Merge pull request #1549 from mionut/7MBL
7x7 mesh bed leveling with power failure save + pinda temperature filter
This commit is contained in:
PavelSindler
GitHub
commit
250a448d05
@ -1592,7 +1592,7 @@ void setup()
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*/
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manage_heater(); // Update temperatures
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#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
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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))
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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));
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#endif
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if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
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#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
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@ -4230,8 +4230,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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current_position[Z_AXIS] = 5;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
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current_position[X_AXIS] = pgm_read_float(bed_ref_points);
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current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
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current_position[X_AXIS] = BED_X0;
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current_position[Y_AXIS] = BED_Y0;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
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st_synchronize();
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@ -4261,8 +4261,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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}
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current_position[Z_AXIS] = 5;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
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current_position[X_AXIS] = pgm_read_float(bed_ref_points);
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current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
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current_position[X_AXIS] = BED_X0;
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current_position[Y_AXIS] = BED_Y0;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
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st_synchronize();
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find_bed_induction_sensor_point_z(-1.f);
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@ -4380,6 +4380,21 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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break;
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}
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uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
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if (code_seen('N')) {
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nMeasPoints = code_value_uint8();
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if (nMeasPoints != 7) {
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nMeasPoints = 3;
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}
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}
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uint8_t nProbeRetry = 3;
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if (code_seen('R')) {
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nProbeRetry = code_value_uint8();
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if (nProbeRetry > 10) {
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nProbeRetry = 3;
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}
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}
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bool temp_comp_start = true;
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#ifdef PINDA_THERMISTOR
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@ -4408,7 +4423,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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unsigned int custom_message_type_old = custom_message_type;
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unsigned int custom_message_state_old = custom_message_state;
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custom_message_type = CUSTOM_MSG_TYPE_MESHBL;
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custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
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custom_message_state = (nMeasPoints * nMeasPoints) + 10;
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lcd_update(1);
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mbl.reset(); //reset mesh bed leveling
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@ -4422,8 +4437,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
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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);
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// The move to the first calibration point.
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current_position[X_AXIS] = pgm_read_float(bed_ref_points);
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current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
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current_position[X_AXIS] = BED_X0;
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current_position[Y_AXIS] = BED_Y0;
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#ifdef SUPPORT_VERBOSITY
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if (verbosity_level >= 1)
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@ -4432,19 +4447,15 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
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}
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#endif //SUPPORT_VERBOSITY
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// mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
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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);
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// Wait until the move is finished.
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st_synchronize();
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int mesh_point = 0; //index number of calibration point
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int ix = 0;
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int iy = 0;
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uint8_t mesh_point = 0; //index number of calibration point
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int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
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int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
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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)
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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)
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#ifdef SUPPORT_VERBOSITY
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if (verbosity_level >= 1) {
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has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
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@ -4452,13 +4463,13 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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#endif // SUPPORT_VERBOSITY
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int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
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const char *kill_message = NULL;
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while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
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while (mesh_point != nMeasPoints * nMeasPoints) {
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// Get coords of a measuring point.
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ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
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iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
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if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
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uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
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uint8_t iy = mesh_point / nMeasPoints;
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if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
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float z0 = 0.f;
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if (has_z && mesh_point > 0) {
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if (has_z && (mesh_point > 0)) {
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uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
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z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
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//#if 0
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@ -4481,8 +4492,8 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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st_synchronize();
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// Move to XY position of the sensor point.
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current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
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current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
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current_position[X_AXIS] = BED_X(ix, nMeasPoints);
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current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
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@ -4500,7 +4511,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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// Go down until endstop is hit
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const float Z_CALIBRATION_THRESHOLD = 1.f;
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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
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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
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kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
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break;
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}
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@ -4553,7 +4564,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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#endif // SUPPORT_VERBOSITY
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
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st_synchronize();
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if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
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if (mesh_point != nMeasPoints * nMeasPoints) {
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Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
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bool bState;
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do { // repeat until Z-leveling o.k.
