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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/>.
- *
- */
-
- #include "../../../inc/MarlinConfig.h"
-
- #if ENABLED(AUTO_BED_LEVELING_UBL)
-
- #include "../bedlevel.h"
-
- #include "../../../MarlinCore.h"
- #include "../../../HAL/shared/eeprom_api.h"
- #include "../../../libs/hex_print.h"
- #include "../../../module/settings.h"
- #include "../../../lcd/ultralcd.h"
- #include "../../../module/stepper.h"
- #include "../../../module/planner.h"
- #include "../../../module/motion.h"
- #include "../../../module/probe.h"
- #include "../../../gcode/gcode.h"
- #include "../../../libs/least_squares_fit.h"
-
- #if HAS_MULTI_HOTEND
- #include "../../../module/tool_change.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../../core/debug_out.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../../lcd/extui/ui_api.h"
- #endif
-
- #include <math.h>
-
- #define UBL_G29_P31
-
- #if HAS_LCD_MENU
-
- bool unified_bed_leveling::lcd_map_control = false;
-
- void unified_bed_leveling::steppers_were_disabled() {
- if (lcd_map_control) {
- lcd_map_control = false;
- ui.defer_status_screen(false);
- }
- }
-
- void ubl_map_screen();
-
- #endif
-
- #define SIZE_OF_LITTLE_RAISE 1
- #define BIG_RAISE_NOT_NEEDED 0
-
- int unified_bed_leveling::g29_verbose_level,
- unified_bed_leveling::g29_phase_value,
- unified_bed_leveling::g29_repetition_cnt,
- unified_bed_leveling::g29_storage_slot = 0,
- unified_bed_leveling::g29_map_type;
- bool unified_bed_leveling::g29_c_flag;
- float unified_bed_leveling::g29_card_thickness = 0,
- unified_bed_leveling::g29_constant = 0;
- xy_bool_t unified_bed_leveling::xy_seen;
- xy_pos_t unified_bed_leveling::g29_pos;
-
- #if HAS_BED_PROBE
- int unified_bed_leveling::g29_grid_size;
- #endif
-
- /**
- * G29: Unified Bed Leveling by Roxy
- *
- * Parameters understood by this leveling system:
- *
- * A Activate Activate the Unified Bed Leveling system.
- *
- * B # Business Use the 'Business Card' mode of the Manual Probe subsystem with P2.
- * Note: A non-compressible Spark Gap feeler gauge is recommended over a business card.
- * In this mode of G29 P2, a business or index card is used as a shim that the nozzle can
- * grab onto as it is lowered. In principle, the nozzle-bed distance is the same when the
- * same resistance is felt in the shim. You can omit the numerical value on first invocation
- * of G29 P2 B to measure shim thickness. Subsequent use of 'B' will apply the previously-
- * measured thickness by default.
- *
- * C Continue G29 P1 C continues the generation of a partially-constructed Mesh without invalidating
- * previous measurements.
- *
- * C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle
- * location in its search for the closest unmeasured Mesh Point. Instead, attempt to
- * start at one end of the uprobed points and Continue sequentially.
- *
- * G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value.
- *
- * C Current G29 Z C uses the Current location (instead of bed center or nearest edge).
- *
- * D Disable Disable the Unified Bed Leveling system.
- *
- * E Stow_probe Stow the probe after each sampled point.
- *
- * F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the
- * specified height, no correction is applied and natural printer kenimatics take over. If no
- * number is specified for the command, 10mm is assumed to be reasonable.
- *
- * H # Height With P2, 'H' specifies the Height to raise the nozzle after each manual probe of the bed.
- * If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES.
- *
- * H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle.
- * If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used.
- *
- * I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted,
- * the nozzle location is used. If no 'I' value is given, only the point nearest to the location
- * is invalidated. Use 'T' to produce a map afterward. This command is useful to invalidate a
- * portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate
- * an isolated bad mesh point, the 'T' option shows the nozzle position in the Mesh with (#). You
- * can move the nozzle around and use this feature to select the center of the area (or cell) to
- * invalidate.
- *
- * J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side.
- * Not specifying a grid size will invoke the 3-Point leveling function.
- *
- * L Load Load Mesh from the previously activated location in the EEPROM.
- *
- * L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated
- * for subsequent Load and Store operations.
- *
- * The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will
- * start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with
- * each additional Phase that processes it.
- *
- * P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the
- * 3D Printer to the same state it was in before the Unified Bed Leveling Compensation
- * was turned on. Setting the entire Mesh to Zero is a special case that allows
- * a subsequent G or T leveling operation for backward compatibility.
- *
- * P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using
- * the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. For delta
- * printers only the areas where the probe and nozzle can both reach will be automatically probed.
- *
- * Unreachable points will be handled in Phase 2 and Phase 3.
- *
- * Use 'C' to leave the previous mesh intact and automatically probe needed points. This allows you
- * to invalidate parts of the Mesh but still use Automatic Probing.
- *
- * The 'X' and 'Y' parameters prioritize where to try and measure points. If omitted, the current
- * probe position is used.
- *
- * Use 'T' (Topology) to generate a report of mesh generation.
- *
- * P1 will suspend Mesh generation if the controller button is held down. Note that you may need
- * to press and hold the switch for several seconds if moves are underway.
- *
- * P2 Phase 2 Probe unreachable points.
- *
- * Use 'H' to set the height between Mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used.
- * Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the
- * nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer!
- * (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.)
- *
- * The 'H' value can be negative if the Mesh dips in a large area. Press and hold the
- * controller button to terminate the current Phase 2 command. You can then re-issue "G29 P 2"
- * with an 'H' parameter more suitable for the area you're manually probing. Note that the command
- * tries to start in a corner of the bed where movement will be predictable. Override the distance
- * calculation location with the X and Y parameters. You can print a Mesh Map (G29 T) to see where
- * the mesh is invalidated and where the nozzle needs to move to complete the command. Use 'C' to
- * indicate that the search should be based on the current position.
- *
- * The 'B' parameter for this command is described above. It places the manual probe subsystem into
- * Business Card mode where the thickness of a business card is measured and then used to accurately
- * set the nozzle height in all manual probing for the duration of the command. A Business card can
- * be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it
- * easier to produce similar amounts of force and get more accurate measurements. Google if you're
- * not sure how to use a shim.
- *
- * The 'T' (Map) parameter helps track Mesh building progress.
- *
- * NOTE: P2 requires an LCD controller!
- *
- * P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths to
- * go down:
- *
- * - If a 'C' constant is specified, the closest invalid mesh points to the nozzle will be filled,
- * and a repeat count can then also be specified with 'R'.
- *
- * - Leaving out 'C' invokes Smart Fill, which scans the mesh from the edges inward looking for
- * invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped
- * upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's
- * replaced by a value that puts all three points in a line. This version of G29 P3 is a quick, easy
- * and (usually) safe way to populate unprobed mesh regions before continuing to G26 Mesh Validation
- * Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution.
- *
- * P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assumes the existence of
- * an LCD Panel. It is possible to fine tune the mesh without an LCD Panel using
- * G42 and M421. See the UBL documentation for further details.
- *
- * Phase 4 is meant to be used with G26 Mesh Validation to fine tune the mesh by direct editing
- * of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable
- * adhesion.
