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Smart-Fill and Mesh-Tilting (both 3-point and grid) working!

Browse source 
Also...   The memory corruption issue may be fixed.   The GCC compiler
was inlining static functions and this caused the G29() stack frame to
become much larger than the AVR could handle.
This commit is contained in:
Roxy-3D 2017-04-25 20:50:17 -05:00 committed by Roxy-3D
parent a699967ec8
commit d467e97679
6 changed files with 551 additions and 376 deletions
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118
Marlin/least_squares_fit.cpp
View file

@ -26,7 +26,9 @@
* This algorithm is high speed and has a very small code footprint. * This algorithm is high speed and has a very small code footprint.
* Its results are identical to both the Iterative Least-Squares published * Its results are identical to both the Iterative Least-Squares published
* earlier by Roxy and the QR_SOLVE solution. If used in place of QR_SOLVE * earlier by Roxy and the QR_SOLVE solution. If used in place of QR_SOLVE
* it saves roughly 10K of program memory. * it saves roughly 10K of program memory. It also does not require all of
* coordinates to be present during the calculations. Each point can be
* probed and then discarded.
* *
*/ */
@ -34,84 +36,60 @@
#if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling #if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
#include "ubl.h"
#include "Marlin.h"
#include "macros.h" #include "macros.h"
#include <math.h> #include <math.h>
double linear_fit_average(double m[], const int); #include "least_squares_fit.h"
//double linear_fit_average_squared(double m[], const int);
//double linear_fit_average_mixed_terms(double m1[], double m2[], const int);
double linear_fit_average_product(double matrix1[], double matrix2[], const int n);
void linear_fit_subtract_mean(double matrix[], double bar, const int n);
double linear_fit_max_abs(double m[], const int);
linear_fit linear_fit_results; void incremental_LSF_reset(struct linear_fit_data *lsf) {
lsf->n = 0;
linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int n) { lsf->A = 0.0; // probably a memset() can be done to zero
double xbar, ybar, zbar, lsf->B = 0.0; // this whole structure
x2bar, y2bar, lsf->D = 0.0;
xybar, xzbar, yzbar, lsf->xbar = lsf->ybar = lsf->zbar = 0.0;
D; lsf->x2bar = lsf->y2bar = lsf->z2bar = 0.0;
lsf->xybar = lsf->xzbar = lsf->yzbar = 0.0;
linear_fit_results.A = 0.0; lsf->max_absx = lsf->max_absy = 0.0;
linear_fit_results.B = 0.0;
linear_fit_results.D = 0.0;
xbar = linear_fit_average(x, n);
ybar = linear_fit_average(y, n);
zbar = linear_fit_average(z, n);
linear_fit_subtract_mean(x, xbar, n);
linear_fit_subtract_mean(y, ybar, n);
linear_fit_subtract_mean(z, zbar, n);
x2bar = linear_fit_average_product(x, x, n);
y2bar = linear_fit_average_product(y, y, n);
xybar = linear_fit_average_product(x, y, n);
xzbar = linear_fit_average_product(x, z, n);
yzbar = linear_fit_average_product(y, z, n);
D = x2bar * y2bar - xybar * xybar;
for (int i = 0; i < n; i++) {
if (fabs(D) <= 1e-15 * (linear_fit_max_abs(x, n) + linear_fit_max_abs(y, n))) {
printf("error: x,y points are collinear at index:%d\n", i);
return NULL;
} }
void incremental_LSF(struct linear_fit_data *lsf, float x, float y, float z) {
lsf->xbar += x;
lsf->ybar += y;
lsf->zbar += z;
lsf->x2bar += x*x;
lsf->y2bar += y*y;
lsf->z2bar += z*z;
lsf->xybar += x*y;
lsf->xzbar += x*z;
lsf->yzbar += y*z;
lsf->max_absx = (fabs(x) > lsf->max_absx) ? fabs(x) : lsf->max_absx;
lsf->max_absy = (fabs(y) > lsf->max_absy) ? fabs(y) : lsf->max_absy;
lsf->n++;
return;
} }
linear_fit_results.A = -(xzbar * y2bar - yzbar * xybar) / D; int finish_incremental_LSF(struct linear_fit_data *lsf) {
linear_fit_results.B = -(yzbar * x2bar - xzbar * xybar) / D; float DD, N;
// linear_fit_results.D = -(zbar - linear_fit_results->A * xbar - linear_fit_results->B * ybar);
linear_fit_results.D = -(zbar + linear_fit_results.A * xbar + linear_fit_results.B * ybar);
return &linear_fit_results; N = (float) lsf->n;
} lsf->xbar /= N;
lsf->ybar /= N;
lsf->zbar /= N;
lsf->x2bar = lsf->x2bar/N - lsf->xbar*lsf->xbar;
lsf->y2bar = lsf->y2bar/N - lsf->ybar*lsf->ybar;
lsf->z2bar = lsf->z2bar/N - lsf->zbar*lsf->zbar;
lsf->xybar = lsf->xybar/N - lsf->xbar*lsf->ybar;
lsf->yzbar = lsf->yzbar/N - lsf->ybar*lsf->zbar;
lsf->xzbar = lsf->xzbar/N - lsf->xbar*lsf->zbar;
double linear_fit_average(double *matrix, const int n) { DD = lsf->x2bar*lsf->y2bar - lsf->xybar*lsf->xybar;
double sum = 0.0; if (fabs(DD) <= 1e-10*(lsf->max_absx+lsf->max_absy))
for (int i = 0; i < n; i++) return -1;
sum += matrix[i];
return sum / (double)n; lsf->A = (lsf->yzbar*lsf->xybar - lsf->xzbar*lsf->y2bar) / DD;
} lsf->B = (lsf->xzbar*lsf->xybar - lsf->yzbar*lsf->x2bar) / DD;
lsf->D = -(lsf->zbar + lsf->A*lsf->xbar + lsf->B*lsf->ybar);
double linear_fit_average_product(double *matrix1, double *matrix2, const int n) { return 0;
double sum = 0.0;
for (int i = 0; i < n; i++)
sum += matrix1[i] * matrix2[i];
return sum / (double)n;
}
void linear_fit_subtract_mean(double *matrix, double bar, const int n) {
for (int i = 0; i < n; i++)
matrix[i] -= bar;
}
double linear_fit_max_abs(double *matrix, const int n) {
double max_abs = 0.0;
for (int i = 0; i < n; i++)
NOLESS(max_abs, fabs(matrix[i]));
return max_abs;
} }
#endif #endif

57
Marlin/least_squares_fit.h Normal file
View file

@ -0,0 +1,57 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Incremental Least Squares Best Fit By Roxy and Ed Williams
*
* This algorithm is high speed and has a very small code footprint.
* Its results are identical to both the Iterative Least-Squares published
* earlier by Roxy and the QR_SOLVE solution. If used in place of QR_SOLVE
* it saves roughly 10K of program memory. And even better... the data
* fed into the algorithm does not need to all be present at the same time.
* A point can be probed and its values fed into the algorithm and then discarded.
