0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Merge pull request #4835 from thinkyhead/rc_abl_non_square_grid

Browse source 
Allow non-square Auto Bed Leveling grid
This commit is contained in:
Scott Lahteine 2016-09-18 13:37:43 -05:00 committed by GitHub
parent fef959c31a e5505e3b33
commit 48fe2fdc9e
24 changed files with 94 additions and 65 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
Marlin/Configuration.h
View file

@ -768,7 +768,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

73
Marlin/Marlin_main.cpp
View file

@ -494,7 +494,7 @@ static uint8_t target_extruder;
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
int nonlinear_grid_spacing[2] = { 0 };
float bed_level_grid[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
#endif
#if IS_SCARA
@ -2122,14 +2122,15 @@ static void clean_up_after_endstop_or_probe_move() {
* using linear extrapolation, away from the center.
*/
static void extrapolate_unprobed_bed_level() {
uint8_t half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
for (uint8_t y = 0; y <= half; y++) {
for (uint8_t x = 0; x <= half; x++) {
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
for (uint8_t y = 0; y <= half_y; y++) {
for (uint8_t x = 0; x <= half_x; x++) {
if (x + y < 3) continue;
extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
extrapolate_one_point(half_x - x, half_y - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half_x + x, half_y - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half_x - x, half_y + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
extrapolate_one_point(half_x + x, half_y + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
}
}
}
@ -2138,8 +2139,8 @@ static void clean_up_after_endstop_or_probe_move() {
* Print calibration results for plotting or manual frame adjustment.
*/
static void print_bed_level() {
for (uint8_t y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (uint8_t x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) {
for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
SERIAL_PROTOCOL_F(bed_level_grid[x][y], 2);
SERIAL_PROTOCOLCHAR(' ');
}
@ -3308,11 +3309,12 @@ inline void gcode_G28() {
if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
}
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
int abl_grid_points_x = ABL_GRID_POINTS_X,
abl_grid_points_y = ABL_GRID_POINTS_Y;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
if (auto_bed_leveling_grid_points < 2) {
if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
if (abl_grid_points_x < 2) {
SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
return;
}
@ -3400,8 +3402,8 @@ inline void gcode_G28() {
#if ENABLED(AUTO_BED_LEVELING_GRID)
// probe at the points of a lattice grid
const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
@ -3421,30 +3423,31 @@ inline void gcode_G28() {
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
int abl2 = sq(auto_bed_leveling_grid_points);
int abl2 = abl_grid_points_x * abl_grid_points_y;
double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
int indexIntoAB[abl_grid_points_x][abl_grid_points_y];
#endif // AUTO_BED_LEVELING_LINEAR
int probePointCounter = 0;
bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
bool zig = abl_grid_points_y & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
for (uint8_t yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
for (uint8_t yCount = 0; yCount < abl_grid_points_y; yCount++) {
float yBase = front_probe_bed_position + yGridSpacing * yCount;
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
int8_t xStart, xStop, xInc;
if (zig) {
xStart = 0;
xStop = auto_bed_leveling_grid_points;
xStop = abl_grid_points_x;
xInc = 1;
}
else {
xStart = auto_bed_leveling_grid_points - 1;
xStart = abl_grid_points_x - 1;
xStop = -1;
xInc = -1;
}
@ -3579,8 +3582,8 @@ inline void gcode_G28() {
float min_diff = 999;
for (int8_t yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean,
x_tmp = eqnAMatrix[ind + 0 * abl2],
@ -3604,8 +3607,8 @@ inline void gcode_G28() {
if (verbose_level > 3) {
SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
@ -7796,16 +7799,18 @@ void ok_to_send() {
void adjust_delta(float cartesian[XYZ]) {
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
float h1 = 0.001 - half, h2 = half - 0.001,
grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
float hx2 = half_x - 0.001, hx1 = -hx2,
hy2 = half_y - 0.001, hy1 = -hy2,
grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level_grid[floor_x + half][floor_y + half],
z2 = bed_level_grid[floor_x + half][floor_y + half + 1],
z3 = bed_level_grid[floor_x + half + 1][floor_y + half],
z4 = bed_level_grid[floor_x + half + 1][floor_y + half + 1],
z1 = bed_level_grid[floor_x + half_x][floor_y + half_y],
z2 = bed_level_grid[floor_x + half_x][floor_y + half_y + 1],
z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y],
z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1],
left = (1 - ratio_y) * z1 + ratio_y * z2,
right = (1 - ratio_y) * z3 + ratio_y * z4,
offset = (1 - ratio_x) * left + ratio_x * right;

10
Marlin/SanityCheck.h
View file

@ -139,6 +139,8 @@
#error "PREVENT_DANGEROUS_EXTRUDE is now PREVENT_COLD_EXTRUSION. Please update your configuration."
#elif defined(SCARA)
#error "SCARA is now MORGAN_SCARA. Please update your configuration."
#elif defined(AUTO_BED_LEVELING_GRID_POINTS)
#error "AUTO_BED_LEVELING_GRID_POINTS is now ABL_GRID_POINTS_X and ABL_GRID_POINTS_Y. Please update your configuration."
#endif
/**
@ -196,10 +198,10 @@
#error "You probably want to use Max Endstops for DELTA!"
#endif
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if (AUTO_BED_LEVELING_GRID_POINTS & 1) == 0
#error "DELTA requires an odd value for AUTO_BED_LEVELING_GRID_POINTS."
#elif AUTO_BED_LEVELING_GRID_POINTS < 3
#error "DELTA requires at least 3 AUTO_BED_LEVELING_GRID_POINTS."
#if (ABL_GRID_POINTS_X & 1) == 0 || (ABL_GRID_POINTS_Y & 1) == 0
#error "DELTA requires ABL_GRID_POINTS_X and ABL_GRID_POINTS_Y to be odd numbers."
#elif ABL_GRID_POINTS_X < 3
#error "DELTA requires ABL_GRID_POINTS_X and ABL_GRID_POINTS_Y to be 3 or higher."
#endif
#endif
#endif

3
Marlin/example_configurations/Cartesio/Configuration.h
View file

@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Felix/Configuration.h
View file

@ -734,7 +734,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Felix/DUAL/Configuration.h
View file

@ -732,7 +732,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Hephestos/Configuration.h
View file

@ -743,7 +743,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Hephestos_2/Configuration.h
View file

@ -745,7 +745,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/K8200/Configuration.h
View file

@ -768,7 +768,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/K8400/Configuration.h
View file

@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/K8400/Dual-head/Configuration.h
View file

@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
View file

@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/RigidBot/Configuration.h
View file

@ -749,7 +749,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -761,7 +761,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/TAZ4/Configuration.h
View file

@ -772,7 +772,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/WITBOX/Configuration.h
View file

@ -743,7 +743,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/adafruit/ST7565/Configuration.h
View file

@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/biv2.5/Configuration.h
View file

@ -844,8 +844,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 9
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 9
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/generic/Configuration.h
View file

@ -838,8 +838,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 9
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 9
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View file

@ -841,8 +841,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 9
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 9
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View file

@ -842,8 +842,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 7
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 7
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/kossel_xl/Configuration.h
View file

@ -844,8 +844,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 5
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 5
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/makibox/Configuration.h
View file

@ -754,7 +754,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View file

@ -747,7 +747,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID