zaubentrucker/muele-marlin
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

Merge pull request #6099 from thinkyhead/rc_cleanup_ubl_1

Browse source 
Patch till UBL is integrated with planner-based leveling
This commit is contained in:
Scott Lahteine 2017-03-24 02:07:55 -05:00 committed by GitHub
parent 8ee2612ebb b5711a99a2
commit 4433b63d7a
37 changed files with 553 additions and 593 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
Marlin/Conditionals_post.h
View file

@ -669,7 +669,7 @@
#define ABL_GRID (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
#define HAS_ABL (ABL_PLANAR || ABL_GRID || ENABLED(AUTO_BED_LEVELING_UBL))
#define PLANNER_LEVELING ((HAS_ABL && DISABLED(AUTO_BED_LEVELING_UBL)) || ENABLED(MESH_BED_LEVELING))
#define PLANNER_LEVELING (HAS_ABL || ENABLED(MESH_BED_LEVELING))
#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
#if HAS_PROBING_PROCEDURE

1
Marlin/Configuration.h
View file

@ -862,6 +862,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

158
Marlin/G26_Mesh_Validation_Tool.cpp
View file

@ -24,25 +24,27 @@
* 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 OOZE_AMOUNT 0.3
#include "MarlinConfig.h"
#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) && ENABLED(UBL_MESH_EDIT_ENABLED)
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "Marlin.h"
#include "Configuration.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "UBL.h"
#include "ultralcd.h"
#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 OOZE_AMOUNT 0.3
#define SIZE_OF_INTERSECTION_CIRCLES 5
#define SIZE_OF_CROSS_HAIRS 3 // cross hairs inside the circle. This number should be
@ -50,64 +52,64 @@
/**
* 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.
*/
@ -156,7 +158,6 @@
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 */
@ -172,19 +173,8 @@
int8_t prime_flag = 0;
bool keep_heaters_on = false;
bool 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); }
bool keep_heaters_on = false,
g26_debug_flag = false;
/**
* G26: Mesh Validation Pattern generation.
@ -544,78 +534,6 @@
}
}
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_ECHO_F(fpmm, 6);
}
SERIAL_ECHOPGM(" current=( ");
SERIAL_ECHO_F(current_position[X_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[Y_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[Z_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[E_AXIS], 6);
SERIAL_ECHOPGM(" ) destination=( ");
if (current_position[X_AXIS] == destination[X_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_F(destination[X_AXIS], 6);
SERIAL_ECHOPGM(", ");
if (current_position[Y_AXIS] == destination[Y_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_F(destination[Y_AXIS], 6);
SERIAL_ECHOPGM(", ");
if (current_position[Z_AXIS] == destination[Z_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_F(destination[Z_AXIS], 6);
SERIAL_ECHOPGM(", ");
if (current_position[E_AXIS] == destination[E_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_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;
@ -1002,4 +920,4 @@
return UBL_OK;
}
#endif // AUTO_BED_LEVELING_UBL
#endif // AUTO_BED_LEVELING_UBL && UBL_MESH_EDIT_ENABLED

1
Marlin/Marlin.h
View file

@ -40,7 +40,6 @@
#include "fastio.h"
#include "utility.h"
#ifdef USBCON
#include "HardwareSerial.h"
#if ENABLED(BLUETOOTH)

64
Marlin/Marlin_main.cpp
View file

@ -233,10 +233,6 @@
#include "duration_t.h"
#include "types.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
#endif
#if HAS_ABL
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -301,7 +297,13 @@
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
unified_bed_leveling ubl;
#define UBL_MESH_VALID !( z_values[0][0] == z_values[0][1] && z_values[0][1] == z_values[0][2] \
&& z_values[1][0] == z_values[1][1] && z_values[1][1] == z_values[1][2] \
&& z_values[2][0] == z_values[2][1] && z_values[2][1] == z_values[2][2] \
&& z_values[0][0] == 0 && z_values[1][0] == 0 && z_values[2][0] == 0 \
|| isnan(z_values[0][0]))
#endif
bool Running = true;
@ -2009,7 +2011,7 @@ static void clean_up_after_endstop_or_probe_move() {
safe_delay(375);
}
FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
void set_bltouch_deployed(const bool deploy) {
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -2266,7 +2268,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif // HAS_BED_PROBE
#if PLANNER_LEVELING || ENABLED(AUTO_BED_LEVELING_UBL)
#if PLANNER_LEVELING
/**
* Turn bed leveling on or off, fixing the current
* position as-needed.
@ -2284,7 +2286,7 @@ static void clean_up_after_endstop_or_probe_move() {
mbl.set_active(enable && mbl.has_mesh());
if (enable) planner.unapply_leveling(current_position);
if (enable && mbl.has_mesh()) planner.unapply_leveling(current_position);
}
#elif HAS_ABL && !ENABLED(AUTO_BED_LEVELING_UBL)
@ -2309,7 +2311,8 @@ static void clean_up_after_endstop_or_probe_move() {
planner.unapply_leveling(current_position);
}
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.state.active = enable;
ubl.state.active = enable;
//set_current_from_steppers_for_axis(Z_AXIS);
#endif
}
@ -3481,11 +3484,6 @@ inline void gcode_G4() {
*
*/
inline void gcode_G28() {
#if ENABLED(AUTO_BED_LEVELING_UBL)
bool bed_leveling_state_at_entry=0;
bed_leveling_state_at_entry = ubl.state.active;
set_bed_leveling_enabled(false);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -3498,7 +3496,10 @@ inline void gcode_G28() {
stepper.synchronize();
// Disable the leveling matrix before homing
#if PLANNER_LEVELING || ENABLED(MESH_BED_LEVELING)
#if PLANNER_LEVELING
#if ENABLED(AUTO_BED_LEVELING_UBL)
const bool bed_leveling_state_at_entry = ubl.state.active;
#endif
set_bed_leveling_enabled(false);
#endif
@ -5305,6 +5306,18 @@ inline void gcode_M42() {
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_MESH_EDIT_ENABLED)
inline void gcode_M49() {
SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
if ((g26_debug_flag = !g26_debug_flag))
SERIAL_PROTOCOLLNPGM("on.");
else
SERIAL_PROTOCOLLNPGM("off.");
}
#endif // AUTO_BED_LEVELING_UBL && UBL_MESH_EDIT_ENABLED
/**
* M75: Start print timer
*/
@ -8512,7 +8525,7 @@ void process_next_command() {
break;
#endif // INCH_MODE_SUPPORT
#if ENABLED(AUTO_BED_LEVELING_UBL)
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_MESH_EDIT_ENABLED)
case 26: // G26: Mesh Validation Pattern generation
gcode_G26();
break;
@ -8528,7 +8541,7 @@ void process_next_command() {
gcode_G28();
break;
#if PLANNER_LEVELING || HAS_ABL
#if PLANNER_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
// or provides access to the UBL System if enabled.
gcode_G29();
@ -8644,16 +8657,11 @@ void process_next_command() {
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
#if ENABLED(AUTO_BED_LEVELING_UBL)
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_MESH_EDIT_ENABLED)
case 49: // M49: Turn on or off g26_debug_flag for verbose output
if (g26_debug_flag) {
SERIAL_PROTOCOLPGM("UBL Debug Flag turned off.\n");
g26_debug_flag = 0; }
else {
SERIAL_PROTOCOLPGM("UBL Debug Flag turned on.\n");
g26_debug_flag++; }
gcode_M49();
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
#endif // AUTO_BED_LEVELING_UBL && UBL_MESH_EDIT_ENABLED
case 75: // M75: Start print timer
gcode_M75(); break;
@ -9547,7 +9555,7 @@ void get_cartesian_from_steppers() {
*/
void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
#if PLANNER_LEVELING
#if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
planner.unapply_leveling(cartes);
#endif
if (axis == ALL_AXES)
@ -9584,7 +9592,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
@ -9647,7 +9655,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
@ -10288,7 +10296,7 @@ void prepare_move_to_destination() {
float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
return 1.0 / (M_PI * diameter * 0.5 * diameter * 0.5);
return 1.0 / (M_PI * sq(diameter * 0.5));
}
void calculate_volumetric_multipliers() {

