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Marlin_Firmware/Marlin/ubl_G29.cpp
Roxy-3D d467e97679 Smart-Fill and Mesh-Tilting (both 3-point and grid) working! 
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.
2017-04-25 21:03:41 -05:00

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
//#include "vector_3.h"
//#include "qr_solve.h"
#include "ubl.h"
#include "Marlin.h"
#include "hex_print_routines.h"
#include "configuration_store.h"
#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);
float lcd_mesh_edit();
void lcd_z_offset_edit_setup(float);
float lcd_z_offset_edit();
extern float meshedit_done;
extern long babysteps_done;
extern float code_value_float();
extern uint8_t code_value_byte();
extern bool code_value_bool();
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;
#define SIZE_OF_LITTLE_RAISE 0
#define BIG_RAISE_NOT_NEEDED 0
extern void lcd_quick_feedback();
/**
* G29: Unified Bed Leveling by Roxy
*
* Parameters understood by this leveling system:
*
* A Activate Activate the Unified Bed Leveling system.
*
* B # Business Use the 'Business Card' mode of the Manual Probe subsystem. This is invoked as
* G29 P2 B The mode of G29 P2 allows you to use a bussiness card or recipe card
* as a shim that the nozzle will pinch as it is lowered. The idea is that you
* can easily feel the nozzle getting to the same height by the amount of resistance
* the business card exhibits to movement. You should try to achieve the same amount
* of resistance on each probed point to facilitate accurate and repeatable measurements.
* You should be very careful not to drive the nozzle into the bussiness card with a
* lot of force as it is very possible to cause damage to your printer if your are
* careless. If you use the B option with G29 P2 B you can leave the number parameter off
* on its first use to enable measurement of the business card thickness. Subsequent usage
* of the B parameter can have the number previously measured supplied to the command.
* Incidently, you are much better off using something like a Spark Gap feeler gauge than
* something that compresses like a Business Card.
*
* C Continue Continue, Constant, Current Location. This is not a primary command. C is used to
* further refine the behaviour of several other commands. Issuing a G29 P1 C will
* continue the generation of a partially constructed Mesh without invalidating what has
* been done. Issuing a G29 P2 C will tell the Manual Probe subsystem to use the current
* location in its search for the closest unmeasured Mesh Point. When used with a G29 Z C
* it indicates to use the current location instead of defaulting to the center of the print bed.
*
* D Disable Disable the Unified Bed Leveling system.
*
* E Stow_probe Stow the probe after each sampled point.
*
* F # Fade * Fade the amount of Mesh Based Compensation over a specified height. At the
* specified height, no correction is applied and natural printer kenimatics take over. If no
* number is specified for the command, 10mm is assumed to be reasonable.
*
* H # Height Specify the Height to raise the nozzle after each manual probe of the bed. The
* default is 5mm.
*
* I # Invalidate Invalidate specified number of Mesh Points. The nozzle location is used unless
* the X and Y parameter are used. If no number is specified, only the closest Mesh
* point to the location is invalidated. The M parameter is available as well to produce
* a map after the operation. This command is useful to invalidate a portion of the
* Mesh so it can be adjusted using other tools in the Unified Bed Leveling System. When
* attempting to invalidate an isolated bad point in the mesh, the M option will indicate
* where the nozzle is positioned in the Mesh with (#). You can move the nozzle around on
* the bed and use this feature to select the center of the area (or cell) you want to
* invalidate.
*
* J # Grid * Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
*
* j EEPROM Dump This function probably goes away after debug is complete.
*
* K # Kompare Kompare current Mesh with stored Mesh # replacing current Mesh with the result. This
* command literally performs a diff between two Meshes.
*
* L Load * Load Mesh from the previously activated location in the EEPROM.
*
* L # Load * Load Mesh from the specified location in the EEPROM. Set this location as activated
* for subsequent Load and Store operations.
*
* O Map * Display the Mesh Map Topology.
* The parameter can be specified alone (ie. G29 O) or in combination with many of the
* other commands. The Mesh Map option works with all of the Phase
* commands (ie. G29 P4 R 5 X 50 Y100 C -.1 O) The Map parameter can also of a Map Type
* specified. A map type of 0 is the default is user readable. A map type of 1 can
* be specified and is suitable to Cut & Paste into Excel to allow graphing of the user's
* mesh.
*
* 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.
*
* P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the
* 3D Printer to the same state it was in before the Unified Bed Leveling Compensation
* was turned on. Setting the entire Mesh to Zero is a special case that allows
* a subsequent G or T leveling operation for backward compatibility.
*
* P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
* the Z-Probe. Depending upon the values of DELTA_PROBEABLE_RADIUS and
* DELTA_PRINTABLE_RADIUS some area of the bed will not have Mesh Data automatically
* generated. This will be handled in Phase 2. If the Phase 1 command is given the
* C (Continue) parameter it does not invalidate the Mesh prior to automatically
* probing needed locations. This allows you to invalidate portions of the Mesh but still
* use the automatic probing capabilities of the Unified Bed Leveling System. An X and Y
* parameter can be given to prioritize where the command should be trying to measure points.
* If the X and Y parameters are not specified the current probe position is used. Phase 1
* allows you to specify the M (Map) parameter so you can watch the generation of the Mesh.
* Phase 1 also watches for the LCD Panel's Encoder Switch being held in a depressed state.
* It will suspend generation of the Mesh if it sees the user request that. (This check is
* only done between probe points. You will need to press and hold the switch until the
* Phase 1 command can detect it.)
*
* P2 Phase 2 Probe areas of the Mesh that can't be automatically handled. Phase 2 respects an H
* parameter to control the height between Mesh points. The default height for movement
* between Mesh points is 5mm. A smaller number can be used to make this part of the
* calibration less time consuming. You will be running the nozzle down until it just barely
* touches the glass. You should have the nozzle clean with no plastic obstructing your view.
* Use caution and move slowly. It is possible to damage your printer if you are careless.
* Note that this command will use the configuration #define SIZE_OF_LITTLE_RAISE if the
* nozzle is moving a distance of less than BIG_RAISE_NOT_NEEDED.
*
* The H parameter can be set negative if your Mesh dips in a large area. You can press
* and hold the LCD Panel's encoder wheel to terminate the current Phase 2 command. You
* can then re-issue the G29 P 2 command with an H parameter that is more suitable for the
* area you are manually probing. Note that the command tries to start you in a corner
* of the bed where movement will be predictable. You can force the location to be used in
* the distance calculations by using the X and Y parameters. You may find it is helpful to
* print out a Mesh Map (G29 O) to understand where the mesh is invalidated and where
* the nozzle will need to move in order to complete the command. The C parameter is
* available on the Phase 2 command also and indicates the search for points to measure should
* be done based on the current location of the nozzle.
*
* A B parameter is also available for this command and described up above. It places the
* manual probe subsystem into Business Card mode where the thickness of a business care is
* measured and then used to accurately set the nozzle height in all manual probing for the
* duration of the command. (S for Shim mode would be a better parameter name, but S is needed
* for Save or Store of the Mesh to EEPROM) A Business card can be used, but you will have
* better results if you use a flexible Shim that does not compress very much. That makes it
* easier for you to get the nozzle to press with similar amounts of force against the shim so you
* can get accurate measurements. As you are starting to touch the nozzle against the shim try
* to get it to grasp the shim with the same force as when you measured the thickness of the
* shim at the start of the command.
*
* 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. 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.
* (More work and details on doing this later!)
* The System will search for the closest Mesh Point to the nozzle. It will move the
* nozzle to this location. The user can use the LCD Panel to carefully adjust the nozzle
* so it is just barely touching the bed. When the user clicks the control, the System
* will lock in that height for that point in the Mesh Compensation System.
*
* Phase 4 has several additional parameters that the user may find helpful. Phase 4
* can be started at a specific location by specifying an X and Y parameter. Phase 4
* can be requested to continue the adjustment of Mesh Points by using the R(epeat)
* parameter. If the Repetition count is not specified, it is assumed the user wishes
* to adjust the entire matrix. The nozzle is moved to the Mesh Point being edited.
* The command can be terminated early (or after the area of interest has been edited) by
* pressing and holding the encoder wheel until the system recognizes the exit request.
* Phase 4's general form is G29 P4 [R # of points] [X position] [Y position]
*
* Phase 4 is intended to be used with the G26 Mesh Validation Command. Using the
* information left on the printer's bed from the G26 command it is very straight forward
* and easy to fine tune the Mesh. One concept that is important to remember and that
* will make using the Phase 4 command easy to use is this: You are editing the Mesh Points.
* If you have too little clearance and not much plastic was extruded in an area, you want to
* LOWER the Mesh Point at the location. If you did not get good adheasion, you want to
* RAISE the Mesh Point at that location.
*
*
* P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and
* work with the Mesh if it is Mean Adjusted. You can specify a C parameter to
* Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically
* execute a G29 P6 C <mean height>.
*
* P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified
* with the C parameter. Being able to adjust the height of a Mesh is useful tool. It
* can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally,
* you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring
* 0.000 at the Z Home location.
*
* Q Test * Load specified Test Pattern to assist in checking correct operation of system. This
* 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.
*
* S # Store Store the current Mesh at the specified location in EEPROM. Activate this location
* for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
* extend to a limit related to the available EEPROM storage.
*
* S -1 Store Store the current Mesh as a print out that is suitable to be feed back into the system
* at a later date. The GCode output can be saved and later replayed by the host software
* to reconstruct the current mesh on another machine.
*
* T 3-Point Perform a 3 Point Bed Leveling on the current Mesh
*
* U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
* Only used for G29 P1 O U It will speed up the probing of the edge of the bed. This
* is useful when the entire bed does not need to be probed because it will be adjusted.
*
* W What? Display valuable data the Unified Bed Leveling System knows.
*
* X # * * X Location for this line of commands
*
* Y # * * Y Location for this line of commands
*
* Z Zero * Probes to set the Z Height of the nozzle. The entire Mesh can be raised or lowered
* by just doing a G29 Z
*
* Z # Zero * The entire Mesh can be raised or lowered to conform with the specified difference.
* zprobe_zoffset is added to the calculation.
*
*
* Release Notes:
* You MUST do M502, M500 to initialize the storage. Failure to do this will cause all
* kinds of problems. Enabling EEPROM Storage is highly recommended. With EEPROM Storage
* of the mesh, you are limited to 3-Point and Grid Leveling. (G29 P0 T and G29 P0 G
* respectively.)
*
* When you do a G28 and then a G29 P1 to automatically build your first mesh, you are going to notice
* the Unified Bed Leveling probes points further and further away from the starting location. (The
* starting location defaults to the center of the bed.) The original Grid and Mesh leveling used
* a Zig Zag pattern. The new pattern is better, especially for people with Delta printers. This
* allows you to get the center area of the Mesh populated (and edited) quicker. This allows you to
* perform a small print and check out your settings quicker. You do not need to populate the
* entire mesh to use it. (You don't want to spend a lot of time generating a mesh only to realize
* you don't have the resolution or zprobe_zoffset set correctly. The Mesh generation
* gathers points closest to where the nozzle is located unless you specify an (X,Y) coordinate pair.
*
* The Unified Bed Leveling uses a lot of EEPROM storage to hold its data. And it takes some effort
* to get this Mesh data correct for a user's printer. We do not want this data destroyed as
* new versions of Marlin add or subtract to the items stored in EEPROM. So, for the benefit of
* the users, we store the Mesh data at the end of the EEPROM and do not keep it contiguous with the
* other data stored in the EEPROM. (For sure the developers are going to complain about this, but
* this is going to be helpful to the users!)
*
* The foundation of this Bed Leveling System is built on Epatel's Mesh Bed Leveling code. A big
* 'Thanks!' to him and the creators of 3-Point and Grid Based leveling. Combining their contributions
* 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;
extern void lcd_setstatus(const char* message, const bool persist);
extern void lcd_setstatuspgm(const char* message, const uint8_t level);
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");
return;
}
if (!code_seen('N') && axis_unhomed_error(true, true, true)) // Don't allow auto-leveling without homing first
gcode_G28();
if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
// Invalidate Mesh Points. This command is a little bit asymetrical because
// it directly specifies the repetition count and does not use the 'R' parameter.
if (code_seen('I')) {
uint8_t cnt = 0;
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, 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
}
ubl.z_values[location.x_index][location.y_index] = NAN;
}
SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
}
if (code_seen('Q')) {
const int test_pattern = code_has_value() ? code_value_int() : -1;
if (!WITHIN(test_pattern, 0, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n");
return;
}
SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
switch (test_pattern) {
case 0:
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a bowl shape - similar to
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta.
const float p1 = 0.5 * (GRID_MAX_POINTS_X) - x,
p2 = 0.5 * (GRID_MAX_POINTS_Y) - y;
ubl.z_values[x][y] += 2.0 * HYPOT(p1, p2);
}
}
break;
case 1:
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a diagonal line several Mesh cells thick that is raised
ubl.z_values[x][x] += 9.999;
ubl.z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
}
break;
case 2:
// Allow the user to specify the height because 10mm is a little extreme in some cases.
