mirror of https://github.com/Desuuuu/klipper.git
594 lines
24 KiB
Python
594 lines
24 KiB
Python
# Mesh Bed Leveling
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2018 Eric Callahan <arksine.code@gmail.com>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import math
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import json
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import probe
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class BedMeshError(Exception):
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pass
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# PEP 485 isclose()
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def isclose(a, b, rel_tol=1e-09, abs_tol=0.0):
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return abs(a-b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
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# Constrain value between min and max
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def constrain(val, min_val, max_val):
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return min(max_val, max(min_val, val))
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# Linear interpolation between two values
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def lerp(t, v0, v1):
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return (1. - t) * v0 + t * v1
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# retreive commma separated pair from config
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def parse_pair(config, param, check=True, cast=float,
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minval=None, maxval=None):
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val = config.get(*param).strip().split(',', 1)
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pair = tuple(cast(p.strip()) for p in val)
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if check and len(pair) != 2:
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raise config.error(
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"bed_mesh: malformed '%s' value: %s"
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% (param[0], config.get(*param)))
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elif len(pair) == 1:
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pair = (pair[0], pair[0])
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if minval is not None:
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if pair[0] < minval or pair[1] < minval:
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raise config.error(
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"Option '%s' in section bed_mesh must have a minimum of %s"
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% (param[0]), minval)
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if maxval is not None:
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if pair[0] > maxval or pair[1] > maxval:
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raise config.error(
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"Option '%s' in section bed_mesh must have a maximum of %s"
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% (param[0]), str(minval))
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return pair
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class BedMesh:
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FADE_DISABLE = 0x7FFFFFFF
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def __init__(self, config):
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self.printer = config.get_printer()
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self.last_position = [0., 0., 0., 0.]
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self.calibrate = BedMeshCalibrate(config, self)
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self.z_mesh = None
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self.toolhead = None
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.fade_start = config.getfloat('fade_start', 1.)
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self.fade_end = config.getfloat('fade_end', 10.)
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self.fade_dist = self.fade_end - self.fade_start
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if self.fade_dist <= 0.:
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self.fade_start = self.fade_end = self.FADE_DISABLE
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self.gcode = self.printer.lookup_object('gcode')
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self.splitter = MoveSplitter(config, self.gcode)
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self.gcode.register_command(
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'BED_MESH_OUTPUT', self.cmd_BED_MESH_OUTPUT,
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desc=self.cmd_BED_MESH_OUTPUT_help)
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self.gcode.register_command(
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'BED_MESH_CLEAR', self.cmd_BED_MESH_CLEAR,
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desc=self.cmd_BED_MESH_CLEAR_help)
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self.gcode.set_move_transform(self)
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def printer_state(self, state):
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if state == 'connect':
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self.toolhead = self.printer.lookup_object('toolhead')
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def set_mesh(self, mesh):
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# Assign the current mesh. If set to None, no transform
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# is applied
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self.z_mesh = mesh
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self.splitter.set_mesh(mesh)
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# cache the current position before a transform takes place
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self.last_position[:] = self.toolhead.get_position()
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def get_z_factor(self, z_pos):
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if z_pos >= self.fade_end:
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return 0.
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elif z_pos >= self.fade_start:
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return (self.fade_end - z_pos) / self.fade_dist
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else:
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return 1.
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def get_position(self):
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# Return last, non-transformed position
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if self.z_mesh is None:
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# No mesh calibrated, so send toolhead position
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self.last_position[:] = self.toolhead.get_position()
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else:
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# return current position minus the current z-adjustment
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x, y, z, e = self.toolhead.get_position()
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z_adjust = self.get_z_factor(z) * self.z_mesh.get_z(x, y)
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self.last_position[:] = [x, y, z - z_adjust, e]
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return list(self.last_position)
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def move(self, newpos, speed):
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factor = self.get_z_factor(newpos[2])
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if self.z_mesh is None or not factor:
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# No mesh calibrated, or mesh leveling phased out.