- *
- * P4 moves to the closest Mesh Point (and/or the given X Y), raises the nozzle above the mesh height
- * by the given 'H' offset (or default 0), and waits while the controller is used to adjust the nozzle
- * height. On click the displayed height is saved in the mesh.
- *
- * Start Phase 4 at a specific location with X and Y. Adjust a specific number of Mesh Points with
- * the 'R' (Repeat) parameter. (If 'R' is left out, the whole matrix is assumed.) This command can be
- * terminated early (e.g., after editing the area of interest) by pressing and holding the encoder button.
- *
- * The general form is G29 P4 [R points] [X position] [Y position]
- *
- * The H [offset] parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the
- * command would be G29 P4 H0.4. The nozzle is moved to the shim height, you adjust height to the shim,
- * and on click the height minus the shim thickness will be saved in the mesh.
- *
- * !!Use with caution, as a very poor mesh could cause the nozzle to crash into the bed!!
- *
- * NOTE: P4 is not available unless you have LCD support enabled!
- *
- * P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and
- * work with the Mesh if it is Mean Adjusted. You can specify a C parameter to
- * Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically
- * execute a G29 P6 C <mean height>.
- *
- * P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified
- * with the C parameter. Being able to adjust the height of a Mesh is useful tool. It
- * can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally,
- * you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring
- * 0.000 at the Z Home location.
- *
- * Q Test Load specified Test Pattern to assist in checking correct operation of system. This
- * command is not anticipated to be of much value to the typical user. It is intended
- * for developers to help them verify correct operation of the Unified Bed Leveling System.
- *
- * R # Repeat Repeat this command the specified number of times. If no number is specified the
- * command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times.
- *
- * S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the
- * current state of the Unified Bed Leveling system in the EEPROM.
- *
- * S # Store Store the current Mesh at the specified location in EEPROM. Activate this location
- * for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
- * extend to a limit related to the available EEPROM storage.
- *
- * S -1 Store Print the current Mesh as G-code that can be used to restore the mesh anytime.
- *
- * T Topology Display the Mesh Map Topology.
- * 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands.
- * This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O)
- * This parameter can also specify a Map Type. T0 (the default) is user-readable. T1
- * is suitable to paste into a spreadsheet for a 3D graph of the mesh.
- *
- * U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds.
- * Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful
- * when the entire bed doesn't need to be probed because it will be adjusted.
- *
- * V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0)
- *
- * X # X Location for this command
- *
- * Y # Y Location for this command
- *
- * With UBL_DEVEL_DEBUGGING:
- *
- * K # Kompare Kompare current Mesh with stored Mesh #, replacing current Mesh with the result.
- * This command literally performs a diff between two Meshes.
- *
- * Q-1 Dump EEPROM Dump the UBL contents stored in EEPROM as HEX format. Useful for developers to help
- * verify correct operation of the UBL.
- *
- * W What? Display valuable UBL data.
- *
- *
- * Release Notes:
- * You MUST do M502, M500 to initialize the storage. Failure to do this will cause all
- * kinds of problems. Enabling EEPROM Storage is required.
- *
- * When you do a G28 and G29 P1 to automatically build your first mesh, you are going to notice that
- * UBL probes points increasingly further from the starting location. (The starting location defaults
- * to the center of the bed.) In contrast, ABL and MBL follow a zigzag pattern. The spiral pattern is
- * especially better for Delta printers, since it populates the center of the mesh first, allowing for
- * a quicker test print to verify settings. You don't need to populate the entire mesh to use it.
- * After all, you don't want to spend a lot of time generating a mesh only to realize the resolution
- * or probe offsets are incorrect. Mesh-generation gathers points starting closest to the nozzle unless
- * an (X,Y) coordinate pair is given.
- *
- * Unified Bed Leveling uses a lot of EEPROM storage to hold its data, and it takes some effort to get
- * the mesh just right. To prevent this valuable data from being destroyed as the EEPROM structure
- * evolves, UBL stores all mesh data at the end of EEPROM.
- *
- * UBL is founded on Edward Patel's Mesh Bed Leveling code. A big 'Thanks!' to him and the creators of
- * 3-Point and Grid Based leveling. Combining their contributions we now have the functionality and
- * features of all three systems combined.
- */
-
- void unified_bed_leveling::G29() {
-
- bool probe_deployed = false;
- if (g29_parameter_parsing()) return; // Abort on parameter error
-
- const int8_t p_val = parser.intval('P', -1);
- const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J');
- TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index = active_extruder);
-
- // Check for commands that require the printer to be homed
- if (may_move) {
- planner.synchronize();
- if (axes_should_home()) gcode.home_all_axes();
- TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0));
- }
-
- // Invalidate Mesh Points. This command is a little bit asymmetrical because
- // it directly specifies the repetition count and does not use the 'R' parameter.
- if (parser.seen('I')) {
- uint8_t cnt = 0;
- g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1;
- if (g29_repetition_cnt >= GRID_MAX_POINTS) {
- set_all_mesh_points_to_value(NAN);
- }
- else {
- while (g29_repetition_cnt--) {
- if (cnt > 20) { cnt = 0; idle(); }
- const mesh_index_pair closest = find_closest_mesh_point_of_type(REAL, g29_pos);
- const xy_int8_t &cpos = closest.pos;
- if (cpos.x < 0) {
- // No more REAL mesh points to invalidate, so we ASSUME the user
- // meant to invalidate the ENTIRE mesh, which cannot be done with
- // find_closest_mesh_point loop which only returns REAL points.
- set_all_mesh_points_to_value(NAN);
- SERIAL_ECHOLNPGM("Entire Mesh invalidated.\n");
- break; // No more invalid Mesh Points to populate
- }
- z_values[cpos.x][cpos.y] = NAN;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(cpos, 0.0f));
- cnt++;
- }
- }
- SERIAL_ECHOLNPGM("Locations invalidated.\n");
- }
-
- if (parser.seen('Q')) {
- const int test_pattern = parser.has_value() ? parser.value_int() : -99;
- if (!WITHIN(test_pattern, -1, 2)) {
- SERIAL_ECHOLNPGM("Invalid test_pattern value. (-1 to 2)\n");
- return;
- }
- SERIAL_ECHOLNPGM("Loading test_pattern values.\n");
- switch (test_pattern) {
-
- #if ENABLED(UBL_DEVEL_DEBUGGING)
- case -1:
- g29_eeprom_dump();
- break;
- #endif
-
- case 0:
- GRID_LOOP(x, y) { // Create a bowl shape similar to a poorly-calibrated Delta
- const float p1 = 0.5f * (GRID_MAX_POINTS_X) - x,
- p2 = 0.5f * (GRID_MAX_POINTS_Y) - y;
- z_values[x][y] += 2.0f * HYPOT(p1, p2);
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
- }
- break;
-
- case 1:
- LOOP_L_N(x, GRID_MAX_POINTS_X) { // Create a diagonal line several Mesh cells thick that is raised
- z_values[x][x] += 9.999f;
- z_values[x][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1] += 9.999f; // We want the altered line several mesh points thick
- #if ENABLED(EXTENSIBLE_UI)
- ExtUI::onMeshUpdate(x, x, z_values[x][x]);
- ExtUI::onMeshUpdate(x, (x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1), z_values[x][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1]);
- #endif
-
- }
- break;
-
- case 2:
- // Allow the user to specify the height because 10mm is a little extreme in some cases.
