diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h index c540b13b..5767b8b2 100644 --- a/Firmware/Marlin.h +++ b/Firmware/Marlin.h @@ -343,7 +343,6 @@ extern unsigned long t_fan_rising_edge; extern bool mesh_bed_leveling_flag; extern bool mesh_bed_run_from_menu; -extern float distance_from_min[2]; extern bool sortAlpha; extern char dir_names[3][9]; diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index da4bfba1..272cbcfe 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -324,8 +324,6 @@ unsigned int custom_message_type; unsigned int custom_message_state; char snmm_filaments_used = 0; -float distance_from_min[2]; - bool fan_state[2]; int fan_edge_counter[2]; int fan_speed[2]; diff --git a/Firmware/language_all.cpp b/Firmware/language_all.cpp index 967230f3..1681d26e 100644 --- a/Firmware/language_all.cpp +++ b/Firmware/language_all.cpp @@ -1168,6 +1168,11 @@ const char * const MSG_MAX_LANG_TABLE[1] PROGMEM = { MSG_MAX_EN }; +const char MSG_MEASURED_OFFSET_EN[] PROGMEM = "[0;0] point offset"; +const char * const MSG_MEASURED_OFFSET_LANG_TABLE[1] PROGMEM = { + MSG_MEASURED_OFFSET_EN +}; + const char MSG_MEASURED_SKEW_EN[] PROGMEM = "Measured skew:"; const char MSG_MEASURED_SKEW_CZ[] PROGMEM = "Merene zkoseni:"; const char * const MSG_MEASURED_SKEW_LANG_TABLE[LANG_NUM] PROGMEM = { diff --git a/Firmware/language_all.h b/Firmware/language_all.h index 5030ad34..45e53c59 100644 --- a/Firmware/language_all.h +++ b/Firmware/language_all.h @@ -394,6 +394,8 @@ extern const char* const MSG_MARK_FIL_LANG_TABLE[LANG_NUM]; #define MSG_MARK_FIL LANG_TABLE_SELECT(MSG_MARK_FIL_LANG_TABLE) extern const char* const MSG_MAX_LANG_TABLE[1]; #define MSG_MAX LANG_TABLE_SELECT_EXPLICIT(MSG_MAX_LANG_TABLE, 0) +extern const char* const MSG_MEASURED_OFFSET_LANG_TABLE[1]; +#define MSG_MEASURED_OFFSET LANG_TABLE_SELECT_EXPLICIT(MSG_MEASURED_OFFSET_LANG_TABLE, 0) extern const char* const MSG_MEASURED_SKEW_LANG_TABLE[LANG_NUM]; #define MSG_MEASURED_SKEW LANG_TABLE_SELECT(MSG_MEASURED_SKEW_LANG_TABLE) extern const char* const MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1_LANG_TABLE[LANG_NUM]; diff --git a/Firmware/language_en.h b/Firmware/language_en.h index 5228750b..8c036677 100644 --- a/Firmware/language_en.h +++ b/Firmware/language_en.h @@ -219,6 +219,7 @@ #define(length=17,lines=1) MSG_SHOW_END_STOPS "Show end stops" #define MSG_CALIBRATE_BED "Calibrate XYZ" #define MSG_CALIBRATE_BED_RESET "Reset XYZ calibr." +#define MSG_MEASURED_OFFSET "[0;0] point offset" #define(length=20,lines=8) MSG_MOVE_CARRIAGE_TO_THE_TOP "Calibrating XYZ. Rotate the knob to move the Z carriage up to the end stoppers. Click when done." #define(length=20,lines=8) MSG_MOVE_CARRIAGE_TO_THE_TOP_Z "Calibrating Z. Rotate the knob to move the Z carriage up to the end stoppers. Click when done." diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index 266733c8..c8e839c4 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -732,19 +732,24 @@ void world2machine_reset() } /** - * @brief Set calibration matrix to default value + * @brief Get calibration matrix default value * * This is used if no valid calibration data can be read from EEPROM. + * @param [out] vec_x axis x vector + * @param [out] vec_y axis y vector + * @param [out] cntr offset vector */ -static void world2machine_default() +static void world2machine_default(float vec_x[2], float vec_y[2], float cntr[2]) { + vec_x[0] = 1.f; + vec_x[1] = 0.f; + vec_y[0] = 0.f; + vec_y[1] = 1.f; + cntr[0] = 0.f; #ifdef DEFAULT_Y_OFFSET - const float vx[] = { 1.f, 0.f }; - const float vy[] = { 0.f, 1.f }; - const float cntr[] = { 0.f, DEFAULT_Y_OFFSET }; - world2machine_update(vx, vy, cntr); + cntr[1] = DEFAULT_Y_OFFSET; #else - world2machine_reset(); + cntr[1] = 0.f; #endif } /** @@ -768,93 +773,121 @@ static inline bool vec_undef(const float v[2]) return vx[0] == 0x0FFFFFFFF || vx[1] == 0x0FFFFFFFF; } + /** - * @brief Read and apply calibration data from EEPROM + * @brief Read calibration data from EEPROM * * If no calibration data has been stored in EEPROM or invalid, * world2machine_default() is used. * * If stored calibration data is invalid, EEPROM storage is cleared. - * + * @param [out] vec_x axis x vector + * @param [out] vec_y axis y vector + * @param [out] cntr offset vector */ -void world2machine_initialize() +void world2machine_read_valid(float vec_x[2], float vec_y[2], float cntr[2]) { - //SERIAL_ECHOLNPGM("world2machine_initialize"); - 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)) - }; + vec_x[0] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +0)); + vec_x[1] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +4)); + vec_y[0] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +0)); + vec_y[1] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +4)); + cntr[0] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0)); + cntr[1] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4)); bool reset = false; - if (vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) { -// SERIAL_ECHOLNPGM("Undefined bed correction matrix."); + if (vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) + { +#if 0 + SERIAL_ECHOLNPGM("Undefined bed correction matrix."); +#endif reset = true; } - else { + else + { // 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."); + if (l < 0.9 || l > 1.1) + { +#if 0 + SERIAL_ECHOLNPGM("X vector length:"); + MYSERIAL.println(l); + SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the X vector out of range."); +#endif 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("Y vector length:"); -// MYSERIAL.println(l); -// SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the Y vector out of range."); + if (l < 0.9 || l > 1.1) + { +#if 0 + SERIAL_ECHOLNPGM("Y vector length:"); + MYSERIAL.println(l); + SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the Y vector out of range."); +#endif 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."); + if (l > 15.f) + { +#if 0 + SERIAL_ECHOLNPGM("Zero point correction:"); + MYSERIAL.println(l); + SERIAL_ECHOLNPGM("Invalid bed correction matrix. Shift out of range."); +#endif reset = true; } // vec_x and vec_y shall be nearly perpendicular. l = vec_x[0] * vec_y[0] + vec_x[1] * vec_y[1]; - if (fabs(l) > 0.1f) { -// SERIAL_ECHOLNPGM("Invalid bed correction matrix. X/Y axes are far from being perpendicular."); + if (fabs(l) > 0.1f) + { +#if 0 + SERIAL_ECHOLNPGM("Invalid bed correction matrix. X/Y axes are far from being perpendicular."); +#endif reset = true; } } - if (reset) { -// SERIAL_ECHOLNPGM("Invalid bed correction matrix. Resetting to identity."); + if (reset) + { +#if 0 + SERIAL_ECHOLNPGM("Invalid bed correction matrix. Resetting to identity."); +#endif reset_bed_offset_and_skew(); - world2machine_default(); - } else { - world2machine_update(vec_x, vec_y, cntr); - /* - SERIAL_ECHOPGM("world2machine_initialize() loaded: "); - MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5); - SERIAL_ECHOPGM(", "); - MYSERIAL.print(world2machine_rotation_and_skew[0][1], 