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/*** Marlin 3D Printer Firmware* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]** Based on Sprinter and grbl.* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm** This program is free software: you can redistribute it and/or modify* it under the terms of the GNU General Public License as published by* the Free Software Foundation, either version 3 of the License, or* (at your option) any later version.** This program is distributed in the hope that it will be useful,* but WITHOUT ANY WARRANTY; without even the implied warranty of* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the* GNU General Public License for more details.** You should have received a copy of the GNU General Public License* along with this program. If not, see <http://www.gnu.org/licenses/>.**//*** Marlin Firmware -- G26 - Mesh Validation Tool*/#include "MarlinConfig.h"#if ENABLED(G26_MESH_VALIDATION)#include "Marlin.h"#include "planner.h"#include "stepper.h"#include "temperature.h"#include "ultralcd.h"#include "parser.h"#include "serial.h"#include "bitmap_flags.h"#if ENABLED(MESH_BED_LEVELING)#include "mesh_bed_leveling.h"#elif ENABLED(AUTO_BED_LEVELING_UBL)#include "ubl.h"#endif#define EXTRUSION_MULTIPLIER 1.0#define RETRACTION_MULTIPLIER 1.0#define PRIME_LENGTH 10.0#define OOZE_AMOUNT 0.3#define INTERSECTION_CIRCLE_RADIUS 5#define CROSSHAIRS_SIZE 3#if CROSSHAIRS_SIZE >= INTERSECTION_CIRCLE_RADIUS#error "CROSSHAIRS_SIZE must be less than INTERSECTION_CIRCLE_RADIUS."#endif#define G26_OK false#define G26_ERR true/*** G26 Mesh Validation Tool** G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and* the intersections of those lines (respectively).** This action allows the user to immediately see where the Mesh is properly defined and where it needs to* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively* the user can specify the X and Y position of interest with command parameters. This allows the user to* focus on a particular area of the Mesh where attention is needed.** B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.** C Current When searching for Mesh Intersection points to draw, use the current nozzle location* as the base for any distance comparison.** D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this* command to see how well a Mesh as been adjusted to match a print surface. In order to do* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter* alters the command's normal behaviour and disables the Unified Bed Leveling System even if* it is on.** H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.** F # Filament Used to specify the diameter of the filament being used. If not specified* 1.75mm filament is assumed. If you are not getting acceptable results by using the* 'correct' numbers, you can scale this number up or down a little bit to change the amount* of filament that is being extruded during the printing of the various lines on the bed.** K Keep-On Keep the heaters turned on at the end of the command.** L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.** O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This* is over kill, but using this parameter will let you get the very first 'circle' perfect* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your* Mesh calibrated. If not specified, a filament length of .3mm is assumed.** P # Prime Prime the nozzle with specified length of filament. If this parameter is not* given, no prime action will take place. If the parameter specifies an amount, that much* will be purged before continuing. If no amount is specified the command will start* purging filament until the user provides an LCD Click and then it will continue with* printing the Mesh. You can carefully remove the spent filament with a needle nose* pliers while holding the LCD Click wheel in a depressed state. If you do not have* an LCD, you must specify a value if you use P.** Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and* un-retraction is at 1.2mm These numbers will be scaled by the specified amount** R # Repeat Prints the number of patterns given as a parameter, starting at the current location.* If a parameter isn't given, every point will be printed unless G26 is interrupted.* This works the same way that the UBL G29 P4 R parameter works.** NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are* aware that there's some risk associated with printing without the ability to abort in* cases where mesh point Z value may be inaccurate. As above, if you do not include a* parameter, every point will be printed.** S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.** U # Random Randomize the order that the circles are drawn on the bed. The search for the closest* undrawn cicle is still done. But the distance to the location for each circle has a* random number of the size specified added to it. Specifying S50 will give an interesting* deviation from the normal behaviour on a 10 x 10 Mesh.** X # X Coord. Specify the starting location of the drawing activity.** Y # Y Coord. Specify the starting location of the drawing activity.