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Merge pull request #6552 from thinkyhead/rc_more_ubl_cleanup

Browse Source 
Further cleanup of UBL
master
Scott Lahteine 8 years ago committed by GitHub
parent 902fe76db9 7ba7474a73
commit 628391304f
13 changed files with 454 additions and 481 deletions
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20
Marlin/G26_Mesh_Validation_Tool.cpp
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@ -258,8 +258,8 @@
: find_closest_circle_to_print(x_pos, y_pos); // Find the closest Mesh Intersection to where we are now. : find_closest_circle_to_print(x_pos, y_pos); // Find the closest Mesh Intersection to where we are now.
if (location.x_index >= 0 && location.y_index >= 0) { if (location.x_index >= 0 && location.y_index >= 0) {
const float circle_x = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])), const float circle_x = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
circle_y = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index])); circle_y = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// Let's do a couple of quick sanity checks. We can pull this code out later if we never see it catch a problem // Let's do a couple of quick sanity checks. We can pull this code out later if we never see it catch a problem
#ifdef DELTA #ifdef DELTA
@ -401,8 +401,8 @@
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++) {
if (!is_bit_set(circle_flags, i, j)) { if (!is_bit_set(circle_flags, i, j)) {
const float mx = pgm_read_float(&(ubl.mesh_index_to_xpos[i])), // We found a circle that needs to be printed const float mx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // We found a circle that needs to be printed
my = pgm_read_float(&(ubl.mesh_index_to_ypos[j])); my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
// Get the distance to this intersection // Get the distance to this intersection
float f = HYPOT(X - mx, Y - my); float f = HYPOT(X - mx, Y - my);
@ -446,11 +446,11 @@
// We found two circles that need a horizontal line to connect them // We found two circles that need a horizontal line to connect them
// Print it! // Print it!
// //
sx = pgm_read_float(&(ubl.mesh_index_to_xpos[ i ])) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge sx = pgm_read_float(&ubl.mesh_index_to_xpos[ i ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
ex = pgm_read_float(&(ubl.mesh_index_to_xpos[i + 1])) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge ex = pgm_read_float(&ubl.mesh_index_to_xpos[i + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1); sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
sy = ey = constrain(pgm_read_float(&(ubl.mesh_index_to_ypos[j])), Y_MIN_POS + 1, Y_MAX_POS - 1); sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1); ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
if (ubl.g26_debug_flag) { if (ubl.g26_debug_flag) {
@ -477,10 +477,10 @@
// We found two circles that need a vertical line to connect them // We found two circles that need a vertical line to connect them
// Print it! // Print it!
// //
sy = pgm_read_float(&(ubl.mesh_index_to_ypos[ j ])) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge sy = pgm_read_float(&ubl.mesh_index_to_ypos[ j ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
ey = pgm_read_float(&(ubl.mesh_index_to_ypos[j + 1])) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge ey = pgm_read_float(&ubl.mesh_index_to_ypos[j + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
sx = ex = constrain(pgm_read_float(&(ubl.mesh_index_to_xpos[i])), X_MIN_POS + 1, X_MAX_POS - 1); sx = ex = constrain(pgm_read_float(&ubl.mesh_index_to_xpos[i]), X_MIN_POS + 1, X_MAX_POS - 1);
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1); sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1); ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);

14
Marlin/Marlin_main.cpp
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@ -4919,7 +4919,7 @@ void home_all_axes() { gcode_G28(); }
// For LINEAR and 3POINT leveling correct the current position // For LINEAR and 3POINT leveling correct the current position
if (verbose_level > 0) if (verbose_level > 0)
planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:"); planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
if (!dryrun) { if (!dryrun) {
// //
@ -6965,7 +6965,7 @@ inline void gcode_M111() {
for (uint8_t i = 0; i < COUNT(debug_strings); i++) { for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
if (TEST(marlin_debug_flags, i)) { if (TEST(marlin_debug_flags, i)) {
if (comma++) SERIAL_CHAR(','); if (comma++) SERIAL_CHAR(',');
serialprintPGM((char*)pgm_read_word(&(debug_strings[i]))); serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
} }
} }
} }
@ -8360,7 +8360,7 @@ void quickstop_stepper() {
// V to print the matrix or mesh // V to print the matrix or mesh
if (code_seen('V')) { if (code_seen('V')) {
#if ABL_PLANAR #if ABL_PLANAR
planner.bed_level_matrix.debug("Bed Level Correction Matrix:"); planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (bilinear_grid_spacing[X_AXIS]) { if (bilinear_grid_spacing[X_AXIS]) {
print_bilinear_leveling_grid(); print_bilinear_leveling_grid();
@ -9545,16 +9545,16 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
tmp_offset_vec.debug("tmp_offset_vec"); tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
act_offset_vec.debug("act_offset_vec"); act_offset_vec.debug(PSTR("act_offset_vec"));
offset_vec.debug("offset_vec (BEFORE)"); offset_vec.debug(PSTR("offset_vec (BEFORE)"));
} }
#endif #endif
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix)); offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)"); if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
#endif #endif
// Adjustments to the current position // Adjustments to the current position

12
Marlin/least_squares_fit.cpp
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@ -66,12 +66,12 @@ int finish_incremental_LSF(struct linear_fit_data *lsf) {
lsf->xbar /= N; lsf->xbar /= N;
lsf->ybar /= N; lsf->ybar /= N;
lsf->zbar /= N; lsf->zbar /= N;
lsf->x2bar = lsf->x2bar / N - lsf->xbar * lsf->xbar; lsf->x2bar = lsf->x2bar / N - sq(lsf->xbar);
lsf->y2bar = lsf->y2bar / N - lsf->ybar * lsf->ybar; lsf->y2bar = lsf->y2bar / N - sq(lsf->ybar);
lsf->z2bar = lsf->z2bar / N - lsf->zbar * lsf->zbar; lsf->z2bar = lsf->z2bar / N - sq(lsf->zbar);
lsf->xybar = lsf->xybar / N - lsf->xbar * lsf->ybar; lsf->xybar = lsf->xybar / N - sq(lsf->xbar);
lsf->yzbar = lsf->yzbar / N - lsf->ybar * lsf->zbar; lsf->yzbar = lsf->yzbar / N - sq(lsf->ybar);
lsf->xzbar = lsf->xzbar / N - lsf->xbar * lsf->zbar; lsf->xzbar = lsf->xzbar / N - sq(lsf->xbar);
