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UBL's Grid Based Leveling code 

Pretty much...  The code is in place.  Still more work to do.    But it
has a lot of hooks and variables in other code, so commit and merge
before I pick up a million 'Conflicts'.
pull/1/head
Roxy-3D 8 years ago
committed by Roxy-3D
parent
549055f20c
commit
1451b7eacf
8 changed files with 501 additions and 67 deletions
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  1. 32
      Marlin/G26_Mesh_Validation_Tool.cpp
  2. 9
      Marlin/Marlin.h
  3. 2
      Marlin/Marlin_main.cpp
  4. 110
      Marlin/_Bootscreen.h
  5. 134
      Marlin/least_squares_fit.cpp
  6. 19
      Marlin/ubl.cpp
  7. 221
      Marlin/ubl_G29.cpp
  8. 41
      Marlin/ubl_motion.cpp

32
Marlin/G26_Mesh_Validation_Tool.cpp
View File

@ -219,8 +219,8 @@
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0.0);
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], ooze_amount);
ubl.has_control_of_lcd_panel++;
//debug_current_and_destination((char*)"Starting G26 Mesh Validation Pattern.");
ubl.has_control_of_lcd_panel = true;
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
/**
* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
@ -346,12 +346,12 @@
}
//debug_current_and_destination((char*)"Looking for lines to connect.");
//debug_current_and_destination(PSTR("Looking for lines to connect."));
look_for_lines_to_connect();
//debug_current_and_destination((char*)"Done with line connect.");
//debug_current_and_destination(PSTR("Done with line connect."));
}
//debug_current_and_destination((char*)"Done with current circle.");
//debug_current_and_destination(PSTR("Done with current circle."));
} while (location.x_index >= 0 && location.y_index >= 0);
@ -362,16 +362,16 @@
retract_filament(destination);
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
//debug_current_and_destination((char*)"ready to do Z-Raise.");
//debug_current_and_destination(PSTR("ready to do Z-Raise."));
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle
//debug_current_and_destination((char*)"done doing Z-Raise.");
//debug_current_and_destination(PSTR("done doing Z-Raise."));
destination[X_AXIS] = x_pos; // Move back to the starting position
destination[Y_AXIS] = y_pos;
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Move back to the starting position
//debug_current_and_destination((char*)"done doing X/Y move.");
//debug_current_and_destination(PSTR("done doing X/Y move."));
ubl.has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
@ -458,7 +458,7 @@
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL;
//debug_current_and_destination((char*)"Connecting horizontal line.");
//debug_current_and_destination(PSTR("Connecting horizontal line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
@ -489,7 +489,7 @@
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL;
debug_current_and_destination((char*)"Connecting vertical line.");
debug_current_and_destination(PSTR("Connecting vertical line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again
@ -525,7 +525,7 @@
stepper.synchronize();
set_destination_to_current();
//if (ubl.g26_debug_flag) debug_current_and_destination((char*)" in move_to() done with Z move");
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() done with Z move"));
}
// Check if X or Y is involved in the movement.
@ -538,11 +538,11 @@
destination[Y_AXIS] = y;
destination[E_AXIS] += e_delta;
//if (ubl.g26_debug_flag) debug_current_and_destination((char*)" in move_to() doing last move");
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() doing last move"));
ubl_line_to_destination(feed_value, 0);
//if (ubl.g26_debug_flag) debug_current_and_destination((char*)" in move_to() after last move");
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() after last move"));
stepper.synchronize();
set_destination_to_current();
@ -613,7 +613,7 @@
//if (ubl.g26_debug_flag) {
// SERIAL_ECHOLNPGM(" doing printing move.");
// debug_current_and_destination((char*)"doing final move_to() inside print_line_from_here_to_there()");
// debug_current_and_destination(PSTR("doing final move_to() inside print_line_from_here_to_there()"));
//}
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
}
@ -771,7 +771,7 @@
lcd_setstatuspgm(PSTR("G26 Heating Bed."), 99);
lcd_quick_feedback();
#endif
ubl.has_control_of_lcd_panel++;
ubl.has_control_of_lcd_panel = true;
thermalManager.setTargetBed(bed_temp);
while (abs(thermalManager.degBed() - bed_temp) > 3) {
if (ubl_lcd_clicked()) return exit_from_g26();
@ -808,7 +808,7 @@
if (prime_flag == -1) { // The user wants to control how much filament gets purged
ubl.has_control_of_lcd_panel++;
ubl.has_control_of_lcd_panel = true;
lcd_setstatuspgm(PSTR("User-Controlled Prime"), 99);
chirp_at_user();

