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Smart-Fill and Mesh-Tilting (both 3-point and grid) working!

Browse Source 
Also...   The memory corruption issue may be fixed.   The GCC compiler
was inlining static functions and this caused the G29() stack frame to
become much larger than the AVR could handle.
This commit is contained in:
Roxy-3D
2017-04-25 20:50:17 -05:00
committed by Roxy-3D
parent a699967ec8
commit d467e97679
6 changed files with 551 additions and 376 deletions
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645
Marlin/ubl_G29.cpp
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@ -33,12 +33,12 @@
#include "ultralcd.h"
#include <math.h>
#include "least_squares_fit.h"
void lcd_return_to_status();
bool lcd_clicked();
void lcd_implementation_clear();
void lcd_mesh_edit_setup(float initial);
void tilt_mesh_based_on_probed_grid(const bool);
float lcd_mesh_edit();
void lcd_z_offset_edit_setup(float);
float lcd_z_offset_edit();
@ -50,15 +50,10 @@
extern bool code_has_value();
extern float probe_pt(float x, float y, bool, int);
extern bool set_probe_deployed(bool);
void smart_fill_mesh();
bool ProbeStay = true;
constexpr float ubl_3_point_1_X = UBL_PROBE_PT_1_X,
ubl_3_point_1_Y = UBL_PROBE_PT_1_Y,
ubl_3_point_2_X = UBL_PROBE_PT_2_X,
ubl_3_point_2_Y = UBL_PROBE_PT_2_Y,
ubl_3_point_3_X = UBL_PROBE_PT_3_X,
ubl_3_point_3_Y = UBL_PROBE_PT_3_Y;
#define SIZE_OF_LITTLE_RAISE 0
#define BIG_RAISE_NOT_NEEDED 0
@ -133,10 +128,6 @@
* be specified and is suitable to Cut & Paste into Excel to allow graphing of the user's
* mesh.
*
* N No Home G29 normally insists that a G28 has been performed. You can over rule this with an
* N option. In general, you should not do this. This can only be done safely with
* commands that do not move the nozzle.
*
* The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will
* start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with
* each additional Phase that processes it.
@ -195,12 +186,21 @@
* Phase 2 allows the O (Map) parameter to be specified. This helps the user see the progression
* of the Mesh being built.
*
* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. The C parameter is
* used to specify the 'constant' value to fill all invalid areas of the Mesh. If no C parameter
* is specified, a value of 0.0 is assumed. The R parameter can be given to specify the number
* of points to set. If the R parameter is specified the current nozzle position is used to
* find the closest points to alter unless the X and Y parameter are used to specify the fill
* location.
* P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths the
* user can go down. If the user specifies the value using the C parameter, the closest invalid
* mesh points to the nozzle will be filled. The user can specify a repeat count using the R
* parameter with the C version of the command.
*
* A second version of the fill command is available if no C constant is specified. Not
* specifying a C constant will invoke the 'Smart Fill' algorithm. The G29 P3 command will search
* from the edges of the mesh inward looking for invalid mesh points. It will look at the next
* several mesh points to determine if the print bed is sloped up or down. If the bed is sloped
* upward from the invalid mesh point, it will be replaced with the value of the nearest mesh point.
* If the bed is sloped downward from the invalid mesh point, it will be replaced with a value that
* puts all three points in a line. The second version of the G29 P3 command is a quick, easy and
* usually safe way to populate the unprobed regions of your mesh so you can continue to the G26
* Mesh Validation Pattern phase. Please note that you are populating your mesh with unverified
* numbers. You should use some scrutiny and caution.
*
* P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assume the existance of
* an LCD Panel. It is possible to fine tune the mesh without the use of an LCD Panel.
@ -243,6 +243,9 @@
* command is not anticipated to be of much value to the typical user. It is intended
* for developers to help them verify correct operation of the Unified Bed Leveling System.
*
* R # Repeat Repeat this command the specified number of times. If no number is specified the
* command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
*
* S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
* current state of the Unified Bed Leveling system in the EEPROM.
*
@ -301,19 +304,20 @@
* we now have the functionality and features of all three systems combined.
