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MarlinFirmware/Marlin/ubl_G29.cpp
silentninja1 060e7a3565 Silentninja1 idex crash fix (#11329) 
* Move home all axis prototype to allow access from UBL.h

* Remove home all axis command as it exists in marlin.h now

* Reverse order of tool change and home

Race condition causes E0 carriage to move on E1 commands and crash into parked head if order is reversed. Needs more research into permanent fix, but this will prevent damage to machines in the meantime.
2018-07-24 14:44:50 -05:00

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/**
* 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 "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
//#define UBL_DEVEL_DEBUGGING
#include "ubl.h"
#include "Marlin.h"
#include "hex_print_routines.h"
#include "configuration_store.h"
#include "ultralcd.h"
#include "stepper.h"
#include "planner.h"
#include "parser.h"
#include "serial.h"
#include "bitmap_flags.h"
#include <math.h>
#include "least_squares_fit.h"
#define UBL_G29_P31
extern float destination[XYZE], current_position[XYZE];
#if ENABLED(NEWPANEL)
void lcd_return_to_status();
void _lcd_ubl_output_map_lcd();
#endif
#define SIZE_OF_LITTLE_RAISE 1
#define BIG_RAISE_NOT_NEEDED 0
int unified_bed_leveling::g29_verbose_level,
unified_bed_leveling::g29_phase_value,
unified_bed_leveling::g29_repetition_cnt,
unified_bed_leveling::g29_storage_slot = 0,
unified_bed_leveling::g29_map_type;
bool unified_bed_leveling::g29_c_flag,
unified_bed_leveling::g29_x_flag,
unified_bed_leveling::g29_y_flag;
float unified_bed_leveling::g29_x_pos,
unified_bed_leveling::g29_y_pos,
unified_bed_leveling::g29_card_thickness = 0,
unified_bed_leveling::g29_constant = 0;
#if HAS_BED_PROBE
int unified_bed_leveling::g29_grid_size;
#endif
/**
* G29: Unified Bed Leveling by Roxy
*
* Parameters understood by this leveling system:
*
* A Activate Activate the Unified Bed Leveling system.
*
* B # Business Use the 'Business Card' mode of the Manual Probe subsystem with P2.
* Note: A non-compressible Spark Gap feeler gauge is recommended over a business card.
* In this mode of G29 P2, a business or index card is used as a shim that the nozzle can
* grab onto as it is lowered. In principle, the nozzle-bed distance is the same when the
* same resistance is felt in the shim. You can omit the numerical value on first invocation
* of G29 P2 B to measure shim thickness. Subsequent use of 'B' will apply the previously-
* measured thickness by default.
*
* C Continue G29 P1 C continues the generation of a partially-constructed Mesh without invalidating
* previous measurements.
*
* C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle
* location in its search for the closest unmeasured Mesh Point. Instead, attempt to
* start at one end of the uprobed points and Continue sequentially.
*
* G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value.
*
* C Current G29 Z C uses the Current location (instead of bed center or nearest edge).
*
* D Disable Disable the Unified Bed Leveling system.
*
* E Stow_probe Stow the probe after each sampled point.
*
* F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the
* specified height, no correction is applied and natural printer kenimatics take over. If no
* number is specified for the command, 10mm is assumed to be reasonable.
*
* H # Height With P2, 'H' specifies the Height to raise the nozzle after each manual probe of the bed.
* If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES.
*
* H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle.
* If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used.
*
* I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted,
* the nozzle location is used. If no 'I' value is given, only the point nearest to the location
* is invalidated. Use 'T' to produce a map afterward. This command is useful to invalidate a
* portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate
* an isolated bad mesh point, the 'T' option shows the nozzle position in the Mesh with (#). You
* can move the nozzle around and use this feature to select the center of the area (or cell) to
* invalidate.
*
* J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
* Not specifying a grid size will invoke the 3-Point leveling function.
*
* K # Kompare Kompare current Mesh with stored Mesh # replacing current Mesh with the result. This
* command literally performs a diff between two Meshes.
*
* L Load Load Mesh from the previously activated location in the EEPROM.
*
* L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated
* for subsequent Load and Store operations.
*
* The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will
* start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with
* each additional Phase that processes it.
*
* P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the
* 3D Printer to the same state it was in before the Unified Bed Leveling Compensation
* was turned on. Setting the entire Mesh to Zero is a special case that allows
* a subsequent G or T leveling operation for backward compatibility.
*
* P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
* the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. For delta
* printers only the areas where the probe and nozzle can both reach will be automatically probed.
*
* Unreachable points will be handled in Phase 2 and Phase 3.
*
* Use 'C' to leave the previous mesh intact and automatically probe needed points. This allows you
* to invalidate parts of the Mesh but still use Automatic Probing.
*
* The 'X' and 'Y' parameters prioritize where to try and measure points. If omitted, the current
* probe position is used.
*
* Use 'T' (Topology) to generate a report of mesh generation.
*
* P1 will suspend Mesh generation if the controller button is held down. Note that you may need
* to press and hold the switch for several seconds if moves are underway.
*
* P2 Phase 2 Probe unreachable points.
*
* Use 'H' to set the height between Mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used.
* Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the
* nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer!
* (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.)
*
* The 'H' value can be negative if the Mesh dips in a large area. Press and hold the
* controller button to terminate the current Phase 2 command. You can then re-issue "G29 P 2"
* with an 'H' parameter more suitable for the area you're manually probing. Note that the command
* tries to start in a corner of the bed where movement will be predictable. Override the distance
* calculation location with the X and Y parameters. You can print a Mesh Map (G29 T) to see where
* the mesh is invalidated and where the nozzle needs to move to complete the command. Use 'C' to
* indicate that the search should be based on the current position.
*
* The 'B' parameter for this command is described above. It places the manual probe subsystem into
* Business Card mode where the thickness of a business card is measured and then used to accurately
* set the nozzle height in all manual probing for the duration of the command. A Business card can
* be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it
* easier to produce similar amounts of force and get more accurate measurements. Google if you're
* not sure how to use a shim.
*
* The 'T' (Map) parameter helps track Mesh building progress.
*
* NOTE: P2 requires an LCD controller!
*
* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths to
* go down:
*
* - If a 'C' constant is specified, the closest invalid mesh points to the nozzle will be filled,
* and a repeat count can then also be specified with 'R'.
*
* - Leaving out 'C' invokes Smart Fill, which scans the mesh from the edges inward looking for
* invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped
* upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's
* replaced by a value that puts all three points in a line. This version of G29 P3 is a quick, easy
* and (usually) safe way to populate unprobed mesh regions before continuing to G26 Mesh Validation
* Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution.
*
* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assumes the existence of
* an LCD Panel. It is possible to fine tune the mesh without an LCD Panel using
* G42 and M421. See the UBL documentation for further details.
*
* Phase 4 is meant to be used with G26 Mesh Validation to fine tune the mesh by direct editing
* of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable
* adhesion.
*
* P4 moves to the closest Mesh Point (and/or the given X Y), raises the nozzle above the mesh height
* by the given 'H' offset (or default 0), and waits while the controller is used to adjust the nozzle
* height. On click the displayed height is saved in the mesh.
*
* Start Phase 4 at a specific location with X and Y. Adjust a specific number of Mesh Points with
* the 'R' (Repeat) parameter. (If 'R' is left out, the whole matrix is assumed.) This command can be
* terminated early (e.g., after editing the area of interest) by pressing and holding the encoder button.
*
* The general form is G29 P4 [R points] [X position] [Y position]
*
* The H [offset] parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the
* command would be G29 P4 H0.4. The nozzle is moved to the shim height, you adjust height to the shim,
* and on click the height minus the shim thickness will be saved in the mesh.
*
* !!Use with caution, as a very poor mesh could cause the nozzle to crash into the bed!!
*
* NOTE: P4 is not available unless you have LCD support enabled!
*
* P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and
* work with the Mesh if it is Mean Adjusted. You can specify a C parameter to
* Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically
* execute a G29 P6 C <mean height>.
*
* P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified
* with the C parameter. Being able to adjust the height of a Mesh is useful tool. It
* can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally,
* you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring
* 0.000 at the Z Home location.
*
* Q Test Load specified Test Pattern to assist in checking correct operation of system. This
* command is not anticipated to be of much value to the typical user. It is intended
* for developers to help them verify correct operation of the Unified Bed Leveling System.
*
* R # Repeat Repeat this command the specified number of times. If no number is specified the
* command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
*
* S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
* current state of the Unified Bed Leveling system in the EEPROM.
*
* S # Store Store the current Mesh at the specified location in EEPROM. Activate this location
* for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
* extend to a limit related to the available EEPROM storage.
*
* S -1 Store Print the current Mesh as G-code that can be used to restore the mesh anytime.
*
* T Topology Display the Mesh Map Topology.
* 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands.
* This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O)
* This parameter can also specify a Map Type. T0 (the default) is user-readable. T1 can
* is suitable to paste into a spreadsheet for a 3D graph of the mesh.
*
* U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
* Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful
* when the entire bed doesn't need to be probed because it will be adjusted.
*
* V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0)
*
* W What? Display valuable Unified Bed Leveling System data.
*
* X # X Location for this command
*
* Y # Y Location for this command
*
*
* Release Notes:
* You MUST do M502, M500 to initialize the storage. Failure to do this will cause all
* kinds of problems. Enabling EEPROM Storage is required.
*
* When you do a G28 and G29 P1 to automatically build your first mesh, you are going to notice that
* UBL probes points increasingly further from the starting location. (The starting location defaults
* to the center of the bed.) In contrast, ABL and MBL follow a zigzag pattern. The spiral pattern is
* especially better for Delta printers, since it populates the center of the mesh first, allowing for
* a quicker test print to verify settings. You don't need to populate the entire mesh to use it.
* After all, you don't want to spend a lot of time generating a mesh only to realize the resolution
* or zprobe_zoffset are incorrect. Mesh-generation gathers points starting closest to the nozzle unless
* an (X,Y) coordinate pair is given.
*
* Unified Bed Leveling uses a lot of EEPROM storage to hold its data, and it takes some effort to get
* the mesh just right. To prevent this valuable data from being destroyed as the EEPROM structure
* evolves, UBL stores all mesh data at the end of EEPROM.
*
* UBL is founded on Edward Patel's Mesh Bed Leveling code. A big 'Thanks!' to him and the creators of
* 3-Point and Grid Based leveling. Combining their contributions we now have the functionality and
* features of all three systems combined.
*/
void unified_bed_leveling::G29() {
if (g29_parameter_parsing()) return; // Abort on parameter error
const int8_t p_val = parser.intval('P', -1);
const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J');
// Check for commands that require the printer to be homed
if (may_move) {
#if ENABLED(DUAL_X_CARRIAGE)
if (active_extruder != 0) tool_change(0);
#endif
if (axis_unhomed_error()) home_all_axes();
}
// Invalidate Mesh Points. This command is a little bit asymmetrical because
// it directly specifies the repetition count and does not use the 'R' parameter.
if (parser.seen('I')) {
uint8_t cnt = 0;
g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1;
if (g29_repetition_cnt >= GRID_MAX_POINTS) {
set_all_mesh_points_to_value(NAN);
}
else {
while (g29_repetition_cnt--) {
if (cnt > 20) { cnt = 0; idle(); }
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL);
if (location.x_index < 0) {
// No more REACHABLE mesh points to invalidate, so we ASSUME the user
// meant to invalidate the ENTIRE mesh, which cannot be done with
// find_closest_mesh_point loop which only returns REACHABLE points.
set_all_mesh_points_to_value(NAN);
SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
break; // No more invalid Mesh Points to populate
}
z_values[location.x_index][location.y_index] = NAN;
cnt++;
}
}
SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
}
if (parser.seen('Q')) {
const int test_pattern = parser.has_value() ? parser.value_int() : -99;
if (!WITHIN(test_pattern, -1, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (-1 to 2)\n");
return;
}
SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
switch (test_pattern) {
case -1:
g29_eeprom_dump();
break;
case 0:
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a bowl shape - similar to
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta.
const float p1 = 0.5f * (GRID_MAX_POINTS_X) - x,
p2 = 0.5f * (GRID_MAX_POINTS_Y) - y;
z_values[x][y] += 2.0f * HYPOT(p1, p2);
}
}
break;
case 1:
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a diagonal line several Mesh cells thick that is raised
z_values[x][x] += 9.999f;
z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999f; // We want the altered line several mesh points thick
}
break;
case 2:
// Allow the user to specify the height because 10mm is a little extreme in some cases.