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@ -4631,34 +4642,40 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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float offset = float(correction) * 0.001f;
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switch (i) {
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case 0:
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for (uint8_t row = 0; row < 3; ++row) {
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mbl.z_values[row][1] += 0.5f * offset;
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mbl.z_values[row][0] += offset;
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for (uint8_t row = 0; row < nMeasPoints; ++row) {
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for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
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mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
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}
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}
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break;
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case 1:
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for (uint8_t row = 0; row < 3; ++row) {
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mbl.z_values[row][1] += 0.5f * offset;
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mbl.z_values[row][2] += offset;
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for (uint8_t row = 0; row < nMeasPoints; ++row) {
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for (uint8_t col = 1; col < nMeasPoints; ++col) {
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mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
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}
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}
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break;
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case 2:
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for (uint8_t col = 0; col < 3; ++col) {
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mbl.z_values[1][col] += 0.5f * offset;
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mbl.z_values[0][col] += offset;
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for (uint8_t col = 0; col < nMeasPoints; ++col) {
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for (uint8_t row = 0; row < nMeasPoints; ++row) {
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mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
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}
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}
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break;
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case 3:
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for (uint8_t col = 0; col < 3; ++col) {
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mbl.z_values[1][col] += 0.5f * offset;
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mbl.z_values[2][col] += offset;
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for (uint8_t col = 0; col < nMeasPoints; ++col) {
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for (uint8_t row = 1; row < nMeasPoints; ++row) {
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mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
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}
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}
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break;
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}
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}
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}
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// SERIAL_ECHOLNPGM("Bed leveling correction finished");
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if (nMeasPoints == 3) {
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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)
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}
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// SERIAL_ECHOLNPGM("Upsample finished");
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mbl.active = 1; //activate mesh bed leveling
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// SERIAL_ECHOLNPGM("Mesh bed leveling activated");
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@ -8411,13 +8428,13 @@ void uvlo_()
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// Move Z up to the next 0th full step.
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// Write the file position.
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eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
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// Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
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for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
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uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
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uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
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// Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
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for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
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uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
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uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
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// Scale the z value to 1u resolution.
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int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
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eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
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int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
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eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
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}
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// Read out the current Z motor microstep counter. This will be later used
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// for reaching the zero full step before powering off.
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@ -8640,20 +8657,18 @@ void recover_machine_state_after_power_panic(bool bTiny)
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// 2) Initialize the logical to physical coordinate system transformation.
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world2machine_initialize();
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// 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
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// 3) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
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mbl.active = false;
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for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
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uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
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uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
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for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
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uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
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uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
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// Scale the z value to 10u resolution.
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int16_t v;
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eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
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eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
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if (v != 0)
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mbl.active = true;
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mbl.z_values[iy][ix] = float(v) * 0.001f;
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}
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if (mbl.active)
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mbl.upsample_3x3();
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// SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
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// print_mesh_bed_leveling_table();
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@ -154,6 +154,8 @@
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#define EEPROM_MMU_LOAD_FAIL_TOT (EEPROM_MMU_FAIL - 2) //uint16_t
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#define EEPROM_MMU_LOAD_FAIL (EEPROM_MMU_LOAD_FAIL_TOT - 1) //uint8_t
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#define EEPROM_UVLO_MESH_BED_LEVELING_FULL (EEPROM_MMU_LOAD_FAIL - 1000 - 12*12*2) //allow 12 calibration points for future expansion
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//-1000 is to be compatible with future updates from prusa if it not merged, real value is 2503 so there is space
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// !!!!!
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// !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!!
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// !!!!!
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@ -23,8 +23,7 @@ float world2machine_shift[2];
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#define WEIGHT_FIRST_ROW_Y_HIGH (0.3f)
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#define WEIGHT_FIRST_ROW_Y_LOW (0.0f)
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#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) // -22 + 23 = 1
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#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER + 4.f) // -0.6 + 5 + 4 = 8.4
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// Scaling of the real machine axes against the programmed dimensions in the firmware.
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// The correction is tiny, here around 0.5mm on 250mm length.
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@ -89,19 +88,6 @@ const float bed_ref_points_4[] PROGMEM = {
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210.4f - BED_PRINT_ZERO_REF_Y - Y_PROBE_OFFSET_FROM_EXTRUDER - SHEET_PRINT_ZERO_REF_Y
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};
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const float bed_ref_points[] PROGMEM = {
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13.f - BED_ZERO_REF_X, 10.4f - BED_ZERO_REF_Y,
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115.f - BED_ZERO_REF_X, 10.4f - BED_ZERO_REF_Y,
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216.f - BED_ZERO_REF_X, 10.4f - BED_ZERO_REF_Y,
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216.f - BED_ZERO_REF_X, 106.4f - BED_ZERO_REF_Y,
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115.f - BED_ZERO_REF_X, 106.4f - BED_ZERO_REF_Y,
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13.f - BED_ZERO_REF_X, 106.4f - BED_ZERO_REF_Y,
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13.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y,
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115.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y,
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216.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y
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};
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#else
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// Positions of the bed reference points in the machine coordinates, referenced to the P.I.N.D.A sensor.
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@ -113,22 +99,9 @@ const float bed_ref_points_4[] PROGMEM = {
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13.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y
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};
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const float bed_ref_points[] PROGMEM = {
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13.f - BED_ZERO_REF_X, 8.4f - BED_ZERO_REF_Y,
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115.f - BED_ZERO_REF_X, 8.4f - BED_ZERO_REF_Y,
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216.f - BED_ZERO_REF_X, 8.4f - BED_ZERO_REF_Y,
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216.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y,
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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_Y_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_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.
|
||||
if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION)
|
||||
current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION;
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
@ -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)];
|
||||
|
||||
Loading…
Reference in New Issue
Block a user