/** * 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 . * */ /** * G29.cpp - Auto Bed Leveling */ #include "../../../inc/MarlinConfig.h" #if OLDSCHOOL_ABL #include "../../gcode.h" #include "../../../feature/bedlevel/bedlevel.h" #include "../../../module/motion.h" #include "../../../module/planner.h" #include "../../../module/stepper.h" #include "../../../module/probe.h" #include "../../queue.h" #if ENABLED(LCD_BED_LEVELING) && ENABLED(PROBE_MANUALLY) #include "../../../lcd/ultralcd.h" #endif #if ENABLED(AUTO_BED_LEVELING_LINEAR) #include "../../../libs/least_squares_fit.h" #endif #if ABL_GRID #if ENABLED(PROBE_Y_FIRST) #define PR_OUTER_VAR xCount #define PR_OUTER_END abl_grid_points_x #define PR_INNER_VAR yCount #define PR_INNER_END abl_grid_points_y #else #define PR_OUTER_VAR yCount #define PR_OUTER_END abl_grid_points_y #define PR_INNER_VAR xCount #define PR_INNER_END abl_grid_points_x #endif #endif /** * G29: Detailed Z probe, probes the bed at 3 or more points. * Will fail if the printer has not been homed with G28. * * Enhanced G29 Auto Bed Leveling Probe Routine * * D Dry-Run mode. Just evaluate the bed Topology - Don't apply * or alter the bed level data. Useful to check the topology * after a first run of G29. * * J Jettison current bed leveling data * * V Set the verbose level (0-4). Example: "G29 V3" * * Parameters With LINEAR leveling only: * * P Set the size of the grid that will be probed (P x P points). * Example: "G29 P4" * * X Set the X size of the grid that will be probed (X x Y points). * Example: "G29 X7 Y5" * * Y Set the Y size of the grid that will be probed (X x Y points). * * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. * This is useful for manual bed leveling and finding flaws in the bed (to * assist with part placement). * Not supported by non-linear delta printer bed leveling. * * Parameters With LINEAR and BILINEAR leveling only: * * S Set the XY travel speed between probe points (in units/min) * * F Set the Front limit of the probing grid * B Set the Back limit of the probing grid * L Set the Left limit of the probing grid * R Set the Right limit of the probing grid * * Parameters with DEBUG_LEVELING_FEATURE only: * * C Make a totally fake grid with no actual probing. * For use in testing when no probing is possible. * * Parameters with BILINEAR leveling only: * * Z Supply an additional Z probe offset * * Extra parameters with PROBE_MANUALLY: * * To do manual probing simply repeat G29 until the procedure is complete. * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort. * * Q Query leveling and G29 state * * A Abort current leveling procedure * * Extra parameters with BILINEAR only: * * W Write a mesh point. (If G29 is idle.) * I X index for mesh point * J Y index for mesh point * X X for mesh point, overrides I * Y Y for mesh point, overrides J * Z Z for mesh point. Otherwise, raw current Z. * * Without PROBE_MANUALLY: * * E By default G29 will engage the Z probe, test the bed, then disengage. * Include "E" to engage/disengage the Z probe for each sample. * There's no extra effect if you have a fixed Z probe. * */ void GcodeSuite::G29() { #if ENABLED(DEBUG_LEVELING_FEATURE) || ENABLED(PROBE_MANUALLY) const bool seenQ = parser.seen('Q'); #else constexpr bool seenQ = false; #endif // G29 Q is also available if debugging #if ENABLED(DEBUG_LEVELING_FEATURE) const uint8_t old_debug_flags = marlin_debug_flags; if (seenQ) marlin_debug_flags |= DEBUG_LEVELING; if (DEBUGGING(LEVELING)) { DEBUG_POS(">>> G29", current_position); log_machine_info(); } marlin_debug_flags = old_debug_flags; #if DISABLED(PROBE_MANUALLY) if (seenQ) return; #endif #endif #if ENABLED(PROBE_MANUALLY) const bool seenA = parser.seen('A'); #else constexpr bool seenA = false; #endif const bool no_action = seenA || seenQ, faux = #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) parser.boolval('C') #else no_action #endif ; // Don't allow auto-leveling without homing first if (axis_unhomed_error()) return; // Define local vars 'static' for manual probing, 'auto' otherwise #if ENABLED(PROBE_MANUALLY) #define ABL_VAR static #else #define ABL_VAR #endif ABL_VAR int verbose_level; ABL_VAR float xProbe, yProbe, measured_z; ABL_VAR bool dryrun, abl_should_enable; #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR) ABL_VAR int abl_probe_index; #endif #if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY) ABL_VAR bool enable_soft_endstops = true; #endif #if ABL_GRID #if ENABLED(PROBE_MANUALLY) ABL_VAR uint8_t PR_OUTER_VAR; ABL_VAR int8_t PR_INNER_VAR; #endif ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position; ABL_VAR float xGridSpacing = 0, yGridSpacing = 0; #if ENABLED(AUTO_BED_LEVELING_LINEAR) ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X, abl_grid_points_y = GRID_MAX_POINTS_Y; ABL_VAR bool do_topography_map; #else // Bilinear uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X, abl_grid_points_y = GRID_MAX_POINTS_Y; #endif #if ENABLED(AUTO_BED_LEVELING_LINEAR) ABL_VAR int abl_points; #elif ENABLED(PROBE_MANUALLY) // Bilinear int constexpr abl_points = GRID_MAX_POINTS; #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) ABL_VAR float zoffset; #elif ENABLED(AUTO_BED_LEVELING_LINEAR) ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points mean; #endif #elif ENABLED(AUTO_BED_LEVELING_3POINT) #if ENABLED(PROBE_MANUALLY) int constexpr abl_points = 3; // used to show total points #endif // Probe at 3 arbitrary points ABL_VAR vector_3 points[3] = { vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0), vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0), vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0) }; #endif // AUTO_BED_LEVELING_3POINT #if ENABLED(AUTO_BED_LEVELING_LINEAR) struct linear_fit_data lsf_results; incremental_LSF_reset(&lsf_results); #endif /** * On the initial G29 fetch command parameters. */ if (!g29_in_progress) { #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR) abl_probe_index = -1; #endif abl_should_enable = planner.leveling_active; #if ENABLED(AUTO_BED_LEVELING_BILINEAR) const bool seen_w = parser.seen('W'); if (seen_w) { if (!leveling_is_valid()) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("No bilinear grid"); return; } const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS]; if (!WITHIN(rz, -10, 10)) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("Bad Z value"); return; } const float rx = RAW_X_POSITION(parser.linearval('X', NAN)), ry = RAW_Y_POSITION(parser.linearval('Y', NAN)); int8_t i = parser.byteval('I', -1), j = parser.byteval('J', -1); if (!isnan(rx) && !isnan(ry)) { // Get nearest i / j from rx / ry i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing; j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing; i = constrain(i, 0, GRID_MAX_POINTS_X - 1); j = constrain(j, 0, GRID_MAX_POINTS_Y - 1); } if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) { set_bed_leveling_enabled(false); z_values[i][j] = rz; #if ENABLED(ABL_BILINEAR_SUBDIVISION) bed_level_virt_interpolate(); #endif set_bed_leveling_enabled(abl_should_enable); if (abl_should_enable) report_current_position(); } return; } // parser.seen('W') #else constexpr bool seen_w = false; #endif // Jettison bed leveling data if (!seen_w && parser.seen('J')) { reset_bed_level(); return; } verbose_level = parser.intval('V'); if (!WITHIN(verbose_level, 0, 4)) { SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4)."); return; } dryrun = parser.boolval('D') #if ENABLED(PROBE_MANUALLY) || no_action #endif ; #if ENABLED(AUTO_BED_LEVELING_LINEAR) do_topography_map = verbose_level > 2 || parser.boolval('T'); // X and Y specify points in each direction, overriding the default // These values may be saved with the completed mesh abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X); abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y); if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int(); if (!WITHIN(abl_grid_points_x, 2, GRID_MAX_POINTS_X)) { SERIAL_PROTOCOLLNPGM("?Probe points (X) is implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ")."); return; } if (!WITHIN(abl_grid_points_y, 2, GRID_MAX_POINTS_Y)) { SERIAL_PROTOCOLLNPGM("?Probe points (Y) is implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ")."); return; } abl_points = abl_grid_points_x * abl_grid_points_y; mean = 0; #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) zoffset = parser.linearval('Z'); #endif #if ABL_GRID xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED)); left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : LEFT_PROBE_BED_POSITION; right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : RIGHT_PROBE_BED_POSITION; front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : FRONT_PROBE_BED_POSITION; back_probe_bed_position = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : BACK_PROBE_BED_POSITION; if ( !position_is_reachable_by_probe(left_probe_bed_position, front_probe_bed_position) || !position_is_reachable_by_probe(right_probe_bed_position, back_probe_bed_position)) { SERIAL_PROTOCOLLNPGM("? (L,R,F,B) out of bounds."); return; } // probe at the points of a lattice grid xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1); yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1); #endif // ABL_GRID if (verbose_level > 0) { SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling"); if (dryrun) SERIAL_PROTOCOLPGM(" (DRYRUN)"); SERIAL_EOL(); } stepper.synchronize(); // Disable auto bed leveling during G29. // Be formal so G29 can be done successively without G28. if (!no_action) set_bed_leveling_enabled(false); #if HAS_BED_PROBE // Deploy the probe. Probe will raise if needed. if (DEPLOY_PROBE()) { set_bed_leveling_enabled(abl_should_enable); return; } #endif if (!faux) setup_for_endstop_or_probe_move(); #if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(PROBE_MANUALLY) if (!no_action) #endif if ( xGridSpacing != bilinear_grid_spacing[X_AXIS] || yGridSpacing != bilinear_grid_spacing[Y_AXIS] || left_probe_bed_position != bilinear_start[X_AXIS] || front_probe_bed_position != bilinear_start[Y_AXIS] ) { // Reset grid to 0.0 or "not probed". (Also disables ABL) reset_bed_level(); // Initialize a grid with the given dimensions bilinear_grid_spacing[X_AXIS] = xGridSpacing; bilinear_grid_spacing[Y_AXIS] = yGridSpacing; bilinear_start[X_AXIS] = left_probe_bed_position; bilinear_start[Y_AXIS] = front_probe_bed_position; // Can't re-enable (on error) until the new grid is written abl_should_enable = false; } #endif // AUTO_BED_LEVELING_BILINEAR #if ENABLED(AUTO_BED_LEVELING_3POINT) #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling"); #endif // Probe at 3 arbitrary points points[0].z = points[1].z = points[2].z = 0; #endif // AUTO_BED_LEVELING_3POINT } // !g29_in_progress #if ENABLED(PROBE_MANUALLY) // For manual probing, get the next index to probe now. // On the first probe this will be incremented to 0. if (!no_action) { ++abl_probe_index; g29_in_progress = true; } // Abort current G29 procedure, go back to idle state if (seenA && g29_in_progress) { SERIAL_PROTOCOLLNPGM("Manual G29 aborted"); #if HAS_SOFTWARE_ENDSTOPS soft_endstops_enabled = enable_soft_endstops; #endif set_bed_leveling_enabled(abl_should_enable); g29_in_progress = false; #if ENABLED(LCD_BED_LEVELING) lcd_wait_for_move = false; #endif } // Query G29 status if (verbose_level || seenQ) { SERIAL_PROTOCOLPGM("Manual G29 "); if (g29_in_progress) { SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl_points)); SERIAL_PROTOCOLLNPAIR(" of ", abl_points); } else SERIAL_PROTOCOLLNPGM("idle"); } if (no_action) return; if (abl_probe_index == 0) { // For the initial G29 save software endstop state #if HAS_SOFTWARE_ENDSTOPS enable_soft_endstops = soft_endstops_enabled; #endif } else { #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT) const uint16_t index = abl_probe_index - 1; #endif // For G29 after adjusting Z. // Save the previous Z before going to the next point measured_z = current_position[Z_AXIS]; #if ENABLED(AUTO_BED_LEVELING_LINEAR) mean += measured_z; eqnBVector[index] = measured_z; eqnAMatrix[index + 0 * abl_points] = xProbe; eqnAMatrix[index + 1 * abl_points] = yProbe; eqnAMatrix[index + 2 * abl_points] = 1; incremental_LSF(&lsf_results, xProbe, yProbe, measured_z); #elif ENABLED(AUTO_BED_LEVELING_3POINT) points[index].z = measured_z; #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) z_values[xCount][yCount] = measured_z + zoffset; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_PROTOCOLPAIR("Save X", xCount); SERIAL_PROTOCOLPAIR(" Y", yCount); SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset); } #endif #endif } // // If there's another point to sample, move there with optional lift. // #if ABL_GRID // Skip any unreachable points while (abl_probe_index < abl_points) { // Set xCount, yCount based on abl_probe_index, with zig-zag PR_OUTER_VAR = abl_probe_index / PR_INNER_END; PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END); // Probe in reverse order for every other row/column bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1); if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR; const float xBase = xCount * xGridSpacing + left_probe_bed_position, yBase = yCount * yGridSpacing + front_probe_bed_position; xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); #if ENABLED(AUTO_BED_LEVELING_LINEAR) indexIntoAB[xCount][yCount] = abl_probe_index; #endif // Keep looping till a reachable point is found if (position_is_reachable(xProbe, yProbe)) break; ++abl_probe_index; } // Is there a next point to move to? if (abl_probe_index < abl_points) { _manual_goto_xy(xProbe, yProbe); // Can be used here too! #if HAS_SOFTWARE_ENDSTOPS // Disable software endstops to allow manual adjustment // If G29 is not completed, they will not be re-enabled soft_endstops_enabled = false; #endif return; } else { // Leveling done! Fall through to G29 finishing code below SERIAL_PROTOCOLLNPGM("Grid probing done."); // Re-enable software endstops, if needed #if HAS_SOFTWARE_ENDSTOPS soft_endstops_enabled = enable_soft_endstops; #endif } #elif ENABLED(AUTO_BED_LEVELING_3POINT) // Probe at 3 arbitrary points if (abl_probe_index < abl_points) { xProbe = points[abl_probe_index].x; yProbe = points[abl_probe_index].y; _manual_goto_xy(xProbe, yProbe); #if HAS_SOFTWARE_ENDSTOPS // Disable software endstops to allow manual adjustment // If G29 is not completed, they will not be re-enabled soft_endstops_enabled = false; #endif return; } else { SERIAL_PROTOCOLLNPGM("3-point probing done."); // Re-enable software endstops, if needed #if HAS_SOFTWARE_ENDSTOPS soft_endstops_enabled = enable_soft_endstops; #endif if (!dryrun) { vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); if (planeNormal.z < 0) { planeNormal.x *= -1; planeNormal.y *= -1; planeNormal.z *= -1; } planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); // Can't re-enable (on error) until the new grid is written abl_should_enable = false; } } #endif // AUTO_BED_LEVELING_3POINT #else // !PROBE_MANUALLY { const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE; measured_z = 0; #if ABL_GRID bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION measured_z = 0; // Outer loop is Y with PROBE_Y_FIRST disabled for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) { int8_t inStart, inStop, inInc; if (zig) { // away from origin inStart = 0; inStop = PR_INNER_END; inInc = 1; } else { // towards origin inStart = PR_INNER_END - 1; inStop = -1; inInc = -1; } zig ^= true; // zag // Inner loop is Y with PROBE_Y_FIRST enabled for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) { float xBase = left_probe_bed_position + xGridSpacing * xCount, yBase = front_probe_bed_position + yGridSpacing * yCount; xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); #if ENABLED(AUTO_BED_LEVELING_LINEAR) indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0... #endif #if IS_KINEMATIC // Avoid probing outside the round or hexagonal area if (!position_is_reachable_by_probe(xProbe, yProbe)) continue; #endif measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, raise_after, verbose_level); if (isnan(measured_z)) { set_bed_leveling_enabled(abl_should_enable); break; } #if ENABLED(AUTO_BED_LEVELING_LINEAR) mean += measured_z; eqnBVector[abl_probe_index] = measured_z; eqnAMatrix[abl_probe_index + 0 * abl_points] = xProbe; eqnAMatrix[abl_probe_index + 1 * abl_points] = yProbe; eqnAMatrix[abl_probe_index + 2 * abl_points] = 1; incremental_LSF(&lsf_results, xProbe, yProbe, measured_z); #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) z_values[xCount][yCount] = measured_z + zoffset; #endif abl_should_enable = false; idle(); } // inner } // outer #elif ENABLED(AUTO_BED_LEVELING_3POINT) // Probe at 3 arbitrary points for (uint8_t i = 0; i < 3; ++i) { // Retain the last probe position xProbe = points[i].x; yProbe = points[i].y; measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, raise_after, verbose_level); if (isnan(measured_z)) { set_bed_leveling_enabled(abl_should_enable); break; } points[i].z = measured_z; } if (!dryrun && !isnan(measured_z)) { vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); if (planeNormal.z < 0) { planeNormal.x *= -1; planeNormal.y *= -1; planeNormal.z *= -1; } planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); // Can't re-enable (on error) until the new grid is written abl_should_enable = false; } #endif // AUTO_BED_LEVELING_3POINT // Stow the probe. No raise for FIX_MOUNTED_PROBE. if (STOW_PROBE()) { set_bed_leveling_enabled(abl_should_enable); measured_z = NAN; } } #endif // !PROBE_MANUALLY // // G29 Finishing Code // // Unless this is a dry run, auto bed leveling will // definitely be enabled after this point. // // If code above wants to continue leveling, it should // return or loop before this point. // #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position); #endif #if ENABLED(PROBE_MANUALLY) g29_in_progress = false; #if ENABLED(LCD_BED_LEVELING) lcd_wait_for_move = false; #endif #endif // Calculate leveling, print reports, correct the position if (!isnan(measured_z)) { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) if (!dryrun) extrapolate_unprobed_bed_level(); print_bilinear_leveling_grid(); refresh_bed_level(); #if ENABLED(ABL_BILINEAR_SUBDIVISION) print_bilinear_leveling_grid_virt(); #endif #elif ENABLED(AUTO_BED_LEVELING_LINEAR) // For LINEAR leveling calculate matrix, print reports, correct the position /** * solve the plane equation ax + by + d = z * A is the