My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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ubl_G29.cpp 73KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. #include "MarlinConfig.h"
  23. #if ENABLED(AUTO_BED_LEVELING_UBL)
  24. #include "ubl.h"
  25. #include "Marlin.h"
  26. #include "hex_print_routines.h"
  27. #include "configuration_store.h"
  28. #include "ultralcd.h"
  29. #include "stepper.h"
  30. #include "planner.h"
  31. #include "gcode.h"
  32. #include "bitmap_flags.h"
  33. #include <math.h>
  34. #include "least_squares_fit.h"
  35. #define UBL_G29_P31
  36. extern float destination[XYZE], current_position[XYZE];
  37. #if ENABLED(NEWPANEL)
  38. void lcd_return_to_status();
  39. void lcd_mesh_edit_setup(float initial);
  40. float lcd_mesh_edit();
  41. void lcd_z_offset_edit_setup(float);
  42. extern void _lcd_ubl_output_map_lcd();
  43. float lcd_z_offset_edit();
  44. #endif
  45. extern float meshedit_done;
  46. extern long babysteps_done;
  47. extern float probe_pt(const float &rx, const float &ry, const bool, const uint8_t, const bool=true);
  48. extern bool set_probe_deployed(bool);
  49. extern void set_bed_leveling_enabled(bool);
  50. typedef void (*screenFunc_t)();
  51. extern void lcd_goto_screen(screenFunc_t screen, const uint32_t encoder = 0);
  52. #define SIZE_OF_LITTLE_RAISE 1
  53. #define BIG_RAISE_NOT_NEEDED 0
  54. int unified_bed_leveling::g29_verbose_level,
  55. unified_bed_leveling::g29_phase_value,
  56. unified_bed_leveling::g29_repetition_cnt,
  57. unified_bed_leveling::g29_storage_slot = 0,
  58. unified_bed_leveling::g29_map_type;
  59. bool unified_bed_leveling::g29_c_flag,
  60. unified_bed_leveling::g29_x_flag,
  61. unified_bed_leveling::g29_y_flag;
  62. float unified_bed_leveling::g29_x_pos,
  63. unified_bed_leveling::g29_y_pos,
  64. unified_bed_leveling::g29_card_thickness = 0.0,
  65. unified_bed_leveling::g29_constant = 0.0;
  66. #if HAS_BED_PROBE
  67. int unified_bed_leveling::g29_grid_size;
  68. #endif
  69. /**
  70. * G29: Unified Bed Leveling by Roxy
  71. *
  72. * Parameters understood by this leveling system:
  73. *
  74. * A Activate Activate the Unified Bed Leveling system.
  75. *
  76. * B # Business Use the 'Business Card' mode of the Manual Probe subsystem with P2.
  77. * Note: A non-compressible Spark Gap feeler gauge is recommended over a business card.
  78. * In this mode of G29 P2, a business or index card is used as a shim that the nozzle can
  79. * grab onto as it is lowered. In principle, the nozzle-bed distance is the same when the
  80. * same resistance is felt in the shim. You can omit the numerical value on first invocation
  81. * of G29 P2 B to measure shim thickness. Subsequent use of 'B' will apply the previously-
  82. * measured thickness by default.
  83. *
  84. * C Continue G29 P1 C continues the generation of a partially-constructed Mesh without invalidating
  85. * previous measurements.
  86. *
  87. * C Constant G29 P2 C specifies a Constant and tells the Manual Probe subsystem to use the current
  88. * location in its search for the closest unmeasured Mesh Point.
  89. *
  90. * G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value.
  91. *
  92. * C Current G29 Z C uses the Current location (instead of bed center or nearest edge).
  93. *
  94. * D Disable Disable the Unified Bed Leveling system.
  95. *
  96. * E Stow_probe Stow the probe after each sampled point.
  97. *
  98. * F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the
  99. * specified height, no correction is applied and natural printer kenimatics take over. If no
  100. * number is specified for the command, 10mm is assumed to be reasonable.
  101. *
  102. * H # Height With P2, 'H' specifies the Height to raise the nozzle after each manual probe of the bed.
  103. * If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES.
  104. *
  105. * H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle.
  106. * If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used.
  107. *
  108. * I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted,
  109. * the nozzle location is used. If no 'I' value is given, only the point nearest to the location
  110. * is invalidated. Use 'T' to produce a map afterward. This command is useful to invalidate a
  111. * portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate
  112. * an isolated bad mesh point, the 'T' option shows the nozzle position in the Mesh with (#). You
  113. * can move the nozzle around and use this feature to select the center of the area (or cell) to
  114. * invalidate.
  115. *
  116. * J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
  117. * Not specifying a grid size will invoke the 3-Point leveling function.
  118. *
  119. * K # Kompare Kompare current Mesh with stored Mesh # replacing current Mesh with the result. This
  120. * command literally performs a diff between two Meshes.
  121. *
  122. * L Load Load Mesh from the previously activated location in the EEPROM.
  123. *
  124. * L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated
  125. * for subsequent Load and Store operations.
  126. *
  127. * The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will
  128. * start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with
  129. * each additional Phase that processes it.
  130. *
  131. * P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the
  132. * 3D Printer to the same state it was in before the Unified Bed Leveling Compensation
  133. * was turned on. Setting the entire Mesh to Zero is a special case that allows
  134. * a subsequent G or T leveling operation for backward compatibility.
  135. *
  136. * P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
  137. * the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. On
  138. * Cartesian printers, points within the X_PROBE_OFFSET_FROM_EXTRUDER and Y_PROBE_OFFSET_FROM_EXTRUDER
  139. * area cannot be automatically probed. For Delta printers the area in which DELTA_PROBEABLE_RADIUS
  140. * and DELTA_PRINTABLE_RADIUS do not overlap will not be automatically probed.
  141. *
  142. * Unreachable points will be handled in Phase 2 and Phase 3.
  143. *
  144. * Use 'C' to leave the previous mesh intact and automatically probe needed points. This allows you
  145. * to invalidate parts of the Mesh but still use Automatic Probing.
  146. *
  147. * The 'X' and 'Y' parameters prioritize where to try and measure points. If omitted, the current
  148. * probe position is used.
  149. *
  150. * Use 'T' (Topology) to generate a report of mesh generation.
  151. *
  152. * P1 will suspend Mesh generation if the controller button is held down. Note that you may need
  153. * to press and hold the switch for several seconds if moves are underway.
  154. *
  155. * P2 Phase 2 Probe unreachable points.
  156. *
  157. * Use 'H' to set the height between Mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used.
  158. * Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the
  159. * nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer!
  160. * (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.)
  161. *
  162. * The 'H' value can be negative if the Mesh dips in a large area. Press and hold the
  163. * controller button to terminate the current Phase 2 command. You can then re-issue "G29 P 2"
  164. * with an 'H' parameter more suitable for the area you're manually probing. Note that the command
  165. * tries to start in a corner of the bed where movement will be predictable. Override the distance
  166. * calculation location with the X and Y parameters. You can print a Mesh Map (G29 T) to see where
  167. * the mesh is invalidated and where the nozzle needs to move to complete the command. Use 'C' to
  168. * indicate that the search should be based on the current position.
  169. *
  170. * The 'B' parameter for this command is described above. It places the manual probe subsystem into
  171. * Business Card mode where the thickness of a business card is measured and then used to accurately
  172. * set the nozzle height in all manual probing for the duration of the command. A Business card can
  173. * be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it
  174. * easier to produce similar amounts of force and get more accurate measurements. Google if you're
  175. * not sure how to use a shim.
  176. *
  177. * The 'T' (Map) parameter helps track Mesh building progress.
  178. *
  179. * NOTE: P2 requires an LCD controller!
  180. *
  181. * P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths to
  182. * go down:
  183. *
  184. * - If a 'C' constant is specified, the closest invalid mesh points to the nozzle will be filled,
  185. * and a repeat count can then also be specified with 'R'.
  186. *
  187. * - Leaving out 'C' invokes Smart Fill, which scans the mesh from the edges inward looking for
  188. * invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped
  189. * upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's
  190. * replaced by a value that puts all three points in a line. This version of G29 P3 is a quick, easy
  191. * and (usually) safe way to populate unprobed mesh regions before continuing to G26 Mesh Validation
  192. * Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution.
  193. *
  194. * P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assumes the existence of
  195. * an LCD Panel. It is possible to fine tune the mesh without an LCD Panel using
  196. * G42 and M421. See the UBL documentation for further details.
  197. *
  198. * Phase 4 is meant to be used with G26 Mesh Validation to fine tune the mesh by direct editing
  199. * of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable
  200. * adhesion.