162
Marlin/UBL.h
View file

@ -22,6 +22,7 @@
#include "Marlin.h"
#include "math.h"
#include "vector_3.h"
#ifndef UNIFIED_BED_LEVELING_H
#define UNIFIED_BED_LEVELING_H
@ -32,32 +33,29 @@
#define UBL_ERR true
typedef struct {
int x_index, y_index;
float distance; // Not always used. But when populated, it is the distance
// from the search location
int8_t x_index, y_index;
float distance; // When populated, the distance from the search location
} mesh_index_pair;
typedef struct { double dx, dy, dz; } vector;
enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
bool axis_unhomed_error(bool, bool, bool);
void dump(char *str, float f);
void dump(char * const str, const float &f);
bool ubl_lcd_clicked();
void probe_entire_mesh(float, float, bool, bool);
void probe_entire_mesh(const float&, const float&, const bool, const bool);
void debug_current_and_destination(char *title);
void ubl_line_to_destination(const float&, const float&, const float&, const float&, const float&, uint8_t);
void manually_probe_remaining_mesh(float, float, float, float, bool);
vector tilt_mesh_based_on_3pts(float, float, float);
void new_set_bed_level_equation_3pts(float, float, float);
float measure_business_card_thickness(float);
mesh_index_pair find_closest_mesh_point_of_type(MeshPointType, float, float, bool, unsigned int[16]);
void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
vector_3 tilt_mesh_based_on_3pts(const float&, const float&, const float&);
float measure_business_card_thickness(const float&);
mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16]);
void find_mean_mesh_height();
void shift_mesh_height();
bool g29_parameter_parsing();
void g29_what_command();
void g29_eeprom_dump();
void g29_compare_current_mesh_to_stored_mesh();
void fine_tune_mesh(float, float, bool);
void fine_tune_mesh(const float&, const float&, const bool);
void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
@ -83,7 +81,11 @@
#define MESH_X_DIST ((float(UBL_MESH_MAX_X) - float(UBL_MESH_MIN_X)) / (float(UBL_MESH_NUM_X_POINTS) - 1.0))
#define MESH_Y_DIST ((float(UBL_MESH_MAX_Y) - float(UBL_MESH_MIN_Y)) / (float(UBL_MESH_NUM_Y_POINTS) - 1.0))
extern bool g26_debug_flag;
#if ENABLED(UBL_MESH_EDIT_ENABLED)
extern bool g26_debug_flag;
#else
constexpr bool g26_debug_flag = false;
#endif
extern float last_specified_z;
extern float fade_scaling_factor_for_current_height;
extern float z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS];
@ -103,12 +105,15 @@
mesh_x_max = UBL_MESH_MAX_X,
mesh_y_max = UBL_MESH_MAX_Y,
mesh_x_dist = MESH_X_DIST,
mesh_y_dist = MESH_Y_DIST,
g29_correction_fade_height = 10.0,
g29_fade_height_multiplier = 1.0 / 10.0; // It is cheaper to do a floating point multiply than a floating
// point divide. So, we keep this number in both forms. The first
// is for the user. The second one is the one that is actually used
// again and again and again during the correction calculations.
mesh_y_dist = MESH_Y_DIST;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
float g29_correction_fade_height = 10.0,
g29_fade_height_multiplier = 1.0 / 10.0; // It is cheaper to do a floating point multiply than a floating
// point divide. So, we keep this number in both forms. The first
// is for the user. The second one is the one that is actually used
// again and again and again during the correction calculations.
#endif
unsigned char padding[24]; // This is just to allow room to add state variables without
// changing the location of data structures in the EEPROM.
@ -122,45 +127,45 @@
unified_bed_leveling();
// ~unified_bed_leveling(); // No destructor because this object never goes away!
void display_map(int);
void display_map(const int);
void reset();
void invalidate();
void store_state();
void load_state();
void store_mesh(int);
void load_mesh(int);
void store_mesh(const int16_t);
void load_mesh(const int16_t);
bool sanity_check();
FORCE_INLINE float map_x_index_to_bed_location(int8_t i){ return ((float) UBL_MESH_MIN_X) + (((float) MESH_X_DIST) * (float) i); };
FORCE_INLINE float map_y_index_to_bed_location(int8_t i){ return ((float) UBL_MESH_MIN_Y) + (((float) MESH_Y_DIST) * (float) i); };
FORCE_INLINE static float map_x_index_to_bed_location(const int8_t i) { return ((float) UBL_MESH_MIN_X) + (((float) MESH_X_DIST) * (float) i); };
FORCE_INLINE static float map_y_index_to_bed_location(const int8_t i) { return ((float) UBL_MESH_MIN_Y) + (((float) MESH_Y_DIST) * (float) i); };
void set_z(const int8_t px, const int8_t py, const float z) { z_values[px][py] = z; }
FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
int8_t get_cell_index_x(float x) {
int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
static int8_t get_cell_index_x(const float &x) {
const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (UBL_MESH_NUM_X_POINTS) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
int8_t get_cell_index_y(float y) {
int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
static int8_t get_cell_index_y(const float &y) {
const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (UBL_MESH_NUM_Y_POINTS) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
int8_t find_closest_x_index(float x) {
int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
static int8_t find_closest_x_index(const float &x) {
const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
return (px >= 0 && px < (UBL_MESH_NUM_X_POINTS)) ? px : -1;
}
int8_t find_closest_y_index(float y) {
int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
static int8_t find_closest_y_index(const float &y) {
const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
return (py >= 0 && py < (UBL_MESH_NUM_Y_POINTS)) ? py : -1;
}
@ -174,14 +179,14 @@
* |<---delta_a---------->|
*
* calc_z0 is the basis for all the Mesh Based correction. It is used to
* find the expected Z Height at a position between two known Z-Height locations
* find the expected Z Height at a position between two known Z-Height locations.
*
* It is farly expensive with its 4 floating point additions and 2 floating point
* It is fairly expensive with its 4 floating point additions and 2 floating point
* multiplications.
*/
inline float calc_z0(float a0, float a1, float z1, float a2, float z2) {
float delta_z = (z2 - z1);
float delta_a = (a0 - a1) / (a2 - a1);
static FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1),
delta_a = (a0 - a1) / (a2 - a1);
return z1 + delta_a * delta_z;
}
@ -193,7 +198,7 @@
* the X index of the x0 intersection available and we don't want to perform any extra floating
* point operations.
*/
inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(float x0, int x1_i, int yi) {
inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(const float &x0, const int x1_i, const int yi) {
if (x1_i < 0 || yi < 0 || x1_i >= UBL_MESH_NUM_X_POINTS || yi >= UBL_MESH_NUM_Y_POINTS) {
SERIAL_ECHOPAIR("? in get_z_correction_along_horizontal_mesh_line_at_specific_X(x0=", x0);
SERIAL_ECHOPAIR(",x1_i=", x1_i);
@ -203,18 +208,18 @@
return NAN;
}
const float a0ma1diva2ma1 = (x0 - mesh_index_to_x_location[x1_i]) * (1.0 / (MESH_X_DIST)),
const float xratio = (RAW_X_POSITION(x0) - mesh_index_to_x_location[x1_i]) * (1.0 / (MESH_X_DIST)),
z1 = z_values[x1_i][yi],
z2 = z_values[x1_i + 1][yi],
dz = (z2 - z1);
return z1 + a0ma1diva2ma1 * dz;
return z1 + xratio * dz;
}
//
// See comments above for get_z_correction_along_horizontal_mesh_line_at_specific_X
//
inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(float y0, int xi, int y1_i) {
inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(const float &y0, const int xi, const int y1_i) {
if (xi < 0 || y1_i < 0 || xi >= UBL_MESH_NUM_X_POINTS || y1_i >= UBL_MESH_NUM_Y_POINTS) {
SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_X(y0=", y0);
SERIAL_ECHOPAIR(", x1_i=", xi);
@ -224,12 +229,12 @@
return NAN;
}
const float a0ma1diva2ma1 = (y0 - mesh_index_to_y_location[y1_i]) * (1.0 / (MESH_Y_DIST)),
const float yratio = (RAW_Y_POSITION(y0) - mesh_index_to_y_location[y1_i]) * (1.0 / (MESH_Y_DIST)),
z1 = z_values[xi][y1_i],
z2 = z_values[xi][y1_i + 1],
dz = (z2 - z1);
return z1 + a0ma1diva2ma1 * dz;
return z1 + yratio * dz;
}
/**
@ -238,9 +243,9 @@
* Z-Height at both ends. Then it does a linear interpolation of these heights based
* on the Y position within the cell.
*/
float get_z_correction(float x0, float y0) {
int8_t cx = get_cell_index_x(x0),
cy = get_cell_index_y(y0);
float get_z_correction(const float &x0, const float &y0) const {
const int8_t cx = get_cell_index_x(RAW_X_POSITION(x0)),
cy = get_cell_index_y(RAW_Y_POSITION(y0));
if (cx < 0 || cy < 0 || cx >= UBL_MESH_NUM_X_POINTS || cy >= UBL_MESH_NUM_Y_POINTS) {
@ -256,15 +261,15 @@
return 0.0; // this used to return state.z_offset
}
float z1 = calc_z0(x0,
map_x_index_to_bed_location(cx), z_values[cx][cy],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy]);
float z2 = calc_z0(x0,
map_x_index_to_bed_location(cx), z_values[cx][cy + 1],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy + 1]);
float z0 = calc_z0(y0,
map_y_index_to_bed_location(cy), z1,
map_y_index_to_bed_location(cy + 1), z2);
const float z1 = calc_z0(RAW_X_POSITION(x0),
map_x_index_to_bed_location(cx), z_values[cx][cy],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy]),
z2 = calc_z0(RAW_X_POSITION(x0),
map_x_index_to_bed_location(cx), z_values[cx][cy + 1],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy + 1]);
float z0 = calc_z0(RAW_Y_POSITION(y0),
map_y_index_to_bed_location(cy), z1,
map_y_index_to_bed_location(cy + 1), z2);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
@ -308,27 +313,36 @@
* factor is going to be the same as the last time the function calculated a value. If so, it just
* returns it.
*
* If it must do a calcuation, it will return a scaling factor of 0.0 if the UBL System is not active
* or if the current Z Height is past the specified 'Fade Height'
* It returns a scaling factor of 1.0 if UBL is inactive.
* It returns a scaling factor of 0.0 if Z is past the specified 'Fade Height'
*/
FORCE_INLINE float fade_scaling_factor_for_z(float current_z) {
#ifndef ENABLE_LEVELING_FADE_HEIGHT // if turned off, just return 0.000 Note that we assume the
return 0.000; // compiler will do 'Dead Code' elimination so there is no need
#endif // for an #else clause here.
if (last_specified_z == current_z)
return fade_scaling_factor_for_current_height;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
last_specified_z = current_z;
fade_scaling_factor_for_current_height =
state.active && current_z < state.g29_correction_fade_height
? 1.0 - (current_z * state.g29_fade_height_multiplier)
: 0.0;
return fade_scaling_factor_for_current_height;
}
};
FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) const {
const float rz = RAW_Z_POSITION(lz);
if (last_specified_z != rz) {
last_specified_z = rz;
fade_scaling_factor_for_current_height =
state.active && rz < state.g29_correction_fade_height
? 1.0 - (rz * state.g29_fade_height_multiplier)
: 0.0;
}
return fade_scaling_factor_for_current_height;
}
#else
static constexpr float fade_scaling_factor_for_z(const float &lz) { UNUSED(lz); return 1.0; }
#endif
}; // class unified_bed_leveling
extern unified_bed_leveling ubl;
extern int ubl_eeprom_start;
#endif // AUTO_BED_LEVELING_UBL
#define UBL_LAST_EEPROM_INDEX (E2END - sizeof(unified_bed_leveling::state))
#endif // AUTO_BED_LEVELING_UBL
#endif // UNIFIED_BED_LEVELING_H