- for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in
- for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) { // the center of the bed
- z_values[x][y] += parser.seen('C') ? g29_constant : 9.99f;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
- }
- break;
- }
- }
-
- #if HAS_BED_PROBE
-
- if (parser.seen('J')) {
- save_ubl_active_state_and_disable();
- tilt_mesh_based_on_probed_grid(g29_grid_size == 0); // Zero size does 3-Point
- restore_ubl_active_state_and_leave();
- #if ENABLED(UBL_G29_J_RECENTER)
- do_blocking_move_to_xy(0.5f * ((MESH_MIN_X) + (MESH_MAX_X)), 0.5f * ((MESH_MIN_Y) + (MESH_MAX_Y)));
- #endif
- report_current_position();
- probe_deployed = true;
- }
-
- #endif // HAS_BED_PROBE
-
- if (parser.seen('P')) {
- if (WITHIN(g29_phase_value, 0, 1) && storage_slot == -1) {
- storage_slot = 0;
- SERIAL_ECHOLNPGM("Default storage slot 0 selected.");
- }
-
- switch (g29_phase_value) {
- case 0:
- //
- // Zero Mesh Data
- //
- reset();
- SERIAL_ECHOLNPGM("Mesh zeroed.");
- break;
-
- #if HAS_BED_PROBE
-
- case 1: {
- //
- // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
- //
- if (!parser.seen('C')) {
- invalidate();
- SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh.");
- }
- if (g29_verbose_level > 1) {
- SERIAL_ECHOPAIR("Probing around (", g29_pos.x);
- SERIAL_CHAR(',');
- SERIAL_DECIMAL(g29_pos.y);
- SERIAL_ECHOLNPGM(").\n");
- }
- const xy_pos_t near_probe_xy = g29_pos + probe.offset_xy;
- probe_entire_mesh(near_probe_xy, parser.seen('T'), parser.seen('E'), parser.seen('U'));
-
- report_current_position();
- probe_deployed = true;
- } break;
-
- #endif // HAS_BED_PROBE
-
- case 2: {
- #if HAS_LCD_MENU
- //
- // Manually Probe Mesh in areas that can't be reached by the probe
- //
- SERIAL_ECHOLNPGM("Manually probing unreachable points.");
- do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
-
- if (parser.seen('C') && !xy_seen) {
-
- /**
- * Use a good default location for the path.
- * The flipped > and < operators in these comparisons is intentional.
- * It should cause the probed points to follow a nice path on Cartesian printers.
- * It may make sense to have Delta printers default to the center of the bed.
- * Until that is decided, this can be forced with the X and Y parameters.
- */
- g29_pos.set(
- #if IS_KINEMATIC
- X_HOME_POS, Y_HOME_POS
- #else
- probe.offset_xy.x > 0 ? X_BED_SIZE : 0,
- probe.offset_xy.y < 0 ? Y_BED_SIZE : 0
- #endif
- );
- }
-
- if (parser.seen('B')) {
- g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness(float(Z_CLEARANCE_BETWEEN_PROBES));
- if (ABS(g29_card_thickness) > 1.5f) {
- SERIAL_ECHOLNPGM("?Error in Business Card measurement.");
- return;
- }
- probe_deployed = true;
- }
-
- if (!position_is_reachable(g29_pos)) {
- SERIAL_ECHOLNPGM("XY outside printable radius.");
- return;
- }
-
- const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
- manually_probe_remaining_mesh(g29_pos, height, g29_card_thickness, parser.seen('T'));
-
- SERIAL_ECHOLNPGM("G29 P2 finished.");
-
- report_current_position();
-
- #else
-
- SERIAL_ECHOLNPGM("?P2 is only available when an LCD is present.");
- return;
-
- #endif
- } break;
-
- case 3: {
- /**
- * Populate invalid mesh areas. Proceed with caution.
- * Two choices are available:
- * - Specify a constant with the 'C' parameter.
- * - Allow 'G29 P3' to choose a 'reasonable' constant.
- */
-
- if (g29_c_flag) {
- if (g29_repetition_cnt >= GRID_MAX_POINTS) {
- set_all_mesh_points_to_value(g29_constant);
- }
- else {
- while (g29_repetition_cnt--) { // this only populates reachable mesh points near
- const mesh_index_pair closest = find_closest_mesh_point_of_type(INVALID, g29_pos);
- const xy_int8_t &cpos = closest.pos;
- if (cpos.x < 0) {
- // No more REAL INVALID mesh points to populate, so we ASSUME
- // user meant to populate ALL INVALID mesh points to value
- GRID_LOOP(x, y) if (isnan(z_values[x][y])) z_values[x][y] = g29_constant;
- break; // No more invalid Mesh Points to populate
- }
- else {
- z_values[cpos.x][cpos.y] = g29_constant;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(cpos, g29_constant));
- }
- }
- }
- }
- else {
- const float cvf = parser.value_float();
- switch ((int)truncf(cvf * 10.0f) - 30) { // 3.1 -> 1
- #if ENABLED(UBL_G29_P31)
- case 1: {
-
- // P3.1 use least squares fit to fill missing mesh values
- // P3.10 zero weighting for distance, all grid points equal, best fit tilted plane
- // P3.11 10X weighting for nearest grid points versus farthest grid points
- // P3.12 100X distance weighting
- // P3.13 1000X distance weighting, approaches simple average of nearest points
-
- const float weight_power = (cvf - 3.10f) * 100.0f, // 3.12345 -> 2.345
- weight_factor = weight_power ? POW(10.0f, weight_power) : 0;
- smart_fill_wlsf(weight_factor);
- }
- break;
- #endif
- case 0: // P3 or P3.0
- default: // and anything P3.x that's not P3.1
- smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
- break;
- }
- }
- break;
- }
-
- case 4: // Fine Tune (i.e., Edit) the Mesh
- #if HAS_LCD_MENU
- fine_tune_mesh(g29_pos, parser.seen('T'));
- #else
- SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present.");
- return;
- #endif
- break;
-
- case 5: adjust_mesh_to_mean(g29_c_flag, g29_constant); break;
-
- case 6: shift_mesh_height(); break;
- }
- }
-
- #if ENABLED(UBL_DEVEL_DEBUGGING)
-
- //
- // Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
- // good to have the extra information. Soon... we prune this to just a few items
- //
- if (parser.seen('W')) g29_what_command();
-
- //
- // When we are fully debugged, this may go away. But there are some valid
- // use cases for the users. So we can wait and see what to do with it.
