You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
297 lines
9.0 KiB
297 lines
9.0 KiB
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
#include "../../inc/MarlinConfig.h"
|
|
|
|
#if HAS_LEVELING
|
|
|
|
#include "bedlevel.h"
|
|
|
|
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
|
|
#include "../../module/stepper.h"
|
|
#endif
|
|
|
|
#if PLANNER_LEVELING
|
|
#include "../../module/planner.h"
|
|
#endif
|
|
|
|
#if ENABLED(PROBE_MANUALLY)
|
|
bool g29_in_progress = false;
|
|
#if ENABLED(LCD_BED_LEVELING)
|
|
#include "../../lcd/ultralcd.h"
|
|
#endif
|
|
#endif
|
|
|
|
bool leveling_is_valid() {
|
|
return
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
mbl.has_mesh
|
|
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
!!bilinear_grid_spacing[X_AXIS]
|
|
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
|
true
|
|
#else // 3POINT, LINEAR
|
|
true
|
|
#endif
|
|
;
|
|
}
|
|
|
|
/**
|
|
* Turn bed leveling on or off, fixing the current
|
|
* position as-needed.
|
|
*
|
|
* Disable: Current position = physical position
|
|
* Enable: Current position = "unleveled" physical position
|
|
*/
|
|
void set_bed_leveling_enabled(const bool enable/*=true*/) {
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
const bool can_change = (!enable || leveling_is_valid());
|
|
#else
|
|
constexpr bool can_change = true;
|
|
#endif
|
|
|
|
if (can_change && enable != planner.leveling_active) {
|
|
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
|
|
if (!enable)
|
|
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
|
|
|
|
const bool enabling = enable && leveling_is_valid();
|
|
planner.leveling_active = enabling;
|
|
if (enabling) planner.unapply_leveling(current_position);
|
|
|
|
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
|
#if PLANNER_LEVELING
|
|
if (planner.leveling_active) { // leveling from on to off
|
|
// change unleveled current_position to physical current_position without moving steppers.
|
|
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
|
|
planner.leveling_active = false; // disable only AFTER calling apply_leveling
|
|
}
|
|
else { // leveling from off to on
|
|
planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
|
|
// change physical current_position to unleveled current_position without moving steppers.
|
|
planner.unapply_leveling(current_position);
|
|
}
|
|
#else
|
|
planner.leveling_active = enable; // just flip the bit, current_position will be wrong until next move.
|
|
#endif
|
|
|
|
#else // OLDSCHOOL_ABL
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
// Force bilinear_z_offset to re-calculate next time
|
|
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
|
|
(void)bilinear_z_offset(reset);
|
|
#endif
|
|
|
|
// Enable or disable leveling compensation in the planner
|
|
planner.leveling_active = enable;
|
|
|
|
if (!enable)
|
|
// When disabling just get the current position from the steppers.
|
|
// This will yield the smallest error when first converted back to steps.
|
|
set_current_from_steppers_for_axis(
|
|
#if ABL_PLANAR
|
|
ALL_AXES
|
|
#else
|
|
Z_AXIS
|
|
#endif
|
|
);
|
|
else
|
|
// When enabling, remove compensation from the current position,
|
|
// so compensation will give the right stepper counts.
|
|
planner.unapply_leveling(current_position);
|
|
|
|
#endif // OLDSCHOOL_ABL
|
|
}
|
|
}
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
|
|
void set_z_fade_height(const float zfh) {
|
|
|
|
const bool level_active = planner.leveling_active;
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
|
|
#endif
|
|
|
|
planner.set_z_fade_height(zfh);
|
|
|
|
if (level_active) {
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
set_bed_leveling_enabled(true); // turn back on after changing fade height
|
|
#else
|
|
set_current_from_steppers_for_axis(
|
|
#if ABL_PLANAR
|
|
ALL_AXES
|
|
#else
|
|
Z_AXIS
|
|
#endif
|
|
);
|
|
#endif
|
|
}
|
|
}
|
|
|
|
#endif // ENABLE_LEVELING_FADE_HEIGHT
|
|
|
|
/**
|
|
* Reset calibration results to zero.
|
|
*/
|
|
void reset_bed_level() {
|
|
set_bed_leveling_enabled(false);
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
if (leveling_is_valid()) {
|
|
mbl.reset();
|
|
mbl.has_mesh = false;
|
|
}
|
|
#else
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
|
|
#endif
|
|
#if ABL_PLANAR
|
|
planner.bed_level_matrix.set_to_identity();
|
|
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
|
|
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
z_values[x][y] = NAN;
|
|
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
|
ubl.reset();
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
|
|
|
|
/**
|
|
* Enable to produce output in JSON format suitable
|
|
* for SCAD or JavaScript mesh visualizers.
|
|
*
|
|
* Visualize meshes in OpenSCAD using the included script.
|
|
*
|
|
* buildroot/shared/scripts/MarlinMesh.scad
|
|
*/
|
|
//#define SCAD_MESH_OUTPUT
|
|
|
|
/**
|
|
* Print calibration results for plotting or manual frame adjustment.
|
|
*/
|
|
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
|
|
#ifndef SCAD_MESH_OUTPUT
|
|
for (uint8_t x = 0; x < sx; x++) {
|
|
for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
|
|
SERIAL_PROTOCOLCHAR(' ');
|
|
SERIAL_PROTOCOL((int)x);
|
|
}
|
|
SERIAL_EOL();
|
|
#endif
|
|
#ifdef SCAD_MESH_OUTPUT
|
|
SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
|
|
#endif
|
|
for (uint8_t y = 0; y < sy; y++) {
|
|
#ifdef SCAD_MESH_OUTPUT
|
|
SERIAL_PROTOCOLPGM(" ["); // open sub-array
|
|
#else
|
|
if (y < 10) SERIAL_PROTOCOLCHAR(' ');
|
|
SERIAL_PROTOCOL((int)y);
|
|
#endif
|
|
for (uint8_t x = 0; x < sx; x++) {
|
|
SERIAL_PROTOCOLCHAR(' ');
|
|
const float offset = fn(x, y);
|
|
if (!isnan(offset)) {
|
|
if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
|
|
SERIAL_PROTOCOL_F(offset, precision);
|
|
}
|
|
else {
|
|
#ifdef SCAD_MESH_OUTPUT
|
|
for (uint8_t i = 3; i < precision + 3; i++)
|
|
SERIAL_PROTOCOLCHAR(' ');
|
|
SERIAL_PROTOCOLPGM("NAN");
|
|
#else
|
|
for (uint8_t i = 0; i < precision + 3; i++)
|
|
SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
|
|
#endif
|
|
}
|
|
#ifdef SCAD_MESH_OUTPUT
|
|
if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
|
|
#endif
|
|
}
|
|
#ifdef SCAD_MESH_OUTPUT
|
|
SERIAL_PROTOCOLCHAR(' ');
|
|
SERIAL_PROTOCOLCHAR(']'); // close sub-array
|
|
if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
|
|
#endif
|
|
SERIAL_EOL();
|
|
}
|
|
#ifdef SCAD_MESH_OUTPUT
|
|
SERIAL_PROTOCOLPGM("];"); // close 2D array
|
|
#endif
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
|
|
|
|
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
|
|
|
|
void _manual_goto_xy(const float &rx, const float &ry) {
|
|
const float old_feedrate_mm_s = feedrate_mm_s;
|
|
#if MANUAL_PROBE_HEIGHT > 0
|
|
const float prev_z = current_position[Z_AXIS];
|
|
feedrate_mm_s = homing_feedrate(Z_AXIS);
|
|
current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
|
|
line_to_current_position();
|
|
#endif
|
|
|
|
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
|
|
current_position[X_AXIS] = rx;
|
|
current_position[Y_AXIS] = ry;
|
|
line_to_current_position();
|
|
|
|
#if MANUAL_PROBE_HEIGHT > 0
|
|
feedrate_mm_s = homing_feedrate(Z_AXIS);
|
|
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
|
|
line_to_current_position();
|
|
#endif
|
|
|
|
feedrate_mm_s = old_feedrate_mm_s;
|
|
stepper.synchronize();
|
|
|
|
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
|
|
lcd_wait_for_move = false;
|
|
#endif
|
|
}
|
|
|
|
#endif
|
|
|
|
#if HAS_PROBING_PROCEDURE
|
|
void out_of_range_error(const char* p_edge) {
|
|
SERIAL_PROTOCOLPGM("?Probe ");
|
|
serialprintPGM(p_edge);
|
|
SERIAL_PROTOCOLLNPGM(" position out of range.");
|
|
}
|
|
#endif
|
|
|
|
#endif // HAS_LEVELING
|
|
|