70
Marlin/UBL_Bed_Leveling.cpp
View file

@ -24,9 +24,20 @@
#include "math.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
#include "hex_print_routines.h"
/**
* 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); }
/**
* These variables used to be declared inside the unified_bed_leveling class. We are going to
* still declare them within the .cpp file for bed leveling. But there is only one instance of
@ -51,36 +62,36 @@
}
void unified_bed_leveling::store_state() {
int k = E2END - sizeof(ubl.state);
eeprom_write_block((void *)&ubl.state, (void *)k, sizeof(ubl.state));
const uint16_t i = UBL_LAST_EEPROM_INDEX;
eeprom_write_block((void *)&ubl.state, (void *)i, sizeof(state));
}
void unified_bed_leveling::load_state() {
int k = E2END - sizeof(ubl.state);
eeprom_read_block((void *)&ubl.state, (void *)k, sizeof(ubl.state));
const uint16_t i = UBL_LAST_EEPROM_INDEX;
eeprom_read_block((void *)&ubl.state, (void *)i, sizeof(state));
if (sanity_check())
SERIAL_PROTOCOLLNPGM("?In load_state() sanity_check() failed.\n");
/**
* These lines can go away in a few weeks. They are just
* to make sure people updating thier firmware won't be using
* an incomplete Bed_Leveling.state structure. For speed
* we now multiply by the inverse of the Fade Height instead of
* dividing by it. Soon... all of the old structures will be
* updated, but until then, we try to ease the transition
* for our Beta testers.
*/
if (ubl.state.g29_fade_height_multiplier != 1.0 / ubl.state.g29_correction_fade_height) {
ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
store_state();
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
/**
* These lines can go away in a few weeks. They are just
* to make sure people updating thier firmware won't be using
* an incomplete Bed_Leveling.state structure. For speed
* we now multiply by the inverse of the Fade Height instead of
* dividing by it. Soon... all of the old structures will be
* updated, but until then, we try to ease the transition
* for our Beta testers.
*/
if (ubl.state.g29_fade_height_multiplier != 1.0 / ubl.state.g29_correction_fade_height) {
ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
store_state();
}
#endif
}
void unified_bed_leveling::load_mesh(int m) {
int k = E2END - sizeof(ubl.state),
j = (k - ubl_eeprom_start) / sizeof(z_values);
void unified_bed_leveling::load_mesh(const int16_t m) {
int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
if (m == -1) {
SERIAL_PROTOCOLLNPGM("?No mesh saved in EEPROM. Zeroing mesh in memory.\n");
@ -93,7 +104,7 @@
return;
}
j = k - (m + 1) * sizeof(z_values);
j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values);
eeprom_read_block((void *)&z_values , (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPGM("Mesh loaded from slot ");
@ -103,23 +114,22 @@
SERIAL_EOL;
}
void unified_bed_leveling:: store_mesh(int m) {
int k = E2END - sizeof(state),
j = (k - ubl_eeprom_start) / sizeof(z_values);
void unified_bed_leveling::store_mesh(const int16_t m) {
int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
if (m < 0 || m >= j || ubl_eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
SERIAL_PROTOCOL(m);
SERIAL_PROTOCOLLNPGM(" mesh slots available.\n");
SERIAL_PROTOCOLLNPAIR("E2END : ", E2END);
SERIAL_PROTOCOLLNPAIR("k : ", k);
SERIAL_PROTOCOLLNPAIR("k : ", (int)UBL_LAST_EEPROM_INDEX);
SERIAL_PROTOCOLLNPAIR("j : ", j);
SERIAL_PROTOCOLLNPAIR("m : ", m);
SERIAL_EOL;
return;
}
j = k - (m + 1) * sizeof(z_values);
j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values);
eeprom_write_block((const void *)&z_values, (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPGM("Mesh saved in slot ");
@ -151,7 +161,7 @@
z_values[x][y] = NAN;
}
void unified_bed_leveling::display_map(int map_type) {
void unified_bed_leveling::display_map(const int map_type) {
float f, current_xi, current_yi;
int8_t i, j;
UNUSED(map_type);
@ -287,9 +297,7 @@
error_flag++;
}
const int k = E2END - sizeof(ubl.state),
j = (k - ubl_eeprom_start) / sizeof(z_values);
const int j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
if (j < 1) {
SERIAL_PROTOCOLLNPGM("?No EEPROM storage available for a mesh of this size.\n");
error_flag++;

