josh
/
Prusa-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #4749 from gudnimg/remove-auto-bed-leveling 

Remove legacy Auto Bed Leveling code
This commit is contained in:
3d-gussner 2024-08-30 10:44:50 +02:00 committed by GitHub
parent d3c326de99 f7e3195d78
commit 923f926223
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
14 changed files with 3 additions and 3087 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@ -246,7 +246,6 @@ set(FW_SOURCES
power_panic.cpp
printer_state.cpp
Prusa_farm.cpp
qr_solve.cpp
rbuf.c
Sd2Card.cpp
SdBaseFile.cpp
@ -272,7 +271,6 @@ set(FW_SOURCES
uart2.c
ultralcd.cpp
util.cpp
vector_3.cpp
xflash.c
xflash_dump.cpp
xyzcal.cpp

122
Firmware/Configuration.h
View File

@ -284,117 +284,6 @@ your extruder heater takes 2 minutes to hit the target on heating.
#define HOME_Z_SEARCH_THRESHOLD 0.15f // Threshold of the Z height in calibration
//============================= Bed Auto Leveling ===========================
//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
#ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe:
// - "grid" mode
// Probe every point in a rectangular grid
// You must specify the rectangle, and the density of sample points
// This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
// - "3-point" mode
// Probe 3 arbitrary points on the bed (that aren't colinear)
// You must specify the X & Y coordinates of all 3 points
#define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20
// set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
#define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
#define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15
#define ABL_PROBE_PT_2_Y 20
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 20
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
#define Z_RAISE_BEFORE_HOMING 5 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case
#define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min
#define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
//#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!
//#define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
// When defined, it will:
// - Allow Z homing only after X and Y homing AND stepper drivers still enabled
// - If stepper drivers timeout, it will need X and Y homing again before Z homing
// - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
// - Block Z homing only when the probe is outside bed area.
#ifdef Z_SAFE_HOMING
#define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28)
#define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28)
#endif
#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((X_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * AUTO_BED_LEVELING_GRID_POINTS) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#endif
#endif // ENABLE_AUTO_BED_LEVELING
// The position of the homing switches
//#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
@ -412,17 +301,6 @@ your extruder heater takes 2 minutes to hit the target on heating.
//=============================Additional Features===========================
//===========================================================================
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
#ifdef ENABLE_AUTO_BED_LEVELING
#define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
#define Z_PROBE_OFFSET_RANGE_MIN -15
#define Z_PROBE_OFFSET_RANGE_MAX -5
#endif // ENABLE_AUTO_BED_LEVELING
#endif // CUSTOM_M_CODES
// Host Keepalive
//
// When enabled Marlin will send a busy status message to the host

4
Firmware/ConfigurationStore.cpp
View File

@ -116,10 +116,6 @@ static_assert (EXTRUDERS == 1, "ConfigurationStore M500_conf not implemented for
static_assert (NUM_AXIS == 4, "ConfigurationStore M500_conf not implemented for more axis."
"Fix axis_steps_per_mm max_feedrate_normal max_acceleration_mm_per_s2_normal max_jerk max_feedrate_silent"
" max_acceleration_mm_per_s2_silent array size.");
#ifdef ENABLE_AUTO_BED_LEVELING
static_assert (false, "zprobe_zoffset was not initialized in printers in field to -(Z_PROBE_OFFSET_FROM_EXTRUDER), so it contains"
"0.0, if this is not acceptable, increment EEPROM_VERSION to force use default_conf");
#endif
static_assert (sizeof(M500_conf) == 209, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
"or if you added members in the end of struct, ensure that historically uninitialized values will be initialized."

2
Firmware/ConfigurationStore.h
View File

@ -19,7 +19,7 @@ typedef struct
uint32_t min_segment_time_us; //!< (µs) M205 B
float max_jerk[4]; //!< Jerk is a maximum immediate velocity change.
float add_homing[3];
float zprobe_zoffset; //!< Only used with define ENABLE_AUTO_BED_LEVELING
float zprobe_zoffset; //!< unused
float Kp;
float Ki;
float Kd;

2
Firmware/Marlin.h
View File

@ -411,7 +411,7 @@ extern uint8_t calc_percent_done();
/*enum MarlinBusyState {
NOT_BUSY, // Not in a handler
IN_HANDLER, // Processing a GCode
IN_PROCESS, // Known to be blocking command input (as in G29)
IN_PROCESS, // Known to be blocking command input
PAUSED_FOR_USER, // Blocking pending any input
PAUSED_FOR_INPUT // Blocking pending text input (concept)
};*/

