From 4835b9b2206b180e4e4f2781b79843e096d337e1 Mon Sep 17 00:00:00 2001 From: Laurentiu Date: Thu, 14 Feb 2019 10:57:58 +0200 Subject: [PATCH 1/4] 7x7 points mesh bed leveling --- Firmware/Marlin_main.cpp | 113 +++++++++++++++++------------- Firmware/eeprom.h | 2 + Firmware/mesh_bed_calibration.cpp | 62 ++++++---------- Firmware/mesh_bed_calibration.h | 23 +++++- Firmware/mesh_bed_leveling.cpp | 72 ------------------- Firmware/temperature.cpp | 6 +- 6 files changed, 114 insertions(+), 164 deletions(-) diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 08df9408..66a54f45 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -4230,8 +4230,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) current_position[Z_AXIS] = 5; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder); - current_position[X_AXIS] = pgm_read_float(bed_ref_points); - current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1); + current_position[X_AXIS] = BED_X0; + current_position[Y_AXIS] = BED_Y0; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder); st_synchronize(); @@ -4261,8 +4261,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) } current_position[Z_AXIS] = 5; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder); - current_position[X_AXIS] = pgm_read_float(bed_ref_points); - current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1); + current_position[X_AXIS] = BED_X0; + current_position[Y_AXIS] = BED_Y0; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder); st_synchronize(); find_bed_induction_sensor_point_z(-1.f); @@ -4380,6 +4380,21 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) break; } + uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS; + if (code_seen('N')) { + nMeasPoints = code_value_uint8(); + if (nMeasPoints != 7) { + nMeasPoints = 3; + } + } + + uint8_t nProbeRetry = 3; + if (code_seen('R')) { + nProbeRetry = code_value_uint8(); + if (nProbeRetry > 10) { + nProbeRetry = 3; + } + } bool temp_comp_start = true; #ifdef PINDA_THERMISTOR @@ -4408,7 +4423,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) unsigned int custom_message_type_old = custom_message_type; unsigned int custom_message_state_old = custom_message_state; custom_message_type = CUSTOM_MSG_TYPE_MESHBL; - custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10; + custom_message_state = (nMeasPoints * nMeasPoints) + 10; lcd_update(1); mbl.reset(); //reset mesh bed leveling @@ -4422,8 +4437,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder); // The move to the first calibration point. - current_position[X_AXIS] = pgm_read_float(bed_ref_points); - current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1); + current_position[X_AXIS] = BED_X0; + current_position[Y_AXIS] = BED_Y0; #ifdef SUPPORT_VERBOSITY if (verbosity_level >= 1) @@ -4431,20 +4446,16 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n"); } - #endif //SUPPORT_VERBOSITY - // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false); + #endif //SUPPORT_VERBOSITY plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder); // Wait until the move is finished. st_synchronize(); - int mesh_point = 0; //index number of calibration point - - int ix = 0; - int iy = 0; + uint8_t mesh_point = 0; //index number of calibration point int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20; int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40; - bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point) + bool has_z = (nMeasPoints == 3) && is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point) #ifdef SUPPORT_VERBOSITY if (verbosity_level >= 1) { has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n"); @@ -4452,13 +4463,13 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) #endif // SUPPORT_VERBOSITY int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100 const char *kill_message = NULL; - while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) { + while (mesh_point != nMeasPoints * nMeasPoints) { // Get coords of a measuring point. - ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 - iy = mesh_point / MESH_MEAS_NUM_X_POINTS; - if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag + uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1 + uint8_t iy = mesh_point / nMeasPoints; + if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag float z0 = 0.f; - if (has_z && mesh_point > 0) { + if (has_z && (mesh_point > 0)) { uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1))); z0 = mbl.z_values[0][0] + *reinterpret_cast(&z_offset_u) * 0.01; //#if 0 @@ -4481,8 +4492,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) st_synchronize(); // Move to XY position of the sensor point. - current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point); - current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1); + current_position[X_AXIS] = BED_X(ix, nMeasPoints); + current_position[Y_AXIS] = BED_Y(iy, nMeasPoints); @@ -4500,7 +4511,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) // Go down until endstop is hit const float Z_CALIBRATION_THRESHOLD = 1.f; - if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point + if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW); break; } @@ -4553,7 +4564,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) #endif // SUPPORT_VERBOSITY plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); st_synchronize(); - if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) { + if (mesh_point != nMeasPoints * nMeasPoints) { Sound_MakeSound(e_SOUND_TYPE_StandardAlert); bool bState; do { // repeat until Z-leveling o.k. @@ -4631,34 +4642,40 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) float offset = float(correction) * 0.001f; switch (i) { case 0: - for (uint8_t row = 0; row < 3; ++row) { - mbl.z_values[row][1] += 0.5f * offset; - mbl.z_values[row][0] += offset; + for (uint8_t row = 0; row < nMeasPoints; ++row) { + for (uint8_t col = 0; col < nMeasPoints - 1; ++col) { + mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1); + } } break; case 1: - for (uint8_t row = 0; row < 3; ++row) { - mbl.z_values[row][1] += 0.5f * offset; - mbl.z_values[row][2] += offset; + for (uint8_t row = 0; row < nMeasPoints; ++row) { + for (uint8_t col = 1; col < nMeasPoints; ++col) { + mbl.z_values[row][col] += offset * col / (nMeasPoints - 1); + } } break; case 2: - for (uint8_t col = 0; col < 3; ++col) { - mbl.z_values[1][col] += 0.5f * offset; - mbl.z_values[0][col] += offset; + for (uint8_t col = 0; col < nMeasPoints; ++col) { + for (uint8_t row = 0; row < nMeasPoints; ++row) { + mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1); + } } break; case 3: - for (uint8_t col = 0; col < 3; ++col) { - mbl.z_values[1][col] += 0.5f * offset; - mbl.z_values[2][col] += offset; + for (uint8_t col = 0; col < nMeasPoints; ++col) { + for (uint8_t row = 1; row < nMeasPoints; ++row) { + mbl.z_values[row][col] += offset * row / (nMeasPoints - 1); + } } break; } } } // SERIAL_ECHOLNPGM("Bed leveling correction finished"); - mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them) + if (nMeasPoints == 3) { + mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them) + } // SERIAL_ECHOLNPGM("Upsample finished"); mbl.active = 1; //activate mesh bed leveling // SERIAL_ECHOLNPGM("Mesh bed leveling activated"); @@ -8404,13 +8421,13 @@ void uvlo_() // Move Z up to the next 0th full step. // Write the file position. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position); - // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case. - for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) { - uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 - uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; + // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case. + for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) { + uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 + uint8_t iy = mesh_point / MESH_NUM_X_POINTS; // Scale the z value to 1u resolution. - int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0; - eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast(&v)); + int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0; + eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast(&v)); } // Read out the current Z motor microstep counter. This will be later used // for reaching the zero full step before powering off. @@ -8633,20 +8650,18 @@ void recover_machine_state_after_power_panic(bool bTiny) // 2) Initialize the logical to physical coordinate system transformation. world2machine_initialize(); - // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case. + // 3) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case. mbl.active = false; - for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) { - uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 - uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; + for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) { + uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 + uint8_t iy = mesh_point / MESH_NUM_X_POINTS; // Scale the z value to 10u resolution. int16_t v; - eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2); + eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2); if (v != 0) mbl.active = true; mbl.z_values[iy][ix] = float(v) * 0.001f; } - if (mbl.active) - mbl.upsample_3x3(); // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial "); // print_mesh_bed_leveling_table(); diff --git a/Firmware/eeprom.h b/Firmware/eeprom.h index 9f878796..eb99e5bc 100644 --- a/Firmware/eeprom.h +++ b/Firmware/eeprom.h @@ -154,6 +154,8 @@ #define EEPROM_MMU_LOAD_FAIL_TOT (EEPROM_MMU_FAIL - 2) //uint16_t #define EEPROM_MMU_LOAD_FAIL (EEPROM_MMU_LOAD_FAIL_TOT - 1) //uint8_t +#define EEPROM_UVLO_MESH_BED_LEVELING_FULL (EEPROM_MMU_LOAD_FAIL - 1000 - 12*12*2) //allow 12 calibration points for future expansion +//-1000 is to be compatible with future updates from prusa if it not merged, real value is 2503 so there is space // !!!!! // !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!! // !!!!! diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index 35798c2e..2813945c 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -23,8 +23,7 @@ float world2machine_shift[2]; #define WEIGHT_FIRST_ROW_Y_HIGH (0.3f) #define WEIGHT_FIRST_ROW_Y_LOW (0.0f) -#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) // -22 + 23 = 1 -#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER + 4.f) // -0.6 + 5 + 4 = 8.4 + // Scaling of the real machine axes against the programmed dimensions in the firmware. // The correction is tiny, here around 0.5mm on 250mm length. @@ -89,19 +88,6 @@ const float bed_ref_points_4[] PROGMEM = { 210.4f - BED_PRINT_ZERO_REF_Y - Y_PROBE_OFFSET_FROM_EXTRUDER - SHEET_PRINT_ZERO_REF_Y }; -const float bed_ref_points[] PROGMEM = { - 13.f - BED_ZERO_REF_X, 10.4f - BED_ZERO_REF_Y, - 115.f - BED_ZERO_REF_X, 10.4f - BED_ZERO_REF_Y, - 216.f - BED_ZERO_REF_X, 10.4f - BED_ZERO_REF_Y, - - 216.f - BED_ZERO_REF_X, 106.4f - BED_ZERO_REF_Y, - 115.f - BED_ZERO_REF_X, 106.4f - BED_ZERO_REF_Y, - 13.f - BED_ZERO_REF_X, 106.4f - BED_ZERO_REF_Y, - - 13.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y, - 115.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y, - 216.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y -}; #else // Positions of the bed reference points in the machine coordinates, referenced to the P.I.N.D.A sensor. @@ -113,22 +99,9 @@ const float bed_ref_points_4[] PROGMEM = { 13.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y }; -const float bed_ref_points[] PROGMEM = { - 13.f - BED_ZERO_REF_X, 8.4f - BED_ZERO_REF_Y, - 115.f - BED_ZERO_REF_X, 8.4f - BED_ZERO_REF_Y, - 216.f - BED_ZERO_REF_X, 8.4f - BED_ZERO_REF_Y, - - 216.