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self.toolhead.move(newpos, speed)
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else:
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self.splitter.build_move(self.last_position, newpos, factor)
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while not self.splitter.traverse_complete:
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split_move = self.splitter.split()
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if split_move:
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self.toolhead.move(split_move, speed)
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else:
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raise self.gcode.error(
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"Mesh Leveling: Error splitting move ")
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self.last_position[:] = newpos
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cmd_BED_MESH_OUTPUT_help = "Retrieve interpolated grid of probed z-points"
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def cmd_BED_MESH_OUTPUT(self, params):
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if self.z_mesh is None:
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self.gcode.respond_info("Bed has not been probed")
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else:
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self.calibrate.print_probed_positions(self.gcode.respond_info)
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self.z_mesh.print_mesh(self.gcode.respond, self.horizontal_move_z)
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cmd_BED_MESH_CLEAR_help = "Clear the Mesh so no z-adjusment is made"
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def cmd_BED_MESH_CLEAR(self, params):
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self.set_mesh(None)
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class BedMeshCalibrate:
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ALGOS = ['lagrange', 'bicubic']
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def __init__(self, config, bedmesh):
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self.printer = config.get_printer()
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self.bedmesh = bedmesh
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self.probed_z_table = None
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self.build_map = False
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self.probe_params = {}
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points = self._generate_points(config)
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self._init_probe_params(config, points)
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self.probe_helper = probe.ProbePointsHelper(
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config, self.probe_finalize, points)
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self.z_endstop_pos = None
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if config.has_section('stepper_z'):
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zconfig = config.getsection('stepper_z')
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self.z_endstop_pos = zconfig.getfloat(
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'position_endstop', None)
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'BED_MESH_CALIBRATE', self.cmd_BED_MESH_CALIBRATE,
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desc=self.cmd_BED_MESH_CALIBRATE_help)
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self.gcode.register_command(
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'BED_MESH_MAP', self.cmd_BED_MESH_MAP,
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desc=self.cmd_BED_MESH_MAP_help)
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def _generate_points(self, config):
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x_cnt, y_cnt = parse_pair(
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config, ('probe_count', '3'), check=False, cast=int, minval=3)
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self.probe_params['x_count'] = x_cnt
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self.probe_params['y_count'] = y_cnt
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min_x, min_y = parse_pair(config, ('min_point',))
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max_x, max_y = parse_pair(config, ('max_point',))
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if max_x <= min_x or max_y <= min_y:
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raise config.error('bed_mesh: invalid min/max points')
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x_dist = (max_x - min_x) / (x_cnt - 1)
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y_dist = (max_y - min_y) / (y_cnt - 1)
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# floor distances down to next hundredth
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x_dist = math.floor(x_dist * 100) / 100
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y_dist = math.floor(y_dist * 100) / 100
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if x_dist <= 1. or y_dist <= 1.:
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raise config.error("bed_mesh: min/max points too close together")
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# re-calc x_max
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max_x = min_x + x_dist * (x_cnt - 1)
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pos_y = min_y
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points = []
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for i in range(y_cnt):
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for j in range(x_cnt):
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if not i % 2:
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# move in positive directon
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pos_x = min_x + j * x_dist
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else:
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# move in negative direction
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pos_x = max_x - j * x_dist
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points.append((pos_x, pos_y))
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pos_y += y_dist
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logging.info('bed_mesh: generated points')
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for p in points:
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logging.info("(%.1f, %.1f)" % (p[0], p[1]))
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return points
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def _init_probe_params(self, config, points):
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self.probe_params['min_x'] = min(points, key=lambda p: p[0])[0]
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self.probe_params['max_x'] = max(points, key=lambda p: p[0])[0]
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self.probe_params['min_y'] = min(points, key=lambda p: p[1])[1]
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self.probe_params['max_y'] = max(points, key=lambda p: p[1])[1]
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pps = parse_pair(config, ('mesh_pps', '2'), check=False,
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cast=int, minval=0)
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self.probe_params['mesh_x_pps'] = pps[0]
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self.probe_params['mesh_y_pps'] = pps[1]
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self.probe_params['algo'] = config.get('algorithm', 'lagrange') \
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.strip().lower()
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if self.probe_params['algo'] not in self.ALGOS:
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raise config.error(
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"bed_mesh: Unknown algorithm <%s>"
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% (self.probe_params['algo']))
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self.probe_params['tension'] = config.getfloat(
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'bicubic_tension', .2, minval=0., maxval=2.)
