From 9217e4b8ec853612416254406cccf8144a7a76e6 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 28 Mar 2017 19:45:54 -0500 Subject: [PATCH] Various UBL cleanups and bug fixes --- Marlin/G26_Mesh_Validation_Tool.cpp | 249 ++++++++--------- Marlin/M100_Free_Mem_Chk.cpp | 30 +- Marlin/Marlin.h | 5 +- Marlin/Marlin_main.cpp | 44 +-- Marlin/UBL_Bed_Leveling.cpp | 172 +++++------- Marlin/UBL_G29.cpp | 410 ++++++++++++++-------------- Marlin/configuration_store.cpp | 19 +- Marlin/hex_print_routines.cpp | 29 +- Marlin/hex_print_routines.h | 20 +- Marlin/stepper.cpp | 2 +- Marlin/ultralcd.cpp | 28 +- 11 files changed, 459 insertions(+), 549 deletions(-) diff --git a/Marlin/G26_Mesh_Validation_Tool.cpp b/Marlin/G26_Mesh_Validation_Tool.cpp index 943a834ad9..80db49b7f4 100644 --- a/Marlin/G26_Mesh_Validation_Tool.cpp +++ b/Marlin/G26_Mesh_Validation_Tool.cpp @@ -35,7 +35,6 @@ #include "temperature.h" #include "UBL.h" #include "ultralcd.h" -//#include #define EXTRUSION_MULTIPLIER 1.0 // This is too much clutter for the main Configuration.h file But #define RETRACTION_MULTIPLIER 1.0 // some user have expressed an interest in being able to customize @@ -177,7 +176,7 @@ /** * 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. */ @@ -234,7 +233,7 @@ move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], ooze_amount); ubl_has_control_of_lcd_panel = true; // Take control of the LCD Panel! -// debug_current_and_destination((char*)"Starting G26 Mesh Validation Pattern."); + //debug_current_and_destination((char*)"Starting G26 Mesh Validation Pattern."); /** * Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten @@ -250,16 +249,17 @@ if (ubl_lcd_clicked()) { // Check if the user wants to stop the Mesh Validation #if ENABLED(ULTRA_LCD) - lcd_setstatuspgm(PSTR("Mesh Validation Stopped."), (uint8_t) 99); + lcd_setstatuspgm(PSTR("Mesh Validation Stopped."), 99); lcd_quick_feedback(); #endif while (!ubl_lcd_clicked()) { // Wait until the user is done pressing the idle(); // Encoder Wheel if that is why we are leaving - lcd_setstatuspgm(PSTR(" "), (uint8_t) 99); + lcd_reset_alert_level(); + lcd_setstatuspgm(PSTR("")); } - while ( ubl_lcd_clicked()) { // Wait until the user is done pressing the + while (ubl_lcd_clicked()) { // Wait until the user is done pressing the idle(); // Encoder Wheel if that is why we are leaving - lcd_setstatuspgm(PSTR("Unpress Wheel "), (uint8_t) 99); + lcd_setstatuspgm(PSTR("Unpress Wheel"), 99); } goto LEAVE; } @@ -276,13 +276,16 @@ // Let's do a couple of quick sanity checks. We can pull this code out later if we never see it catch a problem #ifdef DELTA if (HYPOT2(circle_x, circle_y) > sq(DELTA_PRINTABLE_RADIUS)) { - SERIAL_PROTOCOLLNPGM("?Error: Attempt to print outside of DELTA_PRINTABLE_RADIUS."); + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Attempt to print outside of DELTA_PRINTABLE_RADIUS."); goto LEAVE; } #endif - if (circle_x < X_MIN_POS || circle_x > X_MAX_POS || circle_y < Y_MIN_POS || circle_y > Y_MAX_POS) { - SERIAL_PROTOCOLLNPGM("?Error: Attempt to print off the bed."); + // TODO: Change this to use `position_is_reachable` + if (circle_x < (X_MIN_POS) || circle_x > (X_MAX_POS) || circle_y < (Y_MIN_POS) || circle_y > (Y_MAX_POS)) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Attempt to print off the bed."); goto LEAVE; } @@ -290,11 +293,10 @@ yi = location.y_index; if (g26_debug_flag) { - SERIAL_ECHOPGM(" Doing circle at: (xi="); - SERIAL_ECHO(xi); - SERIAL_ECHOPGM(", yi="); - SERIAL_ECHO(yi); - SERIAL_ECHOLNPGM(")"); + 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 @@ -344,56 +346,53 @@ 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); -// } + //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(x, y, layer_height, xe, ye, layer_height); } -// lcd_init_counter++; -// if (lcd_init_counter > 10) { -// lcd_init_counter = 0; -// lcd_init(); // Some people's LCD Displays are locking up. This might help them -// ubl_has_control_of_lcd_panel = true; // Make sure UBL still is controlling the LCD Panel -// } - - // If the end point of the line is closer to the nozzle, we are going to -// debug_current_and_destination((char*)"Looking for lines to connect."); + //lcd_init_counter++; + //if (lcd_init_counter > 10) { + // lcd_init_counter = 0; + // lcd_init(); // Some people's LCD Displays are locking up. This might help them + // ubl_has_control_of_lcd_panel = true; // Make sure UBL still is controlling the LCD Panel + //} + + //debug_current_and_destination((char*)"Looking for lines to connect."); look_for_lines_to_connect(); -// debug_current_and_destination((char*)"Done with line connect."); + //debug_current_and_destination((char*)"Done with line connect."); } -// debug_current_and_destination((char*)"Done with current circle."); - - // If the end point of the line is closer to the nozzle, we are going to - + //debug_current_and_destination((char*)"Done with current circle."); } while (location.x_index >= 0 && location.y_index >= 0); LEAVE: - lcd_setstatuspgm(PSTR("Leaving G26 "), (uint8_t) 99); + lcd_reset_alert_level(); + lcd_setstatuspgm(PSTR("Leaving G26")); retract_filament(); - destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Raise the nozzle + destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; -// debug_current_and_destination((char*)"ready to do Z-Raise."); - move_to( destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle -// debug_current_and_destination((char*)"done doing Z-Raise."); + //debug_current_and_destination((char*)"ready to do Z-Raise."); + move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle + //debug_current_and_destination((char*)"done doing Z-Raise."); - destination[X_AXIS] = x_pos; // Move back to the starting position + destination[X_AXIS] = x_pos; // Move back to the starting position destination[Y_AXIS] = y_pos; - destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is + //destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Move back to the starting position -// debug_current_and_destination((char*)"done doing X/Y move."); + //debug_current_and_destination((char*)"done doing X/Y move."); ubl_has_control_of_lcd_panel = false; // Give back control of the LCD Panel! @@ -481,16 +480,13 @@ ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1); if (g26_debug_flag) { - SERIAL_ECHOPGM(" Connecting with horizontal line (sx="); - SERIAL_ECHO(sx); - SERIAL_ECHOPGM(", sy="); - SERIAL_ECHO(sy); - SERIAL_ECHOPGM(") -> (ex="); - SERIAL_ECHO(ex); - SERIAL_ECHOPGM(", ey="); - SERIAL_ECHO(ey); - SERIAL_ECHOLNPGM(")"); -// debug_current_and_destination((char*)"Connecting horizontal line."); + 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((char*)"Connecting horizontal line."); } print_line_from_here_to_there(sx, sy, layer_height, ex, ey, layer_height); @@ -521,15 +517,12 @@ ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1); if (g26_debug_flag) { - SERIAL_ECHOPGM(" Connecting with vertical line (sx="); - SERIAL_ECHO(sx); - SERIAL_ECHOPGM(", sy="); - SERIAL_ECHO(sy); - SERIAL_ECHOPGM(") -> (ex="); - SERIAL_ECHO(ex); - SERIAL_ECHOPGM(", ey="); - SERIAL_ECHO(ey); - SERIAL_ECHOLNPGM(")"); + 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((char*)"Connecting vertical line."); } print_line_from_here_to_there(sx, sy, layer_height, ex, ey, layer_height); @@ -548,16 +541,10 @@ 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 (g26_debug_flag) { -// SERIAL_ECHOPAIR("in move_to() has_xy_component:", (int)has_xy_component); -// SERIAL_EOL; -// } + //if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() has_xy_component:", (int)has_xy_component); if (z != last_z) { -// if (g26_debug_flag) { -// SERIAL_ECHOPAIR("in move_to() changing Z to ", (int)z); -// SERIAL_EOL; -// } + //if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() changing Z to ", (int)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 @@ -572,30 +559,24 @@ stepper.synchronize(); set_destination_to_current(); -// if (g26_debug_flag) -// debug_current_and_destination((char*)" in move_to() done with Z move"); + //if (g26_debug_flag) debug_current_and_destination((char*)" in move_to() done with Z move"); } // Check if X or Y is involved in the movement. // Yes: a 'normal' movement. No: a retract() or un_retract() feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5; - if (g26_debug_flag) { - SERIAL_ECHOPAIR("in move_to() feed_value for XY:", feed_value); - SERIAL_EOL; - } + 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; -// if (g26_debug_flag) -// debug_current_and_destination((char*)" in move_to() doing last move"); + //if (g26_debug_flag) debug_current_and_destination((char*)" in move_to() doing last move"); ubl_line_to_destination(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feed_value, 0); -// if (g26_debug_flag) -// debug_current_and_destination((char*)" in move_to() after last move"); + //if (g26_debug_flag) debug_current_and_destination((char*)" in move_to() after last move"); stepper.synchronize(); set_destination_to_current(); @@ -605,9 +586,9 @@ void retract_filament() { if (!g26_retracted) { // Only retract if we are not already retracted! g26_retracted = true; -// if (g26_debug_flag) SERIAL_ECHOLNPGM(" Decided to do retract."); + //if (g26_debug_flag) SERIAL_ECHOLNPGM(" Decided to do retract."); move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], -1.0 * retraction_multiplier); -// if (g26_debug_flag) SERIAL_ECHOLNPGM(" Retraction done."); + //if (g26_debug_flag) SERIAL_ECHOLNPGM(" Retraction done."); } } @@ -615,7 +596,7 @@ if (g26_retracted) { // Only un-retract if we are retracted. move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 1.2 * retraction_multiplier); g26_retracted = false; -// if (g26_debug_flag) SERIAL_ECHOLNPGM(" unretract done."); + //if (g26_debug_flag) SERIAL_ECHOLNPGM(" unretract done."); } } @@ -635,27 +616,24 @@ * cases where the optimization comes into play. */ void print_line_from_here_to_there( float sx, float sy, float sz, float ex, float ey, float ez) { - float dx, dy, dx_s, dy_s, dx_e, dy_e, dist_start, dist_end, Line_Length; - - 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); - - dx = ex - sx; - dy = ey - sy; - Line_Length = HYPOT(dx, dy); + 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), + + dx = ex - sx, + dy = ey - sy, + line_length = HYPOT(dx, dy); // If the end point of the line is closer to the nozzle, we are going to // flip the direction of this line. We will print it from the end to the start. // On very small lines we don't do the optimization because it just isn't worth it. // - if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < abs(Line_Length)) { -// if (g26_debug_flag) -// SERIAL_ECHOLNPGM(" Reversing start and end of print_line_from_here_to_there()"); + if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < abs(line_length)) { + //if (g26_debug_flag) SERIAL_ECHOLNPGM(" Reversing start and end of print_line_from_here_to_there()"); print_line_from_here_to_there(ex, ey, ez, sx, sy, sz); return; } @@ -664,26 +642,19 @@ if (dist_start > 2.0) { retract_filament(); -// if (g26_debug_flag) -// SERIAL_ECHOLNPGM(" filament retracted."); + //if (g26_debug_flag) SERIAL_ECHOLNPGM(" filament retracted."); } - // If the end point of the line is closer to the nozzle, we are going to move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion - // If the end point of the line is closer to the nozzle, we are going to - - float e_pos_delta = Line_Length * g26_e_axis_feedrate * extrusion_multiplier; + const float e_pos_delta = line_length * g26_e_axis_feedrate * extrusion_multiplier; un_retract_filament(); - // If the end point of the line is closer to the nozzle, we are going to -// if (g26_debug_flag) { -// SERIAL_ECHOLNPGM(" doing printing move."); -// debug_current_and_destination((char*)"doing final move_to() inside print_line_from_here_to_there()"); -// } + //if (g26_debug_flag) { + // SERIAL_ECHOLNPGM(" doing printing move."); + // debug_current_and_destination((char*)"doing final move_to() inside print_line_from_here_to_there()"); + //} move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion - - // If the end point of the line is closer to the nozzle, we are going to } /** @@ -820,6 +791,14 @@ return UBL_OK; } + bool exit_from_g26() { + //strcpy(lcd_status_message, "Leaving G26"); // We can't do lcd_setstatus() without having it continue; + lcd_reset_alert_level(); + lcd_setstatuspgm(PSTR("Leaving G26")); + while (ubl_lcd_clicked()) idle(); + return UBL_ERR; + } + /** * Turn on the bed and nozzle heat and * wait for them to get up to temperature. @@ -828,24 +807,18 @@ #if HAS_TEMP_BED #if ENABLED(ULTRA_LCD) if (bed_temp > 25) { - lcd_setstatuspgm(PSTR("G26 Heating Bed."), (uint8_t) 99); + lcd_setstatuspgm(PSTR("G26 Heating Bed."), 99); lcd_quick_feedback(); #endif ubl_has_control_of_lcd_panel = true; thermalManager.setTargetBed(bed_temp); while (abs(thermalManager.degBed() - bed_temp) > 3) { - if (ubl_lcd_clicked()) { - strcpy(lcd_status_message, "Leaving G26"); // We can't do lcd_setstatus() without having it continue; - lcd_setstatuspgm(PSTR("Leaving G26"), (uint8_t) 99); // Now we do it right. - while (ubl_lcd_clicked()) // Debounce Encoder Wheel - idle(); - return UBL_ERR; - } + if (ubl_lcd_clicked()) return exit_from_g26(); idle(); } #if ENABLED(ULTRA_LCD) } - lcd_setstatuspgm(PSTR("G26 Heating Nozzle."), (uint8_t) 99); + lcd_setstatuspgm(PSTR("G26 Heating Nozzle."), 99); lcd_quick_feedback(); #endif #endif @@ -853,18 +826,13 @@ // Start heating the nozzle and wait for it to reach temperature. thermalManager.setTargetHotend(hotend_temp, 0); while (abs(thermalManager.degHotend(0) - hotend_temp) > 3) { - if (ubl_lcd_clicked()) { - strcpy(lcd_status_message, "Leaving G26"); // We can't do lcd_setstatuspgm() without having it continue; - lcd_setstatuspgm(PSTR("Leaving G26"), (uint8_t) 99); // Now we do it right. - while (ubl_lcd_clicked()) // Debounce Encoder Wheel - idle(); - return UBL_ERR; - } + if (ubl_lcd_clicked()) return exit_from_g26(); idle(); } #if ENABLED(ULTRA_LCD) - lcd_setstatuspgm(PSTR(""), (uint8_t) 99); + lcd_reset_alert_level(); + lcd_setstatuspgm(PSTR("")); lcd_quick_feedback(); #endif return UBL_OK; @@ -877,7 +845,7 @@ float Total_Prime = 0.0; if (prime_flag == -1) { // The user wants to control how much filament gets purged - lcd_setstatuspgm(PSTR("User-Controlled Prime"), (uint8_t) 99); + lcd_setstatuspgm(PSTR("User-Controlled Prime"), 99); chirp_at_user(); set_destination_to_current(); @@ -894,7 +862,6 @@ #endif ubl_line_to_destination( destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], - //planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0, 0xFFFF, 0xFFFF); planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0 ); @@ -906,26 +873,24 @@ idle(); } - strcpy(lcd_status_message, "Done Priming"); // We can't do lcd_setstatuspgm() without having it continue; - // So... We cheat to get a message up. - while (ubl_lcd_clicked()) // Debounce Encoder Wheel - idle(); + while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel #if ENABLED(ULTRA_LCD) - lcd_setstatuspgm(PSTR("Done Priming"), (uint8_t) 99); + 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 } else { #if ENABLED(ULTRA_LCD) - lcd_setstatuspgm(PSTR("Fixed Length Prime."), (uint8_t) 99); + lcd_setstatuspgm(PSTR("Fixed Length Prime."), 99); lcd_quick_feedback(); #endif set_destination_to_current(); destination[E_AXIS] += prime_length; ubl_line_to_destination( destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], - //planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0, 0xFFFF, 0xFFFF); planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0 ); stepper.synchronize(); diff --git a/Marlin/M100_Free_Mem_Chk.cpp b/Marlin/M100_Free_Mem_Chk.cpp index 58589614d8..7b71df0b11 100644 --- a/Marlin/M100_Free_Mem_Chk.cpp +++ b/Marlin/M100_Free_Mem_Chk.cpp @@ -76,32 +76,25 @@ void gcode_M100() { // We want to start and end the dump on a nice 16 byte boundry even though // the values we are using are not 16 byte aligned. // - SERIAL_ECHOPGM("\nbss_end : "); - prt_hex_word((unsigned int) ptr); - ptr = (char*)((unsigned long) ptr & 0xfff0); + SERIAL_ECHOPAIR("\nbss_end : ", hex_word((uint16_t)ptr)); + ptr = (char*)((uint32_t)ptr & 0xfff0); sp = top_of_stack(); - SERIAL_ECHOPGM("\nStack Pointer : "); - prt_hex_word((unsigned int) sp); - SERIAL_EOL; - sp = (char*)((unsigned long) sp | 0x000f); + SERIAL_ECHOLNPAIR("\nStack Pointer : ", hex_word((uint16_t)sp)); + sp = (char*)((uint32_t)sp | 0x000f); n = sp - ptr; // // This is the main loop of the Dump command. // while (ptr < sp) { - prt_hex_word((unsigned int) ptr); // Print the address + print_hex_word((uint16_t)ptr); // Print the address SERIAL_CHAR(':'); for (i = 0; i < 16; i++) { // and 16 data bytes - prt_hex_byte(*(ptr + i)); + print_hex_byte(*(ptr + i)); SERIAL_CHAR(' '); } SERIAL_CHAR('|'); // now show where non 0xE5's are - for (i = 0; i < 16; i++) { - if (*(ptr + i) == (char)0xe5) - SERIAL_CHAR(' '); - else - SERIAL_CHAR('?'); - } + for (i = 0; i < 16; i++) + SERIAL_CHAR((*(ptr + i) == (char)0xe5) ? ' ' : '?'); SERIAL_EOL; ptr += 16; } @@ -127,9 +120,7 @@ void gcode_M100() { j = how_many_E5s_are_here(ptr + i); if (j > 8) { SERIAL_ECHOPAIR("Found ", j); - SERIAL_ECHOPGM(" bytes free at 0x"); - prt_hex_word((int) ptr + i); - SERIAL_EOL; + SERIAL_ECHOLNPAIR(" bytes free at 0x", hex_word((uint16_t)(ptr + i))); i += j; block_cnt++; } @@ -164,8 +155,7 @@ void gcode_M100() { j = n / (x + 1); for (i = 1; i <= x; i++) { *(ptr + (i * j)) = i; - SERIAL_ECHOPGM("\nCorrupting address: 0x"); - prt_hex_word((unsigned int)(ptr + (i * j))); + SERIAL_ECHOPAIR("\nCorrupting address: 0x", hex_word((uint16_t)(ptr + i * j))); } SERIAL_ECHOLNPGM("\n"); return; diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 24777e4203..bf951cec20 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -363,7 +363,10 @@ float code_value_temp_diff(); #endif #if ENABLED(HOST_KEEPALIVE_FEATURE) - extern uint8_t host_keepalive_interval; + extern MarlinBusyState busy_state; + #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0) +#else + #define KEEPALIVE_STATE(n) NOOP #endif #if FAN_COUNT > 0 diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 8f0a4bcd43..5fad04caef 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -655,11 +655,9 @@ static bool send_ok[BUFSIZE]; static MarlinBusyState busy_state = NOT_BUSY; static millis_t next_busy_signal_ms = 0; uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL; - #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0) #else - #define host_keepalive() ; - #define KEEPALIVE_STATE(n) ; -#endif // HOST_KEEPALIVE_FEATURE + #define host_keepalive() NOOP +#endif #define DEFINE_PGM_READ_ANY(type, reader) \ static inline type pgm_read_any(const type *p) \ @@ -1031,7 +1029,7 @@ inline void get_serial_commands() { // send "wait" to indicate Marlin is still waiting. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0 static millis_t last_command_time = 0; - millis_t ms = millis(); + const millis_t ms = millis(); if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) { SERIAL_ECHOLNPGM(MSG_WAIT); last_command_time = ms; @@ -4710,8 +4708,8 @@ inline void gcode_G92() { #endif - wait_for_user = true; KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; stepper.synchronize(); refresh_cmd_timeout(); @@ -5050,7 +5048,7 @@ inline void gcode_M42() { if (first_pin > NUM_DIGITAL_PINS - 1) return; } - bool ignore_protection = code_seen('I') ? code_value_bool() : false; + const bool ignore_protection = code_seen('I') ? code_value_bool() : false; // Watch until click, M108, or reset if (code_seen('W') && code_value_bool()) { // watch digital pins @@ -6324,8 +6322,8 @@ inline void gcode_M121() { endstops.enable_globally(false); } #if DISABLED(SDSUPPORT) // Wait for lcd click or M108 - wait_for_user = true; KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; while (wait_for_user) idle(); KEEPALIVE_STATE(IN_HANDLER); @@ -7591,7 +7589,7 @@ inline void gcode_M503() { disable_e_steppers(); safe_delay(100); - millis_t nozzle_timeout = millis() + (millis_t)(FILAMENT_CHANGE_NOZZLE_TIMEOUT) * 1000L; + const millis_t nozzle_timeout = millis() + (millis_t)(FILAMENT_CHANGE_NOZZLE_TIMEOUT) * 1000UL; bool nozzle_timed_out = false; float temps[4]; @@ -7606,9 +7604,10 @@ inline void gcode_M503() { HOTEND_LOOP() temps[e] = thermalManager.target_temperature[e]; // Save nozzle temps + KEEPALIVE_STATE(PAUSED_FOR_USER); wait_for_user = true; // LCD click or M108 will clear this while (wait_for_user) { - millis_t current_ms = millis(); + if (nozzle_timed_out) lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE); @@ -7616,15 +7615,14 @@ inline void gcode_M503() { filament_change_beep(); #endif - if (current_ms >= nozzle_timeout) { - if (!nozzle_timed_out) { - nozzle_timed_out = true; // on nozzle timeout remember the nozzles need to be reheated - HOTEND_LOOP() thermalManager.setTargetHotend(0, e); // Turn off all the nozzles - lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE); - } + if (!nozzle_timed_out && ELAPSED(millis(), nozzle_timeout)) { + nozzle_timed_out = true; // on nozzle timeout remember the nozzles need to be reheated + HOTEND_LOOP() thermalManager.setTargetHotend(0, e); // Turn off all the nozzles + lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE); } idle(true); } + KEEPALIVE_STATE(IN_HANDLER); if (nozzle_timed_out) // Turn nozzles back on if they were turned off HOTEND_LOOP() thermalManager.setTargetHotend(temps[e], e); @@ -7652,6 +7650,7 @@ inline void gcode_M503() { filament_change_beep(true); #endif + KEEPALIVE_STATE(PAUSED_FOR_USER); wait_for_user = true; // LCD click or M108 will clear this while (wait_for_user && nozzle_timed_out) { #if HAS_BUZZER @@ -7659,6 +7658,7 @@ inline void gcode_M503() { #endif idle(true); } + KEEPALIVE_STATE(IN_HANDLER); // Show "load" message lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD); @@ -10137,9 +10137,9 @@ void prepare_move_to_destination() { #if HAS_CONTROLLERFAN void controllerFan() { - static millis_t lastMotorOn = 0; // Last time a motor was turned on - static millis_t nextMotorCheck = 0; // Last time the state was checked - millis_t ms = millis(); + static millis_t lastMotorOn = 0, // Last time a motor was turned on + nextMotorCheck = 0; // Last time the state was checked + const millis_t ms = millis(); if (ELAPSED(ms, nextMotorCheck)) { nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0 @@ -10472,7 +10472,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { if (commands_in_queue < BUFSIZE) get_available_commands(); - millis_t ms = millis(); + const millis_t ms = millis(); if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) { SERIAL_ERROR_START; @@ -10686,7 +10686,7 @@ void kill(const char* lcd_msg) { thermalManager.disable_all_heaters(); disable_all_steppers(); - + #if ENABLED(ULTRA_LCD) kill_screen(lcd_msg); #else @@ -10695,7 +10695,7 @@ void kill(const char* lcd_msg) { _delay_ms(250); // Wait a short time cli(); // Stop interrupts - + _delay_ms(250); //Wait to ensure all interrupts routines stopped thermalManager.disable_all_heaters(); //turn off heaters again diff --git a/Marlin/UBL_Bed_Leveling.cpp b/Marlin/UBL_Bed_Leveling.cpp index 510ee5a73e..5538c33465 100644 --- a/Marlin/UBL_Bed_Leveling.cpp +++ b/Marlin/UBL_Bed_Leveling.cpp @@ -38,6 +38,25 @@ void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); } bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); } + static void serial_echo_xy(const uint16_t x, const uint16_t y) { + SERIAL_CHAR('('); + SERIAL_ECHO(x); + SERIAL_CHAR(','); + SERIAL_ECHO(y); + SERIAL_CHAR(')'); + safe_delay(10); + } + + static void serial_echo_10x_spaces() { + for (uint8_t i = UBL_MESH_NUM_X_POINTS - 1; --i;) { + SERIAL_ECHOPGM(" "); + #if TX_BUFFER_SIZE > 0 + MYSERIAL.flushTX(); + #endif + safe_delay(10); + } + } + /** * These variables used to be declared inside the unified_bed_leveling class. We are going to * still declare them within the .cpp file for bed leveling. But there is only one instance of @@ -105,13 +124,10 @@ } j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values); - eeprom_read_block((void *)&z_values , (void *)j, sizeof(z_values)); + eeprom_read_block((void *)&z_values, (void *)j, sizeof(z_values)); - SERIAL_PROTOCOLPGM("Mesh loaded from slot "); - SERIAL_PROTOCOL(m); - SERIAL_PROTOCOLPGM(" at offset 0x"); - prt_hex_word(j); - SERIAL_EOL; + SERIAL_PROTOCOLPAIR("Mesh loaded from slot ", m); + SERIAL_PROTOCOLLNPAIR(" at offset 0x", hex_word(j)); } void unified_bed_leveling::store_mesh(const int16_t m) { @@ -132,11 +148,8 @@ j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values); eeprom_write_block((const void *)&z_values, (void *)j, sizeof(z_values)); - SERIAL_PROTOCOLPGM("Mesh saved in slot "); - SERIAL_PROTOCOL(m); - SERIAL_PROTOCOLPGM(" at offset 0x"); - prt_hex_word(j); - SERIAL_EOL; + SERIAL_PROTOCOLPAIR("Mesh saved in slot ", m); + SERIAL_PROTOCOLLNPAIR(" at offset 0x", hex_word(j)); } void unified_bed_leveling::reset() { @@ -151,7 +164,7 @@ } void unified_bed_leveling::invalidate() { - prt_hex_word((unsigned int)this); + print_hex_word((uint16_t)this); SERIAL_EOL; state.active = false; @@ -162,125 +175,76 @@ } void unified_bed_leveling::display_map(const int map_type) { - float f, current_xi, current_yi; - int8_t i, j; - UNUSED(map_type); - if (map_type==0) { - SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n"); + const bool map0 = map_type == 0; - SERIAL_ECHOPAIR("(", 0); - SERIAL_ECHOPAIR(", ", UBL_MESH_NUM_Y_POINTS - 1); - SERIAL_ECHOPGM(") "); + if (map0) { + SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n"); + serial_echo_xy(0, UBL_MESH_NUM_Y_POINTS - 1); + SERIAL_ECHOPGM(" "); } - current_xi = ubl.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0); - current_yi = ubl.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0); - - if (map_type==0) { - for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++) { - SERIAL_ECHOPGM(" "); - #if TX_BUFFER_SIZE>0 - MYSERIAL.flushTX(); - #endif - safe_delay(15); - } - - SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS - 1); - SERIAL_ECHOPAIR(",", UBL_MESH_NUM_Y_POINTS - 1); - SERIAL_ECHOLNPGM(")"); - - SERIAL_ECHOPAIR("(", UBL_MESH_MIN_X); - SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y); - SERIAL_CHAR(')'); - safe_delay(15); - - for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++) { - SERIAL_ECHOPGM(" "); - #if TX_BUFFER_SIZE>0 - MYSERIAL.flushTX(); - #endif - safe_delay(15); - } - - SERIAL_ECHOPAIR("(", UBL_MESH_MAX_X); - SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y); - SERIAL_ECHOLNPGM(")"); - safe_delay(15); + if (map0) { + serial_echo_10x_spaces(); + serial_echo_xy(UBL_MESH_NUM_X_POINTS - 1, UBL_MESH_NUM_Y_POINTS - 1); + SERIAL_EOL; + serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y); + serial_echo_10x_spaces(); + serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MAX_Y); + SERIAL_EOL; } - for (j = UBL_MESH_NUM_Y_POINTS - 1; j >= 0; j--) { - for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) { - f = z_values[i][j]; + const float current_xi = ubl.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0), + current_yi = ubl.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0); + + for (uint8_t j = UBL_MESH_NUM_Y_POINTS - 1; j >= 0; j--) { + for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) { + const bool is_current = i == current_xi && j == current_yi; // is the nozzle here? if so, mark the number - if (map_type==0) - SERIAL_CHAR(i == current_xi && j == current_yi ? '[' : ' '); - - if (isnan(f)) - if (map_type==0) { - SERIAL_PROTOCOLPGM(" . "); - } else - SERIAL_PROTOCOLPGM("NAN"); + if (map0) + SERIAL_CHAR(is_current ? '[' : ' '); + + const float f = z_values[i][j]; + if (isnan(f)) { + serialprintPGM(map0 ? PSTR(" . ") : PSTR("NAN")); + } else { // if we don't do this, the columns won't line up nicely - if (f>=0.0 && map_type==0) SERIAL_CHAR(' '); + if (f >= 0.0 && map0) SERIAL_CHAR(' '); SERIAL_PROTOCOL_F(f, 3); idle(); } - if (map_type!=0 && i0 + #if TX_BUFFER_SIZE > 0 MYSERIAL.flushTX(); #endif safe_delay(15); - if (map_type==0) { - if (i == current_xi && j == current_yi) // is the nozzle here? if so, finish marking the number - SERIAL_CHAR(']'); - else - SERIAL_PROTOCOL(" "); + if (map0) { + SERIAL_CHAR(is_current ? ']' : ' '); SERIAL_CHAR(' '); } } SERIAL_EOL; - if (j && map_type==0) { // we want the (0,0) up tight against the block of numbers + if (j && map0) { // we want the (0,0) up tight against the block of numbers SERIAL_CHAR(' '); SERIAL_EOL; } } - if (map_type==0) { - SERIAL_ECHOPAIR("(", int(UBL_MESH_MIN_X)); - SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y)); - SERIAL_ECHOPGM(") "); - - for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++) { - SERIAL_ECHOPGM(" "); - #if TX_BUFFER_SIZE>0 - MYSERIAL.flushTX(); - #endif - safe_delay(15); - } - SERIAL_ECHOPAIR("(", int(UBL_MESH_MAX_X)); - SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y)); - SERIAL_CHAR(')'); + if (map0) { + serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y); + SERIAL_ECHOPGM(" "); + serial_echo_10x_spaces(); + serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MIN_Y); + SERIAL_EOL; + serial_echo_xy(0, 0); + SERIAL_ECHOPGM(" "); + serial_echo_10x_spaces(); + serial_echo_xy(UBL_MESH_NUM_X_POINTS - 1, 0); SERIAL_EOL; - - SERIAL_ECHOPAIR("(", 0); - SERIAL_ECHOPAIR(",", 0); - SERIAL_ECHOPGM(") "); - - for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++) { - SERIAL_ECHOPGM(" "); - #if TX_BUFFER_SIZE>0 - MYSERIAL.flushTX(); - #endif - safe_delay(15); - } - SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS-1); - SERIAL_ECHOPAIR(",", 0); - SERIAL_ECHOLNPGM(")"); } } diff --git a/Marlin/UBL_G29.cpp b/Marlin/UBL_G29.cpp index f806bb6cd3..4feca1b50d 100644 --- a/Marlin/UBL_G29.cpp +++ b/Marlin/UBL_G29.cpp @@ -158,7 +158,7 @@ * only done between probe points. You will need to press and hold the switch until the * Phase 1 command can detect it.) * - * P2 Phase 2 Probe areas of the Mesh that can not be automatically handled. Phase 2 respects an H + * P2 Phase 2 Probe areas of the Mesh that can't be automatically handled. Phase 2 respects an H * parameter to control the height between Mesh points. The default height for movement * between Mesh points is 5mm. A smaller number can be used to make this part of the * calibration less time consuming. You will be running the nozzle down until it just barely @@ -303,25 +303,17 @@ volatile int8_t ubl_encoderDiff = 0; // Volatile because it's changed by Temperature ISR button update // The simple parameter flags and values are 'static' so parameter parsing can be in a support routine. - static int g29_verbose_level = 0, phase_value = -1, repetition_cnt = 1, - storage_slot = 0, map_type = 0, test_pattern = 0, unlevel_value = -1; - static bool repeat_flag = UBL_OK, c_flag = false, x_flag = UBL_OK, y_flag = UBL_OK, statistics_flag = UBL_OK, business_card_mode = false; - static float x_pos = 0.0, y_pos = 0.0, height_value = 5.0, measured_z, card_thickness = 0.0, constant = 0.0; + static int g29_verbose_level, phase_value = -1, repetition_cnt, + storage_slot = 0, map_type; //unlevel_value = -1; + static bool repeat_flag, c_flag, x_flag, y_flag; + static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0; #if ENABLED(ULTRA_LCD) void lcd_setstatus(const char* message, bool persist); #endif void gcode_G29() { - float Z1, Z2, Z3; - - g29_verbose_level = 0; // These may change, but let's get some reasonable values into them. - repeat_flag = UBL_OK; - repetition_cnt = 1; - c_flag = false; - SERIAL_PROTOCOLLNPAIR("ubl_eeprom_start=", ubl_eeprom_start); - if (ubl_eeprom_start < 0) { SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it"); SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n"); @@ -350,53 +342,46 @@ if (code_seen('Q')) { - if (code_has_value()) test_pattern = code_value_int(); - - if (test_pattern < 0 || test_pattern > 4) { - SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-4)\n"); + const int test_pattern = code_has_value() ? code_value_int() : -1; + if (test_pattern < 0 || test_pattern > 2) { + SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n"); return; } SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n"); switch (test_pattern) { case 0: - for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++) { // Create a bowl shape. This is - for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++) { // similar to what a user would see with - Z1 = 0.5 * (UBL_MESH_NUM_X_POINTS) - x; // a poorly calibrated Delta. - Z2 = 0.5 * (UBL_MESH_NUM_Y_POINTS) - y; - z_values[x][y] += 2.0 * HYPOT(Z1, Z2); + for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++) { // Create a bowl shape - similar to + for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++) { // a poorly calibrated Delta. + const float p1 = 0.5 * (UBL_MESH_NUM_X_POINTS) - x, + p2 = 0.5 * (UBL_MESH_NUM_Y_POINTS) - y; + z_values[x][y] += 2.0 * HYPOT(p1, p2); } } - break; + break; case 1: - for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++) { // Create a diagonal line several Mesh - z_values[x][x] += 9.999; // cells