267
Marlin/UBL_G29.cpp
View file

@ -20,12 +20,14 @@
*
*/
#include "Marlin.h"
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
//#include "vector_3.h"
//#include "qr_solve.h"
#include "UBL.h"
#include "Marlin.h"
#include "hex_print_routines.h"
#include "configuration_store.h"
#include "planner.h"
@ -49,12 +51,13 @@
#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
bool ProbeStay = true;
float ubl_3_point_1_X = UBL_PROBE_PT_1_X;
float ubl_3_point_1_Y = UBL_PROBE_PT_1_Y;
float ubl_3_point_2_X = UBL_PROBE_PT_2_X;
float ubl_3_point_2_Y = UBL_PROBE_PT_2_Y;
float ubl_3_point_3_X = UBL_PROBE_PT_3_X;
float ubl_3_point_3_Y = UBL_PROBE_PT_3_Y;
constexpr float ubl_3_point_1_X = UBL_PROBE_PT_1_X,
ubl_3_point_1_Y = UBL_PROBE_PT_1_Y,
ubl_3_point_2_X = UBL_PROBE_PT_2_X,
ubl_3_point_2_Y = UBL_PROBE_PT_2_Y,
ubl_3_point_3_X = UBL_PROBE_PT_3_X,
ubl_3_point_3_Y = UBL_PROBE_PT_3_Y;
#define SIZE_OF_LITTLE_RAISE 0
#define BIG_RAISE_NOT_NEEDED 0
@ -293,19 +296,16 @@
volatile uint8_t ubl_encoderDiff = 0; // Volatile because it's changed by Temperature ISR button update
// The simple parameter flags and values are 'static' so parameter parsing can be in a support routine.
static int g29_verbose_level = 0, test_value = 0,
phase_value = -1, repetition_cnt = 1;
static int g29_verbose_level = 0, phase_value = -1, repetition_cnt = 1,
storage_slot = 0, test_pattern = 0;
static bool repeat_flag = UBL_OK, c_flag = false, x_flag = UBL_OK, y_flag = UBL_OK, statistics_flag = UBL_OK, business_card_mode = false;
static float x_pos = 0.0, y_pos = 0.0, height_value = 5.0, measured_z, card_thickness = 0.0, constant = 0.0;
static int storage_slot = 0, test_pattern = 0;
#if ENABLED(ULTRA_LCD)
void lcd_setstatus(const char* message, bool persist);
#endif
void gcode_G29() {
mesh_index_pair location;
int j, k;
float Z1, Z2, Z3;
g29_verbose_level = 0; // These may change, but let's get some reasonable values into them.
@ -331,7 +331,7 @@
if (code_seen('I')) {
repetition_cnt = code_has_value() ? code_value_int() : 1;
while (repetition_cnt--) {
location = find_closest_mesh_point_of_type(REAL, x_pos, y_pos, 0, NULL); // The '0' says we want to use the nozzle's position
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, x_pos, y_pos, 0, NULL); // The '0' says we want to use the nozzle's position
if (location.x_index < 0) {
SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
break; // No more invalid Mesh Points to populate
@ -409,8 +409,8 @@
SERIAL_ECHOPAIR(",", y_pos);
SERIAL_PROTOCOLLNPGM(")\n");
}
probe_entire_mesh( x_pos+X_PROBE_OFFSET_FROM_EXTRUDER, y_pos+Y_PROBE_OFFSET_FROM_EXTRUDER,
code_seen('O') || code_seen('M'), code_seen('E'));
probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
code_seen('O') || code_seen('M'), code_seen('E'));
break;
//
// Manually Probe Mesh in areas that can not be reached by the probe
@ -455,7 +455,7 @@
// If no repetition is specified, do the whole Mesh
if (!repeat_flag) repetition_cnt = 9999;
while (repetition_cnt--) {
location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL); // The '0' says we want to use the nozzle's position
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL); // The '0' says we want to use the nozzle's position
if (location.x_index < 0) break; // No more invalid Mesh Points to populate
z_values[location.x_index][location.y_index] = height_value;
}
@ -534,8 +534,7 @@
if (code_seen('L')) { // Load Current Mesh Data
storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
k = E2END - sizeof(ubl.state);
j = (k - ubl_eeprom_start) / sizeof(z_values);
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
if (storage_slot < 0 || storage_slot >= j || ubl_eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
@ -569,8 +568,7 @@
return;
}
int k = E2END - sizeof(ubl.state),
j = (k - ubl_eeprom_start) / sizeof(z_values);
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
if (storage_slot < 0 || storage_slot >= j || ubl_eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
@ -691,7 +689,7 @@
z_values[x][y] -= mean + constant;
}
void shift_mesh_height( ) {
void shift_mesh_height() {
for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
if (!isnan(z_values[x][y]))
@ -702,9 +700,8 @@
* 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 probe_entire_mesh(float x_pos, float y_pos, bool do_ubl_mesh_map, bool stow_probe) {
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe) {
mesh_index_pair location;
float xProbe, yProbe, measured_z;
ubl_has_control_of_lcd_panel++;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
@ -720,20 +717,22 @@
restore_ubl_active_state_and_leave();
return;
}
location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 1, NULL); // the '1' says we want the location to be relative to the probe
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 1, NULL); // the '1' says we want the location to be relative to the probe
if (location.x_index >= 0 && location.y_index >= 0) {
xProbe = ubl.map_x_index_to_bed_location(location.x_index);
yProbe = ubl.map_y_index_to_bed_location(location.y_index);
const float xProbe = ubl.map_x_index_to_bed_location(location.x_index),
yProbe = ubl.map_y_index_to_bed_location(location.y_index);
if (xProbe < MIN_PROBE_X || xProbe > MAX_PROBE_X || yProbe < MIN_PROBE_Y || yProbe > MAX_PROBE_Y) {
SERIAL_PROTOCOLLNPGM("?Error: Attempt to probe off the bed.");
ubl_has_control_of_lcd_panel = false;
goto LEAVE;
}
measured_z = probe_pt(xProbe, yProbe, stow_probe, g29_verbose_level);
const float measured_z = probe_pt(xProbe, yProbe, stow_probe, g29_verbose_level);
z_values[location.x_index][location.y_index] = measured_z + Z_PROBE_OFFSET_FROM_EXTRUDER;
}
if (do_ubl_mesh_map) ubl.display_map(1);
} while (location.x_index >= 0 && location.y_index >= 0);
LEAVE:
@ -742,32 +741,27 @@
STOW_PROBE();
restore_ubl_active_state_and_leave();
x_pos = constrain(x_pos - (X_PROBE_OFFSET_FROM_EXTRUDER), X_MIN_POS, X_MAX_POS);
y_pos = constrain(y_pos - (Y_PROBE_OFFSET_FROM_EXTRUDER), Y_MIN_POS, Y_MAX_POS);
do_blocking_move_to_xy(x_pos, y_pos);
do_blocking_move_to_xy(
constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), X_MIN_POS, X_MAX_POS),
constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), Y_MIN_POS, Y_MAX_POS)
);
}
vector tilt_mesh_based_on_3pts(float pt1, float pt2, float pt3) {
vector v1, v2, normal;
vector_3 tilt_mesh_based_on_3pts(const float &pt1, const float &pt2, const float &pt3) {
float c, d, t;
int i, j;
v1.dx = (ubl_3_point_1_X - ubl_3_point_2_X);
v1.dy = (ubl_3_point_1_Y - ubl_3_point_2_Y);
v1.dz = (pt1 - pt2);
vector_3 v1 = vector_3( (ubl_3_point_1_X - ubl_3_point_2_X),
(ubl_3_point_1_Y - ubl_3_point_2_Y),
(pt1 - pt2) ),
v2.dx = (ubl_3_point_3_X - ubl_3_point_2_X);
v2.dy = (ubl_3_point_3_Y - ubl_3_point_2_Y);
v2.dz = (pt3 - pt2);
v2 = vector_3( (ubl_3_point_3_X - ubl_3_point_2_X),
(ubl_3_point_3_Y - ubl_3_point_2_Y),
(pt3 - pt2) ),
// do cross product
normal = vector_3::cross(v1, v2);
normal.dx = v1.dy * v2.dz - v1.dz * v2.dy;
normal.dy = v1.dz * v2.dx - v1.dx * v2.dz;
normal.dz = v1.dx * v2.dy - v1.dy * v2.dx;
// printf("[%f,%f,%f] ", normal.dx, normal.dy, normal.dz);
// printf("[%f,%f,%f] ", normal.x, normal.y, normal.z);
/**
* This code does two things. This vector is normal to the tilted plane.
@ -776,31 +770,32 @@
* We also need Z to be unity because we are going to be treating this triangle
* as the sin() and cos() of the bed's tilt
*/
normal.dx /= normal.dz;
normal.dy /= normal.dz;
normal.dz /= normal.dz;
const float inv_z = 1.0 / normal.z;
normal.x *= inv_z;
normal.y *= inv_z;
normal.z = 1.0;
//
// All of 3 of these points should give us the same d constant
//
t = normal.dx * ubl_3_point_1_X + normal.dy * ubl_3_point_1_Y;
d = t + normal.dz * pt1;
t = normal.x * ubl_3_point_1_X + normal.y * ubl_3_point_1_Y;
d = t + normal.z * pt1;
c = d - t;
SERIAL_ECHOPGM("d from 1st point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
t = normal.dx * ubl_3_point_2_X + normal.dy * ubl_3_point_2_Y;
d = t + normal.dz * pt2;
t = normal.x * ubl_3_point_2_X + normal.y * ubl_3_point_2_Y;
d = t + normal.z * pt2;
c = d - t;
SERIAL_ECHOPGM("d from 2nd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
t = normal.dx * ubl_3_point_3_X + normal.dy * ubl_3_point_3_Y;
d = t + normal.dz * pt3;
t = normal.x * ubl_3_point_3_X + normal.y * ubl_3_point_3_Y;
d = t + normal.z * pt3;
c = d - t;
SERIAL_ECHOPGM("d from 3rd point: ");
SERIAL_ECHO_F(d, 6);
@ -810,7 +805,7 @@
for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
for (j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
c = -((normal.dx * (UBL_MESH_MIN_X + i * (MESH_X_DIST)) + normal.dy * (UBL_MESH_MIN_Y + j * (MESH_Y_DIST))) - d);
c = -((normal.x * (UBL_MESH_MIN_X + i * (MESH_X_DIST)) + normal.y * (UBL_MESH_MIN_Y + j * (MESH_Y_DIST))) - d);
z_values[i][j] += c;
}
}
@ -829,7 +824,7 @@
return current_position[Z_AXIS];
}
float measure_business_card_thickness(float height_value) {
float measure_business_card_thickness(const float &height_value) {
ubl_has_control_of_lcd_panel++;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
@ -856,44 +851,45 @@
return abs(Z1 - Z2);
}
void manually_probe_remaining_mesh(float x_pos, float y_pos, float z_clearance, float card_thickness, bool do_ubl_mesh_map) {
mesh_index_pair location;
float last_x, last_y, dx, dy,
xProbe, yProbe;
void manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &card_thickness, const bool do_ubl_mesh_map) {
ubl_has_control_of_lcd_panel++;
last_x = last_y = -9999.99;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
do_blocking_move_to_z(z_clearance);
do_blocking_move_to_xy(x_pos, y_pos);
do_blocking_move_to_xy(lx, ly);
float last_x = -9999.99, last_y = -9999.99;
mesh_index_pair location;
do {
if (do_ubl_mesh_map) ubl.display_map(1);
location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL); // The '0' says we want to use the nozzle's position
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 0, NULL); // The '0' says we want to use the nozzle's position
// It doesn't matter if the probe can not reach the
// NAN location. This is a manual probe.
if (location.x_index < 0 && location.y_index < 0) continue;
xProbe = ubl.map_x_index_to_bed_location(location.x_index);
yProbe = ubl.map_y_index_to_bed_location(location.y_index);
const float xProbe = ubl.map_x_index_to_bed_location(location.x_index),
yProbe = ubl.map_y_index_to_bed_location(location.y_index);
// Modify to use if (position_is_reachable(pos[XYZ]))
if (xProbe < (X_MIN_POS) || xProbe > (X_MAX_POS) || yProbe < (Y_MIN_POS) || yProbe > (Y_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("?Error: Attempt to probe off the bed.");
ubl_has_control_of_lcd_panel = false;
goto LEAVE;
}
dx = xProbe - last_x;
dy = yProbe - last_y;
const float dx = xProbe - last_x,
dy = yProbe - last_y;