*
*/
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
#include "Marlin.h"
#include "macros.h"
#include <math.h>
struct linear_fit_data {
int n;
float xbar, ybar, zbar;
float x2bar, y2bar, z2bar;
float xybar, xzbar, yzbar;
float max_absx, max_absy;
float A, B, D;
};
void incremental_LSF_reset(struct linear_fit_data *);
void incremental_LSF(struct linear_fit_data *, float x, float y, float z);
int finish_incremental_LSF(struct linear_fit_data *);
#endif

10
Marlin/ubl.cpp
View file

@ -27,6 +27,7 @@
#include "ubl.h" #include "ubl.h"
#include "hex_print_routines.h" #include "hex_print_routines.h"
#include "temperature.h"
/** /**
* These support functions allow the use of large bit arrays of flags that take very * These support functions allow the use of large bit arrays of flags that take very
@ -38,6 +39,8 @@
void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(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 is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }
int ubl_cnt=0;
static void serial_echo_xy(const uint16_t x, const uint16_t y) { static void serial_echo_xy(const uint16_t x, const uint16_t y) {
SERIAL_CHAR('('); SERIAL_CHAR('(');
SERIAL_ECHO(x); SERIAL_ECHO(x);
@ -50,9 +53,6 @@
static void serial_echo_12x_spaces() { static void serial_echo_12x_spaces() {
for (uint8_t i = GRID_MAX_POINTS_X - 1; --i;) { for (uint8_t i = GRID_MAX_POINTS_X - 1; --i;) {
SERIAL_ECHOPGM(" "); SERIAL_ECHOPGM(" ");
#if TX_BUFFER_SIZE > 0
MYSERIAL.flushTX();
#endif
safe_delay(10); safe_delay(10);
} }
} }
@ -70,11 +70,13 @@
bool unified_bed_leveling::g26_debug_flag = false, bool unified_bed_leveling::g26_debug_flag = false,
unified_bed_leveling::has_control_of_lcd_panel = false; unified_bed_leveling::has_control_of_lcd_panel = false;
int8_t unified_bed_leveling::eeprom_start = -1; int16_t unified_bed_leveling::eeprom_start = -1; // Please stop changing this to 8 bits in size
// It needs to hold values bigger than this.
volatile int unified_bed_leveling::encoder_diff; volatile int unified_bed_leveling::encoder_diff;
unified_bed_leveling::unified_bed_leveling() { unified_bed_leveling::unified_bed_leveling() {
ubl_cnt++; // Debug counter to insure we only have one UBL object present in memory.
reset(); reset();
} }

96
Marlin/ubl.h
View file

@ -26,11 +26,10 @@
#include "MarlinConfig.h" #include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)
#include "Marlin.h" #include "Marlin.h"
#include "planner.h"
#include "math.h" #include "math.h"
#include "vector_3.h" #include "vector_3.h"
#include "planner.h"
#define UBL_VERSION "1.00" #define UBL_VERSION "1.00"
#define UBL_OK false #define UBL_OK false
@ -49,10 +48,8 @@
void debug_current_and_destination(const char * const title); void debug_current_and_destination(const char * const title);
void ubl_line_to_destination(const float&, uint8_t); void ubl_line_to_destination(const float&, uint8_t);
void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool); 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&); 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], bool); mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
void find_mean_mesh_height();
void shift_mesh_height(); void shift_mesh_height();
bool g29_parameter_parsing(); bool g29_parameter_parsing();
void g29_what_command(); void g29_what_command();
@ -67,10 +64,8 @@
void gcode_G26(); void gcode_G26();
void gcode_G28(); void gcode_G28();
void gcode_G29(); void gcode_G29();
extern char conv[9];
void save_ubl_active_state_and_disable(); extern int ubl_cnt;
void restore_ubl_active_state_and_leave();
/////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////
@ -79,7 +74,6 @@
void lcd_quick_feedback(); void lcd_quick_feedback();
#endif #endif
enum MBLStatus { MBL_STATUS_NONE = 0, MBL_STATUS_HAS_MESH_BIT = 0, MBL_STATUS_ACTIVE_BIT = 1 };
#define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1)) #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
#define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
@ -97,6 +91,43 @@
public: public:
//
// Please do not put STATIC qualifiers in front of ANYTHING in this file. You WILL cause problems by doing that.
// The GCC optimizer inlines static functions and this DRAMATICALLY increases the size of the stack frame of
// functions that call STATIC functions.
//
void find_mean_mesh_height();
void shift_mesh_height();
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
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);
void save_ubl_active_state_and_disable();
void restore_ubl_active_state_and_leave();
void g29_what_command();
//
// Please do not put STATIC qualifiers in front of ANYTHING in this file. You WILL cause problems by doing that.
// The GCC optimizer inlines static functions and this DRAMATICALLY increases the size of the stack frame of
// functions that call STATIC functions.
//
void g29_eeprom_dump() ;
void g29_compare_current_mesh_to_stored_mesh();
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
void smart_fill_mesh();
void display_map(const int);
void reset();
//
// Please do not put STATIC qualifiers in front of ANYTHING in this file. You WILL cause problems by doing that.
// The GCC optimizer inlines static functions and this DRAMATICALLY increases the size of the stack frame of
// functions that call STATIC functions.
//
void invalidate();
void store_state();
void load_state();
void store_mesh(const int16_t);
void load_mesh(const int16_t);
bool sanity_check();
static ubl_state state; static ubl_state state;
static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
@ -125,32 +156,27 @@
static bool g26_debug_flag, has_control_of_lcd_panel; static bool g26_debug_flag, has_control_of_lcd_panel;
static int8_t eeprom_start; static int16_t eeprom_start; // Please do no change this to 8 bits in size
// It needs to hold values bigger than this.
static volatile int encoder_diff; // Volatile because it's changed at interrupt time. static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
unified_bed_leveling(); unified_bed_leveling();
static void display_map(const int); //
// Please do not put STATIC qualifiers in front of ANYTHING in this file. You WILL cause problems by doing that.
static void reset(); // The GCC optimizer inlines static functions and this DRAMATICALLY increases the size of the stack frame of
static void invalidate(); // functions that call STATIC functions.
//
static void store_mesh(const int16_t); FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static void load_mesh(const int16_t); int8_t get_cell_index_x(const float &x) {
static bool sanity_check();
static FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static int8_t get_cell_index_x(const float &x) {
const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible } // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably // to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from // that is OK because something else should be keeping that from
// happening and should not be worried about at this level. // happening and should not be worried about at this level.
static int8_t get_cell_index_y(const float &y) { int8_t get_cell_index_y(const float &y) {
const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible } // position. But with this defined this way, it is possible
@ -158,12 +184,17 @@
// that is OK because something else should be keeping that from // that is OK because something else should be keeping that from
// happening and should not be worried about at this level. // happening and should not be worried about at this level.
static int8_t find_closest_x_index(const float &x) { //
// Please do not put STATIC qualifiers in front of ANYTHING in this file. You WILL cause problems by doing that.
// The GCC optimizer inlines static functions and this DRAMATICALLY increases the size of the stack frame of
// functions that call STATIC functions.
//
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)); const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
} }
static int8_t find_closest_y_index(const float &y) { 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)); const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
} }
@ -183,15 +214,20 @@
* It is fairly 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. * multiplications.
*/ */
static FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
} }
//
// Please do not put STATIC qualifiers in front of ANYTHING in this file. You WILL cause problems by doing that.
// The GCC optimizer inlines static functions and this DRAMATICALLY increases the size of the stack frame of
// functions that call STATIC functions.
