|
|
|
|
@ -22,7 +22,7 @@
|
|
|
|
|
|
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
|
|
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
|
|
|
|
|
//#include "vector_3.h"
|
|
|
|
|
//#include "qr_solve.h"
|
|
|
|
|
|
|
|
|
|
@ -39,7 +39,10 @@
|
|
|
|
|
void lcd_return_to_status();
|
|
|
|
|
bool lcd_clicked();
|
|
|
|
|
void lcd_implementation_clear();
|
|
|
|
|
|
|
|
|
|
void lcd_mesh_edit_setup(float initial);
|
|
|
|
|
float lcd_mesh_edit();
|
|
|
|
|
void lcd_z_offset_edit_setup(float);
|
|
|
|
|
float lcd_z_offset_edit();
|
|
|
|
|
extern float meshedit_done;
|
|
|
|
|
extern long babysteps_done;
|
|
|
|
|
extern float code_value_float();
|
|
|
|
|
@ -141,7 +144,7 @@
|
|
|
|
|
* P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the
|
|
|
|
|
* 3D Printer to the same state it was in before the Unified Bed Leveling Compensation
|
|
|
|
|
* was turned on. Setting the entire Mesh to Zero is a special case that allows
|
|
|
|
|
* a subsequent G or T leveling operation for backward compatability.
|
|
|
|
|
* a subsequent G or T leveling operation for backward compatibility.
|
|
|
|
|
*
|
|
|
|
|
* P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
|
|
|
|
|
* the Z-Probe. Depending upon the values of DELTA_PROBEABLE_RADIUS and
|
|
|
|
|
@ -294,14 +297,10 @@
|
|
|
|
|
* this is going to be helpful to the users!)
|
|
|
|
|
*
|
|
|
|
|
* The foundation of this Bed Leveling System is built on Epatel's Mesh Bed Leveling code. A big
|
|
|
|
|
* 'Thanks!' to him and the creators of 3-Point and Grid Based leveling. Combining thier contributions
|
|
|
|
|
* 'Thanks!' to him and the creators of 3-Point and Grid Based leveling. Combining their contributions
|
|
|
|
|
* we now have the functionality and features of all three systems combined.
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
int ubl_eeprom_start = -1;
|
|
|
|
|
bool ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
volatile int8_t ubl_encoderDiff = 0; // Volatile because it's changed by Temperature ISR button update
|
|
|
|
|
|
|
|
|
|
// The simple parameter flags and values are 'static' so parameter parsing can be in a support routine.
|
|
|
|
|
static int g29_verbose_level, phase_value = -1, repetition_cnt,
|
|
|
|
|
storage_slot = 0, map_type; //unlevel_value = -1;
|
|
|
|
|
@ -313,8 +312,8 @@
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
void gcode_G29() {
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("ubl_eeprom_start=", ubl_eeprom_start);
|
|
|
|
|
if (ubl_eeprom_start < 0) {
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=", ubl.eeprom_start);
|
|
|
|
|
if (ubl.eeprom_start < 0) {
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
|
|
|
|
|
return;
|
|
|
|
|
@ -335,7 +334,7 @@
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
|
|
|
|
|
break; // No more invalid Mesh Points to populate
|
|
|
|
|
}
|
|
|
|
|
z_values[location.x_index][location.y_index] = NAN;
|
|
|
|
|
ubl.z_values[location.x_index][location.y_index] = NAN;
|
|
|
|
|
}
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
|
|
|
|
|
}
|
|
|
|
|
@ -354,21 +353,21 @@
|
|
|
|
|
for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++) { // a poorly calibrated Delta.
|
|
|
|
|
const float p1 = 0.5 * (UBL_MESH_NUM_X_POINTS) - x,
|
|
|
|
|
p2 = 0.5 * (UBL_MESH_NUM_Y_POINTS) - y;
|
|
|
|
|
z_values[x][y] += 2.0 * HYPOT(p1, p2);
|
|
|
|
|
ubl.z_values[x][y] += 2.0 * HYPOT(p1, p2);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case 1:
|
|
|
|
|
for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++) { // Create a diagonal line several Mesh cells thick that is raised
|
|
|
|
|
z_values[x][x] += 9.999;
|
|
|
|
|
z_values[x][x + (x < UBL_MESH_NUM_Y_POINTS - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
|
|
|
|
|
ubl.z_values[x][x] += 9.999;
|
|
|
|
|
ubl.z_values[x][x + (x < UBL_MESH_NUM_Y_POINTS - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case 2:
|
|
|
|
|
// Allow the user to specify the height because 10mm is a little extreme in some cases.