5); - SERIAL_ECHOPGM(", "); - MYSERIAL.print(world2machine_rotation_and_skew[1][0], 5); - SERIAL_ECHOPGM(", "); - MYSERIAL.print(world2machine_rotation_and_skew[1][1], 5); - SERIAL_ECHOPGM(", offset "); - MYSERIAL.print(world2machine_shift[0], 5); - SERIAL_ECHOPGM(", "); - MYSERIAL.print(world2machine_shift[1], 5); - SERIAL_ECHOLNPGM(""); - */ + world2machine_default(vec_x, vec_y, cntr); } } +/** + * @brief Read and apply validated calibration data from EEPROM + */ +void world2machine_initialize() +{ +#if 0 + SERIAL_ECHOLNPGM("world2machine_initialize"); +#endif + float vec_x[2]; + float vec_y[2]; + float cntr[2]; + world2machine_read_valid(vec_x, vec_y, cntr); + world2machine_update(vec_x, vec_y, cntr); +#if 0 + SERIAL_ECHOPGM("world2machine_initialize() loaded: "); + MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5); + SERIAL_ECHOPGM(", "); + MYSERIAL.print(world2machine_rotation_and_skew[0][1], 5); + SERIAL_ECHOPGM(", "); + MYSERIAL.print(world2machine_rotation_and_skew[1][0], 5); + SERIAL_ECHOPGM(", "); + MYSERIAL.print(world2machine_rotation_and_skew[1][1], 5); + SERIAL_ECHOPGM(", offset "); + MYSERIAL.print(world2machine_shift[0], 5); + SERIAL_ECHOPGM(", "); + MYSERIAL.print(world2machine_shift[1], 5); + SERIAL_ECHOLNPGM(""); +#endif +} + /** * @brief Update current position after switching to corrected coordinates * @@ -2960,8 +2993,7 @@ void babystep_reset() babystepLoadZ = 0; } -void count_xyz_details() { - float a1, a2; +void count_xyz_details(float (&distanceMin)[2]) { float cntr[2] = { eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER + 0)), eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER + 4)) @@ -2974,12 +3006,14 @@ void count_xyz_details() { eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y + 0)), eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y + 4)) }; +#if 0 a2 = -1 * asin(vec_y[0] / MACHINE_AXIS_SCALE_Y); a1 = asin(vec_x[1] / MACHINE_AXIS_SCALE_X); - //angleDiff = fabs(a2 - a1); + angleDiff = fabs(a2 - a1); +#endif for (uint8_t mesh_point = 0; mesh_point < 2; ++mesh_point) { float y = vec_x[1] * pgm_read_float(bed_ref_points_4 + mesh_point * 2) + vec_y[1] * pgm_read_float(bed_ref_points_4 + mesh_point * 2 + 1) + cntr[1]; - distance_from_min[mesh_point] = (y - Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH); + distanceMin[mesh_point] = (y - Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH); } } diff --git a/Firmware/mesh_bed_calibration.h b/Firmware/mesh_bed_calibration.h index ced77cf6..6d020f8c 100644 --- a/Firmware/mesh_bed_calibration.h +++ b/Firmware/mesh_bed_calibration.h @@ -26,16 +26,10 @@ extern float world2machine_rotation_and_skew_inv[2][2]; // Shift of the machine zero point, in the machine coordinates. extern float world2machine_shift[2]; -// Resets the transformation to identity. extern void world2machine_reset(); -// Resets the transformation to identity and update current_position[X,Y] from the servos. extern void world2machine_revert_to_uncorrected(); -// Loads the transformation from the EEPROM, if available. extern void world2machine_initialize(); - -// When switching from absolute to corrected coordinates, -// this will apply an inverse world2machine transformation -// to current_position[x,y]. +extern void world2machine_read_valid(float vec_x[2], float vec_y[2], float cntr[2]); extern void world2machine_update_current(); inline void world2machine(float &x, float &y) @@ -181,7 +175,8 @@ extern void babystep_undo(); // Reset the current babystep counter without