diff --git a/Marlin/G26_Mesh_Validation_Tool.cpp b/Marlin/G26_Mesh_Validation_Tool.cpp
index 162f5a1b394eb5523a6e15f242670a45a2948726..0a382c55353a10b4e65ab6161be884935bd3338a 100644
--- a/Marlin/G26_Mesh_Validation_Tool.cpp
+++ b/Marlin/G26_Mesh_Validation_Tool.cpp
@@ -258,8 +258,8 @@
: find_closest_circle_to_print(x_pos, y_pos); // Find the closest Mesh Intersection to where we are now.
if (location.x_index >= 0 && location.y_index >= 0) {
- const float circle_x = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
- circle_y = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index]));
+ const float circle_x = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
+ circle_y = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// Let's do a couple of quick sanity checks. We can pull this code out later if we never see it catch a problem
#ifdef DELTA
@@ -401,8 +401,8 @@
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (!is_bit_set(circle_flags, i, j)) {
- const float mx = pgm_read_float(&(ubl.mesh_index_to_xpos[i])), // We found a circle that needs to be printed
- my = pgm_read_float(&(ubl.mesh_index_to_ypos[j]));
+ const float mx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // We found a circle that needs to be printed
+ my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
// Get the distance to this intersection
float f = HYPOT(X - mx, Y - my);
@@ -446,11 +446,11 @@
// We found two circles that need a horizontal line to connect them
// Print it!
//
- sx = pgm_read_float(&(ubl.mesh_index_to_xpos[ i ])) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
- ex = pgm_read_float(&(ubl.mesh_index_to_xpos[i + 1])) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
+ sx = pgm_read_float(&ubl.mesh_index_to_xpos[ i ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
+ ex = pgm_read_float(&ubl.mesh_index_to_xpos[i + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
- sy = ey = constrain(pgm_read_float(&(ubl.mesh_index_to_ypos[j])), Y_MIN_POS + 1, Y_MAX_POS - 1);
+ sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
if (ubl.g26_debug_flag) {
@@ -477,10 +477,10 @@
// We found two circles that need a vertical line to connect them
// Print it!
//
- sy = pgm_read_float(&(ubl.mesh_index_to_ypos[ j ])) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
- ey = pgm_read_float(&(ubl.mesh_index_to_ypos[j + 1])) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
+ sy = pgm_read_float(&ubl.mesh_index_to_ypos[ j ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
+ ey = pgm_read_float(&ubl.mesh_index_to_ypos[j + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
- sx = ex = constrain(pgm_read_float(&(ubl.mesh_index_to_xpos[i])), X_MIN_POS + 1, X_MAX_POS - 1);
+ sx = ex = constrain(pgm_read_float(&ubl.mesh_index_to_xpos[i]), X_MIN_POS + 1, X_MAX_POS - 1);
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 6515d677d9b1ce7b7a4010ae51573b1d8f918061..c7a00f5952b7ae17e3d6dcf91f1b315ba885493f 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -4919,7 +4919,7 @@ void home_all_axes() { gcode_G28(); }
// For LINEAR and 3POINT leveling correct the current position
if (verbose_level > 0)
- planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
+ planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
if (!dryrun) {
//
@@ -6965,7 +6965,7 @@ inline void gcode_M111() {
for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
if (TEST(marlin_debug_flags, i)) {
if (comma++) SERIAL_CHAR(',');
- serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
+ serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
}
}
}
@@ -8360,7 +8360,7 @@ void quickstop_stepper() {
// V to print the matrix or mesh
if (code_seen('V')) {
#if ABL_PLANAR
- planner.bed_level_matrix.debug("Bed Level Correction Matrix:");
+ planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (bilinear_grid_spacing[X_AXIS]) {
print_bilinear_leveling_grid();
@@ -9545,16 +9545,16 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
- tmp_offset_vec.debug("tmp_offset_vec");
- act_offset_vec.debug("act_offset_vec");
- offset_vec.debug("offset_vec (BEFORE)");
+ tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
+ act_offset_vec.debug(PSTR("act_offset_vec"));
+ offset_vec.debug(PSTR("offset_vec (BEFORE)"));
}
#endif
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
+ if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
#endif
// Adjustments to the current position
diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
index cd49149ea63e43aca7a2a83bc62f932621ff31ab..1439a40cd788b01c88e4fcf1a63a528a9eaf663c 100644
--- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
@@ -452,7 +452,7 @@
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
-
+
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
index 623598ace486f4af94b8c7e7db8fea1f4a6ce6e1..9654740b11c547c6fa25642ed65d9f8f0b356b7d 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
@@ -459,7 +459,7 @@
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
-
+
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 60589f03b46724945bb1ba09777d4fba63c2a07c..d93cd66996b71eef4c4b19401a74d77016e7f3fd 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -448,7 +448,7 @@
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
-
+
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 8d6c59d7e88b1e77259fc664a8ce39333a6182ba..1e3d3ed4322642cb37ccd1cc9d783d4dcf993c48 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -448,7 +448,7 @@
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 18) // mm
-
+
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 186b616e9c8f943368a8642e446893245910c64e..91897cdfb6a54a1d719f50fad2f5de688744b669 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -435,7 +435,7 @@
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 25.4) // mm
-
+
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index 3e4db593f627dc8b5eba7deeb6814ecc31987ffb..f3e5494704638cb1b1a965ea6eede85a75ba3837 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -453,7 +453,7 @@
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
-
+
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION)
diff --git a/Marlin/least_squares_fit.cpp b/Marlin/least_squares_fit.cpp
index ce21b3a05320efa93b3e315093cdfcc51ce35ef9..a6fb3c4457c420fde20ccf0e86e004d16051a215 100644
--- a/Marlin/least_squares_fit.cpp
+++ b/Marlin/least_squares_fit.cpp
@@ -66,12 +66,12 @@ int finish_incremental_LSF(struct linear_fit_data *lsf) {
lsf->xbar /= N;
lsf->ybar /= N;
lsf->zbar /= N;
- lsf->x2bar = lsf->x2bar / N - lsf->xbar * lsf->xbar;
- lsf->y2bar = lsf->y2bar / N - lsf->ybar * lsf->ybar;
- lsf->z2bar = lsf->z2bar / N - lsf->zbar * lsf->zbar;
- lsf->xybar = lsf->xybar / N - lsf->xbar * lsf->ybar;
- lsf->yzbar = lsf->yzbar / N - lsf->ybar * lsf->zbar;
- lsf->xzbar = lsf->xzbar / N - lsf->xbar * lsf->zbar;
+ lsf->x2bar = lsf->x2bar / N - sq(lsf->xbar);
+ lsf->y2bar = lsf->y2bar / N - sq(lsf->ybar);
+ lsf->z2bar = lsf->z2bar / N - sq(lsf->zbar);
+ lsf->xybar = lsf->xybar / N - sq(lsf->xbar);
+ lsf->yzbar = lsf->yzbar / N - sq(lsf->ybar);
+ lsf->xzbar = lsf->xzbar / N - sq(lsf->xbar);
const float DD = lsf->x2bar * lsf->y2bar - sq(lsf->xybar);
if (fabs(DD) <= 1e-10 * (lsf->max_absx + lsf->max_absy))
diff --git a/Marlin/ubl_G29.cpp b/Marlin/ubl_G29.cpp
index b2c4a7ef41421b02b051bf9cd2cd4dc23b30ec9a..e9f97b4adc40a6806f0ace78a5120852dee78091 100644
--- a/Marlin/ubl_G29.cpp
+++ b/Marlin/ubl_G29.cpp
@@ -31,10 +31,14 @@
#include "hex_print_routines.h"
#include "configuration_store.h"
#include "ultralcd.h"
+ #include "stepper.h"
#include <math.h>
#include "least_squares_fit.h"
+ extern float destination[XYZE];
+ extern float current_position[XYZE];
+
void lcd_return_to_status();
bool lcd_clicked();
void lcd_implementation_clear();
@@ -317,6 +321,7 @@
void __attribute__((optimize("O0"))) gcode_G29() {
+
if (ubl.eeprom_start < 0) {
SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
@@ -347,7 +352,6 @@
}
if (code_seen('Q')) {
-
const int test_pattern = code_has_value() ? code_value_int() : -1;
if (!WITHIN(test_pattern, 0, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n");
@@ -428,15 +432,16 @@
//
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
- if (!x_flag && !y_flag) { // use a good default location for the path
- // The flipped > and < operators on these two comparisons is
- // intentional. It should cause the probed points to follow a
- // nice path on Cartesian printers. It may make sense to
- // have Delta printers default to the center of the bed.
