diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 3261998792..e18c98a437 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -335,50 +335,49 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #ifdef ENABLE_AUTO_BED_LEVELING -// There are 3 different ways to pick the X and Y locations to probe: -// 1. Basic 3-point probe at left-back, left-front, and right-front corners of a rectangle -// 2. Probe all points of a 2D lattice, defined by a rectangle and ACCURATE_BED_LEVELING_POINTS -// 3. 3-point probe at 3 arbitrary points that don't form a line. - -// To enable mode 1: -// - #define ENABLE_AUTO_BED_LEVELING -// - Set the XXXX_PROBE_BED_POSITION values below -// - Don't define AUTO_BED_LEVELING_ANY_POINTS or ACCURATE_BED_LEVELING - -// To enable mode 2: -// - #define ENABLE_AUTO_BED_LEVELING -// - Set the XXXX_PROBE_BED_POSITION values below -// - #define ACCURATE_BED_LEVELING -// - Set the ACCURATE_BED_LEVELING_POINTS to your desired density - -// To enable mode 3: -// - #define ENABLE_AUTO_BED_LEVELING -// - #define AUTO_BED_LEVELING_ANY_POINTS -// - Set the ABL_PROBE_PT_XXXX values below -// - Comment out (undefine) ACCURATE_BED_LEVELING since that is incompatible - - - -// Mode 3: Enable auto bed leveling at any 3 points that aren't colinear -// #define AUTO_BED_LEVELING_ANY_POINTS -#ifdef AUTO_BED_LEVELING_ANY_POINTS - #define ABL_PROBE_PT_1_X 15 - #define ABL_PROBE_PT_1_Y 15 - #define ABL_PROBE_PT_2_X 25 - #define ABL_PROBE_PT_2_Y 75 - #define ABL_PROBE_PT_3_X 125 - #define ABL_PROBE_PT_3_Y 25 -#else // not AUTO_BED_LEVELING_ANY_POINTS - - // Modes 1 & 2: - // For mode 1, probing happens at left-back, left-front, and right-front corners - // For mode 2, probing happens at lattice points within this rectangle (see ACCURATE_BED_LEVELING_POINTS) - #define LEFT_PROBE_BED_POSITION 15 - #define RIGHT_PROBE_BED_POSITION 170 - #define BACK_PROBE_BED_POSITION 180 - #define FRONT_PROBE_BED_POSITION 20 +// There are 2 different ways to pick the X and Y locations to probe: + +// - "grid" mode +// Probe every point in a rectangular grid +// You must specify the rectangle, and the density of sample points +// This mode is preferred because there are more measurements. +// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive + +// - "3-point" mode +// Probe 3 arbitrary points on the bed (that aren't colinear) +// You must specify the X & Y coordinates of all 3 points + + #define AUTO_BED_LEVELING_GRID + // with AUTO_BED_LEVELING_GRID, the bed is sampled in a + // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid + // and least squares solution is calculated + // Note: this feature occupies 10'206 byte + #ifdef AUTO_BED_LEVELING_GRID + + // set the rectangle in which to probe + #define LEFT_PROBE_BED_POSITION 15 + #define RIGHT_PROBE_BED_POSITION 170 + #define BACK_PROBE_BED_POSITION 180 + #define FRONT_PROBE_BED_POSITION 20 + + // set the number of grid points per dimension + // I wouldn't see a reason to go above 3 (=9 probing points on the bed) + #define AUTO_BED_LEVELING_GRID_POINTS 2 + + + #else // not AUTO_BED_LEVELING_GRID + // with no grid, just probe 3 arbitrary points. A simple cross-product + // is used to esimate the plane of the print bed + + #define ABL_PROBE_PT_1_X 15 + #define ABL_PROBE_PT_1_Y 180 + #define ABL_PROBE_PT_2_X 15 + #define ABL_PROBE_PT_2_Y 20 + #define ABL_PROBE_PT_3_X 170 + #define ABL_PROBE_PT_3_Y 20 + + #endif // AUTO_BED_LEVELING_GRID -#endif // these are the offsets to the probe relative to the extruder tip (Hotend - Probe) #define X_PROBE_OFFSET_FROM_EXTRUDER -25 @@ -418,19 +417,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #endif - // with accurate bed leveling, the bed is sampled in a ACCURATE_BED_LEVELING_POINTSxACCURATE_BED_LEVELING_POINTS grid and least squares solution is calculated - // Note: this feature occupies 10'206 byte - #define ACCURATE_BED_LEVELING - // Mode 2 