moving the axes. extern void babystep_reset(); -extern void count_xyz_details(); + +extern void count_xyz_details(float (&distanceMin)[2]); extern bool sample_z(); #endif /* MESH_BED_CALIBRATION_H */ diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index 4ab147f2..2f5e5fe7 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -197,6 +197,8 @@ unsigned char firstrun = 1; #include "ultralcd_implementation_hitachi_HD44780.h" +static const char separator[] PROGMEM = "--------------------"; + /** forward declarations **/ static const char* lcd_display_message_fullscreen_nonBlocking_P(const char *msg, uint8_t &nlines); @@ -227,6 +229,9 @@ static void prusa_stat_temperatures(); static void prusa_stat_printinfo(); static void lcd_farm_no(); static void lcd_menu_extruder_info(); +static void lcd_menu_xyz_y_min(); +static void lcd_menu_xyz_skew(); +static void lcd_menu_xyz_offset(); #if defined(TMC2130) || defined(PAT9125) static void lcd_menu_fails_stats(); #endif //TMC2130 or PAT9125 @@ -1585,7 +1590,6 @@ static void lcd_menu_extruder_info() if (lcd_clicked()) { - lcd_quick_feedback(); menu_action_back(); } } @@ -1690,7 +1694,7 @@ static void lcd_menu_debug() if (lcd_clicked()) { lcd_quick_feedback(); - lcd_return_to_status(); + menu_action_back(); } } #endif /* DEBUG_BUILD */ @@ -1706,7 +1710,6 @@ static void lcd_menu_temperatures() if (lcd_clicked()) { - lcd_quick_feedback(); menu_action_back(); } } @@ -1724,7 +1727,6 @@ static void lcd_menu_voltages() fprintf_P(lcdout, PSTR( ESC_H(1,1)"PWR: %d.%01dV"), (int)volt_pwr, (int)(10*fabs(volt_pwr - (int)volt_pwr))) ; if (lcd_clicked()) { - lcd_quick_feedback(); menu_action_back(); } } @@ -1736,7 +1738,6 @@ static void lcd_menu_belt_status() fprintf_P(lcdout, PSTR(ESC_H(1,0) "Belt status" ESC_H(2,1) "X %d" ESC_H(2,2) "Y %d" ), eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_X)), eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_Y))); if (lcd_clicked()) { - lcd_quick_feedback(); menu_action_back(); } } @@ -1835,7 +1836,7 @@ static void lcd_support_menu() } #ifndef MK1BP MENU_ITEM(back, PSTR("------------"), 0); - if (!IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL)) MENU_ITEM(function, MSG_XYZ_DETAILS, lcd_service_mode_show_result); + MENU_ITEM(submenu, MSG_XYZ_DETAILS, lcd_menu_xyz_y_min); MENU_ITEM(submenu, MSG_INFO_EXTRUDER, lcd_menu_extruder_info); #ifdef TMC2130 @@ -2294,63 +2295,92 @@ static void lcd_move_e() lcd_return_to_status(); } } +/** + * @brief Show measured Y distance of front calibration points from Y_MIN_POS + * + * If those points are detected too close to edge of reachable area, their confidence is lowered. + * This functionality is applied more often for MK2 printers. + */ +static void lcd_menu_xyz_y_min() +{ + lcd.setCursor(0,0); + lcd_printPGM(MSG_Y_DISTANCE_FROM_MIN); + lcd_print_at_PGM(0, 1, separator); + lcd_print_at_PGM(0, 2, MSG_LEFT); + lcd_print_at_PGM(0, 3, MSG_RIGHT); -void lcd_service_mode_show_result() { - float angleDiff; - lcd_set_custom_characters_degree(); - count_xyz_details(); - angleDiff = eeprom_read_float((float*)(EEPROM_XYZ_CAL_SKEW)); - lcd_update_enable(false); - lcd_implementation_clear(); - lcd_printPGM(MSG_Y_DISTANCE_FROM_MIN); - lcd_print_at_PGM(0, 1, MSG_LEFT); - lcd_print_at_PGM(0, 2, MSG_RIGHT); + float distanceMin[2]; + count_xyz_details(distanceMin); - for (int i = 0; i < 2; i++) { - if(distance_from_min[i] < 200) { - lcd_print_at_PGM(11, i + 1, PSTR("")); - lcd.print(distance_from_min[i]); - lcd_print_at_PGM((distance_from_min[i] < 0) ? 