*/// External referencesextern Planner planner;// Private functionsstatic uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];float g26_e_axis_feedrate = 0.025,random_deviation = 0.0;static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched// retracts/recovers won't result in a bad state.static float g26_extrusion_multiplier,g26_retraction_multiplier,g26_layer_height,g26_prime_length,g26_x_pos, g26_y_pos;static int16_t g26_bed_temp,g26_hotend_temp;static int8_t g26_prime_flag;#if ENABLED(ULTIPANEL)/*** If the LCD is clicked, cancel, wait for release, return true*/bool user_canceled() {if (!is_lcd_clicked()) return false; // Return if the button isn't pressedlcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);#if ENABLED(ULTIPANEL)lcd_quick_feedback(true);#endifwait_for_release();return true;}bool exit_from_g26() {lcd_setstatusPGM(PSTR("Leaving G26"), -1);wait_for_release();return G26_ERR;}#endifvoid G26_line_to_destination(const float &feed_rate) {const float save_feedrate = feedrate_mm_s;feedrate_mm_s = feed_rate;prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTEDfeedrate_mm_s = save_feedrate;}void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {float feed_value;static float last_z = -999.99;bool has_xy_component = (rx != current_position[X_AXIS] || ry != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.if (z != last_z) {last_z = z;feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed ratedestination[X_AXIS] = current_position[X_AXIS];destination[Y_AXIS] = current_position[Y_AXIS];destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.destination[E_CART] = current_position[E_CART];G26_line_to_destination(feed_value);set_destination_from_current();}// Check if X or Y is involved in the movement.// Yes: a 'normal' movement. No: a retract() or recover()feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);destination[X_AXIS] = rx;destination[Y_AXIS] = ry;destination[E_CART] += e_delta;G26_line_to_destination(feed_value);set_destination_from_current();}FORCE_INLINE void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }void retract_filament(const float where[XYZE]) {if (!g26_retracted) { // Only retract if we are not already retracted!g26_retracted = true;move_to(where, -1.0 * g26_retraction_multiplier);}}void recover_filament(const float where[XYZE]) {if (g26_retracted) { // Only un-retract if we are retracted.move_to(where, 1.2 * g26_retraction_multiplier);g26_retracted = false;}}/*** Prime the nozzle if needed. Return true on error.*/inline bool prime_nozzle() {#if ENABLED(ULTIPANEL)float Total_Prime = 0.0;if (g26_prime_flag == -1) { // The user wants to control how much filament gets purgedlcd_external_control = true;lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);lcd_chirp();set_destination_from_current();recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().while (!is_lcd_clicked()) {lcd_chirp();destination[E_CART] += 0.25;#ifdef PREVENT_LENGTHY_EXTRUDETotal_Prime += 0.25;if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;#endifG26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);set_destination_from_current();planner.synchronize(); // Without this synchronize, the purge is more consistent,// but because the planner has a buffer, we won't be able// to stop as quickly. So we put up with the less smooth// action to give the user a more responsive 'Stop'.SERIAL_FLUSH(); // Prevent host M105 buffer overrun.}wait_for_release();lcd_setstatusPGM(PSTR("Done Priming"), 99);lcd_quick_feedback(true);lcd_external_control = false;}else#endif{#if ENABLED(ULTRA_LCD)lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);lcd_quick_feedback(true);#endifset_destination_from_current();destination[E_CART] += g26_prime_length;G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);set_destination_from_current();retract_filament(destination);}return G26_OK;}mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {float closest = 99999.99;mesh_index_pair return_val;return_val.x_index = return_val.y_index = -1;for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {if (!is_bitmap_set(circle_flags, i, j)) {const float mx = _GET_MESH_X(i), // We found a circle that needs to be printedmy = _GET_MESH_Y(j);// Get the distance to this intersectionfloat f = HYPOT(X - mx, Y - my);// It is possible that we are being called with the values// to let us find the closest circle to the start position.// But if this is not the case, add a small weighting to the// distance calculation to help it choose a better place to continue.f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;// Add in the specified amount of Random Noise to our searchif (random_deviation > 1.0)f += random(0.0, random_deviation);if (f < closest) {closest = f; // We found a closer location that is stillreturn_val.x_index = i; // un-printed --- save the data for itreturn_val.y_index = j;return_val.distance = closest;}}}}bitmap_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.return return_val;}/*** print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one* to the other. But there are really three sets of coordinates involved. The first coordinate* is the present location of the nozzle. We don't necessarily want to print from this location.* We first need to move the nozzle to the start of line segment where we want to print. Once* there, we can use the two coordinates supplied to draw the line.