예제 #1
0
파일: M106_M107.cpp 프로젝트: aon3d/Marlin
/**
 * M106: Set Fan Speed
 *
 *  S<int>   Speed between 0-255
 *  P<index> Fan index, if more than one fan
 *
 * With EXTRA_FAN_SPEED enabled:
 *
 *  T<int>   Restore/Use/Set Temporary Speed:
 *           1     = Restore previous speed after T2
 *           2     = Use temporary speed set with T3-255
 *           3-255 = Set the speed for use with T2
 */
void GcodeSuite::M106() {
  const uint8_t p = parser.byteval('P');
  if (p < FAN_COUNT) {
    #if ENABLED(EXTRA_FAN_SPEED)
      const int16_t t = parser.intval('T');
      NOMORE(t, 255);
      if (t > 0) {
        switch (t) {
          case 1:
            fanSpeeds[p] = old_fanSpeeds[p];
            break;
          case 2:
            old_fanSpeeds[p] = fanSpeeds[p];
            fanSpeeds[p] = new_fanSpeeds[p];
            break;
          default:
            new_fanSpeeds[p] = t;
            break;
        }
        return;
      }
    #endif // EXTRA_FAN_SPEED
    const uint16_t s = parser.ushortval('S', 255);
    fanSpeeds[p] = min(s, 255);
  }
}
예제 #2
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  void lcd_mixer_gradient_z_end_edit() {
    ui.defer_status_screen(true);
    ui.encoder_direction_normal();
    ENCODER_RATE_MULTIPLY(true);
    if (ui.encoderPosition != 0) {
      mixer.gradient.end_z += float((int)ui.encoderPosition) * 0.1;
      ui.encoderPosition = 0;
      NOLESS(mixer.gradient.end_z, 0);
      NOMORE(mixer.gradient.end_z, Z_MAX_POS);
    }

    if (ui.should_draw()) {
      char tmp[21];
      sprintf_P(tmp, PSTR(MSG_END_Z ": %4d.%d mm"), int(mixer.gradient.end_z), int(mixer.gradient.end_z * 10) % 10);
      SETCURSOR(2, (LCD_HEIGHT - 1) / 2);
      LCDPRINT(tmp);
    }

    if (ui.lcd_clicked) {
      if (mixer.gradient.end_z < mixer.gradient.start_z)
        mixer.gradient.start_z = mixer.gradient.end_z;
      mixer.refresh_gradient();
      ui.goto_previous_screen();
    }
  }
예제 #3
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void dac_current_raw(uint8_t channel, uint16_t val) {
  if (!dac_present) return;

  NOMORE(val, DAC_STEPPER_MAX);

  mcp4728_analogWrite(dac_order[channel], val);
  mcp4728_simpleCommand(UPDATE);
}
예제 #4
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void dac_current_percent(uint8_t channel, float val) {
  if (!dac_present) return;

  NOMORE(val, 100);

  mcp4728_analogWrite(dac_order[channel], val * 0.01 * (DAC_STEPPER_MAX));
  mcp4728_simpleCommand(UPDATE);
}
예제 #5
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FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
  unsigned short timer;

  NOMORE(step_rate, MAX_STEP_FREQUENCY);

  if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
    step_rate = (step_rate >> 2) & 0x3fff;
    step_loops = 4;
  }
예제 #6
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FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
  unsigned short timer;

  NOMORE(step_rate, MAX_STEP_FREQUENCY);

  if(step_rate > (2 * DOUBLE_STEP_FREQUENCY)) { // If steprate > 2*DOUBLE_STEP_FREQUENCY >> step 4 times
    step_rate >>= 2;
    step_loops = 4;
  }
예제 #7
0
파일: M113.cpp 프로젝트: aon3d/Marlin
/**
 * M113: Get or set Host Keepalive interval (0 to disable)
 *
 *   S<seconds> Optional. Set the keepalive interval.
 */
void GcodeSuite::M113() {
  if (parser.seenval('S')) {
    host_keepalive_interval = parser.value_byte();
    NOMORE(host_keepalive_interval, 60);
  }
  else {
    SERIAL_ECHO_START();
    SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  }
}
예제 #8
0
  void Laser::fire(float intensity/*=100.0*/){

    laser.firing = LASER_ON;
    laser.last_firing = micros(); // microseconds of last laser firing

    NOMORE(intensity, 100.0);
    NOLESS(intensity, 0.0);

