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c11665e92f
MarlinFirmware/Marlin/G26_Mesh_Validation_Tool.cpp
Roxy-3D c11665e92f
Regression fixes for UBL's G29 P1, G29 P2, G29 P4 and G26 (#9213) 
The changes to ultralcd.cpp for is_lcd_clicked() did not encompass the
full functionality of UBL's G29 P1, P2 and P4.   It also broke G26's
ability to abort in several of its phases.

This is the first pass at fixing the problem.   It has been tested for
correctness for several hours but more testing  needs to be done.
There may be a few follow up patches to finish covering all the corner
cases, but right now I need to merge this before any conflicts show up.

Some of these changes will need to be moved over to the bugfix-v2.0.0
branch.   That will happen a few days from now.
2018-01-17 00:27:50 -06:00

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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/>.
*
*/
/**
* Marlin Firmware -- G26 - Mesh Validation Tool
*/
#include "MarlinConfig.h"
#if ENABLED(G26_MESH_VALIDATION)
#include "Marlin.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "ultralcd.h"
#include "gcode.h"
#include "bitmap_flags.h"
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
#endif
#define EXTRUSION_MULTIPLIER 1.0
#define RETRACTION_MULTIPLIER 1.0
#define PRIME_LENGTH 10.0
#define OOZE_AMOUNT 0.3
#define SIZE_OF_INTERSECTION_CIRCLES 5
#define SIZE_OF_CROSSHAIRS 3
#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES
#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES."
#endif
#define G26_OK false
#define G26_ERR true
/**
* G26 Mesh Validation Tool
*
* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
* the intersections of those lines (respectively).
*
* This action allows the user to immediately see where the Mesh is properly defined and where it needs to
* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
* the user can specify the X and Y position of interest with command parameters. This allows the user to
* focus on a particular area of the Mesh where attention is needed.
*
* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
*
* C Current When searching for Mesh Intersection points to draw, use the current nozzle location
* as the base for any distance comparison.
*
* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this
* command to see how well a Mesh as been adjusted to match a print surface. In order to do
* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
* alters the command's normal behaviour and disables the Unified Bed Leveling System even if
* it is on.
*
* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
*
* F # Filament Used to specify the diameter of the filament being used. If not specified
* 1.75mm filament is assumed. If you are not getting acceptable results by using the
* 'correct' numbers, you can scale this number up or down a little bit to change the amount
* of filament that is being extruded during the printing of the various lines on the bed.
*
* K Keep-On Keep the heaters turned on at the end of the command.
*
* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.
*
* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
* is over kill, but using this parameter will let you get the very first 'circle' perfect
* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
*
* P # Prime Prime the nozzle with specified length of filament. If this parameter is not
* given, no prime action will take place. If the parameter specifies an amount, that much
* will be purged before continuing. If no amount is specified the command will start
* purging filament until the user provides an LCD Click and then it will continue with
* printing the Mesh. You can carefully remove the spent filament with a needle nose
* pliers while holding the LCD Click wheel in a depressed state. If you do not have
* an LCD, you must specify a value if you use P.
*
* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
* un-retraction is at 1.2mm These numbers will be scaled by the specified amount
*
* R # Repeat Prints the number of patterns given as a parameter, starting at the current location.
* If a parameter isn't given, every point will be printed unless G26 is interrupted.
* This works the same way that the UBL G29 P4 R parameter works.
*
* NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are
* aware that there's some risk associated with printing without the ability to abort in
* cases where mesh point Z value may be inaccurate. As above, if you do not include a
* parameter, every point will be printed.
*
* S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
*
* U # Random Randomize the order that the circles are drawn on the bed. The search for the closest
* undrawn cicle is still done. But the distance to the location for each circle has a
* random number of the size specified added to it. Specifying S50 will give an interesting
* deviation from the normal behaviour on a 10 x 10 Mesh.
*
* X # X Coord. Specify the starting location of the drawing activity.
*
* Y # Y Coord. Specify the starting location of the drawing activity.
*/
// External references
extern Planner planner;
#if ENABLED(ULTRA_LCD)
extern char lcd_status_message[];
#endif
// Private functions
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
float g26_e_axis_feedrate = 0.020,
random_deviation = 0.0;
static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
// retracts/recovers won't result in a bad state.
