From ba301fd800173ccdf9703e1e8bdb702720c6a872 Mon Sep 17 00:00:00 2001 From: Marcio T Date: Mon, 22 Feb 2021 21:38:54 -0700 Subject: [PATCH 01/34] FTDI Touch UI followup (#21167) --- Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/screens/screens.h | 1 - Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/theme/colors.h | 3 +++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/screens/screens.h b/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/screens/screens.h index 1574576fa1..61d702ebaf 100644 --- a/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/screens/screens.h +++ b/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/screens/screens.h @@ -175,7 +175,6 @@ enum { #include "change_filament_screen.h" #include "move_axis_screen.h" #include "steps_screen.h" -#include "stepper_current_screen.h" #include "feedrate_percent_screen.h" #include "max_velocity_screen.h" #include "max_acceleration_screen.h" diff --git a/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/theme/colors.h b/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/theme/colors.h index 0fe83bce46..1649675122 100644 --- a/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/theme/colors.h +++ b/Marlin/src/lcd/extui/lib/ftdi_eve_touch_ui/theme/colors.h @@ -125,6 +125,9 @@ namespace Theme { constexpr uint32_t logo_bg_rgb = accent_color_4; constexpr uint32_t logo_fill_rgb = accent_color_3; constexpr uint32_t logo_stroke_rgb = 0x000000; + + constexpr uint32_t bed_mesh_lines_rgb = 0xFFFFFF; + constexpr uint32_t bed_mesh_shadow_rgb = 0x444444; #endif constexpr uint32_t shadow_rgb = gray_color_6; From 27f9437d3141635e290b11109b5f6d0929962194 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 23 Feb 2021 16:08:00 -0600 Subject: [PATCH 02/34] G92, subcodes flag cleanup --- Marlin/src/gcode/geometry/G92.cpp | 79 +++++++++++++++++------------- Marlin/src/gcode/parser.cpp | 6 +-- Marlin/src/gcode/parser.h | 4 +- Marlin/src/inc/Conditionals_post.h | 2 +- 4 files changed, 52 insertions(+), 39 deletions(-) diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp index 1a0382ed7c..30620be6f9 100644 --- a/Marlin/src/gcode/geometry/G92.cpp +++ b/Marlin/src/gcode/geometry/G92.cpp @@ -29,77 +29,90 @@ #endif /** - * G92: Set current position to given X Y Z E + * G92: Set the Current Position to the given X Y Z E values. + * + * Behind the scenes the G92 command may modify the Current Position + * or the Position Shift depending on settings and sub-commands. + * + * Since E has no Workspace Offset, it is always set directly. + * + * Without Workspace Offsets (e.g., with NO_WORKSPACE_OFFSETS): + * G92 : Set NATIVE Current Position to the given X Y Z E. + * + * Using Workspace Offsets (default Marlin behavior): + * G92 : Modify Workspace Offsets so the reported position shows the given X Y Z E. + * G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position). + * + * With POWER_LOSS_RECOVERY: + * G92.9 : Set NATIVE Current Position to the given X Y Z E. */ void GcodeSuite::G92() { - bool sync_E = false, sync_XYZ = false; + bool sync_E = false, sync_XYZE = false; - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES const uint8_t subcode_G92 = parser.subcode; #else constexpr uint8_t subcode_G92 = 0; #endif switch (subcode_G92) { - default: break; - #if ENABLED(CNC_COORDINATE_SYSTEMS) - case 1: { - // Zero the G92 values and restore current position - #if !IS_SCARA - LOOP_XYZ(i) if (position_shift[i]) { - position_shift[i] = 0; - update_workspace_offset((AxisEnum)i); - } - #endif // Not SCARA - } return; + default: return; // Ignore unknown G92.x + + #if ENABLED(CNC_COORDINATE_SYSTEMS) && !IS_SCARA + case 1: // G92.1 - Zero the Workspace Offset + LOOP_XYZ(i) if (position_shift[i]) { + position_shift[i] = 0; + update_workspace_offset((AxisEnum)i); + } + break; #endif + #if ENABLED(POWER_LOSS_RECOVERY) - case 9: { + case 9: // G92.9 - Set Current Position directly (like Marlin 1.0) LOOP_XYZE(i) { if (parser.seenval(axis_codes[i])) { + if (i == E_AXIS) sync_E = true; else sync_XYZE = true; current_position[i] = parser.value_axis_units((AxisEnum)i); - if (i == E_AXIS) sync_E = true; else sync_XYZ = true; } } - } break; + break; #endif - case 0: { + + case 0: LOOP_XYZE(i) { if (parser.seenval(axis_codes[i])) { - const float l = parser.value_axis_units((AxisEnum)i), - v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i), - d = v - current_position[i]; + const float l = parser.value_axis_units((AxisEnum)i), // Given axis coordinate value, converted to millimeters + v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i), // Axis position in NATIVE space (applying the existing offset) + d = v - current_position[i]; // How much is the current axis position altered by? if (!NEAR_ZERO(d)) { - #if IS_SCARA || !HAS_POSITION_SHIFT - if (i == E_AXIS) sync_E = true; else sync_XYZ = true; - current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior - #elif HAS_POSITION_SHIFT + #if HAS_POSITION_SHIFT && !IS_SCARA // When using workspaces... if (i == E_AXIS) { sync_E = true; - current_position.e = v; // When using coordinate spaces, only E is set directly + current_position.e = v; // ...E is still set directly } else { - position_shift[i] += d; // Other axes simply offset the coordinate space + position_shift[i] += d; // ...but other axes offset the workspace. update_workspace_offset((AxisEnum)i); } + #else // Without workspaces... + if (i == E_AXIS) sync_E = true; else sync_XYZE = true; + current_position[i] = v; // ...set Current Position directly (like Marlin 1.0) #endif } } } - } break; + break; } #if ENABLED(CNC_COORDINATE_SYSTEMS) - // Apply workspace offset to the active coordinate system + // Apply Workspace Offset to the active coordinate system if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1)) coordinate_system[active_coordinate_system] = position_shift; #endif - if (sync_XYZ) sync_plan_position(); + if (sync_XYZE) sync_plan_position(); else if (sync_E) sync_plan_position_e(); - #if DISABLED(DIRECT_STEPPING) - report_current_position(); - #endif + IF_DISABLED(DIRECT_STEPPING, report_current_position()); } diff --git a/Marlin/src/gcode/parser.cpp b/Marlin/src/gcode/parser.cpp index 6408b2ce2d..ebe9d3b2cd 100644 --- a/Marlin/src/gcode/parser.cpp +++ b/Marlin/src/gcode/parser.cpp @@ -47,13 +47,13 @@ char *GCodeParser::command_ptr, char GCodeParser::command_letter; uint16_t GCodeParser::codenum; -#if ENABLED(USE_GCODE_SUBCODES) +#if USE_GCODE_SUBCODES uint8_t GCodeParser::subcode; #endif #if ENABLED(GCODE_MOTION_MODES) int16_t GCodeParser::motion_mode_codenum = -1; - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES uint8_t GCodeParser::motion_mode_subcode; #endif #endif @@ -189,7 +189,7 @@ void GCodeParser::parse(char *p) { } // Allow for decimal point in command - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES if (*p == '.') { p++; while (NUMERIC(*p)) diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h index d60b21a906..5a31a9943e 100644 --- a/Marlin/src/gcode/parser.h +++ b/Marlin/src/gcode/parser.h @@ -85,13 +85,13 @@ public: *string_arg, // string of command line command_letter; // G, M, or T static uint16_t codenum; // 123 - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES static uint8_t subcode; // .1 #endif #if ENABLED(GCODE_MOTION_MODES) static int16_t motion_mode_codenum; - #if ENABLED(USE_GCODE_SUBCODES) + #if USE_GCODE_SUBCODES static uint8_t motion_mode_subcode; #endif FORCE_INLINE static void cancel_motion_mode() { motion_mode_codenum = -1; } diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 949885eab7..f8360767d9 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -2758,7 +2758,7 @@ // Add commands that need sub-codes to this list #if ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY) - #define USE_GCODE_SUBCODES + #define USE_GCODE_SUBCODES 1 #endif // Parking Extruder From bdb8c07bb22bed1ca78f4b7d14651a8e04828e82 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 23 Feb 2021 16:09:54 -0600 Subject: [PATCH 03/34] Outdent UBL code --- Marlin/src/feature/bedlevel/ubl/ubl.cpp | 408 +-- Marlin/src/feature/bedlevel/ubl/ubl.h | 460 +-- Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 3220 +++++++++---------- 3 files changed, 2044 insertions(+), 2044 deletions(-) diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp index ef3289f732..601f0ebb54 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp @@ -24,234 +24,234 @@ #if ENABLED(AUTO_BED_LEVELING_UBL) - #include "../bedlevel.h" +#include "../bedlevel.h" - unified_bed_leveling ubl; +unified_bed_leveling ubl; - #include "../../../MarlinCore.h" - #include "../../../gcode/gcode.h" +#include "../../../MarlinCore.h" +#include "../../../gcode/gcode.h" - #include "../../../module/settings.h" - #include "../../../module/planner.h" - #include "../../../module/motion.h" - #include "../../../module/probe.h" +#include "../../../module/settings.h" +#include "../../../module/planner.h" +#include "../../../module/motion.h" +#include "../../../module/probe.h" +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#endif + +#include "math.h" + +void unified_bed_leveling::echo_name() { SERIAL_ECHOPGM("Unified Bed Leveling"); } + +void unified_bed_leveling::report_current_mesh() { + if (!leveling_is_valid()) return; + SERIAL_ECHO_MSG(" G29 I999"); + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR(" M421 I", x, " J", y); + SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4); + serial_delay(75); // Prevent Printrun from exploding + } +} + +void unified_bed_leveling::report_state() { + echo_name(); + SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n"); + serial_delay(50); +} + +int8_t unified_bed_leveling::storage_slot; + +float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + +#define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST)) + +const float +unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X, + _GRIDPOS(X, 0), _GRIDPOS(X, 1), _GRIDPOS(X, 2), _GRIDPOS(X, 3), + _GRIDPOS(X, 4), _GRIDPOS(X, 5), _GRIDPOS(X, 6), _GRIDPOS(X, 7), + _GRIDPOS(X, 8), _GRIDPOS(X, 9), _GRIDPOS(X, 10), _GRIDPOS(X, 11), + _GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15) +), +unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y, + _GRIDPOS(Y, 0), _GRIDPOS(Y, 1), _GRIDPOS(Y, 2), _GRIDPOS(Y, 3), + _GRIDPOS(Y, 4), _GRIDPOS(Y, 5), _GRIDPOS(Y, 6), _GRIDPOS(Y, 7), + _GRIDPOS(Y, 8), _GRIDPOS(Y, 9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11), + _GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15) +); + +volatile int16_t unified_bed_leveling::encoder_diff; + +unified_bed_leveling::unified_bed_leveling() { reset(); } + +void unified_bed_leveling::reset() { + const bool was_enabled = planner.leveling_active; + set_bed_leveling_enabled(false); + storage_slot = -1; + ZERO(z_values); #if ENABLED(EXTENSIBLE_UI) - #include "../../../lcd/extui/ui_api.h" + GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0); #endif + if (was_enabled) report_current_position(); +} - #include "math.h" +void unified_bed_leveling::invalidate() { + set_bed_leveling_enabled(false); + set_all_mesh_points_to_value(NAN); +} - void unified_bed_leveling::echo_name() { SERIAL_ECHOPGM("Unified Bed Leveling"); } +void unified_bed_leveling::set_all_mesh_points_to_value(const float value) { + GRID_LOOP(x, y) { + z_values[x][y] = value; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, value)); + } +} - void unified_bed_leveling::report_current_mesh() { - if (!leveling_is_valid()) return; - SERIAL_ECHO_MSG(" G29 I999"); - GRID_LOOP(x, y) - if (!isnan(z_values[x][y])) { - SERIAL_ECHO_START(); - SERIAL_ECHOPAIR(" M421 I", x, " J", y); - SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4); - serial_delay(75); // Prevent Printrun from exploding - } +#if ENABLED(OPTIMIZED_MESH_STORAGE) + + constexpr float mesh_store_scaling = 1000; + constexpr int16_t Z_STEPS_NAN = INT16_MAX; + + void unified_bed_leveling::set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values) { + auto z_to_store = [](const float &z) { + if (isnan(z)) return Z_STEPS_NAN; + const int32_t z_scaled = TRUNC(z * mesh_store_scaling); + if (z_scaled == Z_STEPS_NAN || !WITHIN(z_scaled, INT16_MIN, INT16_MAX)) + return Z_STEPS_NAN; // If Z is out of range, return our custom 'NaN' + return int16_t(z_scaled); + }; + GRID_LOOP(x, y) stored_values[x][y] = z_to_store(in_values[x][y]); } - void unified_bed_leveling::report_state() { - echo_name(); - SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n"); - serial_delay(50); + void unified_bed_leveling::set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values) { + auto store_to_z = [](const int16_t z_scaled) { + return z_scaled == Z_STEPS_NAN ? NAN : z_scaled / mesh_store_scaling; + }; + GRID_LOOP(x, y) out_values[x][y] = store_to_z(stored_values[x][y]); } - int8_t unified_bed_leveling::storage_slot; +#endif // OPTIMIZED_MESH_STORAGE - float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; +static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) { + SERIAL_ECHO_SP(sp); + SERIAL_CHAR('('); + if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); } + SERIAL_ECHO(x); + SERIAL_CHAR(','); + if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); } + SERIAL_ECHO(y); + SERIAL_CHAR(')'); + serial_delay(5); +} - #define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST)) - - const float - unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X, - _GRIDPOS(X, 0), _GRIDPOS(X, 1), _GRIDPOS(X, 2), _GRIDPOS(X, 3), - _GRIDPOS(X, 4), _GRIDPOS(X, 5), _GRIDPOS(X, 6), _GRIDPOS(X, 7), - _GRIDPOS(X, 8), _GRIDPOS(X, 9), _GRIDPOS(X, 10), _GRIDPOS(X, 11), - _GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15) - ), - unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y, - _GRIDPOS(Y, 0), _GRIDPOS(Y, 1), _GRIDPOS(Y, 2), _GRIDPOS(Y, 3), - _GRIDPOS(Y, 4), _GRIDPOS(Y, 5), _GRIDPOS(Y, 6), _GRIDPOS(Y, 7), - _GRIDPOS(Y, 8), _GRIDPOS(Y, 9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11), - _GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15) - ); - - volatile int16_t unified_bed_leveling::encoder_diff; - - unified_bed_leveling::unified_bed_leveling() { reset(); } - - void unified_bed_leveling::reset() { - const bool was_enabled = planner.leveling_active; - set_bed_leveling_enabled(false); - storage_slot = -1; - ZERO(z_values); - #if ENABLED(EXTENSIBLE_UI) - GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0); - #endif - if (was_enabled) report_current_position(); - } - - void unified_bed_leveling::invalidate() { - set_bed_leveling_enabled(false); - set_all_mesh_points_to_value(NAN); - } - - void unified_bed_leveling::set_all_mesh_points_to_value(const float value) { - GRID_LOOP(x, y) { - z_values[x][y] = value; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, value)); - } - } - - #if ENABLED(OPTIMIZED_MESH_STORAGE) - - constexpr float mesh_store_scaling = 1000; - constexpr int16_t Z_STEPS_NAN = INT16_MAX; - - void unified_bed_leveling::set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values) { - auto z_to_store = [](const float &z) { - if (isnan(z)) return Z_STEPS_NAN; - const int32_t z_scaled = TRUNC(z * mesh_store_scaling); - if (z_scaled == Z_STEPS_NAN || !WITHIN(z_scaled, INT16_MIN, INT16_MAX)) - return Z_STEPS_NAN; // If Z is out of range, return our custom 'NaN' - return int16_t(z_scaled); - }; - GRID_LOOP(x, y) stored_values[x][y] = z_to_store(in_values[x][y]); - } - - void unified_bed_leveling::set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values) { - auto store_to_z = [](const int16_t z_scaled) { - return z_scaled == Z_STEPS_NAN ? NAN : z_scaled / mesh_store_scaling; - }; - GRID_LOOP(x, y) out_values[x][y] = store_to_z(stored_values[x][y]); - } - - #endif // OPTIMIZED_MESH_STORAGE - - static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) { +static void serial_echo_column_labels(const uint8_t sp) { + SERIAL_ECHO_SP(7); + LOOP_L_N(i, GRID_MAX_POINTS_X) { + if (i < 10) SERIAL_CHAR(' '); + SERIAL_ECHO(i); SERIAL_ECHO_SP(sp); - SERIAL_CHAR('('); - if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); } - SERIAL_ECHO(x); - SERIAL_CHAR(','); - if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); } - SERIAL_ECHO(y); - SERIAL_CHAR(')'); - serial_delay(5); + } + serial_delay(10); +} + +/** + * Produce one of these mesh maps: + * 0: Human-readable + * 1: CSV format for spreadsheet import + * 2: TODO: Display on Graphical LCD + * 4: Compact Human-Readable + */ +void unified_bed_leveling::display_map(const int map_type) { + const bool was = gcode.set_autoreport_paused(true); + + constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567] + twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each + + const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4; + + SERIAL_ECHOPGM("\nBed Topography Report"); + if (human) { + SERIAL_ECHOLNPGM(":\n"); + serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y); + serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y); + SERIAL_EOL(); + serial_echo_column_labels(eachsp - 2); + } + else { + SERIAL_ECHOPGM(" for "); + serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n")); } - static void serial_echo_column_labels(const uint8_t sp) { - SERIAL_ECHO_SP(7); + // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when + // moving to the XY position to be measured. This ensures better agreement between + // the current Z position after G28 and the mesh values. + const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy); + + if (!lcd) SERIAL_EOL(); + for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) { + + // Row Label (J index) + if (human) { + if (j < 10) SERIAL_CHAR(' '); + SERIAL_ECHO(j); + SERIAL_ECHOPGM(" |"); + } + + // Row Values (I indexes) LOOP_L_N(i, GRID_MAX_POINTS_X) { - if (i < 10) SERIAL_CHAR(' '); - SERIAL_ECHO(i); - SERIAL_ECHO_SP(sp); + + // Opening Brace or Space + const bool is_current = i == curr.x && j == curr.y; + if (human) SERIAL_CHAR(is_current ? '[' : ' '); + + // Z Value at current I, J + const float f = z_values[i][j]; + if (lcd) { + // TODO: Display on Graphical LCD + } + else if (isnan(f)) + serialprintPGM(human ? PSTR(" . ") : PSTR("NAN")); + else if (human || csv) { + if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0) + SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits + } + if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t'); + + // Closing Brace or Space + if (human) SERIAL_CHAR(is_current ? ']' : ' '); + + SERIAL_FLUSHTX(); + idle_no_sleep(); } - serial_delay(10); - } - - /** - * Produce one of these mesh maps: - * 0: Human-readable - * 1: CSV format for spreadsheet import - * 2: TODO: Display on Graphical LCD - * 4: Compact Human-Readable - */ - void unified_bed_leveling::display_map(const int map_type) { - const bool was = gcode.set_autoreport_paused(true); - - constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567] - twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each - - const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4; - - SERIAL_ECHOPGM("\nBed Topography Report"); - if (human) { - SERIAL_ECHOLNPGM(":\n"); - serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y); - serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y); - SERIAL_EOL(); - serial_echo_column_labels(eachsp - 2); - } - else { - SERIAL_ECHOPGM(" for "); - serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n")); - } - - // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when - // moving to the XY position to be measured. This ensures better agreement between - // the current Z position after G28 and the mesh values. - const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy); - if (!lcd) SERIAL_EOL(); - for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) { - // Row Label (J index) - if (human) { - if (j < 10) SERIAL_CHAR(' '); - SERIAL_ECHO(j); - SERIAL_ECHOPGM(" |"); - } - - // Row Values (I indexes) - LOOP_L_N(i, GRID_MAX_POINTS_X) { - - // Opening Brace or Space - const bool is_current = i == curr.x && j == curr.y; - if (human) SERIAL_CHAR(is_current ? '[' : ' '); - - // Z Value at current I, J - const float f = z_values[i][j]; - if (lcd) { - // TODO: Display on Graphical LCD - } - else if (isnan(f)) - serialprintPGM(human ? PSTR(" . ") : PSTR("NAN")); - else if (human || csv) { - if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0) - SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits - } - if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t'); - - // Closing Brace or Space - if (human) SERIAL_CHAR(is_current ? ']' : ' '); - - SERIAL_FLUSHTX(); - idle_no_sleep(); - } - if (!lcd) SERIAL_EOL(); - - // A blank line between rows (unless compact) - if (j && human && !comp) SERIAL_ECHOLNPGM(" |"); - } - - if (human) { - serial_echo_column_labels(eachsp - 2); - SERIAL_EOL(); - serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y); - serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y); - SERIAL_EOL(); - SERIAL_EOL(); - } - - gcode.set_autoreport_paused(was); + // A blank line between rows (unless compact) + if (j && human && !comp) SERIAL_ECHOLNPGM(" |"); } - bool unified_bed_leveling::sanity_check() { - uint8_t error_flag = 0; - - if (settings.calc_num_meshes() < 1) { - SERIAL_ECHOLNPGM("?Mesh too big for EEPROM."); - error_flag++; - } - - return !!error_flag; + if (human) { + serial_echo_column_labels(eachsp - 2); + SERIAL_EOL(); + serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y); + serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y); + SERIAL_EOL(); + SERIAL_EOL(); } + gcode.set_autoreport_paused(was); +} + +bool unified_bed_leveling::sanity_check() { + uint8_t error_flag = 0; + + if (settings.calc_num_meshes() < 1) { + SERIAL_ECHOLNPGM("?Mesh too big for EEPROM."); + error_flag++; + } + + return !!error_flag; +} + #endif // AUTO_BED_LEVELING_UBL diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.h b/Marlin/src/feature/bedlevel/ubl/ubl.h index 876063c878..d5da43a6a2 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.h +++ b/Marlin/src/feature/bedlevel/ubl/ubl.h @@ -46,275 +46,275 @@ struct mesh_index_pair; #endif class unified_bed_leveling { - private: +private: - static int g29_verbose_level, - g29_phase_value, - g29_repetition_cnt, - g29_storage_slot, - g29_map_type; - static bool g29_c_flag; - static float g29_card_thickness, - g29_constant; - static xy_pos_t g29_pos; - static xy_bool_t xy_seen; + static int g29_verbose_level, + g29_phase_value, + g29_repetition_cnt, + g29_storage_slot, + g29_map_type; + static bool g29_c_flag; + static float g29_card_thickness, + g29_constant; + static xy_pos_t g29_pos; + static xy_bool_t xy_seen; - #if HAS_BED_PROBE - static int g29_grid_size; - #endif + #if HAS_BED_PROBE + static int g29_grid_size; + #endif - #if IS_NEWPANEL - static void move_z_with_encoder(const float &multiplier); - static float measure_point_with_encoder(); - static float measure_business_card_thickness(); - static void manually_probe_remaining_mesh(const xy_pos_t&, const float&, const float&, const bool) _O0; - static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0; - #endif + #if IS_NEWPANEL + static void move_z_with_encoder(const float &multiplier); + static float measure_point_with_encoder(); + static float measure_business_card_thickness(); + static void manually_probe_remaining_mesh(const xy_pos_t&, const float&, const float&, const bool) _O0; + static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0; + #endif - static bool g29_parameter_parsing() _O0; - static void shift_mesh_height(); - static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0; - static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3); - static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); - static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); - static inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) { - return smart_fill_one(pos.x, pos.y, dir.x, dir.y); - } - static void smart_fill_mesh(); + static bool g29_parameter_parsing() _O0; + static void shift_mesh_height(); + static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0; + static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3); + static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); + static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); + static inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) { + return smart_fill_one(pos.x, pos.y, dir.x, dir.y); + } + static void smart_fill_mesh(); - #if ENABLED(UBL_DEVEL_DEBUGGING) - static void g29_what_command(); - static void g29_eeprom_dump(); - static void g29_compare_current_mesh_to_stored_mesh(); - #endif + #if ENABLED(UBL_DEVEL_DEBUGGING) + static void g29_what_command(); + static void g29_eeprom_dump(); + static void g29_compare_current_mesh_to_stored_mesh(); + #endif - public: +public: - static void echo_name(); - static void report_current_mesh(); - static void report_state(); - static void save_ubl_active_state_and_disable(); - static void restore_ubl_active_state_and_leave(); - static void display_map(const int) _O0; - static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0; - static mesh_index_pair find_furthest_invalid_mesh_point() _O0; - static void reset(); - static void invalidate(); - static void set_all_mesh_points_to_value(const float value); - static void adjust_mesh_to_mean(const bool cflag, const float value); - static bool sanity_check(); + static void echo_name(); + static void report_current_mesh(); + static void report_state(); + static void save_ubl_active_state_and_disable(); + static void restore_ubl_active_state_and_leave(); + static void display_map(const int) _O0; + static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0; + static mesh_index_pair find_furthest_invalid_mesh_point() _O0; + static void reset(); + static void invalidate(); + static void set_all_mesh_points_to_value(const float value); + static void adjust_mesh_to_mean(const bool cflag, const float value); + static bool sanity_check(); - static void G29() _O0; // O0 for no optimization - static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560 + static void G29() _O0; // O0 for no optimization + static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560 - static int8_t storage_slot; + static int8_t storage_slot; - static bed_mesh_t z_values; - #if ENABLED(OPTIMIZED_MESH_STORAGE) - static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values); - static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values); - #endif - static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X], - _mesh_index_to_ypos[GRID_MAX_POINTS_Y]; + static bed_mesh_t z_values; + #if ENABLED(OPTIMIZED_MESH_STORAGE) + static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values); + static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values); + #endif + static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X], + _mesh_index_to_ypos[GRID_MAX_POINTS_Y]; - #if HAS_LCD_MENU - static bool lcd_map_control; - static void steppers_were_disabled(); - #else - static inline void steppers_were_disabled() {} - #endif + #if HAS_LCD_MENU + static bool lcd_map_control; + static void steppers_were_disabled(); + #else + static inline void steppers_were_disabled() {} + #endif - static volatile int16_t encoder_diff; // Volatile because buttons may changed it at interrupt time + static volatile int16_t encoder_diff; // Volatile because buttons may changed it at interrupt time - unified_bed_leveling(); + unified_bed_leveling(); - FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } + FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } - static int8_t cell_index_x_raw(const float &x) { - return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)); + static int8_t cell_index_x_raw(const float &x) { + return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)); + } + + static int8_t cell_index_y_raw(const float &y) { + return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST)); + } + + static int8_t cell_index_x_valid(const float &x) { + return WITHIN(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X - 2)); + } + + static int8_t cell_index_y_valid(const float &y) { + return WITHIN(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y - 2)); + } + + static int8_t cell_index_x(const float &x) { + return constrain(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X) - 2); + } + + static int8_t cell_index_y(const float &y) { + return constrain(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y) - 2); + } + + static inline xy_int8_t cell_indexes(const float &x, const float &y) { + return { cell_index_x(x), cell_index_y(y) }; + } + static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } + + static int8_t closest_x_index(const float &x) { + const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST); + return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; + } + static int8_t closest_y_index(const float &y) { + const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST); + return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; + } + static inline xy_int8_t closest_indexes(const xy_pos_t &xy) { + return { closest_x_index(xy.x), closest_y_index(xy.y) }; + } + + /** + * z2 --| + * z0 | | + * | | + (z2-z1) + * z1 | | | + * ---+-------------+--------+-- --| + * a1 a0 a2 + * |<---delta_a---------->| + * + * calc_z0 is the basis for all the Mesh Based correction. It is used to + * find the expected Z Height at a position between two known Z-Height locations. + * + * It is fairly expensive with its 4 floating point additions and 2 floating point + * multiplications. + */ + FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { + return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); + } + + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + #define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH + #else + #define _UBL_OUTER_Z_RAISE NAN + #endif + + /** + * z_correction_for_x_on_horizontal_mesh_line is an optimization for + * the case where the printer is making a vertical line that only crosses horizontal mesh lines. + */ + static inline float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) { + if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) { + + if (DEBUGGING(LEVELING)) { + if (WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i"); + DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")"); + } + + // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. + return _UBL_OUTER_Z_RAISE; } - static int8_t cell_index_y_raw(const float &y) { - return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST)); + const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST), + z1 = z_values[x1_i][yi]; + + return z1 + xratio * (z_values[_MIN(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array + // If it is, it is clamped to the last element of the + // z_values[][] array and no correction is applied. + } + + // + // See comments above for z_correction_for_x_on_horizontal_mesh_line + // + static inline float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) { + if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) { + + if (DEBUGGING(LEVELING)) { + if (WITHIN(xi, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi"); + DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")"); + } + + // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. + return _UBL_OUTER_Z_RAISE; } - static int8_t cell_index_x_valid(const float &x) { - return WITHIN(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X - 2)); - } + const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST), + z1 = z_values[xi][y1_i]; - static int8_t cell_index_y_valid(const float &y) { - return WITHIN(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y - 2)); - } + return z1 + yratio * (z_values[xi][_MIN(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array + // If it is, it is clamped to the last element of the + // z_values[][] array and no correction is applied. + } - static int8_t cell_index_x(const float &x) { - return constrain(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X) - 2); - } - - static int8_t cell_index_y(const float &y) { - return constrain(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y) - 2); - } - - static inline xy_int8_t cell_indexes(const float &x, const float &y) { - return { cell_index_x(x), cell_index_y(y) }; - } - static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } - - static int8_t closest_x_index(const float &x) { - const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST); - return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; - } - static int8_t closest_y_index(const float &y) { - const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST); - return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; - } - static inline xy_int8_t closest_indexes(const xy_pos_t &xy) { - return { closest_x_index(xy.x), closest_y_index(xy.y) }; - } + /** + * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first + * does a linear interpolation along both of the bounding X-Mesh-Lines to find the + * Z-Height at both ends. Then it does a linear interpolation of these heights based + * on the Y position within the cell. + */ + static float get_z_correction(const float &rx0, const float &ry0) { + const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped /** - * z2 --| - * z0 | | - * | | + (z2-z1) - * z1 | | | - * ---+-------------+--------+-- --| - * a1 a0 a2 - * |<---delta_a---------->| - * - * calc_z0 is the basis for all the Mesh Based correction. It is used to - * find the expected Z Height at a position between two known Z-Height locations. - * - * It is fairly expensive with its 4 floating point additions and 2 floating point - * multiplications. + * Check if the requested location is off the mesh. If so, and + * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned. */ - FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { - return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); - } - #ifdef UBL_Z_RAISE_WHEN_OFF_MESH - #define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH - #else - #define _UBL_OUTER_Z_RAISE NAN + if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y)) + return UBL_Z_RAISE_WHEN_OFF_MESH; #endif - /** - * z_correction_for_x_on_horizontal_mesh_line is an optimization for - * the case where the printer is making a vertical line that only crosses horizontal mesh lines. - */ - static inline float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) { - if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) { + const float z1 = calc_z0(rx0, + mesh_index_to_xpos(cx), z_values[cx][cy], + mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]); - if (DEBUGGING(LEVELING)) { - if (WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i"); - DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")"); - } + const float z2 = calc_z0(rx0, + mesh_index_to_xpos(cx), z_values[cx][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1], + mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]); - // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. - return _UBL_OUTER_Z_RAISE; - } + float z0 = calc_z0(ry0, + mesh_index_to_ypos(cy), z1, + mesh_index_to_ypos(cy + 1), z2); - const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST), - z1 = z_values[x1_i][yi]; - - return z1 + xratio * (z_values[_MIN(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array - // If it is, it is clamped to the last element of the - // z_values[][] array and no correction is applied. + if (DEBUGGING(MESH_ADJUST)) { + DEBUG_ECHOPAIR(" raw get_z_correction(", rx0); + DEBUG_CHAR(','); DEBUG_ECHO(ry0); + DEBUG_ECHOPAIR_F(") = ", z0, 6); + DEBUG_ECHOLNPAIR_F(" >>>---> ", z0, 6); } - // - // See comments above for z_correction_for_x_on_horizontal_mesh_line - // - static inline float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) { - if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) { - - if (DEBUGGING(LEVELING)) { - if (WITHIN(xi, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi"); - DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")"); - } - - // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. - return _UBL_OUTER_Z_RAISE; - } - - const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST), - z1 = z_values[xi][y1_i]; - - return z1 + yratio * (z_values[xi][_MIN(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array - // If it is, it is clamped to the last element of the - // z_values[][] array and no correction is applied. - } - - /** - * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first - * does a linear interpolation along both of the bounding X-Mesh-Lines to find the - * Z-Height at both ends. Then it does a linear interpolation of these heights based - * on the Y position within the cell. - */ - static float get_z_correction(const float &rx0, const float &ry0) { - const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped - - /** - * Check if the requested location is off the mesh. If so, and - * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned. - */ - #ifdef UBL_Z_RAISE_WHEN_OFF_MESH - if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y)) - return UBL_Z_RAISE_WHEN_OFF_MESH; - #endif - - const float z1 = calc_z0(rx0, - mesh_index_to_xpos(cx), z_values[cx][cy], - mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]); - - const float z2 = calc_z0(rx0, - mesh_index_to_xpos(cx), z_values[cx][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1], - mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]); - - float z0 = calc_z0(ry0, - mesh_index_to_ypos(cy), z1, - mesh_index_to_ypos(cy + 1), z2); + if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN + z0 = 0.0; // in ubl.z_values[][] and propagate through the + // calculations. If our correction is NAN, we throw it out + // because part of the Mesh is undefined and we don't have the + // information we need to complete the height correction. if (DEBUGGING(MESH_ADJUST)) { - DEBUG_ECHOPAIR(" raw get_z_correction(", rx0); - DEBUG_CHAR(','); DEBUG_ECHO(ry0); - DEBUG_ECHOPAIR_F(") = ", z0, 6); - DEBUG_ECHOLNPAIR_F(" >>>---> ", z0, 6); + DEBUG_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0); + DEBUG_CHAR(','); + DEBUG_ECHO(ry0); + DEBUG_CHAR(')'); + DEBUG_EOL(); } - - if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN - z0 = 0.0; // in ubl.z_values[][] and propagate through the - // calculations. If our correction is NAN, we throw it out - // because part of the Mesh is undefined and we don't have the - // information we need to complete the height correction. - - if (DEBUGGING(MESH_ADJUST)) { - DEBUG_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0); - DEBUG_CHAR(','); - DEBUG_ECHO(ry0); - DEBUG_CHAR(')'); - DEBUG_EOL(); - } - } - return z0; } - static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } + return z0; + } + static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } - static inline float mesh_index_to_xpos(const uint8_t i) { - return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST); - } - static inline float mesh_index_to_ypos(const uint8_t i) { - return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST); - } + static inline float mesh_index_to_xpos(const uint8_t i) { + return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST); + } + static inline float mesh_index_to_ypos(const uint8_t i) { + return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST); + } - #if UBL_SEGMENTED - static bool line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s); - #else - static void line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t e); - #endif + #if UBL_SEGMENTED + static bool line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s); + #else + static void line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t e); + #endif - static inline bool mesh_is_valid() { - GRID_LOOP(x, y) if (isnan(z_values[x][y])) return false; - return true; - } + static inline bool mesh_is_valid() { + GRID_LOOP(x, y) if (isnan(z_values[x][y])) return false; + return true; + } }; // class unified_bed_leveling diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 36acc96d6e..9bd7f63a7e 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -24,1760 +24,1760 @@ #if ENABLED(AUTO_BED_LEVELING_UBL) - #include "../bedlevel.h" +#include "../bedlevel.h" - #include "../../../MarlinCore.h" - #include "../../../HAL/shared/eeprom_api.h" - #include "../../../libs/hex_print.h" - #include "../../../module/settings.h" - #include "../../../lcd/marlinui.h" - #include "../../../module/stepper.h" - #include "../../../module/planner.h" - #include "../../../module/motion.h" - #include "../../../module/probe.h" - #include "../../../gcode/gcode.h" - #include "../../../libs/least_squares_fit.h" +#include "../../../MarlinCore.h" +#include "../../../HAL/shared/eeprom_api.h" +#include "../../../libs/hex_print.h" +#include "../../../module/settings.h" +#include "../../../lcd/marlinui.h" +#include "../../../module/stepper.h" +#include "../../../module/planner.h" +#include "../../../module/motion.h" +#include "../../../module/probe.h" +#include "../../../gcode/gcode.h" +#include "../../../libs/least_squares_fit.h" - #if HAS_MULTI_HOTEND - #include "../../../module/tool_change.h" - #endif +#if HAS_MULTI_HOTEND + #include "../../../module/tool_change.h" +#endif - #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) - #include "../../../core/debug_out.h" +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../../core/debug_out.h" - #if ENABLED(EXTENSIBLE_UI) - #include "../../../lcd/extui/ui_api.h" - #endif +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#endif - #include +#include - #define UBL_G29_P31 +#define UBL_G29_P31 - #if HAS_LCD_MENU +#if HAS_LCD_MENU - bool unified_bed_leveling::lcd_map_control = false; + bool unified_bed_leveling::lcd_map_control = false; - void unified_bed_leveling::steppers_were_disabled() { - if (lcd_map_control) { - lcd_map_control = false; - ui.defer_status_screen(false); - } + void unified_bed_leveling::steppers_were_disabled() { + if (lcd_map_control) { + lcd_map_control = false; + ui.defer_status_screen(false); } - - void ubl_map_screen(); - - #endif - - #define SIZE_OF_LITTLE_RAISE 1 - #define BIG_RAISE_NOT_NEEDED 0 - - int unified_bed_leveling::g29_verbose_level, - unified_bed_leveling::g29_phase_value, - unified_bed_leveling::g29_repetition_cnt, - unified_bed_leveling::g29_storage_slot = 0, - unified_bed_leveling::g29_map_type; - bool unified_bed_leveling::g29_c_flag; - float unified_bed_leveling::g29_card_thickness = 0, - unified_bed_leveling::g29_constant = 0; - xy_bool_t unified_bed_leveling::xy_seen; - xy_pos_t unified_bed_leveling::g29_pos; - - #if HAS_BED_PROBE - int unified_bed_leveling::g29_grid_size; - #endif - - /** - * G29: Unified Bed Leveling by Roxy - * - * Parameters understood by this leveling system: - * - * A Activate Activate the Unified Bed Leveling system. - * - * B # Business Use the 'Business Card' mode of the Manual Probe subsystem with P2. - * Note: A non-compressible Spark Gap feeler gauge is recommended over a business card. - * In this mode of G29 P2, a business or index card is used as a shim that the nozzle can - * grab onto as it is lowered. In principle, the nozzle-bed distance is the same when the - * same resistance is felt in the shim. You can omit the numerical value on first invocation - * of G29 P2 B to measure shim thickness. Subsequent use of 'B' will apply the previously- - * measured thickness by default. - * - * C Continue G29 P1 C continues the generation of a partially-constructed Mesh without invalidating - * previous measurements. - * - * C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle - * location in its search for the closest unmeasured Mesh Point. Instead, attempt to - * start at one end of the uprobed points and Continue sequentially. - * - * G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value. - * - * C Current G29 Z C uses the Current location (instead of bed center or nearest edge). - * - * D Disable Disable the Unified Bed Leveling system. - * - * E Stow_probe Stow the probe after each sampled point. - * - * F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the - * specified height, no correction is applied and natural printer kenimatics take over. If no - * number is specified for the command, 10mm is assumed to be reasonable. - * - * H # Height With P2, 'H' specifies the Height to raise the nozzle after each manual probe of the bed. - * If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES. - * - * H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle. - * If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used. - * - * I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted, - * the nozzle location is used. If no 'I' value is given, only the point nearest to the location - * is invalidated. Use 'T' to produce a map afterward. This command is useful to invalidate a - * portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate - * an isolated bad mesh point, the 'T' option shows the nozzle position in the Mesh with (#). You - * can move the nozzle around and use this feature to select the center of the area (or cell) to - * invalidate. - * - * J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side. - * Not specifying a grid size will invoke the 3-Point leveling function. - * - * L Load Load Mesh from the previously activated location in the EEPROM. - * - * L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated - * for subsequent Load and Store operations. - * - * The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will - * start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with - * each additional Phase that processes it. - * - * P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the - * 3D Printer to the same state it was in before the Unified Bed Leveling Compensation - * was turned on. Setting the entire Mesh to Zero is a special case that allows - * a subsequent G or T leveling operation for backward compatibility. - * - * P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using - * the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. For delta - * printers only the areas where the probe and nozzle can both reach will be automatically probed. - * - * Unreachable points will be handled in Phase 2 and Phase 3. - * - * Use 'C' to leave the previous mesh intact and automatically probe needed points. This allows you - * to invalidate parts of the Mesh but still use Automatic Probing. - * - * The 'X' and 'Y' parameters prioritize where to try and measure points. If omitted, the current - * probe position is used. - * - * Use 'T' (Topology) to generate a report of mesh generation. - * - * P1 will suspend Mesh generation if the controller button is held down. Note that you may need - * to press and hold the switch for several seconds if moves are underway. - * - * P2 Phase 2 Probe unreachable points. - * - * Use 'H' to set the height between Mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used. - * Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the - * nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer! - * (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.) - * - * The 'H' value can be negative if the Mesh dips in a large area. Press and hold the - * controller button to terminate the current Phase 2 command. You can then re-issue "G29 P 2" - * with an 'H' parameter more suitable for the area you're manually probing. Note that the command - * tries to start in a corner of the bed where movement will be predictable. Override the distance - * calculation location with the X and Y parameters. You can print a Mesh Map (G29 T) to see where - * the mesh is invalidated and where the nozzle needs to move to complete the command. Use 'C' to - * indicate that the search should be based on the current position. - * - * The 'B' parameter for this command is described above. It places the manual probe subsystem into - * Business Card mode where the thickness of a business card is measured and then used to accurately - * set the nozzle height in all manual probing for the duration of the command. A Business card can - * be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it - * easier to produce similar amounts of force and get more accurate measurements. Google if you're - * not sure how to use a shim. - * - * The 'T' (Map) parameter helps track Mesh building progress. - * - * NOTE: P2 requires an LCD controller! - * - * P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths to - * go down: - * - * - If a 'C' constant