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Cleanup after vim and vigor

pull/1/head
Scott Lahteine 7 years ago
parent
423bf9955e
commit
89165326b4
2 changed files with 76 additions and 77 deletions
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  1. 2
      Marlin/src/feature/bedlevel/ubl/ubl.h
  2. 151
      Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

2
Marlin/src/feature/bedlevel/ubl/ubl.h
View File

@ -83,7 +83,7 @@ class unified_bed_leveling {
#if ENABLED(NEWPANEL) #if ENABLED(NEWPANEL)
static void move_z_with_encoder(const float &multiplier); static void move_z_with_encoder(const float &multiplier);
static float measure_point_with_encoder(); static float measure_point_with_encoder();
static float measure_business_card_thickness(float); static float measure_business_card_thickness(float in_height);
static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool); static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map); static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map);
#endif #endif

151
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View File

@ -51,7 +51,7 @@
#if ENABLED(NEWPANEL) #if ENABLED(NEWPANEL)
void lcd_return_to_status(); void lcd_return_to_status();
extern void _lcd_ubl_output_map_lcd(); void _lcd_ubl_output_map_lcd();
#endif #endif
extern float meshedit_done; extern float meshedit_done;
@ -96,8 +96,8 @@
* previous measurements. * previous measurements.
* *
* C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle * C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle
* location in its search for the closest unmeasured Mesh Point. Instead, attempt to * location in its search for the closest unmeasured Mesh Point. Instead, attempt to
* start at one end of the uprobed points and Continue sequentually. * start at one end of the uprobed points and Continue sequentially.
* *
* G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value. * G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value.
* *
@ -1038,12 +1038,12 @@
static uint8_t ubl_state_at_invocation = 0; static uint8_t ubl_state_at_invocation = 0;
#if ENABLED(UBL_DEVEL_DEBUGGING) #ifdef UBL_DEVEL_DEBUGGING
static uint8_t ubl_state_recursion_chk = 0; static uint8_t ubl_state_recursion_chk = 0;
#endif #endif
void unified_bed_leveling::save_ubl_active_state_and_disable() { void unified_bed_leveling::save_ubl_active_state_and_disable() {
#if ENABLED(UBL_DEVEL_DEBUGGING) #ifdef UBL_DEVEL_DEBUGGING
ubl_state_recursion_chk++; ubl_state_recursion_chk++;
if (ubl_state_recursion_chk != 1) { if (ubl_state_recursion_chk != 1) {
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row."); SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
@ -1059,7 +1059,7 @@
} }
void unified_bed_leveling::restore_ubl_active_state_and_leave() { void unified_bed_leveling::restore_ubl_active_state_and_leave() {
#if ENABLED(UBL_DEVEL_DEBUGGING) #ifdef UBL_DEVEL_DEBUGGING
if (--ubl_state_recursion_chk) { if (--ubl_state_recursion_chk) {
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times."); SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
#if ENABLED(NEWPANEL) #if ENABLED(NEWPANEL)
@ -1143,7 +1143,7 @@
SERIAL_EOL(); SERIAL_EOL();
safe_delay(50); safe_delay(50);
#if ENABLED(UBL_DEVEL_DEBUGGING) #ifdef UBL_DEVEL_DEBUGGING
SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation); SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation);
SERIAL_EOL(); SERIAL_EOL();
SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk); SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk);
@ -1257,22 +1257,22 @@
found_a_NAN = true; found_a_NAN = true;
int8_t closest_x=-1, closest_y=-1; int8_t closest_x = -1, closest_y = -1;
float d1, d2 = 99999.9; float d1, d2 = 99999.9;
for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) { for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) { for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
if (!isnan(z_values[k][l])) { if (!isnan(z_values[k][l])) {
found_a_real = true; found_a_real = true;
// Add in a random weighting factor that scrambles the probing of the // Add in a random weighting factor that scrambles the probing of the
// last half of the mesh (when every unprobed mesh point is one index // last half of the mesh (when every unprobed mesh point is one index
// from a probed location). // from a probed location).
d1 = HYPOT(i - k, j - l) + (1.0 / ((millis() % 47) + 13)); d1 = HYPOT(i - k, j - l) + (1.0 / ((millis() % 47) + 13));