*/
#define USE_NOZZLE_AS_REFERENCE 0
#define USE_PROBE_AS_REFERENCE 1
// The simple parameter flags and values are 'static' so parameter parsing can be in a support routine.
static int g29_verbose_level, phase_value = -1, repetition_cnt,
storage_slot = 0, map_type, grid_size;
static bool repeat_flag, c_flag, x_flag, y_flag;
static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0;
#if ENABLED(ULTRA_LCD)
extern void lcd_setstatus(const char* message, const bool persist);
extern void lcd_setstatuspgm(const char* message, const uint8_t level);
#endif
void gcode_G29() {
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=", ubl.eeprom_start);
void __attribute__((optimize("O0"))) gcode_G29() {
if (ubl.eeprom_start < 0) {
SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
@ -332,7 +336,7 @@
repetition_cnt = code_has_value() ? code_value_int() : 1;
while (repetition_cnt--) {
if (cnt > 20) { cnt = 0; idle(); }
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, x_pos, y_pos, 0, NULL, false); // The '0' says we want to use the nozzle's position
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
if (location.x_index < 0) {
SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
break; // No more invalid Mesh Points to populate
@ -376,11 +380,13 @@
}
if (code_seen('J')) {
if (!WITHIN(grid_size, 2, 5)) {
SERIAL_PROTOCOLLNPGM("ERROR - grid size must be between 2 and 5");
if (!WITHIN(grid_size, 2, 9)) {
SERIAL_PROTOCOLLNPGM("ERROR - grid size must be between 2 and 9");
return;
}
tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M'));
ubl.save_ubl_active_state_and_disable();
ubl.tilt_mesh_based_on_probed_grid(code_seen('O') || code_seen('M'));
ubl.restore_ubl_active_state_and_leave();
}
if (code_seen('P')) {
@ -412,7 +418,7 @@
SERIAL_PROTOCOL(y_pos);
SERIAL_PROTOCOLLNPGM(")\n");
}
probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
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'));
break;
@ -454,17 +460,22 @@
case 3: {
//
// Populate invalid Mesh areas with a constant
// Populate invalid Mesh areas. Two choices are available to the user. The user can
// specify the constant to be used with a C # paramter. Or the user can allow the G29 P3 command to
// apply a 'reasonable' constant to the invalid mesh point. Some caution and scrutiny should be used
// on either of these paths!
//
const float height = code_seen('C') ? ubl_constant : 0.0;
// If no repetition is specified, do the whole Mesh
if (!repeat_flag) repetition_cnt = 9999;
if (c_flag) {
while (repetition_cnt--) {
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, 0, NULL, false); // The '0' says we want to use the nozzle's position
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
if (location.x_index < 0) break; // No more invalid Mesh Points to populate
ubl.z_values[location.x_index][location.y_index] = height;
ubl.z_values[location.x_index][location.y_index] = ubl_constant;
}
break;
} else // The user wants to do a 'Smart' fill where we use the surrounding known
smart_fill_mesh(); // values to provide a good guess of what the unprobed mesh point should be
break;
}
} break;
case 4:
//
@ -473,10 +484,10 @@
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M'));
break;
case 5:
find_mean_mesh_height();
ubl.find_mean_mesh_height();
break;
case 6:
shift_mesh_height();
ubl.shift_mesh_height();
break;
case 10:
@ -517,26 +528,22 @@
}
if (code_seen('T')) {
const float lx1 = LOGICAL_X_POSITION(ubl_3_point_1_X),
lx2 = LOGICAL_X_POSITION(ubl_3_point_2_X),
lx3 = LOGICAL_X_POSITION(ubl_3_point_3_X),
ly1 = LOGICAL_Y_POSITION(ubl_3_point_1_Y),
ly2 = LOGICAL_Y_POSITION(ubl_3_point_2_Y),
ly3 = LOGICAL_Y_POSITION(ubl_3_point_3_Y);
float z1 = probe_pt(lx1, ly1, false /*Stow Flag*/, g29_verbose_level),
z2 = probe_pt(lx2, ly2, false /*Stow Flag*/, g29_verbose_level),
z3 = probe_pt(lx3, ly3, true /*Stow Flag*/, g29_verbose_level);
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);
// 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)
z1 -= ubl.get_z_correction(lx1, ly1);
z2 -= ubl.get_z_correction(lx2, ly2);
z3 -= ubl.get_z_correction(lx3, ly3);
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((X_MAX_POS - (X_MIN_POS)) / 2.0, (Y_MAX_POS - (Y_MIN_POS)) / 2.0);
tilt_mesh_based_on_3pts(z1, z2, z3);
ubl.tilt_mesh_based_on_3pts(z1, z2, z3);
ubl.restore_ubl_active_state_and_leave();
}
//
@ -618,7 +625,7 @@
if (code_has_value())
ubl.state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
else {
save_ubl_active_state_and_disable();
ubl.save_ubl_active_state_and_disable();
//measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
ubl.has_control_of_lcd_panel = true; // Grab the LCD Hardware
@ -653,7 +660,7 @@
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
LCD_MESSAGEPGM("Z-Offset Stopped");
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
goto LEAVE;
}
}
@ -663,7 +670,7 @@
ubl.state.z_offset = measured_z;
lcd_implementation_clear();
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
}
}
@ -676,7 +683,7 @@
ubl.has_control_of_lcd_panel = false;
}
void find_mean_mesh_height() {
void unified_bed_leveling::find_mean_mesh_height() {
uint8_t x, y;
int n;
float sum, sum_of_diff_squared, sigma, difference, mean;
@ -719,7 +726,7 @@
ubl.z_values[x][y] -= mean + ubl_constant;
}
void shift_mesh_height() {
void unified_bed_leveling::shift_mesh_height() {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y]))
@ -730,11 +737,11 @@
* Probe all invalidated locations of the mesh that can be reached by the probe.
