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Save ABL Bilinear Grid to EEPROM

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2.0.x
Scott Lahteine 8 years ago
parent 492b68f8e3
commit e42fd7813a
3 changed files with 144 additions and 61 deletions
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8
Marlin/Marlin.h
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@ -330,8 +330,14 @@ float code_value_temp_diff();
#endif #endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
extern int bilinear_grid_spacing[2]; extern int bilinear_grid_spacing[2], bilinear_start[2];
extern float bed_level_grid[ABL_GRID_MAX_POINTS_X][ABL_GRID_MAX_POINTS_Y];
float bilinear_z_offset(float logical[XYZ]); float bilinear_z_offset(float logical[XYZ]);
void set_bed_leveling_enabled(bool enable=true);
#endif
#if PLANNER_LEVELING
void reset_bed_level();
#endif #endif
#if ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(Z_DUAL_ENDSTOPS)

4
Marlin/Marlin_main.cpp
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@ -2482,7 +2482,7 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_EOL; SERIAL_EOL;
} }
#define LINEAR_EXTRAPOLATION(E, I) (E * 2 - I) #define LINEAR_EXTRAPOLATION(E, I) (E * 2 - I)
static void bed_level_virt_prepare() { void bed_level_virt_prepare() {
for (uint8_t y = 1; y <= ABL_GRID_MAX_POINTS_Y; y++) { for (uint8_t y = 1; y <= ABL_GRID_MAX_POINTS_Y; y++) {
for (uint8_t x = 1; x <= ABL_GRID_MAX_POINTS_X; x++) for (uint8_t x = 1; x <= ABL_GRID_MAX_POINTS_X; x++)
@ -2528,7 +2528,7 @@ static void clean_up_after_endstop_or_probe_move() {
} }
return bed_level_virt_cmr(row, 1, tx); return bed_level_virt_cmr(row, 1, tx);
} }
static void bed_level_virt_interpolate() { void bed_level_virt_interpolate() {
for (uint8_t y = 0; y < ABL_GRID_MAX_POINTS_Y; y++) for (uint8_t y = 0; y < ABL_GRID_MAX_POINTS_Y; y++)
for (uint8_t x = 0; x < ABL_GRID_MAX_POINTS_X; x++) for (uint8_t x = 0; x < ABL_GRID_MAX_POINTS_X; x++)
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++) for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)

193
Marlin/configuration_store.cpp
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@ -36,18 +36,18 @@
* *
*/ */
#define EEPROM_VERSION "V28" #define EEPROM_VERSION "V29"
// Change EEPROM version if these are changed: // Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100 #define EEPROM_OFFSET 100
/** /**
* V28 EEPROM Layout: * V29 EEPROM Layout:
* *
* 100 Version (char x4) * 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t) * 104 EEPROM Checksum (uint16_t)
* *
* 106 E_STEPPERS (uint8_t) * 106 E_STEPPERS (uint8_t)
* 107 M92 XYZE planner.axis_steps_per_mm (float x4 ... x7) * 107 M92 XYZE planner.axis_steps_per_mm (float x4 ... x7)
* 123 M203 XYZE planner.max_feedrate_mm_s (float x4 ... x7) * 123 M203 XYZE planner.max_feedrate_mm_s (float x4 ... x7)
* 139 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4 ... x7) * 139 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4 ... x7)
@ -74,51 +74,59 @@
* AUTO BED LEVELING * AUTO BED LEVELING
* 262 M851 zprobe_zoffset (float) * 262 M851 zprobe_zoffset (float)
* *
* DELTA: * AUTO_BED_LEVELING_BILINEAR (or placeholder): 47 bytes
* 266 M666 XYZ endstop_adj (float x3) * 266 ABL_GRID_MAX_POINTS_X (uint8_t)
* 278 M665 R delta_radius (float) * 267 ABL_GRID_MAX_POINTS_Y (uint8_t)
* 282 M665 L delta_diagonal_rod (float) * 268 bilinear_grid_spacing (int x2) from G29: (B-F)/X, (R-L)/Y