for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in
for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) // the center of the bed
z_values[x][y] += parser.seen('C') ? g29_constant : 9.99f;
break;
}
}
#if HAS_BED_PROBE
if (parser.seen('J')) {
if (g29_grid_size) { // if not 0 it is a normal n x n grid being probed
save_ubl_active_state_and_disable();
tilt_mesh_based_on_probed_grid(false /* false says to do normal grid probing */ );
restore_ubl_active_state_and_leave();
}
else { // grid_size == 0 : A 3-Point leveling has been requested
save_ubl_active_state_and_disable();
tilt_mesh_based_on_probed_grid(true /* true says to do 3-Point leveling */ );
restore_ubl_active_state_and_leave();
}
do_blocking_move_to_xy(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)));
report_current_position();
}
#endif // HAS_BED_PROBE
if (parser.seen('P')) {
if (WITHIN(g29_phase_value, 0, 1) && storage_slot == -1) {
storage_slot = 0;
SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.");
}
switch (g29_phase_value) {
case 0:
//
// Zero Mesh Data
//
reset();
SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
break;
#if HAS_BED_PROBE
case 1:
//
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
//
if (!parser.seen('C')) {
invalidate();
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
}
if (g29_verbose_level > 1) {
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", g29_x_pos);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL(g29_y_pos);
SERIAL_PROTOCOLLNPGM(").\n");
}
probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
parser.seen('T'), parser.seen('E'), parser.seen('U'));
report_current_position();
break;
#endif // HAS_BED_PROBE
case 2: {
#if ENABLED(NEWPANEL)
//
// Manually Probe Mesh in areas that can't be reached by the probe
//
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (parser.seen('C') && !g29_x_flag && !g29_y_flag) {
/**
* Use a good default location for the path.
* The flipped > and < operators in these comparisons is intentional.
* It should cause the probed points to follow a nice path on Cartesian printers.
* It may make sense to have Delta printers default to the center of the bed.
* Until that is decided, this can be forced with the X and Y parameters.
*/
#if IS_KINEMATIC
g29_x_pos = X_HOME_POS;
g29_y_pos = Y_HOME_POS;
#else // cartesian
g29_x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_BED_SIZE : 0;
g29_y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_BED_SIZE : 0;
#endif
}
if (parser.seen('B')) {
g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness((float) Z_CLEARANCE_BETWEEN_PROBES);
if (ABS(g29_card_thickness) > 1.5f) {
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.");
return;
}
}
if (!position_is_reachable(g29_x_pos, g29_y_pos)) {
SERIAL_PROTOCOLLNPGM("XY outside printable radius.");
return;
}
const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, parser.seen('T'));
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
report_current_position();
#else
SERIAL_PROTOCOLLNPGM("?P2 is only available when an LCD is present.");
return;
#endif
} break;
case 3: {
/**
* Populate invalid mesh areas. Proceed with caution.
* Two choices are available:
* - Specify a constant with the 'C' parameter.
* - Allow 'G29 P3' to choose a 'reasonable' constant.
*/
if (g29_c_flag) {
if (g29_repetition_cnt >= GRID_MAX_POINTS) {
set_all_mesh_points_to_value(g29_constant);
}
else {
while (g29_repetition_cnt--) { // this only populates reachable mesh points near
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL);
if (location.x_index < 0) {
// No more REACHABLE INVALID mesh points to populate, so we ASSUME
// user meant to populate ALL INVALID mesh points to value
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (isnan(z_values[x][y]))
z_values[x][y] = g29_constant;
break; // No more invalid Mesh Points to populate
}
z_values[location.x_index][location.y_index] = g29_constant;
}
}
}
else {
const float cvf = parser.value_float();
switch ((int)truncf(cvf * 10.0f) - 30) { // 3.1 -> 1
#if ENABLED(UBL_G29_P31)
case 1: {
// P3.1 use least squares fit to fill missing mesh values
// P3.10 zero weighting for distance, all grid points equal, best fit tilted plane
// P3.11 10X weighting for nearest grid points versus farthest grid points
// P3.12 100X distance weighting
// P3.13 1000X distance weighting, approaches simple average of nearest points
const float weight_power = (cvf - 3.10f) * 100.0f, // 3.12345 -> 2.345
weight_factor = weight_power ? POW(10.0f, weight_power) : 0;
smart_fill_wlsf(weight_factor);
}
break;
#endif
case 0: // P3 or P3.0
default: // and anything P3.x that's not P3.1
smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
break;
}
}
break;
}
case 4: // Fine Tune (i.e., Edit) the Mesh
#if ENABLED(NEWPANEL)
fine_tune_mesh(g29_x_pos, g29_y_pos, parser.seen('T'));
#else
SERIAL_PROTOCOLLNPGM("?P4 is only available when an LCD is present.");
return;
#endif
break;
case 5: adjust_mesh_to_mean(g29_c_flag, g29_constant); break;
case 6: shift_mesh_height(); break;
}
}
//
// Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
// good to have the extra information. Soon... we prune this to just a few items
//
if (parser.seen('W')) g29_what_command();
//
// When we are fully debugged, this may go away. But there are some valid
// use cases for the users. So we can wait and see what to do with it.
//
if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
g29_compare_current_mesh_to_stored_mesh();
//
// Load a Mesh from the EEPROM
//
if (parser.seen('L')) { // Load Current Mesh Data
g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
}
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
settings.load_mesh(g29_storage_slot);
storage_slot = g29_storage_slot;
SERIAL_PROTOCOLLNPGM("Done.");
}
//
// Store a Mesh in the EEPROM
//
if (parser.seen('S')) { // Store (or Save) Current Mesh Data
g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
if (g29_storage_slot == -1) // Special case, the user wants to 'Export' the mesh to the
return report_current_mesh(); // host program to be saved on the user's computer
int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
goto LEAVE;
}
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
goto LEAVE;
}
settings.store_mesh(g29_storage_slot);
storage_slot = g29_storage_slot;
SERIAL_PROTOCOLLNPGM("Done.");
}
if (parser.seen('T'))
display_map(g29_map_type);
LEAVE:
#if ENABLED(NEWPANEL)
lcd_reset_alert_level();
lcd_quick_feedback(true);
lcd_reset_status();
lcd_external_control = false;
#endif
return;
}
void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const float value) {
float sum = 0;
int n = 0;
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(z_values[x][y])) {
sum += z_values[x][y];
n++;
}
const float mean = sum / n;
//
// Sum the squares of difference from mean
//
float sum_of_diff_squared = 0;
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(z_values[x][y]))
sum_of_diff_squared += sq(z_values[x][y] - mean);
SERIAL_ECHOLNPAIR("# of samples: ", n);
SERIAL_ECHOPGM("Mean Mesh Height: ");
SERIAL_ECHO_F(mean, 6);
SERIAL_EOL();
const float sigma = SQRT(sum_of_diff_squared / (n + 1));
SERIAL_ECHOPGM("Standard Deviation: ");
SERIAL_ECHO_F(sigma, 6);
SERIAL_EOL();
if (cflag)
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(z_values[x][y]))
z_values[x][y] -= mean + value;
}
void unified_bed_leveling::shift_mesh_height() {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(z_values[x][y]))
z_values[x][y] += g29_constant;
}
#if ENABLED(NEWPANEL)
typedef void (*clickFunc_t)();
bool click_and_hold(const clickFunc_t func=NULL) {
if (is_lcd_clicked()) {
lcd_quick_feedback(false); // Do NOT clear button status! If cleared, the code
// code can not look for a 'click and hold'
const millis_t nxt = millis() + 1500UL;
while (is_lcd_clicked()) { // Loop while the encoder is pressed. Uses hardware flag!
idle(); // idle, of course
if (ELAPSED(millis(), nxt)) { // After 1.5 seconds
lcd_quick_feedback(true);
if (func) (*func)();
wait_for_release();
safe_delay(50); // Debounce the Encoder wheel
return true;
}
}
}
safe_delay(15);
return false;
}
#endif // NEWPANEL
#if HAS_BED_PROBE
/**
* Probe all invalidated locations of the mesh that can be reached by the probe.
* This attempts to fill in locations closest to the nozzle's start location first.
*/
void unified_bed_leveling::probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
mesh_index_pair location;
#if ENABLED(NEWPANEL)
lcd_external_control = true;
#endif
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
uint16_t count = GRID_MAX_POINTS;
do {
if (do_ubl_mesh_map) display_map(g29_map_type);
#if ENABLED(NEWPANEL)
if (is_lcd_clicked()) {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
lcd_quick_feedback(false);
STOW_PROBE();
while (is_lcd_clicked()) idle();
lcd_external_control = false;
restore_ubl_active_state_and_leave();
lcd_quick_feedback(true);
safe_delay(50); // Debounce the Encoder wheel
return;
}
#endif
if (do_furthest)
location = find_furthest_invalid_mesh_point();
else
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, NULL);
if (location.x_index >= 0) { // mesh point found and is reachable by probe
const float rawx = mesh_index_to_xpos(location.x_index),
rawy = mesh_index_to_ypos(location.y_index);
const float measured_z = probe_pt(rawx, rawy, stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
z_values[location.x_index][location.y_index] = measured_z;
}
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (location.x_index >= 0 && --count);
STOW_PROBE();
#ifdef Z_AFTER_PROBING
move_z_after_probing();
#endif
restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
constrain(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_X, MESH_MAX_X),
constrain(ry - (Y_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_Y, MESH_MAX_Y)
);
}
#endif // HAS_BED_PROBE
#if ENABLED(NEWPANEL)
void unified_bed_leveling::move_z_with_encoder(const float &multiplier) {
wait_for_release();
while (!is_lcd_clicked()) {
idle();
reset_stepper_timeout(); // Keep steppers powered
if (encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * multiplier);
encoder_diff = 0;
}
}
}
float unified_bed_leveling::measure_point_with_encoder() {
KEEPALIVE_STATE(PAUSED_FOR_USER);
move_z_with_encoder(0.01f);
KEEPALIVE_STATE(IN_HANDLER);
return current_position[Z_AXIS];
}
static void echo_and_take_a_measurement() { SERIAL_PROTOCOLLNPGM(" and take a measurement."); }
float unified_bed_leveling::measure_business_card_thickness(float in_height) {
lcd_external_control = true;
save_ubl_active_state_and_disable(); // Disable bed level correction for probing
do_blocking_move_to(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)), in_height);
//, MIN(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) * 0.5f);
planner.synchronize();
SERIAL_PROTOCOLPGM("Place shim under nozzle");
LCD_MESSAGEPGM(MSG_UBL_BC_INSERT);
lcd_return_to_status();
echo_and_take_a_measurement();
const float z1 = measure_point_with_encoder();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
planner.synchronize();
SERIAL_PROTOCOLPGM("Remove shim");
LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE);
echo_and_take_a_measurement();
const float z2 = measure_point_with_encoder();
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES);
const float thickness = ABS(z1 - z2);
if (g29_verbose_level > 1) {
SERIAL_PROTOCOLPGM("Business Card is ");
SERIAL_PROTOCOL_F(thickness, 4);
SERIAL_PROTOCOLLNPGM("mm thick.");
}
lcd_external_control = false;
restore_ubl_active_state_and_leave();
return thickness;
}
void abort_manual_probe_remaining_mesh() {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
lcd_external_control = false;
KEEPALIVE_STATE(IN_HANDLER);
lcd_quick_feedback(true);
ubl.restore_ubl_active_state_and_leave();
}
void unified_bed_leveling::manually_probe_remaining_mesh(const float &rx, const float &ry, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
lcd_external_control = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_clearance);
lcd_return_to_status();
mesh_index_pair location;
do {
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_NOZZLE_AS_REFERENCE, NULL);
// 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 = mesh_index_to_xpos(location.x_index),
yProbe = mesh_index_to_ypos(location.y_index);
if (!position_is_reachable(xProbe, yProbe)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
do_blocking_move_to(xProbe, yProbe, Z_CLEARANCE_BETWEEN_PROBES);
do_blocking_move_to_z(z_clearance);
KEEPALIVE_STATE(PAUSED_FOR_USER);
lcd_external_control = true;
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
serialprintPGM(parser.seen('B') ? PSTR(MSG_UBL_BC_INSERT) : PSTR(MSG_UBL_BC_INSERT2));