  201. *
  202. * P4 moves to the closest Mesh Point (and/or the given X Y), raises the nozzle above the mesh height
  203. * by the given 'H' offset (or default Z_CLEARANCE_BETWEEN_PROBES), and waits while the controller is
  204. * used to adjust the nozzle height. On click the displayed height is saved in the mesh.
  205. *
  206. * Start Phase 4 at a specific location with X and Y. Adjust a specific number of Mesh Points with
  207. * the 'R' (Repeat) parameter. (If 'R' is left out, the whole matrix is assumed.) This command can be
  208. * terminated early (e.g., after editing the area of interest) by pressing and holding the encoder button.
  209. *
  210. * The general form is G29 P4 [R points] [X position] [Y position]
  211. *
  212. * The H [offset] parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the
  213. * command would be G29 P4 H0.4. The nozzle is moved to the shim height, you adjust height to the shim,
  214. * and on click the height minus the shim thickness will be saved in the mesh.
  215. *
  216. * !!Use with caution, as a very poor mesh could cause the nozzle to crash into the bed!!
  217. *
  218. * NOTE: P4 is not available unless you have LCD support enabled!
  219. *
  220. * P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and
  221. * work with the Mesh if it is Mean Adjusted. You can specify a C parameter to
  222. * Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically
  223. * execute a G29 P6 C <mean height>.
  224. *
  225. * P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified
  226. * with the C parameter. Being able to adjust the height of a Mesh is useful tool. It
  227. * can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally,
  228. * you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring
  229. * 0.000 at the Z Home location.
  230. *
  231. * Q Test Load specified Test Pattern to assist in checking correct operation of system. This
  232. * command is not anticipated to be of much value to the typical user. It is intended
  233. * for developers to help them verify correct operation of the Unified Bed Leveling System.
  234. *
  235. * R # Repeat Repeat this command the specified number of times. If no number is specified the
  236. * command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
  237. *
  238. * S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
  239. * current state of the Unified Bed Leveling system in the EEPROM.
  240. *
  241. * S # Store Store the current Mesh at the specified location in EEPROM. Activate this location
  242. * for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
  243. * extend to a limit related to the available EEPROM storage.
  244. *
  245. * S -1 Store Store the current Mesh as a print out that is suitable to be feed back into the system
  246. * at a later date. The GCode output can be saved and later replayed by the host software
  247. * to reconstruct the current mesh on another machine.
  248. *
  249. * T Topology Display the Mesh Map Topology.
  250. * 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands.
  251. * This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O)
  252. * This parameter can also specify a Map Type. T0 (the default) is user-readable. T1 can
  253. * is suitable to paste into a spreadsheet for a 3D graph of the mesh.
  254. *
  255. * U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
  256. * Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful
  257. * when the entire bed doesn't need to be probed because it will be adjusted.
  258. *
  259. * V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0)
  260. *
  261. * W What? Display valuable Unified Bed Leveling System data.
  262. *
  263. * X # X Location for this command
  264. *
  265. * Y # Y Location for this command
  266. *
  267. *
  268. * Release Notes:
  269. * You MUST do M502, M500 to initialize the storage. Failure to do this will cause all
  270. * kinds of problems. Enabling EEPROM Storage is highly recommended. With EEPROM Storage
  271. * of the mesh, you are limited to 3-Point and Grid Leveling. (G29 P0 T and G29 P0 G
  272. * respectively.)
  273. *
  274. * When you do a G28 and then a G29 P1 to automatically build your first mesh, you are going to notice
  275. * the Unified Bed Leveling probes points further and further away from the starting location. (The
  276. * starting location defaults to the center of the bed.) The original Grid and Mesh leveling used
  277. * a Zig Zag pattern. The new pattern is better, especially for people with Delta printers. This
  278. * allows you to get the center area of the Mesh populated (and edited) quicker. This allows you to
  279. * perform a small print and check out your settings quicker. You do not need to populate the
  280. * entire mesh to use it. (You don't want to spend a lot of time generating a mesh only to realize
  281. * you don't have the resolution or zprobe_zoffset set correctly. The Mesh generation
  282. * gathers points closest to where the nozzle is located unless you specify an (X,Y) coordinate pair.
  283. *
  284. * The Unified Bed Leveling uses a lot of EEPROM storage to hold its data. And it takes some effort
  285. * to get this Mesh data correct for a user's printer. We do not want this data destroyed as
  286. * new versions of Marlin add or subtract to the items stored in EEPROM. So, for the benefit of
  287. * the users, we store the Mesh data at the end of the EEPROM and do not keep it contiguous with the
  288. * other data stored in the EEPROM. (For sure the developers are going to complain about this, but
  289. * this is going to be helpful to the users!)
  290. *
  291. * The foundation of this Bed Leveling System is built on Epatel's Mesh Bed Leveling code. A big
  292. * 'Thanks!' to him and the creators of 3-Point and Grid Based leveling. Combining their contributions
  293. * we now have the functionality and features of all three systems combined.
  294. */
  295. void unified_bed_leveling::G29() {
  296. if (!settings.calc_num_meshes()) {
  297. SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
  298. SERIAL_PROTOCOLLNPGM("with M502, M500, M501 in that order.\n");
  299. return;
  300. }
  301. if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
  302. // Check for commands that require the printer to be homed
  303. if (axis_unhomed_error()) {
  304. const int8_t p_val = parser.intval('P', -1);
  305. if (p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'))
  306. home_all_axes();
  307. }
  308. // Invalidate Mesh Points. This command is a little bit asymmetrical because
  309. // it directly specifies the repetition count and does not use the 'R' parameter.
  310. if (parser.seen('I')) {
  311. uint8_t cnt = 0;
  312. g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1;
  313. if (g29_repetition_cnt >= GRID_MAX_POINTS) {
  314. set_all_mesh_points_to_value(NAN);
  315. }
  316. else {
  317. while (g29_repetition_cnt--) {
  318. if (cnt > 20) { cnt = 0; idle(); }
  319. const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL);
  320. if (location.x_index < 0) {
  321. // No more REACHABLE mesh points to invalidate, so we ASSUME the user
  322. // meant to invalidate the ENTIRE mesh, which cannot be done with
  323. // find_closest_mesh_point loop which only returns REACHABLE points.
  324. set_all_mesh_points_to_value(NAN);
  325. SERIAL_PROTOCOLLNPGM("Entire Mesh invalidated.\n");
  326. break; // No more invalid Mesh Points to populate
  327. }
  328. z_values[location.x_index][location.y_index] = NAN;
  329. cnt++;
  330. }
  331. }
  332. SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
  333. }
  334. if (parser.seen('Q')) {
  335. const int test_pattern = parser.has_value() ? parser.value_int() : -99;
  336. if (!WITHIN(test_pattern, -1, 2)) {
  337. SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (-1 to 2)\n");
  338. return;
  339. }
  340. SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
  341. switch (test_pattern) {
  342. case -1:
  343. g29_eeprom_dump();
  344. break;
  345. case 0:
  346. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a bowl shape - similar to
  347. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta.
  348. const float p1 = 0.5 * (GRID_MAX_POINTS_X) - x,
  349. p2 = 0.5 * (GRID_MAX_POINTS_Y) - y;
  350. z_values[x][y] += 2.0 * HYPOT(p1, p2);
  351. }
  352. }
  353. break;
  354. case 1:
  355. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a diagonal line several Mesh cells thick that is raised
  356. z_values[x][x] += 9.999;
  357. z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick
  358. }
  359. break;
  360. case 2:
  361. // Allow the user to specify the height because 10mm is a little extreme in some cases.
  362. for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in
  363. for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) // the center of the bed
  364. z_values[x][y] += parser.seen('C') ? g29_constant : 9.99;
  365. break;
  366. }
  367. }
  368. #if HAS_BED_PROBE
  369. if (parser.seen('J')) {
  370. if (g29_grid_size) { // if not 0 it is a normal n x n grid being probed
  371. save_ubl_active_state_and_disable();
  372. tilt_mesh_based_on_probed_grid(parser.seen('T'));
  373. restore_ubl_active_state_and_leave();
  374. }
  375. else { // grid_size == 0 : A 3-Point leveling has been requested
  376. float z3, z2, z1 = probe_pt(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y, false, g29_verbose_level);
  377. if (!isnan(z1)) {
  378. z2 = probe_pt(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y, false, g29_verbose_level);
  379. if (!isnan(z2))
  380. z3 = probe_pt(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y, true, g29_verbose_level);
  381. }
  382. if (isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
  383. SERIAL_ERROR_START();
  384. SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
  385. goto LEAVE;
  386. }
  387. // Adjust z1, z2, z3 by the Mesh Height at these points. Just because they're non-zero
  388. // doesn't mean the Mesh is tilted! (Compensate each probe point by what the Mesh says
  389. // its height is.)
  390. save_ubl_active_state_and_disable();
  391. z1 -= get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y) /* + zprobe_zoffset */ ;
  392. z2 -= get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y) /* + zprobe_zoffset */ ;
  393. z3 -= get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y) /* + zprobe_zoffset */ ;
  394. do_blocking_move_to_xy(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)));
  395. tilt_mesh_based_on_3pts(z1, z2, z3);
  396. restore_ubl_active_state_and_leave();
  397. }
  398. }
  399. #endif // HAS_BED_PROBE
  400. if (parser.seen('P')) {
  401. if (WITHIN(g29_phase_value, 0, 1) && storage_slot == -1) {
  402. storage_slot = 0;
  403. SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.");
  404. }
  405. switch (g29_phase_value) {
  406. case 0:
  407. //
  408. // Zero Mesh Data
  409. //
  410. reset();
  411. SERIAL_PROTOCOLLNPGM("Mesh zeroed.");
  412. break;
  413. #if HAS_BED_PROBE
  414. case 1:
  415. //
  416. // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
  417. //
  418. if (!parser.seen('C')) {
  419. invalidate();
  420. SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
  421. }
  422. if (g29_verbose_level > 1) {
  423. SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", g29_x_pos);
  424. SERIAL_PROTOCOLCHAR(',');
  425. SERIAL_PROTOCOL(g29_y_pos);
  426. SERIAL_PROTOCOLLNPGM(").\n");
  427. }
  428. probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
  429. parser.seen('T'), parser.seen('E'), parser.seen('U'));
  430. break;
  431. #endif // HAS_BED_PROBE
  432. case 2: {
  433. #if ENABLED(NEWPANEL)
  434. //
  435. // Manually Probe Mesh in areas that can't be reached by the probe
  436. //
  437. SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.");
  438. do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
  439. if (!g29_x_flag && !g29_y_flag) {
  440. /**
  441. * Use a good default location for the path.
  442. * The flipped > and < operators in these comparisons is intentional.
  443. * It should cause the probed points to follow a nice path on Cartesian printers.
  444. * It may make sense to have Delta printers default to the center of the bed.
  445. * Until that is decided, this can be forced with the X and Y parameters.
  446. */
  447. #if IS_KINEMATIC
  448. g29_x_pos = X_HOME_POS;
  449. g29_y_pos = Y_HOME_POS;
  450. #else // cartesian
  451. g29_x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_BED_SIZE : 0;
  452. g29_y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_BED_SIZE : 0;
  453. #endif
  454. }
  455. if (parser.seen('C')) {
  456. g29_x_pos = current_position[X_AXIS];
  457. g29_y_pos = current_position[Y_AXIS];
  458. }
  459. if (parser.seen('B')) {
  460. g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness(Z_CLEARANCE_BETWEEN_PROBES);
  461. if (FABS(g29_card_thickness) > 1.5) {
  462. SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.");
  463. return;
  464. }
  465. }
  466. if (!position_is_reachable(g29_x_pos, g29_y_pos)) {
  467. SERIAL_PROTOCOLLNPGM("XY outside printable radius.");
  468. return;
  469. }
  470. const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
  471. manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, parser.seen('T'));
  472. SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
  473. #else
  474. SERIAL_PROTOCOLLNPGM("?P2 is only available when an LCD is present.");
  475. return;
  476. #endif
  477. } break;
  478. case 3: {
  479. /**
  480. * Populate invalid mesh areas. Proceed with caution.
  481. * Two choices are available:
  482. * - Specify a constant with the 'C' parameter.
  483. * - Allow 'G29 P3' to choose a 'reasonable' constant.
  484. */
  485. if (g29_c_flag) {
  486. if (g29_repetition_cnt >= GRID_MAX_POINTS) {
  487. set_all_mesh_points_to_value(g29_constant);
  488. }
  489. else {
  490. while (g29_repetition_cnt--) { // this only populates reachable mesh points near
  491. const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL);
  492. if (location.x_index < 0) {
  493. // No more REACHABLE INVALID mesh points to populate, so we ASSUME
  494. // user meant to populate ALL INVALID mesh points to value
  495. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  496. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  497. if (isnan(z_values[x][y]))
  498. z_values[x][y] = g29_constant;
  499. break; // No more invalid Mesh Points to populate
  500. }
  501. z_values[location.x_index][location.y_index] = g29_constant;
  502. }
  503. }
  504. }
  505. else {
  506. const float cvf = parser.value_float();
  507. switch((int)truncf(cvf * 10.0) - 30) { // 3.1 -> 1
  508. #if ENABLED(UBL_G29_P31)
  509. case 1: {
  510. // P3.1 use least squares fit to fill missing mesh values
  511. // P3.10 zero weighting for distance, all grid points equal, best fit tilted plane
  512. // P3.11 10X weighting for nearest grid points versus farthest grid points
  513. // P3.12 100X distance weighting
  514. // P3.13 1000X distance weighting, approaches simple average of nearest points
  515. const float weight_power = (cvf - 3.10) * 100.0, // 3.12345 -> 2.345
  516. weight_factor = weight_power ? POW(10.0, weight_power) : 0;
  517. smart_fill_wlsf(weight_factor);
  518. }
  519. break;
  520. #endif
  521. case 0: // P3 or P3.0
  522. default: // and anything P3.x that's not P3.1
  523. smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
  524. break;
  525. }
  526. }
  527. break;
  528. }
  529. case 4: // Fine Tune (i.e., Edit) the Mesh
  530. #if ENABLED(NEWPANEL)
  531. fine_tune_mesh(g29_x_pos, g29_y_pos, parser.seen('T'));
  532. #else
  533. SERIAL_PROTOCOLLNPGM("?P4 is only available when an LCD is present.");
  534. return;
  535. #endif
  536. break;
  537. case 5: find_mean_mesh_height(); break;
  538. case 6: shift_mesh_height(); break;
  539. }
  540. }
  541. //
  542. // Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
  543. // good to have the extra information. Soon... we prune this to just a few items
  544. //
  545. if (parser.seen('W')) g29_what_command();
  546. //
  547. // When we are fully debugged, this may go away. But there are some valid
  548. // use cases for the users. So we can wait and see what to do with it.
  549. //
  550. if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
  551. g29_compare_current_mesh_to_stored_mesh();
  552. //
  553. // Load a Mesh from the EEPROM
  554. //
  555. if (parser.seen('L')) { // Load Current Mesh Data
  556. g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
  557. int16_t a = settings.calc_num_meshes();
  558. if (!a) {
  559. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  560. return;
  561. }
  562. if (!WITHIN(g29_storage_slot, 0, a - 1)) {
  563. SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
  564. SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
  565. return;
  566. }
  567. settings.load_mesh(g29_storage_slot);
  568. storage_slot = g29_storage_slot;
  569. SERIAL_PROTOCOLLNPGM("Done.");
  570. }
  571. //
  572. // Store a Mesh in the EEPROM
  573. //
  574. if (parser.seen('S')) { // Store (or Save) Current Mesh Data
  575. g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
  576. if (g29_storage_slot == -1) { // Special case, we are going to 'Export' the mesh to the
  577. SERIAL_ECHOLNPGM("G29 I 999"); // host in a form it can be reconstructed on a different machine
  578. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  579. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  580. if (!isnan(z_values[x][y])) {
  581. SERIAL_ECHOPAIR("M421 I ", x);
  582. SERIAL_ECHOPAIR(" J ", y);
  583. SERIAL_ECHOPGM(" Z ");
  584. SERIAL_ECHO_F(z_values[x][y], 6);
  585. SERIAL_ECHOPAIR(" ; X ", mesh_index_to_xpos(x));
  586. SERIAL_ECHOPAIR(", Y ", mesh_index_to_ypos(y));
  587. SERIAL_EOL();
  588. }
  589. return;
  590. }
  591. int16_t a = settings.calc_num_meshes();
  592. if (!a) {
  593. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  594. goto LEAVE;
  595. }
  596. if (!WITHIN(g29_storage_slot, 0, a - 1)) {
  597. SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
  598. SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
  599. goto LEAVE;
  600. }
  601. settings.store_mesh(g29_storage_slot);
  602. storage_slot = g29_storage_slot;
  603. SERIAL_PROTOCOLLNPGM("Done.");
  604. }
  605. if (parser.seen('T'))
  606. display_map(g29_map_type);
  607. LEAVE:
  608. #if ENABLED(NEWPANEL)
  609. lcd_reset_alert_level();
  610. LCD_MESSAGEPGM("");
  611. lcd_quick_feedback();
  612. lcd_external_control = false;
  613. #endif
  614. return;
  615. }
  616. void unified_bed_leveling::find_mean_mesh_height() {
  617. float sum = 0.0;
  618. int n = 0;
  619. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  620. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  621. if (!isnan(z_values[x][y])) {
  622. sum += z_values[x][y];
  623. n++;
  624. }
  625. const float mean = sum / n;
  626. //
  627. // Sum the squares of difference from mean
  628. //
  629. float sum_of_diff_squared = 0.0;
  630. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  631. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  632. if (!isnan(z_values[x][y]))
  633. sum_of_diff_squared += sq(z_values[x][y] - mean);
  634. SERIAL_ECHOLNPAIR("# of samples: ", n);
  635. SERIAL_ECHOPGM("Mean Mesh Height: ");
  636. SERIAL_ECHO_F(mean, 6);
  637. SERIAL_EOL();
  638. const float sigma = SQRT(sum_of_diff_squared / (n + 1));
  639. SERIAL_ECHOPGM("Standard Deviation: ");
  640. SERIAL_ECHO_F(sigma, 6);
  641. SERIAL_EOL();
  642. if (g29_c_flag)
  643. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  644. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  645. if (!isnan(z_values[x][y]))
  646. z_values[x][y] -= mean + g29_constant;
  647. }
  648. void unified_bed_leveling::shift_mesh_height() {
  649. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  650. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  651. if (!isnan(z_values[x][y]))
  652. z_values[x][y] += g29_constant;
  653. }
  654. #if HAS_BED_PROBE
  655. /**
  656. * Probe all invalidated locations of the mesh that can be reached by the probe.
