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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * G29.cpp - Auto Bed Leveling
- */
-
- #include "../../../inc/MarlinConfig.h"
-
- #if HAS_ABL_NOT_UBL
-
- #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 HAS_PTC
- #include "../../../feature/probe_temp_comp.h"
- #include "../../../module/temperature.h"
- #endif
-
- #if HAS_STATUS_MESSAGE
- #include "../../../lcd/marlinui.h"
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
- #include "../../../libs/least_squares_fit.h"
- #endif
-
- #if ABL_PLANAR
- #include "../../../libs/vector_3.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../../core/debug_out.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../../lcd/extui/ui_api.h"
- #elif ENABLED(DWIN_CREALITY_LCD)
- #include "../../../lcd/e3v2/creality/dwin.h"
- #elif ENABLED(DWIN_CREALITY_LCD_ENHANCED)
- #include "../../../lcd/e3v2/enhanced/dwin.h"
- #endif
-
- #if HAS_MULTI_HOTEND
- #include "../../../module/tool_change.h"
- #endif
-
- #if ABL_USES_GRID
- #if ENABLED(PROBE_Y_FIRST)
- #define PR_OUTER_VAR abl.meshCount.x
- #define PR_OUTER_SIZE abl.grid_points.x
- #define PR_INNER_VAR abl.meshCount.y
- #define PR_INNER_SIZE abl.grid_points.y
- #else
- #define PR_OUTER_VAR abl.meshCount.y
- #define PR_OUTER_SIZE abl.grid_points.y
- #define PR_INNER_VAR abl.meshCount.x
- #define PR_INNER_SIZE abl.grid_points.x
- #endif
- #endif
-
- #define G29_RETURN(b) return TERN_(G29_RETRY_AND_RECOVER, b)
-
- // For manual probing values persist over multiple G29
- class G29_State {
- public:
- int verbose_level;
- xy_pos_t probePos;
- float measured_z;
- bool dryrun,
- reenable;
-
- #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR)
- int abl_probe_index;
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
- int abl_points;
- #elif ENABLED(AUTO_BED_LEVELING_3POINT)
- static constexpr int abl_points = 3;
- #elif ABL_USES_GRID
- static constexpr int abl_points = GRID_MAX_POINTS;
- #endif
-
- #if ABL_USES_GRID
-
- xy_int8_t meshCount;
-
- xy_pos_t probe_position_lf,
- probe_position_rb;
-
- xy_float_t gridSpacing; // = { 0.0f, 0.0f }
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
- bool topography_map;
- xy_uint8_t grid_points;
- #else // Bilinear
- static constexpr xy_uint8_t grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y };
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
- float Z_offset;
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
- int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
- 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
- #endif
- };
-
- #if ABL_USES_GRID && EITHER(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_BILINEAR)
- constexpr xy_uint8_t G29_State::grid_points;
- constexpr int G29_State::abl_points;
- #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
- *
- * O Auto-level only if needed
- *
- * 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)
- *
- * H Set bounds to a centered square H x H units in size
- *
- * -or-
- *
- * 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.
- */
- G29_TYPE GcodeSuite::G29() {
- DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING));
-
- TERN_(PROBE_MANUALLY, static) G29_State abl;
-
- TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE));
-
- reset_stepper_timeout();
-
- const bool seenQ = EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen_test('Q');
-
- // G29 Q is also available if debugging
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (seenQ || DEBUGGING(LEVELING)) log_machine_info();
- if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false);
- #endif
-
- const bool seenA = TERN0(PROBE_MANUALLY, parser.seen_test('A')),
- no_action = seenA || seenQ,
- faux = ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) ? parser.boolval('C') : no_action;
-
- if (!no_action && planner.leveling_active && parser.boolval('O')) { // Auto-level only if needed
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip");
- G29_RETURN(false);
- }
-
- // Send 'N' to force homing before G29 (internal only)
- if (parser.seen_test('N'))
- process_subcommands_now(TERN(CAN_SET_LEVELING_AFTER_G28, F("G28L0"), FPSTR(G28_STR)));
-
- // Don't allow auto-leveling without homing first
- if (homing_needed_error()) G29_RETURN(false);
-
- #if ENABLED(AUTO_BED_LEVELING_3POINT)
- vector_3 points[3];
- probe.get_three_points(points);
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
- struct linear_fit_data lsf_results;
- #endif
-
- /**
- * On the initial G29 fetch command parameters.
