Scott Lahteine
7 years ago
45 changed files with 3618 additions and 3944 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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#include "../../../inc/MarlinConfig.h" |
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
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#include "abl.h" |
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#include "../../../module/motion.h" |
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int bilinear_grid_spacing[2], bilinear_start[2]; |
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float bilinear_grid_factor[2], |
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; |
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/**
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* Extrapolate a single point from its neighbors |
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*/ |
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static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPGM("Extrapolate ["); |
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if (x < 10) SERIAL_CHAR(' '); |
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SERIAL_ECHO((int)x); |
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SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' '); |
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SERIAL_CHAR(' '); |
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if (y < 10) SERIAL_CHAR(' '); |
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SERIAL_ECHO((int)y); |
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SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' '); |
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SERIAL_CHAR(']'); |
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} |
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#endif |
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if (!isnan(z_values[x][y])) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)"); |
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#endif |
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return; // Don't overwrite good values.
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} |
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SERIAL_EOL(); |
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// Get X neighbors, Y neighbors, and XY neighbors
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const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir; |
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float a1 = z_values[x1][y ], a2 = z_values[x2][y ], |
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b1 = z_values[x ][y1], b2 = z_values[x ][y2], |
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c1 = z_values[x1][y1], c2 = z_values[x2][y2]; |
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// Treat far unprobed points as zero, near as equal to far
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if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2; |
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if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2; |
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if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2; |
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const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2; |
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// Take the average instead of the median
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z_values[x][y] = (a + b + c) / 3.0; |
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// Median is robust (ignores outliers).
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// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
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// : ((c < b) ? b : (a < c) ? a : c);
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} |
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//Enable this if your SCARA uses 180° of total area
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//#define EXTRAPOLATE_FROM_EDGE
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#if ENABLED(EXTRAPOLATE_FROM_EDGE) |
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#if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y |
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#define HALF_IN_X |
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#elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X |
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#define HALF_IN_Y |
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#endif |
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#endif |
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/**
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* Fill in the unprobed points (corners of circular print surface) |
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* using linear extrapolation, away from the center. |
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*/ |
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void extrapolate_unprobed_bed_level() { |
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#ifdef HALF_IN_X |
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constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1; |
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#else |
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constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
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ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
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xlen = ctrx1; |
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#endif |
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#ifdef HALF_IN_Y |
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constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1; |
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#else |
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constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
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ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
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ylen = ctry1; |
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#endif |
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for (uint8_t xo = 0; xo <= xlen; xo++) |
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for (uint8_t yo = 0; yo <= ylen; yo++) { |
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uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo; |
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#ifndef HALF_IN_X |
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const uint8_t x1 = ctrx1 - xo; |
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#endif |
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#ifndef HALF_IN_Y |
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const uint8_t y1 = ctry1 - yo; |
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#ifndef HALF_IN_X |
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extrapolate_one_point(x1, y1, +1, +1); // left-below + +
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#endif |
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extrapolate_one_point(x2, y1, -1, +1); // right-below - +
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#endif |
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#ifndef HALF_IN_X |
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extrapolate_one_point(x1, y2, +1, -1); // left-above + -
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#endif |
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extrapolate_one_point(x2, y2, -1, -1); // right-above - -
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} |
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} |
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void print_bilinear_leveling_grid() { |
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SERIAL_ECHOLNPGM("Bilinear Leveling Grid:"); |
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print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3, |
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[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; } |
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); |
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} |
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#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
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#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1 |
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#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1 |
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#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2) |
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#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2) |
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float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y]; |
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int bilinear_grid_spacing_virt[2] = { 0 }; |
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float bilinear_grid_factor_virt[2] = { 0 }; |
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void print_bilinear_leveling_grid_virt() { |
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SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:"); |
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print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5, |
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[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; } |
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); |
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} |
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#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I)) |
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float bed_level_virt_coord(const uint8_t x, const uint8_t y) { |
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uint8_t ep = 0, ip = 1; |
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if (!x || x == ABL_TEMP_POINTS_X - 1) { |
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if (x) { |
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ep = GRID_MAX_POINTS_X - 1; |
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ip = GRID_MAX_POINTS_X - 2; |
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} |
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if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2)) |
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return LINEAR_EXTRAPOLATION( |
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z_values[ep][y - 1], |
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z_values[ip][y - 1] |
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); |
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else |
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return LINEAR_EXTRAPOLATION( |
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bed_level_virt_coord(ep + 1, y), |
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bed_level_virt_coord(ip + 1, y) |
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); |
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} |
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if (!y || y == ABL_TEMP_POINTS_Y - 1) { |
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if (y) { |
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ep = GRID_MAX_POINTS_Y - 1; |
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ip = GRID_MAX_POINTS_Y - 2; |
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} |
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if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2)) |
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return LINEAR_EXTRAPOLATION( |
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z_values[x - 1][ep], |
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z_values[x - 1][ip] |
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); |
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else |
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return LINEAR_EXTRAPOLATION( |
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bed_level_virt_coord(x, ep + 1), |
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bed_level_virt_coord(x, ip + 1) |
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); |
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} |
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return z_values[x - 1][y - 1]; |
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} |
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static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) { |
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return ( |
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p[i-1] * -t * sq(1 - t) |
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+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t)) |
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+ p[i+1] * t * (1 + 4 * t - 3 * sq(t)) |
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- p[i+2] * sq(t) * (1 - t) |
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) * 0.5; |
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} |
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static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) { |
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float row[4], column[4]; |
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for (uint8_t i = 0; i < 4; i++) { |
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for (uint8_t j = 0; j < 4; j++) { |
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column[j] = bed_level_virt_coord(i + x - 1, j + y - 1); |
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} |
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row[i] = bed_level_virt_cmr(column, 1, ty); |
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} |
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return bed_level_virt_cmr(row, 1, tx); |
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} |
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void bed_level_virt_interpolate() { |
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bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS); |
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bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS); |
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bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]); |
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bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]); |
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) |
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) |
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for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++) |
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for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) { |
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if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1)) |
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continue; |
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z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] = |
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bed_level_virt_2cmr( |
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x + 1, |
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y + 1, |
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(float)tx / (BILINEAR_SUBDIVISIONS), |
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(float)ty / (BILINEAR_SUBDIVISIONS) |
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); |
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} |
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} |
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#endif // ABL_BILINEAR_SUBDIVISION
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// Refresh after other values have been updated
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void refresh_bed_level() { |
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bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]); |
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bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]); |
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#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
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bed_level_virt_interpolate(); |
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#endif |
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} |
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#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
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#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A] |
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#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A] |
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#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X |
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#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y |
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#define ABL_BG_GRID(X,Y) z_values_virt[X][Y] |
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#else |
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#define ABL_BG_SPACING(A) bilinear_grid_spacing[A] |
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#define ABL_BG_FACTOR(A) bilinear_grid_factor[A] |
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#define ABL_BG_POINTS_X GRID_MAX_POINTS_X |
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#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y |
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#define ABL_BG_GRID(X,Y) z_values[X][Y] |
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#endif |
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// Get the Z adjustment for non-linear bed leveling
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float bilinear_z_offset(const float logical[XYZ]) { |
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static float z1, d2, z3, d4, L, D, ratio_x, ratio_y, |
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last_x = -999.999, last_y = -999.999; |
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// Whole units for the grid line indices. Constrained within bounds.
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static int8_t gridx, gridy, nextx, nexty, |
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last_gridx = -99, last_gridy = -99; |
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// XY relative to the probed area
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const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS], |
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y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS]; |
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#if ENABLED(EXTRAPOLATE_BEYOND_GRID) |
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// Keep using the last grid box
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#define FAR_EDGE_OR_BOX 2 |
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#else |
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// Just use the grid far edge
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#define FAR_EDGE_OR_BOX 1 |
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#endif |
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if (last_x != x) { |
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last_x = x; |
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ratio_x = x * ABL_BG_FACTOR(X_AXIS); |
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const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX); |
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ratio_x -= gx; // Subtract whole to get the ratio within the grid box
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#if DISABLED(EXTRAPOLATE_BEYOND_GRID) |
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// Beyond the grid maintain height at grid edges
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NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
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#endif |
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gridx = gx; |
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nextx = min(gridx + 1, ABL_BG_POINTS_X - 1); |
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} |
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if (last_y != y || last_gridx != gridx) { |
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if (last_y != y) { |
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last_y = y; |
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ratio_y = y * ABL_BG_FACTOR(Y_AXIS); |
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const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX); |
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ratio_y -= gy; |
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#if DISABLED(EXTRAPOLATE_BEYOND_GRID) |
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// Beyond the grid maintain height at grid edges
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NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
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#endif |
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gridy = gy; |
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nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1); |
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} |
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if (last_gridx != gridx || last_gridy != gridy) { |
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last_gridx = gridx; |
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last_gridy = gridy; |
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// Z at the box corners
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z1 = ABL_BG_GRID(gridx, gridy); // left-front
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d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
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z3 = ABL_BG_GRID(nextx, gridy); // right-front
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d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
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} |
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// Bilinear interpolate. Needed since y or gridx has changed.
