
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);
|
|
if (location.x_index < 0) {
|
|
// No more REACHABLE INVALID mesh points to populate, so we ASSUME
|
|
// user meant to populate ALL INVALID mesh points to value
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
if (isnan(z_values[x][y]))
|
|
z_values[x][y] = g29_constant;
|
|
break; // No more invalid Mesh Points to populate
|
|
}
|
|
z_values[location.x_index][location.y_index] = g29_constant;
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
const float cvf = parser.value_float();
|
|
switch((int)truncf(cvf * 10.0) - 30) { // 3.1 -> 1
|
|
#if ENABLED(UBL_G29_P31)
|
|
case 1: {
|
|
|
|
// P3.1 use least squares fit to fill missing mesh values
|
|
// P3.10 zero weighting for distance, all grid points equal, best fit tilted plane
|
|
// P3.11 10X weighting for nearest grid points versus farthest grid points
|
|
// 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
|
|
weight_factor = weight_power ? POW(10.0, weight_power) : 0;
|
|
smart_fill_wlsf(weight_factor);
|
|
}
|
|
break;
|
|
#endif
|
|
case 0: // P3 or P3.0
|
|
default: // and anything P3.x that's not P3.1
|
|
smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 4: // Fine Tune (i.e., Edit) the Mesh
|
|
#if ENABLED(NEWPANEL)
|
|
fine_tune_mesh(g29_x_pos, g29_y_pos, parser.seen('T'));
|
|
#else
|
|
SERIAL_PROTOCOLLNPGM("?P4 is only available when an LCD is present.");
|
|
return;
|
|
#endif
|
|
break;
|
|
|
|
case 5: find_mean_mesh_height(); break;
|
|
|
|
case 6: shift_mesh_height(); break;
|
|
}
|
|
}
|
|
|
|
//
|
|
// 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 (parser.seen('W')) g29_what_command();
|
|
|
|
//
|
|
// 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.
|
|
//
|
|
|
|
if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
|
|
g29_compare_current_mesh_to_stored_mesh();
|
|
|
|
//
|
|
// Load a Mesh from the EEPROM
|
|
//
|
|
|
|
if (parser.seen('L')) { // Load Current Mesh Data
|
|
g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
|
|
|
|
int16_t a = settings.calc_num_meshes();
|
|
|
|
if (!a) {
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
|
|
return;
|
|
}
|
|
|
|
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
|
|
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
|
|
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
|
|
return;
|
|
}
|
|
|
|
settings.load_mesh(g29_storage_slot);
|
|
storage_slot = g29_storage_slot;
|
|
|
|
SERIAL_PROTOCOLLNPGM("Done.");
|
|
}
|
|
|
|
//
|
|
// Store a Mesh in the EEPROM
|
|
//
|
|
|
|
if (parser.seen('S')) { // Store (or Save) Current Mesh Data
|
|
g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
|
|
|
|
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(z_values[x][y])) {
|
|
SERIAL_ECHOPAIR("M421 I ", x);
|
|
SERIAL_ECHOPAIR(" J ", y);
|
|
SERIAL_ECHOPGM(" Z ");
|
|
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;
|
|
}
|
|
|
|
int16_t a = settings.calc_num_meshes();
|
|
|
|
if (!a) {
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
|
|
goto LEAVE;
|
|
}
|
|
|
|
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(g29_storage_slot);
|
|
storage_slot = g29_storage_slot;
|
|
|
|
SERIAL_PROTOCOLLNPGM("Done.");
|
|
}
|
|
|
|
if (parser.seen('T'))
|
|
display_map(g29_map_type);
|
|
|
|
LEAVE:
|
|
|
|
#if ENABLED(NEWPANEL)
|
|
lcd_reset_alert_level();
|
|
LCD_MESSAGEPGM("");
|
|
lcd_quick_feedback(true);
|
|
lcd_external_control = false;
|
|
#endif
|
|
|
|
return;
|
|
}
|
|
|
|
void unified_bed_leveling::find_mean_mesh_height() {
|
|
float sum = 0.0;
|
|
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(z_values[x][y])) {
|
|
sum += z_values[x][y];
|
|
n++;
|
|
}
|
|
|
|
const float mean = sum / n;
|
|
|
|
//
|
|
// Sum the squares of difference from mean
|
|
//
|
|
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(z_values[x][y]))
|
|
sum_of_diff_squared += sq(z_values[x][y] - mean);
|
|
|
|
SERIAL_ECHOLNPAIR("# of samples: ", n);
|
|
SERIAL_ECHOPGM("Mean Mesh Height: ");
|
|
SERIAL_ECHO_F(mean, 6);
|
|
SERIAL_EOL();
|
|
|
|
const float sigma = SQRT(sum_of_diff_squared / (n + 1));
|
|
SERIAL_ECHOPGM("Standard Deviation: ");
|
|
SERIAL_ECHO_F(sigma, 6);
|
|
SERIAL_EOL();
|
|
|
|
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(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(z_values[x][y]))
|
|
z_values[x][y] += g29_constant;
|
|
}
|
|
|
|
#if ENABLED(NEWPANEL)
|
|
|
|
typedef void (*clickFunc_t)();
|
|
|
|
bool click_and_hold(const clickFunc_t func=NULL) {
|
|
if (is_lcd_clicked()) {
|
|
lcd_quick_feedback(false); // Do NOT clear button status! If cleared, the code
|
|
// code can not look for a 'click and hold'
|
|
const millis_t nxt = millis() + 1500UL;
|
|
while (is_lcd_clicked()) { // Loop while the encoder is pressed. Uses hardware flag!
|
|
idle(); // idle, of course
|
|
if (ELAPSED(millis(), nxt)) { // After 1.5 seconds
|
|
lcd_quick_feedback(true);
|
|
if (func) (*func)();
|
|
wait_for_release();
|
|
safe_delay(50); // Debounce the Encoder wheel
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
safe_delay(15);
|
|
return false;
|
|
}
|
|
|
|
#endif // NEWPANEL
|
|
|
|
#if HAS_BED_PROBE
|
|
/**
|
|
* Probe all invalidated locations of the mesh that can be reached by the probe.
|
|
* This attempts to fill in locations closest to the nozzle's start location first.
|
|
*/
|
|
void unified_bed_leveling::probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool close_or_far) {
|
|
mesh_index_pair location;
|
|
|
|
#if ENABLED(NEWPANEL)
|
|
lcd_external_control = true;
|
|
#endif
|
|
|
|
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;
|
|
|
|
do {
|
|
if (do_ubl_mesh_map) display_map(g29_map_type);
|
|
|
|
#if ENABLED(NEWPANEL)
|
|
if (is_lcd_clicked()) {
|
|
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
|
|
lcd_quick_feedback(false);
|
|
STOW_PROBE();
|
|
while (is_lcd_clicked()) idle();
|
|
lcd_external_control = false;
|
|
restore_ubl_active_state_and_leave();
|
|
lcd_quick_feedback(true);
|
|
safe_delay(50); // Debounce the Encoder wheel
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
if (close_or_far)
|
|
location = find_furthest_invalid_mesh_point();
|
|
else
|
|
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, NULL);
|
|
|
|
if (location.x_index >= 0) { // mesh point found and is reachable by probe
|
|
const float rawx = mesh_index_to_xpos(location.x_index),
|
|
rawy = mesh_index_to_ypos(location.y_index);
|
|
|
|
const float measured_z = probe_pt(rawx, rawy, stow_probe, g29_verbose_level); // TODO: Needs error handling
|
|
z_values[location.x_index][location.y_index] = measured_z;
|
|
}
|
|
MYSERIAL0.flush(); // Prevent host M105 buffer overrun.
|
|
} while (location.x_index >= 0 && --max_iterations);
|
|
|
|
STOW_PROBE();
|
|
restore_ubl_active_state_and_leave();
|
|
|
|
do_blocking_move_to_xy(
|
|
constrain(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_X, MESH_MAX_X),
|
|
constrain(ry - (Y_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_Y, MESH_MAX_Y)
|
|
);
|
|
}
|
|
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|
|
#if ENABLED(NEWPANEL)
|
|
|
|
void unified_bed_leveling::move_z_with_encoder(const float &multiplier) {
|
|
wait_for_release();
|
|
while (!is_lcd_clicked()) {
|
|
idle();
|
|
if (encoder_diff) {
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * multiplier);
|
|
encoder_diff = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
float unified_bed_leveling::measure_point_with_encoder() {
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
move_z_with_encoder(0.01);
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
return current_position[Z_AXIS];
|
|
}
|
|
|
|
static void echo_and_take_a_measurement() { SERIAL_PROTOCOLLNPGM(" and take a measurement."); }
|
|
|
|
float unified_bed_leveling::measure_business_card_thickness(float in_height) {
|
|
lcd_external_control = true;
|
|
save_ubl_active_state_and_disable(); // Disable bed level correction for probing
|
|
|
|
do_blocking_move_to(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)), in_height);
|
|
//, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) / 2.0);
|
|
stepper.synchronize();
|
|
|
|
SERIAL_PROTOCOLPGM("Place shim under nozzle");
|
|
LCD_MESSAGEPGM(MSG_UBL_BC_INSERT);
|
|
lcd_return_to_status();
|
|
echo_and_take_a_measurement();
|
|
|
|
const float z1 = measure_point_with_encoder();
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
|
|
stepper.synchronize();
|
|
|
|
SERIAL_PROTOCOLPGM("Remove shim");
|
|
LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE);
|
|
echo_and_take_a_measurement();
|
|
|
|
const float z2 = measure_point_with_encoder();
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
const float thickness = abs(z1 - z2);
|
|
|
|
if (g29_verbose_level > 1) {
|
|
SERIAL_PROTOCOLPGM("Business Card is ");
|
|
SERIAL_PROTOCOL_F(thickness, 4);
|
|
SERIAL_PROTOCOLLNPGM("mm thick.");
|
|
}
|
|
|
|
lcd_external_control = false;
|
|
|
|
restore_ubl_active_state_and_leave();
|
|
|
|
return thickness;
|
|
}
|
|
|
|
void abort_manual_probe_remaining_mesh() {
|
|
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
|
|
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
|
lcd_external_control = false;