- //
-
- if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
- g29_compare_current_mesh_to_stored_mesh();
-
- #endif // UBL_DEVEL_DEBUGGING
-
-
- //
- // Load a Mesh from the EEPROM
- //
-
- if (parser.seen('L')) { // Load Current Mesh Data
- g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
-
- int16_t a = settings.calc_num_meshes();
-
- if (!a) {
- SERIAL_ECHOLNPGM("?EEPROM storage not available.");
- return;
- }
-
- if (!WITHIN(g29_storage_slot, 0, a - 1)) {
- SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1);
- return;
- }
-
- settings.load_mesh(g29_storage_slot);
- storage_slot = g29_storage_slot;
-
- SERIAL_ECHOLNPGM("Done.");
- }
-
- //
- // Store a Mesh in the EEPROM
- //
-
- if (parser.seen('S')) { // Store (or Save) Current Mesh Data
- g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
-
- if (g29_storage_slot == -1) // Special case, the user wants to 'Export' the mesh to the
- return report_current_mesh(); // host program to be saved on the user's computer
-
- int16_t a = settings.calc_num_meshes();
-
- if (!a) {
- SERIAL_ECHOLNPGM("?EEPROM storage not available.");
- goto LEAVE;
- }
-
- if (!WITHIN(g29_storage_slot, 0, a - 1)) {
- SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1);
- goto LEAVE;
- }
-
- settings.store_mesh(g29_storage_slot);
- storage_slot = g29_storage_slot;
-
- SERIAL_ECHOLNPGM("Done.");
- }
-
- if (parser.seen('T'))
- display_map(g29_map_type);
-
- LEAVE:
-
- #if HAS_LCD_MENU
- ui.reset_alert_level();
- ui.quick_feedback();
- ui.reset_status();
- ui.release();
- #endif
-
- #ifdef Z_PROBE_END_SCRIPT
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
- if (probe_deployed) {
- planner.synchronize();
- gcode.process_subcommands_now_P(PSTR(Z_PROBE_END_SCRIPT));
- }
- #else
- UNUSED(probe_deployed);
- #endif
-
- TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index));
- return;
- }
-
- void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const float value) {
- float sum = 0;
- int n = 0;
- GRID_LOOP(x, y)
- if (!isnan(z_values[x][y])) {
- sum += z_values[x][y];
- n++;
- }
-
- const float mean = sum / n;
-
- //
- // Sum the squares of difference from mean
- //
- float sum_of_diff_squared = 0;
- GRID_LOOP(x, y)
- if (!isnan(z_values[x][y]))
- sum_of_diff_squared += sq(z_values[x][y] - mean);
-
- SERIAL_ECHOLNPAIR("# of samples: ", n);
- SERIAL_ECHOLNPAIR_F("Mean Mesh Height: ", mean, 6);
-
- const float sigma = SQRT(sum_of_diff_squared / (n + 1));
- SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6);
-
- if (cflag)
- GRID_LOOP(x, y)
- if (!isnan(z_values[x][y])) {
- z_values[x][y] -= mean + value;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
- }
- }
-
- void unified_bed_leveling::shift_mesh_height() {
- GRID_LOOP(x, y)
- if (!isnan(z_values[x][y])) {
- z_values[x][y] += g29_constant;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
- }
- }
-
- #if HAS_BED_PROBE
- /**
- * Probe all invalidated locations of the mesh that can be reached by the probe.
- * This attempts to fill in locations closest to the nozzle's start location first.
- */
- void unified_bed_leveling::probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
- probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW
-
- TERN_(HAS_LCD_MENU, ui.capture());
-
- save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained
- uint8_t count = GRID_MAX_POINTS;
-
- mesh_index_pair best;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::MESH_START));
- do {
- if (do_ubl_mesh_map) display_map(g29_map_type);
-
- const int point_num = (GRID_MAX_POINTS) - count + 1;
- SERIAL_ECHOLNPAIR("\nProbing mesh point ", point_num, "/", int(GRID_MAX_POINTS), ".\n");
- TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), point_num, int(GRID_MAX_POINTS)));
-
- #if HAS_LCD_MENU
- if (ui.button_pressed()) {
- ui.quick_feedback(false); // Preserve button state for click-and-hold
- SERIAL_ECHOLNPGM("\nMesh only partially populated.\n");
- ui.wait_for_release();
- ui.quick_feedback();
- ui.release();
- probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW
- return restore_ubl_active_state_and_leave();
- }
- #endif
-
- best = do_furthest
- ? find_furthest_invalid_mesh_point()
- : find_closest_mesh_point_of_type(INVALID, near, true);
-
- if (best.pos.x >= 0) { // mesh point found and is reachable by probe
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_START));
- const float measured_z = probe.probe_at_point(
- best.meshpos(),
- stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level
- );
- z_values[best.pos.x][best.pos.y] = measured_z;
- #if ENABLED(EXTENSIBLE_UI)
- ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_FINISH);
- ExtUI::onMeshUpdate(best.pos, measured_z);
- #endif
- }
- SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
-
- } while (best.pos.x >= 0 && --count);
-
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::MESH_FINISH));
-
- // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW
- TERN_(HAS_LCD_MENU, ui.release());
- probe.stow();
- TERN_(HAS_LCD_MENU, ui.capture());
-
- probe.move_z_after_probing();
-
- restore_ubl_active_state_and_leave();
-
- do_blocking_move_to_xy(
- constrain(near.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X),
- constrain(near.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
- );
- }
-
- #endif // HAS_BED_PROBE
-
- #if HAS_LCD_MENU
-
- typedef void (*clickFunc_t)();
-
- bool click_and_hold(const clickFunc_t func=nullptr) {
- if (ui.button_pressed()) {
- ui.quick_feedback(false); // Preserve button state for click-and-hold
- const millis_t nxt = millis() + 1500UL;
- while (ui.button_pressed()) { // Loop while the encoder is pressed. Uses hardware flag!
