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G80 code cleanup

This commit is contained in:
Alex Voinea 2023-05-05 10:34:07 +02:00
parent 07b9447ee1
commit 46710c4b4e
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GPG Key ID: 37EDFD565CB33BAD
1 changed files with 8 additions and 113 deletions
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121
Firmware/Marlin_main.cpp
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@ -2800,14 +2800,6 @@ static void gcode_G80()
static bool run = false; // thermistor-less PINDA temperature compensation is running
#endif // ndef PINDA_THERMISTOR
#ifdef SUPPORT_VERBOSITY
int8_t verbosity_level = 0;
if (code_seen('V')) {
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
#endif //SUPPORT_VERBOSITY
// Firstly check if we know where we are
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
// We don't know where we are! HOME!
@ -2877,15 +2869,7 @@ static void gcode_G80()
current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1)
{
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
}
#else //SUPPORT_VERBOSITY
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#endif //SUPPORT_VERBOSITY
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
@ -2901,11 +2885,6 @@ static void gcode_G80()
uint8_t mesh_point = 0; //index number of calibration point
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
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)
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
}
#endif // SUPPORT_VERBOSITY
int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
while (mesh_point != MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
// Get coords of a measuring point.
@ -2922,11 +2901,6 @@ static void gcode_G80()
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);
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
}
#endif // SUPPORT_VERBOSITY
}
if ((nMeasPoints == 3) && !isOn3x3Mesh) {
@ -2951,20 +2925,8 @@ static void gcode_G80()
current_position[X_AXIS] = x_pos;
current_position[Y_AXIS] = y_pos;
//printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
SERIAL_PROTOCOL(mesh_point);
clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
}
#else //SUPPORT_VERBOSITY
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#endif // SUPPORT_VERBOSITY
//printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
st_synchronize();
if (planner_aborted)
@ -2981,7 +2943,6 @@ static void gcode_G80()
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.
//printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
@ -2999,45 +2960,19 @@ static void gcode_G80()
puts_P(PSTR("Bed leveling failed. Sensor triggered too high."));
break;
}
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 10) {
SERIAL_ECHOPGM("X: ");
MYSERIAL.print(current_position[X_AXIS], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Y: ");
MYSERIAL.print(current_position[Y_AXIS], 5);
SERIAL_PROTOCOLPGM("\n");
}
#endif // SUPPORT_VERBOSITY
float offset_z = 0;
#ifdef PINDA_THERMISTOR
offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
#endif //PINDA_THERMISTOR
// #ifdef SUPPORT_VERBOSITY
/* if (verbosity_level >= 1)
{
SERIAL_ECHOPGM("mesh bed leveling: ");
MYSERIAL.print(current_position[Z_AXIS], 5);
SERIAL_ECHOPGM(" offset: ");
MYSERIAL.print(offset_z, 5);
SERIAL_ECHOLNPGM("");
}*/
// #endif // SUPPORT_VERBOSITY
float offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
#else
mbl.set_z(ix, iy, current_position[Z_AXIS]); //store measured z values z_values[iy][ix] = z;
#endif //PINDA_THERMISTOR
custom_message_state--;
mesh_point++;
lcd_update(1);
}
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) {
SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
MYSERIAL.print(current_position[Z_AXIS], 5);
}
#endif // SUPPORT_VERBOSITY
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
if (mesh_point != MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
@ -3067,7 +3002,6 @@ static void gcode_G80()
#endif // TMC2130
enable_z_endstop(bState);
} while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
// plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
@ -3077,19 +3011,12 @@ static void gcode_G80()
return;
}
clean_up_after_endstop_move(l_feedmultiply);
// SERIAL_ECHOLNPGM("clean up finished ");
#ifndef PINDA_THERMISTOR
if(eeprom_read_byte((uint8_t *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
#endif
babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
// SERIAL_ECHOLNPGM("babystep applied");
bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
}
#endif // SUPPORT_VERBOSITY
const constexpr uint8_t sides = 4;
int8_t correction[sides] = {0};
for (uint8_t i = 0; i < sides; ++i) {
@ -3127,46 +3054,15 @@ static void gcode_G80()
+ correction[3] * row) / (float)(MESH_NUM_X_POINTS - 1);
}
}
// SERIAL_ECHOLNPGM("Bed leveling correction finished");
mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
/*
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
printf_P(PSTR(" %.5f"), mbl.z_values[y][x]);
}
SERIAL_PROTOCOLPGM("\n");
}
*/
if (nMeasPoints == 7 && magnet_elimination) {
mbl_interpolation(nMeasPoints);
}
/*
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
printf_P(PSTR(" %.5f"), mbl.z_values[y][x]);
}
SERIAL_PROTOCOLPGM("\n");
}
*/
// SERIAL_ECHOLNPGM("Upsample finished");
mbl.active = 1; //activate mesh bed leveling
// SERIAL_ECHOLNPGM("Mesh bed leveling activated");
go_home_with_z_lift();
// SERIAL_ECHOLNPGM("Go home finished");
#ifndef PINDA_THERMISTOR
//unretract (after PINDA preheat retraction)
if (temp_compensation_retracted) {
@ -4959,12 +4855,11 @@ void process_commands()
Default 3x3 grid can be changed on MK2.5/s and MK3/s to 7x7 grid.
#### Usage
G80 [ N | R | V | L | R | F | B | X | Y | W | H ]
G80 [ N | R | L | R | F | B | X | Y | W | H ]
#### Parameters
- `N` - Number of mesh points on x axis. Default is 3. Valid values are 3 and 7.
- `R` - Probe retries. Default 3 max. 10
- `V` - Verbosity level 1=low, 10=mid, 20=high. It only can be used if the firmware has been compiled with SUPPORT_VERBOSITY active.
Using the following parameters enables additional "manual" bed leveling correction. Valid values are -100 microns to 100 microns.
#### Additional Parameters