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
lcd_quick_feedback(true);
|
|
ubl.restore_ubl_active_state_and_leave();
|
|
}
|
|
|
|
void unified_bed_leveling::manually_probe_remaining_mesh(const float &rx, const float &ry, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
|
|
|
|
lcd_external_control = 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(current_position[X_AXIS], current_position[Y_AXIS], z_clearance);
|
|
|
|
lcd_return_to_status();
|
|
|
|
mesh_index_pair location;
|
|
do {
|
|
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_NOZZLE_AS_REFERENCE, NULL);
|
|
// 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 xProbe = mesh_index_to_xpos(location.x_index),
|
|
yProbe = mesh_index_to_ypos(location.y_index);
|
|
|
|
if (!position_is_reachable(xProbe, yProbe)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
|
|
|
|
LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
|
|
|
|
do_blocking_move_to(xProbe, yProbe, Z_CLEARANCE_BETWEEN_PROBES);
|
|
do_blocking_move_to_z(z_clearance);
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
lcd_external_control = true;
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
|
|
|
|
serialprintPGM(parser.seen('B') ? PSTR(MSG_UBL_BC_INSERT) : PSTR(MSG_UBL_BC_INSERT2));
|
|
|
|
const float z_step = 0.01; // existing behavior: 0.01mm per click, occasionally step
|
|
//const float z_step = 1.0 / planner.axis_steps_per_mm[Z_AXIS]; // approx one step each click
|
|
|
|
move_z_with_encoder(z_step);
|
|
|
|
if (click_and_hold()) {
|
|
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
|
|
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
|
lcd_external_control = false;
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
restore_ubl_active_state_and_leave();
|
|
return;
|
|
}
|
|
|
|
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(z_values[location.x_index][location.y_index], 6);
|
|
SERIAL_EOL();
|
|
}
|
|
MYSERIAL0.flush(); // Prevent host M105 buffer overrun.
|
|
} while (location.x_index >= 0 && location.y_index >= 0);
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
|
|
|
|
restore_ubl_active_state_and_leave();
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
do_blocking_move_to(rx, ry, Z_CLEARANCE_DEPLOY_PROBE);
|
|
}
|
|
#endif // NEWPANEL
|
|
|
|
bool unified_bed_leveling::g29_parameter_parsing() {
|
|
bool err_flag = false;
|
|
|
|
#if ENABLED(NEWPANEL)
|
|
LCD_MESSAGEPGM(MSG_UBL_DOING_G29);
|
|
lcd_quick_feedback(true);
|
|
#endif
|
|
|
|
g29_constant = 0.0;
|
|
g29_repetition_cnt = 0;
|
|
|
|
g29_x_flag = parser.seenval('X');
|
|
g29_x_pos = g29_x_flag ? parser.value_float() : current_position[X_AXIS];
|
|
g29_y_flag = parser.seenval('Y');
|
|
g29_y_pos = g29_y_flag ? parser.value_float() : current_position[Y_AXIS];
|
|
|
|
if (parser.seen('R')) {
|
|
g29_repetition_cnt = parser.has_value() ? parser.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;
|
|
}
|
|
}
|
|
|
|
g29_verbose_level = parser.seen('V') ? parser.value_int() : 0;
|
|
if (!WITHIN(g29_verbose_level, 0, 4)) {
|
|
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).\n");
|
|
err_flag = true;
|
|
}
|
|
|
|
if (parser.seen('P')) {
|
|
const int pv = parser.value_int();
|
|
#if !HAS_BED_PROBE
|
|
if (pv == 1) {
|
|
SERIAL_PROTOCOLLNPGM("G29 P1 requires a probe.\n");
|
|
err_flag = true;
|
|
}
|
|
else
|
|
#endif
|
|
{
|
|
g29_phase_value = pv;
|
|
if (!WITHIN(g29_phase_value, 0, 6)) {
|
|
SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
|
|
err_flag = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (parser.seen('J')) {
|
|
#if HAS_BED_PROBE
|
|
g29_grid_size = parser.has_value() ? parser.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;
|
|
}
|
|
#else
|
|
SERIAL_PROTOCOLLNPGM("G29 J action requires a probe.\n");
|
|
err_flag = true;
|
|
#endif
|
|
}
|
|
|
|
if (g29_x_flag != g29_y_flag) {
|
|
SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n");
|
|
err_flag = true;
|
|
}
|
|
|
|
// If X or Y are not valid, use center of the bed values
|
|
if (!WITHIN(g29_x_pos, X_MIN_BED, X_MAX_BED)) g29_x_pos = X_CENTER;
|
|
if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER;
|
|
|
|
if (err_flag) return UBL_ERR;
|
|
|
|
/**
|
|
* Activate or deactivate UBL
|
|
* Note: UBL's G29 restores the state set here when done.
|
|
* Leveling is being enabled here with old data, possibly
|
|
* none. Error handling should disable for safety...
|
|
*/
|
|
if (parser.seen('A')) {
|
|
if (parser.seen('D')) {
|
|
SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
|
|
return UBL_ERR;
|
|
}
|
|
set_bed_leveling_enabled(true);
|
|
report_state();
|
|
}
|
|
else if (parser.seen('D')) {
|
|
set_bed_leveling_enabled(false);
|
|
report_state();
|
|
}
|
|
|
|
// Set global 'C' flag and its value
|
|
if ((g29_c_flag = parser.seen('C')))
|
|
g29_constant = parser.value_float();
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
if (parser.seenval('F')) {
|
|
const float fh = parser.value_float();
|
|
if (!WITHIN(fh, 0.0, 100.0)) {
|
|
SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
|
|
return UBL_ERR;
|
|
}
|
|
set_z_fade_height(fh);
|
|
}
|
|
#endif
|
|
|
|
g29_map_type = parser.intval('T');
|
|
if (!WITHIN(g29_map_type, 0, 2)) {
|
|
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
|
|
return UBL_ERR;
|
|
}
|
|
return UBL_OK;
|
|
}
|
|
|
|
static uint8_t ubl_state_at_invocation = 0;
|
|
|
|
#ifdef UBL_DEVEL_DEBUGGING
|
|
static uint8_t ubl_state_recursion_chk = 0;
|
|
#endif
|
|
|
|
void unified_bed_leveling::save_ubl_active_state_and_disable() {
|
|
#ifdef UBL_DEVEL_DEBUGGING
|
|
ubl_state_recursion_chk++;
|
|
if (ubl_state_recursion_chk != 1) {
|
|
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
|
|
#if ENABLED(NEWPANEL)
|
|
LCD_MESSAGEPGM(MSG_UBL_SAVE_ERROR);
|
|
lcd_quick_feedback(true);
|
|
#endif
|
|
return;
|
|
}
|
|
#endif
|
|
ubl_state_at_invocation = planner.leveling_active;
|
|
set_bed_leveling_enabled(false);
|
|
}
|
|
|
|
void unified_bed_leveling::restore_ubl_active_state_and_leave() {
|
|
#ifdef UBL_DEVEL_DEBUGGING
|
|
if (--ubl_state_recursion_chk) {
|
|
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
|
|
#if ENABLED(NEWPANEL)
|
|
LCD_MESSAGEPGM(MSG_UBL_RESTORE_ERROR);
|
|
lcd_quick_feedback(true);
|
|
#endif
|
|
return;
|
|
}
|
|
#endif
|
|
set_bed_leveling_enabled(ubl_state_at_invocation);
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
*/
|
|
void unified_bed_leveling::g29_what_command() {
|
|
report_state();
|
|
|
|
if (storage_slot == -1)
|
|
SERIAL_PROTOCOLPGM("No Mesh Loaded.");
|
|
else {
|
|
SERIAL_PROTOCOLPAIR("Mesh ", storage_slot);
|
|
SERIAL_PROTOCOLPGM(" Loaded.");
|
|
}
|
|
SERIAL_EOL();
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLLNPAIR("UBL object count: ", (int)ubl_cnt);
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
SERIAL_PROTOCOLPGM("planner.z_fade_height : ");
|
|
SERIAL_PROTOCOL_F(planner.z_fade_height, 4);
|
|
SERIAL_EOL();
|
|
#endif
|
|
|
|
find_mean_mesh_height();
|
|
|
|
#if HAS_BED_PROBE
|
|
SERIAL_PROTOCOLPGM("zprobe_zoffset: ");
|
|
SERIAL_PROTOCOL_F(zprobe_zoffset, 7);
|
|
SERIAL_EOL();
|
|
#endif
|
|
|
|
SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X);
|
|
safe_delay(50);
|
|
SERIAL_ECHOLNPAIR("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y);
|
|
safe_delay(50);
|
|
SERIAL_ECHOLNPAIR("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X);
|
|
safe_delay(50);
|
|
SERIAL_ECHOLNPAIR("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y);
|
|
safe_delay(50);
|
|
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
|
|
safe_delay(50);
|
|
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
|
|
safe_delay(50);
|
|
SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST);
|
|
SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST);
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3);
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
safe_delay(25);
|
|
}
|
|
SERIAL_EOL();
|
|
|
|
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
|
|
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3);
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
safe_delay(25);
|
|
}
|
|
SERIAL_EOL();
|
|
|
|
#if HAS_KILL
|
|
SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
|
|
SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
|
|
#endif
|
|
SERIAL_EOL();
|
|
safe_delay(50);
|
|
|
|
#ifdef UBL_DEVEL_DEBUGGING
|
|
SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation);
|
|
SERIAL_EOL();
|
|
SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk);
|
|
SERIAL_EOL();
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLPAIR("Meshes go from ", hex_address((void*)settings.meshes_start_index()));
|
|
SERIAL_PROTOCOLLNPAIR(" to ", hex_address((void*)settings.meshes_end_index()));
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
|
|
SERIAL_EOL();
|
|
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(z_values));
|
|
SERIAL_EOL();
|
|
safe_delay(25);
|
|
|
|
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index())));
|
|
safe_delay(50);
|
|
|
|
SERIAL_PROTOCOLPAIR("EEPROM can hold ", settings.calc_num_meshes());
|
|
SERIAL_PROTOCOLLNPGM(" meshes.\n");
|
|
safe_delay(25);
|
|
#endif // UBL_DEVEL_DEBUGGING
|
|
|
|
if (!sanity_check()) {
|
|
