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133 lines
4.6 KiB
133 lines
4.6 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(MESH_BED_LEVELING)
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#include "../bedlevel.h"
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#include "../../../module/motion.h"
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#if ENABLED(EXTENSIBLE_UI)
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#include "../../../lcd/extui/ui_api.h"
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#endif
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mesh_bed_leveling mbl;
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float mesh_bed_leveling::z_offset,
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mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
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mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X],
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mesh_bed_leveling::index_to_ypos[GRID_MAX_POINTS_Y];
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mesh_bed_leveling::mesh_bed_leveling() {
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LOOP_L_N(i, GRID_MAX_POINTS_X)
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index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST);
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LOOP_L_N(i, GRID_MAX_POINTS_Y)
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index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST);
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reset();
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}
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void mesh_bed_leveling::reset() {
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z_offset = 0;
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ZERO(z_values);
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#if ENABLED(EXTENSIBLE_UI)
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GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0);
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#endif
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}
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#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
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/**
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* Prepare a mesh-leveled linear move in a Cartesian setup,
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* splitting the move where it crosses mesh borders.
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*/
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void mesh_bed_leveling::line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
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// Get current and destination cells for this line
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xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination);
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NOMORE(scel.x, GRID_MAX_POINTS_X - 2);
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NOMORE(scel.y, GRID_MAX_POINTS_Y - 2);
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NOMORE(ecel.x, GRID_MAX_POINTS_X - 2);
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NOMORE(ecel.y, GRID_MAX_POINTS_Y - 2);
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// Start and end in the same cell? No split needed.
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if (scel == ecel) {
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line_to_destination(scaled_fr_mm_s);
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current_position = destination;
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return;
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}
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#define MBL_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
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float normalized_dist;
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xyze_pos_t dest;
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const int8_t gcx = _MAX(scel.x, ecel.x), gcy = _MAX(scel.y, ecel.y);
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// Crosses on the X and not already split on this X?
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// The x_splits flags are insurance against rounding errors.
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if (ecel.x != scel.x && TEST(x_splits, gcx)) {
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// Split on the X grid line
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CBI(x_splits, gcx);
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dest = destination;
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destination.x = index_to_xpos[gcx];
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normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x);
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destination.y = MBL_SEGMENT_END(y);
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}
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// Crosses on the Y and not already split on this Y?
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else if (ecel.y != scel.y && TEST(y_splits, gcy)) {
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// Split on the Y grid line
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CBI(y_splits, gcy);
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dest = destination;
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destination.y = index_to_ypos[gcy];
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normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y);
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destination.x = MBL_SEGMENT_END(x);
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}
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else {
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// Must already have been split on these border(s)
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// This should be a rare case.
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line_to_destination(scaled_fr_mm_s);
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current_position = destination;
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return;
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}
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destination.z = MBL_SEGMENT_END(z);
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destination.e = MBL_SEGMENT_END(e);
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// Do the split and look for more borders
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line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
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// Restore destination from stack
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destination = dest;
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line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
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}
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#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
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void mesh_bed_leveling::report_mesh() {
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SERIAL_ECHOPAIR_F(STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh. Z offset: ", z_offset, 5);
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SERIAL_ECHOLNPGM("\nMeasured points:");
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print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
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[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
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);
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}
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#endif // MESH_BED_LEVELING
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