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cmd_BED_MESH_MAP_help = "Probe the bed and serialize output"
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def cmd_BED_MESH_MAP(self, params):
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self.build_map = True
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self.start_calibration()
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cmd_BED_MESH_CALIBRATE_help = "Perform Mesh Bed Leveling"
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def cmd_BED_MESH_CALIBRATE(self, params):
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self.build_map = False
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self.start_calibration()
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def start_calibration(self):
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self.bedmesh.set_mesh(None)
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self.gcode.run_script_from_command("G28")
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self.probe_helper.start_probe()
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def print_probed_positions(self, print_func):
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if self.probed_z_table is not None:
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msg = "Mesh Leveling Probed Z positions:\n"
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for line in self.probed_z_table:
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for x in line:
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msg += " %f" % x
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msg += "\n"
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print_func(msg)
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else:
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print_func("bed_mesh: bed has not been probed")
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def probe_finalize(self, offsets, positions):
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self.probe_params['x_offset'] = offsets[0]
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self.probe_params['y_offset'] = offsets[1]
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z_offset = offsets[2]
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if self.probe_helper.get_last_xy_home_positon() is not None \
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and self.z_endstop_pos is not None:
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# Using probe as a virtual endstop, warn user if the
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# stepper_z position_endstop is different
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if self.z_endstop_pos != z_offset:
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z_msg = "bed_mesh: WARN - probe z_offset is not" \
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" equal to Z position_endstop\n"
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z_msg += "[probe] z_offset: %.4f\n" % z_offset
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z_msg += "[stepper_z] position_endstop: %.4f" \
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% self.z_endstop_pos
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logging.info(z_msg)
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self.gcode.respond_info(z_msg)
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x_cnt = self.probe_params['x_count']
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y_cnt = self.probe_params['y_count']
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# create a 2-D array representing the probed z-positions.
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self.probed_z_table = [
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[0. for i in range(x_cnt)] for j in range(y_cnt)]
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# Check for multi-sampled points
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z_table_len = x_cnt * y_cnt
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if len(positions) != z_table_len:
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raise self.gcode.error(
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("bed_mesh: Invalid probe table length:\n"
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"Sampled table length: %d") % len(positions))
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# Populate the organized probed table
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for i in range(z_table_len):
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y_position = i / x_cnt
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x_position = 0
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if y_position & 1 == 0:
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# Even y count, x probed in positive directon
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x_position = i % x_cnt
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else:
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# Odd y count, x probed in the negative directon
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x_position = (x_cnt - 1) - (i % x_cnt)
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self.probed_z_table[y_position][x_position] = \
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positions[i][2] - z_offset
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if self.build_map:
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outdict = {'z_probe_offsets:': self.probed_z_table}
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self.gcode.respond(json.dumps(outdict))
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else:
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mesh = ZMesh(self.probe_params)
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try:
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mesh.build_mesh(self.probed_z_table)
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except BedMeshError as e:
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raise self.gcode.error(e.message)
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self.bedmesh.set_mesh(mesh)
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self.gcode.respond_info("Mesh Bed Leveling Complete")
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class MoveSplitter:
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def __init__(self, config, gcode):
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self.split_delta_z = config.getfloat(
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'split_delta_z', .025, minval=0.01)
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self.move_check_distance = config.getfloat(
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'move_check_distance', 5., minval=3.)
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self.z_mesh = None
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self.gcode = gcode
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def set_mesh(self, mesh):
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self.z_mesh = mesh
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def build_move(self, prev_pos, next_pos, factor):
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self.prev_pos = tuple(prev_pos)
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self.next_pos = tuple(next_pos)
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self.current_pos = list(prev_pos)
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self.z_factor = factor
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self.z_offset = \
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self.z_factor \
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* self.z_mesh.get_z(self.prev_pos[0], self.prev_pos[1])
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self.traverse_complete = False
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self.distance_checked = 0.