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L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
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const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
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D = R - L; |
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} |
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const float offset = L + ratio_x * D; // the offset almost always changes
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/*
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static float last_offset = 0; |
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if (FABS(last_offset - offset) > 0.2) { |
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SERIAL_ECHOPGM("Sudden Shift at "); |
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SERIAL_ECHOPAIR("x=", x); |
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SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]); |
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SERIAL_ECHOLNPAIR(" -> gridx=", gridx); |
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SERIAL_ECHOPAIR(" y=", y); |
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SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]); |
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SERIAL_ECHOLNPAIR(" -> gridy=", gridy); |
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SERIAL_ECHOPAIR(" ratio_x=", ratio_x); |
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SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y); |
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SERIAL_ECHOPAIR(" z1=", z1); |
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SERIAL_ECHOPAIR(" z2=", z2); |
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SERIAL_ECHOPAIR(" z3=", z3); |
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SERIAL_ECHOLNPAIR(" z4=", z4); |
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SERIAL_ECHOPAIR(" L=", L); |
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SERIAL_ECHOPAIR(" R=", R); |
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SERIAL_ECHOLNPAIR(" offset=", offset); |
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} |
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last_offset = offset; |
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//*/
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return offset; |
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} |
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#if !IS_KINEMATIC |
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#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS)) |
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/**
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* Prepare a bilinear-leveled linear move on Cartesian, |
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* splitting the move where it crosses grid borders. |
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*/ |
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void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits, uint16_t y_splits) { |
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int cx1 = CELL_INDEX(X, current_position[X_AXIS]), |
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cy1 = CELL_INDEX(Y, current_position[Y_AXIS]), |
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cx2 = CELL_INDEX(X, destination[X_AXIS]), |
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cy2 = CELL_INDEX(Y, destination[Y_AXIS]); |
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cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2); |
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cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2); |
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cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2); |
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cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2); |
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if (cx1 == cx2 && cy1 == cy2) { |
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// Start and end on same mesh square
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line_to_destination(fr_mm_s); |
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set_current_to_destination(); |
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return; |
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} |
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#define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist) |
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float normalized_dist, end[XYZE]; |
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// Split at the left/front border of the right/top square
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const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2); |
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if (cx2 != cx1 && TEST(x_splits, gcx)) { |
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COPY(end, destination); |
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destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx); |
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normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); |
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destination[Y_AXIS] = LINE_SEGMENT_END(Y); |
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CBI(x_splits, gcx); |
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} |
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else if (cy2 != cy1 && TEST(y_splits, gcy)) { |
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COPY(end, destination); |
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destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy); |
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normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); |
|||
destination[X_AXIS] = LINE_SEGMENT_END(X); |
|||
CBI(y_splits, gcy); |
|||
} |
|||
else { |
|||
// Already split on a border
|
|||
line_to_destination(fr_mm_s); |
|||
set_current_to_destination(); |
|||
return; |
|||
} |
|||
|
|||
destination[Z_AXIS] = LINE_SEGMENT_END(Z); |
|||
destination[E_AXIS] = LINE_SEGMENT_END(E); |
|||
|
|||
// Do the split and look for more borders
|
|||
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); |
|||
|
|||
// Restore destination from stack
|
|||
COPY(destination, end); |
|||
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); |
|||
} |
|||
|
|||
#endif // !IS_KINEMATIC
|
|||
|
|||
#endif // AUTO_BED_LEVELING_BILINEAR
|
|||
@ -0,0 +1,51 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016, 2017 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
#ifndef __ABL_H__ |
|||
#define __ABL_H__ |
|||
|
|||
#include "../../../inc/MarlinConfig.h" |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
#include "../bedlevel.h" |
|||
|
|||
extern int bilinear_grid_spacing[2], bilinear_start[2]; |
|||
extern float bilinear_grid_factor[2], |
|||
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; |
|||
float bilinear_z_offset(const float logical[XYZ]); |
|||
|
|||
void extrapolate_unprobed_bed_level(); |
|||
void print_bilinear_leveling_grid(); |
|||
void refresh_bed_level(); |
|||
#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
|||
void print_bilinear_leveling_grid_virt(); |
|||
void bed_level_virt_interpolate(); |
|||
#endif |
|||
|
|||
#if !IS_KINEMATIC |
|||
void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF); |
|||
#endif |
|||
|
|||
#endif // AUTO_BED_LEVELING_BILINEAR
|
|||
|
|||
#endif // __ABL_H__
|
|||
@ -0,0 +1,314 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "../../inc/MarlinConfig.h" |
|||
|
|||
#if HAS_LEVELING |
|||
|
|||
#include "bedlevel.h" |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY) |
|||
#include "../../module/stepper.h" |
|||
#endif |
|||
|
|||
#if PLANNER_LEVELING |
|||
#include "../../module/planner.h" |
|||
#endif |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
bool g29_in_progress = false; |
|||
#if ENABLED(LCD_BED_LEVELING) |
|||
#include "../../lcd/ultralcd.h" |
|||
#endif |
|||
#endif |
|||
|
|||
bool leveling_is_valid() { |
|||
return |
|||
#if ENABLED(MESH_BED_LEVELING) |
|||
mbl.has_mesh() |
|||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
!!bilinear_grid_spacing[X_AXIS] |
|||
#elif ENABLED(AUTO_BED_LEVELING_UBL) |
|||
true |
|||
#else // 3POINT, LINEAR
|
|||
true |
|||
#endif |
|||
; |
|||
} |
|||
|
|||
bool leveling_is_active() { |
|||
return |
|||
#if ENABLED(MESH_BED_LEVELING) |
|||
mbl.active() |
|||
#elif ENABLED(AUTO_BED_LEVELING_UBL) |
|||
ubl.state.active |
|||
#else // OLDSCHOOL_ABL
|
|||
planner.abl_enabled |
|||
#endif |
|||
; |
|||
} |
|||
|
|||
/**
|
|||
* Turn bed leveling on or off, fixing the current |
|||
* position as-needed. |
|||
* |
|||
* Disable: Current position = physical position |
|||
* Enable: Current position = "unleveled" physical position |
|||
*/ |
|||
void set_bed_leveling_enabled(const bool enable/*=true*/) { |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
const bool can_change = (!enable || leveling_is_valid()); |
|||
#else |
|||
constexpr bool can_change = true; |
|||
#endif |
|||
|
|||
if (can_change && enable != leveling_is_active()) { |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) |
|||
|
|||
if (!enable) |
|||
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); |
|||
|
|||
const bool enabling = enable && leveling_is_valid(); |
|||
mbl.set_active(enabling); |
|||
if (enabling) planner.unapply_leveling(current_position); |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_UBL) |
|||
#if PLANNER_LEVELING |
|||
if (ubl.state.active) { // leveling from on to off
|
|||
// change unleveled current_position to physical current_position without moving steppers.
|
|||
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); |
|||
ubl.state.active = false; // disable only AFTER calling apply_leveling
|
|||
} |
|||
else { // leveling from off to on
|
|||
ubl.state.active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
|
|||
// change physical current_position to unleveled current_position without moving steppers.
|
|||
planner.unapply_leveling(current_position); |
|||
} |
|||
#else |
|||
ubl.state.active = enable; // just flip the bit, current_position will be wrong until next move.
|
|||
#endif |
|||
|
|||
#else // OLDSCHOOL_ABL
|
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
// Force bilinear_z_offset to re-calculate next time
|
|||
const float reset[XYZ] = { -9999.999, -9999.999, 0 }; |
|||
(void)bilinear_z_offset(reset); |
|||
#endif |
|||
|
|||
// Enable or disable leveling compensation in the planner
|
|||
planner.abl_enabled = enable; |
|||
|
|||
if (!enable) |
|||
// When disabling just get the current position from the steppers.
|
|||
// This will yield the smallest error when first converted back to steps.
|
|||
set_current_from_steppers_for_axis( |
|||
#if ABL_PLANAR |
|||
ALL_AXES |
|||
#else |
|||
Z_AXIS |
|||
#endif |
|||
); |
|||
else |
|||
// When enabling, remove compensation from the current position,
|
|||
// so compensation will give the right stepper counts.
|
|||
planner.unapply_leveling(current_position); |
|||
|
|||
#endif // OLDSCHOOL_ABL
|
|||
} |
|||
} |
|||
|
|||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
|||
|
|||
void set_z_fade_height(const float zfh) { |
|||
|
|||
const bool level_active = leveling_is_active(); |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) |
|||
|
|||
if (level_active) |
|||
set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
|
|||
planner.z_fade_height = zfh; |
|||
planner.inverse_z_fade_height = RECIPROCAL(zfh); |
|||
if (level_active) |
|||
set_bed_leveling_enabled(true); // turn back on after changing fade height
|
|||
|
|||
#else |
|||
|
|||
planner.z_fade_height = zfh; |
|||
planner.inverse_z_fade_height = RECIPROCAL(zfh); |
|||
|
|||
if (level_active) { |
|||
set_current_from_steppers_for_axis( |
|||
#if ABL_PLANAR |
|||
ALL_AXES |
|||
#else |
|||
Z_AXIS |
|||
#endif |
|||
); |
|||
} |
|||
#endif |
|||
} |
|||
|
|||
#endif // ENABLE_LEVELING_FADE_HEIGHT
|
|||
|
|||
/**
|
|||
* Reset calibration results to zero. |
|||
*/ |
|||
void reset_bed_level() { |
|||
set_bed_leveling_enabled(false); |
|||
#if ENABLED(MESH_BED_LEVELING) |
|||
if (leveling_is_valid()) { |
|||
mbl.reset(); |
|||
mbl.set_has_mesh(false); |
|||
} |
|||
#else |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level"); |
|||
#endif |
|||
#if ABL_PLANAR |
|||
planner.bed_level_matrix.set_to_identity(); |
|||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] = |
|||
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0; |
|||
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) |
|||
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) |
|||
z_values[x][y] = NAN; |
|||
#elif ENABLED(AUTO_BED_LEVELING_UBL) |
|||
ubl.reset(); |
|||
#endif |
|||
#endif |
|||
} |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING) |
|||
|
|||
/**
|
|||
* Enable to produce output in JSON format suitable |
|||
* for SCAD or JavaScript mesh visualizers. |
|||
* |
|||
* Visualize meshes in OpenSCAD using the included script. |
|||
* |
|||
* buildroot/shared/scripts/MarlinMesh.scad |
|||
*/ |
|||
//#define SCAD_MESH_OUTPUT
|
|||
|
|||
/**
|
|||
* Print calibration results for plotting or manual frame adjustment. |
|||
*/ |
|||
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) { |
|||
#ifndef SCAD_MESH_OUTPUT |
|||
for (uint8_t x = 0; x < sx; x++) { |
|||
for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++) |
|||
SERIAL_PROTOCOLCHAR(' '); |
|||
SERIAL_PROTOCOL((int)x); |
|||
} |
|||
SERIAL_EOL(); |
|||
#endif |
|||
#ifdef SCAD_MESH_OUTPUT |
|||
SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
|
|||
#endif |
|||
for (uint8_t y = 0; y < sy; y++) { |
|||
#ifdef SCAD_MESH_OUTPUT |
|||
SERIAL_PROTOCOLPGM(" ["); // open sub-array
|
|||
#else |
|||
if (y < 10) SERIAL_PROTOCOLCHAR(' '); |
|||
SERIAL_PROTOCOL((int)y); |
|||
#endif |
|||
for (uint8_t x = 0; x < sx; x++) { |
|||
SERIAL_PROTOCOLCHAR(' '); |
|||
const float offset = fn(x, y); |
|||