if (HYPOT(dx, dy) < BIG_RAISE_NOT_NEEDED)
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
else
do_blocking_move_to_z(z_clearance);
do_blocking_move_to_xy(xProbe, yProbe);
last_x = xProbe;
last_y = yProbe;
do_blocking_move_to_xy(xProbe, yProbe);
wait_for_user = true;
while (wait_for_user) { // we need the loop to move the nozzle based on the encoder wheel here!
@ -931,7 +927,7 @@
LEAVE:
restore_ubl_active_state_and_leave();
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(x_pos, y_pos);
do_blocking_move_to_xy(lx, ly);
}
bool g29_parameter_parsing() {
@ -983,7 +979,7 @@
ubl.store_state();
}
if ((c_flag = code_seen('C')) && code_has_value())
if ((c_flag = code_seen('C') && code_has_value()))
constant = code_value_float();
if (code_seen('D')) { // Disable the Unified Bed Leveling System
@ -992,19 +988,17 @@
ubl.store_state();
}
if (code_seen('F')) {
ubl.state.g29_correction_fade_height = 10.00;
if (code_has_value()) {
ubl.state.g29_correction_fade_height = code_value_float();
ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('F') && code_has_value()) {
const float fh = code_value_float();
if (fh < 0.0 || fh > 100.0) {
SERIAL_PROTOCOLLNPGM("?Bed Level Correction Fade Height Not Plausible.\n");
return UBL_ERR;
}
ubl.state.g29_correction_fade_height = fh;
ubl.state.g29_fade_height_multiplier = 1.0 / fh;
}
if (ubl.state.g29_correction_fade_height < 0.0 || ubl.state.g29_correction_fade_height > 100.0) {
SERIAL_PROTOCOLLNPGM("?Bed Level Correction Fade Height Not Plausible.\n");
ubl.state.g29_correction_fade_height = 10.00;
ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
return UBL_ERR;
}
}
#endif
if ((repeat_flag = code_seen('R'))) {
repetition_cnt = code_has_value() ? code_value_int() : 9999;
@ -1020,7 +1014,7 @@
* This function goes away after G29 debug is complete. But for right now, it is a handy
* routine to dump binary data structures.
*/
void dump(char *str, float f) {
void dump(char * const str, const float &f) {
char *ptr;
SERIAL_PROTOCOL(str);
@ -1056,7 +1050,6 @@
}
ubl_state_at_invocation = ubl.state.active;
ubl.state.active = 0;
return;
}
void restore_ubl_active_state_and_leave() {
@ -1075,33 +1068,27 @@
* good to have the extra information. Soon... we prune this to just a few items
*/
void g29_what_command() {
int k = E2END - ubl_eeprom_start;
const uint16_t k = E2END - ubl_eeprom_start;
statistics_flag++;
SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version 1.00 ");
if (ubl.state.active)
SERIAL_PROTOCOLPGM("Active.\n");
else
SERIAL_PROTOCOLPGM("Inactive.\n");
SERIAL_EOL;
ubl.state.active ? SERIAL_PROTOCOLCHAR('A') : SERIAL_PROTOCOLPGM("In");
SERIAL_PROTOCOLLNPGM("ctive.\n");
delay(50);
if (ubl.state.eeprom_storage_slot == 0xFFFF) {
if (ubl.state.eeprom_storage_slot == -1)
SERIAL_PROTOCOLPGM("No Mesh Loaded.");
}
else {
SERIAL_PROTOCOLPGM("Mesh: ");
prt_hex_word(ubl.state.eeprom_storage_slot);
SERIAL_PROTOCOLPGM(" Loaded. ");
SERIAL_PROTOCOLPGM(" Loaded.");
}
SERIAL_EOL;
delay(50);
SERIAL_PROTOCOLPAIR("g29_correction_fade_height : ", ubl.state.g29_correction_fade_height );
SERIAL_EOL;
idle();
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_PROTOCOLPAIR("g29_correction_fade_height : ", ubl.state.g29_correction_fade_height);
SERIAL_EOL;
#endif
SERIAL_PROTOCOLPGM("z_offset: ");
SERIAL_PROTOCOL_F(ubl.state.z_offset, 6);
@ -1111,28 +1098,20 @@
for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
SERIAL_PROTOCOL_F( ubl.map_x_index_to_bed_location(i), 1);
SERIAL_PROTOCOLPGM(" ");
delay(10);
}
SERIAL_EOL;
delay(50);
idle();
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
for (uint8_t i = 0; i < UBL_MESH_NUM_Y_POINTS; i++) {
SERIAL_PROTOCOL_F( ubl.map_y_index_to_bed_location(i), 1);
SERIAL_PROTOCOLPGM(" ");
delay(10);
}
SERIAL_EOL;
delay(50);
idle();
#if HAS_KILL
SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
#endif
delay(50);
idle();
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation);
@ -1142,54 +1121,39 @@
SERIAL_PROTOCOLPGM("Free EEPROM space starts at: 0x");
prt_hex_word(ubl_eeprom_start);
SERIAL_EOL;
delay(50);
idle();
SERIAL_PROTOCOLPGM("end of EEPROM : ");
prt_hex_word(E2END);
SERIAL_EOL;
delay(50);
idle();
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(z_values));
SERIAL_EOL;
delay(50);
idle();
SERIAL_PROTOCOLPGM("EEPROM free for UBL: 0x");
prt_hex_word(k);
SERIAL_EOL;
idle();
SERIAL_PROTOCOLPGM("EEPROM can hold 0x");
prt_hex_word(k / sizeof(z_values));
SERIAL_PROTOCOLLNPGM(" meshes.\n");
delay(50);
SERIAL_PROTOCOLPGM("sizeof(ubl.state) :");
prt_hex_word(sizeof(ubl.state));
idle();
SERIAL_PROTOCOLPAIR("\nUBL_MESH_NUM_X_POINTS ", UBL_MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_NUM_Y_POINTS ", UBL_MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MIN_X ", UBL_MESH_MIN_X);
delay(50);
idle();
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MIN_Y ", UBL_MESH_MIN_Y);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MAX_X ", UBL_MESH_MAX_X);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MAX_Y ", UBL_MESH_MAX_Y);
delay(50);
idle();
SERIAL_PROTOCOLPGM("\nMESH_X_DIST ");
SERIAL_PROTOCOL_F(MESH_X_DIST, 6);
SERIAL_PROTOCOLPGM("\nMESH_Y_DIST ");
SERIAL_PROTOCOL_F(MESH_Y_DIST, 6);
SERIAL_EOL;
idle();
if (!ubl.sanity_check())
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling sanity checks passed.");
}
@ -1205,7 +1169,7 @@
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("EEPROM Dump:");
for (uint16_t i = 0; i < E2END + 1; i += 16) {
if (i & 0x3 == 0) idle();
if (!(i & 0x3)) idle();
prt_hex_word(i);
SERIAL_ECHOPGM(": ");
for (uint16_t j = 0; j < 16; j++) {
@ -1217,7 +1181,6 @@
SERIAL_EOL;
}
SERIAL_EOL;
return;
}
/**
@ -1233,15 +1196,14 @@
}
storage_slot = code_value_int();
uint16_t k = E2END - sizeof(ubl.state),
j = (k - ubl_eeprom_start) / sizeof(tmp_z_values);
int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(tmp_z_values);
if (storage_slot < 0 || storage_slot > j || ubl_eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
return;
}
j = k - (storage_slot + 1) * sizeof(tmp_z_values);
j = UBL_LAST_EEPROM_INDEX - (storage_slot + 1) * sizeof(tmp_z_values);
eeprom_read_block((void *)&tmp_z_values, (void *)j, sizeof(tmp_z_values));
SERIAL_ECHOPAIR("Subtracting Mesh ", storage_slot);
@ -1254,23 +1216,19 @@
z_values[x][y] = z_values[x][y] - tmp_z_values[x][y];
}
mesh_index_pair find_closest_mesh_point_of_type(MeshPointType type, float X, float Y, bool probe_as_reference, unsigned int bits[16]) {
mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16]) {
int i, j;
float f, px, py, mx, my, dx, dy, closest = 99999.99,
current_x, current_y, distance;
float closest = 99999.99;
mesh_index_pair return_val;
return_val.x_index = return_val.y_index = -1;
current_x = current_position[X_AXIS];
current_y = current_position[Y_AXIS];
const float current_x = current_position[X_AXIS],
current_y = current_position[Y_AXIS];
px = X; // Get our reference position. Either the nozzle or
py = Y; // the probe location.
if (probe_as_reference) {
px -= X_PROBE_OFFSET_FROM_EXTRUDER;
py -= Y_PROBE_OFFSET_FROM_EXTRUDER;
}
// Get our reference position. Either the nozzle or probe location.
const float px = lx - (probe_as_reference ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ly - (probe_as_reference ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
for (j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
@ -1282,24 +1240,20 @@
// We only get here if we found a Mesh Point of the specified type
mx = ubl.map_x_index_to_bed_location(i); // Check if we can probe this mesh location
my = ubl.map_y_index_to_bed_location(j);
const float mx = LOGICAL_X_POSITION(ubl.map_x_index_to_bed_location(i)), // Check if we can probe this mesh location
my = LOGICAL_Y_POSITION(ubl.map_y_index_to_bed_location(j));
// If we are using the probe as the reference there are some locations we can't get to.
// We prune these out of the list and ignore them until the next Phase where we do the
// manual nozzle probing.
if (probe_as_reference &&
( mx < (MIN_PROBE_X) || mx > (MAX_PROBE_X) || my < (MIN_PROBE_Y) || my > (MAX_PROBE_Y) )
(mx < (MIN_PROBE_X) || mx > (MAX_PROBE_X) || my < (MIN_PROBE_Y) || my > (MAX_PROBE_Y))
) continue;
dx = px - mx; // We can get to it. Let's see if it is the
dy = py - my; // closest location to the nozzle.
distance = HYPOT(dx, dy);
dx = current_x - mx; // We are going to add in a weighting factor that considers
dy = current_y - my; // the current location of the nozzle. If two locations are equal
distance += HYPOT(dx, dy) * 0.01; // distance from the measurement location, we are going to give
// We can get to it. Let's see if it is the closest location to the nozzle.
// Add in a weighting factor that considers the current location of the nozzle.
const float distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.01;
if (distance < closest) {
closest = distance; // We found a closer location with
@ -1313,10 +1267,9 @@
return return_val;
}
void fine_tune_mesh(float x_pos, float y_pos, bool do_ubl_mesh_map) {
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
mesh_index_pair location;
float xProbe, yProbe;
uint16_t i, not_done[16];
uint16_t not_done[16];
int32_t round_off;
save_ubl_active_state_and_disable();
@ -1327,11 +1280,11 @@
#endif
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(x_pos, y_pos);
do_blocking_move_to_xy(lx, ly);
do {
if (do_ubl_mesh_map) ubl.display_map(1);
location = find_closest_mesh_point_of_type( SET_IN_BITMAP, x_pos, y_pos, 0, not_done); // The '0' says we want to use the nozzle's position
location = find_closest_mesh_point_of_type( SET_IN_BITMAP, lx, ly, 0, not_done); // The '0' says we want to use the nozzle's position
// It doesn't matter if the probe can not reach this
// location. This is a manual edit of the Mesh Point.
if (location.x_index < 0 && location.y_index < 0) continue; // abort if we can't find any more points.
@ -1339,8 +1292,8 @@
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
// different location the next time through the loop
xProbe = ubl.map_x_index_to_bed_location(location.x_index);
yProbe = ubl.map_y_index_to_bed_location(location.y_index);
const float xProbe = ubl.map_x_index_to_bed_location(location.x_index),
yProbe = ubl.map_y_index_to_bed_location(location.y_index);
if (xProbe < X_MIN_POS || xProbe > X_MAX_POS || yProbe < Y_MIN_POS || yProbe > Y_MAX_POS) { // In theory, we don't need this check.
SERIAL_PROTOCOLLNPGM("?Error: Attempt to edit off the bed."); // This really can't happen, but for now,
ubl_has_control_of_lcd_panel = false; // Let's do the check.
@ -1406,7 +1359,7 @@
restore_ubl_active_state_and_leave();
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(x_pos, y_pos);
do_blocking_move_to_xy(lx, ly);
#if ENABLED(ULTRA_LCD)
lcd_setstatus("Done Editing Mesh", true);