const float z_step = 0.01f; // existing behavior: 0.01mm per click, occasionally step
//const float z_step = planner.steps_to_mm[Z_AXIS]; // approx one step each click
move_z_with_encoder(z_step);
if (click_and_hold()) {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
lcd_external_control = false;
KEEPALIVE_STATE(IN_HANDLER);
restore_ubl_active_state_and_leave();
return;
}
z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - thick;
if (g29_verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mesh Point Measured at: ");
SERIAL_PROTOCOL_F(z_values[location.x_index][location.y_index], 6);
SERIAL_EOL();
}
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (location.x_index >= 0 && location.y_index >= 0);
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
restore_ubl_active_state_and_leave();
KEEPALIVE_STATE(IN_HANDLER);
do_blocking_move_to(rx, ry, Z_CLEARANCE_DEPLOY_PROBE);
}
#endif // NEWPANEL
bool unified_bed_leveling::g29_parameter_parsing() {
bool err_flag = false;
#if ENABLED(NEWPANEL)
LCD_MESSAGEPGM(MSG_UBL_DOING_G29);
lcd_quick_feedback(true);
#endif
g29_constant = 0;
g29_repetition_cnt = 0;
g29_x_flag = parser.seenval('X');
g29_x_pos = g29_x_flag ? parser.value_float() : current_position[X_AXIS];
g29_y_flag = parser.seenval('Y');
g29_y_pos = g29_y_flag ? parser.value_float() : current_position[Y_AXIS];
if (parser.seen('R')) {
g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
if (g29_repetition_cnt < 1) {
SERIAL_PROTOCOLLNPGM("?(R)epetition count invalid (1+).\n");
return UBL_ERR;
}
}
g29_verbose_level = parser.seen('V') ? parser.value_int() : 0;
if (!WITHIN(g29_verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).\n");
err_flag = true;
}
if (parser.seen('P')) {
const int pv = parser.value_int();
#if !HAS_BED_PROBE
if (pv == 1) {
SERIAL_PROTOCOLLNPGM("G29 P1 requires a probe.\n");
err_flag = true;
}
else
#endif
{
g29_phase_value = pv;
if (!WITHIN(g29_phase_value, 0, 6)) {
SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
err_flag = true;
}
}
}
if (parser.seen('J')) {
#if HAS_BED_PROBE
g29_grid_size = parser.has_value() ? parser.value_int() : 0;
if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) {
SERIAL_PROTOCOLLNPGM("?Invalid grid size (J) specified (2-9).\n");
err_flag = true;
}
#else
SERIAL_PROTOCOLLNPGM("G29 J action requires a probe.\n");
err_flag = true;
#endif
}
if (g29_x_flag != g29_y_flag) {
SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n");
err_flag = true;
}
// If X or Y are not valid, use center of the bed values
if (!WITHIN(g29_x_pos, X_MIN_BED, X_MAX_BED)) g29_x_pos = X_CENTER;
if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER;
if (err_flag) return UBL_ERR;
/**
* Activate or deactivate UBL
* Note: UBL's G29 restores the state set here when done.
* Leveling is being enabled here with old data, possibly
* none. Error handling should disable for safety...
*/
if (parser.seen('A')) {
if (parser.seen('D')) {
SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
return UBL_ERR;
}
set_bed_leveling_enabled(true);
report_state();
}
else if (parser.seen('D')) {
set_bed_leveling_enabled(false);
report_state();
}
// Set global 'C' flag and its value
if ((g29_c_flag = parser.seen('C')))
g29_constant = parser.value_float();
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (parser.seenval('F')) {
const float fh = parser.value_float();
if (!WITHIN(fh, 0, 100)) {
SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
return UBL_ERR;
}
set_z_fade_height(fh);
}
#endif
g29_map_type = parser.intval('T');
if (!WITHIN(g29_map_type, 0, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
}
return UBL_OK;
}
static uint8_t ubl_state_at_invocation = 0;
#ifdef UBL_DEVEL_DEBUGGING
static uint8_t ubl_state_recursion_chk = 0;
#endif
void unified_bed_leveling::save_ubl_active_state_and_disable() {
#ifdef UBL_DEVEL_DEBUGGING
ubl_state_recursion_chk++;
if (ubl_state_recursion_chk != 1) {
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
#if ENABLED(NEWPANEL)
LCD_MESSAGEPGM(MSG_UBL_SAVE_ERROR);
lcd_quick_feedback(true);
#endif
return;
}
#endif
ubl_state_at_invocation = planner.leveling_active;
set_bed_leveling_enabled(false);
}
void unified_bed_leveling::restore_ubl_active_state_and_leave() {
#ifdef UBL_DEVEL_DEBUGGING
if (--ubl_state_recursion_chk) {
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
#if ENABLED(NEWPANEL)
LCD_MESSAGEPGM(MSG_UBL_RESTORE_ERROR);
lcd_quick_feedback(true);
#endif
return;
}
#endif
set_bed_leveling_enabled(ubl_state_at_invocation);
}
/**
* Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
* good to have the extra information. Soon... we prune this to just a few items
*/
void unified_bed_leveling::g29_what_command() {
report_state();
if (storage_slot == -1)
SERIAL_PROTOCOLPGM("No Mesh Loaded.");
else {
SERIAL_PROTOCOLPAIR("Mesh ", storage_slot);
SERIAL_PROTOCOLPGM(" Loaded.");
}
SERIAL_EOL();
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("UBL object count: ", (int)ubl_cnt);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_PROTOCOLPGM("planner.z_fade_height : ");
SERIAL_PROTOCOL_F(planner.z_fade_height, 4);
SERIAL_EOL();
#endif
adjust_mesh_to_mean(g29_c_flag, g29_constant);
#if HAS_BED_PROBE
SERIAL_PROTOCOLPGM("zprobe_zoffset: ");
SERIAL_PROTOCOL_F(zprobe_zoffset, 7);
SERIAL_EOL();
#endif
SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X);
safe_delay(50);
SERIAL_ECHOLNPAIR("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y);
safe_delay(50);
SERIAL_ECHOLNPAIR("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X);
safe_delay(50);
SERIAL_ECHOLNPAIR("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y);
safe_delay(50);
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
safe_delay(50);
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
safe_delay(50);
SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST);
SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST);
safe_delay(50);
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3);
SERIAL_PROTOCOLPGM(" ");
safe_delay(25);
}
SERIAL_EOL();
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3);
SERIAL_PROTOCOLPGM(" ");
safe_delay(25);
}
SERIAL_EOL();
#if HAS_KILL
SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
#endif
SERIAL_EOL();
safe_delay(50);
#ifdef UBL_DEVEL_DEBUGGING
SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation);
SERIAL_EOL();
SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk);
SERIAL_EOL();
safe_delay(50);
SERIAL_PROTOCOLPAIR("Meshes go from ", hex_address((void*)settings.meshes_start_index()));
SERIAL_PROTOCOLLNPAIR(" to ", hex_address((void*)settings.meshes_end_index()));
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
SERIAL_EOL();
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(z_values));
SERIAL_EOL();
safe_delay(25);
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index())));
safe_delay(50);
SERIAL_PROTOCOLPAIR("EEPROM can hold ", settings.calc_num_meshes());
SERIAL_PROTOCOLLNPGM(" meshes.\n");
safe_delay(25);
#endif // UBL_DEVEL_DEBUGGING
if (!sanity_check()) {
echo_name();
SERIAL_PROTOCOLLNPGM(" sanity checks passed.");
}
}
/**
* When we are fully debugged, the EEPROM dump command will get deleted also. But
* right now, it is good to have the extra information. Soon... we prune this.