* This attempts to fill in locations closest to the nozzle's start location first.
*/
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) {
void unified_bed_leveling::probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) {
mesh_index_pair location;
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
do {
@ -744,12 +751,12 @@
STOW_PROBE();
while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel
return;
}
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 1, NULL, do_furthest); // the '1' says we want the location to be relative to the probe
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, do_furthest);
if (location.x_index >= 0 && location.y_index >= 0) {
const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
@ -773,7 +780,7 @@
LEAVE:
STOW_PROBE();
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), X_MIN_POS, X_MAX_POS),
@ -781,69 +788,113 @@
);
}
vector_3 tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
float c, d, t;
void unified_bed_leveling::tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
float d, t, inv_z;
int i, j;
vector_3 v1 = vector_3( (ubl_3_point_1_X - ubl_3_point_2_X),
(ubl_3_point_1_Y - ubl_3_point_2_Y),
matrix_3x3 rotation;
vector_3 v1 = vector_3( (UBL_PROBE_PT_1_X - UBL_PROBE_PT_2_X),
(UBL_PROBE_PT_1_Y - UBL_PROBE_PT_2_Y),
(z1 - z2) ),
v2 = vector_3( (ubl_3_point_3_X - ubl_3_point_2_X),
(ubl_3_point_3_Y - ubl_3_point_2_Y),
v2 = vector_3( (UBL_PROBE_PT_3_X - UBL_PROBE_PT_2_X),
(UBL_PROBE_PT_3_Y - UBL_PROBE_PT_2_Y),
(z3 - z2) ),
normal = vector_3::cross(v1, v2);
// printf("[%f,%f,%f] ", normal.x, normal.y, normal.z);
normal = normal.get_normal();
/**
* This code does two things. This vector is normal to the tilted plane.
* This vector is normal to the tilted plane.
* However, we don't know its direction. We need it to point up. So if
* Z is negative, we need to invert the sign of all components of the vector
* We also need Z to be unity because we are going to be treating this triangle
* as the sin() and cos() of the bed's tilt
*/
const float inv_z = 1.0 / normal.z;
normal.x *= inv_z;
normal.y *= inv_z;
normal.z = 1.0;
if ( normal.z < 0.0 ) {
normal.x = -normal.x;
normal.y = -normal.y;
normal.z = -normal.z;
}
rotation = matrix_3x3::create_look_at( vector_3( normal.x, normal.y, 1));
if (g29_verbose_level>2) {
SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.y, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7);
SERIAL_ECHOPGM("]\n");
rotation.debug("rotation matrix:");
}
//
// All of 3 of these points should give us the same d constant
//
t = normal.x * ubl_3_point_1_X + normal.y * ubl_3_point_1_Y;
t = normal.x * UBL_PROBE_PT_1_X + normal.y * UBL_PROBE_PT_1_Y;
d = t + normal.z * z1;
c = d - t;
if (g29_verbose_level>2) {
SERIAL_ECHOPGM("D constant: ");
SERIAL_PROTOCOL_F( d, 7);
SERIAL_ECHOPGM(" \n");
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("d from 1st point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
t = normal.x * ubl_3_point_2_X + normal.y * ubl_3_point_2_Y;
t = normal.x * UBL_PROBE_PT_2_X + normal.y * UBL_PROBE_PT_2_Y;
d = t + normal.z * z2;
c = d - t;
SERIAL_ECHOPGM("d from 2nd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
t = normal.x * ubl_3_point_3_X + normal.y * ubl_3_point_3_Y;
t = normal.x * UBL_PROBE_PT_3_X + normal.y * UBL_PROBE_PT_3_Y;
d = t + normal.z * z3;
c = d - t;
SERIAL_ECHOPGM("d from 3rd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_ECHOPGM(" c: ");
SERIAL_ECHO_F(c, 6);
SERIAL_EOL;
}
#endif
for (i = 0; i < GRID_MAX_POINTS_X; i++) {
for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
