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317 lines
12 KiB
317 lines
12 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 <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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//#define UBL_DEVEL_DEBUGGING
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#include "../../../module/motion.h"
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../../core/debug_out.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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enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST };
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// External references
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struct mesh_index_pair;
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#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_CELLS_X))
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#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
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#if ENABLED(OPTIMIZED_MESH_STORAGE)
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typedef int16_t mesh_store_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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#endif
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typedef struct {
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bool C_seen;
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int8_t KLS_storage_slot;
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uint8_t R_repetition,
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V_verbosity,
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P_phase,
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T_map_type;
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float B_shim_thickness,
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C_constant;
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xy_pos_t XY_pos;
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xy_bool_t XY_seen;
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#if HAS_BED_PROBE
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uint8_t J_grid_size;
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#endif
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} G29_parameters_t;
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class unified_bed_leveling {
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private:
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static G29_parameters_t param;
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#if IS_NEWPANEL
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static void move_z_with_encoder(const_float_t multiplier);
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static float measure_point_with_encoder();
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static float measure_business_card_thickness();
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static void manually_probe_remaining_mesh(const xy_pos_t&, const_float_t , const_float_t , const bool) _O0;
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static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0;
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#endif
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static bool G29_parse_parameters() _O0;
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static void shift_mesh_height();
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static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
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static void tilt_mesh_based_on_3pts(const_float_t z1, const_float_t z2, const_float_t z3);
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static void tilt_mesh_based_on_probed_grid(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 bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) {
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return smart_fill_one(pos.x, pos.y, dir.x, dir.y);
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}
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static void smart_fill_mesh();
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#if ENABLED(UBL_DEVEL_DEBUGGING)
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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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#endif
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public:
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static void echo_name();
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static void report_current_mesh();
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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 uint8_t) _O0;
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static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
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static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
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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(const_float_t value);
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static void adjust_mesh_to_mean(const bool cflag, const_float_t value);
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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_t ) _O2; // O2 gives smaller code than Os on A2560
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static int8_t storage_slot;
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static bed_mesh_t z_values;
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#if ENABLED(OPTIMIZED_MESH_STORAGE)
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static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values);
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static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values);
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#endif
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static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X],
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_mesh_index_to_ypos[GRID_MAX_POINTS_Y];
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#if HAS_LCD_MENU
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static bool lcd_map_control;
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static void steppers_were_disabled();
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#else
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static void steppers_were_disabled() {}
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#endif
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static volatile int16_t encoder_diff; // Volatile because buttons may change it 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_t z) { z_values[px][py] = z; }
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static int8_t cell_index_x_raw(const_float_t x) {
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return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST));
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}
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static int8_t cell_index_y_raw(const_float_t y) {
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return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST));
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}
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static int8_t cell_index_x_valid(const_float_t x) {
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return WITHIN(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1);
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}
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static int8_t cell_index_y_valid(const_float_t y) {
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return WITHIN(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1);
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}
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static int8_t cell_index_x(const_float_t x) {
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return constrain(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1);
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}
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static int8_t cell_index_y(const_float_t y) {
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return constrain(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1);
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}
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static xy_int8_t cell_indexes(const_float_t x, const_float_t y) {
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return { cell_index_x(x), cell_index_y(y) };
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}
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static xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
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static int8_t closest_x_index(const_float_t x) {
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const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(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 closest_y_index(const_float_t y) {
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const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(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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static xy_int8_t closest_indexes(const xy_pos_t &xy) {
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return { closest_x_index(xy.x), closest_y_index(xy.y) };
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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_t a0, const_float_t a1, const_float_t z1, const_float_t a2, const_float_t z2) {
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return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
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}
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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#define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH
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#else
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#define _UBL_OUTER_Z_RAISE NAN
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#endif
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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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static float z_correction_for_x_on_horizontal_mesh_line(const_float_t rx0, const int x1_i, const int yi) {
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if (!WITHIN(x1_i, 0, (GRID_MAX_POINTS_X) - 1) || !WITHIN(yi, 0, (GRID_MAX_POINTS_Y) - 1)) {
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if (DEBUGGING(LEVELING)) {
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if (WITHIN(x1_i, 0, (GRID_MAX_POINTS_X) - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i");
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DEBUG_ECHOLNPGM(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")");
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}
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// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
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return _UBL_OUTER_Z_RAISE;
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}
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const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST),
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z1 = z_values[x1_i][yi];
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return z1 + xratio * (z_values[_MIN(x1_i, (GRID_MAX_POINTS_X) - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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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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static float z_correction_for_y_on_vertical_mesh_line(const_float_t ry0, 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) - 1)) {
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if (DEBUGGING(LEVELING)) {
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if (WITHIN(xi, 0, (GRID_MAX_POINTS_X) - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi");
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DEBUG_ECHOLNPGM(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")");
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}
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// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
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return _UBL_OUTER_Z_RAISE;
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}
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const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST),
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z1 = z_values[xi][y1_i];
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return z1 + yratio * (z_values[xi][_MIN(y1_i, (GRID_MAX_POINTS_Y) - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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}
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/**
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* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
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* does a linear interpolation along both of the bounding X-Mesh-Lines to find the
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* Z-Height at both ends. Then it does a linear interpolation of these heights based
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* on the Y position within the cell.
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*/
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static float get_z_correction(const_float_t rx0, const_float_t ry0) {
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const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped
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/**
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* Check if the requested location is off the mesh. If so, and
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* UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.
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*/
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))
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return UBL_Z_RAISE_WHEN_OFF_MESH;
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#endif
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const uint8_t mx = _MIN(cx, (GRID_MAX_POINTS_X) - 2) + 1, my = _MIN(cy, (GRID_MAX_POINTS_Y) - 2) + 1;
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const float z1 = calc_z0(rx0, mesh_index_to_xpos(cx), z_values[cx][cy], mesh_index_to_xpos(cx + 1), z_values[mx][cy]);
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const float z2 = calc_z0(rx0, mesh_index_to_xpos(cx), z_values[cx][my], mesh_index_to_xpos(cx + 1), z_values[mx][my]);
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float z0 = calc_z0(ry0, mesh_index_to_ypos(cy), z1, mesh_index_to_ypos(cy + 1), z2);
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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 (DEBUGGING(MESH_ADJUST)) DEBUG_ECHOLNPGM("??? Yikes! NAN in ");
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}
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if (DEBUGGING(MESH_ADJUST)) {
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DEBUG_ECHOPGM("get_z_correction(", rx0, ", ", ry0);
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DEBUG_ECHOLNPAIR_F(") => ", z0, 6);
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}
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return z0;
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}
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static float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); }
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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]) : MESH_MIN_X + i * (MESH_X_DIST);
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}
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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]) : MESH_MIN_Y + i * (MESH_Y_DIST);
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}
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#if UBL_SEGMENTED
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static bool line_to_destination_segmented(const_feedRate_t scaled_fr_mm_s);
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#else
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static void line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t e);
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#endif
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static bool mesh_is_valid() {
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GRID_LOOP(x, y) if (isnan(z_values[x][y])) return false;
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return true;
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}
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}; // class unified_bed_leveling
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extern unified_bed_leveling ubl;
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#define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I)
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#define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J)
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#define Z_VALUES_ARR ubl.z_values
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// Prevent debugging propagating to other files
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#include "../../../core/debug_out.h"
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