- // For now, until that is decided, it can be forced with the X
- // and Y parameters.
- x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS;
- y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS;
+ if (!x_flag && !y_flag) {
+ /**
+ * Use a good default location for the path.
+ * The flipped > and < operators in these comparisons is intentional.
+ * It should cause the probed points to follow a nice path on Cartesian printers.
+ * It may make sense to have Delta printers default to the center of the bed.
+ * Until that is decided, this can be forced with the X and Y parameters.
+ */
+ x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? UBL_MESH_MAX_X : UBL_MESH_MIN_X;
+ y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? UBL_MESH_MAX_Y : UBL_MESH_MIN_Y;
}
if (code_seen('C')) {
@@ -455,27 +460,29 @@
}
}
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M'));
+ SERIAL_PROTOCOLLNPGM("G29 P2 finished");
} break;
case 3: {
- //
- // Populate invalid Mesh areas. Two choices are available to the user. The user can
- // specify the constant to be used with a C # paramter. Or the user can allow the G29 P3 command to
- // apply a 'reasonable' constant to the invalid mesh point. Some caution and scrutiny should be used
- // on either of these paths!
- //
+ /**
+ * Populate invalid mesh areas. Proceed with caution.
+ * Two choices are available:
+ * - Specify a constant with the 'C' parameter.
+ * - Allow 'G29 P3' to choose a 'reasonable' constant.
+ */
if (c_flag) {
- while (repetition_cnt--) {
+ while (repetition_cnt--) {
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
- if (location.x_index < 0) break; // No more invalid Mesh Points to populate
- ubl.z_values[location.x_index][location.y_index] = ubl_constant;
+ if (location.x_index < 0) break; // No more invalid Mesh Points to populate
+ ubl.z_values[location.x_index][location.y_index] = ubl_constant;
}
break;
- } else // The user wants to do a 'Smart' fill where we use the surrounding known
- smart_fill_mesh(); // values to provide a good guess of what the unprobed mesh point should be
- break;
}
+ else
+ smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
+
+ } break;
case 4:
//
@@ -483,55 +490,19 @@
//
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M'));
break;
- case 5:
- ubl.find_mean_mesh_height();
- break;
- case 6:
- ubl.shift_mesh_height();
- break;
- case 10:
- // [DEBUG] Pay no attention to this stuff. It can be removed soon.
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- ubl.has_control_of_lcd_panel = true;
- while (!ubl_lcd_clicked()) {
- safe_delay(250);
- if (ubl.encoder_diff) {
- SERIAL_ECHOLN((int)ubl.encoder_diff);
- ubl.encoder_diff = 0;
- }
- }
- SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
- ubl.has_control_of_lcd_panel = false;
- KEEPALIVE_STATE(IN_HANDLER);
- break;
+ case 5: ubl.find_mean_mesh_height(); break;
- case 11:
- // [DEBUG] wait_for_user code. Pay no attention to this stuff. It can be removed soon.
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- wait_for_user = true;
- while (wait_for_user) {
- safe_delay(250);
- if (ubl.encoder_diff) {
- SERIAL_ECHOLN((int)ubl.encoder_diff);
- ubl.encoder_diff = 0;
- }
- }
- SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
- KEEPALIVE_STATE(IN_HANDLER);
- break;
+ case 6: ubl.shift_mesh_height(); break;
}
+
}
if (code_seen('T')) {
- float z1 = probe_pt( LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y), false, g29_verbose_level),
- z2 = probe_pt( LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level),
- z3 = probe_pt( LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
+ float z1 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y), false, g29_verbose_level),
+ z2 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level),
+ z3 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
// We need to adjust z1, z2, z3 by the Mesh Height at these points. Just because they are non-zero doesn't mean
// the Mesh is tilted! (We need to compensate each probe point by what the Mesh says that location's height is)
@@ -541,7 +512,7 @@
z2 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
z3 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
- do_blocking_move_to_xy((X_MAX_POS - (X_MIN_POS)) / 2.0, (Y_MAX_POS - (Y_MIN_POS)) / 2.0);
+ do_blocking_move_to_xy(0.5 * (UBL_MESH_MAX_X - (UBL_MESH_MIN_X)), 0.5 * (UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)));
ubl.tilt_mesh_based_on_3pts(z1, z2, z3);
ubl.restore_ubl_active_state_and_leave();
}
@@ -600,8 +571,8 @@
SERIAL_ECHOPAIR(" J ", y);
SERIAL_ECHOPGM(" Z ");
SERIAL_ECHO_F(ubl.z_values[x][y], 6);
- SERIAL_ECHOPAIR(" ; X ", LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[x]))));
- SERIAL_ECHOPAIR(", Y ", LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[y]))));
+ SERIAL_ECHOPAIR(" ; X ", LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[x])));
+ SERIAL_ECHOPAIR(", Y ", LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[y])));
SERIAL_EOL;
}
return;
@@ -647,9 +618,9 @@
} while (!ubl_lcd_clicked());
ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
- // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
- // or here. So, until we are done looking for a long Encoder Wheel Press,
- // we need to take control of the panel
+ // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
+ // or here. So, until we are done looking for a long Encoder Wheel Press,
+ // we need to take control of the panel
KEEPALIVE_STATE(IN_HANDLER);
@@ -686,44 +657,39 @@
}
void unified_bed_leveling::find_mean_mesh_height() {
- uint8_t x, y;
- int n;
- float sum, sum_of_diff_squared, sigma, difference, mean;
-
- sum = sum_of_diff_squared = 0.0;
- n = 0;
- for (x = 0; x < GRID_MAX_POINTS_X; x++)
- for (y = 0; y < GRID_MAX_POINTS_Y; y++)
+ float sum = 0.0;
+ int n = 0;
+ for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+ for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) {
sum += ubl.z_values[x][y];
n++;
}
- mean = sum / n;