- */
- if (!g29_in_progress) {
-
- TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0));
-
- #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR)
- abl.abl_probe_index = -1;
- #endif
-
- abl.reenable = planner.leveling_active;
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- const bool seen_w = parser.seen_test('W');
- if (seen_w) {
- if (!leveling_is_valid()) {
- SERIAL_ERROR_MSG("No bilinear grid");
- G29_RETURN(false);
- }
-
- const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position.z;
- if (!WITHIN(rz, -10, 10)) {
- SERIAL_ERROR_MSG("Bad Z value");
- G29_RETURN(false);
- }
-
- 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);
-
- #pragma GCC diagnostic push
- #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
-
- if (!isnan(rx) && !isnan(ry)) {
- // Get nearest i / j from rx / ry
- i = (rx - bilinear_start.x + 0.5 * abl.gridSpacing.x) / abl.gridSpacing.x;
- j = (ry - bilinear_start.y + 0.5 * abl.gridSpacing.y) / abl.gridSpacing.y;
- LIMIT(i, 0, (GRID_MAX_POINTS_X) - 1);
- LIMIT(j, 0, (GRID_MAX_POINTS_Y) - 1);
- }
-
- #pragma GCC diagnostic pop
-
- if (WITHIN(i, 0, (GRID_MAX_POINTS_X) - 1) && WITHIN(j, 0, (GRID_MAX_POINTS_Y) - 1)) {
- set_bed_leveling_enabled(false);
- z_values[i][j] = rz;
- TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate());
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, rz));
- set_bed_leveling_enabled(abl.reenable);
- if (abl.reenable) report_current_position();
- }
- G29_RETURN(false);
- } // parser.seen_test('W')
-
- #else
-
- constexpr bool seen_w = false;
-
- #endif
-
- // Jettison bed leveling data
- if (!seen_w && parser.seen_test('J')) {
- reset_bed_level();
- G29_RETURN(false);
- }
-
- abl.verbose_level = parser.intval('V');
- if (!WITHIN(abl.verbose_level, 0, 4)) {
- SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).");
- G29_RETURN(false);
- }
-
- abl.dryrun = parser.boolval('D') || TERN0(PROBE_MANUALLY, no_action);
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-
- incremental_LSF_reset(&lsf_results);
-
- abl.topography_map = abl.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.set(
- parser.byteval('X', GRID_MAX_POINTS_X),
- parser.byteval('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_ECHOLNPGM("?Probe points (X) implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ").");
- G29_RETURN(false);
- }
- if (!WITHIN(abl.grid_points.y, 2, GRID_MAX_POINTS_Y)) {
- SERIAL_ECHOLNPGM("?Probe points (Y) implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
- G29_RETURN(false);
- }
-
- abl.abl_points = abl.grid_points.x * abl.grid_points.y;
- abl.mean = 0;
-
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- abl.Z_offset = parser.linearval('Z');
-
- #endif
-
- #if ABL_USES_GRID
-
- xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_FEEDRATE));
-
- const float x_min = probe.min_x(), x_max = probe.max_x(),
- y_min = probe.min_y(), y_max = probe.max_y();
-
- if (parser.seen('H')) {
- const int16_t size = (int16_t)parser.value_linear_units();
- abl.probe_position_lf.set(_MAX((X_CENTER) - size / 2, x_min), _MAX((Y_CENTER) - size / 2, y_min));
- abl.probe_position_rb.set(_MIN(abl.probe_position_lf.x + size, x_max), _MIN(abl.probe_position_lf.y + size, y_max));
- }
- else {
- abl.probe_position_lf.set(parser.linearval('L', x_min), parser.linearval('F', y_min));
- abl.probe_position_rb.set(parser.linearval('R', x_max), parser.linearval('B', y_max));
- }
-
- if (!probe.good_bounds(abl.probe_position_lf, abl.probe_position_rb)) {
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM("G29 L", abl.probe_position_lf.x, " R", abl.probe_position_rb.x,
- " F", abl.probe_position_lf.y, " B", abl.probe_position_rb.y);
- }
- SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds.");
- G29_RETURN(false);
- }
-
- // Probe at the points of a lattice grid
- abl.gridSpacing.set((abl.probe_position_rb.x - abl.probe_position_lf.x) / (abl.grid_points.x - 1),