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axes_d = [self.next_pos[i] - self.prev_pos[i] for i in range(4)]
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self.total_move_length = math.sqrt(sum([d*d for d in axes_d[:3]]))
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self.axis_move = [not isclose(d, 0., abs_tol=1e-10) for d in axes_d]
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def _set_next_move(self, distance_from_prev):
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t = distance_from_prev / self.total_move_length
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if t > 1. or t < 0.:
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raise self.gcode.error(
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"bed_mesh: Slice distance is negative "
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"or greater than entire move length")
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for i in range(4):
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if self.axis_move[i]:
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self.current_pos[i] = lerp(
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t, self.prev_pos[i], self.next_pos[i])
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def split(self):
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if not self.traverse_complete:
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if self.axis_move[0] or self.axis_move[1]:
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# X and/or Y axis move, traverse if necessary
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while self.distance_checked + self.move_check_distance \
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< self.total_move_length:
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self.distance_checked += self.move_check_distance
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self._set_next_move(self.distance_checked)
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next_z = \
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self.z_factor \
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* self.z_mesh.get_z(
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self.current_pos[0], self.current_pos[1])
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if abs(next_z - self.z_offset) >= self.split_delta_z:
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self.z_offset = next_z
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return self.current_pos[0], self.current_pos[1], \
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self.current_pos[2] + self.z_offset, \
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self.current_pos[3]
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# end of move reached
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self.current_pos[:] = self.next_pos
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self.z_offset = \
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self.z_factor \
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* self.z_mesh.get_z(self.current_pos[0], self.current_pos[1])
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# Its okay to add Z-Offset to the final move, since it will not be
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# used again.
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self.current_pos[2] += self.z_offset
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self.traverse_complete = True
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return self.current_pos
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else:
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# Traverse complete
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return None
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class ZMesh:
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def __init__(self, params):
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self.mesh_z_table = None
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self.probe_params = params
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logging.debug('bed_mesh: probe/mesh parameters:')
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for key, value in self.probe_params.iteritems():
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logging.debug("%s : %s" % (key, value))
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self.mesh_x_min = params['min_x'] + params['x_offset']
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self.mesh_x_max = params['max_x'] + params['x_offset']
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self.mesh_y_min = params['min_y'] + params['y_offset']
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self.mesh_y_max = params['max_y'] + params['y_offset']
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logging.debug(
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"bed_mesh: Mesh Min: (%.2f,%.2f) Mesh Max: (%.2f,%.2f)"
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% (self.mesh_x_min, self.mesh_y_min,
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self.mesh_x_max, self.mesh_y_max))
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if params['algo'] == 'bicubic':
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self.build_mesh = self._sample_bicubic
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else:
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self.build_mesh = self._sample_lagrange
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# Nummber of points to interpolate per segment
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mesh_x_pps = params['mesh_x_pps']
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mesh_y_pps = params['mesh_y_pps']
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px_cnt = params['x_count']
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py_cnt = params['y_count']
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mesh_x_mult = mesh_x_pps + 1
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mesh_y_mult = mesh_y_pps + 1
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if px_cnt == 3 or py_cnt == 3:
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# a mesh with 3 points on either axis defaults to legrange
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# upsampling
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self.build_mesh = self._sample_lagrange
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self.probe_params['algo'] = 'lagrange'
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if mesh_x_mult == 1 and mesh_y_mult == 1:
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# No interpolation, sample the probed points directly
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self.build_mesh = self._sample_direct
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self.probe_params['algo'] = 'direct'
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self.mesh_x_count = px_cnt * mesh_x_mult - (mesh_x_mult - 1)
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self.mesh_y_count = py_cnt * mesh_y_mult - (mesh_y_mult - 1)
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self.x_mult = mesh_x_mult
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self.y_mult = mesh_y_mult
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logging.debug("bed_mesh: Mesh grid size - X:%d, Y:%d"
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% (self.mesh_x_count, self.mesh_y_count))
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self.mesh_x_dist = (self.mesh_x_max - self.mesh_x_min) / \
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(self.mesh_x_count - 1)
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self.mesh_y_dist = (self.mesh_y_max - self.mesh_y_min) / \
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(self.mesh_y_count - 1)
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def get_x_coordinate(self, index):
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return self.mesh_x_min + self.mesh_x_dist * index
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def get_y_coordinate(self, index):
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return self.mesh_y_min + self.mesh_y_dist * index
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def get_z(self, x, y):
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if self.mesh_z_table:
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tbl = self.mesh_z_table
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tx, xidx = self._get_linear_index(x, 0)
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ty, yidx = self._get_linear_index(y, 1)
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z0 = lerp(tx, tbl[yidx][xidx], tbl[yidx][xidx+1])
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z1 = lerp(tx, tbl[yidx+1][xidx], tbl[yidx+1][xidx+1])
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return lerp(ty, z0, z1)
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else:
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# No mesh table generated, no z-adjustment
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return 0.