17 : 16, i + 1, PSTR("mm")); - } else lcd_print_at_PGM(11, i + 1, PSTR("N/A")); - } - delay_keep_alive(500); - KEEPALIVE_STATE(PAUSED_FOR_USER); - while (!lcd_clicked()) { - delay_keep_alive(100); - } - delay_keep_alive(500); - lcd_implementation_clear(); - - - lcd_printPGM(MSG_MEASURED_SKEW); - if (angleDiff < 100) { - lcd.setCursor(15, 0); - lcd.print(angleDiff * 180 / M_PI); - lcd.print(LCD_STR_DEGREE); - }else lcd_print_at_PGM(16, 0, PSTR("N/A")); - lcd_print_at_PGM(0, 1, PSTR("--------------------")); - lcd_print_at_PGM(0, 2, MSG_SLIGHT_SKEW); - lcd_print_at_PGM(15, 2, PSTR("")); - lcd.print(bed_skew_angle_mild * 180 / M_PI); - lcd.print(LCD_STR_DEGREE); - lcd_print_at_PGM(0, 3, MSG_SEVERE_SKEW); - lcd_print_at_PGM(15, 3, PSTR("")); - lcd.print(bed_skew_angle_extreme * 180 / M_PI); - lcd.print(LCD_STR_DEGREE); - delay_keep_alive(500); - while (!lcd_clicked()) { - delay_keep_alive(100); - } - KEEPALIVE_STATE(NOT_BUSY); - delay_keep_alive(500); - lcd_set_custom_characters_arrows(); - lcd_return_to_status(); - lcd_update_enable(true); - lcd_update(2); + for (int i = 0; i < 2; i++) { + if(distanceMin[i] < 200) { + lcd_print_at_PGM(11, i + 2, PSTR("")); + lcd.print(distanceMin[i]); + lcd_print_at_PGM((distanceMin[i] < 0) ? 17 : 16, i + 2, PSTR("mm")); + } else lcd_print_at_PGM(11, i + 2, PSTR("N/A")); + } + if (lcd_clicked()) + { + lcd_goto_menu(lcd_menu_xyz_skew); + } } +/** + * @brief Show measured axis skewness + */ +static void lcd_menu_xyz_skew() +{ + float angleDiff; + angleDiff = eeprom_read_float((float*)(EEPROM_XYZ_CAL_SKEW)); + lcd.setCursor(0,0); + lcd_printPGM(MSG_MEASURED_SKEW); + if (angleDiff < 100) { + lcd.setCursor(15, 0); + lcd.print(angleDiff * 180 / M_PI); + lcd.print(LCD_STR_DEGREE); + }else lcd_print_at_PGM(16, 0, PSTR("N/A")); + lcd_print_at_PGM(0, 1, separator); + lcd_print_at_PGM(0, 2, MSG_SLIGHT_SKEW); + lcd_print_at_PGM(15, 2, PSTR("")); + lcd.print(bed_skew_angle_mild * 180 / M_PI); + lcd.print(LCD_STR_DEGREE); + lcd_print_at_PGM(0, 3, MSG_SEVERE_SKEW); + lcd_print_at_PGM(15, 3, PSTR("")); + lcd.print(bed_skew_angle_extreme * 180 / M_PI); + lcd.print(LCD_STR_DEGREE); + if (lcd_clicked()) + { + lcd_goto_menu(lcd_menu_xyz_offset); + } +} +/** + * @brief Show measured bed offset from expected position + */ +static void lcd_menu_xyz_offset() +{ + lcd.setCursor(0,0); + lcd_printPGM(MSG_MEASURED_OFFSET); + lcd_print_at_PGM(0, 1, separator); + lcd_print_at_PGM(0, 2, PSTR("X")); + lcd_print_at_PGM(0, 3, PSTR("Y")); + float vec_x[2]; + float vec_y[2]; + float cntr[2]; + world2machine_read_valid(vec_x, vec_y, cntr); + + for (int i = 0; i < 2; i++) + { + lcd_print_at_PGM(11, i + 2, PSTR("")); + lcd.print(cntr[i]); + lcd_print_at_PGM((cntr[i] < 0) ? 17 : 16, i + 2, PSTR("mm")); + } + if (lcd_clicked()) + { + menu_action_back(); + } +} // Save a single axis babystep value. void EEPROM_save_B(int pos, int* value) @@ -7175,7 +7205,7 @@ static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bo if (_step == 13) lcd_printPGM(PSTR("Calibrating home")); lcd.setCursor(0, 1); - lcd.print("--------------------"); + lcd_printPGM(separator); if ((_step >= -1) && (_step <= 1)) { //SERIAL_ECHOLNPGM("Fan test"); diff --git a/Firmware/ultralcd.h b/Firmware/ultralcd.h index 740dd738..4107bc72 100644 --- a/Firmware/ultralcd.h +++ b/Firmware/ultralcd.h @@ -296,8 +296,6 @@ void lcd_temp_calibration_set(); void display_loading(); -void lcd_service_mode_show_result(); - #if !SDSORT_USES_RAM void lcd_set_degree(); void lcd_set_progress();