- idle(); // idle, of course
- if (ELAPSED(millis(), nxt)) { // After 1.5 seconds
- ui.quick_feedback();
- if (func) (*func)();
- ui.wait_for_release();
- return true;
- }
- }
- }
- serial_delay(15);
- return false;
- }
-
- void unified_bed_leveling::move_z_with_encoder(const float &multiplier) {
- ui.wait_for_release();
- while (!ui.button_pressed()) {
- idle();
- gcode.reset_stepper_timeout(); // Keep steppers powered
- if (encoder_diff) {
- do_blocking_move_to_z(current_position.z + float(encoder_diff) * multiplier);
- encoder_diff = 0;
- }
- }
- }
-
- float unified_bed_leveling::measure_point_with_encoder() {
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- move_z_with_encoder(0.01f);
- return current_position.z;
- }
-
- static void echo_and_take_a_measurement() { SERIAL_ECHOLNPGM(" and take a measurement."); }
-
- float unified_bed_leveling::measure_business_card_thickness(float in_height) {
- ui.capture();
- save_ubl_active_state_and_disable(); // Disable bed level correction for probing
-
- do_blocking_move_to(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)), in_height);
- //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f);
- planner.synchronize();
-
- SERIAL_ECHOPGM("Place shim under nozzle");
- LCD_MESSAGEPGM(MSG_UBL_BC_INSERT);
- ui.return_to_status();
- echo_and_take_a_measurement();
-
- const float z1 = measure_point_with_encoder();
- do_blocking_move_to_z(current_position.z + SIZE_OF_LITTLE_RAISE);
- planner.synchronize();
-
- SERIAL_ECHOPGM("Remove shim");
- LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE);
- echo_and_take_a_measurement();
-
- const float z2 = measure_point_with_encoder();
- do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
-
- const float thickness = ABS(z1 - z2);
-
- if (g29_verbose_level > 1) {
- SERIAL_ECHOPAIR_F("Business Card is ", thickness, 4);
- SERIAL_ECHOLNPGM("mm thick.");
- }
-
- restore_ubl_active_state_and_leave();
-
- return thickness;
- }
-
- void unified_bed_leveling::manually_probe_remaining_mesh(const xy_pos_t &pos, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
- ui.capture();
-
- save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained
- do_blocking_move_to_xy_z(current_position, z_clearance);
-
- ui.return_to_status();
-
- mesh_index_pair location;
- const xy_int8_t &lpos = location.pos;
- do {
- location = find_closest_mesh_point_of_type(INVALID, pos);
- // It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
- if (!location.valid()) continue;
-
- const xyz_pos_t ppos = {
- mesh_index_to_xpos(lpos.x),
- mesh_index_to_ypos(lpos.y),
- Z_CLEARANCE_BETWEEN_PROBES
- };
-
- if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
-
- LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
-
- do_blocking_move_to(ppos);
- do_z_clearance(z_clearance);
-
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- ui.capture();
-
- if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
-
- serialprintPGM(parser.seen('B') ? GET_TEXT(MSG_UBL_BC_INSERT) : GET_TEXT(MSG_UBL_BC_INSERT2));
-
- const float z_step = 0.01f; // existing behavior: 0.01mm per click, occasionally step
- //const float z_step = planner.steps_to_mm[Z_AXIS]; // approx one step each click
-
- move_z_with_encoder(z_step);
-
- if (click_and_hold()) {
- SERIAL_ECHOLNPGM("\nMesh only partially populated.");
- do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
- return restore_ubl_active_state_and_leave();
- }
-
- z_values[lpos.x][lpos.y] = current_position.z - thick;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, z_values[lpos.x][lpos.y]));
-
- if (g29_verbose_level > 2)
- SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[lpos.x][lpos.y], 6);
- SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
- } while (location.valid());
-
- if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
-
- restore_ubl_active_state_and_leave();
- do_blocking_move_to_xy_z(pos, Z_CLEARANCE_DEPLOY_PROBE);
- }
-
- inline void set_message_with_feedback(PGM_P const msg_P) {
- ui.set_status_P(msg_P);
- ui.quick_feedback();
- }
-
- void abort_fine_tune() {
- ui.return_to_status();
- do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
- set_message_with_feedback(GET_TEXT(MSG_EDITING_STOPPED));
- }
-
- void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) {
- if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
- g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
-
- #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
- const float h_offset = parser.seenval('H') ? parser.value_linear_units() : 0;
- if (!WITHIN(h_offset, 0, 10)) {
- SERIAL_ECHOLNPGM("Offset out of bounds. (0 to 10mm)\n");
- return;
- }
- #endif
-
- mesh_index_pair location;
-
- if (!position_is_reachable(pos)) {
- SERIAL_ECHOLNPGM("(X,Y) outside printable radius.");
- return;
- }
-
- save_ubl_active_state_and_disable();
-
- LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
- ui.capture(); // Take over control of the LCD encoder
-
- do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance
-
- TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset)); // Move Z to the given 'H' offset
-
- MeshFlags done_flags{0};
- const xy_int8_t &lpos = location.pos;
- do {
- location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags);
-
- if (lpos.x < 0) break; // Stop when there are no more reachable points
-
- done_flags.mark(lpos); // Mark this location as 'adjusted' so a new
- // location is used on the next loop
- const xyz_pos_t raw = {
- mesh_index_to_xpos(lpos.x),
- mesh_index_to_ypos(lpos.y),
- Z_CLEARANCE_BETWEEN_PROBES
- };
-
- if (!position_is_reachable(raw)) break; // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable)
-
- do_blocking_move_to(raw); // Move the nozzle to the edit point with probe clearance
-
- TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset)); // Move Z to the given 'H' offset before editing
-
- KEEPALIVE_STATE(PAUSED_FOR_USER);
-
- if (do_ubl_mesh_map) display_map(g29_map_type); // Display the current point
-
- #if IS_TFTGLCD_PANEL
- ui.ubl_plot(lpos.x, lpos.y); // update plot screen
- #endif
-
- ui.refresh();
-
- float new_z = z_values[lpos.x][lpos.y];
- if (isnan(new_z)) new_z = 0; // Invalid points begin at 0
- new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place
-
- lcd_mesh_edit_setup(new_z);
-
- SET_SOFT_ENDSTOP_LOOSE(true);
-
- do {
- idle();
- new_z = lcd_mesh_edit();
- TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset + new_z)); // Move the nozzle as the point is edited
- SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
- } while (!ui.button_pressed());
-
- SET_SOFT_ENDSTOP_LOOSE(false);
-
- if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status
-
- if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing
-
- z_values[lpos.x][lpos.y] = new_z; // Save the updated Z value
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, new_z));
-
- serial_delay(20); // No switch noise
- ui.refresh();
-
- } while (lpos.x >= 0 && --g29_repetition_cnt > 0);
-
- if (do_ubl_mesh_map) display_map(g29_map_type);
- restore_ubl_active_state_and_leave();
-
- do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES);
-
- LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
- SERIAL_ECHOLNPGM("Done Editing Mesh");
-
- if (lcd_map_control)
- ui.goto_screen(ubl_map_screen);
- else
- ui.return_to_status();
- }
-
- #endif // HAS_LCD_MENU
-
- bool unified_bed_leveling::g29_parameter_parsing() {
- bool err_flag = false;
-
- TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_DOING_G29)));
-
- g29_constant = 0;
- g29_repetition_cnt = 0;
-
- if (parser.seen('R')) {
- g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
- NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
- if (g29_repetition_cnt < 1) {
- SERIAL_ECHOLNPGM("?(R)epetition count invalid (1+).\n");
- return UBL_ERR;
- }
- }
-
- g29_verbose_level = parser.seen('V') ? parser.value_int() : 0;
- if (!WITHIN(g29_verbose_level, 0, 4)) {
- SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).\n");
- err_flag = true;
- }
-
- if (parser.seen('P')) {
- const int pv = parser.value_int();
- #if !HAS_BED_PROBE
- if (pv == 1) {
- SERIAL_ECHOLNPGM("G29 P1 requires a probe.\n");
- err_flag = true;
- }
- else
- #endif
- {
- g29_phase_value = pv;
- if (!WITHIN(g29_phase_value, 0, 6)) {
- SERIAL_ECHOLNPGM("?(P)hase value invalid (0-6).\n");
- err_flag = true;
- }
- }
- }
-
- if (parser.seen('J')) {
- #if HAS_BED_PROBE
- g29_grid_size = parser.has_value() ? parser.value_int() : 0;
- if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) {
- SERIAL_ECHOLNPGM("?Invalid grid size (J) specified (2-9).\n");
- err_flag = true;
- }
- #else
- SERIAL_ECHOLNPGM("G29 J action requires a probe.\n");
- err_flag = true;
- #endif
- }
-
- xy_seen.x = parser.seenval('X');
- float sx = xy_seen.x ? parser.value_float() : current_position.x;
- xy_seen.y = parser.seenval('Y');
- float sy = xy_seen.y ? parser.value_float() : current_position.y;
-
- if (xy_seen.x != xy_seen.y) {
- SERIAL_ECHOLNPGM("Both X & Y locations must be specified.\n");
- err_flag = true;
- }
-
- // If X or Y are not valid, use center of the bed values
- if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
- if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
-
- if (err_flag) return UBL_ERR;
-
- g29_pos.set(sx, sy);
-
- /**
- * Activate or deactivate UBL
- * Note: UBL's G29 restores the state set here when done.
