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Consolidate "bedlevel" code

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This commit is contained in:
Scott Lahteine
2017-09-08 15:35:25 -05:00
parent 71aefc2e22
commit 551752eac7
45 changed files with 3525 additions and 3851 deletions
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425
Marlin/src/feature/bedlevel/abl/abl.cpp Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "abl.h"
#include "../../../module/motion.h"
int bilinear_grid_spacing[2], bilinear_start[2];
float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
/**
* Extrapolate a single point from its neighbors
*/
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Extrapolate [");
if (x < 10) SERIAL_CHAR(' ');
SERIAL_ECHO((int)x);
SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(' ');
if (y < 10) SERIAL_CHAR(' ');
SERIAL_ECHO((int)y);
SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(']');
}
#endif
if (!isnan(z_values[x][y])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
#endif
return; // Don't overwrite good values.
}
SERIAL_EOL();
// Get X neighbors, Y neighbors, and XY neighbors
const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
b1 = z_values[x ][y1], b2 = z_values[x ][y2],
c1 = z_values[x1][y1], c2 = z_values[x2][y2];
// Treat far unprobed points as zero, near as equal to far
if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
// Take the average instead of the median
z_values[x][y] = (a + b + c) / 3.0;
// Median is robust (ignores outliers).
// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
// : ((c < b) ? b : (a < c) ? a : c);
}
//Enable this if your SCARA uses 180° of total area
//#define EXTRAPOLATE_FROM_EDGE
#if ENABLED(EXTRAPOLATE_FROM_EDGE)
#if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
#define HALF_IN_X
#elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
#define HALF_IN_Y
#endif
#endif
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
void extrapolate_unprobed_bed_level() {
#ifdef HALF_IN_X
constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
#else
constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
xlen = ctrx1;
#endif
#ifdef HALF_IN_Y
constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
#else
constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
ylen = ctry1;
#endif
for (uint8_t xo = 0; xo <= xlen; xo++)
for (uint8_t yo = 0; yo <= ylen; yo++) {
uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
#ifndef HALF_IN_X
const uint8_t x1 = ctrx1 - xo;
#endif
#ifndef HALF_IN_Y
const uint8_t y1 = ctry1 - yo;
#ifndef HALF_IN_X
extrapolate_one_point(x1, y1, +1, +1); // left-below + +
#endif
extrapolate_one_point(x2, y1, -1, +1); // right-below - +
#endif
#ifndef HALF_IN_X
extrapolate_one_point(x1, y2, +1, -1); // left-above + -
#endif
extrapolate_one_point(x2, y2, -1, -1); // right-above - -
}
}
void print_bilinear_leveling_grid() {
SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
);
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
int bilinear_grid_spacing_virt[2] = { 0 };
float bilinear_grid_factor_virt[2] = { 0 };
void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
);
}
#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
uint8_t ep = 0, ip = 1;
if (!x || x == ABL_TEMP_POINTS_X - 1) {
if (x) {
ep = GRID_MAX_POINTS_X - 1;
ip = GRID_MAX_POINTS_X - 2;
}
if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
return LINEAR_EXTRAPOLATION(
z_values[ep][y - 1],
z_values[ip][y - 1]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(ep + 1, y),
bed_level_virt_coord(ip + 1, y)
);
}
if (!y || y == ABL_TEMP_POINTS_Y - 1) {
if (y) {
ep = GRID_MAX_POINTS_Y - 1;
ip = GRID_MAX_POINTS_Y - 2;
}
if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
return LINEAR_EXTRAPOLATION(
z_values[x - 1][ep],
z_values[x - 1][ip]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(x, ep + 1),
bed_level_virt_coord(x, ip + 1)
);
}
return z_values[x - 1][y - 1];
}
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
return (
p[i-1] * -t * sq(1 - t)
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - t)
) * 0.5;
}
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
float row[4], column[4];
for (uint8_t i = 0; i < 4; i++) {
for (uint8_t j = 0; j < 4; j++) {
column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
}
row[i] = bed_level_virt_cmr(column, 1, ty);
}
return bed_level_virt_cmr(row, 1, tx);
}
void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
continue;
z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
bed_level_virt_2cmr(
x + 1,
y + 1,
(float)tx / (BILINEAR_SUBDIVISIONS),
(float)ty / (BILINEAR_SUBDIVISIONS)
);
}
}
#endif // ABL_BILINEAR_SUBDIVISION
// Refresh after other values have been updated
void refresh_bed_level() {
bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif
// Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(const float logical[XYZ]) {
static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
last_x = -999.999, last_y = -999.999;
// Whole units for the grid line indices. Constrained within bounds.
static int8_t gridx, gridy, nextx, nexty,
last_gridx = -99, last_gridy = -99;
// XY relative to the probed area
const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
// Keep using the last grid box
#define FAR_EDGE_OR_BOX 2
#else
// Just use the grid far edge
#define FAR_EDGE_OR_BOX 1
#endif
if (last_x != x) {
last_x = x;
ratio_x = x * ABL_BG_FACTOR(X_AXIS);
const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
ratio_x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
#endif
gridx = gx;
nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
}
if (last_y != y || last_gridx != gridx) {
if (last_y != y) {
last_y = y;
ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
ratio_y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
#endif
gridy = gy;
nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
}
if (last_gridx != gridx || last_gridy != gridy) {
last_gridx = gridx;
last_gridy = gridy;
// Z at the box corners
z1 = ABL_BG_GRID(gridx, gridy); // left-front
d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextx, gridy); // right-front
d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
}
// Bilinear interpolate. Needed since y or gridx has changed.
L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
D = R - L;
}
const float offset = L + ratio_x * D; // the offset almost always changes
/*
static float last_offset = 0;
if (FABS(last_offset - offset) > 0.2) {
SERIAL_ECHOPGM("Sudden Shift at ");
SERIAL_ECHOPAIR("x=", x);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
SERIAL_ECHOPAIR(" y=", y);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOLNPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" L=", L);
SERIAL_ECHOPAIR(" R=", R);
SERIAL_ECHOLNPAIR(" offset=", offset);
}
last_offset = offset;
//*/
return offset;
}
#if !IS_KINEMATIC
#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
#define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
COPY(end, destination);
destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
CBI(y_splits, gcy);
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_AXIS] = LINE_SEGMENT_END(E);
// Do the split and look for more borders
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#endif // !IS_KINEMATIC
#endif // AUTO_BED_LEVELING_BILINEAR

