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MarlinFirmware/Marlin/ubl_G29.cpp

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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)
//#include "vector_3.h"
//#include "qr_solve.h"
#include "ubl.h"
#include "Marlin.h"
#include "hex_print_routines.h"
#include "configuration_store.h"
#include "planner.h"
#include "ultralcd.h"
#include <math.h>
void lcd_return_to_status();
bool lcd_clicked();
void lcd_implementation_clear();
void lcd_mesh_edit_setup(float initial);
void tilt_mesh_based_on_probed_grid(const bool);
float lcd_mesh_edit();
void lcd_z_offset_edit_setup(float);
float lcd_z_offset_edit();
extern float meshedit_done;
extern long babysteps_done;
extern float code_value_float();
extern uint8_t code_value_byte();
extern bool code_value_bool();
extern bool code_has_value();
extern float probe_pt(float x, float y, bool, int);
extern bool set_probe_deployed(bool);
bool ProbeStay = true;
constexpr float ubl_3_point_1_X = UBL_PROBE_PT_1_X,
ubl_3_point_1_Y = UBL_PROBE_PT_1_Y,
ubl_3_point_2_X = UBL_PROBE_PT_2_X,
ubl_3_point_2_Y = UBL_PROBE_PT_2_Y,
ubl_3_point_3_X = UBL_PROBE_PT_3_X,
ubl_3_point_3_Y = UBL_PROBE_PT_3_Y;
#define SIZE_OF_LITTLE_RAISE 0
#define BIG_RAISE_NOT_NEEDED 0
extern void lcd_quick_feedback();
/**
* 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. This is invoked as
* G29 P2 B The mode of G29 P2 allows you to use a bussiness card or recipe card
* as a shim that the nozzle will pinch as it is lowered. The idea is that you
* can easily feel the nozzle getting to the same height by the amount of resistance
* the business card exhibits to movement. You should try to achieve the same amount
* of resistance on each probed point to facilitate accurate and repeatable measurements.
* You should be very careful not to drive the nozzle into the bussiness card with a
* lot of force as it is very possible to cause damage to your printer if your are
* careless. If you use the B option with G29 P2 B you can leave the number parameter off
* on its first use to enable measurement of the business card thickness. Subsequent usage
* of the B parameter can have the number previously measured supplied to the command.
* Incidently, you are much better off using something like a Spark Gap feeler gauge than
* something that compresses like a Business Card.
*
* C Continue Continue, Constant, Current Location. This is not a primary command. C is used to
* further refine the behaviour of several other commands. Issuing a G29 P1 C will
* continue the generation of a partially constructed Mesh without invalidating what has
* been done. Issuing a G29 P2 C will tell the Manual Probe subsystem to use the current
* location in its search for the closest unmeasured Mesh Point. When used with a G29 Z C
* it indicates to use the current location instead of defaulting to the center of the print bed.
*
* 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 Specify the Height to raise the nozzle after each manual probe of the bed. The
* default is 5mm.
*
* I # Invalidate Invalidate specified number of Mesh Points. The nozzle location is used unless
* the X and Y parameter are used. If no number is specified, only the closest Mesh
* point to the location is invalidated. The M parameter is available as well to produce
* a map after the operation. This command is useful to invalidate a portion of the
* Mesh so it can be adjusted using other tools in the Unified Bed Leveling System. When
* attempting to invalidate an isolated bad point in the mesh, the M option will indicate
* where the nozzle is positioned in the Mesh with (#). You can move the nozzle around on
* the bed and use this feature to select the center of the area (or cell) you want to
* invalidate.
*
* J # Grid * Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
*
* j EEPROM Dump This function probably goes away after debug is complete.
*
* 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.
*
* O Map * Display the Mesh Map Topology.
* The parameter can be specified alone (ie. G29 O) or in combination with many of the
* other commands. The Mesh Map option works with all of the Phase
* commands (ie. G29 P4 R 5 X 50 Y100 C -.1 O) The Map parameter can also of a Map Type
* specified. A map type of 0 is the default is user readable. A map type of 1 can
* be specified and is suitable to Cut & Paste into Excel to allow graphing of the user's
* mesh.
*
* N No Home G29 normally insists that a G28 has been performed. You can over rule this with an
* N option. In general, you should not do this. This can only be done safely with
* commands that do not move the nozzle.
*
* 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. Depending upon the values of DELTA_PROBEABLE_RADIUS and
* DELTA_PRINTABLE_RADIUS some area of the bed will not have Mesh Data automatically
* generated. This will be handled in Phase 2. If the Phase 1 command is given the
* C (Continue) parameter it does not invalidate the Mesh prior to automatically
* probing needed locations. This allows you to invalidate portions of the Mesh but still
* use the automatic probing capabilities of the Unified Bed Leveling System. An X and Y
* parameter can be given to prioritize where the command should be trying to measure points.
* If the X and Y parameters are not specified the current probe position is used. Phase 1
* allows you to specify the M (Map) parameter so you can watch the generation of the Mesh.
* Phase 1 also watches for the LCD Panel's Encoder Switch being held in a depressed state.
* It will suspend generation of the Mesh if it sees the user request that. (This check is
* only done between probe points. You will need to press and hold the switch until the
* Phase 1 command can detect it.)
*
* P2 Phase 2 Probe areas of the Mesh that can't be automatically handled. Phase 2 respects an H
* parameter to control the height between Mesh points. The default height for movement
* between Mesh points is 5mm. A smaller number can be used to make this part of the
* calibration less time consuming. You will be running the nozzle down until it just barely
* touches the glass. You should have the nozzle clean with no plastic obstructing your view.
* Use caution and move slowly. It is possible to damage your printer if you are careless.
* Note that this command will use the configuration #define SIZE_OF_LITTLE_RAISE if the
* nozzle is moving a distance of less than BIG_RAISE_NOT_NEEDED.
*
* The H parameter can be set negative if your Mesh dips in a large area. You can press
* and hold the LCD Panel's encoder wheel to terminate the current Phase 2 command. You
* can then re-issue the G29 P 2 command with an H parameter that is more suitable for the
* area you are manually probing. Note that the command tries to start you in a corner
* of the bed where movement will be predictable. You can force the location to be used in
* the distance calculations by using the X and Y parameters. You may find it is helpful to
* print out a Mesh Map (G29 O) to understand where the mesh is invalidated and where
* the nozzle will need to move in order to complete the command. The C parameter is
* available on the Phase 2 command also and indicates the search for points to measure should
* be done based on the current location of the nozzle.
