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Hyperfine bed leveling
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@F0x06
F0x06 committed Dec 9, 2018
1 parent 9adf441 commit dbad0cb
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Showing 10 changed files with 215 additions and 64 deletions.
176 changes: 138 additions & 38 deletions Firmware/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2697,11 +2697,20 @@ void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_

void adjust_bed_reset()
{
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
// Hyperfine Bed Tuning
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);

eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT_LEFT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT_RIGHT , 0);

eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT , 0);

eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR_LEFT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR_RIGHT , 0);
// End Hyperfine Bed Tuning
}

//! @brief Calibrate XYZ
Expand Down Expand Up @@ -4557,55 +4566,145 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
}
#endif // SUPPORT_VERBOSITY

for (uint8_t i = 0; i < 4; ++i) {
unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
// Hyperfine Bed Tuning
/*mbl.z_values[2][0] += -0.060f;
mbl.z_values[2][1] += -0.072f;
mbl.z_values[2][2] += 0.070f;
mbl.z_values[1][2] += -0.205f;
mbl.z_values[0][2] += -0.255f;
mbl.z_values[0][1] += -0.202f;
mbl.z_values[0][0] += -0.025f;
mbl.z_values[1][0] += -0.062f;*/


for (uint8_t i = 0; i < 8; ++i) {
unsigned char codes[8] = { 'a', 'b', 'c', 'd' , 'e' , 'f', 'g', 'h'};
long correction = 0;
if (code_seen(codes[i]))
correction = code_value_long();
else if (eeprom_bed_correction_valid) {
unsigned char *addr = (i < 2) ?
((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
switch (i) {
case 0:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_FRONT_LEFT;
correction = eeprom_read_int8(addr);
}
break;
case 1:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_FRONT;
correction = eeprom_read_int8(addr);
}
break;
case 2:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_FRONT_RIGHT;
correction = eeprom_read_int8(addr);
}
break;
case 3:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_LEFT;
correction = eeprom_read_int8(addr);
}
break;
case 4:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_RIGHT;
correction = eeprom_read_int8(addr);
}
break;
case 5:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_REAR_LEFT;
correction = eeprom_read_int8(addr);
}
break;
case 6:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_REAR;
correction = eeprom_read_int8(addr);
}
break;
case 7:
{unsigned char *addr = (unsigned char*)EEPROM_BED_CORRECTION_REAR_RIGHT;
correction = eeprom_read_int8(addr);
}
break;
}
if (correction == 0)
continue;
}
if (correction == 0)
continue;
float offset = float(correction) * 0.001f;
if (fabs(offset) > 0.101f) {
if (fabs(offset) > 0.201f) {
SERIAL_ERROR_START;
SERIAL_ECHOPGM("Excessive bed leveling correction: ");
SERIAL_ECHO(offset);
SERIAL_ECHOLNPGM(" microns");
}
else {
switch (i) {
case 0:
for (uint8_t row = 0; row < 3; ++row) {
mbl.z_values[row][1] += 0.5f * offset;
mbl.z_values[row][0] += offset;
}
break;
case 1:
for (uint8_t row = 0; row < 3; ++row) {
mbl.z_values[row][1] += 0.5f * offset;
mbl.z_values[row][2] += offset;
}
break;
case 2:
for (uint8_t col = 0; col < 3; ++col) {
mbl.z_values[1][col] += 0.5f * offset;
mbl.z_values[0][col] += offset;
}
break;
case 3:
for (uint8_t col = 0; col < 3; ++col) {
mbl.z_values[1][col] += 0.5f * offset;
mbl.z_values[2][col] += offset;
}
break;
switch (i) {
case 0:
{
mbl.z_values[0][0] += offset;
SERIAL_ECHOPGM("FrontLeft a =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
case 1:
{
mbl.z_values[0][1] += offset;
SERIAL_ECHOPGM("FrontCenter b =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
case 2:
{
mbl.z_values[0][2] += offset;
SERIAL_ECHOPGM("FrontRight c =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
case 3:
{
mbl.z_values[1][0] += offset;
SERIAL_ECHOPGM("MidLeft h =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
case 4:
{
mbl.z_values[1][2] += offset;
SERIAL_ECHOPGM("MidRight d =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
case 5:
{
mbl.z_values[2][0] += offset;
SERIAL_ECHOPGM("RearLeft g =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
case 6:
{
mbl.z_values[2][1] += offset;
SERIAL_ECHOPGM("RearCentr f =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
case 7:
{
mbl.z_values[2][2] += offset;
SERIAL_ECHOPGM("RearRight e =");
SERIAL_ECHO(correction+0);
SERIAL_ECHOLNPGM(" microns.");
}
break;
}
}
}
// End Hyperfine Bed Tuning
// SERIAL_ECHOLNPGM("Bed leveling correction finished");
mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
// SERIAL_ECHOLNPGM("Upsample finished");
Expand Down Expand Up @@ -4642,6 +4741,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");

for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
SERIAL_PROTOCOLPGM(" ");
Expand Down
7 changes: 7 additions & 0 deletions Firmware/eeprom.h
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,13 @@
// !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!!
// !!!!!