  657. * This attempts to fill in locations closest to the nozzle's start location first.
  658. */
  659. void unified_bed_leveling::probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool close_or_far) {
  660. mesh_index_pair location;
  661. #if ENABLED(NEWPANEL)
  662. lcd_external_control = true;
  663. #endif
  664. save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
  665. DEPLOY_PROBE();
  666. uint16_t max_iterations = GRID_MAX_POINTS;
  667. do {
  668. if (do_ubl_mesh_map) display_map(g29_map_type);
  669. #if ENABLED(NEWPANEL)
  670. if (is_lcd_clicked()) {
  671. SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
  672. lcd_quick_feedback();
  673. STOW_PROBE();
  674. while (is_lcd_clicked()) idle();
  675. lcd_external_control = false;
  676. restore_ubl_active_state_and_leave();
  677. safe_delay(50); // Debounce the Encoder wheel
  678. return;
  679. }
  680. #endif
  681. if (close_or_far)
  682. location = find_furthest_invalid_mesh_point();
  683. else
  684. location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, NULL);
  685. if (location.x_index >= 0) { // mesh point found and is reachable by probe
  686. const float rawx = mesh_index_to_xpos(location.x_index),
  687. rawy = mesh_index_to_ypos(location.y_index);
  688. const float measured_z = probe_pt(rawx, rawy, stow_probe, g29_verbose_level); // TODO: Needs error handling
  689. z_values[location.x_index][location.y_index] = measured_z;
  690. }
  691. } while (location.x_index >= 0 && --max_iterations);
  692. STOW_PROBE();
  693. restore_ubl_active_state_and_leave();
  694. do_blocking_move_to_xy(
  695. constrain(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_X, MESH_MAX_X),
  696. constrain(ry - (Y_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_Y, MESH_MAX_Y)
  697. );
  698. }
  699. void unified_bed_leveling::tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3) {
  700. matrix_3x3 rotation;
  701. vector_3 v1 = vector_3( (UBL_PROBE_PT_1_X - UBL_PROBE_PT_2_X),
  702. (UBL_PROBE_PT_1_Y - UBL_PROBE_PT_2_Y),
  703. (z1 - z2) ),
  704. v2 = vector_3( (UBL_PROBE_PT_3_X - UBL_PROBE_PT_2_X),
  705. (UBL_PROBE_PT_3_Y - UBL_PROBE_PT_2_Y),
  706. (z3 - z2) ),
  707. normal = vector_3::cross(v1, v2);
  708. normal = normal.get_normal();
  709. /**
  710. * This vector is normal to the tilted plane.
  711. * However, we don't know its direction. We need it to point up. So if
  712. * Z is negative, we need to invert the sign of all components of the vector
  713. */
  714. if (normal.z < 0.0) {
  715. normal.x = -normal.x;
  716. normal.y = -normal.y;
  717. normal.z = -normal.z;
  718. }
  719. rotation = matrix_3x3::create_look_at(vector_3(normal.x, normal.y, 1));
  720. if (g29_verbose_level > 2) {
  721. SERIAL_ECHOPGM("bed plane normal = [");
  722. SERIAL_PROTOCOL_F(normal.x, 7);
  723. SERIAL_PROTOCOLCHAR(',');
  724. SERIAL_PROTOCOL_F(normal.y, 7);
  725. SERIAL_PROTOCOLCHAR(',');
  726. SERIAL_PROTOCOL_F(normal.z, 7);
  727. SERIAL_ECHOLNPGM("]");
  728. rotation.debug(PSTR("rotation matrix:"));
  729. }
  730. //
  731. // All of 3 of these points should give us the same d constant
  732. //
  733. float t = normal.x * (UBL_PROBE_PT_1_X) + normal.y * (UBL_PROBE_PT_1_Y),
  734. d = t + normal.z * z1;
  735. if (g29_verbose_level>2) {
  736. SERIAL_ECHOPGM("D constant: ");
  737. SERIAL_PROTOCOL_F(d, 7);
  738. SERIAL_ECHOLNPGM(" ");
  739. }
  740. #if ENABLED(DEBUG_LEVELING_FEATURE)
  741. if (DEBUGGING(LEVELING)) {
  742. SERIAL_ECHOPGM("d from 1st point: ");
  743. SERIAL_ECHO_F(d, 6);
  744. SERIAL_EOL();
  745. t = normal.x * (UBL_PROBE_PT_2_X) + normal.y * (UBL_PROBE_PT_2_Y);
  746. d = t + normal.z * z2;
  747. SERIAL_ECHOPGM("d from 2nd point: ");
  748. SERIAL_ECHO_F(d, 6);
  749. SERIAL_EOL();
  750. t = normal.x * (UBL_PROBE_PT_3_X) + normal.y * (UBL_PROBE_PT_3_Y);
  751. d = t + normal.z * z3;
  752. SERIAL_ECHOPGM("d from 3rd point: ");
  753. SERIAL_ECHO_F(d, 6);
  754. SERIAL_EOL();
  755. }
  756. #endif
  757. for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
  758. for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
  759. float x_tmp = mesh_index_to_xpos(i),
  760. y_tmp = mesh_index_to_ypos(j),
  761. z_tmp = z_values[i][j];
  762. #if ENABLED(DEBUG_LEVELING_FEATURE)
  763. if (DEBUGGING(LEVELING)) {
  764. SERIAL_ECHOPGM("before rotation = [");
  765. SERIAL_PROTOCOL_F(x_tmp, 7);
  766. SERIAL_PROTOCOLCHAR(',');
  767. SERIAL_PROTOCOL_F(y_tmp, 7);
  768. SERIAL_PROTOCOLCHAR(',');
  769. SERIAL_PROTOCOL_F(z_tmp, 7);
  770. SERIAL_ECHOPGM("] ---> ");
  771. safe_delay(20);
  772. }
  773. #endif
  774. apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
  775. #if ENABLED(DEBUG_LEVELING_FEATURE)
  776. if (DEBUGGING(LEVELING)) {
  777. SERIAL_ECHOPGM("after rotation = [");
  778. SERIAL_PROTOCOL_F(x_tmp, 7);
  779. SERIAL_PROTOCOLCHAR(',');
  780. SERIAL_PROTOCOL_F(y_tmp, 7);
  781. SERIAL_PROTOCOLCHAR(',');
  782. SERIAL_PROTOCOL_F(z_tmp, 7);
  783. SERIAL_ECHOLNPGM("]");
  784. safe_delay(55);
  785. }
  786. #endif
  787. z_values[i][j] += z_tmp - d;
  788. }
  789. }
  790. }
  791. #endif // HAS_BED_PROBE
  792. #if ENABLED(NEWPANEL)
  793. float unified_bed_leveling::measure_point_with_encoder() {
  794. while (is_lcd_clicked()) delay(50); // wait for user to release encoder wheel
  795. delay(50); // debounce
  796. KEEPALIVE_STATE(PAUSED_FOR_USER);
  797. while (!is_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
  798. idle();
  799. if (encoder_diff) {
  800. do_blocking_move_to_z(current_position[Z_AXIS] + 0.01 * float(encoder_diff));
  801. encoder_diff = 0;
  802. }
  803. }
  804. KEEPALIVE_STATE(IN_HANDLER);
  805. return current_position[Z_AXIS];
  806. }
  807. static void echo_and_take_a_measurement() { SERIAL_PROTOCOLLNPGM(" and take a measurement."); }
  808. float unified_bed_leveling::measure_business_card_thickness(float in_height) {
  809. lcd_external_control = true;
  810. save_ubl_active_state_and_disable(); // Disable bed level correction for probing
  811. do_blocking_move_to(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)), in_height);
  812. //, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) / 2.0);
  813. stepper.synchronize();
  814. SERIAL_PROTOCOLPGM("Place shim under nozzle");
  815. LCD_MESSAGEPGM(MSG_UBL_BC_INSERT);
  816. lcd_return_to_status();
  817. echo_and_take_a_measurement();
  818. const float z1 = measure_point_with_encoder();