*
* A B parameter is also available for this command and described up above. It places the
* manual probe subsystem into Business Card mode where the thickness of a business care is
* measured and then used to accurately set the nozzle height in all manual probing for the
* duration of the command. (S for Shim mode would be a better parameter name, but S is needed
* for Save or Store of the Mesh to EEPROM) A Business card can be used, but you will have
* better results if you use a flexible Shim that does not compress very much. That makes it
* easier for you to get the nozzle to press with similar amounts of force against the shim so you
* can get accurate measurements. As you are starting to touch the nozzle against the shim try
* to get it to grasp the shim with the same force as when you measured the thickness of the
* shim at the start of the command.
*
* Phase 2 allows the O (Map) parameter to be specified. This helps the user see the progression
* of the Mesh being built.
*
* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. The C parameter is
* used to specify the 'constant' value to fill all invalid areas of the Mesh. If no C parameter
* is specified, a value of 0.0 is assumed. The R parameter can be given to specify the number
* of points to set. If the R parameter is specified the current nozzle position is used to
* find the closest points to alter unless the X and Y parameter are used to specify the fill
* location.
*
* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existance of
* an LCD Panel. It is possible to fine tune the mesh without the use of an LCD Panel.
* (More work and details on doing this later!)
* The System will search for the closest Mesh Point to the nozzle. It will move the
* nozzle to this location. The user can use the LCD Panel to carefully adjust the nozzle
* so it is just barely touching the bed. When the user clicks the control, the System
* will lock in that height for that point in the Mesh Compensation System.
*
* Phase 4 has several additional parameters that the user may find helpful. Phase 4
* can be started at a specific location by specifying an X and Y parameter. Phase 4
* can be requested to continue the adjustment of Mesh Points by using the R(epeat)
* parameter. If the Repetition count is not specified, it is assumed the user wishes
* to adjust the entire matrix. The nozzle is moved to the Mesh Point being edited.
* The command can be terminated early (or after the area of interest has been edited) by
* pressing and holding the encoder wheel until the system recognizes the exit request.
* Phase 4's general form is G29 P4 [R # of points] [X position] [Y position]
*
* Phase 4 is intended to be used with the G26 Mesh Validation Command. Using the
* information left on the printer's bed from the G26 command it is very straight forward
* and easy to fine tune the Mesh. One concept that is important to remember and that
* will make using the Phase 4 command easy to use is this: You are editing the Mesh Points.
* If you have too little clearance and not much plastic was extruded in an area, you want to
* LOWER the Mesh Point at the location. If you did not get good adheasion, you want to
* RAISE the Mesh Point at that location.
*
*
* 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.
*
* 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. It will also store the current state of
* the Unified Bed Leveling system in the EEPROM.
*
* S -1 Store Store the current Mesh as a print out that is suitable to be feed back into
* the system at a later date. The text generated can be saved and later sent by PronterFace or
* Repetier Host to reconstruct the current mesh on another machine.
*
* T 3-Point Perform a 3 Point Bed Leveling on the current Mesh
*
* U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
* Only used for G29 P1 O U It will speed up the probing of the edge of the bed. This
* is useful when the entire bed does not need to be probed because it will be adjusted.
*
* W What? Display valuable data the Unified Bed Leveling System knows.
*
* X # * * X Location for this line of commands
*
* Y # * * Y Location for this line of commands
*
* Z Zero * Probes to set the Z Height of the nozzle. The entire Mesh can be raised or lowered
* by just doing a G29 Z
*
* Z # Zero * The entire Mesh can be raised or lowered to conform with the specified difference.
* zprobe_zoffset is added to the calculation.
*
*
* 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 highly recommended. With EEPROM Storage
* of the mesh, you are limited to 3-Point and Grid Leveling. (G29 P0 T and G29 P0 G
* respectively.)
*
* When you do a G28 and then a G29 P1 to automatically build your first mesh, you are going to notice
* the Unified Bed Leveling probes points further and further away from the starting location. (The
* starting location defaults to the center of the bed.) The original Grid and Mesh leveling used
* a Zig Zag pattern. The new pattern is better, especially for people with Delta printers. This
* allows you to get the center area of the Mesh populated (and edited) quicker. This allows you to
* perform a small print and check out your settings quicker. You do not need to populate the
* entire mesh to use it. (You don't want to spend a lot of time generating a mesh only to realize
* you don't have the resolution or zprobe_zoffset set correctly. The Mesh generation
* gathers points closest to where the nozzle is located unless you specify an (X,Y) coordinate pair.
*
* The Unified Bed Leveling uses a lot of EEPROM storage to hold its data. And it takes some effort
* to get this Mesh data correct for a user's printer. We do not want this data destroyed as
* new versions of Marlin add or subtract to the items stored in EEPROM. So, for the benefit of
* the users, we store the Mesh data at the end of the EEPROM and do not keep it contiguous with the
* other data stored in the EEPROM. (For sure the developers are going to complain about this, but
* this is going to be helpful to the users!)
*
* The foundation of this Bed Leveling System is built on Epatel'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.