- (abl.probe_position_rb.y - abl.probe_position_lf.y) / (abl.grid_points.y - 1));
-
- #endif // ABL_USES_GRID
-
- if (abl.verbose_level > 0) {
- SERIAL_ECHOPGM("G29 Auto Bed Leveling");
- if (abl.dryrun) SERIAL_ECHOPGM(" (DRYRUN)");
- SERIAL_EOL();
- }
-
- planner.synchronize();
-
- #if ENABLED(AUTO_BED_LEVELING_3POINT)
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> 3-point Leveling");
- points[0].z = points[1].z = points[2].z = 0; // Probe at 3 arbitrary points
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshLevelingStart());
- TERN_(DWIN_CREALITY_LCD_ENHANCED, DWIN_MeshLevelingStart());
- #endif
-
- if (!faux) {
- remember_feedrate_scaling_off();
-
- #if ENABLED(PREHEAT_BEFORE_LEVELING)
- if (!abl.dryrun) probe.preheat_for_probing(LEVELING_NOZZLE_TEMP, LEVELING_BED_TEMP);
- #endif
- }
-
- // Disable auto bed leveling during G29.
- // Be formal so G29 can be done successively without G28.
- if (!no_action) set_bed_leveling_enabled(false);
-
- // Deploy certain probes before starting probing
- #if HAS_BED_PROBE
- if (ENABLED(BLTOUCH))
- do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
- else if (probe.deploy()) {
- set_bed_leveling_enabled(abl.reenable);
- G29_RETURN(false);
- }
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
- if (TERN1(PROBE_MANUALLY, !no_action)
- && (abl.gridSpacing != bilinear_grid_spacing || abl.probe_position_lf != bilinear_start)
- ) {
- // Reset grid to 0.0 or "not probed". (Also disables ABL)
- reset_bed_level();
-
- // Initialize a grid with the given dimensions
- bilinear_grid_spacing = abl.gridSpacing;
- bilinear_start = abl.probe_position_lf;
-
- // Can't re-enable (on error) until the new grid is written
- abl.reenable = false;
- }
- #endif // AUTO_BED_LEVELING_BILINEAR
-
- } // !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.abl_probe_index;
- g29_in_progress = true;
- }
-
- // Abort current G29 procedure, go back to idle state
- if (seenA && g29_in_progress) {
- SERIAL_ECHOLNPGM("Manual G29 aborted");
- SET_SOFT_ENDSTOP_LOOSE(false);
- set_bed_leveling_enabled(abl.reenable);
- g29_in_progress = false;
- TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
- }
-
- // Query G29 status
- if (abl.verbose_level || seenQ) {
- SERIAL_ECHOPGM("Manual G29 ");
- if (g29_in_progress)
- SERIAL_ECHOLNPGM("point ", _MIN(abl.abl_probe_index + 1, abl.abl_points), " of ", abl.abl_points);
- else
- SERIAL_ECHOLNPGM("idle");
- }
-
- if (no_action) G29_RETURN(false);
-
- if (abl.abl_probe_index == 0) {
- // For the initial G29 S2 save software endstop state
- SET_SOFT_ENDSTOP_LOOSE(true);
- // Move close to the bed before the first point
- do_blocking_move_to_z(0);
- }
- else {
-
- #if EITHER(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_3POINT)
- const uint16_t index = abl.abl_probe_index - 1;
- #endif
-
- // For G29 after adjusting Z.
- // Save the previous Z before going to the next point
- abl.measured_z = current_position.z;
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-
- abl.mean += abl.measured_z;
- abl.eqnBVector[index] = abl.measured_z;
- abl.eqnAMatrix[index + 0 * abl.abl_points] = abl.probePos.x;
- abl.eqnAMatrix[index + 1 * abl.abl_points] = abl.probePos.y;
- abl.eqnAMatrix[index + 2 * abl.abl_points] = 1;
-
- incremental_LSF(&lsf_results, abl.probePos, abl.measured_z);
-
- #elif ENABLED(AUTO_BED_LEVELING_3POINT)
-
- points[index].z = abl.measured_z;
-
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- const float newz = abl.measured_z + abl.Z_offset;
- z_values[abl.meshCount.x][abl.meshCount.y] = newz;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, newz));
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(PSTR("Save X"), abl.meshCount.x, SP_Y_STR, abl.meshCount.y, SP_Z_STR, abl.measured_z + abl.Z_offset);
-
- #endif
- }
-
- //
- // If there's another point to sample, move there with optional lift.