c = -((normal.x * (UBL_MESH_MIN_X + i * (MESH_X_DIST)) + normal.y * (UBL_MESH_MIN_Y + j * (MESH_Y_DIST))) - d);
ubl.z_values[i][j] += c;
float x_tmp, y_tmp, z_tmp;
x_tmp = pgm_read_float(ubl.mesh_index_to_xpos[i]);
y_tmp = pgm_read_float(ubl.mesh_index_to_ypos[j]);
z_tmp = ubl.z_values[i][j];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("before rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("] ---> ");
safe_delay(20);
}
#endif
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("]\n");
safe_delay(55);
}
return normal;
#endif
ubl.z_values[i][j] += z_tmp - d;
}
}
return;
}
float use_encoder_wheel_to_measure_point() {
@ -862,7 +913,7 @@
float measure_business_card_thickness(const float &in_height) {
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement.");
do_blocking_move_to_z(in_height);
@ -882,21 +933,21 @@
SERIAL_PROTOCOL_F(abs(z1 - z2), 6);
SERIAL_PROTOCOLLNPGM("mm thick.");
}
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
return abs(z1 - z2);
}
void manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &card_thickness, const bool do_ubl_mesh_map) {
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
do_blocking_move_to_z(z_clearance);
do_blocking_move_to_xy(lx, ly);
float last_x = -9999.99, last_y = -9999.99;
mesh_index_pair location;
do {
location = find_closest_mesh_point_of_type(INVALID, lx, ly, 0, NULL, false); // The '0' says we want to use the nozzle's position
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_NOZZLE_AS_REFERENCE, NULL, false);
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
if (location.x_index < 0 && location.y_index < 0) continue;
@ -949,7 +1000,7 @@
while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
return;
}
}
@ -965,7 +1016,7 @@
if (do_ubl_mesh_map) ubl.display_map(map_type);
LEAVE:
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
KEEPALIVE_STATE(IN_HANDLER);
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
@ -975,6 +1026,8 @@
bool err_flag = false;
LCD_MESSAGEPGM("Doing G29 UBL!");
ubl_constant = 0.0;
repetition_cnt = 0;
lcd_quick_feedback();
x_flag = code_seen('X') && code_has_value();
@ -983,7 +1036,6 @@
y_flag = code_seen('Y') && code_has_value();
y_pos = y_flag ? code_value_float() : current_position[Y_AXIS];
repetition_cnt = 0;
repeat_flag = code_seen('R');
if (repeat_flag) {
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
@ -999,7 +1051,7 @@
err_flag = true;
}
if (code_seen('G')) {
if (code_seen('J')) {
grid_size = code_has_value() ? code_value_int() : 3;
if (!WITHIN(grid_size, 2, 5)) {
SERIAL_PROTOCOLLNPGM("Invalid grid probe points specified.\n");
@ -1015,27 +1067,11 @@
if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n");
err_flag = true;
SERIAL_PROTOCOLPAIR("\nx_flag = ", x_flag); // These print blocks are only useful because sometimes the
SERIAL_PROTOCOLPAIR("\nx_pos = ", x_pos ); // data corruption causes x_pos and y_pos to be crazy. This gets deleted soon.
SERIAL_PROTOCOLPAIR("\ncurrent[] = ", current_position[X_AXIS]);
SERIAL_PROTOCOLPAIR("\nX_MIN_POS = ", X_MIN_POS);
SERIAL_PROTOCOLPAIR("\nX_MAX_POS = ", X_MAX_POS);
SERIAL_PROTOCOLPAIR("\nRAW_X_POSITION() = ", RAW_X_POSITION(x_pos));
SERIAL_PROTOCOLPAIR("\nwithin() = ", WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS));
SERIAL_PROTOCOL("\n");
}
if (!WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
err_flag = true;
SERIAL_PROTOCOLPAIR("\ny_flag = ", y_flag); // These print blocks are only useful because sometimes the
SERIAL_PROTOCOLPAIR("\ny_pos = ", y_pos ); // data corruption causes x_pos and y_pos to be crazy. This gets deleted soon.
