Initial version. XYZ cal works, but bed ref. points coordinates must be checked.

Firmware/Configuration.h

@@ -77,6 +77,8 @@
 // Power loss errors
 #define EEPROM_POWER_COUNT       (EEPROM_UVLO_MESH_BED_LEVELING-17)
 
+#define EEPROM_XYZ_CAL_SKEW (EEPROM_POWER_COUNT - 4) //float for skew backup
+
 // Currently running firmware, each digit stored as uint16_t.
 // The flavor differentiates a dev, alpha, beta, release candidate or a release version.
 #define EEPROM_FIRMWARE_VERSION_END       (FW_PRUSA3D_MAGIC_LEN+8)

Firmware/Marlin.h

@@ -338,8 +338,7 @@ extern unsigned long start_pause_print;
 extern bool mesh_bed_leveling_flag;
 extern bool mesh_bed_run_from_menu;
 
-extern float distance_from_min[3];
-extern float angleDiff;
+extern float distance_from_min[2];
 
 extern void calculate_volumetric_multipliers();
 

Firmware/Marlin_main.cpp

@@ -310,8 +310,7 @@ unsigned int custom_message_type;
 unsigned int custom_message_state;
 char snmm_filaments_used = 0;
 
-float distance_from_min[3];
-float angleDiff;
+float distance_from_min[2];
 
 bool fan_state[2];
 int fan_edge_counter[2];
@@ -1450,7 +1449,7 @@ inline void gcode_M900() {
 #ifdef TMC2130
 bool calibrate_z_auto()
 {
-	lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
+	//lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
 	bool endstops_enabled  = enable_endstops(true);
 	int axis_up_dir = -home_dir(Z_AXIS);
 	tmc2130_home_enter(Z_AXIS_MASK);
@@ -6891,6 +6890,7 @@ extern uint32_t sdpos_atomic;
 
 void uvlo_() 
 {
+	unsigned long time_start = millis();
     // Conserve power as soon as possible.
     disable_x();
     disable_y();
@@ -6986,6 +6986,7 @@ void uvlo_()
     eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, power_count);
     
 		SERIAL_ECHOLNPGM("UVLO - end");
+		MYSERIAL.println(millis() - time_start);
 		cli();
 		while(1);
 }

Firmware/language_cz.h

@@ -219,7 +219,7 @@
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1	"Hledam kalibracni bod podlozky"
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE2	" z 4"
 #define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE1	"Zlepsuji presnost kalibracniho bodu"
-#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2	" z 9"
+#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2	" z 4"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1	"Merim referencni vysku kalibracniho bodu"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2	" z 9"
 #define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Iterace "

Firmware/language_de.h

@@ -206,7 +206,7 @@
 +#define(length = 60) MSG_FIND_BED_OFFSET_AND_SKEW_LINE1		"Suchen Bed Kalibrierpunkt"
 + #define(length = 14) MSG_FIND_BED_OFFSET_AND_SKEW_LINE2		" von 4"
 + #define(length = 60) MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE1	"Verbesserung Bed Kalibrierpunkt"
-+ #define(length = 14) MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2	" von 9"
++ #define(length = 14) MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2	" von 4"
 + #define(length = 60) MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1	"Messen der Referenzhoehe des Kalibrierpunktes"
 + #define(length = 14) MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2	" von 9"
 #define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Iteration "

Firmware/language_en.h

@@ -218,7 +218,7 @@
 #define(length=60) MSG_FIND_BED_OFFSET_AND_SKEW_LINE1		"Searching bed calibration point"
 #define(length=14) MSG_FIND_BED_OFFSET_AND_SKEW_LINE2		" of 4"
 #define(length=60) MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE1	"Improving bed calibration point"
-#define(length=14) MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2	" of 9"
+#define(length=14) MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2	" of 4"
 #define(length=60) MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1	"Measuring reference height of calibration point"
 #define(length=14) MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2	" of 9"
 #define(length=20) MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Iteration "

Firmware/language_es.h

@@ -202,7 +202,7 @@
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1  "Buscando cama punto de calibracion"
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE2  " de 4"
 #define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE1   "Mejorando cama punto de calibracion"
-#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2   " de 9"
+#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2   " de 4"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1	"Medir la altura del punto de la calibracion"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2	" de 9"
 

