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@ -23,387 +23,375 @@ |
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#ifndef UNIFIED_BED_LEVELING_H |
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#define UNIFIED_BED_LEVELING_H |
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#include "MarlinConfig.h" |
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#if ENABLED(AUTO_BED_LEVELING_UBL) |
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#include "Marlin.h" |
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#include "planner.h" |
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#include "math.h" |
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#include "vector_3.h" |
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#include "configuration_store.h" |
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#define UBL_VERSION "1.01" |
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#define UBL_OK false |
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#define UBL_ERR true |
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#define USE_NOZZLE_AS_REFERENCE 0 |
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#define USE_PROBE_AS_REFERENCE 1 |
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typedef struct { |
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int8_t x_index, y_index; |
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float distance; // When populated, the distance from the search location
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} mesh_index_pair; |
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// ubl.cpp
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void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y); |
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void bit_set(uint16_t bits[16], uint8_t x, uint8_t y); |
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bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y); |
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// ubl_motion.cpp
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void debug_current_and_destination(const char * const title); |
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// ubl_G29.cpp
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enum MeshPointType { INVALID, REAL, SET_IN_BITMAP }; |
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// External references
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char *ftostr43sign(const float&, char); |
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bool ubl_lcd_clicked(); |
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void home_all_axes(); |
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extern uint8_t ubl_cnt; |
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///////////////////////////////////////////////////////////////////////////////////////////////////////
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#if ENABLED(ULTRA_LCD) |
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extern char lcd_status_message[]; |
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void lcd_quick_feedback(); |
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#endif |
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#define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1)) |
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#define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) |
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typedef struct { |
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bool active = false; |
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float z_offset = 0.0; |
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int8_t storage_slot = -1; |
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} ubl_state; |
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class unified_bed_leveling { |
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private: |
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static float last_specified_z; |
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static int g29_verbose_level, |
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g29_phase_value, |
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g29_repetition_cnt, |
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g29_storage_slot, |
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g29_map_type, |
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g29_grid_size; |
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static bool g29_c_flag, g29_x_flag, g29_y_flag; |
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static float g29_x_pos, g29_y_pos, |
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g29_card_thickness, |
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g29_constant; |
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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static float g26_extrusion_multiplier, |
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g26_retraction_multiplier, |
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g26_nozzle, |
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g26_filament_diameter, |
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g26_prime_length, |
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g26_x_pos, g26_y_pos, |
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g26_ooze_amount, |
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g26_layer_height; |
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static int16_t g26_bed_temp, |
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g26_hotend_temp, |
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g26_repeats; |
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static int8_t g26_prime_flag; |
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static bool g26_continue_with_closest, g26_keep_heaters_on; |
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#endif |
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static float measure_point_with_encoder(); |
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static float measure_business_card_thickness(float); |
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static bool g29_parameter_parsing(); |
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static void find_mean_mesh_height(); |
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static void shift_mesh_height(); |
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static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest); |
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static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool); |
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static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3); |
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static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); |
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static void g29_what_command(); |
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static void g29_eeprom_dump(); |
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static void g29_compare_current_mesh_to_stored_mesh(); |
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static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map); |
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static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); |
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static void smart_fill_mesh(); |
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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static bool exit_from_g26(); |
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static bool parse_G26_parameters(); |
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static void G26_line_to_destination(const float &feed_rate); |
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static mesh_index_pair find_closest_circle_to_print(const float&, const float&); |
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static bool look_for_lines_to_connect(); |
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static bool turn_on_heaters(); |
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static bool prime_nozzle(); |
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static void retract_filament(const float where[XYZE]); |
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static void recover_filament(const float where[XYZE]); |
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static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&); |
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static void move_to(const float&, const float&, const float&, const float&); |
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inline static void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); } |
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#endif |
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public: |
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static void echo_name(); |
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static void report_state(); |
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static void save_ubl_active_state_and_disable(); |
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static void restore_ubl_active_state_and_leave(); |
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static void display_map(const int); |
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static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16], bool); |
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static void reset(); |
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static void invalidate(); |
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static void set_all_mesh_points_to_value(float); |
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static bool sanity_check(); |
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static void G29() _O0; // O0 for no optimization
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static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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static void G26(); |
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#endif |
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static ubl_state state; |
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static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; |
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// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
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// until determinism prevails
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constexpr static float _mesh_index_to_xpos[16] PROGMEM = { |
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UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 6 * (MESH_X_DIST), UBL_MESH_MIN_X + 7 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 8 * (MESH_X_DIST), UBL_MESH_MIN_X + 9 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 10 * (MESH_X_DIST), UBL_MESH_MIN_X + 11 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 12 * (MESH_X_DIST), UBL_MESH_MIN_X + 13 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST) |
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}; |
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constexpr static float _mesh_index_to_ypos[16] PROGMEM = { |
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UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 6 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 7 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 8 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 9 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 10 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 11 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 12 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 13 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 14 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 15 * (MESH_Y_DIST) |
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}; |
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static bool g26_debug_flag, has_control_of_lcd_panel; |
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static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
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unified_bed_leveling(); |
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FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } |
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static int8_t get_cell_index_x(const float &x) { |
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const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); |
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return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t get_cell_index_y(const float &y) { |
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const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); |
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return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t find_closest_x_index(const float &x) { |
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const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); |
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return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; |
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#include "../../Marlin.h" |
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#include "../../core/serial.h" |
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#include "../../module/planner.h" |
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#define UBL_VERSION "1.01" |
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#define UBL_OK false |
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#define UBL_ERR true |
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#define USE_NOZZLE_AS_REFERENCE 0 |
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#define USE_PROBE_AS_REFERENCE 1 |
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typedef struct { |
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int8_t x_index, y_index; |
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float distance; // When populated, the distance from the search location
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} mesh_index_pair; |
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// ubl.cpp
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void bit_clear(uint16_t bits[16], const uint8_t x, const uint8_t y); |
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void bit_set(uint16_t bits[16], const uint8_t x, const uint8_t y); |
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bool is_bit_set(uint16_t bits[16], const uint8_t x, const uint8_t y); |
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// ubl_motion.cpp
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void debug_current_and_destination(const char * const title); |
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// ubl_G29.cpp
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enum MeshPointType { INVALID, REAL, SET_IN_BITMAP }; |
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// External references
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char *ftostr43sign(const float&, char); |
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bool ubl_lcd_clicked(); |
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void home_all_axes(); |
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extern uint8_t ubl_cnt; |
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///////////////////////////////////////////////////////////////////////////////////////////////////////
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#if ENABLED(ULTRA_LCD) |
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extern char lcd_status_message[]; |
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void lcd_quick_feedback(); |
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#endif |
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#define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1)) |
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#define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) |
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typedef struct { |
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bool active = false; |
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float z_offset = 0.0; |
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int8_t storage_slot = -1; |
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} ubl_state; |
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class unified_bed_leveling { |
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private: |
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static float last_specified_z; |
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static int g29_verbose_level, |
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g29_phase_value, |
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g29_repetition_cnt, |
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g29_storage_slot, |
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g29_map_type, |
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g29_grid_size; |
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static bool g29_c_flag, g29_x_flag, g29_y_flag; |
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static float g29_x_pos, g29_y_pos, |
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g29_card_thickness, |
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g29_constant; |
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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static float g26_extrusion_multiplier, |
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g26_retraction_multiplier, |
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g26_nozzle, |
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g26_filament_diameter, |
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g26_prime_length, |
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g26_x_pos, g26_y_pos, |
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g26_ooze_amount, |
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g26_layer_height; |
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static int16_t g26_bed_temp, |
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g26_hotend_temp, |
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g26_repeats; |
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static int8_t g26_prime_flag; |
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static bool g26_continue_with_closest, g26_keep_heaters_on; |
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#endif |
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static float measure_point_with_encoder(); |
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static float measure_business_card_thickness(float); |
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static bool g29_parameter_parsing(); |
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static void find_mean_mesh_height(); |
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static void shift_mesh_height(); |
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static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest); |
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static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool); |
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static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3); |
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static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); |
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static void g29_what_command(); |
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static void g29_eeprom_dump(); |
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static void g29_compare_current_mesh_to_stored_mesh(); |
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static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map); |
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static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); |
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static void smart_fill_mesh(); |
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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static bool exit_from_g26(); |
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static bool parse_G26_parameters(); |
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static void G26_line_to_destination(const float &feed_rate); |
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static mesh_index_pair find_closest_circle_to_print(const float&, const float&); |
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static bool look_for_lines_to_connect(); |
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static bool turn_on_heaters(); |
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static bool prime_nozzle(); |
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static void retract_filament(const float where[XYZE]); |
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static void recover_filament(const float where[XYZE]); |
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static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&); |
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static void move_to(const float&, const float&, const float&, const float&); |
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inline static void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); } |
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#endif |
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public: |
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static void echo_name(); |
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static void report_state(); |
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static void save_ubl_active_state_and_disable(); |
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static void restore_ubl_active_state_and_leave(); |
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static void display_map(const int); |
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static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16], bool); |
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static void reset(); |
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static void invalidate(); |
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static void set_all_mesh_points_to_value(float); |
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static bool sanity_check(); |
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static void G29() _O0; // O0 for no optimization
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static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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static void G26(); |
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#endif |
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static ubl_state state; |
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static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; |
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// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
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// until determinism prevails
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constexpr static float _mesh_index_to_xpos[16] PROGMEM = { |
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UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 6 * (MESH_X_DIST), UBL_MESH_MIN_X + 7 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 8 * (MESH_X_DIST), UBL_MESH_MIN_X + 9 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 10 * (MESH_X_DIST), UBL_MESH_MIN_X + 11 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 12 * (MESH_X_DIST), UBL_MESH_MIN_X + 13 * (MESH_X_DIST), |
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UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST) |
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}; |
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constexpr static float _mesh_index_to_ypos[16] PROGMEM = { |
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UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 6 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 7 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 8 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 9 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 10 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 11 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 12 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 13 * (MESH_Y_DIST), |
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UBL_MESH_MIN_Y + 14 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 15 * (MESH_Y_DIST) |
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}; |
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static bool g26_debug_flag, has_control_of_lcd_panel; |
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static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
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unified_bed_leveling(); |
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FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } |
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static int8_t get_cell_index_x(const float &x) { |
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const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); |
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return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t get_cell_index_y(const float &y) { |
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const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); |
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return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t find_closest_x_index(const float &x) { |
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const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); |
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return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; |
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} |
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static int8_t find_closest_y_index(const float &y) { |
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const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST)); |
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return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; |
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} |
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/**
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* z2 --| |
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* z0 | | |
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* | | + (z2-z1) |
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* z1 | | | |
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* ---+-------------+--------+-- --| |
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* a1 a0 a2 |
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* |<---delta_a---------->| |
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* |
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* calc_z0 is the basis for all the Mesh Based correction. It is used to |
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* find the expected Z Height at a position between two known Z-Height locations. |
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* |
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* It is fairly expensive with its 4 floating point additions and 2 floating point |
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* multiplications. |
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*/ |
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FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { |
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return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); |
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} |
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/**
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* z_correction_for_x_on_horizontal_mesh_line is an optimization for |
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* the case where the printer is making a vertical line that only crosses horizontal mesh lines. |
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*/ |
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inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) { |
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if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) { |
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serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") ); |
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0); |
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SERIAL_ECHOPAIR(",x1_i=", x1_i); |
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SERIAL_ECHOPAIR(",yi=", yi); |
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SERIAL_CHAR(')'); |
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SERIAL_EOL(); |
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return NAN; |
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} |
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static int8_t find_closest_y_index(const float &y) { |
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const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST)); |
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return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; |
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const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)), |
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z1 = z_values[x1_i][yi]; |
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return z1 + xratio * (z_values[x1_i + 1][yi] - z1); |
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} |
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//
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// See comments above for z_correction_for_x_on_horizontal_mesh_line
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|
//
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|
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) { |
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if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 2)) { |
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serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") ); |
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0); |
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SERIAL_ECHOPAIR(", xi=", xi); |
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SERIAL_ECHOPAIR(", y1_i=", y1_i); |
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SERIAL_CHAR(')'); |
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|
SERIAL_EOL(); |
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|
return NAN; |
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} |
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|
/**
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|
|
* z2 --| |
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|
* z0 | | |
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* | | + (z2-z1) |
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|
* z1 | | | |
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|
* ---+-------------+--------+-- --| |
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|
* a1 a0 a2 |
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|
* |<---delta_a---------->| |
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|
* |
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|
* calc_z0 is the basis for all the Mesh Based correction. It is used to |
|
|
|
* find the expected Z Height at a position between two known Z-Height locations. |
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|
|
* |
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|
|
* It is fairly expensive with its 4 floating point additions and 2 floating point |
|
|
|
* multiplications. |
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|
*/ |
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|
FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { |
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|
return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); |
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|
} |
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|
const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)), |
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|
|
z1 = z_values[xi][y1_i]; |
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|
|
|
/**
|
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|
|
* z_correction_for_x_on_horizontal_mesh_line is an optimization for |
|
|
|
* the case where the printer is making a vertical line that only crosses horizontal mesh lines. |
|
|
|
*/ |
|
|
|
inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) { |
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|
|
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) { |
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|
|
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") ); |
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|
|
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0); |
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|
SERIAL_ECHOPAIR(",x1_i=", x1_i); |
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|
SERIAL_ECHOPAIR(",yi=", yi); |
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|
SERIAL_CHAR(')'); |
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|
SERIAL_EOL(); |
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|
return NAN; |
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|
|
} |
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|
return z1 + yratio * (z_values[xi][y1_i + 1] - z1); |
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|
|
} |
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|
|
const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)), |
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|
|
z1 = z_values[x1_i][yi]; |
|
|
|
/**
|
|
|
|
* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first |
|
|
|
* does a linear interpolation along both of the bounding X-Mesh-Lines to find the |
|
|
|
* Z-Height at both ends. Then it does a linear interpolation of these heights based |
|
|
|
* on the Y position within the cell. |
|
|
|
*/ |
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|
|
static float get_z_correction(const float &lx0, const float &ly0) { |
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|
|
const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)), |
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|
|
cy = get_cell_index_y(RAW_Y_POSITION(ly0)); |
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|
|
return z1 + xratio * (z_values[x1_i + 1][yi] - z1); |
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|
|
} |
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|
|
if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 2)) { |
|
|
|
|
|
|
|
//
|
|
|
|
// See comments above for z_correction_for_x_on_horizontal_mesh_line
|
|
|
|
//
|
|
|
|
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) { |
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|
|
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 2)) { |
|
|
|
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") ); |
|
|
|
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0); |
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|
|
SERIAL_ECHOPAIR(", xi=", xi); |
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|
|
SERIAL_ECHOPAIR(", y1_i=", y1_i); |
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|
|
SERIAL_CHAR(')'); |
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|
|
SERIAL_EOL(); |
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|
|
return NAN; |
|
|
|
} |
|
|
|
SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0); |
|
|
|
SERIAL_ECHOPAIR(", ly0=", ly0); |
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|
|
SERIAL_CHAR(')'); |
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|
|
SERIAL_EOL(); |
|
|
|
|
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|
|
const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)), |
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|
|
z1 = z_values[xi][y1_i]; |
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|
|
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|
|
return z1 + yratio * (z_values[xi][y1_i + 1] - z1); |
|
|
|
#if ENABLED(ULTRA_LCD) |
|
|
|
strcpy(lcd_status_message, "get_z_correction() indexes out of range."); |
|
|
|
lcd_quick_feedback(); |
|
|
|
#endif |
|
|
|
return NAN; // this used to return state.z_offset
|
|
|
|
} |
|
|
|
|
|
|
|
/**
|
|
|
|
* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first |
|
|
|
* does a linear interpolation along both of the bounding X-Mesh-Lines to find the |
|
|
|
* Z-Height at both ends. Then it does a linear interpolation of these heights based |
|
|
|
* on the Y position within the cell. |
|
|
|
*/ |
|
|
|
static float get_z_correction(const float &lx0, const float &ly0) { |
|
|
|
const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)), |
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|
|
cy = get_cell_index_y(RAW_Y_POSITION(ly0)); |
|
|
|
|
|
|
|
if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 2)) { |
|
|
|
|
|
|
|
SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0); |
|
|
|
SERIAL_ECHOPAIR(", ly0=", ly0); |
|
|
|
SERIAL_CHAR(')'); |
|
|
|
SERIAL_EOL(); |
|
|
|
|
|
|
|
#if ENABLED(ULTRA_LCD) |
|
|
|
strcpy(lcd_status_message, "get_z_correction() indexes out of range."); |
|
|
|
lcd_quick_feedback(); |
|
|
|
#endif |
|
|
|
return NAN; // this used to return state.z_offset
|
|
|
|
const float z1 = calc_z0(RAW_X_POSITION(lx0), |
|
|
|
mesh_index_to_xpos(cx), z_values[cx][cy], |
|
|
|
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]); |
|
|
|
|
|
|
|
const float z2 = calc_z0(RAW_X_POSITION(lx0), |
|
|
|
mesh_index_to_xpos(cx), z_values[cx][cy + 1], |
|
|
|
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]); |
|
|
|
|
|
|
|
float z0 = calc_z0(RAW_Y_POSITION(ly0), |
|
|
|
mesh_index_to_ypos(cy), z1, |
|
|
|
mesh_index_to_ypos(cy + 1), z2); |
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
|
if (DEBUGGING(MESH_ADJUST)) { |
|
|
|
SERIAL_ECHOPAIR(" raw get_z_correction(", lx0); |
|
|
|
SERIAL_CHAR(','); |
|
|
|
SERIAL_ECHO(ly0); |
|
|
|
SERIAL_ECHOPGM(") = "); |
|
|
|
SERIAL_ECHO_F(z0, 6); |
|
|
|
} |
|
|
|
#endif |
|
|
|
|
|
|
|
const float z1 = calc_z0(RAW_X_POSITION(lx0), |
|
|
|
mesh_index_to_xpos(cx), z_values[cx][cy], |
|
|
|
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]); |
|
|
|
|
|
|
|
const float z2 = calc_z0(RAW_X_POSITION(lx0), |
|
|
|
mesh_index_to_xpos(cx), z_values[cx][cy + 1], |
|
|
|
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]); |
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
|
if (DEBUGGING(MESH_ADJUST)) { |
|
|
|
SERIAL_ECHOPGM(" >>>---> "); |
|
|
|
SERIAL_ECHO_F(z0, 6); |
|
|
|
SERIAL_EOL(); |
|
|
|
} |
|
|
|
#endif |
|
|
|
|
|
|
|
float z0 = calc_z0(RAW_Y_POSITION(ly0), |
|
|
|
mesh_index_to_ypos(cy), z1, |
|
|
|
mesh_index_to_ypos(cy + 1), z2); |
|
|
|
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
|
|
|
z0 = 0.0; // in ubl.z_values[][] and propagate through the
|
|
|
|
// calculations. If our correction is NAN, we throw it out
|
|
|
|
// because part of the Mesh is undefined and we don't have the
|
|
|
|
// information we need to complete the height correction.
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
|
if (DEBUGGING(MESH_ADJUST)) { |
|
|
|
SERIAL_ECHOPAIR(" raw get_z_correction(", lx0); |
|
|
|
SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0); |
|
|
|
SERIAL_CHAR(','); |
|
|
|
SERIAL_ECHO(ly0); |
|
|
|
SERIAL_ECHOPGM(") = "); |
|
|
|
SERIAL_ECHO_F(z0, 6); |
|
|
|
} |
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|
|
|
if (DEBUGGING(MESH_ADJUST)) { |
|
|
|
SERIAL_ECHOPGM(" >>>---> "); |
|
|
|
SERIAL_ECHO_F(z0, 6); |
|
|
|
SERIAL_CHAR(')'); |
|
|
|
SERIAL_EOL(); |
|
|
|
} |
|
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#endif |
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in ubl.z_values[][] and propagate through the
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// calculations. If our correction is NAN, we throw it out
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// because part of the Mesh is undefined and we don't have the
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// information we need to complete the height correction.
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(MESH_ADJUST)) { |
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SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0); |
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SERIAL_CHAR(','); |
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SERIAL_ECHO(ly0); |
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SERIAL_CHAR(')'); |
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SERIAL_EOL(); |
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} |
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#endif |
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} |
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return z0; // there used to be a +state.z_offset on this line
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} |
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/**
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* This function sets the Z leveling fade factor based on the given Z height, |
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* only re-calculating when necessary. |
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* |
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* Returns 1.0 if planner.z_fade_height is 0.0. |
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* Returns 0.0 if Z is past the specified 'Fade Height'. |
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*/ |
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
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static inline float fade_scaling_factor_for_z(const float &lz) { |
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if (planner.z_fade_height == 0.0) return 1.0; |
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static float fade_scaling_factor = 1.0; |
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const float rz = RAW_Z_POSITION(lz); |
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if (last_specified_z != rz) { |
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last_specified_z = rz; |
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fade_scaling_factor = |
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rz < planner.z_fade_height |
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? 1.0 - (rz * planner.inverse_z_fade_height) |
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: 0.0; |
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} |
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return fade_scaling_factor; |
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return z0; // there used to be a +state.z_offset on this line
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} |
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/**
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* This function sets the Z leveling fade factor based on the given Z height, |
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* only re-calculating when necessary. |
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* |
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* Returns 1.0 if planner.z_fade_height is 0.0. |
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* Returns 0.0 if Z is past the specified 'Fade Height'. |
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*/ |
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
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static inline float fade_scaling_factor_for_z(const float &lz) { |
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if (planner.z_fade_height == 0.0) return 1.0; |
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static float fade_scaling_factor = 1.0; |
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const float rz = RAW_Z_POSITION(lz); |
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if (last_specified_z != rz) { |
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last_specified_z = rz; |
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fade_scaling_factor = |
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rz < planner.z_fade_height |
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? 1.0 - (rz * planner.inverse_z_fade_height) |
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: 0.0; |
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} |
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#else |
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FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; } |
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#endif |
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FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { |
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return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : UBL_MESH_MIN_X + i * (MESH_X_DIST); |
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} |
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FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { |
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return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : UBL_MESH_MIN_Y + i * (MESH_Y_DIST); |
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return fade_scaling_factor; |
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} |
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#else |
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FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; } |
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#endif |
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static bool prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate); |
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static void line_to_destination_cartesian(const float &fr, uint8_t e); |
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FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { |
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return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : UBL_MESH_MIN_X + i * (MESH_X_DIST); |
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} |
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}; // class unified_bed_leveling
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FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { |
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return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : UBL_MESH_MIN_Y + i * (MESH_Y_DIST); |
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} |
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extern unified_bed_leveling ubl; |
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static bool prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate); |
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static void line_to_destination_cartesian(const float &fr, uint8_t e); |
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#if ENABLED(UBL_G26_MESH_VALIDATION) |
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FORCE_INLINE void gcode_G26() { ubl.G26(); } |
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#endif |
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}; // class unified_bed_leveling
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FORCE_INLINE void gcode_G29() { ubl.G29(); } |
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extern unified_bed_leveling ubl; |
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#endif // AUTO_BED_LEVELING_UBL
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#endif // UNIFIED_BED_LEVELING_H
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Scott Lahteine
7 years ago