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Merge pull request #6738 from thinkyhead/bf_config_crc_rebase

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Implement CRC16, develop mesh allocation table
This commit is contained in:
Scott Lahteine
2017-05-17 04:44:00 -05:00
committed by GitHub
parent e806e6419a a3abfeac47
commit ffb5353294
10 changed files with 365 additions and 257 deletions
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37
Marlin/Marlin_main.cpp
View File

@@ -3943,7 +3943,7 @@ void home_all_axes() { gcode_G28(true); }
#if ENABLED(MESH_BED_LEVELING)
// Save 130 bytes with non-duplication of PSTR
void say_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
void mbl_mesh_report() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
@@ -4074,7 +4074,7 @@ void home_all_axes() { gcode_G28(true); }
}
}
else {
SERIAL_CHAR('X'); say_not_entered();
SERIAL_CHAR('X'); echo_not_entered();
return;
}
@@ -4086,7 +4086,7 @@ void home_all_axes() { gcode_G28(true); }
}
}
else {
SERIAL_CHAR('Y'); say_not_entered();
SERIAL_CHAR('Y'); echo_not_entered();
return;
}
@@ -4094,7 +4094,7 @@ void home_all_axes() { gcode_G28(true); }
mbl.z_values[px][py] = code_value_linear_units();
}
else {
SERIAL_CHAR('Z'); say_not_entered();
SERIAL_CHAR('Z'); echo_not_entered();
return;
}
break;
@@ -4104,7 +4104,7 @@ void home_all_axes() { gcode_G28(true); }
mbl.z_offset = code_value_linear_units();
}
else {
SERIAL_CHAR('Z'); say_not_entered();
SERIAL_CHAR('Z'); echo_not_entered();
return;
}
break;
@@ -5123,7 +5123,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPGM("Checking... AC");
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
SERIAL_EOL;
LCD_MESSAGEPGM("Checking... AC");
LCD_MESSAGEPGM("Checking... AC"); // TODO: Make translatable string
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (!do_height_only) {
@@ -5343,7 +5343,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOL_SP(36);
SERIAL_PROTOCOLPGM("rolling back.");
SERIAL_EOL;
LCD_MESSAGEPGM("Calibration OK");
LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
}
else { // !end iterations
char mess[15] = "No convergence";
@@ -5394,7 +5394,7 @@ void home_all_axes() { gcode_G28(true); }
}
else {
SERIAL_PROTOCOLLNPGM("Calibration OK");
LCD_MESSAGEPGM("Calibration OK");
LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
SERIAL_EOL;
serialprintPGM(save_message);
@@ -8460,15 +8460,22 @@ void quickstop_stepper() {
#if ENABLED(AUTO_BED_LEVELING_UBL)
// L to load a mesh from the EEPROM
if (code_seen('L')) {
const int8_t storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
const int8_t storage_slot = code_has_value() ? code_value_int() : ubl.state.storage_slot;
const int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
}
ubl.load_mesh(storage_slot);
ubl.state.eeprom_storage_slot = storage_slot;
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
settings.load_mesh(storage_slot);
ubl.state.storage_slot = storage_slot;
}
#endif // AUTO_BED_LEVELING_UBL
@@ -8496,7 +8503,7 @@ void quickstop_stepper() {
if (code_seen('L') || code_seen('V')) {
ubl.display_map(0); // Currently only supports one map type
SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
SERIAL_ECHOLNPAIR("eeprom_storage_slot = ", ubl.state.eeprom_storage_slot);
SERIAL_ECHOLNPAIR("ubl.state.storage_slot = ", ubl.state.storage_slot);
}
#endif