if (!isnan(offset)) { |
|||
if (offset >= 0) SERIAL_PROTOCOLCHAR('+'); |
|||
SERIAL_PROTOCOL_F(offset, precision); |
|||
} |
|||
else { |
|||
#ifdef SCAD_MESH_OUTPUT |
|||
for (uint8_t i = 3; i < precision + 3; i++) |
|||
SERIAL_PROTOCOLCHAR(' '); |
|||
SERIAL_PROTOCOLPGM("NAN"); |
|||
#else |
|||
for (uint8_t i = 0; i < precision + 3; i++) |
|||
SERIAL_PROTOCOLCHAR(i ? '=' : ' '); |
|||
#endif |
|||
} |
|||
#ifdef SCAD_MESH_OUTPUT |
|||
if (x < sx - 1) SERIAL_PROTOCOLCHAR(','); |
|||
#endif |
|||
} |
|||
#ifdef SCAD_MESH_OUTPUT |
|||
SERIAL_PROTOCOLCHAR(' '); |
|||
SERIAL_PROTOCOLCHAR(']'); // close sub-array
|
|||
if (y < sy - 1) SERIAL_PROTOCOLCHAR(','); |
|||
#endif |
|||
SERIAL_EOL(); |
|||
} |
|||
#ifdef SCAD_MESH_OUTPUT |
|||
SERIAL_PROTOCOLPGM("];"); // close 2D array
|
|||
#endif |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
|
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY) |
|||
|
|||
void _manual_goto_xy(const float &x, const float &y) { |
|||
const float old_feedrate_mm_s = feedrate_mm_s; |
|||
#if MANUAL_PROBE_HEIGHT > 0 |
|||
const float prev_z = current_position[Z_AXIS]; |
|||
feedrate_mm_s = homing_feedrate(Z_AXIS); |
|||
current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT); |
|||
line_to_current_position(); |
|||
#endif |
|||
|
|||
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); |
|||
current_position[X_AXIS] = LOGICAL_X_POSITION(x); |
|||
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y); |
|||
line_to_current_position(); |
|||
|
|||
#if MANUAL_PROBE_HEIGHT > 0 |
|||
feedrate_mm_s = homing_feedrate(Z_AXIS); |
|||
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
|
|||
line_to_current_position(); |
|||
#endif |
|||
|
|||
feedrate_mm_s = old_feedrate_mm_s; |
|||
stepper.synchronize(); |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING) |
|||
lcd_wait_for_move = false; |
|||
#endif |
|||
} |
|||
|
|||
#endif |
|||
|
|||
#if HAS_PROBING_PROCEDURE |
|||
void out_of_range_error(const char* p_edge) { |
|||
SERIAL_PROTOCOLPGM("?Probe "); |
|||
serialprintPGM(p_edge); |
|||
SERIAL_PROTOCOLLNPGM(" position out of range."); |
|||
} |
|||
#endif |
|||
|
|||
#endif // HAS_LEVELING
|
|||
@ -0,0 +1,72 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
#ifndef __BEDLEVEL_H__ |
|||
#define __BEDLEVEL_H__ |
|||
|
|||
#include "../../inc/MarlinConfig.h" |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) |
|||
#include "mbl/mesh_bed_leveling.h" |
|||
#elif ENABLED(AUTO_BED_LEVELING_UBL) |
|||
#include "ubl/ubl.h" |
|||
#elif HAS_ABL |
|||
#include "abl/abl.h" |
|||
#endif |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
extern bool g29_in_progress; |
|||
#else |
|||
constexpr bool g29_in_progress = false; |
|||
#endif |
|||
|
|||
bool leveling_is_valid(); |
|||
bool leveling_is_active(); |
|||
void set_bed_leveling_enabled(const bool enable=true); |
|||
void reset_bed_level(); |
|||
|
|||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
|||
void set_z_fade_height(const float zfh); |
|||
#endif |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING) |
|||
|
|||
#include <stdint.h> |
|||
|
|||
typedef float (*element_2d_fn)(const uint8_t, const uint8_t); |
|||
|
|||
/**
|
|||
* Print calibration results for plotting or manual frame adjustment. |
|||
*/ |
|||
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn); |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY) |
|||
void _manual_goto_xy(const float &x, const float &y); |
|||
#endif |
|||
|
|||
#if HAS_PROBING_PROCEDURE |
|||
void out_of_range_error(const char* p_edge); |
|||
#endif |
|||
|
|||
#endif // __BEDLEVEL_H__
|
|||
@ -1,893 +0,0 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* Marlin Firmware -- G26 - Mesh Validation Tool |
|||
*/ |
|||
|
|||
#include "../../inc/MarlinConfig.h" |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION) |
|||
|
|||
#include "ubl.h" |
|||
|
|||
#include "../../Marlin.h" |
|||
#include "../../module/planner.h" |
|||
#include "../../module/stepper.h" |
|||
#include "../../module/motion.h" |
|||
#include "../../module/temperature.h" |
|||
#include "../../lcd/ultralcd.h" |
|||
#include "../../gcode/parser.h" |
|||
|
|||
#define EXTRUSION_MULTIPLIER 1.0 |
|||
#define RETRACTION_MULTIPLIER 1.0 |
|||
#define NOZZLE 0.4 |
|||
#define FILAMENT 1.75 |
|||
#define LAYER_HEIGHT 0.2 |
|||
#define PRIME_LENGTH 10.0 |
|||
#define BED_TEMP 60.0 |
|||
#define HOTEND_TEMP 205.0 |
|||
#define OOZE_AMOUNT 0.3 |
|||
|
|||
#define SIZE_OF_INTERSECTION_CIRCLES 5 |
|||
#define SIZE_OF_CROSSHAIRS 3 |
|||
|
|||
#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES |
|||
#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES." |
|||
#endif |
|||
|
|||
/**
|
|||
* G26 Mesh Validation Tool |
|||
* |
|||
* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System. |
|||
* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must |
|||
* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will |
|||
* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and |
|||
* the intersections of those lines (respectively). |
|||
* |
|||
* This action allows the user to immediately see where the Mesh is properly defined and where it needs to |
|||
* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively |
|||
* the user can specify the X and Y position of interest with command parameters. This allows the user to |
|||
* focus on a particular area of the Mesh where attention is needed. |
|||
* |
|||
* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed. |
|||
* |
|||
* C Current When searching for Mesh Intersection points to draw, use the current nozzle location |
|||
* as the base for any distance comparison. |
|||
* |
|||
* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this |
|||
* command to see how well a Mesh as been adjusted to match a print surface. In order to do |
|||
* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter |
|||
* alters the command's normal behaviour and disables the Unified Bed Leveling System even if |
|||
* it is on. |
|||
* |
|||
* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed. |
|||
* |
|||
* F # Filament Used to specify the diameter of the filament being used. If not specified |
|||
* 1.75mm filament is assumed. If you are not getting acceptable results by using the |
|||
* 'correct' numbers, you can scale this number up or down a little bit to change the amount |
|||
* of filament that is being extruded during the printing of the various lines on the bed. |
|||
* |
|||
* K Keep-On Keep the heaters turned on at the end of the command. |
|||
* |
|||
* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used. |
|||
* |
|||
* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This |
|||
* is over kill, but using this parameter will let you get the very first 'circle' perfect |
|||
* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your |
|||
* Mesh calibrated. If not specified, a filament length of .3mm is assumed. |
|||
* |
|||
* P # Prime Prime the nozzle with specified length of filament. If this parameter is not |
|||
* given, no prime action will take place. If the parameter specifies an amount, that much |
|||
* will be purged before continuing. If no amount is specified the command will start |
|||
* purging filament until the user provides an LCD Click and then it will continue with |
|||
* printing the Mesh. You can carefully remove the spent filament with a needle nose |
|||
* pliers while holding the LCD Click wheel in a depressed state. If you do not have |
|||
* an LCD, you must specify a value if you use P. |
|||
* |
|||
* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and |
|||
* un-retraction is at 1.2mm These numbers will be scaled by the specified amount |
|||
* |
|||
* R # Repeat Prints the number of patterns given as a parameter, starting at the current location. |
|||
* If a parameter isn't given, every point will be printed unless G26 is interrupted. |
|||
* This works the same way that the UBL G29 P4 R parameter works. |
|||
* |
|||
* NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are |
|||
* aware that there's some risk associated with printing without the ability to abort in |
|||
* cases where mesh point Z value may be inaccurate. As above, if you do not include a |
|||
* parameter, every point will be printed. |
|||
* |
|||
* S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed. |
|||
* |
|||
* U # Random Randomize the order that the circles are drawn on the bed. The search for the closest |
|||
* undrawn cicle is still done. But the distance to the location for each circle has a |
|||
* random number of the size specified added to it. Specifying S50 will give an interesting |
|||
* deviation from the normal behaviour on a 10 x 10 Mesh. |
|||
* |
|||
* X # X Coord. Specify the starting location of the drawing activity. |
|||
* |
|||
* Y # Y Coord. Specify the starting location of the drawing activity. |
|||
*/ |
|||
|
|||
// External references
|
|||
|
|||
extern Planner planner; |
|||
#if ENABLED(ULTRA_LCD) |
|||
extern char lcd_status_message[]; |
|||
#endif |
|||
extern float destination[XYZE]; |
|||
extern void set_destination_to_current() { COPY(destination, current_position); } |
|||
void prepare_move_to_destination(); |
|||
#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
|
|||
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); } |
|||
inline void set_current_to_destination() { COPY(current_position, destination); } |
|||
#else |
|||
extern void sync_plan_position_e(); |
|||
extern void set_current_to_destination(); |
|||
#endif |
|||
#if ENABLED(NEWPANEL) |
|||
void lcd_setstatusPGM(const char* const message, const int8_t level); |
|||
void chirp_at_user(); |
|||
#endif |
|||
|
|||
// Private functions
|
|||
|
|||
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16]; |
|||
float g26_e_axis_feedrate = 0.020, |
|||
random_deviation = 0.0; |
|||
|
|||
static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
|
|||
// retracts/recovers won't result in a bad state.
|
|||
|
|||
float valid_trig_angle(float); |
|||
|
|||
float unified_bed_leveling::g26_extrusion_multiplier, |
|||
unified_bed_leveling::g26_retraction_multiplier, |
|||
unified_bed_leveling::g26_nozzle, |
|||
unified_bed_leveling::g26_filament_diameter, |
|||
unified_bed_leveling::g26_layer_height, |
|||
unified_bed_leveling::g26_prime_length, |
|||
unified_bed_leveling::g26_x_pos, |
|||
unified_bed_leveling::g26_y_pos, |
|||
unified_bed_leveling::g26_ooze_amount; |
|||
|
|||
int16_t unified_bed_leveling::g26_bed_temp, |
|||
unified_bed_leveling::g26_hotend_temp; |
|||
|
|||
int8_t unified_bed_leveling::g26_prime_flag; |
|||
|
|||
bool unified_bed_leveling::g26_continue_with_closest, |
|||
unified_bed_leveling::g26_keep_heaters_on; |
|||
|
|||
int16_t unified_bed_leveling::g26_repeats; |
|||
|
|||
void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) { |
|||
const float save_feedrate = feedrate_mm_s; |
|||
feedrate_mm_s = feed_rate; // use specified feed rate
|
|||
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
|
|||
feedrate_mm_s = save_feedrate; // restore global feed rate
|
|||
} |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
/**
|
|||
* Detect ubl_lcd_clicked, debounce it, and return true for cancel |
|||
*/ |
|||
bool user_canceled() { |
|||
if (!ubl_lcd_clicked()) return false; |
|||
safe_delay(10); // Wait for click to settle
|
|||
|
|||
#if ENABLED(ULTRA_LCD) |
|||
lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
|
|||
while (!ubl_lcd_clicked()) idle(); // Wait for button release
|
|||
|
|||
// If the button is suddenly pressed again,
|
|||
// ask the user to resolve the issue
|
|||
lcd_setstatusPGM(PSTR("Release button"), 99); // will never appear...
|
|||
while (ubl_lcd_clicked()) idle(); // unless this loop happens
|
|||
lcd_reset_status(); |
|||
|
|||
return true; |
|||
} |
|||
#endif |
|||
|
|||
/**
|
|||
* G26: Mesh Validation Pattern generation. |
|||
* |
|||
* Used to interactively edit UBL's Mesh by placing the |
|||
* nozzle in a problem area and doing a G29 P4 R command. |
|||
*/ |
|||
void unified_bed_leveling::G26() { |
|||
SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s)."); |
|||
float tmp, start_angle, end_angle; |
|||
int i, xi, yi; |
|||
mesh_index_pair location; |
|||
|
|||
// Don't allow Mesh Validation without homing first,
|
|||
// or if the parameter parsing did not go OK, abort
|
|||
if (axis_unhomed_error() || parse_G26_parameters()) return; |
|||
|
|||
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) { |
|||
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); |
|||
stepper.synchronize(); |
|||
set_current_to_destination(); |
|||
} |
|||
|
|||
if (turn_on_heaters()) goto LEAVE; |
|||
|
|||
current_position[E_AXIS] = 0.0; |
|||
sync_plan_position_e(); |
|||
|
|||
if (g26_prime_flag && prime_nozzle()) goto LEAVE; |
|||
|
|||
/**
|
|||
* Bed is preheated |
|||
* |
|||
* Nozzle is at temperature |
|||
* |
|||
* Filament is primed! |
|||
* |
|||
* It's "Show Time" !!! |
|||
*/ |
|||
|
|||
ZERO(circle_flags); |
|||
ZERO(horizontal_mesh_line_flags); |
|||
ZERO(vertical_mesh_line_flags); |
|||
|
|||
// Move nozzle to the specified height for the first layer
|
|||
set_destination_to_current(); |
|||
destination[Z_AXIS] = g26_layer_height; |
|||
move_to(destination, 0.0); |
|||
move_to(destination, g26_ooze_amount); |
|||
|
|||
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 |
|||
* the CPU load and make the arc drawing faster and more smooth |
|||
*/ |
|||
float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1]; |
|||
for (i = 0; i <= 360 / 30; i++) { |
|||
cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0))); |
|||
sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0))); |
|||
} |
|||
|
|||
do { |
|||
location = g26_continue_with_closest |
|||
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS]) |
|||
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
|
|||
|
|||
if (location.x_index >= 0 && location.y_index >= 0) { |
|||
const float circle_x = mesh_index_to_xpos(location.x_index), |
|||
circle_y = mesh_index_to_ypos(location.y_index); |
|||
|
|||
// If this mesh location is outside the printable_radius, skip it.