SERIAL_PROTOCOLPAIR("\ncurrent[] = ", current_position[Y_AXIS]);
SERIAL_PROTOCOLPAIR("\nY_MIN_POS = ", Y_MIN_POS);
SERIAL_PROTOCOLPAIR("\nY_MAX_POS = ", Y_MAX_POS);
SERIAL_PROTOCOLPAIR("\nRAW_Y_POSITION() = ", RAW_Y_POSITION(y_pos));
SERIAL_PROTOCOLPAIR("\nwithin() = ", WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS));
SERIAL_PROTOCOL("\n");
}
if (err_flag) return UBL_ERR;
@ -1045,8 +1081,9 @@
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n");
}
c_flag = code_seen('C') && code_has_value();
ubl_constant = c_flag ? code_value_float() : 0.0;
c_flag = code_seen('C');
if (c_flag)
ubl_constant = code_value_float();
if (code_seen('D')) { // Disable the Unified Bed Leveling System
ubl.state.active = 0;
@ -1109,7 +1146,7 @@
static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0;
void save_ubl_active_state_and_disable() {
void unified_bed_leveling::save_ubl_active_state_and_disable() {
ubl_state_recursion_chk++;
if (ubl_state_recursion_chk != 1) {
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
@ -1121,7 +1158,7 @@
ubl.state.active = 0;
}
void restore_ubl_active_state_and_leave() {
void unified_bed_leveling::restore_ubl_active_state_and_leave() {
if (--ubl_state_recursion_chk) {
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
LCD_MESSAGEPGM("restore_UBL_active() error");
@ -1156,14 +1193,21 @@
SERIAL_EOL;
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("UBL object count: ", ubl_cnt);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_PROTOCOLLNPAIR("planner.z_fade_height : ", planner.z_fade_height);
#endif
SERIAL_PROTOCOLPGM("zprobe_zoffset: ");
SERIAL_PROTOCOL_F(zprobe_zoffset, 7);
SERIAL_EOL;
SERIAL_PROTOCOLPGM("z_offset: ");
SERIAL_PROTOCOL_F(ubl.state.z_offset, 6);
SERIAL_PROTOCOL_F(ubl.state.z_offset, 7);
SERIAL_EOL;
safe_delay(50);
safe_delay(25);
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=0x", hex_word(ubl.eeprom_start));
SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
@ -1300,8 +1344,8 @@
current_y = current_position[Y_AXIS];
// Get our reference position. Either the nozzle or probe location.
const float px = lx - (probe_as_reference ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ly - (probe_as_reference ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
const float px = lx - (probe_as_reference==USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ly - (probe_as_reference==USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
@ -1319,7 +1363,7 @@
// If using the probe as the reference there are some unreachable locations.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (probe_as_reference &&
if (probe_as_reference==USE_PROBE_AS_REFERENCE &&
(!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y))
) continue;
@ -1363,7 +1407,7 @@
uint16_t not_done[16];
int32_t round_off;
save_ubl_active_state_and_disable();
ubl.save_ubl_active_state_and_disable();
memset(not_done, 0xFF, sizeof(not_done));
LCD_MESSAGEPGM("Fine Tuning Mesh");
@ -1371,7 +1415,7 @@
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, 0, not_done, false); // The '0' says we want to use the nozzle's position
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done, false);
// It doesn't matter if the probe can not reach this
// location. This is a manual edit of the Mesh Point.
if (location.x_index < 0 && location.y_index < 0) continue; // abort if we can't find any more points.
@ -1446,7 +1490,7 @@
KEEPALIVE_STATE(IN_HANDLER);
if (do_ubl_mesh_map) ubl.display_map(map_type);
restore_ubl_active_state_and_leave();
ubl.restore_ubl_active_state_and_leave();
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
@ -1455,172 +1499,229 @@
SERIAL_ECHOLNPGM("Done Editing Mesh");
}
void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
int8_t grid_G_index_to_xpos[grid_size], // UBL MESH X index to be probed
grid_G_index_to_ypos[grid_size], // UBL MESH Y index to be probed
i, j ,k, xCount, yCount, xi, yi; // counter variables
float z_values_G[grid_size][grid_size];
linear_fit *results;
for (yi = 0; yi < grid_size; yi++)
for (xi = 0; xi < grid_size; xi++)
z_values_G[xi][yi] = NAN;
uint8_t x_min = GRID_MAX_POINTS_X - 1,
x_max = 0,
y_min = GRID_MAX_POINTS_Y - 1,
y_max = 0;
//find min & max probeable points in the mesh
for (xCount = 0; xCount < GRID_MAX_POINTS_X; xCount++) {
for (yCount = 0; yCount < GRID_MAX_POINTS_Y; yCount++) {
if (WITHIN(pgm_read_float(&(ubl.mesh_index_to_xpos[xCount])), MIN_PROBE_X, MAX_PROBE_X) &&
WITHIN(pgm_read_float(&(ubl.mesh_index_to_ypos[yCount])), MIN_PROBE_Y, MAX_PROBE_Y)) {
NOMORE(x_min, xCount);
NOLESS(x_max, xCount);
NOMORE(y_min, yCount);
NOLESS(y_max, yCount);
//
// The routine provides the 'Smart Fill' capability. It scans from the
// outward edges of the mesh towards the center. If it finds an invalid
// location, it uses the next two points (assumming they are valid) to
// calculate a 'reasonable' value for the unprobed mesh point.