static float g26_extrusion_multiplier,
g26_retraction_multiplier,
g26_layer_height,
g26_prime_length,
g26_x_pos, g26_y_pos;
static int16_t g26_bed_temp,
g26_hotend_temp;
static int8_t g26_prime_flag;
#if ENABLED(NEWPANEL)
/**
* If the LCD is clicked, cancel, wait for release, return true
*/
bool user_canceled() {
if (!is_lcd_clicked()) return false; // Return if the button isn't pressed
lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);
#if ENABLED(ULTIPANEL)
lcd_quick_feedback(true);
#endif
wait_for_release();
return true;
}
bool exit_from_g26() {
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
wait_for_release();
return G26_ERR;
}
#endif
void G26_line_to_destination(const float &feed_rate) {
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = feed_rate; // use specified feed rate
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTED
feedrate_mm_s = save_feedrate; // restore global feed rate
}
void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
float feed_value;
static float last_z = -999.99;
bool has_xy_component = (rx != current_position[X_AXIS] || ry != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
if (z != last_z) {
last_z = z;
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
destination[E_AXIS] = current_position[E_AXIS];
G26_line_to_destination(feed_value);
stepper.synchronize();
set_destination_from_current();
}
// Check if X or Y is involved in the movement.
// Yes: a 'normal' movement. No: a retract() or recover()
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
destination[E_AXIS] += e_delta;
G26_line_to_destination(feed_value);
stepper.synchronize();
set_destination_from_current();
}
FORCE_INLINE void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
void retract_filament(const float where[XYZE]) {
if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true;
move_to(where, -1.0 * g26_retraction_multiplier);
}
}
void recover_filament(const float where[XYZE]) {
if (g26_retracted) { // Only un-retract if we are retracted.
move_to(where, 1.2 * g26_retraction_multiplier);
g26_retracted = false;
}
}
/**
* Prime the nozzle if needed. Return true on error.
*/
inline bool prime_nozzle() {
#if ENABLED(NEWPANEL)
float Total_Prime = 0.0;
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
lcd_external_control = true;
lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);
lcd_chirp();
set_destination_from_current();
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!is_lcd_clicked()) {
lcd_chirp();
destination[E_AXIS] += 0.25;
#ifdef PREVENT_LENGTHY_EXTRUDE
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
#endif
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
set_destination_from_current();
idle();
}
wait_for_release();
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
// So... We cheat to get a message up.
lcd_setstatusPGM(PSTR("Done Priming"), 99);
lcd_quick_feedback(true);
lcd_external_control = false;
}
else
#endif
{
#if ENABLED(ULTRA_LCD)
lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);
lcd_quick_feedback(true);
#endif
set_destination_from_current();
destination[E_AXIS] += g26_prime_length;
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize();
set_destination_from_current();
retract_filament(destination);
}
return G26_OK;
}
mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
float closest = 99999.99;
mesh_index_pair return_val;
return_val.x_index = return_val.y_index = -1;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (!is_bitmap_set(circle_flags, i, j)) {
const float mx = _GET_MESH_X(i), // We found a circle that needs to be printed
my = _GET_MESH_Y(j);
// Get the distance to this intersection
float f = HYPOT(X - mx, Y - my);
// It is possible that we are being called with the values
// to let us find the closest circle to the start position.
// But if this is not the case, add a small weighting to the
// distance calculation to help it choose a better place to continue.
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
// Add in the specified amount of Random Noise to our search
if (random_deviation > 1.0)
f += random(0.0, random_deviation);
if (f < closest) {
closest = f; // We found a closer location that is still
return_val.x_index = i; // un-printed --- save the data for it
return_val.y_index = j;
return_val.distance = closest;
}
}
}
}
bitmap_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
return return_val;
}
/**
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
* to the other. But there are really three sets of coordinates involved. The first coordinate
* is the present location of the nozzle. We don't necessarily want to print from this location.
* We first need to move the nozzle to the start of line segment where we want to print. Once
* there, we can use the two coordinates supplied to draw the line.
*
* Note: Although we assume the first set of coordinates is the start of the line and the second
* set of coordinates is the end of the line, it does not always work out that way. This function
* optimizes the movement to minimize the travel distance before it can start printing. This saves
* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does
* cause a lot of very little short retracement of th nozzle when it draws the very first line
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
* cases where the optimization comes into play.
*/
void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
// to save computation time
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
dy_e = current_position[Y_AXIS] - ey,
dist_end = HYPOT2(dx_e, dy_e),
line_length = HYPOT(ex - sx, ey - sy);
// If the end point of the line is closer to the nozzle, flip the direction,
// moving from the end to the start. On very small lines the optimization isn't worth it.
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length))
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
// Decide whether to retract & bump
if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
}
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
recover_filament(destination);
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
}
inline bool look_for_lines_to_connect() {
float sx, sy, ex, ey;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
#if ENABLED(NEWPANEL)
if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation
#endif
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
// This is already a half circle because we are at the edge of the bed.
if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
if (!is_bitmap_set(horizontal_mesh_line_flags, i, j)) {
//
// We found two circles that need a horizontal line to connect them
// Print it!