  819. do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
  820. stepper.synchronize();
  821. SERIAL_PROTOCOLPGM("Remove shim");
  822. LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE);
  823. echo_and_take_a_measurement();
  824. const float z2 = measure_point_with_encoder();
  825. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES);
  826. const float thickness = abs(z1 - z2);
  827. if (g29_verbose_level > 1) {
  828. SERIAL_PROTOCOLPGM("Business Card is ");
  829. SERIAL_PROTOCOL_F(thickness, 4);
  830. SERIAL_PROTOCOLLNPGM("mm thick.");
  831. }
  832. in_height = current_position[Z_AXIS]; // do manual probing at lower height
  833. lcd_external_control = false;
  834. restore_ubl_active_state_and_leave();
  835. return thickness;
  836. }
  837. void unified_bed_leveling::manually_probe_remaining_mesh(const float &rx, const float &ry, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
  838. lcd_external_control = true;
  839. save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
  840. do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
  841. lcd_return_to_status();
  842. mesh_index_pair location;
  843. do {
  844. location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_NOZZLE_AS_REFERENCE, NULL);
  845. // It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
  846. if (location.x_index < 0 && location.y_index < 0) continue;
  847. const float xProbe = mesh_index_to_xpos(location.x_index),
  848. yProbe = mesh_index_to_ypos(location.y_index);
  849. if (!position_is_reachable(xProbe, yProbe)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
  850. LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
  851. do_blocking_move_to(xProbe, yProbe, Z_CLEARANCE_BETWEEN_PROBES);
  852. do_blocking_move_to_z(z_clearance);
  853. KEEPALIVE_STATE(PAUSED_FOR_USER);
  854. lcd_external_control = true;
  855. if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
  856. serialprintPGM(parser.seen('B') ? PSTR(MSG_UBL_BC_INSERT) : PSTR(MSG_UBL_BC_INSERT2));
  857. const float z_step = 0.01; // existing behavior: 0.01mm per click, occasionally step
  858. //const float z_step = 1.0 / planner.axis_steps_per_mm[Z_AXIS]; // approx one step each click
  859. while (is_lcd_clicked()) delay(50); // wait for user to release encoder wheel
  860. delay(50); // debounce
  861. while (!is_lcd_clicked()) { // we need the loop to move the nozzle based on the encoder wheel here!
  862. idle();
  863. if (encoder_diff) {
  864. do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * z_step);
  865. encoder_diff = 0;
  866. }
  867. }
  868. // this sequence to detect an is_lcd_clicked() debounce it and leave if it is
  869. // a Press and Hold is repeated in a lot of places (including G26_Mesh_Validation.cpp). This
  870. // should be redone and compressed.
  871. const millis_t nxt = millis() + 1500L;
  872. while (is_lcd_clicked()) { // debounce and watch for abort
  873. idle();
  874. if (ELAPSED(millis(), nxt)) {
  875. SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.");
  876. do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
  877. #if ENABLED(NEWPANEL)
  878. lcd_quick_feedback();
  879. while (is_lcd_clicked()) idle();
  880. lcd_external_control = false;
  881. #endif
  882. KEEPALIVE_STATE(IN_HANDLER);
  883. restore_ubl_active_state_and_leave();
  884. return;
  885. }
  886. }
  887. z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - thick;
  888. if (g29_verbose_level > 2) {
  889. SERIAL_PROTOCOLPGM("Mesh Point Measured at: ");
  890. SERIAL_PROTOCOL_F(z_values[location.x_index][location.y_index], 6);
  891. SERIAL_EOL();
  892. }
  893. } while (location.x_index >= 0 && location.y_index >= 0);
  894. if (do_ubl_mesh_map) display_map(g29_map_type);
  895. restore_ubl_active_state_and_leave();
  896. KEEPALIVE_STATE(IN_HANDLER);
  897. do_blocking_move_to(rx, ry, Z_CLEARANCE_DEPLOY_PROBE);
  898. }
  899. #endif // NEWPANEL
  900. bool unified_bed_leveling::g29_parameter_parsing() {
  901. bool err_flag = false;
  902. #if ENABLED(NEWPANEL)
  903. LCD_MESSAGEPGM(MSG_UBL_DOING_G29);
  904. lcd_quick_feedback();
  905. #endif
  906. g29_constant = 0.0;
  907. g29_repetition_cnt = 0;
  908. g29_x_flag = parser.seenval('X');
  909. g29_x_pos = g29_x_flag ? parser.value_float() : current_position[X_AXIS];
  910. g29_y_flag = parser.seenval('Y');
  911. g29_y_pos = g29_y_flag ? parser.value_float() : current_position[Y_AXIS];
  912. if (parser.seen('R')) {
  913. g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
  914. NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
  915. if (g29_repetition_cnt < 1) {
  916. SERIAL_PROTOCOLLNPGM("?(R)epetition count invalid (1+).\n");
  917. return UBL_ERR;
  918. }
  919. }
  920. g29_verbose_level = parser.seen('V') ? parser.value_int() : 0;
  921. if (!WITHIN(g29_verbose_level, 0, 4)) {
  922. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).\n");
  923. err_flag = true;
  924. }
  925. if (parser.seen('P')) {
  926. const int pv = parser.value_int();
  927. #if !HAS_BED_PROBE
  928. if (pv == 1) {
  929. SERIAL_PROTOCOLLNPGM("G29 P1 requires a probe.\n");
  930. err_flag = true;
  931. }
  932. else
  933. #endif
  934. {
  935. g29_phase_value = pv;
  936. if (!WITHIN(g29_phase_value, 0, 6)) {
  937. SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
  938. err_flag = true;
  939. }
  940. }
  941. }
  942. if (parser.seen('J')) {
  943. #if HAS_BED_PROBE
  944. g29_grid_size = parser.has_value() ? parser.value_int() : 0;
  945. if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) {
  946. SERIAL_PROTOCOLLNPGM("?Invalid grid size (J) specified (2-9).\n");
  947. err_flag = true;
  948. }
  949. #else
  950. SERIAL_PROTOCOLLNPGM("G29 J action requires a probe.\n");
  951. err_flag = true;
  952. #endif
  953. }
  954. if (g29_x_flag != g29_y_flag) {
  955. SERIAL_PROTOCOLLNPGM("Both X & Y locations must be specified.\n");
  956. err_flag = true;
  957. }
  958. // If X or Y are not valid, use center of the bed values
  959. if (!WITHIN(g29_x_pos, X_MIN_BED, X_MAX_BED)) g29_x_pos = X_CENTER;
  960. if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER;
  961. if (err_flag) return UBL_ERR;
  962. /**
  963. * Activate or deactivate UBL
  964. * Note: UBL's G29 restores the state set here when done.
  965. * Leveling is being enabled here with old data, possibly
  966. * none. Error handling should disable for safety...