+ const float mean = sum / n;
//
// Now do the sumation of the squares of difference from mean
//
- for (x = 0; x < GRID_MAX_POINTS_X; x++)
- for (y = 0; y < GRID_MAX_POINTS_Y; y++)
- if (!isnan(ubl.z_values[x][y])) {
- difference = (ubl.z_values[x][y] - mean);
- sum_of_diff_squared += difference * difference;
- }
+ float sum_of_diff_squared = 0.0;
+ for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+ for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
+ if (!isnan(ubl.z_values[x][y]))
+ sum_of_diff_squared += sq(ubl.z_values[x][y] - mean);
SERIAL_ECHOLNPAIR("# of samples: ", n);
SERIAL_ECHOPGM("Mean Mesh Height: ");
SERIAL_ECHO_F(mean, 6);
SERIAL_EOL;
- sigma = sqrt(sum_of_diff_squared / (n + 1));
+ const float sigma = sqrt(sum_of_diff_squared / (n + 1));
SERIAL_ECHOPGM("Standard Deviation: ");
SERIAL_ECHO_F(sigma, 6);
SERIAL_EOL;
if (c_flag)
- for (x = 0; x < GRID_MAX_POINTS_X; x++)
- for (y = 0; y < GRID_MAX_POINTS_Y; y++)
+ for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+ for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y]))
ubl.z_values[x][y] -= mean + ubl_constant;
}
@@ -761,8 +727,8 @@
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, do_furthest);
if (location.x_index >= 0 && location.y_index >= 0) {
- const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
- rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index]));
+ const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
+ rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y)) {
@@ -785,13 +751,12 @@
ubl.restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
- constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), X_MIN_POS, X_MAX_POS),
- constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), Y_MIN_POS, Y_MAX_POS)
+ constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_X, UBL_MESH_MAX_X),
+ constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)
);
}
void unified_bed_leveling::tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
- float d, t, inv_z;
int i, j;
matrix_3x3 rotation;
@@ -812,94 +777,96 @@
* However, we don't know its direction. We need it to point up. So if
* Z is negative, we need to invert the sign of all components of the vector
*/
- if ( normal.z < 0.0 ) {
+ if (normal.z < 0.0) {
normal.x = -normal.x;
normal.y = -normal.y;
normal.z = -normal.z;
}
- rotation = matrix_3x3::create_look_at( vector_3( normal.x, normal.y, 1));
+ rotation = matrix_3x3::create_look_at(vector_3(normal.x, normal.y, 1));
- if (g29_verbose_level>2) {
+ if (g29_verbose_level > 2) {
SERIAL_ECHOPGM("bed plane normal = [");
- SERIAL_PROTOCOL_F( normal.x, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( normal.y, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( normal.z, 7);
- SERIAL_ECHOPGM("]\n");
- rotation.debug("rotation matrix:");
+ SERIAL_PROTOCOL_F(normal.x, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(normal.y, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(normal.z, 7);
+ SERIAL_ECHOLNPGM("]");
+ rotation.debug(PSTR("rotation matrix:"));
}
//
// All of 3 of these points should give us the same d constant
//
- t = normal.x * UBL_PROBE_PT_1_X + normal.y * UBL_PROBE_PT_1_Y;
- d = t + normal.z * z1;
+ float t = normal.x * (UBL_PROBE_PT_1_X) + normal.y * (UBL_PROBE_PT_1_Y),
+ d = t + normal.z * z1;
if (g29_verbose_level>2) {
SERIAL_ECHOPGM("D constant: ");
- SERIAL_PROTOCOL_F( d, 7);
- SERIAL_ECHOPGM(" \n");
+ SERIAL_PROTOCOL_F(d, 7);
+ SERIAL_ECHOLNPGM(" ");
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("d from 1st point: ");
- SERIAL_ECHO_F(d, 6);
- SERIAL_EOL;
- t = normal.x * UBL_PROBE_PT_2_X + normal.y * UBL_PROBE_PT_2_Y;
- d = t + normal.z * z2;
- SERIAL_ECHOPGM("d from 2nd point: ");
- SERIAL_ECHO_F(d, 6);
- SERIAL_EOL;
- t = normal.x * UBL_PROBE_PT_3_X + normal.y * UBL_PROBE_PT_3_Y;
- d = t + normal.z * z3;
- SERIAL_ECHOPGM("d from 3rd point: ");
- SERIAL_ECHO_F(d, 6);
- SERIAL_EOL;
+ SERIAL_ECHOPGM("d from 1st point: ");
+ SERIAL_ECHO_F(d, 6);
+ SERIAL_EOL;
+ t = normal.x * (UBL_PROBE_PT_2_X) + normal.y * (UBL_PROBE_PT_2_Y);
+ d = t + normal.z * z2;
+ SERIAL_ECHOPGM("d from 2nd point: ");
+ SERIAL_ECHO_F(d, 6);
+ SERIAL_EOL;
+ t = normal.x * (UBL_PROBE_PT_3_X) + normal.y * (UBL_PROBE_PT_3_Y);
+ d = t + normal.z * z3;
+ SERIAL_ECHOPGM("d from 3rd point: ");
+ SERIAL_ECHO_F(d, 6);
+ SERIAL_EOL;
}
#endif
- for (i = 0; i < GRID_MAX_POINTS_X; i++) {
- for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
- float x_tmp, y_tmp, z_tmp;
- x_tmp = pgm_read_float(ubl.mesh_index_to_xpos[i]);
- y_tmp = pgm_read_float(ubl.mesh_index_to_ypos[j]);
- z_tmp = ubl.z_values[i][j];
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("before rotation = [");
- SERIAL_PROTOCOL_F( x_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( y_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( z_tmp, 7);
- SERIAL_ECHOPGM("] ---> ");
- safe_delay(20);
+ for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
+ for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
+ float x_tmp = pgm_read_float(&ubl.mesh_index_to_xpos[i]),
+ y_tmp = pgm_read_float(&ubl.mesh_index_to_ypos[j]),
+ z_tmp = ubl.z_values[i][j];
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPGM("before rotation = [");
+ SERIAL_PROTOCOL_F(x_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(y_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(z_tmp, 7);
+ SERIAL_ECHOPGM("] ---> ");
+ safe_delay(20);
+ }
+ #endif
+ apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPGM("after rotation = [");
+ SERIAL_PROTOCOL_F(x_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(y_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(z_tmp, 7);
+ SERIAL_ECHOLNPGM("]");
+ safe_delay(55);
+ }
+ #endif
+ ubl.z_values[i][j] += z_tmp - d;
}
- #endif
- apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("after rotation = [");
- SERIAL_PROTOCOL_F( x_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( y_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( z_tmp, 7);