//
sx = _GET_MESH_X( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
ex = _GET_MESH_X(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL();
//debug_current_and_destination(PSTR("Connecting horizontal line."));
}
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
}
bitmap_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
}
}
if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
// This is already a half circle because we are at the edge of the bed.
if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
if (!is_bitmap_set( vertical_mesh_line_flags, i, j)) {
//
// We found two circles that need a vertical line to connect them
// Print it!
//
sy = _GET_MESH_Y( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
ey = _GET_MESH_Y(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
sx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL();
#if ENABLED(AUTO_BED_LEVELING_UBL)
debug_current_and_destination(PSTR("Connecting vertical line."));
#endif
}
print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
}
bitmap_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
}
}
}
}
}
}
return false;
}
/**
* Turn on the bed and nozzle heat and
* wait for them to get up to temperature.
*/
inline bool turn_on_heaters() {
millis_t next = millis() + 5000UL;
#if HAS_TEMP_BED
#if ENABLED(ULTRA_LCD)
if (g26_bed_temp > 25) {
lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99);
lcd_quick_feedback(true);
lcd_external_control = true;
#endif
thermalManager.setTargetBed(g26_bed_temp);
while (abs(thermalManager.degBed() - g26_bed_temp) > 3) {
#if ENABLED(NEWPANEL)
if (is_lcd_clicked()) return exit_from_g26();
#endif
if (ELAPSED(millis(), next)) {
next = millis() + 5000UL;
thermalManager.print_heaterstates();
SERIAL_EOL();
}
idle();
}
#if ENABLED(ULTRA_LCD)
}
lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99);
lcd_quick_feedback(true);
#endif
#endif
// Start heating the nozzle and wait for it to reach temperature.
thermalManager.setTargetHotend(g26_hotend_temp, 0);
while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {
#if ENABLED(NEWPANEL)
if (is_lcd_clicked()) return exit_from_g26();
#endif
if (ELAPSED(millis(), next)) {
next = millis() + 5000UL;
thermalManager.print_heaterstates();
SERIAL_EOL();
}
idle();
}
#if ENABLED(ULTRA_LCD)
lcd_reset_status();
lcd_quick_feedback(true);
#endif
return G26_OK;
}
float valid_trig_angle(float d) {
while (d > 360.0) d -= 360.0;
while (d < 0.0) d += 360.0;
return d;
}
/**
* G26: Mesh Validation Pattern generation.
*
* Used to interactively edit the mesh by placing the
* nozzle in a problem area and doing a G29 P4 R command.
*/
void gcode_G26() {
SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
float tmp, start_angle, end_angle;
int i, xi, yi;
mesh_index_pair location;
// Don't allow Mesh Validation without homing first,
// or if the parameter parsing did not go OK, abort
if (axis_unhomed_error()) return;
g26_extrusion_multiplier = EXTRUSION_MULTIPLIER;
g26_retraction_multiplier = RETRACTION_MULTIPLIER;
g26_layer_height = MESH_TEST_LAYER_HEIGHT;
g26_prime_length = PRIME_LENGTH;
g26_bed_temp = MESH_TEST_BED_TEMP;
g26_hotend_temp = MESH_TEST_HOTEND_TEMP;
g26_prime_flag = 0;
float g26_nozzle = MESH_TEST_NOZZLE_SIZE,
g26_filament_diameter = DEFAULT_NOMINAL_FILAMENT_DIA,
g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT);
bool g26_continue_with_closest = parser.boolval('C'),
g26_keep_heaters_on = parser.boolval('K');
if (parser.seenval('B')) {
g26_bed_temp = parser.value_celsius();
if (!WITHIN(g26_bed_temp, 15, 140)) {
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
return;
}
}
if (parser.seenval('L')) {
g26_layer_height = parser.value_linear_units();
if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
return;
}
}
if (parser.seen('Q')) {
if (parser.has_value()) {
g26_retraction_multiplier = parser.value_float();
if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
return;
}
}
else {
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
return;
}
}
if (parser.seenval('S')) {
g26_nozzle = parser.value_float();
if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
return;
}
}
if (parser.seen('P')) {
if (!parser.has_value()) {
#if ENABLED(NEWPANEL)
g26_prime_flag = -1;
#else
SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD.");
return;
#endif
}
else {
g26_prime_flag++;
g26_prime_length = parser.value_linear_units();
if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
return;
}
}
}
if (parser.seenval('F')) {
g26_filament_diameter = parser.value_linear_units();
if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
return;
}
}
g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
// scale up or down the length needed to get the
// same volume of filament
g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
if (parser.seenval('H')) {
g26_hotend_temp = parser.value_celsius();
if (!WITHIN(g26_hotend_temp, 165, 280)) {
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
return;
}
}
if (parser.seen('U')) {
randomSeed(millis());
// This setting will persist for the next G26
random_deviation = parser.has_value() ? parser.value_float() : 50.0;
}
int16_t g26_repeats;
#if ENABLED(NEWPANEL)
g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
#else
if (!parser.seen('R')) {
SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD.");
return;
}
else
g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
#endif
if (g26_repeats < 1) {
SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");
return;
}
g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS];
g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS];
if (!position_is_reachable(g26_x_pos, g26_y_pos)) {
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
return;
}
/**
* Wait until all parameters are verified before altering the state!
*/
set_bed_leveling_enabled(!parser.seen('D'));
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
stepper.synchronize();
set_current_from_destination();
}
if (turn_on_heaters() != G26_OK) goto LEAVE;
current_position[E_AXIS] = 0.0;
sync_plan_position_e();
if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;
/**
* Bed is preheated
*
* Nozzle is at temperature
*
* Filament is primed!
*
* It's "Show Time" !!!
*/
ZERO(circle_flags);
ZERO(horizontal_mesh_line_flags);
ZERO(vertical_mesh_line_flags);
// Move nozzle to the specified height for the first layer
set_destination_from_current();
destination[Z_AXIS] = g26_layer_height;
move_to(destination, 0.0);
move_to(destination, g26_ooze_amount);
#if ENABLED(ULTRA_LCD)
lcd_external_control = true;
#endif
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
/**
* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
* the CPU load and make the arc drawing faster and more smooth
*/
float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1];
for (i = 0; i <= 360 / 30; i++) {
cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0)));
sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0)));
}
do {
location = g26_continue_with_closest
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
if (location.x_index >= 0 && location.y_index >= 0) {
const float circle_x = _GET_MESH_X(location.x_index),
circle_y = _GET_MESH_Y(location.y_index);
// If this mesh location is outside the printable_radius, skip it.
if (!position_is_reachable(circle_x, circle_y)) continue;
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
yi = location.y_index;
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi);
SERIAL_ECHOPAIR(", yi=", yi);
SERIAL_CHAR(')');
SERIAL_EOL();
}
start_angle = 0.0; // assume it is going to be a full circle
end_angle = 360.0;
if (xi == 0) { // Check for bottom edge
start_angle = -90.0;
end_angle = 90.0;
if (yi == 0) // it is an edge, check for the two left corners
start_angle = 0.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
end_angle = 0.0;
}
else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
start_angle = 90.0;
end_angle = 270.0;
if (yi == 0) // it is an edge, check for the two right corners
end_angle = 180.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
start_angle = 180.0;
}
else if (yi == 0) {
start_angle = 0.0; // only do the top side of the cirlce
end_angle = 180.0;
}
else if (yi == GRID_MAX_POINTS_Y - 1) {
start_angle = 180.0; // only do the bottom side of the cirlce
end_angle = 360.0;
}
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
#if ENABLED(NEWPANEL)
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif
int tmp_div_30 = tmp / 30.0;
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
float rx = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
ry = circle_y + sin_table[tmp_div_30],
xe = circle_x + cos_table[tmp_div_30 + 1],
ye = circle_y + sin_table[tmp_div_30 + 1];
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;
#else // not, we need to skip
rx = constrain(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
ry = constrain(ry, Y_MIN_POS + 1, Y_MAX_POS - 1);
xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif
//if (g26_debug_flag) {
// char ccc, *cptr, seg_msg[50], seg_num[10];
// strcpy(seg_msg, " segment: ");
// strcpy(seg_num, " \n");
// cptr = (char*) "01234567890ABCDEF????????";
// ccc = cptr[tmp_div_30];
// seg_num[1] = ccc;
// strcat(seg_msg, seg_num);
// debug_current_and_destination(seg_msg);
//}
print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);
}
if (look_for_lines_to_connect())
goto LEAVE;
}
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
LEAVE:
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
retract_filament(destination);
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
//debug_current_and_destination(PSTR("ready to do Z-Raise."));
move_to(destination, 0); // Raise the nozzle
//debug_current_and_destination(PSTR("done doing Z-Raise."));
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
destination[Y_AXIS] = g26_y_pos;
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination, 0); // Move back to the starting position
//debug_current_and_destination(PSTR("done doing X/Y move."));
#if ENABLED(ULTRA_LCD)
lcd_external_control = false; // Give back control of the LCD Panel!
#endif
if (!g26_keep_heaters_on) {
#if HAS_TEMP_BED
thermalManager.setTargetBed(0);
#endif
thermalManager.setTargetHotend(0, 0);
}
}
#endif // G26_MESH_VALIDATION
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