710
Firmware/Marlin_main.cpp
View File

@ -49,13 +49,6 @@
#include "macros.h"
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
#ifdef AUTO_BED_LEVELING_GRID
#include "qr_solve.h"
#endif
#endif // ENABLE_AUTO_BED_LEVELING
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
#include "mesh_bed_calibration.h"
@ -1889,139 +1882,6 @@ static void clean_up_after_endstop_move(int original_feedmultiply) {
previous_millis_cmd.start();
}
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
{
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
planeNormal.debug("planeNormal");
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before");
//vector_3 uncorrected_position = plan_get_position_mm();
//uncorrected_position.debug("position before");
vector_3 corrected_position = plan_get_position();
// corrected_position.debug("position after");
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
// put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
plan_set_position_curposXYZE();
}
#else // not AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
plan_bed_level_matrix.set_to_identity();
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
// put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = cs.zprobe_zoffset;
plan_set_position_curposXYZE();
}
#endif // AUTO_BED_LEVELING_GRID
static void run_z_probe() {
plan_bed_level_matrix.set_to_identity();
feedrate = homing_feedrate[Z_AXIS];
// move down until you find the bed
float zPosition = -10;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60);
st_synchronize();
// we have to let the planner know where we are right now as it is not where we said to go.
zPosition = st_get_position_mm(Z_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
// move up the retract distance
zPosition += home_retract_mm(Z_AXIS);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60);
st_synchronize();
// move back down slowly to find bed
feedrate = homing_feedrate[Z_AXIS]/4;
zPosition -= home_retract_mm(Z_AXIS) * 2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60);
st_synchronize();
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
// make sure the planner knows where we are as it may be a bit different than we last said to move to
plan_set_position_curposXYZE();
}
static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
feedrate = homing_feedrate[Z_AXIS];
current_position[Z_AXIS] = z;
plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
st_synchronize();
feedrate = XY_TRAVEL_SPEED;
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
st_synchronize();
feedrate = oldFeedRate;
}
static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
}
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before) {
// move to right place
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
run_z_probe();
float measured_z = current_position[Z_AXIS];
SERIAL_PROTOCOLRPGM(_T(MSG_BED));
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(measured_z);
SERIAL_PROTOCOLPGM("\n");
return measured_z;
}
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
#ifdef LIN_ADVANCE
/**
* M900: Set and/or Get advance K factor
@ -2534,9 +2394,6 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
if (home_all_axes) {
raise_z_above(MESH_HOME_Z_SEARCH);
}
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
// the planner will not perform any adjustments in the XY plane.
@ -2633,11 +2490,7 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if(home_z) {
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
raise_z_above(Z_RAISE_BEFORE_HOMING);
#endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
#ifdef MESH_BED_LEVELING // If Mesh bed leveling, move X&Y to safe position for home
raise_z_above(MESH_HOME_Z_SEARCH);
if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS);
@ -2673,57 +2526,10 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
homeaxis(Z_AXIS);
#endif // MESH_BED_LEVELING
}
#else // defined(Z_SAFE_HOMING): Z Safe mode activated.
if(home_all_axes) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED/60;
current_position[Z_AXIS] = 0;
plan_set_position_curposXYZE();
plan_buffer_line_destinationXYZE(feedrate);
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
homeaxis(Z_AXIS);
}
// Let's see if X and Y are homed and probe is inside bed area.
if(home_z) {
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
current_position[Z_AXIS] = 0;
plan_set_position_curposXYZE();
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line_destinationXYZE(feedrate);
st_synchronize();
homeaxis(Z_AXIS);
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
} else {
LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
}
}
#endif // Z_SAFE_HOMING
#endif // Z_HOME_DIR < 0
if(home_z_axis && home_z_value != 0)
current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING
if(home_z)
current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
#endif
// Set the planner and stepper routine positions.
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position
@ -3810,10 +3616,7 @@ extern uint8_t st_backlash_y;
//!@n G11 - Retract recover
//!@n G21 - Sets Units to Millimters
//!@n G28 - Home all Axes one at a time
//!@n G29 - Detailed Z-Probe
//!@n G30 - Single Z Probe
//!@n G31 - Dock the sled
//!@n G32 - Undock sled
//!@n G75 - Print temperature interpolation
//!@n G76 - PINDA probe temperature calibration
//!@n G80 - Mesh-based Z probe
@ -3934,7 +3737,6 @@ extern uint8_t st_backlash_y;
//!@n M708 - Write to MMU register
//!@n M709 - MMU power & reset
//!@n M850 - Sheet parameters
//!@n M851 - Set Z-Probe Offset
//!@n M860 - Wait for extruder temperature (PINDA)
//!@n M861 - Set/Get PINDA temperature compensation offsets
//!@n M862 - Print checking