if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l) if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l)
d2 = d1; // found a closer location with d2 = d1; // found a closer location with
closest_x = i; // an assigned mesh point value closest_x = i; // an assigned mesh point value
closest_y = j; closest_y = j;
} }
} }
@ -1280,7 +1280,7 @@
} }
// //
// at this point d2 should have the closest defined mesh point to invalid mesh point (i,j) // At this point d2 should have the closest defined mesh point to invalid mesh point (i,j)
// //
if (found_a_real && (closest_x >= 0) && (d2 > out_mesh.distance)) { if (found_a_real && (closest_x >= 0) && (d2 > out_mesh.distance)) {
@ -1523,7 +1523,7 @@
y_min = max(MIN_PROBE_Y, MESH_MIN_Y), y_min = max(MIN_PROBE_Y, MESH_MIN_Y),
y_max = min(MAX_PROBE_Y, MESH_MAX_Y); y_max = min(MAX_PROBE_Y, MESH_MAX_Y);
bool abort_flag=false; bool abort_flag = false;
float measured_z; float measured_z;
@ -1532,7 +1532,7 @@
struct linear_fit_data lsf_results; struct linear_fit_data lsf_results;
// float z1, z2, z3; // Needed for algorithm validation down below. //float z1, z2, z3; // Needed for algorithm validation down below.
incremental_LSF_reset(&lsf_results); incremental_LSF_reset(&lsf_results);
@ -1542,8 +1542,8 @@
abort_flag = true; abort_flag = true;
else { else {
measured_z -= get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y); measured_z -= get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y);
// z1 = measured_z; //z1 = measured_z;
if (g29_verbose_level>3) { if (g29_verbose_level > 3) {
serial_spaces(16); serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
} }
@ -1552,12 +1552,12 @@
if (!abort_flag) { if (!abort_flag) {
measured_z = probe_pt(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y, false, g29_verbose_level); measured_z = probe_pt(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y, false, g29_verbose_level);
// z2 = measured_z; //z2 = measured_z;
if (isnan(measured_z)) if (isnan(measured_z))
abort_flag = true; abort_flag = true;
else { else {
measured_z -= get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y); measured_z -= get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y);
if (g29_verbose_level>3) { if (g29_verbose_level > 3) {
serial_spaces(16); serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
} }
@ -1567,12 +1567,12 @@
if (!abort_flag) { if (!abort_flag) {
measured_z = probe_pt(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y, true, g29_verbose_level); measured_z = probe_pt(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y, true, g29_verbose_level);
// z3 = measured_z; //z3 = measured_z;
if (isnan(measured_z)) if (isnan(measured_z))
abort_flag = true; abort_flag = true;
else { else {
measured_z -= get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y); measured_z -= get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y);
if (g29_verbose_level>3) { if (g29_verbose_level > 3) {
serial_spaces(16); serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
} }
@ -1584,54 +1584,54 @@
SERIAL_ECHOPGM("?Error probing point. Aborting operation.\n"); SERIAL_ECHOPGM("?Error probing point. Aborting operation.\n");
return; return;
} }
} else { }
else { // !do_3_pt_leveling
bool zig_zag = false; bool zig_zag = false;
for (uint8_t ix = 0; ix < g29_grid_size; ix++) { for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
const float rx = float(x_min) + ix * dx; const float rx = float(x_min) + ix * dx;
for (int8_t iy = 0; iy < g29_grid_size; iy++) { for (int8_t iy = 0; iy < g29_grid_size; iy++) {
const float ry = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy); const float ry = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
if (!abort_flag) { if (!abort_flag) {
measured_z = probe_pt(rx, ry, parser.seen('E'), g29_verbose_level); // TODO: Needs error handling measured_z = probe_pt(rx, ry, parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
if (isnan(measured_z)) abort_flag = isnan(measured_z);
abort_flag = true;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(rx, 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(ry, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 7);
SERIAL_ECHOPGM(") measured: ");
SERIAL_PROTOCOL_F(measured_z, 7);
SERIAL_ECHOPGM(" correction: ");
SERIAL_PROTOCOL_F(get_z_correction(rx, ry), 7);
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ;
if (DEBUGGING(LEVELING)) {
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(rx, 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(ry, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 7);