for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in
for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) // the center of the bed
ubl.z_values[x][y] += code_seen('C') ? ubl_constant : 9.99;
break;
}
}
if (code_seen('J')) {
if (!WITHIN(grid_size, 2, 9)) {
SERIAL_PROTOCOLLNPGM("ERROR - grid size must be between 2 and 9");
return;
}
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')) {
phase_value = code_value_int();
if (!WITHIN(phase_value, 0, 7)) {
SERIAL_PROTOCOLLNPGM("Invalid Phase value. (0-4)\n");
return;
}
switch (phase_value) {
case 0:
//
// Zero Mesh Data
//
ubl.reset();
SERIAL_PROTOCOLLNPGM("Mesh zeroed.\n");
break;
case 1:
//
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
//
if (!code_seen('C')) {
ubl.invalidate();
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.\n");
}
if (g29_verbose_level > 1) {
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", x_pos);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL(y_pos);
SERIAL_PROTOCOLLNPGM(")\n");
}
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;
case 2: {
//
// Manually Probe Mesh in areas that can't be reached by the probe
//
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (!x_flag && !y_flag) { // use a good default location for the path
// The flipped > and < operators on these two comparisons is
// intentional. It should cause the probed points to follow a
// nice path on Cartesian printers. It may make sense to
// have Delta printers default to the center of the bed.
// For now, until that is decided, it can be forced with the X
// and Y parameters.
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS;
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS;
}
if (code_seen('C')) {
x_pos = current_position[X_AXIS];
y_pos = current_position[Y_AXIS];
}
const float height = code_seen('H') && code_has_value() ? code_value_float() : Z_CLEARANCE_BETWEEN_PROBES;
if (code_seen('B')) {
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");
return;
}
}
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M'));
} break;
case 3: {
//
// 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!
//
if (c_flag) {
while (repetition_cnt--) {
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] = 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;
}
case 4:
//
// Fine Tune (i.e., Edit) the Mesh
//
fine_tune_mesh(x_pos, y_pos, code_seen('O') || code_seen('M'));
break;
case 5:
ubl.find_mean_mesh_height();
break;
case 6:
ubl.shift_mesh_height();
break;
case 10:
// [DEBUG] Pay no attention to this stuff. It can be removed soon.
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
while (!ubl_lcd_clicked()) {
safe_delay(250);
if (ubl.encoder_diff) {
SERIAL_ECHOLN((int)ubl.encoder_diff);
ubl.encoder_diff = 0;
}
}
SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
break;
case 11:
// [DEBUG] wait_for_user code. Pay no attention to this stuff. It can be removed soon.
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
while (wait_for_user) {
safe_delay(250);
if (ubl.encoder_diff) {
SERIAL_ECHOLN((int)ubl.encoder_diff);
ubl.encoder_diff = 0;
}
}
SERIAL_ECHOLNPGM("G29 giving back control of LCD Panel.");
KEEPALIVE_STATE(IN_HANDLER);
break;
}
}
if (code_seen('T')) {
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)
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);
ubl.tilt_mesh_based_on_3pts(z1, z2, z3);
ubl.restore_ubl_active_state_and_leave();
}
//
// Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
// good to have the extra information. Soon... we prune this to just a few items
//
if (code_seen('W')) g29_what_command();
//
// When we are fully debugged, the EEPROM dump command will get deleted also. But
// right now, it is good to have the extra information. Soon... we prune this.
//
if (code_seen('j')) g29_eeprom_dump(); // EEPROM Dump
//
// When we are fully debugged, this may go away. But there are some valid
// use cases for the users. So we can wait and see what to do with it.
//
if (code_seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
g29_compare_current_mesh_to_stored_mesh();
//
// Load a Mesh from the EEPROM
//
if (code_seen('L')) { // Load Current Mesh Data
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");
return;
}
ubl.load_mesh(storage_slot);
ubl.state.eeprom_storage_slot = storage_slot;
SERIAL_PROTOCOLLNPGM("Done.\n");
}
//
// Store a Mesh in the EEPROM
//
if (code_seen('S')) { // Store (or Save) Current Mesh Data
storage_slot = code_has_value() ? code_value_int() : ubl.state.eeprom_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
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])) {
SERIAL_ECHOPAIR("M421 I ", x);
SERIAL_ECHOPAIR(" J ", y);
SERIAL_ECHOPGM(" Z ");
SERIAL_ECHO_F(ubl.z_values[x][y], 6);
SERIAL_EOL;
}
return;
}
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");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", j - 1);
goto LEAVE;
}
ubl.store_mesh(storage_slot);
ubl.state.eeprom_storage_slot = storage_slot;
SERIAL_PROTOCOLLNPGM("Done.\n");
}
if (code_seen('O') || code_seen('M'))
ubl.display_map(code_has_value() ? code_value_int() : 0);
if (code_seen('Z')) {
if (code_has_value())
ubl.state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
else {
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
measured_z = 1.5;
do_blocking_move_to_z(measured_z); // Get close to the bed, but leave some space so we don't damage anything
// The user is not going to be locking in a new Z-Offset very often so
// it won't be that painful to spin the Encoder Wheel for 1.5mm
lcd_implementation_clear();
lcd_z_offset_edit_setup(measured_z);
KEEPALIVE_STATE(PAUSED_FOR_USER);
do {
measured_z = lcd_z_offset_edit();
idle();
do_blocking_move_to_z(measured_z);
} while (!ubl_lcd_clicked());
ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
// or here. So, until we are done looking for a long Encoder Wheel Press,
// we need to take control of the panel
KEEPALIVE_STATE(IN_HANDLER);
lcd_return_to_status();
const millis_t nxt = millis() + 1500UL;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
if (ELAPSED(millis(), nxt)) {
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
LCD_MESSAGEPGM("Z-Offset Stopped");
ubl.restore_ubl_active_state_and_leave();
goto LEAVE;
}
}
ubl.has_control_of_lcd_panel = false;
safe_delay(20); // We don't want any switch noise.
