From 2e40a2746098fc7a989444bf37be9572a943b8fd Mon Sep 17 00:00:00 2001 From: espr14 Date: Mon, 11 Jan 2021 15:40:12 +0100 Subject: [PATCH] Alignment, comments --- Firmware/mesh_bed_calibration.cpp | 190 +++++++++++++++--------------- 1 file changed, 97 insertions(+), 93 deletions(-) diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index 897e3a9e6..8c2a49761 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -2226,104 +2226,104 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level } #endif // SUPPORT_VERBOSITY #ifdef MESH_BED_CALIBRATION_SHOW_LCD - uint8_t next_line; - lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1), next_line); - if (next_line > 3) - next_line = 3; + uint8_t next_line; + lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1), next_line); + if (next_line > 3) + next_line = 3; #endif /* MESH_BED_CALIBRATION_SHOW_LCD */ - // Collect the rear 2x3 points. - 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) { - // Don't let the manage_inactivity() function remove power from the motors. - refresh_cmd_timeout(); + // Collect the rear 2x3 points. + 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) { + // Don't let the manage_inactivity() function remove power from the motors. + refresh_cmd_timeout(); #ifdef MESH_BED_CALIBRATION_SHOW_LCD - lcd_set_cursor(0, next_line); - lcd_print(k + 1); - lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2)); + lcd_set_cursor(0, next_line); + lcd_print(k + 1); + lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2)); - if (iteration > 0) { - lcd_puts_at_P(0, next_line + 1, _i("Iteration "));////MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION c=20 - lcd_print(int(iteration + 1)); - } + if (iteration > 0) { + lcd_puts_at_P(0, next_line + 1, _i("Iteration "));////MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION c=20 + lcd_print(int(iteration + 1)); + } #endif /* MESH_BED_CALIBRATION_SHOW_LCD */ - float *pt = pts + k * 2; - // Go up to z_initial. + float *pt = pts + k * 2; + // Go up to z_initial. - go_to_current(homing_feedrate[Z_AXIS] / 60.f); - #ifdef SUPPORT_VERBOSITY - if (verbosity_level >= 20) { - // Go to Y0, wait, then go to Y-4. - current_position[Y_AXIS] = 0.f; - go_to_current(homing_feedrate[X_AXIS] / 60.f); - SERIAL_ECHOLNPGM("At Y0"); - delay_keep_alive(5000); - current_position[Y_AXIS] = Y_MIN_POS; - go_to_current(homing_feedrate[X_AXIS] / 60.f); - SERIAL_ECHOLNPGM("At Y-4"); - delay_keep_alive(5000); - } - #endif // SUPPORT_VERBOSITY - // Go to the measurement point position. - //if (iteration == 0) { - 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); - /*} - else { - // if first iteration failed, count corrected point coordinates as initial - // 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[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]; + go_to_current(homing_feedrate[Z_AXIS] / 60.f); + #ifdef SUPPORT_VERBOSITY + if (verbosity_level >= 20) { + // Go to Y0, wait, then go to Y-4. + current_position[Y_AXIS] = 0.f; + go_to_current(homing_feedrate[X_AXIS] / 60.f); + SERIAL_ECHOLNPGM("At Y0"); + delay_keep_alive(5000); + current_position[Y_AXIS] = Y_MIN_POS; + go_to_current(homing_feedrate[X_AXIS] / 60.f); + SERIAL_ECHOLNPGM("At Y-4"); + delay_keep_alive(5000); + } + #endif // SUPPORT_VERBOSITY + // Go to the measurement point position. + //if (iteration == 0) { + 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); + /*} + else { + // if first iteration failed, count corrected point coordinates as initial + // 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[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. - if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION) - current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION; + // The calibration points are very close to the min Y. + if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION) + current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION; - }*/ - #ifdef SUPPORT_VERBOSITY - if (verbosity_level >= 20) { - SERIAL_ECHOPGM("current_position[X_AXIS]:"); - MYSERIAL.print(current_position[X_AXIS], 5); - SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("current_position[Y_AXIS]:"); - MYSERIAL.print(current_position[Y_AXIS], 5); - SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("current_position[Z_AXIS]:"); - MYSERIAL.print(current_position[Z_AXIS], 5); - SERIAL_ECHOLNPGM(""); - } - #endif // SUPPORT_VERBOSITY + }*/ + #ifdef SUPPORT_VERBOSITY + if (verbosity_level >= 20) { + SERIAL_ECHOPGM("current_position[X_AXIS]:"); + MYSERIAL.print(current_position[X_AXIS], 5); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("current_position[Y_AXIS]:"); + MYSERIAL.print(current_position[Y_AXIS], 5); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("current_position[Z_AXIS]:"); + MYSERIAL.print(current_position[Z_AXIS], 5); + SERIAL_ECHOLNPGM(""); + } + #endif // SUPPORT_VERBOSITY - go_to_current(homing_feedrate[X_AXIS] / 60.f); - #ifdef SUPPORT_VERBOSITY - if (verbosity_level >= 10) - delay_keep_alive(3000); - #endif // SUPPORT_VERBOSITY - if (!find_bed_induction_sensor_point_xy(verbosity_level)) - return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND; + go_to_current(homing_feedrate[X_AXIS] / 60.f); + #ifdef SUPPORT_VERBOSITY + if (verbosity_level >= 10) + delay_keep_alive(3000); + #endif // SUPPORT_VERBOSITY + if (!find_bed_induction_sensor_point_xy(verbosity_level)) + return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND #ifndef NEW_XYZCAL #ifndef HEATBED_V2 - if (k == 0 || k == 1) { - // Improve the position of the 1st row sensor points by a zig-zag movement. - find_bed_induction_sensor_point_z(); - int8_t i = 4; - for (;;) { - if (improve_bed_induction_sensor_point3(verbosity_level)) - break; - if (--i == 0) - 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. - current_position[Z_AXIS] -= 0.025f; - enable_endstops(false); - enable_z_endstop(false); - go_to_current(homing_feedrate[Z_AXIS]); - } - if (i == 0) - // not found - return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND; - } + if (k == 0 || k == 1) { + // Improve the position of the 1st row sensor points by a zig-zag movement. + find_bed_induction_sensor_point_z(); + int8_t i = 4; + for (;;) { + if (improve_bed_induction_sensor_point3(verbosity_level)) + break; + if (--i == 0) + 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. + current_position[Z_AXIS] -= 0.025f; + enable_endstops(false); + enable_z_endstop(false); + go_to_current(homing_feedrate[Z_AXIS]); + } + if (i == 0) + // not found + return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND; + } #endif //HEATBED_V2 #endif #ifdef SUPPORT_VERBOSITY @@ -2375,8 +2375,9 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level delay_keep_alive(3000); } #endif // SUPPORT_VERBOSITY - } - delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity + } + DBG(_n("All 4 calibration points found.\n")); + delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity #ifdef SUPPORT_VERBOSITY if (verbosity_level >= 20) { @@ -2386,7 +2387,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level // Don't let the manage_inactivity() function remove power from the motors. refresh_cmd_timeout(); // Go to the measurement point. - // Use the coorrected 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] = pts[mesh_point * 2]; current_position[Y_AXIS] = pts[mesh_point * 2 + 1]; go_to_current(homing_feedrate[X_AXIS] / 60); @@ -2450,7 +2451,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level // Don't let the manage_inactivity() function remove power from the motors. refresh_cmd_timeout(); // Go to the measurement point. - // Use the coorrected 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(). 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; if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; @@ -2462,9 +2463,12 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level } #endif // SUPPORT_VERBOSITY return result; - } - if (result == BED_SKEW_OFFSET_DETECTION_FITTING_FAILED && too_far_mask == 2) return result; //if fitting failed and front center point is out of reach, terminate calibration and inform user - iteration++; + } + if (result == BED_SKEW_OFFSET_DETECTION_FITTING_FAILED && too_far_mask == 2){ + DBG(_n("Calibration failed.\n")); + return result; //if fitting failed and front center point is out of reach, terminate calibration and inform user + } + iteration++; } return result; }