|
|||
|
|||
if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue; |
|||
|
|||
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
|
|||
yi = location.y_index; |
|||
|
|||
if (g26_debug_flag) { |
|||
SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi); |
|||
SERIAL_ECHOPAIR(", yi=", yi); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
start_angle = 0.0; // assume it is going to be a full circle
|
|||
end_angle = 360.0; |
|||
if (xi == 0) { // Check for bottom edge
|
|||
start_angle = -90.0; |
|||
end_angle = 90.0; |
|||
if (yi == 0) // it is an edge, check for the two left corners
|
|||
start_angle = 0.0; |
|||
else if (yi == GRID_MAX_POINTS_Y - 1) |
|||
end_angle = 0.0; |
|||
} |
|||
else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
|
|||
start_angle = 90.0; |
|||
end_angle = 270.0; |
|||
if (yi == 0) // it is an edge, check for the two right corners
|
|||
end_angle = 180.0; |
|||
else if (yi == GRID_MAX_POINTS_Y - 1) |
|||
start_angle = 180.0; |
|||
} |
|||
else if (yi == 0) { |
|||
start_angle = 0.0; // only do the top side of the cirlce
|
|||
end_angle = 180.0; |
|||
} |
|||
else if (yi == GRID_MAX_POINTS_Y - 1) { |
|||
start_angle = 180.0; // only do the bottom side of the cirlce
|
|||
end_angle = 360.0; |
|||
} |
|||
|
|||
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
|
|||
#endif |
|||
|
|||
int tmp_div_30 = tmp / 30.0; |
|||
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30; |
|||
if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30; |
|||
|
|||
float x = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
|
|||
y = circle_y + sin_table[tmp_div_30], |
|||
xe = circle_x + cos_table[tmp_div_30 + 1], |
|||
ye = circle_y + sin_table[tmp_div_30 + 1]; |
|||
#if IS_KINEMATIC |
|||
// Check to make sure this segment is entirely on the bed, skip if not.
|
|||
if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue; |
|||
#else // not, we need to skip
|
|||
x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
|
|||
y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1); |
|||
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
#endif |
|||
|
|||
//if (g26_debug_flag) {
|
|||
// char ccc, *cptr, seg_msg[50], seg_num[10];
|
|||
// strcpy(seg_msg, " segment: ");
|
|||
// strcpy(seg_num, " \n");
|
|||
// cptr = (char*) "01234567890ABCDEF????????";
|
|||
// ccc = cptr[tmp_div_30];
|
|||
// seg_num[1] = ccc;
|
|||
// strcat(seg_msg, seg_num);
|
|||
// debug_current_and_destination(seg_msg);
|
|||
//}
|
|||
|
|||
print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height); |
|||
|
|||
} |
|||
if (look_for_lines_to_connect()) |
|||
goto LEAVE; |
|||
} |
|||
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0); |
|||
|
|||
LEAVE: |
|||
lcd_setstatusPGM(PSTR("Leaving G26"), -1); |
|||
|
|||
retract_filament(destination); |
|||
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; |
|||
|
|||
//debug_current_and_destination(PSTR("ready to do Z-Raise."));
|
|||
move_to(destination, 0); // Raise the nozzle
|
|||
//debug_current_and_destination(PSTR("done doing Z-Raise."));
|
|||
|
|||
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
|
|||
destination[Y_AXIS] = g26_y_pos; |
|||
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
|
|||
|
|||
move_to(destination, 0); // Move back to the starting position
|
|||
//debug_current_and_destination(PSTR("done doing X/Y move."));
|
|||
|
|||
has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
|
|||
|
|||
if (!g26_keep_heaters_on) { |
|||
#if HAS_TEMP_BED |
|||
thermalManager.setTargetBed(0); |
|||
#endif |
|||
thermalManager.setTargetHotend(0, 0); |
|||
} |
|||
} |
|||
|
|||
float valid_trig_angle(float d) { |
|||
while (d > 360.0) d -= 360.0; |
|||
while (d < 0.0) d += 360.0; |
|||
return d; |
|||
} |
|||
|
|||
mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) { |
|||
float closest = 99999.99; |
|||
mesh_index_pair return_val; |
|||
|
|||
return_val.x_index = return_val.y_index = -1; |
|||
|
|||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { |
|||
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { |
|||
if (!is_bit_set(circle_flags, i, j)) { |
|||
const float mx = mesh_index_to_xpos(i), // We found a circle that needs to be printed
|
|||
my = mesh_index_to_ypos(j); |
|||
|
|||
// Get the distance to this intersection
|
|||
float f = HYPOT(X - mx, Y - my); |
|||
|
|||
// It is possible that we are being called with the values
|
|||
// to let us find the closest circle to the start position.
|
|||
// But if this is not the case, add a small weighting to the
|
|||
// distance calculation to help it choose a better place to continue.
|
|||
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0; |
|||
|
|||
// Add in the specified amount of Random Noise to our search
|
|||
if (random_deviation > 1.0) |
|||
f += random(0.0, random_deviation); |
|||
|
|||
if (f < closest) { |
|||
closest = f; // We found a closer location that is still
|
|||
return_val.x_index = i; // un-printed --- save the data for it
|
|||
return_val.y_index = j; |
|||
return_val.distance = closest; |
|||
} |
|||
} |
|||
} |
|||
} |
|||
bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
|
|||
return return_val; |
|||
} |
|||
|
|||
bool unified_bed_leveling::look_for_lines_to_connect() { |
|||
float sx, sy, ex, ey; |
|||
|
|||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { |
|||
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation
|
|||
#endif |
|||
|
|||
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
|
|||
// This is already a half circle because we are at the edge of the bed.
|
|||
|
|||
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
|
|||
if (!is_bit_set(horizontal_mesh_line_flags, i, j)) { |
|||
|
|||
//
|
|||
// We found two circles that need a horizontal line to connect them
|
|||
// Print it!
|
|||
//
|
|||
sx = mesh_index_to_xpos( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
|
|||
ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
|
|||
|
|||
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1); |
|||
sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1); |
|||
|
|||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) { |
|||
|
|||
if (g26_debug_flag) { |
|||
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx); |
|||
SERIAL_ECHOPAIR(", sy=", sy); |
|||
SERIAL_ECHOPAIR(") -> (ex=", ex); |
|||
SERIAL_ECHOPAIR(", ey=", ey); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
//debug_current_and_destination(PSTR("Connecting horizontal line."));
|
|||
} |
|||
|
|||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height); |
|||
} |
|||
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
|
|||
} |
|||
} |
|||
|
|||
if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
|
|||
// This is already a half circle because we are at the edge of the bed.
|
|||
|
|||
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
|
|||
if (!is_bit_set( vertical_mesh_line_flags, i, j)) { |
|||
//
|
|||
// We found two circles that need a vertical line to connect them
|
|||
// Print it!
|
|||
//
|
|||
sy = mesh_index_to_ypos( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
|
|||
ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
|
|||
|
|||
sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1); |
|||
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1); |
|||
|
|||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) { |
|||
|
|||
if (g26_debug_flag) { |
|||
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx); |
|||
SERIAL_ECHOPAIR(", sy=", sy); |
|||
SERIAL_ECHOPAIR(") -> (ex=", ex); |
|||
SERIAL_ECHOPAIR(", ey=", ey); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
debug_current_and_destination(PSTR("Connecting vertical line.")); |
|||
} |
|||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height); |
|||
} |
|||
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
|
|||
} |
|||
} |
|||
} |
|||
} |
|||
} |
|||
} |
|||
return false; |
|||
} |
|||
|
|||
void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) { |
|||
float feed_value; |
|||
static float last_z = -999.99; |
|||
|
|||
bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
|
|||
|
|||
if (z != last_z) { |
|||
last_z = z; |
|||
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
|
|||
|
|||
destination[X_AXIS] = current_position[X_AXIS]; |
|||
destination[Y_AXIS] = current_position[Y_AXIS]; |
|||
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
|
|||
destination[E_AXIS] = current_position[E_AXIS]; |
|||
|
|||
G26_line_to_destination(feed_value); |
|||
|
|||
stepper.synchronize(); |
|||
set_destination_to_current(); |
|||
} |
|||
|
|||
// Check if X or Y is involved in the movement.
|
|||
// Yes: a 'normal' movement. No: a retract() or recover()
|
|||
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5; |
|||
|
|||
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value); |
|||
|
|||
destination[X_AXIS] = x; |
|||
destination[Y_AXIS] = y; |
|||
destination[E_AXIS] += e_delta; |
|||
|
|||
G26_line_to_destination(feed_value); |
|||
|
|||
stepper.synchronize(); |
|||
set_destination_to_current(); |
|||
|
|||
} |
|||
|
|||
void unified_bed_leveling::retract_filament(const float where[XYZE]) { |
|||
if (!g26_retracted) { // Only retract if we are not already retracted!
|
|||
g26_retracted = true; |
|||
move_to(where, -1.0 * g26_retraction_multiplier); |
|||
} |
|||
} |
|||
|
|||
void unified_bed_leveling::recover_filament(const float where[XYZE]) { |
|||
if (g26_retracted) { // Only un-retract if we are retracted.
|
|||
move_to(where, 1.2 * g26_retraction_multiplier); |
|||
g26_retracted = false; |
|||
} |
|||
} |
|||
|
|||
/**
|
|||
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one |
|||
* to the other. But there are really three sets of coordinates involved. The first coordinate |
|||
* is the present location of the nozzle. We don't necessarily want to print from this location. |
|||
* We first need to move the nozzle to the start of line segment where we want to print. Once |
|||
* there, we can use the two coordinates supplied to draw the line. |
|||
* |
|||
* Note: Although we assume the first set of coordinates is the start of the line and the second |
|||
* set of coordinates is the end of the line, it does not always work out that way. This function |
|||
* optimizes the movement to minimize the travel distance before it can start printing. This saves |
|||
* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does |
|||
* cause a lot of very little short retracement of th nozzle when it draws the very first line |
|||
* segment of a 'circle'. The time this requires is very short and is easily saved by the other |
|||
* cases where the optimization comes into play. |
|||
*/ |
|||
void unified_bed_leveling::print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) { |
|||
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
|
|||
dy_s = current_position[Y_AXIS] - sy, |
|||
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
|
|||
// to save computation time
|
|||
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
|
|||
dy_e = current_position[Y_AXIS] - ey, |
|||
dist_end = HYPOT2(dx_e, dy_e), |
|||
|
|||
line_length = HYPOT(ex - sx, ey - sy); |
|||
|
|||
// If the end point of the line is closer to the nozzle, flip the direction,
|
|||
// moving from the end to the start. On very small lines the optimization isn't worth it.
|
|||
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length)) { |
|||
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz); |
|||
} |
|||
|
|||
// Decide whether to retract & bump
|
|||
|
|||
if (dist_start > 2.0) { |
|||
retract_filament(destination); |
|||
//todo: parameterize the bump height with a define
|
|||
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
|
|||
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
|
|||
} |
|||
|
|||
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
|
|||
|
|||
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier; |
|||
|
|||
recover_filament(destination); |
|||
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
|
|||
} |
|||
|
|||
/**
|
|||
* This function used to be inline code in G26. But there are so many |
|||
* parameters it made sense to turn them into static globals and get |
|||
* this code out of sight of the main routine. |
|||
*/ |
|||
bool unified_bed_leveling::parse_G26_parameters() { |
|||
|
|||
g26_extrusion_multiplier = EXTRUSION_MULTIPLIER; |
|||
g26_retraction_multiplier = RETRACTION_MULTIPLIER; |
|||
g26_nozzle = NOZZLE; |
|||
g26_filament_diameter = FILAMENT; |
|||
g26_layer_height = LAYER_HEIGHT; |
|||
g26_prime_length = PRIME_LENGTH; |
|||
g26_bed_temp = BED_TEMP; |
|||
g26_hotend_temp = HOTEND_TEMP; |
|||
g26_prime_flag = 0; |
|||
|
|||
g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT); |
|||
g26_keep_heaters_on = parser.boolval('K'); |
|||
g26_continue_with_closest = parser.boolval('C'); |
|||
|
|||
if (parser.seenval('B')) { |
|||
g26_bed_temp = parser.value_celsius(); |
|||
if (!WITHIN(g26_bed_temp, 15, 140)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seenval('L')) { |
|||
g26_layer_height = parser.value_linear_units(); |
|||
if (!WITHIN(g26_layer_height, 0.0, 2.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seen('Q')) { |
|||
if (parser.has_value()) { |
|||
g26_retraction_multiplier = parser.value_float(); |
|||
if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
else { |
|||
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seenval('S')) { |
|||
g26_nozzle = parser.value_float(); |
|||
if (!WITHIN(g26_nozzle, 0.1, 1.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seen('P')) { |
|||
if (!parser.has_value()) { |
|||
#if ENABLED(NEWPANEL) |
|||
g26_prime_flag = -1; |
|||
#else |
|||
SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD."); |
|||
return UBL_ERR; |
|||
#endif |
|||
} |
|||
else { |
|||
g26_prime_flag++; |
|||
g26_prime_length = parser.value_linear_units(); |
|||
if (!WITHIN(g26_prime_length, 0.0, 25.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
} |
|||
|
|||
if (parser.seenval('F')) { |
|||
g26_filament_diameter = parser.value_linear_units(); |
|||
if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
|
|||
// scale up or down the length needed to get the
|
|||
// same volume of filament
|
|||
|
|||
g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
|
|||
|
|||
if (parser.seenval('H')) { |
|||
g26_hotend_temp = parser.value_celsius(); |
|||
if (!WITHIN(g26_hotend_temp, 165, 280)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible."); |
|||
return UBL_ERR; |
|||
} |
|||
} |
|||
|
|||
if (parser.seen('U')) { |
|||
randomSeed(millis()); |
|||
// This setting will persist for the next G26
|
|||
random_deviation = parser.has_value() ? parser.value_float() : 50.0; |
|||
} |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1); |
|||
#else |
|||
if (!parser.seen('R')) { |
|||
SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD."); |
|||
return UBL_ERR; |
|||
} |
|||
else |
|||
g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1; |
|||
#endif |
|||
if (g26_repeats < 1) { |
|||
SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1."); |
|||
return UBL_ERR; |
|||
} |
|||
|
|||
g26_x_pos = parser.linearval('X', current_position[X_AXIS]); |
|||
g26_y_pos = parser.linearval('Y', current_position[Y_AXIS]); |
|||
if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) { |
|||
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds."); |
|||
return UBL_ERR; |
|||
} |
|||
|
|||
/**
|
|||
* Wait until all parameters are verified before altering the state! |
|||
*/ |
|||
set_bed_leveling_enabled(!parser.seen('D')); |
|||
|
|||
return UBL_OK; |
|||
} |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
bool unified_bed_leveling::exit_from_g26() { |
|||
lcd_setstatusPGM(PSTR("Leaving G26"), -1); |
|||
while (ubl_lcd_clicked()) idle(); |
|||
return UBL_ERR; |
|||
} |
|||
#endif |
|||
|
|||
/**
|
|||
* Turn on the bed and nozzle heat and |
|||
* wait for them to get up to temperature. |
|||
*/ |
|||
bool unified_bed_leveling::turn_on_heaters() { |
|||
millis_t next = millis() + 5000UL; |
|||
#if HAS_TEMP_BED |
|||
#if ENABLED(ULTRA_LCD) |
|||
if (g26_bed_temp > 25) { |
|||
lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
has_control_of_lcd_panel = true; |
|||
thermalManager.setTargetBed(g26_bed_temp); |
|||
while (abs(thermalManager.degBed() - g26_bed_temp) > 3) { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
if (ubl_lcd_clicked()) return exit_from_g26(); |
|||
#endif |
|||
|
|||
if (ELAPSED(millis(), next)) { |
|||
next = millis() + 5000UL; |
|||
print_heaterstates(); |
|||
SERIAL_EOL(); |
|||
} |
|||
idle(); |
|||
} |
|||
#if ENABLED(ULTRA_LCD) |
|||
} |
|||
lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
#endif |
|||
|
|||
// Start heating the nozzle and wait for it to reach temperature.
|
|||
thermalManager.setTargetHotend(g26_hotend_temp, 0); |
|||
while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
if (ubl_lcd_clicked()) return exit_from_g26(); |
|||
#endif |
|||
|
|||
if (ELAPSED(millis(), next)) { |
|||
next = millis() + 5000UL; |
|||
print_heaterstates(); |
|||
SERIAL_EOL(); |
|||
} |
|||
idle(); |
|||
} |
|||
|
|||
#if ENABLED(ULTRA_LCD) |
|||
lcd_reset_status(); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
|
|||
return UBL_OK; |
|||
} |
|||
|
|||
/**
|
|||
* Prime the nozzle if needed. Return true on error. |
|||
*/ |
|||
bool unified_bed_leveling::prime_nozzle() { |
|||
|
|||
#if ENABLED(NEWPANEL) |
|||
float Total_Prime = 0.0; |
|||
|
|||
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
|
|||
|
|||
has_control_of_lcd_panel = true; |
|||
lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99); |
|||
chirp_at_user(); |
|||
|
|||
set_destination_to_current(); |
|||
|
|||
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
|
|||
|
|||
while (!ubl_lcd_clicked()) { |
|||
chirp_at_user(); |
|||
destination[E_AXIS] += 0.25; |
|||
#ifdef PREVENT_LENGTHY_EXTRUDE |
|||
Total_Prime += 0.25; |
|||
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR; |
|||
#endif |
|||
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0); |
|||
|
|||
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
|
|||
// but because the planner has a buffer, we won't be able
|
|||
// to stop as quickly. So we put up with the less smooth
|
|||
// action to give the user a more responsive 'Stop'.
|
|||
set_destination_to_current(); |
|||
idle(); |
|||
} |
|||
|
|||
while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel
|
|||
|
|||
#if ENABLED(ULTRA_LCD) |
|||
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
|
|||
// So... We cheat to get a message up.
|
|||
lcd_setstatusPGM(PSTR("Done Priming"), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
|
|||
has_control_of_lcd_panel = false; |
|||
|
|||
} |
|||
else { |
|||
#else |
|||
{ |
|||
#endif |
|||
#if ENABLED(ULTRA_LCD) |
|||
lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99); |
|||
lcd_quick_feedback(); |
|||
#endif |
|||
set_destination_to_current(); |
|||
destination[E_AXIS] += g26_prime_length; |
|||
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0); |
|||
stepper.synchronize(); |
|||
set_destination_to_current(); |
|||
retract_filament(destination); |
|||
} |
|||
|
|||
return UBL_OK; |
|||
} |
|||
|
|||
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
|
|||
@ -1,65 +0,0 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY) |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING) |
|||
extern bool lcd_wait_for_move; |
|||
#endif |
|||
|
|||
inline void _manual_goto_xy(const float &x, const float &y) { |
|||
const float old_feedrate_mm_s = feedrate_mm_s; |
|||
#if MANUAL_PROBE_HEIGHT > 0 |
|||
const float prev_z = current_position[Z_AXIS]; |
|||
feedrate_mm_s = homing_feedrate(Z_AXIS); |
|||
current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT); |
|||
line_to_current_position(); |
|||
#endif |
|||
|
|||
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); |
|||
current_position[X_AXIS] = LOGICAL_X_POSITION(x); |
|||
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y); |
|||
line_to_current_position(); |
|||
|
|||
#if MANUAL_PROBE_HEIGHT > 0 |
|||
feedrate_mm_s = homing_feedrate(Z_AXIS); |
|||
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
|
|||
line_to_current_position(); |
|||
#endif |
|||
|
|||
feedrate_mm_s = old_feedrate_mm_s; |
|||
stepper.synchronize(); |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING) |
|||
lcd_wait_for_move = false; |
|||
#endif |
|||
} |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) |
|||
#include "G29-mbl.h" |
|||
#elif ENABLED(AUTO_BED_LEVELING_UBL) |
|||
#include "G29-ubl.h" |
|||
#elif HAS_ABL |
|||
#include "G29-abl.h" |
|||
#endif |
|||
@ -1,81 +0,0 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
#ifndef CALIBRATE_COMMON_H |
|||
#define CALIBRATE_COMMON_H |
|||
|
|||
#if ENABLED(DELTA) |
|||
|
|||
/**
|
|||
* A delta can only safely home all axes at the same time |
|||
* This is like quick_home_xy() but for 3 towers. |
|||
*/ |
|||
inline bool home_delta() { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position); |
|||
#endif |
|||
// Init the current position of all carriages to 0,0,0
|
|||
ZERO(current_position); |
|||
sync_plan_position(); |
|||
|
|||
// Move all carriages together linearly until an endstop is hit.
|
|||
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10); |
|||
feedrate_mm_s = homing_feedrate(X_AXIS); |
|||
line_to_current_position(); |
|||
stepper.synchronize(); |
|||
|
|||
// If an endstop was not hit, then damage can occur if homing is continued.
|
|||
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
|
|||
// not set correctly.
|
|||
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) { |
|||
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED); |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED); |
|||
return false; |
|||
} |
|||
|
|||
endstops.hit_on_purpose(); // clear endstop hit flags
|
|||
|
|||
// At least one carriage has reached the top.
|
|||
// Now re-home each carriage separately.
|
|||
HOMEAXIS(A); |
|||
HOMEAXIS(B); |
|||
HOMEAXIS(C); |
|||
|
|||
// Set all carriages to their home positions
|
|||
// Do this here all at once for Delta, because
|
|||
// XYZ isn't ABC. Applying this per-tower would
|
|||
// give the impression that they are the same.
|
|||
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); |
|||
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position); |
|||
#endif |
|||
|
|||
return true; |
|||
} |
|||
|
|||
#endif // DELTA
|
|||
|
|||
#endif // CALIBRATE_COMMON_H
|
|||
@ -0,0 +1,269 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* delta.cpp |
|||
*/ |
|||
|
|||
#include "../inc/MarlinConfig.h" |
|||
|
|||
#if ENABLED(DELTA) |
|||
|
|||
#include "delta.h" |
|||
#include "motion.h" |
|||
|
|||
// For homing:
|
|||
#include "stepper.h" |
|||
#include "endstops.h" |
|||
#include "../lcd/ultralcd.h" |
|||
#include "../Marlin.h" |
|||
|
|||
// Initialized by settings.load()
|
|||
float delta_endstop_adj[ABC] = { 0 }, |
|||
delta_radius, |
|||
delta_diagonal_rod, |
|||
delta_segments_per_second, |
|||
delta_calibration_radius, |
|||
delta_tower_angle_trim[2]; |
|||
|
|||
float delta_tower[ABC][2], |
|||
delta_diagonal_rod_2_tower[ABC], |
|||
delta_clip_start_height = Z_MAX_POS; |
|||
|
|||
float delta_safe_distance_from_top(); |
|||
|
|||
/**
|
|||
* Recalculate factors used for delta kinematics whenever |
|||
* settings have been changed (e.g., by M665). |
|||
*/ |
|||
void recalc_delta_settings(float radius, float diagonal_rod) { |
|||
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER, |
|||
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER; |
|||
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
|
|||
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); |
|||
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
|
|||
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); |
|||
delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
|
|||
delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]); |
|||
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]); |
|||
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]); |
|||
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]); |
|||
} |
|||
|
|||
/**
|
|||
* Delta Inverse Kinematics |
|||
* |
|||
* Calculate the tower positions for a given logical |
|||
* position, storing the result in the delta[] array. |
|||
* |
|||
* This is an expensive calculation, requiring 3 square |
|||
* roots per segmented linear move, and strains the limits |
|||
* of a Mega2560 with a Graphical Display. |
|||
* |
|||
* Suggested optimizations include: |
|||
* |
|||
* - Disable the home_offset (M206) and/or position_shift (G92) |
|||
* features to remove up to 12 float additions. |
|||
* |
|||
* - Use a fast-inverse-sqrt function and add the reciprocal. |
|||
* (see above) |
|||
*/ |
|||
|
|||
#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR) |
|||
/**
|
|||
* Fast inverse sqrt from Quake III Arena |
|||
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
|
|||
*/ |
|||
float Q_rsqrt(float number) { |
|||
long i; |
|||
float x2, y; |
|||
const float threehalfs = 1.5f; |
|||
x2 = number * 0.5f; |
|||
y = number; |
|||
i = * ( long * ) &y; // evil floating point bit level hacking
|
|||
i = 0x5F3759DF - ( i >> 1 ); // what the f***?