9
Marlin/Marlin.h
View File

@ -288,6 +288,13 @@ float code_value_temp_diff();
void set_bed_leveling_enabled(bool enable=true);
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
struct linear_fit {
double A, B, D;
};
struct linear_fit *lsf_linear_fit( double *, double *, double *, int );
#endif
#if PLANNER_LEVELING
void reset_bed_level();
#endif
@ -298,6 +305,8 @@ float code_value_temp_diff();
#if HAS_BED_PROBE
extern float zprobe_zoffset;
#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)

2
Marlin/Marlin_main.cpp
View File

@ -1983,8 +1983,6 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
#endif
#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
#if ENABLED(BLTOUCH)
void bltouch_command(int angle) {

110
Marlin/_Bootscreen.h
View File

@ -0,0 +1,110 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Custom Bitmap for splashscreen
*
* You may use one of the following tools to generate the C++ bitmap array from
* a black and white image:
*
* - http://www.marlinfw.org/tools/u8glib/converter.html
* - http://www.digole.com/tools/PicturetoC_Hex_converter.php
*/
//custom screen can be up to 112 wide and 64 high
#include <avr/pgmspace.h>
#define CUSTOM_BOOTSCREEN_TIMEOUT 2500
#define CUSTOM_BOOTSCREEN_BMPWIDTH 112
#define CUSTOM_BOOTSCREEN_BMPHEIGHT 64
// Width: 112, Height: 64
const unsigned char custom_start_bmp[896] PROGMEM = {
0xff, 0xff, 0xff, 0xff, 0xfe, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x00, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x00, 0x00, 0x00, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x00, 0x00, 0x00, 0x31, 0x00, 0x00, 0x01, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x00, 0x00, 0x01, 0xf9, 0x00, 0x00, 0x03, 0xf8, 0x00, 0x00, 0x01, 0xc0, 0x01,
0x80, 0x00, 0x00, 0x06, 0x4d, 0x00, 0x00, 0x07, 0x38, 0x00, 0x00, 0x01, 0xc0, 0x01,
0x80, 0x00, 0x00, 0x0c, 0x26, 0x00, 0x0e, 0xe7, 0x39, 0xd3, 0xe1, 0xf3, 0xe7, 0xc1,
0x80, 0x00, 0x00, 0x19, 0x12, 0x00, 0x0f, 0xe7, 0x39, 0xf7, 0xf3, 0xfb, 0xef, 0xe1,
0x80, 0x00, 0x00, 0x37, 0xce, 0x00, 0x0e, 0xe7, 0x01, 0xf7, 0x73, 0xb9, 0xce, 0xe1,
0x80, 0x00, 0x00, 0x64, 0x66, 0x00, 0x0e, 0xe7, 0x01, 0xc7, 0xf3, 0xb9, 0xcf, 0xe1,
0x80, 0x00, 0x00, 0x4b, 0xa6, 0x00, 0x0e, 0xe7, 0x39, 0xc7, 0xf0, 0xf9, 0xcf, 0xe1,
0x80, 0x00, 0x00, 0xca, 0xb4, 0x00, 0x0f, 0xe7, 0x39, 0xc7, 0x03, 0xf9, 0xce, 0x01,
0x80, 0x00, 0x00, 0xcd, 0xa4, 0x00, 0x06, 0xe7, 0x39, 0xc7, 0x73, 0xb9, 0xce, 0xe1,
0x80, 0x00, 0x03, 0xa6, 0x6c, 0x00, 0x00, 0xe7, 0x39, 0xc7, 0x73, 0xb9, 0xce, 0xe1,
0x80, 0x00, 0xff, 0x13, 0xd8, 0x00, 0x0e, 0xe3, 0xf1, 0xc7, 0xf3, 0xf9, 0xef, 0xe1,
0x80, 0x01, 0x21, 0x88, 0x18, 0x00, 0x0f, 0xe1, 0xe1, 0xc3, 0xe1, 0xb9, 0xe7, 0xc1,
0x80, 0x06, 0x61, 0x16, 0x30, 0x00, 0x07, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x04, 0x41, 0x23, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x04, 0xfe, 0x41, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x0b, 0x86, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x1f, 0x80, 0x00, 0x00, 0x01,