  967. */
  968. if (parser.seen('A')) {
  969. if (parser.seen('D')) {
  970. SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
  971. return UBL_ERR;
  972. }
  973. set_bed_leveling_enabled(true);
  974. report_state();
  975. }
  976. else if (parser.seen('D')) {
  977. set_bed_leveling_enabled(false);
  978. report_state();
  979. }
  980. // Set global 'C' flag and its value
  981. if ((g29_c_flag = parser.seen('C')))
  982. g29_constant = parser.value_float();
  983. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  984. if (parser.seenval('F')) {
  985. const float fh = parser.value_float();
  986. if (!WITHIN(fh, 0.0, 100.0)) {
  987. SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
  988. return UBL_ERR;
  989. }
  990. set_z_fade_height(fh);
  991. }
  992. #endif
  993. g29_map_type = parser.intval('T');
  994. if (!WITHIN(g29_map_type, 0, 2)) {
  995. SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
  996. return UBL_ERR;
  997. }
  998. return UBL_OK;
  999. }
  1000. static int ubl_state_at_invocation = 0,
  1001. ubl_state_recursion_chk = 0;
  1002. void unified_bed_leveling::save_ubl_active_state_and_disable() {
  1003. ubl_state_recursion_chk++;
  1004. if (ubl_state_recursion_chk != 1) {
  1005. SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
  1006. #if ENABLED(NEWPANEL)
  1007. LCD_MESSAGEPGM(MSG_UBL_SAVE_ERROR);
  1008. lcd_quick_feedback();
  1009. #endif
  1010. return;
  1011. }
  1012. ubl_state_at_invocation = planner.leveling_active;
  1013. set_bed_leveling_enabled(false);
  1014. }
  1015. void unified_bed_leveling::restore_ubl_active_state_and_leave() {
  1016. if (--ubl_state_recursion_chk) {
  1017. SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
  1018. #if ENABLED(NEWPANEL)
  1019. LCD_MESSAGEPGM(MSG_UBL_RESTORE_ERROR);
  1020. lcd_quick_feedback();
  1021. #endif
  1022. return;
  1023. }
  1024. set_bed_leveling_enabled(ubl_state_at_invocation);
  1025. }
  1026. /**
  1027. * Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
  1028. * good to have the extra information. Soon... we prune this to just a few items
  1029. */
  1030. void unified_bed_leveling::g29_what_command() {
  1031. report_state();
  1032. if (storage_slot == -1)
  1033. SERIAL_PROTOCOLPGM("No Mesh Loaded.");
  1034. else {
  1035. SERIAL_PROTOCOLPAIR("Mesh ", storage_slot);
  1036. SERIAL_PROTOCOLPGM(" Loaded.");
  1037. }
  1038. SERIAL_EOL();
  1039. safe_delay(50);
  1040. SERIAL_PROTOCOLLNPAIR("UBL object count: ", (int)ubl_cnt);
  1041. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  1042. SERIAL_PROTOCOL("planner.z_fade_height : ");
  1043. SERIAL_PROTOCOL_F(planner.z_fade_height, 4);
  1044. SERIAL_EOL();
  1045. #endif
  1046. find_mean_mesh_height();
  1047. #if HAS_BED_PROBE
  1048. SERIAL_PROTOCOLPGM("zprobe_zoffset: ");
  1049. SERIAL_PROTOCOL_F(zprobe_zoffset, 7);
  1050. SERIAL_EOL();
  1051. #endif
  1052. SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X);
  1053. SERIAL_ECHOLNPAIR("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y);
  1054. safe_delay(25);
  1055. SERIAL_ECHOLNPAIR("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X);
  1056. SERIAL_ECHOLNPAIR("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y);
  1057. safe_delay(25);
  1058. SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X);
  1059. SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y);
  1060. safe_delay(25);
  1061. SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST);
  1062. SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST);
  1063. safe_delay(25);
  1064. SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
  1065. for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
  1066. SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3);
  1067. SERIAL_PROTOCOLPGM(" ");
  1068. safe_delay(25);
  1069. }
  1070. SERIAL_EOL();
  1071. SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
  1072. for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; i++) {
  1073. SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3);
  1074. SERIAL_PROTOCOLPGM(" ");
  1075. safe_delay(25);
  1076. }
  1077. SERIAL_EOL();
  1078. #if HAS_KILL
  1079. SERIAL_PROTOCOLPAIR("Kill pin on :", KILL_PIN);
  1080. SERIAL_PROTOCOLLNPAIR(" state:", READ(KILL_PIN));
  1081. #endif
  1082. SERIAL_EOL();
  1083. safe_delay(50);
  1084. SERIAL_PROTOCOLLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation);
  1085. SERIAL_EOL();
  1086. SERIAL_PROTOCOLLNPAIR("ubl_state_recursion_chk :", ubl_state_recursion_chk);
  1087. SERIAL_EOL();
  1088. safe_delay(50);
  1089. SERIAL_PROTOCOLPAIR("Meshes go from ", hex_address((void*)settings.get_start_of_meshes()));
  1090. SERIAL_PROTOCOLLNPAIR(" to ", hex_address((void*)settings.get_end_of_meshes()));
  1091. safe_delay(50);
  1092. SERIAL_PROTOCOLLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl));
  1093. SERIAL_EOL();
  1094. SERIAL_PROTOCOLLNPAIR("z_value[][] size: ", (int)sizeof(z_values));
  1095. SERIAL_EOL();
  1096. safe_delay(25);
  1097. SERIAL_PROTOCOLLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.get_end_of_meshes() - settings.get_start_of_meshes())));
  1098. safe_delay(50);
  1099. SERIAL_PROTOCOLPAIR("EEPROM can hold ", settings.calc_num_meshes());
  1100. SERIAL_PROTOCOLLNPGM(" meshes.\n");
  1101. safe_delay(25);
  1102. if (!sanity_check()) {
  1103. echo_name();
  1104. SERIAL_PROTOCOLLNPGM(" sanity checks passed.");
  1105. }
  1106. }
  1107. /**
  1108. * When we are fully debugged, the EEPROM dump command will get deleted also. But
  1109. * right now, it is good to have the extra information. Soon... we prune this.
  1110. */
  1111. void unified_bed_leveling::g29_eeprom_dump() {
  1112. unsigned char cccc;
  1113. unsigned int kkkk; // Needs to be of unspecfied size to compile clean on all platforms
  1114. SERIAL_ECHO_START();
  1115. SERIAL_ECHOLNPGM("EEPROM Dump:");
  1116. for (uint16_t i = 0; i < E2END + 1; i += 16) {
  1117. if (!(i & 0x3)) idle();
  1118. print_hex_word(i);
  1119. SERIAL_ECHOPGM(": ");
  1120. for (uint16_t j = 0; j < 16; j++) {
  1121. kkkk = i + j;
  1122. eeprom_read_block(&cccc, (const void *) kkkk, sizeof(unsigned char));
  1123. print_hex_byte(cccc);
  1124. SERIAL_ECHO(' ');
  1125. }
  1126. SERIAL_EOL();
  1127. }
  1128. SERIAL_EOL();
  1129. }
  1130. /**
  1131. * When we are fully debugged, this may go away. But there are some valid
  1132. * use cases for the users. So we can wait and see what to do with it.
  1133. */
  1134. void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() {
  1135. int16_t a = settings.calc_num_meshes();
  1136. if (!a) {
  1137. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  1138. return;
  1139. }
  1140. if (!parser.has_value()) {
  1141. SERIAL_PROTOCOLLNPGM("?Storage slot # required.");
  1142. SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
  1143. return;
  1144. }
  1145. g29_storage_slot = parser.value_int();
  1146. if (!WITHIN(g29_storage_slot, 0, a - 1)) {
  1147. SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
  1148. SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
  1149. return;
  1150. }
  1151. float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  1152. settings.load_mesh(g29_storage_slot, &tmp_z_values);
  1153. SERIAL_PROTOCOLPAIR("Subtracting mesh in slot ", g29_storage_slot);
  1154. SERIAL_PROTOCOLLNPGM(" from current mesh.");
  1155. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  1156. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  1157. z_values[x][y] -= tmp_z_values[x][y];
  1158. }
  1159. mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
  1160. bool found_a_NAN = false;
  1161. bool found_a_real = false;
  1162. mesh_index_pair out_mesh;
  1163. out_mesh.x_index = out_mesh.y_index = -1;
  1164. out_mesh.distance = -99999.99;
  1165. for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
  1166. for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
  1167. if ( isnan(z_values[i][j])) { // Check to see if this location holds an invalid mesh point
  1168. const float mx = mesh_index_to_xpos(i),
  1169. my = mesh_index_to_ypos(j);
  1170. if ( !position_is_reachable_by_probe(mx, my)) // make sure the probe can get to the mesh point
  1171. continue;
  1172. found_a_NAN = true;
  1173. int8_t closest_x=-1, closest_y=-1;
  1174. float d1, d2 = 99999.9;
  1175. for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
  1176. for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
  1177. if (!isnan(z_values[k][l])) {
  1178. found_a_real = true;
  1179. // Add in a random weighting factor that scrambles the probing of the
  1180. // last half of the mesh (when every unprobed mesh point is one index
  1181. // from a probed location).