    #if ENABLED(LASER_PWM_INVERT)
      intensity = 100 - intensity;
    #endif

    #if LASER_CONTROL == 1

      #if LASER_PWR_PIN == 2
        OCR3B = PWM_MAPPED_INTENSITY;
      #elif LASER_PWR_PIN == 3
        OCR3C = PWM_MAPPED_INTENSITY;
      #elif LASER_PWR_PIN == 5
        OCR3A = PWM_MAPPED_INTENSITY;
      #elif LASER_PWR_PIN == 6
        OCR4A = PWM_MAPPED_INTENSITY;
      #elif LASER_PWR_PIN == 7
        OCR4B = PWM_MAPPED_INTENSITY;
      #elif LASER_PWR_PIN == 8
        OCR4C = PWM_MAPPED_INTENSITY;
      #endif

    #elif LASER_CONTROL == 2

      #if LASER_PWM_PIN == 2
        OCR3B = PWM_MAPPED_INTENSITY;
      #elif LASER_PWM_PIN == 3
        OCR3C = PWM_MAPPED_INTENSITY;
      #elif LASER_PWM_PIN == 5
        OCR3A = PWM_MAPPED_INTENSITY;
      #elif LASER_PWM_PIN == 6
        OCR4A = PWM_MAPPED_INTENSITY;
      #elif LASER_PWM_PIN == 7
        OCR4B = PWM_MAPPED_INTENSITY;
      #elif LASER_PWM_PIN == 8
        OCR4C = PWM_MAPPED_INTENSITY;
      #endif

      WRITE(LASER_PWR_PIN, LASER_ARM);

    #endif /* LASER_CONTROL */

    if (laser.diagnostics) SERIAL_EM("Laser_byte fired");

  }
예제 #9
0
  void Mixer::update_gradient_for_z(const float z) {
    if (z == prev_z) return;
    prev_z = z;

    const float slice = gradient.end_z - gradient.start_z;

    float pct = (z - gradient.start_z) / slice;
    NOLESS(pct, 0.0f); NOMORE(pct, 1.0f);

    MIXER_STEPPER_LOOP(i) {
      const mixer_perc_t sm = gradient.start_mix[i];
      mix[i] = sm + (gradient.end_mix[i] - sm) * pct;
    }

    copy_mix_to_color(gradient.color);
  }
예제 #10
0
/**
 * Perform a tool-change, which may result in moving the
 * previous tool out of the way and the new tool into place.
 */
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  #if ENABLED(MIXING_EXTRUDER)

    UNUSED(fr_mm_s); UNUSED(no_move);

    if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
      return invalid_extruder_error(tmp_extruder);

    #if MIXING_VIRTUAL_TOOLS > 1
      // T0-Tnnn: Switch virtual tool by changing the index to the mix
      mixer.T(tmp_extruder);
    #endif

  #elif ENABLED(PRUSA_MMU2)

    UNUSED(fr_mm_s); UNUSED(no_move);

    mmu2.toolChange(tmp_extruder);

  #elif EXTRUDERS < 2

    UNUSED(fr_mm_s); UNUSED(no_move);

    if (tmp_extruder) invalid_extruder_error(tmp_extruder);
    return;

  #else // EXTRUDERS > 1

    planner.synchronize();

    #if ENABLED(DUAL_X_CARRIAGE)  // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_MIRRORED_MODE
      if (tmp_extruder != 0 && dxc_is_duplicating())
         return invalid_extruder_error(tmp_extruder);
    #endif

    #if HAS_LEVELING
      // Set current position to the physical position
      const bool leveling_was_active = planner.leveling_active;
      set_bed_leveling_enabled(false);
    #endif

    if (tmp_extruder >= EXTRUDERS)
      return invalid_extruder_error(tmp_extruder);

    if (!no_move && !all_axes_homed()) {
      no_move = true;
      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move on toolchange");
    }

    #if HAS_LCD_MENU
      ui.return_to_status();
    #endif

    #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
      const bool should_swap = !no_move && toolchange_settings.swap_length;
      #if ENABLED(PREVENT_COLD_EXTRUSION)
        const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(active_extruder) || thermalManager.targetTooColdToExtrude(tmp_extruder));
      #else
        constexpr bool too_cold = false;
      #endif
      if (should_swap) {
        if (too_cold) {
          SERIAL_ECHO_MSG(MSG_ERR_HOTEND_TOO_COLD);
          #if ENABLED(SINGLENOZZLE)
            active_extruder = tmp_extruder;
            return;
          #endif
        }
        else {
          #if ENABLED(ADVANCED_PAUSE_FEATURE)
            do_pause_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
          #else
            current_position[E_AXIS] -= toolchange_settings.swap_length / planner.e_factor[active_extruder];
            planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), active_extruder);
          #endif
        }
      }
    #endif // TOOLCHANGE_FILAMENT_SWAP

    if (tmp_extruder != active_extruder) {

      #if SWITCHING_NOZZLE_TWO_SERVOS
        raise_nozzle(active_extruder);
      #endif

      const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
      feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;