//
void smart_fill_mesh() {
float f, diff;
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Bottom of the mesh looking up
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y-2; y++) {
if (isnan(ubl.z_values[x][y])) {
if (isnan(ubl.z_values[x][y+1])) // we only deal with the first NAN next to a block of
continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x][y+2]))
continue;
if (ubl.z_values[x][y+1] < ubl.z_values[x][y+2]) // The bed is angled down near this edge. So to be safe, we
ubl.z_values[x][y] = ubl.z_values[x][y+1]; // use the closest value, which is probably a little too high
else {
diff = ubl.z_values[x][y+1] - ubl.z_values[x][y+2]; // The bed is angled up near this edge. So we will use the closest
ubl.z_values[x][y] = ubl.z_values[x][y+1] + diff; // height and add in the difference between that and the next point
}
break;
}
}
if (x_max - x_min + 1 < grid_size || y_max - y_min + 1 < grid_size) {
SERIAL_ECHOPAIR("ERROR - probeable UBL MESH smaller than grid - X points: ", x_max - x_min + 1);
SERIAL_ECHOPAIR(" Y points: ", y_max - y_min + 1);
SERIAL_ECHOLNPAIR(" grid: ", grid_size);
return;
}
// populate X matrix
for (xi = 0; xi < grid_size; xi++) {
grid_G_index_to_xpos[xi] = x_min + xi * (x_max - x_min) / (grid_size - 1);
if (xi > 0 && grid_G_index_to_xpos[xi - 1] == grid_G_index_to_xpos[xi]) {
grid_G_index_to_xpos[xi] = grid_G_index_to_xpos[xi - 1] + 1;
}
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Top of the mesh looking down
for (uint8_t y=GRID_MAX_POINTS_Y-1; y>=1; y--) {
if (isnan(ubl.z_values[x][y])) {
if (isnan(ubl.z_values[x][y-1])) // we only deal with the first NAN next to a block of
continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x][y-2]))
continue;
if (ubl.z_values[x][y-1] < ubl.z_values[x][y-2]) // The bed is angled down near this edge. So to be safe, we
ubl.z_values[x][y] = ubl.z_values[x][y-1]; // use the closest value, which is probably a little too high
else {
diff = ubl.z_values[x][y-1] - ubl.z_values[x][y-2]; // The bed is angled up near this edge. So we will use the closest
ubl.z_values[x][y] = ubl.z_values[x][y-1] + diff; // height and add in the difference between that and the next point
}
break;
}
}
// populate Y matrix
for (yi = 0; yi < grid_size; yi++) {
grid_G_index_to_ypos[yi] = y_min + yi * (y_max - y_min) / (grid_size - 1);
if (yi > 0 && grid_G_index_to_ypos[yi - 1] == grid_G_index_to_ypos[yi]) {
grid_G_index_to_ypos[yi] = grid_G_index_to_ypos[yi - 1] + 1;
}
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X-2; x++) { // Left side of the mesh looking right
if (isnan(ubl.z_values[x][y])) {
if (isnan(ubl.z_values[x+1][y])) // we only deal with the first NAN next to a block of
continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x+2][y]))
continue;
if (ubl.z_values[x+1][y] < ubl.z_values[x+2][y]) // The bed is angled down near this edge. So to be safe, we
ubl.z_values[x][y] = ubl.z_values[x][y+1]; // use the closest value, which is probably a little too high
else {
diff = ubl.z_values[x+1][y] - ubl.z_values[x+2][y]; // The bed is angled up near this edge. So we will use the closest
ubl.z_values[x][y] = ubl.z_values[x+1][y] + diff; // height and add in the difference between that and the next point
}
break;
}
}
}
for (uint8_t y=0; y < GRID_MAX_POINTS_Y; y++) {
for (uint8_t x=GRID_MAX_POINTS_X-1; x>=1; x--) { // Right side of the mesh looking left
if (isnan(ubl.z_values[x][y])) {
if (isnan(ubl.z_values[x-1][y])) // we only deal with the first NAN next to a block of
continue; // good numbers. we want 2 good numbers to extrapolate off of.