  1182. d1 = HYPOT(i - k, j - l) + (1.0 / ((millis() % 47) + 13));
  1183. if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l)
  1184. d2 = d1; // found a closer location with
  1185. closest_x = i; // an assigned mesh point value
  1186. closest_y = j;
  1187. }
  1188. }
  1189. }
  1190. }
  1191. //
  1192. // at this point d2 should have the closest defined mesh point to invalid mesh point (i,j)
  1193. //
  1194. if (found_a_real && (closest_x >= 0) && (d2 > out_mesh.distance)) {
  1195. out_mesh.distance = d2; // found an invalid location with a greater distance
  1196. out_mesh.x_index = closest_x; // to a defined mesh point
  1197. out_mesh.y_index = closest_y;
  1198. }
  1199. }
  1200. } // for j
  1201. } // for i
  1202. if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing
  1203. out_mesh.x_index = GRID_MAX_POINTS_X / 2;
  1204. out_mesh.y_index = GRID_MAX_POINTS_Y / 2;
  1205. out_mesh.distance = 1.0;
  1206. }
  1207. return out_mesh;
  1208. }
  1209. mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) {
  1210. mesh_index_pair out_mesh;
  1211. out_mesh.x_index = out_mesh.y_index = -1;
  1212. out_mesh.distance = -99999.9;
  1213. // Get our reference position. Either the nozzle or probe location.
  1214. const float px = rx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
  1215. py = ry - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
  1216. float best_so_far = 99999.99;
  1217. for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
  1218. for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
  1219. if ( (type == INVALID && isnan(z_values[i][j])) // Check to see if this location holds the right thing
  1220. || (type == REAL && !isnan(z_values[i][j]))
  1221. || (type == SET_IN_BITMAP && is_bitmap_set(bits, i, j))
  1222. ) {
  1223. // We only get here if we found a Mesh Point of the specified type
  1224. const float mx = mesh_index_to_xpos(i),
  1225. my = mesh_index_to_ypos(j);
  1226. // If using the probe as the reference there are some unreachable locations.
  1227. // Also for round beds, there are grid points outside the bed the nozzle can't reach.
  1228. // Prune them from the list and ignore them till the next Phase (manual nozzle probing).
  1229. if (probe_as_reference ? !position_is_reachable_by_probe(mx, my) : !position_is_reachable(mx, my))
  1230. continue;
  1231. // Reachable. Check if it's the best_so_far location to the nozzle.
  1232. float distance = HYPOT(px - mx, py - my);
  1233. // factor in the distance from the current location for the normal case
  1234. // so the nozzle isn't running all over the bed.
  1235. distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1;
  1236. if (distance < best_so_far) {
  1237. best_so_far = distance; // We found a closer location with
  1238. out_mesh.x_index = i; // the specified type of mesh value.
  1239. out_mesh.y_index = j;
  1240. out_mesh.distance = best_so_far;
  1241. }
  1242. }
  1243. } // for j
  1244. } // for i
  1245. return out_mesh;
  1246. }
  1247. #if ENABLED(NEWPANEL)
  1248. void unified_bed_leveling::fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) {
  1249. if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
  1250. g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
  1251. #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
  1252. const bool is_offset = parser.seen('H');
  1253. const float h_offset = is_offset ? parser.value_linear_units() : Z_CLEARANCE_BETWEEN_PROBES;
  1254. if (is_offset && !WITHIN(h_offset, 0, 10)) {
  1255. SERIAL_PROTOCOLLNPGM("Offset out of bounds. (0 to 10mm)\n");
  1256. return;
  1257. }
  1258. #endif
  1259. mesh_index_pair location;
  1260. if (!position_is_reachable(rx, ry)) {
  1261. SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
  1262. return;
  1263. }
  1264. save_ubl_active_state_and_disable();
  1265. LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
  1266. do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
  1267. uint16_t not_done[16];
  1268. memset(not_done, 0xFF, sizeof(not_done));
  1269. do {
  1270. location = find_closest_mesh_point_of_type(SET_IN_BITMAP, rx, ry, USE_NOZZLE_AS_REFERENCE, not_done);
  1271. if (location.x_index < 0) break; // stop when we can't find any more reachable points.
  1272. bitmap_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
  1273. // different location the next time through the loop
  1274. const float rawx = mesh_index_to_xpos(location.x_index),
  1275. rawy = mesh_index_to_ypos(location.y_index);
  1276. if (!position_is_reachable(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
  1277. break;
  1278. float new_z = z_values[location.x_index][location.y_index];
  1279. if (isnan(new_z)) // if the mesh point is invalid, set it to 0.0 so it can be edited
  1280. new_z = 0.0;
  1281. do_blocking_move_to(rawx, rawy, Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to the edit point
  1282. new_z = FLOOR(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place
  1283. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1284. lcd_external_control = true;
  1285. if (do_ubl_mesh_map) display_map(g29_map_type); // show the user which point is being adjusted
  1286. lcd_refresh();
  1287. lcd_mesh_edit_setup(new_z);
  1288. do {
  1289. new_z = lcd_mesh_edit();
  1290. #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
  1291. do_blocking_move_to_z(h_offset + new_z); // Move the nozzle as the point is edited
  1292. #endif
  1293. idle();
  1294. } while (!is_lcd_clicked());
  1295. if (!lcd_map_control) lcd_return_to_status();
  1296. // The technique used here generates a race condition for the encoder click.
  1297. // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) or here.
  1298. // Let's work on specifying a proper API for the LCD ASAP, OK?
  1299. lcd_external_control = true;
  1300. // this sequence to detect an is_lcd_clicked() debounce it and leave if it is
  1301. // a Press and Hold is repeated in a lot of places (including G26_Mesh_Validation.cpp). This
  1302. // should be redone and compressed.
  1303. const millis_t nxt = millis() + 1500UL;
  1304. while (is_lcd_clicked()) { // debounce and watch for abort
  1305. idle();
  1306. if (ELAPSED(millis(), nxt)) {
  1307. lcd_return_to_status();
  1308. do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
  1309. LCD_MESSAGEPGM(MSG_EDITING_STOPPED);
  1310. while (is_lcd_clicked()) idle();
  1311. goto FINE_TUNE_EXIT;
  1312. }
  1313. }
  1314. safe_delay(20); // We don't want any switch noise.
  1315. z_values[location.x_index][location.y_index] = new_z;
  1316. lcd_refresh();
  1317. } while (location.x_index >= 0 && --g29_repetition_cnt > 0);
  1318. FINE_TUNE_EXIT:
  1319. lcd_external_control = false;
  1320. KEEPALIVE_STATE(IN_HANDLER);
  1321. if (do_ubl_mesh_map) display_map(g29_map_type);
  1322. restore_ubl_active_state_and_leave();
  1323. do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
  1324. LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
  1325. SERIAL_ECHOLNPGM("Done Editing Mesh");
  1326. if (lcd_map_control)
  1327. lcd_goto_screen(_lcd_ubl_output_map_lcd);
  1328. else
  1329. lcd_return_to_status();
  1330. }
  1331. #endif // NEWPANEL
  1332. /**
  1333. * 'Smart Fill': Scan from the outward edges of the mesh towards the center.
  1334. * If an invalid location is found, use the next two points (if valid) to
  1335. * calculate a 'reasonable' value for the unprobed mesh point.
  1336. */
  1337. bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
  1338. const int8_t x1 = x + xdir, x2 = x1 + xdir,
  1339. y1 = y + ydir, y2 = y1 + ydir;
  1340. // A NAN next to a pair of real values?
  1341. if (isnan(z_values[x][y]) && !isnan(z_values[x1][y1]) && !isnan(z_values[x2][y2])) {
  1342. if (z_values[x1][y1] < z_values[x2][y2]) // Angled downward?
  1343. z_values[x][y] = z_values[x1][y1]; // Use nearest (maybe a little too high.)
  1344. else
  1345. z_values[x][y] = 2.0 * z_values[x1][y1] - z_values[x2][y2]; // Angled upward...