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef __ABL_H__
#define __ABL_H__
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "../bedlevel.h"
extern int bilinear_grid_spacing[2], bilinear_start[2];
extern float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
float bilinear_z_offset(const float logical[XYZ]);
void extrapolate_unprobed_bed_level();
void print_bilinear_leveling_grid();
void refresh_bed_level();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
void print_bilinear_leveling_grid_virt();
void bed_level_virt_interpolate();
#endif
#if !IS_KINEMATIC
void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
#endif
#endif // AUTO_BED_LEVELING_BILINEAR
#endif // __ABL_H__

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if HAS_LEVELING
#include "bedlevel.h"
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
#include "../../module/stepper.h"
#endif
#if PLANNER_LEVELING
#include "../../module/planner.h"
#endif
#if ENABLED(PROBE_MANUALLY)
bool g29_in_progress = false;
#if ENABLED(LCD_BED_LEVELING)
#include "../../lcd/ultralcd.h"
#endif
#endif
bool leveling_is_valid() {
return
#if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing[X_AXIS]
#elif ENABLED(AUTO_BED_LEVELING_UBL)
true
#else // 3POINT, LINEAR
true
#endif
;
}
bool leveling_is_active() {
return
#if ENABLED(MESH_BED_LEVELING)
mbl.active()
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.state.active
#else // OLDSCHOOL_ABL
planner.abl_enabled
#endif
;
}
/**
* Turn bed leveling on or off, fixing the current
* position as-needed.
*
* Disable: Current position = physical position
* Enable: Current position = "unleveled" physical position
*/
void set_bed_leveling_enabled(const bool enable/*=true*/) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const bool can_change = (!enable || leveling_is_valid());
#else
constexpr bool can_change = true;
#endif
if (can_change && enable != leveling_is_active()) {
#if ENABLED(MESH_BED_LEVELING)
if (!enable)
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
const bool enabling = enable && leveling_is_valid();
mbl.set_active(enabling);
if (enabling) planner.unapply_leveling(current_position);
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#if PLANNER_LEVELING
if (ubl.state.active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
ubl.state.active = false; // disable only AFTER calling apply_leveling
}
else { // leveling from off to on
ubl.state.active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
// change physical current_position to unleveled current_position without moving steppers.
planner.unapply_leveling(current_position);
}
#else
ubl.state.active = enable; // just flip the bit, current_position will be wrong until next move.
#endif
#else // OLDSCHOOL_ABL
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
// Enable or disable leveling compensation in the planner
planner.abl_enabled = enable;
if (!enable)
// When disabling just get the current position from the steppers.
// This will yield the smallest error when first converted back to steps.
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
else
// When enabling, remove compensation from the current position,
// so compensation will give the right stepper counts.
planner.unapply_leveling(current_position);
#endif // OLDSCHOOL_ABL
}
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height(const float zfh) {
const bool level_active = leveling_is_active();
#if ENABLED(AUTO_BED_LEVELING_UBL)
if (level_active)
set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
planner.z_fade_height = zfh;
planner.inverse_z_fade_height = RECIPROCAL(zfh);
if (level_active)
set_bed_leveling_enabled(true); // turn back on after changing fade height
#else
planner.z_fade_height = zfh;
planner.inverse_z_fade_height = RECIPROCAL(zfh);
if (level_active) {
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
}
#endif
}
#endif // ENABLE_LEVELING_FADE_HEIGHT
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
set_bed_leveling_enabled(false);
#if ENABLED(MESH_BED_LEVELING)
if (leveling_is_valid()) {
mbl.reset();
mbl.set_has_mesh(false);
}
#else
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
#if ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
z_values[x][y] = NAN;
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.reset();
#endif
#endif
}
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
/**
* Enable to produce output in JSON format suitable
* for SCAD or JavaScript mesh visualizers.
*
* Visualize meshes in OpenSCAD using the included script.
*
* buildroot/shared/scripts/MarlinMesh.scad
*/
//#define SCAD_MESH_OUTPUT
/**
* Print calibration results for plotting or manual frame adjustment.
*/
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
#ifndef SCAD_MESH_OUTPUT
for (uint8_t x = 0; x < sx; x++) {
for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL((int)x);
}
SERIAL_EOL();
#endif
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
#endif
for (uint8_t y = 0; y < sy; y++) {
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLPGM(" ["); // open sub-array
#else
if (y < 10) SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL((int)y);
#endif
for (uint8_t x = 0; x < sx; x++) {
SERIAL_PROTOCOLCHAR(' ');
const float offset = fn(x, y);
if (!isnan(offset)) {
if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
SERIAL_PROTOCOL_F(offset, precision);
}
else {
#ifdef SCAD_MESH_OUTPUT
for (uint8_t i = 3; i < precision + 3; i++)
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOLPGM("NAN");
#else
for (uint8_t i = 0; i < precision + 3; i++)
SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
#endif
}
#ifdef SCAD_MESH_OUTPUT
if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
#endif
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOLCHAR(']'); // close sub-array
if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
#endif
SERIAL_EOL();
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_PROTOCOLPGM("];"); // close 2D array
#endif
SERIAL_EOL();
}
#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
void _manual_goto_xy(const float &x, const float &y) {
const float old_feedrate_mm_s = feedrate_mm_s;
#if MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position[Z_AXIS];
feedrate_mm_s = homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
line_to_current_position();
#endif
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
current_position[X_AXIS] = LOGICAL_X_POSITION(x);
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
line_to_current_position();
#if MANUAL_PROBE_HEIGHT > 0
feedrate_mm_s = homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
line_to_current_position();
#endif
feedrate_mm_s = old_feedrate_mm_s;
stepper.synchronize();
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
}
#endif
#if HAS_PROBING_PROCEDURE
void out_of_range_error(const char* p_edge) {
SERIAL_PROTOCOLPGM("?Probe ");
serialprintPGM(p_edge);
SERIAL_PROTOCOLLNPGM(" position out of range.");
}
#endif
#endif // HAS_LEVELING

