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Operate in Native Machine Space

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This commit is contained in:
Scott Lahteine
2017-11-02 23:59:42 -05:00
parent 31f112cf58
commit f8393a0908
36 changed files with 449 additions and 489 deletions
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91
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
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@@ -393,11 +393,11 @@
restore_ubl_active_state_and_leave();
}
else { // grid_size == 0 : A 3-Point leveling has been requested
float z3, z2, z1 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y), false, g29_verbose_level);
float z3, z2, z1 = probe_pt(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y, false, g29_verbose_level);
if (!isnan(z1)) {
z2 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level);
z2 = probe_pt(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y, false, g29_verbose_level);
if (!isnan(z2))
z3 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
z3 = probe_pt(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y, true, g29_verbose_level);
}
if (isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
@@ -411,9 +411,9 @@
// its height is.)
save_ubl_active_state_and_disable();
z1 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
z2 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
z3 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
z1 -= get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y) /* + zprobe_zoffset */ ;
z2 -= get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y) /* + zprobe_zoffset */ ;
z3 -= get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y) /* + zprobe_zoffset */ ;
do_blocking_move_to_xy(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)));
tilt_mesh_based_on_3pts(z1, z2, z3);
@@ -497,7 +497,7 @@
}
}
if (!position_is_reachable_xy(g29_x_pos, g29_y_pos)) {
if (!position_is_reachable(g29_x_pos, g29_y_pos)) {
SERIAL_PROTOCOLLNPGM("XY outside printable radius.");
return;
}
@@ -734,7 +734,7 @@
* Probe all invalidated locations of the mesh that can be reached by the probe.
* This attempts to fill in locations closest to the nozzle's start location first.
*/
void unified_bed_leveling::probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool close_or_far) {
void unified_bed_leveling::probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool close_or_far) {
mesh_index_pair location;
has_control_of_lcd_panel = true;
@@ -762,13 +762,13 @@
if (close_or_far)
location = find_furthest_invalid_mesh_point();
else
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL);
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, NULL);
if (location.x_index >= 0) { // mesh point found and is reachable by probe
const float rawx = mesh_index_to_xpos(location.x_index),
rawy = mesh_index_to_ypos(location.y_index);
const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level); // TODO: Needs error handling
const float measured_z = probe_pt(rawx, rawy, stow_probe, g29_verbose_level); // TODO: Needs error handling
z_values[location.x_index][location.y_index] = measured_z;
}
@@ -778,8 +778,8 @@
restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_X, MESH_MAX_X),
constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_Y, MESH_MAX_Y)
constrain(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_X, MESH_MAX_X),
constrain(ry - (Y_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_Y, MESH_MAX_Y)
);
}
@@ -953,28 +953,26 @@
return thickness;
}
void unified_bed_leveling::manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
void unified_bed_leveling::manually_probe_remaining_mesh(const float &rx, const float &ry, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
has_control_of_lcd_panel = true;
save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
do_blocking_move_to_xy(lx, ly);
do_blocking_move_to_xy(rx, ry);
lcd_return_to_status();
mesh_index_pair location;
do {
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_NOZZLE_AS_REFERENCE, NULL);
location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_NOZZLE_AS_REFERENCE, NULL);
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
if (location.x_index < 0 && location.y_index < 0) continue;
const float rawx = mesh_index_to_xpos(location.x_index),
rawy = mesh_index_to_ypos(location.y_index),
xProbe = LOGICAL_X_POSITION(rawx),
yProbe = LOGICAL_Y_POSITION(rawy);
const float xProbe = mesh_index_to_xpos(location.x_index),
yProbe = mesh_index_to_ypos(location.y_index);
if (!position_is_reachable_raw_xy(rawx, rawy)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
if (!position_is_reachable(xProbe, yProbe)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
@@ -1038,7 +1036,7 @@
restore_ubl_active_state_and_leave();
KEEPALIVE_STATE(IN_HANDLER);
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
do_blocking_move_to_xy(lx, ly);
do_blocking_move_to_xy(rx, ry);
}
#endif // NEWPANEL
@@ -1111,8 +1109,8 @@
}
// If X or Y are not valid, use center of the bed values
if (!WITHIN(RAW_X_POSITION(g29_x_pos), X_MIN_BED, X_MAX_BED)) g29_x_pos = LOGICAL_X_POSITION(X_CENTER);
if (!WITHIN(RAW_Y_POSITION(g29_y_pos), Y_MIN_BED, Y_MAX_BED)) g29_y_pos = LOGICAL_Y_POSITION(Y_CENTER);
if (!WITHIN(g29_x_pos, X_MIN_BED, X_MAX_BED)) g29_x_pos = X_CENTER;
if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER;
if (err_flag) return UBL_ERR;
@@ -1365,7 +1363,7 @@
const float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j);
if ( !position_is_reachable_by_probe_raw_xy(mx, my)) // make sure the probe can get to the mesh point
if ( !position_is_reachable_by_probe(mx, my)) // make sure the probe can get to the mesh point
continue;
found_a_NAN = true;
@@ -1413,14 +1411,14 @@
return out_mesh;
}
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, uint16_t bits[16]) {
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) {
mesh_index_pair out_mesh;
out_mesh.x_index = out_mesh.y_index = -1;
out_mesh.distance = -99999.9;
// Get our reference position. Either the nozzle or probe location.
const float px = RAW_X_POSITION(lx) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = RAW_Y_POSITION(ly) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
const float px = rx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
py = ry - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
float best_so_far = 99999.99;
@@ -1433,7 +1431,6 @@
) {
// We only get here if we found a Mesh Point of the specified type
float raw_x = RAW_CURRENT_POSITION(X), raw_y = RAW_CURRENT_POSITION(Y);
const float mx = mesh_index_to_xpos(i),
my = mesh_index_to_ypos(j);
@@ -1441,7 +1438,7 @@
// Also for round beds, there are grid points outside the bed the nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (probe_as_reference ? !position_is_reachable_by_probe_raw_xy(mx, my) : !position_is_reachable_raw_xy(mx, my))
if (probe_as_reference ? !position_is_reachable_by_probe(mx, my) : !position_is_reachable(mx, my))
continue;
// Reachable. Check if it's the best_so_far location to the nozzle.
@@ -1450,7 +1447,7 @@
// factor in the distance from the current location for the normal case
// so the nozzle isn't running all over the bed.
distance += HYPOT(raw_x - mx, raw_y - my) * 0.1;
distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1;
if (distance < best_so_far) {
best_so_far = distance; // We found a closer location with
out_mesh.x_index = i; // the specified type of mesh value.
@@ -1465,7 +1462,7 @@
#if ENABLED(NEWPANEL)
void unified_bed_leveling::fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
void unified_bed_leveling::fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) {
if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
@@ -1480,7 +1477,7 @@
mesh_index_pair location;
if (!position_is_reachable_xy(lx, ly)) {
if (!position_is_reachable(rx, ry)) {
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
return;
}
@@ -1490,12 +1487,12 @@
LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
do_blocking_move_to_xy(lx, ly);
do_blocking_move_to_xy(rx, ry);
uint16_t not_done[16];
memset(not_done, 0xFF, sizeof(not_done));
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done);
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, rx, ry, USE_NOZZLE_AS_REFERENCE, not_done);
if (location.x_index < 0) break; // stop when we can't find any more reachable points.
@@ -1505,7 +1502,7 @@
const float rawx = mesh_index_to_xpos(location.x_index),
rawy = mesh_index_to_ypos(location.y_index);
if (!position_is_reachable_raw_xy(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
if (!position_is_reachable(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
break;
float new_z = z_values[location.x_index][location.y_index];
@@ -1514,7 +1511,7 @@
new_z = 0.0;
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to where we are going to edit
do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
do_blocking_move_to_xy(rawx, rawy);
new_z = FLOOR(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place
@@ -1576,7 +1573,7 @@
restore_ubl_active_state_and_leave();
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
do_blocking_move_to_xy(lx, ly);
do_blocking_move_to_xy(rx, ry);
LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
SERIAL_ECHOLNPGM("Done Editing Mesh");
@@ -1654,29 +1651,29 @@
bool zig_zag = false;
for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
const float x = float(x_min) + ix * dx;
const float rx = float(x_min) + ix * dx;
for (int8_t iy = 0; iy < g29_grid_size; iy++) {
const float y = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
float measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
const float ry = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
float measured_z = probe_pt(rx, ry, parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(x, 7);
SERIAL_PROTOCOL_F(rx, 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(y, 7);
SERIAL_PROTOCOL_F(ry, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_CHAR('(');
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(x), 7);
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 7);
SERIAL_CHAR(',');
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(y), 7);
SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(ry), 7);
SERIAL_ECHOPGM(") measured: ");
SERIAL_PROTOCOL_F(measured_z, 7);
SERIAL_ECHOPGM(" correction: ");
SERIAL_PROTOCOL_F(get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)), 7);
SERIAL_PROTOCOL_F(get_z_correction(rx, ry), 7);
}
#endif
measured_z -= get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@@ -1686,7 +1683,7 @@
}
#endif
incremental_LSF(&lsf_results, x, y, measured_z);
incremental_LSF(&lsf_results, rx, ry, measured_z);
}
zig_zag ^= true;