0x80, 0x1e, 0x01, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x1f, 0x80, 0x00, 0x00, 0x01,
0x80, 0x1c, 0x07, 0x22, 0x00, 0x00, 0x07, 0xbc, 0x3f, 0x9f, 0x81, 0xf8, 0xf1, 0xe1,
0x80, 0x08, 0x1f, 0xe2, 0x00, 0x00, 0x0f, 0xfc, 0x3f, 0xbf, 0x87, 0xfe, 0x71, 0xc1,
0x80, 0x00, 0x33, 0x62, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xb7, 0x87, 0x9e, 0x7b, 0xc1,
0x80, 0x00, 0xc2, 0x22, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xb7, 0x87, 0x9e, 0x7b, 0xc1,
0x80, 0x00, 0xc2, 0x3e, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x80, 0x7e, 0x3b, 0x81,
0x80, 0x01, 0xe6, 0x1e, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x83, 0xfe, 0x3f, 0x81,
0x80, 0x01, 0x3c, 0x12, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x87, 0x9e, 0x3b, 0x81,
0x80, 0x01, 0x1c, 0x26, 0x00, 0x00, 0x0f, 0xfc, 0x3d, 0xf7, 0x87, 0x9e, 0x7b, 0xc1,
0x80, 0x01, 0x70, 0x64, 0x00, 0x00, 0x07, 0xbc, 0x3c, 0xe7, 0x87, 0x9e, 0x7b, 0xc1,
0x80, 0x03, 0xc0, 0x58, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0xe7, 0x87, 0xfe, 0x71, 0xc1,
0x80, 0x0d, 0x80, 0xf0, 0x00, 0x00, 0x0f, 0x3c, 0x3c, 0xe7, 0x83, 0xde, 0xf1, 0xe1,
0x80, 0x1a, 0x00, 0xe0, 0x00, 0x00, 0x0f, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x26, 0x00, 0x40, 0x00, 0x00, 0x03, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x80, 0x4c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x02, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x02, 0x23, 0x27, 0x39, 0x8c, 0xe1,
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0x04, 0x50, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x02, 0x02, 0x24, 0x93, 0xc8, 0xc1,
0x0d, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x08, 0x92, 0x02, 0x02, 0x24, 0x92, 0x08, 0x21,
0x08, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x07, 0x1c, 0x02, 0x02, 0x24, 0x99, 0xc9, 0xc1,
0x18, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x10, 0x30, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x0f, 0xe0, 0x0f, 0x00, 0x01,
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0x20, 0x30, 0x00, 0x6d, 0x80, 0x00, 0x00, 0x12, 0x24, 0x09, 0x88, 0x09, 0x00, 0x01,
0x10, 0x18, 0x1f, 0x60, 0xc0, 0x00, 0x00, 0x12, 0x24, 0x09, 0x48, 0x09, 0x00, 0x01,
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0x10, 0x16, 0xf0, 0x18, 0x20, 0x00, 0x00, 0x12, 0x24, 0x08, 0x10, 0x09, 0x00, 0x01,
0x1a, 0x10, 0x60, 0x08, 0x30, 0x00, 0x00, 0x12, 0x24, 0x09, 0xc8, 0x09, 0x00, 0x01,
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0x0e, 0x07, 0x80, 0x00, 0x10, 0x00, 0x00, 0x13, 0xe4, 0x89, 0xc4, 0x89, 0xf9, 0x01,
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0x01, 0xff, 0xff, 0xff, 0xe0, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
};