72
Marlin/src/feature/bedlevel/bedlevel.h Normal file
View File

@ -0,0 +1,72 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef __BEDLEVEL_H__
#define __BEDLEVEL_H__
#include "../../inc/MarlinConfig.h"
#if ENABLED(MESH_BED_LEVELING)
#include "mbl/mesh_bed_leveling.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl/ubl.h"
#elif HAS_ABL
#include "abl/abl.h"
#endif
#if ENABLED(PROBE_MANUALLY)
extern bool g29_in_progress;
#else
constexpr bool g29_in_progress = false;
#endif
bool leveling_is_valid();
bool leveling_is_active();
void set_bed_leveling_enabled(const bool enable=true);
void reset_bed_level();
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height(const float zfh);
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
#include <stdint.h>
typedef float (*element_2d_fn)(const uint8_t, const uint8_t);
/**
* Print calibration results for plotting or manual frame adjustment.
*/
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn);
#endif
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
void _manual_goto_xy(const float &x, const float &y);
#endif
#if HAS_PROBING_PROCEDURE
void out_of_range_error(const char* p_edge);
#endif
#endif // __BEDLEVEL_H__

14
Marlin/src/feature/mbl/mesh_bed_leveling.cpp → Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
View File

@ -20,13 +20,14 @@
*
*/
#include "../../inc/MarlinConfig.h"
#include "../../../inc/MarlinConfig.h"
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#include "../../module/motion.h"
#include "../../../module/motion.h"
#include "../../../feature/bedlevel/bedlevel.h"
mesh_bed_leveling mbl;
@ -110,4 +111,13 @@
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
void mbl_mesh_report() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
);
}
#endif // MESH_BED_LEVELING

6
Marlin/src/feature/mbl/mesh_bed_leveling.h → Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
View File

@ -23,7 +23,7 @@
#ifndef _MESH_BED_LEVELING_H_
#define _MESH_BED_LEVELING_H_
#include "../../Marlin.h"
#include "../../../inc/MarlinConfig.h"
enum MeshLevelingState {
MeshReport,
@ -120,6 +120,10 @@ public:
extern mesh_bed_leveling mbl;
// Support functions, which may be embedded in the class later
void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
void mbl_mesh_report();
#endif // _MESH_BED_LEVELING_H_

14
Marlin/src/feature/ubl/ubl.cpp → Marlin/src/feature/bedlevel/ubl/ubl.cpp
View File

@ -20,17 +20,17 @@
*
*/
#include "../../inc/MarlinConfig.h"
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
unified_bed_leveling ubl;
#include "../../module/configuration_store.h"
#include "../../core/serial.h"
#include "../../module/planner.h"
#include "../../module/motion.h"
#include "../../../module/configuration_store.h"
#include "../../../module/planner.h"
#include "../../../module/motion.h"
#include "../../bedlevel/bedlevel.h"
#include "math.h"
@ -78,6 +78,10 @@
bool unified_bed_leveling::g26_debug_flag = false,
unified_bed_leveling::has_control_of_lcd_panel = false;
#if ENABLED(ULTRA_LCD)
bool unified_bed_leveling::lcd_map_control = false;
#endif
volatile int unified_bed_leveling::encoder_diff;
unified_bed_leveling::unified_bed_leveling() {