*/
void unified_bed_leveling::g29_eeprom_dump() {
unsigned char cccc;
unsigned int kkkk; // Needs to be of unspecfied size to compile clean on all platforms
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("EEPROM Dump:");
for (uint16_t i = 0; i <= E2END; i += 16) {
if (!(i & 0x3)) idle();
print_hex_word(i);
SERIAL_ECHOPGM(": ");
for (uint16_t j = 0; j < 16; j++) {
kkkk = i + j;
eeprom_read_block(&cccc, (const void *)kkkk, sizeof(unsigned char));
print_hex_byte(cccc);
SERIAL_ECHO(' ');
}
SERIAL_EOL();
}
SERIAL_EOL();
}
/**
* When we are fully debugged, this may go away. But there are some valid
* use cases for the users. So we can wait and see what to do with it.
*/
void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() {
int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
}
if (!parser.has_value()) {
SERIAL_PROTOCOLLNPGM("?Storage slot # required.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
g29_storage_slot = parser.value_int();
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
settings.load_mesh(g29_storage_slot, &tmp_z_values);
SERIAL_PROTOCOLPAIR("Subtracting mesh in slot ", g29_storage_slot);
SERIAL_PROTOCOLLNPGM(" from current mesh.");
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] -= tmp_z_values[x][y];
}
mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
bool found_a_NAN = false, found_a_real = false;
mesh_index_pair out_mesh;
out_mesh.x_index = out_mesh.y_index = -1;
out_mesh.distance = -99999.99f;
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (isnan(z_values[i][j])) { // Check to see if this location holds an invalid mesh point
const float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j);
if (!position_is_reachable_by_probe(mx, my)) // make sure the probe can get to the mesh point
continue;
found_a_NAN = true;
int8_t closest_x = -1, closest_y = -1;
float d1, d2 = 99999.9f;
for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
if (!isnan(z_values[k][l])) {
found_a_real = true;
// Add in a random weighting factor that scrambles the probing of the
// last half of the mesh (when every unprobed mesh point is one index
// from a probed location).
d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13));
if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l)
d2 = d1; // found a closer location with
closest_x = i; // an assigned mesh point value
closest_y = j;
}
}
}
}
//
// At this point d2 should have the closest defined mesh point to invalid mesh point (i,j)
//
if (found_a_real && (closest_x >= 0) && (d2 > out_mesh.distance)) {
out_mesh.distance = d2; // found an invalid location with a greater distance
out_mesh.x_index = closest_x; // to a defined mesh point
out_mesh.y_index = closest_y;
}
}
} // for j
} // for i
if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing
out_mesh.x_index = GRID_MAX_POINTS_X / 2;
out_mesh.y_index = GRID_MAX_POINTS_Y / 2;
out_mesh.distance = 1;
}
return out_mesh;
}
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) {
mesh_index_pair out_mesh;
out_mesh.x_index = out_mesh.y_index = -1;
out_mesh.distance = -99999.9f;
// Get our reference position. Either the nozzle or probe location.
const float px = rx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ry - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
float best_so_far = 99999.99f;
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (int8_t j = 0; j < GRID_MAX_POINTS_Y; 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]))
|| (type == SET_IN_BITMAP && is_bitmap_set(bits, i, j))
) {
// We only get here if we found a Mesh Point of the specified type
const float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j);
// If using the probe as the reference there are some unreachable locations.
// Also for round beds, there are grid points outside the bed the nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (probe_as_reference ? !position_is_reachable_by_probe(mx, my) : !position_is_reachable(mx, my))
continue;
// Reachable. Check if it's the best_so_far location to the nozzle.
float distance = HYPOT(px - mx, py - my);
// factor in the distance from the current location for the normal case
// so the nozzle isn't running all over the bed.
distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1f;
if (distance < best_so_far) {
best_so_far = distance; // We found a closer location with
out_mesh.x_index = i; // the specified type of mesh value.