|
|
|
|
|
for (uint8_t x = (UBL_MESH_NUM_X_POINTS) / 3; x < 2 * (UBL_MESH_NUM_X_POINTS) / 3; x++) // Create a rectangular raised area in
|
|
|
|
|
for (uint8_t y = (UBL_MESH_NUM_Y_POINTS) / 3; y < 2 * (UBL_MESH_NUM_Y_POINTS) / 3; y++) // the center of the bed
|
|
|
|
|
z_values[x][y] += code_seen('C') ? ubl_constant : 9.99;
|
|
|
|
|
ubl.z_values[x][y] += code_seen('C') ? ubl_constant : 9.99;
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
@ -390,17 +389,18 @@
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
switch (phase_value) {
|
|
|
|
|
//
|
|
|
|
|
// Zero Mesh Data
|
|
|
|
|
//
|
|
|
|
|
case 0:
|
|
|
|
|
//
|
|
|
|
|
// Zero Mesh Data
|
|
|
|
|
//
|
|
|
|
|
ubl.reset();
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Mesh zeroed.\n");
|
|
|
|
|
break;
|
|
|
|
|
//
|
|
|
|
|
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
case 1:
|
|
|
|
|
//
|
|
|
|
|
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
|
|
|
|
|
//
|
|
|
|
|
if (!code_seen('C') ) {
|
|
|
|
|
ubl.invalidate();
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.\n");
|
|
|
|
|
@ -414,10 +414,11 @@
|
|
|
|
|
probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
|
|
|
|
code_seen('O') || code_seen('M'), code_seen('E'), code_seen('U'));
|
|
|
|
|
break;
|
|
|
|
|
//
|
|
|
|
|
// Manually Probe Mesh in areas that can't be reached by the probe
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
case 2: {
|
|
|
|
|
//
|
|
|
|
|
// Manually Probe Mesh in areas that can't be reached by the probe
|
|
|
|
|
//
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n");
|
|
|
|
|
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
|
|
|
|
if (!x_flag && !y_flag) { // use a good default location for the path
|
|
|
|
|
@ -450,24 +451,24 @@
|
|
|
|
|
|
|
|
|
|
} break;
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// Populate invalid Mesh areas with a constant
|
|
|
|
|
//
|
|
|
|
|
case 3: {
|
|
|
|
|
//
|
|
|
|
|
// Populate invalid Mesh areas with a constant
|
|
|
|
|
//
|
|
|
|
|
const float height = code_seen('C') ? ubl_constant : 0.0;
|
|
|
|
|
// If no repetition is specified, do the whole Mesh
|
|
|
|
|
if (!repeat_flag) repetition_cnt = 9999;
|
|
|
|
|
while (repetition_cnt--) {
|
|
|
|
|
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL, false); // The '0' says we want to use the nozzle's position
|
|
|
|
|
if (location.x_index < 0) break; // No more invalid Mesh Points to populate
|
|
|
|
|
z_values[location.x_index][location.y_index] = height;
|
|
|
|
|
ubl.z_values[location.x_index][location.y_index] = height;
|
|
|
|
|
}
|
|
|
|
|
} break;
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// Fine Tune (Or Edit) the Mesh
|
|
|
|
|
//
|
|
|
|
|
case 4:
|
|
|
|
|
//
|
|
|
|
|
// Fine Tune (i.e., Edit) the Mesh
|
|
|
|
|
//
|
|
|
|
|
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M'));
|
|
|
|
|
break;
|
|
|
|
|
case 5:
|
|
|
|
|
@ -482,16 +483,16 @@
|
|
|
|
|
SERIAL_ECHO_START;
|
|
|
|
|
SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
|
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
|
ubl_has_control_of_lcd_panel++;
|
|
|
|
|
ubl.has_control_of_lcd_panel++;
|
|
|
|
|
while (!ubl_lcd_clicked()) {
|
|
|
|
|
safe_delay(250);
|
|
|
|
|