|
|||
y = * ( float * ) &i; |
|||
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
|
|||
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
|
|||
return y; |
|||
} |
|||
#endif |
|||
|
|||
#define DELTA_DEBUG() do { \ |
|||
SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \ |
|||
SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \ |
|||
SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \ |
|||
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \ |
|||
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \ |
|||
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \ |
|||
}while(0) |
|||
|
|||
void inverse_kinematics(const float logical[XYZ]) { |
|||
DELTA_LOGICAL_IK(); |
|||
// DELTA_DEBUG();
|
|||
} |
|||
|
|||
/**
|
|||
* Calculate the highest Z position where the |
|||
* effector has the full range of XY motion. |
|||
*/ |
|||
float delta_safe_distance_from_top() { |
|||
float cartesian[XYZ] = { |
|||
LOGICAL_X_POSITION(0), |
|||
LOGICAL_Y_POSITION(0), |
|||
LOGICAL_Z_POSITION(0) |
|||
}; |
|||
inverse_kinematics(cartesian); |
|||
float distance = delta[A_AXIS]; |
|||
cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS); |
|||
inverse_kinematics(cartesian); |
|||
return FABS(distance - delta[A_AXIS]); |
|||
} |
|||
|
|||
/**
|
|||
* Delta Forward Kinematics |
|||
* |
|||
* See the Wikipedia article "Trilateration" |
|||
* https://en.wikipedia.org/wiki/Trilateration
|
|||
* |
|||
* Establish a new coordinate system in the plane of the |
|||
* three carriage points. This system has its origin at |
|||
* tower1, with tower2 on the X axis. Tower3 is in the X-Y |
|||
* plane with a Z component of zero. |
|||
* We will define unit vectors in this coordinate system |
|||
* in our original coordinate system. Then when we calculate |
|||
* the Xnew, Ynew and Znew values, we can translate back into |
|||
* the original system by moving along those unit vectors |
|||
* by the corresponding values. |
|||
* |
|||
* Variable names matched to Marlin, c-version, and avoid the |
|||
* use of any vector library. |
|||
* |
|||
* by Andreas Hardtung 2016-06-07 |
|||
* based on a Java function from "Delta Robot Kinematics V3" |
|||
* by Steve Graves |
|||
* |
|||
* The result is stored in the cartes[] array. |
|||
*/ |
|||
void forward_kinematics_DELTA(float z1, float z2, float z3) { |
|||
// Create a vector in old coordinates along x axis of new coordinate
|
|||
float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 }; |
|||
|
|||
// Get the Magnitude of vector.
|
|||
float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) ); |
|||
|
|||
// Create unit vector by dividing by magnitude.
|
|||
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d }; |
|||
|
|||
// Get the vector from the origin of the new system to the third point.
|
|||
float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 }; |
|||
|
|||
// Use the dot product to find the component of this vector on the X axis.
|
|||
float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2]; |
|||
|
|||
// Create a vector along the x axis that represents the x component of p13.
|
|||
float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i }; |
|||
|
|||
// Subtract the X component from the original vector leaving only Y. We use the
|
|||
// variable that will be the unit vector after we scale it.
|
|||
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] }; |
|||
|
|||
// The magnitude of Y component
|
|||
float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) ); |
|||
|
|||
// Convert to a unit vector
|
|||
ey[0] /= j; ey[1] /= j; ey[2] /= j; |
|||
|
|||
// The cross product of the unit x and y is the unit z
|
|||
// float[] ez = vectorCrossProd(ex, ey);
|
|||
float ez[3] = { |
|||
ex[1] * ey[2] - ex[2] * ey[1], |
|||
ex[2] * ey[0] - ex[0] * ey[2], |
|||
ex[0] * ey[1] - ex[1] * ey[0] |
|||
}; |
|||
|
|||
// We now have the d, i and j values defined in Wikipedia.
|
|||
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
|
|||
float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2), |
|||
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j, |
|||
Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew)); |
|||
|
|||
// Start from the origin of the old coordinates and add vectors in the
|
|||
// old coords that represent the Xnew, Ynew and Znew to find the point
|
|||
// in the old system.
|
|||
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew; |
|||
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew; |
|||
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew; |
|||
} |
|||
|
|||
/**
|
|||
* A delta can only safely home all axes at the same time |
|||
* This is like quick_home_xy() but for 3 towers. |
|||
*/ |
|||
bool home_delta() { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position); |
|||
#endif |
|||
// Init the current position of all carriages to 0,0,0
|
|||
ZERO(current_position); |
|||
sync_plan_position(); |
|||
|
|||
// Move all carriages together linearly until an endstop is hit.
|
|||
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10); |
|||
feedrate_mm_s = homing_feedrate(X_AXIS); |
|||
line_to_current_position(); |
|||
stepper.synchronize(); |
|||
|
|||
// If an endstop was not hit, then damage can occur if homing is continued.
|
|||
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
|
|||
// not set correctly.
|
|||
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) { |
|||
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED); |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED); |
|||
return false; |
|||
} |
|||
|
|||
endstops.hit_on_purpose(); // clear endstop hit flags
|
|||
|
|||
// At least one carriage has reached the top.
|
|||
// Now re-home each carriage separately.
|
|||
HOMEAXIS(A); |
|||
HOMEAXIS(B); |
|||
HOMEAXIS(C); |
|||
|
|||
// Set all carriages to their home positions
|
|||
// Do this here all at once for Delta, because
|
|||
// XYZ isn't ABC. Applying this per-tower would
|
|||
// give the impression that they are the same.
|
|||
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); |
|||
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position); |
|||
#endif |
|||
|
|||
return true; |
|||
} |
|||
|
|||
#endif // DELTA
|
|||
@ -0,0 +1,141 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* delta.h - Delta-specific functions |
|||
*/ |
|||
|
|||
#ifndef __DELTA_H__ |
|||
#define __DELTA_H__ |
|||
|
|||
extern float delta_endstop_adj[ABC], |
|||
delta_radius, |
|||
delta_diagonal_rod, |
|||
delta_segments_per_second, |
|||
delta_calibration_radius, |
|||
delta_tower_angle_trim[2]; |
|||
|
|||
extern float delta_tower[ABC][2], |
|||
delta_diagonal_rod_2_tower[ABC], |
|||
delta_clip_start_height; |
|||
|
|||
/**
|
|||
* Recalculate factors used for delta kinematics whenever |
|||
* settings have been changed (e.g., by M665). |
|||
*/ |
|||
void recalc_delta_settings(float radius, float diagonal_rod); |
|||
|
|||
/**
|
|||
* Delta Inverse Kinematics |
|||
* |
|||
* Calculate the tower positions for a given logical |
|||
* position, storing the result in the delta[] array. |
|||
* |
|||
* This is an expensive calculation, requiring 3 square |
|||
* roots per segmented linear move, and strains the limits |
|||
* of a Mega2560 with a Graphical Display. |
|||
* |
|||
* Suggested optimizations include: |
|||
* |
|||
* - Disable the home_offset (M206) and/or position_shift (G92) |
|||
* features to remove up to 12 float additions. |
|||
* |
|||
* - Use a fast-inverse-sqrt function and add the reciprocal. |
|||
* (see above) |
|||
*/ |
|||
|
|||
#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR) |
|||
/**
|
|||
* Fast inverse sqrt from Quake III Arena |
|||
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
|
|||
*/ |
|||
float Q_rsqrt(float number); |
|||
#define _SQRT(n) (1.0f / Q_rsqrt(n)) |
|||
#else |
|||
#define _SQRT(n) SQRT(n) |
|||
#endif |
|||
|
|||
// Macro to obtain the Z position of an individual tower
|
|||
#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \ |
|||
delta_diagonal_rod_2_tower[T] - HYPOT2( \ |
|||
delta_tower[T][X_AXIS] - raw[X_AXIS], \ |
|||
delta_tower[T][Y_AXIS] - raw[Y_AXIS] \ |
|||
) \ |
|||
) |
|||
|
|||
#define DELTA_RAW_IK() do { \ |
|||
delta[A_AXIS] = DELTA_Z(A_AXIS); \ |
|||
delta[B_AXIS] = DELTA_Z(B_AXIS); \ |
|||
delta[C_AXIS] = DELTA_Z(C_AXIS); \ |
|||
}while(0) |
|||
|
|||
#define DELTA_LOGICAL_IK() do { \ |
|||
const float raw[XYZ] = { \ |
|||
RAW_X_POSITION(logical[X_AXIS]), \ |
|||
RAW_Y_POSITION(logical[Y_AXIS]), \ |
|||
RAW_Z_POSITION(logical[Z_AXIS]) \ |
|||
}; \ |
|||
DELTA_RAW_IK(); \ |
|||
}while(0) |
|||
|
|||
void inverse_kinematics(const float logical[XYZ]); |
|||
|
|||
/**
|
|||
* Calculate the highest Z position where the |
|||
* effector has the full range of XY motion. |
|||
*/ |
|||
float delta_safe_distance_from_top(); |
|||
|
|||
/**
|
|||
* Delta Forward Kinematics |
|||
* |
|||
* See the Wikipedia article "Trilateration" |
|||
* https://en.wikipedia.org/wiki/Trilateration
|
|||
* |
|||
* Establish a new coordinate system in the plane of the |
|||
* three carriage points. This system has its origin at |
|||
* tower1, with tower2 on the X axis. Tower3 is in the X-Y |
|||
* plane with a Z component of zero. |
|||
* We will define unit vectors in this coordinate system |
|||
* in our original coordinate system. Then when we calculate |
|||
* the Xnew, Ynew and Znew values, we can translate back into |
|||
* the original system by moving along those unit vectors |
|||
* by the corresponding values. |
|||
* |
|||
* Variable names matched to Marlin, c-version, and avoid the |
|||
* use of any vector library. |
|||
* |
|||
* by Andreas Hardtung 2016-06-07 |
|||
* based on a Java function from "Delta Robot Kinematics V3" |
|||
* by Steve Graves |
|||
* |
|||
* The result is stored in the cartes[] array. |
|||
*/ |
|||
void forward_kinematics_DELTA(float z1, float z2, float z3); |
|||
|
|||
FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) { |
|||
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]); |
|||
} |
|||
|
|||
bool home_delta(); |
|||
|
|||
#endif // __DELTA_H__
|
|||
@ -0,0 +1,709 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* probe.cpp |
|||
*/ |
|||
|
|||
#include "../inc/MarlinConfig.h" |
|||
|
|||
#if HAS_BED_PROBE |
|||
|
|||
#include "probe.h" |
|||
#include "motion.h" |
|||
#include "temperature.h" |
|||
#include "endstops.h" |
|||
|
|||
#include "../gcode/gcode.h" |
|||
#include "../lcd/ultralcd.h" |
|||
|
|||
#include "../Marlin.h" |
|||
|
|||
#if HAS_LEVELING |
|||
#include "../feature/bedlevel/bedlevel.h" |
|||
#endif |
|||
|
|||
#if ENABLED(DELTA) |
|||
#include "../module/delta.h" |
|||
#endif |
|||
|
|||
float zprobe_zoffset; // Initialized by settings.load()
|
|||
|
|||
#if HAS_Z_SERVO_ENDSTOP |
|||
const int z_servo_angle[2] = Z_SERVO_ANGLES; |
|||
#endif |
|||
|
|||
/**
|
|||
* Raise Z to a minimum height to make room for a probe to move |
|||
*/ |
|||
inline void do_probe_raise(const float z_raise) { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR("do_probe_raise(", z_raise); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
} |
|||
#endif |
|||
|
|||
float z_dest = z_raise; |
|||
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset; |
|||
|
|||
if (z_dest > current_position[Z_AXIS]) |
|||
do_blocking_move_to_z(z_dest); |
|||
} |
|||
|
|||
#if ENABLED(Z_PROBE_SLED) |
|||
|
|||
#ifndef SLED_DOCKING_OFFSET |
|||
#define SLED_DOCKING_OFFSET 0 |
|||
#endif |
|||
|
|||
/**
|
|||
* Method to dock/undock a sled designed by Charles Bell. |
|||
* |
|||
* stow[in] If false, move to MAX_X and engage the solenoid |
|||
* If true, move to MAX_X and release the solenoid |
|||
*/ |
|||
static void dock_sled(bool stow) { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR("dock_sled(", stow); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
} |
|||
#endif |