- //
-
- #if ABL_USES_GRID
-
- // Skip any unreachable points
- while (abl.abl_probe_index < abl.abl_points) {
-
- // Set abl.meshCount.x, abl.meshCount.y based on abl.abl_probe_index, with zig-zag
- PR_OUTER_VAR = abl.abl_probe_index / PR_INNER_SIZE;
- PR_INNER_VAR = abl.abl_probe_index - (PR_OUTER_VAR * PR_INNER_SIZE);
-
- // Probe in reverse order for every other row/column
- const bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_SIZE) & 1);
- if (zig) PR_INNER_VAR = (PR_INNER_SIZE - 1) - PR_INNER_VAR;
-
- abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
-
- TERN_(AUTO_BED_LEVELING_LINEAR, abl.indexIntoAB[abl.meshCount.x][abl.meshCount.y] = abl.abl_probe_index);
-
- // Keep looping till a reachable point is found
- if (position_is_reachable(abl.probePos)) break;
- ++abl.abl_probe_index;
- }
-
- // Is there a next point to move to?
- if (abl.abl_probe_index < abl.abl_points) {
- _manual_goto_xy(abl.probePos); // Can be used here too!
- // Disable software endstops to allow manual adjustment
- // If G29 is not completed, they will not be re-enabled
- SET_SOFT_ENDSTOP_LOOSE(true);
- G29_RETURN(false);
- }
- else {
- // Leveling done! Fall through to G29 finishing code below
- SERIAL_ECHOLNPGM("Grid probing done.");
- // Re-enable software endstops, if needed
- SET_SOFT_ENDSTOP_LOOSE(false);
- }
-
- #elif ENABLED(AUTO_BED_LEVELING_3POINT)
-
- // Probe at 3 arbitrary points
- if (abl.abl_probe_index < abl.abl_points) {
- abl.probePos = xy_pos_t(points[abl.abl_probe_index]);
- _manual_goto_xy(abl.probePos);
- // Disable software endstops to allow manual adjustment
- // If G29 is not completed, they will not be re-enabled
- SET_SOFT_ENDSTOP_LOOSE(true);
- G29_RETURN(false);
- }
- else {
-
- SERIAL_ECHOLNPGM("3-point probing done.");
-
- // Re-enable software endstops, if needed
- SET_SOFT_ENDSTOP_LOOSE(false);
-
- if (!abl.dryrun) {
- vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
- if (planeNormal.z < 0) planeNormal *= -1;
- planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-
- // Can't re-enable (on error) until the new grid is written
- abl.reenable = false;
- }
-
- }
-
- #endif // AUTO_BED_LEVELING_3POINT
-
- #else // !PROBE_MANUALLY
- {
- const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
-
- abl.measured_z = 0;
-
- #if ABL_USES_GRID
-
- bool zig = PR_OUTER_SIZE & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
-
- abl.measured_z = 0;
-
- // Outer loop is X with PROBE_Y_FIRST enabled
- // Outer loop is Y with PROBE_Y_FIRST disabled
- for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_SIZE && !isnan(abl.measured_z); PR_OUTER_VAR++) {
-
- int8_t inStart, inStop, inInc;
-
- if (zig) { // Zig away from origin
- inStart = 0; // Left or front
- inStop = PR_INNER_SIZE; // Right or back
- inInc = 1; // Zig right
- }
- else { // Zag towards origin
- inStart = PR_INNER_SIZE - 1; // Right or back
- inStop = -1; // Left or front
- inInc = -1; // Zag left
- }
-
- zig ^= true; // zag
-
- // An index to print current state
- uint8_t pt_index = (PR_OUTER_VAR) * (PR_INNER_SIZE) + 1;
-
- // Inner loop is Y with PROBE_Y_FIRST enabled
- // Inner loop is X with PROBE_Y_FIRST disabled
- for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; pt_index++, PR_INNER_VAR += inInc) {
-
- abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
-
- TERN_(AUTO_BED_LEVELING_LINEAR, abl.indexIntoAB[abl.meshCount.x][abl.meshCount.y] = ++abl.abl_probe_index); // 0...