//
/** /**
* z_correction_for_x_on_horizontal_mesh_line is an optimization for * z_correction_for_x_on_horizontal_mesh_line is an optimization for
* the rare occasion when a point lies exactly on a Mesh line (denoted by index yi). * the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
*/ */
static inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) { inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) { if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0); SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
SERIAL_ECHOPAIR(",x1_i=", x1_i); SERIAL_ECHOPAIR(",x1_i=", x1_i);
@ -210,7 +246,7 @@
// //
// See comments above for z_correction_for_x_on_horizontal_mesh_line // See comments above for z_correction_for_x_on_horizontal_mesh_line
// //
static inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) { inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) { if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0); SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0);
SERIAL_ECHOPAIR(", x1_i=", xi); SERIAL_ECHOPAIR(", x1_i=", xi);
@ -232,7 +268,7 @@
* Z-Height at both ends. Then it does a linear interpolation of these heights based * Z-Height at both ends. Then it does a linear interpolation of these heights based
* on the Y position within the cell. * on the Y position within the cell.
*/ */
static float get_z_correction(const float &lx0, const float &ly0) { float get_z_correction(const float &lx0, const float &ly0) {
const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)), const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
cy = get_cell_index_y(RAW_Y_POSITION(ly0)); cy = get_cell_index_y(RAW_Y_POSITION(ly0));
@ -308,7 +344,7 @@
*/ */
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) { FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
if (planner.z_fade_height == 0.0) return 1.0; if (planner.z_fade_height == 0.0) return 1.0;
static float fade_scaling_factor = 1.0; static float fade_scaling_factor = 1.0;

645
Marlin/ubl_G29.cpp
View file

@ -33,12 +33,12 @@
#include "ultralcd.h" #include "ultralcd.h"
#include <math.h> #include <math.h>
#include "least_squares_fit.h"
void lcd_return_to_status(); void lcd_return_to_status();
bool lcd_clicked(); bool lcd_clicked();
void lcd_implementation_clear(); void lcd_implementation_clear();
void lcd_mesh_edit_setup(float initial); void lcd_mesh_edit_setup(float initial);
void tilt_mesh_based_on_probed_grid(const bool);
float lcd_mesh_edit(); float lcd_mesh_edit();
void lcd_z_offset_edit_setup(float); void lcd_z_offset_edit_setup(float);
float lcd_z_offset_edit(); float lcd_z_offset_edit();
@ -50,15 +50,10 @@
extern bool code_has_value(); extern bool code_has_value();
extern float probe_pt(float x, float y, bool, int); extern float probe_pt(float x, float y, bool, int);
extern bool set_probe_deployed(bool); extern bool set_probe_deployed(bool);
void smart_fill_mesh();
bool ProbeStay = true; bool ProbeStay = true;
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 SIZE_OF_LITTLE_RAISE 0
#define BIG_RAISE_NOT_NEEDED 0 #define BIG_RAISE_NOT_NEEDED 0
@ -133,10 +128,6 @@
* be specified and is suitable to Cut & Paste into Excel to allow graphing of the user's * be specified and is suitable to Cut & Paste into Excel to allow graphing of the user's
* mesh. * mesh.
* *
* N No Home G29 normally insists that a G28 has been performed. You can over rule this with an
* N option. In general, you should not do this. This can only be done safely with
* commands that do not move the nozzle.
*
* The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will * The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will
* start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with * start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with
* each additional Phase that processes it. * each additional Phase that processes it.
@ -195,12 +186,21 @@
* Phase 2 allows the O (Map) parameter to be specified. This helps the user see the progression * Phase 2 allows the O (Map) parameter to be specified. This helps the user see the progression
* of the Mesh being built. * of the Mesh being built.
* *
* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. The C parameter is * P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths the
* used to specify the 'constant' value to fill all invalid areas of the Mesh. If no C parameter * user can go down. If the user specifies the value using the C parameter, the closest invalid
* is specified, a value of 0.0 is assumed. The R parameter can be given to specify the number * mesh points to the nozzle will be filled. The user can specify a repeat count using the R
* of points to set. If the R parameter is specified the current nozzle position is used to * parameter with the C version of the command.
* find the closest points to alter unless the X and Y parameter are used to specify the fill *
* location. * A second version of the fill command is available if no C constant is specified. Not
* specifying a C constant will invoke the 'Smart Fill' algorithm. The G29 P3 command will search
* from the edges of the mesh inward looking for invalid mesh points. It will look at the next
* several mesh points to determine if the print bed is sloped up or down. If the bed is sloped
* upward from the invalid mesh point, it will be replaced with the value of the nearest mesh point.
* If the bed is sloped downward from the invalid mesh point, it will be replaced with a value that
* puts all three points in a line. The second version of the G29 P3 command is a quick, easy and
* usually safe way to populate the unprobed regions of your mesh so you can continue to the G26
* Mesh Validation Pattern phase. Please note that you are populating your mesh with unverified
* numbers. You should use some scrutiny and caution.
* *
* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existance of * P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existance of
* an LCD Panel. It is possible to fine tune the mesh without the use of an LCD Panel. * an LCD Panel. It is possible to fine tune the mesh without the use of an LCD Panel.
@ -243,6 +243,9 @@
* command is not anticipated to be of much value to the typical user. It is intended * command is not anticipated to be of much value to the typical user. It is intended
* for developers to help them verify correct operation of the Unified Bed Leveling System. * for developers to help them verify correct operation of the Unified Bed Leveling System.
* *
* R # Repeat Repeat this command the specified number of times. If no number is specified the
* command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
*
* S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the * S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
* current state of the Unified Bed Leveling system in the EEPROM. * current state of the Unified Bed Leveling system in the EEPROM.
* *
@ -301,19 +304,20 @@
* we now have the functionality and features of all three systems combined. * we now have the functionality and features of all three systems combined.
*/ */
#define USE_NOZZLE_AS_REFERENCE 0
#define USE_PROBE_AS_REFERENCE 1
// The simple parameter flags and values are 'static' so parameter parsing can be in a support routine. // The simple parameter flags and values are 'static' so parameter parsing can be in a support routine.
