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espr14 2021-01-11 18:46:56 +01:00
parent 211e5f5f37
commit 09892bec52
1 changed files with 90 additions and 91 deletions
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179
Firmware/mesh_bed_calibration.cpp
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@ -2230,104 +2230,104 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
} }
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
#ifdef MESH_BED_CALIBRATION_SHOW_LCD #ifdef MESH_BED_CALIBRATION_SHOW_LCD
uint8_t next_line; uint8_t next_line;
lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1), next_line); lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1), next_line);
if (next_line > 3) if (next_line > 3)
next_line = 3; next_line = 3;
#endif /* MESH_BED_CALIBRATION_SHOW_LCD */ #endif /* MESH_BED_CALIBRATION_SHOW_LCD */
// Collect the rear 2x3 points. // Collect the rear 2x3 points.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH + FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP * iteration * 0.3; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH + FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP * iteration * 0.3;
for (int k = 0; k < 4; ++k) { for (int k = 0; k < 4; ++k) {
// Don't let the manage_inactivity() function remove power from the motors. // Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout(); refresh_cmd_timeout();
#ifdef MESH_BED_CALIBRATION_SHOW_LCD #ifdef MESH_BED_CALIBRATION_SHOW_LCD
lcd_set_cursor(0, next_line); lcd_set_cursor(0, next_line);
lcd_print(k + 1); lcd_print(k + 1);
lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2)); lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
if (iteration > 0) { if (iteration > 0) {
lcd_puts_at_P(0, next_line + 1, _i("Iteration "));////MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION c=20 lcd_puts_at_P(0, next_line + 1, _i("Iteration "));////MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION c=20
lcd_print(int(iteration + 1)); lcd_print(int(iteration + 1));
} }
#endif /* MESH_BED_CALIBRATION_SHOW_LCD */ #endif /* MESH_BED_CALIBRATION_SHOW_LCD */
float *pt = pts + k * 2; float *pt = pts + k * 2;
// Go up to z_initial. // Go up to z_initial.
go_to_current(homing_feedrate[Z_AXIS] / 60.f); go_to_current(homing_feedrate[Z_AXIS] / 60.f);
#ifdef SUPPORT_VERBOSITY #ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) { if (verbosity_level >= 20) {
// Go to Y0, wait, then go to Y-4. // Go to Y0, wait, then go to Y-4.
current_position[Y_AXIS] = 0.f; current_position[Y_AXIS] = 0.f;
go_to_current(homing_feedrate[X_AXIS] / 60.f); go_to_current(homing_feedrate[X_AXIS] / 60.f);
SERIAL_ECHOLNPGM("At Y0"); SERIAL_ECHOLNPGM("At Y0");
delay_keep_alive(5000); delay_keep_alive(5000);
current_position[Y_AXIS] = Y_MIN_POS; current_position[Y_AXIS] = Y_MIN_POS;
go_to_current(homing_feedrate[X_AXIS] / 60.f); go_to_current(homing_feedrate[X_AXIS] / 60.f);
SERIAL_ECHOLNPGM("At Y-4"); SERIAL_ECHOLNPGM("At Y-4");
delay_keep_alive(5000); delay_keep_alive(5000);
} }
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
// Go to the measurement point position. // Go to the measurement point position.
//if (iteration == 0) { //if (iteration == 0) {
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4 + k * 2); current_position[X_AXIS] = pgm_read_float(bed_ref_points_4 + k * 2);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + k * 2 + 1); current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + k * 2 + 1);
/*} /*}
else { else {
// if first iteration failed, count corrected point coordinates as initial // if first iteration failed, count corrected point coordinates as initial
// Use the corrected coordinate, which is a result of find_bed_offset_and_skew(). // Use the corrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[0] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[0]; current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[0] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[0];
current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[1] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[1]; current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[1] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[1];
// The calibration points are very close to the min Y. // The calibration points are very close to the min Y.
if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION) if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION)
current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION; current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION;
}*/ }*/
#ifdef SUPPORT_VERBOSITY #ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) { if (verbosity_level >= 20) {
SERIAL_ECHOPGM("current_position[X_AXIS]:"); SERIAL_ECHOPGM("current_position[X_AXIS]:");
MYSERIAL.print(current_position[X_AXIS], 5); MYSERIAL.print(current_position[X_AXIS], 5);
SERIAL_ECHOLNPGM(""); SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("current_position[Y_AXIS]:"); SERIAL_ECHOPGM("current_position[Y_AXIS]:");
MYSERIAL.print(current_position[Y_AXIS], 5); MYSERIAL.print(current_position[Y_AXIS], 5);
SERIAL_ECHOLNPGM(""); SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("current_position[Z_AXIS]:"); SERIAL_ECHOPGM("current_position[Z_AXIS]:");
MYSERIAL.print(current_position[Z_AXIS], 5); MYSERIAL.print(current_position[Z_AXIS], 5);
SERIAL_ECHOLNPGM(""); SERIAL_ECHOLNPGM("");
} }
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
go_to_current(homing_feedrate[X_AXIS] / 60.f); go_to_current(homing_feedrate[X_AXIS] / 60.f);
#ifdef SUPPORT_VERBOSITY #ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 10) if (verbosity_level >= 10)
delay_keep_alive(3000); delay_keep_alive(3000);
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
if (!find_bed_induction_sensor_point_xy(verbosity_level)) if (!find_bed_induction_sensor_point_xy(verbosity_level))
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
#ifndef NEW_XYZCAL #ifndef NEW_XYZCAL
#ifndef HEATBED_V2 #ifndef HEATBED_V2
if (k == 0 || k == 1) { if (k == 0 || k == 1) {
// Improve the position of the 1st row sensor points by a zig-zag movement. // Improve the position of the 1st row sensor points by a zig-zag movement.
find_bed_induction_sensor_point_z(); find_bed_induction_sensor_point_z();
int8_t i = 4; int8_t i = 4;
for (;;) { for (;;) {
if (improve_bed_induction_sensor_point3(verbosity_level)) if (improve_bed_induction_sensor_point3(verbosity_level))
break; break;
if (--i == 0) if (--i == 0)
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND; return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
// Try to move the Z axis down a bit to increase a chance of the sensor to trigger. // Try to move the Z axis down a bit to increase a chance of the sensor to trigger.
current_position[Z_AXIS] -= 0.025f; current_position[Z_AXIS] -= 0.025f;
enable_endstops(false); enable_endstops(false);
enable_z_endstop(false); enable_z_endstop(false);
go_to_current(homing_feedrate[Z_AXIS]); go_to_current(homing_feedrate[Z_AXIS]);
} }
if (i == 0) if (i == 0)
// not found // not found
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND; return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
} }
#endif //HEATBED_V2 #endif //HEATBED_V2
#endif #endif
#ifdef SUPPORT_VERBOSITY #ifdef SUPPORT_VERBOSITY
@ -2379,9 +2379,8 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
delay_keep_alive(3000); delay_keep_alive(3000);
} }
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
} }
DBG(_n("All 4 calibration points found.\n")); delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity
delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity
#ifdef SUPPORT_VERBOSITY #ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) { if (verbosity_level >= 20) {
@ -2391,7 +2390,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
// Don't let the manage_inactivity() function remove power from the motors. // Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout(); refresh_cmd_timeout();
// Go to the measurement point. // Go to the measurement point.
// Use the corrected coordinate, which is a result of find_bed_offset_and_skew(). // Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = pts[mesh_point * 2]; current_position[X_AXIS] = pts[mesh_point * 2];
current_position[Y_AXIS] = pts[mesh_point * 2 + 1]; current_position[Y_AXIS] = pts[mesh_point * 2 + 1];
go_to_current(homing_feedrate[X_AXIS] / 60); go_to_current(homing_feedrate[X_AXIS] / 60);
@ -2456,7 +2455,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
// Don't let the manage_inactivity() function remove power from the motors. // Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout(); refresh_cmd_timeout();
// Go to the measurement point. // Go to the measurement point.
// Use the corrected coordinate, which is a result of find_bed_offset_and_skew(). // Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix;