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)

.travis.yml

@@ -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_${BUILD_NAME}/MK2
+  - mkdir -p prusa3d_fw_${BUILD_NAME}/MK2-MultiMaterial prusa3d_fw_${BUILD_NAME}/MK2
-  - mv *_MK1-RAMBo* prusa3d_fw_${BUILD_NAME}/MK1-175mm
   - 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

Firmware/Configuration.h

@@ -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.

Firmware/Marlin_main.cpp

@@ -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);

Firmware/language_all.cpp

@@ -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 MSG_SKEW_CORRECTION_OFF_EN[] PROGMEM = "XY Correct [OFF]";
-const char * const MSG_SKEW_CORRECTION_LANG_TABLE[1] PROGMEM = {
+const char MSG_SKEW_CORRECTION_OFF_CZ[] PROGMEM = "XY Korekce [OFF]";
-	MSG_SKEW_CORRECTION_EN
+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:";

Firmware/language_all.h

@@ -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];
+extern const char* const MSG_SKEW_CORRECTION_OFF_LANG_TABLE[LANG_NUM];
-#define MSG_SKEW_CORRECTION LANG_TABLE_SELECT_EXPLICIT(MSG_SKEW_CORRECTION_LANG_TABLE, 0)
+#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];

Firmware/language_cz.h

@@ -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]"

Firmware/language_de.h

@@ -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]"

Firmware/language_en.h

@@ -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]"

Firmware/language_es.h

@@ -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]"

Firmware/language_it.h

@@ -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]"

Firmware/language_pl.h

@@ -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]"

Firmware/mesh_bed_calibration.cpp

@@ -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);
+            #ifdef SUPPORT_VERBOSITY
-
-	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
             if (verbosity_level > 0)
                 SERIAL_ECHOLNPGM("Very little skew detected. Orthogonalizing the axes.");
-	    #endif
+            #endif
-	    // Orthogonalize the axes.
+            // 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];
+    // Check skew compensation is disabled (use unity matrix if so)
-    world2machine_rotation_and_skew[1][0] = vec_x[1];
+    if (!xy_skew_disabled || homing_flag || mesh_bed_leveling_flag) {
-    world2machine_rotation_and_skew[0][1] = vec_y[0];
+        world2machine_rotation_and_skew[0][0] = vec_x[0];
-    world2machine_rotation_and_skew[1][1] = vec_y[1];
+        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: ");

Firmware/mesh_bed_calibration.h

@@ -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
 {

Firmware/ultralcd.cpp

@@ -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