diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index aab1abc89..48d661c90 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -3655,14 +3655,15 @@ void process_commands() calibration_status_store(CALIBRATION_STATUS_ASSEMBLED); eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0); // Complete XYZ calibration. - BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level); - uint8_t point_too_far_mask = 0; - clean_up_after_endstop_move(); + uint8_t point_too_far_mask = 0; + BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask); + clean_up_after_endstop_move(); // Print head up. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder); st_synchronize(); if (result >= 0) { + point_too_far_mask = 0; // Second half: The fine adjustment. // Let the planner use the uncorrected coordinates. mbl.reset(); @@ -3671,6 +3672,8 @@ void process_commands() setup_for_endstop_move(); home_xy(); result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask); + SERIAL_ECHOLNPGM("world2machine_shift:"); + MYSERIAL.print(world2machine_shift[0]); clean_up_after_endstop_move(); // Print head up. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index c91f92a0a..9537ab4ee 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -75,15 +75,21 @@ const float bed_ref_points_4[] PROGMEM = { static inline float sqr(float x) { return x * x; } +static inline bool point_on_1st_row(const uint8_t i, const uint8_t npts) +{ + if (npts == 4) return (i == 0); + else return (i < 3); +} + // Weight of a point coordinate in a least squares optimization. // The first row of points may not be fully reachable // and the y values may be shortened a bit by the bed carriage // pulling the belt up. -static inline float point_weight_x(const uint8_t i, const float &y) +static inline float point_weight_x(const uint8_t i, const uint8_t npts, const float &y) { float w = 1.f; - if (i < 3) { - if (y >= Y_MIN_POS_CALIBRATION_POINT_ACCURATE) { + if (point_on_1st_row(i, npts)) { + if (y >= Y_MIN_POS_CALIBRATION_POINT_ACCURATE) { w = WEIGHT_FIRST_ROW_X_HIGH; } else if (y < Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH) { // If the point is fully outside, give it some weight. @@ -101,10 +107,10 @@ static inline float point_weight_x(const uint8_t i, const float &y) // The first row of points may not be fully reachable // and the y values may be shortened a bit by the bed carriage // pulling the belt up. -static inline float point_weight_y(const uint8_t i, const float &y) +static inline float point_weight_y(const uint8_t i, const uint8_t npts, const float &y) { float w = 1.f; - if (i < 3) { + if (point_on_1st_row(i, npts)) { if (y >= Y_MIN_POS_CALIBRATION_POINT_ACCURATE) { w = WEIGHT_FIRST_ROW_Y_HIGH; } else if (y < Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH) { @@ -138,6 +144,8 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( ) { if (verbosity_level >= 10) { + SERIAL_ECHOLNPGM("calculate machine skew and offset LS"); + // Show the initial state, before the fitting. SERIAL_ECHOPGM("X vector, initial: "); MYSERIAL.print(vec_x[0], 5); @@ -210,7 +218,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( (c == 0) ? 1.f : ((c == 2) ? (-s1 * measured_pts[2 * i]) : (-c2 * measured_pts[2 * i + 1])); - float w = point_weight_x(i, measured_pts[2 * i + 1]); + float w = point_weight_x(i, npts, measured_pts[2 * i + 1]); acc += a * b * w; } // Second for the residuum in the y axis. @@ -225,7 +233,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( (c == 1) ? 1.f : ((c == 2) ? ( c1 * measured_pts[2 * i]) : (-s2 * measured_pts[2 * i + 1])); - float w = point_weight_y(i, measured_pts[2 * i + 1]); + float w = point_weight_y(i, npts, measured_pts[2 * i + 1]); acc += a * b * w; } } @@ -241,7 +249,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( ((r == 2) ? (-s1 * measured_pts[2 * i]) : (-c2 * measured_pts[2 * i + 1]))); float fx = c1 * measured_pts[2 * i] - s2 * measured_pts[2 * i + 1] + cntr[0] - pgm_read_float(true_pts + i * 2); - float w = point_weight_x(i, measured_pts[2 * i + 1]); + float w = point_weight_x(i, npts, measured_pts[2 * i + 1]); acc += j * fx * w; } { @@ -251,7 +259,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( ((r == 2) ? ( c1 * measured_pts[2 * i]) : (-s2 * measured_pts[2 * i + 1]))); float fy = s1 * measured_pts[2 * i] + c2 * measured_pts[2 * i + 1] + cntr[1] - pgm_read_float(true_pts + i * 2 + 1); - float w = point_weight_y(i, measured_pts[2 * i + 1]); + float w = point_weight_y(i, npts, measured_pts[2 * i + 1]); acc += j * fy * w; } } @@ -278,8 +286,8 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( if (verbosity_level >= 20) { SERIAL_ECHOPGM("iteration: "); - MYSERIAL.print(iter, 0); - SERIAL_ECHOPGM("correction vector: "); + MYSERIAL.print(int(iter)); + SERIAL_ECHOPGM("; correction vector: "); MYSERIAL.print(h[0], 5); SERIAL_ECHOPGM(", "); MYSERIAL.print(h[1], 5); @@ -357,19 +365,36 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( float errX = sqr(pgm_read_float(true_pts + i * 2) - x); float errY = sqr(pgm_read_float(true_pts + i * 2 + 1) - y); float err = sqrt(errX + errY); - if (i < 3) { - float w = point_weight_y(i, measured_pts[2 * i + 1]); - if (sqrt(errX) > BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_X || - (w != 0.f && sqrt(errY) > BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_Y)) - result = BED_SKEW_OFFSET_DETECTION_FITTING_FAILED; - } else { - if (err > BED_CALIBRATION_POINT_OFFSET_MAX_EUCLIDIAN) - result = BED_SKEW_OFFSET_DETECTION_FITTING_FAILED; + if (verbosity_level >= 10) { + SERIAL_ECHOPGM("point #"); + MYSERIAL.print(int(i)); + SERIAL_ECHOLNPGM(":"); + } + + if (point_on_1st_row(i, npts)) { + if(verbosity_level >= 20) SERIAL_ECHOPGM("Point on first row"); + float w = point_weight_y(i, npts, measured_pts[2 * i + 1]); + if (sqrt(errX) > BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_X || + (w != 0.f && sqrt(errY) > BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_Y)) { + result = BED_SKEW_OFFSET_DETECTION_FITTING_FAILED; + if (verbosity_level >= 20) { + SERIAL_ECHOPGM(", weigth Y: "); + MYSERIAL.print(w); + if (sqrt(errX) > BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_X) SERIAL_ECHOPGM(", error X > max. error X"); + if (w != 0.f && sqrt(errY) > BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_Y) SERIAL_ECHOPGM(", error Y > max. error Y"); + } + } + } + else { + if(verbosity_level >=20 ) SERIAL_ECHOPGM("Point not on first row"); + if (err > BED_CALIBRATION_POINT_OFFSET_MAX_EUCLIDIAN) { + result = BED_SKEW_OFFSET_DETECTION_FITTING_FAILED; + if(verbosity_level >= 20) SERIAL_ECHOPGM(", error > max. error euclidian"); + } } if (verbosity_level >= 10) { - SERIAL_ECHOPGM("point #"); - MYSERIAL.print(int(i)); - SERIAL_ECHOPGM(" measured: ("); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("measured: ("); MYSERIAL.print(measured_pts[i * 2], 5); SERIAL_ECHOPGM(", "); MYSERIAL.print(measured_pts[i * 2 + 1], 5); @@ -381,15 +406,27 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( MYSERIAL.print(pgm_read_float(true_pts + i * 2), 5); SERIAL_ECHOPGM(", "); MYSERIAL.print(pgm_read_float(true_pts + i * 2 + 1), 5); - SERIAL_ECHOPGM("), error: "); + SERIAL_ECHOLNPGM(")"); + SERIAL_ECHOPGM("error: "); MYSERIAL.print(err); SERIAL_ECHOPGM(", error X: "); - MYSERIAL.print(errX); + MYSERIAL.print(sqrt(errX)); SERIAL_ECHOPGM(", error Y: "); - MYSERIAL.print(errY); - SERIAL_ECHOLNPGM(""); + MYSERIAL.print(sqrt(errY)); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOLNPGM(""); } } + if (verbosity_level >= 