From e5a27d9f36e03e5dd9a2f39de113db64fe92dabb Mon Sep 17 00:00:00 2001
From: Bob-the-Kuhn <bob.kuhn@att.net>
Date: Sun, 30 Apr 2017 00:43:28 -0500
Subject: [PATCH] G29 P2 & P4 bug fixes & improvements
---
Marlin/ubl_G29.cpp | 166 ++++++++++++++++++++++++++++-----------------
1 file changed, 103 insertions(+), 63 deletions(-)
diff --git a/Marlin/ubl_G29.cpp b/Marlin/ubl_G29.cpp
index b2c4a7ef41..7cf3d58937 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");
@@ -435,8 +440,8 @@
// 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;
+ 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')) {
@@ -455,8 +460,9 @@
}
}
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M'));
-
- } break;
+ SERIAL_PROTOCOLLNPGM("G29 P2 finished");
+ }
+ break;
case 3: {
//
@@ -900,6 +906,10 @@
}
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();
@@ -917,15 +927,18 @@
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
- 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);
+ do_blocking_move_to_xy((float(UBL_MESH_MAX_X) - float(UBL_MESH_MIN_X)) / 2.0, (float(UBL_MESH_MAX_Y) - float(UBL_MESH_MIN_Y)) / 2.0);
//, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])/2.0);
+ stepper.synchronize();
+ SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform 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_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 +948,8 @@
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);
}
@@ -957,7 +972,7 @@
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;
@@ -984,6 +999,10 @@
if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing
+
+ 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) {
@@ -992,6 +1011,7 @@
}
}
+
const millis_t nxt = millis() + 1500L;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
@@ -1038,6 +1058,7 @@
y_flag = code_seen('Y') && code_has_value();
y_pos = y_flag ? code_value_float() : current_position[Y_AXIS];
+
repeat_flag = code_seen('R');
if (repeat_flag) {
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
@@ -1436,33 +1457,52 @@
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
- lcd_implementation_clear();
- lcd_mesh_edit_setup(new_z);
- do {
- new_z = lcd_mesh_edit();
- idle();
- } while (!ubl_lcd_clicked());
- 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.
+ 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;
+
+
+
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
+ ubl.has_control_of_lcd_panel = true;
+
+
+ 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();
+
+
+
+
+ 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.
+ }
const millis_t nxt = millis() + 1500UL;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
@@ -1630,10 +1670,10 @@
SERIAL_ECHOPGM(" final >>>---> ");
SERIAL_PROTOCOL_F( measured_z, 7);
SERIAL_ECHOPGM("\n");
- }
+ }
#endif
incremental_LSF(&lsf_results, x, y, measured_z);
- }
+ }
zig_zag = !zig_zag;
}
@@ -1647,7 +1687,7 @@
SERIAL_ECHOPGM(" D=");
SERIAL_PROTOCOL_F( lsf_results.D, 7);
SERIAL_CHAR('\n');
- }
+ }
normal = vector_3( lsf_results.A, lsf_results.B, 1.0000);
normal = normal.get_normal();
@@ -1660,46 +1700,46 @@
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7);
SERIAL_ECHOPGM("]\n");
- }
+ }
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);
- }
+ 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);
+ }
- #endif
+ #endif
- ubl.z_values[i][j] += z_tmp - lsf_results.D;
- }
- }
+ ubl.z_values[i][j] += z_tmp - lsf_results.D;
+ }
+ }
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@@ -1723,7 +1763,7 @@
SERIAL_CHAR('\n');
}
#endif
- return;
- }
+ return;
+ }
#endif // AUTO_BED_LEVELING_UBL
--
GitLab