🚸 Refinements for UBL G29 J (tilt mesh) (MarlinFirmware#25486)

Author: jamespearson04

Marlin/Configuration.h

@@ -2054,6 +2054,9 @@
 
   //#define UBL_HILBERT_CURVE       // Use Hilbert distribution for less travel when probing multiple points
 
+  //#define UBL_TILT_ON_MESH_POINTS         // Use nearest mesh points with G29 J for better Z reference
+  //#define UBL_TILT_ON_MESH_POINTS_3POINT  // Use nearest mesh points with G29 J0 (3-point)
+
   #define UBL_MESH_EDIT_MOVES_Z     // Sophisticated users prefer no movement of nozzle
   #define UBL_SAVE_ACTIVE_ON_M500   // Save the currently active mesh in the current slot on M500
 

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

@@ -1489,6 +1489,14 @@ void unified_bed_leveling::smart_fill_mesh() {
       xy_float_t points[3];
       probe.get_three_points(points);
 
+      #if ENABLED(UBL_TILT_ON_MESH_POINTS_3POINT)
+        mesh_index_pair cpos[3];
+        LOOP_L_N(ix, 3) { // Convert points to coordinates of mesh points
+          cpos[ix] = find_closest_mesh_point_of_type(REAL, points[ix], true);
+          points[ix] = cpos[ix].meshpos();
+        }
+      #endif
+
       #if ENABLED(VALIDATE_MESH_TILT)
         float gotz[3];  // Used for algorithm validation below
       #endif
@@ -1500,7 +1508,7 @@ void unified_bed_leveling::smart_fill_mesh() {
         measured_z = probe.probe_at_point(points[i], i < 2 ? PROBE_PT_RAISE : PROBE_PT_LAST_STOW, param.V_verbosity);
         if ((abort_flag = isnan(measured_z))) break;
 
-        measured_z -= get_z_correction(points[i]);
+        measured_z -= TERN(UBL_TILT_ON_MESH_POINTS_3POINT, z_values[cpos[i].pos.x][cpos[i].pos.y], get_z_correction(points[i]));
         TERN_(VALIDATE_MESH_TILT, gotz[i] = measured_z);
 
         if (param.V_verbosity > 3) { serial_spaces(16); SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); }
@@ -1518,16 +1526,14 @@ void unified_bed_leveling::smart_fill_mesh() {
     }
     else { // !do_3_pt_leveling
 
-      #ifdef G29J_MESH_TILT_MARGIN
-        const float x_min = _MAX(probe.min_x() + (G29J_MESH_TILT_MARGIN), X_MIN_POS),
-                    x_max = _MIN(probe.max_x() - (G29J_MESH_TILT_MARGIN), X_MAX_POS),
-                    y_min = _MAX(probe.min_y() + (G29J_MESH_TILT_MARGIN), Y_MIN_POS),
-                    y_max = _MIN(probe.max_y() - (G29J_MESH_TILT_MARGIN), Y_MAX_POS);
-      #else
-        const float x_min = probe.min_x(), x_max = probe.max_x(),
-                    y_min = probe.min_y(), y_max = probe.max_y();
+      #ifndef G29J_MESH_TILT_MARGIN
+        #define G29J_MESH_TILT_MARGIN 0
       #endif
-      const float dx = (x_max - x_min) / (param.J_grid_size - 1),
+      const float x_min = _MAX((X_MIN_POS) + (G29J_MESH_TILT_MARGIN), MESH_MIN_X, probe.min_x()),
+                  x_max = _MIN((X_MAX_POS) - (G29J_MESH_TILT_MARGIN), MESH_MAX_X, probe.max_x()),
+                  y_min = _MAX((Y_MIN_POS) + (G29J_MESH_TILT_MARGIN), MESH_MIN_Y, probe.min_y()),
+                  y_max = _MIN((Y_MAX_POS) - (G29J_MESH_TILT_MARGIN), MESH_MAX_Y, probe.max_y()),
+                  dx = (x_max - x_min) / (param.J_grid_size - 1),
                   dy = (y_max - y_min) / (param.J_grid_size - 1);
 
       bool zig_zag = false;
@@ -1541,18 +1547,35 @@ void unified_bed_leveling::smart_fill_mesh() {
         LOOP_L_N(iy, param.J_grid_size) {
           rpos.y = y_min + dy * (zig_zag ? param.J_grid_size - 1 - iy : iy);
 
+          #if ENABLED(UBL_TILT_ON_MESH_POINTS)
+            #if ENABLED(DEBUG_LEVELING_FEATURE)
+              xy_pos_t oldRpos;
+              if (DEBUGGING(LEVELING)) oldRpos = rpos;
+            #endif
+            mesh_index_pair cpos;
+            rpos -= probe.offset;
+            cpos = find_closest_mesh_point_of_type(REAL, rpos, true);
+            rpos = cpos.meshpos();
+          #endif
+
           SERIAL_ECHOLNPGM("Tilting mesh point ", point_num, "/", total_points, "\n");
           TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points));
 
           measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling
 
           if ((abort_flag = isnan(measured_z))) break;
 
-          const float zcorr = get_z_correction(rpos);
+          const float zcorr = TERN(UBL_TILT_ON_MESH_POINTS, z_values[cpos.pos.x][cpos.pos.y], get_z_correction(rpos));
 
           #if ENABLED(DEBUG_LEVELING_FEATURE)
             if (DEBUGGING(LEVELING)) {
               const xy_pos_t lpos = rpos.asLogical();
+              #if ENABLED(UBL_TILT_ON_MESH_POINTS)
+                const xy_pos_t oldLpos = oldRpos.asLogical();
+                DEBUG_ECHOPGM("Calculated point: ("); DEBUG_ECHO_F(oldRpos.x, 7); DEBUG_CHAR(','); DEBUG_ECHO_F(oldRpos.y, 7);
+                DEBUG_ECHOPAIR_F(")   logical: (", oldLpos.x, 7); DEBUG_CHAR(','); DEBUG_ECHO_F(oldLpos.y, 7);
+                DEBUG_ECHOPGM(")\nSelected mesh point: ");
+              #endif
               DEBUG_CHAR('('); DEBUG_ECHO_F(rpos.x, 7); DEBUG_CHAR(','); DEBUG_ECHO_F(rpos.y, 7);
               DEBUG_ECHOPAIR_F(")  logical: (", lpos.x, 7); DEBUG_CHAR(','); DEBUG_ECHO_F(lpos.y, 7);
               DEBUG_ECHOPAIR_F(")  measured: ", measured_z, 7);

Marlin/src/inc/Conditionals_post.h

@@ -3156,14 +3156,14 @@
     // Probing points may be verified at compile time within the radius
     // using static_assert(HYPOT2(X2-X1,Y2-Y1)<=sq(PRINTABLE_RADIUS),"bad probe point!")
     // so that may be added to SanityCheck.h in the future.
-    #define _MESH_MIN_X (X_MIN_BED + MESH_INSET)
-    #define _MESH_MIN_Y (Y_MIN_BED + MESH_INSET)
+    #define _MESH_MIN_X (X_MIN_BED + (MESH_INSET))
+    #define _MESH_MIN_Y (Y_MIN_BED + (MESH_INSET))
     #define _MESH_MAX_X (X_MAX_BED - (MESH_INSET))
     #define _MESH_MAX_Y (Y_MAX_BED - (MESH_INSET))
   #else
     // Boundaries for Cartesian probing based on set limits
-    #define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS))  // UBL is careful not to probe off the bed.  It does not
-    #define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS))  // need NOZZLE_TO_PROBE_OFFSET in the mesh dimensions
+    #define _MESH_MIN_X (_MAX(X_MIN_BED + (MESH_INSET), X_MIN_POS)) // UBL is careful not to probe off the bed. It doesn't
+    #define _MESH_MIN_Y (_MAX(Y_MIN_BED + (MESH_INSET), Y_MIN_POS)) // need NOZZLE_TO_PROBE_OFFSET in the mesh dimensions.
     #define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
     #define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
   #endif

Marlin/src/module/probe.h

@@ -307,6 +307,10 @@ class Probe {
             points[0] = xy_float_t({ (X_CENTER) + probe_radius() * COS0,   (Y_CENTER) + probe_radius() * SIN0 });
             points[1] = xy_float_t({ (X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120 });
             points[2] = xy_float_t({ (X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240 });
+          #elif ENABLED(AUTO_BED_LEVELING_UBL)
+            points[0] = xy_float_t({ _MAX(MESH_MIN_X, min_x()), _MAX(MESH_MIN_Y, min_y()) });
+            points[1] = xy_float_t({ _MIN(MESH_MAX_X, max_x()), _MAX(MESH_MIN_Y, min_y()) });
+            points[2] = xy_float_t({ (_MAX(MESH_MIN_X, min_x()) + _MIN(MESH_MAX_X, max_x())) / 2, _MIN(MESH_MAX_Y, max_y()) });
           #else
             points[0] = xy_float_t({ min_x(), min_y() });
             points[1] = xy_float_t({ max_x(), min_y() });

buildroot/tests/mega2560

@@ -44,7 +44,8 @@ opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO LCD_LANGUAGE jp_kana DEFAULT_EJERK 10 \
 opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LIGHTWEIGHT_UI SHOW_CUSTOM_BOOTSCREEN BOOT_MARLIN_LOGO_SMALL \
            SET_PROGRESS_MANUALLY SET_PROGRESS_PERCENT PRINT_PROGRESS_SHOW_DECIMALS SHOW_REMAINING_TIME STATUS_MESSAGE_SCROLLING SCROLL_LONG_FILENAMES \
            SDSUPPORT LONG_FILENAME_WRITE_SUPPORT SDCARD_SORT_ALPHA NO_SD_AUTOSTART USB_FLASH_DRIVE_SUPPORT CANCEL_OBJECTS \
-           Z_PROBE_SLED AUTO_BED_LEVELING_UBL UBL_HILBERT_CURVE RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT \
+           Z_PROBE_SLED AUTO_BED_LEVELING_UBL UBL_HILBERT_CURVE UBL_TILT_ON_MESH_POINTS UBL_TILT_ON_MESH_POINTS_3POINT \
+           RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT \
            EEPROM_SETTINGS EEPROM_CHITCHAT GCODE_MACROS CUSTOM_MENU_MAIN \
            MULTI_NOZZLE_DUPLICATION CLASSIC_JERK LIN_ADVANCE QUICK_HOME \
            NANODLP_Z_SYNC I2C_POSITION_ENCODERS M114_DETAIL \