const float DD = lsf->x2bar * lsf->y2bar - sq(lsf->xybar); const float DD = lsf->x2bar * lsf->y2bar - sq(lsf->xybar);
if (fabs(DD) <= 1e-10 * (lsf->max_absx + lsf->max_absy)) if (fabs(DD) <= 1e-10 * (lsf->max_absx + lsf->max_absy))

816
Marlin/ubl_G29.cpp
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@ -31,10 +31,14 @@
#include "hex_print_routines.h" #include "hex_print_routines.h"
#include "configuration_store.h" #include "configuration_store.h"
#include "ultralcd.h" #include "ultralcd.h"
#include "stepper.h"
#include <math.h> #include <math.h>
#include "least_squares_fit.h" #include "least_squares_fit.h"
extern float destination[XYZE];
extern float current_position[XYZE];
void lcd_return_to_status(); void lcd_return_to_status();
bool lcd_clicked(); bool lcd_clicked();
void lcd_implementation_clear(); void lcd_implementation_clear();
@ -317,6 +321,7 @@
void __attribute__((optimize("O0"))) gcode_G29() { void __attribute__((optimize("O0"))) gcode_G29() {
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");
@ -347,7 +352,6 @@
} }
if (code_seen('Q')) { if (code_seen('Q')) {
const int test_pattern = code_has_value() ? code_value_int() : -1; const int test_pattern = code_has_value() ? code_value_int() : -1;
if (!WITHIN(test_pattern, 0, 2)) { if (!WITHIN(test_pattern, 0, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n"); SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n");
@ -428,15 +432,16 @@
// //
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n"); SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (!x_flag && !y_flag) { // use a good default location for the path if (!x_flag && !y_flag) {
// The flipped > and < operators on these two comparisons is /**
// intentional. It should cause the probed points to follow a * Use a good default location for the path.
// nice path on Cartesian printers. It may make sense to * The flipped > and < operators in these comparisons is intentional.
// have Delta printers default to the center of the bed. * It should cause the probed points to follow a nice path on Cartesian printers.
// For now, until that is decided, it can be forced with the X * It may make sense to have Delta printers default to the center of the bed.
// and Y parameters. * Until that is decided, this can be forced with the X and Y parameters.
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS; */
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS; x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? UBL_MESH_MAX_X : UBL_MESH_MIN_X;
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? UBL_MESH_MAX_Y : UBL_MESH_MIN_Y;
} }
if (code_seen('C')) { if (code_seen('C')) {
@ -455,27 +460,29 @@
} }
} }
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M')); manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M'));
SERIAL_PROTOCOLLNPGM("G29 P2 finished");
} break; } break;
case 3: { case 3: {
// /**
// Populate invalid Mesh areas. Two choices are available to the user. The user can * Populate invalid mesh areas. Proceed with caution.
// specify the constant to be used with a C # paramter. Or the user can allow the G29 P3 command to * Two choices are available:
// apply a 'reasonable' constant to the invalid mesh point. Some caution and scrutiny should be used * - Specify a constant with the 'C' parameter.
// on either of these paths! * - Allow 'G29 P3' to choose a 'reasonable' constant.
// */
if (c_flag) { if (c_flag) {
while (repetition_cnt--) { while (repetition_cnt--) {
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false); 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] = ubl_constant; ubl.z_values[location.x_index][location.y_index] = ubl_constant;
} }
break; 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;
} }
else
smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
} break;
case 4: case 4:
// //
@ -483,55 +490,19 @@
// //
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:
ubl.find_mean_mesh_height();
break;
case 6:
ubl.shift_mesh_height();
break;
case 10: case 5: ubl.find_mean_mesh_height(); break;
// [DEBUG] Pay no attention to this stuff. It can be removed soon.
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
while (!ubl_lcd_clicked()) {
safe_delay(250);
if (ubl.encoder_diff) {
SERIAL_ECHOLN((int)ubl.encoder_diff);
ubl.encoder_diff = 0;
}
}
SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
break;
case 11: case 6: ubl.shift_mesh_height(); break;
// [DEBUG] wait_for_user code. Pay no attention to this stuff. It can be removed soon.
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
while (wait_for_user) {
safe_delay(250);
if (ubl.encoder_diff) {
SERIAL_ECHOLN((int)ubl.encoder_diff);
ubl.encoder_diff = 0;
}
}
SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
KEEPALIVE_STATE(IN_HANDLER);
break;
} }
} }
if (code_seen('T')) { if (code_seen('T')) {
float z1 = probe_pt( LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y), false, 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( LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, 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( LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, 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)
@ -541,7 +512,7 @@
z2 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ; 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 */ ; 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(0.5 * (UBL_MESH_MAX_X - (UBL_MESH_MIN_X)), 0.5 * (UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)));
ubl.tilt_mesh_based_on_3pts(z1, z2, z3); ubl.tilt_mesh_based_on_3pts(z1, z2, z3);
ubl.restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
} }
@ -600,8 +571,8 @@
SERIAL_ECHOPAIR(" J ", y); SERIAL_ECHOPAIR(" J ", y);
SERIAL_ECHOPGM(" Z "); SERIAL_ECHOPGM(" Z ");
SERIAL_ECHO_F(ubl.z_values[x][y], 6); SERIAL_ECHO_F(ubl.z_values[x][y], 6);
SERIAL_ECHOPAIR(" ; X ", LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[x])))); SERIAL_ECHOPAIR(" ; X ", LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[x])));
SERIAL_ECHOPAIR(", Y ", LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[y])))); SERIAL_ECHOPAIR(", Y ", LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[y])));
SERIAL_EOL; SERIAL_EOL;
} }
return; return;
@ -647,9 +618,9 @@
} while (!ubl_lcd_clicked()); } while (!ubl_lcd_clicked());
ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked. ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
// or here. So, until we are done looking for a long Encoder Wheel Press, // or here. So, until we are done looking for a long Encoder Wheel Press,
// we need to take control of the panel // we need to take control of the panel
KEEPALIVE_STATE(IN_HANDLER); KEEPALIVE_STATE(IN_HANDLER);
@ -686,44 +657,39 @@
} }
void unified_bed_leveling::find_mean_mesh_height() { void unified_bed_leveling::find_mean_mesh_height() {
uint8_t x, y; float sum = 0.0;
int n; int n = 0;
float sum, sum_of_diff_squared, sigma, difference, mean; for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
sum = sum_of_diff_squared = 0.0;
n = 0;
for (x = 0; x < GRID_MAX_POINTS_X; x++)
for (y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) { if (!isnan(ubl.z_values[x][y])) {
sum += ubl.z_values[x][y]; sum += ubl.z_values[x][y];
n++; n++;
} }
mean = sum / n; const float mean = sum / n;
// //
// Now do the sumation of the squares of difference from mean // Now do the sumation of the squares of difference from mean
// //
for (x = 0; x < GRID_MAX_POINTS_X; x++) float sum_of_diff_squared = 0.0;
for (y = 0; y < GRID_MAX_POINTS_Y; y++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
if (!isnan(ubl.z_values[x][y])) { for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
difference = (ubl.z_values[x][y] - mean); if (!isnan(ubl.z_values[x][y]))
sum_of_diff_squared += difference * difference; sum_of_diff_squared += sq(ubl.z_values[x][y] - mean);
}
SERIAL_ECHOLNPAIR("# of samples: ", n); SERIAL_ECHOLNPAIR("# of samples: ", n);
SERIAL_ECHOPGM("Mean Mesh Height: "); SERIAL_ECHOPGM("Mean Mesh Height: ");
SERIAL_ECHO_F(mean, 6); SERIAL_ECHO_F(mean, 6);
SERIAL_EOL; SERIAL_EOL;
sigma = sqrt(sum_of_diff_squared / (n + 1)); const float sigma = sqrt(sum_of_diff_squared / (n + 1));
SERIAL_ECHOPGM("Standard Deviation: "); SERIAL_ECHOPGM("Standard Deviation: ");
SERIAL_ECHO_F(sigma, 6); SERIAL_ECHO_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL;
if (c_flag) if (c_flag)
for (x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (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]))
ubl.z_values[x][y] -= mean + ubl_constant; ubl.z_values[x][y] -= mean + ubl_constant;
} }
@ -761,8 +727,8 @@
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, do_furthest); 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]),
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index])); rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility) // TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y)) { if (!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y)) {
@ -785,13 +751,12 @@
ubl.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), UBL_MESH_MIN_X, UBL_MESH_MAX_X),
constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), Y_MIN_POS, Y_MAX_POS) constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)
); );
} }
void unified_bed_leveling::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 d, t, inv_z;
int i, j; int i, j;
matrix_3x3 rotation; matrix_3x3 rotation;
@ -812,94 +777,96 @@
* 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
*/ */
if ( normal.z < 0.0 ) { if (normal.z < 0.0) {
normal.x = -normal.x; normal.x = -normal.x;
normal.y = -normal.y; normal.y = -normal.y;
normal.z = -normal.z; normal.z = -normal.z;
} }
rotation = matrix_3x3::create_look_at( vector_3( normal.x, normal.y, 1)); rotation = matrix_3x3::create_look_at(vector_3(normal.x, normal.y, 1));
if (g29_verbose_level>2) { if (g29_verbose_level > 2) {
SERIAL_ECHOPGM("bed plane normal = ["); SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7); SERIAL_PROTOCOL_F(normal.x, 7);
SERIAL_ECHOPGM(","); SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F( normal.y, 7); SERIAL_PROTOCOL_F(normal.y, 7);
SERIAL_ECHOPGM(","); SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F( normal.z, 7); SERIAL_PROTOCOL_F(normal.z, 7);
SERIAL_ECHOPGM("]\n"); SERIAL_ECHOLNPGM("]");
rotation.debug("rotation matrix:"); rotation.debug(PSTR("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_PROBE_PT_1_X + normal.y * UBL_PROBE_PT_1_Y; float 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;
if (g29_verbose_level>2) { if (g29_verbose_level>2) {
SERIAL_ECHOPGM("D constant: "); SERIAL_ECHOPGM("D constant: ");
SERIAL_PROTOCOL_F( d, 7); SERIAL_PROTOCOL_F(d, 7);
SERIAL_ECHOPGM(" \n"); SERIAL_ECHOLNPGM(" ");
} }
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { 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_EOL; SERIAL_EOL;
t = normal.x * UBL_PROBE_PT_2_X + normal.y * UBL_PROBE_PT_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;
SERIAL_ECHOPGM("d from 2nd point: "); SERIAL_ECHOPGM("d from 2nd point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_EOL; SERIAL_EOL;
t = normal.x * UBL_PROBE_PT_3_X + normal.y * UBL_PROBE_PT_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;
SERIAL_ECHOPGM("d from 3rd point: "); SERIAL_ECHOPGM("d from 3rd point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_EOL; SERIAL_EOL;
} }
#endif #endif
for (i = 0; i < GRID_MAX_POINTS_X; i++) { for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (j = 0; j < GRID_MAX_POINTS_Y; j++) { for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp, y_tmp, z_tmp; float x_tmp = pgm_read_float(&ubl.mesh_index_to_xpos[i]),
x_tmp = pgm_read_float(ubl.mesh_index_to_xpos[i]); y_tmp = pgm_read_float(&ubl.mesh_index_to_ypos[j]),
y_tmp = pgm_read_float(ubl.mesh_index_to_ypos[j]); z_tmp = ubl.z_values[i][j];
z_tmp = ubl.z_values[i][j]; #if ENABLED(DEBUG_LEVELING_FEATURE)
#if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) {
if (DEBUGGING(LEVELING)) { SERIAL_ECHOPGM("before rotation = [");
SERIAL_ECHOPGM("before rotation = ["); SERIAL_PROTOCOL_F(x_tmp, 7);
SERIAL_PROTOCOL_F( x_tmp, 7); SERIAL_PROTOCOLCHAR(',');
SERIAL_ECHOPGM(","); SERIAL_PROTOCOL_F(y_tmp, 7);
SERIAL_PROTOCOL_F( y_tmp, 7); SERIAL_PROTOCOLCHAR(',');
SERIAL_ECHOPGM(","); SERIAL_PROTOCOL_F(z_tmp, 7);
SERIAL_PROTOCOL_F( z_tmp, 7); SERIAL_ECHOPGM("] ---> ");
SERIAL_ECHOPGM("] ---> "); safe_delay(20);
safe_delay(20); }
#endif
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F(x_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(y_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(z_tmp, 7);
SERIAL_ECHOLNPGM("]");
safe_delay(55);
}
#endif
ubl.z_values[i][j] += z_tmp - d;
} }
#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);
}
#endif
ubl.z_values[i][j] += z_tmp - d;
}
} }
return;
} }
float use_encoder_wheel_to_measure_point() { float use_encoder_wheel_to_measure_point() {
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
delay(50); // debounce
KEEPALIVE_STATE(PAUSED_FOR_USER); KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here! while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle(); idle();
@ -912,21 +879,29 @@
return current_position[Z_AXIS]; return current_position[Z_AXIS];
} }
float measure_business_card_thickness(const float &in_height) { static void say_and_take_a_measurement() {
SERIAL_PROTOCOLLNPGM(" and take a measurement.");
}
float measure_business_card_thickness(const float &in_height) {
