andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge branch 'Marlin_v1' of https://github.com/ErikZalm/Marlin into update_menu_plan

pull/1/head
Cylindric 11 years ago
parent
ea669cb504 d3fcc28e64
commit
557217fc05
4 changed files with 85 additions and 63 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 51
      Marlin/Configuration.h
  2. 83
      Marlin/Marlin_main.cpp
  3. 4
      Marlin/qr_solve.cpp
  4. 2
      Marlin/qr_solve.h

51
Marlin/Configuration.h
View File

@ -335,12 +335,50 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// these are the positions on the bed to do the probing // There are 2 different ways to pick the X and Y locations to probe:
// - "grid" mode
// Probe every point in a rectangular grid
// You must specify the rectangle, and the density of sample points
// This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
// - "3-point" mode
// Probe 3 arbitrary points on the bed (that aren't colinear)
// You must specify the X & Y coordinates of all 3 points
#define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180 #define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
// set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
#define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
#define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15
#define ABL_PROBE_PT_2_Y 20
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 20
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 #define X_PROBE_OFFSET_FROM_EXTRUDER -25
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
@ -379,16 +417,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif #endif
// with accurate bed leveling, the bed is sampled in a ACCURATE_BED_LEVELING_POINTSxACCURATE_BED_LEVELING_POINTS grid and least squares solution is calculated #endif // ENABLE_AUTO_BED_LEVELING
// Note: this feature occupies 10'206 byte
#define ACCURATE_BED_LEVELING
#ifdef ACCURATE_BED_LEVELING
// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
#define ACCURATE_BED_LEVELING_POINTS 2
#endif
#endif
// The position of the homing switches // The position of the homing switches

83
Marlin/Marlin_main.cpp
View File

@ -31,7 +31,7 @@
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h" #include "vector_3.h"
#ifdef ACCURATE_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID
#include "qr_solve.h" #include "qr_solve.h"
#endif #endif
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
@ -822,7 +822,7 @@ static void axis_is_at_home(int axis) {
} }
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
#ifdef ACCURATE_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_lsq(double *plane_equation_coefficients) static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
{ {
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
@ -846,42 +846,36 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
} }
#else #else // not AUTO_BED_LEVELING_GRID
static void set_bed_level_equation(float z_at_xLeft_yFront, float z_at_xRight_yFront, float z_at_xLeft_yBack) {
plan_bed_level_matrix.set_to_identity();
vector_3 xLeftyFront = vector_3(LEFT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, z_at_xLeft_yFront); static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
vector_3 xLeftyBack = vector_3(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, z_at_xLeft_yBack);
vector_3 xRightyFront = vector_3(RIGHT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, z_at_xRight_yFront);
vector_3 xPositive = (xRightyFront - xLeftyFront).get_normal(); plan_bed_level_matrix.set_to_identity();
vector_3 yPositive = (xLeftyBack - xLeftyFront).get_normal();
vector_3 planeNormal = vector_3::cross(xPositive, yPositive).get_normal();
//planeNormal.debug("planeNormal"); vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
//yPositive.debug("yPositive"); vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal); vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before"); vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
//vector_3 uncorrected_position = plan_get_position_mm(); vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
//uncorrected_position.debug("position before"); vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
// and set our bed level equation to do the right thing plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//plan_bed_level_matrix.debug("bed level after");
vector_3 corrected_position = plan_get_position(); vector_3 corrected_position = plan_get_position();
//corrected_position.debug("position after");
current_position[X_AXIS] = corrected_position.x; current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y; current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z; current_position[Z_AXIS] = corrected_position.z;
// but the bed at 0 so we don't go below it. // put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = zprobe_zoffset; current_position[Z_AXIS] = zprobe_zoffset;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
} }
#endif // ACCURATE_BED_LEVELING
#endif // AUTO_BED_LEVELING_GRID
static void run_z_probe() { static void run_z_probe() {
plan_bed_level_matrix.set_to_identity(); plan_bed_level_matrix.set_to_identity();
@ -1403,7 +1397,7 @@ void process_commands()
break; break;
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 points. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
{ {
#if Z_MIN_PIN == -1 #if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin." #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
@ -1432,10 +1426,11 @@ void process_commands()
setup_for_endstop_move(); setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS];
#ifdef ACCURATE_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1); int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1); int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
// solve the plane equation ax + by + d = z // solve the plane equation ax + by + d = z
@ -1445,9 +1440,9 @@ void process_commands()
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations // "A" matrix of the linear system of equations
double eqnAMatrix[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS*3]; double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
// "B" vector of Z points // "B" vector of Z points
double eqnBVector[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS]; double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
int probePointCounter = 0; int probePointCounter = 0;
@ -1470,7 +1465,7 @@ void process_commands()
zig = true; zig = true;
} }
for (int xCount=0; xCount < ACCURATE_BED_LEVELING_POINTS; xCount++) for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
{ {
float z_before; float z_before;
if (probePointCounter == 0) if (probePointCounter == 0)
@ -1487,9 +1482,9 @@ void process_commands()
eqnBVector[probePointCounter] = measured_z; eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = xProbe; eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = yProbe; eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = 1; eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
probePointCounter++; probePointCounter++;
xProbe += xInc; xProbe += xInc;
} }
@ -1497,7 +1492,7 @@ void process_commands()
clean_up_after_endstop_move(); clean_up_after_endstop_move();
// solve lsq problem // solve lsq problem
double *plane_equation_coefficients = qr_solve(ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS, 3, eqnAMatrix, eqnBVector); double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]); SERIAL_PROTOCOL(plane_equation_coefficients[0]);
@ -1511,24 +1506,24 @@ void process_commands()
free(plane_equation_coefficients); free(plane_equation_coefficients);
#else // ACCURATE_BED_LEVELING not defined #else // AUTO_BED_LEVELING_GRID not defined
// prob 1 // Probe at 3 arbitrary points
float z_at_xLeft_yBack = probe_pt(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, Z_RAISE_BEFORE_PROBING); // probe 1
float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
// prob 2 // probe 2
float z_at_xLeft_yFront = probe_pt(LEFT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
// prob 3 // probe 3
float z_at_xRight_yFront = probe_pt(RIGHT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
clean_up_after_endstop_move(); clean_up_after_endstop_move();
set_bed_level_equation(z_at_xLeft_yFront, z_at_xRight_yFront, z_at_xLeft_yBack); set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // ACCURATE_BED_LEVELING #endif // AUTO_BED_LEVELING_GRID
st_synchronize(); st_synchronize();
// The following code correct the Z height difference from z-probe position and hotend tip position. // The following code correct the Z height difference from z-probe position and hotend tip position.

4
Marlin/qr_solve.cpp
View File

@ -1,11 +1,9 @@
#include "qr_solve.h" #include "qr_solve.h"
#ifdef ACCURATE_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID
#include <stdlib.h> #include <stdlib.h>
#include <math.h> #include <math.h>
#include <time.h>
//# include "r8lib.h" //# include "r8lib.h"

2
Marlin/qr_solve.h
View File

@ -1,6 +1,6 @@
#include "Configuration.h" #include "Configuration.h"
#ifdef ACCURATE_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID
void daxpy ( int n, double da, double dx[], int incx, double dy[], int incy ); void daxpy ( int n, double da, double dx[], int incx, double dy[], int incy );
double ddot ( int n, double dx[], int incx, double dy[], int incy ); double ddot ( int n, double dx[], int incx, double dy[], int incy );

Write Preview
Loading…
Cancel
Save