Move debug code
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@ -55,6 +55,59 @@
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safe_delay(10);
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}
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#if ENABLED(UBL_DEVEL_DEBUGGING)
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static void debug_echo_axis(const AxisEnum axis) {
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if (current_position[axis] == destination[axis])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[X_AXIS], 6);
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}
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void debug_current_and_destination(const char *title) {
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// if the title message starts with a '!' it is so important, we are going to
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// ignore the status of the g26_debug_flag
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if (*title != '!' && !g26_debug_flag) return;
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const float de = destination[E_AXIS] - current_position[E_AXIS];
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if (de == 0.0) return; // Printing moves only
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const float dx = destination[X_AXIS] - current_position[X_AXIS],
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dy = destination[Y_AXIS] - current_position[Y_AXIS],
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xy_dist = HYPOT(dx, dy);
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if (xy_dist == 0.0) return;
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SERIAL_ECHOPGM(" fpmm=");
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const float fpmm = de / xy_dist;
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SERIAL_ECHO_F(fpmm, 6);
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SERIAL_ECHOPGM(" current=( ");
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SERIAL_ECHO_F(current_position[X_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Y_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Z_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[E_AXIS], 6);
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SERIAL_ECHOPGM(" ) destination=( ");
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debug_echo_axis(X_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Y_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Z_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(E_AXIS);
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SERIAL_ECHOPGM(" ) ");
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SERIAL_ECHO(title);
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SERIAL_EOL();
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}
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#endif // UBL_DEVEL_DEBUGGING
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int8_t unified_bed_leveling::storage_slot;
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float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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@ -178,7 +231,7 @@
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uint8_t error_flag = 0;
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if (settings.calc_num_meshes() < 1) {
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SERIAL_PROTOCOLLNPGM("?Insufficient EEPROM storage for a mesh of this size.");
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SERIAL_PROTOCOLLNPGM("?Mesh too big for EEPROM.");
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error_flag++;
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}
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@ -23,6 +23,8 @@
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#ifndef UNIFIED_BED_LEVELING_H
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#define UNIFIED_BED_LEVELING_H
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//#define UBL_DEVEL_DEBUGGING
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#include "../bedlevel.h"
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#include "../../../module/planner.h"
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#include "../../../module/motion.h"
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@ -37,7 +39,11 @@
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// ubl_motion.cpp
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void debug_current_and_destination(const char * const title);
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#if ENABLED(UBL_DEVEL_DEBUGGING)
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void debug_current_and_destination(const char * const title);
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#else
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FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }
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#endif
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// ubl_G29.cpp
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@ -217,9 +223,9 @@ class unified_bed_leveling {
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const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
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z1 = z_values[x1_i][yi];
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return z1 + xratio * (z_values[min(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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return z1 + xratio * (z_values[min(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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}
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//
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@ -243,9 +249,9 @@ class unified_bed_leveling {
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const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
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z1 = z_values[xi][y1_i];
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return z1 + yratio * (z_values[xi][min(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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return z1 + yratio * (z_values[xi][min(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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}
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/**
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@ -35,63 +35,12 @@
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#include "../../../Marlin.h"
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#include <math.h>
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extern float destination[XYZE];
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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inline void set_current_from_destination() { COPY(current_position, destination); }
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#else
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extern void set_current_from_destination();
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#endif
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static void debug_echo_axis(const AxisEnum axis) {
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if (current_position[axis] == destination[axis])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[X_AXIS], 6);
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}
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void debug_current_and_destination(const char *title) {
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// if the title message starts with a '!' it is so important, we are going to
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// ignore the status of the g26_debug_flag
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if (*title != '!' && !g26_debug_flag) return;
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const float de = destination[E_AXIS] - current_position[E_AXIS];
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if (de == 0.0) return; // Printing moves only
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const float dx = destination[X_AXIS] - current_position[X_AXIS],
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dy = destination[Y_AXIS] - current_position[Y_AXIS],
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xy_dist = HYPOT(dx, dy);
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if (xy_dist == 0.0) return;
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SERIAL_ECHOPGM(" fpmm=");
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const float fpmm = de / xy_dist;
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SERIAL_ECHO_F(fpmm, 6);
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SERIAL_ECHOPGM(" current=( ");
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SERIAL_ECHO_F(current_position[X_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Y_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Z_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[E_AXIS], 6);
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SERIAL_ECHOPGM(" ) destination=( ");
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debug_echo_axis(X_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Y_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Z_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(E_AXIS);
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SERIAL_ECHOPGM(" ) ");
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SERIAL_ECHO(title);
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SERIAL_EOL();
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}
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void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) {
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/**
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* Much of the nozzle movement will be within the same cell. So we will do as little computation
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@ -123,7 +72,7 @@
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SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
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}
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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@ -143,7 +92,7 @@
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set_current_from_destination();
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()"));
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return;
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}
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@ -186,7 +135,7 @@
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder);
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()"));
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set_current_from_destination();
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return;
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@ -292,7 +241,7 @@
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}
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()"));
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//
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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@ -356,7 +305,7 @@
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}
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()"));
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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goto FINAL_MOVE;
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@ -450,7 +399,7 @@
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}
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()"));
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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goto FINAL_MOVE;
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