* 286 M665 S delta_segments_per_second (float) * 272 G29 L F bilinear_start (int x2)
* 290 M665 A delta_diagonal_rod_trim_tower_1 (float) * 276 bed_level_grid[][] (float x9, up to float x256) +988
* 294 M665 B delta_diagonal_rod_trim_tower_2 (float)
* 298 M665 C delta_diagonal_rod_trim_tower_3 (float)
* *
* Z_DUAL_ENDSTOPS: * DELTA (if deltabot): 36 bytes
* 302 M666 Z z_endstop_adj (float) * 312 M666 XYZ endstop_adj (float x3)
* 324 M665 R delta_radius (float)
* 328 M665 L delta_diagonal_rod (float)
* 332 M665 S delta_segments_per_second (float)
* 336 M665 A delta_diagonal_rod_trim_tower_1 (float)
* 340 M665 B delta_diagonal_rod_trim_tower_2 (float)
* 344 M665 C delta_diagonal_rod_trim_tower_3 (float)
* *
* ULTIPANEL: * Z_DUAL_ENDSTOPS: 4 bytes
* 306 M145 S0 H lcd_preheat_hotend_temp (int x2) * 348 M666 Z z_endstop_adj (float)
* 310 M145 S0 B lcd_preheat_bed_temp (int x2)
* 314 M145 S0 F lcd_preheat_fan_speed (int x2)
* *
* PIDTEMP: * ULTIPANEL: 6 bytes
* 318 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4) * 352 M145 S0 H lcd_preheat_hotend_temp (int x2)
* 334 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4) * 356 M145 S0 B lcd_preheat_bed_temp (int x2)
* 350 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4) * 360 M145 S0 F lcd_preheat_fan_speed (int x2)
* 366 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) *
* 382 M301 L lpq_len (int) * PIDTEMP: 66 bytes
* 364 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
* 380 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
* 396 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
* 412 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 428 M301 L lpq_len (int)
* *
* PIDTEMPBED: * PIDTEMPBED:
* 384 M304 PID thermalManager.bedKp, thermalManager.bedKi, thermalManager.bedKd (float x3) * 430 M304 PID thermalManager.bedKp, thermalManager.bedKi, thermalManager.bedKd (float x3)
* *
* DOGLCD: * DOGLCD: 2 bytes
* 396 M250 C lcd_contrast (int) * 442 M250 C lcd_contrast (int)
* *
* FWRETRACT: * FWRETRACT: 29 bytes
* 398 M209 S autoretract_enabled (bool) * 444 M209 S autoretract_enabled (bool)
* 399 M207 S retract_length (float) * 445 M207 S retract_length (float)
* 403 M207 W retract_length_swap (float) * 449 M207 W retract_length_swap (float)
* 407 M207 F retract_feedrate_mm_s (float) * 453 M207 F retract_feedrate_mm_s (float)
* 411 M207 Z retract_zlift (float) * 457 M207 Z retract_zlift (float)
* 415 M208 S retract_recover_length (float) * 461 M208 S retract_recover_length (float)
* 419 M208 W retract_recover_length_swap (float) * 465 M208 W retract_recover_length_swap (float)
* 423 M208 F retract_recover_feedrate_mm_s (float) * 469 M208 F retract_recover_feedrate_mm_s (float)
* *
* Volumetric Extrusion: * Volumetric Extrusion: 17 bytes
* 427 M200 D volumetric_enabled (bool) * 473 M200 D volumetric_enabled (bool)
* 428 M200 T D filament_size (float x4) (T0..3) * 474 M200 T D filament_size (float x4) (T0..3)
* *
* 444 This Slot is Available! * 490 Minimum end-point
* 1811 (490 + 36 + 9 + 288 + 988) Maximum end-point
* *
*/ */
#include "Marlin.h" #include "Marlin.h"
@ -133,6 +141,11 @@
#include "mesh_bed_leveling.h" #include "mesh_bed_leveling.h"
#endif #endif
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
extern void bed_level_virt_prepare();
extern void bed_level_virt_interpolate();
#endif
/** /**