*/
// The simple parameter flags and values are 'static' so parameter parsing can be in a support routine.
static int g29_verbose_level, phase_value = -1, repetition_cnt,
storage_slot = 0, map_type, grid_size;
static bool repeat_flag, c_flag, x_flag, y_flag;
static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0;
#if ENABLED(ULTRA_LCD)
extern void lcd_setstatus(const char* message, const bool persist);
extern void lcd_setstatuspgm(const char* message, const uint8_t level);
#endif
void gcode_G29() {
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=", ubl.eeprom_start);
if (ubl.eeprom_start < 0) {
SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
return;
}
if (!code_seen('N') && axis_unhomed_error(true, true, true)) // Don't allow auto-leveling without homing first
gcode_G28();
if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
// Invalidate Mesh Points. This command is a little bit asymetrical because
// it directly specifies the repetition count and does not use the 'R' parameter.
if (code_seen('I')) {
uint8_t cnt = 0;
repetition_cnt = code_has_value() ? code_value_int() : 1;
while (repetition_cnt--) {
if (cnt > 20) { cnt = 0; idle(); }
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, x_pos, y_pos, 0, NULL, false); // The '0' says we want to use the nozzle's position
if (location.x_index < 0) {
SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
break; // No more invalid Mesh Points to populate
}
ubl.z_values[location.x_index][location.y_index] = NAN;
}
SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
}
if (code_seen('Q')) {
const int test_pattern = code_has_value() ? code_value_int() : -1;
if (!WITHIN(test_pattern, 0, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n");
return;
}
SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
switch (test_pattern) {
case 0:
for (uint8_t x = 0; x < 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 = 0.5 * (GRID_MAX_POINTS_X) - x,
p2 = 0.5 * (GRID_MAX_POINTS_Y) - y;
ubl.z_values[x][y] += 2.0 * 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
ubl.z_values[x][x] += 9.999;
ubl.z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
}
break;
case 2:
// Allow the user to specify the height because 10mm is a little 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
ubl.z_values[x][y] += code_seen('C') ? ubl_constant : 9.99;
break;
}
}
if (code_seen('J')) {
if (!WITHIN(grid_size, 2, 5)) {
SERIAL_PROTOCOLLNPGM("ERROR - grid size must be between 2 and 5");
return;
}
tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M'));
}
if (code_seen('P')) {
phase_value = code_value_int();
if (!WITHIN(phase_value, 0, 7)) {
SERIAL_PROTOCOLLNPGM("Invalid Phase value. (0-4)\n");
return;
}
switch (phase_value) {
case 0:
//
// Zero Mesh Data
//
ubl.reset();
SERIAL_PROTOCOLLNPGM("Mesh zeroed.\n");
break;
case 1:
//
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
//
if (!code_seen('C')) {
ubl.invalidate();
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.\n");
}
if (g29_verbose_level > 1) {
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", x_pos);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL(y_pos);
SERIAL_PROTOCOLLNPGM(")\n");
}
probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
code_seen('O') || code_seen('M'), code_seen('E'), code_seen('U'));
break;
case 2: {
//
// Manually Probe Mesh in areas that can't be reached by the probe
//
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (!x_flag && !y_flag) { // use a good default location for the path
// The flipped > and < operators on these two 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.
// For now, until that is decided, it can be forced with the X
// and Y parameters.
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS;
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS;
}
if (code_seen('C')) {
x_pos = current_position[X_AXIS];
y_pos = current_position[Y_AXIS];
}
const float height = code_seen('H') && code_has_value() ? code_value_float() : Z_CLEARANCE_BETWEEN_PROBES;
if (code_seen('B')) {
card_thickness = code_has_value() ? code_value_float() : measure_business_card_thickness(height);
if (fabs(card_thickness) > 1.5) {
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.\n");
return;
}
}
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M'));
} break;
case 3: {
//
// Populate invalid Mesh areas with a constant
//
const float height = code_seen('C') ? ubl_constant : 0.0;
// If no repetition is specified, do the whole Mesh
if (!repeat_flag) repetition_cnt = 9999;
while (repetition_cnt--) {
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL, false); // The '0' says we want to use the nozzle's position
if (location.x_index < 0) break; // No more invalid Mesh Points to populate
ubl.z_values[location.x_index][location.y_index] = height;
}
} break;
case 4:
//
// Fine Tune (i.e., Edit) the Mesh
//
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M'));
break;
case 5:
find_mean_mesh_height();
break;
case 6:
shift_mesh_height();
break;
case 10:
// [DEBUG] Pay no attention to this stuff. It can be removed soon.
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
while (!ubl_lcd_clicked()) {
safe_delay(250);
if (ubl.encoder_diff) {
SERIAL_ECHOLN((int)ubl.encoder_diff);
ubl.encoder_diff = 0;
}
}
SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
break;
case 11:
// [DEBUG] wait_for_user code. Pay no attention to this stuff. It can be removed soon.
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
while (wait_for_user) {
safe_delay(250);
if (ubl.encoder_diff) {
SERIAL_ECHOLN((int)ubl.encoder_diff);
ubl.encoder_diff = 0;
}
}
SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
KEEPALIVE_STATE(IN_HANDLER);
break;
}
}
if (code_seen('T')) {
const float lx1 = LOGICAL_X_POSITION(ubl_3_point_1_X),
lx2 = LOGICAL_X_POSITION(ubl_3_point_2_X),
lx3 = LOGICAL_X_POSITION(ubl_3_point_3_X),
ly1 = LOGICAL_Y_POSITION(ubl_3_point_1_Y),
ly2 = LOGICAL_Y_POSITION(ubl_3_point_2_Y),
ly3 = LOGICAL_Y_POSITION(ubl_3_point_3_Y);
float z1 = probe_pt(lx1, ly1, false /*Stow Flag*/, g29_verbose_level),
z2 = probe_pt(lx2, ly2, false /*Stow Flag*/, g29_verbose_level),
z3 = probe_pt(lx3, ly3, true /*Stow Flag*/, g29_verbose_level);
// We need to adjust z1, z2, z3 by the Mesh Height at these points. Just because they are non-zero doesn't mean
// the Mesh is tilted! (We need to compensate each probe point by what the Mesh says that location's height is)
z1 -= ubl.get_z_correction(lx1, ly1);
z2 -= ubl.get_z_correction(lx2, ly2);
z3 -= ubl.get_z_correction(lx3, ly3);
do_blocking_move_to_xy((X_MAX_POS - (X_MIN_POS)) / 2.0, (Y_MAX_POS - (Y_MIN_POS)) / 2.0);
tilt_mesh_based_on_3pts(z1, z2, z3);
}
//
// 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 (code_seen('W')) g29_what_command();
//
// 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.
//
if (code_seen('j')) g29_eeprom_dump(); // EEPROM Dump
//
// 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 (code_seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
g29_compare_current_mesh_to_stored_mesh();
//
// Load a Mesh from the EEPROM
//
if (code_seen('L')) { // Load Current Mesh Data
storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
return;
}
ubl.load_mesh(storage_slot);
ubl.state.eeprom_storage_slot = storage_slot;
if (storage_slot != ubl.state.eeprom_storage_slot)
ubl.store_state();
SERIAL_PROTOCOLLNPGM("Done.\n");
}
//
// Store a Mesh in the EEPROM
//
if (code_seen('S')) { // Store (or Save) Current Mesh Data
storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
if (storage_slot == -1) { // Special case, we are going to 'Export' the mesh to the
SERIAL_ECHOLNPGM("G29 I 999"); // host in a form it can be reconstructed on a different machine
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) {
SERIAL_ECHOPAIR("M421 I ", x);
SERIAL_ECHOPAIR(" J ", y);
SERIAL_ECHOPGM(" Z ");
SERIAL_ECHO_F(ubl.z_values[x][y], 6);
SERIAL_EOL;
}
return;
}
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", j - 1);
goto LEAVE;
}
ubl.store_mesh(storage_slot);
ubl.state.eeprom_storage_slot = storage_slot;
//
// if (storage_slot != ubl.state.eeprom_storage_slot)
ubl.store_state(); // Always save an updated copy of the UBL State info
SERIAL_PROTOCOLLNPGM("Done.\n");
}
if (code_seen('O') || code_seen('M'))
ubl.display_map(code_has_value() ? code_value_int() : 0);
if (code_seen('Z')) {
if (code_has_value())
ubl.state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
else {
save_ubl_active_state_and_disable();
//measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
ubl.has_control_of_lcd_panel = true; // Grab the LCD Hardware
measured_z = 1.5;
do_blocking_move_to_z(measured_z); // Get close to the bed, but leave some space so we don't damage anything
// The user is not going to be locking in a new Z-Offset very often so
// it won't be that painful to spin the Encoder Wheel for 1.5mm
lcd_implementation_clear();
lcd_z_offset_edit_setup(measured_z);
KEEPALIVE_STATE(PAUSED_FOR_USER);
do {
measured_z = lcd_z_offset_edit();
idle();
do_blocking_move_to_z(measured_z);
} while (!ubl_lcd_clicked());
ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
// or here. So, until we are done looking for a long Encoder Wheel Press,
// we need to take control of the panel
KEEPALIVE_STATE(IN_HANDLER);
lcd_return_to_status();
const millis_t nxt = millis() + 1500UL;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
if (ELAPSED(millis(), nxt)) {
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
LCD_MESSAGEPGM("Z-Offset Stopped");
restore_ubl_active_state_and_leave();
goto LEAVE;
}
}
ubl.has_control_of_lcd_panel = false;
safe_delay(20); // We don't want any switch noise.
ubl.state.z_offset = measured_z;
lcd_implementation_clear();
restore_ubl_active_state_and_leave();
}
}
LEAVE:
lcd_reset_alert_level();
LCD_MESSAGEPGM("");
lcd_quick_feedback();
ubl.has_control_of_lcd_panel = false;
}
void find_mean_mesh_height() {
uint8_t x, y;
int n;
float sum, sum_of_diff_squared, sigma, difference, mean;
sum = sum_of_diff_squared = 0.0;
n = 0;
for (x = 0; x < GRID_MAX_POINTS_X; x++)
for (y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) {
sum += ubl.z_values[x][y];
n++;
}
mean = sum / n;
//
// Now do the sumation of the squares of difference from mean
//
for (x = 0; x < GRID_MAX_POINTS_X; x++)
for (y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) {
difference = (ubl.z_values[x][y] - mean);
sum_of_diff_squared += difference * difference;
}
SERIAL_ECHOLNPAIR("# of samples: ", n);
SERIAL_ECHOPGM("Mean Mesh Height: ");
SERIAL_ECHO_F(mean, 6);
SERIAL_EOL;
sigma = sqrt(sum_of_diff_squared / (n + 1));
SERIAL_ECHOPGM("Standard Deviation: ");
SERIAL_ECHO_F(sigma, 6);
SERIAL_EOL;
if (c_flag)
for (x = 0; x < GRID_MAX_POINTS_X; x++)
for (y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y]))
ubl.z_values[x][y] -= mean + ubl_constant;
}
void 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(ubl.z_values[x][y]))
ubl.z_values[x][y] += ubl_constant;
}
/**
* 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 probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) {
mesh_index_pair location;
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
do {
if (ubl_lcd_clicked()) {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
lcd_quick_feedback();
STOW_PROBE();
while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel
return;
}
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 1, NULL, do_furthest); // the '1' says we want the location to be relative to the probe
if (location.x_index >= 0 && location.y_index >= 0) {
const float rawx = ubl.mesh_index_to_xpos[location.x_index],
rawy = ubl.mesh_index_to_ypos[location.y_index];
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false;
goto LEAVE;
}
const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level);
ubl.z_values[location.x_index][location.y_index] = measured_z;
}
if (do_ubl_mesh_map) ubl.display_map(map_type);
} while (location.x_index >= 0 && location.y_index >= 0);
LEAVE:
STOW_PROBE();
restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), X_MIN_POS, X_MAX_POS),
constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), Y_MIN_POS, Y_MAX_POS)
);
}
vector_3 tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
float c, d, t;
int i, j;
vector_3 v1 = vector_3( (ubl_3_point_1_X - ubl_3_point_2_X),
(ubl_3_point_1_Y - ubl_3_point_2_Y),
(z1 - z2) ),
v2 = vector_3( (ubl_3_point_3_X - ubl_3_point_2_X),
(ubl_3_point_3_Y - ubl_3_point_2_Y),
(z3 - z2) ),
normal = vector_3::cross(v1, v2);
// printf("[%f,%f,%f] ", normal.x, normal.y, normal.z);
/**
* This code does two things. This vector is normal to the tilted plane.
* However, we don't know its direction. We need it to point up. So if
* Z is negative, we need to invert the sign of all components of the vector
* We also need Z to be unity because we are going to be treating this triangle
* as the sin() and cos() of the bed's tilt
*/
const float inv_z = 1.0 / normal.z;
normal.x *= inv_z;
normal.y *= inv_z;
normal.z = 1.0;
//
// All of 3 of these points should give us the same d constant
//
t = normal.x * ubl_3_point_1_X + normal.y * ubl_3_point_1_Y;
d = t + normal.z * z1;
c = d - t;
SERIAL_ECHOPGM("d from 1st point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
t = normal.x * ubl_3_point_2_X + normal.y * ubl_3_point_2_Y;
d = t + normal.z * z2;
c = d - t;
SERIAL_ECHOPGM("d from 2nd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
t = normal.x * ubl_3_point_3_X + normal.y * ubl_3_point_3_Y;
d = t + normal.z * z3;
c = d - t;
SERIAL_ECHOPGM("d from 3rd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
for (i = 0; i < GRID_MAX_POINTS_X; i++) {
for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
c = -((normal.x * (UBL_MESH_MIN_X + i * (MESH_X_DIST)) + normal.y * (UBL_MESH_MIN_Y + j * (MESH_Y_DIST))) - d);
ubl.z_values[i][j] += c;
}
}
return normal;
}
float use_encoder_wheel_to_measure_point() {
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle();
if (ubl.encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + 0.01 * float(ubl.encoder_diff));
ubl.encoder_diff = 0;
}
}
KEEPALIVE_STATE(IN_HANDLER);
return current_position[Z_AXIS];
}
float measure_business_card_thickness(const float &in_height) {
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement.");
do_blocking_move_to_z(in_height);
do_blocking_move_to_xy((float(X_MAX_POS) - float(X_MIN_POS)) / 2.0, (float(Y_MAX_POS) - float(Y_MIN_POS)) / 2.0);
//, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])/2.0);
const float z1 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
ubl.has_control_of_lcd_panel = false;
SERIAL_PROTOCOLLNPGM("Remove Shim and Measure Bed Height.");
const float z2 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
if (g29_verbose_level > 1) {
SERIAL_PROTOCOLPGM("Business Card is: ");
SERIAL_PROTOCOL_F(abs(z1 - z2), 6);
SERIAL_PROTOCOLLNPGM("mm thick.");
}
restore_ubl_active_state_and_leave();
return abs(z1 - z2);
}
void manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &card_thickness, const bool do_ubl_mesh_map) {
ubl.has_control_of_lcd_panel = 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_z(z_clearance);
do_blocking_move_to_xy(lx, ly);
float last_x = -9999.99, last_y = -9999.99;
mesh_index_pair location;
do {
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 0, NULL, false); // The '0' says we want to use the nozzle's position
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
if (location.x_index < 0 && location.y_index < 0) continue;
const float rawx = ubl.mesh_index_to_xpos[location.x_index],
rawy = ubl.mesh_index_to_ypos[location.y_index];
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false;
goto LEAVE;
}
const float xProbe = LOGICAL_X_POSITION(rawx),
yProbe = LOGICAL_Y_POSITION(rawy),
dx = xProbe - last_x,
dy = yProbe - last_y;
if (HYPOT(dx, dy) < BIG_RAISE_NOT_NEEDED)
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
else
do_blocking_move_to_z(z_clearance);
do_blocking_move_to_xy(xProbe, yProbe);
last_x = xProbe;
last_y = yProbe;
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle();
if (ubl.encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl.encoder_diff) / 100.0);
ubl.encoder_diff = 0;
}
}
const millis_t nxt = millis() + 1500L;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
if (ELAPSED(millis(), nxt)) {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
lcd_quick_feedback();
while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
restore_ubl_active_state_and_leave();
return;
}
}
ubl.z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - card_thickness;
if (g29_verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mesh Point Measured at: ");
SERIAL_PROTOCOL_F(ubl.z_values[location.x_index][location.y_index], 6);
SERIAL_EOL;
}
} while (location.x_index >= 0 && location.y_index >= 0);
if (do_ubl_mesh_map) ubl.display_map(map_type);
LEAVE:
restore_ubl_active_state_and_leave();
KEEPALIVE_STATE(IN_HANDLER);
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
}
bool g29_parameter_parsing() {
bool err_flag = false;
LCD_MESSAGEPGM("Doing G29 UBL!");
lcd_quick_feedback();
x_flag = code_seen('X') && code_has_value();
x_pos = x_flag ? code_value_float() : current_position[X_AXIS];
y_flag = code_seen('Y') && code_has_value();
y_pos = y_flag ? code_value_float() : current_position[Y_AXIS];
repetition_cnt = 0;
repeat_flag = code_seen('R');
if (repeat_flag) {
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
if (repetition_cnt < 1) {
SERIAL_PROTOCOLLNPGM("Invalid Repetition count.\n");
return UBL_ERR;
}
}
g29_verbose_level = code_seen('V') ? code_value_int() : 0;
if (!WITHIN(g29_verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("Invalid Verbose Level specified. (0-4)\n");
err_flag = true;
}
if (code_seen('G')) {
grid_size = code_has_value() ? code_value_int() : 3;
if (!WITHIN(grid_size, 2, 5)) {
SERIAL_PROTOCOLLNPGM("Invalid grid probe points specified.\n");
err_flag = true;
}
}
if (x_flag != y_flag) {
SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n");
err_flag = true;
}
if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n");
err_flag = true;
SERIAL_PROTOCOLPAIR("\nx_flag = ", x_flag); // These print blocks are only useful because sometimes the
SERIAL_PROTOCOLPAIR("\nx_pos = ", x_pos ); // data corruption causes x_pos and y_pos to be crazy. This gets deleted soon.
SERIAL_PROTOCOLPAIR("\ncurrent[] = ", current_position[X_AXIS]);
SERIAL_PROTOCOLPAIR("\nX_MIN_POS = ", X_MIN_POS);
SERIAL_PROTOCOLPAIR("\nX_MAX_POS = ", X_MAX_POS);
SERIAL_PROTOCOLPAIR("\nRAW_X_POSITION() = ", RAW_X_POSITION(x_pos));
SERIAL_PROTOCOLPAIR("\nwithin() = ", WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS));
SERIAL_PROTOCOL("\n");
}
if (!WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
err_flag = true;
SERIAL_PROTOCOLPAIR("\ny_flag = ", y_flag); // These print blocks are only useful because sometimes the
SERIAL_PROTOCOLPAIR("\ny_pos = ", y_pos ); // data corruption causes x_pos and y_pos to be crazy. This gets deleted soon.
SERIAL_PROTOCOLPAIR("\ncurrent[] = ", current_position[Y_AXIS]);
SERIAL_PROTOCOLPAIR("\nY_MIN_POS = ", Y_MIN_POS);
SERIAL_PROTOCOLPAIR("\nY_MAX_POS = ", Y_MAX_POS);
SERIAL_PROTOCOLPAIR("\nRAW_Y_POSITION() = ", RAW_Y_POSITION(y_pos));
SERIAL_PROTOCOLPAIR("\nwithin() = ", WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS));
SERIAL_PROTOCOL("\n");
}
if (err_flag) return UBL_ERR;
if (code_seen('A')) { // Activate the Unified Bed Leveling System
ubl.state.active = 1;
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n");
ubl.store_state();
}
c_flag = code_seen('C') && code_has_value();
ubl_constant = c_flag ? code_value_float() : 0.0;
if (code_seen('D')) { // Disable the Unified Bed Leveling System
ubl.state.active = 0;
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System de-activated.\n");
ubl.store_state();
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('F') && code_has_value()) {
const float fh = code_value_float();
if (!WITHIN(fh, 0.0, 100.0)) {
SERIAL_PROTOCOLLNPGM("?Bed Level Correction Fade Height Not Plausible.\n");
return UBL_ERR;
}
ubl.state.g29_correction_fade_height = fh;
ubl.state.g29_fade_height_multiplier = 1.0 / fh;
}
#endif
map_type = code_seen('O') && code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
}
if (code_seen('M')) { // Check if a map type was specified
map_type = code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
}
}
return UBL_OK;
}
/**
* This function goes away after G29 debug is complete. But for right now, it is a handy
* routine to dump binary data structures.
*/
/*
void dump(char * const str, const float &f) {
char *ptr;
SERIAL_PROTOCOL(str);
SERIAL_PROTOCOL_F(f, 8);
SERIAL_PROTOCOLPGM(" ");
ptr = (char*)&f;
for (uint8_t i = 0; i < 4; i++)
SERIAL_PROTOCOLPAIR(" ", hex_byte(*ptr++));
SERIAL_PROTOCOLPAIR(" isnan()=", isnan(f));
SERIAL_PROTOCOLPAIR(" isinf()=", isinf(f));
if (f == -INFINITY)
SERIAL_PROTOCOLPGM(" Minus Infinity detected.");
SERIAL_EOL;
}
*/
static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0;
void save_ubl_active_state_and_disable() {
ubl_state_recursion_chk++;
if (ubl_state_recursion_chk != 1) {
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
LCD_MESSAGEPGM("save_UBL_active() error");
lcd_quick_feedback();
return;
}
ubl_state_at_invocation = ubl.state.active;
ubl.state.active = 0;
}
void restore_ubl_active_state_and_leave() {
if (--ubl_state_recursion_chk) {
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
LCD_MESSAGEPGM("restore_UBL_active() error");
lcd_quick_feedback();
return;
}
ubl.state.active = 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 g29_what_command() {
const uint16_t k = E2END - ubl.eeprom_start;
SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version " UBL_VERSION " ");
if (ubl.state.active)
SERIAL_PROTOCOLCHAR('A');
else
SERIAL_PROTOCOLPGM("Ina");
SERIAL_PROTOCOLLNPGM("ctive.\n");
safe_delay(50);
if (ubl.state.eeprom_storage_slot == -1)
SERIAL_PROTOCOLPGM("No Mesh Loaded.");
else {
SERIAL_PROTOCOLPAIR("Mesh ", ubl.state.eeprom_storage_slot);
SERIAL_PROTOCOLPGM(" Loaded.");
}
SERIAL_EOL;
safe_delay(50);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_PROTOCOLLNPAIR("g29_correction_fade_height : ", ubl.state.g29_correction_fade_height);
#endif
SERIAL_PROTOCOLPGM("z_offset: ");
SERIAL_PROTOCOL_F(ubl.state.z_offset, 6);
SERIAL_EOL;
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(ubl.mesh_index_to_xpos[i]), 1);
SERIAL_PROTOCOLPGM(" ");
safe_delay(50);
}
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(ubl.mesh_index_to_ypos[i]), 1);
SERIAL_PROTOCOLPGM(" ");
safe_delay(50);
}
SERIAL_EOL;
#if HAS_KILL
SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
#endif
SERIAL_EOL;
safe_delay(50);
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_PROTOCOLLNPAIR("Free EEPROM space starts at: ", hex_address((void*)ubl.eeprom_start));
SERIAL_PROTOCOLLNPAIR("end of EEPROM : ", hex_address((void*)E2END));
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(ubl.z_values));
SERIAL_EOL;
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)k));
safe_delay(50);
SERIAL_PROTOCOLPAIR("EEPROM can hold ", k / sizeof(ubl.z_values));
SERIAL_PROTOCOLLNPGM(" meshes.\n");
safe_delay(50);
SERIAL_PROTOCOLPAIR("sizeof(ubl.state) : ", (int)sizeof(ubl.state));
SERIAL_PROTOCOLPAIR("\nGRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
SERIAL_PROTOCOLPAIR("\nGRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
safe_delay(50);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MIN_X ", UBL_MESH_MIN_X);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MIN_Y ", UBL_MESH_MIN_Y);
safe_delay(50);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MAX_X ", UBL_MESH_MAX_X);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MAX_Y ", UBL_MESH_MAX_Y);
safe_delay(50);
SERIAL_PROTOCOLPGM("\nMESH_X_DIST ");
SERIAL_PROTOCOL_F(MESH_X_DIST, 6);
SERIAL_PROTOCOLPGM("\nMESH_Y_DIST ");
SERIAL_PROTOCOL_F(MESH_Y_DIST, 6);
SERIAL_EOL;
safe_delay(50);
if (!ubl.sanity_check())
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling 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 g29_eeprom_dump() {
unsigned char cccc;
uint16_t kkkk;
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("EEPROM Dump:");
for (uint16_t i = 0; i < E2END + 1; 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, (void *)kkkk, 1);
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 g29_compare_current_mesh_to_stored_mesh() {
float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
if (!code_has_value()) {
SERIAL_PROTOCOLLNPGM("?Mesh # required.\n");
return;
}
storage_slot = code_value_int();
int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(tmp_z_values);
if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
return;
}
j = UBL_LAST_EEPROM_INDEX - (storage_slot + 1) * sizeof(tmp_z_values);
eeprom_read_block((void *)&tmp_z_values, (void *)j, sizeof(tmp_z_values));
SERIAL_ECHOPAIR("Subtracting Mesh ", storage_slot);
SERIAL_PROTOCOLLNPAIR(" loaded from EEPROM address ", hex_address((void*)j)); // Soon, we can remove the extra clutter of printing
// the address in the EEPROM where the Mesh is stored.