234
Marlin/configuration_store.cpp
View File

@@ -36,16 +36,16 @@
*
*/
#define EEPROM_VERSION "V37"
#define EEPROM_VERSION "V38"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
/**
* V37 EEPROM Layout:
* V38 EEPROM Layout:
*
* 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t)
* 104 EEPROM CRC16 (uint16_t)
*
* 106 E_STEPPERS (uint8_t)
* 107 M92 XYZE planner.axis_steps_per_mm (float x4 ... x8)
@@ -90,7 +90,7 @@
* AUTO_BED_LEVELING_UBL: 6 bytes
* 324 G29 A ubl.state.active (bool)
* 325 G29 Z ubl.state.z_offset (float)
* 329 G29 S ubl.state.eeprom_storage_slot (int8_t)
* 329 G29 S ubl.state.storage_slot (int8_t)
*
* DELTA: 48 bytes
* 348 M666 XYZ endstop_adj (float x3)
@@ -158,6 +158,14 @@
*
* 588 Minimum end-point
* 1909 (588 + 36 + 9 + 288 + 988) Maximum end-point
*
* ========================================================================
* meshes_begin (between max and min end-point, directly above)
* -- MESHES --
* meshes_end
* -- MAT (Mesh Allocation Table) -- 128 bytes (placeholder size)
* mat_end = E2END (0xFFF)
*
*/
#include "configuration_store.h"
@@ -230,18 +238,26 @@ void MarlinSettings::postprocess() {
#if ENABLED(EEPROM_SETTINGS)
#define DUMMY_PID_VALUE 3000.0f
#define EEPROM_START() int eeprom_index = EEPROM_OFFSET
#define EEPROM_SKIP(VAR) eeprom_index += sizeof(VAR)
#define EEPROM_WRITE(VAR) write_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc)
#define EEPROM_READ(VAR) read_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc)
#define EEPROM_ASSERT(TST,ERR) if (!(TST)) do{ SERIAL_ERROR_START; SERIAL_ERRORLNPGM(ERR); eeprom_read_error = true; }while(0)
const char version[4] = EEPROM_VERSION;
uint16_t MarlinSettings::eeprom_checksum;
bool MarlinSettings::eeprom_error;
bool MarlinSettings::eeprom_write_error,
MarlinSettings::eeprom_read_error;
#if ENABLED(AUTO_BED_LEVELING_UBL)
int MarlinSettings::meshes_begin;
#endif
void MarlinSettings::write_data(int &pos, const uint8_t* value, uint16_t size) {
if (eeprom_write_error) return;
void MarlinSettings::write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
if (eeprom_error) return;
while (size--) {
uint8_t * const p = (uint8_t * const)pos;
const uint8_t v = *value;
uint8_t v = *value;
// EEPROM has only ~100,000 write cycles,
// so only write bytes that have changed!
if (v != eeprom_read_byte(p)) {
@@ -249,32 +265,27 @@ void MarlinSettings::postprocess() {
if (eeprom_read_byte(p) != v) {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_EEPROM_WRITE);
eeprom_write_error = true;
eeprom_error = true;
return;
}
}
eeprom_checksum += v;
crc16(crc, &v, 1);
pos++;
value++;
};
}
void MarlinSettings::read_data(int &pos, uint8_t* value, uint16_t size) {
void MarlinSettings::read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) {
if (eeprom_error) return;
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
if (!eeprom_read_error) *value = c;
eeprom_checksum += c;
*value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
}
#define DUMMY_PID_VALUE 3000.0f
#define EEPROM_START() int eeprom_index = EEPROM_OFFSET
#define EEPROM_SKIP(VAR) eeprom_index += sizeof(VAR)
#define EEPROM_WRITE(VAR) write_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR))
#define EEPROM_READ(VAR) read_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR))
#define EEPROM_ASSERT(TST,ERR) if (!(TST)) do{ SERIAL_ERROR_START; SERIAL_ERRORLNPGM(ERR); eeprom_read_error = true; }while(0)
/**
* M500 - Store Configuration
*/
@@ -282,14 +293,16 @@ void MarlinSettings::postprocess() {
float dummy = 0.0f;
char ver[4] = "000";
uint16_t working_crc = 0;
EEPROM_START();
eeprom_write_error = false;
eeprom_error = false;
EEPROM_WRITE(ver); // invalidate data first
EEPROM_SKIP(eeprom_checksum); // Skip the checksum slot
EEPROM_SKIP(working_crc); // Skip the checksum slot
eeprom_checksum = 0; // clear before first "real data"
working_crc = 0; // clear before first "real data"
const uint8_t esteppers = COUNT(planner.axis_steps_per_mm) - XYZ;
EEPROM_WRITE(esteppers);
@@ -410,14 +423,14 @@ void MarlinSettings::postprocess() {
#if ENABLED(AUTO_BED_LEVELING_UBL)
EEPROM_WRITE(ubl.state.active);
EEPROM_WRITE(ubl.state.z_offset);
EEPROM_WRITE(ubl.state.eeprom_storage_slot);
EEPROM_WRITE(ubl.state.storage_slot);
#else
const bool ubl_active = 0;
const bool ubl_active = false;
dummy = 0.0f;
const int8_t eeprom_slot = -1;
const int8_t storage_slot = -1;
EEPROM_WRITE(ubl_active);
EEPROM_WRITE(dummy);
EEPROM_WRITE(eeprom_slot);
EEPROM_WRITE(storage_slot);
#endif // AUTO_BED_LEVELING_UBL
// 9 floats for DELTA / Z_DUAL_ENDSTOPS
@@ -609,43 +622,42 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(dummy);
#endif
if (!eeprom_write_error) {
const uint16_t final_checksum = eeprom_checksum,
eeprom_size = eeprom_index;
if (!eeprom_error) {
const int eeprom_size = eeprom_index;
// Write the EEPROM header
eeprom_index = EEPROM_OFFSET;
EEPROM_WRITE(version);
EEPROM_WRITE(final_checksum);
EEPROM_WRITE(working_crc);
// Report storage size
SERIAL_ECHO_START;
SERIAL_ECHOPAIR("Settings Stored (", eeprom_size - (EEPROM_OFFSET));
SERIAL_ECHOLNPGM(" bytes)");
SERIAL_ECHOPAIR(" bytes; crc ", working_crc);
SERIAL_ECHOLNPGM(")");
}
#if ENABLED(UBL_SAVE_ACTIVE_ON_M500)
if (ubl.state.eeprom_storage_slot >= 0)
ubl.store_mesh(ubl.state.eeprom_storage_slot);
if (ubl.state.storage_slot >= 0)
store_mesh(ubl.state.storage_slot);
#endif
return !eeprom_write_error;
return !eeprom_error;
}