ubl.state.z_offset = measured_z;
lcd_implementation_clear();
ubl.restore_ubl_active_state_and_leave();
}
}
LEAVE:
lcd_reset_alert_level();
LCD_MESSAGEPGM("");
lcd_quick_feedback();
ubl.has_control_of_lcd_panel = false;
}
void unified_bed_leveling::find_mean_mesh_height() {
uint8_t x, y;
int n;
float sum, sum_of_diff_squared, sigma, difference, mean;
sum = sum_of_diff_squared = 0.0;
n = 0;
for (x = 0; x < GRID_MAX_POINTS_X; x++)
for (y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) {
sum += ubl.z_values[x][y];
n++;
}
mean = sum / n;
//
// Now do the sumation of the squares of difference from mean
//
for (x = 0; x < GRID_MAX_POINTS_X; x++)
for (y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y])) {
difference = (ubl.z_values[x][y] - mean);
sum_of_diff_squared += difference * difference;
}
SERIAL_ECHOLNPAIR("# of samples: ", n);
SERIAL_ECHOPGM("Mean Mesh Height: ");
SERIAL_ECHO_F(mean, 6);
SERIAL_EOL;
sigma = sqrt(sum_of_diff_squared / (n + 1));
SERIAL_ECHOPGM("Standard Deviation: ");
SERIAL_ECHO_F(sigma, 6);
SERIAL_EOL;
if (c_flag)
for (x = 0; x < GRID_MAX_POINTS_X; x++)
for (y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(ubl.z_values[x][y]))
ubl.z_values[x][y] -= mean + ubl_constant;
}
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]))
ubl.z_values[x][y] += ubl_constant;
}
/**
* 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 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;
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 {
if (ubl_lcd_clicked()) {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
lcd_quick_feedback();
STOW_PROBE();
while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false;
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, 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])),
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index]));
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false;
goto LEAVE;
}
const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level);
ubl.z_values[location.x_index][location.y_index] = measured_z;
}
if (do_ubl_mesh_map) ubl.display_map(map_type);
} while (location.x_index >= 0 && location.y_index >= 0);
LEAVE:
STOW_PROBE();
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),
constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), Y_MIN_POS, Y_MAX_POS)
);
}
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;
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_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);
normal = normal.get_normal();
/**
* 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
*/
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_PROBE_PT_1_X + normal.y * UBL_PROBE_PT_1_Y;
d = t + normal.z * z1;
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_EOL;
t = normal.x * UBL_PROBE_PT_2_X + normal.y * UBL_PROBE_PT_2_Y;
d = t + normal.z * z2;
SERIAL_ECHOPGM("d from 2nd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_EOL;
t = normal.x * UBL_PROBE_PT_3_X + normal.y * UBL_PROBE_PT_3_Y;
d = t + normal.z * z3;
SERIAL_ECHOPGM("d from 3rd point: ");
SERIAL_ECHO_F(d, 6);
SERIAL_EOL;
}
#endif
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);
}
#endif
ubl.z_values[i][j] += z_tmp - d;
}
}
return;
}
float use_encoder_wheel_to_measure_point() {
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle();
if (ubl.encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + 0.01 * float(ubl.encoder_diff));
ubl.encoder_diff = 0;
}
}
KEEPALIVE_STATE(IN_HANDLER);
return current_position[Z_AXIS];
}
float measure_business_card_thickness(const float &in_height) {
ubl.has_control_of_lcd_panel = true;
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);
do_blocking_move_to_xy((float(X_MAX_POS) - float(X_MIN_POS)) / 2.0, (float(Y_MAX_POS) - float(Y_MIN_POS)) / 2.0);
//, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])/2.0);
const float z1 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
ubl.has_control_of_lcd_panel = false;
SERIAL_PROTOCOLLNPGM("Remove Shim and Measure Bed Height.");
const float z2 = use_encoder_wheel_to_measure_point();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
