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@ -23,93 +23,42 @@ |
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#if ENABLED(AUTO_BED_LEVELING_UBL) |
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#include "../bedlevel.h" |
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#include "../../../module/planner.h" |
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#include "../../../module/stepper.h" |
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#include "../../../module/motion.h" |
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#include "../bedlevel.h" |
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#include "../../../module/planner.h" |
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#include "../../../module/stepper.h" |
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#include "../../../module/motion.h" |
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#if ENABLED(DELTA) |
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#include "../../../module/delta.h" |
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#endif |
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#include "../../../Marlin.h" |
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#include <math.h> |
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extern float destination[XYZE]; |
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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inline void set_current_from_destination() { COPY(current_position, destination); } |
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#else |
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extern void set_current_from_destination(); |
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#endif |
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#if ENABLED(DELTA) |
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#include "../../../module/delta.h" |
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#endif |
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static void debug_echo_axis(const AxisEnum axis) { |
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if (current_position[axis] == destination[axis]) |
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SERIAL_ECHOPGM("-------------"); |
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else |
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SERIAL_ECHO_F(destination[X_AXIS], 6); |
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} |
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#include "../../../Marlin.h" |
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#include <math.h> |
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void debug_current_and_destination(const char *title) { |
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// if the title message starts with a '!' it is so important, we are going to
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// ignore the status of the g26_debug_flag
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if (*title != '!' && !g26_debug_flag) return; |
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const float de = destination[E_AXIS] - current_position[E_AXIS]; |
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if (de == 0.0) return; // Printing moves only
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const float dx = destination[X_AXIS] - current_position[X_AXIS], |
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dy = destination[Y_AXIS] - current_position[Y_AXIS], |
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xy_dist = HYPOT(dx, dy); |
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if (xy_dist == 0.0) return; |
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SERIAL_ECHOPGM(" fpmm="); |
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const float fpmm = de / xy_dist; |
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SERIAL_ECHO_F(fpmm, 6); |
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SERIAL_ECHOPGM(" current=( "); |
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SERIAL_ECHO_F(current_position[X_AXIS], 6); |
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SERIAL_ECHOPGM(", "); |
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SERIAL_ECHO_F(current_position[Y_AXIS], 6); |
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SERIAL_ECHOPGM(", "); |
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SERIAL_ECHO_F(current_position[Z_AXIS], 6); |
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SERIAL_ECHOPGM(", "); |
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SERIAL_ECHO_F(current_position[E_AXIS], 6); |
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SERIAL_ECHOPGM(" ) destination=( "); |
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debug_echo_axis(X_AXIS); |
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SERIAL_ECHOPGM(", "); |
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debug_echo_axis(Y_AXIS); |
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SERIAL_ECHOPGM(", "); |
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debug_echo_axis(Z_AXIS); |
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SERIAL_ECHOPGM(", "); |
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debug_echo_axis(E_AXIS); |
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SERIAL_ECHOPGM(" ) "); |
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SERIAL_ECHO(title); |
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SERIAL_EOL(); |
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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inline void set_current_from_destination() { COPY(current_position, destination); } |
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#else |
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extern void set_current_from_destination(); |
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#endif |
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} |
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#if !UBL_SEGMENTED |
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void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) { |
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void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) { |
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/**
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* Much of the nozzle movement will be within the same cell. So we will do as little computation |
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* as possible to determine if this is the case. If this move is within the same cell, we will |
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave |
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*/ |
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const float start[XYZE] = { |
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current_position[X_AXIS], |
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current_position[Y_AXIS], |
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current_position[Z_AXIS], |
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current_position[E_AXIS] |
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}, |
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end[XYZE] = { |
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destination[X_AXIS], |
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destination[Y_AXIS], |
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destination[Z_AXIS], |
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destination[E_AXIS] |
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}; |
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#if ENABLED(SKEW_CORRECTION) |
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// For skew correction just adjust the destination point and we're done
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float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }, |
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end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] }; |
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planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]); |
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planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]); |
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#else |
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const float (&start)[XYZE] = current_position, |
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(&end)[XYZE] = destination; |
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#endif |
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const int cell_start_xi = get_cell_index_x(start[X_AXIS]), |
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cell_start_yi = get_cell_index_y(start[Y_AXIS]), |
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@ -117,13 +66,13 @@ |
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cell_dest_yi = get_cell_index_y(end[Y_AXIS]); |
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if (g26_debug_flag) { |
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SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]); |
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SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]); |
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SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]); |
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SERIAL_ECHOPAIR(", ee=", end[E_AXIS]); |
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SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]); |
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SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]); |
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SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]); |
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SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]); |
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SERIAL_CHAR(')'); |
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SERIAL_EOL(); |
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()")); |
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} |
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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@ -139,11 +88,11 @@ |
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
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// a reasonable correction would be.
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planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder); |
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder); |
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set_current_from_destination(); |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()")); |
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return; |
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} |
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@ -183,10 +132,10 @@ |
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*/ |
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if (isnan(z0)) z0 = 0.0; |
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planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder); |
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder); |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()")); |
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set_current_from_destination(); |
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return; |
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@ -274,7 +223,7 @@ |
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* Without this check, it is possible for the algorithm to generate a zero length move in the case |
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* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that |
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* happens, it might be best to remove the check and always 'schedule' the move because |
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* the planner._buffer_line() routine will filter it if that happens. |
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* the planner.buffer_segment() routine will filter it if that happens. |
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*/ |
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if (ry != start[Y_AXIS]) { |
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if (!inf_normalized_flag) { |
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@ -287,12 +236,12 @@ |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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} //else printf("FIRST MOVE PRUNED ");
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} |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()")); |
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//
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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@ -338,7 +287,7 @@ |
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* Without this check, it is possible for the algorithm to generate a zero length move in the case |
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* where the line is heading left and it is starting right on a Mesh Line boundary. For how often |
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* that happens, it might be best to remove the check and always 'schedule' the move because |
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* the planner._buffer_line() routine will filter it if that happens. |
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* the planner.buffer_segment() routine will filter it if that happens. |
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*/ |
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if (rx != start[X_AXIS]) { |
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if (!inf_normalized_flag) { |
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@ -351,12 +300,12 @@ |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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} //else printf("FIRST MOVE PRUNED ");
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} |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()")); |
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) |
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goto FINAL_MOVE; |
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@ -413,7 +362,7 @@ |
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e_position = end[E_AXIS]; |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder); |
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current_yi += dyi; |
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yi_cnt--; |
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} |
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@ -441,7 +390,7 @@ |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder); |
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current_xi += dxi; |
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xi_cnt--; |
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} |
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@ -450,7 +399,7 @@ |
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} |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()")); |
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) |
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goto FINAL_MOVE; |
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@ -458,223 +407,222 @@ |
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set_current_from_destination(); |
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} |
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#if UBL_DELTA |
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#else // UBL_SEGMENTED
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// macro to inline copy exactly 4 floats, don't rely on sizeof operator
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#define COPY_XYZE( target, source ) { \ |
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target[X_AXIS] = source[X_AXIS]; \ |
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target[Y_AXIS] = source[Y_AXIS]; \ |
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target[Z_AXIS] = source[Z_AXIS]; \ |
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target[E_AXIS] = source[E_AXIS]; \ |
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} |
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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static float scara_feed_factor, scara_oldA, scara_oldB; |
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#endif |
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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static float scara_feed_factor, scara_oldA, scara_oldB; |
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#endif |
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// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
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// so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
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// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
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// so we call _buffer_line directly here. Per-segmented leveling and kinematics performed first.
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inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) { |
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inline void _O2 ubl_buffer_segment_raw(const float raw[XYZE], const float &fr) { |
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#if ENABLED(SKEW_CORRECTION) |
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float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] }; |
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planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); |
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#else |
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const float (&raw)[XYZE] = in_raw; |
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#endif |
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#if ENABLED(DELTA) // apply delta inverse_kinematics
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#if ENABLED(DELTA) // apply delta inverse_kinematics
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DELTA_RAW_IK(); |
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planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder); |
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DELTA_RAW_IK(); |
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder); |
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#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
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#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
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inverse_kinematics(raw); // this writes delta[ABC] from raw[XYZE]
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// should move the feedrate scaling to scara inverse_kinematics
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inverse_kinematics(raw); // this writes delta[ABC] from raw[XYZE]
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// should move the feedrate scaling to scara inverse_kinematics
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const float adiff = FABS(delta[A_AXIS] - scara_oldA), |
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bdiff = FABS(delta[B_AXIS] - scara_oldB); |
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scara_oldA = delta[A_AXIS]; |
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scara_oldB = delta[B_AXIS]; |
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float s_feedrate = max(adiff, bdiff) * scara_feed_factor; |
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const float adiff = FABS(delta[A_AXIS] - scara_oldA), |
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bdiff = FABS(delta[B_AXIS] - scara_oldB); |
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scara_oldA = delta[A_AXIS]; |
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scara_oldB = delta[B_AXIS]; |
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float s_feedrate = max(adiff, bdiff) * scara_feed_factor; |
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planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder); |
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder); |
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#else // CARTESIAN
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#else // CARTESIAN
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planner._buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder); |
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planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder); |
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#endif |
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} |
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#endif |
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} |
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#if IS_SCARA |
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#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
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#elif ENABLED(DELTA) |
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
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#else // CARTESIAN
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#ifdef LEVELED_SEGMENT_LENGTH |
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#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH |
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#else |
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#define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
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#endif |
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#if IS_SCARA |
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#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
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#elif ENABLED(DELTA) |
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
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#else // CARTESIAN
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#ifdef LEVELED_SEGMENT_LENGTH |
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#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH |
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#else |
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#define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
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#endif |
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#endif |
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/**
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* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics. |
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* This calls planner._buffer_line multiple times for small incremental moves. |
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* Returns true if did NOT move, false if moved (requires current_position update). |
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*/ |
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/**
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* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics. |
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* This calls planner.buffer_segment multiple times for small incremental moves. |
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* Returns true if did NOT move, false if moved (requires current_position update). |
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*/ |
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bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) { |
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if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
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return true; // did not move, so current_position still accurate
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const float total[XYZE] = { |
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rtarget[X_AXIS] - current_position[X_AXIS], |
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rtarget[Y_AXIS] - current_position[Y_AXIS], |
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rtarget[Z_AXIS] - current_position[Z_AXIS], |
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rtarget[E_AXIS] - current_position[E_AXIS] |
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}; |
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const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance
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#if IS_KINEMATIC |
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const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
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uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate
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seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
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NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments)
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#else |
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uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
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#endif |
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bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) { |
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if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
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return true; // did not move, so current_position still accurate
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const float total[XYZE] = { |
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rtarget[X_AXIS] - current_position[X_AXIS], |
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rtarget[Y_AXIS] - current_position[Y_AXIS], |
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rtarget[Z_AXIS] - current_position[Z_AXIS], |
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rtarget[E_AXIS] - current_position[E_AXIS] |
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}; |
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const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance
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#if IS_KINEMATIC |
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const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
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uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate
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seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
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NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments)
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#else |
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uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
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#endif |
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NOLESS(segments, 1); // must have at least one segment
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const float inv_segments = 1.0 / segments; // divide once, multiply thereafter
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate; |
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scara_oldA = stepper.get_axis_position_degrees(A_AXIS); |
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scara_oldB = stepper.get_axis_position_degrees(B_AXIS); |
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#endif |
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const float diff[XYZE] = { |
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total[X_AXIS] * inv_segments, |
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total[Y_AXIS] * inv_segments, |
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total[Z_AXIS] * inv_segments, |
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total[E_AXIS] * inv_segments |
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}; |
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// Note that E segment distance could vary slightly as z mesh height
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// changes for each segment, but small enough to ignore.
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float raw[XYZE] = { |
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current_position[X_AXIS], |
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current_position[Y_AXIS], |
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current_position[Z_AXIS], |
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current_position[E_AXIS] |
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}; |
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// Only compute leveling per segment if ubl active and target below z_fade_height.
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if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling
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while (--segments) { |
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LOOP_XYZE(i) raw[i] += diff[i]; |
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ubl_buffer_segment_raw(raw, feedrate); |
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} |
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ubl_buffer_segment_raw(rtarget, feedrate); |
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return false; // moved but did not set_current_from_destination();
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NOLESS(segments, 1); // must have at least one segment
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const float inv_segments = 1.0 / segments; // divide once, multiply thereafter
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate; |
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scara_oldA = stepper.get_axis_position_degrees(A_AXIS); |
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scara_oldB = stepper.get_axis_position_degrees(B_AXIS); |
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#endif |
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|
|
const float diff[XYZE] = { |
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total[X_AXIS] * inv_segments, |
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total[Y_AXIS] * inv_segments, |
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total[Z_AXIS] * inv_segments, |
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total[E_AXIS] * inv_segments |
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}; |
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|
// Note that E segment distance could vary slightly as z mesh height
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|
// changes for each segment, but small enough to ignore.
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|
float raw[XYZE] = { |
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|
current_position[X_AXIS], |
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|
current_position[Y_AXIS], |
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current_position[Z_AXIS], |
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current_position[E_AXIS] |
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|
}; |
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|
// Only compute leveling per segment if ubl active and target below z_fade_height.
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|
if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling
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|
while (--segments) { |
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|
LOOP_XYZE(i) raw[i] += diff[i]; |
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|
ubl_buffer_segment_raw(raw, feedrate); |
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|
} |
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|
ubl_buffer_segment_raw(rtarget, feedrate); |
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|
return false; // moved but did not set_current_from_destination();
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|
} |
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|
|
// Otherwise perform per-segment leveling
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|
// Otherwise perform per-segment leveling
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|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
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|
|
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]); |
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|
|
#endif |
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|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
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|
|
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]); |
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|
#endif |
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|
// increment to first segment destination
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|
LOOP_XYZE(i) raw[i] += diff[i]; |
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|
// increment to first segment destination
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|
LOOP_XYZE(i) raw[i] += diff[i]; |
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|
for(;;) { // for each mesh cell encountered during the move
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|
for(;;) { // for each mesh cell encountered during the move
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|
// Compute mesh cell invariants that remain constant for all segments within cell.
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|
// Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
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|
// the bilinear interpolation from the adjacent cell within the mesh will still work.
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|
// Inner loop will exit each time (because out of cell bounds) but will come back
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|
|
// in top of loop and again re-find same adjacent cell and use it, just less efficient
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|
// for mesh inset area.
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|
// Compute mesh cell invariants that remain constant for all segments within cell.
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|
|
// Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
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|
|
// the bilinear interpolation from the adjacent cell within the mesh will still work.
|
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|
|
// Inner loop will exit each time (because out of cell bounds) but will come back
|
|
|
|
// in top of loop and again re-find same adjacent cell and use it, just less efficient
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|
|
// for mesh inset area.
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|
|
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)), |
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|
|
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_X_DIST)); |
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|
|
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)), |
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|
|
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_X_DIST)); |
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|
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1); |
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|
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1); |
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|
|
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1); |
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|
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1); |
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|
|
const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add
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|
|
y0 = mesh_index_to_ypos(cell_yi); |
|
|
|
const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add
|
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|
y0 = mesh_index_to_ypos(cell_yi); |
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|
|
float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
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|
|
z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
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|
z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
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|
|
z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
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|
|
float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
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|
|
z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
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|
|
z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
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|
|
z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
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|
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|
|
|
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A)
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|
|
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
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|
|
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
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|
|
|
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
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|
|
|
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A)
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|
|
|
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
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|
|
|
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
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|
|
|
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
|
|
|
|
|
|
|
|
float cx = raw[X_AXIS] - x0, // cell-relative x and y
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|
|
cy = raw[Y_AXIS] - y0; |
|
|
|
float cx = raw[X_AXIS] - x0, // cell-relative x and y
|
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|
|
cy = raw[Y_AXIS] - y0; |
|
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|
|
|
|
|
const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
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|
|
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
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|
|
const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
|
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|
|
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
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|
|
|
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|
|
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell)
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|
|
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell)
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|
|
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|
|
const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
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|
|
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
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|
|
const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
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|
|
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
|
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|
|
|
|
|
|
float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST)); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
|
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|
|
float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST)); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
|
|
|
|
|
|
|
|
// float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
|
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|
|
// float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
|
|
|
|
|
|
|
|
// As subsequent segments step through this cell, the z_cxy0 intercept will change
|
|
|
|
// and the z_cxym slope will change, both as a function of cx within the cell, and
|
|
|
|
// each change by a constant for fixed segment lengths.
|
|
|
|
// As subsequent segments step through this cell, the z_cxy0 intercept will change
|
|
|
|
// and the z_cxym slope will change, both as a function of cx within the cell, and
|
|
|
|
// each change by a constant for fixed segment lengths.
|
|
|
|
|
|
|
|
const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
|
|
|
|
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * diff[X_AXIS]; // per-segment adjustment to z_cxym
|
|
|
|
const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
|
|
|
|
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * diff[X_AXIS]; // per-segment adjustment to z_cxym
|
|
|
|
|
|
|
|
for(;;) { // for all segments within this mesh cell
|
|
|
|
for(;;) { // for all segments within this mesh cell
|
|
|
|
|
|
|
|
if (--segments == 0) // if this is last segment, use rtarget for exact
|
|
|
|
COPY(raw, rtarget); |
|
|
|
if (--segments == 0) // if this is last segment, use rtarget for exact
|
|
|
|
COPY(raw, rtarget); |
|
|
|
|
|
|
|
const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
|
|
|
* fade_scaling_factor // apply fade factor to interpolated mesh height
|
|
|
|
#endif |
|
|
|
; |
|
|
|
const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
|
|
|
* fade_scaling_factor // apply fade factor to interpolated mesh height
|
|
|
|
#endif |
|
|
|
; |
|
|
|
|
|
|
|
const float z = raw[Z_AXIS]; |
|
|
|
raw[Z_AXIS] += z_cxcy; |
|
|
|
ubl_buffer_segment_raw(raw, feedrate); |
|
|
|
raw[Z_AXIS] = z; |
|
|
|
const float z = raw[Z_AXIS]; |
|
|
|
raw[Z_AXIS] += z_cxcy; |
|
|
|
ubl_buffer_segment_raw(raw, feedrate); |
|
|
|
raw[Z_AXIS] = z; |
|
|
|
|
|
|
|
if (segments == 0) // done with last segment
|
|
|
|
return false; // did not set_current_from_destination()
|
|
|
|
if (segments == 0) // done with last segment
|
|
|
|
return false; // did not set_current_from_destination()
|
|
|
|
|
|
|
|
LOOP_XYZE(i) raw[i] += diff[i]; |
|
|
|
LOOP_XYZE(i) raw[i] += diff[i]; |
|
|
|
|
|
|
|
cx += diff[X_AXIS]; |
|
|
|
cy += diff[Y_AXIS]; |
|
|
|
cx += diff[X_AXIS]; |
|
|
|
cy += diff[Y_AXIS]; |
|
|
|
|
|
|
|
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
|
|
|
|
break; |
|
|
|
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
|
|
|
|
break; |
|
|
|
|
|
|
|
// Next segment still within same mesh cell, adjust the per-segment
|
|
|
|
// slope and intercept to compute next z height.
|
|
|
|
// Next segment still within same mesh cell, adjust the per-segment
|
|
|
|
// slope and intercept to compute next z height.
|
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z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0
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z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym
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z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0
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z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym
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} // segment loop
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} // cell loop
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} |
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} // segment loop
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} // cell loop
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} |
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#endif // UBL_DELTA
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#endif // UBL_SEGMENTED
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#endif // AUTO_BED_LEVELING_UBL
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Scott Lahteine
7 years ago
GitHub