ubl.has_control_of_lcd_panel = true; ubl.has_control_of_lcd_panel = true;
ubl.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(); // Disable bed level correction for probing
SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement.");
do_blocking_move_to_z(in_height); do_blocking_move_to_z(in_height);
do_blocking_move_to_xy((float(X_MAX_POS) - float(X_MIN_POS)) / 2.0, (float(Y_MAX_POS) - float(Y_MIN_POS)) / 2.0); do_blocking_move_to_xy(0.5 * (UBL_MESH_MAX_X - (UBL_MESH_MIN_X)), 0.5 * (UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)));
//, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])/2.0); //, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) / 2.0);
stepper.synchronize();
SERIAL_PROTOCOLPGM("Place shim under nozzle");
say_and_take_a_measurement();
const float z1 = use_encoder_wheel_to_measure_point(); const float z1 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE); do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
ubl.has_control_of_lcd_panel = false; stepper.synchronize();
SERIAL_PROTOCOLPGM("Remove shim");
say_and_take_a_measurement();
SERIAL_PROTOCOLLNPGM("Remove Shim and Measure Bed Height.");
const float z2 = use_encoder_wheel_to_measure_point(); const float z2 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE); do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
@ -935,6 +910,8 @@
SERIAL_PROTOCOL_F(abs(z1 - z2), 6); SERIAL_PROTOCOL_F(abs(z1 - z2), 6);
SERIAL_PROTOCOLLNPGM("mm thick."); SERIAL_PROTOCOLLNPGM("mm thick.");
} }
ubl.has_control_of_lcd_panel = false;
ubl.restore_ubl_active_state_and_leave(); ubl.restore_ubl_active_state_and_leave();
return abs(z1 - z2); return abs(z1 - z2);
} }
@ -953,11 +930,11 @@
// 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;
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]),
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index])); rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility) // TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) { if (!WITHIN(rawx, UBL_MESH_MIN_X, UBL_MESH_MAX_X) || !WITHIN(rawy, UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed."); SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false; ubl.has_control_of_lcd_panel = false;
@ -984,7 +961,9 @@
if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here! while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
delay(50); // debounce
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle(); idle();
if (ubl.encoder_diff) { if (ubl.encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl.encoder_diff) / 100.0); do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl.encoder_diff) / 100.0);
@ -1024,17 +1003,28 @@
do_blocking_move_to_xy(lx, ly); do_blocking_move_to_xy(lx, ly);
} }
static void say_ubl_name() {
SERIAL_PROTOCOLPGM("Unified Bed Leveling ");
}
static void report_ubl_state() {
say_ubl_name();
SERIAL_PROTOCOLPGM("System ");
if (!ubl.state.active) SERIAL_PROTOCOLPGM("de");
SERIAL_PROTOCOLLNPGM("activated.\n");
}
bool g29_parameter_parsing() { bool g29_parameter_parsing() {
bool err_flag = false; bool err_flag = false;
LCD_MESSAGEPGM("Doing G29 UBL!"); LCD_MESSAGEPGM("Doing G29 UBL!");
lcd_quick_feedback();
ubl_constant = 0.0; ubl_constant = 0.0;
repetition_cnt = 0; repetition_cnt = 0;
lcd_quick_feedback();
x_flag = code_seen('X') && code_has_value(); x_flag = code_seen('X') && code_has_value();
x_pos = x_flag ? code_value_float() : current_position[X_AXIS]; x_pos = x_flag ? code_value_float() : current_position[X_AXIS];
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];
@ -1042,14 +1032,14 @@
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);
if (repetition_cnt < 1) { if (repetition_cnt < 1) {
SERIAL_PROTOCOLLNPGM("Invalid Repetition count.\n"); SERIAL_PROTOCOLLNPGM("?(R)epetition count invalid (1+).\n");
return UBL_ERR; return UBL_ERR;
} }
} }
g29_verbose_level = code_seen('V') ? code_value_int() : 0; g29_verbose_level = code_seen('V') ? code_value_int() : 0;
if (!WITHIN(g29_verbose_level, 0, 4)) { if (!WITHIN(g29_verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("Invalid Verbose Level specified. (0-4)\n"); SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4)\n");
err_flag = true; err_flag = true;
} }
@ -1066,44 +1056,47 @@
err_flag = true; err_flag = true;
} }
if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) { if (!WITHIN(RAW_X_POSITION(x_pos), UBL_MESH_MIN_X, UBL_MESH_MAX_X)) {
SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n"); SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n");
err_flag = true; err_flag = true;
} }
if (!WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS)) { if (!WITHIN(RAW_Y_POSITION(y_pos), UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) {
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n"); SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
err_flag = true; err_flag = true;
} }
if (err_flag) return UBL_ERR; if (err_flag) return UBL_ERR;
if (code_seen('A')) { // Activate the Unified Bed Leveling System // Activate or deactivate UBL
if (code_seen('A')) {
if (code_seen('D')) {
SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
return UBL_ERR;
}
ubl.state.active = 1; ubl.state.active = 1;
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n"); report_ubl_state();
} }
else if (code_seen('D')) {
c_flag = code_seen('C');
if (c_flag)
ubl_constant = code_value_float();
if (code_seen('D')) { // Disable the Unified Bed Leveling System
ubl.state.active = 0; ubl.state.active = 0;
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System de-activated.\n"); report_ubl_state();
} }
// Set global 'C' flag and its value
if ((c_flag = code_seen('C')))
ubl_constant = code_value_float();
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('F') && code_has_value()) { if (code_seen('F') && code_has_value()) {
const float fh = code_value_float(); const float fh = code_value_float();
if (!WITHIN(fh, 0.0, 100.0)) { if (!WITHIN(fh, 0.0, 100.0)) {
SERIAL_PROTOCOLLNPGM("?Bed Level Correction Fade Height Not Plausible.\n"); SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
return UBL_ERR; return UBL_ERR;
} }
set_z_fade_height(fh); set_z_fade_height(fh);
} }
#endif #endif
map_type = code_seen('O') && code_has_value() ? code_value_int() : 0; map_type = code_seen('O') && code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) { if (!WITHIN(map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n"); SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
@ -1125,7 +1118,7 @@
* This function goes away after G29 debug is complete. But for right now, it is a handy * This function goes away after G29 debug is complete. But for right now, it is a handy
* routine to dump binary data structures. * routine to dump binary data structures.
