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236 lines
7.4 KiB
236 lines
7.4 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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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "../bedlevel.h"
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unified_bed_leveling ubl;
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#include "../../../MarlinCore.h"
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#include "../../../gcode/gcode.h"
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#include "../../../module/settings.h"
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#include "../../../module/planner.h"
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#include "../../../module/motion.h"
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#include "../../../module/probe.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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#include "math.h"
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void unified_bed_leveling::echo_name() {
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SERIAL_ECHOPGM("Unified Bed Leveling");
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}
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void unified_bed_leveling::report_current_mesh() {
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if (!leveling_is_valid()) return;
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SERIAL_ECHO_MSG(" G29 I99");
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GRID_LOOP(x, y)
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if (!isnan(z_values[x][y])) {
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(" M421 I", int(x), " J", int(y));
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SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4);
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serial_delay(75); // Prevent Printrun from exploding
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}
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}
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void unified_bed_leveling::report_state() {
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echo_name();
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SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n");
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serial_delay(50);
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}
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int8_t unified_bed_leveling::storage_slot;
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float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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#define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST))
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const float
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unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X,
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_GRIDPOS(X, 0), _GRIDPOS(X, 1), _GRIDPOS(X, 2), _GRIDPOS(X, 3),
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_GRIDPOS(X, 4), _GRIDPOS(X, 5), _GRIDPOS(X, 6), _GRIDPOS(X, 7),
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_GRIDPOS(X, 8), _GRIDPOS(X, 9), _GRIDPOS(X, 10), _GRIDPOS(X, 11),
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_GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15)
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),
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unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y,
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_GRIDPOS(Y, 0), _GRIDPOS(Y, 1), _GRIDPOS(Y, 2), _GRIDPOS(Y, 3),
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_GRIDPOS(Y, 4), _GRIDPOS(Y, 5), _GRIDPOS(Y, 6), _GRIDPOS(Y, 7),
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_GRIDPOS(Y, 8), _GRIDPOS(Y, 9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11),
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_GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15)
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);
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volatile int16_t unified_bed_leveling::encoder_diff;
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unified_bed_leveling::unified_bed_leveling() {
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reset();
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}
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void unified_bed_leveling::reset() {
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const bool was_enabled = planner.leveling_active;
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set_bed_leveling_enabled(false);
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storage_slot = -1;
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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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if (was_enabled) report_current_position();
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}
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void unified_bed_leveling::invalidate() {
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set_bed_leveling_enabled(false);
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set_all_mesh_points_to_value(NAN);
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}
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void unified_bed_leveling::set_all_mesh_points_to_value(const float value) {
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GRID_LOOP(x, y) {
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z_values[x][y] = value;
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TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, value));
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}
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}
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static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
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SERIAL_ECHO_SP(sp);
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SERIAL_CHAR('(');
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if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
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SERIAL_ECHO(x);
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SERIAL_CHAR(',');
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if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
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SERIAL_ECHO(y);
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SERIAL_CHAR(')');
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serial_delay(5);
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}
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static void serial_echo_column_labels(const uint8_t sp) {
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SERIAL_ECHO_SP(7);
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for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
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if (i < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO(i);
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SERIAL_ECHO_SP(sp);
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}
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serial_delay(10);
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}
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/**
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* Produce one of these mesh maps:
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* 0: Human-readable
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* 1: CSV format for spreadsheet import
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* 2: TODO: Display on Graphical LCD
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* 4: Compact Human-Readable
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*/
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void unified_bed_leveling::display_map(const int map_type) {
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const bool was = gcode.set_autoreport_paused(true);
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constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567]
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twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
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const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
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SERIAL_ECHOPGM("\nBed Topography Report");
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if (human) {
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SERIAL_ECHOLNPGM(":\n");
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serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
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serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
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SERIAL_EOL();
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serial_echo_column_labels(eachsp - 2);
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}
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else {
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SERIAL_ECHOPGM(" for ");
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serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
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}
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// Add XY probe offset from extruder because probe.probe_at_point() subtracts them when
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// moving to the XY position to be measured. This ensures better agreement between
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// the current Z position after G28 and the mesh values.
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const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
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if (!lcd) SERIAL_EOL();
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for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
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// Row Label (J index)
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if (human) {
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if (j < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO(j);
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SERIAL_ECHOPGM(" |");
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}
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// Row Values (I indexes)
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LOOP_L_N(i, GRID_MAX_POINTS_X) {
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// Opening Brace or Space
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const bool is_current = i == curr.x && j == curr.y;
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if (human) SERIAL_CHAR(is_current ? '[' : ' ');
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// Z Value at current I, J
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const float f = z_values[i][j];
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if (lcd) {
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// TODO: Display on Graphical LCD
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}
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else if (isnan(f))
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serialprintPGM(human ? PSTR(" . ") : PSTR("NAN"));
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else if (human || csv) {
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if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Space for positive ('-' for negative)
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SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits
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}
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if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
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// Closing Brace or Space
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if (human) SERIAL_CHAR(is_current ? ']' : ' ');
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SERIAL_FLUSHTX();
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idle_no_sleep();
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}
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if (!lcd) SERIAL_EOL();
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// A blank line between rows (unless compact)
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if (j && human && !comp) SERIAL_ECHOLNPGM(" |");
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}
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if (human) {
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serial_echo_column_labels(eachsp - 2);
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SERIAL_EOL();
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serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
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serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
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SERIAL_EOL();
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SERIAL_EOL();
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}
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gcode.set_autoreport_paused(was);
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}
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bool unified_bed_leveling::sanity_check() {
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uint8_t error_flag = 0;
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if (settings.calc_num_meshes() < 1) {
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SERIAL_ECHOLNPGM("?Mesh too big for EEPROM.");
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error_flag++;
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}
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return !!error_flag;
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}
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#endif // AUTO_BED_LEVELING_UBL
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