/**
* M501 - Retrieve Configuration
*/
bool MarlinSettings::load() {
uint16_t working_crc = 0;
EEPROM_START();
eeprom_read_error = false; // If set EEPROM_READ won't write into RAM
char stored_ver[4];
EEPROM_READ(stored_ver);
uint16_t stored_checksum;
EEPROM_READ(stored_checksum);
uint16_t stored_crc;
EEPROM_READ(stored_crc);
// Version has to match or defaults are used
if (strncmp(version, stored_ver, 3) != 0) {
@@ -662,7 +674,7 @@ void MarlinSettings::postprocess() {
else {
float dummy = 0;
eeprom_checksum = 0; // clear before reading first "real data"
working_crc = 0; //clear before reading first "real data"
// Number of esteppers may change
uint8_t esteppers;
@@ -788,7 +800,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(AUTO_BED_LEVELING_UBL)
EEPROM_READ(ubl.state.active);
EEPROM_READ(ubl.state.z_offset);
EEPROM_READ(ubl.state.eeprom_storage_slot);
EEPROM_READ(ubl.state.storage_slot);
#else
bool dummyb;
uint8_t dummyui8;
@@ -960,42 +972,45 @@ void MarlinSettings::postprocess() {
EEPROM_READ(dummy);
#endif
if (eeprom_checksum == stored_checksum) {
if (eeprom_read_error)
reset();
else {
if (working_crc == stored_crc) {
postprocess();
SERIAL_ECHO_START;
SERIAL_ECHO(version);
SERIAL_ECHOPAIR(" stored settings retrieved (", eeprom_index - (EEPROM_OFFSET));
SERIAL_ECHOLNPGM(" bytes)");
}
SERIAL_ECHOPAIR(" bytes; crc ", working_crc);
SERIAL_ECHOLNPGM(")");
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("EEPROM checksum mismatch");
SERIAL_ERRORPGM("EEPROM checksum mismatch - (stored CRC)");
SERIAL_ERROR(stored_crc);
SERIAL_ERRORPGM(" != ");
SERIAL_ERROR(working_crc);
SERIAL_ERRORLNPGM(" (calculated CRC)!");
reset();
}
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.eeprom_start = (eeprom_index + 32) & 0xFFF8; // Pad the end of configuration data so it
// can float up or down a little bit without
// disrupting the Unified Bed Leveling data
SERIAL_ECHOPGM(" UBL ");
if (!ubl.state.active) SERIAL_ECHO("not ");
SERIAL_ECHOLNPGM("active!");
meshes_begin = (eeprom_index + 32) & 0xFFF8; // Pad the end of configuration data so it
// can float up or down a little bit without
// disrupting the mesh data
ubl.report_state();
if (!ubl.sanity_check()) {
SERIAL_ECHOLNPGM("\nUnified Bed Leveling system initialized.\n");
SERIAL_EOL;
ubl.echo_name();
SERIAL_ECHOLNPGM(" initialized.\n");
}
else {
SERIAL_PROTOCOLPGM("?Unable to enable Unified Bed Leveling system.\n");
SERIAL_PROTOCOLPGM("?Can't enable ");
ubl.echo_name();
SERIAL_PROTOCOLLNPGM(".");
ubl.reset();
}
if (ubl.state.eeprom_storage_slot >= 0) {
ubl.load_mesh(ubl.state.eeprom_storage_slot);
SERIAL_ECHOPAIR("Mesh ", ubl.state.eeprom_storage_slot);
if (ubl.state.storage_slot >= 0) {
load_mesh(ubl.state.storage_slot);
SERIAL_ECHOPAIR("Mesh ", ubl.state.storage_slot);
SERIAL_ECHOLNPGM(" loaded from storage.");
}
else {
@@ -1009,9 +1024,87 @@ void MarlinSettings::postprocess() {
report();
#endif
return !eeprom_read_error;
return !eeprom_error;
}
#if ENABLED(AUTO_BED_LEVELING_UBL)
void ubl_invalid_slot(const int s) {
SERIAL_PROTOCOLLNPGM("?Invalid slot.");
SERIAL_PROTOCOL(s);
SERIAL_PROTOCOLLNPGM(" mesh slots available.");
}
int MarlinSettings::calc_num_meshes() {
//obviously this will get more sophisticated once we've added an actual MAT
if (meshes_begin <= 0) return 0;
return (meshes_end - meshes_begin) / sizeof(ubl.z_values);
}
void MarlinSettings::store_mesh(int8_t slot) {
#if ENABLED(AUTO_BED_LEVELING_UBL)
const int a = calc_num_meshes();
if (!WITHIN(slot, 0, a - 1)) {
ubl_invalid_slot(a);
SERIAL_PROTOCOLPAIR("E2END=", E2END);
SERIAL_PROTOCOLPAIR(" meshes_end=", (int)meshes_end);
SERIAL_PROTOCOLLNPAIR(" slot=", slot);
SERIAL_EOL;
return;
}
uint16_t crc = 0;
int pos = meshes_end - (slot + 1) * sizeof(ubl.z_values);
write_data(pos, (uint8_t *)&ubl.z_values, sizeof(ubl.z_values), &crc);
// Write crc to MAT along with other data, or just tack on to the beginning or end
SERIAL_PROTOCOLPAIR("Mesh saved in slot ", slot);
#else
// Other mesh types
#endif
}
void MarlinSettings::load_mesh(int8_t slot, void *into /* = 0 */) {
#if ENABLED(AUTO_BED_LEVELING_UBL)
const int16_t a = settings.calc_num_meshes();
if (!WITHIN(slot, 0, a - 1)) {
ubl_invalid_slot(a);
return;
}
uint16_t crc = 0;
int pos = meshes_end - (slot + 1) * sizeof(ubl.z_values);
uint8_t * const dest = into ? (uint8_t*)into : (uint8_t*)&ubl.z_values;
read_data(pos, dest, sizeof(ubl.z_values), &crc);
// Compare crc with crc from MAT, or read from end
SERIAL_PROTOCOLPAIR("Mesh loaded from slot ", slot);
#else
// Other mesh types
#endif
}
//void MarlinSettings::delete_mesh() { return; }
//void MarlinSettings::defrag_meshes() { return; }
#endif // AUTO_BED_LEVELING_UBL
#else // !EEPROM_SETTINGS
bool MarlinSettings::save() {
@@ -1449,7 +1542,8 @@ void MarlinSettings::reset() {
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Unified Bed Leveling:");
ubl.echo_name();
SERIAL_ECHOLNPGM(":");
}
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M420 S", ubl.state.active ? 1 : 0);
@@ -1458,7 +1552,19 @@ void MarlinSettings::reset() {
#endif
SERIAL_EOL;
if (!forReplay) ubl.g29_what_command();
if (!forReplay) {
SERIAL_EOL;
ubl.report_state();
SERIAL_ECHOLNPAIR("\nActive Mesh Slot: ", ubl.state.storage_slot);
SERIAL_ECHOPGM("z_offset: ");
SERIAL_ECHO_F(ubl.state.z_offset, 6);
SERIAL_EOL;
SERIAL_ECHOPAIR("EEPROM can hold ", calc_num_meshes());
SERIAL_ECHOLNPGM(" meshes.\n");
}
#elif HAS_ABL