static int g29_verbose_level, phase_value = -1, repetition_cnt, static int g29_verbose_level, phase_value = -1, repetition_cnt,
storage_slot = 0, map_type, grid_size; storage_slot = 0, map_type, grid_size;
static bool repeat_flag, c_flag, x_flag, y_flag; static bool repeat_flag, c_flag, x_flag, y_flag;
static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0; static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0;
#if ENABLED(ULTRA_LCD)
extern void lcd_setstatus(const char* message, const bool persist); extern void lcd_setstatus(const char* message, const bool persist);
extern void lcd_setstatuspgm(const char* message, const uint8_t level); extern void lcd_setstatuspgm(const char* message, const uint8_t level);
#endif
void gcode_G29() { void __attribute__((optimize("O0"))) gcode_G29() {
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=", ubl.eeprom_start);
if (ubl.eeprom_start < 0) { if (ubl.eeprom_start < 0) {
SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it"); SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n"); SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
@ -332,7 +336,7 @@
repetition_cnt = code_has_value() ? code_value_int() : 1; repetition_cnt = code_has_value() ? code_value_int() : 1;
while (repetition_cnt--) { while (repetition_cnt--) {
if (cnt > 20) { cnt = 0; idle(); } if (cnt > 20) { cnt = 0; idle(); }
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, x_pos, y_pos, 0, NULL, false); // 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, USE_NOZZLE_AS_REFERENCE, NULL, false);
if (location.x_index < 0) { if (location.x_index < 0) {
SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n"); SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
break; // No more invalid Mesh Points to populate break; // No more invalid Mesh Points to populate
@ -376,11 +380,13 @@
} }
if (code_seen('J')) { if (code_seen('J')) {
if (!WITHIN(grid_size, 2, 5)) { if (!WITHIN(grid_size, 2, 9)) {
SERIAL_PROTOCOLLNPGM("ERROR - grid size must be between 2 and 5"); SERIAL_PROTOCOLLNPGM("ERROR - grid size must be between 2 and 9");
return; return;
} }
tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M')); ubl.save_ubl_active_state_and_disable();
ubl.tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M'));
ubl.restore_ubl_active_state_and_leave();
} }
if (code_seen('P')) { if (code_seen('P')) {
@ -412,7 +418,7 @@
SERIAL_PROTOCOL(y_pos); SERIAL_PROTOCOL(y_pos);
SERIAL_PROTOCOLLNPGM(")\n"); SERIAL_PROTOCOLLNPGM(")\n");
} }
probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ubl.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'), code_seen('U')); code_seen('O') || code_seen('M'), code_seen('E'), code_seen('U'));
break; break;
@ -454,17 +460,22 @@
case 3: { case 3: {
// //
// Populate invalid Mesh areas with a constant // Populate invalid Mesh areas. Two choices are available to the user. The user can
// specify the constant to be used with a C # paramter. Or the user can allow the G29 P3 command to
// apply a 'reasonable' constant to the invalid mesh point. Some caution and scrutiny should be used
// on either of these paths!
// //
const float height = code_seen('C') ? ubl_constant : 0.0; if (c_flag) {
// If no repetition is specified, do the whole Mesh
if (!repeat_flag) repetition_cnt = 9999;
while (repetition_cnt--) { while (repetition_cnt--) {
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL, false); // 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, USE_NOZZLE_AS_REFERENCE, NULL, false);
if (location.x_index < 0) break; // No more invalid Mesh Points to populate if (location.x_index < 0) break; // No more invalid Mesh Points to populate
ubl.z_values[location.x_index][location.y_index] = height; ubl.z_values[location.x_index][location.y_index] = ubl_constant;
}
break;
} else // The user wants to do a 'Smart' fill where we use the surrounding known
smart_fill_mesh(); // values to provide a good guess of what the unprobed mesh point should be
break;
} }
} break;
case 4: case 4:
// //
@ -473,10 +484,10 @@
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M')); fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M'));
break; break;
case 5: case 5:
find_mean_mesh_height(); ubl.find_mean_mesh_height();
break; break;
case 6: case 6:
shift_mesh_height(); ubl.shift_mesh_height();
break; break;
case 10: case 10:
@ -517,26 +528,22 @@
} }
if (code_seen('T')) { if (code_seen('T')) {
const float lx1 = LOGICAL_X_POSITION(ubl_3_point_1_X),
lx2 = LOGICAL_X_POSITION(ubl_3_point_2_X),
lx3 = LOGICAL_X_POSITION(ubl_3_point_3_X),
ly1 = LOGICAL_Y_POSITION(ubl_3_point_1_Y),
ly2 = LOGICAL_Y_POSITION(ubl_3_point_2_Y),
ly3 = LOGICAL_Y_POSITION(ubl_3_point_3_Y);
float z1 = probe_pt(lx1, ly1, false /*Stow Flag*/, g29_verbose_level), float z1 = probe_pt( LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y), false, g29_verbose_level),
z2 = probe_pt(lx2, ly2, false /*Stow Flag*/, g29_verbose_level), z2 = probe_pt( LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level),
z3 = probe_pt(lx3, ly3, true /*Stow Flag*/, g29_verbose_level); z3 = probe_pt( LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
// We need to adjust z1, z2, z3 by the Mesh Height at these points. Just because they are non-zero doesn't mean // We need to adjust z1, z2, z3 by the Mesh Height at these points. Just because they are non-zero doesn't mean
// the Mesh is tilted! (We need to compensate each probe point by what the Mesh says that location's height is) // the Mesh is tilted! (We need to compensate each probe point by what the Mesh says that location's height is)
z1 -= ubl.get_z_correction(lx1, ly1); ubl.save_ubl_active_state_and_disable();
z2 -= ubl.get_z_correction(lx2, ly2); z1 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
z3 -= ubl.get_z_correction(lx3, ly3); z2 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
z3 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
do_blocking_move_to_xy((X_MAX_POS - (X_MIN_POS)) / 2.0, (Y_MAX_POS - (Y_MIN_POS)) / 2.0); do_blocking_move_to_xy((X_MAX_POS - (X_MIN_POS)) / 2.0, (Y_MAX_POS - (Y_MIN_POS)) / 2.0);
tilt_mesh_based_on_3pts(z1, z2, z3); ubl.tilt_mesh_based_on_3pts(z1, z2, z3);
ubl.restore_ubl_active_state_and_leave();
} }
// //
@ -618,7 +625,7 @@
if (code_has_value()) if (code_has_value())
ubl.state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value ubl.state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
else { else {
save_ubl_active_state_and_disable(); ubl.save_ubl_active_state_and_disable();
//measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level); //measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
ubl.has_control_of_lcd_panel = true; // Grab the LCD Hardware ubl.has_control_of_lcd_panel = true; // Grab the LCD Hardware
@ -653,7 +660,7 @@
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped."); SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
LCD_MESSAGEPGM("Z-Offset Stopped"); LCD_MESSAGEPGM("Z-Offset Stopped");
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
goto LEAVE; goto LEAVE;
} }
} }
@ -663,7 +670,7 @@
ubl.state.z_offset = measured_z; ubl.state.z_offset = measured_z;
lcd_implementation_clear(); lcd_implementation_clear();
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
} }
} }
@ -676,7 +683,7 @@
ubl.has_control_of_lcd_panel = false; ubl.has_control_of_lcd_panel = false;
} }
void find_mean_mesh_height() { void unified_bed_leveling::find_mean_mesh_height() {
uint8_t x, y; uint8_t x, y;
int n; int n;
float sum, sum_of_diff_squared, sigma, difference, mean; float sum, sum_of_diff_squared, sigma, difference, mean;
@ -719,7 +726,7 @@
ubl.z_values[x][y] -= mean + ubl_constant; ubl.z_values[x][y] -= mean + ubl_constant;
} }
void shift_mesh_height() { void unified_bed_leveling::shift_mesh_height() {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) if (!isnan(ubl.z_values[x][y]))
@ -730,11 +737,11 @@
* Probe all invalidated locations of the mesh that can be reached by the 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. * This attempts to fill in locations closest to the nozzle's start location first.