@ -3978,9 +3780,6 @@ void process_commands()
#endif /* CMDBUFFER_DEBUG */
unsigned long codenum; //throw away variable
#ifdef ENABLE_AUTO_BED_LEVELING
float x_tmp, y_tmp, z_tmp, real_z;
#endif
// PRUSA GCODES
KEEPALIVE_STATE(IN_HANDLER);
@ -4419,203 +4218,6 @@ void process_commands()
break;
}
#ifdef ENABLE_AUTO_BED_LEVELING
/*!
### G29 - Detailed Z-Probe <a href="https://reprap.org/wiki/G-code#G29:_Detailed_Z-Probe">G29: Detailed Z-Probe</a>
In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
See `G81`
*/
case 29:
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature! Z_MIN_PIN must point to a valid hardware pin."
#endif
// Prevent user from running a G29 without first homing in X and Y
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
{
LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
break; // abort G29, since we don't know where we are
}
st_synchronize();
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position_curposXYZE();
int l_feedmultiply = setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
// "B" vector of Z points
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
int probePointCounter = 0;
bool zig = true;
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
{
int xProbe, xInc;
if (zig)
{
xProbe = LEFT_PROBE_BED_POSITION;
//xEnd = RIGHT_PROBE_BED_POSITION;
xInc = xGridSpacing;
zig = false;
} else // zag
{
xProbe = RIGHT_PROBE_BED_POSITION;
//xEnd = LEFT_PROBE_BED_POSITION;
xInc = -xGridSpacing;
zig = true;
}
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
{
float z_before;
if (probePointCounter == 0)
{
// raise before probing
z_before = Z_RAISE_BEFORE_PROBING;
} else
{
// raise extruder
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
}
float measured_z = probe_pt(xProbe, yProbe, z_before);
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
probePointCounter++;
xProbe += xInc;
}
}
clean_up_after_endstop_move(l_feedmultiply);
// solve lsq problem
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
set_bed_level_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
#else // AUTO_BED_LEVELING_GRID not defined
// Probe at 3 arbitrary points
// probe 1
float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
// probe 2
float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
// probe 3
float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
clean_up_after_endstop_move(l_feedmultiply);
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // AUTO_BED_LEVELING_GRID
st_synchronize();
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_mm[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position_curposXYZE();
}
break;
#ifndef Z_PROBE_SLED
/*!
### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
*/
case 30:
{
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
int l_feedmultiply = setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
run_z_probe();
SERIAL_PROTOCOLPGM(_T(MSG_BED));
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOLLN(current_position[Z_AXIS]);
clean_up_after_endstop_move(l_feedmultiply);
}
break;
#else
/*!
### G31 - Dock the sled <a href="https://reprap.org/wiki/G-code#G31:_Dock_Z_Probe_sled">G31: Dock Z Probe sled</a>
In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
*/
case 31:
dock_sled(true);
break;
/*!
### G32 - Undock the sled <a href="https://reprap.org/wiki/G-code#G32:_Undock_Z_Probe_sled">G32: Undock Z Probe sled</a>
In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
*/
case 32:
dock_sled(false);
break;
#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING
#ifdef MESH_BED_LEVELING
/*!
@ -5523,262 +5125,6 @@ void process_commands()
break;
#endif //!TMC2130
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef Z_PROBE_REPEATABILITY_TEST
/*!
### M48 - Z-Probe repeatability measurement function <a href="https://reprap.org/wiki/G-code#M48:_Measure_Z-Probe_repeatability">M48: Measure Z-Probe repeatability</a>
This function assumes the bed has been homed. Specifically, that a G28 command as been issued prior to invoking the M48 Z-Probe repeatability measurement function. Any information generated by a prior G29 Bed leveling command will be lost and needs to be regenerated.
The number of samples will default to 10 if not specified. You can use upper or lower case letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital N for its communication protocol and will get horribly confused if you send it a capital N.
#### Usage
M48 [ n | X | Y | V | L ]
#### Parameters
- `n` - Number of samples. Valid values 4-50
- `X` - X position for samples
- `Y` - Y position for samples
- `V` - Verbose level. Valid values 1-4
- `L` - Legs of movementprior to doing probe. Valid values 1-15
*/
case 48: // M48 Z-Probe repeatability
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
#endif
double sum=0.0;
double mean=0.0;
double sigma=0.0;
double sample_set[50];
int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
double X_current, Y_current, Z_current;
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
if (code_seen('V')) {
verbose_level = code_value();
if (verbose_level<0 || verbose_level>4 ) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
goto Sigma_Exit;
}
}
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
}
if (code_seen('n')) {
n_samples = code_value();
if (n_samples<4 || n_samples>50 ) {
SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
goto Sigma_Exit;
}
}
X_current = X_probe_location = st_get_position_mm(X_AXIS);
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
ext_position = st_get_position_mm(E_AXIS);
if (code_seen('X') || code_seen('x') ) {
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('Y') || code_seen('y') ) {