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
ubl.z_values[x][y] -= tmp_z_values[x][y];
}
mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16], bool far_flag) {
float distance, closest = far_flag ? -99999.99 : 99999.99;
mesh_index_pair return_val;
return_val.x_index = return_val.y_index = -1;
const float current_x = current_position[X_AXIS],
current_y = current_position[Y_AXIS];
// Get our reference position. Either the nozzle or probe location.
const float px = lx - (probe_as_reference ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ly - (probe_as_reference ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if ( (type == INVALID && isnan(ubl.z_values[i][j])) // Check to see if this location holds the right thing
|| (type == REAL && !isnan(ubl.z_values[i][j]))
|| (type == SET_IN_BITMAP && is_bit_set(bits, i, j))
) {
// We only get here if we found a Mesh Point of the specified type
const float rawx = ubl.mesh_index_to_xpos[i], // Check if we can probe this mesh location
rawy = ubl.mesh_index_to_ypos[j];
// If using the probe as the reference there are some unreachable locations.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (probe_as_reference &&
(!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y))
) continue;
// Unreachable. Check if it's the closest location to the nozzle.
// Add in a weighting factor that considers the current location of the nozzle.
const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location
my = LOGICAL_Y_POSITION(rawy);
distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1;
if (far_flag) { // If doing the far_flag action, we want to be as far as possible
for (uint8_t k = 0; k < GRID_MAX_POINTS_X; k++) { // from the starting point and from any other probed points. We
for (uint8_t l = 0; l < GRID_MAX_POINTS_Y; l++) { // want the next point spread out and filling in any blank spaces
if (!isnan(ubl.z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed
distance += sq(i - k) * (MESH_X_DIST) * .05 // point we can find.
+ sq(j - l) * (MESH_Y_DIST) * .05;
}
}
}
}
if (far_flag == (distance > closest) && distance != closest) { // if far_flag, look for farthest point
closest = distance; // We found a closer/farther location with
return_val.x_index = i; // the specified type of mesh value.
return_val.y_index = j;
return_val.distance = closest;
}
}
} // for j
} // for i
return return_val;
}
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
if (!code_seen('R')) // fine_tune_mesh() is special. If no repetion count flag is specified
repetition_cnt = 1; // we know to do exactly one mesh location. Otherwise we use what the parser decided.
mesh_index_pair location;
uint16_t not_done[16];
int32_t round_off;
save_ubl_active_state_and_disable();
memset(not_done, 0xFF, sizeof(not_done));
LCD_MESSAGEPGM("Fine Tuning Mesh");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, 0, not_done, false); // The '0' says we want to use the nozzle's position
// It doesn't matter if the probe can not reach this
// location. This is a manual edit of the Mesh Point.
if (location.x_index < 0 && location.y_index < 0) continue; // abort if we can't find any more points.
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
// different location the next time through the loop
const float rawx = ubl.mesh_index_to_xpos[location.x_index],
rawy = ubl.mesh_index_to_ypos[location.y_index];
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) { // In theory, we don't need this check.
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to edit off the bed."); // This really can't happen, but do the check for now
ubl.has_control_of_lcd_panel = false;
goto FINE_TUNE_EXIT;
}
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit
do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
float new_z = ubl.z_values[location.x_index][location.y_index];
round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the
new_z = float(round_off) / 1000.0;
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted
lcd_implementation_clear();
lcd_mesh_edit_setup(new_z);
do {
new_z = lcd_mesh_edit();
idle();
} while (!ubl_lcd_clicked());
lcd_return_to_status();
ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
// or here.
const millis_t nxt = millis() + 1500UL;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
if (ELAPSED(millis(), nxt)) {
lcd_return_to_status();
//SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
LCD_MESSAGEPGM("Mesh Editing Stopped");
while (ubl_lcd_clicked()) idle();
goto FINE_TUNE_EXIT;
}
}
safe_delay(20); // We don't want any switch noise.