Firmware/language_it.h

@@ -193,7 +193,7 @@
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1			"Ricerca del letto punto di calibraz."
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE2			" su 4"
 #define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE1		"Perfezion. il letto punto di calibraz."
-#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2		" su 9"
+#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2		" su 4"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1		"Misurare l'altezza di riferimento del punto di calibrazione"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2		" su 9"
 #define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Reiterazione "

Firmware/language_pl.h

@@ -208,7 +208,7 @@
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1  		"Szukam punktu kalibracyjnego podkladki"
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE2  		" z 4"
 #define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE1   	"Poprawiam precyzyjnosc punktu kalibracyjnego"
-#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2   	" z 9"
+#define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2   	" z 4"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1		"Okreslam wysokosc odniesienia punktu kalibracyjnego"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2		" z 9"
 #define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Iteracja "

Firmware/mesh_bed_calibration.cpp

@@ -56,10 +56,15 @@ const float bed_skew_angle_extreme = (0.25f * M_PI / 180.f);
 // Positions of the bed reference points in the machine coordinates, referenced to the P.I.N.D.A sensor.
 // The points are the following: center front, center right, center rear, center left.
 const float bed_ref_points_4[] PROGMEM = {
-	115.f - BED_ZERO_REF_X,   8.4f - BED_ZERO_REF_Y,
-	216.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y,
-	115.f - BED_ZERO_REF_X, 200.4f - BED_ZERO_REF_Y,
-	13.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y
+	//115.f - BED_ZERO_REF_X,   8.4f - BED_ZERO_REF_Y,
+	//216.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y,
+	//115.f - BED_ZERO_REF_X, 200.4f - BED_ZERO_REF_Y,
+	//13.f - BED_ZERO_REF_X, 104.4f - BED_ZERO_REF_Y
+
+	13.f - BED_ZERO_REF_X,   8.4f - BED_ZERO_REF_Y,
+	221.f - BED_ZERO_REF_X,  8.4f - BED_ZERO_REF_Y,
+	221.f - BED_ZERO_REF_X, 200.4f - BED_ZERO_REF_Y,
+	13.f - BED_ZERO_REF_X, 200.4f - BED_ZERO_REF_Y
 };
 
 const float bed_ref_points[] PROGMEM = {
@@ -104,10 +109,9 @@ const float bed_ref_points[] PROGMEM = {
 
 static inline float sqr(float x) { return x * x; }
 
-static inline bool point_on_1st_row(const uint8_t i, const uint8_t npts)
+static inline bool point_on_1st_row(const uint8_t i)
 {
-	if (npts == 4) return (i == 0);
-	else return (i < 3);
+	return (i < 2);
 }
 
 // Weight of a point coordinate in a least squares optimization.
@@ -117,7 +121,7 @@ static inline bool point_on_1st_row(const uint8_t i, const uint8_t npts)
 static inline float point_weight_x(const uint8_t i, const uint8_t npts, const float &y)
 {
     float w = 1.f;
-    if (point_on_1st_row(i, npts)) {
+    if (point_on_1st_row(i)) {
 		if (y >= Y_MIN_POS_CALIBRATION_POINT_ACCURATE) {
             w = WEIGHT_FIRST_ROW_X_HIGH;
         } else if (y < Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH) {
@@ -139,7 +143,7 @@ static inline float point_weight_x(const uint8_t i, const uint8_t npts, const fl
 static inline float point_weight_y(const uint8_t i, const uint8_t npts, const float &y)
 {
     float w = 1.f;
-    if (point_on_1st_row(i, npts)) {
+    if (point_on_1st_row(i)) {
         if (y >= Y_MIN_POS_CALIBRATION_POINT_ACCURATE) {
             w = WEIGHT_FIRST_ROW_Y_HIGH;
         } else if (y < Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH) {
@@ -172,6 +176,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
     int8_t        verbosity_level
     )
 {
+	float angleDiff;
     if (verbosity_level >= 10) {
 		SERIAL_ECHOLNPGM("calculate machine skew and offset LS");
 
@@ -346,6 +351,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
     BedSkewOffsetDetectionResultType result = BED_SKEW_OFFSET_DETECTION_PERFECT;
     {
         angleDiff = fabs(a2 - a1);
+		eeprom_update_float((float*)(EEPROM_XYZ_CAL_SKEW), angleDiff); //storing xyz cal. skew to be able to show in support menu later 
         if (angleDiff > bed_skew_angle_mild)
             result = (angleDiff > bed_skew_angle_extreme) ?
                 BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME :
@@ -400,7 +406,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
 			SERIAL_ECHOLNPGM(":");
 		}
 