** Note: Although we assume the first set of coordinates is the start of the line and the second* set of coordinates is the end of the line, it does not always work out that way. This function* optimizes the movement to minimize the travel distance before it can start printing. This saves* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does* cause a lot of very little short retracement of th nozzle when it draws the very first line* segment of a 'circle'. The time this requires is very short and is easily saved by the other* cases where the optimization comes into play.*/void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segmentdy_s = current_position[Y_AXIS] - sy,dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2// to save computation timedx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segmentdy_e = current_position[Y_AXIS] - ey,dist_end = HYPOT2(dx_e, dy_e),line_length = HYPOT(ex - sx, ey - sy);// If the end point of the line is closer to the nozzle, flip the direction,// moving from the end to the start. On very small lines the optimization isn't worth it.if (dist_end < dist_start && (INTERSECTION_CIRCLE_RADIUS) < ABS(line_length))return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);// Decide whether to retract & bumpif (dist_start > 2.0) {retract_filament(destination);//todo: parameterize the bump height with a definemove_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scrapingmove_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped}move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bumpconst float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;recover_filament(destination);move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion}inline bool look_for_lines_to_connect() {float sx, sy, ex, ey;for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {#if ENABLED(ULTIPANEL)if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation#endifif (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.// This is already a half circle because we are at the edge of the bed.if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i + 1, j)) { // check if we can do a line to the leftif (!is_bitmap_set(horizontal_mesh_line_flags, i, j)) {//// We found two circles that need a horizontal line to connect them// Print it!//sx = _GET_MESH_X( i ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edgeex = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edgesx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {if (g26_debug_flag) {SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);SERIAL_ECHOPAIR(", sy=", sy);SERIAL_ECHOPAIR(") -> (ex=", ex);SERIAL_ECHOPAIR(", ey=", ey);SERIAL_CHAR(')');SERIAL_EOL();//debug_current_and_destination(PSTR("Connecting horizontal line."));}print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);}bitmap_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it}}if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.// This is already a half circle because we are at the edge of the bed.if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i, j + 1)) { // check if we can do a line straight downif (!is_bitmap_set( vertical_mesh_line_flags, i, j)) {//// We found two circles that need a vertical line to connect them// Print it!//sy = _GET_MESH_Y( j ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edgeey = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edgesx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {if (g26_debug_flag) {SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);SERIAL_ECHOPAIR(", sy=", sy);SERIAL_ECHOPAIR(") -> (ex=", ex);SERIAL_ECHOPAIR(", ey=", ey);SERIAL_CHAR(')');SERIAL_EOL();#if ENABLED(AUTO_BED_LEVELING_UBL)debug_current_and_destination(PSTR("Connecting vertical line."));#endif}print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);}bitmap_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped}}}}}}return false;}/*** Turn on the bed and nozzle heat and* wait for them to get up to temperature.*/inline bool turn_on_heaters() {millis_t next = millis() + 5000UL;#if HAS_HEATED_BED#if ENABLED(ULTRA_LCD)if (g26_bed_temp > 25) {lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99);lcd_quick_feedback(true);#if ENABLED(ULTIPANEL)lcd_external_control = true;#endif#endifthermalManager.setTargetBed(g26_bed_temp);while (ABS(thermalManager.degBed() - g26_bed_temp) > 3) {#if ENABLED(ULTIPANEL)if (is_lcd_clicked()) return exit_from_g26();#endifif (ELAPSED(millis(), next)) {next = millis() + 5000UL;thermalManager.print_heaterstates();SERIAL_EOL();}idle();SERIAL_FLUSH(); // Prevent host M105 buffer overrun.}#if ENABLED(ULTRA_LCD)}lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99);lcd_quick_feedback(true);#endif#endif// Start heating the nozzle and wait for it to reach temperature.thermalManager.setTargetHotend(g26_hotend_temp, 0);while (ABS(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {#if ENABLED(ULTIPANEL)if (is_lcd_clicked()) return exit_from_g26();#endifif (ELAPSED(millis(), next)) {next = millis() + 5000UL;thermalManager.print_heaterstates();SERIAL_EOL();}idle();SERIAL_FLUSH(); // Prevent host M105 buffer overrun.