28
Marlin/configuration_store.h
View File

@@ -34,6 +34,18 @@ class MarlinSettings {
#if ENABLED(EEPROM_SETTINGS)
static bool load();
#if ENABLED(AUTO_BED_LEVELING_UBL) // Eventually make these available if any leveling system
// That can store is enabled
FORCE_INLINE static int get_start_of_meshes() { return meshes_begin; }
FORCE_INLINE static int get_end_of_meshes() { return meshes_end; }
static int calc_num_meshes();
static void store_mesh(int8_t slot);
static void load_mesh(int8_t slot, void *into = 0);
//static void delete_mesh(); // necessary if we have a MAT
//static void defrag_meshes(); // "
#endif
#else
FORCE_INLINE
static bool load() { reset(); report(); return true; }
@@ -50,10 +62,18 @@ class MarlinSettings {
static void postprocess();
#if ENABLED(EEPROM_SETTINGS)
static uint16_t eeprom_checksum;
static bool eeprom_read_error, eeprom_write_error;
static void write_data(int &pos, const uint8_t* value, uint16_t size);
static void read_data(int &pos, uint8_t* value, uint16_t size);
static bool eeprom_error;
#if ENABLED(AUTO_BED_LEVELING_UBL) // Eventually make these available if any leveling system
// That can store is enabled
static int meshes_begin;
const static int mat_end = E2END; // Mesh allocation table; this may not end up being necessary
const static int meshes_end = mat_end - 128; // 128 is a placeholder for the size of the MAT
#endif
static void write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc);
static void read_data(int &pos, uint8_t *value, uint16_t size, uint16_t *crc);
#endif
};