is specified, the closest invalid mesh points to the nozzle will be filled, - * and a repeat count can then also be specified with 'R'. - * - * - Leaving out 'C' invokes Smart Fill, which scans the mesh from the edges inward looking for - * invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped - * upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's - * replaced by a value that puts all three points in a line. This version of G29 P3 is a quick, easy - * and (usually) safe way to populate unprobed mesh regions before continuing to G26 Mesh Validation - * Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution. - * - * P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assumes the existence of - * an LCD Panel. It is possible to fine tune the mesh without an LCD Panel using - * G42 and M421. See the UBL documentation for further details. - * - * Phase 4 is meant to be used with G26 Mesh Validation to fine tune the mesh by direct editing - * of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable - * adhesion. - * - * P4 moves to the closest Mesh Point (and/or the given X Y), raises the nozzle above the mesh height - * by the given 'H' offset (or default 0), and waits while the controller is used to adjust the nozzle - * height. On click the displayed height is saved in the mesh. - * - * Start Phase 4 at a specific location with X and Y. Adjust a specific number of Mesh Points with - * the 'R' (Repeat) parameter. (If 'R' is left out, the whole matrix is assumed.) This command can be - * terminated early (e.g., after editing the area of interest) by pressing and holding the encoder button. - * - * The general form is G29 P4 [R points] [X position] [Y position] - * - * The H [offset] parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the - * command would be G29 P4 H0.4. The nozzle is moved to the shim height, you adjust height to the shim, - * and on click the height minus the shim thickness will be saved in the mesh. - * - * !!Use with caution, as a very poor mesh could cause the nozzle to crash into the bed!! - * - * NOTE: P4 is not available unless you have LCD support enabled! - * - * P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and - * work with the Mesh if it is Mean Adjusted. You can specify a C parameter to - * Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically - * execute a G29 P6 C . - * - * P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified - * with the C parameter. Being able to adjust the height of a Mesh is useful tool. It - * can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally, - * you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring - * 0.000 at the Z Home location. - * - * Q Test Load specified Test Pattern to assist in checking correct operation of system. This - * command is not anticipated to be of much value to the typical user. It is intended - * for developers to help them verify correct operation of the Unified Bed Leveling System. - * - * R # Repeat Repeat this command the specified number of times. If no number is specified the - * command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times. - * - * S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the - * current state of the Unified Bed Leveling system in the EEPROM. - * - * S # Store Store the current Mesh at the specified location in EEPROM. Activate this location - * for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and - * extend to a limit related to the available EEPROM storage. - * - * S -1 Store Print the current Mesh as G-code that can be used to restore the mesh anytime. - * - * T Topology Display the Mesh Map Topology. - * 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands. - * This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O) - * This parameter can also specify a Map Type. T0 (the default) is user-readable. T1 - * is suitable to paste into a spreadsheet for a 3D graph of the mesh. - * - * U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds. - * Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful - * when the entire bed doesn't need to be probed because it will be adjusted. - * - * V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0) - * - * X # X Location for this command - * - * Y # Y Location for this command - * - * With UBL_DEVEL_DEBUGGING: - * - * K # Kompare Kompare current Mesh with stored Mesh #, replacing current Mesh with the result. - * This command literally performs a diff between two Meshes. - * - * Q-1 Dump EEPROM Dump the UBL contents stored in EEPROM as HEX format. Useful for developers to help - * verify correct operation of the UBL. - * - * W What? Display valuable UBL data. - * - * - * Release Notes: - * You MUST do M502, M500 to initialize the storage. Failure to do this will cause all - * kinds of problems. Enabling EEPROM Storage is required. - * - * When you do a G28 and G29 P1 to automatically build your first mesh, you are going to notice that - * UBL probes points increasingly further from the starting location. (The starting location defaults - * to the center of the bed.) In contrast, ABL and MBL follow a zigzag pattern. The spiral pattern is - * especially better for Delta printers, since it populates the center of the mesh first, allowing for - * a quicker test print to verify settings. You don't need to populate the entire mesh to use it. - * After all, you don't want to spend a lot of time generating a mesh only to realize the resolution - * or probe offsets are incorrect. Mesh-generation gathers points starting closest to the nozzle unless - * an (X,Y) coordinate pair is given. - * - * Unified Bed Leveling uses a lot of EEPROM storage to hold its data, and it takes some effort to get - * the mesh just right. To prevent this valuable data from being destroyed as the EEPROM structure - * evolves, UBL stores all mesh data at the end of EEPROM. - * - * UBL is founded on Edward Patel's Mesh Bed Leveling code. A big 'Thanks!' to him and the creators of - * 3-Point and Grid Based leveling. Combining their contributions we now have the functionality and - * features of all three systems combined. - */ - - void unified_bed_leveling::G29() { - - bool probe_deployed = false; - if (g29_parameter_parsing()) return; // Abort on parameter error - - const int8_t p_val = parser.intval('P', -1); - const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'); - TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index = active_extruder); - - // Check for commands that require the printer to be homed - if (may_move) { - planner.synchronize(); - // Send 'N' to force homing before G29 (internal only) - if (axes_should_home() || parser.seen('N')) gcode.home_all_axes(); - TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0)); - } - - // Invalidate Mesh Points. This command is a little bit asymmetrical because - // it directly specifies the repetition count and does not use the 'R' parameter. - if (parser.seen('I')) { - uint8_t cnt = 0; - g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1; - if (g29_repetition_cnt >= GRID_MAX_POINTS) { - set_all_mesh_points_to_value(NAN); - } - else { - while (g29_repetition_cnt--) { - if (cnt > 20) { cnt = 0; idle(); } - const mesh_index_pair closest = find_closest_mesh_point_of_type(REAL, g29_pos); - const xy_int8_t &cpos = closest.pos; - if (cpos.x < 0) { - // No more REAL mesh points to invalidate, so we ASSUME the user - // meant to invalidate the ENTIRE mesh, which cannot be done with - // find_closest_mesh_point loop which only returns REAL points. - set_all_mesh_points_to_value(NAN); - SERIAL_ECHOLNPGM("Entire Mesh invalidated.\n"); - break; // No more invalid Mesh Points to populate - } - z_values[cpos.x][cpos.y] = NAN; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(cpos, 0.0f)); - cnt++; - } - } - SERIAL_ECHOLNPGM("Locations invalidated.\n"); - } - - if (parser.seen('Q')) { - const int test_pattern = parser.has_value() ? parser.value_int() : -99; - if (!WITHIN(test_pattern, -1, 2)) { - SERIAL_ECHOLNPGM("Invalid test_pattern value. (-1 to 2)\n"); - return; - } - SERIAL_ECHOLNPGM("Loading test_pattern values.\n"); - switch (test_pattern) { - - #if ENABLED(UBL_DEVEL_DEBUGGING) - case -1: - g29_eeprom_dump(); - break; - #endif - - case 0: - GRID_LOOP(x, y) { // Create a bowl shape similar to a poorly-calibrated Delta - const float p1 = 0.5f * (GRID_MAX_POINTS_X) - x, - p2 = 0.5f * (GRID_MAX_POINTS_Y) - y; - z_values[x][y] += 2.0f * HYPOT(p1, p2); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); - } - break; - - case 1: - LOOP_L_N(x, GRID_MAX_POINTS_X) { // Create a diagonal line several Mesh cells thick that is raised - z_values[x][x] += 9.999f; - z_values[x][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1] += 9.999f; // We want the altered line several mesh points thick - #if ENABLED(EXTENSIBLE_UI) - ExtUI::onMeshUpdate(x, x, z_values[x][x]); - ExtUI::onMeshUpdate(x, (x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1), z_values[x][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1]); - #endif - - } - break; - - case 2: - // Allow the user to specify the height because 10mm is a little extreme in some cases. - for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in - for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) { // the center of the bed - z_values[x][y] += parser.seen('C') ? g29_constant : 9.99f; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); - } - break; - } - } - - #if HAS_BED_PROBE - - if (parser.seen('J')) { - save_ubl_active_state_and_disable(); - tilt_mesh_based_on_probed_grid(g29_grid_size == 0); // Zero size does 3-Point - restore_ubl_active_state_and_leave(); - #if ENABLED(UBL_G29_J_RECENTER) - do_blocking_move_to_xy(0.5f * ((MESH_MIN_X) + (MESH_MAX_X)), 0.5f * ((MESH_MIN_Y) + (MESH_MAX_Y))); - #endif - report_current_position(); - probe_deployed = true; - } - - #endif // HAS_BED_PROBE - - if (parser.seen('P')) { - if (WITHIN(g29_phase_value, 0, 1) && storage_slot == -1) { - storage_slot = 0; - SERIAL_ECHOLNPGM("Default storage slot 0 selected."); - } - - switch (g29_phase_value) { - case 0: - // - // Zero Mesh Data - // - reset(); - SERIAL_ECHOLNPGM("Mesh zeroed."); - break; - - #if HAS_BED_PROBE - - case 1: { - // - // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe - // - if (!parser.seen('C')) { - invalidate(); - SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh."); - } - if (g29_verbose_level > 1) { - SERIAL_ECHOPAIR("Probing around (", g29_pos.x); - SERIAL_CHAR(','); - SERIAL_DECIMAL(g29_pos.y); - SERIAL_ECHOLNPGM(").\n"); - } - const xy_pos_t near_probe_xy = g29_pos + probe.offset_xy; - probe_entire_mesh(near_probe_xy, parser.seen('T'), parser.seen('E'), parser.seen('U')); - - report_current_position(); - probe_deployed = true; - } break; - - #endif // HAS_BED_PROBE - - case 2: { - #if HAS_LCD_MENU - // - // Manually Probe Mesh in areas that can't be reached by the probe - // - SERIAL_ECHOLNPGM("Manually probing unreachable points."); - do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); - - if (parser.seen('C') && !xy_seen) { - - /** - * Use a good default location for the path. - * The flipped > and < operators in these comparisons is intentional. - * It should cause the probed points to follow a nice path on Cartesian printers. - * It may make sense to have Delta printers default to the center of the bed. - * Until that is decided, this can be forced with the X and Y parameters. - */ - g29_pos.set( - #if IS_KINEMATIC - X_HOME_POS, Y_HOME_POS - #else - probe.offset_xy.x > 0 ? X_BED_SIZE : 0, - probe.offset_xy.y < 0 ? Y_BED_SIZE : 0 - #endif - ); - } - - if (parser.seen('B')) { - g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness(); - if (ABS(g29_card_thickness) > 1.5f) { - SERIAL_ECHOLNPGM("?Error in Business Card measurement."); - return; - } - probe_deployed = true; - } - - if (!position_is_reachable(g29_pos)) { - SERIAL_ECHOLNPGM("XY outside printable radius."); - return; - } - - const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES); - manually_probe_remaining_mesh(g29_pos, height, g29_card_thickness, parser.seen('T')); - - SERIAL_ECHOLNPGM("G29 P2 finished."); - - report_current_position(); - - #else - - SERIAL_ECHOLNPGM("?P2 is only available when an LCD is present."); - return; - - #endif - } break; - - case 3: { - /** - * Populate invalid mesh areas. Proceed with caution. - * Two choices are available: - * - Specify a constant with the 'C' parameter. - * - Allow 'G29 P3' to choose a 'reasonable' constant. - */ - - if (g29_c_flag) { - if (g29_repetition_cnt >= GRID_MAX_POINTS) { - set_all_mesh_points_to_value(g29_constant); - } - else { - while (g29_repetition_cnt--) { // this only populates reachable mesh points near - const mesh_index_pair closest = find_closest_mesh_point_of_type(INVALID, g29_pos); - const xy_int8_t &cpos = closest.pos; - if (cpos.x < 0) { - // No more REAL INVALID mesh points to populate, so we ASSUME - // user meant to populate ALL INVALID mesh points to value - GRID_LOOP(x, y) if (isnan(z_values[x][y])) z_values[x][y] = g29_constant; - break; // No more invalid Mesh Points to populate - } - else { - z_values[cpos.x][cpos.y] = g29_constant; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(cpos, g29_constant)); - } - } - } - } - else { - const float cvf = parser.value_float(); - switch ((int)TRUNC(cvf * 10.0f) - 30) { // 3.1 -> 1 - #if ENABLED(UBL_G29_P31) - case 1: { - - // P3.1 use least squares fit to fill missing mesh values - // P3.10 zero weighting for distance, all grid points equal, best fit tilted plane - // P3.11 10X weighting for nearest grid points versus farthest grid points - // P3.12 100X distance weighting - // P3.13 1000X distance weighting, approaches simple average of nearest points - - const float weight_power = (cvf - 3.10f) * 100.0f, // 3.12345 -> 2.345 - weight_factor = weight_power ? POW(10.0f, weight_power) : 0; - smart_fill_wlsf(weight_factor); - } - break; - #endif - case 0: // P3 or P3.0 - default: // and anything P3.x that's not P3.1 - smart_fill_mesh(); // Do a 'Smart' fill using nearby known values - break; - } - } - break; - } - - case 4: // Fine Tune (i.e., Edit) the Mesh - #if HAS_LCD_MENU - fine_tune_mesh(g29_pos, parser.seen('T')); - #else - SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present."); - return; - #endif - break; - - case 5: adjust_mesh_to_mean(g29_c_flag, g29_constant); break; - - case 6: shift_mesh_height(); break; - } - } - - #if ENABLED(UBL_DEVEL_DEBUGGING) - - // - // Much of the 'What?' command can be eliminated. But until we are fully debugged, it is - // good to have the extra information. Soon... we prune this to just a few items - // - if (parser.seen('W')) g29_what_command(); - - // - // When we are fully debugged, this may go away. But there are some valid - // use cases for the users. So we can wait and see what to do with it. - // - - if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh - g29_compare_current_mesh_to_stored_mesh(); - - #endif // UBL_DEVEL_DEBUGGING - - - // - // Load a Mesh from the EEPROM - // - - if (parser.seen('L')) { // Load Current Mesh Data - g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot; - - int16_t a = settings.calc_num_meshes(); - - if (!a) { - SERIAL_ECHOLNPGM("?EEPROM storage not available."); - return; - } - - if (!WITHIN(g29_storage_slot, 0, a - 1)) { - SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1); - return; - } - - settings.load_mesh(g29_storage_slot); - storage_slot = g29_storage_slot; - - SERIAL_ECHOLNPGM("Done."); - } - - // - // Store a Mesh in the EEPROM - // - - if (parser.seen('S')) { // Store (or Save) Current Mesh Data - g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot; - - if (g29_storage_slot == -1) // Special case, the user wants to 'Export' the mesh to the - return report_current_mesh(); // host program to be saved on the user's computer - - int16_t a = settings.calc_num_meshes(); - - if (!a) { - SERIAL_ECHOLNPGM("?EEPROM storage not available."); - goto LEAVE; - } - - if (!WITHIN(g29_storage_slot, 0, a - 1)) { - SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1); - goto LEAVE; - } - - settings.store_mesh(g29_storage_slot); - storage_slot = g29_storage_slot; - - SERIAL_ECHOLNPGM("Done."); - } - - if (parser.seen('T')) - display_map(g29_map_type); - - LEAVE: - - #if HAS_LCD_MENU - ui.reset_alert_level(); - ui.quick_feedback(); - ui.reset_status(); - ui.release(); - #endif - - #ifdef Z_PROBE_END_SCRIPT - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT); - if (probe_deployed) { - planner.synchronize(); - gcode.process_subcommands_now_P(PSTR(Z_PROBE_END_SCRIPT)); - } - #else - UNUSED(probe_deployed); - #endif - - TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index)); - return; } - void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const float value) { - float sum = 0; - int n = 0; - GRID_LOOP(x, y) - if (!isnan(z_values[x][y])) { - sum += z_values[x][y]; - n++; + void ubl_map_screen(); + +#endif + +#define SIZE_OF_LITTLE_RAISE 1 +#define BIG_RAISE_NOT_NEEDED 0 + +int unified_bed_leveling::g29_verbose_level, + unified_bed_leveling::g29_phase_value, + unified_bed_leveling::g29_repetition_cnt, + unified_bed_leveling::g29_storage_slot = 0, + unified_bed_leveling::g29_map_type; +bool unified_bed_leveling::g29_c_flag; +float unified_bed_leveling::g29_card_thickness = 0, + unified_bed_leveling::g29_constant = 0; +xy_bool_t unified_bed_leveling::xy_seen; +xy_pos_t unified_bed_leveling::g29_pos; + +#if HAS_BED_PROBE + int unified_bed_leveling::g29_grid_size; +#endif + +/** + * G29: Unified Bed Leveling by Roxy + * + * Parameters understood by this leveling system: + * + * A Activate Activate the Unified Bed Leveling system. + * + * B # Business Use the 'Business Card' mode of the Manual Probe subsystem with P2. + * Note: A non-compressible Spark Gap feeler gauge is recommended over a business card. + * In this mode of G29 P2, a business or index card is used as a shim that the nozzle can + * grab onto as it is lowered. In principle, the nozzle-bed distance is the same when the + * same resistance is felt in the shim. You can omit the numerical value on first invocation + * of G29 P2 B to measure shim thickness. Subsequent use of 'B' will apply the previously- + * measured thickness by default. + * + * C Continue G29 P1 C continues the generation of a partially-constructed Mesh without invalidating + * previous measurements. + * + * C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle + * location in its search for the closest unmeasured Mesh Point. Instead, attempt to + * start at one end of the uprobed points and Continue sequentially. + * + * G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value. + * + * C Current G29 Z C uses the Current location (instead of bed center or nearest edge). + * + * D Disable Disable the Unified Bed Leveling system. + * + * E Stow_probe Stow the probe after each sampled point. + * + * F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the + * specified height, no correction is applied and natural printer kenimatics take over. If no + * number is specified for the command, 10mm is assumed to be reasonable. + * + * H # Height With P2, 'H' specifies the Height to raise the nozzle after each manual probe of the bed. + * If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES. + * + * H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle. + * If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used. + * + * I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted, + * the nozzle location is used. If no 'I' value is given, only the point nearest to the location + * is invalidated. Use 'T' to produce a map afterward. This command is useful to invalidate a + * portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate + * an isolated bad mesh point, the 'T' option shows the nozzle position in the Mesh with (#). You + * can move the nozzle around and use this feature to select the center of the area (or cell) to + * invalidate. + * + * J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side. + * Not specifying a grid size will invoke the 3-Point leveling function. + * + * L Load Load Mesh from the previously activated location in the EEPROM. + * + * L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated + * for subsequent Load and Store operations. + * + * The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will + * start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with + * each additional Phase that processes it. + * + * P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the + * 3D Printer to the same state it was in before the Unified Bed Leveling Compensation + * was turned on. Setting the entire Mesh to Zero is a special case that allows + * a subsequent G or T leveling operation for backward compatibility. + * + * P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using + * the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. For delta + * printers only the areas where the probe and nozzle can both reach will be automatically probed. + * + * Unreachable points will be handled in Phase 2 and Phase 3. + * + * Use 'C' to leave the previous mesh intact and automatically probe needed points. This allows you + * to invalidate parts of the Mesh but still use Automatic Probing. + * + * The 'X' and 'Y' parameters prioritize where to try and measure points. If omitted, the current + * probe position is used. + * + * Use 'T' (Topology) to generate a report of mesh generation. + * + * P1 will suspend Mesh generation if the controller button is held down. Note that you may need + * to press and hold the switch for several seconds if moves are underway. + * + * P2 Phase 2 Probe unreachable points. + * + * Use 'H' to set the height between Mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used. + * Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the + * nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer! + * (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.) + * + * The 'H' value can be negative if the Mesh dips in a large area. Press and hold the + * controller button to terminate the current Phase 2 command. You can then re-issue "G29 P 2" + * with an 'H' parameter more suitable for the area you're manually probing. Note that the command + * tries to start in a corner of the bed where movement will be predictable. Override the distance + * calculation location with the X and Y parameters. You can print a Mesh Map (G29 T) to see where + * the mesh is invalidated and where the nozzle needs to move to complete the command. Use 'C' to + * indicate that the search should be based on the current position. + * + * The 'B' parameter for this command is described above. It places the manual probe subsystem into + * Business Card mode where the thickness of a business card is measured and then used to accurately + * set the nozzle height in all manual probing for the duration of the command. A Business card can + * be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it + * easier to produce similar amounts of force and get more accurate measurements. Google if you're + * not sure how to use a shim. + * + * The 'T' (Map) parameter helps track Mesh building progress. + * + * NOTE: P2 requires an LCD controller! + * + * P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths to + * go down: + * + * - If a 'C' constant is specified, the closest invalid mesh points to the nozzle will be filled, + * and a repeat count can then also be specified with 'R'. + * + * - Leaving out 'C' invokes Smart Fill, which scans the mesh from the edges inward looking for + * invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped + * upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's + * replaced by a value that puts all three points in a line. This version of G29 P3 is a quick, easy + * and (usually) safe way to populate unprobed mesh regions before continuing to G26 Mesh Validation + * Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution. + * + * P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assumes the existence of + * an LCD Panel. It is possible to fine tune the mesh without an LCD Panel using + * G42 and M421. See the UBL documentation for further details. + * + * Phase 4 is meant to be used with G26 Mesh Validation to fine tune the mesh by direct editing + * of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable + * adhesion. + * + * P4 moves to the closest Mesh Point (and/or the given X Y), raises the nozzle above the mesh height + * by the given 'H' offset (or default 0), and waits while the controller is used to adjust the nozzle + * height. On click the displayed height is saved in the mesh. + * + * Start Phase 4 at a specific location with X and Y. Adjust a specific number of Mesh Points with + * the 'R' (Repeat) parameter. (If 'R' is left out, the whole matrix is assumed.) This command can be + * terminated early (e.g., after editing the area of interest) by pressing and holding the encoder button. + * + * The general form is G29 P4 [R points] [X position] [Y position] + * + * The H [offset] parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the + * command would be G29 P4 H0.4. The nozzle is moved to the shim height, you adjust height to the shim, + * and on click the height minus the shim thickness will be saved in the mesh. + * + * !!Use with caution, as a very poor mesh could cause the nozzle to crash into the bed!! + * + * NOTE: P4 is not available unless you have LCD support enabled! + * + * P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and + * work with the Mesh if it is Mean Adjusted. You can specify a C parameter to + * Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically + * execute a G29 P6 C . + * + * P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified + * with the C parameter. Being able to adjust the height of a Mesh is useful tool. It + * can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally, + * you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring + * 0.000 at the Z Home location. + * + * Q Test Load specified Test Pattern to assist in checking correct operation of system. This + * command is not anticipated to be of much value to the typical user. It is intended + * for developers to help them verify correct operation of the Unified Bed Leveling System. + * + * R # Repeat Repeat this command the specified number of times. If no number is specified the + * command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times. + * + * S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the + * current state of the Unified Bed Leveling system in the EEPROM. + * + * S # Store Store the current Mesh at the specified location in EEPROM. Activate this location + * for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and + * extend to a limit related to the available EEPROM storage. + * + * S -1 Store Print the current Mesh as G-code that can be used to restore the mesh anytime. + * + * T Topology Display the Mesh Map Topology. + * 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands. + * This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O) + * This parameter can also specify a Map Type. T0 (the default) is user-readable. T1 + * is suitable to paste into a spreadsheet for a 3D graph of the mesh. + * + * U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds. + * Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful + * when the entire bed doesn't need to be probed because it will be adjusted. + * + * V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0) + * + * X # X Location for this command + * + * Y # Y Location for this command + * + * With UBL_DEVEL_DEBUGGING: + * + * K # Kompare Kompare current Mesh with stored Mesh #, replacing current Mesh with the result. + * This command literally performs a diff between two Meshes. + * + * Q-1 Dump EEPROM Dump the UBL contents stored in EEPROM as HEX format. Useful for developers to help + * verify correct operation of the UBL. + * + * W What? Display valuable UBL data. + * + * + * Release Notes: + * You MUST do M502, M500 to initialize the storage. Failure to do this will cause all + * kinds of problems. Enabling EEPROM Storage is required. + * + * When you do a G28 and G29 P1 to automatically build your first mesh, you are going to notice that + * UBL probes points increasingly further from the starting location. (The starting location defaults + * to the center of the bed.) In contrast, ABL and MBL follow a zigzag pattern. The spiral pattern is + * especially better for Delta printers, since it populates the center of the mesh first, allowing for + * a quicker test print to verify settings. You don't need to populate the entire mesh to use it. + * After all, you don't want to spend a lot of time generating a mesh only to realize the resolution + * or probe offsets are incorrect. Mesh-generation gathers points starting closest to the nozzle unless + * an (X,Y) coordinate pair is given. + * + * Unified Bed Leveling uses a lot of EEPROM storage to hold its data, and it takes some effort to get + * the mesh just right. To prevent this valuable data from being destroyed as the EEPROM structure + * evolves, UBL stores all mesh data at the end of EEPROM. + * + * UBL is founded on Edward Patel's Mesh Bed Leveling code. A big 'Thanks!' to him and the creators of + * 3-Point and Grid Based leveling. Combining their contributions we now have the functionality and + * features of all three systems combined. + */ + +void unified_bed_leveling::G29() { + + bool probe_deployed = false; + if (g29_parameter_parsing()) return; // Abort on parameter error + + const int8_t p_val = parser.intval('P', -1); + const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'); + TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index = active_extruder); + + // Check for commands that require the printer to be homed + if (may_move) { + planner.synchronize(); + // Send 'N' to force homing before G29 (internal only) + if (axes_should_home() || parser.seen('N')) gcode.home_all_axes(); + TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0)); + } + + // Invalidate Mesh Points. This command is a little bit asymmetrical because + // it directly specifies the repetition count and does not use the 'R' parameter. + if (parser.seen('I')) { + uint8_t cnt = 0; + g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1; + if (g29_repetition_cnt >= GRID_MAX_POINTS) { + set_all_mesh_points_to_value(NAN); + } + else { + while (g29_repetition_cnt--) { + if (cnt > 20) { cnt = 0; idle(); } + const mesh_index_pair closest = find_closest_mesh_point_of_type(REAL, g29_pos); + const xy_int8_t &cpos = closest.pos; + if (cpos.x < 0) { + // No more REAL mesh points to invalidate, so we ASSUME the user + // meant to invalidate the ENTIRE mesh, which cannot be done with + // find_closest_mesh_point loop which only returns REAL points. + set_all_mesh_points_to_value(NAN); + SERIAL_ECHOLNPGM("Entire Mesh invalidated.\n"); + break; // No more invalid Mesh Points to populate + } + z_values[cpos.x][cpos.y] = NAN; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(cpos, 0.0f)); + cnt++; } + } + SERIAL_ECHOLNPGM("Locations invalidated.\n"); + } - const float mean = sum / n; + if (parser.seen('Q')) { + const int test_pattern = parser.has_value() ? parser.value_int() : -99; + if (!WITHIN(test_pattern, -1, 2)) { + SERIAL_ECHOLNPGM("Invalid test_pattern value. (-1 to 2)\n"); + return; + } + SERIAL_ECHOLNPGM("Loading test_pattern values.\n"); + switch (test_pattern) { - // - // Sum the squares of difference from mean - // - float sum_of_diff_squared = 0; - GRID_LOOP(x, y) - if (!isnan(z_values[x][y])) - sum_of_diff_squared += sq(z_values[x][y] - mean); + #if ENABLED(UBL_DEVEL_DEBUGGING) + case -1: + g29_eeprom_dump(); + break; + #endif - SERIAL_ECHOLNPAIR("# of samples: ", n); - SERIAL_ECHOLNPAIR_F("Mean Mesh Height: ", mean, 6); - - const float sigma = SQRT(sum_of_diff_squared / (n + 1)); - SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); - - if (cflag) - GRID_LOOP(x, y) - if (!isnan(z_values[x][y])) { - z_values[x][y] -= mean + value; + case 0: + GRID_LOOP(x, y) { // Create a bowl shape similar to a poorly-calibrated Delta + const float p1 = 0.5f * (GRID_MAX_POINTS_X) - x, + p2 = 0.5f * (GRID_MAX_POINTS_Y) - y; + z_values[x][y] += 2.0f * HYPOT(p1, p2); TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); } - } + break; - void unified_bed_leveling::shift_mesh_height() { - GRID_LOOP(x, y) - if (!isnan(z_values[x][y])) { - z_values[x][y] += g29_constant; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); - } + case 1: + LOOP_L_N(x, GRID_MAX_POINTS_X) { // Create a diagonal line several Mesh cells thick that is raised + z_values[x][x] += 9.999f; + z_values[x][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1] += 9.999f; // We want the altered line several mesh points thick + #if ENABLED(EXTENSIBLE_UI) + ExtUI::onMeshUpdate(x, x, z_values[x][x]); + ExtUI::onMeshUpdate(x, (x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1), z_values[x][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1]); + #endif + + } + break; + + case 2: + // Allow the user to specify the height because 10mm is a little extreme in some cases. + for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in + for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) { // the center of the bed + z_values[x][y] += parser.seen('C') ? g29_constant : 9.99f; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } + break; + } } #if HAS_BED_PROBE - /** - * 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 xy_pos_t &nearby, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) { - probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW - - TERN_(HAS_LCD_MENU, ui.capture()); - - save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained - uint8_t count = GRID_MAX_POINTS; - - mesh_index_pair best; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::MESH_START)); - do { - if (do_ubl_mesh_map) display_map(g29_map_type); - - const int point_num = (GRID_MAX_POINTS) - count + 1; - SERIAL_ECHOLNPAIR("Probing mesh point ", point_num, "/", GRID_MAX_POINTS, "."); - TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), point_num, int(GRID_MAX_POINTS))); - - #if HAS_LCD_MENU - if (ui.button_pressed()) { - ui.quick_feedback(false); // Preserve button state for click-and-hold - SERIAL_ECHOLNPGM("\nMesh only partially populated.\n"); - ui.wait_for_release(); - ui.quick_feedback(); - ui.release(); - probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW - return restore_ubl_active_state_and_leave(); - } - #endif - - best = do_furthest - ? find_furthest_invalid_mesh_point() - : find_closest_mesh_point_of_type(INVALID, nearby, true); - - if (best.pos.x >= 0) { // mesh point found and is reachable by probe - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_START)); - const float measured_z = probe.probe_at_point( - best.meshpos(), - stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level - ); - z_values[best.pos.x][best.pos.y] = measured_z; - #if ENABLED(EXTENSIBLE_UI) - ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_FINISH); - ExtUI::onMeshUpdate(best.pos, measured_z); - #endif - } - SERIAL_FLUSH(); // Prevent host M105 buffer overrun. - - } while (best.pos.x >= 0 && --count); - - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::MESH_FINISH)); - - // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW - TERN_(HAS_LCD_MENU, ui.release()); - probe.stow(); - TERN_(HAS_LCD_MENU, ui.capture()); - - probe.move_z_after_probing(); + if (parser.seen('J')) { + save_ubl_active_state_and_disable(); + tilt_mesh_based_on_probed_grid(g29_grid_size == 0); // Zero size does 3-Point restore_ubl_active_state_and_leave(); - - do_blocking_move_to_xy( - constrain(nearby.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X), - constrain(nearby.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y) - ); + #if ENABLED(UBL_G29_J_RECENTER) + do_blocking_move_to_xy(0.5f * ((MESH_MIN_X) + (MESH_MAX_X)), 0.5f * ((MESH_MIN_Y) + (MESH_MAX_Y))); + #endif + report_current_position(); + probe_deployed = true; } #endif // HAS_BED_PROBE - #if HAS_LCD_MENU - - typedef void (*clickFunc_t)(); - - bool click_and_hold(const clickFunc_t func=nullptr) { - if (ui.button_pressed()) { - ui.quick_feedback(false); // Preserve button state for click-and-hold - const millis_t nxt = millis() + 1500UL; - while (ui.button_pressed()) { // Loop while the encoder is pressed. Uses hardware flag! - idle(); // idle, of course - if (ELAPSED(millis(), nxt)) { // After 1.5 seconds - ui.quick_feedback(); - if (func) (*func)(); - ui.wait_for_release(); - return true; - } - } - } - serial_delay(15); - return false; + if (parser.seen('P')) { + if (WITHIN(g29_phase_value, 0, 1) && storage_slot == -1) { + storage_slot = 0; + SERIAL_ECHOLNPGM("Default storage slot 0 selected."); } - void unified_bed_leveling::move_z_with_encoder(const float &multiplier) { - ui.wait_for_release(); - while (!ui.button_pressed()) { - idle(); - gcode.reset_stepper_timeout(); // Keep steppers powered - if (encoder_diff) { - do_blocking_move_to_z(current_position.z + float(encoder_diff) * multiplier); - encoder_diff = 0; - } - } - } + switch (g29_phase_value) { + case 0: + // + // Zero Mesh Data + // + reset(); + SERIAL_ECHOLNPGM("Mesh zeroed."); + break; - float unified_bed_leveling::measure_point_with_encoder() { - KEEPALIVE_STATE(PAUSED_FOR_USER); - move_z_with_encoder(0.01f); - return current_position.z; - } - - static void echo_and_take_a_measurement() { SERIAL_ECHOLNPGM(" and take a measurement."); } - - float unified_bed_leveling::measure_business_card_thickness() { - ui.capture(); - save_ubl_active_state_and_disable(); // Disable bed level correction for probing - - do_blocking_move_to(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)), MANUAL_PROBE_START_Z); - //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f); - planner.synchronize(); - - SERIAL_ECHOPGM("Place shim under nozzle"); - LCD_MESSAGEPGM(MSG_UBL_BC_INSERT); - ui.return_to_status(); - echo_and_take_a_measurement(); - - const float z1 = measure_point_with_encoder(); - do_blocking_move_to_z(current_position.z + SIZE_OF_LITTLE_RAISE); - planner.synchronize(); - - SERIAL_ECHOPGM("Remove shim"); - LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE); - echo_and_take_a_measurement(); - - const float z2 = measure_point_with_encoder(); - do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES); - - const float thickness = ABS(z1 - z2); - - if (g29_verbose_level > 1) { - SERIAL_ECHOPAIR_F("Business Card is ", thickness, 4); - SERIAL_ECHOLNPGM("mm thick."); - } - - restore_ubl_active_state_and_leave(); - - return thickness; - } - - void unified_bed_leveling::manually_probe_remaining_mesh(const xy_pos_t &pos, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) { - ui.capture(); - - save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained - do_blocking_move_to_xy_z(current_position, z_clearance); - - ui.return_to_status(); - - mesh_index_pair location; - const xy_int8_t &lpos = location.pos; - do { - location = find_closest_mesh_point_of_type(INVALID, pos); - // It doesn't matter if the probe can't reach the NAN location. This is a manual probe. - if (!location.valid()) continue; - - const xyz_pos_t ppos = { - mesh_index_to_xpos(lpos.x), - mesh_index_to_ypos(lpos.y), - Z_CLEARANCE_BETWEEN_PROBES - }; - - if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points) - - LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT); - - do_blocking_move_to(ppos); - do_z_clearance(z_clearance); - - KEEPALIVE_STATE(PAUSED_FOR_USER); - ui.capture(); - - if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing - - serialprintPGM(parser.seen('B') ? GET_TEXT(MSG_UBL_BC_INSERT) : GET_TEXT(MSG_UBL_BC_INSERT2)); - - const float z_step = 0.01f; // existing behavior: 0.01mm per click, occasionally step - //const float z_step = planner.steps_to_mm[Z_AXIS]; // approx one step each click - - move_z_with_encoder(z_step); - - if (click_and_hold()) { - SERIAL_ECHOLNPGM("\nMesh only partially populated."); - do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE); - return restore_ubl_active_state_and_leave(); - } - - z_values[lpos.x][lpos.y] = current_position.z - thick; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, z_values[lpos.x][lpos.y])); - - if (g29_verbose_level > 2) - SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[lpos.x][lpos.y], 6); - SERIAL_FLUSH(); // Prevent host M105 buffer overrun. - } while (location.valid()); - - if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing - - restore_ubl_active_state_and_leave(); - do_blocking_move_to_xy_z(pos, Z_CLEARANCE_DEPLOY_PROBE); - } - - inline void set_message_with_feedback(PGM_P const msg_P) { - ui.set_status_P(msg_P); - ui.quick_feedback(); - } - - void abort_fine_tune() { - ui.return_to_status(); - do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); - set_message_with_feedback(GET_TEXT(MSG_EDITING_STOPPED)); - } - - void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, 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. - - #if ENABLED(UBL_MESH_EDIT_MOVES_Z) - const float h_offset = parser.seenval('H') ? parser.value_linear_units() : MANUAL_PROBE_START_Z; - if (!WITHIN(h_offset, 0, 10)) { - SERIAL_ECHOLNPGM("Offset out of bounds. (0 to 10mm)\n"); - return; - } - #endif - - mesh_index_pair location; - - if (!position_is_reachable(pos)) { - SERIAL_ECHOLNPGM("(X,Y) outside printable radius."); - return; - } - - save_ubl_active_state_and_disable(); - - LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH); - ui.capture(); // Take over control of the LCD encoder - - do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance - - MeshFlags done_flags{0}; - const xy_int8_t &lpos = location.pos; - - #if IS_TFTGLCD_PANEL - lcd_mesh_edit_setup(0); // Change current screen before calling ui.ubl_plot - safe_delay(50); - #endif - - do { - location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags); - - if (lpos.x < 0) break; // Stop when there are no more reachable points - - done_flags.mark(lpos); // Mark this location as 'adjusted' so a new - // location is used on the next loop - const xyz_pos_t raw = { - mesh_index_to_xpos(lpos.x), - mesh_index_to_ypos(lpos.y), - Z_CLEARANCE_BETWEEN_PROBES - }; - - if (!position_is_reachable(raw)) break; // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable) - - do_blocking_move_to(raw); // Move the nozzle to the edit point with probe clearance - - TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset)); // Move Z to the given 'H' offset before editing - - KEEPALIVE_STATE(PAUSED_FOR_USER); - - if (do_ubl_mesh_map) display_map(g29_map_type); // Display the current point - - #if IS_TFTGLCD_PANEL - ui.ubl_plot(lpos.x, lpos.y); // update plot screen - #endif - - ui.refresh(); - - float new_z = z_values[lpos.x][lpos.y]; - if (isnan(new_z)) new_z = 0; // Invalid points begin at 0 - new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place - - lcd_mesh_edit_setup(new_z); - - SET_SOFT_ENDSTOP_LOOSE(true); - - do { - idle(); - new_z = lcd_mesh_edit(); - TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset + new_z)); // Move the nozzle as the point is edited - SERIAL_FLUSH(); // Prevent host M105 buffer overrun. - } while (!ui.button_pressed()); - - SET_SOFT_ENDSTOP_LOOSE(false); - - if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status - - if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing - - z_values[lpos.x][lpos.y] = new_z; // Save the updated Z value - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, new_z)); - - serial_delay(20); // No switch noise - ui.refresh(); - - } while (lpos.x >= 0 && --g29_repetition_cnt > 0); - - if (do_ubl_mesh_map) display_map(g29_map_type); - restore_ubl_active_state_and_leave(); - - do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); - - LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH); - SERIAL_ECHOLNPGM("Done Editing Mesh"); - - if (lcd_map_control) - ui.goto_screen(ubl_map_screen); - else - ui.return_to_status(); - } - - #endif // HAS_LCD_MENU - - bool unified_bed_leveling::g29_parameter_parsing() { - bool err_flag = false; - - TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_DOING_G29))); - - g29_constant = 0; - g29_repetition_cnt = 0; - - if (parser.seen('R')) { - g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS; - NOMORE(g29_repetition_cnt, GRID_MAX_POINTS); - if (g29_repetition_cnt < 1) { - SERIAL_ECHOLNPGM("?(R)epetition count invalid (1+).\n"); - return UBL_ERR; - } - } - - g29_verbose_level = parser.seen('V') ? parser.value_int() : 0; - if (!WITHIN(g29_verbose_level, 0, 4)) { - SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).\n"); - err_flag = true; - } - - if (parser.seen('P')) { - const int pv = parser.value_int(); - #if !HAS_BED_PROBE - if (pv == 1) { - SERIAL_ECHOLNPGM("G29 P1 requires a probe.\n"); - err_flag = true; - } - else - #endif - { - g29_phase_value = pv; - if (!WITHIN(g29_phase_value, 0, 6)) { - SERIAL_ECHOLNPGM("?(P)hase value invalid (0-6).\n"); - err_flag = true; - } - } - } - - if (parser.seen('J')) { #if HAS_BED_PROBE - g29_grid_size = parser.has_value() ? parser.value_int() : 0; - if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) { - SERIAL_ECHOLNPGM("?Invalid grid size (J) specified (2-9).\n"); - err_flag = true; + + case 1: { + // + // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe + // + if (!parser.seen('C')) { + invalidate(); + SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh."); + } + if (g29_verbose_level > 1) { + SERIAL_ECHOPAIR("Probing around (", g29_pos.x); + SERIAL_CHAR(','); + SERIAL_DECIMAL(g29_pos.y); + SERIAL_ECHOLNPGM(").\n"); + } + const xy_pos_t near_probe_xy = g29_pos + probe.offset_xy; + probe_entire_mesh(near_probe_xy, parser.seen('T'), parser.seen('E'), parser.seen('U')); + + report_current_position(); + probe_deployed = true; + } break; + + #endif // HAS_BED_PROBE + + case 2: { + #if HAS_LCD_MENU + // + // Manually Probe Mesh in areas that can't be reached by the probe + // + SERIAL_ECHOLNPGM("Manually probing unreachable points."); + do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); + + if (parser.seen('C') && !xy_seen) { + + /** + * Use a good default location for the path. + * The flipped > and < operators in these comparisons is intentional. + * It should cause the probed points to follow a nice path on Cartesian printers. + * It may make sense to have Delta printers default to the center of the bed. + * Until that is decided, this can be forced with the X and Y parameters. + */ + g29_pos.set( + #if IS_KINEMATIC + X_HOME_POS, Y_HOME_POS + #else + probe.offset_xy.x > 0 ? X_BED_SIZE : 0, + probe.offset_xy.y < 0 ? Y_BED_SIZE : 0 + #endif + ); + } + + if (parser.seen('B')) { + g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness(); + if (ABS(g29_card_thickness) > 1.5f) { + SERIAL_ECHOLNPGM("?Error in Business Card measurement."); + return; + } + probe_deployed = true; + } + + if (!position_is_reachable(g29_pos)) { + SERIAL_ECHOLNPGM("XY outside printable radius."); + return; + } + + const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES); + manually_probe_remaining_mesh(g29_pos, height, g29_card_thickness, parser.seen('T')); + + SERIAL_ECHOLNPGM("G29 P2 finished."); + + report_current_position(); + + #else + + SERIAL_ECHOLNPGM("?P2 is only available when an LCD is present."); + return; + + #endif + } break; + + case 3: { + /** + * Populate invalid mesh areas. Proceed with caution. + * Two choices are available: + * - Specify a constant with the 'C' parameter. + * - Allow 'G29 P3' to choose a 'reasonable' constant. + */ + + if (g29_c_flag) { + if (g29_repetition_cnt >= GRID_MAX_POINTS) { + set_all_mesh_points_to_value(g29_constant); + } + else { + while (g29_repetition_cnt--) { // this only populates reachable mesh points near + const mesh_index_pair closest = find_closest_mesh_point_of_type(INVALID, g29_pos); + const xy_int8_t &cpos = closest.pos; + if (cpos.x < 0) { + // No more REAL INVALID mesh points to populate, so we ASSUME + // user meant to populate ALL INVALID mesh points to value + GRID_LOOP(x, y) if (isnan(z_values[x][y])) z_values[x][y] = g29_constant; + break; // No more invalid Mesh Points to populate + } + else { + z_values[cpos.x][cpos.y] = g29_constant; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(cpos, g29_constant)); + } + } + } } - #else - SERIAL_ECHOLNPGM("G29 J action requires a probe.\n"); - err_flag = true; - #endif - } + else { + const float cvf = parser.value_float(); + switch ((int)TRUNC(cvf * 10.0f) - 30) { // 3.1 -> 1 + #if ENABLED(UBL_G29_P31) + case 1: { - xy_seen.x = parser.seenval('X'); - float sx = xy_seen.x ? parser.value_float() : current_position.x; - xy_seen.y = parser.seenval('Y'); - float sy = xy_seen.y ? parser.value_float() : current_position.y; + // P3.1 use least squares fit to fill missing mesh values + // P3.10 zero weighting for distance, all grid points equal, best fit tilted plane + // P3.11 10X weighting for nearest grid points versus farthest grid points + // P3.12 100X distance weighting + // P3.13 1000X distance weighting, approaches simple average of nearest points - if (xy_seen.x != xy_seen.y) { - SERIAL_ECHOLNPGM("Both X & Y locations must be specified.\n"); - err_flag = true; - } - - // If X or Y are not valid, use center of the bed values - if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER; - if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER; - - if (err_flag) return UBL_ERR; - - g29_pos.set(sx, sy); - - /** - * Activate or deactivate UBL - * Note: UBL's G29 restores the state set here when done. - * Leveling is being enabled here with old data, possibly - * none. Error handling should disable for safety... - */ - if (parser.seen('A')) { - if (parser.seen('D')) { - SERIAL_ECHOLNPGM("?Can't activate and deactivate at the same time.\n"); - return UBL_ERR; - } - set_bed_leveling_enabled(true); - report_state(); - } - else if (parser.seen('D')) { - set_bed_leveling_enabled(false); - report_state(); - } - - // Set global 'C' flag and its value - if ((g29_c_flag = parser.seen('C'))) - g29_constant = parser.value_float(); - - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - if (parser.seenval('F')) { - const float fh = parser.value_float(); - if (!WITHIN(fh, 0, 100)) { - SERIAL_ECHOLNPGM("?(F)ade height for Bed Level Correction not plausible.\n"); - return UBL_ERR; + const float weight_power = (cvf - 3.10f) * 100.0f, // 3.12345 -> 2.345 + weight_factor = weight_power ? POW(10.0f, weight_power) : 0; + smart_fill_wlsf(weight_factor); + } + break; + #endif + case 0: // P3 or P3.0 + default: // and anything P3.x that's not P3.1 + smart_fill_mesh(); // Do a 'Smart' fill using nearby known values + break; + } } - set_z_fade_height(fh); + break; } - #endif - g29_map_type = parser.intval('T'); - if (!WITHIN(g29_map_type, 0, 2)) { - SERIAL_ECHOLNPGM("Invalid map type.\n"); - return UBL_ERR; + case 4: // Fine Tune (i.e., Edit) the Mesh + #if HAS_LCD_MENU + fine_tune_mesh(g29_pos, parser.seen('T')); + #else + SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present."); + return; + #endif + break; + + case 5: adjust_mesh_to_mean(g29_c_flag, g29_constant); break; + + case 6: shift_mesh_height(); break; } - return UBL_OK; } - static uint8_t ubl_state_at_invocation = 0; - #if ENABLED(UBL_DEVEL_DEBUGGING) - static uint8_t ubl_state_recursion_chk = 0; + + // + // Much of the 'What?' command can be eliminated. But until we are fully debugged, it is + // good to have the extra information. Soon... we prune this to just a few items + // + if (parser.seen('W')) g29_what_command(); + + // + // When we are fully debugged, this may go away. But there are some valid + // use cases for the users. So we can wait and see what to do with it. + // + + if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh + g29_compare_current_mesh_to_stored_mesh(); + + #endif // UBL_DEVEL_DEBUGGING + + + // + // Load a Mesh from the EEPROM + // + + if (parser.seen('L')) { // Load Current Mesh Data + g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot; + + int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + return; + } + + if (!WITHIN(g29_storage_slot, 0, a - 1)) { + SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1); + return; + } + + settings.load_mesh(g29_storage_slot); + storage_slot = g29_storage_slot; + + SERIAL_ECHOLNPGM("Done."); + } + + // + // Store a Mesh in the EEPROM + // + + if (parser.seen('S')) { // Store (or Save) Current Mesh Data + g29_storage_slot = parser.has_value() ? parser.value_int() : storage_slot; + + if (g29_storage_slot == -1) // Special case, the user wants to 'Export' the mesh to the + return report_current_mesh(); // host program to be saved on the user's computer + + int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + goto LEAVE; + } + + if (!WITHIN(g29_storage_slot, 0, a - 1)) { + SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1); + goto LEAVE; + } + + settings.store_mesh(g29_storage_slot); + storage_slot = g29_storage_slot; + + SERIAL_ECHOLNPGM("Done."); + } + + if (parser.seen('T')) + display_map(g29_map_type); + + LEAVE: + + #if HAS_LCD_MENU + ui.reset_alert_level(); + ui.quick_feedback(); + ui.reset_status(); + ui.release(); #endif - void unified_bed_leveling::save_ubl_active_state_and_disable() { - #if ENABLED(UBL_DEVEL_DEBUGGING) - ubl_state_recursion_chk++; - if (ubl_state_recursion_chk != 1) { - SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row."); - TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_SAVE_ERROR))); - return; - } - #endif - ubl_state_at_invocation = planner.leveling_active; - set_bed_leveling_enabled(false); - } - - void unified_bed_leveling::restore_ubl_active_state_and_leave() { - TERN_(HAS_LCD_MENU, ui.release()); - #if ENABLED(UBL_DEVEL_DEBUGGING) - if (--ubl_state_recursion_chk) { - SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times."); - TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_RESTORE_ERROR))); - return; - } - #endif - set_bed_leveling_enabled(ubl_state_at_invocation); - } - - mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() { - - bool found_a_NAN = false, found_a_real = false; - - mesh_index_pair farthest { -1, -1, -99999.99 }; - - GRID_LOOP(i, j) { - if (!isnan(z_values[i][j])) continue; // Skip valid mesh points - - // Skip unreachable points - if (!probe.can_reach(mesh_index_to_xpos(i), mesh_index_to_ypos(j))) - continue; - - found_a_NAN = true; - - xy_int8_t nearby { -1, -1 }; - float d1, d2 = 99999.9f; - GRID_LOOP(k, l) { - if (isnan(z_values[k][l])) continue; - - found_a_real = true; - - // Add in a random weighting factor that scrambles the probing of the - // last half of the mesh (when every unprobed mesh point is one index - // from a probed location). - - d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13)); - - if (d1 < d2) { // Invalid mesh point (i,j) is closer to the defined point (k,l) - d2 = d1; - nearby.set(i, j); - } - } - - // - // At this point d2 should have the near defined mesh point to invalid mesh point (i,j) - // - - if (found_a_real && nearby.x >= 0 && d2 > farthest.distance) { - farthest.pos = nearby; // Found an invalid location farther from the defined mesh point - farthest.distance = d2; - } - } // GRID_LOOP - - if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing - farthest.pos.set((GRID_MAX_POINTS_X) / 2, (GRID_MAX_POINTS_Y) / 2); - farthest.distance = 1; + #ifdef Z_PROBE_END_SCRIPT + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT); + if (probe_deployed) { + planner.synchronize(); + gcode.process_subcommands_now_P(PSTR(Z_PROBE_END_SCRIPT)); } - return farthest; - } + #else + UNUSED(probe_deployed); + #endif - mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) { - mesh_index_pair closest; - closest.invalidate(); - closest.distance = -99999.9f; + TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index)); + return; +} - // Get the reference position, either nozzle or probe - const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos; +void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const float value) { + float sum = 0; + int n = 0; + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + sum += z_values[x][y]; + n++; + } - float best_so_far = 99999.99f; + const float mean = sum / n; - GRID_LOOP(i, j) { - if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL)) - || (type == SET_IN_BITMAP && !done_flags->marked(i, j)) - ) { - // Found a Mesh Point of the specified type! - const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) }; + // + // Sum the squares of difference from mean + // + float sum_of_diff_squared = 0; + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) + sum_of_diff_squared += sq(z_values[x][y] - mean); - // If using the probe as the reference there are some unreachable locations. - // 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). + SERIAL_ECHOLNPAIR("# of samples: ", n); + SERIAL_ECHOLNPAIR_F("Mean Mesh Height: ", mean, 6); - if (!(probe_relative ? probe.can_reach(mpos) : position_is_reachable(mpos))) - continue; + const float sigma = SQRT(sum_of_diff_squared / (n + 1)); + SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); - // Reachable. Check if it's the best_so_far location to the nozzle. - - const xy_pos_t diff = current_position - mpos; - const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f; - - // factor in the distance from the current location for the normal case - // so the nozzle isn't running all over the bed. - if (distance < best_so_far) { - best_so_far = distance; // Found a closer location with the desired value type. - closest.pos.set(i, j); - closest.distance = best_so_far; - } + if (cflag) + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + z_values[x][y] -= mean + value; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); } - } // GRID_LOOP +} - return closest; +void unified_bed_leveling::shift_mesh_height() { + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + z_values[x][y] += g29_constant; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } +} + +#if HAS_BED_PROBE + /** + * 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 xy_pos_t &nearby, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) { + probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW + + TERN_(HAS_LCD_MENU, ui.capture()); + + save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained + uint8_t count = GRID_MAX_POINTS; + + mesh_index_pair best; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::MESH_START)); + do { + if (do_ubl_mesh_map) display_map(g29_map_type); + + const int point_num = (GRID_MAX_POINTS) - count + 1; + SERIAL_ECHOLNPAIR("Probing mesh point ", point_num, "/", GRID_MAX_POINTS, "."); + TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), point_num, int(GRID_MAX_POINTS))); + + #if HAS_LCD_MENU + if (ui.button_pressed()) { + ui.quick_feedback(false); // Preserve button state for click-and-hold + SERIAL_ECHOLNPGM("\nMesh only partially populated.\n"); + ui.wait_for_release(); + ui.quick_feedback(); + ui.release(); + probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW + return restore_ubl_active_state_and_leave(); + } + #endif + + best = do_furthest + ? find_furthest_invalid_mesh_point() + : find_closest_mesh_point_of_type(INVALID, nearby, true); + + if (best.pos.x >= 0) { // mesh point found and is reachable by probe + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_START)); + const float measured_z = probe.probe_at_point( + best.meshpos(), + stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level + ); + z_values[best.pos.x][best.pos.y] = measured_z; + #if ENABLED(EXTENSIBLE_UI) + ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_FINISH); + ExtUI::onMeshUpdate(best.pos, measured_z); + #endif + } + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + + } while (best.pos.x >= 0 && --count); + + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::MESH_FINISH)); + + // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW + TERN_(HAS_LCD_MENU, ui.release()); + probe.stow(); + TERN_(HAS_LCD_MENU, ui.capture()); + + probe.move_z_after_probing(); + + restore_ubl_active_state_and_leave(); + + do_blocking_move_to_xy( + constrain(nearby.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X), + constrain(nearby.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y) + ); } - /** - * 'Smart Fill': Scan from the outward edges of the mesh towards the center. - * If an invalid location is found, use the next two points (if valid) to - * calculate a 'reasonable' value for the unprobed mesh point. - */ +#endif // HAS_BED_PROBE - bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { - const float v = z_values[x][y]; - if (isnan(v)) { // A NAN... - const int8_t dx = x + xdir, dy = y + ydir; - const float v1 = z_values[dx][dy]; - if (!isnan(v1)) { // ...next to a pair of real values? - const float v2 = z_values[dx + xdir][dy + ydir]; - if (!isnan(v2)) { - z_values[x][y] = v1 < v2 ? v1 : v1 + v1 - v2; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); +#if HAS_LCD_MENU + + typedef void (*clickFunc_t)(); + + bool click_and_hold(const clickFunc_t func=nullptr) { + if (ui.button_pressed()) { + ui.quick_feedback(false); // Preserve button state for click-and-hold + const millis_t nxt = millis() + 1500UL; + while (ui.button_pressed()) { // Loop while the encoder is pressed. Uses hardware flag! + idle(); // idle, of course + if (ELAPSED(millis(), nxt)) { // After 1.5 seconds + ui.quick_feedback(); + if (func) (*func)(); + ui.wait_for_release(); return true; } } } + serial_delay(15); return false; } - typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info; - - void unified_bed_leveling::smart_fill_mesh() { - static const smart_fill_info - info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up - info1 PROGMEM = { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down - info2 PROGMEM = { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right - info3 PROGMEM = { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left - static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 }; - - LOOP_L_N(i, COUNT(info)) { - const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]); - const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy), - ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey); - if (pgm_read_byte(&f->yfirst)) { - const int8_t dir = ex > sx ? 1 : -1; - for (uint8_t y = sy; y != ey; ++y) - for (uint8_t x = sx; x != ex; x += dir) - if (smart_fill_one(x, y, dir, 0)) break; - } - else { - const int8_t dir = ey > sy ? 1 : -1; - for (uint8_t x = sx; x != ex; ++x) - for (uint8_t y = sy; y != ey; y += dir) - if (smart_fill_one(x, y, 0, dir)) break; + void unified_bed_leveling::move_z_with_encoder(const float &multiplier) { + ui.wait_for_release(); + while (!ui.button_pressed()) { + idle(); + gcode.reset_stepper_timeout(); // Keep steppers powered + if (encoder_diff) { + do_blocking_move_to_z(current_position.z + float(encoder_diff) * multiplier); + encoder_diff = 0; } } } - #if HAS_BED_PROBE + float unified_bed_leveling::measure_point_with_encoder() { + KEEPALIVE_STATE(PAUSED_FOR_USER); + move_z_with_encoder(0.01f); + return current_position.z; + } - //#define VALIDATE_MESH_TILT + static void echo_and_take_a_measurement() { SERIAL_ECHOLNPGM(" and take a measurement."); } - #include "../../../libs/vector_3.h" + float unified_bed_leveling::measure_business_card_thickness() { + ui.capture(); + save_ubl_active_state_and_disable(); // Disable bed level correction for probing - void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) { - const float x_min = probe.min_x(), x_max = probe.max_x(), - y_min = probe.min_y(), y_max = probe.max_y(), - dx = (x_max - x_min) / (g29_grid_size - 1), - dy = (y_max - y_min) / (g29_grid_size - 1); + do_blocking_move_to(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)), MANUAL_PROBE_START_Z); + //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f); + planner.synchronize(); - xy_float_t points[3]; - probe.get_three_points(points); + SERIAL_ECHOPGM("Place shim under nozzle"); + LCD_MESSAGEPGM(MSG_UBL_BC_INSERT); + ui.return_to_status(); + echo_and_take_a_measurement(); - float measured_z; - bool abort_flag = false; + const float z1 = measure_point_with_encoder(); + do_blocking_move_to_z(current_position.z + SIZE_OF_LITTLE_RAISE); + planner.synchronize(); - #ifdef VALIDATE_MESH_TILT - float z1, z2, z3; // Needed for algorithm validation below + SERIAL_ECHOPGM("Remove shim"); + LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE); + echo_and_take_a_measurement(); + + const float z2 = measure_point_with_encoder(); + do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES); + + const float thickness = ABS(z1 - z2); + + if (g29_verbose_level > 1) { + SERIAL_ECHOPAIR_F("Business Card is ", thickness, 4); + SERIAL_ECHOLNPGM("mm thick."); + } + + restore_ubl_active_state_and_leave(); + + return thickness; + } + + void unified_bed_leveling::manually_probe_remaining_mesh(const xy_pos_t &pos, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) { + ui.capture(); + + save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained + do_blocking_move_to_xy_z(current_position, z_clearance); + + ui.return_to_status(); + + mesh_index_pair location; + const xy_int8_t &lpos = location.pos; + do { + location = find_closest_mesh_point_of_type(INVALID, pos); + // It doesn't matter if the probe can't reach the NAN location. This is a manual probe. + if (!location.valid()) continue; + + const xyz_pos_t ppos = { + mesh_index_to_xpos(lpos.x), + mesh_index_to_ypos(lpos.y), + Z_CLEARANCE_BETWEEN_PROBES + }; + + if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points) + + LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT); + + do_blocking_move_to(ppos); + do_z_clearance(z_clearance); + + KEEPALIVE_STATE(PAUSED_FOR_USER); + ui.capture(); + + if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing + + serialprintPGM(parser.seen('B') ? GET_TEXT(MSG_UBL_BC_INSERT) : GET_TEXT(MSG_UBL_BC_INSERT2)); + + const float z_step = 0.01f; // existing behavior: 0.01mm per click, occasionally step + //const float z_step = planner.steps_to_mm[Z_AXIS]; // approx one step each click + + move_z_with_encoder(z_step); + + if (click_and_hold()) { + SERIAL_ECHOLNPGM("\nMesh only partially populated."); + do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE); + return restore_ubl_active_state_and_leave(); + } + + z_values[lpos.x][lpos.y] = current_position.z - thick; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, z_values[lpos.x][lpos.y])); + + if (g29_verbose_level > 2) + SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[lpos.x][lpos.y], 6); + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + } while (location.valid()); + + if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing + + restore_ubl_active_state_and_leave(); + do_blocking_move_to_xy_z(pos, Z_CLEARANCE_DEPLOY_PROBE); + } + + inline void set_message_with_feedback(PGM_P const msg_P) { + ui.set_status_P(msg_P); + ui.quick_feedback(); + } + + void abort_fine_tune() { + ui.return_to_status(); + do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); + set_message_with_feedback(GET_TEXT(MSG_EDITING_STOPPED)); + } + + void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, 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. + + #if ENABLED(UBL_MESH_EDIT_MOVES_Z) + const float h_offset = parser.seenval('H') ? parser.value_linear_units() : MANUAL_PROBE_START_Z; + if (!WITHIN(h_offset, 0, 10)) { + SERIAL_ECHOLNPGM("Offset out of bounds. (0 to 10mm)\n"); + return; + } + #endif + + mesh_index_pair location; + + if (!position_is_reachable(pos)) { + SERIAL_ECHOLNPGM("(X,Y) outside printable radius."); + return; + } + + save_ubl_active_state_and_disable(); + + LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH); + ui.capture(); // Take over control of the LCD encoder + + do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance + + MeshFlags done_flags{0}; + const xy_int8_t &lpos = location.pos; + + #if IS_TFTGLCD_PANEL + lcd_mesh_edit_setup(0); // Change current screen before calling ui.ubl_plot + safe_delay(50); + #endif + + do { + location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags); + + if (lpos.x < 0) break; // Stop when there are no more reachable points + + done_flags.mark(lpos); // Mark this location as 'adjusted' so a new + // location is used on the next loop + const xyz_pos_t raw = { + mesh_index_to_xpos(lpos.x), + mesh_index_to_ypos(lpos.y), + Z_CLEARANCE_BETWEEN_PROBES + }; + + if (!position_is_reachable(raw)) break; // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable) + + do_blocking_move_to(raw); // Move the nozzle to the edit point with probe clearance + + TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset)); // Move Z to the given 'H' offset before editing + + KEEPALIVE_STATE(PAUSED_FOR_USER); + + if (do_ubl_mesh_map) display_map(g29_map_type); // Display the current point + + #if IS_TFTGLCD_PANEL + ui.ubl_plot(lpos.x, lpos.y); // update plot screen #endif - struct linear_fit_data lsf_results; - incremental_LSF_reset(&lsf_results); + ui.refresh(); - if (do_3_pt_leveling) { - SERIAL_ECHOLNPGM("Tilting mesh (1/3)"); - TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + float new_z = z_values[lpos.x][lpos.y]; + if (isnan(new_z)) new_z = 0; // Invalid points begin at 0 + new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place - measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level); + lcd_mesh_edit_setup(new_z); + + SET_SOFT_ENDSTOP_LOOSE(true); + + do { + idle(); + new_z = lcd_mesh_edit(); + TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset + new_z)); // Move the nozzle as the point is edited + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + } while (!ui.button_pressed()); + + SET_SOFT_ENDSTOP_LOOSE(false); + + if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status + + if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing + + z_values[lpos.x][lpos.y] = new_z; // Save the updated Z value + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, new_z)); + + serial_delay(20); // No switch noise + ui.refresh(); + + } while (lpos.x >= 0 && --g29_repetition_cnt > 0); + + if (do_ubl_mesh_map) display_map(g29_map_type); + restore_ubl_active_state_and_leave(); + + do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); + + LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH); + SERIAL_ECHOLNPGM("Done Editing Mesh"); + + if (lcd_map_control) + ui.goto_screen(ubl_map_screen); + else + ui.return_to_status(); + } + +#endif // HAS_LCD_MENU + +bool unified_bed_leveling::g29_parameter_parsing() { + bool err_flag = false; + + TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_DOING_G29))); + + g29_constant = 0; + g29_repetition_cnt = 0; + + if (parser.seen('R')) { + g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS; + NOMORE(g29_repetition_cnt, GRID_MAX_POINTS); + if (g29_repetition_cnt < 1) { + SERIAL_ECHOLNPGM("?(R)epetition count invalid (1+).\n"); + return UBL_ERR; + } + } + + g29_verbose_level = parser.seen('V') ? parser.value_int() : 0; + if (!WITHIN(g29_verbose_level, 0, 4)) { + SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).\n"); + err_flag = true; + } + + if (parser.seen('P')) { + const int pv = parser.value_int(); + #if !HAS_BED_PROBE + if (pv == 1) { + SERIAL_ECHOLNPGM("G29 P1 requires a probe.\n"); + err_flag = true; + } + else + #endif + { + g29_phase_value = pv; + if (!WITHIN(g29_phase_value, 0, 6)) { + SERIAL_ECHOLNPGM("?(P)hase value invalid (0-6).\n"); + err_flag = true; + } + } + } + + if (parser.seen('J')) { + #if HAS_BED_PROBE + g29_grid_size = parser.has_value() ? parser.value_int() : 0; + if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) { + SERIAL_ECHOLNPGM("?Invalid grid size (J) specified (2-9).\n"); + err_flag = true; + } + #else + SERIAL_ECHOLNPGM("G29 J action requires a probe.\n"); + err_flag = true; + #endif + } + + xy_seen.x = parser.seenval('X'); + float sx = xy_seen.x ? parser.value_float() : current_position.x; + xy_seen.y = parser.seenval('Y'); + float sy = xy_seen.y ? parser.value_float() : current_position.y; + + if (xy_seen.x != xy_seen.y) { + SERIAL_ECHOLNPGM("Both X & Y locations must be specified.\n"); + err_flag = true; + } + + // If X or Y are not valid, use center of the bed values + if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER; + if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER; + + if (err_flag) return UBL_ERR; + + g29_pos.set(sx, sy); + + /** + * Activate or deactivate UBL + * Note: UBL's G29 restores the state set here when done. + * Leveling is being enabled here with old data, possibly + * none. Error handling should disable for safety... + */ + if (parser.seen('A')) { + if (parser.seen('D')) { + SERIAL_ECHOLNPGM("?Can't activate and deactivate at the same time.\n"); + return UBL_ERR; + } + set_bed_leveling_enabled(true); + report_state(); + } + else if (parser.seen('D')) { + set_bed_leveling_enabled(false); + report_state(); + } + + // Set global 'C' flag and its value + if ((g29_c_flag = parser.seen('C'))) + g29_constant = parser.value_float(); + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (parser.seenval('F')) { + const float fh = parser.value_float(); + if (!WITHIN(fh, 0, 100)) { + SERIAL_ECHOLNPGM("?(F)ade height for Bed Level Correction not plausible.\n"); + return UBL_ERR; + } + set_z_fade_height(fh); + } + #endif + + g29_map_type = parser.intval('T'); + if (!WITHIN(g29_map_type, 0, 2)) { + SERIAL_ECHOLNPGM("Invalid map type.\n"); + return UBL_ERR; + } + return UBL_OK; +} + +static uint8_t ubl_state_at_invocation = 0; + +#if ENABLED(UBL_DEVEL_DEBUGGING) + static uint8_t ubl_state_recursion_chk = 0; +#endif + +void unified_bed_leveling::save_ubl_active_state_and_disable() { + #if ENABLED(UBL_DEVEL_DEBUGGING) + ubl_state_recursion_chk++; + if (ubl_state_recursion_chk != 1) { + SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row."); + TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_SAVE_ERROR))); + return; + } + #endif + ubl_state_at_invocation = planner.leveling_active; + set_bed_leveling_enabled(false); +} + +void unified_bed_leveling::restore_ubl_active_state_and_leave() { + TERN_(HAS_LCD_MENU, ui.release()); + #if ENABLED(UBL_DEVEL_DEBUGGING) + if (--ubl_state_recursion_chk) { + SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times."); + TERN_(HAS_LCD_MENU, set_message_with_feedback(GET_TEXT(MSG_UBL_RESTORE_ERROR))); + return; + } + #endif + set_bed_leveling_enabled(ubl_state_at_invocation); +} + +mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() { + + bool found_a_NAN = false, found_a_real = false; + + mesh_index_pair farthest { -1, -1, -99999.99 }; + + GRID_LOOP(i, j) { + if (!isnan(z_values[i][j])) continue; // Skip valid mesh points + + // Skip unreachable points + if (!probe.can_reach(mesh_index_to_xpos(i), mesh_index_to_ypos(j))) + continue; + + found_a_NAN = true; + + xy_int8_t nearby { -1, -1 }; + float d1, d2 = 99999.9f; + GRID_LOOP(k, l) { + if (isnan(z_values[k][l])) continue; + + found_a_real = true; + + // Add in a random weighting factor that scrambles the probing of the + // last half of the mesh (when every unprobed mesh point is one index + // from a probed location). + + d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13)); + + if (d1 < d2) { // Invalid mesh point (i,j) is closer to the defined point (k,l) + d2 = d1; + nearby.set(i, j); + } + } + + // + // At this point d2 should have the near defined mesh point to invalid mesh point (i,j) + // + + if (found_a_real && nearby.x >= 0 && d2 > farthest.distance) { + farthest.pos = nearby; // Found an invalid location farther from the defined mesh point + farthest.distance = d2; + } + } // GRID_LOOP + + if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing + farthest.pos.set((GRID_MAX_POINTS_X) / 2, (GRID_MAX_POINTS_Y) / 2); + farthest.distance = 1; + } + return farthest; +} + +mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) { + mesh_index_pair closest; + closest.invalidate(); + closest.distance = -99999.9f; + + // Get the reference position, either nozzle or probe + const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos; + + float best_so_far = 99999.99f; + + GRID_LOOP(i, j) { + if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL)) + || (type == SET_IN_BITMAP && !done_flags->marked(i, j)) + ) { + // Found a Mesh Point of the specified type! + const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) }; + + // If using the probe as the reference there are some unreachable locations. + // 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_relative ? probe.can_reach(mpos) : position_is_reachable(mpos))) + continue; + + // Reachable. Check if it's the best_so_far location to the nozzle. + + const xy_pos_t diff = current_position - mpos; + const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f; + + // factor in the distance from the current location for the normal case + // so the nozzle isn't running all over the bed. + if (distance < best_so_far) { + best_so_far = distance; // Found a closer location with the desired value type. + closest.pos.set(i, j); + closest.distance = best_so_far; + } + } + } // GRID_LOOP + + return closest; +} + +/** + * 'Smart Fill': Scan from the outward edges of the mesh towards the center. + * If an invalid location is found, use the next two points (if valid) to + * calculate a 'reasonable' value for the unprobed mesh point. + */ + +bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { + const float v = z_values[x][y]; + if (isnan(v)) { // A NAN... + const int8_t dx = x + xdir, dy = y + ydir; + const float v1 = z_values[dx][dy]; + if (!isnan(v1)) { // ...next to a pair of real values? + const float v2 = z_values[dx + xdir][dy + ydir]; + if (!isnan(v2)) { + z_values[x][y] = v1 < v2 ? v1 : v1 + v1 - v2; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + return true; + } + } + } + return false; +} + +typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info; + +void unified_bed_leveling::smart_fill_mesh() { + static const smart_fill_info + info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, GRID_MAX_POINTS_Y - 2, false }, // Bottom of the mesh looking up + info1 PROGMEM = { 0, GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y - 1, 0, false }, // Top of the mesh looking down + info2 PROGMEM = { 0, GRID_MAX_POINTS_X - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right + info3 PROGMEM = { GRID_MAX_POINTS_X - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left + static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 }; + + LOOP_L_N(i, COUNT(info)) { + const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]); + const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy), + ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey); + if (pgm_read_byte(&f->yfirst)) { + const int8_t dir = ex > sx ? 1 : -1; + for (uint8_t y = sy; y != ey; ++y) + for (uint8_t x = sx; x != ex; x += dir) + if (smart_fill_one(x, y, dir, 0)) break; + } + else { + const int8_t dir = ey > sy ? 1 : -1; + for (uint8_t x = sx; x != ex; ++x) + for (uint8_t y = sy; y != ey; y += dir) + if (smart_fill_one(x, y, 0, dir)) break; + } + } +} + +#if HAS_BED_PROBE + + //#define VALIDATE_MESH_TILT + + #include "../../../libs/vector_3.h" + + void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) { + const float x_min = probe.min_x(), x_max = probe.max_x(), + y_min = probe.min_y(), y_max = probe.max_y(), + dx = (x_max - x_min) / (g29_grid_size - 1), + dy = (y_max - y_min) / (g29_grid_size - 1); + + xy_float_t points[3]; + probe.get_three_points(points); + + float measured_z; + bool abort_flag = false; + + #ifdef VALIDATE_MESH_TILT + float z1, z2, z3; // Needed for algorithm validation below + #endif + + struct linear_fit_data lsf_results; + incremental_LSF_reset(&lsf_results); + + if (do_3_pt_leveling) { + SERIAL_ECHOLNPGM("Tilting mesh (1/3)"); + TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + + measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level); + if (isnan(measured_z)) + abort_flag = true; + else { + measured_z -= get_z_correction(points[0]); + #ifdef VALIDATE_MESH_TILT + z1 = measured_z; + #endif + if (g29_verbose_level > 3) { + serial_spaces(16); + SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); + } + incremental_LSF(&lsf_results, points[0], measured_z); + } + + if (!abort_flag) { + SERIAL_ECHOLNPGM("Tilting mesh (2/3)"); + TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + + measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level); + #ifdef VALIDATE_MESH_TILT + z2 = measured_z; + #endif if (isnan(measured_z)) abort_flag = true; else { - measured_z -= get_z_correction(points[0]); - #ifdef VALIDATE_MESH_TILT - z1 = measured_z; - #endif + measured_z -= get_z_correction(points[1]); if (g29_verbose_level > 3) { serial_spaces(16); SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); } - incremental_LSF(&lsf_results, points[0], measured_z); - } - - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh (2/3)"); - TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); - - measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level); - #ifdef VALIDATE_MESH_TILT - z2 = measured_z; - #endif - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[1]); - if (g29_verbose_level > 3) { - serial_spaces(16); - SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, points[1], measured_z); - } - } - - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh (3/3)"); - TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); - - measured_z = probe.probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level); - #ifdef VALIDATE_MESH_TILT - z3 = measured_z; - #endif - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[2]); - if (g29_verbose_level > 3) { - serial_spaces(16); - SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, points[2], measured_z); - } - } - - probe.stow(); - probe.move_z_after_probing(); - - if (abort_flag) { - SERIAL_ECHOLNPGM("?Error probing point. Aborting operation."); - return; + incremental_LSF(&lsf_results, points[1], measured_z); } } - else { // !do_3_pt_leveling - bool zig_zag = false; + if (!abort_flag) { + SERIAL_ECHOLNPGM("Tilting mesh (3/3)"); + TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); - const uint16_t total_points = sq(g29_grid_size); - uint16_t point_num = 1; - - xy_pos_t rpos; - LOOP_L_N(ix, g29_grid_size) { - rpos.x = x_min + ix * dx; - LOOP_L_N(iy, g29_grid_size) { - rpos.y = y_min + dy * (zig_zag ? g29_grid_size - 1 - iy : iy); - - if (!abort_flag) { - SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n"); - TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); - - measured_z = probe.probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling - - abort_flag = isnan(measured_z); - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - const xy_pos_t lpos = rpos.asLogical(); - DEBUG_CHAR('('); - DEBUG_ECHO_F(rpos.x, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(rpos.y, 7); - DEBUG_ECHOPAIR_F(") logical: (", lpos.x, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(lpos.y, 7); - DEBUG_ECHOPAIR_F(") measured: ", measured_z, 7); - DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rpos), 7); - } - #endif - - measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ; - - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7); - - if (g29_verbose_level > 3) { - serial_spaces(16); - SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, rpos, measured_z); - } - - point_num++; + measured_z = probe.probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level); + #ifdef VALIDATE_MESH_TILT + z3 = measured_z; + #endif + if (isnan(measured_z)) + abort_flag = true; + else { + measured_z -= get_z_correction(points[2]); + if (g29_verbose_level > 3) { + serial_spaces(16); + SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); } - - zig_zag ^= true; + incremental_LSF(&lsf_results, points[2], measured_z); } } + probe.stow(); probe.move_z_after_probing(); - if (abort_flag || finish_incremental_LSF(&lsf_results)) { - SERIAL_ECHOPGM("Could not complete LSF!"); + if (abort_flag) { + SERIAL_ECHOLNPGM("?Error probing point. Aborting operation."); return; } + } + else { // !do_3_pt_leveling - vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1).get_normal(); + bool zig_zag = false; - if (g29_verbose_level > 2) { - SERIAL_ECHOPAIR_F("bed plane normal = [", normal.x, 7); - SERIAL_CHAR(','); - SERIAL_ECHO_F(normal.y, 7); - SERIAL_CHAR(','); - SERIAL_ECHO_F(normal.z, 7); - SERIAL_ECHOLNPGM("]"); - } + const uint16_t total_points = sq(g29_grid_size); + uint16_t point_num = 1; - matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1)); + xy_pos_t rpos; + LOOP_L_N(ix, g29_grid_size) { + rpos.x = x_min + ix * dx; + LOOP_L_N(iy, g29_grid_size) { + rpos.y = y_min + dy * (zig_zag ? g29_grid_size - 1 - iy : iy); - GRID_LOOP(i, j) { - float mx = mesh_index_to_xpos(i), - my = mesh_index_to_ypos(j), - mz = z_values[i][j]; + if (!abort_flag) { + SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n"); + TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); - if (DEBUGGING(LEVELING)) { - DEBUG_ECHOPAIR_F("before rotation = [", mx, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(my, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(mz, 7); - DEBUG_ECHOPGM("] ---> "); - DEBUG_DELAY(20); + measured_z = probe.probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling + + abort_flag = isnan(measured_z); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + const xy_pos_t lpos = rpos.asLogical(); + DEBUG_CHAR('('); + DEBUG_ECHO_F(rpos.x, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(rpos.y, 7); + DEBUG_ECHOPAIR_F(") logical: (", lpos.x, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(lpos.y, 7); + DEBUG_ECHOPAIR_F(") measured: ", measured_z, 7); + DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rpos), 7); + } + #endif + + measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7); + + if (g29_verbose_level > 3) { + serial_spaces(16); + SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); + } + incremental_LSF(&lsf_results, rpos, measured_z); + } + + point_num++; } - apply_rotation_xyz(rotation, mx, my, mz); - - if (DEBUGGING(LEVELING)) { - DEBUG_ECHOPAIR_F("after rotation = [", mx, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(my, 7); - DEBUG_CHAR(','); - DEBUG_ECHO_F(mz, 7); - DEBUG_ECHOLNPGM("]"); - DEBUG_DELAY(20); - } - - z_values[i][j] = mz - lsf_results.D; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, z_values[i][j])); + zig_zag ^= true; } + } + probe.stow(); + probe.move_z_after_probing(); + + if (abort_flag || finish_incremental_LSF(&lsf_results)) { + SERIAL_ECHOPGM("Could not complete LSF!"); + return; + } + + vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1).get_normal(); + + if (g29_verbose_level > 2) { + SERIAL_ECHOPAIR_F("bed plane normal = [", normal.x, 7); + SERIAL_CHAR(','); + SERIAL_ECHO_F(normal.y, 7); + SERIAL_CHAR(','); + SERIAL_ECHO_F(normal.z, 7); + SERIAL_ECHOLNPGM("]"); + } + + matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1)); + + GRID_LOOP(i, j) { + float mx = mesh_index_to_xpos(i), + my = mesh_index_to_ypos(j), + mz = z_values[i][j]; if (DEBUGGING(LEVELING)) { - rotation.debug(PSTR("rotation matrix:\n")); - DEBUG_ECHOPAIR_F("LSF Results A=", lsf_results.A, 7); - DEBUG_ECHOPAIR_F(" B=", lsf_results.B, 7); - DEBUG_ECHOLNPAIR_F(" D=", lsf_results.D, 7); - DEBUG_DELAY(55); + DEBUG_ECHOPAIR_F("before rotation = [", mx, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(my, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(mz, 7); + DEBUG_ECHOPGM("] ---> "); + DEBUG_DELAY(20); + } - DEBUG_ECHOPAIR_F("bed plane normal = [", normal.x, 7); + apply_rotation_xyz(rotation, mx, my, mz); + + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOPAIR_F("after rotation = [", mx, 7); DEBUG_CHAR(','); - DEBUG_ECHO_F(normal.y, 7); + DEBUG_ECHO_F(my, 7); DEBUG_CHAR(','); - DEBUG_ECHO_F(normal.z, 7); + DEBUG_ECHO_F(mz, 7); DEBUG_ECHOLNPGM("]"); - DEBUG_EOL(); - - /** - * Use the code below to check the validity of the mesh tilting algorithm. - * 3-Point Mesh Tilt uses the same algorithm as grid-based tilting, but only - * three points are used in the calculation. This guarantees that each probed point - * has an exact match when get_z_correction() for that location is calculated. - * The Z error between the probed point locations and the get_z_correction() - * numbers for those locations should be 0. - */ - #ifdef VALIDATE_MESH_TILT - auto d_from = []{ DEBUG_ECHOPGM("D from "); }; - auto normed = [&](const xy_pos_t &pos, const float &zadd) { - return normal.x * pos.x + normal.y * pos.y + zadd; - }; - auto debug_pt = [](PGM_P const pre, const xy_pos_t &pos, const float &zadd) { - d_from(); serialprintPGM(pre); - DEBUG_ECHO_F(normed(pos, zadd), 6); - DEBUG_ECHOLNPAIR_F(" Z error = ", zadd - get_z_correction(pos), 6); - }; - debug_pt(PSTR("1st point: "), probe_pt[0], normal.z * z1); - debug_pt(PSTR("2nd point: "), probe_pt[1], normal.z * z2); - debug_pt(PSTR("3rd point: "), probe_pt[2], normal.z * z3); - d_from(); DEBUG_ECHOPGM("safe home with Z="); - DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6); - d_from(); DEBUG_ECHOPGM("safe home with Z="); - DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 6); - DEBUG_ECHOPAIR(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); - DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6); - #endif - } // DEBUGGING(LEVELING) + DEBUG_DELAY(20); + } + z_values[i][j] = mz - lsf_results.D; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, z_values[i][j])); } - #endif // HAS_BED_PROBE + if (DEBUGGING(LEVELING)) { + rotation.debug(PSTR("rotation matrix:\n")); + DEBUG_ECHOPAIR_F("LSF Results A=", lsf_results.A, 7); + DEBUG_ECHOPAIR_F(" B=", lsf_results.B, 7); + DEBUG_ECHOLNPAIR_F(" D=", lsf_results.D, 7); + DEBUG_DELAY(55); - #if ENABLED(UBL_G29_P31) - void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) { + DEBUG_ECHOPAIR_F("bed plane normal = [", normal.x, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(normal.y, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(normal.z, 7); + DEBUG_ECHOLNPGM("]"); + DEBUG_EOL(); - // For each undefined mesh point, compute a distance-weighted least squares fit - // from all the originally populated mesh points, weighted toward the point - // being extrapolated so that nearby points will have greater influence on - // the point being extrapolated. Then extrapolate the mesh point from WLSF. + /** + * Use the code below to check the validity of the mesh tilting algorithm. + * 3-Point Mesh Tilt uses the same algorithm as grid-based tilting, but only + * three points are used in the calculation. This guarantees that each probed point + * has an exact match when get_z_correction() for that location is calculated. + * The Z error between the probed point locations and the get_z_correction() + * numbers for those locations should be 0. + */ + #ifdef VALIDATE_MESH_TILT + auto d_from = []{ DEBUG_ECHOPGM("D from "); }; + auto normed = [&](const xy_pos_t &pos, const float &zadd) { + return normal.x * pos.x + normal.y * pos.y + zadd; + }; + auto debug_pt = [](PGM_P const pre, const xy_pos_t &pos, const float &zadd) { + d_from(); serialprintPGM(pre); + DEBUG_ECHO_F(normed(pos, zadd), 6); + DEBUG_ECHOLNPAIR_F(" Z error = ", zadd - get_z_correction(pos), 6); + }; + debug_pt(PSTR("1st point: "), probe_pt[0], normal.z * z1); + debug_pt(PSTR("2nd point: "), probe_pt[1], normal.z * z2); + debug_pt(PSTR("3rd point: "), probe_pt[2], normal.z * z3); + d_from(); DEBUG_ECHOPGM("safe home with Z="); + DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6); + d_from(); DEBUG_ECHOPGM("safe home with Z="); + DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 6); + DEBUG_ECHOPAIR(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); + DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6); + #endif + } // DEBUGGING(LEVELING) - static_assert((GRID_MAX_POINTS_Y) <= 16, "GRID_MAX_POINTS_Y too big"); - uint16_t bitmap[GRID_MAX_POINTS_X] = { 0 }; - struct linear_fit_data lsf_results; + } - SERIAL_ECHOPGM("Extrapolating mesh..."); +#endif // HAS_BED_PROBE - const float weight_scaled = weight_factor * _MAX(MESH_X_DIST, MESH_Y_DIST); +#if ENABLED(UBL_G29_P31) + void unified_bed_leveling::smart_fill_wlsf(const float &weight_factor) { - GRID_LOOP(jx, jy) if (!isnan(z_values[jx][jy])) SBI(bitmap[jx], jy); + // For each undefined mesh point, compute a distance-weighted least squares fit + // from all the originally populated mesh points, weighted toward the point + // being extrapolated so that nearby points will have greater influence on + // the point being extrapolated. Then extrapolate the mesh point from WLSF. - xy_pos_t ppos; - LOOP_L_N(ix, GRID_MAX_POINTS_X) { - ppos.x = mesh_index_to_xpos(ix); - LOOP_L_N(iy, GRID_MAX_POINTS_Y) { - ppos.y = mesh_index_to_ypos(iy); - if (isnan(z_values[ix][iy])) { - // undefined mesh point at (ppos.x,ppos.y), compute weighted LSF from original valid mesh points. - incremental_LSF_reset(&lsf_results); - xy_pos_t rpos; - LOOP_L_N(jx, GRID_MAX_POINTS_X) { - rpos.x = mesh_index_to_xpos(jx); - LOOP_L_N(jy, GRID_MAX_POINTS_Y) { - if (TEST(bitmap[jx], jy)) { - rpos.y = mesh_index_to_ypos(jy); - const float rz = z_values[jx][jy], - w = 1.0f + weight_scaled / (rpos - ppos).magnitude(); - incremental_WLSF(&lsf_results, rpos, rz, w); - } + static_assert((GRID_MAX_POINTS_Y) <= 16, "GRID_MAX_POINTS_Y too big"); + uint16_t bitmap[GRID_MAX_POINTS_X] = { 0 }; + struct linear_fit_data lsf_results; + + SERIAL_ECHOPGM("Extrapolating mesh..."); + + const float weight_scaled = weight_factor * _MAX(MESH_X_DIST, MESH_Y_DIST); + + GRID_LOOP(jx, jy) if (!isnan(z_values[jx][jy])) SBI(bitmap[jx], jy); + + xy_pos_t ppos; + LOOP_L_N(ix, GRID_MAX_POINTS_X) { + ppos.x = mesh_index_to_xpos(ix); + LOOP_L_N(iy, GRID_MAX_POINTS_Y) { + ppos.y = mesh_index_to_ypos(iy); + if (isnan(z_values[ix][iy])) { + // undefined mesh point at (ppos.x,ppos.y), compute weighted LSF from original valid mesh points. + incremental_LSF_reset(&lsf_results); + xy_pos_t rpos; + LOOP_L_N(jx, GRID_MAX_POINTS_X) { + rpos.x = mesh_index_to_xpos(jx); + LOOP_L_N(jy, GRID_MAX_POINTS_Y) { + if (TEST(bitmap[jx], jy)) { + rpos.y = mesh_index_to_ypos(jy); + const float rz = z_values[jx][jy], + w = 1.0f + weight_scaled / (rpos - ppos).magnitude(); + incremental_WLSF(&lsf_results, rpos, rz, w); } } - if (finish_incremental_LSF(&lsf_results)) { - SERIAL_ECHOLNPGM("Insufficient data"); - return; - } - const float ez = -lsf_results.D - lsf_results.A * ppos.x - lsf_results.B * ppos.y; - z_values[ix][iy] = ez; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy])); - idle(); // housekeeping } + if (finish_incremental_LSF(&lsf_results)) { + SERIAL_ECHOLNPGM("Insufficient data"); + return; + } + const float ez = -lsf_results.D - lsf_results.A * ppos.x - lsf_results.B * ppos.y; + z_values[ix][iy] = ez; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy])); + idle(); // housekeeping } } - - SERIAL_ECHOLNPGM("done"); } - #endif // UBL_G29_P31 - #if ENABLED(UBL_DEVEL_DEBUGGING) - /** - * Much of the 'What?' command can be eliminated. But until we are fully debugged, it is - * good to have the extra information. Soon... we prune this to just a few items - */ - void unified_bed_leveling::g29_what_command() { - report_state(); + SERIAL_ECHOLNPGM("done"); + } +#endif // UBL_G29_P31 - if (storage_slot == -1) - SERIAL_ECHOPGM("No Mesh Loaded."); - else - SERIAL_ECHOPAIR("Mesh ", storage_slot, " Loaded."); - SERIAL_EOL(); +#if ENABLED(UBL_DEVEL_DEBUGGING) + /** + * Much of the 'What?' command can be eliminated. But until we are fully debugged, it is + * good to have the extra information. Soon... we prune this to just a few items + */ + void unified_bed_leveling::g29_what_command() { + report_state(); + + if (storage_slot == -1) + SERIAL_ECHOPGM("No Mesh Loaded."); + else + SERIAL_ECHOPAIR("Mesh ", storage_slot, " Loaded."); + SERIAL_EOL(); + serial_delay(50); + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + SERIAL_ECHOLNPAIR_F("Fade Height M420 Z", planner.z_fade_height, 4); + #endif + + adjust_mesh_to_mean(g29_c_flag, g29_constant); + + #if HAS_BED_PROBE + SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7); + #endif + + SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50); + SERIAL_ECHOLNPAIR("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y); serial_delay(50); + SERIAL_ECHOLNPAIR("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X); serial_delay(50); + SERIAL_ECHOLNPAIR("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y); serial_delay(50); + SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X); serial_delay(50); + SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y); serial_delay(50); + SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST); + SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST); serial_delay(50); + + SERIAL_ECHOPGM("X-Axis Mesh Points at: "); + LOOP_L_N(i, GRID_MAX_POINTS_X) { + SERIAL_ECHO_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3); + SERIAL_ECHOPGM(" "); + serial_delay(25); + } + SERIAL_EOL(); + + SERIAL_ECHOPGM("Y-Axis Mesh Points at: "); + LOOP_L_N(i, GRID_MAX_POINTS_Y) { + SERIAL_ECHO_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3); + SERIAL_ECHOPGM(" "); + serial_delay(25); + } + SERIAL_EOL(); + + #if HAS_KILL + SERIAL_ECHOLNPAIR("Kill pin on :", KILL_PIN, " state:", kill_state()); + #endif + + SERIAL_EOL(); + serial_delay(50); + + #if ENABLED(UBL_DEVEL_DEBUGGING) + SERIAL_ECHOLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk); serial_delay(50); - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - SERIAL_ECHOLNPAIR_F("Fade Height M420 Z", planner.z_fade_height, 4); - #endif - - adjust_mesh_to_mean(g29_c_flag, g29_constant); - - #if HAS_BED_PROBE - SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7); - #endif - - SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y); serial_delay(50); - SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X); serial_delay(50); - SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST); - SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST); serial_delay(50); - - SERIAL_ECHOPGM("X-Axis Mesh Points at: "); - LOOP_L_N(i, GRID_MAX_POINTS_X) { - SERIAL_ECHO_F(LOGICAL_X_POSITION(mesh_index_to_xpos(i)), 3); - SERIAL_ECHOPGM(" "); - serial_delay(25); - } - SERIAL_EOL(); - - SERIAL_ECHOPGM("Y-Axis Mesh Points at: "); - LOOP_L_N(i, GRID_MAX_POINTS_Y) { - SERIAL_ECHO_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3); - SERIAL_ECHOPGM(" "); - serial_delay(25); - } - SERIAL_EOL(); - - #if HAS_KILL - SERIAL_ECHOLNPAIR("Kill pin on :", KILL_PIN, " state:", kill_state()); - #endif - - SERIAL_EOL(); + SERIAL_ECHOLNPAIR("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index())); serial_delay(50); - #if ENABLED(UBL_DEVEL_DEBUGGING) - SERIAL_ECHOLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk); - serial_delay(50); + SERIAL_ECHOLNPAIR("sizeof(ubl) : ", sizeof(ubl)); SERIAL_EOL(); + SERIAL_ECHOLNPAIR("z_value[][] size: ", sizeof(z_values)); SERIAL_EOL(); + serial_delay(25); - SERIAL_ECHOLNPAIR("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index())); - serial_delay(50); + SERIAL_ECHOLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index()))); + serial_delay(50); - SERIAL_ECHOLNPAIR("sizeof(ubl) : ", sizeof(ubl)); SERIAL_EOL(); - SERIAL_ECHOLNPAIR("z_value[][] size: ", sizeof(z_values)); SERIAL_EOL(); - serial_delay(25); + SERIAL_ECHOLNPAIR("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n"); + serial_delay(25); + #endif // UBL_DEVEL_DEBUGGING - SERIAL_ECHOLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index()))); - serial_delay(50); - - SERIAL_ECHOLNPAIR("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n"); - serial_delay(25); - #endif // UBL_DEVEL_DEBUGGING - - if (!sanity_check()) { - echo_name(); - SERIAL_ECHOLNPGM(" sanity checks passed."); - } + if (!sanity_check()) { + echo_name(); + SERIAL_ECHOLNPGM(" sanity checks passed."); } + } - /** - * When we are fully debugged, the EEPROM dump command will get deleted also. But - * right now, it is good to have the extra information. Soon... we prune this. - */ - void unified_bed_leveling::g29_eeprom_dump() { - uint8_t cccc; + /** + * When we are fully debugged, the EEPROM dump command will get deleted also. But + * right now, it is good to have the extra information. Soon... we prune this. + */ + void unified_bed_leveling::g29_eeprom_dump() { + uint8_t cccc; - SERIAL_ECHO_MSG("EEPROM Dump:"); - persistentStore.access_start(); - for (uint16_t i = 0; i < persistentStore.capacity(); i += 16) { - if (!(i & 0x3)) idle(); - print_hex_word(i); - SERIAL_ECHOPGM(": "); - for (uint16_t j = 0; j < 16; j++) { - persistentStore.read_data(i + j, &cccc, sizeof(uint8_t)); - print_hex_byte(cccc); - SERIAL_CHAR(' '); - } - SERIAL_EOL(); + SERIAL_ECHO_MSG("EEPROM Dump:"); + persistentStore.access_start(); + for (uint16_t i = 0; i < persistentStore.capacity(); i += 16) { + if (!(i & 0x3)) idle(); + print_hex_word(i); + SERIAL_ECHOPGM(": "); + for (uint16_t j = 0; j < 16; j++) { + persistentStore.read_data(i + j, &cccc, sizeof(uint8_t)); + print_hex_byte(cccc); + SERIAL_CHAR(' '); } SERIAL_EOL(); - persistentStore.access_finish(); + } + SERIAL_EOL(); + persistentStore.access_finish(); + } + + /** + * When we are fully debugged, this may go away. But there are some valid + * use cases for the users. So we can wait and see what to do with it. + */ + void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() { + const int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + return; } - /** - * When we are fully debugged, this may go away. But there are some valid - * use cases for the users. So we can wait and see what to do with it. - */ - void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() { - const int16_t a = settings.calc_num_meshes(); - - if (!a) { - SERIAL_ECHOLNPGM("?EEPROM storage not available."); - return; - } - - if (!parser.has_value() || !WITHIN(g29_storage_slot, 0, a - 1)) { - SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1); - return; - } - - g29_storage_slot = parser.value_int(); - - float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; - settings.load_mesh(g29_storage_slot, &tmp_z_values); - - SERIAL_ECHOLNPAIR("Subtracting mesh in slot ", g29_storage_slot, " from current mesh."); - - GRID_LOOP(x, y) { - z_values[x][y] -= tmp_z_values[x][y]; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); - } + if (!parser.has_value() || !WITHIN(g29_storage_slot, 0, a - 1)) { + SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1); + return; } - #endif // UBL_DEVEL_DEBUGGING + g29_storage_slot = parser.value_int(); + + float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + settings.load_mesh(g29_storage_slot, &tmp_z_values); + + SERIAL_ECHOLNPAIR("Subtracting mesh in slot ", g29_storage_slot, " from current mesh."); + + GRID_LOOP(x, y) { + z_values[x][y] -= tmp_z_values[x][y]; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } + } + +#endif // UBL_DEVEL_DEBUGGING #endif // AUTO_BED_LEVELING_UBL From 37e2250992a2b65ef41b314403b5dc9d8a5fbbd7 Mon Sep 17 00:00:00 2001 From: thinkyhead Date: Wed, 24 Feb 2021 00:12:40 +0000 Subject: [PATCH 04/34] [cron] Bump distribution date (2021-02-24) --- Marlin/src/inc/Version.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h index 6a54df87a8..ca3f0c1867 100644 --- a/Marlin/src/inc/Version.h +++ b/Marlin/src/inc/Version.h @@ -42,7 +42,7 @@ * version was tagged. */ #ifndef STRING_DISTRIBUTION_DATE - #define STRING_DISTRIBUTION_DATE "2021-02-23" + #define STRING_DISTRIBUTION_DATE "2021-02-24" #endif /** From b276a7fd172638ea3b8fe0a601a41d76f1e8cb8d Mon Sep 17 00:00:00 2001 From: Nick Date: Wed, 24 Feb 2021 02:13:24 +0000 Subject: [PATCH 05/34] Fix Chiron TFT serial comms (#21152) --- Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp | 6 +++--- .../sd/usb_flashdrive/lib-uhs3/UHS_host/UHS_host_INLINE.h | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp b/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp index 61057b5b10..c50de1c0a1 100644 --- a/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp +++ b/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp @@ -292,7 +292,7 @@ namespace Anycubic { #if ACDEBUG(AC_SOME) serialprintPGM(str); #endif - while (const char c = pgm_read_byte(str++)) TFTSer.print(c); + while (const char c = pgm_read_byte(str++)) TFTSer.write(c); } void ChironTFT::SendtoTFTLN(PGM_P str = nullptr) { @@ -305,7 +305,7 @@ namespace Anycubic { SERIAL_EOL(); #endif } - TFTSer.println(""); + TFTSer.println(); } bool ChironTFT::ReadTFTCommand() { @@ -840,7 +840,7 @@ namespace Anycubic { // Ignore request if printing //if (isPrinting()) break; //injectCommands_P(PSTR("M500\nM420 S1\nG1 Z10 F240\nG1 X0 Y0 F6000")); - //TFTSer.println(""); + //TFTSer.println(); } break; // A33 firmware info request seet PanelInfo() diff --git a/Marlin/src/sd/usb_flashdrive/lib-uhs3/UHS_host/UHS_host_INLINE.h b/Marlin/src/sd/usb_flashdrive/lib-uhs3/UHS_host/UHS_host_INLINE.h index 9c7b5001c0..4ab1a6b8f9 100644 --- a/Marlin/src/sd/usb_flashdrive/lib-uhs3/UHS_host/UHS_host_INLINE.h +++ b/Marlin/src/sd/usb_flashdrive/lib-uhs3/UHS_host/UHS_host_INLINE.h @@ -984,7 +984,7 @@ uint8_t UHS_USB_HOST_BASE::ctrlReq(uint8_t addr, uint64_t Request, uint16_t nbyt //bool direction = bmReqType & 0x80; //request direction, IN or OUT uint8_t rcode = 0; - // Serial.println(""); + //Serial.println(); UHS_EpInfo *pep = ctrlReqOpen(addr, Request, dataptr); if(!pep) { HOST_DEBUG("ctrlReq1: ERROR_NULL_EPINFO addr: %d\r\n", addr); From 03160719eb3d9ed31115956946826cb3b08babbc Mon Sep 17 00:00:00 2001 From: thinkyhead Date: Thu, 25 Feb 2021 00:12:36 +0000 Subject: [PATCH 06/34] [cron] Bump distribution date (2021-02-25) --- Marlin/src/inc/Version.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h index ca3f0c1867..52a2c8790c 100644 --- a/Marlin/src/inc/Version.h +++ b/Marlin/src/inc/Version.h @@ -42,7 +42,7 @@ * version was tagged. */ #ifndef STRING_DISTRIBUTION_DATE - #define STRING_DISTRIBUTION_DATE "2021-02-24" + #define STRING_DISTRIBUTION_DATE "2021-02-25" #endif /** From a3a10b62f21cfbedfd001746faa46ac55d248b36 Mon Sep 17 00:00:00 2001 From: Ken Sanislo Date: Wed, 24 Feb 2021 16:26:51 -0800 Subject: [PATCH 07/34] Chamber Heater PID (#21156) Co-authored-by: Scott Lahteine --- Marlin/Configuration.h | 55 ++- Marlin/Configuration_adv.h | 17 +- Marlin/src/core/language.h | 2 +- .../src/feature/leds/printer_event_leds.cpp | 13 + Marlin/src/feature/leds/printer_event_leds.h | 7 +- Marlin/src/gcode/config/M309.cpp | 48 +++ Marlin/src/gcode/gcode.cpp | 4 + Marlin/src/gcode/gcode.h | 3 + Marlin/src/gcode/temp/M303.cpp | 37 +- Marlin/src/inc/Conditionals_post.h | 21 +- Marlin/src/inc/SanityCheck.h | 7 + Marlin/src/lcd/menu/menu_advanced.cpp | 79 ++-- Marlin/src/module/settings.cpp | 61 ++- Marlin/src/module/temperature.cpp | 380 ++++++++++-------- Marlin/src/module/temperature.h | 21 +- 15 files changed, 519 insertions(+), 236 deletions(-) create mode 100644 Marlin/src/gcode/config/M309.cpp diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 3234a73eda..1c98168236 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -447,6 +447,10 @@ #define TEMP_BED_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer #define TEMP_BED_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target +#define TEMP_CHAMBER_RESIDENCY_TIME 10 // (seconds) Time to wait for chamber to "settle" in M191 +#define TEMP_CHAMBER_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer +#define TEMP_CHAMBER_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target + // Below this temperature the heater will be switched off // because it probably indicates a broken thermistor wire. #define HEATER_0_MINTEMP 5 @@ -458,6 +462,7 @@ #define HEATER_6_MINTEMP 5 #define HEATER_7_MINTEMP 5 #define BED_MINTEMP 5 +#define CHAMBER_MINTEMP 5 // Above this temperature the heater will be switched off. // This can protect components from overheating, but NOT from shorts and failures. @@ -471,6 +476,7 @@ #define HEATER_6_MAXTEMP 275 #define HEATER_7_MAXTEMP 275 #define BED_MAXTEMP 150 +#define CHAMBER_MAXTEMP 60 //=========================================================================== //============================= PID Settings ================================ @@ -544,7 +550,52 @@ // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles. #endif // PIDTEMPBED -#if EITHER(PIDTEMP, PIDTEMPBED) +//=========================================================================== +//==================== PID > Chamber Temperature Control ==================== +//=========================================================================== + +/** + * PID Chamber Heating + * + * If this option is enabled set PID constants below. + * If this option is disabled, bang-bang will be used and CHAMBER_LIMIT_SWITCHING will enable + * hysteresis. + * + * The PID frequency will be the same as the extruder PWM. + * If PID_dT is the default, and correct for the hardware/configuration, that means 7.689Hz, + * which is fine for driving a square wave into a resistive load and does not significantly + * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 200W + * heater. If your configuration is significantly different than this and you don't understand + * the issues involved, don't use chamber PID until someone else verifies that your hardware works. + */ +//#define PIDTEMPCHAMBER + +//#define CHAMBER_LIMIT_SWITCHING + +/** + * Max Chamber Power + * Applies to all forms of chamber control (PID, bang-bang, and bang-bang with hysteresis). + * When set to any value below 255, enables a form of PWM to the chamber heater that acts like a divider + * so don't use it unless you are OK with PWM on your heater. (See the comment on enabling PIDTEMPCHAMBER) + */ +#define MAX_CHAMBER_POWER 255 // limits duty cycle to chamber heater; 255=full current + +#if ENABLED(PIDTEMPCHAMBER) + #define MIN_CHAMBER_POWER 0 + //#define PID_CHAMBER_DEBUG // Sends debug data to the serial port. + + // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element + // and placed inside the small Creality printer enclosure tent. + // + #define DEFAULT_chamberKp 37.04 + #define DEFAULT_chamberKi 1.40 + #define DEFAULT_chamberKd 655.17 + // M309 P37.04 I1.04 D655.17 + + // FIND YOUR OWN: "M303 E-2 C8 S50" to run autotune on the chamber at 50 degreesC for 8 cycles. +#endif // PIDTEMPCHAMBER + +#if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER) //#define PID_DEBUG // Sends debug data to the serial port. Use 'M303 D' to toggle activation. //#define PID_OPENLOOP // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay @@ -1624,11 +1675,13 @@ #define PREHEAT_1_LABEL "PLA" #define PREHEAT_1_TEMP_HOTEND 180 #define PREHEAT_1_TEMP_BED 70 +#define PREHEAT_1_TEMP_CHAMBER 35 #define PREHEAT_1_FAN_SPEED 0 // Value from 0 to 255 #define PREHEAT_2_LABEL "ABS" #define PREHEAT_2_TEMP_HOTEND 240 #define PREHEAT_2_TEMP_BED 110 +#define PREHEAT_2_TEMP_CHAMBER 35 #define PREHEAT_2_FAN_SPEED 0 // Value from 0 to 255 /** diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 987ac293b2..50f17d1b9e 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -143,12 +143,19 @@ // // Heated Chamber options // +#if DISABLED(PIDTEMPCHAMBER) + #define CHAMBER_CHECK_INTERVAL 5000 // (ms) Interval between checks in bang-bang control + #if ENABLED(CHAMBER_LIMIT_SWITCHING) + #define CHAMBER_HYSTERESIS 2 // (°C) Only set the relevant heater state when ABS(T-target) > CHAMBER_HYSTERESIS + #endif +#endif + #if TEMP_SENSOR_CHAMBER - #define CHAMBER_MINTEMP 5 - #define CHAMBER_MAXTEMP 60 - #define TEMP_CHAMBER_HYSTERESIS 1 // (°C) Temperature proximity considered "close enough" to the target - //#define CHAMBER_LIMIT_SWITCHING - //#define HEATER_CHAMBER_PIN 44 // Chamber heater on/off pin + // Make sure you define where your heater is connected, the following works on a BTT SKR 1.4 Turbo + // using the secondary tool heater output. (FAN1 by default). + //#define FAN1_PIN -1 // Remove the fan signal on pin P2_04 (SKR 1.4 Turbo specific) + //#define HEATER_CHAMBER_PIN P2_04 // Chamber heater on/off pin (HE1 connector on SKR 1.4 Turbo) + //#define HEATER_CHAMBER_INVERTING false //#define CHAMBER_FAN // Enable a fan on the chamber diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h index 923ad903cb..6024e9be3e 100644 --- a/Marlin/src/core/language.h +++ b/Marlin/src/core/language.h @@ -221,7 +221,7 @@ // temperature.cpp strings #define STR_PID_AUTOTUNE_START "PID Autotune start" -#define STR_PID_BAD_EXTRUDER_NUM "PID Autotune failed! Bad extruder number" +#define STR_PID_BAD_HEATER_ID "PID Autotune failed! Bad heater id" #define STR_PID_TEMP_TOO_HIGH "PID Autotune failed! Temperature too high" #define STR_PID_TIMEOUT "PID Autotune failed! timeout" #define STR_BIAS " bias: " diff --git a/Marlin/src/feature/leds/printer_event_leds.cpp b/Marlin/src/feature/leds/printer_event_leds.cpp index 3a6b91a258..32c6862704 100644 --- a/Marlin/src/feature/leds/printer_event_leds.cpp +++ b/Marlin/src/feature/leds/printer_event_leds.cpp @@ -77,6 +77,19 @@ PrinterEventLEDs printerEventLEDs; pel_set_rgb(red, 0, 255); } } + +#endif + +#if HAS_HEATED_CHAMBER + + void PrinterEventLEDs::onChamberHeating(const float &start, const float ¤t, const float &target) { + const uint8_t green = pel_intensity(start, current, target); + if (green != old_intensity) { + old_intensity = green; + pel_set_rgb(255, green, 255); + } + } + #endif #endif // PRINTER_EVENT_LEDS diff --git a/Marlin/src/feature/leds/printer_event_leds.h b/Marlin/src/feature/leds/printer_event_leds.h index 86ec292aa3..668c9c969b 100644 --- a/Marlin/src/feature/leds/printer_event_leds.h +++ b/Marlin/src/feature/leds/printer_event_leds.h @@ -55,7 +55,12 @@ public: static void onBedHeating(const float &start, const float ¤t, const float &target); #endif - #if HAS_TEMP_HOTEND || HAS_HEATED_BED + #if HAS_HEATED_CHAMBER + static inline LEDColor onChamberHeatingStart() { old_intensity = 127; return leds.get_color(); } + static void onChamberHeating(const float &start, const float ¤t, const float &target); + #endif + + #if HAS_TEMP_HOTEND || HAS_HEATED_BED || HAS_HEATED_CHAMBER static inline void onHeatingDone() { leds.set_white(); } static inline void onPidTuningDone(LEDColor c) { leds.set_color(c); } #endif diff --git a/Marlin/src/gcode/config/M309.cpp b/Marlin/src/gcode/config/M309.cpp new file mode 100644 index 0000000000..2247481b25 --- /dev/null +++ b/Marlin/src/gcode/config/M309.cpp @@ -0,0 +1,48 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PIDTEMPCHAMBER) + +#include "../gcode.h" +#include "../../module/temperature.h" + +/** + * M309 - Set and/or Report the current Chamber PID values + * + * P - Set the P value + * I - Set the I value + * D - Set the D value + */ +void GcodeSuite::M309() { + if (parser.seen('P')) thermalManager.temp_chamber.pid.Kp = parser.value_float(); + if (parser.seen('I')) thermalManager.temp_chamber.pid.Ki = scalePID_i(parser.value_float()); + if (parser.seen('D')) thermalManager.temp_chamber.pid.Kd = scalePID_d(parser.value_float()); + + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR(" p:", thermalManager.temp_chamber.pid.Kp, + " i:", unscalePID_i(thermalManager.temp_chamber.pid.Ki), + " d:", unscalePID_d(thermalManager.temp_chamber.pid.Kd)); +} + +#endif // PIDTEMPCHAMBER diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index 77ac1fbff8..a410ad90a4 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -682,6 +682,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) { case 304: M304(); break; // M304: Set bed PID parameters #endif + #if ENABLED(PIDTEMPCHAMBER) + case 309: M309(); break; // M309: Set chamber PID parameters + #endif + #if ENABLED(PHOTO_GCODE) case 240: M240(); break; // M240: Trigger a camera #endif diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h index 7fd8d6904a..123b648f90 100644 --- a/Marlin/src/gcode/gcode.h +++ b/Marlin/src/gcode/gcode.h @@ -197,6 +197,7 @@ * M303 - PID relay autotune S sets the target temperature. Default 150C. (Requires PIDTEMP) * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED) * M305 - Set user thermistor parameters R T and P. (Requires TEMP_SENSOR_x 1000) + * M309 - Set chamber PID parameters P I and D. (Requires PIDTEMPCHAMBER) * M350 - Set microstepping mode. (Requires digital microstepping pins.) * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN) @@ -711,6 +712,8 @@ private: TERN_(HAS_USER_THERMISTORS, static void M305()); + TERN_(PIDTEMPCHAMBER, static void M309()); + #if HAS_MICROSTEPS static void M350(); static void M351(); diff --git a/Marlin/src/gcode/temp/M303.cpp b/Marlin/src/gcode/temp/M303.cpp index a066ddc88d..159a52bf26 100644 --- a/Marlin/src/gcode/temp/M303.cpp +++ b/Marlin/src/gcode/temp/M303.cpp @@ -40,19 +40,15 @@ * C Number of times to repeat the procedure. (Minimum: 3, Default: 5) * U Flag to apply the result to the current PID values * - * With PID_DEBUG: + * With PID_DEBUG, PID_BED_DEBUG, or PID_CHAMBER_DEBUG: * D Toggle PID debugging and EXIT without further action. */ -#if ENABLED(PID_DEBUG) - bool pid_debug_flag = 0; -#endif - void GcodeSuite::M303() { - #if ENABLED(PID_DEBUG) + #if ANY(PID_DEBUG, PID_BED_DEBUG, PID_CHAMBER_DEBUG) if (parser.seen('D')) { - pid_debug_flag = !pid_debug_flag; + thermalManager.pid_debug_flag ^= true; SERIAL_ECHO_START(); SERIAL_ECHOPGM("PID Debug "); serialprintln_onoff(pid_debug_flag); @@ -60,25 +56,34 @@ void GcodeSuite::M303() { } #endif - #define SI TERN(PIDTEMPBED, H_BED, H_E0) - #define EI TERN(PIDTEMP, HOTENDS - 1, H_BED) - const heater_id_t e = (heater_id_t)parser.intval('E'); - if (!WITHIN(e, SI, EI)) { - SERIAL_ECHOLNPGM(STR_PID_BAD_EXTRUDER_NUM); - TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_BAD_EXTRUDER_NUM)); - return; + const heater_id_t hid = (heater_id_t)parser.intval('E'); + int16_t default_temp; + switch (hid) { + #if ENABLED(PIDTEMP) + case 0 ... HOTENDS - 1: default_temp = PREHEAT_1_TEMP_HOTEND; break; + #endif + #if ENABLED(PIDTEMPBED) + case H_BED: default_temp = PREHEAT_1_TEMP_BED; break; + #endif + #if ENABLED(PIDTEMPCHAMBER) + case H_CHAMBER: default_temp = PREHEAT_1_TEMP_CHAMBER; break; + #endif + default: + SERIAL_ECHOLNPGM(STR_PID_BAD_HEATER_ID); + TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_BAD_EXTRUDER_NUM)); + return; } + const int16_t temp = parser.celsiusval('S', default_temp); const int c = parser.intval('C', 5); const bool u = parser.boolval('U'); - const int16_t temp = parser.celsiusval('S', e < 0 ? PREHEAT_1_TEMP_BED : PREHEAT_1_TEMP_HOTEND); #if DISABLED(BUSY_WHILE_HEATING) KEEPALIVE_STATE(NOT_BUSY); #endif LCD_MESSAGEPGM(MSG_PID_AUTOTUNE); - thermalManager.PID_autotune(temp, e, c, u); + thermalManager.PID_autotune(temp, hid, c, u); ui.reset_status(); } diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index f8360767d9..585d48de8c 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1992,27 +1992,31 @@ #define BED_OVERSHOOT 10 #endif #define BED_MAX_TARGET (BED_MAXTEMP - (BED_OVERSHOOT)) +#else + #undef PIDTEMPBED #endif + #if HAS_HEATED_BED || HAS_TEMP_CHAMBER #define BED_OR_CHAMBER 1 #endif #if HAS_TEMP_HOTEND || BED_OR_CHAMBER || HAS_TEMP_PROBE #define HAS_TEMP_SENSOR 1 #endif + #if HAS_TEMP_CHAMBER && PIN_EXISTS(HEATER_CHAMBER) #define HAS_HEATED_CHAMBER 1 + #ifndef CHAMBER_OVERSHOOT + #define CHAMBER_OVERSHOOT 10 + #endif + #define CHAMBER_MAX_TARGET (CHAMBER_MAXTEMP - (CHAMBER_OVERSHOOT)) +#else + #undef PIDTEMPCHAMBER #endif // PID heating -#if !HAS_HEATED_BED - #undef PIDTEMPBED -#endif -#if EITHER(PIDTEMP, PIDTEMPBED) +#if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER) #define HAS_PID_HEATING 1 #endif -#if BOTH(PIDTEMP, PIDTEMPBED) - #define HAS_PID_FOR_BOTH 1 -#endif // Thermal protection #if BOTH(HAS_HEATED_BED, THERMAL_PROTECTION_BED) @@ -2346,6 +2350,9 @@ * Heated chamber requires settings */ #if HAS_HEATED_CHAMBER + #ifndef MIN_CHAMBER_POWER + #define MIN_CHAMBER_POWER 0 + #endif #ifndef MAX_CHAMBER_POWER #define MAX_CHAMBER_POWER 255 #endif diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index c1b0290ac1..ba69b4792e 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -1203,6 +1203,13 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS #error "To use BED_LIMIT_SWITCHING you must disable PIDTEMPBED." #endif +/** + * Chamber Heating Options - PID vs Limit Switching + */ +#if BOTH(PIDTEMPCHAMBER, CHAMBER_LIMIT_SWITCHING) + #error "To use CHAMBER_LIMIT_SWITCHING you must disable PIDTEMPCHAMBER." +#endif + /** * Kinematics */ diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp index cb7827168b..aab93c3bdd 100644 --- a/Marlin/src/lcd/menu/menu_advanced.cpp +++ b/Marlin/src/lcd/menu/menu_advanced.cpp @@ -177,18 +177,25 @@ void menu_backlash(); #if ENABLED(PIDTEMPBED) int16_t autotune_temp_bed = PREHEAT_1_TEMP_BED; #endif + #if ENABLED(PIDTEMPCHAMBER) + int16_t autotune_temp_chamber = PREHEAT_1_TEMP_CHAMBER; + #endif #include "../../gcode/queue.h" - void _lcd_autotune(const int16_t e) { + void _lcd_autotune(const heater_id_t hid) { char cmd[30]; - sprintf_P(cmd, PSTR("M303 U1 E%i S%i"), e, - #if HAS_PID_FOR_BOTH - e < 0 ? autotune_temp_bed : autotune_temp[e] - #else - TERN(PIDTEMPBED, autotune_temp_bed, autotune_temp[e]) + int16_t tune_temp; + switch (hid) { + #if ENABLED(PIDTEMPBED) + case H_BED: tune_temp = autotune_temp_bed; break; #endif - ); + #if ENABLED(PIDTEMPCHAMBER) + case H_CHAMBER: tune_temp = autotune_temp_chamber; break; + #endif + default: tune_temp = autotune_temp[hid]; break; + } + sprintf_P(cmd, PSTR("M303 U1 E%i S%i"), hid, tune_temp); queue.inject(cmd); ui.return_to_status(); } @@ -225,7 +232,7 @@ void menu_backlash(); #if ENABLED(PID_AUTOTUNE_MENU) #define DEFINE_PIDTEMP_FUNCS(N) \ _DEFINE_PIDTEMP_BASE_FUNCS(N); \ - void lcd_autotune_callback_E##N() { _lcd_autotune(N); } + void lcd_autotune_callback_E##N() { _lcd_autotune(heater_id_t(N)); } #else #define DEFINE_PIDTEMP_FUNCS(N) _DEFINE_PIDTEMP_BASE_FUNCS(N); #endif @@ -269,56 +276,70 @@ void menu_backlash(); // #if ENABLED(PID_EDIT_MENU) - #define __PID_BASE_MENU_ITEMS(N) \ - raw_Ki = unscalePID_i(TERN(PID_BED_MENU_SECTION, thermalManager.temp_bed.pid.Ki, PID_PARAM(Ki, N))); \ - raw_Kd = unscalePID_d(TERN(PID_BED_MENU_SECTION, thermalManager.temp_bed.pid.Kd, PID_PARAM(Kd, N))); \ - EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_P_E, &TERN(PID_BED_MENU_SECTION, thermalManager.temp_bed.pid.Kp, PID_PARAM(Kp, N)), 1, 9990); \ + #define _PID_EDIT_ITEMS_TMPL(N,T) \ + raw_Ki = unscalePID_i(T.pid.Ki); \ + raw_Kd = unscalePID_d(T.pid.Kd); \ + EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_P_E, &T.pid.Kp, 1, 9990); \ + EDIT_ITEM_FAST_N(float52sign, N, MSG_PID_I_E, &raw_Ki, 0.01f, 9990, []{ copy_and_scalePID_i(N); }); \ + EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_D_E, &raw_Kd, 1, 9990, []{ copy_and_scalePID_d(N); }) + + #define __PID_HOTEND_MENU_ITEMS(N) \ + raw_Ki = unscalePID_i(PID_PARAM(Ki, N)); \ + raw_Kd = unscalePID_d(PID_PARAM(Kd, N)); \ + EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_P_E, &PID_PARAM(Kp, N), 1, 9990); \ EDIT_ITEM_FAST_N(float52sign, N, MSG_PID_I_E, &raw_Ki, 0.01f, 9990, []{ copy_and_scalePID_i(N); }); \ EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_D_E, &raw_Kd, 1, 9990, []{ copy_and_scalePID_d(N); }) #if ENABLED(PID_EXTRUSION_SCALING) - #define _PID_BASE_MENU_ITEMS(N) \ - __PID_BASE_MENU_ITEMS(N); \ + #define _PID_HOTEND_MENU_ITEMS(N) \ + __PID_HOTEND_MENU_ITEMS(N); \ EDIT_ITEM_N(float4, N, MSG_PID_C_E, &PID_PARAM(Kc, N), 1, 9990) #else - #define _PID_BASE_MENU_ITEMS(N) __PID_BASE_MENU_ITEMS(N) + #define _PID_HOTEND_MENU_ITEMS(N) __PID_HOTEND_MENU_ITEMS(N) #endif #if ENABLED(PID_FAN_SCALING) - #define _PID_EDIT_MENU_ITEMS(N) \ - _PID_BASE_MENU_ITEMS(N); \ + #define _HOTEND_PID_EDIT_MENU_ITEMS(N) \ + _PID_HOTEND_MENU_ITEMS(N); \ EDIT_ITEM_N(float4, N, MSG_PID_F_E, &PID_PARAM(Kf, N), 1, 9990) #else - #define _PID_EDIT_MENU_ITEMS(N) _PID_BASE_MENU_ITEMS(N) + #define _HOTEND_PID_EDIT_MENU_ITEMS(N) _PID_HOTEND_MENU_ITEMS(N) #endif #else - #define _PID_EDIT_MENU_ITEMS(N) NOOP + #define _HOTEND_PID_EDIT_MENU_ITEMS(N) NOOP #endif #if ENABLED(PID_AUTOTUNE_MENU) - #define PID_EDIT_MENU_ITEMS(N) \ - _PID_EDIT_MENU_ITEMS(N); \ - EDIT_ITEM_FAST_N(int3, N, MSG_PID_AUTOTUNE_E, &autotune_temp[N], 150, thermalManager.heater_maxtemp[N] - HOTEND_OVERSHOOT, []{ _lcd_autotune(MenuItemBase::itemIndex); }); + #define HOTEND_PID_EDIT_MENU_ITEMS(N) \ + _HOTEND_PID_EDIT_MENU_ITEMS(N); \ + EDIT_ITEM_FAST_N(int3, N, MSG_PID_AUTOTUNE_E, &autotune_temp[N], 150, thermalManager.heater_maxtemp[N] - HOTEND_OVERSHOOT, []{ _lcd_autotune(heater_id_t(MenuItemBase::itemIndex)); }); #else - #define PID_EDIT_MENU_ITEMS(N) _PID_EDIT_MENU_ITEMS(N); + #define HOTEND_PID_EDIT_MENU_ITEMS(N) _HOTEND_PID_EDIT_MENU_ITEMS(N); #endif - PID_EDIT_MENU_ITEMS(0); + HOTEND_PID_EDIT_MENU_ITEMS(0); #if ENABLED(PID_PARAMS_PER_HOTEND) - REPEAT_S(1, HOTENDS, PID_EDIT_MENU_ITEMS) + REPEAT_S(1, HOTENDS, HOTEND_PID_EDIT_MENU_ITEMS) #endif #if ENABLED(PIDTEMPBED) #if ENABLED(PID_EDIT_MENU) - #define PID_BED_MENU_SECTION - __PID_BASE_MENU_ITEMS(-1); - #undef PID_BED_MENU_SECTION + _PID_EDIT_ITEMS_TMPL(H_BED, thermalManager.temp_bed); #endif #if ENABLED(PID_AUTOTUNE_MENU) - EDIT_ITEM_FAST_N(int3, -1, MSG_PID_AUTOTUNE_E, &autotune_temp_bed, PREHEAT_1_TEMP_BED, BED_MAX_TARGET, []{ _lcd_autotune(-1); }); + EDIT_ITEM_FAST_N(int3, H_BED, MSG_PID_AUTOTUNE_E, &autotune_temp_bed, PREHEAT_1_TEMP_BED, BED_MAX_TARGET, []{ _lcd_autotune(H_BED); }); + #endif + #endif + + #if ENABLED(PIDTEMPCHAMBER) + #if ENABLED(PID_EDIT_MENU) + _PID_EDIT_ITEMS_TMPL(H_CHAMBER, thermalManager.temp_chamber); + #endif + #if ENABLED(PID_AUTOTUNE_MENU) + EDIT_ITEM_FAST_N(int3, H_CHAMBER, MSG_PID_AUTOTUNE_E, &autotune_temp_chamber, PREHEAT_1_TEMP_CHAMBER, CHAMBER_MAX_TARGET, []{ _lcd_autotune(H_CHAMBER); }); #endif #endif diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp index 7fb378191e..f4b4bf0b8b 100644 --- a/Marlin/src/module/settings.cpp +++ b/Marlin/src/module/settings.cpp @@ -318,6 +318,11 @@ typedef struct SettingsDataStruct { // PID_t bedPID; // M304 PID / M303 E-1 U + // + // PIDTEMPCHAMBER + // + PID_t chamberPID; // M309 PID / M303 E-2 U + // // User-defined Thermistors // @@ -926,6 +931,25 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(bed_pid); } + // + // PIDTEMPCHAMBER + // + { + _FIELD_TEST(chamberPID); + + const PID_t chamber_pid = { + #if DISABLED(PIDTEMPCHAMBER) + NAN, NAN, NAN + #else + // Store the unscaled PID values + thermalManager.temp_chamber.pid.Kp, + unscalePID_i(thermalManager.temp_chamber.pid.Ki), + unscalePID_d(thermalManager.temp_chamber.pid.Kd) + #endif + }; + EEPROM_WRITE(chamber_pid); + } + // // User-defined Thermistors // @@ -1787,6 +1811,22 @@ void MarlinSettings::postprocess() { #endif } + // + // Heated Chamber PID + // + { + PID_t pid; + EEPROM_READ(pid); + #if ENABLED(PIDTEMPCHAMBER) + if (!validating && !isnan(pid.Kp)) { + // Scale PID values since EEPROM values are unscaled + thermalManager.temp_chamber.pid.Kp = pid.Kp; + thermalManager.temp_chamber.pid.Ki = scalePID_i(pid.Ki); + thermalManager.temp_chamber.pid.Kd = scalePID_d(pid.Kd); + } + #endif + } + // // User-defined Thermistors // @@ -2811,6 +2851,16 @@ void MarlinSettings::reset() { thermalManager.temp_bed.pid.Kd = scalePID_d(DEFAULT_bedKd); #endif + // + // Heated Chamber PID + // + + #if ENABLED(PIDTEMPCHAMBER) + thermalManager.temp_chamber.pid.Kp = DEFAULT_chamberKp; + thermalManager.temp_chamber.pid.Ki = scalePID_i(DEFAULT_chamberKi); + thermalManager.temp_chamber.pid.Kd = scalePID_d(DEFAULT_chamberKd); + #endif + // // User-Defined Thermistors // @@ -3386,7 +3436,16 @@ void MarlinSettings::reset() { ); #endif - #endif // PIDTEMP || PIDTEMPBED + #if ENABLED(PIDTEMPCHAMBER) + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR( + " M309 P", thermalManager.temp_chamber.pid.Kp + , " I", unscalePID_i(thermalManager.temp_chamber.pid.Ki) + , " D", unscalePID_d(thermalManager.temp_chamber.pid.Kd) + ); + #endif + + #endif // PIDTEMP || PIDTEMPBED || PIDTEMPCHAMBER #if HAS_USER_THERMISTORS CONFIG_ECHO_HEADING("User thermistors:"); diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp index edd76df3b7..58b0a965c9 100644 --- a/Marlin/src/module/temperature.cpp +++ b/Marlin/src/module/temperature.cpp @@ -371,10 +371,8 @@ const char str_t_thermal_runaway[] PROGMEM = STR_T_THERMAL_RUNAWAY, #ifdef CHAMBER_MAXTEMP int16_t Temperature::maxtemp_raw_CHAMBER = TEMP_SENSOR_CHAMBER_RAW_HI_TEMP; #endif - #if WATCH_CHAMBER - chamber_watch_t Temperature::watch_chamber{0}; - #endif - millis_t Temperature::next_chamber_check_ms; + TERN_(WATCH_CHAMBER, chamber_watch_t Temperature::watch_chamber{0}); + IF_DISABLED(PIDTEMPCHAMBER, millis_t Temperature::next_chamber_check_ms); #endif // HAS_HEATED_CHAMBER #endif // HAS_TEMP_CHAMBER @@ -382,11 +380,6 @@ const char str_t_thermal_runaway[] PROGMEM = STR_T_THERMAL_RUNAWAY, probe_info_t Temperature::temp_probe; // = { 0 } #endif -// Initialized by settings.load() -#if ENABLED(PIDTEMP) - //hotend_pid_t Temperature::pid[HOTENDS]; -#endif - #if ENABLED(PREVENT_COLD_EXTRUSION) bool Temperature::allow_cold_extrude = false; int16_t Temperature::extrude_min_temp = EXTRUDE_MINTEMP; @@ -485,41 +478,44 @@ volatile bool Temperature::raw_temps_ready = false; millis_t next_temp_ms = millis(), t1 = next_temp_ms, t2 = next_temp_ms; long t_high = 0, t_low = 0; - long bias, d; PID_t tune_pid = { 0, 0, 0 }; float maxT = 0, minT = 10000; const bool isbed = (heater_id == H_BED); + const bool ischamber = (heater_id == H_CHAMBER); - #if HAS_PID_FOR_BOTH - #define GHV(B,H) (isbed ? (B) : (H)) - #define SHV(B,H) do{ if (isbed) temp_bed.soft_pwm_amount = B; else temp_hotend[heater_id].soft_pwm_amount = H; }while(0) - #define ONHEATINGSTART() (isbed ? printerEventLEDs.onBedHeatingStart() : printerEventLEDs.onHotendHeatingStart()) - #define ONHEATING(S,C,T) (isbed ? printerEventLEDs.onBedHeating(S,C,T) : printerEventLEDs.onHotendHeating(S,C,T)) - #elif ENABLED(PIDTEMPBED) - #define GHV(B,H) B - #define SHV(B,H) (temp_bed.soft_pwm_amount = B) - #define ONHEATINGSTART() printerEventLEDs.onBedHeatingStart() - #define ONHEATING(S,C,T) printerEventLEDs.onBedHeating(S,C,T) + #if ENABLED(PIDTEMPCHAMBER) + #define C_TERN(T,A,B) ((T) ? (A) : (B)) #else - #define GHV(B,H) H - #define SHV(B,H) (temp_hotend[heater_id].soft_pwm_amount = H) - #define ONHEATINGSTART() printerEventLEDs.onHotendHeatingStart() - #define ONHEATING(S,C,T) printerEventLEDs.onHotendHeating(S,C,T) + #define C_TERN(T,A,B) (B) #endif - #define WATCH_PID BOTH(WATCH_BED, PIDTEMPBED) || BOTH(WATCH_HOTENDS, PIDTEMP) + #if ENABLED(PIDTEMPBED) + #define B_TERN(T,A,B) ((T) ? (A) : (B)) + #else + #define B_TERN(T,A,B) (B) + #endif + #define GHV(C,B,H) C_TERN(ischamber, C, B_TERN(isbed, B, H)) + #define SHV(V) C_TERN(ischamber, temp_chamber.soft_pwm_amount = V, B_TERN(isbed, temp_bed.soft_pwm_amount = V, temp_hotend[heater_id].soft_pwm_amount = V)) + #define ONHEATINGSTART() C_TERN(ischamber, printerEventLEDs.onChamberHeatingStart(), B_TERN(isbed, printerEventLEDs.onBedHeatingStart(), printerEventLEDs.onHotendHeatingStart())) + #define ONHEATING(S,C,T) C_TERN(ischamber, printerEventLEDs.onChamberHeating(S,C,T), B_TERN(isbed, printerEventLEDs.onBedHeating(S,C,T), printerEventLEDs.onHotendHeating(S,C,T))) + + #define WATCH_PID BOTH(WATCH_CHAMBER, PIDTEMPCHAMBER) || BOTH(WATCH_BED, PIDTEMPBED) || BOTH(WATCH_HOTENDS, PIDTEMP) #if WATCH_PID - #if ALL(THERMAL_PROTECTION_HOTENDS, PIDTEMP, THERMAL_PROTECTION_BED, PIDTEMPBED) - #define GTV(B,H) (isbed ? (B) : (H)) - #elif BOTH(THERMAL_PROTECTION_HOTENDS, PIDTEMP) - #define GTV(B,H) (H) + #if BOTH(THERMAL_PROTECTION_CHAMBER, PIDTEMPCHAMBER) + #define C_GTV(T,A,B) ((T) ? (A) : (B)) #else - #define GTV(B,H) (B) + #define C_GTV(T,A,B) (B) #endif - const uint16_t watch_temp_period = GTV(WATCH_BED_TEMP_PERIOD, WATCH_TEMP_PERIOD); - const uint8_t watch_temp_increase = GTV(WATCH_BED_TEMP_INCREASE, WATCH_TEMP_INCREASE); - const float watch_temp_target = target - float(watch_temp_increase + GTV(TEMP_BED_HYSTERESIS, TEMP_HYSTERESIS) + 1); + #if BOTH(THERMAL_PROTECTION_BED, PIDTEMPBED) + #define B_GTV(T,A,B) ((T) ? (A) : (B)) + #else + #define B_GTV(T,A,B) (B) + #endif + #define GTV(C,B,H) C_GTV(ischamber, C, B_GTV(isbed, B, H)) + const uint16_t watch_temp_period = GTV(WATCH_CHAMBER_TEMP_PERIOD, WATCH_BED_TEMP_PERIOD, WATCH_TEMP_PERIOD); + const uint8_t watch_temp_increase = GTV(WATCH_CHAMBER_TEMP_INCREASE, WATCH_BED_TEMP_INCREASE, WATCH_TEMP_INCREASE); + const float watch_temp_target = target - float(watch_temp_increase + GTV(TEMP_CHAMBER_HYSTERESIS, TEMP_BED_HYSTERESIS, TEMP_HYSTERESIS) + 1); millis_t temp_change_ms = next_temp_ms + SEC_TO_MS(watch_temp_period); float next_watch_temp = 0.0; bool heated = false; @@ -527,7 +523,7 @@ volatile bool Temperature::raw_temps_ready = false; TERN_(HAS_AUTO_FAN, next_auto_fan_check_ms = next_temp_ms + 2500UL); - if (target > GHV(BED_MAX_TARGET, temp_range[heater_id].maxtemp - HOTEND_OVERSHOOT)) { + if (target > GHV(CHAMBER_MAX_TARGET, BED_MAX_TARGET, temp_range[heater_id].maxtemp - HOTEND_OVERSHOOT)) { SERIAL_ECHOLNPGM(STR_PID_TEMP_TOO_HIGH); TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_TEMP_TOO_HIGH)); return; @@ -538,10 +534,11 @@ volatile bool Temperature::raw_temps_ready = false; disable_all_heaters(); TERN_(AUTO_POWER_CONTROL, powerManager.power_on()); - SHV(bias = d = (MAX_BED_POWER) >> 1, bias = d = (PID_MAX) >> 1); + long bias = GHV(MAX_CHAMBER_POWER, MAX_BED_POWER, PID_MAX) >> 1, d = bias; + SHV(bias); #if ENABLED(PRINTER_EVENT_LEDS) - const float start_temp = GHV(temp_bed.celsius, temp_hotend[heater_id].celsius); + const float start_temp = GHV(temp_chamber.celsius, temp_bed.celsius, temp_hotend[heater_id].celsius); LEDColor color = ONHEATINGSTART(); #endif @@ -557,7 +554,7 @@ volatile bool Temperature::raw_temps_ready = false; updateTemperaturesFromRawValues(); // Get the current temperature and constrain it - current_temp = GHV(temp_bed.celsius, temp_hotend[heater_id].celsius); + current_temp = GHV(temp_chamber.celsius, temp_bed.celsius, temp_hotend[heater_id].celsius); NOLESS(maxT, current_temp); NOMORE(minT, current_temp); @@ -572,67 +569,46 @@ volatile bool Temperature::raw_temps_ready = false; } #endif - if (heating && current_temp > target) { - if (ELAPSED(ms, t2 + 5000UL)) { - heating = false; - SHV((bias - d) >> 1, (bias - d) >> 1); - t1 = ms; - t_high = t1 - t2; - maxT = target; - } + if (heating && current_temp > target && ELAPSED(ms, t2 + 5000UL)) { + heating = false; + SHV((bias - d) >> 1); + t1 = ms; + t_high = t1 - t2; + maxT = target; } - if (!heating && current_temp < target) { - if (ELAPSED(ms, t1 + 5000UL)) { - heating = true; - t2 = ms; - t_low = t2 - t1; - if (cycles > 0) { - const long max_pow = GHV(MAX_BED_POWER, PID_MAX); - bias += (d * (t_high - t_low)) / (t_low + t_high); - LIMIT(bias, 20, max_pow - 20); - d = (bias > max_pow >> 1) ? max_pow - 1 - bias : bias; + if (!heating && current_temp < target && ELAPSED(ms, t1 + 5000UL)) { + heating = true; + t2 = ms; + t_low = t2 - t1; + if (cycles > 0) { + const long max_pow = GHV(MAX_CHAMBER_POWER, MAX_BED_POWER, PID_MAX); + bias += (d * (t_high - t_low)) / (t_low + t_high); + LIMIT(bias, 20, max_pow - 20); + d = (bias > max_pow >> 1) ? max_pow - 1 - bias : bias; - SERIAL_ECHOPAIR(STR_BIAS, bias, STR_D_COLON, d, STR_T_MIN, minT, STR_T_MAX, maxT); - if (cycles > 2) { - const float Ku = (4.0f * d) / (float(M_PI) * (maxT - minT) * 0.5f), - Tu = float(t_low + t_high) * 0.001f, - pf = isbed ? 0.2f : 0.6f, - df = isbed ? 1.0f / 3.0f : 1.0f / 8.0f; + SERIAL_ECHOPAIR(STR_BIAS, bias, STR_D_COLON, d, STR_T_MIN, minT, STR_T_MAX, maxT); + if (cycles > 2) { + const float Ku = (4.0f * d) / (float(M_PI) * (maxT - minT) * 0.5f), + Tu = float(t_low + t_high) * 0.001f, + pf = ischamber ? 0.2f : (isbed ? 0.2f : 0.6f), + df = ischamber ? 1.0f / 3.0f : (isbed ? 1.0f / 3.0f : 1.0f / 8.0f); - SERIAL_ECHOPAIR(STR_KU, Ku, STR_TU, Tu); - if (isbed) { // Do not remove this otherwise PID autotune won't work right for the bed! - tune_pid.Kp = Ku * 0.2f; - tune_pid.Ki = 2 * tune_pid.Kp / Tu; - tune_pid.Kd = tune_pid.Kp * Tu / 3; - SERIAL_ECHOLNPGM("\n" " No overshoot"); // Works far better for the bed. Classic and some have bad ringing. - SERIAL_ECHOLNPAIR(STR_KP, tune_pid.Kp, STR_KI, tune_pid.Ki, STR_KD, tune_pid.Kd); - } - else { - tune_pid.Kp = Ku * pf; - tune_pid.Kd = tune_pid.Kp * Tu * df; - tune_pid.Ki = 2 * tune_pid.Kp / Tu; - SERIAL_ECHOLNPGM("\n" STR_CLASSIC_PID); - SERIAL_ECHOLNPAIR(STR_KP, tune_pid.Kp, STR_KI, tune_pid.Ki, STR_KD, tune_pid.Kd); - } + tune_pid.Kp = Ku * pf; + tune_pid.Ki = tune_pid.Kp * 2.0f / Tu; + tune_pid.Kd = tune_pid.Kp * Tu * df; - /** - tune_pid.Kp = 0.33 * Ku; - tune_pid.Ki = tune_pid.Kp / Tu; - tune_pid.Kd = tune_pid.Kp * Tu / 3; - SERIAL_ECHOLNPGM(" Some overshoot"); - SERIAL_ECHOLNPAIR(" Kp: ", tune_pid.Kp, " Ki: ", tune_pid.Ki, " Kd: ", tune_pid.Kd, " No overshoot"); - tune_pid.Kp = 0.2 * Ku; - tune_pid.Ki = 2 * tune_pid.Kp / Tu; - tune_pid.Kd = tune_pid.Kp * Tu / 3; - SERIAL_ECHOPAIR(" Kp: ", tune_pid.Kp, " Ki: ", tune_pid.Ki, " Kd: ", tune_pid.Kd); - */ - } + SERIAL_ECHOLNPAIR(STR_KU, Ku, STR_TU, Tu); + if (ischamber || isbed) + SERIAL_ECHOLNPGM(" No overshoot"); + else + SERIAL_ECHOLNPGM(STR_CLASSIC_PID); + SERIAL_ECHOLNPAIR(STR_KP, tune_pid.Kp, STR_KI, tune_pid.Ki, STR_KD, tune_pid.Kd); } - SHV((bias + d) >> 1, (bias + d) >> 1); - cycles++; - minT = target; } + SHV((bias + d) >> 1); + cycles++; + minT = target; } } @@ -649,14 +625,14 @@ volatile bool Temperature::raw_temps_ready = false; // Report heater states every 2 seconds if (ELAPSED(ms, next_temp_ms)) { #if HAS_TEMP_SENSOR - print_heater_states(isbed ? active_extruder : heater_id); + print_heater_states(ischamber ? active_extruder : (isbed ? active_extruder : heater_id)); SERIAL_EOL(); #endif next_temp_ms = ms + 2000UL; // Make sure heating is actually working #if WATCH_PID - if (BOTH(WATCH_BED, WATCH_HOTENDS) || isbed == DISABLED(WATCH_HOTENDS)) { + if (BOTH(WATCH_BED, WATCH_HOTENDS) || isbed == DISABLED(WATCH_HOTENDS) || ischamber == DISABLED(WATCH_HOTENDS)) { if (!heated) { // If not yet reached target... if (current_temp > next_watch_temp) { // Over the watch temp? next_watch_temp = current_temp + watch_temp_increase; // - set the next temp to watch for @@ -686,43 +662,47 @@ volatile bool Temperature::raw_temps_ready = false; if (cycles > ncycles && cycles > 2) { SERIAL_ECHOLNPGM(STR_PID_AUTOTUNE_FINISHED); - #if HAS_PID_FOR_BOTH - const char * const estring = GHV(PSTR("bed"), NUL_STR); + #if EITHER(PIDTEMPBED, PIDTEMPCHAMBER) + PGM_P const estring = GHV(PSTR("chamber"), PSTR("bed"), NUL_STR); say_default_(); serialprintPGM(estring); SERIAL_ECHOLNPAIR("Kp ", tune_pid.Kp); say_default_(); serialprintPGM(estring); SERIAL_ECHOLNPAIR("Ki ", tune_pid.Ki); say_default_(); serialprintPGM(estring); SERIAL_ECHOLNPAIR("Kd ", tune_pid.Kd); - #elif ENABLED(PIDTEMP) + #else say_default_(); SERIAL_ECHOLNPAIR("Kp ", tune_pid.Kp); say_default_(); SERIAL_ECHOLNPAIR("Ki ", tune_pid.Ki); say_default_(); SERIAL_ECHOLNPAIR("Kd ", tune_pid.Kd); - #else - say_default_(); SERIAL_ECHOLNPAIR("bedKp ", tune_pid.Kp); - say_default_(); SERIAL_ECHOLNPAIR("bedKi ", tune_pid.Ki); - say_default_(); SERIAL_ECHOLNPAIR("bedKd ", tune_pid.Kd); #endif - #define _SET_BED_PID() do { \ - temp_bed.pid.Kp = tune_pid.Kp; \ - temp_bed.pid.Ki = scalePID_i(tune_pid.Ki); \ - temp_bed.pid.Kd = scalePID_d(tune_pid.Kd); \ - }while(0) + auto _set_hotend_pid = [](const uint8_t e, const PID_t &in_pid) { + #if ENABLED(PIDTEMP) + PID_PARAM(Kp, e) = in_pid.Kp; + PID_PARAM(Ki, e) = scalePID_i(in_pid.Ki); + PID_PARAM(Kd, e) = scalePID_d(in_pid.Kd); + updatePID(); + #else + UNUSED(e); UNUSED(in_pid); + #endif + }; - #define _SET_EXTRUDER_PID() do { \ - PID_PARAM(Kp, heater_id) = tune_pid.Kp; \ - PID_PARAM(Ki, heater_id) = scalePID_i(tune_pid.Ki); \ - PID_PARAM(Kd, heater_id) = scalePID_d(tune_pid.Kd); \ - updatePID(); }while(0) + #if ENABLED(PIDTEMPBED) + auto _set_bed_pid = [](const PID_t &in_pid) { + temp_bed.pid.Kp = in_pid.Kp; + temp_bed.pid.Ki = scalePID_i(in_pid.Ki); + temp_bed.pid.Kd = scalePID_d(in_pid.Kd); + }; + #endif + + #if ENABLED(PIDTEMPCHAMBER) + auto _set_chamber_pid = [](const PID_t &in_pid) { + temp_chamber.pid.Kp = in_pid.Kp; + temp_chamber.pid.Ki = scalePID_i(in_pid.Ki); + temp_chamber.pid.Kd = scalePID_d(in_pid.Kd); + }; + #endif // Use the result? (As with "M303 U1") - if (set_result) { - #if HAS_PID_FOR_BOTH - if (isbed) _SET_BED_PID(); else _SET_EXTRUDER_PID(); - #elif ENABLED(PIDTEMP) - _SET_EXTRUDER_PID(); - #else - _SET_BED_PID(); - #endif - } + if (set_result) + GHV(_set_chamber_pid(tune_pid), _set_bed_pid(tune_pid), _set_hotend_pid(heater_id, tune_pid)); TERN_(PRINTER_EVENT_LEDS, printerEventLEDs.onPidTuningDone(color)); @@ -939,10 +919,11 @@ void Temperature::min_temp_error(const heater_id_t heater_id) { _temp_error(heater_id, PSTR(STR_T_MINTEMP), GET_TEXT(MSG_ERR_MINTEMP)); } +#if ANY(PID_DEBUG, PID_BED_DEBUG, PID_CHAMBER_DEBUG) + bool Temperature::pid_debug_flag; // = 0 +#endif + #if HAS_HOTEND - #if ENABLED(PID_DEBUG) - extern bool pid_debug_flag; - #endif float Temperature::get_pid_output_hotend(const uint8_t E_NAME) { const uint8_t ee = HOTEND_INDEX; @@ -1023,23 +1004,18 @@ void Temperature::min_temp_error(const heater_id_t heater_id) { #if ENABLED(PID_DEBUG) if (ee == active_extruder && pid_debug_flag) { - SERIAL_ECHO_START(); - SERIAL_ECHOPAIR(STR_PID_DEBUG, ee, STR_PID_DEBUG_INPUT, temp_hotend[ee].celsius, STR_PID_DEBUG_OUTPUT, pid_output); - #if DISABLED(PID_OPENLOOP) - { - SERIAL_ECHOPAIR( - STR_PID_DEBUG_PTERM, work_pid[ee].Kp, - STR_PID_DEBUG_ITERM, work_pid[ee].Ki, - STR_PID_DEBUG_DTERM, work_pid[ee].Kd + SERIAL_ECHO_MSG(STR_PID_DEBUG, ee, STR_PID_DEBUG_INPUT, temp_hotend[ee].celsius, STR_PID_DEBUG_OUTPUT, pid_output + #if DISABLED(PID_OPENLOOP) + , STR_PID_DEBUG_PTERM, work_pid[ee].Kp + , STR_PID_DEBUG_ITERM, work_pid[ee].Ki + , STR_PID_DEBUG_DTERM, work_pid[ee].Kd #if ENABLED(PID_EXTRUSION_SCALING) , STR_PID_DEBUG_CTERM, work_pid[ee].Kc #endif - ); - } - #endif - SERIAL_EOL(); + #endif + ); } - #endif // PID_DEBUG + #endif #else // No PID enabled @@ -1099,13 +1075,76 @@ void Temperature::min_temp_error(const heater_id_t heater_id) { #endif // PID_OPENLOOP #if ENABLED(PID_BED_DEBUG) + if (pid_debug_flag) { + SERIAL_ECHO_MSG( + " PID_BED_DEBUG : Input ", temp_bed.celsius, " Output ", pid_output + #if DISABLED(PID_OPENLOOP) + , STR_PID_DEBUG_PTERM, work_pid.Kp + , STR_PID_DEBUG_ITERM, work_pid.Ki + , STR_PID_DEBUG_DTERM, work_pid.Kd + #endif + ); + } + #endif + + return pid_output; + } + +#endif // PIDTEMPBED + +#if ENABLED(PIDTEMPCHAMBER) + + float Temperature::get_pid_output_chamber() { + + #if DISABLED(PID_OPENLOOP) + + static PID_t work_pid{0}; + static float temp_iState = 0, temp_dState = 0; + static bool pid_reset = true; + float pid_output = 0; + const float max_power_over_i_gain = float(MAX_CHAMBER_POWER) / temp_chamber.pid.Ki - float(MIN_CHAMBER_POWER), + pid_error = temp_chamber.target - temp_chamber.celsius; + + if (!temp_chamber.target || pid_error < -(PID_FUNCTIONAL_RANGE)) { + pid_output = 0; + pid_reset = true; + } + else if (pid_error > PID_FUNCTIONAL_RANGE) { + pid_output = MAX_CHAMBER_POWER; + pid_reset = true; + } + else { + if (pid_reset) { + temp_iState = 0.0; + work_pid.Kd = 0.0; + pid_reset = false; + } + + temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain); + + work_pid.Kp = temp_chamber.pid.Kp * pid_error; + work_pid.Ki = temp_chamber.pid.Ki * temp_iState; + work_pid.Kd = work_pid.Kd + PID_K2 * (temp_chamber.pid.Kd * (temp_dState - temp_chamber.celsius) - work_pid.Kd); + + temp_dState = temp_chamber.celsius; + + pid_output = constrain(work_pid.Kp + work_pid.Ki + work_pid.Kd + float(MIN_CHAMBER_POWER), 0, MAX_CHAMBER_POWER); + } + + #else // PID_OPENLOOP + + const float pid_output = constrain(temp_chamber.target, 0, MAX_CHAMBER_POWER); + + #endif // PID_OPENLOOP + + #if ENABLED(PID_CHAMBER_DEBUG) { SERIAL_ECHO_MSG( - " PID_BED_DEBUG : Input ", temp_bed.celsius, " Output ", pid_output, + " PID_CHAMBER_DEBUG : Input ", temp_chamber.celsius, " Output ", pid_output #if DISABLED(PID_OPENLOOP) - STR_PID_DEBUG_PTERM, work_pid.Kp, - STR_PID_DEBUG_ITERM, work_pid.Ki, - STR_PID_DEBUG_DTERM, work_pid.Kd, + , STR_PID_DEBUG_PTERM, work_pid.Kp + , STR_PID_DEBUG_ITERM, work_pid.Ki + , STR_PID_DEBUG_DTERM, work_pid.Kd #endif ); } @@ -1114,7 +1153,7 @@ void Temperature::min_temp_error(const heater_id_t heater_id) { return pid_output; } -#endif // PIDTEMPBED +#endif // PIDTEMPCHAMBER /** * Manage heating activities for extruder hot-ends and a heated bed @@ -1363,42 +1402,47 @@ void Temperature::manage_heater() { } #endif + + + + #if ENABLED(PIDTEMPCHAMBER) + // PIDTEMPCHAMBER doens't support a CHAMBER_VENT yet. + temp_chamber.soft_pwm_amount = WITHIN(temp_chamber.celsius, CHAMBER_MINTEMP, CHAMBER_MAXTEMP) ? (int)get_pid_output_chamber() >> 1 : 0; + #else if (ELAPSED(ms, next_chamber_check_ms)) { next_chamber_check_ms = ms + CHAMBER_CHECK_INTERVAL; if (WITHIN(temp_chamber.celsius, CHAMBER_MINTEMP, CHAMBER_MAXTEMP)) { - if (flag_chamber_excess_heat) { - temp_chamber.soft_pwm_amount = 0; - #if ENABLED(CHAMBER_VENT) - if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, temp_chamber.celsius <= temp_chamber.target ? 0 : 90); - #endif + if (flag_chamber_excess_heat) { + temp_chamber.soft_pwm_amount = 0; + #if ENABLED(CHAMBER_VENT) + if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, temp_chamber.celsius <= temp_chamber.target ? 0 : 90); + #endif + } + else { + #if ENABLED(CHAMBER_LIMIT_SWITCHING) + if (temp_chamber.celsius >= temp_chamber.target + TEMP_CHAMBER_HYSTERESIS) + temp_chamber.soft_pwm_amount = 0; + else if (temp_chamber.celsius <= temp_chamber.target - (TEMP_CHAMBER_HYSTERESIS)) + temp_chamber.soft_pwm_amount = (MAX_CHAMBER_POWER) >> 1; + #else + temp_chamber.soft_pwm_amount = temp_chamber.celsius < temp_chamber.target ? (MAX_CHAMBER_POWER) >> 1 : 0; + #endif + #if ENABLED(CHAMBER_VENT) + if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 0); + #endif + } } else { - #if ENABLED(CHAMBER_LIMIT_SWITCHING) - if (temp_chamber.celsius >= temp_chamber.target + TEMP_CHAMBER_HYSTERESIS) - temp_chamber.soft_pwm_amount = 0; - else if (temp_chamber.celsius <= temp_chamber.target - (TEMP_CHAMBER_HYSTERESIS)) - temp_chamber.soft_pwm_amount = (MAX_CHAMBER_POWER) >> 1; - #else - temp_chamber.soft_pwm_amount = temp_chamber.celsius < temp_chamber.target ? (MAX_CHAMBER_POWER) >> 1 : 0; - #endif - #if ENABLED(CHAMBER_VENT) - if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 0); - #endif + temp_chamber.soft_pwm_amount = 0; + WRITE_HEATER_CHAMBER(LOW); } - } - else { - temp_chamber.soft_pwm_amount = 0; - WRITE_HEATER_CHAMBER(LOW); - } - #if ENABLED(THERMAL_PROTECTION_CHAMBER) - tr_state_machine[RUNAWAY_IND_CHAMBER].run(temp_chamber.celsius, temp_chamber.target, H_CHAMBER, THERMAL_PROTECTION_CHAMBER_PERIOD, THERMAL_PROTECTION_CHAMBER_HYSTERESIS); - #endif - } - - // TODO: Implement true PID pwm - //temp_bed.soft_pwm_amount = WITHIN(temp_chamber.celsius, CHAMBER_MINTEMP, CHAMBER_MAXTEMP) ? (int)get_pid_output_chamber() >> 1 : 0; + } + #if ENABLED(THERMAL_PROTECTION_CHAMBER) + tr_state_machine[RUNAWAY_IND_CHAMBER].run(temp_chamber.celsius, temp_chamber.target, H_CHAMBER, THERMAL_PROTECTION_CHAMBER_PERIOD, THERMAL_PROTECTION_CHAMBER_HYSTERESIS); + #endif + #endif #endif // HAS_HEATED_CHAMBER diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h index 75da232874..1019c10fad 100644 --- a/Marlin/src/module/temperature.h +++ b/Marlin/src/module/temperature.h @@ -210,7 +210,11 @@ struct PIDHeaterInfo : public HeaterInfo { typedef temp_info_t probe_info_t; #endif #if HAS_HEATED_CHAMBER - typedef heater_info_t chamber_info_t; + #if ENABLED(PIDTEMPCHAMBER) + typedef struct PIDHeaterInfo chamber_info_t; + #else + typedef heater_info_t chamber_info_t; + #endif #elif HAS_TEMP_CHAMBER typedef temp_info_t chamber_info_t; #endif @@ -415,7 +419,7 @@ class Temperature { #if HAS_HEATED_CHAMBER TERN_(WATCH_CHAMBER, static chamber_watch_t watch_chamber); - static millis_t next_chamber_check_ms; + TERN(PIDTEMPCHAMBER,,static millis_t next_chamber_check_ms); #ifdef CHAMBER_MINTEMP static int16_t mintemp_raw_CHAMBER; #endif @@ -751,6 +755,11 @@ class Temperature { * Perform auto-tuning for hotend or bed in response to M303 */ #if HAS_PID_HEATING + + #if ANY(PID_DEBUG, PID_BED_DEBUG, PID_CHAMBER_DEBUG) + static bool pid_debug_flag; + #endif + static void PID_autotune(const float &target, const heater_id_t heater_id, const int8_t ncycles, const bool set_result=false); #if ENABLED(NO_FAN_SLOWING_IN_PID_TUNING) @@ -826,11 +835,9 @@ class Temperature { static void checkExtruderAutoFans(); - static float get_pid_output_hotend(const uint8_t e); - - TERN_(PIDTEMPBED, static float get_pid_output_bed()); - - TERN_(HAS_HEATED_CHAMBER, static float get_pid_output_chamber()); + TERN_(HAS_HOTEND, static float get_pid_output_hotend(const uint8_t e)); + TERN_(PIDTEMPBED, static float get_pid_output_bed()); + TERN_(PIDTEMPCHAMBER, static float get_pid_output_chamber()); static void _temp_error(const heater_id_t e, PGM_P const serial_msg, PGM_P const lcd_msg); static void min_temp_error(const heater_id_t e); From d5b06624fb2b14b57a9621d7b86caf9f1c5dbfb9 Mon Sep 17 00:00:00 2001 From: Victor Oliveira Date: Wed, 24 Feb 2021 21:36:55 -0300 Subject: [PATCH 08/34] Fix MKS Robin Nano V3 I2C pins (#21174) --- .../share/PlatformIO/variants/MARLIN_F4x7Vx/variant.h | 8 ++++++-- platformio.ini | 4 +++- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/buildroot/share/PlatformIO/variants/MARLIN_F4x7Vx/variant.h b/buildroot/share/PlatformIO/variants/MARLIN_F4x7Vx/variant.h index b53ad32d0f..94fa79c065 100644 --- a/buildroot/share/PlatformIO/variants/MARLIN_F4x7Vx/variant.h +++ b/buildroot/share/PlatformIO/variants/MARLIN_F4x7Vx/variant.h @@ -143,8 +143,12 @@ extern "C" { #define PIN_SPI_SCK PA5 // I2C definitions -#define PIN_WIRE_SDA PB9 -#define PIN_WIRE_SCL PB8 +#ifndef PIN_WIRE_SDA + #define PIN_WIRE_SDA PB9 +#endif +#ifndef PIN_WIRE_SCL + #define PIN_WIRE_SCL PB8 +#endif // Timer Definitions // Use TIM6/TIM7 when possible as servo and tone don't need GPIO output pin diff --git a/platformio.ini b/platformio.ini index dd8a396849..d2ed8a4a5a 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1486,7 +1486,7 @@ extra_scripts = ${common.extra_scripts} [env:mks_robin_nano_v3] platform = ${common_stm32.platform} extends = common_stm32 -build_flags = ${common_stm32.build_flags} -DHAL_PCD_MODULE_ENABLED -DUSBCON -DUSBD_USE_CDC +build_flags = ${common_stm32.build_flags} -DHAL_PCD_MODULE_ENABLED -DUSBCON -DUSBD_USE_CDC -DPIN_WIRE_SCL=PB6 -DPIN_WIRE_SDA=PB7 board = genericSTM32F407VGT6 board_build.core = stm32 board_build.variant = MARLIN_F4x7Vx @@ -1509,6 +1509,7 @@ extra_scripts = ${common.extra_scripts} extends = env:mks_robin_nano_v3 platform_packages = ${stm32_flash_drive.platform_packages} build_flags = ${stm32_flash_drive.build_flags} + -DPIN_WIRE_SCL=PB6 -DPIN_WIRE_SDA=PB7 -DUSBCON -DUSE_USBHOST_HS -DUSBD_IRQ_PRIO=5 @@ -1525,6 +1526,7 @@ extends = env:mks_robin_nano_v3 platform_packages = framework-arduinoststm32@https://github.com/rhapsodyv/Arduino_Core_STM32/archive/usb-host-msc-cdc-msc.zip build_unflags = ${common_stm32.build_unflags} -DUSBD_USE_CDC build_flags = ${stm32_flash_drive.build_flags} + -DPIN_WIRE_SCL=PB6 -DPIN_WIRE_SDA=PB7 -DUSBCON -DUSE_USBHOST_HS -DUSBD_IRQ_PRIO=5 From 13c4eef63752387b1a90b0b0c3834bcf276a5ac8 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 25 Feb 2021 00:56:15 -0600 Subject: [PATCH 09/34] Expose more env builds in PlatformIO extension --- Marlin/src/pins/pins.h | 2 +- platformio.ini | 21 ++++++++++++++++----- 2 files changed, 17 insertions(+), 6 deletions(-) diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h index 62545037da..f5b80fd4d0 100644 --- a/Marlin/src/pins/pins.h +++ b/Marlin/src/pins/pins.h @@ -603,7 +603,7 @@ #elif MB(MKS_ROBIN_PRO_V2) #include "stm32f4/pins_MKS_ROBIN_PRO_V2.h" // STM32F4 env:mks_robin_pro2 #elif MB(MKS_ROBIN_NANO_V3) - #include "stm32f4/pins_MKS_ROBIN_NANO_V3.h" // STM32F4 env:mks_robin_nano_v3 env:mks_robin_nano_v3_usb_flash_drive + #include "stm32f4/pins_MKS_ROBIN_NANO_V3.h" // STM32F4 env:mks_robin_nano_v3 env:mks_robin_nano_v3_usb_flash_drive env:mks_robin_nano_v3_usb_flash_drive_msc #elif MB(ANET_ET4) #include "stm32f4/pins_ANET_ET4.h" // STM32F4 env:Anet_ET4_OpenBLT #elif MB(ANET_ET4P) diff --git a/platformio.ini b/platformio.ini index d2ed8a4a5a..5b2e5cd3bd 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1376,6 +1376,7 @@ build_unflags = ${common_stm32.build_unflags} -DUSBCON -DUSBD_USE_CDC -DUS # Lerdge X # [env:LERDGEX] +platform = ${lerdge_common.platform} extends = lerdge_common board_build.firmware = Lerdge_X_firmware_force.bin @@ -1383,6 +1384,7 @@ board_build.firmware = Lerdge_X_firmware_force.bin # Lerdge X with USB Flash Drive Support # [env:LERDGEX_usb_flash_drive] +platform = ${LERDGEX.platform} extends = LERDGEX platform_packages = ${stm32_flash_drive.platform_packages} build_flags = ${stm32_flash_drive.build_flags} @@ -1391,6 +1393,7 @@ build_flags = ${stm32_flash_drive.build_flags} # Lerdge S # [env:LERDGES] +platform = ${lerdge_common.platform} extends = lerdge_common board_build.firmware = Lerdge_firmware_force.bin @@ -1398,6 +1401,7 @@ board_build.firmware = Lerdge_firmware_force.bin # Lerdge S with USB Flash Drive Support # [env:LERDGES_usb_flash_drive] +platform = ${LERDGES.platform} extends = LERDGES platform_packages = ${stm32_flash_drive.platform_packages} build_flags = ${stm32_flash_drive.build_flags} @@ -1406,6 +1410,7 @@ build_flags = ${stm32_flash_drive.build_flags} # Lerdge K # [env:LERDGEK] +platform = ${lerdge_common.platform} extends = lerdge_common board_build.firmware = Lerdge_K_firmware_force.bin build_flags = ${lerdge_common.build_flags} @@ -1415,6 +1420,7 @@ build_flags = ${lerdge_common.build_flags} # Lerdge K with USB Flash Drive Support # [env:LERDGEK_usb_flash_drive] +platform = ${LERDGEK.platform} extends = LERDGEK platform_packages = ${stm32_flash_drive.platform_packages} build_flags = ${stm32_flash_drive.build_flags} @@ -1480,13 +1486,19 @@ extra_scripts = ${common.extra_scripts} pre:buildroot/share/PlatformIO/scripts/generic_create_variant.py buildroot/share/PlatformIO/scripts/stm32_bootloader.py +# +# This SPI is used by Robin Nano V3 +# +[stm32f4_I2C1] +build_flags = -DPIN_WIRE_SCL=PB6 -DPIN_WIRE_SDA=PB7 + # # MKS Robin Nano V3 # [env:mks_robin_nano_v3] platform = ${common_stm32.platform} extends = common_stm32 -build_flags = ${common_stm32.build_flags} -DHAL_PCD_MODULE_ENABLED -DUSBCON -DUSBD_USE_CDC -DPIN_WIRE_SCL=PB6 -DPIN_WIRE_SDA=PB7 +build_flags = ${common_stm32.build_flags} ${stm32f4_I2C1.build_flags} -DHAL_PCD_MODULE_ENABLED -DUSBCON -DUSBD_USE_CDC board = genericSTM32F407VGT6 board_build.core = stm32 board_build.variant = MARLIN_F4x7Vx @@ -1508,8 +1520,7 @@ extra_scripts = ${common.extra_scripts} [env:mks_robin_nano_v3_usb_flash_drive] extends = env:mks_robin_nano_v3 platform_packages = ${stm32_flash_drive.platform_packages} -build_flags = ${stm32_flash_drive.build_flags} - -DPIN_WIRE_SCL=PB6 -DPIN_WIRE_SDA=PB7 +build_flags = ${stm32_flash_drive.build_flags} ${stm32f4_I2C1.build_flags} -DUSBCON -DUSE_USBHOST_HS -DUSBD_IRQ_PRIO=5 @@ -1522,11 +1533,11 @@ build_flags = ${stm32_flash_drive.build_flags} # Currently, using a STM32duino fork, until USB Host and USB Device MSC get merged # [env:mks_robin_nano_v3_usb_flash_drive_msc] +platform = ${common_stm32.platform} extends = env:mks_robin_nano_v3 platform_packages = framework-arduinoststm32@https://github.com/rhapsodyv/Arduino_Core_STM32/archive/usb-host-msc-cdc-msc.zip build_unflags = ${common_stm32.build_unflags} -DUSBD_USE_CDC -build_flags = ${stm32_flash_drive.build_flags} - -DPIN_WIRE_SCL=PB6 -DPIN_WIRE_SDA=PB7 +build_flags = ${stm32_flash_drive.build_flags} ${stm32f4_I2C1.build_flags} -DUSBCON -DUSE_USBHOST_HS -DUSBD_IRQ_PRIO=5 From f003e52009ba649f95463a115253d6dadcf361e6 Mon Sep 17 00:00:00 2001 From: X-Ryl669 Date: Thu, 25 Feb 2021 08:23:29 +0100 Subject: [PATCH 10/34] Combined LPC / Serial fixes (#21178) Co-authored-by: Scott Lahteine --- Marlin/src/HAL/DUE/MarlinSerialUSB.cpp | 11 ++-- Marlin/src/HAL/DUE/MarlinSerialUSB.h | 2 +- Marlin/src/HAL/LPC1768/MarlinSerial.cpp | 42 ++++++++++--- Marlin/src/HAL/LPC1768/MarlinSerial.h | 16 +++-- Marlin/src/HAL/LPC1768/usb_serial.cpp | 4 +- Marlin/src/HAL/shared/Delay.cpp | 4 +- Marlin/src/core/serial.h | 1 - Marlin/src/core/serial_base.h | 2 +- Marlin/src/core/serial_hook.h | 80 +++++++++++++------------ Marlin/src/gcode/queue.cpp | 40 ++++++------- docs/Serial.md | 17 +++++- 11 files changed, 132 insertions(+), 87 deletions(-) diff --git a/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp b/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp index a04993ca35..fca677c798 100644 --- a/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp +++ b/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp @@ -92,12 +92,11 @@ int MarlinSerialUSB::read() { return c; } -bool MarlinSerialUSB::available() { - /* If Pending chars */ - return pending_char >= 0 || - /* or USB CDC enumerated and configured on the PC side and some - bytes where sent to us */ - (usb_task_cdc_isenabled() && udi_cdc_is_rx_ready()); +int MarlinSerialUSB::available() { + if (pending_char > 0) return pending_char; + return pending_char == 0 || + // or USB CDC enumerated and configured on the PC side and some bytes where sent to us */ + (usb_task_cdc_isenabled() && udi_cdc_is_rx_ready()); } void MarlinSerialUSB::flush() { } diff --git a/Marlin/src/HAL/DUE/MarlinSerialUSB.h b/Marlin/src/HAL/DUE/MarlinSerialUSB.h index 5281a006b1..f9cea29869 100644 --- a/Marlin/src/HAL/DUE/MarlinSerialUSB.h +++ b/Marlin/src/HAL/DUE/MarlinSerialUSB.h @@ -39,7 +39,7 @@ struct MarlinSerialUSB { int peek(); int read(); void flush(); - bool available(); + int available(); size_t write(const uint8_t c); #if ENABLED(SERIAL_STATS_DROPPED_RX) diff --git a/Marlin/src/HAL/LPC1768/MarlinSerial.cpp b/Marlin/src/HAL/LPC1768/MarlinSerial.cpp index c636a40a12..b0dfc0ae90 100644 --- a/Marlin/src/HAL/LPC1768/MarlinSerial.cpp +++ b/Marlin/src/HAL/LPC1768/MarlinSerial.cpp @@ -25,20 +25,46 @@ #include "MarlinSerial.h" #if ANY_SERIAL_IS(0) - MSerialT MSerial(true, LPC_UART0); - extern "C" void UART0_IRQHandler() { MSerial.IRQHandler(); } + MarlinSerial _MSerial(LPC_UART0); + MSerialT MSerial(true, _MSerial); + extern "C" void UART0_IRQHandler() { _MSerial.IRQHandler(); } #endif #if ANY_SERIAL_IS(1) - MSerialT MSerial1(true, (LPC_UART_TypeDef *) LPC_UART1); - extern "C" void UART1_IRQHandler() { MSerial1.IRQHandler(); } + MarlinSerial _MSerial1((LPC_UART_TypeDef *) LPC_UART1); + MSerialT MSerial1(true, _MSerial1); + extern "C" void UART1_IRQHandler() { _MSerial1.IRQHandler(); } #endif #if ANY_SERIAL_IS(2) - MSerialT MSerial2(true, LPC_UART2); - extern "C" void UART2_IRQHandler() { MSerial2.IRQHandler(); } + MarlinSerial _MSerial2(LPC_UART2); + MSerialT MSerial2(true, _MSerial2); + extern "C" void UART2_IRQHandler() { _MSerial2.IRQHandler(); } #endif #if ANY_SERIAL_IS(3) - MSerialT MSerial3(true, LPC_UART3); - extern "C" void UART3_IRQHandler() { MSerial3.IRQHandler(); } + MarlinSerial _MSerial3(LPC_UART3); + MSerialT MSerial3(true, _MSerial3); + extern "C" void UART3_IRQHandler() { _MSerial3.IRQHandler(); } +#endif + +#if ENABLED(EMERGENCY_PARSER) + + bool MarlinSerial::recv_callback(const char c) { + // Need to figure out which serial port we are and react in consequence (Marlin does not have CONTAINER_OF macro) + if (false) {} + #if ANY_SERIAL_IS(0) + else if (this == &_MSerial) emergency_parser.update(MSerial.emergency_state, c); + #endif + #if ANY_SERIAL_IS(1) + else if (this == &_MSerial1) emergency_parser.update(MSerial1.emergency_state, c); + #endif + #if ANY_SERIAL_IS(2) + else if (this == &_MSerial2) emergency_parser.update(MSerial2.emergency_state, c); + #endif + #if ANY_SERIAL_IS(3) + else if (this == &_MSerial3) emergency_parser.update(MSerial3.emergency_state, c); + #endif + return true; + } + #endif #endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/MarlinSerial.h b/Marlin/src/HAL/LPC1768/MarlinSerial.h index de0f62f006..35c9362b9f 100644 --- a/Marlin/src/HAL/LPC1768/MarlinSerial.h +++ b/Marlin/src/HAL/LPC1768/MarlinSerial.h @@ -47,15 +47,21 @@ public: void end() {} #if ENABLED(EMERGENCY_PARSER) - bool recv_callback(const char c) override { - emergency_parser.update(static_cast *>(this)->emergency_state, c); - return true; // do not discard character - } + bool recv_callback(const char c) override; #endif }; -typedef Serial0Type MSerialT; +// On LPC176x framework, HardwareSerial does not implement the same interface as Arduino's Serial, so overloads +// of 'available' and 'read' method are not used in this multiple inheritance scenario. +// Instead, use a ForwardSerial here that adapts the interface. +typedef ForwardSerial0Type MSerialT; extern MSerialT MSerial; extern MSerialT MSerial1; extern MSerialT MSerial2; extern MSerialT MSerial3; + +// Consequently, we can't use a RuntimeSerial either. The workaround would be to use a RuntimeSerial> type here +// Right now, let's ignore this until it's actually required. +#if ENABLED(SERIAL_RUNTIME_HOOK) + #error "SERIAL_RUNTIME_HOOK is not yet supported for LPC176x." +#endif diff --git a/Marlin/src/HAL/LPC1768/usb_serial.cpp b/Marlin/src/HAL/LPC1768/usb_serial.cpp index d225ce4188..3c1fce54f9 100644 --- a/Marlin/src/HAL/LPC1768/usb_serial.cpp +++ b/Marlin/src/HAL/LPC1768/usb_serial.cpp @@ -29,8 +29,8 @@ EmergencyParser::State emergency_state; -bool CDC_RecvCallback(const char buffer) { - emergency_parser.update(emergency_state, buffer); +bool CDC_RecvCallback(const char c) { + emergency_parser.update(emergency_state, c); return true; } diff --git a/Marlin/src/HAL/shared/Delay.cpp b/Marlin/src/HAL/shared/Delay.cpp index 8ff5a88c63..8a021a2155 100644 --- a/Marlin/src/HAL/shared/Delay.cpp +++ b/Marlin/src/HAL/shared/Delay.cpp @@ -51,7 +51,7 @@ // Use hardware cycle counter instead, it's much safer void delay_dwt(uint32_t count) { // Reuse the ASM_CYCLES_PER_ITERATION variable to avoid wasting another useless variable - register uint32_t start = HW_REG(_DWT_CYCCNT) - ASM_CYCLES_PER_ITERATION, elapsed; + uint32_t start = HW_REG(_DWT_CYCCNT) - ASM_CYCLES_PER_ITERATION, elapsed; do { elapsed = HW_REG(_DWT_CYCCNT) - start; } while (elapsed < count); @@ -114,7 +114,7 @@ serialprintPGM(unit); SERIAL_ECHOLNPAIR(" took: ", total); serialprintPGM(unit); - if (do_flush) SERIAL_FLUSH(); + if (do_flush) SERIAL_FLUSHTX(); }; uint32_t s, e; diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h index 0fe8435789..f5c02f50b6 100644 --- a/Marlin/src/core/serial.h +++ b/Marlin/src/core/serial.h @@ -58,7 +58,6 @@ extern uint8_t marlin_debug_flags; // // Serial redirection // -typedef int8_t serial_index_t; #define SERIAL_ALL 0x7F #if HAS_MULTI_SERIAL #define _PORT_REDIRECT(n,p) REMEMBER(n,multiSerial.portMask,p) diff --git a/Marlin/src/core/serial_base.h b/Marlin/src/core/serial_base.h index 83b03cc7b6..418bb557e7 100644 --- a/Marlin/src/core/serial_base.h +++ b/Marlin/src/core/serial_base.h @@ -79,7 +79,7 @@ struct SerialBase { void end() { static_cast(this)->end(); } /** Check for available data from the port @param index The port index, usually 0 */ - bool available(uint8_t index = 0) { return static_cast(this)->available(index); } + int available(uint8_t index = 0) { return static_cast(this)->available(index); } /** Read a value from the port @param index The port index, usually 0 */ int read(uint8_t index = 0) { return static_cast(this)->read(index); } diff --git a/Marlin/src/core/serial_hook.h b/Marlin/src/core/serial_hook.h index ad8ec12b6e..afd43892c7 100644 --- a/Marlin/src/core/serial_hook.h +++ b/Marlin/src/core/serial_hook.h @@ -24,6 +24,9 @@ #include "macros.h" #include "serial_base.h" +// Used in multiple places +typedef int8_t serial_index_t; + // The most basic serial class: it dispatch to the base serial class with no hook whatsoever. This will compile to nothing but the base serial class template struct BaseSerial : public SerialBase< BaseSerial >, public SerialT { @@ -35,10 +38,11 @@ struct BaseSerial : public SerialBase< BaseSerial >, public SerialT { void msgDone() {} - bool available(uint8_t index) { return index == 0 && SerialT::available(); } - int read(uint8_t index) { return index == 0 ? SerialT::read() : -1; } - bool connected() { return CALL_IF_EXISTS(bool, static_cast(this), connected);; } - void flushTX() { CALL_IF_EXISTS(void, static_cast(this), flushTX); } + // We don't care about indices here, since if one can call us, it's the right index anyway + int available(uint8_t) { return (int)SerialT::available(); } + int read(uint8_t) { return (int)SerialT::read(); } + bool connected() { return CALL_IF_EXISTS(bool, static_cast(this), connected);; } + void flushTX() { CALL_IF_EXISTS(void, static_cast(this), flushTX); } // We have 2 implementation of the same method in both base class, let's say which one we want using SerialT::available; @@ -65,18 +69,19 @@ struct ConditionalSerial : public SerialBase< ConditionalSerial > { bool & condition; SerialT & out; NO_INLINE size_t write(uint8_t c) { if (condition) return out.write(c); return 0; } - void flush() { if (condition) out.flush(); } - void begin(long br) { out.begin(br); } - void end() { out.end(); } + void flush() { if (condition) out.flush(); } + void begin(long br) { out.begin(br); } + void end() { out.end(); } void msgDone() {} - bool connected() { return CALL_IF_EXISTS(bool, &out, connected); } - void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); } + bool connected() { return CALL_IF_EXISTS(bool, &out, connected); } + void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); } + + int available(uint8_t ) { return (int)out.available(); } + int read(uint8_t ) { return (int)out.read(); } + int available() { return (int)out.available(); } + int read() { return (int)out.read(); } - bool available(uint8_t index) { return index == 0 && out.available(); } - int read(uint8_t index) { return index == 0 ? out.read() : -1; } - using BaseClassT::available; - using BaseClassT::read; ConditionalSerial(bool & conditionVariable, SerialT & out, const bool e) : BaseClassT(e), condition(conditionVariable), out(out) {} }; @@ -97,10 +102,10 @@ struct ForwardSerial : public SerialBase< ForwardSerial > { bool connected() { return Private::HasMember_connected::value ? CALL_IF_EXISTS(bool, &out, connected) : (bool)out; } void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); } - bool available(uint8_t index) { return index == 0 && out.available(); } - int read(uint8_t index) { return index == 0 ? out.read() : -1; } - bool available() { return out.available(); } - int read() { return out.read(); } + int available(uint8_t) { return (int)out.available(); } + int read(uint8_t) { return (int)out.read(); } + int available() { return (int)out.available(); } + int read() { return (int)out.read(); } ForwardSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {} }; @@ -125,8 +130,8 @@ struct RuntimeSerial : public SerialBase< RuntimeSerial >, public Seria if (eofHook) eofHook(userPointer); } - bool available(uint8_t index) { return index == 0 && SerialT::available(); } - int read(uint8_t index) { return index == 0 ? SerialT::read() : -1; } + int available(uint8_t) { return (int)SerialT::available(); } + int read(uint8_t) { return (int)SerialT::read(); } using SerialT::available; using SerialT::read; using SerialT::flush; @@ -157,21 +162,22 @@ struct RuntimeSerial : public SerialBase< RuntimeSerial >, public Seria // Forward constructor template - RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...) {} + RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...), writeHook(0), eofHook(0), userPointer(0) {} }; // A class that's duplicating its output conditionally to 2 serial interface -template -struct MultiSerial : public SerialBase< MultiSerial > { - typedef SerialBase< MultiSerial > BaseClassT; +template +struct MultiSerial : public SerialBase< MultiSerial > { + typedef SerialBase< MultiSerial > BaseClassT; uint8_t portMask; Serial0T & serial0; Serial1T & serial1; enum Masks { - FirstOutputMask = (1 << offset), - SecondOutputMask = (1 << (offset + 1)), + UsageMask = ((1 << step) - 1), // A bit mask containing as many bits as step + FirstOutputMask = (UsageMask << offset), + SecondOutputMask = (UsageMask << (offset + step)), AllMask = FirstOutputMask | SecondOutputMask, }; @@ -185,19 +191,19 @@ struct MultiSerial : public SerialBase< MultiSerial if (portMask & FirstOutputMask) serial0.msgDone(); if (portMask & SecondOutputMask) serial1.msgDone(); } - bool available(uint8_t index) { - switch(index) { - case 0 + offset: return serial0.available(); - case 1 + offset: return serial1.available(); - default: return false; - } + int available(uint8_t index) { + if (index >= 0 + offset && index < step + offset) + return serial0.available(index); + else if (index >= step + offset && index < 2 * step + offset) + return serial1.available(index); + return false; } - NO_INLINE int read(uint8_t index) { - switch(index) { - case 0 + offset: return serial0.read(); - case 1 + offset: return serial1.read(); - default: return -1; - } + int read(uint8_t index) { + if (index >= 0 + offset && index < step + offset) + return serial0.read(index); + else if (index >= step + offset && index < 2 * step + offset) + return serial1.read(index); + return -1; } void begin(const long br) { if (portMask & FirstOutputMask) serial0.begin(br); diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp index c49247912c..8c9e9afdc1 100644 --- a/Marlin/src/gcode/queue.cpp +++ b/Marlin/src/gcode/queue.cpp @@ -63,6 +63,10 @@ GCodeQueue queue; // Frequently used G-code strings PGMSTR(G28_STR, "G28"); +#if NO_TIMEOUTS > 0 + static millis_t last_command_time = 0; +#endif + /** * GCode line number handling. Hosts may opt to include line numbers when * sending commands to Marlin, and lines will be checked for sequentiality. @@ -288,6 +292,10 @@ void GCodeQueue::enqueue_now_P(PGM_P const pgcode) { * B Block queue space remaining */ void GCodeQueue::ok_to_send() { + #if NO_TIMEOUTS > 0 + // Start counting from the last command's execution + last_command_time = millis(); + #endif #if HAS_MULTI_SERIAL const serial_index_t serial_ind = command_port(); if (serial_ind < 0) return; @@ -324,28 +332,19 @@ void GCodeQueue::flush_and_request_resend() { ok_to_send(); } -inline bool serial_data_available() { - byte data_available = 0; - if (MYSERIAL0.available()) data_available++; - #ifdef SERIAL_PORT_2 - const bool port2_open = TERN1(HAS_ETHERNET, ethernet.have_telnet_client); - if (port2_open && MYSERIAL1.available()) data_available++; - #endif - return data_available > 0; + +// Multiserial already handle the dispatch to/from multiple port by itself +inline bool serial_data_available(uint8_t index = SERIAL_ALL) { + if (index == SERIAL_ALL) { + for (index = 0; index < NUM_SERIAL; index++) { + if (SERIAL_IMPL.available(index) > 0) return true; + } + return false; + } + return SERIAL_IMPL.available(index) > 0; } -inline int read_serial(const uint8_t index) { - switch (index) { - case 0: return MYSERIAL0.read(); - case 1: { - #if HAS_MULTI_SERIAL - const bool port2_open = TERN1(HAS_ETHERNET, ethernet.have_telnet_client); - if (port2_open) return MYSERIAL1.read(); - #endif - } - default: return -1; - } -} +inline int read_serial(const uint8_t index) { return SERIAL_IMPL.read(index); } void GCodeQueue::gcode_line_error(PGM_P const err, const serial_index_t serial_ind) { PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); // Reply to the serial port that sent the command @@ -460,7 +459,6 @@ void GCodeQueue::get_serial_commands() { // If the command buffer is empty for too long, // send "wait" to indicate Marlin is still waiting. #if NO_TIMEOUTS > 0 - static millis_t last_command_time = 0; const millis_t ms = millis(); if (length == 0 && !serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) { SERIAL_ECHOLNPGM(STR_WAIT); diff --git a/docs/Serial.md b/docs/Serial.md index 0db8175b3d..b4079d765f 100644 --- a/docs/Serial.md +++ b/docs/Serial.md @@ -30,14 +30,25 @@ In the `Marlin/src/core/serial_hook.h` file, the different serial feature are de Since all the types above are using CRTP, it's possible to combine them to get the appropriate functionality. This is easily done via type definition of the feature. -For example, to present a serial interface that's outputting to 2 serial port, the first one being hooked at runtime and the second one connected to a runtime switchable telnet client, you'll declare the type to use as: +For example, to create a single serial interface with 2 serial outputs (one enabled at runtime and the other switchable): ```cpp typedef MultiSerial< RuntimeSerial, ConditionalSerial > Serial0Type; ``` +To send the same output to 4 serial ports you could nest `MultiSerial` like this: +```cpp +typedef MultiSerial< MultiSerial< BaseSerial, BaseSerial >, MultiSerial< BaseSerial, BaseSerial, 2, 1>, 0, 2> Serial0Type; +``` +The magical numbers here are the step and offset for computing the serial port. Simplifying the above monster a bit: +```cpp +MS< A = MS, B=MS, offset=0, step=2> +``` +This means that the underlying multiserial A (with output to `a,b`) is available from offset = 0 to offset + step = 1 (default value). +The multiserial B (with output to `c,d`) is available from offset = 2 (the next step from the root multiserial) to offset + step = 3. +In practice, the root multiserial will redirect any index/mask `offset` to `offset + step - 1` to its first leaf, and any index/mask `offset + step` to `offset + 2*step - 1` to its second leaf. + ## Emergency parser -By default, the serial base interface provide an emergency parser that's only enable for serial classes that support it. -Because of this condition, all underlying type takes a first `bool emergencyParserEnabled` argument to their constructor. You must take into account this parameter when defining the actual type used. +By default, the serial base interface provide an emergency parser that's only enable for serial classes that support it. Because of this condition, all underlying types take a first `bool emergencyParserEnabled` argument to their constructor. You must take into account this parameter when defining the actual type used. ## SERIAL macros The following macros are defined (in `serial.h`) to output data to the serial ports: From 0cc03f912cf0a7f0923bdcf8ee6981e03da15fde Mon Sep 17 00:00:00 2001 From: X-Ryl669 Date: Thu, 25 Feb 2021 08:26:56 +0100 Subject: [PATCH 11/34] Let libmaple accept RX/TX_BUFFER_SIZE (#21177) --- .../PlatformIO/scripts/fix_framework_weakness.py | 12 ++++++++++++ platformio.ini | 12 ++++++------ 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/buildroot/share/PlatformIO/scripts/fix_framework_weakness.py b/buildroot/share/PlatformIO/scripts/fix_framework_weakness.py index 94076cfbab..4944c0003b 100644 --- a/buildroot/share/PlatformIO/scripts/fix_framework_weakness.py +++ b/buildroot/share/PlatformIO/scripts/fix_framework_weakness.py @@ -27,3 +27,15 @@ if env.MarlinFeatureIsEnabled("POSTMORTEM_DEBUGGING"): print("Done patching exception handler") print("Libmaple modified and ready for post mortem debugging") + +rxBuf = env["MARLIN_FEATURES"]["RX_BUFFER_SIZE"] if "RX_BUFFER_SIZE" in env["MARLIN_FEATURES"] else "0" +txBuf = env["MARLIN_FEATURES"]["TX_BUFFER_SIZE"] if "TX_BUFFER_SIZE" in env["MARLIN_FEATURES"] else "0" +if int(rxBuf) < 64: + rxBuf = "64" + +if int(txBuf) < 64: + txBuf = "64" + +build_flags = env.get('BUILD_FLAGS') +build_flags.append("-DUSART_RX_BUF_SIZE=" + rxBuf + " -DUSART_TX_BUF_SIZE=" + txBuf) +env.Replace(BUILD_FLAGS=build_flags) diff --git a/platformio.ini b/platformio.ini index 5b2e5cd3bd..fab20018d9 100644 --- a/platformio.ini +++ b/platformio.ini @@ -753,7 +753,7 @@ lib_deps = ${common.lib_deps} SoftwareSerialM platform_packages = tool-stm32duino extra_scripts = ${common.extra_scripts} - buildroot/share/PlatformIO/scripts/fix_framework_weakness.py + pre:buildroot/share/PlatformIO/scripts/fix_framework_weakness.py # # STM32F103RC @@ -795,7 +795,7 @@ upload_protocol = dfu [env:STM32F103RC_fysetc] platform = ${common_stm32f1.platform} extends = env:STM32F103RC -extra_scripts = ${common.extra_scripts} +extra_scripts = ${common_stm32f1.extra_scripts} buildroot/share/PlatformIO/scripts/STM32F103RC_fysetc.py build_flags = ${common_stm32f1.build_flags} -DDEBUG_LEVEL=0 lib_ldf_mode = chain @@ -819,7 +819,7 @@ upload_protocol = serial [env:STM32F103RC_btt] platform = ${common_stm32f1.platform} extends = env:STM32F103RC -extra_scripts = ${common.extra_scripts} +extra_scripts = ${common_stm32f1.extra_scripts} buildroot/share/PlatformIO/scripts/STM32F103RC_SKR_MINI.py build_flags = ${common_stm32f1.build_flags} -DDEBUG_LEVEL=0 -DSS_TIMER=4 @@ -861,7 +861,7 @@ monitor_speed = 115200 [env:STM32F103RE_btt] platform = ${common_stm32f1.platform} extends = env:STM32F103RE -extra_scripts = ${common.extra_scripts} +extra_scripts = ${common_stm32f1.extra_scripts} buildroot/share/PlatformIO/scripts/STM32F103RE_SKR_E3_DIP.py build_flags = ${common_stm32f1.build_flags} -DDEBUG_LEVEL=0 -DSS_TIMER=4 debug_tool = stlink @@ -951,7 +951,7 @@ build_flags = ${common_stm32f1.build_flags} platform = ${common_stm32f1.platform} extends = common_stm32f1 board = genericSTM32F103VE -extra_scripts = ${common.extra_scripts} +extra_scripts = ${common_stm32f1.extra_scripts} buildroot/share/PlatformIO/scripts/mks_robin_nano35.py build_flags = ${common_stm32f1.build_flags} -DMCU_STM32F103VE -DSS_TIMER=4 @@ -1019,7 +1019,7 @@ platform = ${common_stm32f1.platform} extends = common_stm32f1 board = genericSTM32F103RC platform_packages = tool-stm32duino -extra_scripts = ${common.extra_scripts} +extra_scripts = ${common_stm32f1.extra_scripts} buildroot/share/PlatformIO/scripts/mks_robin_e3.py build_flags = ${common_stm32f1.build_flags} -DDEBUG_LEVEL=0 -DSS_TIMER=4 From 73e354b7a02d1a88bd1a97a484be2744353a7e83 Mon Sep 17 00:00:00 2001 From: Nick Date: Thu, 25 Feb 2021 07:38:01 +0000 Subject: [PATCH 12/34] Fix Anycubic Chiron TFT SD menu (#21183) --- Marlin/src/lcd/extui/lib/anycubic_chiron/FileNavigator.cpp | 2 +- Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Marlin/src/lcd/extui/lib/anycubic_chiron/FileNavigator.cpp b/Marlin/src/lcd/extui/lib/anycubic_chiron/FileNavigator.cpp index 19f8ec81bc..7d813a6ab0 100644 --- a/Marlin/src/lcd/extui/lib/anycubic_chiron/FileNavigator.cpp +++ b/Marlin/src/lcd/extui/lib/anycubic_chiron/FileNavigator.cpp @@ -114,7 +114,7 @@ namespace Anycubic { } else { // Logical Name - TFTSer.print("/"); + TFTSer.write('/'); if (folderdepth > 0) TFTSer.print(currentfoldername); TFTSer.println(filelist.shortFilename()); diff --git a/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp b/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp index c50de1c0a1..37f3c4e320 100644 --- a/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp +++ b/Marlin/src/lcd/extui/lib/anycubic_chiron/chiron_tft.cpp @@ -578,8 +578,8 @@ namespace Anycubic { case 15: // A15 Resuming from outage if (printer_state == AC_printer_resuming_from_power_outage) { // Need to home here to restore the Z position - injectCommands(AC_cmnd_power_loss_recovery); - injectCommands("M1000"); // home and start recovery + injectCommands_P(AC_cmnd_power_loss_recovery); + injectCommands_P(PSTR("M1000")); // home and start recovery } break; From 3061a31c92fd5c24172279d411c97587633adb64 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 25 Feb 2021 01:56:11 -0600 Subject: [PATCH 13/34] Update BLTOUCH_HS_MODE comment --- Marlin/Configuration_adv.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 50f17d1b9e..7ec81c6675 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -743,8 +743,8 @@ /** * Use "HIGH SPEED" mode for probing. * Danger: Disable if your probe sometimes fails. Only suitable for stable well-adjusted systems. - * This feature was designed for Delta's with very fast Z moves however higher speed cartesians may function - * If the machine cannot raise the probe fast enough after a trigger, it may enter a fault state. + * This feature was designed for Deltabots with very fast Z moves; however, higher speed Cartesians + * might be able to use it. If the machine can't raise Z fast enough the BLTouch may go into ALARM. */ //#define BLTOUCH_HS_MODE From d167af4c388df18601380a7edcd5bd6d221458c0 Mon Sep 17 00:00:00 2001 From: Tanguy Pruvot Date: Thu, 25 Feb 2021 11:35:18 +0100 Subject: [PATCH 14/34] Add BOARD_PREINIT (for Longer3D open drain pins) (#21159) --- Marlin/src/MarlinCore.cpp | 3 +++ Marlin/src/module/temperature.cpp | 6 +++--- Marlin/src/pins/stm32f1/pins_LONGER3D_LK.h | 13 +++++++++++-- 3 files changed, 17 insertions(+), 5 deletions(-) diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp index 8aa6cdd6c8..d523882d41 100644 --- a/Marlin/src/MarlinCore.cpp +++ b/Marlin/src/MarlinCore.cpp @@ -870,6 +870,9 @@ inline void tmc_standby_setup() { * • Max7219 */ void setup() { + #ifdef BOARD_PREINIT + BOARD_PREINIT(); // Low-level init (before serial init) + #endif tmc_standby_setup(); // TMC Low Power Standby pins must be set early or they're not usable diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp index 58b0a965c9..a220386b9e 100644 --- a/Marlin/src/module/temperature.cpp +++ b/Marlin/src/module/temperature.cpp @@ -1793,7 +1793,7 @@ void Temperature::updateTemperaturesFromRawValues() { #endif // Init fans according to whether they're native PWM or Software PWM -#ifdef ALFAWISE_UX0 +#ifdef BOARD_OPENDRAIN_MOSFETS #define _INIT_SOFT_FAN(P) OUT_WRITE_OD(P, FAN_INVERTING ? LOW : HIGH) #else #define _INIT_SOFT_FAN(P) OUT_WRITE(P, FAN_INVERTING ? LOW : HIGH) @@ -1886,7 +1886,7 @@ void Temperature::init() { #endif #if HAS_HEATER_0 - #ifdef ALFAWISE_UX0 + #ifdef BOARD_OPENDRAIN_MOSFETS OUT_WRITE_OD(HEATER_0_PIN, HEATER_0_INVERTING); #else OUT_WRITE(HEATER_0_PIN, HEATER_0_INVERTING); @@ -1916,7 +1916,7 @@ void Temperature::init() { #endif #if HAS_HEATED_BED - #ifdef ALFAWISE_UX0 + #ifdef BOARD_OPENDRAIN_MOSFETS OUT_WRITE_OD(HEATER_BED_PIN, HEATER_BED_INVERTING); #else OUT_WRITE(HEATER_BED_PIN, HEATER_BED_INVERTING); diff --git a/Marlin/src/pins/stm32f1/pins_LONGER3D_LK.h b/Marlin/src/pins/stm32f1/pins_LONGER3D_LK.h index 33f995dcae..fa708b248e 100644 --- a/Marlin/src/pins/stm32f1/pins_LONGER3D_LK.h +++ b/Marlin/src/pins/stm32f1/pins_LONGER3D_LK.h @@ -29,7 +29,6 @@ #endif #define BOARD_INFO_NAME "Longer3D" -#define ALFAWISE_UX0 // Common to all Longer3D STM32F1 boards (used for Open drain mosfets) #define BOARD_NO_NATIVE_USB @@ -92,10 +91,20 @@ #define FAN_MAX_PWM 255 //#define BEEPER_PIN PD13 // pin 60 (Servo PWM output 5V/GND on Board V0G+) made for BL-Touch sensor - // Can drive a PC Buzzer, if connected between PWM and 5V pins + // Can drive a PC Buzzer, if connected between PWM and 5V pins #define LED_PIN PC2 // pin 17 +// Longer3D board mosfets are passing by default +// Avoid nozzle heat and fan start before serial init +#define BOARD_OPENDRAIN_MOSFETS + +#define BOARD_PREINIT() { \ + OUT_WRITE_OD(HEATER_0_PIN, 0); \ + OUT_WRITE_OD(HEATER_BED_PIN, 0); \ + OUT_WRITE_OD(FAN_PIN, 0); \ +} + // // PWM for a servo probe // Other servo devices are not supported on this board! From 468e437390afdb1de7059e7f9049d0b30c312024 Mon Sep 17 00:00:00 2001 From: deirdreobyrne Date: Thu, 25 Feb 2021 10:49:34 +0000 Subject: [PATCH 15/34] Allow Zero Endstops (e.g., for CNC) (#21120) Co-authored-by: Scott Lahteine --- Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 4 +- Marlin/src/gcode/bedlevel/G26.cpp | 22 +- Marlin/src/gcode/calibrate/M48.cpp | 2 +- Marlin/src/inc/Conditionals_LCD.h | 7 + Marlin/src/inc/SanityCheck.h | 64 +- Marlin/src/libs/L64XX/L64XX_Marlin.cpp | 12 +- Marlin/src/module/motion.cpp | 1313 +++++++++---------- Marlin/src/module/motion.h | 69 +- Marlin/src/module/planner.h | 8 +- Marlin/src/module/probe.h | 8 +- buildroot/tests/teensy31-tests | 8 + 11 files changed, 778 insertions(+), 739 deletions(-) diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 9bd7f63a7e..6ceb571ee2 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -1118,8 +1118,8 @@ bool unified_bed_leveling::g29_parameter_parsing() { } // If X or Y are not valid, use center of the bed values - if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER; - if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER; + if (!COORDINATE_OKAY(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER; + if (!COORDINATE_OKAY(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER; if (err_flag) return UBL_ERR; diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp index 9e3cad34f2..ed29959055 100644 --- a/Marlin/src/gcode/bedlevel/G26.cpp +++ b/Marlin/src/gcode/bedlevel/G26.cpp @@ -319,9 +319,13 @@ inline bool look_for_lines_to_connect() { s.x = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge e.x = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge - LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1); - s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1); - LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1); + #if HAS_ENDSTOPS + LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1); + s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1); + LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1); + #else + s.y = e.y = _GET_MESH_Y(j); + #endif if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y)) print_line_from_here_to_there(s, e); @@ -339,9 +343,13 @@ inline bool look_for_lines_to_connect() { s.y = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge e.y = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge - s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1); - LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1); - LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1); + #if HAS_ENDSTOPS + s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1); + LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1); + LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1); + #else + s.x = e.x = _GET_MESH_X(i); + #endif if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y)) print_line_from_here_to_there(s, e); @@ -826,7 +834,7 @@ void GcodeSuite::G26() { #if IS_KINEMATIC // Check to make sure this segment is entirely on the bed, skip if not. if (!position_is_reachable(p) || !position_is_reachable(q)) continue; - #else + #elif HAS_ENDSTOPS LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1); LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1); diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp index 63d2370697..0c6176173c 100644 --- a/Marlin/src/gcode/calibrate/M48.cpp +++ b/Marlin/src/gcode/calibrate/M48.cpp @@ -202,7 +202,7 @@ void GcodeSuite::M48() { if (verbose_level > 3) SERIAL_ECHOLNPAIR_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y); } - #else + #elif HAS_ENDSTOPS // For a rectangular bed just keep the probe in bounds LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS); LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS); diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h index 7ac4fe4c31..cff1424eb3 100644 --- a/Marlin/src/inc/Conditionals_LCD.h +++ b/Marlin/src/inc/Conditionals_LCD.h @@ -1195,3 +1195,10 @@ #define TOUCH_ORIENTATION TOUCH_LANDSCAPE #endif #endif + +#if ANY(USE_XMIN_PLUG, USE_YMIN_PLUG, USE_ZMIN_PLUG, USE_XMAX_PLUG, USE_YMAX_PLUG, USE_ZMAX_PLUG) + #define HAS_ENDSTOPS 1 + #define COORDINATE_OKAY(N,L,H) WITHIN(N,L,H) +#else + #define COORDINATE_OKAY(N,L,H) true +#endif diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index ba69b4792e..d6d2a600a0 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -2016,39 +2016,41 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal && !(ENABLED(A##_MULTI_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) ) #define _AXIS_PLUG_UNUSED_TEST(A) (_PLUG_UNUSED_TEST(A,X) && _PLUG_UNUSED_TEST(A,Y) && _PLUG_UNUSED_TEST(A,Z)) -// At least 3 endstop plugs must be used -#if _AXIS_PLUG_UNUSED_TEST(X) - #error "You must enable USE_XMIN_PLUG or USE_XMAX_PLUG." -#endif -#if _AXIS_PLUG_UNUSED_TEST(Y) - #error "You must enable USE_YMIN_PLUG or USE_YMAX_PLUG." -#endif -#if _AXIS_PLUG_UNUSED_TEST(Z) - #error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG." -#endif - -// Delta and Cartesian use 3 homing endstops -#if NONE(IS_SCARA, SPI_ENDSTOPS) - #if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG) - #error "Enable USE_XMIN_PLUG when homing X to MIN." - #elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG) - #error "Enable USE_XMAX_PLUG when homing X to MAX." - #elif Y_HOME_DIR < 0 && DISABLED(USE_YMIN_PLUG) - #error "Enable USE_YMIN_PLUG when homing Y to MIN." - #elif Y_HOME_DIR > 0 && DISABLED(USE_YMAX_PLUG) - #error "Enable USE_YMAX_PLUG when homing Y to MAX." +// A machine with endstops must have a minimum of 3 +#if HAS_ENDSTOPS + #if _AXIS_PLUG_UNUSED_TEST(X) + #error "You must enable USE_XMIN_PLUG or USE_XMAX_PLUG." + #endif + #if _AXIS_PLUG_UNUSED_TEST(Y) + #error "You must enable USE_YMIN_PLUG or USE_YMAX_PLUG." + #endif + #if _AXIS_PLUG_UNUSED_TEST(Z) + #error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG." #endif -#endif -// Z homing direction and plug usage flags -#if Z_HOME_DIR < 0 && NONE(USE_ZMIN_PLUG, HOMING_Z_WITH_PROBE) - #error "Enable USE_ZMIN_PLUG when homing Z to MIN." -#elif Z_HOME_DIR > 0 && ENABLED(USE_PROBE_FOR_Z_HOMING) - #error "Z_HOME_DIR must be -1 when homing Z with the probe." -#elif BOTH(HOMING_Z_WITH_PROBE, Z_MULTI_ENDSTOPS) - #error "Z_MULTI_ENDSTOPS is incompatible with USE_PROBE_FOR_Z_HOMING." -#elif Z_HOME_DIR > 0 && DISABLED(USE_ZMAX_PLUG) - #error "Enable USE_ZMAX_PLUG when homing Z to MAX." + // Delta and Cartesian use 3 homing endstops + #if NONE(IS_SCARA, SPI_ENDSTOPS) + #if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG) + #error "Enable USE_XMIN_PLUG when homing X to MIN." + #elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG) + #error "Enable USE_XMAX_PLUG when homing X to MAX." + #elif Y_HOME_DIR < 0 && DISABLED(USE_YMIN_PLUG) + #error "Enable USE_YMIN_PLUG when homing Y to MIN." + #elif Y_HOME_DIR > 0 && DISABLED(USE_YMAX_PLUG) + #error "Enable USE_YMAX_PLUG when homing Y to MAX." + #endif + #endif + + // Z homing direction and plug usage flags + #if Z_HOME_DIR < 0 && NONE(USE_ZMIN_PLUG, HOMING_Z_WITH_PROBE) + #error "Enable USE_ZMIN_PLUG when homing Z to MIN." + #elif Z_HOME_DIR > 0 && ENABLED(USE_PROBE_FOR_Z_HOMING) + #error "Z_HOME_DIR must be -1 when homing Z with the probe." + #elif BOTH(HOMING_Z_WITH_PROBE, Z_MULTI_ENDSTOPS) + #error "Z_MULTI_ENDSTOPS is incompatible with USE_PROBE_FOR_Z_HOMING." + #elif Z_HOME_DIR > 0 && DISABLED(USE_ZMAX_PLUG) + #error "Enable USE_ZMAX_PLUG when homing Z to MAX." + #endif #endif #if BOTH(HOME_Z_FIRST, USE_PROBE_FOR_Z_HOMING) diff --git a/Marlin/src/libs/L64XX/L64XX_Marlin.cpp b/Marlin/src/libs/L64XX/L64XX_Marlin.cpp index 7d36a02d67..0358f3f59a 100644 --- a/Marlin/src/libs/L64XX/L64XX_Marlin.cpp +++ b/Marlin/src/libs/L64XX/L64XX_Marlin.cpp @@ -446,10 +446,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in position_max = X_center + displacement; echo_min_max('X', position_min, position_max); if (false - #ifdef X_MIN_POS + #if HAS_ENDSTOPS || position_min < (X_MIN_POS) - #endif - #ifdef X_MAX_POS || position_max > (X_MAX_POS) #endif ) { @@ -463,10 +461,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in position_max = Y_center + displacement; echo_min_max('Y', position_min, position_max); if (false - #ifdef Y_MIN_POS + #if HAS_ENDSTOPS || position_min < (Y_MIN_POS) - #endif - #ifdef Y_MAX_POS || position_max > (Y_MAX_POS) #endif ) { @@ -480,10 +476,8 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in position_max = Z_center + displacement; echo_min_max('Z', position_min, position_max); if (false - #ifdef Z_MIN_POS + #if HAS_ENDSTOPS || position_min < (Z_MIN_POS) - #endif - #ifdef Z_MAX_POS || position_max > (Z_MAX_POS) #endif ) { diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 8dc84c33d6..10d3585a73 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -74,17 +74,6 @@ #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../core/debug_out.h" -/** - * axis_homed - * Flags that each linear axis was homed. - * XYZ on cartesian, ABC on delta, ABZ on SCARA. - * - * axis_trusted - * Flags that the position is trusted in each linear axis. Set when homed. - * Cleared whenever a stepper powers off, potentially losing its position. - */ -uint8_t axis_homed, axis_trusted; // = 0 - // Relative Mode. Enable with G91, disable with G90. bool relative_mode; // = false; @@ -1122,262 +1111,692 @@ void prepare_line_to_destination() { current_position = destination; } -uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) { - #define SHOULD_HOME(A) TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(A) - // Clear test bits that are trusted - if (TEST(axis_bits, X_AXIS) && SHOULD_HOME(X_AXIS)) CBI(axis_bits, X_AXIS); - if (TEST(axis_bits, Y_AXIS) && SHOULD_HOME(Y_AXIS)) CBI(axis_bits, Y_AXIS); - if (TEST(axis_bits, Z_AXIS) && SHOULD_HOME(Z_AXIS)) CBI(axis_bits, Z_AXIS); - return axis_bits; -} +#if HAS_ENDSTOPS -bool homing_needed_error(uint8_t axis_bits/*=0x07*/) { - if ((axis_bits = axes_should_home(axis_bits))) { - PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); - char msg[strlen_P(home_first)+1]; - sprintf_P(msg, home_first, - TEST(axis_bits, X_AXIS) ? "X" : "", - TEST(axis_bits, Y_AXIS) ? "Y" : "", - TEST(axis_bits, Z_AXIS) ? "Z" : "" - ); - SERIAL_ECHO_START(); - SERIAL_ECHOLN(msg); - TERN_(HAS_DISPLAY, ui.set_status(msg)); - return true; + uint8_t axis_homed, axis_trusted; // = 0 + + uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) { + #define SHOULD_HOME(A) TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(A) + // Clear test bits that are trusted + if (TEST(axis_bits, X_AXIS) && SHOULD_HOME(X_AXIS)) CBI(axis_bits, X_AXIS); + if (TEST(axis_bits, Y_AXIS) && SHOULD_HOME(Y_AXIS)) CBI(axis_bits, Y_AXIS); + if (TEST(axis_bits, Z_AXIS) && SHOULD_HOME(Z_AXIS)) CBI(axis_bits, Z_AXIS); + return axis_bits; } - return false; -} -/** - * Homing bump feedrate (mm/s) - */ -feedRate_t get_homing_bump_feedrate(const AxisEnum axis) { - #if HOMING_Z_WITH_PROBE - if (axis == Z_AXIS) return MMM_TO_MMS(Z_PROBE_SPEED_SLOW); - #endif - static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR; - uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]); - if (hbd < 1) { - hbd = 10; - SERIAL_ECHO_MSG("Warning: Homing Bump Divisor < 1"); + bool homing_needed_error(uint8_t axis_bits/*=0x07*/) { + if ((axis_bits = axes_should_home(axis_bits))) { + PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); + char msg[strlen_P(home_first)+1]; + sprintf_P(msg, home_first, + TEST(axis_bits, X_AXIS) ? "X" : "", + TEST(axis_bits, Y_AXIS) ? "Y" : "", + TEST(axis_bits, Z_AXIS) ? "Z" : "" + ); + SERIAL_ECHO_START(); + SERIAL_ECHOLN(msg); + TERN_(HAS_DISPLAY, ui.set_status(msg)); + return true; + } + return false; } - return homing_feedrate(axis) / float(hbd); -} -#if ENABLED(SENSORLESS_HOMING) /** - * Set sensorless homing if the axis has it, accounting for Core Kinematics. + * Homing bump feedrate (mm/s) */ - sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) { - sensorless_t stealth_states { false }; - - switch (axis) { - default: break; - #if X_SENSORLESS - case X_AXIS: - stealth_states.x = tmc_enable_stallguard(stepperX); - #if AXIS_HAS_STALLGUARD(X2) - stealth_states.x2 = tmc_enable_stallguard(stepperX2); - #endif - #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS - stealth_states.y = tmc_enable_stallguard(stepperY); - #elif CORE_IS_XZ && Z_SENSORLESS - stealth_states.z = tmc_enable_stallguard(stepperZ); - #endif - break; - #endif - #if Y_SENSORLESS - case Y_AXIS: - stealth_states.y = tmc_enable_stallguard(stepperY); - #if AXIS_HAS_STALLGUARD(Y2) - stealth_states.y2 = tmc_enable_stallguard(stepperY2); - #endif - #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS - stealth_states.x = tmc_enable_stallguard(stepperX); - #elif CORE_IS_YZ && Z_SENSORLESS - stealth_states.z = tmc_enable_stallguard(stepperZ); - #endif - break; - #endif - #if Z_SENSORLESS - case Z_AXIS: - stealth_states.z = tmc_enable_stallguard(stepperZ); - #if AXIS_HAS_STALLGUARD(Z2) - stealth_states.z2 = tmc_enable_stallguard(stepperZ2); - #endif - #if AXIS_HAS_STALLGUARD(Z3) - stealth_states.z3 = tmc_enable_stallguard(stepperZ3); - #endif - #if AXIS_HAS_STALLGUARD(Z4) - stealth_states.z4 = tmc_enable_stallguard(stepperZ4); - #endif - #if CORE_IS_XZ && X_SENSORLESS - stealth_states.x = tmc_enable_stallguard(stepperX); - #elif CORE_IS_YZ && Y_SENSORLESS - stealth_states.y = tmc_enable_stallguard(stepperY); - #endif - break; - #endif - } - - #if ENABLED(SPI_ENDSTOPS) - switch (axis) { - case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break; - case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break; - case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break; - default: break; - } + feedRate_t get_homing_bump_feedrate(const AxisEnum axis) { + #if HOMING_Z_WITH_PROBE + if (axis == Z_AXIS) return MMM_TO_MMS(Z_PROBE_SPEED_SLOW); #endif - - TERN_(IMPROVE_HOMING_RELIABILITY, sg_guard_period = millis() + default_sg_guard_duration); - - return stealth_states; - } - - void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth) { - switch (axis) { - default: break; - #if X_SENSORLESS - case X_AXIS: - tmc_disable_stallguard(stepperX, enable_stealth.x); - #if AXIS_HAS_STALLGUARD(X2) - tmc_disable_stallguard(stepperX2, enable_stealth.x2); - #endif - #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS - tmc_disable_stallguard(stepperY, enable_stealth.y); - #elif CORE_IS_XZ && Z_SENSORLESS - tmc_disable_stallguard(stepperZ, enable_stealth.z); - #endif - break; - #endif - #if Y_SENSORLESS - case Y_AXIS: - tmc_disable_stallguard(stepperY, enable_stealth.y); - #if AXIS_HAS_STALLGUARD(Y2) - tmc_disable_stallguard(stepperY2, enable_stealth.y2); - #endif - #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS - tmc_disable_stallguard(stepperX, enable_stealth.x); - #elif CORE_IS_YZ && Z_SENSORLESS - tmc_disable_stallguard(stepperZ, enable_stealth.z); - #endif - break; - #endif - #if Z_SENSORLESS - case Z_AXIS: - tmc_disable_stallguard(stepperZ, enable_stealth.z); - #if AXIS_HAS_STALLGUARD(Z2) - tmc_disable_stallguard(stepperZ2, enable_stealth.z2); - #endif - #if AXIS_HAS_STALLGUARD(Z3) - tmc_disable_stallguard(stepperZ3, enable_stealth.z3); - #endif - #if AXIS_HAS_STALLGUARD(Z4) - tmc_disable_stallguard(stepperZ4, enable_stealth.z4); - #endif - #if CORE_IS_XZ && X_SENSORLESS - tmc_disable_stallguard(stepperX, enable_stealth.x); - #elif CORE_IS_YZ && Y_SENSORLESS - tmc_disable_stallguard(stepperY, enable_stealth.y); - #endif - break; - #endif + static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR; + uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]); + if (hbd < 1) { + hbd = 10; + SERIAL_ECHO_MSG("Warning: Homing Bump Divisor < 1"); } - - #if ENABLED(SPI_ENDSTOPS) - switch (axis) { - case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break; - case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break; - case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break; - default: break; - } - #endif + return homing_feedrate(axis) / float(hbd); } -#endif // SENSORLESS_HOMING - -/** - * Home an individual linear axis - */ -void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0, const bool final_approach=true) { - DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING)); - - const feedRate_t home_fr_mm_s = fr_mm_s ?: homing_feedrate(axis); - - if (DEBUGGING(LEVELING)) { - DEBUG_ECHOPAIR("...(", AS_CHAR(axis_codes[axis]), ", ", distance, ", "); - if (fr_mm_s) - DEBUG_ECHO(fr_mm_s); - else - DEBUG_ECHOPAIR("[", home_fr_mm_s, "]"); - DEBUG_ECHOLNPGM(")"); - } - - // Only do some things when moving towards an endstop - const int8_t axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS) - ? x_home_dir(active_extruder) : home_dir(axis); - const bool is_home_dir = (axis_home_dir > 0) == (distance > 0); - #if ENABLED(SENSORLESS_HOMING) - sensorless_t stealth_states; - #endif + /** + * Set sensorless homing if the axis has it, accounting for Core Kinematics. + */ + sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) { + sensorless_t stealth_states { false }; - if (is_home_dir) { + switch (axis) { + default: break; + #if X_SENSORLESS + case X_AXIS: + stealth_states.x = tmc_enable_stallguard(stepperX); + #if AXIS_HAS_STALLGUARD(X2) + stealth_states.x2 = tmc_enable_stallguard(stepperX2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS + stealth_states.y = tmc_enable_stallguard(stepperY); + #elif CORE_IS_XZ && Z_SENSORLESS + stealth_states.z = tmc_enable_stallguard(stepperZ); + #endif + break; + #endif + #if Y_SENSORLESS + case Y_AXIS: + stealth_states.y = tmc_enable_stallguard(stepperY); + #if AXIS_HAS_STALLGUARD(Y2) + stealth_states.y2 = tmc_enable_stallguard(stepperY2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS + stealth_states.x = tmc_enable_stallguard(stepperX); + #elif CORE_IS_YZ && Z_SENSORLESS + stealth_states.z = tmc_enable_stallguard(stepperZ); + #endif + break; + #endif + #if Z_SENSORLESS + case Z_AXIS: + stealth_states.z = tmc_enable_stallguard(stepperZ); + #if AXIS_HAS_STALLGUARD(Z2) + stealth_states.z2 = tmc_enable_stallguard(stepperZ2); + #endif + #if AXIS_HAS_STALLGUARD(Z3) + stealth_states.z3 = tmc_enable_stallguard(stepperZ3); + #endif + #if AXIS_HAS_STALLGUARD(Z4) + stealth_states.z4 = tmc_enable_stallguard(stepperZ4); + #endif + #if CORE_IS_XZ && X_SENSORLESS + stealth_states.x = tmc_enable_stallguard(stepperX); + #elif CORE_IS_YZ && Y_SENSORLESS + stealth_states.y = tmc_enable_stallguard(stepperY); + #endif + break; + #endif + } - if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS)) { - #if ALL(HAS_HEATED_BED, WAIT_FOR_BED_HEATER) - // Wait for bed to heat back up between probing points - thermalManager.wait_for_bed_heating(); + #if ENABLED(SPI_ENDSTOPS) + switch (axis) { + case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break; + case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break; + case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break; + default: break; + } #endif - TERN_(HAS_QUIET_PROBING, if (final_approach) probe.set_probing_paused(true)); + TERN_(IMPROVE_HOMING_RELIABILITY, sg_guard_period = millis() + default_sg_guard_duration); + + return stealth_states; } - // Disable stealthChop if used. Enable diag1 pin on driver. - TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis)); - } + void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth) { + switch (axis) { + default: break; + #if X_SENSORLESS + case X_AXIS: + tmc_disable_stallguard(stepperX, enable_stealth.x); + #if AXIS_HAS_STALLGUARD(X2) + tmc_disable_stallguard(stepperX2, enable_stealth.x2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS + tmc_disable_stallguard(stepperY, enable_stealth.y); + #elif CORE_IS_XZ && Z_SENSORLESS + tmc_disable_stallguard(stepperZ, enable_stealth.z); + #endif + break; + #endif + #if Y_SENSORLESS + case Y_AXIS: + tmc_disable_stallguard(stepperY, enable_stealth.y); + #if AXIS_HAS_STALLGUARD(Y2) + tmc_disable_stallguard(stepperY2, enable_stealth.y2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS + tmc_disable_stallguard(stepperX, enable_stealth.x); + #elif CORE_IS_YZ && Z_SENSORLESS + tmc_disable_stallguard(stepperZ, enable_stealth.z); + #endif + break; + #endif + #if Z_SENSORLESS + case Z_AXIS: + tmc_disable_stallguard(stepperZ, enable_stealth.z); + #if AXIS_HAS_STALLGUARD(Z2) + tmc_disable_stallguard(stepperZ2, enable_stealth.z2); + #endif + #if AXIS_HAS_STALLGUARD(Z3) + tmc_disable_stallguard(stepperZ3, enable_stealth.z3); + #endif + #if AXIS_HAS_STALLGUARD(Z4) + tmc_disable_stallguard(stepperZ4, enable_stealth.z4); + #endif + #if CORE_IS_XZ && X_SENSORLESS + tmc_disable_stallguard(stepperX, enable_stealth.x); + #elif CORE_IS_YZ && Y_SENSORLESS + tmc_disable_stallguard(stepperY, enable_stealth.y); + #endif + break; + #endif + } - #if IS_SCARA - // Tell the planner the axis is at 0 - current_position[axis] = 0; - sync_plan_position(); - current_position[axis] = distance; - line_to_current_position(home_fr_mm_s); - #else - // Get the ABC or XYZ positions in mm - abce_pos_t target = planner.get_axis_positions_mm(); + #if ENABLED(SPI_ENDSTOPS) + switch (axis) { + case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break; + case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break; + case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break; + default: break; + } + #endif + } - target[axis] = 0; // Set the single homing axis to 0 - planner.set_machine_position_mm(target); // Update the machine position + #endif // SENSORLESS_HOMING - #if HAS_DIST_MM_ARG - const xyze_float_t cart_dist_mm{0}; + /** + * Home an individual linear axis + */ + void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0, const bool final_approach=true) { + DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING)); + + const feedRate_t home_fr_mm_s = fr_mm_s ?: homing_feedrate(axis); + + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOPAIR("...(", AS_CHAR(axis_codes[axis]), ", ", distance, ", "); + if (fr_mm_s) + DEBUG_ECHO(fr_mm_s); + else + DEBUG_ECHOPAIR("[", home_fr_mm_s, "]"); + DEBUG_ECHOLNPGM(")"); + } + + // Only do some things when moving towards an endstop + const int8_t axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS) + ? x_home_dir(active_extruder) : home_dir(axis); + const bool is_home_dir = (axis_home_dir > 0) == (distance > 0); + + #if ENABLED(SENSORLESS_HOMING) + sensorless_t stealth_states; #endif - // Set delta/cartesian axes directly - target[axis] = distance; // The move will be towards the endstop - planner.buffer_segment(target + if (is_home_dir) { + + if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS)) { + #if ALL(HAS_HEATED_BED, WAIT_FOR_BED_HEATER) + // Wait for bed to heat back up between probing points + thermalManager.wait_for_bed_heating(); + #endif + + TERN_(HAS_QUIET_PROBING, if (final_approach) probe.set_probing_paused(true)); + } + + // Disable stealthChop if used. Enable diag1 pin on driver. + TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis)); + } + + #if IS_SCARA + // Tell the planner the axis is at 0 + current_position[axis] = 0; + sync_plan_position(); + current_position[axis] = distance; + line_to_current_position(home_fr_mm_s); + #else + // Get the ABC or XYZ positions in mm + abce_pos_t target = planner.get_axis_positions_mm(); + + target[axis] = 0; // Set the single homing axis to 0 + planner.set_machine_position_mm(target); // Update the machine position + #if HAS_DIST_MM_ARG - , cart_dist_mm + const xyze_float_t cart_dist_mm{0}; #endif - , home_fr_mm_s, active_extruder - ); + + // Set delta/cartesian axes directly + target[axis] = distance; // The move will be towards the endstop + planner.buffer_segment(target + #if HAS_DIST_MM_ARG + , cart_dist_mm + #endif + , home_fr_mm_s, active_extruder + ); + #endif + + planner.synchronize(); + + if (is_home_dir) { + + #if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING + if (axis == Z_AXIS && final_approach) probe.set_probing_paused(false); + #endif + + endstops.validate_homing_move(); + + // Re-enable stealthChop if used. Disable diag1 pin on driver. + TERN_(SENSORLESS_HOMING, end_sensorless_homing_per_axis(axis, stealth_states)); + } + } + + /** + * Set an axis to be unhomed. (Unless we are on a machine - e.g. a cheap Chinese CNC machine - + * that has no endstops. Such machines should always be considered to be in a "known" and + * "trusted" position). + */ + void set_axis_never_homed(const AxisEnum axis) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_never_homed(", axis_codes[axis], ")"); + + set_axis_untrusted(axis); + set_axis_unhomed(axis); + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_never_homed(", axis_codes[axis], ")"); + + TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis)); + } + + #if ENABLED(TMC_HOME_PHASE) + /** + * Move the axis back to its home_phase if set and driver is capable (TMC) + * + * Improves homing repeatability by homing to stepper coil's nearest absolute + * phase position. Trinamic drivers use a stepper phase table with 1024 values + * spanning 4 full steps with 256 positions each (ergo, 1024 positions). + */ + void backout_to_tmc_homing_phase(const AxisEnum axis) { + const xyz_long_t home_phase = TMC_HOME_PHASE; + + // check if home phase is disabled for this axis. + if (home_phase[axis] < 0) return; + + int16_t phasePerUStep, // TMC µsteps(phase) per Marlin µsteps + phaseCurrent, // The TMC µsteps(phase) count of the current position + effectorBackoutDir, // Direction in which the effector mm coordinates move away from endstop. + stepperBackoutDir; // Direction in which the TMC µstep count(phase) move away from endstop. + + #define PHASE_PER_MICROSTEP(N) (256 / _MAX(1, N##_MICROSTEPS)) + + switch (axis) { + #ifdef X_MICROSTEPS + case X_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(X); + phaseCurrent = stepperX.get_microstep_counter(); + effectorBackoutDir = -X_HOME_DIR; + stepperBackoutDir = INVERT_X_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + #ifdef Y_MICROSTEPS + case Y_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(Y); + phaseCurrent = stepperY.get_microstep_counter(); + effectorBackoutDir = -Y_HOME_DIR; + stepperBackoutDir = INVERT_Y_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + #ifdef Z_MICROSTEPS + case Z_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(Z); + phaseCurrent = stepperZ.get_microstep_counter(); + effectorBackoutDir = -Z_HOME_DIR; + stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + default: return; + } + + // Phase distance to nearest home phase position when moving in the backout direction from endstop(may be negative). + int16_t phaseDelta = (home_phase[axis] - phaseCurrent) * stepperBackoutDir; + + // Check if home distance within endstop assumed repeatability noise of .05mm and warn. + if (ABS(phaseDelta) * planner.steps_to_mm[axis] / phasePerUStep < 0.05f) + SERIAL_ECHOLNPAIR("Selected home phase ", home_phase[axis], + " too close to endstop trigger phase ", phaseCurrent, + ". Pick a different phase for ", axis_codes[axis]); + + // Skip to next if target position is behind current. So it only moves away from endstop. + if (phaseDelta < 0) phaseDelta += 1024; + + // Convert TMC µsteps(phase) to whole Marlin µsteps to effector backout direction to mm + const float mmDelta = int16_t(phaseDelta / phasePerUStep) * effectorBackoutDir * planner.steps_to_mm[axis]; + + // Optional debug messages + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOLNPAIR( + "Endstop ", axis_codes[axis], " hit at Phase:", phaseCurrent, + " Delta:", phaseDelta, " Distance:", mmDelta + ); + } + + if (mmDelta != 0) { + // Retrace by the amount computed in mmDelta. + do_homing_move(axis, mmDelta, get_homing_bump_feedrate(axis)); + } + } #endif - planner.synchronize(); + /** + * Home an individual "raw axis" to its endstop. + * This applies to XYZ on Cartesian and Core robots, and + * to the individual ABC steppers on DELTA and SCARA. + * + * At the end of the procedure the axis is marked as + * homed and the current position of that axis is updated. + * Kinematic robots should wait till all axes are homed + * before updating the current position. + */ - if (is_home_dir) { + void homeaxis(const AxisEnum axis) { - #if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING - if (axis == Z_AXIS && final_approach) probe.set_probing_paused(false); + #if IS_SCARA + // Only Z homing (with probe) is permitted + if (axis != Z_AXIS) { BUZZ(100, 880); return; } + #else + #define _CAN_HOME(A) (axis == _AXIS(A) && ( \ + ENABLED(A##_SPI_SENSORLESS) \ + || (_AXIS(A) == Z_AXIS && ENABLED(HOMING_Z_WITH_PROBE)) \ + || (A##_MIN_PIN > -1 && A##_HOME_DIR < 0) \ + || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0) \ + )) + if (!_CAN_HOME(X) && !_CAN_HOME(Y) && !_CAN_HOME(Z)) return; #endif - endstops.validate_homing_move(); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", axis_codes[axis], ")"); - // Re-enable stealthChop if used. Disable diag1 pin on driver. - TERN_(SENSORLESS_HOMING, end_sensorless_homing_per_axis(axis, stealth_states)); - } -} + const int axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS) + ? x_home_dir(active_extruder) : home_dir(axis); + + // + // Homing Z with a probe? Raise Z (maybe) and deploy the Z probe. + // + if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && probe.deploy())) + return; + + // Set flags for X, Y, Z motor locking + #if HAS_EXTRA_ENDSTOPS + switch (axis) { + TERN_(X_DUAL_ENDSTOPS, case X_AXIS:) + TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:) + TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:) + stepper.set_separate_multi_axis(true); + default: break; + } + #endif + + // + // Deploy BLTouch or tare the probe just before probing + // + #if HOMING_Z_WITH_PROBE + if (axis == Z_AXIS) { + if (TERN0(BLTOUCH, bltouch.deploy())) return; // BLTouch was deployed above, but get the alarm state. + if (TERN0(PROBE_TARE, probe.tare())) return; + } + #endif + + // + // Back away to prevent an early X/Y sensorless trigger + // + #if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM) + const xy_float_t backoff = SENSORLESS_BACKOFF_MM; + if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS)) && backoff[axis]) { + const float backoff_length = -ABS(backoff[axis]) * axis_home_dir; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Sensorless backoff: ", backoff_length, "mm"); + do_homing_move(axis, backoff_length, homing_feedrate(axis)); + } + #endif + + // Determine if a homing bump will be done and the bumps distance + // When homing Z with probe respect probe clearance + const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(Z_AXIS)); + const float bump = axis_home_dir * ( + use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(Z_AXIS)) : home_bump_mm(axis) + ); + + // + // Fast move towards endstop until triggered + // + const float move_length = 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Home Fast: ", move_length, "mm"); + do_homing_move(axis, move_length, 0.0, !use_probe_bump); + + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) + if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE) + #endif + + // If a second homing move is configured... + if (bump) { + // Move away from the endstop by the axis HOMING_BUMP_MM + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Move Away: ", -bump, "mm"); + do_homing_move(axis, -bump, TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS) ? MMM_TO_MMS(Z_PROBE_SPEED_FAST) : 0, false); + + #if ENABLED(DETECT_BROKEN_ENDSTOP) + // Check for a broken endstop + EndstopEnum es; + switch (axis) { + default: + case X_AXIS: es = X_ENDSTOP; break; + case Y_AXIS: es = Y_ENDSTOP; break; + case Z_AXIS: es = Z_ENDSTOP; break; + } + if (TEST(endstops.state(), es)) { + SERIAL_ECHO_MSG("Bad ", axis_codes[axis], " Endstop?"); + kill(GET_TEXT(MSG_KILL_HOMING_FAILED)); + } + #endif + + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) + if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE) + #endif + + // Slow move towards endstop until triggered + const float rebump = bump * 2; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Re-bump: ", rebump, "mm"); + do_homing_move(axis, rebump, get_homing_bump_feedrate(axis), true); + + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH) + if (axis == Z_AXIS) bltouch.stow(); // The final STOW + #endif + } + + #if HAS_EXTRA_ENDSTOPS + const bool pos_dir = axis_home_dir > 0; + #if ENABLED(X_DUAL_ENDSTOPS) + if (axis == X_AXIS) { + const float adj = ABS(endstops.x2_endstop_adj); + if (adj) { + if (pos_dir ? (endstops.x2_endstop_adj > 0) : (endstops.x2_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true); + do_homing_move(axis, pos_dir ? -adj : adj); + stepper.set_x_lock(false); + stepper.set_x2_lock(false); + } + } + #endif + #if ENABLED(Y_DUAL_ENDSTOPS) + if (axis == Y_AXIS) { + const float adj = ABS(endstops.y2_endstop_adj); + if (adj) { + if (pos_dir ? (endstops.y2_endstop_adj > 0) : (endstops.y2_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true); + do_homing_move(axis, pos_dir ? -adj : adj); + stepper.set_y_lock(false); + stepper.set_y2_lock(false); + } + } + #endif + + #if ENABLED(Z_MULTI_ENDSTOPS) + if (axis == Z_AXIS) { + + #if NUM_Z_STEPPER_DRIVERS == 2 + + const float adj = ABS(endstops.z2_endstop_adj); + if (adj) { + if (pos_dir ? (endstops.z2_endstop_adj > 0) : (endstops.z2_endstop_adj < 0)) stepper.set_z1_lock(true); else stepper.set_z2_lock(true); + do_homing_move(axis, pos_dir ? -adj : adj); + stepper.set_z1_lock(false); + stepper.set_z2_lock(false); + } + + #else + + // Handy arrays of stepper lock function pointers + + typedef void (*adjustFunc_t)(const bool); + + adjustFunc_t lock[] = { + stepper.set_z1_lock, stepper.set_z2_lock, stepper.set_z3_lock + #if NUM_Z_STEPPER_DRIVERS >= 4 + , stepper.set_z4_lock + #endif + }; + float adj[] = { + 0, endstops.z2_endstop_adj, endstops.z3_endstop_adj + #if NUM_Z_STEPPER_DRIVERS >= 4 + , endstops.z4_endstop_adj + #endif + }; + + adjustFunc_t tempLock; + float tempAdj; + + // Manual bubble sort by adjust value + if (adj[1] < adj[0]) { + tempLock = lock[0], tempAdj = adj[0]; + lock[0] = lock[1], adj[0] = adj[1]; + lock[1] = tempLock, adj[1] = tempAdj; + } + if (adj[2] < adj[1]) { + tempLock = lock[1], tempAdj = adj[1]; + lock[1] = lock[2], adj[1] = adj[2]; + lock[2] = tempLock, adj[2] = tempAdj; + } + #if NUM_Z_STEPPER_DRIVERS >= 4 + if (adj[3] < adj[2]) { + tempLock = lock[2], tempAdj = adj[2]; + lock[2] = lock[3], adj[2] = adj[3]; + lock[3] = tempLock, adj[3] = tempAdj; + } + if (adj[2] < adj[1]) { + tempLock = lock[1], tempAdj = adj[1]; + lock[1] = lock[2], adj[1] = adj[2]; + lock[2] = tempLock, adj[2] = tempAdj; + } + #endif + if (adj[1] < adj[0]) { + tempLock = lock[0], tempAdj = adj[0]; + lock[0] = lock[1], adj[0] = adj[1]; + lock[1] = tempLock, adj[1] = tempAdj; + } + + if (pos_dir) { + // normalize adj to smallest value and do the first move + (*lock[0])(true); + do_homing_move(axis, adj[1] - adj[0]); + // lock the second stepper for the final correction + (*lock[1])(true); + do_homing_move(axis, adj[2] - adj[1]); + #if NUM_Z_STEPPER_DRIVERS >= 4 + // lock the third stepper for the final correction + (*lock[2])(true); + do_homing_move(axis, adj[3] - adj[2]); + #endif + } + else { + #if NUM_Z_STEPPER_DRIVERS >= 4 + (*lock[3])(true); + do_homing_move(axis, adj[2] - adj[3]); + #endif + (*lock[2])(true); + do_homing_move(axis, adj[1] - adj[2]); + (*lock[1])(true); + do_homing_move(axis, adj[0] - adj[1]); + } + + stepper.set_z1_lock(false); + stepper.set_z2_lock(false); + stepper.set_z3_lock(false); + #if NUM_Z_STEPPER_DRIVERS >= 4 + stepper.set_z4_lock(false); + #endif + + #endif + } + #endif + + // Reset flags for X, Y, Z motor locking + switch (axis) { + default: break; + TERN_(X_DUAL_ENDSTOPS, case X_AXIS:) + TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:) + TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:) + stepper.set_separate_multi_axis(false); + } + #endif + + #ifdef TMC_HOME_PHASE + // move back to homing phase if configured and capable + backout_to_tmc_homing_phase(axis); + #endif + + #if IS_SCARA + + set_axis_is_at_home(axis); + sync_plan_position(); + + #elif ENABLED(DELTA) + + // Delta has already moved all three towers up in G28 + // so here it re-homes each tower in turn. + // Delta homing treats the axes as normal linear axes. + + const float adjDistance = delta_endstop_adj[axis], + minDistance = (MIN_STEPS_PER_SEGMENT) * planner.steps_to_mm[axis]; + + // Retrace by the amount specified in delta_endstop_adj if more than min steps. + if (adjDistance * (Z_HOME_DIR) < 0 && ABS(adjDistance) > minDistance) { // away from endstop, more than min distance + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("adjDistance:", adjDistance); + do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis)); + } + + #else // CARTESIAN / CORE / MARKFORGED_XY + + set_axis_is_at_home(axis); + sync_plan_position(); + + destination[axis] = current_position[axis]; + + if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); + + #endif + + // Put away the Z probe + #if HOMING_Z_WITH_PROBE + if (axis == Z_AXIS && probe.stow()) return; + #endif + + #if DISABLED(DELTA) && defined(HOMING_BACKOFF_POST_MM) + const xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM; + if (endstop_backoff[axis]) { + current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir; + line_to_current_position( + #if HOMING_Z_WITH_PROBE + (axis == Z_AXIS) ? z_probe_fast_mm_s : + #endif + homing_feedrate(axis) + ); + + #if ENABLED(SENSORLESS_HOMING) + planner.synchronize(); + if (false + #if EITHER(IS_CORE, MARKFORGED_XY) + || axis != NORMAL_AXIS + #endif + ) safe_delay(200); // Short delay to allow belts to spring back + #endif + } + #endif + + // Clear retracted status if homing the Z axis + #if ENABLED(FWRETRACT) + if (axis == Z_AXIS) fwretract.current_hop = 0.0; + #endif + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< homeaxis(", axis_codes[axis], ")"); + + } // homeaxis() + +#endif // HAS_ENDSTOPS /** * Set an axis' current position to its home position (after homing). @@ -1455,428 +1874,6 @@ void set_axis_is_at_home(const AxisEnum axis) { } } -/** - * Set an axis to be unhomed. - */ -void set_axis_never_homed(const AxisEnum axis) { - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_never_homed(", axis_codes[axis], ")"); - - set_axis_untrusted(axis); - set_axis_unhomed(axis); - - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_never_homed(", axis_codes[axis], ")"); - - TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis)); -} - -#ifdef TMC_HOME_PHASE - /** - * Move the axis back to its home_phase if set and driver is capable (TMC) - * - * Improves homing repeatability by homing to stepper coil's nearest absolute - * phase position. Trinamic drivers use a stepper phase table with 1024 values - * spanning 4 full steps with 256 positions each (ergo, 1024 positions). - */ - void backout_to_tmc_homing_phase(const AxisEnum axis) { - const xyz_long_t home_phase = TMC_HOME_PHASE; - - // check if home phase is disabled for this axis. - if (home_phase[axis] < 0) return; - - int16_t phasePerUStep, // TMC µsteps(phase) per Marlin µsteps - phaseCurrent, // The TMC µsteps(phase) count of the current position - effectorBackoutDir, // Direction in which the effector mm coordinates move away from endstop. - stepperBackoutDir; // Direction in which the TMC µstep count(phase) move away from endstop. - - #define PHASE_PER_MICROSTEP(N) (256 / _MAX(1, N##_MICROSTEPS)) - - switch (axis) { - #ifdef X_MICROSTEPS - case X_AXIS: - phasePerUStep = PHASE_PER_MICROSTEP(X); - phaseCurrent = stepperX.get_microstep_counter(); - effectorBackoutDir = -X_HOME_DIR; - stepperBackoutDir = INVERT_X_DIR ? effectorBackoutDir : -effectorBackoutDir; - break; - #endif - #ifdef Y_MICROSTEPS - case Y_AXIS: - phasePerUStep = PHASE_PER_MICROSTEP(Y); - phaseCurrent = stepperY.get_microstep_counter(); - effectorBackoutDir = -Y_HOME_DIR; - stepperBackoutDir = INVERT_Y_DIR ? effectorBackoutDir : -effectorBackoutDir; - break; - #endif - #ifdef Z_MICROSTEPS - case Z_AXIS: - phasePerUStep = PHASE_PER_MICROSTEP(Z); - phaseCurrent = stepperZ.get_microstep_counter(); - effectorBackoutDir = -Z_HOME_DIR; - stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir; - break; - #endif - default: return; - } - - // Phase distance to nearest home phase position when moving in the backout direction from endstop(may be negative). - int16_t phaseDelta = (home_phase[axis] - phaseCurrent) * stepperBackoutDir; - - // Check if home distance within endstop assumed repeatability noise of .05mm and warn. - if (ABS(phaseDelta) * planner.steps_to_mm[axis] / phasePerUStep < 0.05f) - SERIAL_ECHOLNPAIR("Selected home phase ", home_phase[axis], - " too close to endstop trigger phase ", phaseCurrent, - ". Pick a different phase for ", axis_codes[axis]); - - // Skip to next if target position is behind current. So it only moves away from endstop. - if (phaseDelta < 0) phaseDelta += 1024; - - // Convert TMC µsteps(phase) to whole Marlin µsteps to effector backout direction to mm - const float mmDelta = int16_t(phaseDelta / phasePerUStep) * effectorBackoutDir * planner.steps_to_mm[axis]; - - // Optional debug messages - if (DEBUGGING(LEVELING)) { - DEBUG_ECHOLNPAIR( - "Endstop ", axis_codes[axis], " hit at Phase:", phaseCurrent, - " Delta:", phaseDelta, " Distance:", mmDelta - ); - } - - if (mmDelta != 0) { - // Retrace by the amount computed in mmDelta. - do_homing_move(axis, mmDelta, get_homing_bump_feedrate(axis)); - } - } -#endif - -/** - * Home an individual "raw axis" to its endstop. - * This applies to XYZ on Cartesian and Core robots, and - * to the individual ABC steppers on DELTA and SCARA. - * - * At the end of the procedure the axis is marked as - * homed and the current position of that axis is updated. - * Kinematic robots should wait till all axes are homed - * before updating the current position. - */ - -void homeaxis(const AxisEnum axis) { - - #if IS_SCARA - // Only Z homing (with probe) is permitted - if (axis != Z_AXIS) { BUZZ(100, 880); return; } - #else - #define _CAN_HOME(A) (axis == _AXIS(A) && ( \ - ENABLED(A##_SPI_SENSORLESS) \ - || (_AXIS(A) == Z_AXIS && ENABLED(HOMING_Z_WITH_PROBE)) \ - || (A##_MIN_PIN > -1 && A##_HOME_DIR < 0) \ - || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0) \ - )) - if (!_CAN_HOME(X) && !_CAN_HOME(Y) && !_CAN_HOME(Z)) return; - #endif - - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", axis_codes[axis], ")"); - - const int axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS) - ? x_home_dir(active_extruder) : home_dir(axis); - - // - // Homing Z with a probe? Raise Z (maybe) and deploy the Z probe. - // - if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && probe.deploy())) - return; - - // Set flags for X, Y, Z motor locking - #if HAS_EXTRA_ENDSTOPS - switch (axis) { - TERN_(X_DUAL_ENDSTOPS, case X_AXIS:) - TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:) - TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:) - stepper.set_separate_multi_axis(true); - default: break; - } - #endif - - // - // Deploy BLTouch or tare the probe just before probing - // - #if HOMING_Z_WITH_PROBE - if (axis == Z_AXIS) { - if (TERN0(BLTOUCH, bltouch.deploy())) return; // BLTouch was deployed above, but get the alarm state. - if (TERN0(PROBE_TARE, probe.tare())) return; - } - #endif - - // - // Back away to prevent an early X/Y sensorless trigger - // - #if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM) - const xy_float_t backoff = SENSORLESS_BACKOFF_MM; - if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS)) && backoff[axis]) { - const float backoff_length = -ABS(backoff[axis]) * axis_home_dir; - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Sensorless backoff: ", backoff_length, "mm"); - do_homing_move(axis, backoff_length, homing_feedrate(axis)); - } - #endif - - // Determine if a homing bump will be done and the bumps distance - // When homing Z with probe respect probe clearance - const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(Z_AXIS)); - const float bump = axis_home_dir * ( - use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(Z_AXIS)) : home_bump_mm(axis) - ); - - // - // Fast move towards endstop until triggered - // - const float move_length = 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir; - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Home Fast: ", move_length, "mm"); - do_homing_move(axis, move_length, 0.0, !use_probe_bump); - - #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) - if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE) - #endif - - // If a second homing move is configured... - if (bump) { - // Move away from the endstop by the axis HOMING_BUMP_MM - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Move Away: ", -bump, "mm"); - do_homing_move(axis, -bump, TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS) ? MMM_TO_MMS(Z_PROBE_SPEED_FAST) : 0, false); - - #if ENABLED(DETECT_BROKEN_ENDSTOP) - // Check for a broken endstop - EndstopEnum es; - switch (axis) { - default: - case X_AXIS: es = X_ENDSTOP; break; - case Y_AXIS: es = Y_ENDSTOP; break; - case Z_AXIS: es = Z_ENDSTOP; break; - } - if (TEST(endstops.state(), es)) { - SERIAL_ECHO_MSG("Bad ", axis_codes[axis], " Endstop?"); - kill(GET_TEXT(MSG_KILL_HOMING_FAILED)); - } - #endif - - #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) - if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE) - #endif - - // Slow move towards endstop until triggered - const float rebump = bump * 2; - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Re-bump: ", rebump, "mm"); - do_homing_move(axis, rebump, get_homing_bump_feedrate(axis), true); - - #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH) - if (axis == Z_AXIS) bltouch.stow(); // The final STOW - #endif - } - - #if HAS_EXTRA_ENDSTOPS - const bool pos_dir = axis_home_dir > 0; - #if ENABLED(X_DUAL_ENDSTOPS) - if (axis == X_AXIS) { - const float adj = ABS(endstops.x2_endstop_adj); - if (adj) { - if (pos_dir ? (endstops.x2_endstop_adj > 0) : (endstops.x2_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true); - do_homing_move(axis, pos_dir ? -adj : adj); - stepper.set_x_lock(false); - stepper.set_x2_lock(false); - } - } - #endif - #if ENABLED(Y_DUAL_ENDSTOPS) - if (axis == Y_AXIS) { - const float adj = ABS(endstops.y2_endstop_adj); - if (adj) { - if (pos_dir ? (endstops.y2_endstop_adj > 0) : (endstops.y2_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true); - do_homing_move(axis, pos_dir ? -adj : adj); - stepper.set_y_lock(false); - stepper.set_y2_lock(false); - } - } - #endif - - #if ENABLED(Z_MULTI_ENDSTOPS) - if (axis == Z_AXIS) { - - #if NUM_Z_STEPPER_DRIVERS == 2 - - const float adj = ABS(endstops.z2_endstop_adj); - if (adj) { - if (pos_dir ? (endstops.z2_endstop_adj > 0) : (endstops.z2_endstop_adj < 0)) stepper.set_z1_lock(true); else stepper.set_z2_lock(true); - do_homing_move(axis, pos_dir ? -adj : adj); - stepper.set_z1_lock(false); - stepper.set_z2_lock(false); - } - - #else - - // Handy arrays of stepper lock function pointers - - typedef void (*adjustFunc_t)(const bool); - - adjustFunc_t lock[] = { - stepper.set_z1_lock, stepper.set_z2_lock, stepper.set_z3_lock - #if NUM_Z_STEPPER_DRIVERS >= 4 - , stepper.set_z4_lock - #endif - }; - float adj[] = { - 0, endstops.z2_endstop_adj, endstops.z3_endstop_adj - #if NUM_Z_STEPPER_DRIVERS >= 4 - , endstops.z4_endstop_adj - #endif - }; - - adjustFunc_t tempLock; - float tempAdj; - - // Manual bubble sort by adjust value - if (adj[1] < adj[0]) { - tempLock = lock[0], tempAdj = adj[0]; - lock[0] = lock[1], adj[0] = adj[1]; - lock[1] = tempLock, adj[1] = tempAdj; - } - if (adj[2] < adj[1]) { - tempLock = lock[1], tempAdj = adj[1]; - lock[1] = lock[2], adj[1] = adj[2]; - lock[2] = tempLock, adj[2] = tempAdj; - } - #if NUM_Z_STEPPER_DRIVERS >= 4 - if (adj[3] < adj[2]) { - tempLock = lock[2], tempAdj = adj[2]; - lock[2] = lock[3], adj[2] = adj[3]; - lock[3] = tempLock, adj[3] = tempAdj; - } - if (adj[2] < adj[1]) { - tempLock = lock[1], tempAdj = adj[1]; - lock[1] = lock[2], adj[1] = adj[2]; - lock[2] = tempLock, adj[2] = tempAdj; - } - #endif - if (adj[1] < adj[0]) { - tempLock = lock[0], tempAdj = adj[0]; - lock[0] = lock[1], adj[0] = adj[1]; - lock[1] = tempLock, adj[1] = tempAdj; - } - - if (pos_dir) { - // normalize adj to smallest value and do the first move - (*lock[0])(true); - do_homing_move(axis, adj[1] - adj[0]); - // lock the second stepper for the final correction - (*lock[1])(true); - do_homing_move(axis, adj[2] - adj[1]); - #if NUM_Z_STEPPER_DRIVERS >= 4 - // lock the third stepper for the final correction - (*lock[2])(true); - do_homing_move(axis, adj[3] - adj[2]); - #endif - } - else { - #if NUM_Z_STEPPER_DRIVERS >= 4 - (*lock[3])(true); - do_homing_move(axis, adj[2] - adj[3]); - #endif - (*lock[2])(true); - do_homing_move(axis, adj[1] - adj[2]); - (*lock[1])(true); - do_homing_move(axis, adj[0] - adj[1]); - } - - stepper.set_z1_lock(false); - stepper.set_z2_lock(false); - stepper.set_z3_lock(false); - #if NUM_Z_STEPPER_DRIVERS >= 4 - stepper.set_z4_lock(false); - #endif - - #endif - } - #endif - - // Reset flags for X, Y, Z motor locking - switch (axis) { - default: break; - TERN_(X_DUAL_ENDSTOPS, case X_AXIS:) - TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:) - TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:) - stepper.set_separate_multi_axis(false); - } - #endif - - #ifdef TMC_HOME_PHASE - // move back to homing phase if configured and capable - backout_to_tmc_homing_phase(axis); - #endif - - #if IS_SCARA - - set_axis_is_at_home(axis); - sync_plan_position(); - - #elif ENABLED(DELTA) - - // Delta has already moved all three towers up in G28 - // so here it re-homes each tower in turn. - // Delta homing treats the axes as normal linear axes. - - const float adjDistance = delta_endstop_adj[axis], - minDistance = (MIN_STEPS_PER_SEGMENT) * planner.steps_to_mm[axis]; - - // Retrace by the amount specified in delta_endstop_adj if more than min steps. - if (adjDistance * (Z_HOME_DIR) < 0 && ABS(adjDistance) > minDistance) { // away from endstop, more than min distance - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("adjDistance:", adjDistance); - do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis)); - } - - #else // CARTESIAN / CORE / MARKFORGED_XY - - set_axis_is_at_home(axis); - sync_plan_position(); - - destination[axis] = current_position[axis]; - - if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); - - #endif - - // Put away the Z probe - #if HOMING_Z_WITH_PROBE - if (axis == Z_AXIS && probe.stow()) return; - #endif - - #if DISABLED(DELTA) && defined(HOMING_BACKOFF_POST_MM) - const xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM; - if (endstop_backoff[axis]) { - current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir; - line_to_current_position( - #if HOMING_Z_WITH_PROBE - (axis == Z_AXIS) ? z_probe_fast_mm_s : - #endif - homing_feedrate(axis) - ); - - #if ENABLED(SENSORLESS_HOMING) - planner.synchronize(); - if (false - #if EITHER(IS_CORE, MARKFORGED_XY) - || axis != NORMAL_AXIS - #endif - ) safe_delay(200); // Short delay to allow belts to spring back - #endif - } - #endif - - // Clear retracted status if homing the Z axis - #if ENABLED(FWRETRACT) - if (axis == Z_AXIS) fwretract.current_hop = 0.0; - #endif - - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< homeaxis(", axis_codes[axis], ")"); - -} // homeaxis() - #if HAS_WORKSPACE_OFFSET void update_workspace_offset(const AxisEnum axis) { workspace_offset[axis] = home_offset[axis] + position_shift[axis]; @@ -1893,4 +1890,4 @@ void homeaxis(const AxisEnum axis) { home_offset[axis] = v; update_workspace_offset(axis); } -#endif // HAS_M206_COMMAND +#endif diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 328bfe018d..2a23636d71 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -284,27 +284,51 @@ void do_z_clearance(const float &zclear, const bool z_trusted=true, const bool r * Homing and Trusted Axes */ constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS); -extern uint8_t axis_homed, axis_trusted; -void homeaxis(const AxisEnum axis); void set_axis_is_at_home(const AxisEnum axis); -void set_axis_never_homed(const AxisEnum axis); -uint8_t axes_should_home(uint8_t axis_bits=0x07); -bool homing_needed_error(uint8_t axis_bits=0x07); -FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); } -FORCE_INLINE bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); } -FORCE_INLINE bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; } -FORCE_INLINE bool no_axes_homed() { return !axis_homed; } -FORCE_INLINE bool all_axes_homed() { return xyz_bits == (axis_homed & xyz_bits); } -FORCE_INLINE bool homing_needed() { return !all_axes_homed(); } -FORCE_INLINE bool all_axes_trusted() { return xyz_bits == (axis_trusted & xyz_bits); } -FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); } -FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); } -FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); } -FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); } -FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = xyz_bits; } -FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; } +#if HAS_ENDSTOPS + /** + * axis_homed + * Flags that each linear axis was homed. + * XYZ on cartesian, ABC on delta, ABZ on SCARA. + * + * axis_trusted + * Flags that the position is trusted in each linear axis. Set when homed. + * Cleared whenever a stepper powers off, potentially losing its position. + */ + extern uint8_t axis_homed, axis_trusted; + void homeaxis(const AxisEnum axis); + void set_axis_never_homed(const AxisEnum axis); + uint8_t axes_should_home(uint8_t axis_bits=0x07); + bool homing_needed_error(uint8_t axis_bits=0x07); + FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); } + FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); } + FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; } + FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); } + FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); } + FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = xyz_bits; } +#else + constexpr uint8_t axis_homed = xyz_bits, axis_trusted = xyz_bits; // Zero-endstop machines are always homed and trusted + FORCE_INLINE void homeaxis(const AxisEnum axis) {} + FORCE_INLINE void set_axis_never_homed(const AxisEnum) {} + FORCE_INLINE uint8_t axes_should_home(uint8_t=0x07) { return false; } + FORCE_INLINE bool homing_needed_error(uint8_t=0x07) { return false; } + FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) {} + FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) {} + FORCE_INLINE void set_all_unhomed() {} + FORCE_INLINE void set_axis_homed(const AxisEnum axis) {} + FORCE_INLINE void set_axis_trusted(const AxisEnum axis) {} + FORCE_INLINE void set_all_homed() {} +#endif + +FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); } +FORCE_INLINE bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); } +FORCE_INLINE bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; } +FORCE_INLINE bool no_axes_homed() { return !axis_homed; } +FORCE_INLINE bool all_axes_homed() { return xyz_bits == (axis_homed & xyz_bits); } +FORCE_INLINE bool homing_needed() { return !all_axes_homed(); } +FORCE_INLINE bool all_axes_trusted() { return xyz_bits == (axis_trusted & xyz_bits); } #if ENABLED(NO_MOTION_BEFORE_HOMING) #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error()) @@ -360,7 +384,6 @@ FORCE_INLINE void set_all_unhomed() { axis_homed = axis_tr /** * position_is_reachable family of functions */ - #if IS_KINEMATIC // (DELTA or SCARA) #if HAS_SCARA_OFFSET @@ -390,14 +413,14 @@ FORCE_INLINE void set_all_unhomed() { axis_homed = axis_tr // Return true if the given position is within the machine bounds. inline bool position_is_reachable(const float &rx, const float &ry) { - if (!WITHIN(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false; + if (!COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false; #if ENABLED(DUAL_X_CARRIAGE) if (active_extruder) - return WITHIN(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop); + return COORDINATE_OKAY(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop); else - return WITHIN(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop); + return COORDINATE_OKAY(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop); #else - return WITHIN(rx, X_MIN_POS - fslop, X_MAX_POS + fslop); + return COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop); #endif } inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); } diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index cd906c5d13..b7ff0ee932 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -564,10 +564,10 @@ class Planner { #if ENABLED(SKEW_CORRECTION) FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) { - if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) { + if (COORDINATE_OKAY(cx, X_MIN_POS + 1, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS + 1, Y_MAX_POS)) { const float sx = cx - cy * skew_factor.xy - cz * (skew_factor.xz - (skew_factor.xy * skew_factor.yz)), sy = cy - cz * skew_factor.yz; - if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { + if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) { cx = sx; cy = sy; } } @@ -575,10 +575,10 @@ class Planner { FORCE_INLINE static void skew(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); } FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) { - if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) { + if (COORDINATE_OKAY(cx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(cy, Y_MIN_POS, Y_MAX_POS)) { const float sx = cx + cy * skew_factor.xy + cz * skew_factor.xz, sy = cy + cz * skew_factor.yz; - if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { + if (COORDINATE_OKAY(sx, X_MIN_POS, X_MAX_POS) && COORDINATE_OKAY(sy, Y_MIN_POS, Y_MAX_POS)) { cx = sx; cy = sy; } } diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h index c8b214370c..6b3d990859 100644 --- a/Marlin/src/module/probe.h +++ b/Marlin/src/module/probe.h @@ -92,8 +92,8 @@ public: */ static bool can_reach(const float &rx, const float &ry) { return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y) - && WITHIN(rx, min_x() - fslop, max_x() + fslop) - && WITHIN(ry, min_y() - fslop, max_y() + fslop); + && COORDINATE_OKAY(rx, min_x() - fslop, max_x() + fslop) + && COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop); } #endif @@ -206,8 +206,8 @@ public: #if IS_KINEMATIC return HYPOT2(x, y) <= sq(probe_radius(default_probe_xy_offset)); #else - return WITHIN(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop) - && WITHIN(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop); + return COORDINATE_OKAY(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop) + && COORDINATE_OKAY(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop); #endif } diff --git a/buildroot/tests/teensy31-tests b/buildroot/tests/teensy31-tests index 448a8860c7..cf01d27461 100755 --- a/buildroot/tests/teensy31-tests +++ b/buildroot/tests/teensy31-tests @@ -10,6 +10,14 @@ restore_configs opt_set MOTHERBOARD BOARD_TEENSY31_32 exec_test $1 $2 "Teensy3.1 with default config" "$3" +# +# Zero endstops, as with a CNC +# +restore_configs +opt_set MOTHERBOARD BOARD_TEENSY31_32 +opt_disable USE_XMIN_PLUG USE_YMIN_PLUG USE_ZMIN_PLUG +exec_test $1 $2 "Teensy3.1 with Zero Endstops" "$3" + # # Test many features together # From 12468f5e9f22588660e17572292157bd2a86ef19 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 25 Feb 2021 05:15:49 -0600 Subject: [PATCH 16/34] Tweak case light comment --- Marlin/Configuration_adv.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 7ec81c6675..758639cfc0 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -522,7 +522,7 @@ #define INVERT_CASE_LIGHT false // Set true if Case Light is ON when pin is LOW #define CASE_LIGHT_DEFAULT_ON true // Set default power-up state on #define CASE_LIGHT_DEFAULT_BRIGHTNESS 105 // Set default power-up brightness (0-255, requires PWM pin) - //#define CASE_LIGHT_MAX_PWM 128 // Limit pwm + //#define CASE_LIGHT_MAX_PWM 128 // Limit PWM duty cycle (0-255) //#define CASE_LIGHT_MENU // Add Case Light options to the LCD menu //#define CASE_LIGHT_NO_BRIGHTNESS // Disable brightness control. Enable for non-PWM lighting. //#define CASE_LIGHT_USE_NEOPIXEL // Use NeoPixel LED as case light, requires NEOPIXEL_LED. From a21d4c06aeb38b2b93bcfa21bd5773105d8df9be Mon Sep 17 00:00:00 2001 From: Katelyn Schiesser Date: Thu, 25 Feb 2021 06:14:24 -0800 Subject: [PATCH 17/34] Use 'H' value for UBL G29 z-clearance (#21114) --- Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 6ceb571ee2..044f6b610c 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -892,7 +892,7 @@ void unified_bed_leveling::shift_mesh_height() { const xyz_pos_t ppos = { mesh_index_to_xpos(lpos.x), mesh_index_to_ypos(lpos.y), - Z_CLEARANCE_BETWEEN_PROBES + z_clearance }; if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points) @@ -907,7 +907,14 @@ void unified_bed_leveling::shift_mesh_height() { if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing - serialprintPGM(parser.seen('B') ? GET_TEXT(MSG_UBL_BC_INSERT) : GET_TEXT(MSG_UBL_BC_INSERT2)); + if (parser.seen('B')) { + serialprintPGM(GET_TEXT(MSG_UBL_BC_INSERT)); + LCD_MESSAGEPGM(MSG_UBL_BC_INSERT); + } + else { + serialprintPGM(GET_TEXT(MSG_UBL_BC_INSERT2)); + LCD_MESSAGEPGM(MSG_UBL_BC_INSERT2); + } const float z_step = 0.01f; // existing behavior: 0.01mm per click, occasionally step //const float z_step = planner.steps_to_mm[Z_AXIS]; // approx one step each click From bb1039d4c91b7bfd282cd5b2b86e1466db80ba28 Mon Sep 17 00:00:00 2001 From: ellensp Date: Fri, 26 Feb 2021 03:15:55 +1300 Subject: [PATCH 18/34] Preflight checks for PlatformIO builds (#21068) Co-authored-by: Alexander D. Kanevskiy --- Marlin/src/pins/pins.h | 6 +- Marlin/src/pins/ramps/pins_ZRIB_V52.h | 1 + .../PlatformIO/scripts/common-dependencies.py | 11 ---- .../PlatformIO/scripts/preflight-checks.py | 62 +++++++++++++++++++ buildroot/tests/mega1280-tests | 4 +- platformio.ini | 1 + 6 files changed, 69 insertions(+), 16 deletions(-) create mode 100644 buildroot/share/PlatformIO/scripts/preflight-checks.py diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h index f5b80fd4d0..8f0215d4c8 100644 --- a/Marlin/src/pins/pins.h +++ b/Marlin/src/pins/pins.h @@ -481,9 +481,9 @@ #elif MB(MKS_ROBIN_MINI) #include "stm32f1/pins_MKS_ROBIN_MINI.h" // STM32F1 env:mks_robin_mini #elif MB(MKS_ROBIN_NANO) - #include "stm32f1/pins_MKS_ROBIN_NANO.h" // STM32F1 env:mks_robin_nano35 + #include "stm32f1/pins_MKS_ROBIN_NANO.h" // STM32F1 env:mks_robin_nano35 env:mks_robin_nano35_stm32 #elif MB(MKS_ROBIN_NANO_V2) - #include "stm32f1/pins_MKS_ROBIN_NANO_V2.h" // STM32F1 env:mks_robin_nano35 + #include "stm32f1/pins_MKS_ROBIN_NANO_V2.h" // STM32F1 env:mks_robin_nano35 env:mks_robin_nano35_stm32 #elif MB(MKS_ROBIN_LITE) #include "stm32f1/pins_MKS_ROBIN_LITE.h" // STM32F1 env:mks_robin_lite #elif MB(MKS_ROBIN_LITE3) @@ -513,7 +513,7 @@ #elif MB(BTT_SKR_E3_DIP) #include "stm32f1/pins_BTT_SKR_E3_DIP.h" // STM32F1 env:STM32F103RE_btt env:STM32F103RE_btt_USB env:STM32F103RC_btt env:STM32F103RC_btt_512K env:STM32F103RC_btt_USB env:STM32F103RC_btt_512K_USB #elif MB(BTT_SKR_CR6) - #include "stm32f1/pins_BTT_SKR_CR6.h" // STM32F1 env:STM32F103RC_btt_512K_USB + #include "stm32f1/pins_BTT_SKR_CR6.h" // STM32F1 env:STM32F103RE_btt env:STM32F103RE_btt_USB #elif MB(JGAURORA_A5S_A1) #include "stm32f1/pins_JGAURORA_A5S_A1.h" // STM32F1 env:jgaurora_a5s_a1 #elif MB(FYSETC_AIO_II) diff --git a/Marlin/src/pins/ramps/pins_ZRIB_V52.h b/Marlin/src/pins/ramps/pins_ZRIB_V52.h index 983c840bbc..f4db07ef8d 100644 --- a/Marlin/src/pins/ramps/pins_ZRIB_V52.h +++ b/Marlin/src/pins/ramps/pins_ZRIB_V52.h @@ -46,6 +46,7 @@ #define E2_STEP_PIN 4 #define E2_DIR_PIN 5 #define E2_ENABLE_PIN 22 +#define HEATER_1_PIN 7 #include "pins_MKS_BASE_common.h" diff --git a/buildroot/share/PlatformIO/scripts/common-dependencies.py b/buildroot/share/PlatformIO/scripts/common-dependencies.py index 4500f529a6..30e168d83f 100644 --- a/buildroot/share/PlatformIO/scripts/common-dependencies.py +++ b/buildroot/share/PlatformIO/scripts/common-dependencies.py @@ -312,16 +312,6 @@ def MarlinFeatureIsEnabled(env, feature): return some_on -# -# Check for Configfiles in two common incorrect places -# -def check_configfile_locations(): - for p in [ env['PROJECT_DIR'], os.path.join(env['PROJECT_DIR'], "config") ]: - for f in [ "Configuration.h", "Configuration_adv.h" ]: - if os.path.isfile(os.path.join(p, f)): - err = 'ERROR: Config files found in directory ' + str(p) + '. Please move them into the Marlin subdirectory.' - raise SystemExit(err) - # # Add a method for other PIO scripts to query enabled features # @@ -330,6 +320,5 @@ env.AddMethod(MarlinFeatureIsEnabled) # # Add dependencies for enabled Marlin features # -check_configfile_locations() apply_features_config() force_ignore_unused_libs() diff --git a/buildroot/share/PlatformIO/scripts/preflight-checks.py b/buildroot/share/PlatformIO/scripts/preflight-checks.py new file mode 100644 index 0000000000..14807d954a --- /dev/null +++ b/buildroot/share/PlatformIO/scripts/preflight-checks.py @@ -0,0 +1,62 @@ +# +# preflight-checks.py +# Script to check for common issues prior to compiling +# +import os +import re +Import("env") + +def get_envs_for_board(board): + if board.startswith("BOARD_"): + board = board[6:] + with open(os.path.join("Marlin", "src", "pins", "pins.h"),"r") as f: + board_found = "" + r=re.compile(r"if\s+MB\((.+)\)") + for line in f.readlines(): + mbs = r.findall(line) + if mbs: + board_found = board if board in re.split(r",\s*", mbs[0]) else "" + if board_found and "#include " in line and "env:" in line: + return re.findall(r"env:\w+", line) + return [] + +def check_envs(build_env, base_envs, config): + if build_env in base_envs: + return True + ext = config.get(build_env, 'extends', default=None) + if ext: + for ext_env in ext: + if check_envs(ext_env, base_envs, config): + return True + return False + +# Sanity checks: +if 'PIOENV' not in env: + raise SystemExit("Error: PIOENV is not defined. This script is intended to be used with PlatformIO") + +if 'MARLIN_FEATURES' not in env: + raise SystemExit("Error: this script should be used after common Marlin scripts") + +if 'MOTHERBOARD' not in env['MARLIN_FEATURES']: + raise SystemExit("Error: MOTHERBOARD is not defined in Configuration.h") + +build_env = env['PIOENV'] +motherboard = env['MARLIN_FEATURES']['MOTHERBOARD'] +base_envs = get_envs_for_board(motherboard) +config = env.GetProjectConfig() +result = check_envs("env:"+build_env, base_envs, config) + +if not result: + err = "Error: your selected build environment '%s' is not compatible with MOTHERBOARD=%s in Configuration.h. " \ + "Please use one of compatible build environments for this board: %s" % \ + (build_env, motherboard, ",".join([e[4:] for e in base_envs if e.startswith("env:")])) + raise SystemExit(err) + +# +# Check for Config files in two common incorrect places +# +for p in [ env['PROJECT_DIR'], os.path.join(env['PROJECT_DIR'], "config") ]: + for f in [ "Configuration.h", "Configuration_adv.h" ]: + if os.path.isfile(os.path.join(p, f)): + err = "ERROR: Config files found in directory %s. Please move them into the Marlin subfolder." % p + raise SystemExit(err) diff --git a/buildroot/tests/mega1280-tests b/buildroot/tests/mega1280-tests index ac1b5f692d..9110e9feb6 100755 --- a/buildroot/tests/mega1280-tests +++ b/buildroot/tests/mega1280-tests @@ -33,13 +33,13 @@ exec_test $1 $2 "Spindle, MESH_BED_LEVELING, closed loop, Power Monitor, and LCD # Test DUAL_X_CARRIAGE # restore_configs -opt_set MOTHERBOARD BOARD_TT_OSCAR +opt_set MOTHERBOARD BOARD_ZRIB_V52 opt_set LCD_LANGUAGE pt opt_set EXTRUDERS 2 opt_set TEMP_SENSOR_1 1 opt_enable USE_XMAX_PLUG DUAL_X_CARRIAGE REPRAPWORLD_KEYPAD opt_set REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 -exec_test $1 $2 "TT Oscar | DUAL_X_CARRIAGE" "$3" +exec_test $1 $2 "ZRIB_V52 | DUAL_X_CARRIAGE" "$3" # # Delta Config (generic) + Probeless diff --git a/platformio.ini b/platformio.ini index fab20018d9..c03b224533 100644 --- a/platformio.ini +++ b/platformio.ini @@ -212,6 +212,7 @@ default_src_filter = + - - + extra_scripts = pre:buildroot/share/PlatformIO/scripts/common-dependencies.py pre:buildroot/share/PlatformIO/scripts/common-cxxflags.py + pre:buildroot/share/PlatformIO/scripts/preflight-checks.py post:buildroot/share/PlatformIO/scripts/common-dependencies-post.py build_flags = -fmax-errors=5 -g3 -D__MARLIN_FIRMWARE__ -fmerge-constants lib_deps = From 735c1b6183739152eeddade4c06c17e3b0de38bc Mon Sep 17 00:00:00 2001 From: Katelyn Schiesser Date: Thu, 25 Feb 2021 06:28:27 -0800 Subject: [PATCH 19/34] PROBING_HEATERS_OFF sub-option WAIT_FOR_HOTEND (#20835) --- Marlin/Configuration.h | 1 + Marlin/src/module/motion.cpp | 7 ++++++- Marlin/src/module/probe.cpp | 4 ++++ Marlin/src/module/temperature.cpp | 11 +++++++++++ Marlin/src/module/temperature.h | 4 ++++ 5 files changed, 26 insertions(+), 1 deletion(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 1c98168236..ea3385356a 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1139,6 +1139,7 @@ //#define PROBING_HEATERS_OFF // Turn heaters off when probing #if ENABLED(PROBING_HEATERS_OFF) //#define WAIT_FOR_BED_HEATER // Wait for bed to heat back up between probes (to improve accuracy) + //#define WAIT_FOR_HOTEND // Wait for hotend to heat back up between probes (to improve accuracy & prevent cold extrude) #endif //#define PROBING_FANS_OFF // Turn fans off when probing //#define PROBING_STEPPERS_OFF // Turn steppers off (unless needed to hold position) when probing diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 10d3585a73..55973185ee 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -1318,11 +1318,16 @@ void prepare_line_to_destination() { if (is_home_dir) { if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS)) { - #if ALL(HAS_HEATED_BED, WAIT_FOR_BED_HEATER) + #if BOTH(HAS_HEATED_BED, WAIT_FOR_BED_HEATER) // Wait for bed to heat back up between probing points thermalManager.wait_for_bed_heating(); #endif + #if BOTH(HAS_HOTEND, WAIT_FOR_HOTEND) + // Wait for the hotend to heat back up between probing points + thermalManager.wait_for_hotend_heating(active_extruder); + #endif + TERN_(HAS_QUIET_PROBING, if (final_approach) probe.set_probing_paused(true)); } diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 6df115225e..e59e514a06 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -478,6 +478,10 @@ bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) { thermalManager.wait_for_bed_heating(); #endif + #if BOTH(HAS_TEMP_HOTEND, WAIT_FOR_HOTEND) + thermalManager.wait_for_hotend_heating(active_extruder); + #endif + if (TERN0(BLTOUCH_SLOW_MODE, bltouch.deploy())) return true; // Deploy in LOW SPEED MODE on every probe action // Disable stealthChop if used. Enable diag1 pin on driver. diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp index a220386b9e..e85e48c2d4 100644 --- a/Marlin/src/module/temperature.cpp +++ b/Marlin/src/module/temperature.cpp @@ -3447,6 +3447,17 @@ void Temperature::tick() { return false; } + #if ENABLED(WAIT_FOR_HOTEND) + void Temperature::wait_for_hotend_heating(const uint8_t target_extruder) { + if (isHeatingHotend(target_extruder)) { + SERIAL_ECHOLNPGM("Wait for hotend heating..."); + LCD_MESSAGEPGM(MSG_HEATING); + wait_for_hotend(target_extruder); + ui.reset_status(); + } + } + #endif + #endif // HAS_TEMP_HOTEND #if HAS_HEATED_BED diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h index 1019c10fad..5f5a076911 100644 --- a/Marlin/src/module/temperature.h +++ b/Marlin/src/module/temperature.h @@ -630,6 +630,10 @@ class Temperature { , const bool click_to_cancel=false #endif ); + + #if ENABLED(WAIT_FOR_HOTEND) + static void wait_for_hotend_heating(const uint8_t target_extruder); + #endif #endif FORCE_INLINE static bool still_heating(const uint8_t e) { From 08d54b3d78824111dbe3fca894c4d50aec53586c Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 25 Feb 2021 09:14:24 -0600 Subject: [PATCH 20/34] Eryone Thinker V2 (#21190) Co-Authored-By: Bryan Joshua Pedini --- Marlin/Makefile | 2 + Marlin/src/core/boards.h | 1 + Marlin/src/pins/pins.h | 2 + Marlin/src/pins/rambo/pins_RAMBO.h | 32 ++++++++--- Marlin/src/pins/rambo/pins_RAMBO_THINKERV2.h | 60 ++++++++++++++++++++ 5 files changed, 89 insertions(+), 8 deletions(-) create mode 100755 Marlin/src/pins/rambo/pins_RAMBO_THINKERV2.h diff --git a/Marlin/Makefile b/Marlin/Makefile index 49cb960b92..19c2d0b329 100644 --- a/Marlin/Makefile +++ b/Marlin/Makefile @@ -323,6 +323,8 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1203) else ifeq ($(HARDWARE_MOTHERBOARD),1204) # abee Scoovo X9H else ifeq ($(HARDWARE_MOTHERBOARD),1205) +# Rambo ThinkerV2 +else ifeq ($(HARDWARE_MOTHERBOARD),1206) # # Other ATmega1280, ATmega2560 diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h index 5a1df8bfa4..cfde52ddb9 100644 --- a/Marlin/src/core/boards.h +++ b/Marlin/src/core/boards.h @@ -126,6 +126,7 @@ #define BOARD_EINSY_RAMBO 1203 // Einsy Rambo #define BOARD_EINSY_RETRO 1204 // Einsy Retro #define BOARD_SCOOVO_X9H 1205 // abee Scoovo X9H +#define BOARD_RAMBO_THINKERV2 1206 // ThinkerV2 // // Other ATmega1280, ATmega2560 diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h index 8f0215d4c8..11b42b1c32 100644 --- a/Marlin/src/pins/pins.h +++ b/Marlin/src/pins/pins.h @@ -207,6 +207,8 @@ #include "rambo/pins_EINSY_RETRO.h" // ATmega2560 env:rambo #elif MB(SCOOVO_X9H) #include "rambo/pins_SCOOVO_X9H.h" // ATmega2560 env:rambo +#elif MB(RAMBO_THINKERV2) + #include "rambo/pins_RAMBO_THINKERV2.h" // ATmega2560 env:rambo // // Other ATmega1280, ATmega2560 diff --git a/Marlin/src/pins/rambo/pins_RAMBO.h b/Marlin/src/pins/rambo/pins_RAMBO.h index be2317b146..65fc4b5af8 100644 --- a/Marlin/src/pins/rambo/pins_RAMBO.h +++ b/Marlin/src/pins/rambo/pins_RAMBO.h @@ -45,14 +45,20 @@ #error "Oops! Select 'Arduino/Genuino Mega or Mega 2560' in 'Tools > Board.'" #endif -#define BOARD_INFO_NAME "Rambo" +#ifndef BOARD_INFO_NAME + #define BOARD_INFO_NAME "Rambo" +#endif // // Servos // -#define SERVO0_PIN 22 // Motor header MX1 +#ifndef SERVO0_PIN + #define SERVO0_PIN 22 // Motor header MX1 +#endif #define SERVO1_PIN 23 // Motor header MX2 -#define SERVO2_PIN 24 // Motor header MX3 +#ifndef SERVO2_PIN + #define SERVO2_PIN 24 // Motor header MX3 +#endif #define SERVO3_PIN 5 // PWM header pin 5 // @@ -62,7 +68,9 @@ #define X_MAX_PIN 24 #define Y_MIN_PIN 11 #define Y_MAX_PIN 23 -#define Z_MIN_PIN 10 +#ifndef Z_MIN_PIN + #define Z_MIN_PIN 10 +#endif #define Z_MAX_PIN 30 // @@ -135,8 +143,12 @@ #ifndef FAN_PIN #define FAN_PIN 8 #endif -#define FAN1_PIN 6 -#define FAN2_PIN 2 +#ifndef FAN1_PIN + #define FAN1_PIN 6 +#endif +#ifndef FAN2_PIN + #define FAN2_PIN 2 +#endif // // Misc. Functions @@ -220,8 +232,12 @@ #define BEEPER_PIN 79 // AUX-4 // AUX-2 - #define BTN_EN1 76 - #define BTN_EN2 77 + #ifndef BTN_EN1 + #define BTN_EN1 76 + #endif + #ifndef BTN_EN2 + #define BTN_EN2 77 + #endif #define BTN_ENC 78 #define SD_DETECT_PIN 81 diff --git a/Marlin/src/pins/rambo/pins_RAMBO_THINKERV2.h b/Marlin/src/pins/rambo/pins_RAMBO_THINKERV2.h new file mode 100755 index 0000000000..278a5bf0b4 --- /dev/null +++ b/Marlin/src/pins/rambo/pins_RAMBO_THINKERV2.h @@ -0,0 +1,60 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Rambo ThinkerV2 pin assignments + */ + +#define BOARD_INFO_NAME "Rambo ThinkerV2" + +#define SERVO0_PIN 4 // Motor header MX1 +#define SERVO2_PIN -1 // Motor header MX3 + +#ifndef FIL_RUNOUT_PIN + #define FIL_RUNOUT_PIN 10 +#endif + +// Support BLTouch and fixed probes +#if ENABLED(BLTOUCH) + #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) + #define Z_MIN_PIN 22 + #elif !defined(Z_MIN_PROBE_PIN) + #define Z_MIN_PROBE_PIN 22 + #endif +#elif ENABLED(FIX_MOUNTED_PROBE) + #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) + #define Z_MIN_PIN 4 + #elif !defined(Z_MIN_PROBE_PIN) + #define Z_MIN_PROBE_PIN 4 + #endif +#endif + +// Eryone has the fan pins reversed +#define FAN1_PIN 2 +#define FAN2_PIN 6 + +// Encoder +#define BTN_EN1 64 +#define BTN_EN2 63 + +#include "pins_RAMBO.h" From 45fff07a4cfd2442b8bcbb6a081eaeb1fd5810f8 Mon Sep 17 00:00:00 2001 From: qwewer0 <57561110+qwewer0@users.noreply.github.com> Date: Thu, 25 Feb 2021 16:21:17 +0100 Subject: [PATCH 21/34] Fix LEVEL_CORNERS_USE_PROBE with BLTOUCH_HS_MODE (#21161) --- Marlin/src/lcd/menu/menu_bed_corners.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/Marlin/src/lcd/menu/menu_bed_corners.cpp b/Marlin/src/lcd/menu/menu_bed_corners.cpp index 751be18600..505b31876a 100644 --- a/Marlin/src/lcd/menu/menu_bed_corners.cpp +++ b/Marlin/src/lcd/menu/menu_bed_corners.cpp @@ -269,12 +269,13 @@ static inline void _lcd_level_bed_corners_get_next_position() { do { ui.refresh(LCDVIEW_REDRAW_NOW); _lcd_draw_probing(); // update screen with # of good points - do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP); // clearance + do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP + TERN0(BLTOUCH_HS_MODE, 7)); // clearance _lcd_level_bed_corners_get_next_position(); // Select next corner coordinates current_position -= probe.offset_xy; // Account for probe offsets do_blocking_move_to_xy(current_position); // Goto corner + TERN_(BLTOUCH_HS_MODE, bltouch.deploy()); // Deploy in HIGH SPEED MODE if (!_lcd_level_bed_corners_probe()) { // Probe down to tolerance if (_lcd_level_bed_corners_raise()) { // Prompt user to raise bed if needed #if ENABLED(LEVEL_CORNERS_VERIFY_RAISED) // Verify @@ -295,6 +296,9 @@ static inline void _lcd_level_bed_corners_get_next_position() { } while (good_points < nr_edge_points); // loop until all points within tolerance + TERN_(BLTOUCH_HS_MODE, do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP)); // Do clearance in HIGH SPEED MODE at the very end + TERN_(BLTOUCH_HS_MODE, bltouch.stow()); // Stow in HIGH SPEED MODE at the very end + ui.goto_screen(_lcd_draw_level_prompt); // prompt for bed leveling ui.set_selection(true); } From 7fc75fc48263690cd8dd64686213d6a42d0795e6 Mon Sep 17 00:00:00 2001 From: Victor Oliveira Date: Thu, 25 Feb 2021 12:23:30 -0300 Subject: [PATCH 22/34] Zero Endstops followup (#21188) --- Marlin/src/module/motion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 55973185ee..e2613b0185 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -1393,7 +1393,7 @@ void prepare_line_to_destination() { TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis)); } - #if ENABLED(TMC_HOME_PHASE) + #ifdef TMC_HOME_PHASE /** * Move the axis back to its home_phase if set and driver is capable (TMC) * From bcda46e3f3435a1f87d224be2f81778c1855deb7 Mon Sep 17 00:00:00 2001 From: swissnorp <67485708+swissnorp@users.noreply.github.com> Date: Thu, 25 Feb 2021 17:09:00 +0100 Subject: [PATCH 23/34] Combine Z_AFTER_DEACTIVATE with UNKNOWN_Z_NO_RAISE (#20444) Co-authored-by: Scott Lahteine --- Marlin/Configuration.h | 9 +++++++-- Marlin/Configuration_adv.h | 3 --- Marlin/src/gcode/calibrate/G28.cpp | 6 ++---- Marlin/src/inc/SanityCheck.h | 4 ++++ Marlin/src/module/motion.cpp | 13 +++++++++---- Marlin/src/module/motion.h | 2 +- Marlin/src/module/probe.cpp | 9 +-------- Marlin/src/module/probe.h | 4 ++-- Marlin/src/module/stepper/indirection.h | 4 ++-- buildroot/tests/STM32F103RC_btt-tests | 2 +- 10 files changed, 29 insertions(+), 27 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index ea3385356a..b50c884b7e 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -569,7 +569,6 @@ * the issues involved, don't use chamber PID until someone else verifies that your hardware works. */ //#define PIDTEMPCHAMBER - //#define CHAMBER_LIMIT_SWITCHING /** @@ -1196,7 +1195,13 @@ //#define NO_MOTION_BEFORE_HOMING // Inhibit movement until all axes have been homed. Also enable HOME_AFTER_DEACTIVATE for extra safety. //#define HOME_AFTER_DEACTIVATE // Require rehoming after steppers are deactivated. Also enable NO_MOTION_BEFORE_HOMING for extra safety. -//#define UNKNOWN_Z_NO_RAISE // Don't raise Z (lower the bed) if Z is "unknown." For beds that fall when Z is powered off. + +/** + * Set Z_IDLE_HEIGHT if the Z-Axis moves on its own when steppers are disabled. + * - Use a low value (i.e., Z_MIN_POS) if the nozzle falls down to the bed. + * - Use a large value (i.e., Z_MAX_POS) if the bed falls down, away from the nozzle. + */ +//#define Z_IDLE_HEIGHT Z_HOME_POS //#define Z_HOMING_HEIGHT 4 // (mm) Minimal Z height before homing (G28) for Z clearance above the bed, clamps, ... // Be sure to have this much clearance over your Z_MAX_POS to prevent grinding. diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 758639cfc0..d545869988 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -869,9 +869,6 @@ #define DISABLE_INACTIVE_Z true // Set 'false' if the nozzle could fall onto your printed part! #define DISABLE_INACTIVE_E true -// If the Nozzle or Bed falls when the Z stepper is disabled, set its resting position here. -//#define Z_AFTER_DEACTIVATE Z_HOME_POS - // Default Minimum Feedrates for printing and travel moves #define DEFAULT_MINIMUMFEEDRATE 0.0 // (mm/s) Minimum feedrate. Set with M205 S. #define DEFAULT_MINTRAVELFEEDRATE 0.0 // (mm/s) Minimum travel feedrate. Set with M205 T. diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 12f85f7054..c26340f1ab 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -326,14 +326,12 @@ void GcodeSuite::G28() { #endif - const float z_homing_height = TERN1(UNKNOWN_Z_NO_RAISE, axis_is_trusted(Z_AXIS)) - ? (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT) - : 0; + const float z_homing_height = parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT; if (z_homing_height && (doX || doY || TERN0(Z_SAFE_HOMING, doZ))) { // Raise Z before homing any other axes and z is not already high enough (never lower z) if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height); - do_z_clearance(z_homing_height, axis_is_trusted(Z_AXIS), DISABLED(UNKNOWN_Z_NO_RAISE)); + do_z_clearance(z_homing_height); } #if ENABLED(QUICK_HOME) diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index d6d2a600a0..210848d80b 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -539,6 +539,10 @@ #endif #elif defined(ASSISTED_TRAMMING_MENU_ITEM) #error "ASSISTED_TRAMMING_MENU_ITEM is deprecated and should be removed." +#elif defined(UNKNOWN_Z_NO_RAISE) + #error "UNKNOWN_Z_NO_RAISE is replaced by setting Z_IDLE_HEIGHT to Z_MAX_POS." +#elif defined(Z_AFTER_DEACTIVATE) + #error "Z_AFTER_DEACTIVATE is replaced by Z_IDLE_HEIGHT." #endif /** diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index e2613b0185..3e79e7dabf 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -83,7 +83,13 @@ bool relative_mode; // = false; * Used by 'line_to_current_position' to do a move after changing it. * Used by 'sync_plan_position' to update 'planner.position'. */ -xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS }; +xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, + #ifdef Z_IDLE_HEIGHT + Z_IDLE_HEIGHT + #else + Z_HOME_POS + #endif +}; /** * Cartesian Destination @@ -494,9 +500,8 @@ void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &z, const feedRat do_blocking_move_to(raw.x, raw.y, z, fr_mm_s); } -void do_z_clearance(const float &zclear, const bool z_trusted/*=true*/, const bool raise_on_untrusted/*=true*/, const bool lower_allowed/*=false*/) { - const bool rel = raise_on_untrusted && !z_trusted; - float zdest = zclear + (rel ? current_position.z : 0.0f); +void do_z_clearance(const float &zclear, const bool lower_allowed/*=false*/) { + float zdest = zclear; if (!lower_allowed) NOLESS(zdest, current_position.z); do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS))); } diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 2a23636d71..c8fb2c639b 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -278,7 +278,7 @@ void remember_feedrate_and_scaling(); void remember_feedrate_scaling_off(); void restore_feedrate_and_scaling(); -void do_z_clearance(const float &zclear, const bool z_trusted=true, const bool raise_on_untrusted=true, const bool lower_allowed=false); +void do_z_clearance(const float &zclear, const bool lower_allowed=false); /** * Homing and Trusted Axes diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index e59e514a06..d29123bf4d 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -401,14 +401,7 @@ bool Probe::set_deployed(const bool deploy) { constexpr bool z_raise_wanted = true; #endif - // For beds that fall when Z is powered off only raise for trusted Z - #if ENABLED(UNKNOWN_Z_NO_RAISE) - const bool z_is_trusted = axis_is_trusted(Z_AXIS); - #else - constexpr float z_is_trusted = true; - #endif - - if (z_is_trusted && z_raise_wanted) + if (z_raise_wanted) do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE)); #if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY) diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h index 6b3d990859..df7bdd23a1 100644 --- a/Marlin/src/module/probe.h +++ b/Marlin/src/module/probe.h @@ -100,7 +100,7 @@ public: static void move_z_after_probing() { #ifdef Z_AFTER_PROBING - do_z_clearance(Z_AFTER_PROBING, true, true, true); // Move down still permitted + do_z_clearance(Z_AFTER_PROBING, true); // Move down still permitted #endif } static float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true); @@ -120,7 +120,7 @@ public: static void move_z_after_homing() { #ifdef Z_AFTER_HOMING - do_z_clearance(Z_AFTER_HOMING, true, true, true); + do_z_clearance(Z_AFTER_HOMING, true); #elif BOTH(Z_AFTER_PROBING, HAS_BED_PROBE) move_z_after_probing(); #endif diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h index 4346e9d6cc..e72d793ca6 100644 --- a/Marlin/src/module/stepper/indirection.h +++ b/Marlin/src/module/stepper/indirection.h @@ -862,8 +862,8 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #define ENABLE_AXIS_Z() if (SHOULD_ENABLE(z)) { ENABLE_STEPPER_Z(); ENABLE_STEPPER_Z2(); ENABLE_STEPPER_Z3(); ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); } #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); } -#ifdef Z_AFTER_DEACTIVATE - #define Z_RESET() do{ current_position.z = Z_AFTER_DEACTIVATE; sync_plan_position(); }while(0) +#ifdef Z_IDLE_HEIGHT + #define Z_RESET() do{ current_position.z = Z_IDLE_HEIGHT; sync_plan_position(); }while(0) #else #define Z_RESET() #endif diff --git a/buildroot/tests/STM32F103RC_btt-tests b/buildroot/tests/STM32F103RC_btt-tests index 0084f59a0c..f500b76315 100755 --- a/buildroot/tests/STM32F103RC_btt-tests +++ b/buildroot/tests/STM32F103RC_btt-tests @@ -17,7 +17,7 @@ opt_set X_DRIVER_TYPE TMC2209 opt_set Y_DRIVER_TYPE TMC2209 opt_set Z_DRIVER_TYPE TMC2209 opt_set E0_DRIVER_TYPE TMC2209 -opt_enable PINS_DEBUGGING +opt_enable PINS_DEBUGGING Z_IDLE_HEIGHT exec_test $1 $2 "BigTreeTech SKR Mini E3 1.0 - Basic Config with TMC2209 HW Serial" "$3" From f7d9305786927a1d95903464af3480fd64049034 Mon Sep 17 00:00:00 2001 From: Vi B-P Date: Thu, 25 Feb 2021 11:23:17 -0500 Subject: [PATCH 24/34] Preheat Menu shortcut option (#20350) --- Marlin/Configuration_adv.h | 3 +++ Marlin/src/inc/Conditionals_post.h | 4 ++++ Marlin/src/lcd/menu/menu_main.cpp | 8 ++++++++ Marlin/src/lcd/menu/menu_temperature.cpp | 22 +++++++++++++++++++++- 4 files changed, 36 insertions(+), 1 deletion(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index d545869988..0431b002f3 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -1147,6 +1147,9 @@ #endif #endif + // Insert a menu for preheating at the top level to allow for quick access + //#define PREHEAT_SHORTCUT_MENU_ITEM + #endif // HAS_LCD_MENU #if HAS_DISPLAY diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 585d48de8c..6de98e2a0e 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -2380,6 +2380,10 @@ #endif #endif +#if !PREHEAT_COUNT + #undef PREHEAT_SHORTCUT_MENU_ITEM +#endif + /** * Up to 3 PWM fans */ diff --git a/Marlin/src/lcd/menu/menu_main.cpp b/Marlin/src/lcd/menu/menu_main.cpp index 878ac83a5a..1e864e35be 100644 --- a/Marlin/src/lcd/menu/menu_main.cpp +++ b/Marlin/src/lcd/menu/menu_main.cpp @@ -97,6 +97,10 @@ void menu_configuration(); void menu_spindle_laser(); #endif +#if ENABLED(PREHEAT_SHORTCUT_MENU_ITEM) + void menu_preheat_only(); +#endif + #if HAS_MULTI_LANGUAGE void menu_language(); #endif @@ -177,6 +181,10 @@ void menu_main() { ACTION_ITEM(MSG_HOST_START_PRINT, host_action_start); #endif + #if ENABLED(PREHEAT_SHORTCUT_MENU_ITEM) + SUBMENU(MSG_PREHEAT_CUSTOM, menu_preheat_only); + #endif + SUBMENU(MSG_MOTION, menu_motion); } diff --git a/Marlin/src/lcd/menu/menu_temperature.cpp b/Marlin/src/lcd/menu/menu_temperature.cpp index 01c1f8f547..f347efe6db 100644 --- a/Marlin/src/lcd/menu/menu_temperature.cpp +++ b/Marlin/src/lcd/menu/menu_temperature.cpp @@ -226,7 +226,7 @@ void menu_temperature() { #if PREHEAT_COUNT // - // Preheat for Materials 1 to 5 + // Preheat for all Materials // LOOP_L_N(m, PREHEAT_COUNT) { editable.int8 = m; @@ -249,4 +249,24 @@ void menu_temperature() { END_MENU(); } +#if ENABLED(PREHEAT_SHORTCUT_MENU_ITEM) + + void menu_preheat_only() { + START_MENU(); + BACK_ITEM(MSG_MAIN); + + LOOP_L_N(m, PREHEAT_COUNT) { + editable.int8 = m; + #if HOTENDS > 1 || HAS_HEATED_BED + SUBMENU_S(ui.get_preheat_label(m), MSG_PREHEAT_M, menu_preheat_m); + #else + ACTION_ITEM_S(ui.get_preheat_label(m), MSG_PREHEAT_M, do_preheat_end_m); + #endif + } + + END_MENU(); + } + +#endif + #endif // HAS_LCD_MENU && HAS_TEMPERATURE From fd77251fdd3aed6d44f8fb0e3424d5237bc8e2d9 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 25 Feb 2021 10:24:58 -0600 Subject: [PATCH 25/34] Chamber followup --- Marlin/Configuration_adv.h | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 0431b002f3..2846f9a675 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -151,12 +151,9 @@ #endif #if TEMP_SENSOR_CHAMBER - // Make sure you define where your heater is connected, the following works on a BTT SKR 1.4 Turbo - // using the secondary tool heater output. (FAN1 by default). - //#define FAN1_PIN -1 // Remove the fan signal on pin P2_04 (SKR 1.4 Turbo specific) - //#define HEATER_CHAMBER_PIN P2_04 // Chamber heater on/off pin (HE1 connector on SKR 1.4 Turbo) - + //#define HEATER_CHAMBER_PIN P2_04 // Required heater on/off pin (example: SKR 1.4 Turbo HE1 plug) //#define HEATER_CHAMBER_INVERTING false + //#define FAN1_PIN -1 // Remove the fan signal on pin P2_04 (example: SKR 1.4 Turbo HE1 plug) //#define CHAMBER_FAN // Enable a fan on the chamber #if ENABLED(CHAMBER_FAN) From ccf990a0d79869d7d0fef9bc667f04b691771b7e Mon Sep 17 00:00:00 2001 From: thinkyhead Date: Fri, 26 Feb 2021 00:12:56 +0000 Subject: [PATCH 26/34] [cron] Bump distribution date (2021-02-26) --- Marlin/src/inc/Version.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h index 52a2c8790c..d6ceaf2e03 100644 --- a/Marlin/src/inc/Version.h +++ b/Marlin/src/inc/Version.h @@ -42,7 +42,7 @@ * version was tagged. */ #ifndef STRING_DISTRIBUTION_DATE - #define STRING_DISTRIBUTION_DATE "2021-02-25" + #define STRING_DISTRIBUTION_DATE "2021-02-26" #endif /** From ec42be346d5c0d072feb8a1b63ef2fdbd6dc1e98 Mon Sep 17 00:00:00 2001 From: X-Ryl669 Date: Fri, 26 Feb 2021 23:54:46 +0100 Subject: [PATCH 27/34] Fix and improve G-code queue (#21122) Co-authored-by: Scott Lahteine --- Marlin/Configuration_adv.h | 6 + Marlin/src/MarlinCore.cpp | 2 +- Marlin/src/core/bug_on.h | 37 ++ Marlin/src/core/language.h | 1 + Marlin/src/core/macros.h | 25 ++ Marlin/src/core/serial.cpp | 4 + Marlin/src/core/serial.h | 17 +- Marlin/src/feature/meatpack.cpp | 10 +- Marlin/src/feature/meatpack.h | 59 ++- Marlin/src/gcode/calibrate/M100.cpp | 78 ++-- Marlin/src/gcode/gcode.cpp | 27 +- Marlin/src/gcode/host/M110.cpp | 2 +- Marlin/src/gcode/host/M118.cpp | 4 +- Marlin/src/gcode/queue.cpp | 366 ++++++++---------- Marlin/src/gcode/queue.h | 99 +++-- .../lcd/extui/lib/mks_ui/draw_keyboard.cpp | 2 +- .../lcd/extui/lib/mks_ui/draw_manuaLevel.cpp | 2 +- .../lcd/extui/lib/mks_ui/draw_move_motor.cpp | 2 +- .../src/lcd/extui/lib/mks_ui/wifi_module.cpp | 4 +- docs/Queue.md | 59 +++ 20 files changed, 498 insertions(+), 308 deletions(-) create mode 100644 Marlin/src/core/bug_on.h create mode 100644 docs/Queue.md diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 2846f9a675..0cb78731eb 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -2016,6 +2016,12 @@ //#define SERIAL_STATS_DROPPED_RX #endif +// Monitor RX buffer usage +// Dump an error to the serial port if the serial receive buffer overflows. +// If you see these errors, increase the RX_BUFFER_SIZE value. +// Not supported on all platforms. +//#define RX_BUFFER_MONITOR + /** * Emergency Command Parser * diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp index d523882d41..ad99a06eff 100644 --- a/Marlin/src/MarlinCore.cpp +++ b/Marlin/src/MarlinCore.cpp @@ -407,7 +407,7 @@ void startOrResumeJob() { */ inline void manage_inactivity(const bool ignore_stepper_queue=false) { - if (queue.length < BUFSIZE) queue.get_available_commands(); + queue.get_available_commands(); const millis_t ms = millis(); diff --git a/Marlin/src/core/bug_on.h b/Marlin/src/core/bug_on.h new file mode 100644 index 0000000000..8869be8d28 --- /dev/null +++ b/Marlin/src/core/bug_on.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Copyright (c) 2021 X-Ryl669 [https://blog.cyril.by] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// We need SERIAL_ECHOPAIR and macros.h +#include "serial.h" + +#if ENABLED(POSTMORTEM_DEBUGGING) + // Useful macro for stopping the CPU on an unexpected condition + // This is used like SERIAL_ECHOPAIR, that is: a key-value call of the local variables you want + // to dump to the serial port before stopping the CPU. + #define BUG_ON(V...) do { SERIAL_ECHOPAIR(ONLY_FILENAME, __LINE__, ": "); SERIAL_ECHOLNPAIR(V); SERIAL_FLUSHTX(); *(char*)0 = 42; } while(0) +#elif ENABLED(MARLIN_DEV_MODE) + // Don't stop the CPU here, but at least dump the bug on the serial port + #define BUG_ON(V...) do { SERIAL_ECHOPAIR(ONLY_FILENAME, __LINE__, ": BUG!\n"); SERIAL_ECHOLNPAIR(V); SERIAL_FLUSHTX(); } while(0) +#else + // Release mode, let's ignore the bug + #define BUG_ON(V...) NOOP +#endif diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h index 6024e9be3e..c9c3fd0153 100644 --- a/Marlin/src/core/language.h +++ b/Marlin/src/core/language.h @@ -131,6 +131,7 @@ #define STR_WATCHDOG_FIRED "Watchdog timeout. Reset required." #define STR_ERR_KILLED "Printer halted. kill() called!" #define STR_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart. (Temperature is reset. Set it after restarting)" +#define STR_ERR_SERIAL_MISMATCH "Serial status mismatch" #define STR_BUSY_PROCESSING "busy: processing" #define STR_BUSY_PAUSED_FOR_USER "busy: paused for user" #define STR_BUSY_PAUSED_FOR_INPUT "busy: paused for input" diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 16e18ac902..9b07af3618 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -349,6 +349,31 @@ #define CALL_IF_EXISTS(Return, That, Method, ...) \ static_cast(Private::Call_ ## Method(That, ##__VA_ARGS__)) + // Compile-time string manipulation + namespace CompileTimeString { + // Simple compile-time parser to find the position of the end of a string + constexpr const char* findStringEnd(const char *str) { + return *str ? findStringEnd(str + 1) : str; + } + + // Check whether a string contains a slash + constexpr bool containsSlash(const char *str) { + return *str == '/' ? true : (*str ? containsSlash(str + 1) : false); + } + // Find the last position of the slash + constexpr const char* findLastSlashPos(const char* str) { + return *str == '/' ? (str + 1) : findLastSlashPos(str - 1); + } + // Compile-time evaluation of the last part of a file path + // Typically used to shorten the path to file in compiled strings + // CompileTimeString::baseName(__FILE__) returns "macros.h" and not /path/to/Marlin/src/core/macros.h + constexpr const char* baseName(const char* str) { + return containsSlash(str) ? findLastSlashPos(findStringEnd(str)) : str; + } + } + + #define ONLY_FILENAME CompileTimeString::baseName(__FILE__) + #else #define MIN_2(a,b) ((a)<(b)?(a):(b)) diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp index 31f6d67e32..01f850ba56 100644 --- a/Marlin/src/core/serial.cpp +++ b/Marlin/src/core/serial.cpp @@ -52,6 +52,10 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST #endif #endif +#if ENABLED(MEATPACK) + MeatpackSerial mpSerial(false, _SERIAL_IMPL); +#endif + void serialprintPGM(PGM_P str) { while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c); } diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h index f5c02f50b6..ec955a8dea 100644 --- a/Marlin/src/core/serial.h +++ b/Marlin/src/core/serial.h @@ -24,6 +24,10 @@ #include "../inc/MarlinConfig.h" #include "serial_hook.h" +#if ENABLED(MEATPACK) + #include "../feature/meatpack.h" +#endif + // Commonly-used strings in serial output extern const char NUL_STR[], SP_P_STR[], SP_T_STR[], X_STR[], Y_STR[], Z_STR[], E_STR[], @@ -69,12 +73,19 @@ extern uint8_t marlin_debug_flags; typedef MultiSerial, decltype(MYSERIAL1)), 0> SerialOutputT; #endif extern SerialOutputT multiSerial; - #define SERIAL_IMPL multiSerial + #define _SERIAL_IMPL multiSerial #else #define _PORT_REDIRECT(n,p) NOOP #define _PORT_RESTORE(n) NOOP #define SERIAL_ASSERT(P) NOOP - #define SERIAL_IMPL MYSERIAL0 + #define _SERIAL_IMPL MYSERIAL0 +#endif + +#if ENABLED(MEATPACK) + extern MeatpackSerial mpSerial; + #define SERIAL_IMPL mpSerial +#else + #define SERIAL_IMPL _SERIAL_IMPL #endif #define SERIAL_OUT(WHAT, V...) (void)SERIAL_IMPL.WHAT(V) @@ -294,7 +305,7 @@ void serialprintPGM(PGM_P str); #endif #define SERIAL_ECHOPGM_P(P) (serialprintPGM(P)) -#define SERIAL_ECHOLNPGM_P(P) (serialprintPGM(P "\n")) +#define SERIAL_ECHOLNPGM_P(P) do{ serialprintPGM(P); SERIAL_EOL(); }while(0) #define SERIAL_ECHOPGM(S) (serialprintPGM(PSTR(S))) #define SERIAL_ECHOLNPGM(S) (serialprintPGM(PSTR(S "\n"))) diff --git a/Marlin/src/feature/meatpack.cpp b/Marlin/src/feature/meatpack.cpp index cd6d8ce6b9..cb3979ea0a 100644 --- a/Marlin/src/feature/meatpack.cpp +++ b/Marlin/src/feature/meatpack.cpp @@ -110,7 +110,7 @@ void MeatPack::handle_rx_char_inner(const uint8_t c) { if (TEST(state, MPConfig_Bit_Active)) { // Is MeatPack active? if (!full_char_count) { // No literal characters to fetch? uint8_t buf[2] = { 0, 0 }; - register const uint8_t res = unpack_chars(c, buf); // Decode the byte into one or two characters. + const uint8_t res = unpack_chars(c, buf); // Decode the byte into one or two characters. if (res & kFirstCharIsLiteral) { // The 1st character couldn't be packed. ++full_char_count; // So the next stream byte is a full character. if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. Another stream byte is a full character. @@ -147,9 +147,7 @@ void MeatPack::handle_output_char(const uint8_t c) { #if ENABLED(MP_DEBUG) if (chars_decoded < 1024) { ++chars_decoded; - DEBUG_ECHOPGM("RB: "); - MYSERIAL.print((char)c); - DEBUG_EOL(); + DEBUG_ECHOLNPAIR("RB: ", AS_CHAR(c)); } #endif } @@ -200,7 +198,7 @@ void MeatPack::handle_rx_char(const uint8_t c, const serial_index_t serial_ind) } if (cmd_is_next) { // Were two command bytes received? - PORT_REDIRECT(serial_ind); + PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); handle_command((MeatPack_Command)c); // Then the byte is a MeatPack command cmd_is_next = false; return; @@ -219,7 +217,7 @@ uint8_t MeatPack::get_result_char(char* const __restrict out) { if (char_out_count) { res = char_out_count; char_out_count = 0; - for (register uint8_t i = 0; i < res; ++i) + for (uint8_t i = 0; i < res; ++i) out[i] = (char)char_out_buf[i]; } return res; diff --git a/Marlin/src/feature/meatpack.h b/Marlin/src/feature/meatpack.h index 2641130bd8..e30a5ac979 100644 --- a/Marlin/src/feature/meatpack.h +++ b/Marlin/src/feature/meatpack.h @@ -49,6 +49,7 @@ #pragma once #include +#include "../core/serial_hook.h" /** * Commands sent to MeatPack to control its behavior. @@ -78,8 +79,6 @@ enum MeatPack_ConfigStateBits : uint8_t { }; class MeatPack { -private: - friend class GCodeQueue; // Utility definitions static const uint8_t kCommandByte = 0b11111111, @@ -99,6 +98,7 @@ private: char_out_count; // Stores number of characters to be read out. static uint8_t char_out_buf[2]; // Output buffer for caching up to 2 characters +public: // Pass in a character rx'd by SD card or serial. Automatically parses command/ctrl sequences, // and will control state internally. static void handle_rx_char(const uint8_t c, const serial_index_t serial_ind); @@ -113,7 +113,6 @@ private: static void reset_state(); static void report_state(); - static uint8_t unpacked_char(register const uint8_t in); static uint8_t unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out); static void handle_command(const MeatPack_Command c); static void handle_output_char(const uint8_t c); @@ -121,3 +120,57 @@ private: }; extern MeatPack meatpack; + +// Implement the MeatPack serial class so it's transparent to rest of the code +template +struct MeatpackSerial : public SerialBase > { + typedef SerialBase< MeatpackSerial > BaseClassT; + + SerialT & out; + + char serialBuffer[2]; + uint8_t charCount; + uint8_t readIndex; + + NO_INLINE size_t write(uint8_t c) { return out.write(c); } + void flush() { out.flush(); } + void begin(long br) { out.begin(br); readIndex = 0; } + void end() { out.end(); } + + void msgDone() { out.msgDone(); } + // Existing instances implement Arduino's operator bool, so use that if it's available + bool connected() { return Private::HasMember_connected::value ? CALL_IF_EXISTS(bool, &out, connected) : (bool)out; } + void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); } + + int available(uint8_t index) { + // There is a potential issue here with multiserial, since it'll return its decoded buffer whatever the serial index here. + // So, instead of doing MeatpackSerial> we should do MultiSerial, MeatpackSerial<...>> + // TODO, let's fix this later on + + if (charCount) return charCount; // The buffer still has data + if (out.available(index) <= 0) return 0; // No data to read + + // Don't read in read method, instead do it here, so we can make progress in the read method + const int r = out.read(index); + if (r == -1) return 0; // This is an error from the underlying serial code + meatpack.handle_rx_char((uint8_t)r, index); + charCount = meatpack.get_result_char(serialBuffer); + readIndex = 0; + + return charCount; + } + + int readImpl(const uint8_t index) { + // Not enough char to make progress? + if (charCount == 0 && available(index) == 0) return -1; + + charCount--; + return serialBuffer[readIndex++]; + } + + int read(uint8_t index) { return readImpl(index); } + int available() { return available(0); } + int read() { return readImpl(0); } + + MeatpackSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {} +}; diff --git a/Marlin/src/gcode/calibrate/M100.cpp b/Marlin/src/gcode/calibrate/M100.cpp index 9ac2380e79..ee572e033d 100644 --- a/Marlin/src/gcode/calibrate/M100.cpp +++ b/Marlin/src/gcode/calibrate/M100.cpp @@ -51,7 +51,7 @@ * Also, there are two support functions that can be called from a developer's C code. * * uint16_t check_for_free_memory_corruption(PGM_P const free_memory_start); - * void M100_dump_routine(PGM_P const title, const char * const start, const char * const end); + * void M100_dump_routine(PGM_P const title, const char * const start, const uintptr_t size); * * Initial version by Roxy-3D */ @@ -151,7 +151,7 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { * the block. If so, it may indicate memory corruption due to a bad pointer. * Unexpected bytes are flagged in the right column. */ - inline void dump_free_memory(char *start_free_memory, char *end_free_memory) { + void dump_free_memory(char *start_free_memory, char *end_free_memory) { // // Start and end the dump on a nice 16 byte boundary // (even though the values are not 16-byte aligned). @@ -182,12 +182,12 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { } } - void M100_dump_routine(PGM_P const title, const char * const start, const char * const end) { - serialprintPGM(title); - SERIAL_EOL(); + void M100_dump_routine(PGM_P const title, const char * const start, const uintptr_t size) { + SERIAL_ECHOLNPGM_P(title); // // Round the start and end locations to produce full lines of output // + const char * const end = start + size - 1; dump_free_memory( (char*)(uintptr_t(uint32_t(start) & ~0xFUL)), // Align to 16-byte boundary (char*)(uintptr_t(uint32_t(end) | 0xFUL)) // Align end_free_memory to the 15th byte (at or above end_free_memory) @@ -197,27 +197,27 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { #endif // M100_FREE_MEMORY_DUMPER inline int check_for_free_memory_corruption(PGM_P const title) { - serialprintPGM(title); + SERIAL_ECHOPGM_P(title); char *start_free_memory = free_memory_start, *end_free_memory = free_memory_end; int n = end_free_memory - start_free_memory; - SERIAL_ECHOPAIR("\nfmc() n=", n); - SERIAL_ECHOPAIR("\nfree_memory_start=", hex_address(free_memory_start)); - SERIAL_ECHOLNPAIR(" end_free_memory=", hex_address(end_free_memory)); + SERIAL_ECHOLNPAIR("\nfmc() n=", n, + "\nfree_memory_start=", hex_address(free_memory_start), + " end=", hex_address(end_free_memory)); if (end_free_memory < start_free_memory) { SERIAL_ECHOPGM(" end_free_memory < Heap "); - // SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board - // safe_delay(5); // this code can be enabled to pause the display as soon as the - // while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch - // idle(); // being on pin-63 which is unassigend and available on most controller - // safe_delay(20); // boards. - // while ( !READ(63)) - // idle(); + //SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board + //safe_delay(5); // this code can be enabled to pause the display as soon as the + //while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch + // idle(); // being on pin-63 which is unassigend and available on most controller + //safe_delay(20); // boards. + //while ( !READ(63)) + // idle(); serial_delay(20); #if ENABLED(M100_FREE_MEMORY_DUMPER) - M100_dump_routine(PSTR(" Memory corruption detected with end_free_memory 8) { - // SERIAL_ECHOPAIR("Found ", j); - // SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(start_free_memory + i)); + //SERIAL_ECHOPAIR("Found ", j); + //SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(start_free_memory + i)); i += j; block_cnt++; - SERIAL_ECHOPAIR(" (", block_cnt); - SERIAL_ECHOPAIR(") found=", j); - SERIAL_ECHOLNPGM(" "); + SERIAL_ECHOLNPAIR(" (", block_cnt, ") found=", j); } } } @@ -269,8 +267,7 @@ inline void free_memory_pool_report(char * const start_free_memory, const int32_ if (*addr == TEST_BYTE) { const int32_t j = count_test_bytes(addr); if (j > 8) { - SERIAL_ECHOPAIR("Found ", j); - SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(addr)); + SERIAL_ECHOLNPAIR("Found ", j, " bytes free at ", hex_address(addr)); if (j > max_cnt) { max_cnt = j; max_addr = addr; @@ -280,11 +277,10 @@ inline void free_memory_pool_report(char * const start_free_memory, const int32_ } } } - if (block_cnt > 1) { - SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area."); - SERIAL_ECHOPAIR("\nLargest free block is ", max_cnt); - SERIAL_ECHOLNPAIR(" bytes at ", hex_address(max_addr)); - } + if (block_cnt > 1) SERIAL_ECHOLNPAIR( + "\nMemory Corruption detected in free memory area." + "\nLargest free block is ", max_cnt, " bytes at ", hex_address(max_addr) + ); SERIAL_ECHOLNPAIR("check_for_free_memory_corruption() = ", check_for_free_memory_corruption(PSTR("M100 F "))); } @@ -294,12 +290,12 @@ inline void free_memory_pool_report(char * const start_free_memory, const int32_ * Corrupt locations in the free memory pool and report the corrupt addresses. * This is useful to check the correctness of the M100 D and the M100 F commands. */ - inline void corrupt_free_memory(char *start_free_memory, const uint32_t size) { + inline void corrupt_free_memory(char *start_free_memory, const uintptr_t size) { start_free_memory += 8; const uint32_t near_top = top_of_stack() - start_free_memory - 250, // -250 to avoid interrupt activity that's altered the stack. j = near_top / (size + 1); - SERIAL_ECHOLNPGM("Corrupting free memory block.\n"); + SERIAL_ECHOLNPGM("Corrupting free memory block."); for (uint32_t i = 1; i <= size; i++) { char * const addr = start_free_memory + i * j; *addr = i; @@ -322,8 +318,8 @@ inline void init_free_memory(char *start_free_memory, int32_t size) { return; } - start_free_memory += 8; // move a few bytes away from the heap just because we don't want - // to be altering memory that close to it. + start_free_memory += 8; // move a few bytes away from the heap just because we + // don't want to be altering memory that close to it. memset(start_free_memory, TEST_BYTE, size); SERIAL_ECHO(size); @@ -342,16 +338,16 @@ inline void init_free_memory(char *start_free_memory, int32_t size) { * M100: Free Memory Check */ void GcodeSuite::M100() { - char *sp = top_of_stack(); if (!free_memory_end) free_memory_end = sp - MEMORY_END_CORRECTION; - SERIAL_ECHOPAIR("\nbss_end : ", hex_address(end_bss)); - if (heaplimit) SERIAL_ECHOPAIR("\n__heaplimit : ", hex_address(heaplimit)); - SERIAL_ECHOPAIR("\nfree_memory_start : ", hex_address(free_memory_start)); + SERIAL_ECHOPAIR("\nbss_end : ", hex_address(end_bss)); + if (heaplimit) SERIAL_ECHOPAIR("\n__heaplimit : ", hex_address(heaplimit)); + SERIAL_ECHOPAIR("\nfree_memory_start : ", hex_address(free_memory_start)); if (stacklimit) SERIAL_ECHOPAIR("\n__stacklimit : ", hex_address(stacklimit)); - SERIAL_ECHOPAIR("\nfree_memory_end : ", hex_address(free_memory_end)); - if (MEMORY_END_CORRECTION) SERIAL_ECHOPAIR("\nMEMORY_END_CORRECTION: ", MEMORY_END_CORRECTION); - SERIAL_ECHOLNPAIR("\nStack Pointer : ", hex_address(sp)); + SERIAL_ECHOPAIR("\nfree_memory_end : ", hex_address(free_memory_end)); + if (MEMORY_END_CORRECTION) + SERIAL_ECHOPAIR("\nMEMORY_END_CORRECTION : ", MEMORY_END_CORRECTION); + SERIAL_ECHOLNPAIR("\nStack Pointer : ", hex_address(sp)); // Always init on the first invocation of M100 static bool m100_not_initialized = true; @@ -369,10 +365,8 @@ void GcodeSuite::M100() { return free_memory_pool_report(free_memory_start, free_memory_end - free_memory_start); #if ENABLED(M100_FREE_MEMORY_CORRUPTOR) - if (parser.seen('C')) return corrupt_free_memory(free_memory_start, parser.value_int()); - #endif } diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index a410ad90a4..d7535dd4ff 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -260,13 +260,6 @@ void GcodeSuite::dwell(millis_t time) { #endif // HAS_LEVELING && G29_RETRY_AND_RECOVER -// -// Placeholders for non-migrated codes -// -#if ENABLED(M100_FREE_MEMORY_WATCHER) - extern void M100_dump_routine(PGM_P const title, const char * const start, const char * const end); -#endif - /** * Process the parsed command and dispatch it to its handler */ @@ -994,30 +987,32 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) { SERIAL_OUT(msgDone); // Call the msgDone serial hook to signal command processing done } +#if ENABLED(M100_FREE_MEMORY_DUMPER) + void M100_dump_routine(PGM_P const title, const char * const start, const uintptr_t size); +#endif + /** * Process a single command and dispatch it to its handler * This is called from the main loop() */ void GcodeSuite::process_next_command() { - char * const current_command = queue.command_buffer[queue.index_r]; + GCodeQueue::CommandLine &command = queue.ring_buffer.peek_next_command(); - PORT_REDIRECT(SERIAL_PORTMASK(queue.port[queue.index_r])); + PORT_REDIRECT(SERIAL_PORTMASK(command.port)); - #if ENABLED(POWER_LOSS_RECOVERY) - recovery.queue_index_r = queue.index_r; - #endif + TERN_(POWER_LOSS_RECOVERY, recovery.queue_index_r = queue.ring_buffer.index_r); if (DEBUGGING(ECHO)) { SERIAL_ECHO_START(); - SERIAL_ECHOLN(current_command); + SERIAL_ECHOLN(command.buffer); #if ENABLED(M100_FREE_MEMORY_DUMPER) - SERIAL_ECHOPAIR("slot:", queue.index_r); - M100_dump_routine(PSTR(" Command Queue:"), &queue.command_buffer[0][0], &queue.command_buffer[BUFSIZE - 1][MAX_CMD_SIZE - 1]); + SERIAL_ECHOPAIR("slot:", queue.ring_buffer.index_r); + M100_dump_routine(PSTR(" Command Queue:"), (const char*)&queue.ring_buffer, sizeof(queue.ring_buffer)); #endif } // Parse the next command in the queue - parser.parse(current_command); + parser.parse(command.buffer); process_parsed_command(); } diff --git a/Marlin/src/gcode/host/M110.cpp b/Marlin/src/gcode/host/M110.cpp index b12b38ea0f..2634b19897 100644 --- a/Marlin/src/gcode/host/M110.cpp +++ b/Marlin/src/gcode/host/M110.cpp @@ -29,6 +29,6 @@ void GcodeSuite::M110() { if (parser.seenval('N')) - queue.last_N[queue.command_port()] = parser.value_long(); + queue.set_current_line_number(parser.value_long()); } diff --git a/Marlin/src/gcode/host/M118.cpp b/Marlin/src/gcode/host/M118.cpp index ef3c293742..9982492f93 100644 --- a/Marlin/src/gcode/host/M118.cpp +++ b/Marlin/src/gcode/host/M118.cpp @@ -52,9 +52,7 @@ void GcodeSuite::M118() { while (*p == ' ') ++p; } - #if HAS_MULTI_SERIAL - PORT_REDIRECT(WITHIN(port, 0, NUM_SERIAL) ? (port ? _BV(port - 1) : SERIAL_ALL) : multiSerial.portMask); - #endif + PORT_REDIRECT(WITHIN(port, 0, NUM_SERIAL) ? (port ? SERIAL_PORTMASK(port - 1) : SERIAL_ALL) : multiSerial.portMask); if (hasE) SERIAL_ECHO_START(); if (hasA) SERIAL_ECHOPGM("//"); diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp index 8c9e9afdc1..f28c0586d9 100644 --- a/Marlin/src/gcode/queue.cpp +++ b/Marlin/src/gcode/queue.cpp @@ -35,6 +35,7 @@ GCodeQueue queue; #include "../module/planner.h" #include "../module/temperature.h" #include "../MarlinCore.h" +#include "../core/bug_on.h" #if ENABLED(PRINTER_EVENT_LEDS) #include "../feature/leds/printer_event_leds.h" @@ -48,10 +49,6 @@ GCodeQueue queue; #include "../feature/binary_stream.h" #endif -#if ENABLED(MEATPACK) - #include "../feature/meatpack.h" -#endif - #if ENABLED(POWER_LOSS_RECOVERY) #include "../feature/powerloss.h" #endif @@ -67,44 +64,17 @@ PGMSTR(G28_STR, "G28"); static millis_t last_command_time = 0; #endif -/** - * GCode line number handling. Hosts may opt to include line numbers when - * sending commands to Marlin, and lines will be checked for sequentiality. - * M110 N sets the current line number. - */ -long GCodeQueue::last_N[NUM_SERIAL]; +GCodeQueue::SerialState GCodeQueue::serial_state[NUM_SERIAL] = { 0 }; +GCodeQueue::RingBuffer GCodeQueue::ring_buffer = { 0 }; -/** - * GCode Command Queue - * A simple ring buffer of BUFSIZE command strings. - * - * Commands are copied into this buffer by the command injectors - * (immediate, serial, sd card) and they are processed sequentially by - * the main loop. The gcode.process_next_command method parses the next - * command and hands off execution to individual handler functions. - */ -uint8_t GCodeQueue::length = 0, // Count of commands in the queue - GCodeQueue::index_r = 0, // Ring buffer read position - GCodeQueue::index_w = 0; // Ring buffer write position - -char GCodeQueue::command_buffer[BUFSIZE][MAX_CMD_SIZE]; - -/* - * The port that the command was received on - */ -#if HAS_MULTI_SERIAL - serial_index_t GCodeQueue::port[BUFSIZE]; +#if NO_TIMEOUTS > 0 + static millis_t last_command_time = 0; #endif /** * Serial command injection */ -// Number of characters read in the current line of serial input -static int serial_count[NUM_SERIAL] = { 0 }; - -bool send_ok[BUFSIZE]; - /** * Next Injected PROGMEM Command pointer. (nullptr == empty) * Internal commands are enqueued ahead of serial / SD commands. @@ -116,38 +86,16 @@ PGM_P GCodeQueue::injected_commands_P; // = nullptr */ char GCodeQueue::injected_commands[64]; // = { 0 } -GCodeQueue::GCodeQueue() { - // Send "ok" after commands by default - LOOP_L_N(i, COUNT(send_ok)) send_ok[i] = true; -} -/** - * Check whether there are any commands yet to be executed - */ -bool GCodeQueue::has_commands_queued() { - return queue.length || injected_commands_P || injected_commands[0]; -} - -/** - * Clear the Marlin command queue - */ -void GCodeQueue::clear() { - index_r = index_w = length = 0; -} - -/** - * Once a new command is in the ring buffer, call this to commit it - */ -void GCodeQueue::_commit_command(bool say_ok +void GCodeQueue::RingBuffer::commit_command(bool skip_ok #if HAS_MULTI_SERIAL , serial_index_t serial_ind/*=-1*/ #endif ) { - send_ok[index_w] = say_ok; - TERN_(HAS_MULTI_SERIAL, port[index_w] = serial_ind); + commands[index_w].skip_ok = skip_ok; + TERN_(HAS_MULTI_SERIAL, commands[index_w].port = serial_ind); TERN_(POWER_LOSS_RECOVERY, recovery.commit_sdpos(index_w)); - if (++index_w >= BUFSIZE) index_w = 0; - length++; + advance_pos(index_w, 1); } /** @@ -155,14 +103,14 @@ void GCodeQueue::_commit_command(bool say_ok * Return true if the command was successfully added. * Return false for a full buffer, or if the 'command' is a comment. */ -bool GCodeQueue::_enqueue(const char* cmd, bool say_ok/*=false*/ +bool GCodeQueue::RingBuffer::enqueue(const char* cmd, bool skip_ok/*=true*/ #if HAS_MULTI_SERIAL , serial_index_t serial_ind/*=-1*/ #endif ) { if (*cmd == ';' || length >= BUFSIZE) return false; - strcpy(command_buffer[index_w], cmd); - _commit_command(say_ok + strcpy(commands[index_w].buffer, cmd); + commit_command(skip_ok #if HAS_MULTI_SERIAL , serial_ind #endif @@ -175,14 +123,11 @@ bool GCodeQueue::_enqueue(const char* cmd, bool say_ok/*=false*/ * Return true if the command was consumed */ bool GCodeQueue::enqueue_one(const char* cmd) { - - //SERIAL_ECHOPGM("enqueue_one(\""); - //SERIAL_ECHO(cmd); - //SERIAL_ECHOPGM("\") \n"); + //SERIAL_ECHOLNPAIR("enqueue_one(\"", cmd, "\")"); if (*cmd == 0 || ISEOL(*cmd)) return true; - if (_enqueue(cmd)) { + if (ring_buffer.enqueue(cmd)) { SERIAL_ECHO_MSG(STR_ENQUEUEING, cmd, "\""); return true; } @@ -260,7 +205,7 @@ bool GCodeQueue::enqueue_one_P(PGM_P const pgcode) { char cmd[i + 1]; memcpy_P(cmd, p, i); cmd[i] = '\0'; - return _enqueue(cmd); + return ring_buffer.enqueue(cmd); } /** @@ -291,20 +236,21 @@ void GCodeQueue::enqueue_now_P(PGM_P const pgcode) { * P Planner space remaining * B Block queue space remaining */ -void GCodeQueue::ok_to_send() { +void GCodeQueue::RingBuffer::ok_to_send() { #if NO_TIMEOUTS > 0 // Start counting from the last command's execution last_command_time = millis(); #endif + CommandLine &command = commands[index_r]; #if HAS_MULTI_SERIAL - const serial_index_t serial_ind = command_port(); + const serial_index_t serial_ind = command.port; if (serial_ind < 0) return; PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); // Reply to the serial port that sent the command #endif - if (!send_ok[index_r]) return; + if (command.skip_ok) return; SERIAL_ECHOPGM(STR_OK); #if ENABLED(ADVANCED_OK) - char* p = command_buffer[index_r]; + char* p = command.buffer; if (*p == 'N') { SERIAL_CHAR(' ', *p++); while (NUMERIC_SIGNED(*p)) @@ -321,27 +267,40 @@ void GCodeQueue::ok_to_send() { * indicate that a command needs to be re-sent. */ void GCodeQueue::flush_and_request_resend() { - const serial_index_t serial_ind = command_port(); + const serial_index_t serial_ind = ring_buffer.command_port(); #if HAS_MULTI_SERIAL if (serial_ind < 0) return; // Never mind. Command came from SD or Flash Drive PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); // Reply to the serial port that sent the command #endif SERIAL_FLUSH(); SERIAL_ECHOPGM(STR_RESEND); - SERIAL_ECHOLN(last_N[serial_ind] + 1); - ok_to_send(); + SERIAL_ECHOLN(serial_state[serial_ind].last_N + 1); } - // Multiserial already handle the dispatch to/from multiple port by itself inline bool serial_data_available(uint8_t index = SERIAL_ALL) { if (index == SERIAL_ALL) { for (index = 0; index < NUM_SERIAL; index++) { - if (SERIAL_IMPL.available(index) > 0) return true; + const int a = SERIAL_IMPL.available(index); + #if BOTH(RX_BUFFER_MONITOR, RX_BUFFER_SIZE) + if (a > RX_BUFFER_SIZE - 2) { + PORT_REDIRECT(SERIAL_PORTMASK(index)); + SERIAL_ERROR_MSG("RX BUF overflow, increase RX_BUFFER_SIZE: ", a); + } + #endif + if (a > 0) return true; } return false; } - return SERIAL_IMPL.available(index) > 0; + const int a = SERIAL_IMPL.available(index); + #if BOTH(RX_BUFFER_MONITOR, RX_BUFFER_SIZE) + if (a > RX_BUFFER_SIZE - 2) { + PORT_REDIRECT(SERIAL_PORTMASK(index)); + SERIAL_ERROR_MSG("RX BUF overflow, increase RX_BUFFER_SIZE: ", a); + } + #endif + + return a > 0; } inline int read_serial(const uint8_t index) { return SERIAL_IMPL.read(index); } @@ -349,11 +308,11 @@ inline int read_serial(const uint8_t index) { return SERIAL_IMPL.read(index); } void GCodeQueue::gcode_line_error(PGM_P const err, const serial_index_t serial_ind) { PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); // Reply to the serial port that sent the command SERIAL_ERROR_START(); - serialprintPGM(err); - SERIAL_ECHOLN(last_N[serial_ind]); - while (read_serial(serial_ind) != -1); // Clear out the RX buffer + SERIAL_ECHOPGM_P(err); + SERIAL_ECHOLN(serial_state[serial_ind].last_N); + while (read_serial(serial_ind) != -1) { /* nada */ } // Clear out the RX buffer. Why don't use flush here ? flush_and_request_resend(); - serial_count[serial_ind] = 0; + serial_state[serial_ind].count = 0; } FORCE_INLINE bool is_M29(const char * const cmd) { // matches "M29" & "M29 ", but not "M290", etc @@ -440,10 +399,6 @@ inline bool process_line_done(uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind * left on the serial port. */ void GCodeQueue::get_serial_commands() { - static char serial_line_buffer[NUM_SERIAL][MAX_CMD_SIZE]; - - static uint8_t serial_input_state[NUM_SERIAL] = { PS_NORMAL }; - #if ENABLED(BINARY_FILE_TRANSFER) if (card.flag.binary_mode) { /** @@ -451,7 +406,7 @@ void GCodeQueue::get_serial_commands() { * receive buffer (which limits the packet size to MAX_CMD_SIZE). * The receive buffer also limits the packet size for reliable transmission. */ - binaryStream[card.transfer_port_index].receive(serial_line_buffer[card.transfer_port_index]); + binaryStream[card.transfer_port_index].receive(serial_state[card.transfer_port_index].line_buffer); return; } #endif @@ -460,122 +415,140 @@ void GCodeQueue::get_serial_commands() { // send "wait" to indicate Marlin is still waiting. #if NO_TIMEOUTS > 0 const millis_t ms = millis(); - if (length == 0 && !serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) { + if (ring_buffer.empty() && !serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) { SERIAL_ECHOLNPGM(STR_WAIT); last_command_time = ms; } #endif - /** - * Loop while serial characters are incoming and the queue is not full - */ - while (length < BUFSIZE && serial_data_available()) { + // Loop while serial characters are incoming and the queue is not full + for (bool hadData = true; hadData;) { + // Unless a serial port has data, this will exit on next iteration + hadData = false; + LOOP_L_N(p, NUM_SERIAL) { + // Check if the queue is full and exit if it is. + if (ring_buffer.full()) return; + + // No data for this port ? Skip it + if (!serial_data_available(p)) continue; + + // Ok, we have some data to process, let's make progress here + hadData = true; const int c = read_serial(p); - if (c < 0) continue; + if (c < 0) { + // This should never happen, let's log it + PORT_REDIRECT(SERIAL_PORTMASK(p)); // Reply to the serial port that sent the command + // Crash here to get more information why it failed + BUG_ON("SP available but read -1"); + SERIAL_ERROR_MSG(STR_ERR_SERIAL_MISMATCH); + SERIAL_FLUSH(); + continue; + } - #if ENABLED(MEATPACK) - meatpack.handle_rx_char(uint8_t(c), p); - char c_res[2] = { 0, 0 }; - const uint8_t char_count = meatpack.get_result_char(c_res); - #else - constexpr uint8_t char_count = 1; - #endif + const char serial_char = (char)c; + SerialState &serial = serial_state[p]; - LOOP_L_N(char_index, char_count) { - const char serial_char = TERN(MEATPACK, c_res[char_index], c); + if (ISEOL(serial_char)) { - if (ISEOL(serial_char)) { + // Reset our state, continue if the line was empty + if (process_line_done(serial.input_state, serial.line_buffer, serial.count)) + continue; - // Reset our state, continue if the line was empty - if (process_line_done(serial_input_state[p], serial_line_buffer[p], serial_count[p])) - continue; + char* command = serial.line_buffer; - char* command = serial_line_buffer[p]; + while (*command == ' ') command++; // Skip leading spaces + char *npos = (*command == 'N') ? command : nullptr; // Require the N parameter to start the line - while (*command == ' ') command++; // Skip leading spaces - char *npos = (*command == 'N') ? command : nullptr; // Require the N parameter to start the line + if (npos) { - if (npos) { + const bool M110 = !!strstr_P(command, PSTR("M110")); - const bool M110 = !!strstr_P(command, PSTR("M110")); - - if (M110) { - char* n2pos = strchr(command + 4, 'N'); - if (n2pos) npos = n2pos; - } - - const long gcode_N = strtol(npos + 1, nullptr, 10); - - if (gcode_N != last_N[p] + 1 && !M110) - return gcode_line_error(PSTR(STR_ERR_LINE_NO), p); - - char *apos = strrchr(command, '*'); - if (apos) { - uint8_t checksum = 0, count = uint8_t(apos - command); - while (count) checksum ^= command[--count]; - if (strtol(apos + 1, nullptr, 10) != checksum) - return gcode_line_error(PSTR(STR_ERR_CHECKSUM_MISMATCH), p); - } - else - return gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), p); - - last_N[p] = gcode_N; - } - #if ENABLED(SDSUPPORT) - // Pronterface "M29" and "M29 " has no line number - else if (card.flag.saving && !is_M29(command)) - return gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), p); - #endif - - // - // Movement commands give an alert when the machine is stopped - // - - if (IsStopped()) { - char* gpos = strchr(command, 'G'); - if (gpos) { - switch (strtol(gpos + 1, nullptr, 10)) { - case 0: case 1: - #if ENABLED(ARC_SUPPORT) - case 2: case 3: - #endif - #if ENABLED(BEZIER_CURVE_SUPPORT) - case 5: - #endif - PORT_REDIRECT(SERIAL_PORTMASK(p)); // Reply to the serial port that sent the command - SERIAL_ECHOLNPGM(STR_ERR_STOPPED); - LCD_MESSAGEPGM(MSG_STOPPED); - break; - } - } + if (M110) { + char* n2pos = strchr(command + 4, 'N'); + if (n2pos) npos = n2pos; } - #if DISABLED(EMERGENCY_PARSER) - // Process critical commands early - if (command[0] == 'M') switch (command[3]) { - case '8': if (command[2] == '0' && command[1] == '1') { wait_for_heatup = false; TERN_(HAS_LCD_MENU, wait_for_user = false); } break; - case '2': if (command[2] == '1' && command[1] == '1') kill(M112_KILL_STR, nullptr, true); break; - case '0': if (command[1] == '4' && command[2] == '1') quickstop_stepper(); break; + const long gcode_N = strtol(npos + 1, nullptr, 10); + + if (gcode_N != serial.last_N + 1 && !M110) { + // In case of error on a serial port, don't prevent other serial port from making progress + gcode_line_error(PSTR(STR_ERR_LINE_NO), p); + break; + } + + char *apos = strrchr(command, '*'); + if (apos) { + uint8_t checksum = 0, count = uint8_t(apos - command); + while (count) checksum ^= command[--count]; + if (strtol(apos + 1, nullptr, 10) != checksum) { + // In case of error on a serial port, don't prevent other serial port from making progress + gcode_line_error(PSTR(STR_ERR_CHECKSUM_MISMATCH), p); + break; } - #endif + } + else { + // In case of error on a serial port, don't prevent other serial port from making progress + gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), p); + break; + } - #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0 - last_command_time = ms; - #endif - - // Add the command to the queue - _enqueue(serial_line_buffer[p], true - #if HAS_MULTI_SERIAL - , p - #endif - ); + serial.last_N = gcode_N; } - else - process_stream_char(serial_char, serial_input_state[p], serial_line_buffer[p], serial_count[p]); + #if ENABLED(SDSUPPORT) + // Pronterface "M29" and "M29 " has no line number + else if (card.flag.saving && !is_M29(command)) { + gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), p); + break; + } + #endif - } // char_count loop + // + // Movement commands give an alert when the machine is stopped + // + + if (IsStopped()) { + char* gpos = strchr(command, 'G'); + if (gpos) { + switch (strtol(gpos + 1, nullptr, 10)) { + case 0: case 1: + #if ENABLED(ARC_SUPPORT) + case 2: case 3: + #endif + #if ENABLED(BEZIER_CURVE_SUPPORT) + case 5: + #endif + PORT_REDIRECT(SERIAL_PORTMASK(p)); // Reply to the serial port that sent the command + SERIAL_ECHOLNPGM(STR_ERR_STOPPED); + LCD_MESSAGEPGM(MSG_STOPPED); + break; + } + } + } + + #if DISABLED(EMERGENCY_PARSER) + // Process critical commands early + if (command[0] == 'M') switch (command[3]) { + case '8': if (command[2] == '0' && command[1] == '1') { wait_for_heatup = false; TERN_(HAS_LCD_MENU, wait_for_user = false); } break; + case '2': if (command[2] == '1' && command[1] == '1') kill(M112_KILL_STR, nullptr, true); break; + case '0': if (command[1] == '4' && command[2] == '1') quickstop_stepper(); break; + } + #endif + + #if NO_TIMEOUTS > 0 + last_command_time = ms; + #endif + + // Add the command to the queue + ring_buffer.enqueue(serial.line_buffer, false + #if HAS_MULTI_SERIAL + , p + #endif + ); + } + else + process_stream_char(serial_char, serial.input_state, serial.line_buffer, serial.count); } // NUM_SERIAL loop } // queue has space, serial has data @@ -595,33 +568,35 @@ void GCodeQueue::get_serial_commands() { if (!IS_SD_PRINTING()) return; int sd_count = 0; - while (length < BUFSIZE && !card.eof()) { + while (!ring_buffer.full() && !card.eof()) { const int16_t n = card.get(); const bool card_eof = card.eof(); if (n < 0 && !card_eof) { SERIAL_ERROR_MSG(STR_SD_ERR_READ); continue; } + CommandLine &command = ring_buffer.commands[ring_buffer.index_w]; const char sd_char = (char)n; const bool is_eol = ISEOL(sd_char); if (is_eol || card_eof) { + // Reset stream state, terminate the buffer, and commit a non-empty command if (!is_eol && sd_count) ++sd_count; // End of file with no newline - if (!process_line_done(sd_input_state, command_buffer[index_w], sd_count)) { + if (!process_line_done(sd_input_state, command.buffer, sd_count)) { // M808 L saves the sdpos of the next line. M808 loops to a new sdpos. - TERN_(GCODE_REPEAT_MARKERS, repeat.early_parse_M808(command_buffer[index_w])); + TERN_(GCODE_REPEAT_MARKERS, repeat.early_parse_M808(command.buffer)); // Put the new command into the buffer (no "ok" sent) - _commit_command(false); + ring_buffer.commit_command(true); - // Prime Power-Loss Recovery for the NEXT _commit_command + // Prime Power-Loss Recovery for the NEXT commit_command TERN_(POWER_LOSS_RECOVERY, recovery.cmd_sdpos = card.getIndex()); } if (card.eof()) card.fileHasFinished(); // Handle end of file reached } else - process_stream_char(sd_char, sd_input_state, command_buffer[index_w], sd_count); + process_stream_char(sd_char, sd_input_state, command.buffer, sd_count); } } @@ -634,6 +609,7 @@ void GCodeQueue::get_serial_commands() { * - The SD card file being actively printed */ void GCodeQueue::get_available_commands() { + if (ring_buffer.full()) return; get_serial_commands(); @@ -649,13 +625,13 @@ void GCodeQueue::advance() { if (process_injected_command_P() || process_injected_command()) return; // Return if the G-code buffer is empty - if (!length) return; + if (ring_buffer.empty()) return; #if ENABLED(SDSUPPORT) if (card.flag.saving) { - char* command = command_buffer[index_r]; - if (is_M29(command)) { + char * const cmd = ring_buffer.peek_next_command_string(); + if (is_M29(cmd)) { // M29 closes the file card.closefile(); SERIAL_ECHOLNPGM(STR_FILE_SAVED); @@ -673,7 +649,7 @@ void GCodeQueue::advance() { } else { // Write the string from the read buffer to SD - card.write_command(command); + card.write_command(cmd); if (card.flag.logging) gcode.process_next_command(); // The card is saving because it's logging else @@ -690,7 +666,5 @@ void GCodeQueue::advance() { #endif // SDSUPPORT // The queue may be reset by a command handler or by code invoked by idle() within a handler - --length; - if (++index_r >= BUFSIZE) index_r = 0; - + ring_buffer.advance_pos(ring_buffer.index_r, -1); } diff --git a/Marlin/src/gcode/queue.h b/Marlin/src/gcode/queue.h index d677146a7d..778f9a7f67 100644 --- a/Marlin/src/gcode/queue.h +++ b/Marlin/src/gcode/queue.h @@ -31,41 +31,84 @@ class GCodeQueue { public: /** - * GCode line number handling. Hosts may include line numbers when sending - * commands to Marlin, and lines will be checked for sequentiality. - * M110 N sets the current line number. + * The buffers per serial port. */ + struct SerialState { + /** + * GCode line number handling. Hosts may include line numbers when sending + * commands to Marlin, and lines will be checked for sequentiality. + * M110 N sets the current line number. + */ + long last_N; + int count; //!< Number of characters read in the current line of serial input + char line_buffer[MAX_CMD_SIZE]; //!< The current line accumulator + uint8_t input_state; //!< The input state + }; - static long last_N[NUM_SERIAL]; + static SerialState serial_state[NUM_SERIAL]; //!< Serial states for each serial port /** * GCode Command Queue - * A simple ring buffer of BUFSIZE command strings. + * A simple (circular) ring buffer of BUFSIZE command strings. * * Commands are copied into this buffer by the command injectors * (immediate, serial, sd card) and they are processed sequentially by * the main loop. The gcode.process_next_command method parses the next * command and hands off execution to individual handler functions. */ - static uint8_t length, // Count of commands in the queue - index_r; // Ring buffer read position - - static char command_buffer[BUFSIZE][MAX_CMD_SIZE]; + struct CommandLine { + char buffer[MAX_CMD_SIZE]; //!< The command buffer + bool skip_ok; //!< Skip sending ok when command is processed? + TERN_(HAS_MULTI_SERIAL, serial_index_t port); //!< Serial port the command was received on + }; /** - * The port that the command was received on + * A handy ring buffer type */ - #if HAS_MULTI_SERIAL - static serial_index_t port[BUFSIZE]; - #endif - static inline serial_index_t command_port() { return TERN0(HAS_MULTI_SERIAL, port[index_r]); } + struct RingBuffer { + uint8_t length, //!< Number of commands in the queue + index_r, //!< Ring buffer's read position + index_w; //!< Ring buffer's write position + CommandLine commands[BUFSIZE]; //!< The ring buffer of commands - GCodeQueue(); + inline serial_index_t command_port() const { return TERN0(HAS_MULTI_SERIAL, commands[index_r].port); } + + inline void clear() { length = index_r = index_w = 0; } + + void advance_pos(uint8_t &p, const int inc) { if (++p >= BUFSIZE) p = 0; length += inc; } + + void commit_command(bool skip_ok + #if HAS_MULTI_SERIAL + , serial_index_t serial_ind=-1 + #endif + ); + + bool enqueue(const char* cmd, bool skip_ok = true + #if HAS_MULTI_SERIAL + , serial_index_t serial_ind=-1 + #endif + ); + + void ok_to_send(); + + inline bool full(uint8_t cmdCount=1) const { return length > (BUFSIZE - cmdCount); } + + inline bool empty() const { return length == 0; } + + inline CommandLine& peek_next_command() { return commands[index_r]; } + + inline char* peek_next_command_string() { return peek_next_command().buffer; } + }; + + /** + * The ring buffer of commands + */ + static RingBuffer ring_buffer; /** * Clear the Marlin command queue */ - static void clear(); + static void clear() { ring_buffer.clear(); } /** * Next Injected Command (PROGMEM) pointer. (nullptr == empty) @@ -112,7 +155,7 @@ public: /** * Check whether there are any commands yet to be executed */ - static bool has_commands_queued(); + static bool has_commands_queued() { return ring_buffer.length || injected_commands_P || injected_commands[0]; } /** * Get the next command in the queue, optionally log it to SD, then dispatch it @@ -136,7 +179,7 @@ public: * P Planner space remaining * B Block queue space remaining */ - static void ok_to_send(); + static inline void ok_to_send() { ring_buffer.ok_to_send(); } /** * Clear the serial line and request a resend of @@ -144,9 +187,12 @@ public: */ static void flush_and_request_resend(); -private: + /** + * (Re)Set the current line number for the last received command + */ + static inline void set_current_line_number(long n) { serial_state[ring_buffer.command_port()].last_N = n; } - static uint8_t index_w; // Ring buffer write position +private: static void get_serial_commands(); @@ -154,18 +200,6 @@ private: static void get_sdcard_commands(); #endif - static void _commit_command(bool say_ok - #if HAS_MULTI_SERIAL - , serial_index_t serial_ind=-1 - #endif - ); - - static bool _enqueue(const char* cmd, bool say_ok=false - #if HAS_MULTI_SERIAL - , serial_index_t serial_ind=-1 - #endif - ); - // Process the next "immediate" command (PROGMEM) static bool process_injected_command_P(); @@ -180,6 +214,7 @@ private: static void gcode_line_error(PGM_P const err, const serial_index_t serial_ind); + friend class GcodeSuite; }; extern GCodeQueue queue; diff --git a/Marlin/src/lcd/extui/lib/mks_ui/draw_keyboard.cpp b/Marlin/src/lcd/extui/lib/mks_ui/draw_keyboard.cpp index 2cf6f05a99..6e0d7814d0 100644 --- a/Marlin/src/lcd/extui/lib/mks_ui/draw_keyboard.cpp +++ b/Marlin/src/lcd/extui/lib/mks_ui/draw_keyboard.cpp @@ -162,7 +162,7 @@ static void lv_kb_event_cb(lv_obj_t *kb, lv_event_t event) { draw_return_ui(); break; case GCodeCommand: - if (queue.length <= (BUFSIZE - 3)) { + if (!queue.ring_buffer.full(3)) { // Hook anything that goes to the serial port MYSERIAL0.setHook(lv_serial_capt_hook, lv_eom_hook, 0); queue.enqueue_one_now(ret_ta_txt); diff --git a/Marlin/src/lcd/extui/lib/mks_ui/draw_manuaLevel.cpp b/Marlin/src/lcd/extui/lib/mks_ui/draw_manuaLevel.cpp index 495acda06b..dbeb3796e0 100644 --- a/Marlin/src/lcd/extui/lib/mks_ui/draw_manuaLevel.cpp +++ b/Marlin/src/lcd/extui/lib/mks_ui/draw_manuaLevel.cpp @@ -46,7 +46,7 @@ static void event_handler(lv_obj_t *obj, lv_event_t event) { switch (obj->mks_obj_id) { case ID_M_POINT1 ... ID_M_POINT5: - if (queue.length == 0) { + if (queue.ring_buffer.empty()) { if (uiCfg.leveling_first_time) { uiCfg.leveling_first_time = false; queue.inject_P(G28_STR); diff --git a/Marlin/src/lcd/extui/lib/mks_ui/draw_move_motor.cpp b/Marlin/src/lcd/extui/lib/mks_ui/draw_move_motor.cpp index 1c07583d53..2dec548af0 100644 --- a/Marlin/src/lcd/extui/lib/mks_ui/draw_move_motor.cpp +++ b/Marlin/src/lcd/extui/lib/mks_ui/draw_move_motor.cpp @@ -54,7 +54,7 @@ enum { static void event_handler(lv_obj_t *obj, lv_event_t event) { char str_1[16]; if (event != LV_EVENT_RELEASED) return; - if (queue.length <= (BUFSIZE - 3)) { + if (!queue.ring_buffer.full(3)) { bool do_inject = true; float dist = uiCfg.move_dist; switch (obj->mks_obj_id) { diff --git a/Marlin/src/lcd/extui/lib/mks_ui/wifi_module.cpp b/Marlin/src/lcd/extui/lib/mks_ui/wifi_module.cpp index 71cdb0f7d4..5622956579 100644 --- a/Marlin/src/lcd/extui/lib/mks_ui/wifi_module.cpp +++ b/Marlin/src/lcd/extui/lib/mks_ui/wifi_module.cpp @@ -1613,7 +1613,7 @@ void wifi_rcv_handle() { if (wifiTransError.flag != 0x1) WIFI_IO1_RESET(); getDataF = 1; } - if (need_ok_later && (queue.length < BUFSIZE)) { + if (need_ok_later && !queue.ring_buffer.full()) { need_ok_later = false; send_to_wifi((uint8_t *)"ok\r\n", strlen("ok\r\n")); } @@ -1772,7 +1772,7 @@ void get_wifi_commands() { static int wifi_read_count = 0; if (espGcodeFifo.wait_tick > 5) { - while ((queue.length < BUFSIZE) && (espGcodeFifo.r != espGcodeFifo.w)) { + while (!queue.ring_buffer.full() && (espGcodeFifo.r != espGcodeFifo.w)) { espGcodeFifo.wait_tick = 0; diff --git a/docs/Queue.md b/docs/Queue.md new file mode 100644 index 0000000000..bce68b0551 --- /dev/null +++ b/docs/Queue.md @@ -0,0 +1,59 @@ +# Marlin's command queue concept + +Marlin Firmware processes G-code commands as they arrive from multiple sources, including the SD card and one or more serial ports such as USB-connected hosts, WiFi, Bluetooth, and so on. + +Marlin is also continuously processing the commands at the front of the queue, converting them into signals for many physical actuators such as motors, heaters, lasers, and RGB LEDs. + +The firmware needs to maintain continuity and timing so the command senders remain unblocked, while still performing physical movements and other actions in real-time, respecting the physical limits of stepper motors and other peripherals. + +To keep things flowing Marlin feeds a single queue of G-code commands from all inputs, inserting them in the order received. Movement commands immediately go into the Planner Buffer, if there is room. The buffering of a move is considered the completion of the command, so if a non-movement command has to occur after a move is done, and not just after a move is buffered, then there has to be an `M400` to wait for the Planner Buffer to finish. + +Whenever the command queue gets full the sender needs to wait for space to open up, and the host may need to re-send the last command again. Marlin does some handshaking to keep the host informed during a print job, described below. + +An opposite problem called "planner starvation" occurs when Marlin receives many short and fast moves in a row so the Planner Buffer gets completed very quickly. In this case the host can't send commands fast enough to prevent the Planner Buffer from emptying out. Planner starvation causes obvious stuttering and is commonly seen on overloaded deltabots during small curves. Marlin has strategies to mitigate this issue, but sometimes a model has to be re-sliced (or the G-code has to be post-processed with Arc Welder) just to stay within the machine's inherent limits. + +Here's a basic flowchart of Marlin command processing: +``` ++------+ Marlin's GCodeQueue +| | +--------------------------------------+ +-----------+ +| Host | | SerialState RingBuffer | | | +| | Marlin | NUM_SERIAL BUF_SIZE | | Marlin | ++--+---+ R/TX_BUFFER_SIZE | +---+ +------------------+ | | | + | +------------+ | | | | | | | GCode | + | | | | | | | MAX_CMD_SIZE +-+-----> processor | + | | Platform | | | | On EOL | +--------------+ | r_pos | | + +-------------> serial's +-----------> +--------> | G-code | | | +-----------+ + | buffer | | | | w_pos | | command | | | + | | | | | | | line | | | + +------------+ | +---+ | +--------------+ | | + | Line buffer | x BUF_SIZE | | + | | | | + | | | | + | | | | + | | | | + | +------------------+ | + | | + | | + | | + +--------------------------------------+ +``` + +Marlin is a single-threaded application with a main `loop()` that manages the command queue and an `idle()` routine that manages the hardware. The command queue is handled in two stages: +1. The `idle()` routine reads all inputs and attempts to enqueue any completed command lines. +2. The main `loop()` gets the command at the front the G-code queue (if any) and runs it. Each G-code command blocks the main loop, preventing the queue from advancing until it returns. To keep essential tasks and the UI running, any commands that run a long process need to call `idle()` frequently. + +## Synchronization + +To maintain synchronization Marlin replies "`ok`" to the host as soon as the command has been enqueued. This lets the host know that it can send another command, and well-behaved hosts will wait for this message. With `ADVANCED_OK` enabled the `ok` message includes extra information (such as the number of slots left in the queue). + +If no data is available on the serial buffer, Marlin can be configured to periodically send a "`wait`" message to the host. This was the only method of "host keepalive" provided in Marlin 1.0, but today the better options are `HOST_KEEPALIVE` and `ADVANCED_OK`. + +## Limitation of the design + +Some limitations to the design are evident: +1. Whenever the G-code processor is busy processing a command, the G-code queue cannot advance. +2. A long command like `G29` causes commands to pile up and to fill the queue, making the host wait. +3. Each serial input requires a buffer large enough for a complete G-code line. This is set by `MAX_CMD_SIZE` with a default value of 96. +4. Since serial buffer sizes are likely used as ring buffers themselves, as an optimization their sizes must be a power of 2 (64 or 128 bytes recommended). +5. If a host sends too much G-code at once it can saturate the `GCodeQueue`. This doesn't do anything to improve the processing rate of Marlin since only one command can be dispatched per loop iteration. +6. With the previous point in mind, it's clear that the longstanding wisdom that you don't need a large `BUF_SIZE` is not just apocryphal. The default value of 4 is typically just fine for a single serial port. (And, if you decide to send a `G25` to pause the machine, the wait will be much shorter!) From 7a1ec7856361790ec5a76d70698ace798dfa43b5 Mon Sep 17 00:00:00 2001 From: ldursw <37294448+ldursw@users.noreply.github.com> Date: Fri, 26 Feb 2021 20:01:11 -0300 Subject: [PATCH 28/34] Init (stow) BLTouch before X/Y homing (#21192) --- Marlin/src/gcode/calibrate/G28.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index c26340f1ab..a2de1dfe38 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -332,6 +332,7 @@ void GcodeSuite::G28() { // Raise Z before homing any other axes and z is not already high enough (never lower z) if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height); do_z_clearance(z_homing_height); + TERN_(BLTOUCH, bltouch.init()); } #if ENABLED(QUICK_HOME) @@ -384,7 +385,6 @@ void GcodeSuite::G28() { stepper.set_separate_multi_axis(false); #endif - TERN_(BLTOUCH, bltouch.init()); TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS)); probe.move_z_after_homing(); } From e27fba0c0629f9c5c3b90ba0f597de246ca28de7 Mon Sep 17 00:00:00 2001 From: Fabio Viappiani Date: Sat, 27 Feb 2021 00:10:50 +0100 Subject: [PATCH 29/34] Fix M355 with NEOPIXEL (#21200) --- Marlin/src/gcode/feature/caselight/M355.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/Marlin/src/gcode/feature/caselight/M355.cpp b/Marlin/src/gcode/feature/caselight/M355.cpp index 12ae5cff1d..6634a90f46 100644 --- a/Marlin/src/gcode/feature/caselight/M355.cpp +++ b/Marlin/src/gcode/feature/caselight/M355.cpp @@ -60,12 +60,10 @@ void GcodeSuite::M355() { if (!caselight.on) SERIAL_ECHOLNPGM(STR_OFF); else { - #if CASELIGHT_USES_BRIGHTNESS - if (PWM_PIN(CASE_LIGHT_PIN)) { - SERIAL_ECHOLN(int(caselight.brightness)); - return; - } - #endif + if (TERN0(CASELIGHT_USES_BRIGHTNESS, TERN(CASE_LIGHT_USE_NEOPIXEL, true, PWM_PIN(CASE_LIGHT_PIN)))) { + SERIAL_ECHOLN(int(caselight.brightness)); + return; + } SERIAL_ECHOLNPGM(STR_ON); } } From 427b5d61f46ce0e751e09c841ae62ddeec3df1ac Mon Sep 17 00:00:00 2001 From: Victor Oliveira Date: Fri, 26 Feb 2021 20:33:34 -0300 Subject: [PATCH 30/34] More LERDGE envs followup (#21205) --- platformio.ini | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/platformio.ini b/platformio.ini index c03b224533..1d2ef0e03b 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1385,7 +1385,7 @@ board_build.firmware = Lerdge_X_firmware_force.bin # Lerdge X with USB Flash Drive Support # [env:LERDGEX_usb_flash_drive] -platform = ${LERDGEX.platform} +platform = ${env:LERDGEX.platform} extends = LERDGEX platform_packages = ${stm32_flash_drive.platform_packages} build_flags = ${stm32_flash_drive.build_flags} @@ -1402,7 +1402,7 @@ board_build.firmware = Lerdge_firmware_force.bin # Lerdge S with USB Flash Drive Support # [env:LERDGES_usb_flash_drive] -platform = ${LERDGES.platform} +platform = ${env:LERDGES.platform} extends = LERDGES platform_packages = ${stm32_flash_drive.platform_packages} build_flags = ${stm32_flash_drive.build_flags} @@ -1421,7 +1421,7 @@ build_flags = ${lerdge_common.build_flags} # Lerdge K with USB Flash Drive Support # [env:LERDGEK_usb_flash_drive] -platform = ${LERDGEK.platform} +platform = ${env:LERDGEK.platform} extends = LERDGEK platform_packages = ${stm32_flash_drive.platform_packages} build_flags = ${stm32_flash_drive.build_flags} From f384f81253fbd70d3d0cee799ab8fc5de80b63b3 Mon Sep 17 00:00:00 2001 From: Victor Oliveira Date: Fri, 26 Feb 2021 20:36:22 -0300 Subject: [PATCH 31/34] Fix GTR / SKR PRO + USB Flash Drive build (#21197) --- .../BIGTREE_GTR_V1_0_usb_flash_drive-tests | 47 +++++++++++++++++++ platformio.ini | 6 ++- 2 files changed, 52 insertions(+), 1 deletion(-) create mode 100755 buildroot/tests/BIGTREE_GTR_V1_0_usb_flash_drive-tests diff --git a/buildroot/tests/BIGTREE_GTR_V1_0_usb_flash_drive-tests b/buildroot/tests/BIGTREE_GTR_V1_0_usb_flash_drive-tests new file mode 100755 index 0000000000..0504fc1da9 --- /dev/null +++ b/buildroot/tests/BIGTREE_GTR_V1_0_usb_flash_drive-tests @@ -0,0 +1,47 @@ +#!/usr/bin/env bash +# +# Build tests for BigTreeTech GTR 1.0 +# + +# exit on first failure +set -e + +restore_configs +opt_set MOTHERBOARD BOARD_BTT_GTR_V1_0 +opt_set SERIAL_PORT 3 +opt_set EXTRUDERS 8 +opt_set TEMP_SENSOR_1 1 +opt_set TEMP_SENSOR_2 1 +opt_set TEMP_SENSOR_3 1 +opt_set TEMP_SENSOR_4 1 +opt_set TEMP_SENSOR_5 1 +opt_set TEMP_SENSOR_6 1 +opt_set TEMP_SENSOR_7 1 +opt_set SDSUPPORT +opt_set USB_FLASH_DRIVE_SUPPORT +opt_set USE_OTG_USB_HOST +# Not necessary to enable auto-fan for all extruders to hit problematic code paths +opt_set E0_AUTO_FAN_PIN PC10 +opt_set E1_AUTO_FAN_PIN PC11 +opt_set E2_AUTO_FAN_PIN PC12 +opt_set X_DRIVER_TYPE TMC2208 +opt_set Y_DRIVER_TYPE TMC2130 +opt_set NEOPIXEL_PIN PF13 +opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER BLTOUCH NEOPIXEL_LED Z_SAFE_HOMING +opt_enable FILAMENT_RUNOUT_SENSOR NOZZLE_PARK_FEATURE ADVANCED_PAUSE_FEATURE +opt_set FIL_RUNOUT_PIN 3 +opt_set FIL_RUNOUT2_PIN 4 +opt_set FIL_RUNOUT3_PIN 5 +opt_set FIL_RUNOUT4_PIN 6 +opt_set FIL_RUNOUT5_PIN 7 +opt_set FIL_RUNOUT6_PIN 8 +opt_set FIL_RUNOUT7_PIN 9 +opt_set FIL_RUNOUT8_PIN 10 +opt_set FIL_RUNOUT4_STATE HIGH +opt_enable FIL_RUNOUT4_PULLUP +opt_set FIL_RUNOUT8_STATE HIGH +opt_enable FIL_RUNOUT8_PULLUP +exec_test $1 $2 "BigTreeTech GTR + OTG USB Flash Drive + Extruders with Auto-Fan, Mixed TMC Drivers, and Runout Sensors with distinct states" "$3" + +# clean up +restore_configs diff --git a/platformio.ini b/platformio.ini index 1d2ef0e03b..b35cd878d0 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1316,7 +1316,9 @@ build_flags = ${common_stm32.build_flags} [env:BIGTREE_SKR_PRO_usb_flash_drive] extends = env:BIGTREE_SKR_PRO platform_packages = ${stm32_flash_drive.platform_packages} +build_unflags = -DUSBCON -DUSBD_USE_CDC build_flags = ${stm32_flash_drive.build_flags} + -DSTM32F407_5ZX -DVECT_TAB_OFFSET=0x8000 # # Bigtreetech GTR V1.0 (STM32F407IGT6 ARM Cortex-M4) @@ -1336,7 +1338,9 @@ build_flags = ${common_stm32.build_flags} [env:BIGTREE_GTR_V1_0_usb_flash_drive] extends = env:BIGTREE_GTR_V1_0 platform_packages = ${stm32_flash_drive.platform_packages} -build_flags = ${stm32_flash_drive.build_flags} +build_unflags = -DUSBCON -DUSBD_USE_CDC +build_flags = ${stm32_flash_drive.build_flags} + -DSTM32F407IX -DVECT_TAB_OFFSET=0x8000 # # BigTreeTech BTT002 V1.0 (STM32F407VGT6 ARM Cortex-M4) From 56462cf082e8bf2bae6cb288c5daa4b77289cfb0 Mon Sep 17 00:00:00 2001 From: X-Ryl669 Date: Sat, 27 Feb 2021 00:59:28 +0100 Subject: [PATCH 32/34] Make F_CPU a compile-time constant (#21051) --- Marlin/src/HAL/STM32/HAL.cpp | 6 ++++++ Marlin/src/HAL/STM32/inc/Conditionals_adv.h | 6 ++++++ .../share/PlatformIO/scripts/common-cxxflags.py | 13 +++++++++++++ 3 files changed, 25 insertions(+) diff --git a/Marlin/src/HAL/STM32/HAL.cpp b/Marlin/src/HAL/STM32/HAL.cpp index 5c7bc3a00b..4b530cc738 100644 --- a/Marlin/src/HAL/STM32/HAL.cpp +++ b/Marlin/src/HAL/STM32/HAL.cpp @@ -63,6 +63,12 @@ TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); void HAL_init() { FastIO_init(); + // Ensure F_CPU is a constant expression. + // If the compiler breaks here, it means that delay code that should compute at compile time will not work. + // So better safe than sorry here. + constexpr int cpuFreq = F_CPU; + UNUSED(cpuFreq); + #if ENABLED(SDSUPPORT) && DISABLED(SDIO_SUPPORT) && (defined(SDSS) && SDSS != -1) OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up #endif diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_adv.h b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h index 672d405d6b..9c9a7014c7 100644 --- a/Marlin/src/HAL/STM32/inc/Conditionals_adv.h +++ b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h @@ -24,3 +24,9 @@ #if defined(USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE) #define HAS_SD_HOST_DRIVE 1 #endif + +// Fix F_CPU not being a compile-time constant in STSTM32 framework +#ifdef BOARD_F_CPU + #undef F_CPU + #define F_CPU BOARD_F_CPU +#endif diff --git a/buildroot/share/PlatformIO/scripts/common-cxxflags.py b/buildroot/share/PlatformIO/scripts/common-cxxflags.py index a0a3b45043..ed863a917a 100644 --- a/buildroot/share/PlatformIO/scripts/common-cxxflags.py +++ b/buildroot/share/PlatformIO/scripts/common-cxxflags.py @@ -11,6 +11,13 @@ env.Append(CXXFLAGS=[ #"-Wno-sign-compare" ]) +# +# Add CPU frequency as a compile time constant instead of a runtime variable +# +def add_cpu_freq(): + if 'BOARD_F_CPU' in env: + env['BUILD_FLAGS'].append('-DBOARD_F_CPU=' + env['BOARD_F_CPU']) + # Useful for JTAG debugging # # It will separe release and debug build folders. @@ -20,3 +27,9 @@ env.Append(CXXFLAGS=[ # if env.GetBuildType() == "debug": env['BUILD_DIR'] = '$PROJECT_BUILD_DIR/$PIOENV/debug' + +# On some platform, F_CPU is a runtime variable. Since it's used to convert from ns +# to CPU cycles, this adds overhead preventing small delay (in the order of less than +# 30 cycles) to be generated correctly. By using a compile time constant instead +# the compiler will perform the computation and this overhead will be avoided +add_cpu_freq() From 24623d398c9a3489af88100e5158ec4a590ab577 Mon Sep 17 00:00:00 2001 From: "Alexander D. Kanevskiy" Date: Sat, 27 Feb 2021 02:03:11 +0200 Subject: [PATCH 33/34] Fix preflight complex extend handling (#21191) --- .../PlatformIO/scripts/preflight-checks.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/buildroot/share/PlatformIO/scripts/preflight-checks.py b/buildroot/share/PlatformIO/scripts/preflight-checks.py index 14807d954a..c20e5cb7a8 100644 --- a/buildroot/share/PlatformIO/scripts/preflight-checks.py +++ b/buildroot/share/PlatformIO/scripts/preflight-checks.py @@ -1,6 +1,6 @@ # # preflight-checks.py -# Script to check for common issues prior to compiling +# Check for common issues prior to compiling # import os import re @@ -25,9 +25,12 @@ def check_envs(build_env, base_envs, config): return True ext = config.get(build_env, 'extends', default=None) if ext: - for ext_env in ext: - if check_envs(ext_env, base_envs, config): - return True + if isinstance(ext, str): + return check_envs(ext, base_envs, config) + elif isinstance(ext, list): + for ext_env in ext: + if check_envs(ext_env, base_envs, config): + return True return False # Sanity checks: @@ -56,7 +59,7 @@ if not result: # Check for Config files in two common incorrect places # for p in [ env['PROJECT_DIR'], os.path.join(env['PROJECT_DIR'], "config") ]: - for f in [ "Configuration.h", "Configuration_adv.h" ]: - if os.path.isfile(os.path.join(p, f)): - err = "ERROR: Config files found in directory %s. Please move them into the Marlin subfolder." % p - raise SystemExit(err) + for f in [ "Configuration.h", "Configuration_adv.h" ]: + if os.path.isfile(os.path.join(p, f)): + err = "ERROR: Config files found in directory %s. Please move them into the Marlin subfolder." % p + raise SystemExit(err) From 526924559f3922101b11213bd9deba36d1472ae5 Mon Sep 17 00:00:00 2001 From: thinkyhead Date: Sat, 27 Feb 2021 00:12:45 +0000 Subject: [PATCH 34/34] [cron] Bump distribution date (2021-02-27) --- Marlin/src/inc/Version.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h index d6ceaf2e03..46146c53c7 100644 --- a/Marlin/src/inc/Version.h +++ b/Marlin/src/inc/Version.h @@ -42,7 +42,7 @@ * version was tagged. */ #ifndef STRING_DISTRIBUTION_DATE - #define STRING_DISTRIBUTION_DATE "2021-02-26" + #define STRING_DISTRIBUTION_DATE "2021-02-27" #endif /**