ubl.z_values[location.x_index][location.y_index] = new_z;
lcd_implementation_clear();
} while (location.x_index >= 0 && location.y_index >= 0 && (--repetition_cnt>0));
FINE_TUNE_EXIT:
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
if (do_ubl_mesh_map) ubl.display_map(map_type);
restore_ubl_active_state_and_leave();
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
LCD_MESSAGEPGM("Done Editing Mesh");
SERIAL_ECHOLNPGM("Done Editing Mesh");
}
void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
int8_t grid_G_index_to_xpos[grid_size], // UBL MESH X index to be probed
grid_G_index_to_ypos[grid_size], // UBL MESH Y index to be probed
i, j ,k, xCount, yCount, xi, yi; // counter variables
float z_values_G[grid_size][grid_size];
linear_fit *results;
for (yi = 0; yi < grid_size; yi++)
for (xi = 0; xi < grid_size; xi++)
z_values_G[xi][yi] = NAN;
uint8_t x_min = GRID_MAX_POINTS_X - 1,
x_max = 0,
y_min = GRID_MAX_POINTS_Y - 1,
y_max = 0;
//find min & max probeable points in the mesh
for (xCount = 0; xCount < GRID_MAX_POINTS_X; xCount++) {
for (yCount = 0; yCount < GRID_MAX_POINTS_Y; yCount++) {
if (WITHIN(ubl.mesh_index_to_xpos[xCount], MIN_PROBE_X, MAX_PROBE_X) && WITHIN(ubl.mesh_index_to_ypos[yCount], MIN_PROBE_Y, MAX_PROBE_Y)) {
NOMORE(x_min, xCount);
NOLESS(x_max, xCount);
NOMORE(y_min, yCount);
NOLESS(y_max, yCount);
}
}
}
if (x_max - x_min + 1 < grid_size || y_max - y_min + 1 < grid_size) {
SERIAL_ECHOPAIR("ERROR - probeable UBL MESH smaller than grid - X points: ", x_max - x_min + 1);
SERIAL_ECHOPAIR(" Y points: ", y_max - y_min + 1);
SERIAL_ECHOLNPAIR(" grid: ", grid_size);
return;
}
// populate X matrix
for (xi = 0; xi < grid_size; xi++) {
grid_G_index_to_xpos[xi] = x_min + xi * (x_max - x_min) / (grid_size - 1);
if (xi > 0 && grid_G_index_to_xpos[xi - 1] == grid_G_index_to_xpos[xi]) {
grid_G_index_to_xpos[xi] = grid_G_index_to_xpos[xi - 1] + 1;
}
}
// populate Y matrix
for (yi = 0; yi < grid_size; yi++) {
grid_G_index_to_ypos[yi] = y_min + yi * (y_max - y_min) / (grid_size - 1);
if (yi > 0 && grid_G_index_to_ypos[yi - 1] == grid_G_index_to_ypos[yi]) {
grid_G_index_to_ypos[yi] = grid_G_index_to_ypos[yi - 1] + 1;
}
}
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
// this is a copy of the G29 AUTO_BED_LEVELING_BILINEAR method/code
#undef PROBE_Y_FIRST
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_NUM grid_size
#define PR_INNER_VAR yCount
#define PR_INNER_NUM grid_size
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_NUM grid_size
#define PR_INNER_VAR xCount
#define PR_INNER_NUM grid_size
#endif
bool zig = PR_OUTER_NUM & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
// Outer loop is Y with PROBE_Y_FIRST disabled
for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
SERIAL_ECHOPAIR("\nPR_OUTER_VAR: ", PR_OUTER_VAR);
if (zig) { // away from origin
inStart = 0;
inStop = PR_INNER_NUM;
inInc = 1;
}
else { // towards origin
inStart = PR_INNER_NUM - 1;
inStop = -1;
inInc = -1;
}
zig ^= true; // zag
// Inner loop is Y with PROBE_Y_FIRST enabled
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
//SERIAL_ECHOPAIR("\nPR_INNER_VAR: ", PR_INNER_VAR);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 1);
// end of G29 AUTO_BED_LEVELING_BILINEAR method/code
if (ubl_lcd_clicked()) {
//SERIAL_ECHOPAIR("\nCheckpoint: ", 2);
SERIAL_ECHOLNPGM("\nGrid only partially populated.\n");
lcd_quick_feedback();
STOW_PROBE();
//SERIAL_ECHOPAIR("\nCheckpoint: ", 3);
while (ubl_lcd_clicked()) idle();
//SERIAL_ECHOPAIR("\nCheckpoint: ", 4);
ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel
return;
}
//SERIAL_ECHOPAIR("\nCheckpoint: ", 5);
const float probeX = ubl.mesh_index_to_xpos[grid_G_index_to_xpos[xCount]], //where we want the probe to be
probeY = ubl.mesh_index_to_ypos[grid_G_index_to_ypos[yCount]];
//SERIAL_ECHOPAIR("\nCheckpoint: ", 6);
const float measured_z = probe_pt(LOGICAL_X_POSITION(probeX), LOGICAL_Y_POSITION(probeY), code_seen('E'), (code_seen('V') && code_has_value()) ? code_value_int() : 0); // takes into account the offsets
//SERIAL_ECHOPAIR("\nmeasured_z: ", measured_z);
z_values_G[xCount][yCount] = measured_z;
//SERIAL_ECHOLNPGM("\nFine Tuning of Mesh Stopped.");
}
}
//SERIAL_ECHOLNPGM("\nDone probing...\n");
STOW_PROBE();
restore_ubl_active_state_and_leave();
// ?? ubl.has_control_of_lcd_panel = true;
//do_blocking_move_to_xy(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[0]], ubl.mesh_index_to_ypos[grid_G_index_to_ypos[0]]);
// least squares code
double xxx5[] = { 0,50,100,150,200, 20,70,120,165,195, 0,50,100,150,200, 0,55,100,150,200, 0,65,100,150,205 },
yyy5[] = { 0, 1, 2, 3, 4, 50, 51, 52, 53, 54, 100, 101,102,103,104, 150,151,152,153,154, 200,201,202,203,204 },
zzz5[] = { 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.012,0.01},
xxx0[] = { 0.0, 0.0, 1.0 }, // Expect [0,0,0.1,0]
yyy0[] = { 0.0, 1.0, 0.0 },
zzz0[] = { 0.1, 0.1, 0.1 },
xxx[] = { 0.0, 0.0, 1.0, 1.0 }, // Expect [0.1,0,0.05,0]
yyy[] = { 0.0, 1.0, 0.0, 1.0 },
zzz[] = { 0.05, 0.05, 0.15, 0.15 };
results = lsf_linear_fit(xxx5, yyy5, zzz5, COUNT(xxx5));
SERIAL_ECHOPAIR("\nxxx5->A =", results->A);
SERIAL_ECHOPAIR("\nxxx5->B =", results->B);
SERIAL_ECHOPAIR("\nxxx5->D =", results->D);
SERIAL_EOL;
results = lsf_linear_fit(xxx0, yyy0, zzz0, COUNT(xxx0));
SERIAL_ECHOPAIR("\nxxx0->A =", results->A);
SERIAL_ECHOPAIR("\nxxx0->B =", results->B);
SERIAL_ECHOPAIR("\nxxx0->D =", results->D);
SERIAL_EOL;
results = lsf_linear_fit(xxx, yyy, zzz, COUNT(xxx));
SERIAL_ECHOPAIR("\nxxx->A =", results->A);
SERIAL_ECHOPAIR("\nxxx->B =", results->B);
SERIAL_ECHOPAIR("\nxxx->D =", results->D);
SERIAL_EOL;
} // end of tilt_mesh_based_on_probed_grid()
#endif // AUTO_BED_LEVELING_UBL
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