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G29 P2 & P4 bug fixes & improvements

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2.0.x
Bob-the-Kuhn 8 years ago committed by Scott Lahteine
parent b93be716cf
commit e5a27d9f36
1 changed files with 103 additions and 63 deletions
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166
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");
@ -435,8 +440,8 @@
// have Delta printers default to the center of the bed. // have Delta printers default to the center of the bed.
// For now, until that is decided, it can be forced with the X // For now, until that is decided, it can be forced with the X
// and Y parameters. // and Y parameters.
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_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 ? Y_MAX_POS : Y_MIN_POS; y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? UBL_MESH_MAX_Y : UBL_MESH_MIN_Y;
} }
if (code_seen('C')) { if (code_seen('C')) {
@ -455,8 +460,9 @@
} }
} }
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: {
// //
@ -900,6 +906,10 @@
} }
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();
@ -917,15 +927,18 @@
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(); // 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.");
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((float(UBL_MESH_MAX_X) - float(UBL_MESH_MIN_X)) / 2.0, (float(UBL_MESH_MAX_Y) - float(UBL_MESH_MIN_Y)) / 2.0);
//, 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_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform 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_PROTOCOLLNPGM("Remove Shim and Measure Bed Height."); 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 +948,8 @@
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);
} }
@ -957,7 +972,7 @@
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;
@ -984,6 +999,10 @@
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()) 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! 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) {
@ -992,6 +1011,7 @@
} }
} }
const millis_t nxt = millis() + 1500L; const millis_t nxt = millis() + 1500L;
while (ubl_lcd_clicked()) { // debounce and watch for abort while (ubl_lcd_clicked()) { // debounce and watch for abort
idle(); idle();
@ -1038,6 +1058,7 @@
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];
repeat_flag = code_seen('R'); repeat_flag = code_seen('R');
if (repeat_flag) { if (repeat_flag) {
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y); repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
@ -1436,33 +1457,52 @@
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
lcd_implementation_clear();
lcd_mesh_edit_setup(new_z);
do {
new_z = lcd_mesh_edit();
idle();
} while (!ubl_lcd_clicked());
lcd_return_to_status();
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.
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;
if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted
lcd_implementation_clear();
lcd_mesh_edit_setup(new_z);
do {
new_z = lcd_mesh_edit();
idle();
} while (!ubl_lcd_clicked());
lcd_return_to_status();
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.
}
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
idle(); idle();
@ -1630,10 +1670,10 @@
SERIAL_ECHOPGM(" final >>>---> "); SERIAL_ECHOPGM(" final >>>---> ");
SERIAL_PROTOCOL_F( measured_z, 7); SERIAL_PROTOCOL_F( measured_z, 7);
SERIAL_ECHOPGM("\n"); SERIAL_ECHOPGM("\n");
} }
#endif #endif
incremental_LSF(&lsf_results, x, y, measured_z); incremental_LSF(&lsf_results, x, y, measured_z);
} }
zig_zag = !zig_zag; zig_zag = !zig_zag;
} }
@ -1647,7 +1687,7 @@
SERIAL_ECHOPGM(" D="); SERIAL_ECHOPGM(" D=");
SERIAL_PROTOCOL_F( lsf_results.D, 7); SERIAL_PROTOCOL_F( lsf_results.D, 7);
SERIAL_CHAR('\n'); SERIAL_CHAR('\n');
} }
normal = vector_3( lsf_results.A, lsf_results.B, 1.0000); normal = vector_3( lsf_results.A, lsf_results.B, 1.0000);
normal = normal.get_normal(); normal = normal.get_normal();
@ -1660,46 +1700,46 @@
SERIAL_ECHOPGM(","); SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7); SERIAL_PROTOCOL_F( normal.z, 7);
SERIAL_ECHOPGM("]\n"); SERIAL_ECHOPGM("]\n");
} }
rotation = matrix_3x3::create_look_at( vector_3( lsf_results.A, lsf_results.B, 1)); 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 (i = 0; i < GRID_MAX_POINTS_X; i++) {
for (j = 0; j < GRID_MAX_POINTS_Y; j++) { for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp, y_tmp, z_tmp; float x_tmp, y_tmp, z_tmp;
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_ECHOPGM(","); SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7); SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(","); 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 #endif
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp); apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = ["); SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7); SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(","); SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7); SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(","); SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7); SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("]\n"); SERIAL_ECHOPGM("]\n");
safe_delay(55); safe_delay(55);
} }
#endif #endif
ubl.z_values[i][j] += z_tmp - lsf_results.D; 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)) {
@ -1723,7 +1763,7 @@
SERIAL_CHAR('\n'); SERIAL_CHAR('\n');
} }
#endif #endif
return; return;
} }
#endif // AUTO_BED_LEVELING_UBL #endif // AUTO_BED_LEVELING_UBL

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