*/ */
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) { void unified_bed_leveling::probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) {
mesh_index_pair location; mesh_index_pair location;
ubl.has_control_of_lcd_panel = true; ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE(); DEPLOY_PROBE();
do { do {
@ -744,12 +751,12 @@
STOW_PROBE(); STOW_PROBE();
while (ubl_lcd_clicked()) idle(); while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false; ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel safe_delay(50); // Debounce the Encoder wheel
return; return;
} }
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 1, NULL, do_furthest); // the '1' says we want the location to be relative to the probe location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, do_furthest);
if (location.x_index >= 0 && location.y_index >= 0) { if (location.x_index >= 0 && location.y_index >= 0) {
const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])), const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
@ -773,7 +780,7 @@
LEAVE: LEAVE:
STOW_PROBE(); STOW_PROBE();
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
do_blocking_move_to_xy( do_blocking_move_to_xy(
constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), X_MIN_POS, X_MAX_POS), constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), X_MIN_POS, X_MAX_POS),
@ -781,69 +788,113 @@
); );
} }
vector_3 tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) { void unified_bed_leveling::tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
float c, d, t; float d, t, inv_z;
int i, j; int i, j;
vector_3 v1 = vector_3( (ubl_3_point_1_X - ubl_3_point_2_X), matrix_3x3 rotation;
(ubl_3_point_1_Y - ubl_3_point_2_Y), vector_3 v1 = vector_3( (UBL_PROBE_PT_1_X - UBL_PROBE_PT_2_X),
(UBL_PROBE_PT_1_Y - UBL_PROBE_PT_2_Y),
(z1 - z2) ), (z1 - z2) ),
v2 = vector_3( (ubl_3_point_3_X - ubl_3_point_2_X), v2 = vector_3( (UBL_PROBE_PT_3_X - UBL_PROBE_PT_2_X),
(ubl_3_point_3_Y - ubl_3_point_2_Y), (UBL_PROBE_PT_3_Y - UBL_PROBE_PT_2_Y),
(z3 - z2) ), (z3 - z2) ),
normal = vector_3::cross(v1, v2); normal = vector_3::cross(v1, v2);
// printf("[%f,%f,%f] ", normal.x, normal.y, normal.z); normal = normal.get_normal();
/** /**
* This code does two things. This vector is normal to the tilted plane. * This vector is normal to the tilted plane.
* However, we don't know its direction. We need it to point up. So if * However, we don't know its direction. We need it to point up. So if
* Z is negative, we need to invert the sign of all components of the vector * Z is negative, we need to invert the sign of all components of the vector
* 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
*/ */
const float inv_z = 1.0 / normal.z; if ( normal.z < 0.0 ) {
normal.x *= inv_z; normal.x = -normal.x;
normal.y *= inv_z; normal.y = -normal.y;
normal.z = 1.0; normal.z = -normal.z;
}
rotation = matrix_3x3::create_look_at( vector_3( normal.x, normal.y, 1));
if (g29_verbose_level>2) {
SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.y, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7);
SERIAL_ECHOPGM("]\n");
rotation.debug("rotation matrix:");
}
// //
// All of 3 of these points should give us the same d constant // All of 3 of these points should give us the same d constant
// //
t = normal.x * ubl_3_point_1_X + normal.y * ubl_3_point_1_Y;
t = normal.x * UBL_PROBE_PT_1_X + normal.y * UBL_PROBE_PT_1_Y;
d = t + normal.z * z1; d = t + normal.z * z1;
c = d - t;
if (g29_verbose_level>2) {
SERIAL_ECHOPGM("D constant: ");
SERIAL_PROTOCOL_F( d, 7);
SERIAL_ECHOPGM(" \n");
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("d from 1st point: "); SERIAL_ECHOPGM("d from 1st point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL; SERIAL_EOL;
t = normal.x * ubl_3_point_2_X + normal.y * ubl_3_point_2_Y; t = normal.x * UBL_PROBE_PT_2_X + normal.y * UBL_PROBE_PT_2_Y;
d = t + normal.z * z2; d = t + normal.z * z2;
c = d - t;
SERIAL_ECHOPGM("d from 2nd point: "); SERIAL_ECHOPGM("d from 2nd point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL; SERIAL_EOL;
t = normal.x * ubl_3_point_3_X + normal.y * ubl_3_point_3_Y; t = normal.x * UBL_PROBE_PT_3_X + normal.y * UBL_PROBE_PT_3_Y;
d = t + normal.z * z3; d = t + normal.z * z3;
c = d - t;
SERIAL_ECHOPGM("d from 3rd point: "); SERIAL_ECHOPGM("d from 3rd point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL; SERIAL_EOL;
}
#endif
for (i = 0; i < GRID_MAX_POINTS_X; i++) { for (i = 0; i < GRID_MAX_POINTS_X; i++) {
for (j = 0; j < GRID_MAX_POINTS_Y; j++) { for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
c = -((normal.x * (UBL_MESH_MIN_X + i * (MESH_X_DIST)) + normal.y * (UBL_MESH_MIN_Y + j * (MESH_Y_DIST))) - d); float x_tmp, y_tmp, z_tmp;
ubl.z_values[i][j] += c; x_tmp = pgm_read_float(ubl.mesh_index_to_xpos[i]);
y_tmp = pgm_read_float(ubl.mesh_index_to_ypos[j]);
z_tmp = ubl.z_values[i][j];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("before rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("] ---> ");
safe_delay(20);
} }
#endif
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("]\n");
safe_delay(55);
} }
return normal; #endif
ubl.z_values[i][j] += z_tmp - d;
}
}
return;
} }
float use_encoder_wheel_to_measure_point() { float use_encoder_wheel_to_measure_point() {
@ -862,7 +913,7 @@
float measure_business_card_thickness(const float &in_height) { float measure_business_card_thickness(const float &in_height) {
ubl.has_control_of_lcd_panel = true; ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement."); SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement.");
do_blocking_move_to_z(in_height); do_blocking_move_to_z(in_height);
@ -882,21 +933,21 @@
SERIAL_PROTOCOL_F(abs(z1 - z2), 6); SERIAL_PROTOCOL_F(abs(z1 - z2), 6);
SERIAL_PROTOCOLLNPGM("mm thick."); SERIAL_PROTOCOLLNPGM("mm thick.");
} }
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
return abs(z1 - z2); return abs(z1 - z2);
} }
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) { 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 = true; ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe ubl.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_z(z_clearance);
do_blocking_move_to_xy(lx, ly); do_blocking_move_to_xy(lx, ly);
float last_x = -9999.99, last_y = -9999.99; float last_x = -9999.99, last_y = -9999.99;
mesh_index_pair location; mesh_index_pair location;
do { do {
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 0, NULL, false); // The '0' says we want to use the nozzle's position location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_NOZZLE_AS_REFERENCE, NULL, false);
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe. // 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; if (location.x_index < 0 && location.y_index < 0) continue;
@ -949,7 +1000,7 @@
while (ubl_lcd_clicked()) idle(); while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false; ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER); KEEPALIVE_STATE(IN_HANDLER);
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
return; return;
} }
} }
@ -965,7 +1016,7 @@
if (do_ubl_mesh_map) ubl.display_map(map_type); if (do_ubl_mesh_map) ubl.display_map(map_type);
LEAVE: LEAVE:
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
KEEPALIVE_STATE(IN_HANDLER); KEEPALIVE_STATE(IN_HANDLER);
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly); do_blocking_move_to_xy(lx, ly);
@ -975,6 +1026,8 @@
bool err_flag = false; bool err_flag = false;
LCD_MESSAGEPGM("Doing G29 UBL!"); LCD_MESSAGEPGM("Doing G29 UBL!");
ubl_constant = 0.0;
repetition_cnt = 0;
lcd_quick_feedback(); lcd_quick_feedback();
x_flag = code_seen('X') && code_has_value(); x_flag = code_seen('X') && code_has_value();
@ -983,7 +1036,6 @@
y_flag = code_seen('Y') && code_has_value(); y_flag = code_seen('Y') && code_has_value();
y_pos = y_flag ? code_value_float() : current_position[Y_AXIS]; y_pos = y_flag ? code_value_float() : current_position[Y_AXIS];
repetition_cnt = 0;
repeat_flag = code_seen('R'); repeat_flag = code_seen('R');
if (repeat_flag) { if (repeat_flag) {
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y); repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
@ -999,7 +1051,7 @@
err_flag = true; err_flag = true;
} }
if (code_seen('G')) { if (code_seen('J')) {
grid_size = code_has_value() ? code_value_int() : 3; grid_size = code_has_value() ? code_value_int() : 3;
if (!WITHIN(grid_size, 2, 5)) { if (!WITHIN(grid_size, 2, 5)) {
SERIAL_PROTOCOLLNPGM("Invalid grid probe points specified.\n"); SERIAL_PROTOCOLLNPGM("Invalid grid probe points specified.\n");
@ -1015,27 +1067,11 @@
if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) { if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n"); SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n");
err_flag = true; err_flag = true;
SERIAL_PROTOCOLPAIR("\nx_flag = ", x_flag); // These print blocks are only useful because sometimes the
SERIAL_PROTOCOLPAIR("\nx_pos = ", x_pos ); // data corruption causes x_pos and y_pos to be crazy. This gets deleted soon.