}#if ENABLED(ULTRA_LCD)lcd_reset_status();lcd_quick_feedback(true);#endifreturn G26_OK;}float valid_trig_angle(float d) {while (d > 360.0) d -= 360.0;while (d < 0.0) d += 360.0;return d;}/*** G26: Mesh Validation Pattern generation.** Used to interactively edit the mesh by placing the* nozzle in a problem area and doing a G29 P4 R command.** Parameters:** B Bed Temperature* C Continue from the Closest mesh point* D Disable leveling before starting* F Filament diameter* H Hotend Temperature* K Keep heaters on when completed* L Layer Height* O Ooze extrusion length* P Prime length* Q Retraction multiplier* R Repetitions (number of grid points)* S Nozzle Size (diameter) in mm* U Random deviation (50 if no value given)* X X position* Y Y position*/void gcode_G26() {SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");// Don't allow Mesh Validation without homing first,// or if the parameter parsing did not go OK, abortif (axis_unhomed_error()) return;g26_extrusion_multiplier = EXTRUSION_MULTIPLIER;g26_retraction_multiplier = RETRACTION_MULTIPLIER;g26_layer_height = MESH_TEST_LAYER_HEIGHT;g26_prime_length = PRIME_LENGTH;g26_bed_temp = MESH_TEST_BED_TEMP;g26_hotend_temp = MESH_TEST_HOTEND_TEMP;g26_prime_flag = 0;float g26_nozzle = MESH_TEST_NOZZLE_SIZE,g26_filament_diameter = DEFAULT_NOMINAL_FILAMENT_DIA,g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT);bool g26_continue_with_closest = parser.boolval('C'),g26_keep_heaters_on = parser.boolval('K');if (parser.seenval('B')) {g26_bed_temp = parser.value_celsius();if (g26_bed_temp && !WITHIN(g26_bed_temp, 40, 140)) {SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible (40-140C).");return;}}if (parser.seenval('L')) {g26_layer_height = parser.value_linear_units();if (!WITHIN(g26_layer_height, 0.0, 2.0)) {SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");return;}}if (parser.seen('Q')) {if (parser.has_value()) {g26_retraction_multiplier = parser.value_float();if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");return;}}else {SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");return;}}if (parser.seenval('S')) {g26_nozzle = parser.value_float();if (!WITHIN(g26_nozzle, 0.1, 1.0)) {SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");return;}}if (parser.seen('P')) {if (!parser.has_value()) {#if ENABLED(ULTIPANEL)g26_prime_flag = -1;#elseSERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD.");return;#endif}else {g26_prime_flag++;g26_prime_length = parser.value_linear_units();if (!WITHIN(g26_prime_length, 0.0, 25.0)) {SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");return;}}}if (parser.seenval('F')) {g26_filament_diameter = parser.value_linear_units();if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");return;}}g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to// scale up or down the length needed to get the// same volume of filamentg26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle sizeif (parser.seenval('H')) {g26_hotend_temp = parser.value_celsius();if (!WITHIN(g26_hotend_temp, 165, 280)) {SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");return;}}if (parser.seen('U')) {randomSeed(millis());// This setting will persist for the next G26random_deviation = parser.has_value() ? parser.value_float() : 50.0;}int16_t g26_repeats;#if ENABLED(ULTIPANEL)g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);#elseif (!parser.seen('R')) {SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD.");return;}elseg26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;#endifif (g26_repeats < 1) {SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");return;}g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS];g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS];if (!position_is_reachable(g26_x_pos, g26_y_pos)) {SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");return;}/*** Wait until all parameters are verified before altering the state!*/set_bed_leveling_enabled(!parser.seen('D'));if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);set_current_from_destination();}if (turn_on_heaters() != G26_OK) goto LEAVE;current_position[E_CART] = 0.0;sync_plan_position_e();if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;/*** Bed is preheated** Nozzle is at temperature** Filament is primed!** It's "Show Time" !!!*/ZERO(circle_flags);ZERO(horizontal_mesh_line_flags);ZERO(vertical_mesh_line_flags);// Move nozzle to the specified height for the first layerset_destination_from_current();destination[Z_AXIS] = g26_layer_height;move_to(destination, 0.0);move_to(destination, g26_ooze_amount);#if ENABLED(ULTIPANEL)lcd_external_control = true;#endif//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));#if DISABLED(ARC_SUPPORT)/*** Pre-generate radius offset values at 30 degree intervals to reduce CPU load.*/#define A_INT 30#define _ANGS (360 / A_INT)#define A_CNT (_ANGS / 2)#define _IND(A) ((A + _ANGS * 8) % _ANGS)#define _COS(A) (trig_table[_IND(A) % A_CNT] * (_IND(A) >= A_CNT ? -1 : 1))#define _SIN(A) (-_COS((A + A_CNT / 2) % _ANGS))#if A_CNT & 1#error "A_CNT must be a positive value. Please change A_INT."#endiffloat trig_table[A_CNT];for (uint8_t i = 0; i < A_CNT; i++)trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT));#endif // !ARC_SUPPORTmesh_index_pair location;do {location = g26_continue_with_closest? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS]): find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.if (location.x_index >= 0 && location.y_index >= 0) {const float circle_x = _GET_MESH_X(location.x_index),circle_y = _GET_MESH_Y(location.y_index);// If this mesh location is outside the printable_radius, skip it.if (!position_is_reachable(circle_x, circle_y)) continue;// Determine where to start and end the circle,// which is always drawn counter-clockwise.const uint8_t xi = location.x_index, yi = location.y_index;const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1;#if ENABLED(ARC_SUPPORT)#define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2)float sx = circle_x + INTERSECTION_CIRCLE_RADIUS, // default to full circleex = circle_x + INTERSECTION_CIRCLE_RADIUS,sy = circle_y, ey = circle_y,arc_length = ARC_LENGTH(4);// Figure out where to start and end the arc - we always print counterclockwiseif (xi == 0) { // left edgesx = f ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x;ex = b ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x;sy = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS;ey = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);}else if (r) { // right edgesx = b ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x;ex = f ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x;sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;ey = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS;arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);}else if (f) {sx = circle_x + INTERSECTION_CIRCLE_RADIUS;ex = circle_x - INTERSECTION_CIRCLE_RADIUS;sy = ey = circle_y;arc_length = ARC_LENGTH(2);}else if (b) {sx = circle_x - INTERSECTION_CIRCLE_RADIUS;ex = circle_x + INTERSECTION_CIRCLE_RADIUS;sy = ey = circle_y;arc_length = ARC_LENGTH(2);}const float arc_offset[2] = {circle_x - sx,circle_y - sy};const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual circledy_s = current_position[Y_AXIS] - sy,dist_start = HYPOT2(dx_s, dy_s);const float endpoint[XYZE] = {ex, ey,g26_layer_height,current_position[E_CART] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)};if (dist_start > 2.0) {retract_filament(destination);//todo: parameterize the bump height with a definemove_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scrapingmove_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped}move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bumprecover_filament(destination);const float save_feedrate = feedrate_mm_s;feedrate_mm_s = PLANNER_XY_FEEDRATE() / 10.0;plan_arc(endpoint, arc_offset, false); // Draw a counter-clockwise arcfeedrate_mm_s = save_feedrate;set_destination_from_current();#if ENABLED(ULTIPANEL)if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation#endif#else // !ARC_SUPPORTint8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)if (xi == 0) { // Left edge? Just right half.start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-leftend_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left}else if (r) { // Right edge? Just left half.start_ind = b ? 6 : 3; // 12:00 to 09:00 for front-rightend_ind = f ? 5 : 8; // 09:00 to 06:00 for back-right}else if (f) { // Front edge? Just back half.start_ind = 0; // 03:00end_ind = 5; // 09:00}else if (b) { // Back edge? Just front half.start_ind = 6; // 09:00end_ind = 11; // 03:00}for (int8_t ind = start_ind; ind <= end_ind; ind++) {#if ENABLED(ULTIPANEL)if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation#endiffloat rx = circle_x + _COS(ind), // For speed, these are now a lookup table entryry = circle_y + _SIN(ind),xe = circle_x + _COS(ind + 1),ye = circle_y + _SIN(ind + 1);#if IS_KINEMATIC// Check to make sure this segment is entirely on the bed, skip if not.if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;#else // not, we need to skiprx = constrain(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstopsry = constrain(ry, Y_MIN_POS + 1, Y_MAX_POS - 1);xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);#endifprint_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);SERIAL_FLUSH(); // Prevent host M105 buffer overrun.}#endif // !ARC_SUPPORTif (look_for_lines_to_connect()) goto LEAVE;}SERIAL_FLUSH(); // Prevent host M105 buffer overrun.} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);LEAVE:lcd_setstatusPGM(PSTR("Leaving G26"), -1);retract_filament(destination);destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;//debug_current_and_destination(PSTR("ready to do Z-Raise."));move_to(destination, 0); // Raise the nozzle//debug_current_and_destination(PSTR("done doing Z-Raise."));destination[X_AXIS] = g26_x_pos; // Move back to the starting positiondestination[Y_AXIS] = g26_y_pos;//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it ismove_to(destination, 0); // Move back to the starting position//debug_current_and_destination(PSTR("done doing X/Y move."));#if ENABLED(ULTIPANEL)lcd_external_control = false; // Give back control of the LCD Panel!#endifif (!g26_keep_heaters_on) {#if HAS_HEATED_BEDthermalManager.setTargetBed(0);#endifthermalManager.setTargetHotend(0, 0);}}#endif // G26_MESH_VALIDATION