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