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def print_mesh(self, print_func, move_z=None):
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if self.mesh_z_table is not None:
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msg = "Mesh X,Y: %d,%d\n" % (self.mesh_x_count, self.mesh_y_count)
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if move_z is not None:
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msg += "Search Height: %d\n" % (move_z)
|
|
msg += "Interpolation Algorithm: %s\n" \
|
|
% (self.probe_params['algo'])
|
|
msg += "Measured points:\n"
|
|
for y_line in range(self.mesh_y_count - 1, -1, -1):
|
|
for z in self.mesh_z_table[y_line]:
|
|
msg += " %f" % (z)
|
|
msg += "\n"
|
|
print_func(msg)
|
|
else:
|
|
print_func("bed_mesh: Z Mesh not generated")
|
|
def _get_linear_index(self, coord, axis):
|
|
if axis == 0:
|
|
# X-axis
|
|
mesh_min = self.mesh_x_min
|
|
mesh_cnt = self.mesh_x_count
|
|
mesh_dist = self.mesh_x_dist
|
|
cfunc = self.get_x_coordinate
|
|
else:
|
|
# Y-axis
|
|
mesh_min = self.mesh_y_min
|
|
mesh_cnt = self.mesh_y_count
|
|
mesh_dist = self.mesh_y_dist
|
|
cfunc = self.get_y_coordinate
|
|
t = 0.
|
|
idx = int(math.floor((coord - mesh_min) / mesh_dist))
|
|
idx = constrain(idx, 0, mesh_cnt - 2)
|
|
t = (coord - cfunc(idx)) / mesh_dist
|
|
return constrain(t, 0., 1.), idx
|
|
def _sample_direct(self, z_table):
|
|
self.mesh_z_table = z_table
|
|
def _sample_lagrange(self, z_table):
|
|
x_mult = self.x_mult
|
|
y_mult = self.y_mult
|
|
self.mesh_z_table = \
|
|
[[0. if ((i % x_mult) or (j % y_mult))
|
|
else z_table[j/y_mult][i/x_mult]
|
|
for i in range(self.mesh_x_count)]
|
|
for j in range(self.mesh_y_count)]
|
|
xpts, ypts = self._get_lagrange_coords(z_table)
|
|
# Interpolate X coordinates
|
|
for i in range(self.mesh_y_count):
|
|
# only interpolate X-rows that have probed coordinates
|
|
if i % y_mult != 0:
|
|
continue
|
|
for j in range(self.mesh_x_count):
|
|
if j % x_mult == 0:
|
|
continue
|
|
x = self.get_x_coordinate(j)
|
|
self.mesh_z_table[i][j] = self._calc_lagrange(xpts, x, i, 0)
|
|
# Interpolate Y coordinates
|
|
for i in range(self.mesh_x_count):
|
|
for j in range(self.mesh_y_count):
|
|
if j % y_mult == 0:
|
|
continue
|
|
y = self.get_y_coordinate(j)
|
|
self.mesh_z_table[j][i] = self._calc_lagrange(ypts, y, i, 1)
|
|
self.print_mesh(logging.debug)
|
|
def _get_lagrange_coords(self, z_table):
|
|
xpts = []
|
|
ypts = []
|
|
for i in range(self.probe_params['x_count']):
|
|
xpts.append(self.get_x_coordinate(i * self.x_mult))
|
|
for j in range(self.probe_params['y_count']):
|
|
ypts.append(self.get_y_coordinate(j * self.y_mult))
|
|
return xpts, ypts
|
|
def _calc_lagrange(self, lpts, c, vec, axis=0):
|
|
pt_cnt = len(lpts)
|
|
total = 0.
|
|
for i in range(pt_cnt):
|
|
n = 1.
|
|
d = 1.