64
Marlin/ubl.cpp
View File

@@ -41,6 +41,16 @@
uint8_t ubl_cnt = 0;
void unified_bed_leveling::echo_name() { SERIAL_PROTOCOLPGM("Unified Bed Leveling"); }
void unified_bed_leveling::report_state() {
echo_name();
SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");
if (!state.active) SERIAL_PROTOCOLPGM("in");
SERIAL_PROTOCOLLNPGM("active.");
safe_delay(50);
}
static void serial_echo_xy(const int16_t x, const int16_t y) {
SERIAL_CHAR('(');
SERIAL_ECHO(x);
@@ -63,9 +73,6 @@
bool unified_bed_leveling::g26_debug_flag = false,
unified_bed_leveling::has_control_of_lcd_panel = false;
int16_t unified_bed_leveling::eeprom_start = -1; // Please stop changing this to 8 bits in size
// It needs to hold values bigger than this.
volatile int unified_bed_leveling::encoder_diff;
unified_bed_leveling::unified_bed_leveling() {
@@ -73,53 +80,10 @@
reset();
}
void unified_bed_leveling::load_mesh(const int16_t slot) {
int16_t j = (UBL_LAST_EEPROM_INDEX - eeprom_start) / sizeof(z_values);
if (slot == -1) {
SERIAL_PROTOCOLLNPGM("?No mesh saved in EEPROM. Zeroing mesh in memory.\n");
reset();
return;
}
if (!WITHIN(slot, 0, j - 1) || eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
return;
}
j = UBL_LAST_EEPROM_INDEX - (slot + 1) * sizeof(z_values);
eeprom_read_block((void *)&z_values, (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPAIR("Mesh loaded from slot ", slot);
SERIAL_PROTOCOLLNPAIR(" at offset ", hex_address((void*)j));
}
void unified_bed_leveling::store_mesh(const int16_t slot) {
int16_t j = (UBL_LAST_EEPROM_INDEX - eeprom_start) / sizeof(z_values);
if (!WITHIN(slot, 0, j - 1) || eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
SERIAL_PROTOCOL(slot);
SERIAL_PROTOCOLLNPGM(" mesh slots available.\n");
SERIAL_PROTOCOLLNPAIR("E2END : ", E2END);
SERIAL_PROTOCOLLNPAIR("k : ", (int)UBL_LAST_EEPROM_INDEX);
SERIAL_PROTOCOLLNPAIR("j : ", j);
SERIAL_PROTOCOLLNPAIR("m : ", slot);
SERIAL_EOL;
return;
}
j = UBL_LAST_EEPROM_INDEX - (slot + 1) * sizeof(z_values);
eeprom_write_block((const void *)&z_values, (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPAIR("Mesh saved in slot ", slot);
SERIAL_PROTOCOLLNPAIR(" at offset ", hex_address((void*)j));
}
void unified_bed_leveling::reset() {
state.active = false;
state.z_offset = 0;
state.eeprom_storage_slot = -1;
state.storage_slot = -1;
ZERO(z_values);
@@ -203,9 +167,9 @@
bool unified_bed_leveling::sanity_check() {
uint8_t error_flag = 0;
const int j = (UBL_LAST_EEPROM_INDEX - eeprom_start) / sizeof(z_values);
if (j < 1) {
SERIAL_PROTOCOLLNPGM("?No EEPROM storage available for a mesh of this size.\n");
const int a = settings.calc_num_meshes();
if (a < 1) {
SERIAL_PROTOCOLLNPGM("?Insufficient EEPROM storage for a mesh of this size.");
error_flag++;
}

16
Marlin/ubl.h
View File

@@ -30,8 +30,9 @@
#include "planner.h"
#include "math.h"
#include "vector_3.h"
#include "configuration_store.h"
#define UBL_VERSION "1.00"
#define UBL_VERSION "1.01"
#define UBL_OK false
#define UBL_ERR true
@@ -92,7 +93,7 @@
typedef struct {
bool active = false;
float z_offset = 0.0;
int8_t eeprom_storage_slot = -1;
int8_t storage_slot = -1;
} ubl_state;
class unified_bed_leveling {
@@ -102,6 +103,8 @@
public:
void echo_name();
void report_state();
void find_mean_mesh_height();
void shift_mesh_height();
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
@@ -117,10 +120,6 @@
void display_map(const int);
void reset();
void invalidate();
void store_state();
void load_state();
void store_mesh(const int16_t);
void load_mesh(const int16_t);
bool sanity_check();
static ubl_state state;
@@ -153,9 +152,6 @@
static bool g26_debug_flag, has_control_of_lcd_panel;
static int16_t eeprom_start; // Please do no change this to 8 bits in size
// It needs to hold values bigger than this.
static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
unified_bed_leveling();
@@ -351,7 +347,5 @@
extern unified_bed_leveling ubl;
#define UBL_LAST_EEPROM_INDEX E2END
#endif // AUTO_BED_LEVELING_UBL
#endif // UNIFIED_BED_LEVELING_H