SERIAL_PROTOCOLPAIR("\ncurrent[] = ", current_position[X_AXIS]);
SERIAL_PROTOCOLPAIR("\nX_MIN_POS = ", X_MIN_POS);
SERIAL_PROTOCOLPAIR("\nX_MAX_POS = ", X_MAX_POS);
SERIAL_PROTOCOLPAIR("\nRAW_X_POSITION() = ", RAW_X_POSITION(x_pos));
SERIAL_PROTOCOLPAIR("\nwithin() = ", WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS));
SERIAL_PROTOCOL("\n");
} }
if (!WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS)) { if (!WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n"); SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
err_flag = true; err_flag = true;
SERIAL_PROTOCOLPAIR("\ny_flag = ", y_flag); // These print blocks are only useful because sometimes the
SERIAL_PROTOCOLPAIR("\ny_pos = ", y_pos ); // data corruption causes x_pos and y_pos to be crazy. This gets deleted soon.
SERIAL_PROTOCOLPAIR("\ncurrent[] = ", current_position[Y_AXIS]);
SERIAL_PROTOCOLPAIR("\nY_MIN_POS = ", Y_MIN_POS);
SERIAL_PROTOCOLPAIR("\nY_MAX_POS = ", Y_MAX_POS);
SERIAL_PROTOCOLPAIR("\nRAW_Y_POSITION() = ", RAW_Y_POSITION(y_pos));
SERIAL_PROTOCOLPAIR("\nwithin() = ", WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS));
SERIAL_PROTOCOL("\n");
} }
if (err_flag) return UBL_ERR; if (err_flag) return UBL_ERR;
@ -1045,8 +1081,9 @@
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n"); SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n");
} }
c_flag = code_seen('C') && code_has_value(); c_flag = code_seen('C');
ubl_constant = c_flag ? code_value_float() : 0.0; if (c_flag)
ubl_constant = code_value_float();
if (code_seen('D')) { // Disable the Unified Bed Leveling System if (code_seen('D')) { // Disable the Unified Bed Leveling System
ubl.state.active = 0; ubl.state.active = 0;
@ -1109,7 +1146,7 @@
static int ubl_state_at_invocation = 0, static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0; ubl_state_recursion_chk = 0;
void save_ubl_active_state_and_disable() { void unified_bed_leveling::save_ubl_active_state_and_disable() {
ubl_state_recursion_chk++; ubl_state_recursion_chk++;
if (ubl_state_recursion_chk != 1) { if (ubl_state_recursion_chk != 1) {
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row."); SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
@ -1121,7 +1158,7 @@
ubl.state.active = 0; ubl.state.active = 0;
} }
void restore_ubl_active_state_and_leave() { void unified_bed_leveling::restore_ubl_active_state_and_leave() {
if (--ubl_state_recursion_chk) { if (--ubl_state_recursion_chk) {
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times."); SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
LCD_MESSAGEPGM("restore_UBL_active() error"); LCD_MESSAGEPGM("restore_UBL_active() error");
@ -1156,14 +1193,21 @@
SERIAL_EOL; SERIAL_EOL;
safe_delay(50); safe_delay(50);
SERIAL_PROTOCOLLNPAIR("UBL object count: ", ubl_cnt);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_PROTOCOLLNPAIR("planner.z_fade_height : ", planner.z_fade_height); SERIAL_PROTOCOLLNPAIR("planner.z_fade_height : ", planner.z_fade_height);
#endif #endif
SERIAL_PROTOCOLPGM("zprobe_zoffset: ");
SERIAL_PROTOCOL_F(zprobe_zoffset, 7);
SERIAL_EOL;
SERIAL_PROTOCOLPGM("z_offset: "); SERIAL_PROTOCOLPGM("z_offset: ");
SERIAL_PROTOCOL_F(ubl.state.z_offset, 6); SERIAL_PROTOCOL_F(ubl.state.z_offset, 7);
SERIAL_EOL; SERIAL_EOL;
safe_delay(50); safe_delay(25);
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=0x", hex_word(ubl.eeprom_start));
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: "); SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
@ -1300,8 +1344,8 @@
current_y = current_position[Y_AXIS]; current_y = current_position[Y_AXIS];
// Get our reference position. Either the nozzle or probe location. // Get our reference position. Either the nozzle or probe location.
const float px = lx - (probe_as_reference ? X_PROBE_OFFSET_FROM_EXTRUDER : 0), const float px = lx - (probe_as_reference==USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ly - (probe_as_reference ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0); py = ly - (probe_as_reference==USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
@ -1319,7 +1363,7 @@
// If using the probe as the reference there are some unreachable locations. // If using the probe as the reference there are some unreachable locations.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing). // Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (probe_as_reference && if (probe_as_reference==USE_PROBE_AS_REFERENCE &&
(!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y)) (!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y))
) continue; ) continue;
@ -1363,7 +1407,7 @@
uint16_t not_done[16]; uint16_t not_done[16];
int32_t round_off; int32_t round_off;
save_ubl_active_state_and_disable(); ubl.save_ubl_active_state_and_disable();
memset(not_done, 0xFF, sizeof(not_done)); memset(not_done, 0xFF, sizeof(not_done));
LCD_MESSAGEPGM("Fine Tuning Mesh"); LCD_MESSAGEPGM("Fine Tuning Mesh");
@ -1371,7 +1415,7 @@
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly); do_blocking_move_to_xy(lx, ly);
do { do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, 0, not_done, false); // The '0' says we want to use the nozzle's position location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done, false);
// It doesn't matter if the probe can not reach this // It doesn't matter if the probe can not reach this
// location. This is a manual edit of the Mesh Point. // 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. if (location.x_index < 0 && location.y_index < 0) continue; // abort if we can't find any more points.