*/ */
/* /*
void dump(char * const str, const float &f) { void dump(char * const str, const float &f) {
char *ptr; char *ptr;
@ -1143,7 +1136,7 @@
SERIAL_EOL; SERIAL_EOL;
} }
*/ //*/
static int ubl_state_at_invocation = 0, static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0; ubl_state_recursion_chk = 0;
@ -1170,7 +1163,6 @@
ubl.state.active = ubl_state_at_invocation; ubl.state.active = ubl_state_at_invocation;
} }
/** /**
* Much of the 'What?' command can be eliminated. But until we are fully debugged, it is * Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
* good to have the extra information. Soon... we prune this to just a few items * good to have the extra information. Soon... we prune this to just a few items
@ -1178,7 +1170,8 @@
void g29_what_command() { void g29_what_command() {
const uint16_t k = E2END - ubl.eeprom_start; const uint16_t k = E2END - ubl.eeprom_start;
SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version " UBL_VERSION " "); say_ubl_name();
SERIAL_PROTOCOLPGM("System Version " UBL_VERSION " ");
if (ubl.state.active) if (ubl.state.active)
SERIAL_PROTOCOLCHAR('A'); SERIAL_PROTOCOLCHAR('A');
else else
@ -1209,11 +1202,11 @@
SERIAL_EOL; SERIAL_EOL;
safe_delay(25); safe_delay(25);
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=0x", hex_word(ubl.eeprom_start)); SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=", hex_address((void*)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++) {
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[i]))), 1); SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[i])), 1);
SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOLPGM(" ");
safe_delay(50); safe_delay(50);
} }
@ -1221,7 +1214,7 @@
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: "); SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) { for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[i]))), 1); SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[i])), 1);
SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOLPGM(" ");
safe_delay(50); safe_delay(50);
} }
@ -1275,8 +1268,10 @@
SERIAL_EOL; SERIAL_EOL;
safe_delay(50); safe_delay(50);
if (!ubl.sanity_check()) if (!ubl.sanity_check()) {
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling sanity checks passed."); say_ubl_name();
SERIAL_PROTOCOLLNPGM("sanity checks passed.");
}
} }
/** /**
@ -1336,18 +1331,18 @@
ubl.z_values[x][y] -= tmp_z_values[x][y]; ubl.z_values[x][y] -= tmp_z_values[x][y];
} }
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], bool far_flag) { 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], const bool far_flag) {
float distance, closest = far_flag ? -99999.99 : 99999.99; mesh_index_pair out_mesh;
mesh_index_pair return_val; out_mesh.x_index = out_mesh.y_index = -1;
return_val.x_index = return_val.y_index = -1;
const float current_x = current_position[X_AXIS], const float current_x = current_position[X_AXIS],
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==USE_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==USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0); py = ly - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
float closest = far_flag ? -99999.99 : 99999.99;
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++) {
@ -1359,13 +1354,13 @@
// We only get here if we found a Mesh Point of the specified type // We only get here if we found a Mesh Point of the specified type
const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[i])), // Check if we can probe this mesh location const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // Check if we can probe this mesh location
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[j])); rawy = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
// 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==USE_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;
@ -1375,30 +1370,38 @@
const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location
my = LOGICAL_Y_POSITION(rawy); my = LOGICAL_Y_POSITION(rawy);
distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1; float distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1;
if (far_flag) { // If doing the far_flag action, we want to be as far as possible /**
for (uint8_t k = 0; k < GRID_MAX_POINTS_X; k++) { // from the starting point and from any other probed points. We * If doing the far_flag action, we want to be as far as possible
for (uint8_t l = 0; l < GRID_MAX_POINTS_Y; l++) { // want the next point spread out and filling in any blank spaces * from the starting point and from any other probed points. We
if (!isnan(ubl.z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed * want the next point spread out and filling in any blank spaces
distance += sq(i - k) * (MESH_X_DIST) * .05 // point we can find. * in the mesh. So we add in some of the distance to every probed
* point we can find.
*/
if (far_flag) {
for (uint8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
for (uint8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
if (!isnan(ubl.z_values[k][l])) {
distance += sq(i - k) * (MESH_X_DIST) * .05
+ sq(j - l) * (MESH_Y_DIST) * .05; + sq(j - l) * (MESH_Y_DIST) * .05;
} }
} }
} }
} }
if (far_flag == (distance > closest) && distance != closest) { // if far_flag, look for farthest point // if far_flag, look for farthest point
if (far_flag == (distance > closest) && distance != closest) {
closest = distance; // We found a closer/farther location with closest = distance; // We found a closer/farther location with
return_val.x_index = i; // the specified type of mesh value. out_mesh.x_index = i; // the specified type of mesh value.
return_val.y_index = j; out_mesh.y_index = j;
return_val.distance = closest; out_mesh.distance = closest;
} }
} }
} // for j } // for j
} // for i } // for i
return return_val; return out_mesh;
} }
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) { void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
@ -1418,50 +1421,55 @@
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, USE_NOZZLE_AS_REFERENCE, not_done, false); 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't 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.
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a 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 // different location the next time through the loop
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]),
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index])); rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility) // TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) { // In theory, we don't need this check. if (!WITHIN(rawx, UBL_MESH_MIN_X, UBL_MESH_MAX_X) || !WITHIN(rawy, UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) { // In theory, we don't need this check.
