[2.0.x] Improve UBL mesh report, M420 V T, M421 N, and…

Marlin/src/core/macros.h

@@ -208,7 +208,7 @@
 #define NEAR(x,y) NEAR_ZERO((x)-(y))
 
 #define RECIPROCAL(x) (NEAR_ZERO(x) ? 0.0 : 1.0 / (x))
-#define FIXFLOAT(f) (f + 0.00001)
+#define FIXFLOAT(f) (f + (f < 0.0 ? -0.00001 : 0.00001))
 
 //
 // Maths macros that can be overridden by HAL

Marlin/src/feature/bedlevel/bedlevel.cpp

@@ -99,7 +99,21 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
           planner.unapply_leveling(current_position);
         }
       #else
-        planner.leveling_active = enable;                    // just flip the bit, current_position will be wrong until next move.
+        // UBL equivalents for apply/unapply_leveling
+        #if ENABLED(SKEW_CORRECTION)
+          float pos[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+          planner.skew(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS]);
+        #else
+          const float (&pos)[XYZE] = current_position;
+        #endif
+        if (planner.leveling_active) {
+          current_position[Z_AXIS] += ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS]);
+          planner.leveling_active = false;
+        }
+        else {
+          planner.leveling_active = true;
+          current_position[Z_AXIS] -= ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS]);
+        }
       #endif
 
     #else // OLDSCHOOL_ABL

Marlin/src/feature/bedlevel/ubl/ubl.cpp

@@ -51,17 +51,15 @@
   ) {
     if (!leveling_is_valid()) return;
     SERIAL_ECHO_START_P(port);
-    SERIAL_ECHOLNPGM_P(port, "  G29 I 999");
+    SERIAL_ECHOLNPGM_P(port, "  G29 I99");
     for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
       for (uint8_t y = 0;  y < GRID_MAX_POINTS_Y; y++)
         if (!isnan(z_values[x][y])) {
           SERIAL_ECHO_START_P(port);
           SERIAL_ECHOPAIR_P(port, "  M421 I", x);
           SERIAL_ECHOPAIR_P(port, " J", y);
           SERIAL_ECHOPGM_P(port, " Z");
-          SERIAL_ECHO_F_P(port, z_values[x][y], 6);
-          SERIAL_ECHOPAIR_P(port, " ; X", LOGICAL_X_POSITION(mesh_index_to_xpos(x)));
-          SERIAL_ECHOPAIR_P(port, ", Y", LOGICAL_Y_POSITION(mesh_index_to_ypos(y)));
+          SERIAL_ECHO_F_P(port, z_values[x][y], 2);
           SERIAL_EOL_P(port);
           safe_delay(75); // Prevent Printrun from exploding
         }
@@ -83,15 +81,6 @@
     safe_delay(50);
   }
 
-  static void serial_echo_xy(const int16_t x, const int16_t y) {
-    SERIAL_CHAR('(');
-    SERIAL_ECHO(x);
-    SERIAL_CHAR(',');
-    SERIAL_ECHO(y);
-    SERIAL_CHAR(')');
-    safe_delay(10);
-  }
-
   #if ENABLED(UBL_DEVEL_DEBUGGING)
 
     static void debug_echo_axis(const AxisEnum axis) {
@@ -189,78 +178,109 @@
     }
   }
 
-  // display_map() currently produces three different mesh map types
-  // 0 : suitable for PronterFace and Repetier's serial console
-  // 1 : .CSV file suitable for importation into various spread sheets
-  // 2 : disply of the map data on a RepRap Graphical LCD Panel
+  static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
+    SERIAL_ECHO_SP(sp);
+    SERIAL_CHAR('(');
+    if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
+    SERIAL_ECHO(x);
+    SERIAL_CHAR(',');
+    if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
+    SERIAL_ECHO(y);
+    SERIAL_CHAR(')');
+    safe_delay(5);
+  }
+
+  static void serial_echo_column_labels(const uint8_t sp) {
+    SERIAL_ECHO_SP(7);
+    for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
+      if (i < 10) SERIAL_CHAR(' ');
+      SERIAL_ECHO(i);
+      SERIAL_ECHO_SP(sp);
+    }
+    safe_delay(10);
+  }
 
