void vector_3::debug(const char title[]) {
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL_F(y, 6);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(z, 6);
SERIAL_EOL;
}
void matrix_3x3::debug(char* title) {
SERIAL_PROTOCOLLN(title);
int count = 0;
for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) {
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" ");
count++;
}
SERIAL_EOL;
}
}
void matrix_3x3::debug(const char title[]) {
SERIAL_PROTOCOLLN(title);
int count = 0;
for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) {
if (matrix[count] >= 0.0) SERIAL_PROTOCOLCHAR('+');
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLCHAR(' ');
count++;
}
SERIAL_EOL;
}
}
/**
* - Move to the given XY
* - Deploy the probe, if not already deployed
* - Probe the bed, get the Z position
* - Depending on the 'stow' flag
* - Stow the probe, or
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", lx);
SERIAL_ECHOPAIR(", ", ly);
SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
SERIAL_ECHOLNPGM("stow)");
DEBUG_POS("", current_position);
}
#endif
const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
if (printable
? !position_is_reachable_xy(nx, ny)
: !position_is_reachable_by_probe_xy(lx, ly)
) return NAN;
const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height)
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_SOFTWARE_ENDSTOPS
// Store the status of the soft endstops and disable if we're probing a non-printable location
static bool enable_soft_endstops = soft_endstops_enabled;
if (!printable) soft_endstops_enabled = false;
#endif
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY
do_blocking_move_to_xy(nx, ny);
float measured_z = NAN;
if (!DEPLOY_PROBE()) {
measured_z = run_z_probe(printable);
if (!stow)
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else
if (STOW_PROBE()) measured_z = NAN;
}
#if HAS_SOFTWARE_ENDSTOPS
// Restore the soft endstop status
soft_endstops_enabled = enable_soft_endstops;
#endif
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL_F(lx, 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(ly, 3);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL();
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
feedrate_mm_s = old_feedrate_mm_s;
if (isnan(measured_z)) {
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
}
return measured_z;
}
void unified_bed_leveling::display_map(const int map_type) {
constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
SERIAL_PROTOCOLPGM("\nBed Topography Report");
if (map_type == 0) {
SERIAL_PROTOCOLPGM(":\n\n");
serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
SERIAL_ECHO_SP(spaces + 3);
serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
SERIAL_EOL();
serial_echo_xy(MESH_MIN_X, MESH_MAX_Y);
SERIAL_ECHO_SP(spaces);
serial_echo_xy(MESH_MAX_X, MESH_MAX_Y);
SERIAL_EOL();
}
else {
SERIAL_PROTOCOLPGM(" for ");
serialprintPGM(map_type == 1 ? PSTR("CSV:\n\n") : PSTR("LCD:\n\n"));
}
const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
const bool is_current = i == current_xi && j == current_yi;
// is the nozzle here? then mark the number
if (map_type == 0) SERIAL_CHAR(is_current ? '[' : ' ');
const float f = z_values[i][j];
if (isnan(f)) {
serialprintPGM(map_type == 0 ? PSTR(" . ") : PSTR("NAN"));
}
else if (map_type <= 1) {
// if we don't do this, the columns won't line up nicely
if (map_type == 0 && f >= 0.0) SERIAL_CHAR(' ');
SERIAL_PROTOCOL_F(f, 3);
}
idle();
if (map_type == 1 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
#if TX_BUFFER_SIZE > 0
MYSERIAL.flushTX();
#endif
safe_delay(15);
if (map_type == 0) {
SERIAL_CHAR(is_current ? ']' : ' ');
SERIAL_CHAR(' ');
}
}
SERIAL_EOL();
if (j && map_type == 0) { // we want the (0,0) up tight against the block of numbers
SERIAL_CHAR(' ');
SERIAL_EOL();
}
}
if (map_type == 0) {
serial_echo_xy(MESH_MIN_X, MESH_MIN_Y);
SERIAL_ECHO_SP(spaces + 4);
serial_echo_xy(MESH_MAX_X, MESH_MIN_Y);
SERIAL_EOL();
serial_echo_xy(0, 0);
SERIAL_ECHO_SP(spaces + 5);
serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
SERIAL_EOL();
}
}
void Config_PrintSettings()
{ // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Steps per unit:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[0]);
SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]);
SERIAL_ECHOPAIR(" Y",max_feedrate[1] );
SERIAL_ECHOPAIR(" Z", max_feedrate[2] );
SERIAL_ECHOPAIR(" E", max_feedrate[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[0] );
SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] );
SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M204 S",acceleration );
SERIAL_ECHOPAIR(" T" ,retract_acceleration);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M205 S",minimumfeedrate );
SERIAL_ECHOPAIR(" T" ,mintravelfeedrate );
SERIAL_ECHOPAIR(" B" ,minsegmenttime );
SERIAL_ECHOPAIR(" X" ,max_xy_jerk );
SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
SERIAL_ECHOPAIR(" E" ,max_e_jerk);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homeing[0] );
SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
SERIAL_ECHOLN("");
#ifdef DELTA
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Delta Geometry adjustment:");
SERIAL_ECHO_START;
SERIAL_ECHO(" M666 A");
SERIAL_PROTOCOL_F(tower_adj[0],3);
SERIAL_ECHO(" B");
SERIAL_PROTOCOL_F(tower_adj[1],3);
SERIAL_ECHO(" C");
SERIAL_PROTOCOL_F(tower_adj[2],3);
SERIAL_ECHO(" I");
SERIAL_PROTOCOL_F(tower_adj[3],3);
SERIAL_ECHO(" J");
SERIAL_PROTOCOL_F(tower_adj[4],3);
SERIAL_ECHO(" K");
SERIAL_PROTOCOL_F(tower_adj[5],3);
SERIAL_ECHO(" U");
SERIAL_PROTOCOL_F(diagrod_adj[0],3);
SERIAL_ECHO(" V");
SERIAL_PROTOCOL_F(diagrod_adj[1],3);
SERIAL_ECHO(" W");
SERIAL_PROTOCOL_F(diagrod_adj[2],3);
SERIAL_ECHOPAIR(" R" ,delta_radius);
SERIAL_ECHOPAIR(" D" ,delta_diagonal_rod);
SERIAL_ECHOPAIR(" H" ,max_pos[2]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Endstop Offsets:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 X" ,endstop_adj[0]);
SERIAL_ECHOPAIR(" Y" ,endstop_adj[1]);
SERIAL_ECHOPAIR(" Z" ,endstop_adj[2]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Z-Probe Offset:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 P X" ,z_probe_offset[0]);
SERIAL_ECHOPAIR(" Y" ,z_probe_offset[1]);
SERIAL_ECHOPAIR(" Z" ,z_probe_offset[2]);
SERIAL_ECHOLN("");
#endif
#ifdef PIDTEMP
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp);
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
SERIAL_ECHOLN("");
#endif
}
void Config_PrintSettings()
{ // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("FABtotum TOTUMDUINO");
SERIAL_ECHOPAIR(" Batch Number: ", (unsigned long)fab_batch_number);
SERIAL_ECHOLN("");
SERIAL_ECHOLNPGM("FABlin");
SERIAL_ECHOLNPGM(" Version: " STRING_BUILD_VERSION);
SERIAL_ECHOPAIR(" Baudrate: ", (unsigned long)BAUDRATE);
SERIAL_ECHOLN("");
SERIAL_ECHOLNPGM("Steps per unit:");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[0]);
SERIAL_ECHOPAIR_P(PMSG_WS_Y,axis_steps_per_unit[1]);
SERIAL_ECHOPAIR_P(PMSG_WS_Z,axis_steps_per_unit[2]);
SERIAL_ECHOPAIR_P(PMSG_WS_E,axis_steps_per_unit[3]);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]);
SERIAL_ECHOPAIR_P(PMSG_WS_Y,max_feedrate[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, max_feedrate[2] );
SERIAL_ECHOPAIR_P(PMSG_WS_E, max_feedrate[3]);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[0] );
SERIAL_ECHOPAIR_P(PMSG_WS_Y , max_acceleration_units_per_sq_second[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z ,max_acceleration_units_per_sq_second[2] );
SERIAL_ECHOPAIR_P(PMSG_WS_E ,max_acceleration_units_per_sq_second[3]);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M204 S",acceleration );
SERIAL_ECHOPAIR_P(PMSG_WS_T, retract_acceleration);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M205 S",minimumfeedrate );
SERIAL_ECHOPAIR_P(PMSG_WS_T, mintravelfeedrate );
SERIAL_ECHOPAIR(" B" ,minsegmenttime );
SERIAL_ECHOPAIR_P(PMSG_WS_X, max_xy_jerk );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, max_z_jerk);
SERIAL_ECHOPAIR_P(PMSG_WS_E, max_e_jerk);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homeing[0] );
SERIAL_ECHOPAIR_P(PMSG_WS_Y, add_homeing[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, add_homeing[2] );
SERIAL_ECHOLN("");
#ifdef DELTA
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustement (mm):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 X",endstop_adj[0] );
SERIAL_ECHOPAIR_P(PMSG_WS_Y, endstop_adj[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, endstop_adj[2] );
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M665 L",delta_diagonal_rod );
SERIAL_ECHOPAIR(" R" ,delta_radius );
SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
SERIAL_ECHOLN("");
#endif
#ifdef PIDTEMP
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp);
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
SERIAL_ECHOLN("");
#endif
//SERIAL_ECHO_START;
SERIAL_ECHOPGM("Servo Endstop settings:");
SERIAL_PROTOCOL(" R: ");
SERIAL_PROTOCOL(servo_endstop_angles[5]);
SERIAL_PROTOCOL(" E: ");
SERIAL_PROTOCOL(servo_endstop_angles[4]);
SERIAL_PROTOCOLLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOPGM("Z Probe Length: ");
SERIAL_PROTOCOL_F(-zprobe_zoffset,2);
SERIAL_PROTOCOLLN("");
SERIAL_ECHOLNPGM("Installed head ID:");
SERIAL_ECHOPAIR(" M793 S", (unsigned long)installed_head_id);
SERIAL_ECHOLN("");
}