From 55025558dc87ecd7aed6c8fc8cd5df3dfb29d217 Mon Sep 17 00:00:00 2001 From: alexborro Date: Wed, 25 Mar 2015 11:12:30 -0300 Subject: [PATCH] Implement Dry-Run mode in G29 It just probe all the bed without appliying the matrix. Useful after a first G29 to check the topology. --- Marlin/Marlin_main.cpp | 78 +++++++++++++++++++++++++----------------- 1 file changed, 47 insertions(+), 31 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index b3235f5595..6361559b0e 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1168,6 +1168,7 @@ static void run_z_probe() { zPosition += home_retract_mm(Z_AXIS); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder); st_synchronize(); + endstops_hit_on_purpose(); // move back down slowly to find bed @@ -1185,6 +1186,7 @@ static void run_z_probe() { zPosition -= home_retract_mm(Z_AXIS) * 2; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder); st_synchronize(); + endstops_hit_on_purpose(); current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); // make sure the planner knows where we are as it may be a bit different than we last said to move to @@ -1389,11 +1391,11 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti if (verbose_level > 2) { SERIAL_PROTOCOLPGM(MSG_BED); SERIAL_PROTOCOLPGM(" X: "); - SERIAL_PROTOCOL(x + 0.0001); + SERIAL_PROTOCOL_F(x, 3); SERIAL_PROTOCOLPGM(" Y: "); - SERIAL_PROTOCOL(y + 0.0001); + SERIAL_PROTOCOL_F(y, 3); SERIAL_PROTOCOLPGM(" Z: "); - SERIAL_PROTOCOL(measured_z + 0.0001); + SERIAL_PROTOCOL_F(measured_z, 3); SERIAL_EOL; } return measured_z; @@ -2109,6 +2111,9 @@ inline void gcode_G28() { * * S Set the XY travel speed between probe points (in mm/min) * + * D Dry-Run mode. Just evaluate the bed Topology - It does not apply or clean the rotation Matrix + * Useful to check the topology after a first run of G29. + * * V Set the verbose level (0-4). Example: "G29 V3" * * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. @@ -2150,6 +2155,7 @@ inline void gcode_G28() { } } + bool dryrun = code_seen('D') || code_seen('d'); bool enhanced_g29 = code_seen('E') || code_seen('e'); #ifdef AUTO_BED_LEVELING_GRID @@ -2159,7 +2165,10 @@ inline void gcode_G28() { #endif if (verbose_level > 0) + { SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n"); + if (dryrun) SERIAL_ECHOLN("Running in DRY-RUN mode"); + } int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS; #ifndef DELTA @@ -2216,22 +2225,27 @@ inline void gcode_G28() { st_synchronize(); - #ifdef DELTA - reset_bed_level(); - #else + if (!dryrun) + { + #ifdef DELTA + reset_bed_level(); + #else - // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly - //vector_3 corrected_position = plan_get_position_mm(); - //corrected_position.debug("position before G29"); - plan_bed_level_matrix.set_to_identity(); - vector_3 uncorrected_position = plan_get_position(); - //uncorrected_position.debug("position during G29"); - current_position[X_AXIS] = uncorrected_position.x; - current_position[Y_AXIS] = uncorrected_position.y; - current_position[Z_AXIS] = uncorrected_position.z; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - #endif + // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly + //vector_3 corrected_position = plan_get_position_mm(); + //corrected_position.debug("position before G29"); + plan_bed_level_matrix.set_to_identity(); + vector_3 uncorrected_position = plan_get_position(); +// uncorrected_position.debug("position during G29"); + current_position[X_AXIS] = uncorrected_position.x; + current_position[Y_AXIS] = uncorrected_position.y; + current_position[Z_AXIS] = uncorrected_position.z; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + + #endif + } + setup_for_endstop_move(); feedrate = homing_feedrate[Z_AXIS]; @@ -2381,12 +2395,12 @@ inline void gcode_G28() { } //do_topography_map - set_bed_level_equation_lsq(plane_equation_coefficients); + if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients); free(plane_equation_coefficients); - #else - extrapolate_unprobed_bed_level(); + #else //Delta + if (!dryrun) extrapolate_unprobed_bed_level(); print_bed_level(); - #endif + #endif //Delta #else // !AUTO_BED_LEVELING_GRID @@ -2405,25 +2419,27 @@ inline void gcode_G28() { z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level); } clean_up_after_endstop_move(); - set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); + if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); #endif // !AUTO_BED_LEVELING_GRID #ifndef DELTA - if (verbose_level > 0) - plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); + if (verbose_level > 0) plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); // Correct the Z height difference from z-probe position and hotend tip position. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. // When the bed is uneven, this height must be corrected. - real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) - x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER; - y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER; - z_tmp = current_position[Z_AXIS]; + if (!dryrun) + { + real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) + x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER; + y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER; + z_tmp = current_position[Z_AXIS]; - apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset - current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset + current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + } #endif #ifdef Z_PROBE_SLED