@ -1446,7 +1490,7 @@
KEEPALIVE_STATE(IN_HANDLER); KEEPALIVE_STATE(IN_HANDLER);
if (do_ubl_mesh_map) ubl.display_map(map_type); if (do_ubl_mesh_map) ubl.display_map(map_type);
restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly); do_blocking_move_to_xy(lx, ly);
@ -1455,172 +1499,229 @@
SERIAL_ECHOLNPGM("Done Editing Mesh"); SERIAL_ECHOLNPGM("Done Editing Mesh");
} }
void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) { //
int8_t grid_G_index_to_xpos[grid_size], // UBL MESH X index to be probed // The routine provides the 'Smart Fill' capability. It scans from the
grid_G_index_to_ypos[grid_size], // UBL MESH Y index to be probed // outward edges of the mesh towards the center. If it finds an invalid
i, j ,k, xCount, yCount, xi, yi; // counter variables // location, it uses the next two points (assumming they are valid) to
float z_values_G[grid_size][grid_size]; // calculate a 'reasonable' value for the unprobed mesh point.
//
linear_fit *results; void smart_fill_mesh() {
float f, diff;
for (yi = 0; yi < grid_size; yi++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Bottom of the mesh looking up
for (xi = 0; xi < grid_size; xi++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y-2; y++) {
z_values_G[xi][yi] = NAN; if (isnan(ubl.z_values[x][y])) {
if (isnan(ubl.z_values[x][y+1])) // we only deal with the first NAN next to a block of
uint8_t x_min = GRID_MAX_POINTS_X - 1, continue; // good numbers. we want 2 good numbers to extrapolate off of.
x_max = 0, if (isnan(ubl.z_values[x][y+2]))
y_min = GRID_MAX_POINTS_Y - 1, continue;
y_max = 0; if (ubl.z_values[x][y+1] < ubl.z_values[x][y+2]) // The bed is angled down near this edge. So to be safe, we
ubl.z_values[x][y] = ubl.z_values[x][y+1]; // use the closest value, which is probably a little too high
//find min & max probeable points in the mesh else {
for (xCount = 0; xCount < GRID_MAX_POINTS_X; xCount++) { diff = ubl.z_values[x][y+1] - ubl.z_values[x][y+2]; // The bed is angled up near this edge. So we will use the closest
for (yCount = 0; yCount < GRID_MAX_POINTS_Y; yCount++) { ubl.z_values[x][y] = ubl.z_values[x][y+1] + diff; // height and add in the difference between that and the next point
if (WITHIN(pgm_read_float(&(ubl.mesh_index_to_xpos[xCount])), MIN_PROBE_X, MAX_PROBE_X) &&
WITHIN(pgm_read_float(&(ubl.mesh_index_to_ypos[yCount])), MIN_PROBE_Y, MAX_PROBE_Y)) {
NOMORE(x_min, xCount);
NOLESS(x_max, xCount);
NOMORE(y_min, yCount);
NOLESS(y_max, yCount);
} }
break;
} }
} }
}
if (x_max - x_min + 1 < grid_size || y_max - y_min + 1 < grid_size) { for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Top of the mesh looking down
SERIAL_ECHOPAIR("ERROR - probeable UBL MESH smaller than grid - X points: ", x_max - x_min + 1); for (uint8_t y=GRID_MAX_POINTS_Y-1; y>=1; y--) {
SERIAL_ECHOPAIR(" Y points: ", y_max - y_min + 1); if (isnan(ubl.z_values[x][y])) {
SERIAL_ECHOLNPAIR(" grid: ", grid_size); if (isnan(ubl.z_values[x][y-1])) // we only deal with the first NAN next to a block of
return; continue; // good numbers. we want 2 good numbers to extrapolate off of.
} if (isnan(ubl.z_values[x][y-2]))
continue;
// populate X matrix if (ubl.z_values[x][y-1] < ubl.z_values[x][y-2]) // The bed is angled down near this edge. So to be safe, we
for (xi = 0; xi < grid_size; xi++) { ubl.z_values[x][y] = ubl.z_values[x][y-1]; // use the closest value, which is probably a little too high
grid_G_index_to_xpos[xi] = x_min + xi * (x_max - x_min) / (grid_size - 1); else {
if (xi > 0 && grid_G_index_to_xpos[xi - 1] == grid_G_index_to_xpos[xi]) { diff = ubl.z_values[x][y-1] - ubl.z_values[x][y-2]; // The bed is angled up near this edge. So we will use the closest
grid_G_index_to_xpos[xi] = grid_G_index_to_xpos[xi - 1] + 1; ubl.z_values[x][y] = ubl.z_values[x][y-1] + diff; // height and add in the difference between that and the next point
}
break;
} }
} }
}
// populate Y matrix for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
for (yi = 0; yi < grid_size; yi++) { for (uint8_t x = 0; x < GRID_MAX_POINTS_X-2; x++) { // Left side of the mesh looking right
grid_G_index_to_ypos[yi] = y_min + yi * (y_max - y_min) / (grid_size - 1); if (isnan(ubl.z_values[x][y])) {
if (yi > 0 && grid_G_index_to_ypos[yi - 1] == grid_G_index_to_ypos[yi]) { if (isnan(ubl.z_values[x+1][y])) // we only deal with the first NAN next to a block of
grid_G_index_to_ypos[yi] = grid_G_index_to_ypos[yi - 1] + 1; continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x+2][y]))
continue;
if (ubl.z_values[x+1][y] < ubl.z_values[x+2][y]) // The bed is angled down near this edge. So to be safe, we
ubl.z_values[x][y] = ubl.z_values[x][y+1]; // use the closest value, which is probably a little too high
else {
diff = ubl.z_values[x+1][y] - ubl.z_values[x+2][y]; // The bed is angled up near this edge. So we will use the closest
ubl.z_values[x][y] = ubl.z_values[x+1][y] + diff; // height and add in the difference between that and the next point
}
break;
} }
} }
}
for (uint8_t y=0; y < GRID_MAX_POINTS_Y; y++) {
for (uint8_t x=GRID_MAX_POINTS_X-1; x>=1; x--) { // Right side of the mesh looking left
if (isnan(ubl.z_values[x][y])) {
if (isnan(ubl.z_values[x-1][y])) // we only deal with the first NAN next to a block of
continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x-2][y]))
continue;
if (ubl.z_values[x-1][y] < ubl.z_values[x-2][y]) // The bed is angled down near this edge. So to be safe, we
ubl.z_values[x][y] = ubl.z_values[x-1][y]; // use the closest value, which is probably a little too high
else {
diff = ubl.z_values[x-1][y] - ubl.z_values[x-2][y]; // The bed is angled up near this edge. So we will use the closest
ubl.z_values[x][y] = ubl.z_values[x-1][y] + diff; // height and add in the difference between that and the next point
}
break;
}
}
}
}
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE(); void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
int8_t i, j ,k, xCount, yCount, xi, yi; // counter variables
int8_t ix, iy, zig_zag=0, status;
float dx, dy, x, y, measured_z, inv_z;
struct linear_fit_data lsf_results;
matrix_3x3 rotation;
vector_3 normal;
int16_t x_min = max((MIN_PROBE_X),(UBL_MESH_MIN_X)),
x_max = min((MAX_PROBE_X),(UBL_MESH_MAX_X)),
y_min = max((MIN_PROBE_Y),(UBL_MESH_MIN_Y)),
y_max = min((MAX_PROBE_Y),(UBL_MESH_MAX_Y));
dx = ((float)(x_max-x_min)) / (grid_size-1.0);