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('L') || code_seen('l') ) {
n_legs = code_value();
if ( n_legs==1 )
n_legs = 2;
if ( n_legs<0 || n_legs>15 ) {
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
goto Sigma_Exit;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize();
plan_bed_level_matrix.set_to_identity();
plan_buffer_line( X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS]/60);
st_synchronize();
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if (verbose_level > 2)
SERIAL_PROTOCOL("Positioning probe for the test.\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60);
st_synchronize();
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
int l_feedmultiply = setup_for_endstop_move();
run_z_probe();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60);
st_synchronize();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
for( n=0; n<n_samples; n++) {
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if ( n_legs) {
double radius=0.0, theta=0.0, x_sweep, y_sweep;
int rotational_direction, l;
rotational_direction = (unsigned long) _millis() & 0x0001; // clockwise or counter clockwise
radius = (unsigned long) _millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
theta = (float) ((unsigned long) _millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");
for( l=0; l<n_legs-1; l++) {
if (rotational_direction==1)
theta += (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
else
theta -= (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
radius += (float) ( ((long) ((unsigned long) _millis() % (long) 10)) - 5);
if ( radius<0.0 )
radius = -radius;
X_current = X_probe_location + cos(theta) * radius;
Y_current = Y_probe_location + sin(theta) * radius;
if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
X_current = X_MIN_POS;
if ( X_current>X_MAX_POS)
X_current = X_MAX_POS;
if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
Y_current = Y_MIN_POS;
if ( Y_current>Y_MAX_POS)
Y_current = Y_MAX_POS;
if (verbose_level>3 ) {
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
SERIAL_PROTOCOLLNPGM("");
}
do_blocking_move_to( X_current, Y_current, Z_current );
}
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
}
int l_feedmultiply = setup_for_endstop_move();
run_z_probe();
sample_set[n] = current_position[Z_AXIS];
//
// Get the current mean for the data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + sample_set[j];
}
mean = sum / (double (n+1));
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
}
sigma = sqrt( sum / (double (n+1)) );
if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1);
SERIAL_PROTOCOL(" of ");
SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
}
if (verbose_level > 2) {
SERIAL_PROTOCOL(" mean: ");
SERIAL_PROTOCOL_F(mean,6);
SERIAL_PROTOCOL(" sigma: ");
SERIAL_PROTOCOL_F(sigma,6);
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60);
st_synchronize();
}
_delay(1000);
clean_up_after_endstop_move(l_feedmultiply);
// enable_endstops(true);
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM("\n");
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM("\n\n");
Sigma_Exit:
break;
}
#endif // Z_PROBE_REPEATABILITY_TEST
#endif // ENABLE_AUTO_BED_LEVELING
/*!
### M72 - Set/get Printer State <a href="https://reprap.org/wiki/G-code#M72:_Set.2FGet_Printer_State">M72: Set/get Printer State</a>
Without any parameter get printer state
@ -7563,55 +6909,6 @@ Sigma_Exit:
break;
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
/*!
### M851 - Set Z-Probe Offset <a href="https://reprap.org/wiki/G-code#M851:_Set_Z-Probe_Offset">M851: Set Z-Probe Offset"</a>
Sets the Z-probe Z offset. This offset is used to determine the actual Z position of the nozzle when using a probe to home Z with G28. This value may also be used by G81 (Prusa) / G29 (Marlin) to apply correction to the Z position.
This value represents the distance from nozzle to the bed surface at the point where the probe is triggered. This value will be negative for typical switch probes, inductive probes, and setups where the nozzle makes a circuit with a raised metal contact. This setting will be greater than zero on machines where the nozzle itself is used as the probe, pressing down on the bed to press a switch. (This is a common setup on delta machines.)
#### Usage
M851 [ Z ]
#### Parameters
- `Z` - Z offset probe to nozzle.
*/
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
{
float value;
if (code_seen('Z'))
{
value = code_value();
if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
{
cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
SERIAL_PROTOCOLLN();
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_ECHORPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHORPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_PROTOCOLLN();
}
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
SERIAL_ECHO(-cs.zprobe_zoffset);
SERIAL_PROTOCOLLN();
}
break;
}
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#endif // ENABLE_AUTO_BED_LEVELING
/*!
### M552 - Set IP address <a href="https://reprap.org/wiki/G-code#M552:_Set_IP_address.2C_enable.2Fdisable_network_interface">M552: Set IP address, enable/disable network interface"</a>
Sets the printer IP address that is shown in the support menu. Designed to be used with the help of host software.
@ -9349,12 +8646,7 @@ void clamp_to_software_endstops(float target[3])
// Clamp the Z coordinate.
if (min_software_endstops) {
float negative_z_offset = 0;
#ifdef ENABLE_AUTO_BED_LEVELING
if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
#endif
if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
}
if (max_software_endstops) {
if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];

