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Add Calibration LCD menu item for optionallly disabling XY skew correction. 

XY Skew correction menu item only enabled only when skew is 'perfect' (< 0.1deg).
Fix HOME-Z to correct location (calibration point)
This commit is contained in:
Ted Hess 2018-02-13 11:48:38 -05:00
parent fa7f306726
commit 2533c36496
14 changed files with 96 additions and 34 deletions
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6
.travis.yml
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@ -3,6 +3,7 @@
# Updated for Arduino 1.8.5+ by Ted Hess
# Remove need to change default build environment
# Firmware/ArduinoAddons are not used
# Remove MK1 builds
# https://learn.adafruit.com/continuous-integration-arduino-and-you/testing-your-project
language: c
@ -27,7 +28,7 @@ install:
script:
- GIT_VERSION=$(git rev-parse --short HEAD)
- VARIANTS=$(ls Firmware/variants/)
- VARIANTS=$(ls Firmware/variants/1_75_MK2*)
- for VARIANT in $VARIANTS; do
cp Firmware/variants/${VARIANT} Firmware/Configuration_prusa.h ;
arduino --pref build.path=. --verify --verbose-build --board rambo:avr:rambo $PWD/Firmware/Firmware.ino ;
@ -40,8 +41,7 @@ after_success:
else
BUILD_NAME=${GIT_VERSION} ;
fi
- mkdir -p prusa3d_fw_${BUILD_NAME}/MK1-175mm prusa3d_fw_${BUILD_NAME}/MK2-MultiMaterial prusa3d_fw_${BUILD_NAME}/MK2
- mv *_MK1-RAMBo* prusa3d_fw_${BUILD_NAME}/MK1-175mm
- mkdir -p prusa3d_fw_${BUILD_NAME}/MK2-MultiMaterial prusa3d_fw_${BUILD_NAME}/MK2
- mv *_MK2-MultiMaterial-RAMBo* prusa3d_fw_${BUILD_NAME}/MK2-MultiMaterial
- mv *_MK2-RAMBo* prusa3d_fw_${BUILD_NAME}/MK2
- zip -r prusa3d_fw_${BUILD_NAME}.zip prusa3d_fw_* *.pdf

4
Firmware/Configuration.h
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@ -10,7 +10,7 @@
// Firmware version
#define FW_version "3.1.0"
#define FW_local_variant 7
#define FW_local_variant 8
#define FW_report_version FW_version " r" STR(FW_local_variant)
#define FW_PRUSA3D_MAGIC "PRUSA3DFW"
@ -68,6 +68,8 @@
// Current Range is: +/- 500um (stored as int16).
#define EEPROM_BED_CORRECTION_VALID 499
#define EEPROM_BED_CORRECTION_OFFSETS (EEPROM_BED_CORRECTION_VALID - 16)
#define EEPROM_XY_CALIBRATION_RESULT (EEPROM_BED_CORRECTION_OFFSETS - 1)
#define EEPROM_XY_SKEW_DISABLED (EEPROM_XY_CALIBRATION_RESULT - 1)
// Currently running firmware, each digit stored as uint16_t.
// The flavor differentiates a dev, alpha, beta, release candidate or a release version.

5
Firmware/Marlin_main.cpp
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@ -2429,6 +2429,10 @@ bool gcode_M45(bool onlyZ) {
if (calibration_status() != 250 || eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) {
calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
}
// Reset XY skew result
eeprom_update_byte((uint8_t *)EEPROM_XY_CALIBRATION_RESULT, 0xFF);
eeprom_update_byte((uint8_t *)EEPROM_XY_SKEW_DISABLED, 0);
// Reset the baby step value and the baby step applied flag.
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Complete XYZ calibration.
@ -2458,6 +2462,7 @@ bool gcode_M45(bool onlyZ) {
}
lcd_bed_calibration_show_result(result, point_too_far_mask);
if (result >= 0) {
eeprom_update_byte((unsigned char *)EEPROM_XY_CALIBRATION_RESULT, result);
// Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
if(eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);