out_mesh.y_index = j;
out_mesh.distance = best_so_far;
}
}
} // for j
} // for i
return out_mesh;
}
#if ENABLED(NEWPANEL)
void abort_fine_tune() {
lcd_return_to_status();
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
LCD_MESSAGEPGM(MSG_EDITING_STOPPED);
lcd_quick_feedback(true);
}
void unified_bed_leveling::fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) {
if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
const float h_offset = parser.seenval('H') ? parser.value_linear_units() : 0;
if (!WITHIN(h_offset, 0, 10)) {
SERIAL_PROTOCOLLNPGM("Offset out of bounds. (0 to 10mm)\n");
return;
}
#endif
mesh_index_pair location;
if (!position_is_reachable(rx, ry)) {
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
return;
}
save_ubl_active_state_and_disable();
LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
lcd_external_control = true; // Take over control of the LCD encoder
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
do_blocking_move_to_z(h_offset); // Move Z to the given 'H' offset
#endif
uint16_t not_done[16];
memset(not_done, 0xFF, sizeof(not_done));
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, rx, ry, USE_NOZZLE_AS_REFERENCE, not_done);
if (location.x_index < 0) break; // Stop when there are no more reachable points
bitmap_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so a new
// location is used on the next loop
const float rawx = mesh_index_to_xpos(location.x_index),
rawy = mesh_index_to_ypos(location.y_index);
if (!position_is_reachable(rawx, rawy)) break; // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
do_blocking_move_to(rawx, rawy, Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to the edit point with probe clearance
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
do_blocking_move_to_z(h_offset); // Move Z to the given 'H' offset before editing
#endif
KEEPALIVE_STATE(PAUSED_FOR_USER);
if (do_ubl_mesh_map) display_map(g29_map_type); // Display the current point
lcd_refresh();
float new_z = z_values[location.x_index][location.y_index];
if (isnan(new_z)) new_z = 0; // Invalid points begin at 0
new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place
lcd_mesh_edit_setup(new_z);
do {
new_z = lcd_mesh_edit();
#if ENABLED(UBL_MESH_EDIT_MOVES_Z)
do_blocking_move_to_z(h_offset + new_z); // Move the nozzle as the point is edited
#endif
idle();
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (!is_lcd_clicked());
if (!lcd_map_control) lcd_return_to_status(); // Just editing a single point? Return to status
if (click_and_hold(abort_fine_tune)) goto FINE_TUNE_EXIT; // If the click is held down, abort editing
z_values[location.x_index][location.y_index] = new_z; // Save the updated Z value
safe_delay(20); // No switch noise
lcd_refresh();
} while (location.x_index >= 0 && --g29_repetition_cnt > 0);
FINE_TUNE_EXIT:
lcd_external_control = false;
KEEPALIVE_STATE(IN_HANDLER);
if (do_ubl_mesh_map) display_map(g29_map_type);
restore_ubl_active_state_and_leave();
do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
SERIAL_ECHOLNPGM("Done Editing Mesh");
if (lcd_map_control)
lcd_goto_screen(_lcd_ubl_output_map_lcd);
else
lcd_return_to_status();
}
#endif // NEWPANEL
/**
* 'Smart Fill': Scan from the outward edges of the mesh towards the center.
* If an invalid location is found, use the next two points (if valid) to
* calculate a 'reasonable' value for the unprobed mesh point.
*/
bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
const int8_t x1 = x + xdir, x2 = x1 + xdir,
y1 = y + ydir, y2 = y1 + ydir;
// A NAN next to a pair of real values?
if (isnan(z_values[x][y]) && !isnan(z_values[x1][y1]) && !isnan(z_values[x2][y2])) {
if (z_values[x1][y1] < z_values[x2][y2]) // Angled downward?
z_values[x][y] = z_values[x1][y1]; // Use nearest (maybe a little too high.)
else
z_values[x][y] = 2.0f * z_values[x1][y1] - z_values[x2][y2]; // Angled upward...
return true;
}
return false;
}
typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
void unified_bed_leveling::smart_fill_mesh() {
static const smart_fill_info
info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up
info1 PROGMEM = { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down
info2 PROGMEM = { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right
info3 PROGMEM = { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left
static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 };
for (uint8_t i = 0; i < COUNT(info); ++i) {
const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]);
const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy),
ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey);
if (pgm_read_byte(&f->yfirst)) {
const int8_t dir = ex > sx ? 1 : -1;
for (uint8_t y = sy; y != ey; ++y)
for (uint8_t x = sx; x != ex; x += dir)
if (smart_fill_one(x, y, dir, 0)) break;
}
else {
const int8_t dir = ey > sy ? 1 : -1;
for (uint8_t x = sx; x != ex; ++x)
for (uint8_t y = sy; y != ey; y += dir)
if (smart_fill_one(x, y, 0, dir)) break;
}
}
}
#if HAS_BED_PROBE
#include "vector_3.h"
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
constexpr int16_t x_min = MAX(MIN_PROBE_X, MESH_MIN_X),
x_max = MIN(MAX_PROBE_X, MESH_MAX_X),
y_min = MAX(MIN_PROBE_Y, MESH_MIN_Y),
y_max = MIN(MAX_PROBE_Y, MESH_MAX_Y);
bool abort_flag = false;
float measured_z;
const float dx = float(x_max - x_min) / (g29_grid_size - 1),
dy = float(y_max - y_min) / (g29_grid_size - 1);
struct linear_fit_data lsf_results;
//float z1, z2, z3; // Needed for algorithm validation down below.
incremental_LSF_reset(&lsf_results);
if (do_3_pt_leveling) {
measured_z = probe_pt(PROBE_PT_1_X, PROBE_PT_1_Y, PROBE_PT_RAISE, g29_verbose_level);
if (isnan(measured_z))
abort_flag = true;
else {
measured_z -= get_z_correction(PROBE_PT_1_X, PROBE_PT_1_Y);
//z1 = measured_z;
if (g29_verbose_level > 3) {
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, PROBE_PT_1_X, PROBE_PT_1_Y, measured_z);
}
if (!abort_flag) {
measured_z = probe_pt(PROBE_PT_2_X, PROBE_PT_2_Y, PROBE_PT_RAISE, g29_verbose_level);
//z2 = measured_z;
if (isnan(measured_z))
abort_flag = true;
else {
measured_z -= get_z_correction(PROBE_PT_2_X, PROBE_PT_2_Y);
if (g29_verbose_level > 3) {
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, PROBE_PT_2_X, PROBE_PT_2_Y, measured_z);
}
}
if (!abort_flag) {
measured_z = probe_pt(PROBE_PT_3_X, PROBE_PT_3_Y, PROBE_PT_STOW, g29_verbose_level);
//z3 = measured_z;
if (isnan(measured_z))
abort_flag = true;
else {
measured_z -= get_z_correction(PROBE_PT_3_X, PROBE_PT_3_Y);
if (g29_verbose_level > 3) {
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, PROBE_PT_3_X, PROBE_PT_3_Y, measured_z);
}
}
STOW_PROBE();
#ifdef Z_AFTER_PROBING
move_z_after_probing();