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to edit off the bed."); // This really can't happen, but do the check for now SERIAL_ERRORLNPGM("Attempt to edit off the bed."); // This really can't happen, but do the check for now
ubl.has_control_of_lcd_panel = false; ubl.has_control_of_lcd_panel = false;
goto FINE_TUNE_EXIT; goto FINE_TUNE_EXIT;
} }
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit
do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
float new_z = ubl.z_values[location.x_index][location.y_index]; float new_z = ubl.z_values[location.x_index][location.y_index];
round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the if (!isnan(new_z)) { //can't fine tune a point that hasn't been probed
new_z = float(round_off) / 1000.0;
KEEPALIVE_STATE(PAUSED_FOR_USER); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit
ubl.has_control_of_lcd_panel = true; do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the
new_z = float(round_off) / 1000.0;
lcd_implementation_clear(); KEEPALIVE_STATE(PAUSED_FOR_USER);
lcd_mesh_edit_setup(new_z); ubl.has_control_of_lcd_panel = true;
do { if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted
new_z = lcd_mesh_edit();
idle(); lcd_implementation_clear();
} while (!ubl_lcd_clicked());
lcd_mesh_edit_setup(new_z);
do {
new_z = lcd_mesh_edit();
idle();
} while (!ubl_lcd_clicked());
lcd_return_to_status(); lcd_return_to_status();
ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked. // There is a race condition for the Encoder Wheel getting clicked.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
// or here. // or here.
ubl.has_control_of_lcd_panel = true;
}
const millis_t nxt = millis() + 1500UL; const millis_t nxt = millis() + 1500UL;
while (ubl_lcd_clicked()) { // debounce and watch for abort while (ubl_lcd_clicked()) { // debounce and watch for abort
@ -1501,229 +1509,193 @@
SERIAL_ECHOLNPGM("Done Editing Mesh"); SERIAL_ECHOLNPGM("Done Editing Mesh");
} }
// /**
// The routine provides the 'Smart Fill' capability. It scans from the * 'Smart Fill': Scan from the outward edges of the mesh towards the center.
// outward edges of the mesh towards the center. If it finds an invalid * If an invalid location is found, use the next two points (if valid) to
// location, it uses the next two points (assumming they are valid) to * calculate a 'reasonable' value for the unprobed mesh point.
// calculate a 'reasonable' value for the unprobed mesh point. */
//
void smart_fill_mesh() { bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
float f, diff; const int8_t x1 = x + xdir, x2 = x1 + xdir,
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Bottom of the mesh looking up y1 = y + ydir, y2 = y1 + ydir;
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y-2; y++) { // A NAN next to a pair of real values?
if (isnan(ubl.z_values[x][y])) { if (isnan(ubl.z_values[x][y]) && !isnan(ubl.z_values[x1][y1]) && !isnan(ubl.z_values[x2][y2])) {
if (isnan(ubl.z_values[x][y+1])) // we only deal with the first NAN next to a block of if (ubl.z_values[x1][y1] < ubl.z_values[x2][y2]) // Angled downward?
continue; // good numbers. we want 2 good numbers to extrapolate off of. ubl.z_values[x][y] = ubl.z_values[x1][y1]; // Use nearest (maybe a little too high.)
if (isnan(ubl.z_values[x][y+2])) else {
continue; const float diff = ubl.z_values[x1][y1] - ubl.z_values[x2][y2]; // Angled upward
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[x1][y1] + diff; // Use closest plus difference
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][y+1] - ubl.z_values[x][y+2]; // The bed is angled up near this edge. So we will use the closest
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;
}
}
}
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Top of the mesh looking down
for (uint8_t y=GRID_MAX_POINTS_Y-1; y>=1; y--) {
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
continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x][y-2]))
continue;
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
else {
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
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;
}
} }
return true;
} }
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { return false;
for (uint8_t x = 0; x < GRID_MAX_POINTS_X-2; x++) { // Left side of the mesh looking right }
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 typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x+2][y])) void smart_fill_loop(const smart_fill_info &f) {
continue; if (f.yfirst) {
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 const int8_t dir = f.ex > f.sx ? 1 : -1;
ubl.z_values[x][y] = ubl.z_values[x][y+1]; // use the closest value, which is probably a little too high for (uint8_t y = f.sy; y != f.ey; ++y)
else { for (uint8_t x = f.sx; x != f.ex; x += dir)
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 if (smart_fill_one(x, y, dir, 0)) break;
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++) { else {
for (uint8_t x=GRID_MAX_POINTS_X-1; x>=1; x--) { // Right side of the mesh looking left const int8_t dir = f.ey > f.sy ? 1 : -1;
if (isnan(ubl.z_values[x][y])) { for (uint8_t x = f.sx; x != f.ex; ++x)
if (isnan(ubl.z_values[x-1][y])) // we only deal with the first NAN next to a block of for (uint8_t y = f.sy; y != f.ey; y += dir)
continue; // good numbers. we want 2 good numbers to extrapolate off of. if (smart_fill_one(x, y, 0, dir)) break;
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;
}
}
} }
} }
void smart_fill_mesh() {
const smart_fill_info info[] = {
{ 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up
{ 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down
{ 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right
{ GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true } // Right side of the mesh looking left
};
for (uint8_t i = 0; i < COUNT(info); ++i) smart_fill_loop(info[i]);
}
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) { 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 constexpr int16_t x_min = max(MIN_PROBE_X, UBL_MESH_MIN_X),
