Merge pull request #655 from mkbel/fix_z_home_point

Fix z home point

Firmware/Marlin_main.cpp

@@ -3100,7 +3100,7 @@ void process_commands()
       			  } 
               // 1st mesh bed leveling measurement point, corrected.
               world2machine_initialize();
-              world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
+              world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
               world2machine_reset();
               if (destination[Y_AXIS] < Y_MIN_POS)
                   destination[Y_AXIS] = Y_MIN_POS;
@@ -3108,7 +3108,18 @@ void process_commands()
               feedrate = homing_feedrate[Z_AXIS]/10;
               current_position[Z_AXIS] = 0;
               enable_endstops(false);
+#ifdef DEBUG_BUILD
+              SERIAL_ECHOLNPGM("plan_set_position()");
+              MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
+              MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
+#endif
               plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+#ifdef DEBUG_BUILD
+              SERIAL_ECHOLNPGM("plan_buffer_line()");
+              MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
+              MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
+              MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
+#endif
               plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
               st_synchronize();
               current_position[X_AXIS] = destination[X_AXIS];

Firmware/mesh_bed_calibration.cpp

@@ -20,7 +20,7 @@ float   world2machine_shift[2];
 #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) // -0.6 + 5 = 4.4
+#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.
@@ -56,10 +56,10 @@ const float bed_skew_angle_extreme = (0.25f * M_PI / 180.f);
 // Positions of the bed reference points in the machine coordinates, referenced to the P.I.N.D.A sensor.
 // The points are the following: center front, center right, center rear, center left.
 const float bed_ref_points_4[] PROGMEM = {
-	13.f - BED_ZERO_REF_X,   10.4f - 4.f - BED_ZERO_REF_Y,
+	13.f - BED_ZERO_REF_X,   10.4f - BED_ZERO_REF_Y,
-	221.f - BED_ZERO_REF_X,  10.4f - 4.f - BED_ZERO_REF_Y,
+	221.f - BED_ZERO_REF_X,  10.4f - BED_ZERO_REF_Y,
-	221.f - BED_ZERO_REF_X, 202.4f - 4.f - BED_ZERO_REF_Y,
+	221.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y,
-	13.f - BED_ZERO_REF_X, 202.4f - 4.f - BED_ZERO_REF_Y
+	13.f - BED_ZERO_REF_X, 202.4f - BED_ZERO_REF_Y
 };
 
 const float bed_ref_points[] PROGMEM = {
@@ -711,14 +711,22 @@ void world2machine_reset()
     world2machine_update(vx, vy, cntr);
 }
 
+static void world2machine_default()
+{
+#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);
+#else
+    world2machine_reset();
+#endif
+}
+
 void world2machine_revert_to_uncorrected()
 {
     if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE) {
-        // Reset the machine correction matrix.
+        world2machine_reset();
-        const float vx[] = { 1.f, 0.f };
-        const float vy[] = { 0.f, 1.f };
-        const float cntr[] = { 0.f, 0.f };
-        world2machine_update(vx, vy, cntr);
         // 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);
@@ -789,7 +797,7 @@ void world2machine_initialize()
     if (reset) {
 //        SERIAL_ECHOLNPGM("Invalid bed correction matrix. Resetting to identity.");
         reset_bed_offset_and_skew();
-        world2machine_reset();
+        world2machine_default();
     } else {
         world2machine_update(vec_x, vec_y, cntr);
         /*

Firmware/mesh_bed_calibration.h

@@ -5,6 +5,7 @@
 // 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;
 extern const float bed_skew_angle_extreme;
@@ -37,26 +38,6 @@ extern void world2machine_initialize();
 // to current_position[x,y].
 extern void world2machine_update_current();
 
-inline void world2machine(const float &x, const float &y, float &out_x, float &out_y)
-{
-	if (world2machine_correction_mode == WORLD2MACHINE_CORRECTION_NONE) {
-		// No correction.
-		out_x = x;
-		out_y = y;
-	} else {
-		if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SKEW) {
-			// Firs the skew & rotation correction.
-			out_x = world2machine_rotation_and_skew[0][0] * x + world2machine_rotation_and_skew[0][1] * y;
-			out_y = world2machine_rotation_and_skew[1][0] * x + world2machine_rotation_and_skew[1][1] * y;
-		}
-		if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SHIFT) {
-			// Then add the offset.
-			out_x += world2machine_shift[0];
-			out_y += world2machine_shift[1];
-		}
-	}
-}
-
 inline void world2machine(float &x, float &y)
 {
 	if (world2machine_correction_mode == WORLD2MACHINE_CORRECTION_NONE) {
@@ -77,6 +58,13 @@ inline void world2machine(float &x, float &y)
 	}
 }
 
+inline void world2machine(const float &x, const float &y, float &out_x, float &out_y)
+{
+    out_x = x;
+    out_y = y;
+    world2machine(out_x, out_y);
+}
+
 inline void machine2world(float x, float y, float &out_x, float &out_y)
 {
 	if (world2machine_correction_mode == WORLD2MACHINE_CORRECTION_NONE) {

Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h

@@ -76,6 +76,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 #define HOMING_FEEDRATE {3000, 3000, 800, 0}  // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
 
+#define DEFAULT_Y_OFFSET    4.f // Offset of [0;0] point, when the printer is not calibrated
+
 #define DEFAULT_MAX_FEEDRATE          {200, 200, 12, 120}      // (mm/sec)   max feedrate (M203)
 #define DEFAULT_MAX_ACCELERATION      {1000, 1000, 200, 5000}  // (mm/sec^2) max acceleration (M201)