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y, - 115.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y, - 13.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y, - - 13.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y, - 115.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y, - 216.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y -}; - #endif //not HEATBED_V2 + static inline float sqr(float x) { return x * x; } #ifdef HEATBED_V2 @@ -2428,8 +2401,11 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level refresh_cmd_timeout(); // Go to the measurement point. // Use the coorrected coordinate, which is a result of find_bed_offset_and_skew(). - current_position[X_AXIS] = pgm_read_float(bed_ref_points + mesh_point * 2); - current_position[Y_AXIS] = pgm_read_float(bed_ref_points + mesh_point * 2 + 1); + uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 + uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; + if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; + current_position[X_AXIS] = BED_X(ix, MESH_MEAS_NUM_X_POINTS); + current_position[Y_AXIS] = BED_Y(iy, MESH_MEAS_NUM_X_POINTS); go_to_current(homing_feedrate[X_AXIS] / 60); delay_keep_alive(3000); } @@ -2806,8 +2782,8 @@ bool sample_mesh_and_store_reference() // The first point defines the reference. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; go_to_current(homing_feedrate[Z_AXIS]/60); - current_position[X_AXIS] = pgm_read_float(bed_ref_points); - current_position[Y_AXIS] = pgm_read_float(bed_ref_points+1); + current_position[X_AXIS] = BED_X0; + current_position[Y_AXIS] = BED_Y0; world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); go_to_current(homing_feedrate[X_AXIS]/60); memcpy(destination, current_position, sizeof(destination)); @@ -2836,8 +2812,11 @@ bool sample_mesh_and_store_reference() // Print the decrasing ID of the measurement point. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; go_to_current(homing_feedrate[Z_AXIS]/60); - current_position[X_AXIS] = pgm_read_float(bed_ref_points+2*mesh_point); - current_position[Y_AXIS] = pgm_read_float(bed_ref_points+2*mesh_point+1); + int8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; + int8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; + if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag + current_position[X_AXIS] = BED_X(ix, MESH_MEAS_NUM_X_POINTS); + current_position[Y_AXIS] = BED_Y(iy, MESH_MEAS_NUM_Y_POINTS); world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); go_to_current(homing_feedrate[X_AXIS]/60); #ifdef MESH_BED_CALIBRATION_SHOW_LCD @@ -2852,9 +2831,7 @@ bool sample_mesh_and_store_reference() return false; } // Get cords of measuring point - int8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; - int8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; - if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag + mbl.set_z(ix, iy, current_position[Z_AXIS]); } { @@ -2956,8 +2933,13 @@ bool scan_bed_induction_points(int8_t verbosity_level) go_to_current(homing_feedrate[Z_AXIS]/60); // Go to the measurement point. // Use the coorrected coordinate, which is a result of find_bed_offset_and_skew(). - current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points+mesh_point*2) + vec_y[0] * pgm_read_float(bed_ref_points+mesh_point*2+1) + cntr[0]; - current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points+mesh_point*2) + vec_y[1] * pgm_read_float(bed_ref_points+mesh_point*2+1) + cntr[1]; + uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 + uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; + if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; + float bedX = BED_X(ix, MESH_MEAS_NUM_X_POINTS); + float bedY = BED_Y(iy, MESH_MEAS_NUM_X_POINTS); + current_position[X_AXIS] = vec_x[0] * bedX + vec_y[0] * bedY + cntr[0]; + current_position[Y_AXIS] = vec_x[1] * bedX + vec_y[1] * bedY + cntr[1]; // The calibration points are very close to the min Y. if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION) current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION; diff --git a/Firmware/mesh_bed_calibration.h b/Firmware/mesh_bed_calibration.h index d928f1d1..4990d104 100644 --- a/Firmware/mesh_bed_calibration.h +++ b/Firmware/mesh_bed_calibration.h @@ -1,10 +1,31 @@ #ifndef MESH_BED_CALIBRATION_H #define MESH_BED_CALIBRATION_H +#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) // -22 + 23 = 1 +#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER + 4.f) // -0.6 + 5 + 4 = 8.4 + +#ifdef HEATBED_V2 + +#define BED_X0 (13.f - BED_ZERO_REF_X) +#define BED_Y0 (10.4f - BED_ZERO_REF_Y) +#define BED_Xn (216.f - BED_ZERO_REF_X) +#define BED_Yn (202.4f - BED_ZERO_REF_Y) + +#else + +#define BED_X0 (13.f - BED_ZERO_REF_X) +#define BED_Y0 (8.4f - BED_ZERO_REF_Y) +#define BED_Xn (216.f - BED_ZERO_REF_X) +#define BED_Yn (202.4f - BED_ZERO_REF_Y) + +#endif //not HEATBED_V2 + +#define BED_X(i, n) ((float)i * (BED_Xn - BED_X0) / (n - 1) + BED_X0) +#define BED_Y(i, n) ((float)i * (BED_Yn - BED_Y0) / (n - 1) + BED_Y0) + // Exact positions of the print head above the bed reference points, in the world coordinates. // The world coordinates match the machine coordinates only in case, when the machine // is built properly, the end stops are at the correct positions and the axes are perpendicular. -extern const float bed_ref_points[] PROGMEM; extern const float bed_ref_points_4[] PROGMEM; extern const float bed_skew_angle_mild; diff --git a/Firmware/mesh_bed_leveling.cpp b/Firmware/mesh_bed_leveling.cpp index 746458ae..344d41e3 100644 --- a/Firmware/mesh_bed_leveling.cpp +++ b/Firmware/mesh_bed_leveling.cpp @@ -21,78 +21,6 @@ static inline bool vec_undef(const float v[2]) return vx[0] == 0x0FFFFFFFF || vx[1] == 0x0FFFFFFFF; } -void mesh_bed_leveling::get_meas_xy(int ix, int iy, float &x, float &y, bool /*use_default*/) -{ -#if 0 - float cntr[2] = { - eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0)), - eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4)) - }; - float vec_x[2] = { - eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +0)), - eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +4)) - }; - float vec_y[2] = { - eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +0)), - eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +4)) - }; - - if (use_default || vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) { - // Default, uncorrected positions of the calibration points. Works well for correctly built printers. - x = float(MESH_MIN_X) + float(MEAS_NUM_X_DIST) * float(ix) - X_PROBE_OFFSET_FROM_EXTRUDER; - //FIXME - //x -= 5.f; - y = float(MESH_MIN_Y) + float(MEAS_NUM_Y_DIST) * float(iy) - Y_PROBE_OFFSET_FROM_EXTRUDER; - } else { -#if 0 - SERIAL_ECHO("Running bed leveling. Calibration data: "); - SERIAL_ECHO(cntr[0]); - SERIAL_ECHO(","); - SERIAL_ECHO(cntr[1]); - SERIAL_ECHO(", x: "); - SERIAL_ECHO(vec_x[0]); - SERIAL_ECHO(","); - SERIAL_ECHO(vec_x[1]); - SERIAL_ECHO(", y: "); - SERIAL_ECHO(vec_y[0]); - SERIAL_ECHO(","); - SERIAL_ECHO(vec_y[1]); - SERIAL_ECHOLN(""); -#endif - - x = cntr[0]; - y = cntr[1]; - if (ix < 1) { - x -= vec_x[0]; - y -= vec_x[1]; - } else if (ix > 1) { - x += vec_x[0]; - y += vec_x[1]; - } - if (iy < 1) { - x -= vec_y[0]; - y -= vec_y[1]; - } else if (iy > 1) { - x += vec_y[0]; - y += vec_y[1]; - } - -#if 0 - SERIAL_ECHO("Calibration point position: "); - SERIAL_ECHO(x); - SERIAL_ECHO(","); - SERIAL_ECHO(y); - SERIAL_ECHOLN(""); -#endif - } -#else - // Default, uncorrected positions of the calibration points. - // This coordinate will be corrected by the planner. - x = pgm_read_float(bed_ref_points + 2 * (iy * 3 + ix)); - y = pgm_read_float(bed_ref_points + 2 * (iy * 3 + ix) + 1); -#endif -} - #if MESH_NUM_X_POINTS>=5 && MESH_NUM_Y_POINTS>=5 && (MESH_NUM_X_POINTS&1)==1 && (MESH_NUM_Y_POINTS&1)==1 // Works for an odd number of MESH_NUM_X_POINTS and MESH_NUM_Y_POINTS diff --git a/Firmware/temperature.cpp b/Firmware/temperature.cpp index e156734b..c8de4104 100644 --- a/Firmware/temperature.cpp +++ b/Firmware/temperature.cpp @@ -55,7 +55,8 @@ int current_temperature_raw[EXTRUDERS] = { 0 }; float current_temperature[EXTRUDERS] = { 0.0 }; #ifdef PINDA_THERMISTOR -int current_temperature_raw_pinda = 0 ; +uint16_t current_temperature_raw_pinda = 0 ; //value with more averaging applied +uint16_t current_temperature_raw_pinda_fast = 0; //value read from adc float current_temperature_pinda = 0.0; #endif //PINDA_THERMISTOR @@ -1031,6 +1032,7 @@ static void updateTemperaturesFromRawValues() } #ifdef PINDA_THERMISTOR + current_temperature_raw_pinda = (uint16_t)((uint32_t)current_temperature_raw_pinda * 3 + current_temperature_raw_pinda_fast) >> 2; current_temperature_pinda = analog2tempBed(current_temperature_raw_pinda); #endif @@ -1596,7 +1598,7 @@ extern "C" { void adc_ready(void) //callback from adc when sampling finished { current_temperature_raw[0] = adc_values[ADC_PIN_IDX(TEMP_0_PIN)]; //heater - current_temperature_raw_pinda = adc_values[ADC_PIN_IDX(TEMP_PINDA_PIN)]; + current_temperature_raw_pinda_fast = adc_values[ADC_PIN_IDX(TEMP_PINDA_PIN)]; current_temperature_bed_raw = adc_values[ADC_PIN_IDX(TEMP_BED_PIN)]; #ifdef VOLT_PWR_PIN current_voltage_raw_pwr = adc_values[ADC_PIN_IDX(VOLT_PWR_PIN)]; From afc86a1363f1f7bd9067ceb96ba3dc5d0ad94542 Mon Sep 17 00:00:00 2001 From: Laurentiu Date: Mon, 18 Feb 2019 05:50:29 +0200 Subject: [PATCH 2/4] missing ; --- Firmware/Marlin_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 66a54f45..009530e2 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -1592,7 +1592,7 @@ void setup() */ manage_heater(); // Update temperatures #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER - printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED)) + printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED)); #endif if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){ #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER From 62875f2e954130146f4eb2146856681857ac36b4 Mon Sep 17 00:00:00 2001 From: Laurentiu Date: Fri, 22 Feb 2019 14:35:48 +0200 Subject: [PATCH 3/4] MESH_MEAS_NUM_X_POINTS constant correction to MESH_MEAS_NUM_Y_POINTS --- Firmware/mesh_bed_calibration.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index 2813945c..ec814f05 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -2937,7 +2937,7 @@ bool scan_bed_induction_points(int8_t verbosity_level) uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; float bedX = BED_X(ix, MESH_MEAS_NUM_X_POINTS); - float bedY = BED_Y(iy, MESH_MEAS_NUM_X_POINTS); + float bedY = BED_Y(iy, MESH_MEAS_NUM_Y_POINTS); current_position[X_AXIS] = vec_x[0] * bedX + vec_y[0] * bedY + cntr[0]; current_position[Y_AXIS] = vec_x[1] * bedX + vec_y[1] * bedY + cntr[1]; // The calibration points are very close to the min Y. From 51827c578f5745b5990f5ff4bdbf080bb0faf1ef Mon Sep 17 00:00:00 2001 From: Laurentiu Date: Fri, 22 Feb 2019 15:05:06 +0200 Subject: [PATCH 4/4] MESH_MEAS_NUM_X_POINTS constant correction to MESH_MEAS_NUM_Y_POINTS --- Firmware/mesh_bed_calibration.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index ec814f05..0f56d999 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -2405,7 +2405,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; current_position[X_AXIS] = BED_X(ix, MESH_MEAS_NUM_X_POINTS); - current_position[Y_AXIS] = BED_Y(iy, MESH_MEAS_NUM_X_POINTS); + current_position[Y_AXIS] = BED_Y(iy, MESH_MEAS_NUM_Y_POINTS); go_to_current(homing_feedrate[X_AXIS] / 60); delay_keep_alive(3000); }