Second degree (ruled quadratic surface) bed plane compensation added. Probe three points to get plane compensation. Probe 4 [0 = min, 1 = max: (x0, y0), (x0, y1), (x1, y1), (x1, y0) in that order] to get second degree compensation. Also M115 print version added.
This commit is contained in:
Adrian Bowyer
parent
820b17857a
commit
1a8ffb2d00
6 changed files with 113 additions and 34 deletions
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@ -24,8 +24,8 @@ Licence: GPL
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#define CONFIGURATION_H
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#define NAME "RepRapFirmware"
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#define VERSION "0.29"
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#define DATE "2013-12-01"
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#define VERSION "0.30"
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#define DATE "2013-12-03"
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#define LAST_AUTHOR "reprappro.com"
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// Other firmware that we might switch to be compatible with.
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@ -60,7 +60,7 @@ enum Compatibility
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#define STANDBY_INTERRUPT_RATE 2.0e-4 // Seconds
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#define NUMBER_OF_PROBE_POINTS 3
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#define NUMBER_OF_PROBE_POINTS 4
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#define Z_DIVE 5.0 // Height from which to probe the bed (mm)
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#define SILLY_Z_VALUE -9999.0
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19
GCodes.cpp
19
GCodes.cpp
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@ -670,7 +670,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
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if(gb->Seen('S'))
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{
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zProbesSet = true;
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reprap.GetMove()->SetProbedBedPlane();
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reprap.GetMove()->SetProbedBedEquation();
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}
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return true;
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} else
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@ -682,7 +682,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
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if(gb->Seen('S'))
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{
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zProbesSet = true;
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reprap.GetMove()->SetProbedBedPlane();
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reprap.GetMove()->SetProbedBedEquation();
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}
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return true;
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}
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@ -691,20 +691,20 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
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return false;
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}
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// This probes multiple points on the bed (usually three in a
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// triangle), then sets the bed transformation to compensate
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// This probes multiple points on the bed (three in a
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// triangle or four in the corners), then sets the bed transformation to compensate
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// for the bed not quite being the plane Z = 0.
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bool GCodes::DoMultipleZProbe()
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{
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if(DoSingleZProbe())
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probeCount++;
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if(probeCount >= NUMBER_OF_PROBE_POINTS)
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if(probeCount >= reprap.GetMove()->NumberOfProbePoints())
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{
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probeCount = 0;
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zProbesSet = true;
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reprap.GetMove()->SetZProbing(false);
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reprap.GetMove()->SetProbedBedPlane();
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reprap.GetMove()->SetProbedBedEquation();
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return true;
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}
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return false;
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@ -1072,9 +1072,10 @@ void GCodes::HandleReply(bool error, bool fromLine, char* reply, char gMOrT, int
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return;
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}
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if( (gMOrT == 'M' && code == 105) || (gMOrT == 'G' && code == 998) )
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if( (gMOrT == 'M' && code == 105) || (gMOrT == 'G' && code == 998))
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{
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platform->GetLine()->Write(response);
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platform->GetLine()->Write(" ");
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platform->GetLine()->Write(reply);
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platform->GetLine()->Write("\n");
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return;
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@ -1340,6 +1341,10 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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result = false;
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break;
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case 115: // Print firmware version
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snprintf(reply, STRING_LENGTH, "FIRMWARE_NAME:%s FIRMWARE_VERSION:%s ELECTRONICS:%s DATE:%s", NAME, VERSION, ELECTRONICS, DATE);
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break;
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case 109: // Depricated
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if(gb->Seen('S'))
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{
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71
Move.cpp
71
Move.cpp
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@ -147,25 +147,20 @@ void Move::Init()
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tanXY = 0.0;
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tanYZ = 0.0;
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tanXZ = 0.0;
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zPlaneSet = false;
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zEquationSet = false;
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lastZHit = 0.0;
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zProbing = false;
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xBedProbePoints[0] = 0.2*platform->AxisLength(X_AXIS);
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yBedProbePoints[0] = 0.2*platform->AxisLength(Y_AXIS);
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zBedProbePoints[0] = 0.0;
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probePointSet[0] = false;
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for(uint8_t point = 0; point < NUMBER_OF_PROBE_POINTS; point++)
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{
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xBedProbePoints[point] = (0.2 + 0.6*(float)(point%2))*platform->AxisLength(X_AXIS);
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yBedProbePoints[point] = (0.2 + 0.6*(float)(point/2))*platform->AxisLength(Y_AXIS);
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zBedProbePoints[point] = 0.0;
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probePointSet[point] = unset;
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}
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xBedProbePoints[1] = 0.8*platform->AxisLength(X_AXIS);
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yBedProbePoints[1] = 0.2*platform->AxisLength(Y_AXIS);
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zBedProbePoints[1] = 0.0;
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probePointSet[1] = false;
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xBedProbePoints[2] = 0.5*platform->AxisLength(X_AXIS);
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yBedProbePoints[2] = 0.8*platform->AxisLength(Y_AXIS);
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zBedProbePoints[2] = 0.0;
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probePointSet[2] = false;
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secondDegreeCompensation = false;
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lastTime = platform->Time();
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longWait = lastTime;
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@ -609,28 +604,64 @@ void Move::SetIdentityTransform()
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aC = 0.0;
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}
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void Move::Transform(float xyzPoint[])
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{
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xyzPoint[X_AXIS] = xyzPoint[X_AXIS] + tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS];
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xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] + tanYZ*xyzPoint[Z_AXIS];
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
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if(secondDegreeCompensation)
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
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else
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
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// platform->GetLine()->Write(xyzPoint[Y_AXIS]);
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// platform->GetLine()->Write('\n');
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}
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void Move::InverseTransform(float xyzPoint[])
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{
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
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if(secondDegreeCompensation)
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
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else
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
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xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] - tanYZ*xyzPoint[Z_AXIS];
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xyzPoint[X_AXIS] = xyzPoint[X_AXIS] - (tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS]);
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}
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void Move::SetProbedBedPlane()
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void Move::SetProbedBedEquation()
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{
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if(AllProbeCoordinatesSet(0) && AllProbeCoordinatesSet(1) && AllProbeCoordinatesSet(2))
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{
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secondDegreeCompensation = AllProbeCoordinatesSet(3);
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if(secondDegreeCompensation)
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{
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/*
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* Transform to a ruled-surface quadratic. The corner points for interpolation are indexed:
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*
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* ^ [1] [2]
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* |
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* Y
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* |
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* | [0] [3]
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* -----X---->
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*
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* These are the scaling factors to apply to x and y coordinates to get them into the
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* unit interval [0, 1].