dy = ((float)(y_max-y_min)) / (grid_size-1.0);
incremental_LSF_reset(&lsf_results);
for(ix=0; ix<grid_size; ix++) {
x = ((float)x_min) + ix*dx;
for(iy=0; iy<grid_size; iy++) {
if (zig_zag)
y = ((float)y_min) + (grid_size-iy-1)*dy;
else
y = ((float)y_min) + iy*dy;
measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), code_seen('E'), g29_verbose_level);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("(");
SERIAL_PROTOCOL_F( x, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_ECHOPGM("(");
SERIAL_PROTOCOL_F( LOGICAL_X_POSITION(x), 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( LOGICAL_X_POSITION(y), 7);
SERIAL_ECHOPGM(") measured: ");
SERIAL_PROTOCOL_F( measured_z, 7);
SERIAL_ECHOPGM(" correction: ");
SERIAL_PROTOCOL_F( ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)), 7);
}
#endif
measured_z -= ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM(" final >>>---> ");
SERIAL_PROTOCOL_F( measured_z, 7);
SERIAL_ECHOPGM("\n");
}
#endif
incremental_LSF(&lsf_results, x, y, measured_z);
}
zig_zag = !zig_zag;
}
status = finish_incremental_LSF(&lsf_results);
if (g29_verbose_level>3) {
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_CHAR('\n');
}
normal = vector_3( lsf_results.A, lsf_results.B, 1.0000);
normal = normal.get_normal();
if (g29_verbose_level>2) {
SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.y, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7);
SERIAL_ECHOPGM("]\n");
}
rotation = matrix_3x3::create_look_at( vector_3( lsf_results.A, lsf_results.B, 1));
for (i = 0; i < GRID_MAX_POINTS_X; i++) {
for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp, y_tmp, z_tmp;
x_tmp = pgm_read_float(&(ubl.mesh_index_to_xpos[i]));
y_tmp = pgm_read_float(&(ubl.mesh_index_to_ypos[j]));
z_tmp = ubl.z_values[i][j];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("before rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("] ---> ");
safe_delay(20);
}
#endif
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("]\n");
safe_delay(55);
}
// this is a copy of the G29 AUTO_BED_LEVELING_BILINEAR method/code
#undef PROBE_Y_FIRST
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_NUM grid_size
#define PR_INNER_VAR yCount
#define PR_INNER_NUM grid_size
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_NUM grid_size
#define PR_INNER_VAR xCount
#define PR_INNER_NUM grid_size
#endif #endif
bool zig = PR_OUTER_NUM & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION ubl.z_values[i][j] += z_tmp - lsf_results.D;
// Outer loop is Y with PROBE_Y_FIRST disabled
for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
SERIAL_ECHOPAIR("\nPR_OUTER_VAR: ", PR_OUTER_VAR);
if (zig) { // away from origin
inStart = 0;
inStop = PR_INNER_NUM;
inInc = 1;
} }
else { // towards origin
inStart = PR_INNER_NUM - 1;
inStop = -1;
inInc = -1;
} }
zig ^= true; // zag #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
rotation.debug("rotation matrix:");
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_CHAR('\n');
safe_delay(55);
// Inner loop is Y with PROBE_Y_FIRST enabled SERIAL_ECHOPGM("bed plane normal = [");
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) { SERIAL_PROTOCOL_F( normal.x, 7);
//SERIAL_ECHOPAIR("\nPR_INNER_VAR: ", PR_INNER_VAR); SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.y, 7);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 1); SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7);
// end of G29 AUTO_BED_LEVELING_BILINEAR method/code SERIAL_ECHOPGM("]\n");
if (ubl_lcd_clicked()) { SERIAL_CHAR('\n');
//SERIAL_ECHOPAIR("\nCheckpoint: ", 2); }
SERIAL_ECHOLNPGM("\nGrid only partially populated.\n"); #endif
lcd_quick_feedback();
STOW_PROBE();
//SERIAL_ECHOPAIR("\nCheckpoint: ", 3);
while (ubl_lcd_clicked()) idle();
//SERIAL_ECHOPAIR("\nCheckpoint: ", 4);
ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel
return; return;
} }
//SERIAL_ECHOPAIR("\nCheckpoint: ", 5);
const float probeX = pgm_read_float(&(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[xCount]])), //where we want the probe to be
probeY = pgm_read_float(&(ubl.mesh_index_to_ypos[grid_G_index_to_ypos[yCount]]));
//SERIAL_ECHOPAIR("\nCheckpoint: ", 6);
const float measured_z = probe_pt(LOGICAL_X_POSITION(probeX), LOGICAL_Y_POSITION(probeY), code_seen('E'),
(code_seen('V') && code_has_value()) ? code_value_int() : 0); // takes into account the offsets
//SERIAL_ECHOPAIR("\nmeasured_z: ", measured_z);
z_values_G[xCount][yCount] = measured_z;
//SERIAL_ECHOLNPGM("\nFine Tuning of Mesh Stopped.");
}
}
//SERIAL_ECHOLNPGM("\nDone probing...\n");
STOW_PROBE();
restore_ubl_active_state_and_leave();
// ?? ubl.has_control_of_lcd_panel = true;
//do_blocking_move_to_xy(pgm_read_float(&(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[0]])),pgm_read_float(&(ubl.mesh_index_to_ypos[grid_G_index_to_ypos[0]])));
// least squares code
double xxx5[] = { 0,50,100,150,200, 20,70,120,165,195, 0,50,100,150,200, 0,55,100,150,200, 0,65,100,150,205 },
yyy5[] = { 0, 1, 2, 3, 4, 50, 51, 52, 53, 54, 100, 101,102,103,104, 150,151,152,153,154, 200,201,202,203,204 },
zzz5[] = { 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.012,0.01},
xxx0[] = { 0.0, 0.0, 1.0 }, // Expect [0,0,0.1,0]
yyy0[] = { 0.0, 1.0, 0.0 },
zzz0[] = { 0.1, 0.1, 0.1 },
xxx[] = { 0.0, 0.0, 1.0, 1.0 }, // Expect [0.1,0,0.05,0]
yyy[] = { 0.0, 1.0, 0.0, 1.0 },
zzz[] = { 0.05, 0.05, 0.15, 0.15 };
results = lsf_linear_fit(xxx5, yyy5, zzz5, COUNT(xxx5));
SERIAL_ECHOPAIR("\nxxx5->A =", results->A);
SERIAL_ECHOPAIR("\nxxx5->B =", results->B);
SERIAL_ECHOPAIR("\nxxx5->D =", results->D);
SERIAL_EOL;
results = lsf_linear_fit(xxx0, yyy0, zzz0, COUNT(xxx0));
SERIAL_ECHOPAIR("\nxxx0->A =", results->A);
SERIAL_ECHOPAIR("\nxxx0->B =", results->B);
SERIAL_ECHOPAIR("\nxxx0->D =", results->D);
SERIAL_EOL;
results = lsf_linear_fit(xxx, yyy, zzz, COUNT(xxx));
SERIAL_ECHOPAIR("\nxxx->A =", results->A);
SERIAL_ECHOPAIR("\nxxx->B =", results->B);
SERIAL_ECHOPAIR("\nxxx->D =", results->D);
SERIAL_EOL;
} // end of tilt_mesh_based_on_probed_grid()
#endif // AUTO_BED_LEVELING_UBL #endif // AUTO_BED_LEVELING_UBL

1
Marlin/utility.cpp
View file

@ -31,6 +31,7 @@ void safe_delay(millis_t ms) {
thermalManager.manage_heater(); thermalManager.manage_heater();
} }
delay(ms); delay(ms);
thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
} }
#if ENABLED(ULTRA_LCD) #if ENABLED(ULTRA_LCD)