thick that is raised - if (x < UBL_MESH_NUM_Y_POINTS - 1) - z_values[x][x + 1] += 9.999; // We want the altered line several mesh points thick - if (x > 0) - z_values[x][x - 1] += 9.999; // We want the altered line several mesh points thick + for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++) { // Create a diagonal line several Mesh cells thick that is raised + z_values[x][x] += 9.999; + z_values[x][x + (x < UBL_MESH_NUM_Y_POINTS - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick } break; case 2: - // Allow the user to specify the height because 10mm is - // a little bit extreme in some cases. + // Allow the user to specify the height because 10mm is a little extreme in some cases. for (uint8_t x = (UBL_MESH_NUM_X_POINTS) / 3; x < 2 * (UBL_MESH_NUM_X_POINTS) / 3; x++) // Create a rectangular raised area in for (uint8_t y = (UBL_MESH_NUM_Y_POINTS) / 3; y < 2 * (UBL_MESH_NUM_Y_POINTS) / 3; y++) // the center of the bed - z_values[x][y] += code_seen('C') ? constant : 9.99; - break; - case 3: + z_values[x][y] += code_seen('C') ? ubl_constant : 9.99; break; } } -/* + /* if (code_seen('U')) { unlevel_value = code_value_int(); -// if (unlevel_value < 0 || unlevel_value > 7) { -// SERIAL_PROTOCOLLNPGM("Invalid Unlevel value. (0-4)\n"); -// return; -// } + //if (unlevel_value < 0 || unlevel_value > 7) { + // SERIAL_PROTOCOLLNPGM("Invalid Unlevel value. (0-4)\n"); + // return; + //} } -*/ + //*/ if (code_seen('P')) { phase_value = code_value_int(); @@ -430,9 +415,9 @@ code_seen('O') || code_seen('M'), code_seen('E'), code_seen('U')); break; // - // Manually Probe Mesh in areas that can not be reached by the probe + // Manually Probe Mesh in areas that can't be reached by the probe // - case 2: + case 2: { SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n"); do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); if (!x_flag && !y_flag) { // use a good default location for the path @@ -451,32 +436,34 @@ y_pos = current_position[Y_AXIS]; } - height_value = code_seen('H') && code_has_value() ? code_value_float() : Z_CLEARANCE_BETWEEN_PROBES; + const float height = code_seen('H') && code_has_value() ? code_value_float() : Z_CLEARANCE_BETWEEN_PROBES; - if ((business_card_mode = code_seen('B'))) { - card_thickness = code_has_value() ? code_value_float() : measure_business_card_thickness(height_value); + if (code_seen('B')) { + card_thickness = code_has_value() ? code_value_float() : measure_business_card_thickness(height); if (fabs(card_thickness) > 1.5) { - SERIAL_PROTOCOLLNPGM("?Error in Business Card measurment.\n"); + SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.\n"); return; } } - manually_probe_remaining_mesh(x_pos, y_pos, height_value, card_thickness, code_seen('O') || code_seen('M')); - break; + manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M')); + + } break; + // // Populate invalid Mesh areas with a constant // - case 3: - height_value = 0.0; // Assume 0.0 until proven otherwise - if (code_seen('C')) height_value = constant; + case 3: { + const float height = code_seen('C') ? ubl_constant : 0.0; // If no repetition is specified, do the whole Mesh if (!repeat_flag) repetition_cnt = 9999; while (repetition_cnt--) { const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL, false); // The '0' says we want to use the nozzle's position if (location.x_index < 0) break; // No more invalid Mesh Points to populate - z_values[location.x_index][location.y_index] = height_value; + z_values[location.x_index][location.y_index] = height; } - break; + } break; + // // Fine Tune (Or Edit) the Mesh // @@ -491,36 +478,56 @@ break; case 10: - // Debug code... Pay no attention to this stuff - // it can be removed soon. + // [DEBUG] Pay no attention to this stuff. It can be removed soon. SERIAL_ECHO_START; SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:"); - wait_for_user = true; + KEEPALIVE_STATE(PAUSED_FOR_USER); + ubl_has_control_of_lcd_panel++; while (!ubl_lcd_clicked()) { safe_delay(250); - SERIAL_ECHO((int)ubl_encoderDiff); - ubl_encoderDiff = 0; - SERIAL_EOL; + if (ubl_encoderDiff) { + SERIAL_ECHOLN((int)ubl_encoderDiff); + ubl_encoderDiff = 0; + } + } + SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel."); + ubl_has_control_of_lcd_panel = false; + KEEPALIVE_STATE(IN_HANDLER); + break; + + case 11: + // [DEBUG] wait_for_user code. Pay no attention to this stuff. It can be removed soon. + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:"); + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; + while (wait_for_user) { + safe_delay(250); + if (ubl_encoderDiff) { + SERIAL_ECHOLN((int)ubl_encoderDiff); + ubl_encoderDiff = 0; + } } SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel."); + KEEPALIVE_STATE(IN_HANDLER); break; } } if (code_seen('T')) { - Z1 = probe_pt(ubl_3_point_1_X, ubl_3_point_1_Y, false /*Stow Flag*/, g29_verbose_level) + zprobe_zoffset; - Z2 = probe_pt(ubl_3_point_2_X, ubl_3_point_2_Y, false /*Stow Flag*/, g29_verbose_level) + zprobe_zoffset; - Z3 = probe_pt(ubl_3_point_3_X, ubl_3_point_3_Y, true /*Stow Flag*/, g29_verbose_level) + zprobe_zoffset; + float z1 = probe_pt(ubl_3_point_1_X, ubl_3_point_1_Y, false /*Stow Flag*/, g29_verbose_level) + zprobe_zoffset, + z2 = probe_pt(ubl_3_point_2_X, ubl_3_point_2_Y, false /*Stow Flag*/, g29_verbose_level) + zprobe_zoffset, + z3 = probe_pt(ubl_3_point_3_X, ubl_3_point_3_Y, true /*Stow Flag*/, g29_verbose_level) + zprobe_zoffset; - // We need to adjust Z1, Z2, Z3 by the Mesh Height at these points. Just because they are non-zero doesn't mean + // We need to adjust z1, z2, z3 by the Mesh Height at these points. Just because they are non-zero doesn't mean // the Mesh is tilted! (We need to compensate each probe point by what the Mesh says that location's height is) - Z1 -= ubl.get_z_correction(ubl_3_point_1_X, ubl_3_point_1_Y); - Z2 -= ubl.get_z_correction(ubl_3_point_2_X, ubl_3_point_2_Y); - Z3 -= ubl.get_z_correction(ubl_3_point_3_X, ubl_3_point_3_Y); + z1 -= ubl.get_z_correction(ubl_3_point_1_X, ubl_3_point_1_Y); + z2 -= ubl.get_z_correction(ubl_3_point_2_X, ubl_3_point_2_Y); + z3 -= ubl.get_z_correction(ubl_3_point_3_X, ubl_3_point_3_Y); do_blocking_move_to_xy((X_MAX_POS - (X_MIN_POS)) / 2.0, (Y_MAX_POS - (Y_MIN_POS)) / 2.0); - tilt_mesh_based_on_3pts(Z1, Z2, Z3); + tilt_mesh_based_on_3pts(z1, z2, z3); } // @@ -610,13 +617,16 @@ save_ubl_active_state_and_disable(); //measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level); - ubl_has_control_of_lcd_panel = true;// Grab the LCD Hardware + ubl_has_control_of_lcd_panel++; // Grab the LCD Hardware measured_z = 1.5; do_blocking_move_to_z(measured_z); // Get close to the bed, but leave some space so we don't damage anything // The user is not going to be locking in a new Z-Offset very often so // it won't be that painful to spin the Encoder Wheel for 1.5mm lcd_implementation_clear(); lcd_z_offset_edit_setup(measured_z); + + KEEPALIVE_STATE(PAUSED_FOR_USER); + do { measured_z = lcd_z_offset_edit(); idle(); @@ -628,6 +638,8 @@ // or here. So, until we are done looking for a long Encoder Wheel Press, // we need to take control of the panel + KEEPALIVE_STATE(IN_HANDLER); + lcd_return_to_status(); const millis_t nxt = millis() + 1500UL; @@ -637,7 +649,6 @@ SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped."); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); lcd_setstatus("Z-Offset Stopped", true); - ubl_has_control_of_lcd_panel = false; restore_ubl_active_state_and_leave(); goto LEAVE; } @@ -702,14 +713,14 @@ for (x = 0; x < UBL_MESH_NUM_X_POINTS; x++) for (y = 0; y < UBL_MESH_NUM_Y_POINTS; y++) if (!isnan(z_values[x][y])) - z_values[x][y] -= mean + constant; + z_values[x][y] -= mean + ubl_constant; } void shift_mesh_height() { for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++) for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++) if (!isnan(z_values[x][y])) - z_values[x][y] += constant; + z_values[x][y] += ubl_constant; } /** @@ -728,9 +739,7 @@ SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n"); lcd_quick_feedback(); STOW_PROBE(); - while (ubl_lcd_clicked() ) { - idle(); - } + while (ubl_lcd_clicked()) idle(); ubl_has_control_of_lcd_panel = false; restore_ubl_active_state_and_leave(); safe_delay(50); // Debounce the Encoder wheel @@ -739,14 +748,18 @@ location = find_closest_mesh_point_of_type(INVALID, lx, ly, 1, NULL, do_furthest ); // the '1' says we want the location to be relative to the probe if (location.x_index >= 0 && location.y_index >= 0) { - const float xProbe = ubl.map_x_index_to_bed_location(location.x_index), - yProbe = ubl.map_y_index_to_bed_location(location.y_index); - if (xProbe < MIN_PROBE_X || xProbe > MAX_PROBE_X || yProbe < MIN_PROBE_Y || yProbe > MAX_PROBE_Y) { - SERIAL_PROTOCOLLNPGM("?Error: Attempt to probe off the bed."); + + const float rawx = ubl.map_x_index_to_bed_location(location.x_index), + rawy = ubl.map_y_index_to_bed_location(location.y_index); + + // TODO: Change to use `position_is_reachable` (for SCARA-compatibility) + if (rawx < (MIN_PROBE_X) || rawx > (MAX_PROBE_X) || rawy < (MIN_PROBE_Y) || rawy > (MAX_PROBE_Y)) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Attempt to probe off the bed."); ubl_has_control_of_lcd_panel = false; goto LEAVE; } - const float measured_z = probe_pt(xProbe, yProbe, stow_probe, g29_verbose_level); + const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level); z_values[location.x_index][location.y_index] = measured_z + zprobe_zoffset; } @@ -831,6 +844,7 @@ } float use_encoder_wheel_to_measure_point() { + KEEPALIVE_STATE(PAUSED_FOR_USER); while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here! idle(); if (ubl_encoderDiff) { @@ -838,34 +852,35 @@ ubl_encoderDiff = 0; } } + KEEPALIVE_STATE(IN_HANDLER); return current_position[Z_AXIS]; } - float measure_business_card_thickness(const float &height_value) { + float measure_business_card_thickness(const float &in_height) { ubl_has_control_of_lcd_panel++; save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement."); - do_blocking_move_to_z(height_value); + do_blocking_move_to_z(in_height); do_blocking_move_to_xy((float(X_MAX_POS) - float(X_MIN_POS)) / 2.0, (float(Y_MAX_POS) - float(Y_MIN_POS)) / 2.0); //, min( planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])/2.0); - const float Z1 = use_encoder_wheel_to_measure_point(); + const float z1 = use_encoder_wheel_to_measure_point(); do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE); ubl_has_control_of_lcd_panel = false; SERIAL_PROTOCOLLNPGM("Remove Shim and Measure Bed Height."); - const float Z2 = use_encoder_wheel_to_measure_point(); + const float z2 = use_encoder_wheel_to_measure_point(); do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE); if (g29_verbose_level > 1) { SERIAL_PROTOCOLPGM("Business Card is: "); - SERIAL_PROTOCOL_F(abs(Z1 - Z2), 6); + SERIAL_PROTOCOL_F(abs(z1 - z2), 6); SERIAL_PROTOCOLLNPGM("mm thick."); } restore_ubl_active_state_and_leave(); - return abs(Z1 - Z2); + return abs(z1 - z2); } void manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &card_thickness, const bool do_ubl_mesh_map) { @@ -881,21 +896,23 @@ if (do_ubl_mesh_map) ubl.display_map(map_type); location = find_closest_mesh_point_of_type(INVALID, lx, ly, 0, NULL, false); // The '0' says we want to use the nozzle's position - // It doesn't matter if the probe can not reach the - // NAN location. This is a manual probe. + // It doesn't matter if the probe can't reach the NAN location. This is a manual probe. if (location.x_index < 0 && location.y_index < 0) continue; - const float xProbe = ubl.map_x_index_to_bed_location(location.x_index), - yProbe = ubl.map_y_index_to_bed_location(location.y_index); + const float rawx = ubl.map_x_index_to_bed_location(location.x_index), + rawy = ubl.map_y_index_to_bed_location(location.y_index); - // Modify to use if (position_is_reachable(pos[XYZ])) - if (xProbe < (X_MIN_POS) || xProbe > (X_MAX_POS) || yProbe < (Y_MIN_POS) || yProbe > (Y_MAX_POS)) { - SERIAL_PROTOCOLLNPGM("?Error: Attempt to probe off the bed."); + // TODO: Change to use `position_is_reachable` (for SCARA-compatibility) + if (rawx < (X_MIN_POS) || rawx > (X_MAX_POS) || rawy < (Y_MIN_POS) || rawy > (Y_MAX_POS)) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Attempt to probe off the bed."); ubl_has_control_of_lcd_panel = false; goto LEAVE; } - const float dx = xProbe - last_x, + const float xProbe = LOGICAL_X_POSITION(rawx), + yProbe = LOGICAL_Y_POSITION(rawy), + dx = xProbe - last_x, dy = yProbe - last_y; if (HYPOT(dx, dy) < BIG_RAISE_NOT_NEEDED) @@ -908,8 +925,10 @@ last_x = xProbe; last_y = yProbe; + KEEPALIVE_STATE(PAUSED_FOR_USER); ubl_has_control_of_lcd_panel = true; - while (!ubl_lcd_clicked) { // we need the loop to move the nozzle based on the encoder wheel here! + + while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here! idle(); if (ubl_encoderDiff) { do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl_encoderDiff) / 100.0); @@ -926,6 +945,7 @@ lcd_quick_feedback(); while (ubl_lcd_clicked()) idle(); ubl_has_control_of_lcd_panel = false; + KEEPALIVE_STATE(IN_HANDLER); restore_ubl_active_state_and_leave(); return; } @@ -933,7 +953,7 @@ z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - card_thickness; if (g29_verbose_level > 2) { - SERIAL_PROTOCOL("Mesh Point Measured at: "); + SERIAL_PROTOCOLPGM("Mesh Point Measured at: "); SERIAL_PROTOCOL_F(z_values[location.x_index][location.y_index], 6); SERIAL_EOL; } @@ -943,52 +963,40 @@ LEAVE: restore_ubl_active_state_and_leave(); + KEEPALIVE_STATE(IN_HANDLER); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); do_blocking_move_to_xy(lx, ly); } bool g29_parameter_parsing() { - #if ENABLED(ULTRA_LCD) lcd_setstatus("Doing G29 UBL !", true); lcd_quick_feedback(); #endif - x_pos = current_position[X_AXIS]; - y_pos = current_position[Y_AXIS]; - x_flag = y_flag = repeat_flag = false; - map_type = 0; - constant = 0.0; - repetition_cnt = 1; - - if ((x_flag = code_seen('X'))) { - x_pos = code_value_float(); - if (x_pos < X_MIN_POS || x_pos > X_MAX_POS) { - SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n"); - return UBL_ERR; - } + g29_verbose_level = code_seen('V') ? code_value_int() : 0; + if (g29_verbose_level < 0 || g29_verbose_level > 4) { + SERIAL_PROTOCOLLNPGM("Invalid Verbose Level specified. (0-4)\n"); + return UBL_ERR; } - if ((y_flag = code_seen('Y'))) { - y_pos = code_value_float(); - if (y_pos < Y_MIN_POS || y_pos > Y_MAX_POS) { - SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n"); - return UBL_ERR; - } + x_flag = code_seen('X') && code_has_value(); + x_pos = x_flag ? code_value_float() : current_position[X_AXIS]; + if (x_pos < LOGICAL_X_POSITION(X_MIN_POS) || x_pos > LOGICAL_X_POSITION(X_MAX_POS)) { + SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n"); + return UBL_ERR; } - if (x_flag != y_flag) { - SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n"); + y_flag = code_seen('Y') && code_has_value(); + y_pos = y_flag ? code_value_float() : current_position[Y_AXIS]; + if (y_pos < LOGICAL_Y_POSITION(Y_MIN_POS) || y_pos > LOGICAL_Y_POSITION(Y_MAX_POS)) { + SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n"); return UBL_ERR; } - g29_verbose_level = 0; - if (code_seen('V')) { - g29_verbose_level = code_value_int(); - if (g29_verbose_level < 0 || g29_verbose_level > 4) { - SERIAL_PROTOCOLLNPGM("Invalid Verbose Level specified. (0-4)\n"); - return UBL_ERR; - } + if (x_flag != y_flag) { + SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n"); + return UBL_ERR; } if (code_seen('A')) { // Activate the Unified Bed Leveling System @@ -997,8 +1005,8 @@ ubl.store_state(); } - if ((c_flag = code_seen('C') && code_has_value())) - constant = code_value_float(); + c_flag = code_seen('C') && code_has_value(); + ubl_constant = c_flag ? code_value_float() : 0.0; if (code_seen('D')) { // Disable the Unified Bed Leveling System ubl.state.active = 0; @@ -1018,29 +1026,28 @@ } #endif - if ((repeat_flag = code_seen('R'))) { - repetition_cnt = code_has_value() ? code_value_int() : 9999; - if (repetition_cnt < 1) { - SERIAL_PROTOCOLLNPGM("Invalid Repetition count.\n"); - return UBL_ERR; - } + repeat_flag = code_seen('R'); + repetition_cnt = repeat_flag ? (code_has_value() ? code_value_int() : 9999) : 1; + if (repetition_cnt < 1) { + SERIAL_PROTOCOLLNPGM("Invalid Repetition count.\n"); + return UBL_ERR; } - if (code_seen('O')) { // Check if a map type was specified - map_type = code_value_int() ? code_has_value() : 0; - if ( map_type<0 || map_type>1) { - SERIAL_PROTOCOLLNPGM("Invalid map type.