only - #ifdef ACCURATE_BED_LEVELING - #ifdef AUTO_BED_LEVELING_ANY_POINTS - #error AUTO_BED_LEVELING_ANY_POINTS is incompatible with ACCURATE_BED_LEVELING - #endif - // I wouldn't see a reason to go above 3 (=9 probing points on the bed) - #define ACCURATE_BED_LEVELING_POINTS 2 - #endif - -#endif +#endif // ENABLE_AUTO_BED_LEVELING // The position of the homing switches diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index b3f971a105..fd5e6b5a7c 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -31,7 +31,7 @@ #ifdef ENABLE_AUTO_BED_LEVELING #include "vector_3.h" - #ifdef ACCURATE_BED_LEVELING + #ifdef AUTO_BED_LEVELING_GRID #include "qr_solve.h" #endif #endif // ENABLE_AUTO_BED_LEVELING @@ -822,7 +822,7 @@ static void axis_is_at_home(int axis) { } #ifdef ENABLE_AUTO_BED_LEVELING -#ifdef ACCURATE_BED_LEVELING +#ifdef AUTO_BED_LEVELING_GRID static void set_bed_level_equation_lsq(double *plane_equation_coefficients) { vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); @@ -846,10 +846,9 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients) plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); } -#else // not ACCURATE_BED_LEVELING +#else // not AUTO_BED_LEVELING_GRID - #ifdef AUTO_BED_LEVELING_ANY_POINTS -static void set_bed_level_equation_any_pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) { +static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) { plan_bed_level_matrix.set_to_identity(); @@ -869,49 +868,14 @@ static void set_bed_level_equation_any_pts(float z_at_pt_1, float z_at_pt_2, flo current_position[Y_AXIS] = corrected_position.y; current_position[Z_AXIS] = corrected_position.z; - // but the bed at 0 so we don't go below it. + // put the bed at 0 so we don't go below it. current_position[Z_AXIS] = zprobe_zoffset; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); } - #else // not AUTO_BED_LEVELING_ANY_POINTS -static void set_bed_level_equation(float z_at_xLeft_yFront, float z_at_xRight_yFront, float z_at_xLeft_yBack) { - plan_bed_level_matrix.set_to_identity(); - - vector_3 xLeftyFront = vector_3(LEFT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, z_at_xLeft_yFront); - vector_3 xLeftyBack = vector_3(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, z_at_xLeft_yBack); - vector_3 xRightyFront = vector_3(RIGHT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, z_at_xRight_yFront); - - vector_3 xPositive = (xRightyFront - xLeftyFront).get_normal(); - vector_3 yPositive = (xLeftyBack - xLeftyFront).get_normal(); - vector_3 planeNormal = vector_3::cross(xPositive, yPositive).get_normal(); - - //planeNormal.debug("planeNormal"); - //yPositive.debug("yPositive"); - plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal); - //bedLevel.debug("bedLevel"); - - //plan_bed_level_matrix.debug("bed level before"); - //vector_3 uncorrected_position = plan_get_position_mm(); - //uncorrected_position.debug("position before"); - - // and set our bed level equation to do the right thing - //plan_bed_level_matrix.debug("bed level after"); - vector_3 corrected_position = plan_get_position(); - //corrected_position.debug("position after"); - current_position[X_AXIS] = corrected_position.x; - current_position[Y_AXIS] = corrected_position.y; - current_position[Z_AXIS] = corrected_position.z; - - // but the bed at 0 so we don't go below it. - current_position[Z_AXIS] = zprobe_zoffset; - - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); -} - #endif // AUTO_BED_LEVELING_ANY_POINTS -#endif // ACCURATE_BED_LEVELING +#endif // AUTO_BED_LEVELING_GRID static void run_z_probe() { plan_bed_level_matrix.set_to_identity(); @@ -1462,11 +1426,11 @@ void process_commands() setup_for_endstop_move(); feedrate = homing_feedrate[Z_AXIS]; -#ifdef ACCURATE_BED_LEVELING +#ifdef AUTO_BED_LEVELING_GRID // probe at the points of a lattice grid - int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1); - int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1); + int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1); + int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1); // solve the plane equation ax + by + d = z @@ -1476,9 +1440,9 @@ void process_commands() // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z // "A" matrix of the linear system of equations - double eqnAMatrix[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS*3]; + double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3]; // "B" vector of Z points - double eqnBVector[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS]; + double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS]; int probePointCounter = 0; @@ -1501,7 +1465,7 @@ void process_commands() zig = true; } - for (int xCount=0; xCount < ACCURATE_BED_LEVELING_POINTS; xCount++) + for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++) { float z_before; if (probePointCounter == 0) @@ -1518,9 +1482,9 @@ void process_commands() eqnBVector[probePointCounter] = measured_z; - eqnAMatrix[probePointCounter + 0*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = xProbe; - eqnAMatrix[probePointCounter + 1*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = yProbe; - eqnAMatrix[probePointCounter + 2*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = 1; + eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe; + eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe; + eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1; probePointCounter++; xProbe += xInc; } @@ -1528,7 +1492,7 @@ void process_commands() clean_up_after_endstop_move(); // solve lsq problem - double *plane_equation_coefficients = qr_solve(ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS, 3, eqnAMatrix, eqnBVector); + double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector); SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); SERIAL_PROTOCOL(plane_equation_coefficients[0]); @@ -1542,10 +1506,8 @@ void process_commands() free(plane_equation_coefficients); -#else // ACCURATE_BED_LEVELING not defined +#else // AUTO_BED_LEVELING_GRID not defined - - #ifdef AUTO_BED_LEVELING_ANY_POINTS // Probe at 3 arbitrary points // probe 1 float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING); @@ -1558,24 +1520,10 @@ void process_commands() clean_up_after_endstop_move(); - set_bed_level_equation_any_pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); - #else // not AUTO_BED_LEVELING_ANY_POINTS - // probe at 3 corners of a rectangle - // probe 1 - float z_at_xLeft_yBack = probe_pt(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, Z_RAISE_BEFORE_PROBING); + set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); - // probe 2 - float z_at_xLeft_yFront = probe_pt(LEFT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); - - // probe 3 - float z_at_xRight_yFront = probe_pt(RIGHT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); - - clean_up_after_endstop_move(); - - set_bed_level_equation(z_at_xLeft_yFront, z_at_xRight_yFront, z_at_xLeft_yBack); - #endif -#endif // ACCURATE_BED_LEVELING +#endif // AUTO_BED_LEVELING_GRID st_synchronize(); // The following code correct the Z height difference from z-probe position and hotend tip position. diff --git a/Marlin/qr_solve.cpp b/Marlin/qr_solve.cpp index 0a491281c5..bfe4fce1ab 100644 --- a/Marlin/qr_solve.cpp +++ b/Marlin/qr_solve.cpp @@ -1,6 +1,6 @@ #include "qr_solve.h" -#ifdef ACCURATE_BED_LEVELING +#ifdef AUTO_BED_LEVELING_GRID #include #include diff --git a/Marlin/qr_solve.h b/Marlin/qr_solve.h index b756d1e1b5..b38086aad0 100644 --- a/Marlin/qr_solve.h +++ b/Marlin/qr_solve.h @@ -1,6 +1,6 @@ #include "Configuration.h" -#ifdef ACCURATE_BED_LEVELING +#ifdef AUTO_BED_LEVELING_GRID void daxpy ( int n, double da, double dx[], int incx, double dy[], int incy ); double ddot ( int n, double dx[], int incx, double dy[], int incy );