-		if (point_on_1st_row(i, npts)) {
+		if (point_on_1st_row(i)) {
 				if(verbosity_level >= 20) SERIAL_ECHOPGM("Point on first row");
 				float w = point_weight_y(i, npts, measured_pts[2 * i + 1]);
 				if (sqrt(errX) > BED_CALIBRATION_POINT_OFFSET_MAX_1ST_ROW_X ||
@@ -1779,7 +1785,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
 			return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
 #if 1
 		
-			if (k == 0) {
+			if (k == 0 || k == 1) {
 				// Improve the position of the 1st row sensor points by a zig-zag movement.
 				find_bed_induction_sensor_point_z();
 				int8_t i = 4;
@@ -1966,7 +1972,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
 
     // Collect a matrix of 9x9 points.
     BedSkewOffsetDetectionResultType result = BED_SKEW_OFFSET_DETECTION_PERFECT;
-    for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
+    for (int8_t mesh_point = 0; mesh_point < 4; ++ mesh_point) {
         // Don't let the manage_inactivity() function remove power from the motors.
         refresh_cmd_timeout();
         // Print the decrasing ID of the measurement point.
@@ -1993,8 +1999,8 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
         }
         // Go to the measurement point.
         // Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
-        current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points+mesh_point*2) + vec_y[0] * pgm_read_float(bed_ref_points+mesh_point*2+1) + cntr[0];
-        current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points+mesh_point*2) + vec_y[1] * pgm_read_float(bed_ref_points+mesh_point*2+1) + cntr[1];
+        current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points_4+mesh_point*2) + vec_y[0] * pgm_read_float(bed_ref_points_4+mesh_point*2+1) + cntr[0];
+        current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points_4+mesh_point*2) + vec_y[1] * pgm_read_float(bed_ref_points_4+mesh_point*2+1) + cntr[1];
         // The calibration points are very close to the min Y.
         if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION){
             current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION;
@@ -2027,7 +2033,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
                 SERIAL_ECHOLNPGM("");
             }
             bool found = false;
-            if (mesh_point < 3) {
+            if (mesh_point < 2) {
                 // Because the sensor cannot move in front of the first row
                 // of the sensor points, the y position cannot be measured
                 // by a cross center method.
@@ -2036,7 +2042,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
             } else {
                 switch (method) {
                     case 0: found = improve_bed_induction_sensor_point(); break;
-                    case 1: found = improve_bed_induction_sensor_point2(mesh_point < 3, verbosity_level); break;
+                    case 1: found = improve_bed_induction_sensor_point2(mesh_point < 2, verbosity_level); break;
                     default: break;
                 }
             }
@@ -2077,7 +2083,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
     refresh_cmd_timeout();
 
     // Average the last 4 measurements.
-    for (int8_t i = 0; i < 18; ++ i)
+    for (int8_t i = 0; i < 8; ++ i)
         pts[i] *= (1.f/4.f);
 
     enable_endstops(false);
@@ -2086,7 +2092,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
     if (verbosity_level >= 5) {
         // Test the positions. Are the positions reproducible?
 		current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-        for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
+        for (int8_t mesh_point = 0; mesh_point < 4; ++ mesh_point) {
             // Don't let the manage_inactivity() function remove power from the motors.
             refresh_cmd_timeout();
             // Go to the measurement point.
@@ -2109,17 +2115,17 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
 
     {
         // First fill in the too_far_mask from the measured points.
-        for (uint8_t mesh_point = 0; mesh_point < 3; ++ mesh_point)
+        for (uint8_t mesh_point = 0; mesh_point < 2; ++ mesh_point)
             if (pts[mesh_point * 2 + 1] < Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH)
                 too_far_mask |= 1 << mesh_point;
-        result = calculate_machine_skew_and_offset_LS(pts, 9, bed_ref_points, vec_x, vec_y, cntr, verbosity_level);
+        result = calculate_machine_skew_and_offset_LS(pts, 4, bed_ref_points_4, vec_x, vec_y, cntr, verbosity_level);
         if (result < 0) {
             SERIAL_ECHOLNPGM("Calculation of the machine skew and offset failed.");
             goto canceled;
         }
         // In case of success, update the too_far_mask from the calculated points.
-        for (uint8_t mesh_point = 0; mesh_point < 3; ++ mesh_point) {
-            float y = vec_x[1] * pgm_read_float(bed_ref_points+mesh_point*2) + vec_y[1] * pgm_read_float(bed_ref_points+mesh_point*2+1) + cntr[1];
+        for (uint8_t mesh_point = 0; mesh_point < 2; ++ mesh_point) {
+            float y = vec_x[1] * pgm_read_float(bed_ref_points_4+mesh_point*2) + vec_y[1] * pgm_read_float(bed_ref_points_4+mesh_point*2+1) + cntr[1];
 			distance_from_min[mesh_point] = (y - Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH);
 			if (verbosity_level >= 20) {
 				SERIAL_ECHOLNPGM("");
@@ -2156,13 +2162,13 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
         // Test the positions. Are the positions reproducible? Now the calibration is active in the planner.
         delay_keep_alive(3000);
 		current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-        for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
+        for (int8_t mesh_point = 0; mesh_point < 4; ++ mesh_point) {
             // Don't let the manage_inactivity() function remove power from the motors.
             refresh_cmd_timeout();
             // Go to the measurement point.
             // Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
-            current_position[X_AXIS] = pgm_read_float(bed_ref_points+mesh_point*2);
-            current_position[Y_AXIS] = pgm_read_float(bed_ref_points+mesh_point*2+1);
+            current_position[X_AXIS] = pgm_read_float(bed_ref_points_4+mesh_point*2);
+            current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4+mesh_point*2+1);
             if (verbosity_level >= 10) {
                 go_to_current(homing_feedrate[X_AXIS]/60);
                 delay_keep_alive(3000);
@@ -2483,9 +2489,9 @@ void count_xyz_details() {
 	};
 	a2 = -1 * asin(vec_y[0] / MACHINE_AXIS_SCALE_Y);
 	a1 = asin(vec_x[1] / MACHINE_AXIS_SCALE_X);
-	angleDiff = fabs(a2 - a1);
-	for (uint8_t mesh_point = 0; mesh_point < 3; ++mesh_point) {
-		float y = vec_x[1] * pgm_read_float(bed_ref_points + mesh_point * 2) + vec_y[1] * pgm_read_float(bed_ref_points + mesh_point * 2 + 1) + cntr[1];
+	//angleDiff = fabs(a2 - a1);
+	for (uint8_t mesh_point = 0; mesh_point < 2; ++mesh_point) {
+		float y = vec_x[1] * pgm_read_float(bed_ref_points_4 + mesh_point * 2) + vec_y[1] * pgm_read_float(bed_ref_points_4 + mesh_point * 2 + 1) + cntr[1];
 		distance_from_min[mesh_point] = (y - Y_MIN_POS_CALIBRATION_POINT_OUT_OF_REACH);
 	}
 }

Firmware/ultralcd.cpp

@@ -1536,15 +1536,16 @@ static void lcd_move_e()
 }
 
 void lcd_service_mode_show_result() {
+	float angleDiff;
 	lcd_set_custom_characters_degree();
 	count_xyz_details();
+	angleDiff = eeprom_read_float((float*)(EEPROM_XYZ_CAL_SKEW));
 	lcd_update_enable(false);
 	lcd_implementation_clear();
 	lcd_printPGM(PSTR("Y distance from min:"));
 	lcd_print_at_PGM(0, 1, PSTR("Left:"));
-	lcd_print_at_PGM(0, 2, PSTR("Center:"));
 	lcd_print_at_PGM(0, 3, PSTR("Right:"));
-	for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 2; i++) {
 		if(distance_from_min[i] < 200) {
 			lcd_print_at_PGM(8, i + 1, PSTR(""));
 			lcd.print(distance_from_min[i]);
@@ -2818,11 +2819,11 @@ static void lcd_settings_menu()
 	  MENU_ITEM(gcode, MSG_DISABLE_STEPPERS, PSTR("M84"));
   }
 
-  if (FSensorStateMenu == 0) {
+  /*if (FSensorStateMenu == 0) {
     MENU_ITEM(function, MSG_FSENSOR_OFF, lcd_fsensor_state_set);
   } else {
     MENU_ITEM(function, MSG_FSENSOR_ON, lcd_fsensor_state_set);
-  }
+  }*/
 
   if (SilentModeMenu == 0) {
     MENU_ITEM(function, MSG_SILENT_MODE_OFF, lcd_silent_mode_set);