3DPrinting/Prusa-Firmware
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

3.0.10 sync

Browse source
This commit is contained in:
michalprusa 2017-03-24 19:47:50 +01:00
parent 99ae9707de
commit 3faef75a0d
27 changed files with 4026 additions and 811 deletions

88
Firmware/mesh_bed_calibration.cpp
View file

@ -1,5 +1,6 @@
#include "Marlin.h"
#include "Configuration.h"
#include "ConfigurationStore.h"
#include "language_all.h"
#include "mesh_bed_calibration.h"
#include "mesh_bed_leveling.h"
@ -411,18 +412,55 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
cntr[1] = 0.f;
float wx = 0.f;
float wy = 0.f;
for (int8_t i = 0; i < 9; ++ i) {
for (int8_t i = 0; i < npts; ++ i) {
float x = vec_x[0] * measured_pts[i * 2] + vec_y[0] * measured_pts[i * 2 + 1];
float y = vec_x[1] * measured_pts[i * 2] + vec_y[1] * measured_pts[i * 2 + 1];
float w = point_weight_x(i, y);
cntr[0] += w * (pgm_read_float(true_pts + i * 2) - x);
wx += w;
cntr[0] += w * (pgm_read_float(true_pts + i * 2) - x);
wx += w;
if (verbosity_level >= 20) {
MYSERIAL.print(i);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("Weight_x:");
MYSERIAL.print(w);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("cntr[0]:");
MYSERIAL.print(cntr[0]);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("wx:");
MYSERIAL.print(wx);
}
w = point_weight_y(i, y);
cntr[1] += w * (pgm_read_float(true_pts + i * 2 + 1) - y);
wy += w;
}
cntr[1] += w * (pgm_read_float(true_pts + i * 2 + 1) - y);
wy += w;
if (verbosity_level >= 20) {
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("Weight_y:");
MYSERIAL.print(w);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("cntr[1]:");
MYSERIAL.print(cntr[1]);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("wy:");
MYSERIAL.print(wy);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("");
}
}
cntr[0] /= wx;
cntr[1] /= wy;
if (verbosity_level >= 20) {
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("Final cntr values:");
SERIAL_ECHOLNPGM("cntr[0]:");
MYSERIAL.print(cntr[0]);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOLNPGM("cntr[1]:");
MYSERIAL.print(cntr[1]);
SERIAL_ECHOLNPGM("");
}
}
#endif
@ -511,6 +549,7 @@ void reset_bed_offset_and_skew()
}
bool is_bed_z_jitter_data_valid()
// offsets of the Z heiths of the calibration points from the first point are saved as 16bit signed int, scaled to tenths of microns
{
for (int8_t i = 0; i < 8; ++ i)
if (eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER+i*2)) == 0x0FFFF)
@ -603,18 +642,24 @@ void world2machine_initialize()
// Length of the vec_x shall be close to unity.
float l = sqrt(vec_x[0] * vec_x[0] + vec_x[1] * vec_x[1]);
if (l < 0.9 || l > 1.1) {
SERIAL_ECHOLNPGM("X vector length:");
MYSERIAL.println(l);
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the X vector out of range.");
reset = true;
}
// Length of the vec_y shall be close to unity.
l = sqrt(vec_y[0] * vec_y[0] + vec_y[1] * vec_y[1]);
if (l < 0.9 || l > 1.1) {
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the X vector out of range.");
SERIAL_ECHOLNPGM("Y vector length:");
MYSERIAL.println(l);
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the Y vector out of range.");
reset = true;
}
// Correction of the zero point shall be reasonably small.
l = sqrt(cntr[0] * cntr[0] + cntr[1] * cntr[1]);
if (l > 15.f) {
SERIAL_ECHOLNPGM("Zero point correction:");
MYSERIAL.println(l);
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Shift out of range.");
reset = true;
}
@ -1652,7 +1697,27 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +0), vec_y[0]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +4), vec_y[1]);
#endif
if (verbosity_level >= 10) {
// Length of the vec_x
float l = sqrt(vec_x[0] * vec_x[0] + vec_x[1] * vec_x[1]);
SERIAL_ECHOLNPGM("X vector length:");
MYSERIAL.println(l);
// Length of the vec_y
l = sqrt(vec_y[0] * vec_y[0] + vec_y[1] * vec_y[1]);
SERIAL_ECHOLNPGM("Y vector length:");
MYSERIAL.println(l);
// Zero point correction
l = sqrt(cntr[0] * cntr[0] + cntr[1] * cntr[1]);
SERIAL_ECHOLNPGM("Zero point correction:");
MYSERIAL.println(l);
// vec_x and vec_y shall be nearly perpendicular.
l = vec_x[0] * vec_y[0] + vec_x[1] * vec_y[1];
SERIAL_ECHOLNPGM("Perpendicularity");
MYSERIAL.println(fabs(l));
SERIAL_ECHOLNPGM("Saving bed calibration vectors to EEPROM");
}
// Correct the current_position to match the transformed coordinate system after world2machine_rotation_and_skew and world2machine_shift were set.
world2machine_update_current();
@ -2151,11 +2216,14 @@ static int babystepLoadZ = 0;
void babystep_apply()
{
// Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
if(eeprom_read_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET) == 0x01)
// Apply Z height correction aka baby stepping before mesh bed leveling gets activated.
if(calibration_status() == CALIBRATION_STATUS_CALIBRATED)
{
// End of G80: Apply the baby stepping value.
check_babystep(); //checking if babystep is in allowed range, otherwise setting babystep to 0
// End of G80: Apply the baby stepping value.
EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoadZ);
#if 0
SERIAL_ECHO("Z baby step: ");
SERIAL_ECHO(babystepLoadZ);