if (ubl_encoderDiff) {
|
|
|
|
|
SERIAL_ECHOLN((int)ubl_encoderDiff);
|
|
|
|
|
ubl_encoderDiff = 0;
|
|
|
|
|
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;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
@ -503,9 +504,9 @@
|
|
|
|
|
wait_for_user = true;
|
|
|
|
|
while (wait_for_user) {
|
|
|
|
|
safe_delay(250);
|
|
|
|
|
if (ubl_encoderDiff) {
|
|
|
|
|
SERIAL_ECHOLN((int)ubl_encoderDiff);
|
|
|
|
|
ubl_encoderDiff = 0;
|
|
|
|
|
if (ubl.encoder_diff) {
|
|
|
|
|
SERIAL_ECHOLN((int)ubl.encoder_diff);
|
|
|
|
|
ubl.encoder_diff = 0;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
|
|
|
|
|
@ -557,9 +558,9 @@
|
|
|
|
|
if (code_seen('L')) { // Load Current Mesh Data
|
|
|
|
|
storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
|
|
|
|
|
|
|
|
|
|
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
|
|
|
|
|
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
|
|
|
|
|
|
|
|
|
|
if (storage_slot < 0 || storage_slot >= j || ubl_eeprom_start <= 0) {
|
|
|
|
|
if (storage_slot < 0 || storage_slot >= j || ubl.eeprom_start <= 0) {
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
@ -581,19 +582,19 @@
|
|
|
|
|
SERIAL_ECHOLNPGM("G29 I 999"); // host in a form it can be reconstructed on a different machine
|
|
|
|
|
for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
|
|
|
|
|
for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
|
|
|
|
|
if (!isnan(z_values[x][y])) {
|
|
|
|
|
if (!isnan(ubl.z_values[x][y])) {
|
|
|
|
|
SERIAL_ECHOPAIR("M421 I ", x);
|
|
|
|
|
SERIAL_ECHOPAIR(" J ", y);
|
|
|
|
|
SERIAL_ECHOPGM(" Z ");
|
|
|
|
|
SERIAL_ECHO_F(z_values[x][y], 6);
|
|
|
|
|
SERIAL_ECHO_F(ubl.z_values[x][y], 6);
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
}
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
|
|
|
|
|
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
|
|
|
|
|
|
|
|
|
|
if (storage_slot < 0 || storage_slot >= j || ubl_eeprom_start <= 0) {
|
|
|
|
|
if (storage_slot < 0 || storage_slot >= j || ubl.eeprom_start <= 0) {
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", j - 1);
|
|
|
|
|
goto LEAVE;
|
|
|
|
|
@ -617,7 +618,7 @@
|
|
|
|
|
save_ubl_active_state_and_disable();
|
|
|
|
|
//measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
|
|
|
|
|
|
|
|
|
|
ubl_has_control_of_lcd_panel++; // Grab the LCD Hardware
|
|
|
|
|
ubl.has_control_of_lcd_panel++; // Grab the LCD Hardware
|
|
|
|
|
measured_z = 1.5;
|
|
|
|
|
do_blocking_move_to_z(measured_z); // Get close to the bed, but leave some space so we don't damage anything
|
|
|
|
|
// The user is not going to be locking in a new Z-Offset very often so
|
|
|
|
|
@ -633,7 +634,7 @@
|
|
|
|
|
do_blocking_move_to_z(measured_z);
|
|
|
|
|
} while (!ubl_lcd_clicked());
|
|
|
|
|
|
|
|
|
|
ubl_has_control_of_lcd_panel++; // There is a race condition for the Encoder Wheel getting clicked.
|
|
|
|
|
ubl.has_control_of_lcd_panel++; // There is a race condition for the Encoder Wheel getting clicked.
|
|
|
|
|
// 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,
|
|
|
|
|
// we need to take control of the panel
|
|
|
|
|
@ -653,7 +654,7 @@
|
|
|
|
|
goto LEAVE;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
safe_delay(20); // We don't want any switch noise.