matrix with rows [x y 1] for all the probed points * B is the vector of the Z positions * the normal vector to the plane is formed by the coefficients of the * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z */ float plane_equation_coefficients[3]; finish_incremental_LSF(&lsf_results); plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested. plane_equation_coefficients[2] = -lsf_results.D; mean /= abl_points; if (verbose_level) { SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8); SERIAL_PROTOCOLPGM(" b: "); SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8); SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8); SERIAL_EOL(); if (verbose_level > 2) { SERIAL_PROTOCOLPGM("Mean of sampled points: "); SERIAL_PROTOCOL_F(mean, 8); SERIAL_EOL(); } } // Create the matrix but don't correct the position yet if (!dryrun) planner.bed_level_matrix = matrix_3x3::create_look_at( vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above ); // Show the Topography map if enabled if (do_topography_map) { SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n" " +--- BACK --+\n" " | |\n" " L | (+) | R\n" " E | | I\n" " F | (-) N (+) | G\n" " T | | H\n" " | (-) | T\n" " | |\n" " O-- FRONT --+\n" " (0,0)"); float min_diff = 999; for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { int ind = indexIntoAB[xx][yy]; float diff = eqnBVector[ind] - mean, x_tmp = eqnAMatrix[ind + 0 * abl_points], y_tmp = eqnAMatrix[ind + 1 * abl_points], z_tmp = 0; apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp); NOMORE(min_diff, eqnBVector[ind] - z_tmp); if (diff >= 0.0) SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment else SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOL_F(diff, 5); } // xx SERIAL_EOL(); } // yy SERIAL_EOL(); if (verbose_level > 3) { SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:"); for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { int ind = indexIntoAB[xx][yy]; float x_tmp = eqnAMatrix[ind + 0 * abl_points], y_tmp = eqnAMatrix[ind + 1 * abl_points], z_tmp = 0; apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp); float diff = eqnBVector[ind] - z_tmp - min_diff; if (diff >= 0.0) SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment else SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOL_F(diff, 5); } // xx SERIAL_EOL(); } // yy SERIAL_EOL(); } } //do_topography_map #endif // AUTO_BED_LEVELING_LINEAR #if ABL_PLANAR // For LINEAR and 3POINT leveling correct the current position if (verbose_level > 0) planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:")); if (!dryrun) { // // Correct the current XYZ position based on the tilted plane. // #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position); #endif float converted[XYZ]; COPY(converted, current_position); planner.leveling_active = true; planner.unapply_leveling(converted); // use conversion machinery planner.leveling_active = false; // Use the last measured distance to the bed, if possible if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER)) && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER)) ) { const float simple_z = current_position[Z_AXIS] - measured_z; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("Z from Probe:", simple_z); SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]); SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]); } #endif converted[Z_AXIS] = simple_z; } // The rotated XY and corrected Z are now current_position COPY(current_position, converted); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position); #endif } #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) if (!dryrun) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]); #endif // Unapply the offset because it is going to be immediately applied // and cause compensation movement in Z current_position[Z_AXIS] -= bilinear_z_offset(current_position); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]); #endif } #endif // ABL_PLANAR #ifdef Z_PROBE_END_SCRIPT #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT); #endif enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT)); stepper.synchronize(); #endif // Auto Bed Leveling is complete! Enable if possible. planner.leveling_active = dryrun ? abl_should_enable : true; } // !isnan(measured_z) // Restore state after probing if (!faux) clean_up_after_endstop_or_probe_move(); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G29"); #endif KEEPALIVE_STATE(IN_HANDLER); if (planner.leveling_active) SYNC_PLAN_POSITION_KINEMATIC(); #if HAS_BED_PROBE && Z_AFTER_PROBING move_z_after_probing(); #endif report_current_position(); } #endif // OLDSCHOOL_ABL