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Merge pull request #660 from mkbel/fix_z_home_point

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Update documentation of mesh_bed_calibration.cpp.
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PavelSindler 2018-04-25 17:27:22 +02:00 committed by GitHub
commit e7ad81e159
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2 changed files with 64 additions and 22 deletions
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67
Firmware/mesh_bed_calibration.cpp
View File

@ -163,22 +163,29 @@ static inline float point_weight_y(const uint8_t i, const uint8_t npts, const fl
}
return w;
}
// Non-Linear Least Squares fitting of the bed to the measured induction points
// using the Gauss-Newton method.
// This method will maintain a unity length of the machine axes,
// which is the correct approach if the sensor points are not measured precisely.
/**
* @brief Calculate machine skew and offset
*
* Non-Linear Least Squares fitting of the bed to the measured induction points
* using the Gauss-Newton method.
* This method will maintain a unity length of the machine axes,
* which is the correct approach if the sensor points are not measured precisely.
* @param measured_pts Matrix of 2D points (maximum 18 floats)
* @param npts Number of points (maximum 9)
* @param true_pts
* @param [out] vec_x Resulting correction matrix. X axis vector
* @param [out] vec_y Resulting correction matrix. Y axis vector
* @param [out] cntr Resulting correction matrix. [0;0] pont offset
* @param verbosity_level
* @return BedSkewOffsetDetectionResultType
*/
BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
// Matrix of maximum 9 2D points (18 floats)
const float *measured_pts,
uint8_t npts,
const float *true_pts,
// Resulting correction matrix.
float *vec_x,
float *vec_y,
float *cntr,
// Temporary values, 49-18-(2*3)=25 floats
// , float *temp
int8_t verbosity_level
)
{
@ -653,6 +660,9 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
return result;
}
/**
* @brief Erase calibration data stored in EEPROM
*/
void reset_bed_offset_and_skew()
{
eeprom_update_dword((uint32_t*)(EEPROM_BED_CALIBRATION_CENTER+0), 0x0FFFFFFFF);
@ -707,6 +717,12 @@ static void world2machine_update(const float vec_x[2], const float vec_y[2], con
}
}
/**
* @brief Set calibration matrix to identity
*
* In contrast with world2machine_revert_to_uncorrected(), it doesn't wait for finishing moves
* nor updates the current position with the absolute values.
*/
void world2machine_reset()
{
const float vx[] = { 1.f, 0.f };
@ -715,6 +731,11 @@ void world2machine_reset()
world2machine_update(vx, vy, cntr);
}
/**
* @brief Set calibration matrix to default value
*
* This is used if no valid calibration data can be read from EEPROM.
*/
static void world2machine_default()
{
#ifdef DEFAULT_Y_OFFSET
@ -726,12 +747,15 @@ static void world2machine_default()
world2machine_reset();
#endif
}
/**
* @brief Set calibration matrix to identity and update current position with absolute position
*
* Wait for the motors to stop and then update the current position with the absolute values.
*/
void world2machine_revert_to_uncorrected()
{
if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE) {
world2machine_reset();
// Wait for the motors to stop and update the current position with the absolute values.
st_synchronize();
current_position[X_AXIS] = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = st_get_position_mm(Y_AXIS);
@ -744,6 +768,15 @@ static inline bool vec_undef(const float v[2])
return vx[0] == 0x0FFFFFFFF || vx[1] == 0x0FFFFFFFF;
}
/**
* @brief Read and apply 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.
*
*/
void world2machine_initialize()
{
//SERIAL_ECHOLNPGM("world2machine_initialize");
@ -822,10 +855,14 @@ void world2machine_initialize()
}
}
// When switching from absolute to corrected coordinates,
// this will get the absolute coordinates from the servos,
// applies the inverse world2machine transformation
// and stores the result into current_position[x,y].
/**
* @brief Update current position after switching to corrected coordinates
*
* When switching from absolute to corrected coordinates,
* this will get the absolute coordinates from the servos,
* applies the inverse world2machine transformation
* and stores the result into current_position[x,y].
*/
void world2machine_update_current()
{
float x = current_position[X_AXIS] - world2machine_shift[0];

19
Firmware/mesh_bed_calibration.h
View File

@ -135,17 +135,22 @@ extern bool find_bed_induction_sensor_point_z(float minimum_z = -10.f, uint8_t n
extern bool find_bed_induction_sensor_point_xy(int verbosity_level = 0);
extern void go_home_with_z_lift();
// Positive or zero: ok
// Negative: failed
/**
* @brief Bed skew and offest detection result
*
* Positive or zero: ok
* Negative: failed
*/
enum BedSkewOffsetDetectionResultType {
// Detection failed, some point was not found.
BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND = -1,
BED_SKEW_OFFSET_DETECTION_FITTING_FAILED = -2,
BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND = -1, //!< Point not found.
BED_SKEW_OFFSET_DETECTION_FITTING_FAILED = -2, //!< Fitting failed
// Detection finished with success.
BED_SKEW_OFFSET_DETECTION_PERFECT = 0,
BED_SKEW_OFFSET_DETECTION_SKEW_MILD = 1,
BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME = 2
BED_SKEW_OFFSET_DETECTION_PERFECT = 0, //!< Perfect.
BED_SKEW_OFFSET_DETECTION_SKEW_MILD = 1, //!< Mildly skewed.
BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME = 2 //!< Extremely skewed.
};
extern BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level, uint8_t &too_far_mask);