bissen21/Marlin_Firmware
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Merge remote-tracking branch 'remotes/upstream/Development' into Development

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domonoky
2015-03-02 17:52:12 +01:00
parent 443e7edef4 715104e477
commit 4a7aca2736
26 changed files with 2313 additions and 2826 deletions
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59
Marlin/Marlin_main.cpp
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@@ -1720,6 +1720,7 @@ void process_commands()
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
// Override probing area by providing [F]ront [B]ack [L]eft [R]ight Grid[P]oints values
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
@@ -1753,9 +1754,19 @@ void process_commands()
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int left_probe_bed_position=LEFT_PROBE_BED_POSITION;
int right_probe_bed_position=RIGHT_PROBE_BED_POSITION;
int back_probe_bed_position=BACK_PROBE_BED_POSITION;
int front_probe_bed_position=FRONT_PROBE_BED_POSITION;
int auto_bed_leveling_grid_points=AUTO_BED_LEVELING_GRID_POINTS;
if (code_seen('L')) left_probe_bed_position=(int)code_value();
if (code_seen('R')) right_probe_bed_position=(int)code_value();
if (code_seen('B')) back_probe_bed_position=(int)code_value();
if (code_seen('F')) front_probe_bed_position=(int)code_value();
if (code_seen('P')) auto_bed_leveling_grid_points=(int)code_value();
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
// solve the plane equation ax + by + d = z
@@ -1765,32 +1776,35 @@ void process_commands()
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
double eqnAMatrix[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points*3];
// "B" vector of Z points
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
double eqnBVector[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points];
int probePointCounter = 0;
bool zig = true;
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
for (int yProbe=front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing)
{
int xProbe, xInc;
if (zig)
{
xProbe = LEFT_PROBE_BED_POSITION;
//xEnd = RIGHT_PROBE_BED_POSITION;
xProbe = left_probe_bed_position;
//xEnd = right_probe_bed_position;
xInc = xGridSpacing;
zig = false;
} else // zag
{
xProbe = RIGHT_PROBE_BED_POSITION;
//xEnd = LEFT_PROBE_BED_POSITION;
xProbe = right_probe_bed_position;
//xEnd = left_probe_bed_position;
xInc = -xGridSpacing;
zig = true;
}
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
for (int xCount=0; xCount < auto_bed_leveling_grid_points; xCount++)
{
float z_before;
if (probePointCounter == 0)
@@ -1822,9 +1836,9 @@ void process_commands()
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
eqnAMatrix[probePointCounter + 0*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = xProbe;
eqnAMatrix[probePointCounter + 1*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = yProbe;
eqnAMatrix[probePointCounter + 2*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = 1;
probePointCounter++;
xProbe += xInc;
}
@@ -1832,7 +1846,7 @@ void process_commands()
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
double *plane_equation_coefficients = qr_solve(auto_bed_leveling_grid_points*auto_bed_leveling_grid_points, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
@@ -4695,21 +4709,12 @@ bool setTargetedHotend(int code){
float calculate_volumetric_multiplier(float diameter) {
float area = .0;
float radius = .0;
radius = diameter * .5;
if (! volumetric_enabled || radius == 0) {
area = 1;
}
else {
area = M_PI * pow(radius, 2);
}
return 1.0 / area;
if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5;
return 1.0 / (M_PI * d2 * d2);
}
void calculate_volumetric_multipliers() {
for (int i=0; i<EXTRUDERS; i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}