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G80 general fixes 

Use interpolated eeprom mesh for skewed Z detection
Use the interpolated eeprom mesh for raising Z for the next point
Fix LCD countdown during MBL
This commit is contained in:
Alex Voinea 2023-05-05 14:59:47 +02:00
parent b234560b22
commit 36d8de0727
No known key found for this signature in database
GPG Key ID: 37EDFD565CB33BAD
2 changed files with 75 additions and 75 deletions
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144
Firmware/Marlin_main.cpp
View File

@ -2791,6 +2791,7 @@ static void gcode_G80()
{
constexpr float XY_AXIS_FEEDRATE = (homing_feedrate[X_AXIS] * 3) / 60;
constexpr float Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
constexpr float Z_CALIBRATION_THRESHOLD = 1.f;
st_synchronize();
if (planner_aborted)
return;
@ -2807,23 +2808,6 @@ static void gcode_G80()
return;
}
uint8_t nMeasPoints = code_seen('N') ? code_value_uint8() : eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
if (nMeasPoints != 7) {
nMeasPoints = 3;
}
uint8_t nProbeRetry = code_seen('R') ? code_value_uint8() : eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
if (nProbeRetry > 10) {
nProbeRetry = 10;
}
const uint8_t magnet_elimination = eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION);
float area_min_x = code_seen('X') ? code_value() - MESH_X_DIST - X_PROBE_OFFSET_FROM_EXTRUDER : -INFINITY;
float area_min_y = code_seen('Y') ? code_value() - MESH_Y_DIST - Y_PROBE_OFFSET_FROM_EXTRUDER : -INFINITY;
float area_max_x = code_seen('W') ? area_min_x + code_value() + 2 * MESH_X_DIST : INFINITY;
float area_max_y = code_seen('H') ? area_min_y + code_value() + 2 * MESH_Y_DIST : INFINITY;
#ifndef PINDA_THERMISTOR
static bool run = false; // thermistor-less PINDA temperature compensation is running
if (run == false && eeprom_read_byte((uint8_t *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == true && target_temperature_bed >= 50)
@ -2836,42 +2820,72 @@ static void gcode_G80()
}
run = false;
#endif //PINDA_THERMISTOR
// Save custom message state, set a new custom message state to display: Calibrating point 9.
CustomMsg custom_message_type_old = custom_message_type;
uint8_t custom_message_state_old = custom_message_state;
custom_message_type = CustomMsg::MeshBedLeveling;
custom_message_state = (nMeasPoints * nMeasPoints) + 10;
lcd_update(1);
uint8_t nMeasPoints = code_seen('N') ? code_value_uint8() : eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
if (nMeasPoints != 7) {
nMeasPoints = 3;
}
uint8_t nProbeRetry = code_seen('R') ? code_value_uint8() : eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
if (nProbeRetry > 10) {
nProbeRetry = 10;
}
const uint8_t magnet_elimination = eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION);
const float area_min_x = code_seen('X') ? code_value() - MESH_X_DIST - X_PROBE_OFFSET_FROM_EXTRUDER : -INFINITY;
const float area_min_y = code_seen('Y') ? code_value() - MESH_Y_DIST - Y_PROBE_OFFSET_FROM_EXTRUDER : -INFINITY;
const float area_max_x = code_seen('W') ? area_min_x + code_value() + 2 * MESH_X_DIST : INFINITY;
const float area_max_y = code_seen('H') ? area_min_y + code_value() + 2 * MESH_Y_DIST : INFINITY;
mbl.reset(); //reset mesh bed leveling
// Reset baby stepping to zero, if the babystepping has already been loaded before.
babystep_undo();
// Cycle through all points and probe them
// First move up. During this first movement, the babystepping will be reverted.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
// The move to the first calibration point.
current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0;
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
// Wait until the move is finished.
st_synchronize();
if (planner_aborted)
{
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
return;
}
uint8_t mesh_point = 0; //index number of calibration point
// Initialize the default mesh from eeprom and calculate how many points are to be probed
bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
uint8_t meshPointsToProbe = 0;
for (uint8_t row = 0; row < MESH_NUM_Y_POINTS; row++) {