227
Marlin/UBL_line_to_destination.cpp
View file

@ -29,35 +29,97 @@
#include <avr/io.h>
#include <math.h>
extern float destination[XYZE];
extern void set_current_to_destination();
extern void debug_current_and_destination(char *title);
void debug_current_and_destination(char *title) {
// 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;
const float de = destination[E_AXIS] - current_position[E_AXIS];
if (de == 0.0) return;
const float dx = current_position[X_AXIS] - destination[X_AXIS],
dy = current_position[Y_AXIS] - destination[Y_AXIS],
xy_dist = HYPOT(dx, dy);
if (xy_dist == 0.0) {
return;
//SERIAL_ECHOPGM(" FPMM=");
//const float fpmm = de / xy_dist;
//SERIAL_PROTOCOL_F(fpmm, 6);
}
else {
SERIAL_ECHOPGM(" fpmm=");
const float fpmm = de / xy_dist;
SERIAL_ECHO_F(fpmm, 6);
}
SERIAL_ECHOPGM(" current=( ");
SERIAL_ECHO_F(current_position[X_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[Y_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[Z_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[E_AXIS], 6);
SERIAL_ECHOPGM(" ) destination=( ");
if (current_position[X_AXIS] == destination[X_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_F(destination[X_AXIS], 6);
SERIAL_ECHOPGM(", ");
if (current_position[Y_AXIS] == destination[Y_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_F(destination[Y_AXIS], 6);
SERIAL_ECHOPGM(", ");
if (current_position[Z_AXIS] == destination[Z_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_F(destination[Z_AXIS], 6);
SERIAL_ECHOPGM(", ");
if (current_position[E_AXIS] == destination[E_AXIS])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_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 ubl_line_to_destination(const float &x_end, const float &y_end, const float &z_end, const float &e_end, const float &feed_rate, uint8_t extruder) {
int cell_start_xi, cell_start_yi, cell_dest_xi, cell_dest_yi,
current_xi, current_yi,
dxi, dyi, xi_cnt, yi_cnt;
float x_start, y_start,
x, y, z1, z2, z0 /*, z_optimized */,
next_mesh_line_x, next_mesh_line_y, a0ma1diva2ma1,
on_axis_distance, e_normalized_dist, e_position, e_start, z_normalized_dist, z_position, z_start,
dx, dy, adx, ady, m, c;
/**
* Much of the nozzle movement will be within the same cell. So we will do as little computation
* as possible to determine if this is the case. If this move is within the same cell, we will
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
const float x_start = current_position[X_AXIS],
y_start = current_position[Y_AXIS],
z_start = current_position[Z_AXIS],
e_start = current_position[E_AXIS];
x_start = current_position[X_AXIS];
y_start = current_position[Y_AXIS];
z_start = current_position[Z_AXIS];
e_start = current_position[E_AXIS];
cell_start_xi = ubl.get_cell_index_x(x_start);
cell_start_yi = ubl.get_cell_index_y(y_start);
cell_dest_xi = ubl.get_cell_index_x(x_end);
cell_dest_yi = ubl.get_cell_index_y(y_end);
const int cell_start_xi = ubl.get_cell_index_x(RAW_X_POSITION(x_start)),
cell_start_yi = ubl.get_cell_index_y(RAW_Y_POSITION(y_start)),
cell_dest_xi = ubl.get_cell_index_x(RAW_X_POSITION(x_end)),
cell_dest_yi = ubl.get_cell_index_y(RAW_Y_POSITION(y_end));
if (g26_debug_flag) {
SERIAL_ECHOPGM(" ubl_line_to_destination(xe=");
@ -68,7 +130,7 @@
SERIAL_ECHO(z_end);
SERIAL_ECHOPGM(", ee=");
SERIAL_ECHO(e_end);
SERIAL_ECHOPGM(")\n");
SERIAL_ECHOLNPGM(")");
debug_current_and_destination((char*)"Start of ubl_line_to_destination()");
}
@ -82,7 +144,7 @@
if (cell_dest_xi < 0 || cell_dest_yi < 0 || cell_dest_xi >= UBL_MESH_NUM_X_POINTS || cell_dest_yi >= UBL_MESH_NUM_Y_POINTS) {
// Note: There is no Z Correction in this case. We are off the grid and don't know what
// Note: There is no Z Correction in this case. We are off the grid and don't know what
// a reasonable correction would be.
planner.buffer_line(x_end, y_end, z_end + ubl.state.z_offset, e_end, feed_rate, extruder);
@ -105,20 +167,18 @@
* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
*/
a0ma1diva2ma1 = (x_end - mesh_index_to_x_location[cell_dest_xi]) * 0.1 * (MESH_X_DIST);
z1 = z_values[cell_dest_xi ][cell_dest_yi ] + a0ma1diva2ma1 *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]);
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + a0ma1diva2ma1 *
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
const float xratio = (RAW_X_POSITION(x_end) - mesh_index_to_x_location[cell_dest_xi]) * (1.0 / (MESH_X_DIST)),
z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
a0ma1diva2ma1 = (y_end - mesh_index_to_y_location[cell_dest_yi]) * 0.1 * (MESH_Y_DIST);
const float yratio = (RAW_Y_POSITION(y_end) - mesh_index_to_y_location[cell_dest_yi]) * (1.0 / (MESH_Y_DIST));
z0 = z1 + (z2 - z1) * a0ma1diva2ma1;
float z0 = z1 + (z2 - z1) * yratio;
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
@ -126,7 +186,7 @@
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction( x_end, y_end);
z0 = ubl.get_z_correction(x_end, y_end);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"FINAL_MOVE: z_correction()");
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
@ -139,7 +199,7 @@
SERIAL_EOL;
}
//*/
z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
z0 *= ubl.fade_scaling_factor_for_z(z_end);
/**
* If part of the Mesh is undefined, it will show up as NAN
@ -167,31 +227,17 @@
* blocks of code:
*/
dx = x_end - x_start;
dy = y_end - y_start;
const float dx = x_end - x_start,
dy = y_end - y_start;
const int left_flag = dx < 0.0 ? 1 : 0,
down_flag = dy < 0.0 ? 1 : 0;
if (left_flag) { // figure out which way we need to move to get to the next cell
dxi = -1;
adx = -dx; // absolute value of dx. We already need to check if dx and dy are negative.
}
else { // We may as well generate the appropriate values for adx and ady right now
dxi = 1; // to save setting up the abs() function call and actually doing the call.
adx = dx;
}
if (dy < 0.0) {
dyi = -1;
ady = -dy; // absolute value of dy
}
else {
dyi = 1;
ady = dy;
}
const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy;
if (cell_start_xi == cell_dest_xi) dxi = 0;
if (cell_start_yi == cell_dest_yi) dyi = 0;
const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
/**
* Compute the scaling factor for the extruder for each partial move.
@ -204,22 +250,20 @@
const bool use_x_dist = adx > ady;
on_axis_distance = use_x_dist ? x_end - x_start : y_end - y_start;
float on_axis_distance = use_x_dist ? dx : dy,
e_position = e_end - e_start,
z_position = z_end - z_start;
e_position = e_end - e_start;
e_normalized_dist = e_position / on_axis_distance;
const float e_normalized_dist = e_position / on_axis_distance,
z_normalized_dist = z_position / on_axis_distance;
z_position = z_end - z_start;
z_normalized_dist = z_position / on_axis_distance;
int current_xi = cell_start_xi, current_yi = cell_start_yi;
const bool inf_normalized_flag = e_normalized_dist == INFINITY || e_normalized_dist == -INFINITY;
const float m = dy / dx,
c = y_start - m * x_start;
current_xi = cell_start_xi;
current_yi = cell_start_yi;
m = dy / dx;
c = y_start - m * x_start;
const bool inf_m_flag = (m == INFINITY || m == -INFINITY);
const bool inf_normalized_flag = NEAR_ZERO(on_axis_distance),
inf_m_flag = NEAR_ZERO(dx);
/**
* This block handles vertical lines. These are lines that stay within the same
@ -230,16 +274,16 @@
current_yi += down_flag; // Line is heading down, we just want to go to the bottom
while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi;
next_mesh_line_y = mesh_index_to_y_location[current_yi];
const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
/**
* inf_m_flag? the slope of the line is infinite, we won't do the calculations
* else, we know the next X is the same so we can recover and continue!
* Calculate X at the next Y mesh line
*/
x = inf_m_flag ? x_start : (next_mesh_line_y - c) / m;
const float x = inf_m_flag ? x_start : (next_mesh_line_y - c) / m;
z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);
float z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
@ -247,7 +291,7 @@
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction( x, next_mesh_line_y);
z0 = ubl.get_z_correction(x, next_mesh_line_y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"VERTICAL z_correction()");
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
@ -261,7 +305,7 @@
}
//*/
z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
z0 *= ubl.fade_scaling_factor_for_z(z_end);
/**
* If part of the Mesh is undefined, it will show up as NAN
@ -272,7 +316,7 @@
*/
if (isnan(z0)) z0 = 0.0;
y = mesh_index_to_y_location[current_yi];
const float y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -321,10 +365,10 @@
// edge of this cell for the first move.
while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
next_mesh_line_x = mesh_index_to_x_location[current_xi];
y = m * next_mesh_line_x + c; // Calculate X at the next Y mesh line
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]),
y = m * next_mesh_line_x + c; // Calculate X at the next Y mesh line
z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
float z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
@ -332,7 +376,7 @@
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction( next_mesh_line_x, y);
z0 = ubl.get_z_correction(next_mesh_line_x, y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"HORIZONTAL z_correction()");
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
@ -357,7 +401,7 @@
*/
if (isnan(z0)) z0 = 0.0;
x = mesh_index_to_x_location[current_xi];
const float x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]);
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -396,10 +440,10 @@
*
*/
xi_cnt = cell_start_xi - cell_dest_xi;
if (xi_cnt < 0) xi_cnt = -xi_cnt;
int xi_cnt = cell_start_xi - cell_dest_xi,
yi_cnt = cell_start_yi - cell_dest_yi;
yi_cnt = cell_start_yi - cell_dest_yi;
if (xi_cnt < 0) xi_cnt = -xi_cnt;
if (yi_cnt < 0) yi_cnt = -yi_cnt;
current_xi += left_flag;
@ -407,20 +451,19 @@
while (xi_cnt > 0 || yi_cnt > 0) {
next_mesh_line_x = mesh_index_to_x_location[current_xi + dxi];
next_mesh_line_y = mesh_index_to_y_location[current_yi + dyi];
y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line (we don't have to worry
// about m being equal to 0.0 If this was the case, we would have
// detected this as a vertical line move up above and we wouldn't
// be down here doing a generic type of move.
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi + dxi]),
next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi + dyi]),
y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line (we don't have to worry
// about m being equal to 0.0 If this was the case, we would have
// detected this as a vertical line move up above and we wouldn't
// be down here doing a generic type of move.
if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
//
// Yes! Crossing a Y Mesh Line next
//
z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi - left_flag, current_yi + dyi);
float z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi - left_flag, current_yi + dyi);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
@ -428,7 +471,7 @@
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction( x, next_mesh_line_y);
z0 = ubl.get_z_correction(x, next_mesh_line_y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"General_1: z_correction()");
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
@ -471,7 +514,7 @@
//
// Yes! Crossing a X Mesh Line next
//
z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi + dxi, current_yi - down_flag);
float z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi + dxi, current_yi - down_flag);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
@ -479,7 +522,7 @@
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction( next_mesh_line_x, y);
z0 = ubl.get_z_correction(next_mesh_line_x, y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"General_2: z_correction()");
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
@ -493,7 +536,7 @@
}
//*/
z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
z0 *= ubl.fade_scaling_factor_for_z(z_end);
/**
* If part of the Mesh is undefined, it will show up as NAN

84
Marlin/configuration_store.cpp
View file

@ -847,8 +847,8 @@ void Config_Postprocess() {
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl_eeprom_start = (eeprom_index + 32) & 0xFFF8; // Pad the end of configuration data so it
// can float up or down a little bit without
// disrupting the Unified Bed Leveling data
// can float up or down a little bit without
// disrupting the Unified Bed Leveling data
ubl.load_state();
SERIAL_ECHOPGM(" UBL ");
@ -879,7 +879,7 @@ void Config_Postprocess() {
}
else {
ubl.reset();
SERIAL_ECHOPGM("UBL System reset() \n");
SERIAL_ECHOLNPGM("UBL System reset()");
}
#endif
}
@ -1178,42 +1178,6 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
SERIAL_EOL;
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOLNPGM("Unified Bed Leveling:");
CONFIG_ECHO_START;
SERIAL_ECHOPGM("System is: ");
if (ubl.state.active)
SERIAL_ECHOLNPGM("Active\n");
else
SERIAL_ECHOLNPGM("Deactive\n");
SERIAL_ECHOPAIR("Active Mesh Slot: ", ubl.state.eeprom_storage_slot);
SERIAL_EOL;
SERIAL_ECHOPGM("z_offset: ");
SERIAL_ECHO_F(ubl.state.z_offset, 6);
SERIAL_EOL;
SERIAL_ECHOPAIR("EEPROM can hold ", (int)((E2END - sizeof(ubl.state) - ubl_eeprom_start) / sizeof(z_values)));
SERIAL_ECHOLNPGM(" meshes. \n");
SERIAL_ECHOPAIR("\nUBL_MESH_NUM_X_POINTS ", UBL_MESH_NUM_X_POINTS);
SERIAL_ECHOPAIR("\nUBL_MESH_NUM_Y_POINTS ", UBL_MESH_NUM_Y_POINTS);
SERIAL_ECHOPAIR("\nUBL_MESH_MIN_X ", UBL_MESH_MIN_X);
SERIAL_ECHOPAIR("\nUBL_MESH_MIN_Y ", UBL_MESH_MIN_Y);
SERIAL_ECHOPAIR("\nUBL_MESH_MAX_X ", UBL_MESH_MAX_X);
SERIAL_ECHOPAIR("\nUBL_MESH_MAX_Y ", UBL_MESH_MAX_Y);
SERIAL_ECHOPGM("\nMESH_X_DIST ");
SERIAL_ECHO_F(MESH_X_DIST, 6);
SERIAL_ECHOPGM("\nMESH_Y_DIST ");
SERIAL_ECHO_F(MESH_Y_DIST, 6);
SERIAL_EOL;
SERIAL_EOL;
#endif
#if HOTENDS > 1
CONFIG_ECHO_START;
@ -1233,6 +1197,7 @@ void Config_ResetDefault() {
#endif
#if ENABLED(MESH_BED_LEVELING)
if (!forReplay) {
SERIAL_ECHOLNPGM("Mesh Bed Leveling:");
CONFIG_ECHO_START;
@ -1248,12 +1213,53 @@ void Config_ResetDefault() {
SERIAL_EOL;
}
}
#elif ENABLED(AUTO_BED_LEVELING_UBL)
if (!forReplay) {
SERIAL_ECHOLNPGM("Unified Bed Leveling:");
CONFIG_ECHO_START;
}
SERIAL_ECHOLNPAIR(" M420 S", ubl.state.active ? 1 : 0);
if (!forReplay) {
SERIAL_ECHOPGM("\nUBL is ");
ubl.state.active ? SERIAL_CHAR('A') : SERIAL_ECHOPGM("Ina");
SERIAL_ECHOLNPAIR("ctive\n\nActive Mesh Slot: ", ubl.state.eeprom_storage_slot);
SERIAL_ECHOPGM("z_offset: ");
SERIAL_ECHO_F(ubl.state.z_offset, 6);
SERIAL_EOL;
SERIAL_ECHOPAIR("EEPROM can hold ", (int)((UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values)));
SERIAL_ECHOLNPGM(" meshes.\n");
SERIAL_ECHOPAIR("\nUBL_MESH_NUM_X_POINTS ", UBL_MESH_NUM_X_POINTS);
SERIAL_ECHOPAIR("\nUBL_MESH_NUM_Y_POINTS ", UBL_MESH_NUM_Y_POINTS);
SERIAL_ECHOPAIR("\nUBL_MESH_MIN_X ", UBL_MESH_MIN_X);
SERIAL_ECHOPAIR("\nUBL_MESH_MIN_Y ", UBL_MESH_MIN_Y);
SERIAL_ECHOPAIR("\nUBL_MESH_MAX_X ", UBL_MESH_MAX_X);
SERIAL_ECHOPAIR("\nUBL_MESH_MAX_Y ", UBL_MESH_MAX_Y);
SERIAL_ECHOPGM("\nMESH_X_DIST ");
SERIAL_ECHO_F(MESH_X_DIST, 6);
SERIAL_ECHOPGM("\nMESH_Y_DIST ");
SERIAL_ECHO_F(MESH_Y_DIST, 6);
SERIAL_EOL;
SERIAL_EOL;
}
#elif HAS_ABL
if (!forReplay) {
SERIAL_ECHOLNPGM("Auto Bed Leveling:");
CONFIG_ECHO_START;
}
SERIAL_ECHOLNPAIR(" M420 S", planner.abl_enabled ? 1 : 0);
#endif
#if ENABLED(DELTA)

1
Marlin/example_configurations/Cartesio/Configuration.h
View file

@ -863,6 +863,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/Felix/Configuration.h
View file

@ -846,6 +846,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/Felix/DUAL/Configuration.h
View file

@ -846,6 +846,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/Hephestos/Configuration.h
View file

@ -855,6 +855,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/Hephestos_2/Configuration.h
View file

@ -857,6 +857,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/K8200/Configuration.h
View file

@ -892,6 +892,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/K8400/Configuration.h
View file

@ -863,6 +863,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/K8400/Dual-head/Configuration.h
View file

@ -863,6 +863,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
View file

@ -863,6 +863,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/RigidBot/Configuration.h
View file

@ -862,6 +862,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -878,6 +878,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/TAZ4/Configuration.h
View file

@ -884,6 +884,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/WITBOX/Configuration.h
View file

@ -855,6 +855,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/adafruit/ST7565/Configuration.h
View file

@ -863,6 +863,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/delta/flsun_kossel_mini/Configuration.h
View file

@ -968,6 +968,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/delta/generic/Configuration.h
View file

@ -954,6 +954,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View file

@ -958,6 +958,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View file

@ -957,6 +957,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/delta/kossel_xl/Configuration.h
View file

@ -967,6 +967,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/makibox/Configuration.h
View file

@ -866,6 +866,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

1
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View file

@ -859,6 +859,7 @@
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_ENABLED // Enable G26 mesh editing
#elif ENABLED(MESH_BED_LEVELING)

4
Marlin/mesh_bed_leveling.h
View file

@ -87,12 +87,12 @@
}
int8_t probe_index_x(const float &x) const {
int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST));
return (px >= 0 && px < (MESH_NUM_X_POINTS)) ? px : -1;
}
int8_t probe_index_y(const float &y) const {
int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST));
return (py >= 0 && py < (MESH_NUM_Y_POINTS)) ? py : -1;
}

6
Marlin/planner.cpp
View file

@ -530,7 +530,7 @@ void Planner::check_axes_activity() {
#endif
}
#if PLANNER_LEVELING
#if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
/**
* lx, ly, lz - logical (cartesian, not delta) positions in mm
*/
@ -634,7 +634,7 @@ void Planner::check_axes_activity() {
#endif
}
#endif // PLANNER_LEVELING
#endif // PLANNER_LEVELING && !AUTO_BED_LEVELING_UBL
/**
* Planner::_buffer_line
@ -1408,7 +1408,7 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
}
void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
#if PLANNER_LEVELING
#if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
apply_leveling(lpos);
#else

8
Marlin/planner.h
View file

@ -244,7 +244,7 @@ class Planner {
static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
#if PLANNER_LEVELING
#if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
#define ARG_X float lx
#define ARG_Y float ly
@ -300,7 +300,7 @@ class Planner {
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING && IS_CARTESIAN
#if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL) && IS_CARTESIAN
apply_leveling(lx, ly, lz);
#endif
_buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
@ -316,7 +316,7 @@ class Planner {
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
#if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] };
apply_leveling(lpos);
#else
@ -340,7 +340,7 @@ class Planner {
* Clears previous speed values.
*/
static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
#if PLANNER_LEVELING && IS_CARTESIAN
#if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL) && IS_CARTESIAN
apply_leveling(lx, ly, lz);
#endif
_set_position_mm(lx, ly, lz, e);

47
Marlin/stepper.cpp
View file

@ -535,8 +535,7 @@ void Stepper::isr() {
// If a minimum pulse time was specified get the CPU clock
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
static uint32_t pulse_start;
pulse_start = TCNT0;
uint32_t pulse_start = TCNT0;
#endif
#if HAS_X_STEP
@ -802,8 +801,7 @@ void Stepper::isr() {
for (uint8_t i = 0; i < step_loops; i++) {
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
static uint32_t pulse_start;
pulse_start = TCNT0;
uint32_t pulse_start = TCNT0;
#endif
START_E_PULSE(0);
@ -1232,55 +1230,53 @@ void Stepper::report_positions() {
#if ENABLED(BABYSTEPPING)
#define CYCLES_EATEN_BY_BABYSTEP 60
#define _ENABLE(axis) enable_## axis()
#define _READ_DIR(AXIS) AXIS ##_DIR_READ
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
#define _SAVE_START (pulse_start = TCNT0)
#define _PULSE_WAIT while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#else
#define _SAVE_START NOOP
#define _PULSE_WAIT NOOP
#endif
#define START_BABYSTEP_AXIS(AXIS, INVERT) { \
old_dir = _READ_DIR(AXIS); \
_SAVE_START; \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
}
#define STOP_BABYSTEP_AXIS(AXIS) { \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
_APPLY_DIR(AXIS, old_pin); \
_APPLY_DIR(AXIS, old_dir); \
}
// MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this!
void Stepper::babystep(const AxisEnum axis, const bool direction) {
cli();
static uint8_t old_pin;
uint8_t old_dir;
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
static uint32_t pulse_start;
uint32_t pulse_start;
#endif
switch (axis) {
case X_AXIS:
_ENABLE(x);
old_pin = _READ_DIR(X);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
pulse_start = TCNT0;
#endif
START_BABYSTEP_AXIS(X, false);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#endif
STOP_BABYSTEP_AXIS(X);
break;
case Y_AXIS:
_ENABLE(y);
old_pin = _READ_DIR(Y);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
pulse_start = TCNT0;
#endif
START_BABYSTEP_AXIS(Y, false);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#endif
STOP_BABYSTEP_AXIS(Y);
break;
@ -1289,14 +1285,7 @@ void Stepper::report_positions() {
#if DISABLED(DELTA)
_ENABLE(z);
old_pin = _READ_DIR(Z);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
pulse_start = TCNT0;
#endif
START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#endif
STOP_BABYSTEP_AXIS(Z);
#else // DELTA
@ -1340,7 +1329,7 @@ void Stepper::report_positions() {
sei();
}
#endif //BABYSTEPPING
#endif // BABYSTEPPING
/**
* Software-controlled Stepper Motor Current

2
Marlin/ultralcd.cpp
View file

@ -860,7 +860,7 @@ void kill_screen(const char* lcd_msg) {
static void _lcd_mesh_fine_tune(const char* msg) {
static millis_t next_click = 0;
int16_t last_digit, movement;
int16_t last_digit;
int32_t rounded;
defer_return_to_status = true;

22
Marlin/vector_3.cpp
View file

@ -66,16 +66,16 @@ vector_3 vector_3::get_normal() {
float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
void vector_3::normalize() {
float length = get_length();
x /= length;
y /= length;
z /= length;
const float inv_length = 1.0 / get_length();
x *= inv_length;
y *= inv_length;
z *= inv_length;
}
void vector_3::apply_rotation(matrix_3x3 matrix) {
float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0];
float resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1];
float resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
const float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0],
resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1],
resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
x = resultX;
y = resultY;
z = resultZ;
@ -92,7 +92,7 @@ void vector_3::debug(const char title[]) {
SERIAL_EOL;
}
void apply_rotation_xyz(matrix_3x3 matrix, float& x, float& y, float& z) {
void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &z) {
vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix);
x = vector.x;
@ -144,9 +144,9 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
void matrix_3x3::debug(const char title[]) {
SERIAL_PROTOCOLLN(title);
int count = 0;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
uint8_t count = 0;
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t j = 0; j < 3; j++) {
if (matrix[count] >= 0.0) SERIAL_PROTOCOLCHAR('+');
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLCHAR(' ');