- SERIAL_ECHOPGM("]\n");
- safe_delay(55);
- }
- #endif
- ubl.z_values[i][j] += z_tmp - d;
- }
}
- return;
}
float use_encoder_wheel_to_measure_point() {
+
+ while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
+ delay(50); // debounce
+
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle();
@@ -912,21 +879,29 @@
return current_position[Z_AXIS];
}
- float measure_business_card_thickness(const float &in_height) {
+ static void say_and_take_a_measurement() {
+ SERIAL_PROTOCOLLNPGM(" and take a measurement.");
+ }
+ float measure_business_card_thickness(const float &in_height) {
ubl.has_control_of_lcd_panel = true;
- ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
+ ubl.save_ubl_active_state_and_disable(); // Disable bed level correction for probing
- SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement.");
do_blocking_move_to_z(in_height);
- do_blocking_move_to_xy((float(X_MAX_POS) - float(X_MIN_POS)) / 2.0, (float(Y_MAX_POS) - float(Y_MIN_POS)) / 2.0);
- //, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])/2.0);
+ do_blocking_move_to_xy(0.5 * (UBL_MESH_MAX_X - (UBL_MESH_MIN_X)), 0.5 * (UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)));
+ //, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) / 2.0);
+
+ stepper.synchronize();
+ SERIAL_PROTOCOLPGM("Place shim under nozzle");
+ say_and_take_a_measurement();
const float z1 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
- ubl.has_control_of_lcd_panel = false;
+ stepper.synchronize();
+
+ SERIAL_PROTOCOLPGM("Remove shim");
+ say_and_take_a_measurement();
- SERIAL_PROTOCOLLNPGM("Remove Shim and Measure Bed Height.");
const float z2 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
@@ -935,6 +910,8 @@
SERIAL_PROTOCOL_F(abs(z1 - z2), 6);
SERIAL_PROTOCOLLNPGM("mm thick.");
}
+ ubl.has_control_of_lcd_panel = false;
+
ubl.restore_ubl_active_state_and_leave();
return abs(z1 - z2);
}
@@ -953,11 +930,11 @@
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
if (location.x_index < 0 && location.y_index < 0) continue;
- const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
- rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index]));
+ const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
+ rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
- if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) {
+ if (!WITHIN(rawx, UBL_MESH_MIN_X, UBL_MESH_MAX_X) || !WITHIN(rawy, UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false;
@@ -984,7 +961,9 @@
if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing
- while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
+ while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
+ delay(50); // debounce
+ while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle();
if (ubl.encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl.encoder_diff) / 100.0);
@@ -1024,17 +1003,28 @@
do_blocking_move_to_xy(lx, ly);
}
+ static void say_ubl_name() {
+ SERIAL_PROTOCOLPGM("Unified Bed Leveling ");
+ }
+
+ static void report_ubl_state() {
+ say_ubl_name();
+ SERIAL_PROTOCOLPGM("System ");
+ if (!ubl.state.active) SERIAL_PROTOCOLPGM("de");
+ SERIAL_PROTOCOLLNPGM("activated.\n");
+ }
+
bool g29_parameter_parsing() {
bool err_flag = false;
- LCD_MESSAGEPGM("Doing G29 UBL!");
+ LCD_MESSAGEPGM("Doing G29 UBL!");
+ lcd_quick_feedback();
+
ubl_constant = 0.0;
repetition_cnt = 0;
- lcd_quick_feedback();
x_flag = code_seen('X') && code_has_value();
x_pos = x_flag ? code_value_float() : current_position[X_AXIS];
-
y_flag = code_seen('Y') && code_has_value();
y_pos = y_flag ? code_value_float() : current_position[Y_AXIS];
@@ -1042,14 +1032,14 @@
if (repeat_flag) {
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
if (repetition_cnt < 1) {
- SERIAL_PROTOCOLLNPGM("Invalid Repetition count.\n");
+ SERIAL_PROTOCOLLNPGM("?(R)epetition count invalid (1+).\n");
return UBL_ERR;
}
}
g29_verbose_level = code_seen('V') ? code_value_int() : 0;
if (!WITHIN(g29_verbose_level, 0, 4)) {
- SERIAL_PROTOCOLLNPGM("Invalid Verbose Level specified. (0-4)\n");
+ SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4)\n");
err_flag = true;
}
@@ -1066,44 +1056,47 @@
err_flag = true;
}
- if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) {
+ if (!WITHIN(RAW_X_POSITION(x_pos), UBL_MESH_MIN_X, UBL_MESH_MAX_X)) {
SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n");
err_flag = true;
}
- if (!WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS)) {
+ if (!WITHIN(RAW_Y_POSITION(y_pos), UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) {
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
err_flag = true;
}
if (err_flag) return UBL_ERR;
- if (code_seen('A')) { // Activate the Unified Bed Leveling System
+ // Activate or deactivate UBL
+ if (code_seen('A')) {
+ if (code_seen('D')) {
+ SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
+ return UBL_ERR;
+ }
ubl.state.active = 1;
- SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n");
+ report_ubl_state();
}
-
- c_flag = code_seen('C');
- if (c_flag)
- ubl_constant = code_value_float();
-
- if (code_seen('D')) { // Disable the Unified Bed Leveling System
+ else if (code_seen('D')) {
ubl.state.active = 0;
- SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System de-activated.\n");
+ report_ubl_state();
}
+ // Set global 'C' flag and its value
+ if ((c_flag = code_seen('C')))
+ ubl_constant = code_value_float();
+
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('F') && code_has_value()) {
const float fh = code_value_float();
if (!WITHIN(fh, 0.0, 100.0)) {
- SERIAL_PROTOCOLLNPGM("?Bed Level Correction Fade Height Not Plausible.\n");
+ SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
return UBL_ERR;
}
set_z_fade_height(fh);
}
#endif
-
map_type = code_seen('O') && code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
@@ -1125,7 +1118,7 @@
* This function goes away after G29 debug is complete. But for right now, it is a handy
* routine to dump binary data structures.
*/
-/*
+ /*
void dump(char * const str, const float &f) {
char *ptr;
@@ -1143,7 +1136,7 @@
SERIAL_EOL;
}
-*/
+ //*/
static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0;
@@ -1170,7 +1163,6 @@
ubl.state.active = ubl_state_at_invocation;
}
-
/**
* Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
* good to have the extra information. Soon... we prune this to just a few items
@@ -1178,7 +1170,8 @@
void g29_what_command() {
const uint16_t k = E2END - ubl.eeprom_start;
- SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version " UBL_VERSION " ");
+ say_ubl_name();
+ SERIAL_PROTOCOLPGM("System Version " UBL_VERSION " ");
if (ubl.state.active)
SERIAL_PROTOCOLCHAR('A');
else
@@ -1209,11 +1202,11 @@
SERIAL_EOL;
safe_delay(25);
- SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=0x", hex_word(ubl.eeprom_start));
+ SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=", hex_address((void*)ubl.eeprom_start));
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
- SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[i]))), 1);
+ SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[i])), 1);
SERIAL_PROTOCOLPGM(" ");
safe_delay(50);
}
@@ -1221,7 +1214,7 @@
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
- SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[i]))), 1);
+ SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[i])), 1);
SERIAL_PROTOCOLPGM(" ");
safe_delay(50);
}
@@ -1275,8 +1268,10 @@
SERIAL_EOL;
safe_delay(50);
- if (!ubl.sanity_check())
- SERIAL_PROTOCOLLNPGM("Unified Bed Leveling sanity checks passed.");
+ if (!ubl.sanity_check()) {
+ say_ubl_name();
+ SERIAL_PROTOCOLLNPGM("sanity checks passed.");
+ }
}
/**
@@ -1336,18 +1331,18 @@
ubl.z_values[x][y] -= tmp_z_values[x][y];
}
- mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16], bool far_flag) {
- float distance, closest = far_flag ? -99999.99 : 99999.99;
- mesh_index_pair return_val;
-
- return_val.x_index = return_val.y_index = -1;
+ mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16], const bool far_flag) {
+ mesh_index_pair out_mesh;
+ out_mesh.x_index = out_mesh.y_index = -1;
const float current_x = current_position[X_AXIS],
current_y = current_position[Y_AXIS];
// Get our reference position. Either the nozzle or probe location.
- const float px = lx - (probe_as_reference==USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
- py = ly - (probe_as_reference==USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
+ const float px = lx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
+ py = ly - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
+
+ float closest = far_flag ? -99999.99 : 99999.99;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
@@ -1359,13 +1354,13 @@
// We only get here if we found a Mesh Point of the specified type
- const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[i])), // Check if we can probe this mesh location
- rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[j]));
+ const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[i]), // Check if we can probe this mesh location
+ rawy = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
// If using the probe as the reference there are some unreachable locations.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
- if (probe_as_reference==USE_PROBE_AS_REFERENCE &&
+ if (probe_as_reference == USE_PROBE_AS_REFERENCE &&
(!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y))
) continue;
@@ -1375,30 +1370,38 @@
const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location
my = LOGICAL_Y_POSITION(rawy);
- distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1;
-
- if (far_flag) { // If doing the far_flag action, we want to be as far as possible
- for (uint8_t k = 0; k < GRID_MAX_POINTS_X; k++) { // from the starting point and from any other probed points. We
- for (uint8_t l = 0; l < GRID_MAX_POINTS_Y; l++) { // want the next point spread out and filling in any blank spaces
- if (!isnan(ubl.z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed
- distance += sq(i - k) * (MESH_X_DIST) * .05 // point we can find.
+ float distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1;
+
+ /**
+ * If doing the far_flag action, we want to be as far as possible
+ * from the starting point and from any other probed points. We
+ * want the next point spread out and filling in any blank spaces
+ * in the mesh. So we add in some of the distance to every probed
+ * point we can find.
+ */
+ if (far_flag) {
+ for (uint8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
+ for (uint8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
+ if (!isnan(ubl.z_values[k][l])) {
+ distance += sq(i - k) * (MESH_X_DIST) * .05
+ sq(j - l) * (MESH_Y_DIST) * .05;
}
}
}
}
- if (far_flag == (distance > closest) && distance != closest) { // if far_flag, look for farthest point
+ // if far_flag, look for farthest point
+ if (far_flag == (distance > closest) && distance != closest) {
closest = distance; // We found a closer/farther location with
- return_val.x_index = i; // the specified type of mesh value.
- return_val.y_index = j;
- return_val.distance = closest;
+ out_mesh.x_index = i; // the specified type of mesh value.
+ out_mesh.y_index = j;
+ out_mesh.distance = closest;
}
}
} // for j
} // for i
- return return_val;
+ return out_mesh;
}
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
@@ -1418,50 +1421,55 @@
do_blocking_move_to_xy(lx, ly);
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done, false);
- // It doesn't matter if the probe can not reach this
- // location. This is a manual edit of the Mesh Point.
+ // It doesn't matter if the probe can't reach this
+ // location. This is a manual edit of the Mesh Point.
if (location.x_index < 0 && location.y_index < 0) continue; // abort if we can't find any more points.
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
// different location the next time through the loop
- const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
- rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index]));
+ const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
+ rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
- if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) { // In theory, we don't need this check.
+ if (!WITHIN(rawx, UBL_MESH_MIN_X, UBL_MESH_MAX_X) || !WITHIN(rawy, UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) { // In theory, we don't need this check.
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to edit off the bed."); // This really can't happen, but do the check for now
ubl.has_control_of_lcd_panel = false;
goto FINE_TUNE_EXIT;
}
- do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit
- do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
-
float new_z = ubl.z_values[location.x_index][location.y_index];
- round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the
- new_z = float(round_off) / 1000.0;
+ if (!isnan(new_z)) { //can't fine tune a point that hasn't been probed
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- ubl.has_control_of_lcd_panel = true;
+ do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit
+ do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
- if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted
+ round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the
+ new_z = float(round_off) / 1000.0;
- lcd_implementation_clear();
- lcd_mesh_edit_setup(new_z);
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
+ ubl.has_control_of_lcd_panel = true;
- do {
- new_z = lcd_mesh_edit();
- idle();
- } while (!ubl_lcd_clicked());
+ if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted
+
+ lcd_implementation_clear();
+
+ lcd_mesh_edit_setup(new_z);
+
+ do {
+ new_z = lcd_mesh_edit();
+ idle();
+ } while (!ubl_lcd_clicked());
- lcd_return_to_status();
+ lcd_return_to_status();
- ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
- // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
- // or here.
+ // There is a race condition for the Encoder Wheel getting clicked.
+ // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
+ // or here.
+ ubl.has_control_of_lcd_panel = true;
+ }
const millis_t nxt = millis() + 1500UL;
while (ubl_lcd_clicked()) { // debounce and watch for abort
@@ -1501,229 +1509,193 @@
SERIAL_ECHOLNPGM("Done Editing Mesh");
}
- //
- // The routine provides the 'Smart Fill' capability. It scans from the
- // outward edges of the mesh towards the center. If it finds an invalid
- // location, it uses the next two points (assumming they are valid) to
- // calculate a 'reasonable' value for the unprobed mesh point.
- //
- void smart_fill_mesh() {
- float f, diff;
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Bottom of the mesh looking up
- for (uint8_t y = 0; y < GRID_MAX_POINTS_Y-2; y++) {
- if (isnan(ubl.z_values[x][y])) {
- if (isnan(ubl.z_values[x][y+1])) // we only deal with the first NAN next to a block of
- continue; // good numbers. we want 2 good numbers to extrapolate off of.