|||
|
|||
// Dock sled a bit closer to ensure proper capturing
|
|||
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0)); |
|||
|
|||
#if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID) |
|||
WRITE(SOL1_PIN, !stow); // switch solenoid
|
|||
#endif |
|||
} |
|||
|
|||
#elif ENABLED(Z_PROBE_ALLEN_KEY) |
|||
|
|||
FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) { |
|||
do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s); |
|||
} |
|||
|
|||
void run_deploy_moves_script() { |
|||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 |
|||
#endif |
|||
const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z }; |
|||
do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0 |
|||
#endif |
|||
const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z }; |
|||
do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0 |
|||
#endif |
|||
const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z }; |
|||
do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0 |
|||
#endif |
|||
const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z }; |
|||
do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0 |
|||
#endif |
|||
const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z }; |
|||
do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE)); |
|||
#endif |
|||
} |
|||
|
|||
void run_stow_moves_script() { |
|||
#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X |
|||
#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y |
|||
#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z |
|||
#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 |
|||
#endif |
|||
const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z }; |
|||
do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X |
|||
#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y |
|||
#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z |
|||
#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0 |
|||
#endif |
|||
const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z }; |
|||
do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X |
|||
#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y |
|||
#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z |
|||
#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0 |
|||
#endif |
|||
const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z }; |
|||
do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X |
|||
#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y |
|||
#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z |
|||
#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0 |
|||
#endif |
|||
const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z }; |
|||
do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE)); |
|||
#endif |
|||
#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z) |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X |
|||
#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y |
|||
#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z |
|||
#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS] |
|||
#endif |
|||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE |
|||
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0 |
|||
#endif |
|||
const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z }; |
|||
do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE)); |
|||
#endif |
|||
} |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(PROBING_FANS_OFF) |
|||
|
|||
void fans_pause(const bool p) { |
|||
if (p != fans_paused) { |
|||
fans_paused = p; |
|||
if (p) |
|||
for (uint8_t x = 0; x < FAN_COUNT; x++) { |
|||
paused_fanSpeeds[x] = fanSpeeds[x]; |
|||
fanSpeeds[x] = 0; |
|||
} |
|||
else |
|||
for (uint8_t x = 0; x < FAN_COUNT; x++) |
|||
fanSpeeds[x] = paused_fanSpeeds[x]; |
|||
} |
|||
} |
|||
|
|||
#endif // PROBING_FANS_OFF
|
|||
|
|||
#if QUIET_PROBING |
|||
void probing_pause(const bool p) { |
|||
#if ENABLED(PROBING_HEATERS_OFF) |
|||
thermalManager.pause(p); |
|||
#endif |
|||
#if ENABLED(PROBING_FANS_OFF) |
|||
fans_pause(p); |
|||
#endif |
|||
if (p) safe_delay( |
|||
#if DELAY_BEFORE_PROBING > 25 |
|||
DELAY_BEFORE_PROBING |
|||
#else |
|||
25 |
|||
#endif |
|||
); |
|||
} |
|||
#endif // QUIET_PROBING
|
|||
|
|||
#if ENABLED(BLTOUCH) |
|||
|
|||
void bltouch_command(const int angle) { |
|||
MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait
|
|||
safe_delay(BLTOUCH_DELAY); |
|||
} |
|||
|
|||
bool set_bltouch_deployed(const bool deploy) { |
|||
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
|
|||
bltouch_command(BLTOUCH_RESET); // try to reset it.
|
|||
bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
|
|||
bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
|
|||
safe_delay(1500); // Wait for internal self-test to complete.
|
|||
// (Measured completion time was 0.65 seconds
|
|||
// after reset, deploy, and stow sequence)
|
|||
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
|
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH); |
|||
stop(); // punt!
|
|||
return true; |
|||
} |
|||
} |
|||
|
|||
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
} |
|||
#endif |
|||
|
|||
return false; |
|||
} |
|||
|
|||
#endif // BLTOUCH
|
|||
|
|||
// returns false for ok and true for failure
|
|||
bool set_probe_deployed(const bool deploy) { |
|||
|
|||
// Can be extended to servo probes, if needed.
|
|||
#if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST) |
|||
#if ENABLED(Z_MIN_PROBE_ENDSTOP) |
|||
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING) |
|||
#else |
|||
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) |
|||
#endif |
|||
#endif |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
DEBUG_POS("set_probe_deployed", current_position); |
|||
SERIAL_ECHOLNPAIR("deploy: ", deploy); |
|||
} |
|||
#endif |
|||
|
|||
if (endstops.z_probe_enabled == deploy) return false; |
|||
|
|||
// Make room for probe
|
|||
do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE); |
|||
|
|||
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY) |
|||
#if ENABLED(Z_PROBE_SLED) |
|||
#define _AUE_ARGS true, false, false |
|||
#else |
|||
#define _AUE_ARGS |
|||
#endif |
|||
if (axis_unhomed_error(_AUE_ARGS)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED); |
|||
stop(); |
|||
return true; |
|||
} |
|||
#endif |
|||
|
|||
const float oldXpos = current_position[X_AXIS], |
|||
oldYpos = current_position[Y_AXIS]; |
|||
|
|||
#ifdef _TRIGGERED_WHEN_STOWED_TEST |
|||
|
|||
// If endstop is already false, the Z probe is deployed
|
|||
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
|
|||
// Would a goto be less ugly?
|
|||
//while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
|
|||
// for a triggered when stowed manual probe.
|
|||
|
|||
if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
|
|||
// otherwise an Allen-Key probe can't be stowed.
|
|||
#endif |
|||
|
|||
#if ENABLED(SOLENOID_PROBE) |
|||
|
|||
#if HAS_SOLENOID_1 |
|||
WRITE(SOL1_PIN, deploy); |
|||
#endif |
|||
|
|||
#elif ENABLED(Z_PROBE_SLED) |
|||
|
|||
dock_sled(!deploy); |
|||
|
|||
#elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH) |
|||
|
|||
MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]); |
|||
|
|||
#elif ENABLED(Z_PROBE_ALLEN_KEY) |
|||
|
|||
deploy ? run_deploy_moves_script() : run_stow_moves_script(); |
|||
|
|||
#endif |
|||
|
|||
#ifdef _TRIGGERED_WHEN_STOWED_TEST |
|||
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
|
|||
|
|||
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
|
|||
|
|||
if (IsRunning()) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM("Z-Probe failed"); |
|||
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); |
|||
} |
|||
stop(); |
|||
return true; |
|||
|
|||
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
|
|||
|
|||
#endif |
|||
|
|||
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
|
|||
endstops.enable_z_probe(deploy); |
|||
return false; |
|||
} |
|||
|
|||
/**
|
|||
* @brief Used by run_z_probe to do a single Z probe move. |
|||
* |
|||
* @param z Z destination |
|||
* @param fr_mm_s Feedrate in mm/s |
|||
* @return true to indicate an error |
|||
*/ |
|||
static bool do_probe_move(const float z, const float fr_mm_m) { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position); |
|||
#endif |
|||
|
|||
// Deploy BLTouch at the start of any probe
|
|||
#if ENABLED(BLTOUCH) |
|||
if (set_bltouch_deployed(true)) return true; |
|||
#endif |
|||
|
|||
#if QUIET_PROBING |
|||
probing_pause(true); |
|||
#endif |
|||
|
|||
// Move down until probe triggered
|
|||
do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m)); |
|||
|
|||
// Check to see if the probe was triggered
|
|||
const bool probe_triggered = TEST(Endstops::endstop_hit_bits, |
|||
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) |
|||
Z_MIN |
|||
#else |
|||
Z_MIN_PROBE |
|||
#endif |
|||
); |
|||
|
|||
#if QUIET_PROBING |
|||
probing_pause(false); |
|||
#endif |
|||
|
|||
// Retract BLTouch immediately after a probe if it was triggered
|
|||
#if ENABLED(BLTOUCH) |
|||
if (probe_triggered && set_bltouch_deployed(false)) return true; |
|||
#endif |
|||
|
|||
// Clear endstop flags
|
|||
endstops.hit_on_purpose(); |
|||
|
|||
// Get Z where the steppers were interrupted
|
|||
set_current_from_steppers_for_axis(Z_AXIS); |
|||
|
|||
// Tell the planner where we actually are
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position); |
|||
#endif |
|||
|
|||
return !probe_triggered; |
|||
} |
|||
|
|||
/**
|
|||
* @details Used by probe_pt to do a single Z probe. |
|||
* Leaves current_position[Z_AXIS] at the height where the probe triggered. |
|||
* |
|||
* @param short_move Flag for a shorter probe move towards the bed |
|||
* @return The raw Z position where the probe was triggered |
|||
*/ |
|||
static float run_z_probe(const bool short_move=true) { |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position); |
|||
#endif |
|||
|
|||
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
|
|||
gcode.refresh_cmd_timeout(); |
|||
|
|||
#if ENABLED(PROBE_DOUBLE_TOUCH) |
|||
|
|||
// Do a first probe at the fast speed
|
|||
if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN; |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
float first_probe_z = current_position[Z_AXIS]; |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z); |
|||
#endif |
|||
|
|||
// move up to make clearance for the probe
|
|||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
|||
|
|||
#else |
|||
|
|||
// If the nozzle is above the travel height then
|
|||
// move down quickly before doing the slow probe
|
|||
float z = Z_CLEARANCE_DEPLOY_PROBE; |
|||
if (zprobe_zoffset < 0) z -= zprobe_zoffset; |
|||
|
|||
if (z < current_position[Z_AXIS]) { |
|||
|
|||
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
|
|||
if (!do_probe_move(z, Z_PROBE_SPEED_FAST)) |
|||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
|||
} |
|||
#endif |
|||
|
|||
// move down slowly to find bed
|
|||
if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN; |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position); |
|||
#endif |
|||
|
|||
// Debug: compare probe heights
|
|||
#if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]); |
|||
SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]); |
|||
} |
|||
#endif |
|||
|
|||
return RAW_CURRENT_POSITION(Z) + zprobe_zoffset |
|||
#if ENABLED(DELTA) |
|||
+ home_offset[Z_AXIS] // Account for delta height adjustment
|
|||
#endif |
|||
; |
|||
} |
|||
|
|||
/**
|
|||
* - Move to the given XY |
|||
* - Deploy the probe, if not already deployed |
|||
* - Probe the bed, get the Z position |
|||
* - Depending on the 'stow' flag |
|||
* - Stow the probe, or |
|||
* - Raise to the BETWEEN height |
|||
* - Return the probed Z position |
|||
*/ |
|||
float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR(">>> probe_pt(", lx); |