* Post-process after Retrieve or Reset * Post-process after Retrieve or Reset
*/ */
@ -243,6 +256,10 @@ void Config_Postprocess() {
LOOP_XYZ(i) EEPROM_WRITE(hotend_offset[i][e]); LOOP_XYZ(i) EEPROM_WRITE(hotend_offset[i][e]);
#endif #endif
//
// Mesh Bed Leveling
//
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
// Compile time test that sizeof(mbl.z_values) is as expected // Compile time test that sizeof(mbl.z_values) is as expected
typedef char c_assert[(sizeof(mbl.z_values) == (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS) * sizeof(dummy)) ? 1 : -1]; typedef char c_assert[(sizeof(mbl.z_values) == (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS) * sizeof(dummy)) ? 1 : -1];
@ -258,13 +275,13 @@ void Config_Postprocess() {
// For disabled MBL write a default mesh // For disabled MBL write a default mesh
uint8_t mesh_num_x = 3, uint8_t mesh_num_x = 3,
mesh_num_y = 3, mesh_num_y = 3,
dummy_uint8 = 0; mbl_status = 0;
dummy = 0.0f; dummy = 0.0f;
EEPROM_WRITE(dummy_uint8); EEPROM_WRITE(mbl_status);
EEPROM_WRITE(dummy); EEPROM_WRITE(dummy); // z_offset
EEPROM_WRITE(mesh_num_x); EEPROM_WRITE(mesh_num_x);
EEPROM_WRITE(mesh_num_y); EEPROM_WRITE(mesh_num_y);
for (uint8_t q = 0; q < mesh_num_x * mesh_num_y; q++) EEPROM_WRITE(dummy); for (uint8_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_WRITE(dummy);
#endif // MESH_BED_LEVELING #endif // MESH_BED_LEVELING
#if !HAS_BED_PROBE #if !HAS_BED_PROBE
@ -272,6 +289,31 @@ void Config_Postprocess() {
#endif #endif
EEPROM_WRITE(zprobe_zoffset); EEPROM_WRITE(zprobe_zoffset);
//
// Bilinear Auto Bed Leveling
//
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Compile time test that sizeof(bed_level_grid) is as expected
typedef char c_assert[(sizeof(bed_level_grid) == (ABL_GRID_MAX_POINTS_X) * (ABL_GRID_MAX_POINTS_Y) * sizeof(dummy)) ? 1 : -1];
const uint8_t grid_max_x = ABL_GRID_MAX_POINTS_X, grid_max_y = ABL_GRID_MAX_POINTS_Y;
EEPROM_WRITE(grid_max_x); // 1 byte
EEPROM_WRITE(grid_max_y); // 1 byte
EEPROM_WRITE(bilinear_grid_spacing); // 2 ints
EEPROM_WRITE(bilinear_start); // 2 ints
EEPROM_WRITE(bed_level_grid); // 9-256 floats
#else
// For disabled Bilinear Grid write an empty 3x3 grid
const uint8_t grid_max_x = 3, grid_max_y = 3;
const int bilinear_start[2] = { 0 }, bilinear_grid_spacing[2] = { 0 };
dummy = 0.0f;
EEPROM_WRITE(grid_max_x);
EEPROM_WRITE(grid_max_y);
EEPROM_WRITE(bilinear_grid_spacing);
EEPROM_WRITE(bilinear_start);
for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_WRITE(dummy);
#endif // AUTO_BED_LEVELING_BILINEAR
// 9 floats for DELTA / Z_DUAL_ENDSTOPS // 9 floats for DELTA / Z_DUAL_ENDSTOPS
#if ENABLED(DELTA) #if ENABLED(DELTA)
EEPROM_WRITE(endstop_adj); // 3 floats EEPROM_WRITE(endstop_adj); // 3 floats
@ -452,7 +494,11 @@ void Config_Postprocess() {
LOOP_XYZ(i) EEPROM_READ(hotend_offset[i][e]); LOOP_XYZ(i) EEPROM_READ(hotend_offset[i][e]);
#endif #endif
uint8_t dummy_uint8 = 0, mesh_num_x = 0, mesh_num_y = 0; //
// Mesh (Manual) Bed Leveling
//
uint8_t dummy_uint8, mesh_num_x, mesh_num_y;
EEPROM_READ(dummy_uint8); EEPROM_READ(dummy_uint8);
EEPROM_READ(dummy); EEPROM_READ(dummy);
EEPROM_READ(mesh_num_x); EEPROM_READ(mesh_num_x);
@ -467,11 +513,11 @@ void Config_Postprocess() {
else { else {
// EEPROM data is stale // EEPROM data is stale
mbl.reset(); mbl.reset();
for (uint8_t q = 0; q < mesh_num_x * mesh_num_y; q++) EEPROM_READ(dummy); for (uint16_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_READ(dummy);
} }
#else #else
// MBL is disabled - skip the stored data // MBL is disabled - skip the stored data
for (uint8_t q = 0; q < mesh_num_x * mesh_num_y; q++) EEPROM_READ(dummy); for (uint16_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_READ(dummy);
#endif // MESH_BED_LEVELING #endif // MESH_BED_LEVELING
#if !HAS_BED_PROBE #if !HAS_BED_PROBE
@ -479,6 +525,34 @@ void Config_Postprocess() {
#endif #endif
EEPROM_READ(zprobe_zoffset); EEPROM_READ(zprobe_zoffset);
//
// Bilinear Auto Bed Leveling
//
uint8_t grid_max_x, grid_max_y;
EEPROM_READ(grid_max_x); // 1 byte
EEPROM_READ(grid_max_y); // 1 byte
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (grid_max_x == ABL_GRID_MAX_POINTS_X && grid_max_y == ABL_GRID_MAX_POINTS_Y) {
set_bed_leveling_enabled(false);
EEPROM_READ(bilinear_grid_spacing); // 2 ints
EEPROM_READ(bilinear_start); // 2 ints
EEPROM_READ(bed_level_grid); // 9 to 256 floats
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_prepare();
bed_level_virt_interpolate();
#endif
}
else // EEPROM data is stale
#endif // AUTO_BED_LEVELING_BILINEAR
{
// Skip past disabled (or stale) Bilinear Grid data
int bgs[2], bs[2];
EEPROM_READ(bgs);
EEPROM_READ(bs);
for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_READ(dummy);
}
#if ENABLED(DELTA) #if ENABLED(DELTA)
EEPROM_READ(endstop_adj); // 3 floats EEPROM_READ(endstop_adj); // 3 floats
EEPROM_READ(delta_radius); // 1 float EEPROM_READ(delta_radius); // 1 float
@ -647,8 +721,8 @@ void Config_ResetDefault() {
LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp4[i][e]; LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp4[i][e];
#endif #endif
#if ENABLED(MESH_BED_LEVELING) #if PLANNER_LEVELING
mbl.reset(); reset_bed_level();
#endif #endif
#if HAS_BED_PROBE #if HAS_BED_PROBE
@ -660,9 +734,9 @@ void Config_ResetDefault() {
endstop_adj[A_AXIS] = adj[A_AXIS]; endstop_adj[A_AXIS] = adj[A_AXIS];
endstop_adj[B_AXIS] = adj[B_AXIS]; endstop_adj[B_AXIS] = adj[B_AXIS];
endstop_adj[C_AXIS] = adj[C_AXIS]; endstop_adj[C_AXIS] = adj[C_AXIS];
delta_radius = DELTA_RADIUS; delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD; delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1; delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2; delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3; delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
@ -863,13 +937,10 @@ void Config_ResetDefault() {
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Mesh bed leveling:"); SERIAL_ECHOLNPGM("Mesh Bed Leveling:");
CONFIG_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M420 S", mbl.has_mesh() ? 1 : 0); SERIAL_ECHOLNPAIR(" M420 S", mbl.has_mesh() ? 1 : 0);
SERIAL_ECHOPAIR(" X", MESH_NUM_X_POINTS);
SERIAL_ECHOPAIR(" Y", MESH_NUM_Y_POINTS);
SERIAL_EOL;
for (uint8_t py = 1; py <= MESH_NUM_Y_POINTS; py++) { for (uint8_t py = 1; py <= MESH_NUM_Y_POINTS; py++) {
for (uint8_t px = 1; px <= MESH_NUM_X_POINTS; px++) { for (uint8_t px = 1; px <= MESH_NUM_X_POINTS; px++) {
CONFIG_ECHO_START; CONFIG_ECHO_START;
@ -880,6 +951,12 @@ void Config_ResetDefault() {
SERIAL_EOL; SERIAL_EOL;
} }
} }
#elif HAS_ABL
if (!forReplay) {
SERIAL_ECHOLNPGM("Auto Bed Leveling:");
CONFIG_ECHO_START;
}
SERIAL_ECHOLNPAIR(" M420 S", planner.abl_enabled ? 1 : 0);
#endif #endif
#if ENABLED(DELTA) #if ENABLED(DELTA)

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