210
Marlin/ubl_G29.cpp
View File

@@ -314,7 +314,7 @@
void __attribute__((optimize("O0"))) gcode_G29() {
if (ubl.eeprom_start < 0) {
if (!settings.calc_num_meshes()) {
SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
return;
@@ -419,9 +419,9 @@
}
if (code_seen('P')) {
if (WITHIN(phase_value, 0, 1) && ubl.state.eeprom_storage_slot == -1) {
ubl.state.eeprom_storage_slot = 0;
SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.\n");
if (WITHIN(phase_value, 0, 1) && ubl.state.storage_slot == -1) {
ubl.state.storage_slot = 0;
SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.");
}
switch (phase_value) {
@@ -430,7 +430,7 @@
// Zero Mesh Data
//
ubl.reset();
SERIAL_PROTOCOLLNPGM("Mesh zeroed.\n");
SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
break;
case 1:
@@ -439,7 +439,7 @@
//
if (!code_seen('C')) {
ubl.invalidate();
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.\n");
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
}
if (g29_verbose_level > 1) {
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", x_pos);
@@ -455,7 +455,7 @@
//
// Manually Probe Mesh in areas that can't be reached by the probe
//
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n");
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (!x_flag && !y_flag) {
/**
@@ -485,7 +485,7 @@
card_thickness = code_has_value() ? code_value_float() : measure_business_card_thickness(height);
if (fabs(card_thickness) > 1.5) {
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.\n");
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.");
return;
}
}
@@ -561,17 +561,25 @@
//
if (code_seen('L')) { // Load Current Mesh Data
storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
storage_slot = code_has_value() ? code_value_int() : ubl.state.storage_slot;
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
int16_t a = settings.calc_num_meshes();
if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
}
ubl.load_mesh(storage_slot);
ubl.state.eeprom_storage_slot = storage_slot;
SERIAL_PROTOCOLLNPGM("Done.\n");
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
settings.load_mesh(storage_slot);
ubl.state.storage_slot = storage_slot;
SERIAL_PROTOCOLLNPGM("Done.");
}
//
@@ -579,7 +587,7 @@
//
if (code_seen('S')) { // Store (or Save) Current Mesh Data
storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_storage_slot;
storage_slot = code_has_value() ? code_value_int() : ubl.state.storage_slot;
if (storage_slot == -1) { // Special case, we are going to 'Export' the mesh to the
SERIAL_ECHOLNPGM("G29 I 999"); // host in a form it can be reconstructed on a different machine
@@ -597,17 +605,23 @@
return;
}
const int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(ubl.z_values);
int16_t a = settings.calc_num_meshes();
if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", j - 1);
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
goto LEAVE;
}
ubl.store_mesh(storage_slot);
ubl.state.eeprom_storage_slot = storage_slot;
SERIAL_PROTOCOLLNPGM("Done.\n");
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
goto LEAVE;
}
settings.store_mesh(storage_slot);
ubl.state.storage_slot = storage_slot;
SERIAL_PROTOCOLLNPGM("Done.");
}
if (code_seen('T'))
@@ -654,7 +668,7 @@
if (ELAPSED(millis(), nxt)) {
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
LCD_MESSAGEPGM("Z-Offset Stopped");
LCD_MESSAGEPGM("Z-Offset Stopped"); // TODO: Make translatable string
ubl.restore_ubl_active_state_and_leave();
goto LEAVE;
}
@@ -892,7 +906,7 @@
return current_position[Z_AXIS];
}
static void say_and_take_a_measurement() {
static void echo_and_take_a_measurement() {
SERIAL_PROTOCOLLNPGM(" and take a measurement.");
}
@@ -906,17 +920,17 @@
stepper.synchronize();
SERIAL_PROTOCOLPGM("Place shim under nozzle");
LCD_MESSAGEPGM("Place shim & measure");
LCD_MESSAGEPGM("Place shim & measure"); // TODO: Make translatable string
lcd_goto_screen(lcd_status_screen);
say_and_take_a_measurement();
echo_and_take_a_measurement();
const float z1 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
stepper.synchronize();
SERIAL_PROTOCOLPGM("Remove shim");
LCD_MESSAGEPGM("Remove & measure bed");
say_and_take_a_measurement();
LCD_MESSAGEPGM("Remove & measure bed"); // TODO: Make translatable string
echo_and_take_a_measurement();
const float z2 = use_encoder_wheel_to_measure_point();
@@ -962,7 +976,7 @@
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
LCD_MESSAGEPGM("Moving to next");
LCD_MESSAGEPGM("Moving to next"); // TODO: Make translatable string
do_blocking_move_to_xy(xProbe, yProbe);
do_blocking_move_to_z(z_clearance);
@@ -972,8 +986,10 @@
if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing
if (code_seen('B')) {LCD_MESSAGEPGM("Place shim & measure");}
else {LCD_MESSAGEPGM("Measure");}
if (code_seen('B'))
LCD_MESSAGEPGM("Place shim & measure"); // TODO: Make translatable string
else
LCD_MESSAGEPGM("Measure"); // TODO: Make translatable string
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
delay(50); // debounce
@@ -1017,21 +1033,10 @@
do_blocking_move_to_xy(lx, ly);
}
static void say_ubl_name() {
SERIAL_PROTOCOLPGM("Unified Bed Leveling ");
}
static void report_ubl_state() {
say_ubl_name();
SERIAL_PROTOCOLPGM("System ");
if (!ubl.state.active) SERIAL_PROTOCOLPGM("de");
SERIAL_PROTOCOLLNPGM("activated.\n");
}
bool g29_parameter_parsing() {
bool err_flag = false;
LCD_MESSAGEPGM("Doing G29 UBL!");
LCD_MESSAGEPGM("Doing G29 UBL!"); // TODO: Make translatable string
lcd_quick_feedback();
ubl_constant = 0.0;
@@ -1096,12 +1101,12 @@
SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
return UBL_ERR;
}
ubl.state.active = 1;
report_ubl_state();
ubl.state.active = true;
ubl.report_state();
}
else if (code_seen('D')) {
ubl.state.active = 0;
report_ubl_state();
ubl.state.active = false;
ubl.report_state();
}
// Set global 'C' flag and its value
@@ -1134,7 +1139,7 @@