+  /**
+   * Produce one of these mesh maps:
+   *   0: Human-readable
+   *   1: CSV format for spreadsheet import
+   *   2: TODO: Display on Graphical LCD
+   *   4: Compact Human-Readable
+   */
   void unified_bed_leveling::display_map(const int map_type) {
     #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
       suspend_auto_report = true;
     #endif
 
-    constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
+    constexpr uint8_t eachsp = 1 + 6 + 1,                           // [-3.567]
+                      twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
 
-    SERIAL_PROTOCOLPGM("\nBed Topography Report");
-    if (map_type == 0) {
-      SERIAL_PROTOCOLPGM(":\n\n");
-      serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
-      SERIAL_ECHO_SP(spaces + 3);
-      serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
-      SERIAL_EOL();
-      serial_echo_xy(MESH_MIN_X, MESH_MAX_Y);
-      SERIAL_ECHO_SP(spaces);
-      serial_echo_xy(MESH_MAX_X, MESH_MAX_Y);
+    const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
+
+    SERIAL_ECHOPGM("\nBed Topography Report");
+    if (human) {
+      SERIAL_ECHOPGM(":\n\n");
+      serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
+      serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
       SERIAL_EOL();
+      serial_echo_column_labels(eachsp - 2);
     }
     else {
-      SERIAL_PROTOCOLPGM(" for ");
-      serialprintPGM(map_type == 1 ? PSTR("CSV:\n\n") : PSTR("LCD:\n\n"));
+      SERIAL_ECHOPGM(" for ");
+      serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
     }
 
     const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
                 current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
 
+    if (!lcd) SERIAL_EOL();
     for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
+
+      // Row Label (J index)
+      if (human) {
+        if (j < 10) SERIAL_CHAR(' ');
+        SERIAL_ECHO(j);
+        SERIAL_ECHOPGM(" |");
+      }
+
+      // Row Values (I indexes)
       for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
-        const bool is_current = i == current_xi && j == current_yi;
 
-        // is the nozzle here? then mark the number
-        if (map_type == 0) SERIAL_CHAR(is_current ? '[' : ' ');
+        // Opening Brace or Space
+        const bool is_current = i == current_xi && j == current_yi;
+        if (human) SERIAL_CHAR(is_current ? '[' : ' ');
 
+        // Z Value at current I, J
         const float f = z_values[i][j];
-        if (isnan(f)) {
-          serialprintPGM(map_type == 0 ? PSTR("    .   ") : PSTR("NAN"));
+        if (lcd) {
+          // TODO: Display on Graphical LCD
         }
-        else if (map_type <= 1) {
-          // if we don't do this, the columns won't line up nicely
-          if (map_type == 0 && f >= 0.0) SERIAL_CHAR(' ');
-          SERIAL_PROTOCOL_F(f, 3);
+        else if (isnan(f))
+          serialprintPGM(human ? PSTR("  .   ") : PSTR("NAN"));
+        else if (human || csv) {
+          if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' ');  // Space for positive ('-' for negative)
+          SERIAL_ECHO_F(f, 3);                                    // Positive: 5 digits, Negative: 6 digits
         }
-        idle();
-        if (map_type == 1 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
+        if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
+
+        // Closing Brace or Space
+        if (human) SERIAL_CHAR(is_current ? ']' : ' ');
+
         SERIAL_FLUSHTX();
-        safe_delay(15);
-        if (map_type == 0) {
-          SERIAL_CHAR(is_current ? ']' : ' ');
-          SERIAL_CHAR(' ');
-        }
-      }
-      SERIAL_EOL();
-      if (j && map_type == 0) { // we want the (0,0) up tight against the block of numbers
-        SERIAL_CHAR(' ');
-        SERIAL_EOL();
+        idle();
       }
+      if (!lcd) SERIAL_EOL();
+
+      // A blank line between rows (unless compact)
+      if (j && human && !comp) SERIAL_ECHOLNPGM("   |");
     }
 