56
Marlin/src/feature/ubl/ubl.h → Marlin/src/feature/bedlevel/ubl/ubl.h
View File

@ -23,9 +23,9 @@
#ifndef UNIFIED_BED_LEVELING_H
#define UNIFIED_BED_LEVELING_H
#include "../../Marlin.h"
#include "../../core/serial.h"
#include "../../module/planner.h"
#include "../../../Marlin.h"
#include "../../../module/planner.h"
#include "../../../module/motion.h"
#define UBL_VERSION "1.01"
#define UBL_OK false
@ -57,7 +57,6 @@ enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
char *ftostr43sign(const float&, char);
bool ubl_lcd_clicked();
void home_all_axes();
extern uint8_t ubl_cnt;
@ -190,6 +189,10 @@ class unified_bed_leveling {
static bool g26_debug_flag, has_control_of_lcd_panel;
#if ENABLED(ULTRA_LCD)
static bool lcd_map_control;
#endif
static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
unified_bed_leveling();
@ -246,12 +249,16 @@ class unified_bed_leveling {
*/
inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
SERIAL_ECHOPAIR(",x1_i=", x1_i);
SERIAL_ECHOPAIR(",yi=", yi);
SERIAL_CHAR(')');
SERIAL_EOL();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
SERIAL_ECHOPAIR(",x1_i=", x1_i);
SERIAL_ECHOPAIR(",yi=", yi);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
return NAN;
}
@ -266,12 +273,16 @@ class unified_bed_leveling {
//
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 2)) {
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
SERIAL_ECHOPAIR(", xi=", xi);
SERIAL_ECHOPAIR(", y1_i=", y1_i);
SERIAL_CHAR(')');
SERIAL_EOL();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
SERIAL_ECHOPAIR(", xi=", xi);
SERIAL_ECHOPAIR(", y1_i=", y1_i);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
return NAN;
}
@ -390,6 +401,19 @@ class unified_bed_leveling {
static bool prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate);
static void line_to_destination_cartesian(const float &fr, uint8_t e);
#define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
#define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
#define ZZER(a) (z_values[a][0] == 0)
FORCE_INLINE bool mesh_is_valid() {
return !(
( CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal?
&& ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge?
)
|| isnan(z_values[0][0])
);
}
}; // class unified_bed_leveling
extern unified_bed_leveling ubl;

36
Marlin/src/feature/ubl/ubl_G29.cpp → Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View File

@ -20,20 +20,23 @@
*
*/
#include "../../inc/MarlinConfig.h"
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
#include "../../Marlin.h"
#include "../../libs/hex_print_routines.h"
#include "../../module/configuration_store.h"
#include "../../lcd/ultralcd.h"
#include "../../module/stepper.h"
#include "../../module/planner.h"
#include "../../gcode/parser.h"
#include "../../libs/least_squares_fit.h"
#include "../../../Marlin.h"
#include "../../../libs/hex_print_routines.h"
#include "../../../module/configuration_store.h"
#include "../../../lcd/ultralcd.h"
#include "../../../module/stepper.h"
#include "../../../module/planner.h"
#include "../../../module/probe.h"
#include "../../../gcode/gcode.h"
#include "../../../gcode/parser.h"
#include "../../../feature/bedlevel/bedlevel.h"
#include "../../../libs/least_squares_fit.h"
#include <math.h>
@ -52,11 +55,8 @@
extern float meshedit_done;
extern long babysteps_done;
extern float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool=true);
extern bool set_probe_deployed(bool);
extern void set_bed_leveling_enabled(bool);
typedef void (*screenFunc_t)();
extern void lcd_goto_screen(screenFunc_t screen, const uint32_t encoder = 0);
//extern bool set_probe_deployed(bool);
//extern void set_bed_leveling_enabled(bool);
#define SIZE_OF_LITTLE_RAISE 1
#define BIG_RAISE_NOT_NEEDED 0
@ -314,7 +314,7 @@
if (axis_unhomed_error()) {
const int8_t p_val = parser.intval('P', -1);
if (p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'))
home_all_axes();
gcode.home_all_axes();
}
if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
@ -1515,7 +1515,7 @@
idle();
} while (!ubl_lcd_clicked());
if (!ubl_lcd_map_control) lcd_return_to_status();
if (!lcd_map_control) lcd_return_to_status();
// The technique used here generates a race condition for the encoder click.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) or here.
@ -1561,7 +1561,7 @@
LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
SERIAL_ECHOLNPGM("Done Editing Mesh");
if (ubl_lcd_map_control)
if (lcd_map_control)
lcd_goto_screen(_lcd_ubl_output_map_lcd);
else
lcd_return_to_status();
@ -1606,7 +1606,7 @@
// { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true } PROGMEM // Right side of the mesh looking left
// };
for (uint8_t i = 0; i < COUNT(info); ++i) {
const smart_fill_info *f = (smart_fill_info*)pgm_read_word(&info[i]);
const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]);
const int8_t sx = pgm_read_word(&f->sx), sy = pgm_read_word(&f->sy),
ex = pgm_read_word(&f->ex), ey = pgm_read_word(&f->ey);
if (pgm_read_byte(&f->yfirst)) {