// Hyperfine Bed Tuning
#define EEPROM_BED_CORRECTION_FRONT_LEFT (EEPROM_BOARD_TYPE - 1)
#define EEPROM_BED_CORRECTION_FRONT_RIGHT (EEPROM_BED_CORRECTION_FRONT_LEFT - 1)
#define EEPROM_BED_CORRECTION_REAR_RIGHT (EEPROM_BED_CORRECTION_FRONT_RIGHT - 1)
#define EEPROM_BED_CORRECTION_REAR_LEFT (EEPROM_BED_CORRECTION_REAR_RIGHT - 1)
// End Hyperfine Bed Tuning

//TMC2130 configuration
#define EEPROM_TMC_AXIS_SIZE //axis configuration block size
#define EEPROM_TMC_X (EEPROM_TMC + 0 * EEPROM_TMC_AXIS_SIZE) //X axis configuration blok
Expand Down
96 changes: 70 additions & 26 deletions Firmware/ultralcd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2832,64 +2832,108 @@ static void lcd_babystep_z()
}


// Hyperfine Bed Tuning
typedef struct
{ // 12bytes + 9bytes = 21bytes total
menu_data_edit_t reserved; //12 bytes reserved for number editing functions
int8_t status; // 1byte
int16_t left; // 2byte
int16_t right; // 2byte
int16_t front; // 2byte
int16_t rear; // 2byte
int16_t front_left; // 2byte
int16_t front_center; // 2byte
int16_t front_right; // 2byte

int16_t mid_left; // 2byte
int16_t mid_right; // 2byte

int16_t rear_left; // 2byte
int16_t rear_center; // 2byte
int16_t rear_right; // 2byte
} _menu_data_adjust_bed_t;
static_assert(sizeof(menu_data)>= sizeof(_menu_data_adjust_bed_t),"_menu_data_adjust_bed_t doesn't fit into menu_data");
// End Hyperfine Bed Tuning

void lcd_adjust_bed_reset(void)
{
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR , 0);
// Hyperfine Bed Tuning
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);

eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT_LEFT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT_RIGHT , 0);

eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT , 0);

eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR_LEFT , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR , 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR_RIGHT , 0);
// End Hyperfine Bed Tuning

_menu_data_adjust_bed_t* _md = (_menu_data_adjust_bed_t*)&(menu_data[0]);
_md->status = 0;
}

#define BED_ADJUSTMENT_UM_MAX 50
#define BED_ADJUSTMENT_UM_MAX 200

void lcd_adjust_bed(void)
{
_menu_data_adjust_bed_t* _md = (_menu_data_adjust_bed_t*)&(menu_data[0]);
if (_md->status == 0)
{
// Hyperfine Bed Tuning
// Menu was entered.
_md->left = 0;
_md->right = 0;
_md->front = 0;
_md->rear = 0;
_md->front_left = 0;
_md->front_center = 0;
_md->front_right = 0;
_md->mid_left = 0;
_md->mid_right = 0;
_md->rear_left = 0;
_md->rear_center = 0;
_md->rear_right = 0;
if (eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1)
{
_md->left = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_LEFT);
_md->right = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_RIGHT);
_md->front = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT);
_md->rear = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR);
_md->front_left = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT_LEFT);
_md->front_center = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT);
_md->front_right = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT_RIGHT);

_md->mid_left = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_LEFT);
_md->mid_right = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_RIGHT);

_md->rear_left = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR_LEFT);
_md->rear_center = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR);
_md->rear_right = eeprom_read_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR_RIGHT);
}
_md->status = 1;
}
MENU_BEGIN();
// leaving menu - this condition must be immediately before MENU_ITEM_BACK_P
if (((menu_item == menu_line) && menu_clicked && (lcd_encoder == menu_item)) || menu_leaving)
{
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_LEFT, _md->left);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, _md->right);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT, _md->front);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR, _md->rear);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT_LEFT, _md->front_left);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT, _md->front_center);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_FRONT_RIGHT, _md->front_right);

eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_LEFT, _md->mid_left);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, _md->mid_right);

eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR_LEFT, _md->rear_left);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR, _md->rear_center);
eeprom_update_int8((unsigned char*)EEPROM_BED_CORRECTION_REAR_RIGHT, _md->rear_right);

eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
}
MENU_ITEM_BACK_P(_T(MSG_SETTINGS));
MENU_ITEM_EDIT_int3_P(_i("Left side [um]"), &_md->left, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("Right side[um]"), &_md->right, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_RIGHT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("Front side[um]"), &_md->front, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_FRONT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("Rear side [um]"), &_md->rear, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_REAR c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("A [um]"), &_md->front_left, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("B [um]"), &_md->front_center, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("C [um]"), &_md->front_right, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1

MENU_ITEM_EDIT_int3_P(_i("D [um]"), &_md->mid_right, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("E [um]"), &_md->rear_right, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("F [um]"), &_md->rear_center, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1

MENU_ITEM_EDIT_int3_P(_i("G [um]"), &_md->rear_left, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1
MENU_ITEM_EDIT_int3_P(_i("H [um]"), &_md->mid_left, -BED_ADJUSTMENT_UM_MAX, BED_ADJUSTMENT_UM_MAX);////MSG_BED_CORRECTION_LEFT c=14 r=1
// End Hyperfine Bed Tuning

MENU_ITEM_FUNCTION_P(_i("Reset"), lcd_adjust_bed_reset);////MSG_BED_CORRECTION_RESET c=0 r=0
MENU_END();
}
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