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UBL no longer flout's the sacred GCode standard (#6745)

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Also clean up ubl_motion.cpp debug info and fix declaration of cx & cy
This commit is contained in:
Roxy-3D
2017-05-15 16:25:01 -05:00
committed by GitHub
parent c262ea92e0
commit 1fbcbc05f6
4 changed files with 63 additions and 133 deletions
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131
Marlin/ubl_G29.cpp
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@ -116,8 +116,7 @@
* invalidate.
*
* J # Grid * Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
*
* j EEPROM Dump This function probably goes away after debug is complete.
* Not specifying a grid size will invoke the 3-Point leveling function.
*
* K # Kompare Kompare current Mesh with stored Mesh # replacing current Mesh with the result. This
* command literally performs a diff between two Meshes.
@ -264,8 +263,6 @@
* at a later date. The GCode output can be saved and later replayed by the host software
* to reconstruct the current mesh on another machine.
*
* T 3-Point Perform a 3 Point Bed Leveling on the current Mesh
*
* U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
* Only used for G29 P1 O U It will speed up the probing of the edge of the bed. This
* is useful when the entire bed does not need to be probed because it will be adjusted.
@ -276,12 +273,6 @@
*
* Y # * * Y Location for this line of commands
*
* Z Zero * Probes to set the Z Height of the nozzle. The entire Mesh can be raised or lowered
* by just doing a G29 Z
*
* Z # Zero * The entire Mesh can be raised or lowered to conform with the specified difference.
* zprobe_zoffset is added to the calculation.
*
*
* Release Notes:
* You MUST do M502, M500 to initialize the storage. Failure to do this will cause all
@ -329,7 +320,7 @@
}
// Don't allow auto-leveling without homing first
if (!(code_seen('N') && code_value_bool()) && axis_unhomed_error()) // Warning! Use of 'N' flouts established standards.
if (axis_unhomed_error())
home_all_axes();
if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
@ -353,13 +344,16 @@
}
if (code_seen('Q')) {
const int test_pattern = code_has_value() ? code_value_int() : -1;
if (!WITHIN(test_pattern, 0, 2)) {
const int test_pattern = code_has_value() ? code_value_int() : -99;
if (!WITHIN(test_pattern, -1, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n");
return;
}
SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
switch (test_pattern) {
case -1:
g29_eeprom_dump();
break;
case 0:
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a bowl shape - similar to
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta.
@ -385,9 +379,33 @@
}
if (code_seen('J')) {
ubl.save_ubl_active_state_and_disable();
ubl.tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M')); // Warning! Use of 'M' flouts established standards.
ubl.restore_ubl_active_state_and_leave();
if (grid_size!=0) { // if not 0 it is a normal n x n grid being probed
ubl.save_ubl_active_state_and_disable();
ubl.tilt_mesh_based_on_probed_grid(code_seen('O'));
ubl.restore_ubl_active_state_and_leave();
} else { // grid_size==0 which means a 3-Point leveling has been requested
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);
if ( isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
goto LEAVE;
}
// 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)
ubl.save_ubl_active_state_and_disable();
z1 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
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(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();
}
}
if (code_seen('P')) {
@ -420,7 +438,7 @@
SERIAL_PROTOCOLLNPGM(").\n");
}
ubl.probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
code_seen('O') || code_seen('M'), code_seen('E'), code_seen('U')); // Warning! Use of 'M' flouts established standards.
code_seen('O'), code_seen('E'), code_seen('U'));
break;
case 2: {
@ -469,7 +487,7 @@
return;
}
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M')); // Warning! Use of 'M' flouts established standards.
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O'));
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
} break;
@ -505,7 +523,7 @@
//
// Fine Tune (i.e., Edit) the Mesh
//
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M')); // Warning! Use of 'M' flouts established standards.
fine_tune_mesh(x_pos, y_pos, code_seen('O'));
break;
case 5: ubl.find_mean_mesh_height(); break;
@ -515,43 +533,12 @@
}
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);
if ( isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
goto LEAVE;
}
// 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)
ubl.save_ubl_active_state_and_disable();
z1 -= ubl.get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
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(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();
}
//
// 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
//
if (code_seen('W')) ubl.g29_what_command();
//
// When we are fully debugged, the EEPROM dump command will get deleted also. But
// right now, it is good to have the extra information. Soon... we prune this.
//
if (code_seen('j')) g29_eeprom_dump(); // Warning! Use of lowercase flouts established standards.
//
// When we are fully debugged, this may go away. But there are some valid
// use cases for the users. So we can wait and see what to do with it.
@ -614,9 +601,12 @@
SERIAL_PROTOCOLLNPGM("Done.\n");
}
if (code_seen('O') || code_seen('M')) // Warning! Use of 'M' flouts established standards.
if (code_seen('O'))
ubl.display_map(code_has_value() ? code_value_int() : 0);
/*
* This code may not be needed... Prepare for its removal...
*
if (code_seen('Z')) {
if (code_has_value())
ubl.state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
@ -669,6 +659,7 @@
ubl.restore_ubl_active_state_and_leave();
}
}
*/
LEAVE:
@ -1069,8 +1060,8 @@
}
if (code_seen('J')) {
grid_size = code_has_value() ? code_value_int() : 3;
if (!WITHIN(grid_size, 2, 9)) {
grid_size = code_has_value() ? code_value_int() : 0;
if (grid_size!=0 && !WITHIN(grid_size, 2, 9)) {
SERIAL_PROTOCOLLNPGM("?Invalid grid size (J) specified (2-9).\n");
err_flag = true;
}
@ -1126,43 +1117,9 @@
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
}
// Check if a map type was specified
if (code_seen('M')) { // Warning! Use of 'M' flouts established standards.
map_type = code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
}
}
return UBL_OK;
}
/**
* 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;
SERIAL_PROTOCOL(str);
SERIAL_PROTOCOL_F(f, 8);
SERIAL_PROTOCOLPGM(" ");
ptr = (char*)&f;
for (uint8_t i = 0; i < 4; i++)
SERIAL_PROTOCOLPAIR(" ", hex_byte(*ptr++));
SERIAL_PROTOCOLPAIR(" isnan()=", isnan(f));
SERIAL_PROTOCOLPAIR(" isinf()=", isinf(f));
if (f == -INFINITY)
SERIAL_PROTOCOLPGM(" Minus Infinity detected.");
SERIAL_EOL;
}
//*/
static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0;