ubl_state_recursion_chk++;
if (ubl_state_recursion_chk != 1) {
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
LCD_MESSAGEPGM("save_UBL_active() error");
LCD_MESSAGEPGM("save_UBL_active() error"); // TODO: Make translatable string
lcd_quick_feedback();
return;
}
@@ -1145,7 +1150,7 @@
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");
LCD_MESSAGEPGM("restore_UBL_active() error"); // TODO: Make translatable string
lcd_quick_feedback();
return;
}
@@ -1157,21 +1162,12 @@
* good to have the extra information. Soon... we prune this to just a few items
*/
void unified_bed_leveling::g29_what_command() {
const uint16_t k = E2END - ubl.eeprom_start;
report_state();
say_ubl_name();
SERIAL_PROTOCOLPGM("System Version " UBL_VERSION " ");
if (state.active)
SERIAL_PROTOCOLCHAR('A');
else
SERIAL_PROTOCOLPGM("Ina");
SERIAL_PROTOCOLLNPGM("ctive.\n");
safe_delay(50);
if (state.eeprom_storage_slot == -1)
if (state.storage_slot == -1)
SERIAL_PROTOCOLPGM("No Mesh Loaded.");
else {
SERIAL_PROTOCOLPAIR("Mesh ", state.eeprom_storage_slot);
SERIAL_PROTOCOLPAIR("Mesh ", state.storage_slot);
SERIAL_PROTOCOLPGM(" Loaded.");
}
SERIAL_EOL;
@@ -1188,12 +1184,15 @@
SERIAL_PROTOCOL_F(zprobe_zoffset, 7);
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("ubl.eeprom_start=", hex_address((void*)eeprom_start));
SERIAL_ECHOLNPAIR("UBL_MESH_MIN_X " STRINGIFY(UBL_MESH_MIN_X) "=", UBL_MESH_MIN_X);
SERIAL_ECHOLNPAIR("UBL_MESH_MIN_Y " STRINGIFY(UBL_MESH_MIN_Y) "=", UBL_MESH_MIN_Y);
safe_delay(25);
SERIAL_ECHOLNPAIR("UBL_MESH_MAX_X " STRINGIFY(UBL_MESH_MAX_X) "=", UBL_MESH_MAX_X);
SERIAL_ECHOLNPAIR("UBL_MESH_MAX_Y " STRINGIFY(UBL_MESH_MAX_Y) "=", UBL_MESH_MAX_Y);
safe_delay(25);
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
safe_delay(25);
SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST);
SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST);
safe_delay(25);
@@ -1214,43 +1213,39 @@
}
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("Free EEPROM space starts at: ", hex_address((void*)eeprom_start));
SERIAL_PROTOCOLLNPAIR("end of EEPROM: ", hex_address((void*)E2END));
safe_delay(25);
#if HAS_KILL
SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
#endif
SERIAL_EOL;
safe_delay(50);
SERIAL_PROTOCOLPAIR("sizeof(ubl.state) : ", (int)sizeof(state));
SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation);
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk);
SERIAL_EOL;
safe_delay(50);
SERIAL_PROTOCOLPAIR("Meshes go from ", hex_address((void*)settings.get_start_of_meshes()));
SERIAL_PROTOCOLLNPAIR(" to ", hex_address((void*)settings.get_end_of_meshes()));
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(z_values));
SERIAL_EOL;
safe_delay(25);
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)k));
safe_delay(25);
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.get_end_of_meshes() - settings.get_start_of_meshes())));
safe_delay(50);
SERIAL_PROTOCOLPAIR("EEPROM can hold ", k / sizeof(z_values));
SERIAL_PROTOCOLPAIR("EEPROM can hold ", settings.calc_num_meshes());
SERIAL_PROTOCOLLNPGM(" meshes.\n");
safe_delay(25);
SERIAL_PROTOCOLPAIR("\nGRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
SERIAL_PROTOCOLPAIR("\nGRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
safe_delay(25);
SERIAL_EOL;
SERIAL_ECHOPGM("UBL_MESH_MIN_X " STRINGIFY(UBL_MESH_MIN_X));
SERIAL_ECHOLNPAIR("=", UBL_MESH_MIN_X );
SERIAL_ECHOPGM("UBL_MESH_MIN_Y " STRINGIFY(UBL_MESH_MIN_Y));
SERIAL_ECHOLNPAIR("=", UBL_MESH_MIN_Y );
safe_delay(25);
SERIAL_ECHOPGM("UBL_MESH_MAX_X " STRINGIFY(UBL_MESH_MAX_X));
SERIAL_ECHOLNPAIR("=", UBL_MESH_MAX_X);
SERIAL_ECHOPGM("UBL_MESH_MAX_Y " STRINGIFY(UBL_MESH_MAX_Y));
SERIAL_ECHOLNPAIR("=", UBL_MESH_MAX_Y);
safe_delay(25);
if (!sanity_check()) {
say_ubl_name();
SERIAL_PROTOCOLLNPGM("sanity checks passed.");
echo_name();
SERIAL_PROTOCOLLNPGM(" sanity checks passed.");
}
}
@@ -1284,27 +1279,32 @@
* use cases for the users. So we can wait and see what to do with it.
*/
void g29_compare_current_mesh_to_stored_mesh() {
float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
return;
}
if (!code_has_value()) {
SERIAL_PROTOCOLLNPGM("?Mesh # required.\n");
SERIAL_PROTOCOLLNPGM("?Storage slot # required.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
storage_slot = code_value_int();
int16_t j = (UBL_LAST_EEPROM_INDEX - ubl.eeprom_start) / sizeof(tmp_z_values);
if (!WITHIN(storage_slot, 0, j - 1) || ubl.eeprom_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available for use.\n");
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
j = UBL_LAST_EEPROM_INDEX - (storage_slot + 1) * sizeof(tmp_z_values);
eeprom_read_block((void *)&tmp_z_values, (void *)j, sizeof(tmp_z_values));
float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
settings.load_mesh(storage_slot, &tmp_z_values);
SERIAL_ECHOPAIR("Subtracting Mesh ", storage_slot);
SERIAL_PROTOCOLLNPAIR(" loaded from EEPROM address ", hex_address((void*)j)); // Soon, we can remove the extra clutter of printing
// the address in the EEPROM where the Mesh is stored.
SERIAL_PROTOCOLPAIR("Subtracting mesh in slot ", storage_slot);
SERIAL_PROTOCOLLNPGM(" from current mesh.");
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
@@ -1396,7 +1396,7 @@
memset(not_done, 0xFF, sizeof(not_done));
LCD_MESSAGEPGM("Fine Tuning Mesh");
LCD_MESSAGEPGM("Fine Tuning Mesh"); // TODO: Make translatable string
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
@@ -1454,7 +1454,7 @@
lcd_return_to_status();
//SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
LCD_MESSAGEPGM("Mesh Editing Stopped");
LCD_MESSAGEPGM("Mesh Editing Stopped"); // TODO: Make translatable string
while (ubl_lcd_clicked()) idle();
@@ -1481,7 +1481,7 @@
do_blocking_move_to_xy(lx, ly);
LCD_MESSAGEPGM("Done Editing Mesh");
LCD_MESSAGEPGM("Done Editing Mesh"); // TODO: Make translatable string
SERIAL_ECHOLNPGM("Done Editing Mesh");
}