20) { + SERIAL_ECHOLNPGM("Max. errors:"); + SERIAL_ECHOPGM("Max. error X:"); + MYSERIAL.println(BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_X); + SERIAL_ECHOPGM("Max. error Y:"); + MYSERIAL.println(BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_Y); + SERIAL_ECHOPGM("Max. error euclidian:"); + MYSERIAL.println(BED_CALIBRATION_POINT_OFFSET_MAX_EUCLIDIAN); + SERIAL_ECHOLNPGM(""); + } #if 0 if (result == BED_SKEW_OFFSET_DETECTION_PERFECT && fabs(a1) < BED_SKEW_ANGLE_MILD && fabs(a2) < BED_SKEW_ANGLE_MILD) { @@ -419,7 +456,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( for (int8_t i = 0; i < npts; ++ i) { float x = vec_x[0] * measured_pts[i * 2] + vec_y[0] * measured_pts[i * 2 + 1]; float y = vec_x[1] * measured_pts[i * 2] + vec_y[1] * measured_pts[i * 2 + 1]; - float w = point_weight_x(i, y); + float w = point_weight_x(i, npts, y); cntr[0] += w * (pgm_read_float(true_pts + i * 2) - x); wx += w; if (verbosity_level >= 20) { @@ -434,7 +471,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( SERIAL_ECHOLNPGM("wx:"); MYSERIAL.print(wx); } - w = point_weight_y(i, y); + w = point_weight_y(i, npts, y); cntr[1] += w * (pgm_read_float(true_pts + i * 2 + 1) - y); wy += w; @@ -532,6 +569,13 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS( MYSERIAL.print(sqrt(sqr(measured_pts[i * 2] - x) + sqr(measured_pts[i * 2 + 1] - y))); SERIAL_ECHOLNPGM(""); } + if (verbosity_level >= 20) { + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOLNPGM("Calculate offset and skew returning result:"); + MYSERIAL.print(int(result)); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOLNPGM(""); + } delay_keep_alive(100); } @@ -623,7 +667,7 @@ static inline bool vec_undef(const float v[2]) void world2machine_initialize() { -// SERIAL_ECHOLNPGM("world2machine_initialize()"); + 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)) @@ -639,7 +683,7 @@ void world2machine_initialize() bool reset = false; if (vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) { - // SERIAL_ECHOLNPGM("Undefined bed correction matrix."); + SERIAL_ECHOLNPGM("Undefined bed correction matrix."); reset = true; } else { @@ -746,7 +790,7 @@ static inline void update_current_position_z() // At the current position, find the Z stop. inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter) { -// SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 1"); + SERIAL_ECHOLNPGM("find bed induction sensor point z"); bool endstops_enabled = enable_endstops(true); bool endstop_z_enabled = enable_z_endstop(false); float z = 0.f; @@ -801,6 +845,7 @@ error: #define FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP (0.2f) inline bool find_bed_induction_sensor_point_xy() { + MYSERIAL.println("find bed induction sensor point xy"); float feedrate = homing_feedrate[X_AXIS] / 60.f; bool found = false; @@ -1238,12 +1283,13 @@ canceled: #define IMPROVE_BED_INDUCTION_SENSOR_POINT3_SEARCH_RADIUS (4.f) #define IMPROVE_BED_INDUCTION_SENSOR_POINT3_SEARCH_STEP_FINE_Y (0.1f) inline bool improve_bed_induction_sensor_point3(int verbosity_level) -{ +{ float center_old_x = current_position[X_AXIS]; float center_old_y = current_position[Y_AXIS]; float a, b; bool result = true; + if (verbosity_level >= 20) MYSERIAL.println("Improve bed induction sensor point3"); // Was the sensor point detected too far in the minus Y axis? // If yes, the center of the induction point cannot be reached by the machine. { @@ -1578,8 +1624,8 @@ inline void scan_bed_induction_sensor_point() #define MESH_BED_CALIBRATION_SHOW_LCD -BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level) -{ +BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level, uint8_t &too_far_mask) +{ // Don't let the manage_inactivity() function remove power from the motors. refresh_cmd_timeout(); @@ -1596,45 +1642,33 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level // SERIAL_ECHOLNPGM("find_bed_offset_and_skew verbosity level: "); // SERIAL_ECHO(int(verbosity_level)); // SERIAL_ECHOPGM(""); - + while (iteration < 3) { SERIAL_ECHOPGM("Iteration: "); MYSERIAL.println(int(iteration + 1)); - - if (iteration > 0) { - // Cache the current correction matrix. - world2machine_initialize(); - vec_x[0] = world2machine_rotation_and_skew[0][0]; - vec_x[1] = world2machine_rotation_and_skew[1][0]; - vec_y[0] = world2machine_rotation_and_skew[0][1]; - vec_y[1] = world2machine_rotation_and_skew[1][1]; - cntr[0] = world2machine_shift[0]; - cntr[1] = world2machine_shift[1]; - if (verbosity_level >= 20) { - SERIAL_ECHOPGM("vec_x[0]:"); - MYSERIAL.print(vec_x[0], 5); - SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("vec_x[1]:"); - MYSERIAL.print(vec_x[1], 5); - SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("vec_y[0]:"); - MYSERIAL.print(vec_y[0], 5); - SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("vec_y[1]:"); - MYSERIAL.print(vec_y[1], 5); - SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("cntr[0]:"); - MYSERIAL.print(cntr[0], 5); - SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("cntr[1]:"); - MYSERIAL.print(cntr[1], 5); - SERIAL_ECHOLNPGM(""); - } - // and reset the correction matrix, so the planner will not do anything. - world2machine_reset(); + if (verbosity_level >= 20) { + SERIAL_ECHOLNPGM("Vectors: "); + + SERIAL_ECHOPGM("vec_x[0]:"); + MYSERIAL.print(vec_x[0], 5); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("vec_x[1]:"); + MYSERIAL.print(vec_x[1], 5); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("vec_y[0]:"); + MYSERIAL.print(vec_y[0], 5); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("vec_y[1]:"); + MYSERIAL.print(vec_y[1], 5); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("cntr[0]:"); + MYSERIAL.print(cntr[0], 5); + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("cntr[1]:"); + MYSERIAL.print(cntr[1], 5); + SERIAL_ECHOLNPGM(""); } - #ifdef MESH_BED_CALIBRATION_SHOW_LCD uint8_t next_line; lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1, next_line); @@ -1643,7 +1677,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level #endif /* MESH_BED_CALIBRATION_SHOW_LCD */ // Collect the rear 2x3 points. - current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; + 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(); @@ -1672,10 +1706,10 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level delay_keep_alive(5000); } // Go to the measurement point position. - if (iteration == 0) { + //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 coorrected coordinate, which is a result of find_bed_offset_and_skew(). @@ -1687,14 +1721,17 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION) current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION; - } + }*/ if (verbosity_level >= 20) { - SERIAL_ECHOPGM("corrected current_position[X_AXIS]:"); + SERIAL_ECHOPGM("current_position[X_AXIS]:"); MYSERIAL.print(current_position[X_AXIS], 5); SERIAL_ECHOLNPGM(""); - SERIAL_ECHOPGM("corrected current_position[Y_AXIS]:"); + 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(""); } @@ -1734,22 +1771,30 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level MYSERIAL.println(current_position[X_AXIS]); MYSERIAL.println(current_position[Y_AXIS]); } - //pt[0] = (pt[0] * iteration) / (iteration + 1); - //pt[0] += (current_position[X_AXIS]/(iteration + 1)); //count average - //pt[1] = (pt[1] * iteration) / (iteration + 1); - //pt[1] += (current_position[Y_AXIS] / (iteration + 1)); + pt[0] = (pt[0] * iteration) / (iteration + 1); + pt[0] += (current_position[X_AXIS]/(iteration + 1)); //count average + pt[1] = (pt[1] * iteration) / (iteration + 1); + pt[1] += (current_position[Y_AXIS] / (iteration + 1)); - pt[0] += current_position[X_AXIS]; - if(iteration > 0) pt[0] = pt[0] / 2; - - pt[1] += current_position[Y_AXIS]; - if (iteration > 0) pt[1] = pt[1] / 2; + //pt[0] += current_position[X_AXIS]; + //if(iteration > 0) pt[0] = pt[0] / 2; + + //pt[1] += current_position[Y_AXIS]; + //if (iteration > 0) pt[1] = pt[1] / 2; + + if (verbosity_level >= 20) { + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("pt[0]:"); + MYSERIAL.println(pt[0]); + SERIAL_ECHOPGM("pt[1]:"); + MYSERIAL.println(pt[1]); + } if (current_position[Y_AXIS] < Y_MIN_POS) current_position[Y_AXIS] = Y_MIN_POS; // Start searching for the other points at 3mm above the last point. - current_position[Z_AXIS] += 3.f; + current_position[Z_AXIS] += 3.f + FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP * iteration * 0.3; //cntr[0] += pt[0]; //cntr[1] += pt[1]; if (verbosity_level >= 10 && k == 0) { @@ -1775,6 +1820,15 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level } } + if (pts[1] < Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH) { + too_far_mask |= 1 << 1; //front center point is out of reach + SERIAL_ECHOLNPGM(""); + SERIAL_ECHOPGM("WARNING: Front point not reachable. Y coordinate:"); + MYSERIAL.print(pts[1]); + SERIAL_ECHOPGM(" < "); + MYSERIAL.println(Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH); + } + result = calculate_machine_skew_and_offset_LS(pts, 4, bed_ref_points_4, vec_x, vec_y, cntr, verbosity_level); if (result >= 0) { world2machine_update(vec_x, vec_y, cntr); @@ -1811,6 +1865,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level // Correct the current_position to match the transformed coordinate system after world2machine_rotation_and_skew and world2machine_shift were set. world2machine_update_current(); + if (verbosity_level >= 20) { // Test the positions. Are the positions reproducible? Now the calibration is active in the planner. delay_keep_alive(3000); @@ -1826,7 +1881,8 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level } } 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++; } return result; @@ -1983,6 +2039,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8 if (verbosity_level >= 5) { // Test the positions. Are the positions reproducible? + current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) { // Don't let the manage_inactivity() function remove power from the motors. refresh_cmd_timeout(); @@ -2042,6 +2099,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8 if (verbosity_level >= 5) { // Test the positions. Are the positions reproducible? Now the calibration is active in the planner. delay_keep_alive(3000); + current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) { // Don't let the manage_inactivity() function remove power from the motors. refresh_cmd_timeout(); diff --git a/Firmware/mesh_bed_calibration.h b/Firmware/mesh_bed_calibration.h index 102fa48dd..a3e4eddea 100644 --- a/Firmware/mesh_bed_calibration.h +++ b/Firmware/mesh_bed_calibration.h @@ -150,14 +150,14 @@ enum BedSkewOffsetDetectionResultType { // Detection failed, some point was not found. BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND = -1, BED_SKEW_OFFSET_DETECTION_FITTING_FAILED = -2, - + // Detection finished with success. BED_SKEW_OFFSET_DETECTION_PERFECT = 0, BED_SKEW_OFFSET_DETECTION_SKEW_MILD = 1, BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME = 2 }; -extern BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level); +extern BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level, uint8_t &too_far_mask); extern BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8_t verbosity_level, uint8_t &too_far_mask); extern bool sample_mesh_and_store_reference();