5
Firmware/messages.cpp
View File

@ -386,16 +386,11 @@ const char MSG_WELCOME[] PROGMEM_N1 = WELCOME_MSG;
const char MSG_BROWNOUT_RESET[] PROGMEM_N1 = " Brown out Reset"; ////
const char MSG_EXTERNAL_RESET[] PROGMEM_N1 = " External Reset"; ////
const char MSG_FILE_SAVED[] PROGMEM_N1 = "Done saving file."; ////
const char MSG_POSITION_UNKNOWN[] PROGMEM_N1 = "Home X/Y before Z"; ////
const char MSG_SOFTWARE_RESET[] PROGMEM_N1 = " Software Reset"; ////
const char MSG_UNKNOWN_COMMAND[] PROGMEM_N1 = "Unknown command: \""; ////
const char MSG_WATCHDOG_RESET[] PROGMEM_N1 = " Watchdog Reset"; ////
const char MSG_Z_MAX[] PROGMEM_N1 = "z_max: "; ////
const char MSG_Z_MIN[] PROGMEM_N1 = "z_min: "; ////
const char MSG_ZPROBE_OUT[] PROGMEM_N1 = "Z probe out. bed"; ////
#ifdef ENABLE_AUTO_BED_LEVELING
const char MSG_ZPROBE_ZOFFSET[] PROGMEM_N1 = "Z Offset"; ////
#endif
const char MSG_TMC_OVERTEMP[] PROGMEM_N1 = "TMC DRIVER OVERTEMP"; ////
const char MSG_Enqueing[] PROGMEM_N1 = "enqueing \""; ////
const char MSG_SD_ERR_WRITE_TO_FILE[] PROGMEM_N1 = "error writing to file"; ////

5
Firmware/messages.h
View File

@ -386,16 +386,11 @@ extern const char MSG_WELCOME[];
extern const char MSG_BROWNOUT_RESET[];
extern const char MSG_EXTERNAL_RESET[];
extern const char MSG_FILE_SAVED[];
extern const char MSG_POSITION_UNKNOWN[];
extern const char MSG_SOFTWARE_RESET[];
extern const char MSG_UNKNOWN_COMMAND[];
extern const char MSG_WATCHDOG_RESET[];
extern const char MSG_Z_MAX[];
extern const char MSG_Z_MIN[];
extern const char MSG_ZPROBE_OUT[];
#ifdef ENABLE_AUTO_BED_LEVELING
extern const char MSG_ZPROBE_ZOFFSET[];
#endif
extern const char MSG_TMC_OVERTEMP[];
extern const char MSG_Enqueing[];
extern const char MSG_SD_ERR_WRITE_TO_FILE[];