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*/
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aX = 1.0/(xBedProbePoints[3] - xBedProbePoints[0]);
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aY = 1.0/(yBedProbePoints[1] - yBedProbePoints[0]);
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zEquationSet = true;
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return;
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}
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} else
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{
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platform->Message(HOST_MESSAGE, "Attempt to set bed compensation before all probe points have been recorded.");
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return;
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}
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float xkj, ykj, zkj;
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float xlj, ylj, zlj;
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float a, b, c, d; // Implicit plane equation - what we need to do a proper job
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if(!probePointSet[0] || !probePointSet[1] || !probePointSet[2])
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platform->Message(HOST_MESSAGE, "Attempt to set bed plane when probing is incomplete!\n");
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xkj = xBedProbePoints[1] - xBedProbePoints[0];
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ykj = yBedProbePoints[1] - yBedProbePoints[0];
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zkj = zBedProbePoints[1] - zBedProbePoints[0];
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@ -644,7 +675,7 @@ void Move::SetProbedBedPlane()
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aX = -a/c;
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aY = -b/c;
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aC = -d/c;
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zPlaneSet = true;
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zEquationSet = true;
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}
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// FIXME
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47
Move.h
47
Move.h
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@ -52,6 +52,14 @@ enum MovementType
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eMove = 4
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};
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enum PointCoordinateSet
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{
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unset = 0,
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xSet = 1,
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ySet = 2,
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zSet = 4
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};
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class LookAhead
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{
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@ -166,8 +174,11 @@ class Move
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float xBedProbePoint(int index);
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float yBedProbePoint(int index);
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float zBedProbePoint(int index);
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int NumberOfProbePoints();
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bool AllProbeCoordinatesSet(int index);
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void SetZProbing(bool probing);
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void SetProbedBedPlane();
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void SetProbedBedEquation();
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float SecondDegreeTransformZ(float x, float y);
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float GetLastProbedZ();
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void SetAxisCompensation(int8_t axis, float tangent);
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void SetIdentityTransform();
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@ -225,12 +236,13 @@ class Move
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float xBedProbePoints[NUMBER_OF_PROBE_POINTS];
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float yBedProbePoints[NUMBER_OF_PROBE_POINTS];
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float zBedProbePoints[NUMBER_OF_PROBE_POINTS];
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bool probePointSet[NUMBER_OF_PROBE_POINTS];
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uint8_t probePointSet[NUMBER_OF_PROBE_POINTS];
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float aX, aY, aC; // Bed plane explicit equation z' = z + aX*x + aY*y + aC
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bool zPlaneSet;
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bool zEquationSet;
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float tanXY, tanYZ, tanXZ; // 90 degrees + angle gives angle between axes
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float lastZHit;
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bool zProbing;
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bool secondDegreeCompensation;
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float longWait;
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};
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@ -425,6 +437,7 @@ inline void Move::SetXBedProbePoint(int index, float x)
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return;
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}
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xBedProbePoints[index] = x;
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probePointSet[index] |= xSet;
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}
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inline void Move::SetYBedProbePoint(int index, float y)
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@ -435,6 +448,7 @@ inline void Move::SetYBedProbePoint(int index, float y)
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return;
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}
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yBedProbePoints[index] = y;
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probePointSet[index] |= ySet;
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}
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inline void Move::SetZBedProbePoint(int index, float z)
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@ -445,7 +459,7 @@ inline void Move::SetZBedProbePoint(int index, float z)
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return;
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}
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zBedProbePoints[index] = z;
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probePointSet[index] = true;
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probePointSet[index] |= zSet;
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}
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inline float Move::xBedProbePoint(int index)
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@ -473,6 +487,31 @@ inline float Move::GetLastProbedZ()
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return lastZHit;
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}
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inline bool Move::AllProbeCoordinatesSet(int index)
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{
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return probePointSet[index] == xSet | ySet | zSet;
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}
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/*
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* Transform to a ruled-surface quadratic. The corner points for interpolation are indexed:
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*
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* ^ [1] [2]
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* |
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* Y
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* |
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* | [0] [3]
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* -----X---->
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*
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* The values of x and y are transformed to put them in the interval [0, 1].
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*/
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inline float Move::SecondDegreeTransformZ(float x, float y)
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{
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x = (x - xBedProbePoints[0])*aX;
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y = (y - yBedProbePoints[0])*aY;
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return (1.0 - x)*(1.0 - y)*zBedProbePoints[0] + x*(1.0 - y)*zBedProbePoints[3] + (1.0 - x)*y*zBedProbePoints[1] + x*y*zBedProbePoints[2];
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}
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inline void Move::SetAxisCompensation(int8_t axis, float tangent)
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{
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switch(axis)
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@ -34,6 +34,10 @@ Licence: GPL
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#ifndef PLATFORM_H
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#define PLATFORM_H
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// What are we supposed to be running on
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#define ELECTRONICS "Duet"
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// Language-specific includes
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#include <stdio.h>
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