- * Leveling is being enabled here with old data, possibly
- * none. Error handling should disable for safety...
- */
- if (parser.seen('A')) {
- if (parser.seen('D')) {
- SERIAL_ECHOLNPGM("?Can't activate and deactivate at the same time.\n");
- return UBL_ERR;
- }
- set_bed_leveling_enabled(true);
- report_state();
- }
- else if (parser.seen('D')) {
- set_bed_leveling_enabled(false);
- report_state();
- }
-
- // Set global 'C' flag and its value
- if ((g29_c_flag = parser.seen('C')))
- g29_constant = parser.value_float();
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- if (parser.seenval('F')) {
- const float fh = parser.value_float();
- if (!WITHIN(fh, 0, 100)) {
- SERIAL_ECHOLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
- return UBL_ERR;
- }
- set_z_fade_height(fh);
- }
- #endif
-
- g29_map_type = parser.intval('T');
- if (!WITHIN(g29_map_type, 0, 2)) {
- SERIAL_ECHOLNPGM("Invalid map type.\n");
- return UBL_ERR;
- }
- return UBL_OK;
- }
-
- static uint8_t ubl_state_at_invocation = 0;
-
- #if ENABLED(UBL_DEVEL_DEBUGGING)
- static uint8_t ubl_state_recursion_chk = 0;
- #endif
-
- void unified_bed_leveling::save_ubl_active_state_and_disable() {
- #if ENABLED(UBL_DEVEL_DEBUGGING)
- ubl_state_recursion_chk++;
- if (ubl_state_recursion_chk != 1) {
- SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
- TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_SAVE_ERROR)));
- return;
- }
- #endif
- ubl_state_at_invocation = planner.leveling_active;
- set_bed_leveling_enabled(false);
- }
-
- void unified_bed_leveling::restore_ubl_active_state_and_leave() {
- TERN_(HAS_LCD_MENU, ui.release());
- #if ENABLED(UBL_DEVEL_DEBUGGING)
- if (--ubl_state_recursion_chk) {
- SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
- TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_RESTORE_ERROR)));
- return;
- }
- #endif
- set_bed_leveling_enabled(ubl_state_at_invocation);
- }
-
- mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
-
- bool found_a_NAN = false, found_a_real = false;
-
- mesh_index_pair farthest { -1, -1, -99999.99 };
-
- GRID_LOOP(i, j) {
- if (!isnan(z_values[i][j])) continue; // Skip valid mesh points
-
- // Skip unreachable points
- if (!probe.can_reach(mesh_index_to_xpos(i), mesh_index_to_ypos(j)))
- continue;
-
- found_a_NAN = true;
-
- xy_int8_t near { -1, -1 };
- float d1, d2 = 99999.9f;
- GRID_LOOP(k, l) {
- if (isnan(z_values[k][l])) continue;
-
- found_a_real = true;
-
- // Add in a random weighting factor that scrambles the probing of the
- // last half of the mesh (when every unprobed mesh point is one index
- // from a probed location).
-
- d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13));
-
- if (d1 < d2) { // Invalid mesh point (i,j) is closer to the defined point (k,l)
- d2 = d1;
- near.set(i, j);
- }
- }
-
- //
- // At this point d2 should have the near defined mesh point to invalid mesh point (i,j)
- //
-
- if (found_a_real && near.x >= 0 && d2 > farthest.distance) {
- farthest.pos = near; // Found an invalid location farther from the defined mesh point
- farthest.distance = d2;
- }
- } // GRID_LOOP
-
- if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing
- farthest.pos.set((GRID_MAX_POINTS_X) / 2, (GRID_MAX_POINTS_Y) / 2);
- farthest.distance = 1;
- }
- return farthest;
- }
-
- mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) {
- mesh_index_pair closest;
- closest.invalidate();
- closest.distance = -99999.9f;
-
- // Get the reference position, either nozzle or probe
- const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos;
-
- float best_so_far = 99999.99f;
-
- GRID_LOOP(i, j) {
- if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
- || (type == SET_IN_BITMAP && !done_flags->marked(i, j))
- ) {
- // Found a Mesh Point of the specified type!
- const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) };
-
- // If using the probe as the reference there are some unreachable locations.
- // Also for round beds, there are grid points outside the bed the nozzle can't reach.
- // Prune them from the list and ignore them till the next Phase (manual nozzle probing).
-
- if (!(probe_relative ? probe.can_reach(mpos) : position_is_reachable(mpos)))
- continue;
-
- // Reachable. Check if it's the best_so_far location to the nozzle.
-
- const xy_pos_t diff = current_position - mpos;
- const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f;
-
- // factor in the distance from the current location for the normal case
- // so the nozzle isn't running all over the bed.
- if (distance < best_so_far) {
- best_so_far = distance; // Found a closer location with the desired value type.
- closest.pos.set(i, j);
- closest.distance = best_so_far;
- }
- }
- } // GRID_LOOP
-
- return closest;
- }
-
- /**
- * 'Smart Fill': Scan from the outward edges of the mesh towards the center.
- * If an invalid location is found, use the next two points (if valid) to
- * calculate a 'reasonable' value for the unprobed mesh point.
- */
-
- bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
- const float v = z_values[x][y];
- if (isnan(v)) { // A NAN...
- const int8_t dx = x + xdir, dy = y + ydir;
- const float v1 = z_values[dx][dy];
- if (!isnan(v1)) { // ...next to a pair of real values?