int8_t ix, iy, zig_zag=0, status; 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);
const float dx = float(x_max - x_min) / (grid_size - 1.0),
dy = float(y_max - y_min) / (grid_size - 1.0);
float dx, dy, x, y, measured_z, inv_z;
struct linear_fit_data lsf_results; struct linear_fit_data lsf_results;
matrix_3x3 rotation; incremental_LSF_reset(&lsf_results);
vector_3 normal;
int16_t x_min = max((MIN_PROBE_X),(UBL_MESH_MIN_X)), bool zig_zag = false;
x_max = min((MAX_PROBE_X),(UBL_MESH_MAX_X)), for (uint8_t ix = 0; ix < grid_size; ix++) {
y_min = max((MIN_PROBE_Y),(UBL_MESH_MIN_Y)), const float x = float(x_min) + ix * dx;
y_max = min((MAX_PROBE_Y),(UBL_MESH_MAX_Y)); for (int8_t iy = 0; iy < grid_size; iy++) {
const float y = float(y_min) + dy * (zig_zag ? grid_size - 1 - iy : iy);
float 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_CHAR('(');
SERIAL_PROTOCOL_F(x, 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(y, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(x), 7);
SERIAL_CHAR(',');
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
dx = ((float)(x_max-x_min)) / (grid_size-1.0); measured_z -= ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
dy = ((float)(y_max-y_min)) / (grid_size-1.0);
incremental_LSF_reset(&lsf_results); #if ENABLED(DEBUG_LEVELING_FEATURE)
for(ix=0; ix<grid_size; ix++) { if (DEBUGGING(LEVELING)) {
x = ((float)x_min) + ix*dx; SERIAL_ECHOPGM(" final >>>---> ");
for(iy=0; iy<grid_size; iy++) { SERIAL_PROTOCOL_F(measured_z, 7);
if (zig_zag) SERIAL_EOL;
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 #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; incremental_LSF(&lsf_results, x, y, measured_z);
} }
status = finish_incremental_LSF(&lsf_results); zig_zag ^= true;
if (g29_verbose_level>3) { }
const int status = finish_incremental_LSF(&lsf_results);
if (g29_verbose_level > 3) {
SERIAL_ECHOPGM("LSF Results A="); SERIAL_ECHOPGM("LSF Results A=");
SERIAL_PROTOCOL_F( lsf_results.A, 7); SERIAL_PROTOCOL_F(lsf_results.A, 7);
SERIAL_ECHOPGM(" B="); SERIAL_ECHOPGM(" B=");
SERIAL_PROTOCOL_F( lsf_results.B, 7); SERIAL_PROTOCOL_F(lsf_results.B, 7);
SERIAL_ECHOPGM(" D="); SERIAL_ECHOPGM(" D=");
SERIAL_PROTOCOL_F( lsf_results.D, 7); SERIAL_PROTOCOL_F(lsf_results.D, 7);
SERIAL_CHAR('\n'); SERIAL_EOL;
} }
normal = vector_3( lsf_results.A, lsf_results.B, 1.0000); vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal();
normal = normal.get_normal();
if (g29_verbose_level>2) { if (g29_verbose_level > 2) {
SERIAL_ECHOPGM("bed plane normal = ["); SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7); SERIAL_PROTOCOL_F(normal.x, 7);
SERIAL_ECHOPGM(","); SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F( normal.y, 7); SERIAL_PROTOCOL_F(normal.y, 7);
SERIAL_ECHOPGM(","); SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F( normal.z, 7); SERIAL_PROTOCOL_F(normal.z, 7);
SERIAL_ECHOPGM("]\n"); SERIAL_ECHOLNPGM("]");
} }
rotation = matrix_3x3::create_look_at( vector_3( lsf_results.A, lsf_results.B, 1)); matrix_3x3 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);
}
#endif for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp = 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_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(y_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(z_tmp, 7);
SERIAL_ECHOPGM("] ---> ");
safe_delay(20);
}
#endif
ubl.z_values[i][j] += z_tmp - lsf_results.D; apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
}
} #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F(x_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(y_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(z_tmp, 7);
SERIAL_ECHOLNPGM("]");
safe_delay(55);
}
#endif
ubl.z_values[i][j] += z_tmp - lsf_results.D;
}
}
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
rotation.debug("rotation matrix:"); rotation.debug(PSTR("rotation matrix:"));
SERIAL_ECHOPGM("LSF Results A="); SERIAL_ECHOPGM("LSF Results A=");
SERIAL_PROTOCOL_F( lsf_results.A, 7); SERIAL_PROTOCOL_F(lsf_results.A, 7);
SERIAL_ECHOPGM(" B="); SERIAL_ECHOPGM(" B=");
SERIAL_PROTOCOL_F( lsf_results.B, 7); SERIAL_PROTOCOL_F(lsf_results.B, 7);
SERIAL_ECHOPGM(" D="); SERIAL_ECHOPGM(" D=");
SERIAL_PROTOCOL_F( lsf_results.D, 7); SERIAL_PROTOCOL_F(lsf_results.D, 7);
SERIAL_CHAR('\n'); SERIAL_EOL;
safe_delay(55); safe_delay(55);
SERIAL_ECHOPGM("bed plane normal = ["); SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7); SERIAL_PROTOCOL_F(normal.x, 7);
SERIAL_ECHOPGM(","); SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F( normal.y, 7); SERIAL_PROTOCOL_F(normal.y, 7);
SERIAL_ECHOPGM(","); SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F( normal.z, 7); SERIAL_PROTOCOL_F(normal.z, 7);
SERIAL_ECHOPGM("]\n"); SERIAL_ECHOPGM("]\n");
SERIAL_CHAR('\n'); SERIAL_EOL;
} }
#endif #endif
return; }
}
#endif // AUTO_BED_LEVELING_UBL #endif // AUTO_BED_LEVELING_UBL

24
Marlin/ubl_motion.cpp
Unescape View File

@ -154,7 +154,7 @@
* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide. * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
*/ */
const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&(ubl.mesh_index_to_xpos[cell_dest_xi]))) * (1.0 / (MESH_X_DIST)), const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&ubl.mesh_index_to_xpos[cell_dest_xi])) * (1.0 / (MESH_X_DIST)),
z1 = ubl.z_values[cell_dest_xi ][cell_dest_yi ] + xratio * z1 = ubl.z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(ubl.z_values[cell_dest_xi + 1][cell_dest_yi ] - ubl.z_values[cell_dest_xi][cell_dest_yi ]), (ubl.z_values[cell_dest_xi + 1][cell_dest_yi ] - ubl.z_values[cell_dest_xi][cell_dest_yi ]),
z2 = ubl.z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio * z2 = ubl.z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
@ -163,7 +163,7 @@
// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we // 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. // are going to apply the Y-Distance into the cell to interpolate the final Z correction.
const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&(ubl.mesh_index_to_ypos[cell_dest_yi]))) * (1.0 / (MESH_Y_DIST)); const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&ubl.mesh_index_to_ypos[cell_dest_yi])) * (1.0 / (MESH_Y_DIST));
float z0 = z1 + (z2 - z1) * yratio; float z0 = z1 + (z2 - z1) * yratio;
@ -198,8 +198,8 @@
const float dx = end[X_AXIS] - start[X_AXIS], const float dx = end[X_AXIS] - start[X_AXIS],
dy = end[Y_AXIS] - start[Y_AXIS]; dy = end[Y_AXIS] - start[Y_AXIS];
const int left_flag = dx < 0.0 ? 1.0 : 0.0, const int left_flag = dx < 0.0 ? 1 : 0,
down_flag = dy < 0.0 ? 1.0 : 0.0; down_flag = dy < 0.0 ? 1 : 0;
const float adx = left_flag ? -dx : dx, const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy; ady = down_flag ? -dy : dy;
@ -230,8 +230,8 @@
const float m = dy / dx, const float m = dy / dx,
c = start[Y_AXIS] - m * start[X_AXIS]; c = start[Y_AXIS] - m * start[X_AXIS];
const bool inf_normalized_flag=isinf(e_normalized_dist), const bool inf_normalized_flag = isinf(e_normalized_dist),
inf_m_flag=isinf(m); inf_m_flag = isinf(m);
/** /**
* This block handles vertical lines. These are lines that stay within the same * This block handles vertical lines. These are lines that stay within the same
* X Cell column. They do not need to be perfectly vertical. They just can * X Cell column. They do not need to be perfectly vertical. They just can
@ -241,7 +241,7 @@
current_yi += down_flag; // Line is heading down, we just want to go to the bottom current_yi += down_flag; // Line is heading down, we just want to go to the bottom
while (current_yi != cell_dest_yi + down_flag) { while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi; current_yi += dyi;
const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[current_yi]))); const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
/** /**
* if the slope of the line is infinite, we won't do the calculations * if the slope of the line is infinite, we won't do the calculations
@ -263,7 +263,7 @@
*/ */
if (isnan(z0)) z0 = 0.0; if (isnan(z0)) z0 = 0.0;
const float y = LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[current_yi]))); const float y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
/** /**
* Without this check, it is possible for the algorithm to generate a zero length move in the case * Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -321,7 +321,7 @@
// edge of this cell for the first move. // edge of this cell for the first move.
while (current_xi != cell_dest_xi + left_flag) { while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi; current_xi += dxi;
const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi]))), const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi])),
y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi); float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
@ -337,7 +337,7 @@
*/ */
if (isnan(z0)) z0 = 0.0; if (isnan(z0)) z0 = 0.0;
const float x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi]))); const float x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi]));
/** /**
* Without this check, it is possible for the algorithm to generate a zero length move in the case * Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -393,8 +393,8 @@
while (xi_cnt > 0 || yi_cnt > 0) { while (xi_cnt > 0 || yi_cnt > 0) {
const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi + dxi]))), const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi + dxi])),
next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[current_yi + dyi]))), next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi + dyi])),
y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line 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 x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero. // (No need to worry about m being zero.

26
Marlin/vector_3.cpp
Unescape View File

@ -63,7 +63,7 @@ vector_3 vector_3::get_normal() {
return normalized; return normalized;
} }
float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); } float vector_3::get_length() { return sqrt(sq(x) + sq(y) + sq(z)); }
void vector_3::normalize() { void vector_3::normalize() {
const float inv_length = 1.0 / get_length(); const float inv_length = 1.0 / get_length();
@ -81,8 +81,8 @@ void vector_3::apply_rotation(matrix_3x3 matrix) {
z = resultZ; z = resultZ;
} }
void vector_3::debug(const char title[]) { void vector_3::debug(const char * const title) {
SERIAL_PROTOCOL(title); serialprintPGM(title);
SERIAL_PROTOCOLPGM(" x: "); SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL_F(x, 6); SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: "); SERIAL_PROTOCOLPGM(" y: ");
@ -101,14 +101,14 @@ void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &z) {
} }
matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) { matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) {
//row_0.debug("row_0"); //row_0.debug(PSTR("row_0"));
//row_1.debug("row_1"); //row_1.debug(PSTR("row_1"));
//row_2.debug("row_2"); //row_2.debug(PSTR("row_2"));
matrix_3x3 new_matrix; matrix_3x3 new_matrix;
new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z; new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z; new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z; new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
//new_matrix.debug("new_matrix"); //new_matrix.debug(PSTR("new_matrix"));
return new_matrix; return new_matrix;
} }
@ -123,14 +123,14 @@ matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
vector_3 x_row = vector_3(1, 0, -target.x / target.z).get_normal(); vector_3 x_row = vector_3(1, 0, -target.x / target.z).get_normal();
vector_3 y_row = vector_3::cross(z_row, x_row).get_normal(); vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
// x_row.debug("x_row"); // x_row.debug(PSTR("x_row"));
// y_row.debug("y_row"); // y_row.debug(PSTR("y_row"));
// z_row.debug("z_row"); // z_row.debug(PSTR("z_row"));
// create the matrix already correctly transposed // create the matrix already correctly transposed
matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row); matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
// rot.debug("rot"); // rot.debug(PSTR("rot"));
return rot; return rot;
} }
@ -142,8 +142,8 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
return new_matrix; return new_matrix;
} }
void matrix_3x3::debug(const char title[]) { void matrix_3x3::debug(const char * const title) {
SERIAL_PROTOCOLLN(title); serialprintPGM(title);
uint8_t count = 0; uint8_t count = 0;
for (uint8_t i = 0; i < 3; i++) { for (uint8_t i = 0; i < 3; i++) {
for (uint8_t j = 0; j < 3; j++) { for (uint8_t j = 0; j < 3; j++) {

7
Marlin/vector_3.h
Unescape View File

@ -42,6 +42,7 @@
#define VECTOR_3_H #define VECTOR_3_H
#if HAS_ABL #if HAS_ABL
class matrix_3x3; class matrix_3x3;
struct vector_3 { struct vector_3 {
@ -58,7 +59,7 @@ struct vector_3 {
float get_length(); float get_length();
vector_3 get_normal(); vector_3 get_normal();
void debug(const char title[]); void debug(const char * const title);
void apply_rotation(matrix_3x3 matrix); void apply_rotation(matrix_3x3 matrix);
}; };
@ -72,11 +73,11 @@ struct matrix_3x3 {
void set_to_identity(); void set_to_identity();
void debug(const char title[]); void debug(const char * const title);
}; };
void apply_rotation_xyz(matrix_3x3 rotationMatrix, float& x, float& y, float& z); void apply_rotation_xyz(matrix_3x3 rotationMatrix, float& x, float& y, float& z);
#endif // HAS_ABL
#endif // HAS_ABL
#endif // VECTOR_3_H #endif // VECTOR_3_H

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