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Show measured bed offset from expected position even if not homed. Remove redundant lcd_quick_feedback() calls.

This commit is contained in:
Marek Bel 2018-05-10 18:24:49 +02:00
parent ab68221976
commit 329ea199ec
3 changed files with 113 additions and 79 deletions
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153
Firmware/mesh_bed_calibration.cpp
View File

@ -732,19 +732,24 @@ void world2machine_reset()
}
/**
* @brief Set calibration matrix to default value
* @brief Get calibration matrix default value
*
* This is used if no valid calibration data can be read from EEPROM.
* @param [out] vec_x axis x vector
* @param [out] vec_y axis y vector
* @param [out] cntr offset vector
*/
static void world2machine_default()
static void world2machine_default(float vec_x[2], float vec_y[2], float cntr[2])
{
vec_x[0] = 1.f;
vec_x[1] = 0.f;
vec_y[0] = 0.f;
vec_y[1] = 1.f;
cntr[0] = 0.f;
#ifdef DEFAULT_Y_OFFSET
const float vx[] = { 1.f, 0.f };
const float vy[] = { 0.f, 1.f };
const float cntr[] = { 0.f, DEFAULT_Y_OFFSET };
world2machine_update(vx, vy, cntr);
cntr[1] = DEFAULT_Y_OFFSET;
#else
world2machine_reset();
cntr[1] = 0.f;
#endif
}
/**
@ -768,93 +773,121 @@ static inline bool vec_undef(const float v[2])
return vx[0] == 0x0FFFFFFFF || vx[1] == 0x0FFFFFFFF;
}
/**
* @brief Read and apply calibration data from EEPROM
* @brief Read calibration data from EEPROM
*
* If no calibration data has been stored in EEPROM or invalid,
* world2machine_default() is used.
*
* If stored calibration data is invalid, EEPROM storage is cleared.
*
* @param [out] vec_x axis x vector
* @param [out] vec_y axis y vector
* @param [out] cntr offset vector
*/
void world2machine_initialize()
void world2machine_read_valid(float vec_x[2], float vec_y[2], float cntr[2])
{
//SERIAL_ECHOLNPGM("world2machine_initialize");
float cntr[2] = {
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0)),
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4))
};
float vec_x[2] = {
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +0)),
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +4))
};
float vec_y[2] = {
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +0)),
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +4))
};
vec_x[0] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +0));
vec_x[1] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +4));
vec_y[0] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +0));
vec_y[1] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +4));
cntr[0] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0));
cntr[1] = eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4));
bool reset = false;
if (vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) {
// SERIAL_ECHOLNPGM("Undefined bed correction matrix.");
if (vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y))
{
#if 0
SERIAL_ECHOLNPGM("Undefined bed correction matrix.");
#endif
reset = true;
}
else {
else
{
// Length of the vec_x shall be close to unity.
float l = sqrt(vec_x[0] * vec_x[0] + vec_x[1] * vec_x[1]);
if (l < 0.9 || l > 1.1) {
// SERIAL_ECHOLNPGM("X vector length:");
// MYSERIAL.println(l);
// SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the X vector out of range.");
if (l < 0.9 || l > 1.1)
{
#if 0
SERIAL_ECHOLNPGM("X vector length:");
MYSERIAL.println(l);
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the X vector out of range.");
#endif
reset = true;
}
// Length of the vec_y shall be close to unity.
l = sqrt(vec_y[0] * vec_y[0] + vec_y[1] * vec_y[1]);
if (l < 0.9 || l > 1.1) {
// SERIAL_ECHOLNPGM("Y vector length:");
// MYSERIAL.println(l);
// SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the Y vector out of range.");
if (l < 0.9 || l > 1.1)
{
#if 0
SERIAL_ECHOLNPGM("Y vector length:");
MYSERIAL.println(l);
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Length of the Y vector out of range.");
#endif
reset = true;
}
// Correction of the zero point shall be reasonably small.
l = sqrt(cntr[0] * cntr[0] + cntr[1] * cntr[1]);
if (l > 15.f) {
// SERIAL_ECHOLNPGM("Zero point correction:");
// MYSERIAL.println(l);
// SERIAL_ECHOLNPGM("Invalid bed correction matrix. Shift out of range.");
if (l > 15.f)
{
#if 0
SERIAL_ECHOLNPGM("Zero point correction:");
MYSERIAL.println(l);
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Shift out of range.");
#endif
reset = true;
}
// vec_x and vec_y shall be nearly perpendicular.
l = vec_x[0] * vec_y[0] + vec_x[1] * vec_y[1];
if (fabs(l) > 0.1f) {
// SERIAL_ECHOLNPGM("Invalid bed correction matrix. X/Y axes are far from being perpendicular.");
if (fabs(l) > 0.1f)
{
#if 0
SERIAL_ECHOLNPGM("Invalid bed correction matrix. X/Y axes are far from being perpendicular.");
#endif
reset = true;
}
}
if (reset) {
// SERIAL_ECHOLNPGM("Invalid bed correction matrix. Resetting to identity.");
if (reset)
{
#if 0
SERIAL_ECHOLNPGM("Invalid bed correction matrix. Resetting to identity.");
#endif
reset_bed_offset_and_skew();
world2machine_default();
} else {
world2machine_update(vec_x, vec_y, cntr);
/*
SERIAL_ECHOPGM("world2machine_initialize() loaded: ");
MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[0][1], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[1][0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[1][1], 5);
SERIAL_ECHOPGM(", offset ");
MYSERIAL.print(world2machine_shift[0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_shift[1], 5);
SERIAL_ECHOLNPGM("");
*/
world2machine_default(vec_x, vec_y, cntr);
}
}
/**
* @brief Read and apply validated calibration data from EEPROM
*/
void world2machine_initialize()
{
#if 0
SERIAL_ECHOLNPGM("world2machine_initialize");
#endif
float vec_x[2];
float vec_y[2];
float cntr[2];
world2machine_read_valid(vec_x, vec_y, cntr);
world2machine_update(vec_x, vec_y, cntr);
#if 0
SERIAL_ECHOPGM("world2machine_initialize() loaded: ");
MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[0][1], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[1][0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[1][1], 5);
SERIAL_ECHOPGM(", offset ");
MYSERIAL.print(world2machine_shift[0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_shift[1], 5);
SERIAL_ECHOLNPGM("");
#endif
}
/**
* @brief Update current position after switching to corrected coordinates
*