      #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
        update_software_endstops(X_AXIS, active_extruder, tmp_extruder);
      #endif

      set_destination_from_current();

      if (!no_move) {
        #if DISABLED(SWITCHING_NOZZLE)
          // Do a small lift to avoid the workpiece in the move back (below)
          #if ENABLED(TOOLCHANGE_PARK)
            current_position[X_AXIS] = toolchange_settings.change_point.x;
            current_position[Y_AXIS] = toolchange_settings.change_point.y;
          #endif
          current_position[Z_AXIS] += toolchange_settings.z_raise;
          #if HAS_SOFTWARE_ENDSTOPS
            NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
          #endif
          planner.buffer_line(current_position, feedrate_mm_s, active_extruder);
        #endif
        planner.synchronize();
      }

      #if HAS_HOTEND_OFFSET
        #if ENABLED(DUAL_X_CARRIAGE)
          constexpr float xdiff = 0;
        #else
          const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder];
        #endif
        const float ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder],
                    zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder];
      #else
        constexpr float xdiff = 0, ydiff = 0, zdiff = 0;
      #endif

      #if ENABLED(DUAL_X_CARRIAGE)
        dualx_tool_change(tmp_extruder, no_move);
      #elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
        parking_extruder_tool_change(tmp_extruder, no_move);
      #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
        magnetic_parking_extruder_tool_change(tmp_extruder);
      #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
        switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
      #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS
        // Raise by a configured distance to avoid workpiece, except with
        // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
        current_position[Z_AXIS] += MAX(-zdiff, 0.0) + toolchange_settings.z_raise;
        #if HAS_SOFTWARE_ENDSTOPS
          NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
        #endif
        if (!no_move) fast_line_to_current(Z_AXIS);
        move_nozzle_servo(tmp_extruder);
      #endif

      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", xdiff, ", ", ydiff, ", ", zdiff, " }");

      // The newly-selected extruder XY is actually at...
      current_position[X_AXIS] += xdiff;
      current_position[Y_AXIS] += ydiff;
      current_position[Z_AXIS] += zdiff;

      // Set the new active extruder if not already done in tool specific function above
      active_extruder = tmp_extruder;

      // Tell the planner the new "current position"
      sync_plan_position();

      #if ENABLED(DELTA)
        //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
        const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
      #else
        constexpr bool safe_to_move = true;
      #endif

      // Return to position and lower again
      if (safe_to_move && !no_move && IsRunning()) {
        if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);

        #if ENABLED(SINGLENOZZLE)
          #if FAN_COUNT > 0
            singlenozzle_fan_speed[active_extruder] = thermalManager.fan_speed[0];
            thermalManager.fan_speed[0] = singlenozzle_fan_speed[tmp_extruder];
          #endif

          singlenozzle_temp[active_extruder] = thermalManager.temp_hotend[0].target;
          if (singlenozzle_temp[tmp_extruder] && singlenozzle_temp[tmp_extruder] != singlenozzle_temp[active_extruder]) {
            thermalManager.setTargetHotend(singlenozzle_temp[tmp_extruder], 0);
            #if EITHER(ULTRA_LCD, EXTENSIBLE_UI)
              thermalManager.set_heating_message(0);
            #endif
            (void)thermalManager.wait_for_hotend(0, false);  // Wait for heating or cooling
          }
          active_extruder = tmp_extruder;
        #endif

        #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
          if (should_swap && !too_cold) {
            #if ENABLED(ADVANCED_PAUSE_FEATURE)
              do_pause_e_move(toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME, toolchange_settings.prime_speed);
            #else
              current_position[E_AXIS] += (toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME) / planner.e_factor[tmp_extruder];
              planner.buffer_line(current_position, toolchange_settings.prime_speed, tmp_extruder);
            #endif
            planner.synchronize();

            #if TOOLCHANGE_FIL_EXTRA_PRIME
              planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = current_position[E_AXIS] - (TOOLCHANGE_FIL_EXTRA_PRIME)));
            #endif
          }
        #endif

        // Prevent a move outside physical bounds
        apply_motion_limits(destination);

        // Move back to the original (or tweaked) position
        do_blocking_move_to(destination);

        #if ENABLED(DUAL_X_CARRIAGE)
          active_extruder_parked = false;
        #endif
        feedrate_mm_s = old_feedrate_mm_s;
      }
      #if ENABLED(SWITCHING_NOZZLE)
        else {
          // Move back down. (Including when the new tool is higher.)
          do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
        }
      #endif

