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@ -494,7 +494,7 @@ static uint8_t target_extruder; |
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR) |
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int nonlinear_grid_spacing[2] = { 0 }; |
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float bed_level_grid[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS]; |
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float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y]; |
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#endif |
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#if IS_SCARA |
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@ -2122,14 +2122,15 @@ static void clean_up_after_endstop_or_probe_move() { |
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* using linear extrapolation, away from the center. |
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*/ |
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static void extrapolate_unprobed_bed_level() { |
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uint8_t half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2; |
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for (uint8_t y = 0; y <= half; y++) { |
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for (uint8_t x = 0; x <= half; x++) { |
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int half_x = (ABL_GRID_POINTS_X - 1) / 2, |
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half_y = (ABL_GRID_POINTS_Y - 1) / 2; |
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for (uint8_t y = 0; y <= half_y; y++) { |
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for (uint8_t x = 0; x <= half_x; x++) { |
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if (x + y < 3) continue; |
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extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0); |
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extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0); |
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extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0); |
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extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0); |
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extrapolate_one_point(half_x - x, half_y - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0); |
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extrapolate_one_point(half_x + x, half_y - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0); |
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extrapolate_one_point(half_x - x, half_y + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0); |
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extrapolate_one_point(half_x + x, half_y + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0); |
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} |
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} |
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} |
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@ -2138,8 +2139,8 @@ static void clean_up_after_endstop_or_probe_move() { |
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* Print calibration results for plotting or manual frame adjustment. |
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*/ |
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static void print_bed_level() { |
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for (uint8_t y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) { |
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for (uint8_t x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) { |
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for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) { |
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for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) { |
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SERIAL_PROTOCOL_F(bed_level_grid[x][y], 2); |
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SERIAL_PROTOCOLCHAR(' '); |
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} |
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@ -3308,11 +3309,12 @@ inline void gcode_G28() { |
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if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode"); |
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} |
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int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS; |
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int abl_grid_points_x = ABL_GRID_POINTS_X, |
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abl_grid_points_y = ABL_GRID_POINTS_Y; |
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#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
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if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int(); |
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if (auto_bed_leveling_grid_points < 2) { |
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if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int(); |
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if (abl_grid_points_x < 2) { |
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SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum)."); |
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return; |
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} |
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@ -3400,8 +3402,8 @@ inline void gcode_G28() { |
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#if ENABLED(AUTO_BED_LEVELING_GRID) |
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// probe at the points of a lattice grid
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const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1), |
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yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1); |
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const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1), |
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yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1); |
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR) |
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@ -3421,30 +3423,31 @@ inline void gcode_G28() { |
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* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z |
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*/ |
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int abl2 = sq(auto_bed_leveling_grid_points); |
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int abl2 = abl_grid_points_x * abl_grid_points_y; |
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double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
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eqnBVector[abl2], // "B" vector of Z points
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mean = 0.0; |
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int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points]; |
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int indexIntoAB[abl_grid_points_x][abl_grid_points_y]; |
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#endif // AUTO_BED_LEVELING_LINEAR
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int probePointCounter = 0; |
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bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
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bool zig = abl_grid_points_y & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
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for (uint8_t yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) { |
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for (uint8_t yCount = 0; yCount < abl_grid_points_y; yCount++) { |
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float yBase = front_probe_bed_position + yGridSpacing * yCount; |
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yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5)); |
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int8_t xStart, xStop, xInc; |
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if (zig) { |
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xStart = 0; |
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xStop = auto_bed_leveling_grid_points; |
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xStop = abl_grid_points_x; |
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xInc = 1; |
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} |
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else { |
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xStart = auto_bed_leveling_grid_points - 1; |
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xStart = abl_grid_points_x - 1; |
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xStop = -1; |
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xInc = -1; |
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} |
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@ -3579,8 +3582,8 @@ inline void gcode_G28() { |
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float min_diff = 999; |
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for (int8_t yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) { |
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for (uint8_t xx = 0; xx < auto_bed_leveling_grid_points; xx++) { |
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for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { |
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for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { |
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int ind = indexIntoAB[xx][yy]; |
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float diff = eqnBVector[ind] - mean, |
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x_tmp = eqnAMatrix[ind + 0 * abl2], |
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@ -3604,8 +3607,8 @@ inline void gcode_G28() { |
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if (verbose_level > 3) { |
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SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:"); |
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for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) { |
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for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) { |
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for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { |
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for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { |
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int ind = indexIntoAB[xx][yy]; |
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float x_tmp = eqnAMatrix[ind + 0 * abl2], |
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y_tmp = eqnAMatrix[ind + 1 * abl2], |
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@ -7796,16 +7799,18 @@ void ok_to_send() { |
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void adjust_delta(float cartesian[XYZ]) { |
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if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
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int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2; |
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float h1 = 0.001 - half, h2 = half - 0.001, |
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grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])), |
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grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS])); |
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int floor_x = floor(grid_x), floor_y = floor(grid_y); |
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int half_x = (ABL_GRID_POINTS_X - 1) / 2, |
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half_y = (ABL_GRID_POINTS_Y - 1) / 2; |
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float hx2 = half_x - 0.001, hx1 = -hx2, |
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hy2 = half_y - 0.001, hy1 = -hy2, |
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grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])), |
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grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS])); |
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int floor_x = floor(grid_x), floor_y = floor(grid_y); |
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float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y, |
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z1 = bed_level_grid[floor_x + half][floor_y + half], |
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z2 = bed_level_grid[floor_x + half][floor_y + half + 1], |
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z3 = bed_level_grid[floor_x + half + 1][floor_y + half], |
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z4 = bed_level_grid[floor_x + half + 1][floor_y + half + 1], |
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z1 = bed_level_grid[floor_x + half_x][floor_y + half_y], |
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z2 = bed_level_grid[floor_x + half_x][floor_y + half_y + 1], |
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z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y], |
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z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1], |
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left = (1 - ratio_y) * z1 + ratio_y * z2, |
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right = (1 - ratio_y) * z3 + ratio_y * z4, |
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offset = (1 - ratio_x) * left + ratio_x * right; |
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Scott Lahteine
8 years ago