|
|
for j in range(pt_cnt):
|
|
if j == i:
|
|
continue
|
|
n *= (c - lpts[j])
|
|
d *= (lpts[i] - lpts[j])
|
|
if axis == 0:
|
|
# Calc X-Axis
|
|
z = self.mesh_z_table[vec][i*self.x_mult]
|
|
else:
|
|
# Calc Y-Axis
|
|
z = self.mesh_z_table[i*self.y_mult][vec]
|
|
total += z * n / d
|
|
return total
|
|
def _sample_bicubic(self, z_table):
|
|
# should work for any number of probe points above 3x3
|
|
x_mult = self.x_mult
|
|
y_mult = self.y_mult
|
|
c = self.probe_params['tension']
|
|
self.mesh_z_table = \
|
|
[[0. if ((i % x_mult) or (j % y_mult))
|
|
else z_table[j/y_mult][i/x_mult]
|
|
for i in range(self.mesh_x_count)]
|
|
for j in range(self.mesh_y_count)]
|
|
# Interpolate X values
|
|
for y in range(self.mesh_y_count):
|
|
if y % y_mult != 0:
|
|
continue
|
|
for x in range(self.mesh_x_count):
|
|
if x % x_mult == 0:
|
|
continue
|
|
pts = self._get_x_ctl_pts(x, y)
|
|
self.mesh_z_table[y][x] = self._cardinal_spline(pts, c)
|
|
# Interpolate Y values
|
|
for x in range(self.mesh_x_count):
|
|
for y in range(self.mesh_y_count):
|
|
if y % y_mult == 0:
|
|
continue
|
|
pts = self._get_y_ctl_pts(x, y)
|
|
self.mesh_z_table[y][x] = self._cardinal_spline(pts, c)
|
|
self.print_mesh(logging.debug)
|
|
def _get_x_ctl_pts(self, x, y):
|
|
# Fetch control points and t for a X value in the mesh
|
|
x_mult = self.x_mult
|
|
x_row = self.mesh_z_table[y]
|
|
last_pt = self.mesh_x_count - 1 - x_mult
|
|
if x < x_mult:
|
|
p0 = p1 = x_row[0]
|
|
p2 = x_row[x_mult]
|
|
p3 = x_row[2*x_mult]
|
|
t = x / float(x_mult)
|
|
elif x > last_pt:
|
|
p0 = x_row[last_pt - x_mult]
|
|
p1 = x_row[last_pt]
|
|
p2 = p3 = x_row[last_pt + x_mult]
|
|
t = (x - last_pt) / float(x_mult)
|
|
else:
|
|
found = False
|
|
for i in range(x_mult, last_pt, x_mult):
|
|
if x > i and x < (i + x_mult):
|
|
p0 = x_row[i - x_mult]
|
|
p1 = x_row[i]
|
|
p2 = x_row[i + x_mult]
|
|
p3 = x_row[i + 2*x_mult]
|
|
t = (x - i) / float(x_mult)
|
|
found = True
|
|
break
|
|
if not found:
|
|
raise BedMeshError(
|
|
"bed_mesh: Error finding x control points")
|
|
return p0, p1, p2, p3, t
|
|
def _get_y_ctl_pts(self, x, y):
|
|
# Fetch control points and t for a Y value in the mesh
|
|
y_mult = self.y_mult
|
|
last_pt = self.mesh_y_count - 1 - y_mult
|
|
y_col = self.mesh_z_table
|
|
if y < y_mult:
|
|
p0 = p1 = y_col[0][x]
|
|
p2 = y_col[y_mult][x]
|
|
p3 = y_col[2*y_mult][x]
|
|
t = y / float(y_mult)
|
|
elif y > last_pt:
|
|
p0 = y_col[last_pt - y_mult][x]
|
|
p1 = y_col[last_pt][x]
|
|
p2 = p3 = y_col[last_pt + y_mult][x]
|
|
t = (y - last_pt) / float(y_mult)
|
|
else:
|
|
found = False
|
|
for i in range(y_mult, last_pt, y_mult):
|
|
if y > i and y < (i + y_mult):
|
|
p0 = y_col[i - y_mult][x]
|
|
p1 = y_col[i][x]
|
|
p2 = y_col[i + y_mult][x]
|
|
p3 = y_col[i + 2*y_mult][x]
|
|
t = (y - i) / float(y_mult)
|
|
found = True
|
|
break
|
|
if not found:
|
|
raise BedMeshError(
|
|
"bed_mesh: Error finding y control points")
|
|
return p0, p1, p2, p3, t
|
|
def _cardinal_spline(self, p, tension):
|
|
t = p[4]
|
|
t2 = t*t
|
|
t3 = t2*t
|
|
m1 = tension * (p[2] - p[0])
|
|
m2 = tension * (p[3] - p[1])
|
|
a = p[1] * (2*t3 - 3*t2 + 1)
|
|
b = p[2] * (-2*t3 + 3*t2)
|
|
c = m1 * (t3 - 2*t2 + t)
|
|
d = m2 * (t3 - t2)
|
|
return a + b + c + d
|
|
|
|
|
|
def load_config(config):
|
|
return BedMesh(config)
|