for (uint8_t col = 0; col < MESH_NUM_X_POINTS; col++) {
bool isOn3x3Mesh = ((row % 3 == 0) && (col % 3 == 0));
if (isOn3x3Mesh) {
if (has_z && (row || col)) {
// Reconstruct the mesh saved in eeprom
uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((col/3) + row - 1)));
const float z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
mbl.set_z(col, row, z0);
}
}
// check for points that are skipped
if (nMeasPoints == 3) {
if (!isOn3x3Mesh)
continue;
} else {
const float x_pos = BED_X(col, MESH_NUM_X_POINTS);
const float y_pos = BED_Y(row, MESH_NUM_Y_POINTS);
if ((x_pos < area_min_x || x_pos > area_max_x || y_pos < area_min_y || y_pos > area_max_y) && (row || col) && (!isOn3x3Mesh || has_z)) {
continue;
}
}
// increment the total point counter if the points are not skipped
meshPointsToProbe++;
}
}
mbl.upsample_3x3(); //upsample the default mesh
// Save custom message state, set a new custom message state to display: Calibrating point 9.
CustomMsg custom_message_type_old = custom_message_type;
uint8_t custom_message_state_old = custom_message_state;
custom_message_type = CustomMsg::MeshBedLeveling;
custom_message_state = meshPointsToProbe + 10;
lcd_update(1);
// Cycle through all points and probe them
int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
uint8_t mesh_point = 0; //index number of calibration point
while (mesh_point != MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
// Get coords of a measuring point.
uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
@ -2879,31 +2893,22 @@ static void gcode_G80()
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
bool isOn3x3Mesh = ((ix % 3 == 0) && (iy % 3 == 0));
float x_pos = BED_X(ix, MESH_NUM_X_POINTS);
float y_pos = BED_Y(iy, MESH_NUM_X_POINTS);
// Reconstruct the mesh saved in eeprom
float z0 = 0.f;
if (has_z && isOn3x3Mesh && (mesh_point > 0)) {
uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
mbl.set_z(ix, iy, z0);
}
float y_pos = BED_Y(iy, MESH_NUM_Y_POINTS);
if ((nMeasPoints == 3) && !isOn3x3Mesh) {
mesh_point++;
continue; //skip
mesh_point++;
mbl.set_z(ix, iy, NAN);
continue; //skip
} else if ((x_pos < area_min_x || x_pos > area_max_x || y_pos < area_min_y || y_pos > area_max_y) && (mesh_point > 0) && (!isOn3x3Mesh || has_z)) {
mesh_point++;
continue; //skip
}
if ((nMeasPoints == 7) && (x_pos < area_min_x || x_pos > area_max_x || y_pos < area_min_y || y_pos > area_max_y) && (mesh_point > 0) && (!isOn3x3Mesh || has_z)) {
mesh_point++;
custom_message_state--;
continue; //skip
}
// Move Z up to MESH_HOME_Z_SEARCH.
if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
float init_z_bckp = current_position[Z_AXIS];
// Move Z up to the probe height of the current Z point.
const float z0 = mbl.z_values[iy][ix];
const float init_z_bckp = (!has_z || (mesh_point == 0)) ? MESH_HOME_Z_SEARCH : z0 + 0.5;
if (init_z_bckp > current_position[Z_AXIS])
current_position[Z_AXIS] = init_z_bckp;
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
@ -2923,12 +2928,11 @@ static void gcode_G80()
}
// Go down until endstop is hit
const float Z_CALIBRATION_THRESHOLD = 1.f;
if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
break;
}
if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
if (init_z_bckp - current_position[Z_AXIS] < 0.f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
@ -3029,8 +3033,8 @@ static void gcode_G80()
correction[i] = 0;
}
}
for (uint8_t row = 0; row < MESH_NUM_Y_POINTS; ++row) {
for (uint8_t col = 0; col < MESH_NUM_X_POINTS; ++col) {
for (uint8_t row = 0; row < MESH_NUM_Y_POINTS; row++) {
for (uint8_t col = 0; col < MESH_NUM_X_POINTS; col++) {
mbl.z_values[row][col] +=0.001f * (
+ correction[0] * (MESH_NUM_X_POINTS - 1 - col)
+ correction[1] * col

6
Firmware/mesh_bed_leveling.cpp
View File

@ -8,11 +8,7 @@ mesh_bed_leveling mbl;
void mesh_bed_leveling::reset() {
active = 0;
for (uint8_t row = 0; row < MESH_NUM_Y_POINTS; ++row) {
for (uint8_t col = 0; col < MESH_NUM_X_POINTS; ++col) {
mbl.z_values[row][col] = NAN;
}
}
memset(z_values, 0, sizeof(z_values));
}
float mesh_bed_leveling::get_z(float x, float y) {