|
|
|
|
|
|
|
|
|
|
ubl.state.z_offset = measured_z;
|
|
|
|
|
@ -670,7 +671,7 @@
|
|
|
|
|
lcd_quick_feedback();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void find_mean_mesh_height() {
|
|
|
|
|
@ -682,8 +683,8 @@
|
|
|
|
|
n = 0;
|
|
|
|
|
for (x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
|
|
|
|
|
for (y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
|
|
|
|
|
if (!isnan(z_values[x][y])) {
|
|
|
|
|
sum += z_values[x][y];
|
|
|
|
|
if (!isnan(ubl.z_values[x][y])) {
|
|
|
|
|
sum += ubl.z_values[x][y];
|
|
|
|
|
n++;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -694,8 +695,8 @@
|
|
|
|
|
//
|
|
|
|
|
for (x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
|
|
|
|
|
for (y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
|
|
|
|
|
if (!isnan(z_values[x][y])) {
|
|
|
|
|
difference = (z_values[x][y] - mean);
|
|
|
|
|
if (!isnan(ubl.z_values[x][y])) {
|
|
|
|
|
difference = (ubl.z_values[x][y] - mean);
|
|
|
|
|
sum_of_diff_squared += difference * difference;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -712,15 +713,15 @@
|
|
|
|
|
if (c_flag)
|
|
|
|
|
for (x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
|
|
|
|
|
for (y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
|
|
|
|
|
if (!isnan(z_values[x][y]))
|
|
|
|
|
z_values[x][y] -= mean + ubl_constant;
|
|
|
|
|
if (!isnan(ubl.z_values[x][y]))
|
|
|
|
|
ubl.z_values[x][y] -= mean + ubl_constant;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void shift_mesh_height() {
|
|
|
|
|
for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
|
|
|
|
|
for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
|
|
|
|
|
if (!isnan(z_values[x][y]))
|
|
|
|
|
z_values[x][y] += ubl_constant;
|
|
|
|
|
if (!isnan(ubl.z_values[x][y]))
|
|
|
|
|
ubl.z_values[x][y] += ubl_constant;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
@ -730,7 +731,7 @@
|
|
|
|
|
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) {
|
|
|
|
|
mesh_index_pair location;
|
|
|
|
|
|
|
|
|
|
ubl_has_control_of_lcd_panel++;
|
|
|
|
|
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
|
|
|
|
|
DEPLOY_PROBE();
|
|
|
|
|
|
|
|
|
|
@ -740,7 +741,7 @@
|
|
|
|
|
lcd_quick_feedback();
|
|
|
|
|
STOW_PROBE();
|
|
|
|
|
while (ubl_lcd_clicked()) idle();
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
restore_ubl_active_state_and_leave();
|
|
|
|
|
safe_delay(50); // Debounce the Encoder wheel
|
|
|
|
|
return;
|
|
|
|
|
@ -749,18 +750,18 @@
|
|
|
|
|
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 1, NULL, do_furthest ); // the '1' says we want the location to be relative to the probe
|
|
|
|
|
if (location.x_index >= 0 && location.y_index >= 0) {
|
|
|
|
|
|
|
|
|
|
const float rawx = ubl.map_x_index_to_bed_location(location.x_index),
|
|
|
|
|
rawy = ubl.map_y_index_to_bed_location(location.y_index);
|
|
|
|
|
const float rawx = ubl.mesh_index_to_xpos[location.x_index],
|
|
|
|
|
rawy = ubl.mesh_index_to_ypos[location.y_index];
|
|
|
|
|
|
|
|
|
|
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
|
|
|
|
|
if (rawx < (MIN_PROBE_X) || rawx > (MAX_PROBE_X) || rawy < (MIN_PROBE_Y) || rawy > (MAX_PROBE_Y)) {
|
|
|
|
|
SERIAL_ERROR_START;
|
|
|
|
|
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
goto LEAVE;
|
|
|
|
|
}
|
|
|
|
|
const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level);
|
|
|
|
|
z_values[location.x_index][location.y_index] = measured_z + zprobe_zoffset;
|
|
|
|
|
ubl.z_values[location.x_index][location.y_index] = measured_z + zprobe_zoffset;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (do_ubl_mesh_map) ubl.display_map(map_type);
|
|
|
|
|
@ -837,7 +838,7 @@
|
|
|
|
|
for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
|
|
|
|
|
for (j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
|
|
|
|
|
c = -((normal.x * (UBL_MESH_MIN_X + i * (MESH_X_DIST)) + normal.y * (UBL_MESH_MIN_Y + j * (MESH_Y_DIST))) - d);
|
|
|
|
|
z_values[i][j] += c;
|
|
|
|
|
ubl.z_values[i][j] += c;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
return normal;
|
|
|
|
|
@ -847,9 +848,9 @@
|
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
|
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
|
|
|
|
|
idle();
|
|
|
|
|
if (ubl_encoderDiff) {
|
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + 0.01 * float(ubl_encoderDiff));
|
|
|
|
|
ubl_encoderDiff = 0;
|
|
|
|
|
if (ubl.encoder_diff) {
|
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + 0.01 * float(ubl.encoder_diff));
|
|
|
|
|
ubl.encoder_diff = 0;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
|
@ -858,7 +859,7 @@
|
|
|
|
|
|
|
|
|
|
float measure_business_card_thickness(const float &in_height) {
|
|
|
|
|
|
|
|
|
|
ubl_has_control_of_lcd_panel++;
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement.");
|
|
|
|
|
@ -868,7 +869,7 @@
|
|
|
|
|
|
|
|
|
|
const float z1 = use_encoder_wheel_to_measure_point();
|
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("Remove Shim and Measure Bed Height.");
|
|
|
|
|
const float z2 = use_encoder_wheel_to_measure_point();
|
|
|
|
|
@ -885,7 +886,7 @@
|
|
|
|
|
|
|
|
|
|
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++;
|
|
|
|
|
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
|
|
|
|
|
do_blocking_move_to_z(z_clearance);
|
|
|
|
|
do_blocking_move_to_xy(lx, ly);
|
|
|
|
|
@ -899,14 +900,14 @@
|
|
|
|
|
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
|
|
|
|
|
if (location.x_index < 0 && location.y_index < 0) continue;
|
|
|
|
|
|
|
|
|
|
const float rawx = ubl.map_x_index_to_bed_location(location.x_index),
|
|
|
|
|
rawy = ubl.map_y_index_to_bed_location(location.y_index);
|
|
|
|
|
const float rawx = ubl.mesh_index_to_xpos[location.x_index],
|
|
|
|
|
rawy = ubl.mesh_index_to_ypos[location.y_index];
|
|
|
|
|
|
|
|
|
|
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
|
|
|
|
|
if (rawx < (X_MIN_POS) || rawx > (X_MAX_POS) || rawy < (Y_MIN_POS) || rawy > (Y_MAX_POS)) {
|
|
|
|
|
SERIAL_ERROR_START;
|
|
|
|
|
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
goto LEAVE;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -926,13 +927,13 @@
|
|
|
|
|
last_y = yProbe;
|
|
|
|
|
|
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
|
ubl_has_control_of_lcd_panel = true;
|
|
|
|
|
ubl.has_control_of_lcd_panel = true;
|
|
|
|
|
|
|
|
|
|
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
|
|
|
|
|
idle();
|
|
|
|
|
if (ubl_encoderDiff) {
|
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl_encoderDiff) / 100.0);
|
|
|
|
|
ubl_encoderDiff = 0;
|
|
|
|
|
if (ubl.encoder_diff) {
|
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl.encoder_diff) / 100.0);
|
|
|
|
|
ubl.encoder_diff = 0;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -944,17 +945,17 @@
|
|
|
|
|
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
|
|
|
|
|
lcd_quick_feedback();
|
|
|
|
|
while (ubl_lcd_clicked()) idle();
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
|
restore_ubl_active_state_and_leave();
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - card_thickness;
|
|
|
|
|
ubl.z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - card_thickness;