if (isnan(ubl.z_values[x-2][y]))
continue;
if (ubl.z_values[x-1][y] < ubl.z_values[x-2][y]) // The bed is angled down near this edge. So to be safe, we
ubl.z_values[x][y] = ubl.z_values[x-1][y]; // use the closest value, which is probably a little too high
else {
diff = ubl.z_values[x-1][y] - ubl.z_values[x-2][y]; // The bed is angled up near this edge. So we will use the closest
ubl.z_values[x][y] = ubl.z_values[x-1][y] + diff; // height and add in the difference between that and the next point
}
break;
}
}
}
}
ubl.has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
int8_t i, j ,k, xCount, yCount, xi, yi; // counter variables
int8_t ix, iy, zig_zag=0, status;
float dx, dy, x, y, measured_z, inv_z;
struct linear_fit_data lsf_results;
matrix_3x3 rotation;
vector_3 normal;
int16_t x_min = max((MIN_PROBE_X),(UBL_MESH_MIN_X)),
x_max = min((MAX_PROBE_X),(UBL_MESH_MAX_X)),
y_min = max((MIN_PROBE_Y),(UBL_MESH_MIN_Y)),
y_max = min((MAX_PROBE_Y),(UBL_MESH_MAX_Y));
dx = ((float)(x_max-x_min)) / (grid_size-1.0);
dy = ((float)(y_max-y_min)) / (grid_size-1.0);
incremental_LSF_reset(&lsf_results);
for(ix=0; ix<grid_size; ix++) {
x = ((float)x_min) + ix*dx;
for(iy=0; iy<grid_size; iy++) {
if (zig_zag)
y = ((float)y_min) + (grid_size-iy-1)*dy;
else
y = ((float)y_min) + iy*dy;
measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), code_seen('E'), g29_verbose_level);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("(");
SERIAL_PROTOCOL_F( x, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_ECHOPGM("(");
SERIAL_PROTOCOL_F( LOGICAL_X_POSITION(x), 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( LOGICAL_X_POSITION(y), 7);
SERIAL_ECHOPGM(") measured: ");
SERIAL_PROTOCOL_F( measured_z, 7);
SERIAL_ECHOPGM(" correction: ");
SERIAL_PROTOCOL_F( ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)), 7);
}
#endif
measured_z -= ubl.get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM(" final >>>---> ");
SERIAL_PROTOCOL_F( measured_z, 7);
SERIAL_ECHOPGM("\n");
}
#endif
incremental_LSF(&lsf_results, x, y, measured_z);
}
zig_zag = !zig_zag;
}
status = finish_incremental_LSF(&lsf_results);
if (g29_verbose_level>3) {
SERIAL_ECHOPGM("LSF Results A=");
SERIAL_PROTOCOL_F( lsf_results.A, 7);
SERIAL_ECHOPGM(" B=");
SERIAL_PROTOCOL_F( lsf_results.B, 7);
SERIAL_ECHOPGM(" D=");
SERIAL_PROTOCOL_F( lsf_results.D, 7);
SERIAL_CHAR('\n');
}
normal = vector_3( lsf_results.A, lsf_results.B, 1.0000);
normal = normal.get_normal();
if (g29_verbose_level>2) {
SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.y, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7);
SERIAL_ECHOPGM("]\n");
}
rotation = matrix_3x3::create_look_at( vector_3( lsf_results.A, lsf_results.B, 1));
for (i = 0; i < GRID_MAX_POINTS_X; i++) {
for (j = 0; j < GRID_MAX_POINTS_Y; j++) {
float x_tmp, y_tmp, z_tmp;
x_tmp = pgm_read_float(&(ubl.mesh_index_to_xpos[i]));
y_tmp = pgm_read_float(&(ubl.mesh_index_to_ypos[j]));
z_tmp = ubl.z_values[i][j];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("before rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("] ---> ");
safe_delay(20);
}
#endif
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("after rotation = [");
SERIAL_PROTOCOL_F( x_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( y_tmp, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( z_tmp, 7);
SERIAL_ECHOPGM("]\n");
safe_delay(55);
}
// this is a copy of the G29 AUTO_BED_LEVELING_BILINEAR method/code
#undef PROBE_Y_FIRST
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_NUM grid_size
#define PR_INNER_VAR yCount
#define PR_INNER_NUM grid_size
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_NUM grid_size
#define PR_INNER_VAR xCount
#define PR_INNER_NUM grid_size
#endif
bool zig = PR_OUTER_NUM & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
// Outer loop is Y with PROBE_Y_FIRST disabled
for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
SERIAL_ECHOPAIR("\nPR_OUTER_VAR: ", PR_OUTER_VAR);
if (zig) { // away from origin
inStart = 0;
inStop = PR_INNER_NUM;
inInc = 1;
ubl.z_values[i][j] += z_tmp - lsf_results.D;
}
else { // towards origin
inStart = PR_INNER_NUM - 1;
inStop = -1;
inInc = -1;
}
zig ^= true; // zag
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
rotation.debug("rotation matrix:");
SERIAL_ECHOPGM("LSF Results A=");
SERIAL_PROTOCOL_F( lsf_results.A, 7);
SERIAL_ECHOPGM(" B=");
SERIAL_PROTOCOL_F( lsf_results.B, 7);
SERIAL_ECHOPGM(" D=");
SERIAL_PROTOCOL_F( lsf_results.D, 7);
SERIAL_CHAR('\n');
safe_delay(55);
// Inner loop is Y with PROBE_Y_FIRST enabled
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
//SERIAL_ECHOPAIR("\nPR_INNER_VAR: ", PR_INNER_VAR);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 1);
// end of G29 AUTO_BED_LEVELING_BILINEAR method/code
if (ubl_lcd_clicked()) {
//SERIAL_ECHOPAIR("\nCheckpoint: ", 2);
SERIAL_ECHOLNPGM("\nGrid only partially populated.\n");
lcd_quick_feedback();
STOW_PROBE();
//SERIAL_ECHOPAIR("\nCheckpoint: ", 3);
while (ubl_lcd_clicked()) idle();
//SERIAL_ECHOPAIR("\nCheckpoint: ", 4);
ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel
SERIAL_ECHOPGM("bed plane normal = [");
SERIAL_PROTOCOL_F( normal.x, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.y, 7);
SERIAL_ECHOPGM(",");
SERIAL_PROTOCOL_F( normal.z, 7);
SERIAL_ECHOPGM("]\n");
SERIAL_CHAR('\n');
}
#endif
return;
}
//SERIAL_ECHOPAIR("\nCheckpoint: ", 5);
const float probeX = pgm_read_float(&(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[xCount]])), //where we want the probe to be
probeY = pgm_read_float(&(ubl.mesh_index_to_ypos[grid_G_index_to_ypos[yCount]]));
//SERIAL_ECHOPAIR("\nCheckpoint: ", 6);
const float measured_z = probe_pt(LOGICAL_X_POSITION(probeX), LOGICAL_Y_POSITION(probeY), code_seen('E'),
(code_seen('V') && code_has_value()) ? code_value_int() : 0); // takes into account the offsets
//SERIAL_ECHOPAIR("\nmeasured_z: ", measured_z);
z_values_G[xCount][yCount] = measured_z;
//SERIAL_ECHOLNPGM("\nFine Tuning of Mesh Stopped.");
}
}
//SERIAL_ECHOLNPGM("\nDone probing...\n");
STOW_PROBE();
restore_ubl_active_state_and_leave();
// ?? ubl.has_control_of_lcd_panel = true;
//do_blocking_move_to_xy(pgm_read_float(&(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[0]])),pgm_read_float(&(ubl.mesh_index_to_ypos[grid_G_index_to_ypos[0]])));
// least squares code
double xxx5[] = { 0,50,100,150,200, 20,70,120,165,195, 0,50,100,150,200, 0,55,100,150,200, 0,65,100,150,205 },
yyy5[] = { 0, 1, 2, 3, 4, 50, 51, 52, 53, 54, 100, 101,102,103,104, 150,151,152,153,154, 200,201,202,203,204 },
zzz5[] = { 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.012,0.01},
xxx0[] = { 0.0, 0.0, 1.0 }, // Expect [0,0,0.1,0]
yyy0[] = { 0.0, 1.0, 0.0 },
zzz0[] = { 0.1, 0.1, 0.1 },
xxx[] = { 0.0, 0.0, 1.0, 1.0 }, // Expect [0.1,0,0.05,0]
yyy[] = { 0.0, 1.0, 0.0, 1.0 },
zzz[] = { 0.05, 0.05, 0.15, 0.15 };
results = lsf_linear_fit(xxx5, yyy5, zzz5, COUNT(xxx5));
SERIAL_ECHOPAIR("\nxxx5->A =", results->A);
SERIAL_ECHOPAIR("\nxxx5->B =", results->B);
SERIAL_ECHOPAIR("\nxxx5->D =", results->D);
SERIAL_EOL;
results = lsf_linear_fit(xxx0, yyy0, zzz0, COUNT(xxx0));
SERIAL_ECHOPAIR("\nxxx0->A =", results->A);
SERIAL_ECHOPAIR("\nxxx0->B =", results->B);
SERIAL_ECHOPAIR("\nxxx0->D =", results->D);
SERIAL_EOL;
results = lsf_linear_fit(xxx, yyy, zzz, COUNT(xxx));
SERIAL_ECHOPAIR("\nxxx->A =", results->A);
SERIAL_ECHOPAIR("\nxxx->B =", results->B);
SERIAL_ECHOPAIR("\nxxx->D =", results->D);
SERIAL_EOL;
} // end of tilt_mesh_based_on_probed_grid()
#endif // AUTO_BED_LEVELING_UBL