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MBL print area initial implementation

This commit is contained in:
Alex Voinea 2023-05-01 03:46:43 +02:00
parent 11e1806e0c
commit 7b9f2086f4
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GPG Key ID: 37EDFD565CB33BAD
3 changed files with 56 additions and 52 deletions
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79
Firmware/Marlin_main.cpp
View File

@ -2841,6 +2841,11 @@ static void gcode_G80()
}
bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
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
if (run == false && eeprom_read_byte((uint8_t *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == true && target_temperature_bed >= 50)
{
@ -2902,30 +2907,36 @@ static void gcode_G80()
}
#endif // SUPPORT_VERBOSITY
int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
while (mesh_point != nMeasPoints * nMeasPoints) {
while (mesh_point != MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
// Get coords of a measuring point.
uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / nMeasPoints;
uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
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);
if ((nMeasPoints == 3) && !isOn3x3Mesh) {
mesh_point++;
continue; //skip
}
if ((nMeasPoints == 7) && !isOn3x3Mesh && (x_pos < area_min_x || x_pos > area_max_x || y_pos < area_min_y || y_pos > area_max_y)) {
mesh_point++;
custom_message_state--;
continue; //skip
}
/*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
custom_message_state--;
mesh_point++;
continue; //skip
}*/
if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
{
has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
}
float z0 = 0.f;
if (has_z && (mesh_point > 0)) {
uint16_t z_offset_u = 0;
if (nMeasPoints == 7) {
z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
}
else {
z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
}
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;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
@ -2942,8 +2953,8 @@ static void gcode_G80()
st_synchronize();
// Move to XY position of the sensor point.
current_position[X_AXIS] = BED_X(ix, nMeasPoints);
current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
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]);
@ -3034,7 +3045,7 @@ static void gcode_G80()
#endif // SUPPORT_VERBOSITY
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
if (mesh_point != nMeasPoints * nMeasPoints) {
if (mesh_point != MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
bool bState;
do { // repeat until Z-leveling o.k.
@ -3112,19 +3123,17 @@ static void gcode_G80()
if (correction[i] == 0)
continue;
}
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 0; col < nMeasPoints; ++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] * (nMeasPoints - 1 - col)
+ correction[0] * (MESH_NUM_X_POINTS - 1 - col)
+ correction[1] * col
+ correction[2] * (nMeasPoints - 1 - row)
+ correction[2] * (MESH_NUM_Y_POINTS - 1 - row)
+ correction[3] * row) / (float)(nMeasPoints - 1);
}
}
// SERIAL_ECHOLNPGM("Bed leveling correction finished");
if (nMeasPoints == 3) {
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)
}
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);
@ -3134,11 +3143,10 @@ static void gcode_G80()
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++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_PROTOCOLPGM("\n");
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) {
@ -3153,11 +3161,10 @@ static void gcode_G80()
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++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_PROTOCOLPGM("\n");
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");

3
Firmware/mesh_bed_calibration.cpp
View File

@ -2951,8 +2951,7 @@ bool sample_mesh_and_store_reference()
}
}
mbl.upsample_3x3();
mbl.active = true;
mbl.reset();
go_home_with_z_lift();

26
Firmware/mesh_bed_leveling.cpp
View File

@ -10,13 +10,17 @@ mesh_bed_leveling::mesh_bed_leveling() { reset(); }
void mesh_bed_leveling::reset() {
active = 0;
memset(z_values, 0, sizeof(float) * MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS);
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;
}
}
}
static inline bool vec_undef(const float v[2])
{
const uint32_t *vx = (const uint32_t*)v;
return vx[0] == 0x0FFFFFFFF || vx[1] == 0x0FFFFFFFF;
return vx[0] == 0xFFFFFFFF || vx[1] == 0xFFFFFFFF;
}
#if MESH_NUM_X_POINTS>=5 && MESH_NUM_Y_POINTS>=5 && (MESH_NUM_X_POINTS&1)==1 && (MESH_NUM_Y_POINTS&1)==1
@ -33,13 +37,10 @@ void mesh_bed_leveling::upsample_3x3()
static const float x0 = MESH_MIN_X;
static const float x1 = 0.5f * float(MESH_MIN_X + MESH_MAX_X);
static const float x2 = MESH_MAX_X;
for (int j = 0; j < 3; ++ j) {
// 1) Copy the source points to their new destination.
z_values[j][idx2] = z_values[j][2];
z_values[j][idx1] = z_values[j][1];
// 2) Interpolate the remaining values by Largrangian polynomials.
for (int i = idx0 + 1; i < idx2; ++ i) {
if (i == idx1)
for (int j = 0; j < MESH_NUM_Y_POINTS; ++ j) {
// Interpolate the remaining values by Largrangian polynomials.
for (int i = 0; i < MESH_NUM_X_POINTS; ++ i) {
if (!isnan(z_values[j][i]))
continue;
float x = get_x(i);
#ifdef MBL_BILINEAR
@ -61,12 +62,9 @@ void mesh_bed_leveling::upsample_3x3()
static const float y1 = 0.5f * float(MESH_MIN_Y + MESH_MAX_Y);
static const float y2 = MESH_MAX_Y;
for (int i = 0; i < MESH_NUM_X_POINTS; ++ i) {
// 1) Copy the intermediate points to their new destination.
z_values[idx2][i] = z_values[2][i];
z_values[idx1][i] = z_values[1][i];
// 2) Interpolate the remaining values by Largrangian polynomials.
// Interpolate the remaining values by Largrangian polynomials.
for (int j = 1; j + 1 < MESH_NUM_Y_POINTS; ++ j) {
if (j == idx1)
if (!isnan(z_values[j][i]))
continue;
float y = get_y(j);
#ifdef MBL_BILINEAR