diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 6ef72d9f04b8..35c43c7f2c91 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -2152,13 +2152,10 @@ * Points to probe for all 3-point Leveling procedures. * Override if the automatically selected points are inadequate. */ -#if EITHER(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_UBL) - //#define PROBE_PT_1_X 15 - //#define PROBE_PT_1_Y 180 - //#define PROBE_PT_2_X 15 - //#define PROBE_PT_2_Y 20 - //#define PROBE_PT_3_X 170 - //#define PROBE_PT_3_Y 20 +#if NEEDS_THREE_PROBE_POINTS + //#define PROBE_PT_1 { 15, 180 } // (mm) { x, y } + //#define PROBE_PT_2 { 15, 20 } + //#define PROBE_PT_3 { 170, 20 } #endif /** diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 02efb3e06555..e50437984805 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -1479,82 +1479,33 @@ void unified_bed_leveling::smart_fill_mesh() { void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) { - #ifdef G29J_MESH_TILT_MARGIN - const float x_min = _MAX(probe.min_x() + (G29J_MESH_TILT_MARGIN), X_MIN_POS), - x_max = _MIN(probe.max_x() - (G29J_MESH_TILT_MARGIN), X_MAX_POS), - y_min = _MAX(probe.min_y() + (G29J_MESH_TILT_MARGIN), Y_MIN_POS), - y_max = _MIN(probe.max_y() - (G29J_MESH_TILT_MARGIN), Y_MAX_POS); - #else - const float x_min = probe.min_x(), x_max = probe.max_x(), - y_min = probe.min_y(), y_max = probe.max_y(); - #endif - const float dx = (x_max - x_min) / (param.J_grid_size - 1), - dy = (y_max - y_min) / (param.J_grid_size - 1); - - xy_float_t points[3]; - probe.get_three_points(points); - float measured_z; bool abort_flag = false; - #if ENABLED(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_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + xy_float_t points[3]; + probe.get_three_points(points); - measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, param.V_verbosity); - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[0]); - TERN_(VALIDATE_MESH_TILT, z1 = measured_z); - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, points[0], measured_z); - } + #if ENABLED(VALIDATE_MESH_TILT) + float gotz[3]; // Used for algorithm validation below + #endif - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh (2/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + LOOP_L_N(i, 3) { + SERIAL_ECHOLNPGM("Tilting mesh (", i + 1, "/3)"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), i + 1, GET_TEXT(MSG_LCD_TILTING_MESH))); - measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, param.V_verbosity); - TERN_(VALIDATE_MESH_TILT, z2 = measured_z); - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[1]); - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, points[1], measured_z); - } - } + measured_z = probe.probe_at_point(points[i], i < 2 ? PROBE_PT_RAISE : PROBE_PT_LAST_STOW, param.V_verbosity); + if ((abort_flag = isnan(measured_z))) break; - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh (3/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + measured_z -= get_z_correction(points[i]); + TERN_(VALIDATE_MESH_TILT, gotz[i] = measured_z); - measured_z = probe.probe_at_point(points[2], PROBE_PT_LAST_STOW, param.V_verbosity); - TERN_(VALIDATE_MESH_TILT, z3 = measured_z); - if (isnan(measured_z)) - abort_flag = true; - else { - measured_z -= get_z_correction(points[2]); - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); - } - incremental_LSF(&lsf_results, points[2], measured_z); - } + if (param.V_verbosity > 3) { serial_spaces(16); SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); } + + incremental_LSF(&lsf_results, points[i], measured_z); } probe.stow(); @@ -1567,54 +1518,62 @@ void unified_bed_leveling::smart_fill_mesh() { } else { // !do_3_pt_leveling + #ifdef G29J_MESH_TILT_MARGIN + const float x_min = _MAX(probe.min_x() + (G29J_MESH_TILT_MARGIN), X_MIN_POS), + x_max = _MIN(probe.max_x() - (G29J_MESH_TILT_MARGIN), X_MAX_POS), + y_min = _MAX(probe.min_y() + (G29J_MESH_TILT_MARGIN), Y_MIN_POS), + y_max = _MIN(probe.max_y() - (G29J_MESH_TILT_MARGIN), Y_MAX_POS); + #else + const float x_min = probe.min_x(), x_max = probe.max_x(), + y_min = probe.min_y(), y_max = probe.max_y(); + #endif + const float dx = (x_max - x_min) / (param.J_grid_size - 1), + dy = (y_max - y_min) / (param.J_grid_size - 1); + bool zig_zag = false; const uint16_t total_points = sq(param.J_grid_size); uint16_t point_num = 1; - xy_pos_t rpos; LOOP_L_N(ix, param.J_grid_size) { + xy_pos_t rpos; rpos.x = x_min + ix * dx; LOOP_L_N(iy, param.J_grid_size) { rpos.y = y_min + dy * (zig_zag ? param.J_grid_size - 1 - iy : iy); - if (!abort_flag) { - SERIAL_ECHOLNPGM("Tilting mesh point ", point_num, "/", total_points, "\n"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); - - measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // 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 + SERIAL_ECHOLNPGM("Tilting mesh point ", point_num, "/", total_points, "\n"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); - measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ; + measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7); + if ((abort_flag = isnan(measured_z))) break; - if (param.V_verbosity > 3) { - serial_spaces(16); - SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); + const float zcorr = get_z_correction(rpos); + + #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: ", zcorr, 7); } - incremental_LSF(&lsf_results, rpos, measured_z); + #endif + + measured_z -= zcorr; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7); + + if (param.V_verbosity > 3) { + serial_spaces(16); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); } + incremental_LSF(&lsf_results, rpos, measured_z); point_num++; } + if (abort_flag) break; zig_zag ^= true; } } @@ -1696,20 +1655,23 @@ void unified_bed_leveling::smart_fill_mesh() { auto normed = [&](const xy_pos_t &pos, const_float_t zadd) { return normal.x * pos.x + normal.y * pos.y + zadd; }; - auto debug_pt = [](FSTR_P const pre, const xy_pos_t &pos, const_float_t zadd) { - d_from(); SERIAL_ECHOF(pre); + auto debug_pt = [](const int num, const xy_pos_t &pos, const_float_t zadd) { + d_from(); DEBUG_ECHOPGM("Point ", num, ":"); DEBUG_ECHO_F(normed(pos, zadd), 6); DEBUG_ECHOLNPAIR_F(" Z error = ", zadd - get_z_correction(pos), 6); }; - debug_pt(F("1st point: "), probe_pt[0], normal.z * z1); - debug_pt(F("2nd point: "), probe_pt[1], normal.z * z2); - debug_pt(F("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_ECHOPGM(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); - DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6); + debug_pt(1, probe_pt[0], normal.z * gotz[0]); + debug_pt(2, probe_pt[1], normal.z * gotz[1]); + debug_pt(3, probe_pt[2], normal.z * gotz[2]); + #if ENABLED(Z_SAFE_HOMING) + constexpr xy_float_t safe_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT }; + d_from(); DEBUG_ECHOPGM("safe home with Z="); + DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_xy, 0), 6); + d_from(); DEBUG_ECHOPGM("safe home with Z="); + DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_xy, get_z_correction(safe_xy)), 6); + DEBUG_ECHOPGM(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); + DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_xy), 6); + #endif #endif } // DEBUGGING(LEVELING) diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 249aa5c30e63..9305e8659445 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -3188,13 +3188,9 @@ #undef MESH_MAX_Y #endif -#define _POINT_COUNT (defined(PROBE_PT_1_X) + defined(PROBE_PT_2_X) + defined(PROBE_PT_3_X) + defined(PROBE_PT_1_Y) + defined(PROBE_PT_2_Y) + defined(PROBE_PT_3_Y)) -#if _POINT_COUNT == 6 - #define HAS_FIXED_3POINT 1 -#elif _POINT_COUNT > 0 - #error "For 3-Point Leveling all XY points must be defined (or none for the defaults)." +#if NEEDS_THREE_PROBE_POINTS && defined(PROBE_PT_1) + #define HAS_FIXED_3POINT 1 // Points are defined for ABL/UBL. Else calculated in probe.get_three_points. #endif -#undef _POINT_COUNT /** * Buzzer/Speaker diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index a03a489a013c..a795bfb93fe6 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -676,6 +676,8 @@ #error "DISABLE_INACTIVE_E is now set with DISABLE_INACTIVE_EXTRUDER." #elif defined(INVERT_X_STEP_PIN) || defined(INVERT_Y_STEP_PIN) || defined(INVERT_Z_STEP_PIN) || defined(INVERT_I_STEP_PIN) || defined(INVERT_J_STEP_PIN) || defined(INVERT_K_STEP_PIN) || defined(INVERT_U_STEP_PIN) || defined(INVERT_V_STEP_PIN) || defined(INVERT_W_STEP_PIN) || defined(INVERT_E_STEP_PIN) #error "INVERT_*_STEP_PIN true is now STEP_STATE_* LOW, and INVERT_*_STEP_PIN false is now STEP_STATE_* HIGH." +#elif defined(PROBE_PT_1_X) || defined(PROBE_PT_1_Y) || defined(PROBE_PT_2_X) || defined(PROBE_PT_2_Y) || defined(PROBE_PT_3_X) || defined(PROBE_PT_3_Y) + #error "PROBE_PT_[123]_[XY] is now defined using PROBE_PT_[123] with an array { x, y }." #endif // L64xx stepper drivers have been removed @@ -2102,6 +2104,12 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS #endif +#define _POINT_COUNT (defined(PROBE_PT_1) + defined(PROBE_PT_2) + defined(PROBE_PT_3)) +#if _POINT_COUNT != 0 && _POINT_COUNT != 3 + #error "For 3-Point Procedures all XY points must be defined (or none for the defaults)." +#endif +#undef _POINT_COUNT + #if ALL(HAS_LEVELING, RESTORE_LEVELING_AFTER_G28, ENABLE_LEVELING_AFTER_G28) #error "Only enable RESTORE_LEVELING_AFTER_G28 or ENABLE_LEVELING_AFTER_G28, but not both." #endif diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h index 9fdbfdf9ce78..42b6c4fe4110 100644 --- a/Marlin/src/module/probe.h +++ b/Marlin/src/module/probe.h @@ -294,12 +294,12 @@ class Probe { template static void get_three_points(T points[3]) { #if HAS_FIXED_3POINT - #define VALIDATE_PROBE_PT(N) static_assert(Probe::build_time::can_reach(xy_pos_t{PROBE_PT_##N##_X, PROBE_PT_##N##_Y}), \ - "PROBE_PT_" STRINGIFY(N) "_(X|Y) is unreachable using default NOZZLE_TO_PROBE_OFFSET and PROBING_MARGIN"); + #define VALIDATE_PROBE_PT(N) static_assert(Probe::build_time::can_reach(xy_pos_t(PROBE_PT_##N)), \ + "PROBE_PT_" STRINGIFY(N) " is unreachable using default NOZZLE_TO_PROBE_OFFSET and PROBING_MARGIN."); VALIDATE_PROBE_PT(1); VALIDATE_PROBE_PT(2); VALIDATE_PROBE_PT(3); - points[0] = xy_float_t({ PROBE_PT_1_X, PROBE_PT_1_Y }); - points[1] = xy_float_t({ PROBE_PT_2_X, PROBE_PT_2_Y }); - points[2] = xy_float_t({ PROBE_PT_3_X, PROBE_PT_3_Y }); + points[0] = xy_float_t(PROBE_PT_1); + points[1] = xy_float_t(PROBE_PT_2); + points[2] = xy_float_t(PROBE_PT_3); #else #if IS_KINEMATIC constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025, diff --git a/buildroot/tests/mega2560 b/buildroot/tests/mega2560 index bd855f1df111..363c386a4e38 100755 --- a/buildroot/tests/mega2560 +++ b/buildroot/tests/mega2560 @@ -62,7 +62,8 @@ opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO NUM_SERVOS 1 \ NUM_RUNOUT_SENSORS 5 FIL_RUNOUT2_PIN 44 FIL_RUNOUT3_PIN 45 FIL_RUNOUT4_PIN 46 FIL_RUNOUT5_PIN 47 \ FIL_RUNOUT3_STATE HIGH FILAMENT_RUNOUT_SCRIPT '"M600 T%c"' opt_enable VIKI2 BOOT_MARLIN_LOGO_ANIMATED SDSUPPORT AUTO_REPORT_SD_STATUS \ - Z_PROBE_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE \ + Z_PROBE_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE \ + AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE PROBE_PT_1 PROBE_PT_2 PROBE_PT_3 \ EEPROM_SETTINGS EEPROM_CHITCHAT M114_DETAIL AUTO_REPORT_POSITION \ NO_VOLUMETRICS EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES AUTOTEMP G38_PROBE_TARGET JOYSTICK \ DIRECT_STEPPING DETECT_BROKEN_ENDSTOP \