if (g29_verbose_level > 1) {
SERIAL_PROTOCOLPGM("Business Card is: ");
SERIAL_PROTOCOL_F(abs(z1 - z2), 6);
SERIAL_PROTOCOLLNPGM("mm thick.");
}
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;
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, 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;
const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index]));
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false;
goto LEAVE;
}
const float xProbe = LOGICAL_X_POSITION(rawx),
yProbe = LOGICAL_Y_POSITION(rawy),
dx = xProbe - last_x,
dy = yProbe - last_y;
if (HYPOT(dx, dy) < BIG_RAISE_NOT_NEEDED)
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
else
do_blocking_move_to_z(z_clearance);
do_blocking_move_to_xy(xProbe, yProbe);
last_x = xProbe;
last_y = yProbe;
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
if (do_ubl_mesh_map) ubl.display_map(map_type); // show user where we're probing
while (!ubl_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
idle();
if (ubl.encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + float(ubl.encoder_diff) / 100.0);
ubl.encoder_diff = 0;
}
}
const millis_t nxt = millis() + 1500L;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
if (ELAPSED(millis(), nxt)) {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
lcd_quick_feedback();
while (ubl_lcd_clicked()) idle();
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
ubl.restore_ubl_active_state_and_leave();
return;
}
}
ubl.z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - card_thickness;
if (g29_verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mesh Point Measured at: ");
SERIAL_PROTOCOL_F(ubl.z_values[location.x_index][location.y_index], 6);
SERIAL_EOL;
}
} while (location.x_index >= 0 && location.y_index >= 0);
if (do_ubl_mesh_map) ubl.display_map(map_type);
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);
}
bool g29_parameter_parsing() {
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();
x_pos = x_flag ? code_value_float() : current_position[X_AXIS];
y_flag = code_seen('Y') && code_has_value();
y_pos = y_flag ? code_value_float() : current_position[Y_AXIS];
repeat_flag = code_seen('R');
if (repeat_flag) {
repetition_cnt = code_has_value() ? code_value_int() : (GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y);
if (repetition_cnt < 1) {
SERIAL_PROTOCOLLNPGM("Invalid Repetition count.\n");
return UBL_ERR;
}
}
g29_verbose_level = code_seen('V') ? code_value_int() : 0;
if (!WITHIN(g29_verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("Invalid Verbose Level specified. (0-4)\n");
err_flag = true;
}
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");
err_flag = true;
}
}
if (x_flag != y_flag) {
SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n");
err_flag = true;
}
if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid X location specified.\n");
err_flag = true;
}
if (!WITHIN(RAW_Y_POSITION(y_pos), Y_MIN_POS, Y_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("Invalid Y location specified.\n");
err_flag = true;
}
if (err_flag) return UBL_ERR;
if (code_seen('A')) { // Activate the Unified Bed Leveling System
ubl.state.active = 1;
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System activated.\n");
}
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;
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling System de-activated.\n");
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('F') && code_has_value()) {
const float fh = code_value_float();
if (!WITHIN(fh, 0.0, 100.0)) {
SERIAL_PROTOCOLLNPGM("?Bed Level Correction Fade Height Not Plausible.\n");
return UBL_ERR;
}
set_z_fade_height(fh);
}
#endif
map_type = code_seen('O') && code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
}
if (code_seen('M')) { // Check if a map type was specified
map_type = code_has_value() ? code_value_int() : 0;
if (!WITHIN(map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
}
}
return UBL_OK;
}
/**
* This function goes away after G29 debug is complete. But for right now, it is a handy
* routine to dump binary data structures.
*/
/*
void dump(char * const str, const float &f) {
char *ptr;
SERIAL_PROTOCOL(str);
SERIAL_PROTOCOL_F(f, 8);
SERIAL_PROTOCOLPGM(" ");
ptr = (char*)&f;
for (uint8_t i = 0; i < 4; i++)
SERIAL_PROTOCOLPAIR(" ", hex_byte(*ptr++));
SERIAL_PROTOCOLPAIR(" isnan()=", isnan(f));
SERIAL_PROTOCOLPAIR(" isinf()=", isinf(f));
if (f == -INFINITY)
SERIAL_PROTOCOLPGM(" Minus Infinity detected.");
SERIAL_EOL;
}
*/
static int ubl_state_at_invocation = 0,
ubl_state_recursion_chk = 0;
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.");
LCD_MESSAGEPGM("save_UBL_active() error");
lcd_quick_feedback();
return;
}
ubl_state_at_invocation = ubl.state.active;
ubl.state.active = 0;
}
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_quick_feedback();
return;
}
ubl.state.active = ubl_state_at_invocation;
}
/**
* Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
* good to have the extra information. Soon... we prune this to just a few items
*/
void g29_what_command() {
const uint16_t k = E2END - ubl.eeprom_start;
SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version " UBL_VERSION " ");
if (ubl.state.active)
SERIAL_PROTOCOLCHAR('A');
else
SERIAL_PROTOCOLPGM("Ina");
SERIAL_PROTOCOLLNPGM("ctive.\n");
safe_delay(50);
if (ubl.state.eeprom_storage_slot == -1)
SERIAL_PROTOCOLPGM("No Mesh Loaded.");
else {
SERIAL_PROTOCOLPAIR("Mesh ", ubl.state.eeprom_storage_slot);
SERIAL_PROTOCOLPGM(" Loaded.");
}
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, 7);
SERIAL_EOL;
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++) {
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[i]))), 1);
SERIAL_PROTOCOLPGM(" ");
safe_delay(50);
}
SERIAL_EOL;
SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(pgm_read_float(&(ubl.mesh_index_to_ypos[i]))), 1);
SERIAL_PROTOCOLPGM(" ");
safe_delay(50);
}
SERIAL_EOL;
#if HAS_KILL
SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
#endif
SERIAL_EOL;
safe_delay(50);
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_PROTOCOLLNPAIR("Free EEPROM space starts at: ", hex_address((void*)ubl.eeprom_start));
SERIAL_PROTOCOLLNPAIR("end of EEPROM : ", hex_address((void*)E2END));
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
SERIAL_EOL;
SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(ubl.z_values));
SERIAL_EOL;
safe_delay(50);
SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)k));
safe_delay(50);
SERIAL_PROTOCOLPAIR("EEPROM can hold ", k / sizeof(ubl.z_values));
SERIAL_PROTOCOLLNPGM(" meshes.\n");
safe_delay(50);
SERIAL_PROTOCOLPAIR("sizeof(ubl.state) : ", (int)sizeof(ubl.state));
SERIAL_PROTOCOLPAIR("\nGRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
SERIAL_PROTOCOLPAIR("\nGRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
safe_delay(50);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MIN_X ", UBL_MESH_MIN_X);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MIN_Y ", UBL_MESH_MIN_Y);
safe_delay(50);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MAX_X ", UBL_MESH_MAX_X);
SERIAL_PROTOCOLPAIR("\nUBL_MESH_MAX_Y ", UBL_MESH_MAX_Y);
safe_delay(50);
SERIAL_PROTOCOLPGM("\nMESH_X_DIST ");
SERIAL_PROTOCOL_F(MESH_X_DIST, 6);
SERIAL_PROTOCOLPGM("\nMESH_Y_DIST ");
SERIAL_PROTOCOL_F(MESH_Y_DIST, 6);
SERIAL_EOL;
safe_delay(50);
if (!ubl.sanity_check())
SERIAL_PROTOCOLLNPGM("Unified Bed Leveling sanity checks passed.");
}
/**
* When we are fully debugged, the EEPROM dump command will get deleted also. But
* right now, it is good to have the extra information. Soon... we prune this.
*/
void g29_eeprom_dump() {
unsigned char cccc;
uint16_t kkkk;
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("EEPROM Dump:");
for (uint16_t i = 0; i < E2END + 1; i += 16) {
if (!(i & 0x3)) idle();
print_hex_word(i);
SERIAL_ECHOPGM(": ");
for (uint16_t j = 0; j < 16; j++) {
kkkk = i + j;
eeprom_read_block(&cccc, (void *)kkkk, 1);
print_hex_byte(cccc);
SERIAL_ECHO(' ');
}
SERIAL_EOL;
}
SERIAL_EOL;
}
/**
* When we are fully debugged, this may go away. But there are some valid
* 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];
if (!code_has_value()) {
SERIAL_PROTOCOLLNPGM("?Mesh # required.\n");
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");
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));
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.
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
ubl.z_values[x][y] -= tmp_z_values[x][y];
}
mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, unsigned int bits[16], bool far_flag) {
float distance, closest = far_flag ? -99999.99 : 99999.99;
mesh_index_pair return_val;
return_val.x_index = return_val.y_index = -1;
const float current_x = current_position[X_AXIS],
current_y = current_position[Y_AXIS];
// Get our reference position. Either the nozzle or probe location.