- const float v2 = z_values[dx + xdir][dy + ydir];
- if (!isnan(v2)) {
- z_values[x][y] = v1 < v2 ? v1 : v1 + v1 - v2;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
- return true;
- }
- }
- }
- return false;
- }
-
- typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info;
-
- void unified_bed_leveling::smart_fill_mesh() {
- static const smart_fill_info
- info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up
- info1 PROGMEM = { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down
- info2 PROGMEM = { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right
- info3 PROGMEM = { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left
- static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 };
-
- LOOP_L_N(i, COUNT(info)) {
- const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]);
- const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy),
- ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey);
- if (pgm_read_byte(&f->yfirst)) {
- const int8_t dir = ex > sx ? 1 : -1;
- for (uint8_t y = sy; y != ey; ++y)
- for (uint8_t x = sx; x != ex; x += dir)
- if (smart_fill_one(x, y, dir, 0)) break;
- }
- else {
- const int8_t dir = ey > sy ? 1 : -1;
- for (uint8_t x = sx; x != ex; ++x)
- for (uint8_t y = sy; y != ey; y += dir)
- if (smart_fill_one(x, y, 0, dir)) break;
- }
- }
- }
-
- #if HAS_BED_PROBE
-
- //#define VALIDATE_MESH_TILT
-
- #include "../../../libs/vector_3.h"
-
- void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
- const float x_min = probe.min_x(), x_max = probe.max_x(),
- y_min = probe.min_y(), y_max = probe.max_y(),
- dx = (x_max - x_min) / (g29_grid_size - 1),
- dy = (y_max - y_min) / (g29_grid_size - 1);
-
- xy_float_t points[3];
- probe.get_three_points(points);
-
- float measured_z;
- bool abort_flag = false;
-
- #ifdef VALIDATE_MESH_TILT
- float z1, z2, z3; // Needed for algorithm validation below
- #endif
-
- struct linear_fit_data lsf_results;
- incremental_LSF_reset(&lsf_results);
-
- if (do_3_pt_leveling) {
- SERIAL_ECHOLNPGM("Tilting mesh (1/3)");
- TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH)));
-
- measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
- if (isnan(measured_z))
- abort_flag = true;
- else {
- measured_z -= get_z_correction(points[0]);
- #ifdef VALIDATE_MESH_TILT
- z1 = measured_z;
- #endif
- if (g29_verbose_level > 3) {
- serial_spaces(16);
- SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
- }
- incremental_LSF(&lsf_results, points[0], measured_z);
- }
-
- if (!abort_flag) {
- SERIAL_ECHOLNPGM("Tilting mesh (2/3)");
- TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH)));
-
- measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
- #ifdef VALIDATE_MESH_TILT
- z2 = measured_z;
- #endif
- if (isnan(measured_z))
- abort_flag = true;
- else {
- measured_z -= get_z_correction(points[1]);
- if (g29_verbose_level > 3) {
- serial_spaces(16);
- SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
- }
- incremental_LSF(&lsf_results, points[1], measured_z);
- }
- }
-
- if (!abort_flag) {
- SERIAL_ECHOLNPGM("Tilting mesh (3/3)");
- TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH)));
-
- measured_z = probe.probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
- #ifdef VALIDATE_MESH_TILT
- z3 = measured_z;
- #endif
- if (isnan(measured_z))
- abort_flag = true;
- else {
- measured_z -= get_z_correction(points[2]);
- if (g29_verbose_level > 3) {
- serial_spaces(16);
- SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
- }
- incremental_LSF(&lsf_results, points[2], measured_z);
- }
- }
-
- probe.stow();
- probe.move_z_after_probing();
-
- if (abort_flag) {
- SERIAL_ECHOLNPGM("?Error probing point. Aborting operation.");
- return;
- }
- }
- else { // !do_3_pt_leveling
-
- bool zig_zag = false;
-
- const uint16_t total_points = sq(g29_grid_size);
- uint16_t point_num = 1;
-
- xy_pos_t rpos;
- LOOP_L_N(ix, g29_grid_size) {
- rpos.x = x_min + ix * dx;
- LOOP_L_N(iy, g29_grid_size) {
- rpos.y = y_min + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
-
- if (!abort_flag) {
- SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n");
- TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points));
-
- measured_z = probe.probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
-
- abort_flag = isnan(measured_z);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- const xy_pos_t lpos = rpos.asLogical();
- DEBUG_CHAR('(');
- DEBUG_ECHO_F(rpos.x, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(rpos.y, 7);
- DEBUG_ECHOPAIR_F(") logical: (", lpos.x, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(lpos.y, 7);
- DEBUG_ECHOPAIR_F(") measured: ", measured_z, 7);
- DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rpos), 7);
- }
- #endif
-
- measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ;
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7);
-
- if (g29_verbose_level > 3) {
- serial_spaces(16);
- SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
- }
- incremental_LSF(&lsf_results, rpos, measured_z);
- }
-
- point_num++;
- }
-
- zig_zag ^= true;
- }
- }
- probe.stow();
- probe.move_z_after_probing();
-
- if (abort_flag || finish_incremental_LSF(&lsf_results)) {
- SERIAL_ECHOPGM("Could not complete LSF!");
- return;
- }
-
- vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1).get_normal();
-
- if (g29_verbose_level > 2) {
- SERIAL_ECHOPAIR_F("bed plane normal = [", normal.x, 7);
- SERIAL_CHAR(',');
- SERIAL_ECHO_F(normal.y, 7);
- SERIAL_CHAR(',');
- SERIAL_ECHO_F(normal.z, 7);
- SERIAL_ECHOLNPGM("]");
- }
-
- matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1));
-
- GRID_LOOP(i, j) {
- float mx = mesh_index_to_xpos(i),
- my = mesh_index_to_ypos(j),
- mz = z_values[i][j];
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR_F("before rotation = [", mx, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(my, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(mz, 7);
- DEBUG_ECHOPGM("] ---> ");
- DEBUG_DELAY(20);
- }
-
- apply_rotation_xyz(rotation, mx, my, mz);
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR_F("after rotation = [", mx, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(my, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(mz, 7);
- DEBUG_ECHOLNPGM("]");
- DEBUG_DELAY(20);
- }
-
- z_values[i][j] = mz - lsf_results.D;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, z_values[i][j]));
- }
-
- if (DEBUGGING(LEVELING)) {
- rotation.debug(PSTR("rotation matrix:\n"));
- DEBUG_ECHOPAIR_F("LSF Results A=", lsf_results.A, 7);
- DEBUG_ECHOPAIR_F(" B=", lsf_results.B, 7);
- DEBUG_ECHOLNPAIR_F(" D=", lsf_results.D, 7);
- DEBUG_DELAY(55);
-
- DEBUG_ECHOPAIR_F("bed plane normal = [", normal.x, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(normal.y, 7);
- DEBUG_CHAR(',');
- DEBUG_ECHO_F(normal.z, 7);
- DEBUG_ECHOLNPGM("]");
- DEBUG_EOL();
-
- /**
- * Use the code below to check the validity of the mesh tilting algorithm.
- * 3-Point Mesh Tilt uses the same algorithm as grid-based tilting, but only
- * three points are used in the calculation. This guarantees that each probed point
- * has an exact match when get_z_correction() for that location is calculated.
- * The Z error between the probed point locations and the get_z_correction()
- * numbers for those locations should be 0.
- */
- #ifdef VALIDATE_MESH_TILT
- auto d_from = []{ DEBUG_ECHOPGM("D from "); };
- auto normed = [&](const xy_pos_t &pos, const float &zadd) {
- return normal.x * pos.x + normal.y * pos.y + zadd;
- };
- auto debug_pt = [](PGM_P const pre, const xy_pos_t &pos, const float &zadd) {
- d_from(); serialprintPGM(pre);
- DEBUG_ECHO_F(normed(pos, zadd), 6);
- DEBUG_ECHOLNPAIR_F(" Z error = ", zadd - get_z_correction(pos), 6);
- };
- debug_pt(PSTR("1st point: "), probe_pt[0], normal.z * z1);
- debug_pt(PSTR("2nd point: "), probe_pt[1], normal.z * z2);
- debug_pt(PSTR("3rd point: "), probe_pt[2], normal.z * z3);
- d_from(); DEBUG_ECHOPGM("safe home with Z=");
- DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6);
- d_from(); DEBUG_ECHOPGM("safe home with Z=");
- DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 6);
- DEBUG_ECHOPAIR(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT);
- DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6);
- #endif
- } // DEBUGGING(LEVELING)
-
- }
-
- #endif // HAS_BED_PROBE
-
- #if ENABLED(UBL_G29_P31)
- void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) {
-
- // For each undefined mesh point, compute a distance-weighted least squares fit
- // from all the originally populated mesh points, weighted toward the point
- // being extrapolated so that nearby points will have greater influence on
- // the point being extrapolated. Then extrapolate the mesh point from WLSF.
