diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index c02392be480db97ba3fd2bbc6c903bc98c5dc57d..760c3f2602d2c9f368b56a1f01623b6029a2ed2f 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -532,9 +532,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -20
+ #define Z_PROBE_OFFSET_RANGE_MAX 20
+ #endif
#endif
diff --git a/Marlin/ConfigurationStore.cpp b/Marlin/ConfigurationStore.cpp
index fc485e22628a441cdb2d0c72c6499cc0cf39c256..3872b505d0a66a032554432f196ffbfe9ffd7c27 100644
--- a/Marlin/ConfigurationStore.cpp
+++ b/Marlin/ConfigurationStore.cpp
@@ -11,7 +11,7 @@
* max_acceleration_units_per_sq_second (x4)
* acceleration
* retract_acceleration
- * travel_aceeleration
+ * travel_acceleration
* minimumfeedrate
* mintravelfeedrate
* minsegmenttime
@@ -25,6 +25,7 @@
* mesh_num_x
* mesh_num_y
* z_values[][]
+ * zprobe_zoffset
*
* DELTA:
* endstop_adj (x3)
@@ -39,7 +40,6 @@
* absPreheatHotendTemp
* absPreheatHPBTemp
* absPreheatFanSpeed
- * zprobe_zoffset
*
* PIDTEMP:
* Kp[0], Ki[0], Kd[0], Kc[0]
@@ -118,7 +118,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V17"
+#define EEPROM_VERSION "V18"
#ifdef EEPROM_SETTINGS
@@ -143,7 +143,7 @@ void Config_StoreSettings() {
uint8_t mesh_num_x = 3;
uint8_t mesh_num_y = 3;
- #if defined(MESH_BED_LEVELING)
+ #ifdef MESH_BED_LEVELING
// Compile time test that sizeof(mbl.z_values) is as expected
typedef char c_assert[(sizeof(mbl.z_values) == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS*sizeof(dummy)) ? 1 : -1];
mesh_num_x = MESH_NUM_X_POINTS;
@@ -161,7 +161,12 @@ void Config_StoreSettings() {
for (int q=0; q<mesh_num_x*mesh_num_y; q++) {
EEPROM_WRITE_VAR(i, dummy);
}
- #endif // MESH_BED_LEVELING
+ #endif // MESH_BED_LEVELING
+
+ #ifndef ENABLE_AUTO_BED_LEVELING
+ float zprobe_zoffset = 0;
+ #endif
+ EEPROM_WRITE_VAR(i, zprobe_zoffset);
#ifdef DELTA
EEPROM_WRITE_VAR(i, endstop_adj); // 3 floats
@@ -188,7 +193,7 @@ void Config_StoreSettings() {
EEPROM_WRITE_VAR(i, absPreheatHotendTemp);
EEPROM_WRITE_VAR(i, absPreheatHPBTemp);
EEPROM_WRITE_VAR(i, absPreheatFanSpeed);
- EEPROM_WRITE_VAR(i, zprobe_zoffset);
+
for (int e = 0; e < 4; e++) {
@@ -328,6 +333,11 @@ void Config_RetrieveSettings() {
}
#endif // MESH_BED_LEVELING
+ #ifndef ENABLE_AUTO_BED_LEVELING
+ float zprobe_zoffset = 0;
+ #endif
+ EEPROM_READ_VAR(i, zprobe_zoffset);
+
#ifdef DELTA
EEPROM_READ_VAR(i, endstop_adj); // 3 floats
EEPROM_READ_VAR(i, delta_radius); // 1 float
@@ -353,7 +363,6 @@ void Config_RetrieveSettings() {
EEPROM_READ_VAR(i, absPreheatHotendTemp);
EEPROM_READ_VAR(i, absPreheatHPBTemp);
EEPROM_READ_VAR(i, absPreheatFanSpeed);
- EEPROM_READ_VAR(i, zprobe_zoffset);
#ifdef PIDTEMP
for (int e = 0; e < 4; e++) { // 4 = max extruders currently supported by Marlin
@@ -461,9 +470,13 @@ void Config_ResetDefault() {
max_e_jerk = DEFAULT_EJERK;
home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
- #if defined(MESH_BED_LEVELING)
+ #ifdef MESH_BED_LEVELING
mbl.active = 0;
- #endif // MESH_BED_LEVELING
+ #endif
+
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
+ #endif
#ifdef DELTA
endstop_adj[X_AXIS] = endstop_adj[Y_AXIS] = endstop_adj[Z_AXIS] = 0;
@@ -484,10 +497,6 @@ void Config_ResetDefault() {
absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
#endif
- #ifdef ENABLE_AUTO_BED_LEVELING
- zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
- #endif
-
#ifdef DOGLCD
lcd_contrast = DEFAULT_LCD_CONTRAST;
#endif
@@ -738,15 +747,20 @@ void Config_PrintSettings(bool forReplay) {
}
}
- #ifdef CUSTOM_M_CODES
+ #ifdef ENABLE_AUTO_BED_LEVELING
SERIAL_ECHO_START;
- if (!forReplay) {
- SERIAL_ECHOLNPGM("Z-Probe Offset (mm):");
- SERIAL_ECHO_START;
- }
- SERIAL_ECHO(" M");
- SERIAL_ECHO(CUSTOM_M_CODE_SET_Z_PROBE_OFFSET);
- SERIAL_ECHOPAIR(" Z", -zprobe_zoffset);
+ #ifdef CUSTOM_M_CODES
+ if (!forReplay) {
+ SERIAL_ECHOLNPGM("Z-Probe Offset (mm):");
+ SERIAL_ECHO_START;
+ }
+ SERIAL_ECHOPAIR(" M", (unsigned long)CUSTOM_M_CODE_SET_Z_PROBE_OFFSET);
+ SERIAL_ECHOPAIR(" Z", -zprobe_zoffset);
+ #else
+ if (!forReplay) {
+ SERIAL_ECHOPAIR("Z-Probe Offset (mm):", -zprobe_zoffset);
+ }
+ #endif
SERIAL_EOL;
#endif
}
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index bbd7ac3dbbc87746d9254761b1516691374a669f..46720d9a34552d264b87895b49f3db17c876b8b2 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -251,7 +251,9 @@ extern float z_endstop_adj;
extern float min_pos[3];
extern float max_pos[3];
extern bool axis_known_position[3];
-extern float zprobe_zoffset;
+#ifdef ENABLE_AUTO_BED_LEVELING
+ extern float zprobe_zoffset;
+#endif
extern int fanSpeed;
#ifdef BARICUDA
extern int ValvePressure;
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 084dea19709509fef91163bee7e080244c49074b..cd04bd39327e4682c214e35a656ad60c1179ccc6 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -203,7 +203,8 @@
float homing_feedrate[] = HOMING_FEEDRATE;
#ifdef ENABLE_AUTO_BED_LEVELING
-int xy_travel_speed = XY_TRAVEL_SPEED;
+ int xy_travel_speed = XY_TRAVEL_SPEED;
+ float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
@@ -255,7 +256,6 @@ float home_offset[3] = { 0, 0, 0 };
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
bool axis_known_position[3] = { false, false, false };
-float zprobe_zoffset;
// Extruder offset
#if EXTRUDERS > 1
@@ -1097,9 +1097,6 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
- // put the bed at 0 so we don't go below it.
- current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
-
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#endif
@@ -1113,11 +1110,13 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
+ vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
- vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
- vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
- vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
- planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
+ if (planeNormal.z < 0) {
+ planeNormal.x = -planeNormal.x;
+ planeNormal.y = -planeNormal.y;
+ planeNormal.z = -planeNormal.z;
+ }
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
@@ -1126,11 +1125,7 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
- // put the bed at 0 so we don't go below it.
- current_position[Z_AXIS] = zprobe_zoffset;
-
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
}
#endif // AUTO_BED_LEVELING_GRID
@@ -2017,8 +2012,19 @@ inline void gcode_G28() {
endstops_hit_on_purpose();
}
-#if defined(MESH_BED_LEVELING)
+#ifdef MESH_BED_LEVELING
+ /**
+ * G29: Mesh-based Z-Probe, probes a grid and produces a
+ * mesh to compensate for variable bed height
+ *
+ * Parameters With MESH_BED_LEVELING:
+ *
+ * S0 Produce a mesh report
+ * S1 Start probing mesh points
+ * S2 Probe the next mesh point
+ *
+ */
inline void gcode_G29() {
static int probe_point = -1;
int state = 0;
@@ -2060,7 +2066,7 @@ inline void gcode_G28() {
} else if (state == 2) { // Goto next point
if (probe_point < 0) {
- SERIAL_PROTOCOLPGM("Mesh probing not started.\n");
+ SERIAL_PROTOCOLPGM("Start mesh probing with \"G29 S1\" first.\n");
return;
}
int ix, iy;
@@ -2070,16 +2076,14 @@ inline void gcode_G28() {
} else {
ix = (probe_point-1) % MESH_NUM_X_POINTS;
iy = (probe_point-1) / MESH_NUM_X_POINTS;
- if (iy&1) { // Zig zag
- ix = (MESH_NUM_X_POINTS - 1) - ix;
- }
+ if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
mbl.set_z(ix, iy, current_position[Z_AXIS]);
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
st_synchronize();
}
- if (probe_point == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS) {
- SERIAL_PROTOCOLPGM("Mesh done.\n");
+ if (probe_point == MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
+ SERIAL_PROTOCOLPGM("Mesh probing done.\n");
probe_point = -1;
mbl.active = 1;
enquecommands_P(PSTR("G28"));
@@ -2087,9 +2091,7 @@ inline void gcode_G28() {
}
ix = probe_point % MESH_NUM_X_POINTS;
iy = probe_point / MESH_NUM_X_POINTS;
- if (iy&1) { // Zig zag
- ix = (MESH_NUM_X_POINTS - 1) - ix;
- }
+ if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
current_position[X_AXIS] = mbl.get_x(ix);
current_position[Y_AXIS] = mbl.get_y(iy);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
@@ -2098,9 +2100,7 @@ inline void gcode_G28() {
}
}
-#endif
-
-#ifdef ENABLE_AUTO_BED_LEVELING
+#elif defined(ENABLE_AUTO_BED_LEVELING)
/**
* G29: Detailed Z-Probe, probes the bed at 3 or more points.