SERIAL_ECHOPGM(") measured: ");
SERIAL_PROTOCOL_F(measured_z, 7);
SERIAL_ECHOPGM(" correction: ");
SERIAL_PROTOCOL_F(get_z_correction(rx, ry), 7);
}
#endif
measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ; #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM(" final >>>---> ");
SERIAL_PROTOCOL_F(measured_z, 7);
SERIAL_EOL();
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) incremental_LSF(&lsf_results, rx, ry, measured_z);
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM(" final >>>---> ");
SERIAL_PROTOCOL_F(measured_z, 7);
SERIAL_EOL();
} }
#endif
incremental_LSF(&lsf_results, rx, ry, measured_z);
}
} }
zig_zag ^= true; zig_zag ^= true;
} }
} }
@ -1640,7 +1640,6 @@
return; return;
} }
vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal(); vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal();
if (g29_verbose_level > 2) { if (g29_verbose_level > 2) {
@ -1714,22 +1713,22 @@
SERIAL_ECHOPGM("]\n"); SERIAL_ECHOPGM("]\n");
SERIAL_EOL(); SERIAL_EOL();
/* /**
* The following code can be used to check the validity of the mesh tilting algorithm. * The following code can be used to check the validity of the mesh tilting algorithm.
* When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting. * When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting.
* The only difference is just 3 points are used in the calculations. That fact guarantees * The only difference is just 3 points are used in the calculations. That fact guarantees
* each probed point should have an exact match when a get_z_correction() for that location * each probed point should have an exact match when a get_z_correction() for that location
* is calculated. The Z error between the probed point locations and the get_z_correction() * is calculated. The Z error between the probed point locations and the get_z_correction()
* numbers for those locations should be 0.000 * numbers for those locations should be 0.000
*/ */
/* #if 0
float t, t1, d; float t, t1, d;
t = normal.x * (UBL_PROBE_PT_1_X) + normal.y * (UBL_PROBE_PT_1_Y); t = normal.x * (UBL_PROBE_PT_1_X) + normal.y * (UBL_PROBE_PT_1_Y);
d = t + normal.z * z1; d = t + normal.z * z1;
SERIAL_ECHOPGM("D from 1st point: "); SERIAL_ECHOPGM("D from 1st point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" Z error: "); SERIAL_ECHOPGM(" Z error: ");
SERIAL_ECHO_F(normal.z*z1-get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y),6); SERIAL_ECHO_F(normal.z*z1-get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y), 6);
SERIAL_EOL(); SERIAL_EOL();
t = normal.x * (UBL_PROBE_PT_2_X) + normal.y * (UBL_PROBE_PT_2_Y); t = normal.x * (UBL_PROBE_PT_2_X) + normal.y * (UBL_PROBE_PT_2_Y);
@ -1738,7 +1737,7 @@
SERIAL_ECHOPGM("D from 2nd point: "); SERIAL_ECHOPGM("D from 2nd point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" Z error: "); SERIAL_ECHOPGM(" Z error: ");
SERIAL_ECHO_F(normal.z*z2-get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y),6); SERIAL_ECHO_F(normal.z*z2-get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y), 6);
SERIAL_EOL(); SERIAL_EOL();
t = normal.x * (UBL_PROBE_PT_3_X) + normal.y * (UBL_PROBE_PT_3_Y); t = normal.x * (UBL_PROBE_PT_3_X) + normal.y * (UBL_PROBE_PT_3_Y);
@ -1746,7 +1745,7 @@
SERIAL_ECHOPGM("D from 3rd point: "); SERIAL_ECHOPGM("D from 3rd point: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" Z error: "); SERIAL_ECHOPGM(" Z error: ");
SERIAL_ECHO_F(normal.z*z3-get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y),6); SERIAL_ECHO_F(normal.z*z3-get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y), 6);
SERIAL_EOL(); SERIAL_EOL();
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT); t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
@ -1760,13 +1759,13 @@
SERIAL_ECHOPGM("D from home location using mesh value for Z: "); SERIAL_ECHOPGM("D from home location using mesh value for Z: ");
SERIAL_ECHO_F(d, 6); SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT ); SERIAL_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT);
SERIAL_ECHOPAIR(",", Z_SAFE_HOMING_Y_POINT ); SERIAL_ECHOPAIR(",", Z_SAFE_HOMING_Y_POINT );
SERIAL_ECHOPGM(") = "); SERIAL_ECHOPGM(") = ");
SERIAL_ECHO_F( get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT),6); SERIAL_ECHO_F(get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT), 6);
SERIAL_EOL(); SERIAL_EOL();
*/ #endif
} } // DEBUGGING(LEVELING)
#endif #endif
} }

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