|
|
|
|
|
if (g29_verbose_level > 2) {
|
|
|
|
|
SERIAL_PROTOCOLPGM("Mesh Point Measured at: ");
|
|
|
|
|
SERIAL_PROTOCOL_F(z_values[location.x_index][location.y_index], 6);
|
|
|
|
|
SERIAL_PROTOCOL_F(ubl.z_values[location.x_index][location.y_index], 6);
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
}
|
|
|
|
|
} while (location.x_index >= 0 && location.y_index >= 0);
|
|
|
|
|
@ -1105,7 +1106,7 @@
|
|
|
|
|
* good to have the extra information. Soon... we prune this to just a few items
|
|
|
|
|
*/
|
|
|
|
|
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 1.00 ");
|
|
|
|
|
if (ubl.state.active)
|
|
|
|
|
@ -1136,7 +1137,7 @@
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
|
|
|
|
|
for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
|
|
|
|
|
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(ubl.map_x_index_to_bed_location(i)), 1);
|
|
|
|
|
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(ubl.mesh_index_to_xpos[i]), 1);
|
|
|
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
|
|
|
safe_delay(50);
|
|
|
|
|
}
|
|
|
|
|
@ -1144,7 +1145,7 @@
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
|
|
|
|
|
for (uint8_t i = 0; i < UBL_MESH_NUM_Y_POINTS; i++) {
|
|
|
|
|
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ubl.map_y_index_to_bed_location(i)), 1);
|
|
|
|
|
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos[i]), 1);
|
|
|
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
|
|
|
safe_delay(50);
|
|
|
|
|
}
|
|
|
|
|
@ -1162,21 +1163,21 @@
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk);
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
safe_delay(50);
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("Free EEPROM space starts at: 0x", hex_word(ubl_eeprom_start));
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("Free EEPROM space starts at: 0x", hex_word(ubl.eeprom_start));
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("end of EEPROM : ", hex_word(E2END));
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("end of EEPROM : 0x", hex_word(E2END));
|
|
|
|
|
safe_delay(50);
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(z_values));
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(ubl.z_values));
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
safe_delay(50);
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: 0x", hex_word(k));
|
|
|
|
|
safe_delay(50);
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPAIR("EEPROM can hold ", k / sizeof(z_values));
|
|
|
|
|
SERIAL_PROTOCOLPAIR("EEPROM can hold ", k / sizeof(ubl.z_values));
|
|
|
|
|
SERIAL_PROTOCOLLNPGM(" meshes.\n");
|
|
|
|
|
safe_delay(50);
|
|
|
|
|
|
|
|
|
|
@ -1240,9 +1241,9 @@
|
|
|
|
|
}
|
|
|
|
|
storage_slot = code_value_int();
|
|
|
|
|
|
|
|
|
|
int16_t j = (UBL_LAST_EEPROM_INDEX - 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) {
|
|
|
|
|
if (storage_slot < 0 || storage_slot > j || ubl.eeprom_start <= 0) {
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
@ -1251,12 +1252,12 @@
|
|
|
|
|
eeprom_read_block((void *)&tmp_z_values, (void *)j, sizeof(tmp_z_values));
|
|
|
|
|
|
|
|
|
|
SERIAL_ECHOPAIR("Subtracting Mesh ", storage_slot);
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR(" loaded from EEPROM address ", hex_word(j)); // Soon, we can remove the extra clutter of printing
|
|
|
|
|
SERIAL_PROTOCOLLNPAIR(" loaded from EEPROM address 0x", hex_word(j)); // Soon, we can remove the extra clutter of printing
|
|
|
|
|
// the address in the EEPROM where the Mesh is stored.
|
|
|
|
|
|
|
|
|
|
for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
|
|
|
|
|
for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
|
|
|
|
|
z_values[x][y] = 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) {
|
|
|
|
|
@ -1275,15 +1276,15 @@
|
|
|
|
|
for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
|
|
|
|
|
for (uint8_t j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
|
|
|
|
|
|
|
|
|
|
if ( (type == INVALID && isnan(z_values[i][j])) // Check to see if this location holds the right thing
|
|
|
|
|
|| (type == REAL && !isnan(z_values[i][j]))
|
|
|
|
|
if ( (type == INVALID && isnan(ubl.z_values[i][j])) // Check to see if this location holds the right thing
|
|
|
|
|
|| (type == REAL && !isnan(ubl.z_values[i][j]))
|
|
|
|
|
|| (type == SET_IN_BITMAP && is_bit_set(bits, i, j))
|
|
|
|
|
) {
|
|
|
|
|
|
|
|
|
|
// We only get here if we found a Mesh Point of the specified type
|
|
|
|
|
|
|
|
|
|
const float rawx = ubl.map_x_index_to_bed_location(i), // Check if we can probe this mesh location
|
|
|
|
|
rawy = ubl.map_y_index_to_bed_location(j);
|
|
|
|
|
const float rawx = ubl.mesh_index_to_xpos[i], // Check if we can probe this mesh location
|
|
|
|
|
rawy = ubl.mesh_index_to_ypos[j];
|
|
|
|
|
|
|
|
|
|
// 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).
|
|
|
|
|
@ -1303,7 +1304,7 @@
|
|
|
|
|
if (far_flag) { // If doing the far_flag action, we want to be as far as possible
|
|
|
|
|
for (uint8_t k = 0; k < UBL_MESH_NUM_X_POINTS; k++) { // from the starting point and from any other probed points. We
|
|
|
|
|
for (uint8_t l = 0; l < UBL_MESH_NUM_Y_POINTS; l++) { // want the next point spread out and filling in any blank spaces
|
|
|
|
|
if (!isnan(z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed
|
|
|
|
|
if (!isnan(ubl.z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed
|
|
|
|
|
distance += sq(i - k) * (MESH_X_DIST) * .05 // point we can find.
|
|
|
|
|
+ sq(j - l) * (MESH_Y_DIST) * .05;
|
|
|
|
|
}
|
|
|
|
|
@ -1349,26 +1350,26 @@
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
const float rawx = ubl.map_x_index_to_bed_location(location.x_index),
|
|
|
|
|
rawy = ubl.map_y_index_to_bed_location(location.y_index);
|
|
|
|
|
const float rawx = ubl.mesh_index_to_xpos[location.x_index],
|
|
|
|
|
rawy = ubl.mesh_index_to_ypos[location.y_index];
|
|
|
|
|
|
|
|
|
|
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
|
|
|
|
|
if (rawx < (X_MIN_POS) || rawx > (X_MAX_POS) || rawy < (Y_MIN_POS) || rawy > (Y_MAX_POS)) { // In theory, we don't need this check.
|
|
|
|
|
SERIAL_ERROR_START;
|
|
|
|
|
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;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
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 = 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
|
|
|
|
|
new_z = float(round_off) / 1000.0;
|
|
|
|
|
|
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
|
ubl_has_control_of_lcd_panel = true;
|
|
|
|
|
ubl.has_control_of_lcd_panel = true;
|
|
|
|
|
|
|
|
|
|
lcd_implementation_clear();
|
|
|
|
|
lcd_mesh_edit_setup(new_z);
|
|
|
|
|
@ -1380,7 +1381,7 @@
|
|
|
|
|
|
|
|
|
|
lcd_return_to_status();
|
|
|
|
|
|
|
|
|
|
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)
|
|
|
|
|
// or here.
|
|
|
|
|
|
|
|
|
|
@ -1401,7 +1402,7 @@
|
|
|
|
|
|
|
|
|
|
safe_delay(20); // We don't want any switch noise.
|
|
|
|
|
|
|
|
|
|
z_values[location.x_index][location.y_index] = new_z;
|
|
|
|
|
ubl.z_values[location.x_index][location.y_index] = new_z;
|
|
|
|
|
|
|
|
|
|
lcd_implementation_clear();
|
|
|
|
|
|
|
|
|
|
@ -1409,7 +1410,7 @@
|
|
|
|
|
|
|
|
|
|
FINE_TUNE_EXIT:
|
|
|
|
|
|
|
|
|
|
ubl_has_control_of_lcd_panel = false;
|
|
|
|
|
ubl.has_control_of_lcd_panel = false;
|
|
|
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
|
|
|
|
|
|
if (do_ubl_mesh_map) ubl.display_map(map_type);
|
|
|
|
|
|
Scott Lahteine
8 years ago
committed by