31
Firmware/language_all.cpp
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@ -3077,9 +3077,34 @@ const char * const MSG_SILENT_MODE_ON_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_SILENT_MODE_ON_DE
};
const char MSG_SKEW_CORRECTION_EN[] PROGMEM = "Very little skew detected. Disable correction?";
const char * const MSG_SKEW_CORRECTION_LANG_TABLE[1] PROGMEM = {
MSG_SKEW_CORRECTION_EN
const char MSG_SKEW_CORRECTION_OFF_EN[] PROGMEM = "XY Correct [OFF]";
const char MSG_SKEW_CORRECTION_OFF_CZ[] PROGMEM = "XY Korekce [OFF]";
const char MSG_SKEW_CORRECTION_OFF_IT[] PROGMEM = "XY Correz. [OFF]";
const char MSG_SKEW_CORRECTION_OFF_ES[] PROGMEM = "XY Corr. [OFF]";
const char MSG_SKEW_CORRECTION_OFF_PL[] PROGMEM = "XY Korekta [OFF]";
const char MSG_SKEW_CORRECTION_OFF_DE[] PROGMEM = "XY Korrekt [OFF]";
const char * const MSG_SKEW_CORRECTION_OFF_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_SKEW_CORRECTION_OFF_EN,
MSG_SKEW_CORRECTION_OFF_CZ,
MSG_SKEW_CORRECTION_OFF_IT,
MSG_SKEW_CORRECTION_OFF_ES,
MSG_SKEW_CORRECTION_OFF_PL,
MSG_SKEW_CORRECTION_OFF_DE
};
const char MSG_SKEW_CORRECTION_ON_EN[] PROGMEM = "XY Correct [ON]";
const char MSG_SKEW_CORRECTION_ON_CZ[] PROGMEM = "XY Korekce [ON]";
const char MSG_SKEW_CORRECTION_ON_IT[] PROGMEM = "XY Correz. [ON]";
const char MSG_SKEW_CORRECTION_ON_ES[] PROGMEM = "XY Corr. [ON]";
const char MSG_SKEW_CORRECTION_ON_PL[] PROGMEM = "XY Korekta [ON]";
const char MSG_SKEW_CORRECTION_ON_DE[] PROGMEM = "XY Korrekt [ON]";
const char * const MSG_SKEW_CORRECTION_ON_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_SKEW_CORRECTION_ON_EN,
MSG_SKEW_CORRECTION_ON_CZ,
MSG_SKEW_CORRECTION_ON_IT,
MSG_SKEW_CORRECTION_ON_ES,
MSG_SKEW_CORRECTION_ON_PL,
MSG_SKEW_CORRECTION_ON_DE
};
const char MSG_SLIGHT_SKEW_EN[] PROGMEM = "Slight skew:";

6
Firmware/language_all.h
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@ -562,8 +562,10 @@ extern const char* const MSG_SILENT_MODE_OFF_LANG_TABLE[LANG_NUM];
#define MSG_SILENT_MODE_OFF LANG_TABLE_SELECT(MSG_SILENT_MODE_OFF_LANG_TABLE)
extern const char* const MSG_SILENT_MODE_ON_LANG_TABLE[LANG_NUM];
#define MSG_SILENT_MODE_ON LANG_TABLE_SELECT(MSG_SILENT_MODE_ON_LANG_TABLE)
extern const char* const MSG_SKEW_CORRECTION_LANG_TABLE[1];
#define MSG_SKEW_CORRECTION LANG_TABLE_SELECT_EXPLICIT(MSG_SKEW_CORRECTION_LANG_TABLE, 0)
extern const char* const MSG_SKEW_CORRECTION_OFF_LANG_TABLE[LANG_NUM];
#define MSG_SKEW_CORRECTION_OFF LANG_TABLE_SELECT(MSG_SKEW_CORRECTION_OFF_LANG_TABLE)
extern const char* const MSG_SKEW_CORRECTION_ON_LANG_TABLE[LANG_NUM];
#define MSG_SKEW_CORRECTION_ON LANG_TABLE_SELECT(MSG_SKEW_CORRECTION_ON_LANG_TABLE)
extern const char* const MSG_SLIGHT_SKEW_LANG_TABLE[LANG_NUM];
#define MSG_SLIGHT_SKEW LANG_TABLE_SELECT(MSG_SLIGHT_SKEW_LANG_TABLE)
extern const char* const MSG_SOFTWARE_RESET_LANG_TABLE[1];

2
Firmware/language_cz.h
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@ -353,3 +353,5 @@
#define MSG_FILE_CNT "Nektere soubory nebudou setrideny. Maximalni pocet souboru pro setrideni je 100."
#define MSG_WIZARD_HEATING "Predehrivam trysku. Prosim cekejte."
#define MSG_M117_V2_CALIBRATION "M117 Kal. prvni vrstvy"
#define MSG_SKEW_CORRECTION_ON "XY Korekce [ON]"
#define MSG_SKEW_CORRECTION_OFF "XY Korekce [OFF]"