@@ -2116,8 +2116,9 @@ inline void gcode_G28() {
*
* S Set the XY travel speed between probe points (in mm/min)
*
- * D Dry-Run mode. Just evaluate the bed Topology - It does not apply or clean the rotation Matrix
- * Useful to check the topology after a first run of G29.
+ * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
+ * or clean the rotation Matrix. Useful to check the topology
+ * after a first run of G29.
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
@@ -2165,9 +2166,9 @@ inline void gcode_G28() {
#ifdef AUTO_BED_LEVELING_GRID
- #ifndef DELTA
- bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
- #endif
+ #ifndef DELTA
+ bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
+ #endif
if (verbose_level > 0)
{
@@ -2224,7 +2225,7 @@ inline void gcode_G28() {
#ifdef Z_PROBE_SLED
dock_sled(false); // engage (un-dock) the probe
- #elif defined(Z_PROBE_ALLEN_KEY)
+ #elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
engage_z_probe();
#endif
@@ -2234,19 +2235,18 @@ inline void gcode_G28() {
{
#ifdef DELTA
reset_bed_level();
- #else
-
- // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
- //vector_3 corrected_position = plan_get_position_mm();
- //corrected_position.debug("position before G29");
- plan_bed_level_matrix.set_to_identity();
- vector_3 uncorrected_position = plan_get_position();
-// uncorrected_position.debug("position during G29");
-
- current_position[X_AXIS] = uncorrected_position.x;
- current_position[Y_AXIS] = uncorrected_position.y;
- current_position[Z_AXIS] = uncorrected_position.z;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ #else //!DELTA
+
+ // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
+ //vector_3 corrected_position = plan_get_position_mm();
+ //corrected_position.debug("position before G29");
+ plan_bed_level_matrix.set_to_identity();
+ vector_3 uncorrected_position = plan_get_position();
+ //uncorrected_position.debug("position during G29");
+ current_position[X_AXIS] = uncorrected_position.x;
+ current_position[Y_AXIS] = uncorrected_position.y;
+ current_position[Z_AXIS] = uncorrected_position.z;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
}
@@ -2261,26 +2261,24 @@ inline void gcode_G28() {
const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
const int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
- #ifndef DELTA
- // solve the plane equation ax + by + d = z
- // A is the matrix with rows [x y 1] for all the probed points
- // B is the vector of the Z positions
- // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
- // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
-
- int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
-
- double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
- eqnBVector[abl2], // "B" vector of Z points
- mean = 0.0;
-
- #else
- delta_grid_spacing[0] = xGridSpacing;
- delta_grid_spacing[1] = yGridSpacing;
-
- float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
- if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
- #endif
+ #ifdef DELTA
+ delta_grid_spacing[0] = xGridSpacing;
+ delta_grid_spacing[1] = yGridSpacing;
+ float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
+ if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
+ #else // !DELTA
+ // solve the plane equation ax + by + d = z
+ // A is the matrix with rows [x y 1] for all the probed points
+ // B is the vector of the Z positions
+ // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
+ // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
+
+ int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
+
+ double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
+ eqnBVector[abl2], // "B" vector of Z points
+ mean = 0.0;
+ #endif // !DELTA
int probePointCounter = 0;
bool zig = true;
@@ -2313,12 +2311,12 @@ inline void gcode_G28() {
float measured_z,
z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
- #ifdef DELTA
- // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
- float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
- if (distance_from_center > DELTA_PROBABLE_RADIUS)
- continue;
- #endif //DELTA
+ #ifdef DELTA
+ // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
+ float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
+ if (distance_from_center > DELTA_PROBABLE_RADIUS)
+ continue;
+ #endif //DELTA
// Enhanced G29 - Do not retract servo between probes
ProbeAction act;
@@ -2335,16 +2333,16 @@ inline void gcode_G28() {
measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
- #ifndef DELTA
- mean += measured_z;
+ #ifndef DELTA
+ mean += measured_z;
- eqnBVector[probePointCounter] = measured_z;
- eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
- eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
- eqnAMatrix[probePointCounter + 2 * abl2] = 1;
- #else
- bed_level[xCount][yCount] = measured_z + z_offset;
- #endif
+ eqnBVector[probePointCounter] = measured_z;
+ eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
+ eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
+ eqnAMatrix[probePointCounter + 2 * abl2] = 1;
+ #else
+ bed_level[xCount][yCount] = measured_z + z_offset;
+ #endif
probePointCounter++;
} //xProbe
@@ -2352,60 +2350,64 @@ inline void gcode_G28() {
clean_up_after_endstop_move();
- #ifndef DELTA
- // solve lsq problem
- double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
-
- mean /= abl2;
-
- if (verbose_level) {
- SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
- SERIAL_PROTOCOLPGM(" b: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
- SERIAL_PROTOCOLPGM(" d: ");
- SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
- SERIAL_EOL;
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM("Mean of sampled points: ");
- SERIAL_PROTOCOL_F(mean, 8);
+ #ifdef DELTA
+
+ if (!dryrun) extrapolate_unprobed_bed_level();
+ print_bed_level();
+
+ #else // !DELTA
+
+ // solve lsq problem
+ double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
+
+ mean /= abl2;
+
+ if (verbose_level) {
+ SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
+ SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
+ SERIAL_PROTOCOLPGM(" b: ");
+ SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
+ SERIAL_PROTOCOLPGM(" d: ");
+ SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL;
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOLPGM("Mean of sampled points: ");
+ SERIAL_PROTOCOL_F(mean, 8);
+ SERIAL_EOL;
+ }
}
- }
- // Show the Topography map if enabled
- if (do_topography_map) {
-
- SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
- SERIAL_PROTOCOLPGM("+-----------+\n");
- SERIAL_PROTOCOLPGM("|...Back....|\n");
- SERIAL_PROTOCOLPGM("|Left..Right|\n");
- SERIAL_PROTOCOLPGM("|...Front...|\n");
- SERIAL_PROTOCOLPGM("+-----------+\n");
-
- for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
- for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
- int ind = yy * auto_bed_leveling_grid_points + xx;
- float diff = eqnBVector[ind] - mean;
- if (diff >= 0.0)
- SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
- else
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(diff, 5);
- } // xx
+ // Show the Topography map if enabled
+ if (do_topography_map) {
+
+ SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
+ SERIAL_PROTOCOLPGM("+-----------+\n");
+ SERIAL_PROTOCOLPGM("|...Back....|\n");
+ SERIAL_PROTOCOLPGM("|Left..Right|\n");
+ SERIAL_PROTOCOLPGM("|...Front...|\n");
+ SERIAL_PROTOCOLPGM("+-----------+\n");
+
+ for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
+ for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
+ int ind = yy * auto_bed_leveling_grid_points + xx;
+ float diff = eqnBVector[ind] - mean;
+ if (diff >= 0.0)
+ SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
+ else
+ SERIAL_PROTOCOLPGM(" ");
+ SERIAL_PROTOCOL_F(diff, 5);
+ } // xx
+ SERIAL_EOL;
+ } // yy
SERIAL_EOL;
- } // yy
- SERIAL_EOL;
- } //do_topography_map
+ } //do_topography_map
+
+ if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
+ free(plane_equation_coefficients);
- if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
- free(plane_equation_coefficients);
- #else //Delta
- if (!dryrun) extrapolate_unprobed_bed_level();
- print_bed_level();
- #endif //Delta
+ #endif //!DELTA
#else // !AUTO_BED_LEVELING_GRID
@@ -2428,35 +2430,36 @@ inline void gcode_G28() {
#endif // !AUTO_BED_LEVELING_GRID
- #ifndef DELTA
- if (verbose_level > 0) plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
+ #ifndef DELTA
+ if (verbose_level > 0)
+ plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
- // Correct the Z height difference from z-probe position and hotend tip position.
- // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
- // When the bed is uneven, this height must be corrected.
- if (!dryrun)
- {
- real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
- x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
- z_tmp = current_position[Z_AXIS];
+ // Correct the Z height difference from z-probe position and hotend tip position.
+ // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
+ // When the bed is uneven, this height must be corrected.