-
- // Avoid probing outside the round or hexagonal area
- if (TERN0(IS_KINEMATIC, !probe.can_reach(abl.probePos))) continue;
-
- if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing mesh point ", pt_index, "/", abl.abl_points, ".");
- TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), int(pt_index), int(abl.abl_points)));
-
- abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
-
- if (isnan(abl.measured_z)) {
- set_bed_leveling_enabled(abl.reenable);
- break; // Breaks out of both loops
- }
-
- TERN_(PTC_BED, ptc.compensate_measurement(TSI_BED, thermalManager.degBed(), abl.measured_z));
- TERN_(PTC_PROBE, ptc.compensate_measurement(TSI_PROBE, thermalManager.degProbe(), abl.measured_z));
- TERN_(PTC_HOTEND, ptc.compensate_measurement(TSI_EXT, thermalManager.degHotend(0), abl.measured_z));
-
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-
- abl.mean += abl.measured_z;
- abl.eqnBVector[abl.abl_probe_index] = abl.measured_z;
- abl.eqnAMatrix[abl.abl_probe_index + 0 * abl.abl_points] = abl.probePos.x;
- abl.eqnAMatrix[abl.abl_probe_index + 1 * abl.abl_points] = abl.probePos.y;
- abl.eqnAMatrix[abl.abl_probe_index + 2 * abl.abl_points] = 1;
-
- incremental_LSF(&lsf_results, abl.probePos, abl.measured_z);
-
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- const float z = abl.measured_z + abl.Z_offset;
- z_values[abl.meshCount.x][abl.meshCount.y] = z PLUS_TERN0(X_AXIS_TWIST_COMPENSATION, xatc.compensation(abl.probePos));
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z));
-
- #endif
-
- abl.reenable = false;
- idle_no_sleep();
-
- } // inner
- } // outer
-
- #elif ENABLED(AUTO_BED_LEVELING_3POINT)
-
- // Probe at 3 arbitrary points
-
- LOOP_L_N(i, 3) {
- if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing point ", i + 1, "/3.");
- TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT(MSG_PROBING_POINT), int(i + 1)));
-
- // Retain the last probe position
- abl.probePos = xy_pos_t(points[i]);
- abl.measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
- if (isnan(abl.measured_z)) {
- set_bed_leveling_enabled(abl.reenable);
- break;
- }
- points[i].z = abl.measured_z;
- }
-
- if (!abl.dryrun && !isnan(abl.measured_z)) {
- vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
- if (planeNormal.z < 0) planeNormal *= -1;
- planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-
- // Can't re-enable (on error) until the new grid is written
- abl.reenable = false;
- }
-
- #endif // AUTO_BED_LEVELING_3POINT
-
- TERN_(HAS_STATUS_MESSAGE, ui.reset_status());
-
- // Stow the probe. No raise for FIX_MOUNTED_PROBE.
- if (probe.stow()) {
- set_bed_leveling_enabled(abl.reenable);
- abl.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 (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
-
- #if ENABLED(PROBE_MANUALLY)
- g29_in_progress = false;
- TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
- #endif
-
- // Calculate leveling, print reports, correct the position
- if (!isnan(abl.measured_z)) {
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- if (!abl.dryrun) extrapolate_unprobed_bed_level();
- print_bilinear_leveling_grid();
-
- refresh_bed_level();
-
- TERN_(ABL_BILINEAR_SUBDIVISION, print_bilinear_leveling_grid_virt());
-
- #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
- */
- struct { float a, b, d; } plane_equation_coefficients;
-
- finish_incremental_LSF(&lsf_results);
- plane_equation_coefficients.a = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
- plane_equation_coefficients.b = -lsf_results.B; // but that is not yet tested.
- plane_equation_coefficients.d = -lsf_results.D;
-
- abl.mean /= abl.abl_points;
-
- if (abl.verbose_level) {
- SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients.a, 8);
- SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients.b, 8);
- SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients.d, 8);
- if (abl.verbose_level > 2)
- SERIAL_ECHOPAIR_F("\nMean of sampled points: ", abl.mean, 8);
- SERIAL_EOL();
- }
-
- // Create the matrix but don't correct the position yet
- if (!abl.dryrun)
- planner.bed_level_matrix = matrix_3x3::create_look_at(
- vector_3(-plane_equation_coefficients.a, -plane_equation_coefficients.b, 1) // We can eliminate the '-' here and up above
- );
-
- // Show the Topography map if enabled
- if (abl.topography_map) {
-
- float min_diff = 999;
-
- auto print_topo_map = [&](FSTR_P const title, const bool get_min) {
- SERIAL_ECHOF(title);
- for (int8_t yy = abl.grid_points.y - 1; yy >= 0; yy--) {
- LOOP_L_N(xx, abl.grid_points.x) {
- const int ind = abl.indexIntoAB[xx][yy];
- xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points],
- abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 };
- planner.bed_level_matrix.apply_rotation_xyz(tmp.x, tmp.y, tmp.z);
- if (get_min) NOMORE(min_diff, abl.eqnBVector[ind] - tmp.z);
- const float subval = get_min ? abl.mean : tmp.z + min_diff,
- diff = abl.eqnBVector[ind] - subval;
- SERIAL_CHAR(' '); if (diff >= 0.0) SERIAL_CHAR('+'); // Include + for column alignment
- SERIAL_ECHO_F(diff, 5);
- } // xx
- SERIAL_EOL();
- } // yy
- SERIAL_EOL();
- };
-
- print_topo_map(F("\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)\n"), true);
- if (abl.verbose_level > 3)
- print_topo_map(F("\nCorrected Bed Height vs. Bed Topology:\n"), false);
-
- } // abl.topography_map
-
- #endif // AUTO_BED_LEVELING_LINEAR
-
- #if ABL_PLANAR
-
- // For LINEAR and 3POINT leveling correct the current position
-
- if (abl.verbose_level > 0)
- planner.bed_level_matrix.debug(F("\n\nBed Level Correction Matrix:"));
-
- if (!abl.dryrun) {
- //
- // Correct the current XYZ position based on the tilted plane.
- //
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
-
- xyze_pos_t converted = current_position;
- planner.force_unapply_leveling(converted); // use conversion machinery
-
- // Use the last measured distance to the bed, if possible
- if ( NEAR(current_position.x, abl.probePos.x - probe.offset_xy.x)
- && NEAR(current_position.y, abl.probePos.y - probe.offset_xy.y)
- ) {
- const float simple_z = current_position.z - abl.measured_z;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z);
- converted.z = simple_z;
- }
-
- // The rotated XY and corrected Z are now current_position
- current_position = converted;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
- }
-
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- if (!abl.dryrun) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("G29 uncorrected Z:", current_position.z);
-
- // Unapply the offset because it is going to be immediately applied
- // and cause compensation movement in Z
- const float fade_scaling_factor = TERN(ENABLE_LEVELING_FADE_HEIGHT, planner.fade_scaling_factor_for_z(current_position.z), 1);
- current_position.z -= fade_scaling_factor * bilinear_z_offset(current_position);
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(" corrected Z:", current_position.z);
- }
-
- #endif // ABL_PLANAR
-
- // Auto Bed Leveling is complete! Enable if possible.
- planner.leveling_active = !abl.dryrun || abl.reenable;
- } // !isnan(abl.measured_z)
-
- // Restore state after probing
- if (!faux) restore_feedrate_and_scaling();
-
- // Sync the planner from the current_position
- if (planner.leveling_active) sync_plan_position();
-
- TERN_(HAS_BED_PROBE, probe.move_z_after_probing());
-
- #ifdef Z_PROBE_END_SCRIPT
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
- planner.synchronize();
- process_subcommands_now(F(Z_PROBE_END_SCRIPT));
- #endif
-
- TERN_(HAS_DWIN_E3V2_BASIC, DWIN_CompletedLeveling());
-
- report_current_position();
-
- TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
-
- G29_RETURN(isnan(abl.measured_z));
-
- }
-
- #endif // HAS_ABL_NOT_UBL
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