33
Marlin/src/feature/ubl/ubl_motion.cpp → Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View File

@ -19,16 +19,20 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
#include "../../Marlin.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
#include "../../module/motion.h"
#include "../../../Marlin.h"
#include "../../../module/planner.h"
#include "../../../module/stepper.h"
#include "../../../module/motion.h"
#if ENABLED(DELTA)
#include "../../../module/delta.h"
#endif
#include <math.h>
@ -40,25 +44,6 @@
extern void set_current_to_destination();
#endif
#if ENABLED(DELTA)
extern float delta[ABC],
endstop_adj[ABC];
extern float delta_radius,
delta_tower_angle_trim[2],
delta_tower[ABC][2],
delta_diagonal_rod,
delta_calibration_radius,
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
delta_clip_start_height;
extern float delta_safe_distance_from_top();
#endif
static void debug_echo_axis(const AxisEnum axis) {
if (current_position[axis] == destination[axis])
SERIAL_ECHOPGM("-------------");

893
Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp
View File

@ -1,893 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Marlin Firmware -- G26 - Mesh Validation Tool
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
#include "ubl.h"
#include "../../Marlin.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
#include "../../module/motion.h"
#include "../../module/temperature.h"
#include "../../lcd/ultralcd.h"
#include "../../gcode/parser.h"
#define EXTRUSION_MULTIPLIER 1.0
#define RETRACTION_MULTIPLIER 1.0
#define NOZZLE 0.4
#define FILAMENT 1.75
#define LAYER_HEIGHT 0.2
#define PRIME_LENGTH 10.0
#define BED_TEMP 60.0
#define HOTEND_TEMP 205.0
#define OOZE_AMOUNT 0.3
#define SIZE_OF_INTERSECTION_CIRCLES 5
#define SIZE_OF_CROSSHAIRS 3
#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES
#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES."
#endif
/**
* G26 Mesh Validation Tool
*
* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
* the intersections of those lines (respectively).
*
* This action allows the user to immediately see where the Mesh is properly defined and where it needs to
* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
* the user can specify the X and Y position of interest with command parameters. This allows the user to
* focus on a particular area of the Mesh where attention is needed.
*
* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
*
* C Current When searching for Mesh Intersection points to draw, use the current nozzle location
* as the base for any distance comparison.
*
* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this
* command to see how well a Mesh as been adjusted to match a print surface. In order to do
* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
* alters the command's normal behaviour and disables the Unified Bed Leveling System even if
* it is on.
*
* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
*
* F # Filament Used to specify the diameter of the filament being used. If not specified
* 1.75mm filament is assumed. If you are not getting acceptable results by using the
* 'correct' numbers, you can scale this number up or down a little bit to change the amount
* of filament that is being extruded during the printing of the various lines on the bed.
*
* K Keep-On Keep the heaters turned on at the end of the command.
*
* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.
*
* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
* is over kill, but using this parameter will let you get the very first 'circle' perfect
* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
*
* P # Prime Prime the nozzle with specified length of filament. If this parameter is not
* given, no prime action will take place. If the parameter specifies an amount, that much
* will be purged before continuing. If no amount is specified the command will start
* purging filament until the user provides an LCD Click and then it will continue with
* printing the Mesh. You can carefully remove the spent filament with a needle nose
* pliers while holding the LCD Click wheel in a depressed state. If you do not have
* an LCD, you must specify a value if you use P.
*
* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
* un-retraction is at 1.2mm These numbers will be scaled by the specified amount
*
* R # Repeat Prints the number of patterns given as a parameter, starting at the current location.
* If a parameter isn't given, every point will be printed unless G26 is interrupted.
* This works the same way that the UBL G29 P4 R parameter works.
*
* NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are
* aware that there's some risk associated with printing without the ability to abort in
* cases where mesh point Z value may be inaccurate. As above, if you do not include a
* parameter, every point will be printed.
*
* S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
*
* U # Random Randomize the order that the circles are drawn on the bed. The search for the closest
* undrawn cicle is still done. But the distance to the location for each circle has a
* random number of the size specified added to it. Specifying S50 will give an interesting
* deviation from the normal behaviour on a 10 x 10 Mesh.
*
* X # X Coord. Specify the starting location of the drawing activity.
*
* Y # Y Coord. Specify the starting location of the drawing activity.
*/
// External references
extern Planner planner;
#if ENABLED(ULTRA_LCD)
extern char lcd_status_message[];
#endif
extern float destination[XYZE];
extern void set_destination_to_current() { COPY(destination, current_position); }
void prepare_move_to_destination();
#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
inline void set_current_to_destination() { COPY(current_position, destination); }
#else
extern void sync_plan_position_e();
extern void set_current_to_destination();
#endif
#if ENABLED(NEWPANEL)
void lcd_setstatusPGM(const char* const message, const int8_t level);
void chirp_at_user();
#endif
// Private functions