32
Firmware/planner.cpp
View File

@ -85,15 +85,6 @@ float* max_feedrate = cs.max_feedrate_normal;
uint32_t* max_acceleration_mm_per_s2 = cs.max_acceleration_mm_per_s2_normal;
uint32_t max_acceleration_steps_per_s2[NUM_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING
// this holds the required transform to compensate for bed level
matrix_3x3 plan_bed_level_matrix = {
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
};
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
// The current position of the tool in absolute steps
long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_mm are changed by gcode
static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
@ -758,10 +749,6 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
plan_reset_next_e_sched = true;
}
#ifdef ENABLE_AUTO_BED_LEVELING
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_LEVELING
// Apply the machine correction matrix.
world2machine(x, y);
@ -1251,27 +1238,8 @@ Having the real displacement of the head, we can calculate the total movement le
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
#ifdef ENABLE_AUTO_BED_LEVELING
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
//position.debug("in plan_get position");
//plan_bed_level_matrix.debug("in plan_get bed_level");
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
//inverse.debug("in plan_get inverse");
position.apply_rotation(inverse);
//position.debug("after rotation");
return position;
}
#endif // ENABLE_AUTO_BED_LEVELING
void plan_set_position(float x, float y, float z, const float &e)
{
#ifdef ENABLE_AUTO_BED_LEVELING
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_LEVELING
world2machine(x, y);
position[X_AXIS] = lround(x*cs.axis_steps_per_mm[X_AXIS]);

25
Firmware/planner.h
View File

@ -26,10 +26,6 @@
#include "Marlin.h"
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
#endif // ENABLE_AUTO_BED_LEVELING
enum BlockFlag {
// Planner flag to recalculate trapezoids on entry junction.
// This flag has an optimization purpose only.
@ -130,24 +126,9 @@ typedef struct {
extern float extruder_advance_K; // Linear-advance K factor
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
// this holds the required transform to compensate for bed level
extern matrix_3x3 plan_bed_level_matrix;
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
// Initialize the motion plan subsystem
void plan_init();
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// millimaters. Feed rate specifies the speed of the motion.
#ifdef ENABLE_AUTO_BED_LEVELING
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate);
// Get the position applying the bed level matrix if enabled
vector_3 plan_get_position();
#else
/// Extracting common call of
/// plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], ...
/// saves almost 5KB.
@ -159,15 +140,9 @@ void plan_buffer_line_destinationXYZE(float feed_rate);
void plan_set_position_curposXYZE();
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const float* gcode_start_position = NULL, uint16_t segment_idx = 0);
//void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
#endif // ENABLE_AUTO_BED_LEVELING
// Set position. Used for G92 instructions.
//#ifdef ENABLE_AUTO_BED_LEVELING
void plan_set_position(float x, float y, float z, const float &e);
//#else
//void plan_set_position(const float &x, const float &y, const float &z, const float &e);
//#endif // ENABLE_AUTO_BED_LEVELING
void plan_set_z_position(const float &z);
void plan_set_e_position(const float &e);

1930
Firmware/qr_solve.cpp
View File

File diff suppressed because it is too large Load Diff

22
Firmware/qr_solve.h
View File

@ -1,22 +0,0 @@
#include "Configuration.h"
#ifdef AUTO_BED_LEVELING_GRID
void daxpy ( int n, double da, double dx[], int incx, double dy[], int incy );
double ddot ( int n, double dx[], int incx, double dy[], int incy );
double dnrm2 ( int n, double x[], int incx );
void dqrank ( double a[], int lda, int m, int n, double tol, int *kr,
int jpvt[], double qraux[] );
void dqrdc ( double a[], int lda, int n, int p, double qraux[], int jpvt[],
double work[], int job );
int dqrls ( double a[], int lda, int m, int n, double tol, int *kr, double b[],
double x[], double rsd[], int jpvt[], double qraux[], int itask );
void dqrlss ( double a[], int lda, int m, int n, int kr, double b[], double x[],
double rsd[], int jpvt[], double qraux[] );
int dqrsl ( double a[], int lda, int n, int k, double qraux[], double y[],
double qy[], double qty[], double b[], double rsd[], double ab[], int job );
void dscal ( int n, double sa, double x[], int incx );
void dswap ( int n, double x[], int incx, double y[], int incy );
double *qr_solve ( int m, int n, double a[], double b[] );
#endif