134
Marlin/least_squares_fit.cpp
View File

@ -0,0 +1,134 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Least Squares Best Fit By Roxy and Ed Williams
*
* This algorythm is high speed and has a very small code footprint.
* Its results are identical to both the Iterative Least Squares published
* earlier by Roxy and the QR_SOLVE solution. If used in place of QR_SOLVE
* it saves roughly 10KB of program memory.
*
*/
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include <math.h>
#include "UBL.h"
#include "Marlin.h"
double linear_fit_average(double *, int);
double linear_fit_average_squared(double *, int);
double linear_fit_average_mixed_terms(double *, double *, int );
double linear_fit_average_product(double *matrix1, double *matrix2, int n);
void linear_fit_subtract_mean(double *matrix, double bar, int n);
double linear_fit_max_abs(double *, int);
struct linear_fit linear_fit_results;
struct linear_fit *lsf_linear_fit(double *x, double *y, double *z, int n) {
double xbar, ybar, zbar;
double x2bar, y2bar;
double xybar, xzbar, yzbar;
double D;
int i;
linear_fit_results.A = 0.0;
linear_fit_results.B = 0.0;
linear_fit_results.D = 0.0;
xbar = linear_fit_average(x, n);
ybar = linear_fit_average(y, n);
zbar = linear_fit_average(z, n);
linear_fit_subtract_mean( x, xbar, n);
linear_fit_subtract_mean( y, ybar, n);
linear_fit_subtract_mean( z, zbar, n);
x2bar = linear_fit_average_product( x, x, n);
y2bar = linear_fit_average_product( y, y, n);
xybar = linear_fit_average_product( x, y, n);
xzbar = linear_fit_average_product( x, z, n);
yzbar = linear_fit_average_product( y, z, n);
D = x2bar*y2bar - xybar*xybar;
for(i=0; i<n; i++) {
if (fabs(D) <= 1e-15*( linear_fit_max_abs(x, n) + linear_fit_max_abs(y, n))) {
printf( "error: x,y points are collinear at index:%d \n", i );
return NULL;
}
}
linear_fit_results.A = -(xzbar*y2bar - yzbar*xybar) / D;
linear_fit_results.B = -(yzbar*x2bar - xzbar*xybar) / D;
// linear_fit_results.D = -(zbar - linear_fit_results->A*xbar - linear_fit_results->B*ybar);
linear_fit_results.D = -(zbar + linear_fit_results.A*xbar + linear_fit_results.B*ybar);
return &linear_fit_results;
}
double linear_fit_average(double *matrix, int n)
{
int i;
double sum=0.0;
for (i = 0; i < n; i++)
sum += matrix[i];
return sum / (double) n;
}
double linear_fit_average_product(double *matrix1, double *matrix2, int n) {
int i;
double sum = 0.0;
for (i = 0; i < n; i++)
sum += matrix1[i] * matrix2[i];
return sum / (double) n;
}
void linear_fit_subtract_mean(double *matrix, double bar, int n) {
int i;
for (i = 0; i < n; i++) {
matrix[i] -= bar;
}
return;
}
double linear_fit_max_abs(double *matrix, int n) {
int i;
double max_abs = 0.0;
for(i=0; i<n; i++)
if ( max_abs < fabs(matrix[i]))
max_abs = fabs(matrix[i]);
return max_abs;
}
#endif