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
float g26_e_axis_feedrate = 0.020,
random_deviation = 0.0;
static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
// retracts/recovers won't result in a bad state.
float valid_trig_angle(float);
float unified_bed_leveling::g26_extrusion_multiplier,
unified_bed_leveling::g26_retraction_multiplier,
unified_bed_leveling::g26_nozzle,
unified_bed_leveling::g26_filament_diameter,
unified_bed_leveling::g26_layer_height,
unified_bed_leveling::g26_prime_length,
unified_bed_leveling::g26_x_pos,
unified_bed_leveling::g26_y_pos,
unified_bed_leveling::g26_ooze_amount;
int16_t unified_bed_leveling::g26_bed_temp,
unified_bed_leveling::g26_hotend_temp;
int8_t unified_bed_leveling::g26_prime_flag;
bool unified_bed_leveling::g26_continue_with_closest,
unified_bed_leveling::g26_keep_heaters_on;
int16_t unified_bed_leveling::g26_repeats;
void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) {
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = feed_rate; // use specified feed rate
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
feedrate_mm_s = save_feedrate; // restore global feed rate
}
#if ENABLED(NEWPANEL)
/**
* Detect ubl_lcd_clicked, debounce it, and return true for cancel
*/
bool user_canceled() {
if (!ubl_lcd_clicked()) return false;
safe_delay(10); // Wait for click to settle
#if ENABLED(ULTRA_LCD)
lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);
lcd_quick_feedback();
#endif
while (!ubl_lcd_clicked()) idle(); // Wait for button release
// If the button is suddenly pressed again,
// ask the user to resolve the issue
lcd_setstatusPGM(PSTR("Release button"), 99); // will never appear...
while (ubl_lcd_clicked()) idle(); // unless this loop happens
lcd_reset_status();
return true;
}
#endif
/**
* G26: Mesh Validation Pattern generation.
*
* Used to interactively edit UBL's Mesh by placing the
* nozzle in a problem area and doing a G29 P4 R command.
*/
void unified_bed_leveling::G26() {
SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
float tmp, start_angle, end_angle;
int i, xi, yi;
mesh_index_pair location;
// Don't allow Mesh Validation without homing first,
// or if the parameter parsing did not go OK, abort
if (axis_unhomed_error() || parse_G26_parameters()) return;
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
stepper.synchronize();
set_current_to_destination();
}
if (turn_on_heaters()) goto LEAVE;
current_position[E_AXIS] = 0.0;
sync_plan_position_e();
if (g26_prime_flag && prime_nozzle()) goto LEAVE;
/**
* Bed is preheated
*
* Nozzle is at temperature
*
* Filament is primed!
*
* It's "Show Time" !!!
*/
ZERO(circle_flags);
ZERO(horizontal_mesh_line_flags);
ZERO(vertical_mesh_line_flags);
// Move nozzle to the specified height for the first layer
set_destination_to_current();
destination[Z_AXIS] = g26_layer_height;
move_to(destination, 0.0);
move_to(destination, g26_ooze_amount);
has_control_of_lcd_panel = true;
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
/**
* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
* the CPU load and make the arc drawing faster and more smooth
*/
float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1];
for (i = 0; i <= 360 / 30; i++) {
cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0)));
sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0)));
}
do {
location = g26_continue_with_closest
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
: find_closest_circle_to_print(g26_x_pos, g26_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 = mesh_index_to_xpos(location.x_index),
circle_y = mesh_index_to_ypos(location.y_index);
// If this mesh location is outside the printable_radius, skip it.
if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue;
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
yi = location.y_index;
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi);
SERIAL_ECHOPAIR(", yi=", yi);
SERIAL_CHAR(')');
SERIAL_EOL();
}
start_angle = 0.0; // assume it is going to be a full circle
end_angle = 360.0;
if (xi == 0) { // Check for bottom edge
start_angle = -90.0;
end_angle = 90.0;
if (yi == 0) // it is an edge, check for the two left corners
start_angle = 0.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
end_angle = 0.0;
}
else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
start_angle = 90.0;
end_angle = 270.0;
if (yi == 0) // it is an edge, check for the two right corners
end_angle = 180.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
start_angle = 180.0;
}
else if (yi == 0) {
start_angle = 0.0; // only do the top side of the cirlce
end_angle = 180.0;
}
else if (yi == GRID_MAX_POINTS_Y - 1) {
start_angle = 180.0; // only do the bottom side of the cirlce
end_angle = 360.0;
}
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
#if ENABLED(NEWPANEL)
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif
int tmp_div_30 = tmp / 30.0;
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
float x = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
y = circle_y + sin_table[tmp_div_30],
xe = circle_x + cos_table[tmp_div_30 + 1],
ye = circle_y + sin_table[tmp_div_30 + 1];
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue;
#else // not, we need to skip
x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif
//if (g26_debug_flag) {
// char ccc, *cptr, seg_msg[50], seg_num[10];
// strcpy(seg_msg, " segment: ");
// strcpy(seg_num, " \n");
// cptr = (char*) "01234567890ABCDEF????????";
// ccc = cptr[tmp_div_30];
// seg_num[1] = ccc;
// strcat(seg_msg, seg_num);
// debug_current_and_destination(seg_msg);
//}
print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height);
}
if (look_for_lines_to_connect())
goto LEAVE;
}
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
LEAVE:
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
retract_filament(destination);
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
//debug_current_and_destination(PSTR("ready to do Z-Raise."));
move_to(destination, 0); // Raise the nozzle