\n"); - return UBL_ERR; - } + map_type = code_seen('O') && code_has_value() ? code_value_int() : 0; + if (map_type < 0 || map_type > 1) { + SERIAL_PROTOCOLLNPGM("Invalid map type.\n"); + return UBL_ERR; } + /* if (code_seen('M')) { // Check if a map type was specified - map_type = code_value_int() ? code_has_value() : 0; - if ( map_type<0 || map_type>1) { + map_type = code_has_value() ? code_value_int() : 0; + if (map_type < 0 || map_type > 1) { SERIAL_PROTOCOLLNPGM("Invalid map type.\n"); return UBL_ERR; } } + //*/ return UBL_OK; } @@ -1054,20 +1061,15 @@ SERIAL_PROTOCOL(str); SERIAL_PROTOCOL_F(f, 8); - SERIAL_PROTOCOL(" "); + SERIAL_PROTOCOLPGM(" "); ptr = (char*)&f; - for (uint8_t i = 0; i < 4; i++) { - SERIAL_PROTOCOL(" "); - prt_hex_byte(*ptr++); - } - SERIAL_PROTOCOL(" isnan()="); - SERIAL_PROTOCOL(isnan(f)); - SERIAL_PROTOCOL(" isinf()="); - SERIAL_PROTOCOL(isinf(f)); + for (uint8_t i = 0; i < 4; i++) + SERIAL_PROTOCOLPAIR(" ", hex_byte(*ptr++)); + SERIAL_PROTOCOLPAIR(" isnan()=", isnan(f)); + SERIAL_PROTOCOLPAIR(" isinf()=", isinf(f)); - constexpr float g = INFINITY; - if (f == -g) - SERIAL_PROTOCOL(" Minus Infinity detected."); + if (f == -INFINITY) + SERIAL_PROTOCOLPGM(" Minus Infinity detected."); SERIAL_EOL; } @@ -1104,7 +1106,6 @@ */ void g29_what_command() { const uint16_t k = E2END - ubl_eeprom_start; - statistics_flag++; SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version 1.00 "); if (ubl.state.active) @@ -1117,8 +1118,7 @@ if (ubl.state.eeprom_storage_slot == -1) SERIAL_PROTOCOLPGM("No Mesh Loaded."); else { - SERIAL_PROTOCOLPGM("Mesh: "); - prt_hex_word(ubl.state.eeprom_storage_slot); + SERIAL_PROTOCOLPAIR("Mesh ", ubl.state.eeprom_storage_slot); SERIAL_PROTOCOLPGM(" Loaded."); } SERIAL_EOL; @@ -1136,7 +1136,7 @@ SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: "); for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) { - SERIAL_PROTOCOL_F( ubl.map_x_index_to_bed_location(i), 1); + SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(ubl.map_x_index_to_bed_location(i)), 1); SERIAL_PROTOCOLPGM(" "); safe_delay(50); } @@ -1144,7 +1144,7 @@ SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: "); for (uint8_t i = 0; i < UBL_MESH_NUM_Y_POINTS; i++) { - SERIAL_PROTOCOL_F( ubl.map_y_index_to_bed_location(i), 1); + SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ubl.map_y_index_to_bed_location(i)), 1); SERIAL_PROTOCOLPGM(" "); safe_delay(50); } @@ -1162,13 +1162,9 @@ SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk); SERIAL_EOL; safe_delay(50); - SERIAL_PROTOCOLPGM("Free EEPROM space starts at: 0x"); - prt_hex_word(ubl_eeprom_start); - SERIAL_EOL; + SERIAL_PROTOCOLLNPAIR("Free EEPROM space starts at: 0x", hex_word(ubl_eeprom_start)); - SERIAL_PROTOCOLPGM("end of EEPROM : "); - prt_hex_word(E2END); - SERIAL_EOL; + SERIAL_PROTOCOLLNPAIR("end of EEPROM : ", hex_word(E2END)); safe_delay(50); SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl)); @@ -1177,18 +1173,14 @@ SERIAL_EOL; safe_delay(50); - SERIAL_PROTOCOLPGM("EEPROM free for UBL: 0x"); - prt_hex_word(k); - SERIAL_EOL; + SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: 0x", hex_word(k)); safe_delay(50); - SERIAL_PROTOCOLPGM("EEPROM can hold 0x"); - prt_hex_word(k / sizeof(z_values)); + SERIAL_PROTOCOLPAIR("EEPROM can hold ", k / sizeof(z_values)); SERIAL_PROTOCOLLNPGM(" meshes.\n"); safe_delay(50); - SERIAL_PROTOCOLPGM("sizeof(ubl.state) :"); - prt_hex_word(sizeof(ubl.state)); + SERIAL_PROTOCOLPAIR("sizeof(ubl.state) : ", (int)sizeof(ubl.state)); SERIAL_PROTOCOLPAIR("\nUBL_MESH_NUM_X_POINTS ", UBL_MESH_NUM_X_POINTS); SERIAL_PROTOCOLPAIR("\nUBL_MESH_NUM_Y_POINTS ", UBL_MESH_NUM_Y_POINTS); @@ -1222,12 +1214,12 @@ SERIAL_ECHOLNPGM("EEPROM Dump:"); for (uint16_t i = 0; i < E2END + 1; i += 16) { if (!(i & 0x3)) idle(); - prt_hex_word(i); + print_hex_word(i); SERIAL_ECHOPGM(": "); for (uint16_t j = 0; j < 16; j++) { kkkk = i + j; eeprom_read_block(&cccc, (void *)kkkk, 1); - prt_hex_byte(cccc); + print_hex_byte(cccc); SERIAL_ECHO(' '); } SERIAL_EOL; @@ -1259,9 +1251,8 @@ eeprom_read_block((void *)&tmp_z_values, (void *)j, sizeof(tmp_z_values)); SERIAL_ECHOPAIR("Subtracting Mesh ", storage_slot); - SERIAL_PROTOCOLPGM(" loaded from EEPROM address "); // Soon, we can remove the extra clutter of printing - prt_hex_word(j); // the address in the EEPROM where the Mesh is stored. - SERIAL_EOL; + SERIAL_PROTOCOLLNPAIR(" loaded from EEPROM address ", hex_word(j)); // Soon, we can remove the extra clutter of printing + // the address in the EEPROM where the Mesh is stored. for (uint8_t x = 0; x < UBL_MESH_NUM_X_POINTS; x++) for (uint8_t y = 0; y < UBL_MESH_NUM_Y_POINTS; y++) @@ -1269,7 +1260,6 @@ } mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16], bool far_flag) { - int i, j, k, l; float distance, closest = far_flag ? -99999.99 : 99999.99; mesh_index_pair return_val; @@ -1282,8 +1272,8 @@ const float px = lx - (probe_as_reference ? X_PROBE_OFFSET_FROM_EXTRUDER : 0), py = ly - (probe_as_reference ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0); - for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) { - for (j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) { + for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) { + for (uint8_t j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) { if ( (type == INVALID && isnan(z_values[i][j])) // Check to see if this location holds the right thing || (type == REAL && !isnan(z_values[i][j])) @@ -1292,42 +1282,45 @@ // We only get here if we found a Mesh Point of the specified type - const float mx = LOGICAL_X_POSITION(ubl.map_x_index_to_bed_location(i)), // Check if we can probe this mesh location - my = LOGICAL_Y_POSITION(ubl.map_y_index_to_bed_location(j)); + const float rawx = ubl.map_x_index_to_bed_location(i), // Check if we can probe this mesh location + rawy = ubl.map_y_index_to_bed_location(j); - // If we are using the probe as the reference there are some locations we can't get to. - // We prune these out of the list and ignore them until the next Phase where we do the - // manual nozzle probing. + // If using the probe as the reference there are some unreachable locations. + // Prune them from the list and ignore them till the next Phase (manual nozzle probing). if (probe_as_reference && - (mx < (MIN_PROBE_X) || mx > (MAX_PROBE_X) || my < (MIN_PROBE_Y) || my > (MAX_PROBE_Y)) + (rawx < (MIN_PROBE_X) || rawx > (MAX_PROBE_X) || rawy < (MIN_PROBE_Y) || rawy > (MAX_PROBE_Y)) ) continue; - // We can get to it. Let's see if it is the closest location to the nozzle. + // Unreachable. Check if it's the closest location to the nozzle. // Add in a weighting factor that considers the current location of the nozzle. + const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location + my = LOGICAL_Y_POSITION(rawy); + distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1; - if (far_flag) { // If doing the far_flag action, we want to be as far as possible - for (k = 0; k < UBL_MESH_NUM_X_POINTS; k++) { // from the starting point and from any other probed points. We - for (l = 0; l < UBL_MESH_NUM_Y_POINTS; l++) { // want the next point spread out and filling in any blank spaces - if ( !isnan(z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed - distance += (i-k)*(i-k)*MESH_X_DIST*.05; // point we can find. - distance += (j-l)*(j-l)*MESH_Y_DIST*.05; - } + if (far_flag) { // If doing the far_flag action, we want to be as far as possible + for (uint8_t k = 0; k < UBL_MESH_NUM_X_POINTS; k++) { // from the starting point and from any other probed points. We + for (uint8_t l = 0; l < UBL_MESH_NUM_Y_POINTS; l++) { // want the next point spread out and filling in any blank spaces + if (!isnan(z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed + distance += sq(i - k) * (MESH_X_DIST) * .05 // point we can find. + + sq(j - l) * (MESH_Y_DIST) * .05; + } } - } - } + } + } - if ( (!far_flag&&(distance < closest)) || (far_flag&&(distance > closest)) ) { // if far_flag, look for furthest away point - closest = distance; // We found a closer location with + if (far_flag == (distance > closest) && distance != closest) { // if far_flag, look for farthest point + closest = distance; // We found a closer/farther location with return_val.x_index = i; // the specified type of mesh value. return_val.y_index = j; return_val.distance = closest; } } - } - } + } // for j + } // for i + return return_val; } @@ -1356,27 +1349,30 @@ bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a // different location the next time through the loop - const float xProbe = ubl.map_x_index_to_bed_location(location.x_index), - yProbe = ubl.map_y_index_to_bed_location(location.y_index); - if (xProbe < X_MIN_POS || xProbe > X_MAX_POS || yProbe < Y_MIN_POS || yProbe > Y_MAX_POS) { // In theory, we don't need this check. - SERIAL_PROTOCOLLNPGM("?Error: Attempt to edit off the bed."); // This really can't happen, but for now, - ubl_has_control_of_lcd_panel = false; // Let's do the check. + const float rawx = ubl.map_x_index_to_bed_location(location.x_index), + rawy = ubl.map_y_index_to_bed_location(location.y_index); + + // TODO: Change to use `position_is_reachable` (for SCARA-compatibility) + if (rawx < (X_MIN_POS) || rawx > (X_MAX_POS) || rawy < (Y_MIN_POS) || rawy > (Y_MAX_POS)) { // In theory, we don't need this check. + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Attempt to edit off the bed."); // This really can't happen, but do the check for now + ubl_has_control_of_lcd_panel = false; goto FINE_TUNE_EXIT; } do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit - do_blocking_move_to_xy(xProbe, yProbe); + do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy)); float new_z = z_values[location.x_index][location.y_index]; round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the new_z = float(round_off) / 1000.0; + KEEPALIVE_STATE(PAUSED_FOR_USER); ubl_has_control_of_lcd_panel = true; lcd_implementation_clear(); lcd_mesh_edit_setup(new_z); - wait_for_user = true; do { new_z = lcd_mesh_edit(); idle(); @@ -1393,13 +1389,12 @@ idle(); if (ELAPSED(millis(), nxt)) { lcd_return_to_status(); -// SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped."); + //SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped."); do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); lcd_setstatus("Mesh Editing Stopped", true); while (ubl_lcd_clicked()) idle(); - ubl_has_control_of_lcd_panel = false; goto FINE_TUNE_EXIT; } } @@ -1415,6 +1410,7 @@ FINE_TUNE_EXIT: ubl_has_control_of_lcd_panel = false; + KEEPALIVE_STATE(IN_HANDLER); if (do_ubl_mesh_map) ubl.display_map(map_type); restore_ubl_active_state_and_leave(); diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 9586e6cd7b..34e014d590 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -1235,20 +1235,17 @@ void Config_ResetDefault() { SERIAL_ECHOPAIR("EEPROM can hold ", (int)((UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values))); SERIAL_ECHOLNPGM(" meshes.\n"); - SERIAL_ECHOPAIR("\nUBL_MESH_NUM_X_POINTS ", UBL_MESH_NUM_X_POINTS); - SERIAL_ECHOPAIR("\nUBL_MESH_NUM_Y_POINTS ", UBL_MESH_NUM_Y_POINTS); + SERIAL_ECHOLNPGM("UBL_MESH_NUM_X_POINTS " STRINGIFY(UBL_MESH_NUM_X_POINTS)); + SERIAL_ECHOLNPGM("UBL_MESH_NUM_Y_POINTS " STRINGIFY(UBL_MESH_NUM_Y_POINTS)); - SERIAL_ECHOPAIR("\nUBL_MESH_MIN_X ", UBL_MESH_MIN_X); - SERIAL_ECHOPAIR("\nUBL_MESH_MIN_Y ", UBL_MESH_MIN_Y); + SERIAL_ECHOLNPGM("UBL_MESH_MIN_X " STRINGIFY(UBL_MESH_MIN_X)); + SERIAL_ECHOLNPGM("UBL_MESH_MIN_Y " STRINGIFY(UBL_MESH_MIN_Y)); - SERIAL_ECHOPAIR("\nUBL_MESH_MAX_X ", UBL_MESH_MAX_X); - SERIAL_ECHOPAIR("\nUBL_MESH_MAX_Y ", UBL_MESH_MAX_Y); + SERIAL_ECHOLNPGM("UBL_MESH_MAX_X " STRINGIFY(UBL_MESH_MAX_X)); + SERIAL_ECHOLNPGM("UBL_MESH_MAX_Y " STRINGIFY(UBL_MESH_MAX_Y)); - SERIAL_ECHOPGM("\nMESH_X_DIST "); - SERIAL_ECHO_F(MESH_X_DIST, 6); - SERIAL_ECHOPGM("\nMESH_Y_DIST "); - SERIAL_ECHO_F(MESH_Y_DIST, 6); - SERIAL_EOL; + SERIAL_ECHOLNPGM("MESH_X_DIST " STRINGIFY(MESH_X_DIST)); + SERIAL_ECHOLNPGM("MESH_Y_DIST " STRINGIFY(MESH_Y_DIST)); SERIAL_EOL; } diff --git a/Marlin/hex_print_routines.cpp b/Marlin/hex_print_routines.cpp index cc69d7120f..9218f9f84c 100644 --- a/Marlin/hex_print_routines.cpp +++ b/Marlin/hex_print_routines.cpp @@ -26,22 +26,25 @@ #include "hex_print_routines.h" -void prt_hex_nibble(uint8_t n) { - if (n <= 9) - SERIAL_CHAR('0'+n); - else - SERIAL_CHAR('A' + n - 10); - delay(3); -} +static char _hex[5] = { 0 }; -void prt_hex_byte(uint8_t b) { - prt_hex_nibble((b & 0xF0) >> 4); - prt_hex_nibble(b & 0x0F); +char* hex_byte(const uint8_t b) { + _hex[0] = hex_nybble(b >> 4); + _hex[1] = hex_nybble(b); + _hex[2] = '\0'; + return _hex; } -void prt_hex_word(uint16_t w) { - prt_hex_byte((w & 0xFF00) >> 8); - prt_hex_byte(w & 0x0FF); +char* hex_word(const uint16_t w) { + _hex[0] = hex_nybble(w >> 12); + _hex[1] = hex_nybble(w >> 8); + _hex[2] = hex_nybble(w >> 4); + _hex[3] = hex_nybble(w); + return _hex; } +void print_hex_nybble(const uint8_t n) { SERIAL_CHAR(hex_nybble(n)); } +void print_hex_byte(const uint8_t b) { SERIAL_ECHO(hex_byte(b)); } +void print_hex_word(const uint16_t w) { SERIAL_ECHO(hex_word(w)); } + #endif // AUTO_BED_LEVELING_UBL || M100_FREE_MEMORY_WATCHER diff --git a/Marlin/hex_print_routines.h b/Marlin/hex_print_routines.h index f6b7b28e2c..5956a72ee0 100644 --- a/Marlin/hex_print_routines.h +++ b/Marlin/hex_print_routines.h @@ -23,11 +23,23 @@ #ifndef HEX_PRINT_ROUTINES_H #define HEX_PRINT_ROUTINES_H +#include "MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(M100_FREE_MEMORY_WATCHER) + // -// 3 support routines to print hex numbers. We can print a nibble, byte and word +// Utility functions to create and print hex strings as nybble, byte, and word. // -void prt_hex_nibble(uint8_t n); -void prt_hex_byte(uint8_t b); -void prt_hex_word(uint16_t w); +inline char hex_nybble(const uint8_t n) { + return (n & 0xF) + ((n & 0xF) < 10 ? '0' : 'A' - 10); +} +char* hex_byte(const uint8_t b); +char* hex_word(const uint16_t w); + +void print_hex_nybble(const uint8_t n); +void print_hex_byte(const uint8_t b); +void print_hex_word(const uint16_t w); + +#endif // AUTO_BED_LEVELING_UBL || M100_FREE_MEMORY_WATCHER #endif // HEX_PRINT_ROUTINES_H \ No newline at end of file diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index d0f1736588..9cbb794aa6 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -1265,7 +1265,7 @@ void Stepper::report_positions() { #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP uint32_t pulse_start; #endif - + switch (axis) { case X_AXIS: diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 38b772c2c1..dbd328d9ed 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -859,65 +859,45 @@ void kill_screen(const char* lcd_msg) { static int ubl_encoderPosition = 0; static void _lcd_mesh_fine_tune(const char* msg) { -// static millis_t next_click = 0; // We are going to accelerate the number speed when the wheel -// // turns fast. But that isn't implemented yet - int16_t last_digit; - int32_t rounded; - defer_return_to_status = true; if (ubl_encoderDiff) { - if ( ubl_encoderDiff > 0 ) - ubl_encoderPosition = 1; - else { - ubl_encoderPosition = -1; - } - + ubl_encoderPosition = (ubl_encoderDiff > 0) ? 1 : -1; ubl_encoderDiff = 0; -// next_click = millis(); - mesh_edit_accumulator += ( (float) (ubl_encoderPosition)) * .005 / 2.0 ; + mesh_edit_accumulator += float(ubl_encoderPosition) * 0.005 / 2.0; mesh_edit_value = mesh_edit_accumulator; encoderPosition = 0; lcdDrawUpdate = LCDVIEW_REDRAW_NOW; - rounded = (int32_t)(mesh_edit_value * 1000.0); - last_digit = rounded % 5L; //10L; - rounded -= last_digit; - mesh_edit_value = float(rounded) / 1000.0; + const int32_t rounded = (int32_t)(mesh_edit_value * 1000.0); + mesh_edit_value = float(rounded - (rounded % 5L)) / 1000.0; } if (lcdDrawUpdate) lcd_implementation_drawedit(msg, ftostr43sign(mesh_edit_value)); } - void _lcd_mesh_edit_NOP() { defer_return_to_status = true; } - void _lcd_mesh_edit() { _lcd_mesh_fine_tune(PSTR("Mesh Editor: ")); - defer_return_to_status = true; } float lcd_mesh_edit() { lcd_goto_screen(_lcd_mesh_edit_NOP); _lcd_mesh_fine_tune(PSTR("Mesh Editor: ")); - defer_return_to_status = true; return mesh_edit_value; } void lcd_mesh_edit_setup(float initial) { mesh_edit_value = mesh_edit_accumulator = initial; lcd_goto_screen(_lcd_mesh_edit_NOP); - mesh_edit_value = mesh_edit_accumulator = initial; - defer_return_to_status = true; } void _lcd_z_offset_edit() { _lcd_mesh_fine_tune(PSTR("Z-Offset: ")); - defer_return_to_status = true; } float lcd_z_offset_edit() {