2
Firmware/language_de.h
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@ -365,3 +365,5 @@
#define MSG_FILE_CNT "Einige Dateien werden nicht sortiert. Max. Anzahl der Dateien in einem Ordner ist 100."
#define MSG_WIZARD_HEATING "Vorheizen der Duese. Bitte warten."
#define MSG_M117_V2_CALIBRATION "M117 Erste-Schicht Kal."
#define MSG_SKEW_CORRECTION_ON "XY Korrekt [ON]"
#define MSG_SKEW_CORRECTION_OFF "XY Korrekt [OFF]"

3
Firmware/language_en.h
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@ -353,4 +353,5 @@
#define(lenght=20, lines=4) MSG_PLEASE_LOAD_PLA "Please load PLA filament first."
#define(length=20, lines=8) MSG_FILE_CNT "Some files will not be sorted. Max. No. of files in 1 folder for sorting is 100."
#define(length=25, lines=1) MSG_M117_V2_CALIBRATION "M117 First layer cal."
#define(length=20, lines=3) MSG_SKEW_CORRECTION "Very little skew detected. Disable correction?"
#define(length=20, lines=1) MSG_SKEW_CORRECTION_ON "XY Correct [ON]"
#define(length=20, lines=1) MSG_SKEW_CORRECTION_OFF "XY Correct [OFF]"

2
Firmware/language_es.h
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@ -347,3 +347,5 @@
#define MSG_FILE_CNT "Algunos archivos no seran ordenados. El Max. num. de archivos para ordenar en 1 carpeta es 100."
#define MSG_WIZARD_HEATING "Precalentando nozzle. Espera por favor."
#define MSG_M117_V2_CALIBRATION "M117 Cal. primera cap."
#define MSG_SKEW_CORRECTION_ON "XY Corr. [ON]"
#define MSG_SKEW_CORRECTION_OFF "XY Corr. [OFF]"

2
Firmware/language_it.h
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@ -338,3 +338,5 @@
#define MSG_FILE_CNT "Alcuni dei file non potranno essere organizzati. 100 e il n. max. di file che possono essere organizzati."
#define MSG_WIZARD_HEATING "Sto preriscaldando l'ugello. Per favore attendi."
#define MSG_M117_V2_CALIBRATION "M117 Cal. primo layer."
#define MSG_SKEW_CORRECTION_ON "XY Correz. [ON]"
#define MSG_SKEW_CORRECTION_OFF "XY Correz. [OFF]"

2
Firmware/language_pl.h
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@ -350,3 +350,5 @@
#define MSG_FILE_CNT "Niektore pliki nie beda sortowane. Max. ilosc plikow do sortu w 1 folderze to 100."
#define MSG_WIZARD_HEATING "Nagrzewanie dyszy. Prosze czekac."
#define MSG_M117_V2_CALIBRATION "M117 Kal. 1. warstwy"
#define MSG_SKEW_CORRECTION_ON "XY Korekta [ON]"
#define MSG_SKEW_CORRECTION_OFF "XY Korekta [OFF]"

47
Firmware/mesh_bed_calibration.cpp
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@ -7,6 +7,7 @@
#include "stepper.h"
#include "ultralcd.h"
bool xy_skew_disabled;
uint8_t world2machine_correction_mode;
float world2machine_rotation_and_skew[2][2];
float world2machine_rotation_and_skew_inv[2][2];
@ -452,32 +453,17 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
#endif // SUPPORT_VERBOSITY
if (result == BED_SKEW_OFFSET_DETECTION_PERFECT) {
bool skew_correction = lcd_show_multiscreen_message_yes_no_and_wait_P(MSG_SKEW_CORRECTION, false, false);
lcd_update_enable(true);
lcd_update(2);
if (skew_correction) {
#ifdef SUPPORT_VERBOSITY
if (verbosity_level > 0)
SERIAL_ECHOLNPGM("Very little skew detected. Disabling skew correction.");
#endif
// Just disable the skew correction.
vec_x[0] = MACHINE_AXIS_SCALE_X;
vec_x[1] = 0.f;
vec_y[0] = 0.f;
vec_y[1] = MACHINE_AXIS_SCALE_Y;
} else {
#ifdef SUPPORT_VERBOSITY
#ifdef SUPPORT_VERBOSITY
if (verbosity_level > 0)
SERIAL_ECHOLNPGM("Very little skew detected. Orthogonalizing the axes.");
#endif
// Orthogonalize the axes.
#endif
// Orthogonalize the axes.
a1 = 0.5f * (a1 + a2);
vec_x[0] = cos(a1) * MACHINE_AXIS_SCALE_X;
vec_x[1] = sin(a1) * MACHINE_AXIS_SCALE_X;
vec_y[0] = -sin(a1) * MACHINE_AXIS_SCALE_Y;
vec_y[1] = cos(a1) * MACHINE_AXIS_SCALE_Y;
// Refresh the offset.
cntr[0] = 0.f;
cntr[1] = 0.f;
@ -538,7 +524,6 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
}
#endif // SUPPORT_VERBOSITY
}
}
// Invert the transformation matrix made of vec_x, vec_y and cntr.
@ -632,6 +617,10 @@ void reset_bed_offset_and_skew()
// Reset the 8 16bit offsets.
for (int8_t i = 0; i < 4; ++ i)
eeprom_update_dword((uint32_t*)(EEPROM_BED_CALIBRATION_Z_JITTER+i*4), 0x0FFFFFFFF);
// Reset XY skew handling
eeprom_update_byte((uint8_t *)EEPROM_XY_CALIBRATION_RESULT, 0xFF);
eeprom_update_byte((uint8_t *)EEPROM_XY_SKEW_DISABLED, false);
}
bool is_bed_z_jitter_data_valid()
@ -645,10 +634,18 @@ bool is_bed_z_jitter_data_valid()
static void world2machine_update(const float vec_x[2], const float vec_y[2], const float cntr[2])
{
world2machine_rotation_and_skew[0][0] = vec_x[0];
world2machine_rotation_and_skew[1][0] = vec_x[1];
world2machine_rotation_and_skew[0][1] = vec_y[0];
world2machine_rotation_and_skew[1][1] = vec_y[1];
// Check skew compensation is disabled (use unity matrix if so)
if (!xy_skew_disabled || homing_flag || mesh_bed_leveling_flag) {
world2machine_rotation_and_skew[0][0] = vec_x[0];
world2machine_rotation_and_skew[1][0] = vec_x[1];
world2machine_rotation_and_skew[0][1] = vec_y[0];
world2machine_rotation_and_skew[1][1] = vec_y[1];
} else {
world2machine_rotation_and_skew[0][0] = 1.0f;
world2machine_rotation_and_skew[1][0] = 0.f;
world2machine_rotation_and_skew[0][1] = 0.f;
world2machine_rotation_and_skew[1][1] = 1.0f;
}
world2machine_shift[0] = cntr[0];
world2machine_shift[1] = cntr[1];
// No correction.
@ -762,6 +759,8 @@ void world2machine_initialize()
reset_bed_offset_and_skew();
world2machine_reset();
} else {
// Skew disabled must equal 1 (all else is false)
xy_skew_disabled = (eeprom_read_byte((uint8_t *)EEPROM_XY_SKEW_DISABLED) == true);
world2machine_update(vec_x, vec_y, cntr);
/*
SERIAL_ECHOPGM("world2machine_initialize() loaded: ");

2
Firmware/mesh_bed_calibration.h
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@ -9,6 +9,8 @@ extern const float bed_ref_points[] PROGMEM;
extern const float bed_skew_angle_mild;
extern const float bed_skew_angle_extreme;
extern bool xy_skew_disabled;
// Is the world2machine correction activated?
enum World2MachineCorrectionMode
{

16
Firmware/ultralcd.cpp
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@ -3352,6 +3352,12 @@ void lcd_extr_cal_reset() {
#endif
void lcd_xy_skew_disable_toggle()
{
xy_skew_disabled = !xy_skew_disabled;
eeprom_update_byte((uint8_t *)EEPROM_XY_SKEW_DISABLED, xy_skew_disabled);
}
void lcd_toshiba_flash_air_compatibility_toggle()
{
card.ToshibaFlashAir_enable(! card.ToshibaFlashAir_isEnabled());
@ -3651,6 +3657,16 @@ static void lcd_calibration_menu()
#endif //MK1BP
MENU_ITEM(submenu, MSG_PID_EXTRUDER, pid_extruder);
MENU_ITEM(submenu, MSG_SHOW_END_STOPS, menu_show_end_stops);
// Option only available if minimal skew on XY plane
if (eeprom_read_byte((uint8_t *)EEPROM_XY_CALIBRATION_RESULT) == BED_SKEW_OFFSET_DETECTION_PERFECT) {
if (xy_skew_disabled) {
MENU_ITEM(function, MSG_SKEW_CORRECTION_OFF, lcd_xy_skew_disable_toggle);
} else {
MENU_ITEM(function, MSG_SKEW_CORRECTION_ON, lcd_xy_skew_disable_toggle);
}
}
#ifndef MK1BP
MENU_ITEM(gcode, MSG_CALIBRATE_BED_RESET, PSTR("M44"));
#endif //MK1BP