+ if (!dryrun)
+ {
+ real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
+ x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
+ y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
+ z_tmp = current_position[Z_AXIS];
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
- current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- #endif
+ apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
+ current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ }
+ #endif // !DELTA
- #ifdef Z_PROBE_SLED
- dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
- #elif defined(Z_PROBE_ALLEN_KEY)
- retract_z_probe();
- #endif
-
- #ifdef Z_PROBE_END_SCRIPT
- enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
- st_synchronize();
- #endif
+ #ifdef Z_PROBE_SLED
+ dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
+ #elif defined(Z_PROBE_ALLEN_KEY) //|| defined(SERVO_LEVELING)
+ retract_z_probe();
+ #endif
+
+ #ifdef Z_PROBE_END_SCRIPT
+ enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
+ st_synchronize();
+ #endif
}
#ifndef Z_PROBE_SLED
@@ -2919,7 +2922,7 @@ inline void gcode_M42() {
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if (n_legs) {
- double radius=0.0, theta=0.0, x_sweep, y_sweep;
+ double radius=0.0, theta=0.0;
int l;
int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go
@@ -3545,7 +3548,6 @@ inline void gcode_M200() {
}
}
- float area = .0;
if (code_seen('D')) {
float diameter = code_value();
// setting any extruder filament size disables volumetric on the assumption that
@@ -4283,7 +4285,7 @@ inline void gcode_M502() {
* M503: print settings currently in memory
*/
inline void gcode_M503() {
- Config_PrintSettings(code_seen('S') && code_value == 0);
+ Config_PrintSettings(code_seen('S') && code_value() == 0);
}
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
@@ -4580,9 +4582,14 @@ inline void gcode_T() {
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
else {
- boolean make_move = false;
+ #if EXTRUDERS > 1
+ bool make_move = false;
+ #endif
+
if (code_seen('F')) {
- make_move = true;
+ #if EXTRUDERS > 1
+ make_move = true;
+ #endif
next_feedrate = code_value();
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
@@ -5179,20 +5186,22 @@ void ClearToSend()
SERIAL_PROTOCOLLNPGM(MSG_OK);
}
-void get_coordinates()
-{
- bool seen[4]={false,false,false,false};
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i]))
- {
- destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
- seen[i]=true;
+void get_coordinates() {
+ for (int i = 0; i < NUM_AXIS; i++) {
+ float dest;
+ if (code_seen(axis_codes[i])) {
+ dest = code_value();
+ if (axis_relative_modes[i] || relative_mode)
+ dest += current_position[i];
}
- else destination[i] = current_position[i]; //Are these else lines really needed?
+ else
+ dest = current_position[i];
+
+ destination[i] = dest;
}
- if(code_seen('F')) {
+ if (code_seen('F')) {
next_feedrate = code_value();
- if(next_feedrate > 0.0) feedrate = next_feedrate;
+ if (next_feedrate > 0.0) feedrate = next_feedrate;
}
}
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index d228bdf990ac8704b1a63878ff367444a4fee85e..d5183abbaafc9dfd3b37d79c30125d0cfa32d135 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -104,13 +104,13 @@
// Make sure probing points are reachable
#if LEFT_PROBE_BED_POSITION < MIN_PROBE_X
- #error The given LEFT_PROBE_BED_POSITION can not be reached by the probe.
+ #error "The given LEFT_PROBE_BED_POSITION can't be reached by the probe."
#elif RIGHT_PROBE_BED_POSITION > MAX_PROBE_X
- #error The given RIGHT_PROBE_BED_POSITION can not be reached by the probe.
+ #error "The given RIGHT_PROBE_BED_POSITION can't be reached by the probe."
#elif FRONT_PROBE_BED_POSITION < MIN_PROBE_Y
- #error The given FRONT_PROBE_BED_POSITION can not be reached by the probe.
+ #error "The given FRONT_PROBE_BED_POSITION can't be reached by the probe."
#elif BACK_PROBE_BED_POSITION > MAX_PROBE_Y
- #error The given BACK_PROBE_BED_POSITION can not be reached by the probe.
+ #error "The given BACK_PROBE_BED_POSITION can't be reached by the probe."
#endif
#define PROBE_SIZE_X (X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1))