      #if ENABLED(PRUSA_MMU2)
        mmu2.toolChange(tmp_extruder);
      #endif

      #if SWITCHING_NOZZLE_TWO_SERVOS
        lower_nozzle(active_extruder);
      #endif

      #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) && ADVANCED_PAUSE_RESUME_PRIME != 0
        if (should_swap && !too_cold) {
          const float resume_eaxis = current_position[E_AXIS];
          #if ENABLED(ADVANCED_PAUSE_FEATURE)
            do_pause_e_move(toolchange_settings.swap_length, toolchange_settings.prime_speed);
          #else
            current_position[E_AXIS] += (ADVANCED_PAUSE_RESUME_PRIME) / planner.e_factor[active_extruder];
            planner.buffer_line(current_position, ADVANCED_PAUSE_PURGE_FEEDRATE, active_extruder);
          #endif
          planner.synchronize();
          planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = resume_eaxis));
        }
      #endif

    } // (tmp_extruder != active_extruder)

    planner.synchronize();

    #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
      disable_all_solenoids();
      enable_solenoid_on_active_extruder();
    #endif

    #if ENABLED(MK2_MULTIPLEXER)
      if (tmp_extruder >= E_STEPPERS) return invalid_extruder_error(tmp_extruder);
      select_multiplexed_stepper(tmp_extruder);
    #endif

    #if DO_SWITCH_EXTRUDER
      planner.synchronize();
      move_extruder_servo(active_extruder);
    #endif

    #if HAS_FANMUX
      fanmux_switch(active_extruder);
    #endif

    #if HAS_LEVELING
      // Restore leveling to re-establish the logical position
      set_bed_leveling_enabled(leveling_was_active);
    #endif

    SERIAL_ECHO_START();
    SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, int(active_extruder));

  #endif // EXTRUDERS > 1
}
예제 #11
0
파일: M48.cpp 프로젝트: szymonrychu/Marlin
/**
 * M48: Z probe repeatability measurement function.
 *
 * Usage:
 *   M48 <P#> <X#> <Y#> <V#> <E> <L#> <S>
 *     P = Number of sampled points (4-50, default 10)
 *     X = Sample X position
 *     Y = Sample Y position
 *     V = Verbose level (0-4, default=1)
 *     E = Engage Z probe for each reading
 *     L = Number of legs of movement before probe
 *     S = Schizoid (Or Star if you prefer)
 *
 * This function requires the machine to be homed before invocation.
 */
void GcodeSuite::M48() {

  if (axis_unhomed_error()) return;

  const int8_t verbose_level = parser.byteval('V', 1);
  if (!WITHIN(verbose_level, 0, 4)) {
    SERIAL_ECHOLNPGM("?(V)erbose level is implausible (0-4).");
    return;
  }

  if (verbose_level > 0)
    SERIAL_ECHOLNPGM("M48 Z-Probe Repeatability Test");

  const int8_t n_samples = parser.byteval('P', 10);
  if (!WITHIN(n_samples, 4, 50)) {
    SERIAL_ECHOLNPGM("?Sample size not plausible (4-50).");
    return;
  }

  const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;

  float X_current = current_position[X_AXIS],
        Y_current = current_position[Y_AXIS];

  const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
              Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);

  if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
    SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
    return;
  }

  bool seen_L = parser.seen('L');
  uint8_t n_legs = seen_L ? parser.value_byte() : 0;
  if (n_legs > 15) {
    SERIAL_ECHOLNPGM("?Number of legs in movement not plausible (0-15).");
    return;
  }
  if (n_legs == 1) n_legs = 2;

  const bool schizoid_flag = parser.boolval('S');
  if (schizoid_flag && !seen_L) n_legs = 7;

  /**
   * Now get everything to the specified probe point So we can safely do a
   * probe to get us close to the bed.  If the Z-Axis is far from the bed,
   * we don't want to use that as a starting point for each probe.
   */
  if (verbose_level > 2)
    SERIAL_ECHOLNPGM("Positioning the probe...");

  // Disable bed level correction in M48 because we want the raw data when we probe

  #if HAS_LEVELING
    const bool was_enabled = planner.leveling_active;
    set_bed_leveling_enabled(false);
  #endif

  setup_for_endstop_or_probe_move();

  float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];

  // Move to the first point, deploy, and probe
  const float t = probe_pt(X_probe_location, Y_probe_location, raise_after, verbose_level);
  bool probing_good = !isnan(t);

  if (probing_good) {
    randomSeed(millis());

    for (uint8_t n = 0; n < n_samples; n++) {
      if (n_legs) {
        const int dir = (random(0, 10) > 5.0) ? -1 : 1;  // clockwise or counter clockwise
        float angle = random(0, 360);
        const float radius = random(
          #if ENABLED(DELTA)
            (int) (0.1250000000 * (DELTA_PRINTABLE_RADIUS)),
            (int) (0.3333333333 * (DELTA_PRINTABLE_RADIUS))
          #else
            (int) 5.0, (int) (0.125 * MIN(X_BED_SIZE, Y_BED_SIZE))
          #endif
        );

        if (verbose_level > 3) {
          SERIAL_ECHOPAIR("Starting radius: ", radius);
          SERIAL_ECHOPAIR("   angle: ", angle);
          SERIAL_ECHOPGM(" Direction: ");
          if (dir > 0) SERIAL_ECHOPGM("Counter-");
          SERIAL_ECHOLNPGM("Clockwise");
        }

        for (uint8_t l = 0; l < n_legs - 1; l++) {
          float delta_angle;

          if (schizoid_flag)
            // The points of a 5 point star are 72 degrees apart.  We need to
            // skip a point and go to the next one on the star.
            delta_angle = dir * 2.0 * 72.0;

          else
            // If we do this line, we are just trying to move further
            // around the circle.
            delta_angle = dir * (float) random(25, 45);

          angle += delta_angle;

          while (angle > 360.0)   // We probably do not need to keep the angle between 0 and 2*PI, but the
            angle -= 360.0;       // Arduino documentation says the trig functions should not be given values
          while (angle < 0.0)     // outside of this range.   It looks like they behave correctly with
            angle += 360.0;       // numbers outside of the range, but just to be safe we clamp them.

          X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
          Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;

          #if DISABLED(DELTA)
            X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
            Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
          #else
            // If we have gone out too far, we can do a simple fix and scale the numbers
            // back in closer to the origin.
            while (!position_is_reachable_by_probe(X_current, Y_current)) {
              X_current *= 0.8;
              Y_current *= 0.8;
              if (verbose_level > 3) {
                SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
                SERIAL_ECHOLNPAIR(", ", Y_current);
              }
            }
          #endif
          if (verbose_level > 3) {
            SERIAL_ECHOPGM("Going to:");
            SERIAL_ECHOPAIR(" X", X_current);
            SERIAL_ECHOPAIR(" Y", Y_current);
            SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
          }
          do_blocking_move_to_xy(X_current, Y_current);
        } // n_legs loop
      } // n_legs

      // Probe a single point
      sample_set[n] = probe_pt(X_probe_location, Y_probe_location, raise_after, 0);

      // Break the loop if the probe fails
      probing_good = !isnan(sample_set[n]);
      if (!probing_good) break;

      /**
       * Get the current mean for the data points we have so far
       */
      float sum = 0.0;
      for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
      mean = sum / (n + 1);

      NOMORE(min, sample_set[n]);
      NOLESS(max, sample_set[n]);

      /**
       * Now, use that mean to calculate the standard deviation for the
       * data points we have so far
       */
      sum = 0.0;
      for (uint8_t j = 0; j <= n; j++)
        sum += sq(sample_set[j] - mean);

      sigma = SQRT(sum / (n + 1));
      if (verbose_level > 0) {
        if (verbose_level > 1) {
          SERIAL_ECHO(n + 1);
          SERIAL_ECHOPAIR(" of ", (int)n_samples);
          SERIAL_ECHOPAIR_F(": z: ", sample_set[n], 3);
          if (verbose_level > 2) {
            SERIAL_ECHOPAIR_F(" mean: ", mean, 4);
            SERIAL_ECHOPAIR_F(" sigma: ", sigma, 6);
            SERIAL_ECHOPAIR_F(" min: ", min, 3);
            SERIAL_ECHOPAIR_F(" max: ", max, 3);
            SERIAL_ECHOPAIR_F(" range: ", max-min, 3);
          }
          SERIAL_EOL();
        }
      }

    } // n_samples loop
  }

  STOW_PROBE();

  if (probing_good) {
    SERIAL_ECHOLNPGM("Finished!");

    if (verbose_level > 0) {
      SERIAL_ECHOPAIR_F("Mean: ", mean, 6);
      SERIAL_ECHOPAIR_F(" Min: ", min, 3);
      SERIAL_ECHOPAIR_F(" Max: ", max, 3);
      SERIAL_ECHOLNPAIR_F(" Range: ", max-min, 3);
    }

    SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6);
    SERIAL_EOL();
  }

  clean_up_after_endstop_or_probe_move();

  // Re-enable bed level correction if it had been on
  #if HAS_LEVELING
    set_bed_leveling_enabled(was_enabled);
  #endif

  report_current_position();
}
예제 #12
0
파일: M420.cpp 프로젝트: teemuatlut/Marlin
/**
 * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
 *
 *   S[bool]   Turns leveling on or off
 *   Z[height] Sets the Z fade height (0 or none to disable)
 *   V[bool]   Verbose - Print the leveling grid
 *
 * With AUTO_BED_LEVELING_UBL only:
 *
 *   L[index]  Load UBL mesh from index (0 is default)
 *   T[map]    0:Human-readable 1:CSV 2:"LCD" 4:Compact
 *
 * With mesh-based leveling only:
 *
 *   C         Center mesh on the mean of the lowest and highest
 *
 * With MARLIN_DEV_MODE:
 *   S2        Create a simple random mesh and enable
 */
void GcodeSuite::M420() {
  const bool seen_S = parser.seen('S'),
             to_enable = seen_S ? parser.value_bool() : planner.leveling_active;

  #if ENABLED(MARLIN_DEV_MODE)
    if (parser.intval('S') == 2) {
      #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
        bilinear_start[X_AXIS] = MIN_PROBE_X;
        bilinear_start[Y_AXIS] = MIN_PROBE_Y;
        bilinear_grid_spacing[X_AXIS] = (MAX_PROBE_X - (MIN_PROBE_X)) / (GRID_MAX_POINTS_X - 1);
        bilinear_grid_spacing[Y_AXIS] = (MAX_PROBE_Y - (MIN_PROBE_Y)) / (GRID_MAX_POINTS_Y - 1);
      #endif
      for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
        for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
          Z_VALUES(x, y) = 0.001 * random(-200, 200);
      SERIAL_ECHOPGM("Simulated " STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_X) " mesh ");
      SERIAL_ECHOPAIR(" (", MIN_PROBE_X);
      SERIAL_CHAR(','); SERIAL_ECHO(MIN_PROBE_Y);
      SERIAL_ECHOPAIR(")-(", MAX_PROBE_X);
      SERIAL_CHAR(','); SERIAL_ECHO(MAX_PROBE_Y);
      SERIAL_ECHOLNPGM(")");
    }
  #endif

  // If disabling leveling do it right away
  // (Don't disable for just M420 or M420 V)
  if (seen_S && !to_enable) set_bed_leveling_enabled(false);

  const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };

  #if ENABLED(AUTO_BED_LEVELING_UBL)

    // L to load a mesh from the EEPROM
    if (parser.seen('L')) {

      set_bed_leveling_enabled(false);

      #if ENABLED(EEPROM_SETTINGS)
        const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot;
        const int16_t a = settings.calc_num_meshes();

        if (!a) {
          SERIAL_ECHOLNPGM("?EEPROM storage not available.");
          return;
        }

        if (!WITHIN(storage_slot, 0, a - 1)) {
          SERIAL_ECHOLNPGM("?Invalid storage slot.");
          SERIAL_ECHOLNPAIR("?Use 0 to ", a - 1);
          return;
        }

        settings.load_mesh(storage_slot);
        ubl.storage_slot = storage_slot;

      #else

        SERIAL_ECHOLNPGM("?EEPROM storage not available.");
        return;

      #endif
    }

    // L or V display the map info
    if (parser.seen('L') || parser.seen('V')) {
      ubl.display_map(parser.byteval('T'));
      SERIAL_ECHOPGM("Mesh is ");
      if (!ubl.mesh_is_valid()) SERIAL_ECHOPGM("in");
      SERIAL_ECHOLNPAIR("valid\nStorage slot: ", ubl.storage_slot);
    }

  #endif // AUTO_BED_LEVELING_UBL

  const bool seenV = parser.seen('V');

  #if HAS_MESH

    if (leveling_is_valid()) {

      // Subtract the given value or the mean from all mesh values
      if (parser.seen('C')) {
        const float cval = parser.value_float();
        #if ENABLED(AUTO_BED_LEVELING_UBL)

          set_bed_leveling_enabled(false);
          ubl.adjust_mesh_to_mean(true, cval);

        #else

          #if ENABLED(M420_C_USE_MEAN)

            // Get the sum and average of all mesh values
            float mesh_sum = 0;
            for (uint8_t x = GRID_MAX_POINTS_X; x--;)
              for (uint8_t y = GRID_MAX_POINTS_Y; y--;)
                mesh_sum += Z_VALUES(x, y);
            const float zmean = mesh_sum / float(GRID_MAX_POINTS);

          #else

            // Find the low and high mesh values
            float lo_val = 100, hi_val = -100;
            for (uint8_t x = GRID_MAX_POINTS_X; x--;)
              for (uint8_t y = GRID_MAX_POINTS_Y; y--;) {
                const float z = Z_VALUES(x, y);
                NOMORE(lo_val, z);
                NOLESS(hi_val, z);
              }
            // Take the mean of the lowest and highest
            const float zmean = (lo_val + hi_val) / 2.0 + cval;

          #endif

          // If not very close to 0, adjust the mesh
          if (!NEAR_ZERO(zmean)) {
            set_bed_leveling_enabled(false);
            // Subtract the mean from all values
            for (uint8_t x = GRID_MAX_POINTS_X; x--;)
              for (uint8_t y = GRID_MAX_POINTS_Y; y--;)
                Z_VALUES(x, y) -= zmean;
            #if ENABLED(ABL_BILINEAR_SUBDIVISION)
              bed_level_virt_interpolate();
            #endif
          }

        #endif
      }

    }
    else if (to_enable || seenV) {
      SERIAL_ECHO_MSG("Invalid mesh.");
      goto EXIT_M420;
    }

  #endif // HAS_MESH

  // V to print the matrix or mesh
  if (seenV) {
    #if ABL_PLANAR
      planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
    #else
      if (leveling_is_valid()) {
        #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
          print_bilinear_leveling_grid();
          #if ENABLED(ABL_BILINEAR_SUBDIVISION)
            print_bilinear_leveling_grid_virt();
          #endif
        #elif ENABLED(MESH_BED_LEVELING)
          SERIAL_ECHOLNPGM("Mesh Bed Level data:");
          mbl.report_mesh();
        #endif
      }
    #endif
  }

  #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
    if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units(), false);
  #endif

  // Enable leveling if specified, or if previously active
  set_bed_leveling_enabled(to_enable);

  #if HAS_MESH
    EXIT_M420:
  #endif

  // Error if leveling failed to enable or reenable
  if (to_enable && !planner.leveling_active)
    SERIAL_ERROR_MSG(MSG_ERR_M420_FAILED);

  SERIAL_ECHO_START();
  SERIAL_ECHOPGM("Bed Leveling ");
  serialprintln_onoff(planner.leveling_active);

  #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
    SERIAL_ECHO_START();
    SERIAL_ECHOPGM("Fade Height ");
    if (planner.z_fade_height > 0.0)
      SERIAL_ECHOLN(planner.z_fade_height);
    else
      SERIAL_ECHOLNPGM(MSG_OFF);
  #endif

  // Report change in position
  if (memcmp(oldpos, current_position, sizeof(oldpos)))
    report_current_position();
}
예제 #13
0
    bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) {

      if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS]))  // fail if moving outside reachable boundary
        return true; // did not move, so current_position still accurate

      const float total[XYZE] = {
        rtarget[X_AXIS] - current_position[X_AXIS],
        rtarget[Y_AXIS] - current_position[Y_AXIS],
        rtarget[Z_AXIS] - current_position[Z_AXIS],
        rtarget[E_AXIS] - current_position[E_AXIS]
      };

      const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]);  // total horizontal xy distance

      #if IS_KINEMATIC
        const float seconds = cartesian_xy_mm / feedrate;                                  // seconds to move xy distance at requested rate
        uint16_t segments = lroundf(delta_segments_per_second * seconds),                  // preferred number of segments for distance @ feedrate
                 seglimit = lroundf(cartesian_xy_mm * (1.0f / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
        NOMORE(segments, seglimit);                                                        // limit to minimum segment length (fewer segments)
      #else
        uint16_t segments = lroundf(cartesian_xy_mm * (1.0f / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
      #endif

      NOLESS(segments, 1U);                        // must have at least one segment
      const float inv_segments = 1.0f / segments;  // divide once, multiply thereafter

      #if IS_SCARA // scale the feed rate from mm/s to degrees/s
        scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
        scara_oldA = planner.get_axis_position_degrees(A_AXIS);
        scara_oldB = planner.get_axis_position_degrees(B_AXIS);
      #endif

      const float diff[XYZE] = {
        total[X_AXIS] * inv_segments,
        total[Y_AXIS] * inv_segments,
        total[Z_AXIS] * inv_segments,
        total[E_AXIS] * inv_segments
      };

      // Note that E segment distance could vary slightly as z mesh height
      // changes for each segment, but small enough to ignore.

      float raw[XYZE] = {
        current_position[X_AXIS],
        current_position[Y_AXIS],
        current_position[Z_AXIS],
        current_position[E_AXIS]
      };

      // Only compute leveling per segment if ubl active and target below z_fade_height.
      if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) {   // no mesh leveling
        while (--segments) {
          LOOP_XYZE(i) raw[i] += diff[i];
          ubl_buffer_segment_raw(raw, feedrate);
        }
        ubl_buffer_segment_raw(rtarget, feedrate);
        return false; // moved but did not set_current_from_destination();
      }

      // Otherwise perform per-segment leveling

      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
        const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]);
      #endif

      // increment to first segment destination
      LOOP_XYZE(i) raw[i] += diff[i];

      for (;;) {  // for each mesh cell encountered during the move

        // Compute mesh cell invariants that remain constant for all segments within cell.
        // Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
        // the bilinear interpolation from the adjacent cell within the mesh will still work.
        // Inner loop will exit each time (because out of cell bounds) but will come back
        // in top of loop and again re-find same adjacent cell and use it, just less efficient
        // for mesh inset area.

        int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST)),
               cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));

        cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
        cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);

        const float x0 = mesh_index_to_xpos(cell_xi),   // 64 byte table lookup avoids mul+add
                    y0 = mesh_index_to_ypos(cell_yi);

        float z_x0y0 = z_values[cell_xi  ][cell_yi  ],  // z at lower left corner
              z_x1y0 = z_values[cell_xi+1][cell_yi  ],  // z at upper left corner
              z_x0y1 = z_values[cell_xi  ][cell_yi+1],  // z at lower right corner
              z_x1y1 = z_values[cell_xi+1][cell_yi+1];  // z at upper right corner

        if (isnan(z_x0y0)) z_x0y0 = 0;              // ideally activating planner.leveling_active (G29 A)
        if (isnan(z_x1y0)) z_x1y0 = 0;              //   should refuse if any invalid mesh points
        if (isnan(z_x0y1)) z_x0y1 = 0;              //   in order to avoid isnan tests per cell,
        if (isnan(z_x1y1)) z_x1y1 = 0;              //   thus guessing zero for undefined points

        float cx = raw[X_AXIS] - x0,   // cell-relative x and y
              cy = raw[Y_AXIS] - y0;

        const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0f / (MESH_X_DIST)),   // z slope per x along y0 (lower left to lower right)
                    z_xmy1 = (z_x1y1 - z_x0y1) * (1.0f / (MESH_X_DIST));   // z slope per x along y1 (upper left to upper right)

              float z_cxy0 = z_x0y0 + z_xmy0 * cx;            // z height along y0 at cx (changes for each cx in cell)

        const float z_cxy1 = z_x0y1 + z_xmy1 * cx,            // z height along y1 at cx
                    z_cxyd = z_cxy1 - z_cxy0;                 // z height difference along cx from y0 to y1

              float z_cxym = z_cxyd * (1.0f / (MESH_Y_DIST));  // z slope per y along cx from y0 to y1 (changes for each cx in cell)

        //    float z_cxcy = z_cxy0 + z_cxym * cy;            // interpolated mesh z height along cx at cy (do inside the segment loop)

        // As subsequent segments step through this cell, the z_cxy0 intercept will change
        // and the z_cxym slope will change, both as a function of cx within the cell, and
        // each change by a constant for fixed segment lengths.

        const float z_sxy0 = z_xmy0 * diff[X_AXIS],                                     // per-segment adjustment to z_cxy0
                    z_sxym = (z_xmy1 - z_xmy0) * (1.0f / (MESH_Y_DIST)) * diff[X_AXIS];  // per-segment adjustment to z_cxym

        for (;;) {  // for all segments within this mesh cell

          if (--segments == 0)                      // if this is last segment, use rtarget for exact
            COPY(raw, rtarget);

          const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
            #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
              * fade_scaling_factor                   // apply fade factor to interpolated mesh height
            #endif
          ;

          const float z = raw[Z_AXIS];
          raw[Z_AXIS] += z_cxcy;
          ubl_buffer_segment_raw(raw, feedrate);
          raw[Z_AXIS] = z;

          if (segments == 0)                        // done with last segment
            return false;                           // did not set_current_from_destination()

          LOOP_XYZE(i) raw[i] += diff[i];

          cx += diff[X_AXIS];
          cy += diff[Y_AXIS];

          if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST))    // done within this cell, break to next
            break;

          // Next segment still within same mesh cell, adjust the per-segment
          // slope and intercept to compute next z height.

          z_cxy0 += z_sxy0;   // adjust z_cxy0 by per-segment z_sxy0
          z_cxym += z_sxym;   // adjust z_cxym by per-segment z_sxym

        } // segment loop
      } // cell loop

      return false; // caller will update current_position
    }