19
Marlin/ubl.cpp
View File

@ -47,7 +47,7 @@
safe_delay(10);
}
static void serial_echo_10x_spaces() {
static void serial_echo_11x_spaces() {
for (uint8_t i = GRID_MAX_POINTS_X - 1; --i;) {
SERIAL_ECHOPGM(" ");
#if TX_BUFFER_SIZE > 0
@ -92,15 +92,6 @@
SERIAL_PROTOCOLLNPGM("?In load_state() sanity_check() failed.\n");
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
/**
* These lines can go away in a few weeks. They are just
* to make sure people updating their firmware won't be using
* an incomplete Bed_Leveling.state structure. For speed
* we now multiply by the inverse of the Fade Height instead of
* dividing by it. Soon... all of the old structures will be
* updated, but until then, we try to ease the transition
* for our Beta testers.
*/
const float recip = ubl.state.g29_correction_fade_height ? 1.0 / ubl.state.g29_correction_fade_height : 1.0;
if (ubl.state.g29_fade_height_multiplier != recip) {
ubl.state.g29_fade_height_multiplier = recip;
@ -181,11 +172,11 @@
}
if (map0) {
serial_echo_10x_spaces();
serial_echo_11x_spaces();
serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
SERIAL_EOL;
serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
serial_echo_10x_spaces();
serial_echo_11x_spaces();
serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MAX_Y);
SERIAL_EOL;
}
@ -231,12 +222,12 @@
if (map0) {
serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
SERIAL_ECHOPGM(" ");
serial_echo_10x_spaces();
serial_echo_11x_spaces();
serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MIN_Y);
SERIAL_EOL;
serial_echo_xy(0, 0);
SERIAL_ECHOPGM(" ");
serial_echo_10x_spaces();
serial_echo_11x_spaces();
serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
SERIAL_EOL;
}

221
Marlin/ubl_G29.cpp
View File

@ -40,6 +40,7 @@
bool lcd_clicked();
void lcd_implementation_clear();
void lcd_mesh_edit_setup(float initial);
void tilt_mesh_based_on_probed_grid( const bool );
float lcd_mesh_edit();
void lcd_z_offset_edit_setup(float);
float lcd_z_offset_edit();
@ -50,8 +51,7 @@
extern bool code_has_value();
extern float probe_pt(float x, float y, bool, int);
extern bool set_probe_deployed(bool);
#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
bool ProbeStay = true;
constexpr float ubl_3_point_1_X = UBL_PROBE_PT_1_X,
@ -302,7 +302,7 @@
// 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;
storage_slot = 0, map_type, grid_size_G ; //unlevel_value = -1;
static bool repeat_flag, c_flag, x_flag, y_flag;
static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0;
@ -385,7 +385,20 @@
// return;
//}
}
//*/
*/
if (code_seen('G')) {
uint8_t grid_size_G = code_has_value() ? code_value_int() : 3;
if (grid_size_G < 2) {
SERIAL_PROTOCOLLNPGM("ERROR - grid size must be 2 or more");
return;
}
if (grid_size_G > GRID_MAX_POINTS_X || grid_size_G > GRID_MAX_POINTS_Y ) {
SERIAL_PROTOCOLLNPGM("ERROR - grid size can NOT exceed GRID_MAX_POINTS_X nor GRID_MAX_POINTS_Y");
return;
}
tilt_mesh_based_on_probed_grid( code_seen('O')||code_seen('M'));
}
if (code_seen('P')) {
phase_value = code_value_int();
@ -488,7 +501,7 @@
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 = true;
while (!ubl_lcd_clicked()) {
safe_delay(250);
if (ubl.encoder_diff) {
@ -630,7 +643,7 @@
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 = true; // 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
@ -646,7 +659,7 @@
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 = 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. So, until we are done looking for a long Encoder Wheel Press,
// we need to take control of the panel
@ -744,7 +757,7 @@
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 = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
@ -872,7 +885,7 @@
float measure_business_card_thickness(const float &in_height) {
ubl.has_control_of_lcd_panel++;
ubl.has_control_of_lcd_panel = true;
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.");
@ -899,7 +912,7 @@
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 = true;
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);
@ -994,6 +1007,16 @@
return UBL_ERR;
}
if (code_seen('G')) {
grid_size_G = 3;
if (code_has_value())
grid_size_G = code_value_int();
if (!WITHIN(grid_size_G, 2, 10)) {
SERIAL_PROTOCOLLNPGM("Invalid grid probe points specified.\n");
return UBL_ERR;
}
}
x_flag = code_seen('X') && code_has_value();
x_pos = x_flag ? code_value_float() : current_position[X_AXIS];
if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) {
@ -1053,7 +1076,6 @@
return UBL_ERR;
}
/*
if (code_seen('M')) { // Check if a map type was specified
map_type = code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) {
@ -1061,7 +1083,6 @@
return UBL_ERR;
}
}
//*/
return UBL_OK;
}
@ -1070,6 +1091,7 @@
* 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 * const str, const float &f) {
char *ptr;
@ -1087,6 +1109,7 @@
SERIAL_EOL;
}
*/
static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0;
@ -1438,4 +1461,178 @@
SERIAL_ECHOLNPGM("Done Editing Mesh");
}
void tilt_mesh_based_on_probed_grid( const bool do_ubl_mesh_map) {
int8_t grid_G_index_to_xpos[grid_size_G]; // UBL MESH X index to be probed
int8_t grid_G_index_to_ypos[grid_size_G]; // UBL MESH Y index to be probed
int8_t i, j ,k, xCount, yCount, G_X_index, G_Y_index; // counter variables
float z_values_G[grid_size_G][grid_size_G];
struct linear_fit *results;
for (G_Y_index = 0; G_Y_index < grid_size_G; G_Y_index++)
for (G_X_index = 0; G_X_index < grid_size_G; G_X_index++)
z_values_G[G_X_index][G_Y_index] = NAN;
uint8_t x_min = GRID_MAX_POINTS_X - 1;
uint8_t x_max = 0;
uint8_t y_min = GRID_MAX_POINTS_Y - 1;
uint8_t y_max = 0;
//find min & max probeable points in the mesh
for (xCount = 0; xCount < GRID_MAX_POINTS_X ; xCount++) {
for (yCount = 0; yCount < GRID_MAX_POINTS_Y ; yCount++) {
if (WITHIN(ubl.mesh_index_to_xpos[xCount], MIN_PROBE_X, MAX_PROBE_X) && WITHIN(ubl.mesh_index_to_ypos[yCount], MIN_PROBE_Y, MAX_PROBE_Y)) {
if (x_min > xCount) x_min = xCount;
if (x_max < xCount) x_max = xCount;
if (y_min > yCount) y_min = yCount;
if (y_max < yCount) y_max = yCount;
}
}
}
if ((x_max - x_min + 1) < (grid_size_G) || (y_max - y_min + 1) < (grid_size_G)) {
SERIAL_PROTOCOLPAIR("ERROR - probeable UBL MESH smaller than grid - X points: ", x_max - x_min + 1);
SERIAL_PROTOCOLPAIR(" Y points: ", y_max - y_min + 1);
SERIAL_PROTOCOLLNPAIR(" grid: ", grid_size_G);
return;
}
// populate X matrix
for (G_X_index = 0; G_X_index < grid_size_G; G_X_index++) {
grid_G_index_to_xpos[G_X_index] = x_min + G_X_index * (x_max - x_min)/(grid_size_G - 1);
if (G_X_index > 0 && grid_G_index_to_xpos[G_X_index - 1] == grid_G_index_to_xpos[G_X_index] ) {
grid_G_index_to_xpos[G_X_index] = grid_G_index_to_xpos[G_X_index - 1] + 1;
}
}
// populate Y matrix
for (G_Y_index = 0; G_Y_index < grid_size_G; G_Y_index++) {
grid_G_index_to_ypos[G_Y_index] = y_min + G_Y_index * (y_max - y_min)/(grid_size_G - 1);
if (G_Y_index > 0 && grid_G_index_to_ypos[G_Y_index -1] == grid_G_index_to_ypos[G_Y_index] ) {
grid_G_index_to_ypos[G_Y_index] = grid_G_index_to_ypos[G_Y_index - 1] + 1;
}
}
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
// this is a copy of the G29 AUTO_BED_LEVELING_BILINEAR method/code
#undef PROBE_Y_FIRST
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_NUM grid_size_G
#define PR_INNER_VAR yCount
#define PR_INNER_NUM grid_size_G
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_NUM grid_size_G
#define PR_INNER_VAR xCount
#define PR_INNER_NUM grid_size_G
#endif
bool zig = PR_OUTER_NUM & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
// Outer loop is Y with PROBE_Y_FIRST disabled
for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
SERIAL_PROTOCOLPAIR("\nPR_OUTER_VAR: ", PR_OUTER_VAR);
if (zig) { // away from origin
inStart = 0;
inStop = PR_INNER_NUM;
inInc = 1;
}
else { // towards origin
inStart = PR_INNER_NUM - 1;
inStop = -1;
inInc = -1;
}
zig = !zig; // zag
// Inner loop is Y with PROBE_Y_FIRST enabled
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
SERIAL_PROTOCOLPAIR("\nPR_INNER_VAR: ", PR_INNER_VAR);
SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 1);
// end of G29 AUTO_BED_LEVELING_BILINEAR method/code
if (ubl_lcd_clicked()) {
SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 2);
SERIAL_PROTOCOLLNPGM("\nGrid only partially populated.\n");
lcd_quick_feedback();
STOW_PROBE();
SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 3);
while (ubl_lcd_clicked()) idle();
SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 4);
ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel
return;
}
SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 5);
const float probeX = ubl.mesh_index_to_xpos[grid_G_index_to_xpos[xCount]], //where we want the probe to be
probeY = ubl.mesh_index_to_ypos[grid_G_index_to_ypos[yCount]];
SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 6);
const float measured_z = probe_pt(LOGICAL_X_POSITION(probeX), LOGICAL_Y_POSITION(probeY), code_seen('E'), (code_seen('V') && code_has_value()) ? code_value_int() : 0 ); // takes into account the offsets
SERIAL_PROTOCOLPAIR("\nmeasured_z: ", measured_z );
z_values_G[xCount][yCount] = measured_z;
//SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped.");
}
}
SERIAL_PROTOCOL("\nDone probing...\n");
STOW_PROBE();
restore_ubl_active_state_and_leave();
// ?? ubl.has_control_of_lcd_panel = true;
// do_blocking_move_to_xy(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[0]], ubl.mesh_index_to_ypos[grid_G_index_to_ypos[0]]);
// least squares code
double xxx9[] = { 0,50,100,150,200, 20,70,120,165,195, 0,50,100,150,200, 0,55,100,150,200, 0,65,100,150,205 };
double yyy9[] = { 0, 1, 2, 3, 4, 50, 51, 52, 53, 54, 100, 101,102,103,104, 150,151,152,153,154, 200,201,202,203,204 };
double zzz9[] = { 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.012,0.01};
int nine_size = sizeof(xxx9) / sizeof(double);
double xxx0[] = { 0.0, 0.0, 1.0 }; // Expect [0,0,0.1,0]
double yyy0[] = { 0.0, 1.0, 0.0 };
double zzz0[] = { 0.1, 0.1, 0.1 };
int zero_size = sizeof(xxx0) / sizeof(double);
double xxx[] = { 0.0, 0.0, 1.0, 1.0 }; // Expect [0.1,0,0.05,0]
double yyy[] = { 0.0, 1.0, 0.0, 1.0 };
double zzz[] = { 0.05, 0.05, 0.15, 0.15 };
int three_size = sizeof(xxx) / sizeof(double);
results = lsf_linear_fit(xxx9, yyy9, zzz9, nine_size);
SERIAL_PROTOCOLPAIR("\nxxx9->A =", results->A);
SERIAL_PROTOCOLPAIR("\nxxx9->B =", results->B);
SERIAL_PROTOCOLPAIR("\nxxx9->D =", results->D);
SERIAL_PROTOCOL("\n");
results = lsf_linear_fit(xxx0, yyy0, zzz0, zero_size);
SERIAL_PROTOCOLPAIR("\nxxx0->A =", results->A);
SERIAL_PROTOCOLPAIR("\nxxx0->B =", results->B);
SERIAL_PROTOCOLPAIR("\nxxx0->D =", results->D);
SERIAL_PROTOCOL("\n");
results = lsf_linear_fit(xxx, yyy, zzz, three_size);
SERIAL_PROTOCOLPAIR("\nxxx->A =", results->A);
SERIAL_PROTOCOLPAIR("\nxxx->B =", results->B);
SERIAL_PROTOCOLPAIR("\nxxx->D =", results->D);
SERIAL_PROTOCOL("\n");
return;
} // end of tilt_mesh_based_on_probed_grid()
#endif // AUTO_BED_LEVELING_UBL

41
Marlin/ubl_motion.cpp
View File

@ -39,7 +39,7 @@
SERIAL_ECHO_F(destination[X_AXIS], 6);
}
void debug_current_and_destination(char *title) {
void debug_current_and_destination(const char *title) {
// if the title message starts with a '!' it is so important, we are going to
// ignore the status of the g26_debug_flag
@ -85,12 +85,6 @@
SERIAL_ECHO(title);
SERIAL_EOL;
SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66. Right Switch is on pin 65
//if (been_to_2_6) {
//while ((digitalRead(66) & 0x01) != 0)
// idle();
//}
}
void ubl_line_to_destination(const float &feed_rate, uint8_t extruder) {
@ -124,7 +118,7 @@
SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
SERIAL_CHAR(')');
SERIAL_EOL;
debug_current_and_destination((char*)"Start of ubl_line_to_destination()");
debug_current_and_destination(PSTR("Start of ubl_line_to_destination()"));
}
if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
@ -144,7 +138,7 @@
set_current_to_destination();
if (ubl.g26_debug_flag)
debug_current_and_destination((char*)"out of bounds in ubl_line_to_destination()");
debug_current_and_destination(PSTR("out of bounds in ubl_line_to_destination()"));
return;
}
@ -181,7 +175,7 @@
z_optimized = z0;
z0 = ubl.get_z_correction(end[X_AXIS], end[Y_AXIS]);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"FINAL_MOVE: z_correction()");
debug_current_and_destination(PSTR("FINAL_MOVE: z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" end[X_AXIS]=", end[X_AXIS]);
@ -191,7 +185,8 @@
SERIAL_ECHOPAIR(" err=",fabs(z_optimized - z0));
SERIAL_EOL;
}
//*/
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
/**
@ -206,7 +201,7 @@
planner.buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
if (ubl.g26_debug_flag)
debug_current_and_destination((char*)"FINAL_MOVE in ubl_line_to_destination()");
debug_current_and_destination(PSTR("FINAL_MOVE in ubl_line_to_destination()"));
set_current_to_destination();
return;
@ -286,7 +281,7 @@
z_optimized = z0;
z0 = ubl.get_z_correction(x, next_mesh_line_y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"VERTICAL z_correction()");
debug_current_and_destination(PSTR("VERTICAL z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" x=", x);
@ -296,7 +291,7 @@
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
//*/
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
@ -333,7 +328,7 @@
}
if (ubl.g26_debug_flag)
debug_current_and_destination((char*)"vertical move done in ubl_line_to_destination()");
debug_current_and_destination(PSTR("vertical move done in ubl_line_to_destination()"));
//
// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
@ -371,7 +366,7 @@
z_optimized = z0;
z0 = ubl.get_z_correction(next_mesh_line_x, y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"HORIZONTAL z_correction()");
debug_current_and_destination(PSTR("HORIZONTAL z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
@ -381,7 +376,7 @@
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
//*/
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
@ -418,7 +413,7 @@
}
if (ubl.g26_debug_flag)
debug_current_and_destination((char*)"horizontal move done in ubl_line_to_destination()");
debug_current_and_destination(PSTR("horizontal move done in ubl_line_to_destination()"));
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
goto FINAL_MOVE;
@ -466,7 +461,7 @@
z_optimized = z0;
z0 = ubl.get_z_correction(x, next_mesh_line_y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"General_1: z_correction()");
debug_current_and_destination(PSTR("General_1: z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN "); {
SERIAL_ECHOPAIR(" x=", x);
@ -477,7 +472,7 @@
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
//*/
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
@ -517,7 +512,7 @@
z_optimized = z0;
z0 = ubl.get_z_correction(next_mesh_line_x, y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination((char*)"General_2: z_correction()");
debug_current_and_destination(PSTR("General_2: z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
@ -527,7 +522,7 @@
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
//*/
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
@ -557,7 +552,7 @@
}
if (ubl.g26_debug_flag)
debug_current_and_destination((char*)"generic move done in ubl_line_to_destination()");
debug_current_and_destination(PSTR("generic move done in ubl_line_to_destination()"));
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
goto FINAL_MOVE;

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