diff --git a/Marlin/configurator/config/Configuration.h b/Marlin/configurator/config/Configuration.h
index bfc62f578976feba52b41b1e08f78a29d2a22c51..35eafff76b3fdfd43b2b0c11a73a6d9e02e0d6c9 100644
--- a/Marlin/configurator/config/Configuration.h
+++ b/Marlin/configurator/config/Configuration.h
@@ -569,9 +569,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
// @section extras
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 865a551677e0668d3b0d2c287d60285d72b45339..0ee8410711b91ea5619484607d8d29f96266d85a 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -511,9 +511,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/Felix/Configuration_DUAL.h b/Marlin/example_configurations/Felix/Configuration_DUAL.h
index e9e0adba41cb10034db58986de857bc05dcc9fec..f5fc0ea5d8e8a420e5ba576ad2f0ab4e038521c6 100644
--- a/Marlin/example_configurations/Felix/Configuration_DUAL.h
+++ b/Marlin/example_configurations/Felix/Configuration_DUAL.h
@@ -511,9 +511,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 5c426a5da75b2df1d2d4c01c8f08cc671b59eba9..78ff90e85f2ca6e76d9629d03fbfb9c2ab0aed06 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -539,9 +539,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index 96a261caf392e7b9c2d0d38726dbea9a85e2a8db..22ba764cd1f185ac88cfee0c2846f401ad397df5 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -543,9 +543,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 30dc731840f43b46f0aed19277c1bf3daf61be5b..5b6f994ed3a07ee1cc112366b0cdc82bd27c4f3b 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -569,9 +569,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
//#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 7a395d012dbf00645e0aab21cc1a711dab288565..6fec28b245018df43b70d9e64be04db9be72a44a 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -536,9 +536,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index fb78c269da178c0a54409baa5b54dd897d98344f..cb42f420be9fd04b0a92a01c49ddfaff7a0a169e 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -552,9 +552,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 556a98bf3b3d0b27fe5d0664e8b2a5599d43233b..e68ad14a15cdff056ba91ca5e0894e16c3b2bb37 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -554,9 +554,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index 3e8c07fe46e66dcad802fc8356b1dc4e28334a6a..f423ce7377d1115ef223be4661f7c5b6d89ea11b 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -534,9 +534,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index 22e16e4eebf5e5ef9e5192fbfe293614922dd5f9..73a6ef95825cf5cf70340bbaed86c7e546072bc2 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -541,9 +541,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
- #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
- #define Z_PROBE_OFFSET_RANGE_MIN -15
- #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+ #define Z_PROBE_OFFSET_RANGE_MIN -15
+ #define Z_PROBE_OFFSET_RANGE_MAX -5
+ #endif
#endif
diff --git a/Marlin/mesh_bed_leveling.cpp b/Marlin/mesh_bed_leveling.cpp
index b383fe589a818d6faea9f054b581817cb13f6d5e..a48a6e619537941b48c4497c5729326b765ddd1e 100644
--- a/Marlin/mesh_bed_leveling.cpp
+++ b/Marlin/mesh_bed_leveling.cpp
@@ -1,20 +1,16 @@
#include "mesh_bed_leveling.h"
-#if defined(MESH_BED_LEVELING)
+#ifdef MESH_BED_LEVELING
-mesh_bed_leveling mbl;
+ mesh_bed_leveling mbl;
-mesh_bed_leveling::mesh_bed_leveling() {
- reset();
-}
-
-void mesh_bed_leveling::reset() {
- for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
- for (int x=0; x<MESH_NUM_X_POINTS; x++) {
- z_values[y][x] = 0;
- }
- }
+ mesh_bed_leveling::mesh_bed_leveling() { reset(); }
+
+ void mesh_bed_leveling::reset() {
active = 0;
-}
+ for (int y = 0; y < MESH_NUM_Y_POINTS; y++)
+ for (int x = 0; x < MESH_NUM_X_POINTS; x++)
+ z_values[y][x] = 0;
+ }
#endif // MESH_BED_LEVELING
diff --git a/Marlin/mesh_bed_leveling.h b/Marlin/mesh_bed_leveling.h
index d76321ab42db6141c688534566427564a3257a6a..b6c4ed5b007d49c8f9cdf8241c8299343a769e38 100644
--- a/Marlin/mesh_bed_leveling.h
+++ b/Marlin/mesh_bed_leveling.h
@@ -2,11 +2,11 @@
#if defined(MESH_BED_LEVELING)
-#define MESH_X_DIST ((MESH_MAX_X - MESH_MIN_X)/(MESH_NUM_X_POINTS - 1))
-#define MESH_Y_DIST ((MESH_MAX_Y - MESH_MIN_Y)/(MESH_NUM_Y_POINTS - 1))
+ #define MESH_X_DIST ((MESH_MAX_X - MESH_MIN_X)/(MESH_NUM_X_POINTS - 1))
+ #define MESH_Y_DIST ((MESH_MAX_Y - MESH_MIN_Y)/(MESH_NUM_Y_POINTS - 1))
-class mesh_bed_leveling {
-public:
+ class mesh_bed_leveling {
+ public:
uint8_t active;
float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
@@ -14,48 +14,44 @@ public:
void reset();
- float get_x(int i) { return MESH_MIN_X + MESH_X_DIST*i; }
- float get_y(int i) { return MESH_MIN_Y + MESH_Y_DIST*i; }
+ float get_x(int i) { return MESH_MIN_X + MESH_X_DIST * i; }
+ float get_y(int i) { return MESH_MIN_Y + MESH_Y_DIST * i; }
void set_z(int ix, int iy, float z) { z_values[iy][ix] = z; }
int select_x_index(float x) {
- int i = 1;
- while (x > get_x(i) && i < MESH_NUM_X_POINTS-1) {
- i++;
- }
- return i-1;
+ int i = 1;
+ while (x > get_x(i) && i < MESH_NUM_X_POINTS-1) i++;
+ return i - 1;
}
int select_y_index(float y) {
- int i = 1;
- while (y > get_y(i) && i < MESH_NUM_Y_POINTS-1) {
- i++;
- }
- return i-1;
+ int i = 1;
+ while (y > get_y(i) && i < MESH_NUM_Y_POINTS - 1) i++;
+ return i - 1;
}
float calc_z0(float a0, float a1, float z1, float a2, float z2) {
- float delta_z = (z2 - z1)/(a2 - a1);
- float delta_a = a0 - a1;
- return z1 + delta_a * delta_z;
+ float delta_z = (z2 - z1)/(a2 - a1);
+ float delta_a = a0 - a1;
+ return z1 + delta_a * delta_z;
}
float get_z(float x0, float y0) {
- int x_index = select_x_index(x0);
- int y_index = select_y_index(y0);
- float z1 = calc_z0(x0,
- get_x(x_index), z_values[y_index][x_index],
- get_x(x_index+1), z_values[y_index][x_index+1]);
- float z2 = calc_z0(x0,
- get_x(x_index), z_values[y_index+1][x_index],
- get_x(x_index+1), z_values[y_index+1][x_index+1]);
- float z0 = calc_z0(y0,
- get_y(y_index), z1,
- get_y(y_index+1), z2);
- return z0;
+ int x_index = select_x_index(x0);
+ int y_index = select_y_index(y0);
+ float z1 = calc_z0(x0,
+ get_x(x_index), z_values[y_index][x_index],
+ get_x(x_index+1), z_values[y_index][x_index+1]);
+ float z2 = calc_z0(x0,
+ get_x(x_index), z_values[y_index+1][x_index],
+ get_x(x_index+1), z_values[y_index+1][x_index+1]);
+ float z0 = calc_z0(y0,
+ get_y(y_index), z1,
+ get_y(y_index+1), z2);
+ return z0;
}
-};
+ };
-extern mesh_bed_leveling mbl;
+ extern mesh_bed_leveling mbl;
#endif // MESH_BED_LEVELING
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 8be4b98af4225bde6fac40ff0d412363a28e9e21..8d55d7ba3dd685af7dae1e469880408d9c8b3fd7 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -1176,8 +1176,6 @@ void digipot_current(uint8_t driver, int current) {
}
void microstep_init() {
- const uint8_t microstep_modes[] = MICROSTEP_MODES;
-
#if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
pinMode(E1_MS1_PIN,OUTPUT);
pinMode(E1_MS2_PIN,OUTPUT);
@@ -1192,7 +1190,9 @@ void microstep_init() {
pinMode(Z_MS2_PIN,OUTPUT);
pinMode(E0_MS1_PIN,OUTPUT);
pinMode(E0_MS2_PIN,OUTPUT);
- for (int i = 0; i <= 4; i++) microstep_mode(i, microstep_modes[i]);
+ const uint8_t microstep_modes[] = MICROSTEP_MODES;
+ for (int i = 0; i < sizeof(microstep_modes) / sizeof(microstep_modes[0]); i++)
+ microstep_mode(i, microstep_modes[i]);
#endif
}
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 8f43aab08e82dd33168c4c581f5e64f7129419f3..7b7eceaf7c2a7c6dcfd11c0865fc08e1b4d43477 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -1181,9 +1181,10 @@ static void set_current_temp_raw() {
#endif
#if HAS_TEMP_1
#ifdef TEMP_SENSOR_1_AS_REDUNDANT
- redundant_temperature_raw =
+ redundant_temperature_raw = raw_temp_value[1];
+ #else
+ current_temperature_raw[1] = raw_temp_value[1];
#endif
- current_temperature_raw[1] = raw_temp_value[1];
#if HAS_TEMP_2
current_temperature_raw[2] = raw_temp_value[2];
#if HAS_TEMP_3
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index b29fc2b57208a0bbf908ecda5885e47ccfe4242e..853179be526cac312137afc4659a09163e2a8971 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -41,10 +41,10 @@ void manage_heater(); //it is critical that this is called periodically.
// low level conversion routines
// do not use these routines and variables outside of temperature.cpp
-extern int target_temperature[EXTRUDERS];
-extern float current_temperature[EXTRUDERS];
+extern int target_temperature[4];
+extern float current_temperature[4];
#ifdef SHOW_TEMP_ADC_VALUES
- extern int current_temperature_raw[EXTRUDERS];
+ extern int current_temperature_raw[4];
extern int current_temperature_bed_raw;
#endif
extern int target_temperature_bed;
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index f6af156d5317331e9e71665ea3770da8a94998ac..6233271818fad771dbedd2a9cfde35cf3ed10119 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -911,7 +911,7 @@ static void lcd_control_motion_menu() {
START_MENU();
MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
#ifdef ENABLE_AUTO_BED_LEVELING
- MENU_ITEM_EDIT(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, 0.0, 50);
+ MENU_ITEM_EDIT(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
#endif
MENU_ITEM_EDIT(float5, MSG_ACC, &acceleration, 10, 99000);
MENU_ITEM_EDIT(float3, MSG_VXY_JERK, &max_xy_jerk, 1, 990);
diff --git a/Marlin/vector_3.cpp b/Marlin/vector_3.cpp
index 2e42da553447cb58091647108cec3320d2c233e5..243f0838f009bc65a523a94642b8208d36014b71 100644
--- a/Marlin/vector_3.cpp
+++ b/Marlin/vector_3.cpp
@@ -26,57 +26,40 @@ vector_3::vector_3() : x(0), y(0), z(0) { }
vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
-vector_3 vector_3::cross(vector_3 left, vector_3 right)
-{
+vector_3 vector_3::cross(vector_3 left, vector_3 right) {
return vector_3(left.y * right.z - left.z * right.y,
left.z * right.x - left.x * right.z,
left.x * right.y - left.y * right.x);
}
-vector_3 vector_3::operator+(vector_3 v)
-{
- return vector_3((x + v.x), (y + v.y), (z + v.z));
-}
-
-vector_3 vector_3::operator-(vector_3 v)
-{
- return vector_3((x - v.x), (y - v.y), (z - v.z));
-}
+vector_3 vector_3::operator+(vector_3 v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
+vector_3 vector_3::operator-(vector_3 v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
-vector_3 vector_3::get_normal()
-{
+vector_3 vector_3::get_normal() {
vector_3 normalized = vector_3(x, y, z);
normalized.normalize();
return normalized;
}
-float vector_3::get_length()
-{
- float length = sqrt((x * x) + (y * y) + (z * z));
- return length;
-}
-
-void vector_3::normalize()
-{
+float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
+
+void vector_3::normalize() {
float length = get_length();
x /= length;
y /= length;
z /= length;
}
-void vector_3::apply_rotation(matrix_3x3 matrix)
-{
+void vector_3::apply_rotation(matrix_3x3 matrix) {
float resultX = x * matrix.matrix[3*0+0] + y * matrix.matrix[3*1+0] + z * matrix.matrix[3*2+0];
float resultY = x * matrix.matrix[3*0+1] + y * matrix.matrix[3*1+1] + z * matrix.matrix[3*2+1];
float resultZ = x * matrix.matrix[3*0+2] + y * matrix.matrix[3*1+2] + z * matrix.matrix[3*2+2];
-
x = resultX;
y = resultY;
z = resultZ;
}
-void vector_3::debug(char* title)
-{
+void vector_3::debug(const char title[]) {
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL_F(x, 6);
@@ -87,8 +70,7 @@ void vector_3::debug(char* title)
SERIAL_EOL;
}
-void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
-{
+void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z) {
vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix);
x = vector.x;
@@ -96,48 +78,41 @@ void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
z = vector.z;
}
-matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2)
-{
- //row_0.debug("row_0");
- //row_1.debug("row_1");
- //row_2.debug("row_2");
+matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) {
+ //row_0.debug("row_0");
+ //row_1.debug("row_1");
+ //row_2.debug("row_2");
matrix_3x3 new_matrix;
new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
- //new_matrix.debug("new_matrix");
-
+ //new_matrix.debug("new_matrix");
return new_matrix;
}
-void matrix_3x3::set_to_identity()
-{
+void matrix_3x3::set_to_identity() {
matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
}
-matrix_3x3 matrix_3x3::create_look_at(vector_3 target)
-{
- vector_3 z_row = target.get_normal();
- vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
- vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
+matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
+ vector_3 z_row = target.get_normal();
+ vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
+ vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
- // x_row.debug("x_row");
- // y_row.debug("y_row");
- // z_row.debug("z_row");
+ // x_row.debug("x_row");
+ // y_row.debug("y_row");
+ // z_row.debug("z_row");
-
- // create the matrix already correctly transposed
- matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
+ // create the matrix already correctly transposed
+ matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
- // rot.debug("rot");
- return rot;
+ // rot.debug("rot");
+ return rot;
}
-
-matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
-{
+matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
matrix_3x3 new_matrix;
new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];
@@ -145,11 +120,12 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
return new_matrix;
}
-void matrix_3x3::debug(char* title) {
+void matrix_3x3::debug(const char title[]) {
SERIAL_PROTOCOLLN(title);
int count = 0;
for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) {
+ if (matrix[count] >= 0.0) SERIAL_PROTOCOLPGM("+");
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" ");
count++;
@@ -158,5 +134,5 @@ void matrix_3x3::debug(char* title) {
}
}
-#endif // #ifdef ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_LEVELING
diff --git a/Marlin/vector_3.h b/Marlin/vector_3.h
index 0b9decafad0714fc9197fbc8d68535367b577f2d..0c5938bac998f27bfb33a104e699731748109f46 100644
--- a/Marlin/vector_3.h
+++ b/Marlin/vector_3.h
@@ -37,7 +37,7 @@ struct vector_3
float get_length();
vector_3 get_normal();
- void debug(char* title);
+ void debug(const char title[]);
void apply_rotation(matrix_3x3 matrix);
};
@@ -52,7 +52,7 @@ struct matrix_3x3
void set_to_identity();
- void debug(char* title);
+ void debug(const char title[]);
};