//debug_current_and_destination(PSTR("done doing Z-Raise."));
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
destination[Y_AXIS] = g26_y_pos;
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination, 0); // Move back to the starting position
//debug_current_and_destination(PSTR("done doing X/Y move."));
has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
if (!g26_keep_heaters_on) {
#if HAS_TEMP_BED
thermalManager.setTargetBed(0);
#endif
thermalManager.setTargetHotend(0, 0);
}
}
float valid_trig_angle(float d) {
while (d > 360.0) d -= 360.0;
while (d < 0.0) d += 360.0;
return d;
}
mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) {
float closest = 99999.99;
mesh_index_pair return_val;
return_val.x_index = return_val.y_index = -1;
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 = mesh_index_to_xpos(i), // We found a circle that needs to be printed
my = mesh_index_to_ypos(j);
// Get the distance to this intersection
float f = HYPOT(X - mx, Y - my);
// It is possible that we are being called with the values
// to let us find the closest circle to the start position.
// But if this is not the case, add a small weighting to the
// distance calculation to help it choose a better place to continue.
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
// Add in the specified amount of Random Noise to our search
if (random_deviation > 1.0)
f += random(0.0, random_deviation);
if (f < closest) {
closest = f; // We found a closer location that is still
return_val.x_index = i; // un-printed --- save the data for it
return_val.y_index = j;
return_val.distance = closest;
}
}
}
}
bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
return return_val;
}
bool unified_bed_leveling::look_for_lines_to_connect() {
float sx, sy, ex, ey;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
#if ENABLED(NEWPANEL)
if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation
#endif
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
// This is already a half circle because we are at the edge of the bed.
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
if (!is_bit_set(horizontal_mesh_line_flags, i, j)) {
//
// We found two circles that need a horizontal line to connect them
// Print it!
//
sx = mesh_index_to_xpos( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
ex = 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(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 (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL();
//debug_current_and_destination(PSTR("Connecting horizontal line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
}
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
}
}
if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
// This is already a half circle because we are at the edge of the bed.
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
if (!is_bit_set( vertical_mesh_line_flags, i, j)) {
//
// We found two circles that need a vertical line to connect them
// Print it!
//
sy = mesh_index_to_ypos( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
sx = ex = constrain(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);
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL();
debug_current_and_destination(PSTR("Connecting vertical line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
}
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
}
}
}
}
}
}
return false;
}
void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) {
float feed_value;
static float last_z = -999.99;
bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
if (z != last_z) {
last_z = z;
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
destination[E_AXIS] = current_position[E_AXIS];
G26_line_to_destination(feed_value);
stepper.synchronize();
set_destination_to_current();
}
// Check if X or Y is involved in the movement.
// Yes: a 'normal' movement. No: a retract() or recover()
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[E_AXIS] += e_delta;
G26_line_to_destination(feed_value);
stepper.synchronize();
set_destination_to_current();
}
void unified_bed_leveling::retract_filament(const float where[XYZE]) {
if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true;
move_to(where, -1.0 * g26_retraction_multiplier);
}
}
void unified_bed_leveling::recover_filament(const float where[XYZE]) {
if (g26_retracted) { // Only un-retract if we are retracted.
move_to(where, 1.2 * g26_retraction_multiplier);
g26_retracted = false;
}
}
/**
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
* to the other. But there are really three sets of coordinates involved. The first coordinate
* is the present location of the nozzle. We don't necessarily want to print from this location.
* We first need to move the nozzle to the start of line segment where we want to print. Once
* there, we can use the two coordinates supplied to draw the line.
*
* Note: Although we assume the first set of coordinates is the start of the line and the second
* set of coordinates is the end of the line, it does not always work out that way. This function
* optimizes the movement to minimize the travel distance before it can start printing. This saves
* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does
* cause a lot of very little short retracement of th nozzle when it draws the very first line
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
* cases where the optimization comes into play.
*/
void unified_bed_leveling::print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
// to save computation time
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
dy_e = current_position[Y_AXIS] - ey,
dist_end = HYPOT2(dx_e, dy_e),
line_length = HYPOT(ex - sx, ey - sy);
// If the end point of the line is closer to the nozzle, flip the direction,
// moving from the end to the start. On very small lines the optimization isn't worth it.
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length)) {
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
}
// Decide whether to retract & bump
if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
}