-    if (map_type == 0) {
-      serial_echo_xy(MESH_MIN_X, MESH_MIN_Y);
-      SERIAL_ECHO_SP(spaces + 4);
-      serial_echo_xy(MESH_MAX_X, MESH_MIN_Y);
+    if (human) {
+      serial_echo_column_labels(eachsp - 2);
+      SERIAL_EOL();
+      serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
+      serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
       SERIAL_EOL();
-      serial_echo_xy(0, 0);
-      SERIAL_ECHO_SP(spaces + 5);
-      serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
       SERIAL_EOL();
     }
 

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -252,9 +252,7 @@
    *                    for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
    *                    extend to a limit related to the available EEPROM storage.
    *
-   *   S -1  Store      Store the current Mesh as a print out that is suitable to be feed back into the system
-   *                    at a later date. The GCode output can be saved and later replayed by the host software
-   *                    to reconstruct the current mesh on another machine.
+   *   S -1  Store      Print the current Mesh as G-code that can be used to restore the mesh anytime.
    *
    *   T     Topology   Display the Mesh Map Topology.
    *                    'T' can be used alone (e.g., G29 T) or in combination with most of the other commands.

Marlin/src/feature/fwretract.cpp

@@ -122,6 +122,7 @@ void FWRetract::retract(const bool retracting
       SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
     }
     SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
+    SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
     SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
   //*/
 
@@ -138,7 +139,7 @@ void FWRetract::retract(const bool retracting
     feedrate_mm_s = retract_feedrate_mm_s;
     current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
     sync_plan_position_e();
-    prepare_move_to_destination();
+    prepare_move_to_destination();  // set_current_to_destination
 
     // Is a Z hop set, and has the hop not yet been done?
     // No double zlifting
@@ -148,7 +149,7 @@ void FWRetract::retract(const bool retracting
       hop_amount += retract_zlift;                        // Add to the hop total (again, only once)
       destination[Z_AXIS] += retract_zlift;               // Raise Z by the zlift (M207 Z) amount
       feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Maximum Z feedrate
-      prepare_move_to_destination();                      // Raise up
+      prepare_move_to_destination();                      // Raise up, set_current_to_destination
       current_position[Z_AXIS] = old_z;                   // Spoof the Z position in the planner
       SYNC_PLAN_POSITION_KINEMATIC();
     }
@@ -159,17 +160,17 @@ void FWRetract::retract(const bool retracting
       current_position[Z_AXIS] += hop_amount;             // Set actual Z (due to the prior hop)
       SYNC_PLAN_POSITION_KINEMATIC();                     // Spoof the Z position in the planner
       feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Z feedrate to max
-      prepare_move_to_destination();                      // Lower Z and update current_position
+      prepare_move_to_destination();                      // Lower Z, set_current_to_destination
       hop_amount = 0.0;                                   // Clear the hop amount
     }
 
     // A retract multiplier has been added here to get faster swap recovery
     feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
 
-    const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length;
-    current_position[E_AXIS] -= move_e * renormalize;
+    current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length
+                                          : retract_length + retract_recover_length) * renormalize;
     sync_plan_position_e();
-    prepare_move_to_destination();  // Recover E
+    prepare_move_to_destination();                        // Recover E, set_current_to_destination
   }
 
   feedrate_mm_s = old_feedrate_mm_s;                      // Restore original feedrate
@@ -192,6 +193,7 @@ void FWRetract::retract(const bool retracting
       SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
     }
     SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
+    SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
     SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
   //*/
 