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++) {
if ( (type == INVALID && isnan(ubl.z_values[i][j])) // Check to see if this location holds the right thing
|| (type == REAL && !isnan(ubl.z_values[i][j]))
|| (type == SET_IN_BITMAP && is_bit_set(bits, i, j))
) {
// We only get here if we found a Mesh Point of the specified type
const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[i])), // Check if we can probe this mesh location
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[j]));
// 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==USE_PROBE_AS_REFERENCE &&
(!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y))
) continue;
// Unreachable. Check if it's the closest location to the nozzle.
// Add in a weighting factor that considers the current location of the nozzle.
const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location
my = LOGICAL_Y_POSITION(rawy);
distance = HYPOT(px - mx, py - my) + HYPOT(current_x - mx, current_y - my) * 0.1;
if (far_flag) { // If doing the far_flag action, we want to be as far as possible
for (uint8_t k = 0; k < GRID_MAX_POINTS_X; k++) { // from the starting point and from any other probed points. We
for (uint8_t l = 0; l < GRID_MAX_POINTS_Y; l++) { // want the next point spread out and filling in any blank spaces
if (!isnan(ubl.z_values[k][l])) { // in the mesh. So we add in some of the distance to every probed
distance += sq(i - k) * (MESH_X_DIST) * .05 // point we can find.
+ sq(j - l) * (MESH_Y_DIST) * .05;
}
}
}
}
if (far_flag == (distance > closest) && distance != closest) { // if far_flag, look for farthest point
closest = distance; // We found a closer/farther location with
return_val.x_index = i; // the specified type of mesh value.
return_val.y_index = j;
return_val.distance = closest;
}
}
} // for j
} // for i
return return_val;
}
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
if (!code_seen('R')) // fine_tune_mesh() is special. If no repetion count flag is specified
repetition_cnt = 1; // we know to do exactly one mesh location. Otherwise we use what the parser decided.
mesh_index_pair location;
uint16_t not_done[16];
int32_t round_off;
ubl.save_ubl_active_state_and_disable();
memset(not_done, 0xFF, sizeof(not_done));
LCD_MESSAGEPGM("Fine Tuning Mesh");
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, 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.
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
// different location the next time through the loop
const float rawx = pgm_read_float(&(ubl.mesh_index_to_xpos[location.x_index])),
rawy = pgm_read_float(&(ubl.mesh_index_to_ypos[location.y_index]));
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, X_MIN_POS, X_MAX_POS) || !WITHIN(rawy, Y_MIN_POS, Y_MAX_POS)) { // In theory, we don't need this check.
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to edit off the bed."); // This really can't happen, but do the check for now
ubl.has_control_of_lcd_panel = false;
goto FINE_TUNE_EXIT;
}
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE); // Move the nozzle to where we are going to edit
do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
float new_z = ubl.z_values[location.x_index][location.y_index];
round_off = (int32_t)(new_z * 1000.0); // we chop off the last digits just to be clean. We are rounding to the
new_z = float(round_off) / 1000.0;
KEEPALIVE_STATE(PAUSED_FOR_USER);
ubl.has_control_of_lcd_panel = true;
if (do_ubl_mesh_map) ubl.display_map(map_type); // show the user which point is being adjusted
lcd_implementation_clear();
lcd_mesh_edit_setup(new_z);
do {
new_z = lcd_mesh_edit();
idle();
} while (!ubl_lcd_clicked());
lcd_return_to_status();
ubl.has_control_of_lcd_panel = true; // There is a race condition for the Encoder Wheel getting clicked.
// It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
// or here.
const millis_t nxt = millis() + 1500UL;
while (ubl_lcd_clicked()) { // debounce and watch for abort
idle();
if (ELAPSED(millis(), nxt)) {
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");
while (ubl_lcd_clicked()) idle();
goto FINE_TUNE_EXIT;
}
}
safe_delay(20); // We don't want any switch noise.
ubl.z_values[location.x_index][location.y_index] = new_z;
lcd_implementation_clear();
} while (location.x_index >= 0 && location.y_index >= 0 && (--repetition_cnt>0));
FINE_TUNE_EXIT:
ubl.has_control_of_lcd_panel = false;
KEEPALIVE_STATE(IN_HANDLER);
if (do_ubl_mesh_map) ubl.display_map(map_type);
ubl.restore_ubl_active_state_and_leave();
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
LCD_MESSAGEPGM("Done Editing Mesh");
SERIAL_ECHOLNPGM("Done Editing Mesh");
}
//
// 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;
}
}
}
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;
}
}
}
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;
}
}
}
}
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);
}
#endif
ubl.z_values[i][j] += z_tmp - lsf_results.D;
}
}
#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);
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;
}
#endif // AUTO_BED_LEVELING_UBL
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