|||
SERIAL_ECHOPAIR(", ", ly); |
|||
SERIAL_ECHOPAIR(", ", stow ? "" : "no "); |
|||
SERIAL_ECHOLNPGM("stow)"); |
|||
DEBUG_POS("", current_position); |
|||
} |
|||
#endif |
|||
|
|||
const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER); |
|||
|
|||
if (printable |
|||
? !position_is_reachable_xy(nx, ny) |
|||
: !position_is_reachable_by_probe_xy(lx, ly) |
|||
) return NAN; |
|||
|
|||
|
|||
const float old_feedrate_mm_s = feedrate_mm_s; |
|||
|
|||
#if ENABLED(DELTA) |
|||
if (current_position[Z_AXIS] > delta_clip_start_height) |
|||
do_blocking_move_to_z(delta_clip_start_height); |
|||
#endif |
|||
|
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
// Store the status of the soft endstops and disable if we're probing a non-printable location
|
|||
static bool enable_soft_endstops = soft_endstops_enabled; |
|||
if (!printable) soft_endstops_enabled = false; |
|||
#endif |
|||
|
|||
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S; |
|||
|
|||
// Move the probe to the given XY
|
|||
do_blocking_move_to_xy(nx, ny); |
|||
|
|||
float measured_z = NAN; |
|||
if (!DEPLOY_PROBE()) { |
|||
measured_z = run_z_probe(printable); |
|||
|
|||
if (!stow) |
|||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); |
|||
else |
|||
if (STOW_PROBE()) measured_z = NAN; |
|||
} |
|||
|
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
// Restore the soft endstop status
|
|||
soft_endstops_enabled = enable_soft_endstops; |
|||
#endif |
|||
|
|||
if (verbose_level > 2) { |
|||
SERIAL_PROTOCOLPGM("Bed X: "); |
|||
SERIAL_PROTOCOL_F(lx, 3); |
|||
SERIAL_PROTOCOLPGM(" Y: "); |
|||
SERIAL_PROTOCOL_F(ly, 3); |
|||
SERIAL_PROTOCOLPGM(" Z: "); |
|||
SERIAL_PROTOCOL_F(measured_z, 3); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt"); |
|||
#endif |
|||
|
|||
feedrate_mm_s = old_feedrate_mm_s; |
|||
|
|||
if (isnan(measured_z)) { |
|||
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED); |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED); |
|||
} |
|||
|
|||
return measured_z; |
|||
} |
|||
|
|||
void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) { |
|||
static float last_zoffset = NAN; |
|||
|
|||
if (!isnan(last_zoffset)) { |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA) |
|||
const float diff = zprobe_zoffset - last_zoffset; |
|||
#endif |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
// Correct bilinear grid for new probe offset
|
|||
if (diff) { |
|||
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) |
|||
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) |
|||
z_values[x][y] -= diff; |
|||
} |
|||
#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
|||
bed_level_virt_interpolate(); |
|||
#endif |
|||
#endif |
|||
|
|||
#if ENABLED(BABYSTEP_ZPROBE_OFFSET) |
|||
if (!no_babystep && leveling_is_active()) |
|||
thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS])); |
|||
#else |
|||
UNUSED(no_babystep); |
|||
#endif |
|||
|
|||
#if ENABLED(DELTA) // correct the delta_height
|
|||
home_offset[Z_AXIS] -= diff; |
|||
#endif |
|||
} |
|||
|
|||
last_zoffset = zprobe_zoffset; |
|||
} |
|||
|
|||
#if HAS_Z_SERVO_ENDSTOP |
|||
|
|||
void servo_probe_init() { |
|||
/**
|
|||
* Set position of Z Servo Endstop |
|||
* |
|||
* The servo might be deployed and positioned too low to stow |
|||
* when starting up the machine or rebooting the board. |
|||
* There's no way to know where the nozzle is positioned until |
|||
* homing has been done - no homing with z-probe without init! |
|||
* |
|||
*/ |
|||
STOW_Z_SERVO(); |
|||
} |
|||
|
|||
#endif // HAS_Z_SERVO_ENDSTOP
|
|||
|
|||
#endif // HAS_BED_PROBE
|
|||
@ -0,0 +1,69 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* probe.h - Move, deploy, enable, etc. |
|||
*/ |
|||
|
|||
#ifndef PROBE_H |
|||
#define PROBE_H |
|||
|
|||
#include "../inc/MarlinConfig.h" |
|||
|
|||
bool set_probe_deployed(const bool deploy); |
|||
float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool printable=true); |
|||
|
|||
#if HAS_BED_PROBE |
|||
extern float zprobe_zoffset; |
|||
void refresh_zprobe_zoffset(const bool no_babystep=false); |
|||
#define DEPLOY_PROBE() set_probe_deployed(true) |
|||
#define STOW_PROBE() set_probe_deployed(false) |
|||
#else |
|||
#define DEPLOY_PROBE() |
|||
#define STOW_PROBE() |
|||
#endif |
|||
|
|||
#if HAS_Z_SERVO_ENDSTOP |
|||
extern const int z_servo_angle[2]; |
|||
void servo_probe_init(); |
|||
#endif |
|||
|
|||
#if QUIET_PROBING |
|||
void probing_pause(const bool p); |
|||
#endif |
|||
|
|||
#if ENABLED(PROBING_FANS_OFF) |
|||
void fans_pause(const bool p); |
|||
#endif |
|||
|
|||
#if ENABLED(BLTOUCH) |
|||
void bltouch_command(int angle); |
|||
bool set_bltouch_deployed(const bool deploy); |
|||
FORCE_INLINE void bltouch_init() { |
|||
// Make sure any BLTouch error condition is cleared
|
|||
bltouch_command(BLTOUCH_RESET); |
|||
set_bltouch_deployed(true); |
|||
set_bltouch_deployed(false); |
|||
} |
|||
#endif |
|||
|
|||
#endif // PROBE_H
|
|||
@ -0,0 +1,155 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* scara.cpp |
|||
*/ |
|||
|
|||
#include "../inc/MarlinConfig.h" |
|||
|
|||
#if IS_SCARA |
|||
|
|||
#include "scara.h" |
|||
#include "motion.h" |
|||
#include "stepper.h" |
|||
|
|||
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND; |
|||
|
|||
void scara_set_axis_is_at_home(const AxisEnum axis) { |
|||
if (axis == Z_AXIS) |
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current_position[Z_AXIS] = LOGICAL_POSITION(Z_HOME_POS, Z_AXIS); |
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else { |
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|
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/**
|
|||
* SCARA homes XY at the same time |
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*/ |
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float homeposition[XYZ]; |
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LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i); |
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|
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// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
|
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// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
|
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|
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/**
|
|||
* Get Home position SCARA arm angles using inverse kinematics, |
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* and calculate homing offset using forward kinematics |
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*/ |
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inverse_kinematics(homeposition); |
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forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]); |
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|
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// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
|
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// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
|
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|
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current_position[axis] = LOGICAL_POSITION(cartes[axis], axis); |
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|
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/**
|
|||
* SCARA home positions are based on configuration since the actual |
|||
* limits are determined by the inverse kinematic transform. |
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*/ |
|||
soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
|
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soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
|
|||
} |
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} |
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|
|||
/**
|
|||
* Morgan SCARA Forward Kinematics. Results in cartes[]. |
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* Maths and first version by QHARLEY. |
|||
* Integrated into Marlin and slightly restructured by Joachim Cerny. |
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*/ |
|||
void forward_kinematics_SCARA(const float &a, const float &b) { |
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|
|||
const float a_sin = sin(RADIANS(a)) * L1, |
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a_cos = cos(RADIANS(a)) * L1, |
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b_sin = sin(RADIANS(b)) * L2, |
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b_cos = cos(RADIANS(b)) * L2; |
|||
|
|||
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
|
|||
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
|
|||
|
|||
/*
|
|||
SERIAL_ECHOPAIR("SCARA FK Angle a=", a); |
|||
SERIAL_ECHOPAIR(" b=", b); |
|||
SERIAL_ECHOPAIR(" a_sin=", a_sin); |
|||
SERIAL_ECHOPAIR(" a_cos=", a_cos); |
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SERIAL_ECHOPAIR(" b_sin=", b_sin); |
|||
SERIAL_ECHOLNPAIR(" b_cos=", b_cos); |
|||
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]); |
|||
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]); |
|||
//*/
|
|||
} |
|||
|
|||
/**
|
|||
* Morgan SCARA Inverse Kinematics. Results in delta[]. |
|||
* |
|||
* See http://forums.reprap.org/read.php?185,283327
|
|||
* |
|||
* Maths and first version by QHARLEY. |
|||
* Integrated into Marlin and slightly restructured by Joachim Cerny. |
|||
*/ |
|||
void inverse_kinematics(const float logical[XYZ]) { |
|||
|
|||
static float C2, S2, SK1, SK2, THETA, PSI; |
|||
|
|||
float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
|
|||
sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
|
|||
|
|||
if (L1 == L2) |
|||
C2 = HYPOT2(sx, sy) / L1_2_2 - 1; |
|||
else |
|||
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2); |
|||
|
|||
S2 = SQRT(1 - sq(C2)); |
|||
|
|||
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
|
|||
SK1 = L1 + L2 * C2; |
|||
|
|||
// Rotated Arm2 gives the distance from Arm1 to Arm2
|
|||
SK2 = L2 * S2; |
|||
|
|||
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
|
|||
THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy); |
|||
|
|||
// Angle of Arm2
|
|||
PSI = ATAN2(S2, C2); |
|||
|
|||
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
|
|||
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
|
|||
delta[C_AXIS] = logical[Z_AXIS]; |
|||
|
|||
/*
|
|||
DEBUG_POS("SCARA IK", logical); |
|||
DEBUG_POS("SCARA IK", delta); |
|||
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx); |
|||
SERIAL_ECHOPAIR(",", sy); |
|||
SERIAL_ECHOPAIR(" C2=", C2); |
|||
SERIAL_ECHOPAIR(" S2=", S2); |
|||
SERIAL_ECHOPAIR(" Theta=", THETA); |
|||
SERIAL_ECHOLNPAIR(" Phi=", PHI); |
|||
//*/
|
|||
} |
|||
|
|||
void scara_report_positions() { |
|||
SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS)); |
|||
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS)); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
#endif // IS_SCARA
|
|||
@ -0,0 +1,46 @@ |
|||
/**
|
|||
* 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/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* scara.h - SCARA-specific functions |
|||
*/ |
|||
|
|||
#ifndef __SCARA_H__ |
|||
#define __SCARA_H__ |
|||
|
|||
#include "../core/macros.h" |
|||
|
|||
extern float delta_segments_per_second; |
|||
|
|||
// Float constants for SCARA calculations
|
|||
float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2, |
|||
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2, |
|||
L2_2 = sq(float(L2)); |
|||
|
|||
void scara_set_axis_is_at_home(const AxisEnum axis); |
|||
|
|||
void inverse_kinematics(const float logical[XYZ]); |
|||
void forward_kinematics_SCARA(const float &a, const float &b); |
|||
|
|||
void scara_report_positions(); |
|||
|
|||
#endif // __SCARA_H__
|
|||
Loading…
Reference in new issue