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Various UBL cleanups and bug fixes

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This commit is contained in:
Scott Lahteine
2017-03-28 19:45:54 -05:00
parent f49aec057f
commit 9217e4b8ec
11 changed files with 458 additions and 548 deletions
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410
Marlin/UBL_G29.cpp
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@@ -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;
}
@@ -943,38 +963,35 @@
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;
}
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;
}
if (x_flag != y_flag) {
@@ -982,23 +999,14 @@
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 (code_seen('A')) { // Activate the Unified Bed Leveling System
ubl.state.active = 1;
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n");
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();