- if (isnan(ubl.z_values[x][y+2]))
- continue;
- if (ubl.z_values[x][y+1] < ubl.z_values[x][y+2]) // The bed is angled down near this edge. So to be safe, we
- ubl.z_values[x][y] = ubl.z_values[x][y+1]; // use the closest value, which is probably a little too high
- else {
- diff = ubl.z_values[x][y+1] - ubl.z_values[x][y+2]; // The bed is angled up near this edge. So we will use the closest
- ubl.z_values[x][y] = ubl.z_values[x][y+1] + diff; // height and add in the difference between that and the next point
- }
- break;
- }
- }
- }
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Top of the mesh looking down
- for (uint8_t y=GRID_MAX_POINTS_Y-1; y>=1; y--) {
- if (isnan(ubl.z_values[x][y])) {
- if (isnan(ubl.z_values[x][y-1])) // we only deal with the first NAN next to a block of
- continue; // good numbers. we want 2 good numbers to extrapolate off of.
- if (isnan(ubl.z_values[x][y-2]))
- continue;
- if (ubl.z_values[x][y-1] < ubl.z_values[x][y-2]) // The bed is angled down near this edge. So to be safe, we
- ubl.z_values[x][y] = ubl.z_values[x][y-1]; // use the closest value, which is probably a little too high
- else {
- diff = ubl.z_values[x][y-1] - ubl.z_values[x][y-2]; // The bed is angled up near this edge. So we will use the closest
- ubl.z_values[x][y] = ubl.z_values[x][y-1] + diff; // height and add in the difference between that and the next point
- }
- break;
- }
+ /**
+ * 'Smart Fill': Scan from the outward edges of the mesh towards the center.
+ * If an invalid location is found, use the next two points (if valid) to
+ * calculate a 'reasonable' value for the unprobed mesh point.
+ */
+
+ bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
+ const int8_t x1 = x + xdir, x2 = x1 + xdir,
+ y1 = y + ydir, y2 = y1 + ydir;
+ // A NAN next to a pair of real values?
+ if (isnan(ubl.z_values[x][y]) && !isnan(ubl.z_values[x1][y1]) && !isnan(ubl.z_values[x2][y2])) {
+ if (ubl.z_values[x1][y1] < ubl.z_values[x2][y2]) // Angled downward?
+ ubl.z_values[x][y] = ubl.z_values[x1][y1]; // Use nearest (maybe a little too high.)
+ else {
+ const float diff = ubl.z_values[x1][y1] - ubl.z_values[x2][y2]; // Angled upward
+ ubl.z_values[x][y] = ubl.z_values[x1][y1] + diff; // Use closest plus difference
}
+ return true;
}
- for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X-2; x++) { // Left side of the mesh looking right
- if (isnan(ubl.z_values[x][y])) {
- if (isnan(ubl.z_values[x+1][y])) // we only deal with the first NAN next to a block of
- continue; // good numbers. we want 2 good numbers to extrapolate off of.
- if (isnan(ubl.z_values[x+2][y]))
- continue;
- if (ubl.z_values[x+1][y] < ubl.z_values[x+2][y]) // The bed is angled down near this edge. So to be safe, we
- ubl.z_values[x][y] = ubl.z_values[x][y+1]; // use the closest value, which is probably a little too high
- else {
- diff = ubl.z_values[x+1][y] - ubl.z_values[x+2][y]; // The bed is angled up near this edge. So we will use the closest
- ubl.z_values[x][y] = ubl.z_values[x+1][y] + diff; // height and add in the difference between that and the next point
- }
- break;
- }
- }
+ return false;
+ }
+
+ typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
+
+ void smart_fill_loop(const smart_fill_info &f) {
+ if (f.yfirst) {
+ const int8_t dir = f.ex > f.sx ? 1 : -1;
+ for (uint8_t y = f.sy; y != f.ey; ++y)
+ for (uint8_t x = f.sx; x != f.ex; x += dir)
+ if (smart_fill_one(x, y, dir, 0)) break;
}
- for (uint8_t y=0; y < GRID_MAX_POINTS_Y; y++) {
- for (uint8_t x=GRID_MAX_POINTS_X-1; x>=1; x--) { // Right side of the mesh looking left
- if (isnan(ubl.z_values[x][y])) {
- if (isnan(ubl.z_values[x-1][y])) // we only deal with the first NAN next to a block of
- continue; // good numbers. we want 2 good numbers to extrapolate off of.
- if (isnan(ubl.z_values[x-2][y]))
- continue;
- if (ubl.z_values[x-1][y] < ubl.z_values[x-2][y]) // The bed is angled down near this edge. So to be safe, we
- ubl.z_values[x][y] = ubl.z_values[x-1][y]; // use the closest value, which is probably a little too high
- else {
- diff = ubl.z_values[x-1][y] - ubl.z_values[x-2][y]; // The bed is angled up near this edge. So we will use the closest
- ubl.z_values[x][y] = ubl.z_values[x-1][y] + diff; // height and add in the difference between that and the next point
- }
- break;
- }
- }
+ else {
+ const int8_t dir = f.ey > f.sy ? 1 : -1;
+ for (uint8_t x = f.sx; x != f.ex; ++x)
+ for (uint8_t y = f.sy; y != f.ey; y += dir)
+ if (smart_fill_one(x, y, 0, dir)) break;
}
}
+ void smart_fill_mesh() {
+ const smart_fill_info info[] = {
+ { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up
+ { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down
+ { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right
+ { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true } // Right side of the mesh looking left
+ };
+ for (uint8_t i = 0; i < COUNT(info); ++i) smart_fill_loop(info[i]);
+ }
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
- int8_t i, j ,k, xCount, yCount, xi, yi; // counter variables
- int8_t ix, iy, zig_zag=0, status;
+ constexpr int16_t x_min = max(MIN_PROBE_X, UBL_MESH_MIN_X),
+ x_max = min(MAX_PROBE_X, UBL_MESH_MAX_X),
+ y_min = max(MIN_PROBE_Y, UBL_MESH_MIN_Y),
+ y_max = min(MAX_PROBE_Y, UBL_MESH_MAX_Y);
+
+ const float dx = float(x_max - x_min) / (grid_size - 1.0),
+ dy = float(y_max - y_min) / (grid_size - 1.0);
- float dx, dy, x, y, measured_z, inv_z;
struct linear_fit_data lsf_results;
- matrix_3x3 rotation;
- vector_3 normal;
+ incremental_LSF_reset(&lsf_results);
- int16_t x_min = max((MIN_PROBE_X),(UBL_MESH_MIN_X)),
- x_max = min((MAX_PROBE_X),(UBL_MESH_MAX_X)),
- y_min = max((MIN_PROBE_Y),(UBL_MESH_MIN_Y)),
- y_max = min((MAX_PROBE_Y),(UBL_MESH_MAX_Y));
+ bool zig_zag = false;
+ for (uint8_t ix = 0; ix < grid_size; ix++) {
+ const float x = float(x_min) + ix * dx;
+ for (int8_t iy = 0; iy < grid_size; iy++) {
+ const float y = float(y_min) + dy * (zig_zag ? grid_size - 1 - iy : iy);
+ float measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), code_seen('E'), g29_verbose_level);
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_CHAR('(');
+ SERIAL_PROTOCOL_F(x, 7);
+ SERIAL_CHAR(',');