#endif
if (abort_flag) {
SERIAL_ECHOPGM("?Error probing point. Aborting operation.\n");
return;
}
}
else { // !do_3_pt_leveling
bool zig_zag = false;
for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
const float rx = float(x_min) + ix * dx;
for (int8_t iy = 0; iy < g29_grid_size; iy++) {
const float ry = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
if (!abort_flag) {
measured_z = probe_pt(rx, ry, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
abort_flag = isnan(measured_z);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(rx, 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(ry, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 7);
SERIAL_ECHOPGM(") measured: ");
SERIAL_PROTOCOL_F(measured_z, 7);
SERIAL_ECHOPGM(" correction: ");
SERIAL_PROTOCOL_F(get_z_correction(rx, ry), 7);
}
#endif
measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM(" final >>>---> ");
SERIAL_PROTOCOL_F(measured_z, 7);
SERIAL_EOL();
}
#endif
if (g29_verbose_level > 3) {
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
}
incremental_LSF(&lsf_results, rx, ry, measured_z);
}
}
zig_zag ^= true;
}
}
STOW_PROBE();
#ifdef Z_AFTER_PROBING
move_z_after_probing();
#endif
if (abort_flag || finish_incremental_LSF(&lsf_results)) {
SERIAL_ECHOPGM("Could not complete LSF!");
return;
}
vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1).get_normal();
if (g29_verbose_level > 2) {
SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F(normal.x, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(normal.y, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(normal.z, 7);
SERIAL_ECHOLNPGM("]");
}
matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1));
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp = mesh_index_to_xpos(i),
y_tmp = mesh_index_to_ypos(j),
z_tmp = z_values[i][j];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("before rotation = [");
SERIAL_PROTOCOL_F(x_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(y_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(z_tmp, 7);
SERIAL_ECHOPGM("] ---> ");
safe_delay(20);
}
#endif
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F(x_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(y_tmp, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(z_tmp, 7);
SERIAL_ECHOLNPGM("]");
safe_delay(55);
}
#endif
z_values[i][j] = z_tmp - lsf_results.D;
}
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
rotation.debug(PSTR("rotation matrix:\n"));
SERIAL_ECHOPGM("LSF Results A=");
SERIAL_PROTOCOL_F(lsf_results.A, 7);
SERIAL_ECHOPGM(" B=");
SERIAL_PROTOCOL_F(lsf_results.B, 7);
SERIAL_ECHOPGM(" D=");
SERIAL_PROTOCOL_F(lsf_results.D, 7);
SERIAL_EOL();
safe_delay(55);
SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F(normal.x, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(normal.y, 7);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL_F(normal.z, 7);
SERIAL_ECHOPGM("]\n");
SERIAL_EOL();
/**
* The following code can be used to check the validity of the mesh tilting algorithm.
* When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting.
* The only difference is just 3 points are used in the calculations. That fact guarantees
* each probed point should have an exact match when a get_z_correction() for that location
* is calculated. The Z error between the probed point locations and the get_z_correction()
* numbers for those locations should be 0.
*/
#if 0
float t, t1, d;
t = normal.x * (PROBE_PT_1_X) + normal.y * (PROBE_PT_1_Y);
d = t + normal.z * z1;
SERIAL_ECHOPGM("D from 1st point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" Z error: ");
SERIAL_ECHO_F(normal.z*z1-get_z_correction(PROBE_PT_1_X, PROBE_PT_1_Y), 6);
SERIAL_EOL();
t = normal.x * (PROBE_PT_2_X) + normal.y * (PROBE_PT_2_Y);
d = t + normal.z * z2;
SERIAL_EOL();
SERIAL_ECHOPGM("D from 2nd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" Z error: ");
SERIAL_ECHO_F(normal.z*z2-get_z_correction(PROBE_PT_2_X, PROBE_PT_2_Y), 6);
SERIAL_EOL();
t = normal.x * (PROBE_PT_3_X) + normal.y * (PROBE_PT_3_Y);
d = t + normal.z * z3;
SERIAL_ECHOPGM("D from 3rd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" Z error: ");
SERIAL_ECHO_F(normal.z*z3-get_z_correction(PROBE_PT_3_X, PROBE_PT_3_Y), 6);
SERIAL_EOL();
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + normal.z * 0;
SERIAL_ECHOPGM("D from home location with Z=0 : ");
SERIAL_ECHO_F(d, 6);
SERIAL_EOL();
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0;
SERIAL_ECHOPGM("D from home location using mesh value for Z: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT);
SERIAL_ECHOPAIR(",", Z_SAFE_HOMING_Y_POINT );
SERIAL_ECHOPGM(") = ");
SERIAL_ECHO_F(get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT), 6);
SERIAL_EOL();
#endif
} // DEBUGGING(LEVELING)
#endif
}
#endif // HAS_BED_PROBE
#if ENABLED(UBL_G29_P31)
void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) {
// For each undefined mesh point, compute a distance-weighted least squares fit
// from all the originally populated mesh points, weighted toward the point
// being extrapolated so that nearby points will have greater influence on
// the point being extrapolated. Then extrapolate the mesh point from WLSF.
static_assert(GRID_MAX_POINTS_Y <= 16, "GRID_MAX_POINTS_Y too big");
uint16_t bitmap[GRID_MAX_POINTS_X] = { 0 };
struct linear_fit_data lsf_results;
SERIAL_ECHOPGM("Extrapolating mesh...");
const float weight_scaled = weight_factor * MAX(MESH_X_DIST, MESH_Y_DIST);
for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++)
for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++)
if (!isnan(z_values[jx][jy]))
SBI(bitmap[jx], jy);
for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) {
const float px = mesh_index_to_xpos(ix);
for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; iy++) {
const float py = mesh_index_to_ypos(iy);
if (isnan(z_values[ix][iy])) {
// undefined mesh point at (px,py), compute weighted LSF from original valid mesh points.
incremental_LSF_reset(&lsf_results);
for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) {
const float rx = mesh_index_to_xpos(jx);
for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
if (TEST(bitmap[jx], jy)) {
const float ry = mesh_index_to_ypos(jy),
rz = z_values[jx][jy],
w = 1 + weight_scaled / HYPOT((rx - px), (ry - py));
incremental_WLSF(&lsf_results, rx, ry, rz, w);
}
}
}
if (finish_incremental_LSF(&lsf_results)) {
SERIAL_ECHOLNPGM("Insufficient data");
return;
}
const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
z_values[ix][iy] = ez;
idle(); // housekeeping
}
}
}
SERIAL_ECHOLNPGM("done");
}
#endif // UBL_G29_P31
#endif // AUTO_BED_LEVELING_UBL
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