167
Firmware/vector_3.cpp
View File

@ -1,167 +0,0 @@
/*
vector_3.cpp - Vector library for bed leveling
Copyright (c) 2012 Lars Brubaker. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <math.h>
#include "Marlin.h"
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
vector_3::vector_3() : x(0), y(0), z(0) { }
vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
vector_3 vector_3::cross(vector_3 left, vector_3 right)
{
return vector_3(left.y * right.z - left.z * right.y,
left.z * right.x - left.x * right.z,
left.x * right.y - left.y * right.x);
}
vector_3 vector_3::operator+(vector_3 v)
{
return vector_3((x + v.x), (y + v.y), (z + v.z));
}
vector_3 vector_3::operator-(vector_3 v)
{
return vector_3((x - v.x), (y - v.y), (z - v.z));
}
vector_3 vector_3::get_normal()
{
vector_3 normalized = vector_3(x, y, z);
normalized.normalize();
return normalized;
}
float vector_3::get_length()
{
float length = sqrt((x * x) + (y * y) + (z * z));
return length;
}
void vector_3::normalize()
{
float length = get_length();
x /= length;
y /= length;
z /= length;
}
void vector_3::apply_rotation(matrix_3x3 matrix)
{
float resultX = x * matrix.matrix[3*0+0] + y * matrix.matrix[3*1+0] + z * matrix.matrix[3*2+0];
float resultY = x * matrix.matrix[3*0+1] + y * matrix.matrix[3*1+1] + z * matrix.matrix[3*2+1];
float resultZ = x * matrix.matrix[3*0+2] + y * matrix.matrix[3*1+2] + z * matrix.matrix[3*2+2];
x = resultX;
y = resultY;
z = resultZ;
}
void vector_3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(z);
SERIAL_PROTOCOLPGM("\n");
}
void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
{
vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix);
x = vector.x;
y = vector.y;
z = vector.z;
}
matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2)
{
//row_0.debug("row_0");
//row_1.debug("row_1");
//row_2.debug("row_2");
matrix_3x3 new_matrix;
new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
//new_matrix.debug("new_matrix");
return new_matrix;
}
void matrix_3x3::set_to_identity()
{
matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
}
matrix_3x3 matrix_3x3::create_look_at(vector_3 target)
{
vector_3 z_row = target.get_normal();
vector_3 x_row = vector_3(1, 0, -target.x/target.z).get_normal();
vector_3 y_row = vector_3::cross(z_row, x_row).get_normal();
// x_row.debug("x_row");
// y_row.debug("y_row");
// z_row.debug("z_row");
// create the matrix already correctly transposed
matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
// rot.debug("rot");
return rot;
}
matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
{
matrix_3x3 new_matrix;
new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];
new_matrix.matrix[6] = original.matrix[2]; new_matrix.matrix[7] = original.matrix[5]; new_matrix.matrix[8] = original.matrix[8];
return new_matrix;
}
void matrix_3x3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOL("\n");
int count = 0;
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
SERIAL_PROTOCOL(matrix[count]);
SERIAL_PROTOCOLPGM(" ");
count++;
}
SERIAL_PROTOCOLPGM("\n");
}
}
#endif // #ifdef ENABLE_AUTO_BED_LEVELING

62
Firmware/vector_3.h
View File

@ -1,62 +0,0 @@
/*
vector_3.cpp - Vector library for bed leveling
Copyright (c) 2012 Lars Brubaker. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef VECTOR_3_H
#define VECTOR_3_H
#ifdef ENABLE_AUTO_BED_LEVELING
class matrix_3x3;
struct vector_3
{
float x, y, z;
vector_3();
vector_3(float x, float y, float z);
static vector_3 cross(vector_3 a, vector_3 b);
vector_3 operator+(vector_3 v);
vector_3 operator-(vector_3 v);
void normalize();
float get_length();
vector_3 get_normal();
void debug(char* title);
void apply_rotation(matrix_3x3 matrix);
};
struct matrix_3x3
{
float matrix[9];
static matrix_3x3 create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2);
static matrix_3x3 create_look_at(vector_3 target);
static matrix_3x3 transpose(matrix_3x3 original);
void set_to_identity();
void debug(char* title);
};
void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float& y, float& z);
#endif // ENABLE_AUTO_BED_LEVELING
#endif // VECTOR_3_H