+ SERIAL_PROTOCOL_F(y, 7);
+ SERIAL_ECHOPGM(") logical: ");
+ SERIAL_CHAR('(');
+ SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(x), 7);
+ SERIAL_CHAR(',');
+ SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(y), 7);
+ SERIAL_ECHOPGM(") measured: ");
+ SERIAL_PROTOCOL_F(measured_z, 7);
+ SERIAL_ECHOPGM(" correction: ");
+ SERIAL_PROTOCOL_F(ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)), 7);
+ }
+ #endif
- dx = ((float)(x_max-x_min)) / (grid_size-1.0);
- dy = ((float)(y_max-y_min)) / (grid_size-1.0);
+ measured_z -= ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
- incremental_LSF_reset(&lsf_results);
- for(ix=0; ix<grid_size; ix++) {
- x = ((float)x_min) + ix*dx;
- for(iy=0; iy<grid_size; iy++) {
- if (zig_zag)
- y = ((float)y_min) + (grid_size-iy-1)*dy;
- else
- y = ((float)y_min) + iy*dy;
- measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), code_seen('E'), g29_verbose_level);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("(");
- SERIAL_PROTOCOL_F( x, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( y, 7);
- SERIAL_ECHOPGM(") logical: ");
- SERIAL_ECHOPGM("(");
- SERIAL_PROTOCOL_F( LOGICAL_X_POSITION(x), 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( LOGICAL_X_POSITION(y), 7);
- SERIAL_ECHOPGM(") measured: ");
- SERIAL_PROTOCOL_F( measured_z, 7);
- SERIAL_ECHOPGM(" correction: ");
- SERIAL_PROTOCOL_F( ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)), 7);
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPGM(" final >>>---> ");
+ SERIAL_PROTOCOL_F(measured_z, 7);
+ SERIAL_EOL;
}
- #endif
- measured_z -= ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM(" final >>>---> ");
- SERIAL_PROTOCOL_F( measured_z, 7);
- SERIAL_ECHOPGM("\n");
- }
- #endif
- incremental_LSF(&lsf_results, x, y, measured_z);
- }
+ #endif
- zig_zag = !zig_zag;
+ incremental_LSF(&lsf_results, x, y, measured_z);
}
- status = finish_incremental_LSF(&lsf_results);
- if (g29_verbose_level>3) {
+ zig_zag ^= true;
+ }
+
+ const int status = finish_incremental_LSF(&lsf_results);
+
+ if (g29_verbose_level > 3) {
SERIAL_ECHOPGM("LSF Results A=");
- SERIAL_PROTOCOL_F( lsf_results.A, 7);
+ SERIAL_PROTOCOL_F(lsf_results.A, 7);
SERIAL_ECHOPGM(" B=");
- SERIAL_PROTOCOL_F( lsf_results.B, 7);
+ SERIAL_PROTOCOL_F(lsf_results.B, 7);
SERIAL_ECHOPGM(" D=");
- SERIAL_PROTOCOL_F( lsf_results.D, 7);
- SERIAL_CHAR('\n');
- }
+ SERIAL_PROTOCOL_F(lsf_results.D, 7);
+ SERIAL_EOL;
+ }
- normal = vector_3( lsf_results.A, lsf_results.B, 1.0000);
- normal = normal.get_normal();
+ vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal();
- if (g29_verbose_level>2) {
+ if (g29_verbose_level > 2) {
SERIAL_ECHOPGM("bed plane normal = [");
- SERIAL_PROTOCOL_F( normal.x, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( normal.y, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( normal.z, 7);
- SERIAL_ECHOPGM("]\n");
- }
+ SERIAL_PROTOCOL_F(normal.x, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(normal.y, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(normal.z, 7);
+ SERIAL_ECHOLNPGM("]");
+ }
- rotation = matrix_3x3::create_look_at( vector_3( lsf_results.A, lsf_results.B, 1));
-
- for (i = 0; i < GRID_MAX_POINTS_X; i++) {
- for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
- float x_tmp, y_tmp, z_tmp;
- x_tmp = pgm_read_float(&(ubl.mesh_index_to_xpos[i]));
- y_tmp = pgm_read_float(&(ubl.mesh_index_to_ypos[j]));
- z_tmp = ubl.z_values[i][j];
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("before rotation = [");
- SERIAL_PROTOCOL_F( x_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( y_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( z_tmp, 7);
- SERIAL_ECHOPGM("] ---> ");
- safe_delay(20);
- }
- #endif
- apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("after rotation = [");
- SERIAL_PROTOCOL_F( x_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( y_tmp, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( z_tmp, 7);
- SERIAL_ECHOPGM("]\n");
- safe_delay(55);
- }
+ matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1));
- #endif
+ for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
+ for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
+ float x_tmp = pgm_read_float(&ubl.mesh_index_to_xpos[i]),
+ y_tmp = pgm_read_float(&ubl.mesh_index_to_ypos[j]),
+ z_tmp = ubl.z_values[i][j];
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPGM("before rotation = [");
+ SERIAL_PROTOCOL_F(x_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(y_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(z_tmp, 7);
+ SERIAL_ECHOPGM("] ---> ");
+ safe_delay(20);
+ }
+ #endif
- ubl.z_values[i][j] += z_tmp - lsf_results.D;
- }
- }
+ apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPGM("after rotation = [");
+ SERIAL_PROTOCOL_F(x_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(y_tmp, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(z_tmp, 7);
+ SERIAL_ECHOLNPGM("]");
+ safe_delay(55);
+ }
+ #endif
+
+ ubl.z_values[i][j] += z_tmp - lsf_results.D;
+ }
+ }
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
- rotation.debug("rotation matrix:");
+ rotation.debug(PSTR("rotation matrix:"));
SERIAL_ECHOPGM("LSF Results A=");
- SERIAL_PROTOCOL_F( lsf_results.A, 7);
+ SERIAL_PROTOCOL_F(lsf_results.A, 7);
SERIAL_ECHOPGM(" B=");
- SERIAL_PROTOCOL_F( lsf_results.B, 7);
+ SERIAL_PROTOCOL_F(lsf_results.B, 7);
SERIAL_ECHOPGM(" D=");
- SERIAL_PROTOCOL_F( lsf_results.D, 7);
- SERIAL_CHAR('\n');
+ SERIAL_PROTOCOL_F(lsf_results.D, 7);
+ SERIAL_EOL;
safe_delay(55);
SERIAL_ECHOPGM("bed plane normal = [");
- SERIAL_PROTOCOL_F( normal.x, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( normal.y, 7);
- SERIAL_ECHOPGM(",");
- SERIAL_PROTOCOL_F( normal.z, 7);
+ SERIAL_PROTOCOL_F(normal.x, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(normal.y, 7);
+ SERIAL_PROTOCOLCHAR(',');
+ SERIAL_PROTOCOL_F(normal.z, 7);
SERIAL_ECHOPGM("]\n");
- SERIAL_CHAR('\n');
+ SERIAL_EOL;
}
#endif
- return;
- }
+ }
#endif // AUTO_BED_LEVELING_UBL
diff --git a/Marlin/ubl_motion.cpp b/Marlin/ubl_motion.cpp
index cd211c96bab3f6b1b9c554921f423cf042dae6bf..b1f8946e50f11db8332682efe328926438a2c872 100644
--- a/Marlin/ubl_motion.cpp
+++ b/Marlin/ubl_motion.cpp
@@ -154,7 +154,7 @@
* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
*/
- const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&(ubl.mesh_index_to_xpos[cell_dest_xi]))) * (1.0 / (MESH_X_DIST)),
+ const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&ubl.mesh_index_to_xpos[cell_dest_xi])) * (1.0 / (MESH_X_DIST)),
z1 = ubl.z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(ubl.z_values[cell_dest_xi + 1][cell_dest_yi ] - ubl.z_values[cell_dest_xi][cell_dest_yi ]),
z2 = ubl.z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
@@ -163,7 +163,7 @@
// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
- const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&(ubl.mesh_index_to_ypos[cell_dest_yi]))) * (1.0 / (MESH_Y_DIST));
+ const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&ubl.mesh_index_to_ypos[cell_dest_yi])) * (1.0 / (MESH_Y_DIST));
float z0 = z1 + (z2 - z1) * yratio;
@@ -198,8 +198,8 @@
const float dx = end[X_AXIS] - start[X_AXIS],
dy = end[Y_AXIS] - start[Y_AXIS];
- const int left_flag = dx < 0.0 ? 1.0 : 0.0,
- down_flag = dy < 0.0 ? 1.0 : 0.0;
+ const int left_flag = dx < 0.0 ? 1 : 0,
+ down_flag = dy < 0.0 ? 1 : 0;
const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy;
@@ -230,8 +230,8 @@
const float m = dy / dx,
c = start[Y_AXIS] - m * start[X_AXIS];
- const bool inf_normalized_flag=isinf(e_normalized_dist),
- inf_m_flag=isinf(m);
+ const bool inf_normalized_flag = isinf(e_normalized_dist),
+ inf_m_flag = isinf(m);
/**
* This block handles vertical lines. These are lines that stay within the same
* X Cell column. They do not need to be perfectly vertical. They just can
@@ -241,7 +241,7 @@
current_yi += down_flag; // Line is heading down, we just want to go to the bottom
while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi;
- const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[current_yi])));
+ const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
/**
* if the slope of the line is infinite, we won't do the calculations
@@ -263,7 +263,7 @@
*/
if (isnan(z0)) z0 = 0.0;
- const float y = LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[current_yi])));
+ const float y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -274,7 +274,7 @@
if (y != start[Y_AXIS]) {
if (!inf_normalized_flag) {
- //on_axis_distance = y - start[Y_AXIS];
+ //on_axis_distance = y - start[Y_AXIS];
on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
//on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
@@ -283,7 +283,7 @@
//on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
//on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
- e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
+ e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
else {
@@ -321,7 +321,7 @@
// edge of this cell for the first move.
while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
- const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi]))),
+ const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi])),
y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
@@ -337,7 +337,7 @@
*/
if (isnan(z0)) z0 = 0.0;
- const float x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi])));
+ const float x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi]));
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -393,8 +393,8 @@
while (xi_cnt > 0 || yi_cnt > 0) {
- const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi + dxi]))),
- next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[current_yi + dyi]))),
+ const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi + dxi])),
+ next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi + dyi])),
y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero.
diff --git a/Marlin/vector_3.cpp b/Marlin/vector_3.cpp
index 731aff813a29eaf5a2c14ae09aad48f15f39088f..3471fedcacf7cffde82bfb77649925b9158d9c89 100644
--- a/Marlin/vector_3.cpp
+++ b/Marlin/vector_3.cpp
@@ -63,7 +63,7 @@ vector_3 vector_3::get_normal() {
return normalized;
}
-float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
+float vector_3::get_length() { return sqrt(sq(x) + sq(y) + sq(z)); }
void vector_3::normalize() {
const float inv_length = 1.0 / get_length();
@@ -81,8 +81,8 @@ void vector_3::apply_rotation(matrix_3x3 matrix) {
z = resultZ;
}
-void vector_3::debug(const char title[]) {
- SERIAL_PROTOCOL(title);
+void vector_3::debug(const char * const title) {
+ serialprintPGM(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: ");
@@ -101,14 +101,14 @@ void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &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");
+ //row_0.debug(PSTR("row_0"));
+ //row_1.debug(PSTR("row_1"));
+ //row_2.debug(PSTR("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(PSTR("new_matrix"));
return new_matrix;
}
@@ -123,14 +123,14 @@ matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
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(PSTR("x_row"));
+ // y_row.debug(PSTR("y_row"));
+ // z_row.debug(PSTR("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");
+ // rot.debug(PSTR("rot"));
return rot;
}
@@ -142,8 +142,8 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
return new_matrix;
}
-void matrix_3x3::debug(const char title[]) {
- SERIAL_PROTOCOLLN(title);
+void matrix_3x3::debug(const char * const title) {
+ serialprintPGM(title);
uint8_t count = 0;
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t j = 0; j < 3; j++) {
diff --git a/Marlin/vector_3.h b/Marlin/vector_3.h
index efc0132fe590ab12231b61d1f0fb396ef778e9cc..23ef745a1a0574ccf584e27e8baa8c2d4286821b 100644
--- a/Marlin/vector_3.h
+++ b/Marlin/vector_3.h
@@ -42,6 +42,7 @@
#define VECTOR_3_H
#if HAS_ABL
+
class matrix_3x3;
struct vector_3 {
@@ -58,7 +59,7 @@ struct vector_3 {
float get_length();
vector_3 get_normal();
- void debug(const char title[]);
+ void debug(const char * const title);
void apply_rotation(matrix_3x3 matrix);
};
@@ -72,11 +73,11 @@ struct matrix_3x3 {
void set_to_identity();
- void debug(const char title[]);
+ void debug(const char * const title);
};
void apply_rotation_xyz(matrix_3x3 rotationMatrix, float& x, float& y, float& z);
-#endif // HAS_ABL
+#endif // HAS_ABL
#endif // VECTOR_3_H