8
Firmware/mesh_bed_calibration.h
View File

@ -26,16 +26,10 @@ extern float world2machine_rotation_and_skew_inv[2][2];
// Shift of the machine zero point, in the machine coordinates.
extern float world2machine_shift[2];
// Resets the transformation to identity.
extern void world2machine_reset();
// Resets the transformation to identity and update current_position[X,Y] from the servos.
extern void world2machine_revert_to_uncorrected();
// Loads the transformation from the EEPROM, if available.
extern void world2machine_initialize();
// When switching from absolute to corrected coordinates,
// this will apply an inverse world2machine transformation
// to current_position[x,y].
extern void world2machine_read_valid(float vec_x[2], float vec_y[2], float cntr[2]);
extern void world2machine_update_current();
inline void world2machine(float &x, float &y)

31
Firmware/ultralcd.cpp
View File

@ -1586,7 +1586,6 @@ static void lcd_menu_extruder_info()
if (lcd_clicked())
{
lcd_quick_feedback();
menu_action_back();
}
}
@ -1707,7 +1706,6 @@ static void lcd_menu_temperatures()
if (lcd_clicked())
{
lcd_quick_feedback();
menu_action_back();
}
}
@ -1725,7 +1723,6 @@ static void lcd_menu_voltages()
fprintf_P(lcdout, PSTR( ESC_H(1,1)"PWR: %d.%01dV"), (int)volt_pwr, (int)(10*fabs(volt_pwr - (int)volt_pwr))) ;
if (lcd_clicked())
{
lcd_quick_feedback();
menu_action_back();
}
}
@ -1737,7 +1734,6 @@ static void lcd_menu_belt_status()
fprintf_P(lcdout, PSTR(ESC_H(1,0) "Belt status" ESC_H(2,1) "X %d" ESC_H(2,2) "Y %d" ), eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_X)), eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_Y)));
if (lcd_clicked())
{
lcd_quick_feedback();
menu_action_back();
}
}
@ -2289,7 +2285,12 @@ static void lcd_move_e()
lcd_return_to_status();
}
}
/**
* @brief Show measured Y distance of front calibration points from Y_MIN_POS
*
* If those points are detected too close to edge of reachable area, their confidence is lowered.
* This functionality is applied more often for MK2 printers.
*/
static void lcd_menu_xyz_y_min()
{
lcd.setCursor(0,0);
@ -2310,11 +2311,12 @@ static void lcd_menu_xyz_y_min()
}
if (lcd_clicked())
{
lcd_quick_feedback();
lcd_goto_menu(lcd_menu_xyz_skew);
}
}
/**
* @brief Show measured axis skewness
*/
static void lcd_menu_xyz_skew()
{
float angleDiff;
@ -2339,11 +2341,12 @@ static void lcd_menu_xyz_skew()
if (lcd_clicked())
{
lcd_quick_feedback();
lcd_goto_menu(lcd_menu_xyz_offset);
}
}
/**
* @brief Show measured bed offset from expected position
*/
static void lcd_menu_xyz_offset()
{
lcd.setCursor(0,0);
@ -2352,15 +2355,19 @@ static void lcd_menu_xyz_offset()
lcd_print_at_PGM(0, 2, PSTR("X"));
lcd_print_at_PGM(0, 3, PSTR("Y"));
float vec_x[2];
float vec_y[2];
float cntr[2];
world2machine_read_valid(vec_x, vec_y, cntr);
for (int i = 0; i < 2; i++)
{
lcd_print_at_PGM(11, i + 2, PSTR(""));
lcd.print(world2machine_shift[i]);
lcd_print_at_PGM((world2machine_shift[i] < 0) ? 17 : 16, i + 2, PSTR("mm"));
lcd.print(cntr[i]);
lcd_print_at_PGM((cntr[i] < 0) ? 17 : 16, i + 2, PSTR("mm"));
}
if (lcd_clicked())
{
lcd_quick_feedback();
menu_action_back();
}
}