  1346. return true;
  1347. }
  1348. return false;
  1349. }
  1350. typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
  1351. void unified_bed_leveling::smart_fill_mesh() {
  1352. static const smart_fill_info
  1353. info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up
  1354. info1 PROGMEM = { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down
  1355. info2 PROGMEM = { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right
  1356. info3 PROGMEM = { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left
  1357. static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 };
  1358. for (uint8_t i = 0; i < COUNT(info); ++i) {
  1359. const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]);
  1360. const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy),
  1361. ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey);
  1362. if (pgm_read_byte(&f->yfirst)) {
  1363. const int8_t dir = ex > sx ? 1 : -1;
  1364. for (uint8_t y = sy; y != ey; ++y)
  1365. for (uint8_t x = sx; x != ex; x += dir)
  1366. if (smart_fill_one(x, y, dir, 0)) break;
  1367. }
  1368. else {
  1369. const int8_t dir = ey > sy ? 1 : -1;
  1370. for (uint8_t x = sx; x != ex; ++x)
  1371. for (uint8_t y = sy; y != ey; y += dir)
  1372. if (smart_fill_one(x, y, 0, dir)) break;
  1373. }
  1374. }
  1375. }
  1376. #if HAS_BED_PROBE
  1377. void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
  1378. constexpr int16_t x_min = max(MIN_PROBE_X, MESH_MIN_X),
  1379. x_max = min(MAX_PROBE_X, MESH_MAX_X),
  1380. y_min = max(MIN_PROBE_Y, MESH_MIN_Y),
  1381. y_max = min(MAX_PROBE_Y, MESH_MAX_Y);
  1382. const float dx = float(x_max - x_min) / (g29_grid_size - 1.0),
  1383. dy = float(y_max - y_min) / (g29_grid_size - 1.0);
  1384. struct linear_fit_data lsf_results;
  1385. incremental_LSF_reset(&lsf_results);
  1386. bool zig_zag = false;
  1387. for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
  1388. const float rx = float(x_min) + ix * dx;
  1389. for (int8_t iy = 0; iy < g29_grid_size; iy++) {
  1390. const float ry = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
  1391. float measured_z = probe_pt(rx, ry, parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
  1392. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1393. if (DEBUGGING(LEVELING)) {
  1394. SERIAL_CHAR('(');
  1395. SERIAL_PROTOCOL_F(rx, 7);
  1396. SERIAL_CHAR(',');
  1397. SERIAL_PROTOCOL_F(ry, 7);
  1398. SERIAL_ECHOPGM(") logical: ");
  1399. SERIAL_CHAR('(');
  1400. SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 7);
  1401. SERIAL_CHAR(',');
  1402. SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 7);
  1403. SERIAL_ECHOPGM(") measured: ");
  1404. SERIAL_PROTOCOL_F(measured_z, 7);
  1405. SERIAL_ECHOPGM(" correction: ");
  1406. SERIAL_PROTOCOL_F(get_z_correction(rx, ry), 7);
  1407. }
  1408. #endif
  1409. measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ;
  1410. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1411. if (DEBUGGING(LEVELING)) {
  1412. SERIAL_ECHOPGM(" final >>>---> ");
  1413. SERIAL_PROTOCOL_F(measured_z, 7);
  1414. SERIAL_EOL();
  1415. }
  1416. #endif
  1417. incremental_LSF(&lsf_results, rx, ry, measured_z);
  1418. }
  1419. zig_zag ^= true;
  1420. }
  1421. if (finish_incremental_LSF(&lsf_results)) {
  1422. SERIAL_ECHOPGM("Could not complete LSF!");
  1423. return;
  1424. }
  1425. if (g29_verbose_level > 3) {
  1426. SERIAL_ECHOPGM("LSF Results A=");
  1427. SERIAL_PROTOCOL_F(lsf_results.A, 7);
  1428. SERIAL_ECHOPGM(" B=");
  1429. SERIAL_PROTOCOL_F(lsf_results.B, 7);
  1430. SERIAL_ECHOPGM(" D=");
  1431. SERIAL_PROTOCOL_F(lsf_results.D, 7);
  1432. SERIAL_EOL();
  1433. }
  1434. vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal();
  1435. if (g29_verbose_level > 2) {
  1436. SERIAL_ECHOPGM("bed plane normal = [");
  1437. SERIAL_PROTOCOL_F(normal.x, 7);
  1438. SERIAL_PROTOCOLCHAR(',');
  1439. SERIAL_PROTOCOL_F(normal.y, 7);
  1440. SERIAL_PROTOCOLCHAR(',');
  1441. SERIAL_PROTOCOL_F(normal.z, 7);
  1442. SERIAL_ECHOLNPGM("]");
  1443. }
  1444. matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1));
  1445. for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
  1446. for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
  1447. float x_tmp = mesh_index_to_xpos(i),
  1448. y_tmp = mesh_index_to_ypos(j),
  1449. z_tmp = z_values[i][j];
  1450. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1451. if (DEBUGGING(LEVELING)) {
  1452. SERIAL_ECHOPGM("before rotation = [");
  1453. SERIAL_PROTOCOL_F(x_tmp, 7);
  1454. SERIAL_PROTOCOLCHAR(',');
  1455. SERIAL_PROTOCOL_F(y_tmp, 7);
  1456. SERIAL_PROTOCOLCHAR(',');
  1457. SERIAL_PROTOCOL_F(z_tmp, 7);
  1458. SERIAL_ECHOPGM("] ---> ");
  1459. safe_delay(20);
  1460. }
  1461. #endif
  1462. apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
  1463. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1464. if (DEBUGGING(LEVELING)) {
  1465. SERIAL_ECHOPGM("after rotation = [");
  1466. SERIAL_PROTOCOL_F(x_tmp, 7);
  1467. SERIAL_PROTOCOLCHAR(',');
  1468. SERIAL_PROTOCOL_F(y_tmp, 7);
  1469. SERIAL_PROTOCOLCHAR(',');
  1470. SERIAL_PROTOCOL_F(z_tmp, 7);
  1471. SERIAL_ECHOLNPGM("]");
  1472. safe_delay(55);
  1473. }
  1474. #endif
  1475. z_values[i][j] += z_tmp - lsf_results.D;
  1476. }
  1477. }
  1478. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1479. if (DEBUGGING(LEVELING)) {
  1480. rotation.debug(PSTR("rotation matrix:"));
  1481. SERIAL_ECHOPGM("LSF Results A=");
  1482. SERIAL_PROTOCOL_F(lsf_results.A, 7);
  1483. SERIAL_ECHOPGM(" B=");
  1484. SERIAL_PROTOCOL_F(lsf_results.B, 7);
  1485. SERIAL_ECHOPGM(" D=");
  1486. SERIAL_PROTOCOL_F(lsf_results.D, 7);
  1487. SERIAL_EOL();
  1488. safe_delay(55);
  1489. SERIAL_ECHOPGM("bed plane normal = [");
  1490. SERIAL_PROTOCOL_F(normal.x, 7);
  1491. SERIAL_PROTOCOLCHAR(',');
  1492. SERIAL_PROTOCOL_F(normal.y, 7);
  1493. SERIAL_PROTOCOLCHAR(',');
  1494. SERIAL_PROTOCOL_F(normal.z, 7);
  1495. SERIAL_ECHOPGM("]\n");
  1496. SERIAL_EOL();
  1497. }
  1498. #endif
  1499. if (do_ubl_mesh_map) display_map(g29_map_type);
  1500. }
  1501. #endif // HAS_BED_PROBE
  1502. #if ENABLED(UBL_G29_P31)
  1503. void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) {
  1504. // For each undefined mesh point, compute a distance-weighted least squares fit
  1505. // from all the originally populated mesh points, weighted toward the point
  1506. // being extrapolated so that nearby points will have greater influence on
  1507. // the point being extrapolated. Then extrapolate the mesh point from WLSF.
  1508. static_assert(GRID_MAX_POINTS_Y <= 16, "GRID_MAX_POINTS_Y too big");
  1509. uint16_t bitmap[GRID_MAX_POINTS_X] = { 0 };
  1510. struct linear_fit_data lsf_results;
  1511. SERIAL_ECHOPGM("Extrapolating mesh...");
  1512. const float weight_scaled = weight_factor * max(MESH_X_DIST, MESH_Y_DIST);
  1513. for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++)
  1514. for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++)
  1515. if (!isnan(z_values[jx][jy]))
  1516. SBI(bitmap[jx], jy);
  1517. for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) {
  1518. const float px = mesh_index_to_xpos(ix);
  1519. for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; iy++) {
  1520. const float py = mesh_index_to_ypos(iy);
  1521. if (isnan(z_values[ix][iy])) {
  1522. // undefined mesh point at (px,py), compute weighted LSF from original valid mesh points.
  1523. incremental_LSF_reset(&lsf_results);
  1524. for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) {
  1525. const float rx = mesh_index_to_xpos(jx);
  1526. for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
  1527. if (TEST(bitmap[jx], jy)) {
  1528. const float ry = mesh_index_to_ypos(jy),
  1529. rz = z_values[jx][jy],
  1530. w = 1.0 + weight_scaled / HYPOT((rx - px), (ry - py));
  1531. incremental_WLSF(&lsf_results, rx, ry, rz, w);
  1532. }
  1533. }
  1534. }
  1535. if (finish_incremental_LSF(&lsf_results)) {
  1536. SERIAL_ECHOLNPGM("Insufficient data");
  1537. return;
  1538. }
  1539. const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
  1540. z_values[ix][iy] = ez;
  1541. idle(); // housekeeping
  1542. }
  1543. }
  1544. }
  1545. SERIAL_ECHOLNPGM("done");
  1546. }
  1547. #endif // UBL_G29_P31
  1548. #endif // AUTO_BED_LEVELING_UBL