echo_name();
|
|
SERIAL_PROTOCOLLNPGM(" sanity checks passed.");
|
|
}
|
|
}
|
|
|
|
/**
|
|
* 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 unified_bed_leveling::g29_eeprom_dump() {
|
|
unsigned char cccc;
|
|
unsigned int kkkk; // Needs to be of unspecfied size to compile clean on all platforms
|
|
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPGM("EEPROM Dump:");
|
|
for (uint16_t i = 0; i < E2END + 1; i += 16) {
|
|
if (!(i & 0x3)) idle();
|
|
print_hex_word(i);
|
|
SERIAL_ECHOPGM(": ");
|
|
for (uint16_t j = 0; j < 16; j++) {
|
|
kkkk = i + j;
|
|
eeprom_read_block(&cccc, (const void *) kkkk, sizeof(unsigned char));
|
|
print_hex_byte(cccc);
|
|
SERIAL_ECHO(' ');
|
|
}
|
|
SERIAL_EOL();
|
|
}
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
/**
|
|
* 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 unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() {
|
|
int16_t a = settings.calc_num_meshes();
|
|
|
|
if (!a) {
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
|
|
return;
|
|
}
|
|
|
|
if (!parser.has_value()) {
|
|
SERIAL_PROTOCOLLNPGM("?Storage slot # required.");
|
|
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
|
|
return;
|
|
}
|
|
|
|
g29_storage_slot = parser.value_int();
|
|
|
|
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(g29_storage_slot, &tmp_z_values);
|
|
|
|
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++)
|
|
z_values[x][y] -= tmp_z_values[x][y];
|
|
}
|
|
|
|
mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
|
|
|
|
bool found_a_NAN = false, found_a_real = false;
|
|
|
|
mesh_index_pair out_mesh;
|
|
out_mesh.x_index = out_mesh.y_index = -1;
|
|
out_mesh.distance = -99999.99;
|
|
|
|
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
|
|
|
if (isnan(z_values[i][j])) { // Check to see if this location holds an invalid mesh point
|
|
|
|
const float mx = mesh_index_to_xpos(i),
|
|
my = mesh_index_to_ypos(j);
|
|
|
|
if (!position_is_reachable_by_probe(mx, my)) // make sure the probe can get to the mesh point
|
|
continue;
|
|
|
|
found_a_NAN = true;
|
|
|
|
int8_t closest_x = -1, closest_y = -1;
|
|
float d1, d2 = 99999.9;
|
|
for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
|
|
for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
|
|
if (!isnan(z_values[k][l])) {
|
|
found_a_real = true;
|
|
|
|
// Add in a random weighting factor that scrambles the probing of the
|
|
// last half of the mesh (when every unprobed mesh point is one index
|
|
// from a probed location).
|
|
|
|
d1 = HYPOT(i - k, j - l) + (1.0 / ((millis() % 47) + 13));
|
|
|
|
if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l)
|
|
d2 = d1; // found a closer location with
|
|
closest_x = i; // an assigned mesh point value
|
|
closest_y = j;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//
|
|
// At this point d2 should have the closest defined mesh point to invalid mesh point (i,j)
|
|
//
|
|
|
|
if (found_a_real && (closest_x >= 0) && (d2 > out_mesh.distance)) {
|
|
out_mesh.distance = d2; // found an invalid location with a greater distance
|
|
out_mesh.x_index = closest_x; // to a defined mesh point
|
|
out_mesh.y_index = closest_y;
|
|
}
|
|
}
|
|
} // for j
|
|
} // for i
|
|
|
|
if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing
|
|
out_mesh.x_index = GRID_MAX_POINTS_X / 2;
|
|
out_mesh.y_index = GRID_MAX_POINTS_Y / 2;
|
|
out_mesh.distance = 1.0;
|
|
}
|
|
return out_mesh;
|
|
}
|
|
|
|
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) {
|
|
mesh_index_pair out_mesh;
|
|
out_mesh.x_index = out_mesh.y_index = -1;
|
|
out_mesh.distance = -99999.9;
|
|
|
|
// Get our reference position. Either the nozzle or probe location.
|
|
const float px = rx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
|
|
py = ry - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
|
|
|
|
float best_so_far = 99999.99;
|
|
|
|
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; 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_bitmap_set(bits, i, j))
|
|
) {
|
|
// We only get here if we found a Mesh Point of the specified type
|
|
|
|
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.
|
|
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
|
|
|
|
if (probe_as_reference ? !position_is_reachable_by_probe(mx, my) : !position_is_reachable(mx, my))
|
|
continue;
|
|
|
|
// Reachable. Check if it's the best_so_far location to the nozzle.
|
|
|
|
float distance = HYPOT(px - mx, py - my);
|
|
|
|
// factor in the distance from the current location for the normal case
|
|
// so the nozzle isn't running all over the bed.
|
|
distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1;
|
|
if (distance < best_so_far) {
|
|
best_so_far = distance; // We found a closer location with
|
|
out_mesh.x_index = i; // the specified type of mesh value.
|
|
out_mesh.y_index = j;
|
|
out_mesh.distance = best_so_far;
|
|
}
|
|
}
|
|
} // for j
|
|
} // for i
|
|
|
|
return out_mesh;
|
|
}
|
|
|
|
#if ENABLED(NEWPANEL)
|
|
|
|
void abort_fine_tune() {
|
|
lcd_return_to_status();
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
LCD_MESSAGEPGM(MSG_EDITING_STOPPED);
|
|
lcd_quick_feedback(true);
|
|
}
|
|
|
|
void unified_bed_leveling::fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) {
|
|
if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
|
|
g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
|
|
|
|
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
|
|
const bool is_offset = parser.seen('H');
|
|
const float h_offset = is_offset ? parser.value_linear_units() : Z_CLEARANCE_BETWEEN_PROBES;
|
|
if (is_offset && !WITHIN(h_offset, 0, 10)) {
|
|
SERIAL_PROTOCOLLNPGM("Offset out of bounds. (0 to 10mm)\n");
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
mesh_index_pair location;
|
|
|
|
if (!position_is_reachable(rx, ry)) {
|
|
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
|
|
return;
|
|
}
|
|
|
|
save_ubl_active_state_and_disable();
|
|
|
|
LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
|
|
|
|
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
uint16_t not_done[16];
|
|
memset(not_done, 0xFF, sizeof(not_done));
|
|
do {
|
|
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, rx, ry, USE_NOZZLE_AS_REFERENCE, not_done);
|
|
|
|
if (location.x_index < 0) break; // stop when we can't find any more reachable points.
|
|
|
|
bitmap_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 = mesh_index_to_xpos(location.x_index),
|
|
rawy = mesh_index_to_ypos(location.y_index);
|
|
|
|
if (!position_is_reachable(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
|
|
break;
|
|
|
|
do_blocking_move_to(rawx, rawy, Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to the edit point
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
lcd_external_control = true;
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type); // show the user which point is being adjusted
|
|
|
|
lcd_refresh();
|
|
|
|
float new_z = z_values[location.x_index][location.y_index];
|
|
if (isnan(new_z)) new_z = 0.0; // Set invalid mesh points to 0.0 so they can be edited
|
|
new_z = FLOOR(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place
|
|
|
|
lcd_mesh_edit_setup(new_z);
|
|
|
|
do {
|
|
new_z = lcd_mesh_edit();
|
|
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
|
|
do_blocking_move_to_z(h_offset + new_z); // Move the nozzle as the point is edited
|
|
#endif
|
|
idle();
|
|
MYSERIAL0.flush(); // Prevent host M105 buffer overrun.
|
|
} while (!is_lcd_clicked());
|
|
|
|
if (!lcd_map_control) lcd_return_to_status();
|
|
|
|
// 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?
|
|
lcd_external_control = true;
|
|
|
|
if (click_and_hold(abort_fine_tune))
|
|
goto FINE_TUNE_EXIT;
|
|
|
|
safe_delay(20); // We don't want any switch noise.
|
|
|
|
z_values[location.x_index][location.y_index] = new_z;
|
|
|
|
lcd_refresh();
|
|
|
|
} while (location.x_index >= 0 && --g29_repetition_cnt > 0);
|
|
|
|
FINE_TUNE_EXIT:
|
|
|
|
lcd_external_control = false;
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
if (do_ubl_mesh_map) display_map(g29_map_type);
|
|
restore_ubl_active_state_and_leave();
|
|
|
|
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
|
|
SERIAL_ECHOLNPGM("Done Editing Mesh");
|
|
|
|
if (lcd_map_control)
|
|
lcd_goto_screen(_lcd_ubl_output_map_lcd);
|
|
else
|
|
lcd_return_to_status();
|
|
}
|
|
|
|
#endif // NEWPANEL
|
|
|
|
/**
|
|
* 'Smart Fill': Scan from the outward edges of the mesh towards the center.
|
|
* If an invalid location is found, use the next two points (if valid) to
|
|
* calculate a 'reasonable' value for the unprobed mesh point.
|
|
*/
|
|
|
|
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(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
|
|
z_values[x][y] = 2.0 * z_values[x1][y1] - z_values[x2][y2]; // Angled upward...
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
|
|
|
|
void unified_bed_leveling::smart_fill_mesh() {
|
|
static const smart_fill_info
|
|
info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up
|
|
info1 PROGMEM = { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down
|
|
info2 PROGMEM = { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right
|
|
info3 PROGMEM = { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left
|
|
static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 };
|
|
|
|
for (uint8_t i = 0; i < COUNT(info); ++i) {
|
|
const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]);
|
|
const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy),
|
|
ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey);
|
|
if (pgm_read_byte(&f->yfirst)) {
|
|
const int8_t dir = ex > sx ? 1 : -1;
|
|
for (uint8_t y = sy; y != ey; ++y)
|
|
for (uint8_t x = sx; x != ex; x += dir)
|
|
if (smart_fill_one(x, y, dir, 0)) break;
|
|
}
|
|
else {
|
|
const int8_t dir = ey > sy ? 1 : -1;
|
|
for (uint8_t x = sx; x != ex; ++x)
|
|
for (uint8_t y = sy; y != ey; y += dir)
|
|
if (smart_fill_one(x, y, 0, dir)) break;
|
|
}
|
|
}
|
|
}
|
|
|
|
#if HAS_BED_PROBE
|
|
|
|
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
|
|
constexpr int16_t x_min = max(MIN_PROBE_X, MESH_MIN_X),
|
|
x_max = min(MAX_PROBE_X, MESH_MAX_X),
|
|
y_min = max(MIN_PROBE_Y, MESH_MIN_Y),
|
|
y_max = min(MAX_PROBE_Y, MESH_MAX_Y);
|
|
|
|
bool abort_flag = false;
|
|
|
|
float measured_z;
|
|
|
|
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;
|
|
|
|
//float z1, z2, z3; // Needed for algorithm validation down below.
|
|
|
|
incremental_LSF_reset(&lsf_results);
|
|
|
|
if (do_3_pt_leveling) {
|
|
measured_z = probe_pt(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y, false, g29_verbose_level);
|
|
if (isnan(measured_z))
|
|
abort_flag = true;
|
|
else {
|
|
measured_z -= get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y);
|
|
//z1 = measured_z;
|
|
if (g29_verbose_level > 3) {
|
|
serial_spaces(16);
|
|
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
|
|
}
|
|
incremental_LSF(&lsf_results, UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y, measured_z);
|
|
}
|
|
|
|
if (!abort_flag) {
|
|
measured_z = probe_pt(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y, false, g29_verbose_level);
|
|
//z2 = measured_z;
|
|
if (isnan(measured_z))
|
|
abort_flag = true;
|
|
else {
|
|
measured_z -= get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y);
|
|
if (g29_verbose_level > 3) {
|
|
serial_spaces(16);
|
|
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
|
|
}
|
|
incremental_LSF(&lsf_results, UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y, measured_z);
|
|
}
|
|
}
|
|
|
|
if (!abort_flag) {
|
|
measured_z = probe_pt(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y, true, g29_verbose_level);
|
|
//z3 = measured_z;
|
|
if (isnan(measured_z))
|
|
abort_flag = true;
|
|
else {
|
|
measured_z -= get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y);
|
|
if (g29_verbose_level > 3) {
|
|
serial_spaces(16);
|
|
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
|
|
}
|
|
incremental_LSF(&lsf_results, UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y, measured_z);
|
|
}
|
|
}
|
|
|
|
if (abort_flag) {
|
|
SERIAL_ECHOPGM("?Error probing point. Aborting operation.\n");
|
|
return;
|
|
}
|
|
}
|
|
else { // !do_3_pt_leveling
|
|
|
|
bool zig_zag = false;
|
|
for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
|
|
const float rx = float(x_min) + ix * dx;
|
|
for (int8_t iy = 0; iy < g29_grid_size; iy++) {
|
|
const float ry = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
|
|
|
|
if (!abort_flag) {
|
|
measured_z = probe_pt(rx, ry, parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
|
|
|
|
abort_flag = isnan(measured_z);
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_CHAR('(');
|
|
SERIAL_PROTOCOL_F(rx, 7);
|
|
SERIAL_CHAR(',');
|
|
SERIAL_PROTOCOL_F(ry, 7);
|
|
SERIAL_ECHOPGM(") logical: ");
|
|
SERIAL_CHAR('(');
|
|
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 7);
|
|
SERIAL_CHAR(',');
|
|
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 7);
|
|
SERIAL_ECHOPGM(") measured: ");
|
|
SERIAL_PROTOCOL_F(measured_z, 7);
|
|
SERIAL_ECHOPGM(" correction: ");
|
|
SERIAL_PROTOCOL_F(get_z_correction(rx, ry), 7);
|
|
}
|
|
#endif
|
|
|
|
measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ;
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM(" final >>>---> ");
|
|
SERIAL_PROTOCOL_F(measured_z, 7);
|
|
SERIAL_EOL();
|
|
}
|
|
#endif
|
|
|
|
incremental_LSF(&lsf_results, rx, ry, measured_z);
|
|
}
|
|
}
|
|
|
|
zig_zag ^= true;
|
|
}
|
|
|
|
}
|
|
|
|
if (abort_flag || finish_incremental_LSF(&lsf_results)) {
|
|
SERIAL_ECHOPGM("Could not complete LSF!");
|
|
return;
|
|
}
|
|
|
|
vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal();
|
|
|
|
if (g29_verbose_level > 2) {
|
|
SERIAL_ECHOPGM("bed plane normal = [");
|
|
SERIAL_PROTOCOL_F(normal.x, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.y, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.z, 7);
|
|
SERIAL_ECHOLNPGM("]");
|
|
}
|
|
|
|
matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1));
|
|
|
|
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
|
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
|
float x_tmp = mesh_index_to_xpos(i),
|
|
y_tmp = mesh_index_to_ypos(j),
|
|
z_tmp = z_values[i][j];
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM("before rotation = [");
|
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
|
SERIAL_ECHOPGM("] ---> ");
|
|
safe_delay(20);
|
|
}
|
|
#endif
|
|
|
|
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPGM("after rotation = [");
|
|
SERIAL_PROTOCOL_F(x_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(y_tmp, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(z_tmp, 7);
|
|
SERIAL_ECHOLNPGM("]");
|
|
safe_delay(55);
|
|
}
|
|
#endif
|
|
|
|
z_values[i][j] += z_tmp - lsf_results.D;
|
|
}
|
|
}
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
rotation.debug(PSTR("rotation matrix:\n"));
|
|
SERIAL_ECHOPGM("LSF Results A=");
|
|
SERIAL_PROTOCOL_F(lsf_results.A, 7);
|
|
SERIAL_ECHOPGM(" B=");
|
|
SERIAL_PROTOCOL_F(lsf_results.B, 7);
|
|
SERIAL_ECHOPGM(" D=");
|
|
SERIAL_PROTOCOL_F(lsf_results.D, 7);
|
|
SERIAL_EOL();
|
|
safe_delay(55);
|
|
|
|
SERIAL_ECHOPGM("bed plane normal = [");
|
|
SERIAL_PROTOCOL_F(normal.x, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.y, 7);
|
|
SERIAL_PROTOCOLCHAR(',');
|
|
SERIAL_PROTOCOL_F(normal.z, 7);
|
|
SERIAL_ECHOPGM("]\n");
|
|
SERIAL_EOL();
|
|
|
|
/**
|
|
* The following code can be used to check the validity of the mesh tilting algorithm.
|
|
* When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting.
|
|
* The only difference is just 3 points are used in the calculations. That fact guarantees
|
|
* each probed point should have an exact match when a get_z_correction() for that location
|
|
* is calculated. The Z error between the probed point locations and the get_z_correction()
|
|
* numbers for those locations should be 0.000
|
|
*/
|
|
#if 0
|
|
float t, t1, d;
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t = normal.x * (UBL_PROBE_PT_1_X) + normal.y * (UBL_PROBE_PT_1_Y);
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d = t + normal.z * z1;
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SERIAL_ECHOPGM("D from 1st point: ");
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SERIAL_ECHO_F(d, 6);
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SERIAL_ECHOPGM(" Z error: ");
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SERIAL_ECHO_F(normal.z*z1-get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y), 6);
|
|
SERIAL_EOL();
|
|
|
|
t = normal.x * (UBL_PROBE_PT_2_X) + normal.y * (UBL_PROBE_PT_2_Y);
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|
d = t + normal.z * z2;
|
|
SERIAL_EOL();
|
|
SERIAL_ECHOPGM("D from 2nd point: ");
|
|
SERIAL_ECHO_F(d, 6);
|
|
SERIAL_ECHOPGM(" Z error: ");
|
|
SERIAL_ECHO_F(normal.z*z2-get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y), 6);
|
|
SERIAL_EOL();
|
|
|
|
t = normal.x * (UBL_PROBE_PT_3_X) + normal.y * (UBL_PROBE_PT_3_Y);
|
|
d = t + normal.z * z3;
|
|
SERIAL_ECHOPGM("D from 3rd point: ");
|
|
SERIAL_ECHO_F(d, 6);
|
|
SERIAL_ECHOPGM(" Z error: ");
|
|
SERIAL_ECHO_F(normal.z*z3-get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y), 6);
|
|
SERIAL_EOL();
|
|
|
|
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
|
|
d = t + normal.z * 0.000;
|
|
SERIAL_ECHOPGM("D from home location with Z=0 : ");
|
|
SERIAL_ECHO_F(d, 6);
|
|
SERIAL_EOL();
|
|
|
|
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
|
|
d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0.000;
|
|
SERIAL_ECHOPGM("D from home location using mesh value for Z: ");
|
|
SERIAL_ECHO_F(d, 6);
|
|
|
|
SERIAL_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT);
|
|
SERIAL_ECHOPAIR(",", Z_SAFE_HOMING_Y_POINT );
|
|
SERIAL_ECHOPGM(") = ");
|
|
SERIAL_ECHO_F(get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT), 6);
|
|
SERIAL_EOL();
|
|
#endif
|
|
} // DEBUGGING(LEVELING)
|
|
#endif
|
|
|
|
}
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|
|
#if ENABLED(UBL_G29_P31)
|
|
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 };
|
|
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(z_values[jx][jy]))
|
|
SBI(bitmap[jx], jy);
|
|
|
|
for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) {
|
|
const float px = mesh_index_to_xpos(ix);
|
|
for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; 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 = mesh_index_to_xpos(jx);
|
|
for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
|
|
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);
|
|
}
|
|
}
|
|
}
|
|
if (finish_incremental_LSF(&lsf_results)) {
|
|
SERIAL_ECHOLNPGM("Insufficient data");
|
|
return;
|
|
}
|
|
const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
|
|
z_values[ix][iy] = ez;
|
|
idle(); // housekeeping
|
|
}
|
|
}
|
|
}
|
|
|
|
SERIAL_ECHOLNPGM("done");
|
|
}
|
|
#endif // UBL_G29_P31
|
|
|
|
#endif // AUTO_BED_LEVELING_UBL
|