-
- static_assert((GRID_MAX_POINTS_Y) <= 16, "GRID_MAX_POINTS_Y too big");
- uint16_t bitmap[GRID_MAX_POINTS_X] = { 0 };
- struct linear_fit_data lsf_results;
-
- SERIAL_ECHOPGM("Extrapolating mesh...");
-
- const float weight_scaled = weight_factor * _MAX(MESH_X_DIST, MESH_Y_DIST);
-
- GRID_LOOP(jx, jy) if (!isnan(z_values[jx][jy])) SBI(bitmap[jx], jy);
-
- xy_pos_t ppos;
- LOOP_L_N(ix, GRID_MAX_POINTS_X) {
- ppos.x = mesh_index_to_xpos(ix);
- LOOP_L_N(iy, GRID_MAX_POINTS_Y) {
- ppos.y = mesh_index_to_ypos(iy);
- if (isnan(z_values[ix][iy])) {
- // undefined mesh point at (ppos.x,ppos.y), compute weighted LSF from original valid mesh points.
- incremental_LSF_reset(&lsf_results);
- xy_pos_t rpos;
- LOOP_L_N(jx, GRID_MAX_POINTS_X) {
- rpos.x = mesh_index_to_xpos(jx);
- LOOP_L_N(jy, GRID_MAX_POINTS_Y) {
- if (TEST(bitmap[jx], jy)) {
- rpos.y = mesh_index_to_ypos(jy);
- const float rz = z_values[jx][jy],
- w = 1.0f + weight_scaled / (rpos - ppos).magnitude();
- incremental_WLSF(&lsf_results, rpos, rz, w);
- }
- }
- }
- if (finish_incremental_LSF(&lsf_results)) {
- SERIAL_ECHOLNPGM("Insufficient data");
- return;
- }
- const float ez = -lsf_results.D - lsf_results.A * ppos.x - lsf_results.B * ppos.y;
- z_values[ix][iy] = ez;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy]));
- idle(); // housekeeping
- }
- }
- }
-
- SERIAL_ECHOLNPGM("done");
- }
- #endif // UBL_G29_P31
-
- #if ENABLED(UBL_DEVEL_DEBUGGING)
- /**
- * Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
- * good to have the extra information. Soon... we prune this to just a few items
- */
- void unified_bed_leveling::g29_what_command() {
- report_state();
-
- if (storage_slot == -1)
- SERIAL_ECHOPGM("No Mesh Loaded.");
- else
- SERIAL_ECHOPAIR("Mesh ", storage_slot, " Loaded.");
- SERIAL_EOL();
- serial_delay(50);
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- SERIAL_ECHOLNPAIR_F("Fade Height M420 Z", planner.z_fade_height, 4);
- #endif
-
- adjust_mesh_to_mean(g29_c_flag, g29_constant);
-
- #if HAS_BED_PROBE
- SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7);
- #endif
-
- SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50);
- SERIAL_ECHOLNPAIR("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y); serial_delay(50);
- SERIAL_ECHOLNPAIR("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X); serial_delay(50);
- SERIAL_ECHOLNPAIR("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y); serial_delay(50);
- SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X); serial_delay(50);
- SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y); serial_delay(50);
- SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST);
- SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST); serial_delay(50);
-
- SERIAL_ECHOPGM("X-Axis Mesh Points at: ");
- LOOP_L_N(i, GRID_MAX_POINTS_X) {
- SERIAL_ECHO_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3);
- SERIAL_ECHOPGM(" ");
- serial_delay(25);
- }
- SERIAL_EOL();
-
- SERIAL_ECHOPGM("Y-Axis Mesh Points at: ");
- LOOP_L_N(i, GRID_MAX_POINTS_Y) {
- SERIAL_ECHO_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3);
- SERIAL_ECHOPGM(" ");
- serial_delay(25);
- }
- SERIAL_EOL();
-
- #if HAS_KILL
- SERIAL_ECHOLNPAIR("Kill pin on :", int(KILL_PIN), " state:", int(kill_state()));
- #endif
-
- SERIAL_EOL();
- serial_delay(50);
-
- #if ENABLED(UBL_DEVEL_DEBUGGING)
- SERIAL_ECHOLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk);
- serial_delay(50);
-
- SERIAL_ECHOLNPAIR("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index()));
- serial_delay(50);
-
- SERIAL_ECHOLNPAIR("sizeof(ubl) : ", (int)sizeof(ubl)); SERIAL_EOL();
- SERIAL_ECHOLNPAIR("z_value[][] size: ", (int)sizeof(z_values)); SERIAL_EOL();
- serial_delay(25);
-
- SERIAL_ECHOLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index())));
- serial_delay(50);
-
- SERIAL_ECHOLNPAIR("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n");
- serial_delay(25);
- #endif // UBL_DEVEL_DEBUGGING
-
- if (!sanity_check()) {
- echo_name();
- SERIAL_ECHOLNPGM(" sanity checks passed.");
- }
- }
-
- /**
- * When we are fully debugged, the EEPROM dump command will get deleted also. But
- * right now, it is good to have the extra information. Soon... we prune this.
- */
- void unified_bed_leveling::g29_eeprom_dump() {
- uint8_t cccc;
-
- SERIAL_ECHO_MSG("EEPROM Dump:");
- persistentStore.access_start();
- for (uint16_t i = 0; i < persistentStore.capacity(); i += 16) {
- if (!(i & 0x3)) idle();
- print_hex_word(i);
- SERIAL_ECHOPGM(": ");
- for (uint16_t j = 0; j < 16; j++) {
- persistentStore.read_data(i + j, &cccc, sizeof(uint8_t));
- print_hex_byte(cccc);
- SERIAL_CHAR(' ');
- }
- SERIAL_EOL();
- }
- SERIAL_EOL();
- persistentStore.access_finish();
- }
-
- /**
- * When we are fully debugged, this may go away. But there are some valid
- * use cases for the users. So we can wait and see what to do with it.
- */
- void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() {
- const int16_t a = settings.calc_num_meshes();
-
- if (!a) {
- SERIAL_ECHOLNPGM("?EEPROM storage not available.");
- return;
- }
-
- if (!parser.has_value() || !WITHIN(g29_storage_slot, 0, a - 1)) {
- SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1);
- return;
- }
-
- g29_storage_slot = parser.value_int();
-
- float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
- settings.load_mesh(g29_storage_slot, &tmp_z_values);
-
- SERIAL_ECHOLNPAIR("Subtracting mesh in slot ", g29_storage_slot, " from current mesh.");
-
- GRID_LOOP(x, y) {
- z_values[x][y] -= tmp_z_values[x][y];
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
- }
- }
-
- #endif // UBL_DEVEL_DEBUGGING
-
- #endif // AUTO_BED_LEVELING_UBL
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