8
Marlin/ultralcd.cpp
View File

@@ -1425,10 +1425,6 @@ void kill_screen(const char* lcd_msg) {
static uint8_t manual_probe_index;
#if ENABLED(PROBE_MANUALLY)
extern bool g29_in_progress;
#endif
// LCD probed points are from defaults
constexpr uint8_t total_probe_points = (
#if ENABLED(AUTO_BED_LEVELING_3POINT)
@@ -1645,6 +1641,10 @@ void kill_screen(const char* lcd_msg) {
#if ENABLED(LCD_BED_LEVELING) || HAS_ABL
#if ENABLED(PROBE_MANUALLY)
extern bool g29_in_progress;
#endif
/**
* Step 2: Continue Bed Leveling...
*/

13
Marlin/utility.cpp
View File

@@ -34,6 +34,19 @@ void safe_delay(millis_t ms) {
thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
}
#if ENABLED(EEPROM_SETTINGS)
void crc16(uint16_t *crc, const void * const data, uint16_t cnt) {
uint8_t *ptr = (uint8_t*)data;
while (cnt-- > 0) {
*crc = (uint16_t)(*crc ^ (uint16_t)(((uint16_t)*ptr++) << 8));
for (uint8_t x = 0; x < 8; x++)
*crc = (uint16_t)((*crc & 0x8000) ? ((uint16_t)(*crc << 1) ^ 0x1021) : (*crc << 1));
}
}
#endif // EEPROM_SETTINGS
#if ENABLED(ULTRA_LCD)
char conv[8] = { 0 };

4
Marlin/utility.h
View File

@@ -25,6 +25,10 @@
void safe_delay(millis_t ms);
#if ENABLED(EEPROM_SETTINGS)
void crc16(uint16_t *crc, const void * const data, uint16_t cnt);
#endif
#if ENABLED(ULTRA_LCD)
// Convert unsigned int to string with 12 format