Marlin/src/gcode/bedlevel/M420.cpp

@@ -42,6 +42,7 @@
  * With AUTO_BED_LEVELING_UBL only:
  *
  *   L[index]  Load UBL mesh from index (0 is default)
+ *   T[map]    0:Human-readable 1:CSV 2:"LCD" 4:Compact
  */
 void GcodeSuite::M420() {
 
@@ -80,7 +81,7 @@ void GcodeSuite::M420() {
 
     // L or V display the map info
     if (parser.seen('L') || parser.seen('V')) {
-      ubl.display_map(0);  // Currently only supports one map type
+      ubl.display_map(parser.byteval('T'));
       SERIAL_ECHOLNPAIR("ubl.mesh_is_valid = ", ubl.mesh_is_valid());
       SERIAL_ECHOLNPAIR("ubl.storage_slot = ", ubl.storage_slot);
     }

Marlin/src/gcode/bedlevel/ubl/M421.cpp

@@ -37,6 +37,7 @@
  * Usage:
  *   M421 I<xindex> J<yindex> Z<linear>
  *   M421 I<xindex> J<yindex> Q<offset>
+ *   M421 I<xindex> J<yindex> N
  *   M421 C Z<linear>
  *   M421 C Q<offset>
  */
@@ -45,6 +46,7 @@ void GcodeSuite::M421() {
   const bool hasI = ix >= 0,
              hasJ = iy >= 0,
              hasC = parser.seen('C'),
+             hasN = parser.seen('N'),
              hasZ = parser.seen('Z'),
              hasQ = !hasZ && parser.seen('Q');
 
@@ -54,7 +56,7 @@ void GcodeSuite::M421() {
     iy = location.y_index;
   }
 
-  if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) {
+  if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN)) {
     SERIAL_ERROR_START();
     SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
   }
@@ -63,7 +65,7 @@ void GcodeSuite::M421() {
     SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
   }
   else
-    ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
+    ubl.z_values[ix][iy] = hasN ? NAN : parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
 }
 
 #endif // AUTO_BED_LEVELING_UBL

Marlin/src/gcode/config/M221.cpp

@@ -32,4 +32,12 @@ void GcodeSuite::M221() {
     planner.flow_percentage[target_extruder] = parser.value_int();
     planner.refresh_e_factor(target_extruder);
   }
+  else {
+    SERIAL_ECHO_START();
+    SERIAL_CHAR('E');
+    SERIAL_CHAR('0' + target_extruder);
+    SERIAL_ECHOPAIR(" Flow: ", planner.flow_percentage[target_extruder]);
+    SERIAL_CHAR('%');
+    SERIAL_EOL();
+  }
 }

Marlin/src/inc/Conditionals_post.h

@@ -1039,6 +1039,10 @@
 #define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
 #define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
 
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+  #undef LCD_BED_LEVELING
+#endif
+
 /**
  * Heater & Fan Pausing
  */

Marlin/src/lcd/ultralcd.cpp

@@ -2931,14 +2931,16 @@ void kill_screen(const char* lcd_msg) {
       const float diff = float((int32_t)encoderPosition) * move_menu_scale;
       #if IS_KINEMATIC
         manual_move_offset += diff;
-        // Limit only when trying to move towards the limit
-        if ((int32_t)encoderPosition < 0) NOLESS(manual_move_offset, min - current_position[axis]);
-        if ((int32_t)encoderPosition > 0) NOMORE(manual_move_offset, max - current_position[axis]);
+        if ((int32_t)encoderPosition < 0)
+          NOLESS(manual_move_offset, min - current_position[axis]);
+        else
+          NOMORE(manual_move_offset, max - current_position[axis]);
       #else
         current_position[axis] += diff;
-        // Limit only when trying to move towards the limit
-        if ((int32_t)encoderPosition < 0) NOLESS(current_position[axis], min);
-        if ((int32_t)encoderPosition > 0) NOMORE(current_position[axis], max);
+        if ((int32_t)encoderPosition < 0)
+          NOLESS(current_position[axis], min);
+        else
+          NOMORE(current_position[axis], max);
       #endif
 
       manual_move_to_current(axis);