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
recover_filament(destination);
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
}
/**
* This function used to be inline code in G26. But there are so many
* parameters it made sense to turn them into static globals and get
* this code out of sight of the main routine.
*/
bool unified_bed_leveling::parse_G26_parameters() {
g26_extrusion_multiplier = EXTRUSION_MULTIPLIER;
g26_retraction_multiplier = RETRACTION_MULTIPLIER;
g26_nozzle = NOZZLE;
g26_filament_diameter = FILAMENT;
g26_layer_height = LAYER_HEIGHT;
g26_prime_length = PRIME_LENGTH;
g26_bed_temp = BED_TEMP;
g26_hotend_temp = HOTEND_TEMP;
g26_prime_flag = 0;
g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT);
g26_keep_heaters_on = parser.boolval('K');
g26_continue_with_closest = parser.boolval('C');
if (parser.seenval('B')) {
g26_bed_temp = parser.value_celsius();
if (!WITHIN(g26_bed_temp, 15, 140)) {
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
return UBL_ERR;
}
}
if (parser.seenval('L')) {
g26_layer_height = parser.value_linear_units();
if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
return UBL_ERR;
}
}
if (parser.seen('Q')) {
if (parser.has_value()) {
g26_retraction_multiplier = parser.value_float();
if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
return UBL_ERR;
}
}
else {
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
return UBL_ERR;
}
}
if (parser.seenval('S')) {
g26_nozzle = parser.value_float();
if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
return UBL_ERR;
}
}
if (parser.seen('P')) {
if (!parser.has_value()) {
#if ENABLED(NEWPANEL)
g26_prime_flag = -1;
#else
SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD.");
return UBL_ERR;
#endif
}
else {
g26_prime_flag++;
g26_prime_length = parser.value_linear_units();
if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
return UBL_ERR;
}
}
}
if (parser.seenval('F')) {
g26_filament_diameter = parser.value_linear_units();
if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
return UBL_ERR;
}
}
g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
// scale up or down the length needed to get the
// same volume of filament
g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
if (parser.seenval('H')) {
g26_hotend_temp = parser.value_celsius();
if (!WITHIN(g26_hotend_temp, 165, 280)) {
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
return UBL_ERR;
}
}
if (parser.seen('U')) {
randomSeed(millis());
// This setting will persist for the next G26
random_deviation = parser.has_value() ? parser.value_float() : 50.0;
}
#if ENABLED(NEWPANEL)
g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
#else
if (!parser.seen('R')) {
SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD.");
return UBL_ERR;
}
else
g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
#endif
if (g26_repeats < 1) {
SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");
return UBL_ERR;
}
g26_x_pos = parser.linearval('X', current_position[X_AXIS]);
g26_y_pos = parser.linearval('Y', current_position[Y_AXIS]);
if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) {
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
return UBL_ERR;
}
/**
* Wait until all parameters are verified before altering the state!
*/
set_bed_leveling_enabled(!parser.seen('D'));
return UBL_OK;
}
#if ENABLED(NEWPANEL)
bool unified_bed_leveling::exit_from_g26() {
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
while (ubl_lcd_clicked()) idle();
return UBL_ERR;
}
#endif
/**
* Turn on the bed and nozzle heat and
* wait for them to get up to temperature.
*/
bool unified_bed_leveling::turn_on_heaters() {
millis_t next = millis() + 5000UL;
#if HAS_TEMP_BED
#if ENABLED(ULTRA_LCD)
if (g26_bed_temp > 25) {
lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99);
lcd_quick_feedback();
#endif
has_control_of_lcd_panel = true;
thermalManager.setTargetBed(g26_bed_temp);
while (abs(thermalManager.degBed() - g26_bed_temp) > 3) {
#if ENABLED(NEWPANEL)
if (ubl_lcd_clicked()) return exit_from_g26();
#endif
if (ELAPSED(millis(), next)) {
next = millis() + 5000UL;
print_heaterstates();
SERIAL_EOL();
}
idle();
}
#if ENABLED(ULTRA_LCD)
}
lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99);
lcd_quick_feedback();
#endif
#endif
// Start heating the nozzle and wait for it to reach temperature.
thermalManager.setTargetHotend(g26_hotend_temp, 0);
while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {
#if ENABLED(NEWPANEL)
if (ubl_lcd_clicked()) return exit_from_g26();
#endif
if (ELAPSED(millis(), next)) {
next = millis() + 5000UL;
print_heaterstates();
SERIAL_EOL();
}
idle();
}
#if ENABLED(ULTRA_LCD)
lcd_reset_status();
lcd_quick_feedback();
#endif
return UBL_OK;
}
/**
* Prime the nozzle if needed. Return true on error.
*/
bool unified_bed_leveling::prime_nozzle() {
#if ENABLED(NEWPANEL)
float Total_Prime = 0.0;
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
has_control_of_lcd_panel = true;
lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);
chirp_at_user();
set_destination_to_current();
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ubl_lcd_clicked()) {
chirp_at_user();
destination[E_AXIS] += 0.25;
#ifdef PREVENT_LENGTHY_EXTRUDE
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
#endif
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
set_destination_to_current();
idle();
}
while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel
#if ENABLED(ULTRA_LCD)
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
// So... We cheat to get a message up.
lcd_setstatusPGM(PSTR("Done Priming"), 99);
lcd_quick_feedback();
#endif
has_control_of_lcd_panel = false;
}
else {
#else
{
#endif
#if ENABLED(ULTRA_LCD)
lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);
lcd_quick_feedback();
#endif
set_destination_to_current();
destination[E_AXIS] += g26_prime_length;
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize();
set_destination_to_current();
retract_filament(destination);
}
return UBL_OK;
}
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION