Remove conditional wrap from ubl.h
This commit is contained in:
Scott Lahteine
parent
8f6a5d538f
commit
1617798287
609
Marlin/ubl.h
609
Marlin/ubl.h
@ -25,353 +25,350 @@
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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//#define UBL_DEVEL_DEBUGGING
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//#define UBL_DEVEL_DEBUGGING
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#include "Marlin.h"
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#include "planner.h"
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#include "math.h"
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#include "vector_3.h"
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#include "configuration_store.h"
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#include "Marlin.h"
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#include "planner.h"
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#include "math.h"
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#include "vector_3.h"
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#include "configuration_store.h"
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#define UBL_VERSION "1.01"
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#define UBL_OK false
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#define UBL_ERR true
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#define UBL_VERSION "1.01"
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#define UBL_OK false
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#define UBL_ERR true
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#define USE_NOZZLE_AS_REFERENCE 0
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#define USE_PROBE_AS_REFERENCE 1
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#define USE_NOZZLE_AS_REFERENCE 0
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#define USE_PROBE_AS_REFERENCE 1
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// ubl_motion.cpp
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// ubl_motion.cpp
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#if ENABLED(UBL_DEVEL_DEBUGGING)
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void debug_current_and_destination(const char * const title);
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#else
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FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }
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#endif
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#if ENABLED(UBL_DEVEL_DEBUGGING)
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void debug_current_and_destination(const char * const title);
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#else
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FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }
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#endif
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// ubl_G29.cpp
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// ubl_G29.cpp
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enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
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enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
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// External references
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// External references
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char *ftostr43sign(const float&, char);
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void home_all_axes();
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char *ftostr43sign(const float&, char);
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void home_all_axes();
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extern uint8_t ubl_cnt;
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extern uint8_t ubl_cnt;
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///////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////
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#if ENABLED(ULTRA_LCD)
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extern char lcd_status_message[];
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void lcd_quick_feedback(const bool clear_buttons);
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#endif
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#if ENABLED(ULTRA_LCD)
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extern char lcd_status_message[];
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void lcd_quick_feedback(const bool clear_buttons);
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#endif
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#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
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#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
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#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
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#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
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class unified_bed_leveling {
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private:
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class unified_bed_leveling {
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private:
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static int g29_verbose_level,
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g29_phase_value,
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g29_repetition_cnt,
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g29_storage_slot,
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g29_map_type;
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static bool g29_c_flag, g29_x_flag, g29_y_flag;
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static float g29_x_pos, g29_y_pos,
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g29_card_thickness,
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g29_constant;
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static int g29_verbose_level,
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g29_phase_value,
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g29_repetition_cnt,
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g29_storage_slot,
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g29_map_type;
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static bool g29_c_flag, g29_x_flag, g29_y_flag;
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static float g29_x_pos, g29_y_pos,
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g29_card_thickness,
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g29_constant;
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#if HAS_BED_PROBE
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static int g29_grid_size;
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#endif
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#if HAS_BED_PROBE
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static int g29_grid_size;
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#endif
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#if ENABLED(NEWPANEL)
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static void move_z_with_encoder(const float &multiplier);
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static float measure_point_with_encoder();
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static float measure_business_card_thickness(float in_height);
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static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;
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static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;
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#endif
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#if ENABLED(NEWPANEL)
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static void move_z_with_encoder(const float &multiplier);
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static float measure_point_with_encoder();
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static float measure_business_card_thickness(float in_height);
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static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;
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static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;
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#endif
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static bool g29_parameter_parsing() _O0;
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static void find_mean_mesh_height();
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static void shift_mesh_height();
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static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) _O0;
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static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
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static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
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static void g29_what_command();
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static void g29_eeprom_dump();
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static void g29_compare_current_mesh_to_stored_mesh();
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static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
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static void smart_fill_mesh();
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static bool g29_parameter_parsing() _O0;
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static void find_mean_mesh_height();
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static void shift_mesh_height();
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static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) _O0;
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static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
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static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
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static void g29_what_command();
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static void g29_eeprom_dump();
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static void g29_compare_current_mesh_to_stored_mesh();
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static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
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static void smart_fill_mesh();
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public:
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public:
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static void echo_name();
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static void report_state();
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static void save_ubl_active_state_and_disable();
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static void restore_ubl_active_state_and_leave();
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static void display_map(const int) _O0;
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static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _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);
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static bool sanity_check();
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static void echo_name();
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static void report_state();
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static void save_ubl_active_state_and_disable();
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static void restore_ubl_active_state_and_leave();
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static void display_map(const int) _O0;
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static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _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);
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static bool sanity_check();
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static void G29() _O0; // O0 for no optimization
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static void smart_fill_wlsf(const float &); // O2 gives smaller code than Os on A2560
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static int8_t storage_slot;
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static void G29() _O0; // O0 for no optimization
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static void smart_fill_wlsf(const float &); // O2 gives smaller code than Os on A2560
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static int8_t storage_slot;
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static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
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// until determinism prevails
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constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
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MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST),
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MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST),
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MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST),
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MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST),
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MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST),
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MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST),
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MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST),
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MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST)
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};
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// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
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// until determinism prevails
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constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
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MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST),
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MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST),
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MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST),
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MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST),
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MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST),
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MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST),
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MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST),
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MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST)
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};
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constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
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MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST),
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MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST),
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MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST),
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MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST),
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MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST),
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MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST),
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MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST),
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MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST)
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};
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constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
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MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST),
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MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST),
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MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST),
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MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST),
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MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST),
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MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST),
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MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST),
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MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST)
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};
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#if ENABLED(ULTIPANEL)
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static bool lcd_map_control;
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#endif
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#if ENABLED(ULTIPANEL)
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static bool lcd_map_control;
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#endif
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static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
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static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
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unified_bed_leveling();
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unified_bed_leveling();
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FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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static int8_t get_cell_index_x(const float &x) {
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const int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
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return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t get_cell_index_y(const float &y) {
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const int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
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return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t get_cell_index_x(const float &x) {
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const int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
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return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t get_cell_index_y(const float &y) {
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const int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
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return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t find_closest_x_index(const float &x) {
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const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
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return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
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}
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static int8_t find_closest_x_index(const float &x) {
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const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
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return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
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}
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static int8_t find_closest_y_index(const float &y) {
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const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
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return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
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}
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static int8_t find_closest_y_index(const float &y) {
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const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
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return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
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}
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/**
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* z2 --|
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* z0 | |
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* | | + (z2-z1)
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* z1 | | |
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* ---+-------------+--------+-- --|
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* a1 a0 a2
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* |<---delta_a---------->|
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*
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* calc_z0 is the basis for all the Mesh Based correction. It is used to
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* find the expected Z Height at a position between two known Z-Height locations.
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*
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* It is fairly expensive with its 4 floating point additions and 2 floating point
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* multiplications.
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*/
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FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
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return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
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}
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/**
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* z_correction_for_x_on_horizontal_mesh_line is an optimization for
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* the case where the printer is making a vertical line that only crosses horizontal mesh lines.
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*/
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inline static float z_correction_for_x_on_horizontal_mesh_line(const float &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 ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);
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SERIAL_ECHOPAIR(",x1_i=", x1_i);
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SERIAL_ECHOPAIR(",yi=", yi);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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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 (
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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UBL_Z_RAISE_WHEN_OFF_MESH
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#else
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NAN
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#endif
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);
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}
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const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
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z1 = z_values[x1_i][yi];
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|
||||
return z1 + xratio * (z_values[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
|
||||
// If it is, it is clamped to the last element of the
|
||||
// z_values[][] array and no correction is applied.
|
||||
}
|
||||
|
||||
//
|
||||
// See comments above for z_correction_for_x_on_horizontal_mesh_line
|
||||
//
|
||||
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
|
||||
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );
|
||||
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);
|
||||
SERIAL_ECHOPAIR(", xi=", xi);
|
||||
SERIAL_ECHOPAIR(", y1_i=", y1_i);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
|
||||
return (
|
||||
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
#else
|
||||
NAN
|
||||
#endif
|
||||
);
|
||||
}
|
||||
|
||||
const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
|
||||
z1 = z_values[xi][y1_i];
|
||||
|
||||
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
|
||||
// If it is, it is clamped to the last element of the
|
||||
// z_values[][] array and no correction is applied.
|
||||
}
|
||||
|
||||
/**
|
||||
* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
|
||||
* does a linear interpolation along both of the bounding X-Mesh-Lines to find the
|
||||
* Z-Height at both ends. Then it does a linear interpolation of these heights based
|
||||
* on the Y position within the cell.
|
||||
*/
|
||||
static float get_z_correction(const float &rx0, const float &ry0) {
|
||||
const int8_t cx = get_cell_index_x(rx0),
|
||||
cy = get_cell_index_y(ry0); // return values are clamped
|
||||
|
||||
/**
|
||||
* Check if the requested location is off the mesh. If so, and
|
||||
* UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.
|
||||
*/
|
||||
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))
|
||||
return UBL_Z_RAISE_WHEN_OFF_MESH;
|
||||
#endif
|
||||
|
||||
const float z1 = calc_z0(rx0,
|
||||
mesh_index_to_xpos(cx), z_values[cx][cy],
|
||||
mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);
|
||||
|
||||
const float z2 = calc_z0(rx0,
|
||||
mesh_index_to_xpos(cx), z_values[cx][min(cy, GRID_MAX_POINTS_Y - 2) + 1],
|
||||
mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][min(cy, GRID_MAX_POINTS_Y - 2) + 1]);
|
||||
|
||||
float z0 = calc_z0(ry0,
|
||||
mesh_index_to_ypos(cy), z1,
|
||||
mesh_index_to_ypos(cy + 1), z2);
|
||||
/**
|
||||
* z2 --|
|
||||
* z0 | |
|
||||
* | | + (z2-z1)
|
||||
* z1 | | |
|
||||
* ---+-------------+--------+-- --|
|
||||
* a1 a0 a2
|
||||
* |<---delta_a---------->|
|
||||
*
|
||||
* calc_z0 is the basis for all the Mesh Based correction. It is used to
|
||||
* find the expected Z Height at a position between two known Z-Height locations.
|
||||
*
|
||||
* It is fairly expensive with its 4 floating point additions and 2 floating point
|
||||
* multiplications.
|
||||
*/
|
||||
FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
|
||||
return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
|
||||
}
|
||||
|
||||
/**
|
||||
* z_correction_for_x_on_horizontal_mesh_line is an optimization for
|
||||
* the case where the printer is making a vertical line that only crosses horizontal mesh lines.
|
||||
*/
|
||||
inline static float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {
|
||||
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(MESH_ADJUST)) {
|
||||
SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);
|
||||
SERIAL_CHAR(',');
|
||||
SERIAL_ECHO(ry0);
|
||||
SERIAL_ECHOPGM(") = ");
|
||||
SERIAL_ECHO_F(z0, 6);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(MESH_ADJUST)) {
|
||||
SERIAL_ECHOPGM(" >>>---> ");
|
||||
SERIAL_ECHO_F(z0, 6);
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );
|
||||
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);
|
||||
SERIAL_ECHOPAIR(",x1_i=", x1_i);
|
||||
SERIAL_ECHOPAIR(",yi=", yi);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
|
||||
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
||||
z0 = 0.0; // in ubl.z_values[][] and propagate through the
|
||||
// calculations. If our correction is NAN, we throw it out
|
||||
// because part of the Mesh is undefined and we don't have the
|
||||
// information we need to complete the height correction.
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(MESH_ADJUST)) {
|
||||
SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0);
|
||||
SERIAL_CHAR(',');
|
||||
SERIAL_ECHO(ry0);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
|
||||
return (
|
||||
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
#else
|
||||
NAN
|
||||
#endif
|
||||
}
|
||||
return z0;
|
||||
}
|
||||
|
||||
FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) {
|
||||
return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
|
||||
}
|
||||
|
||||
FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) {
|
||||
return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
|
||||
}
|
||||
|
||||
#if UBL_SEGMENTED
|
||||
static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
|
||||
#else
|
||||
static void line_to_destination_cartesian(const float &fr, const uint8_t e);
|
||||
#endif
|
||||
|
||||
#define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
|
||||
#define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
|
||||
#define ZZER(a) (z_values[a][0] == 0)
|
||||
|
||||
FORCE_INLINE bool mesh_is_valid() {
|
||||
return !(
|
||||
( CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal?
|
||||
&& ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge?
|
||||
)
|
||||
|| isnan(z_values[0][0])
|
||||
);
|
||||
}
|
||||
}; // class unified_bed_leveling
|
||||
|
||||
extern unified_bed_leveling ubl;
|
||||
const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
|
||||
z1 = z_values[x1_i][yi];
|
||||
|
||||
FORCE_INLINE void gcode_G29() { ubl.G29(); }
|
||||
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
|
||||
// If it is, it is clamped to the last element of the
|
||||
// z_values[][] array and no correction is applied.
|
||||
}
|
||||
|
||||
//
|
||||
// See comments above for z_correction_for_x_on_horizontal_mesh_line
|
||||
//
|
||||
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
|
||||
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );
|
||||
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);
|
||||
SERIAL_ECHOPAIR(", xi=", xi);
|
||||
SERIAL_ECHOPAIR(", y1_i=", y1_i);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
|
||||
return (
|
||||
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
#else
|
||||
NAN
|
||||
#endif
|
||||
);
|
||||
}
|
||||
|
||||
const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
|
||||
z1 = z_values[xi][y1_i];
|
||||
|
||||
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
|
||||
// If it is, it is clamped to the last element of the
|
||||
// z_values[][] array and no correction is applied.
|
||||
}
|
||||
|
||||
/**
|
||||
* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
|
||||
* does a linear interpolation along both of the bounding X-Mesh-Lines to find the
|
||||
* Z-Height at both ends. Then it does a linear interpolation of these heights based
|
||||
* on the Y position within the cell.
|
||||
*/
|
||||
static float get_z_correction(const float &rx0, const float &ry0) {
|
||||
const int8_t cx = get_cell_index_x(rx0),
|
||||
cy = get_cell_index_y(ry0); // return values are clamped
|
||||
|
||||
/**
|
||||
* Check if the requested location is off the mesh. If so, and
|
||||
* UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.
|
||||
*/
|
||||
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
|
||||
if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))
|
||||
return UBL_Z_RAISE_WHEN_OFF_MESH;
|
||||
#endif
|
||||
|
||||
const float z1 = calc_z0(rx0,
|
||||
mesh_index_to_xpos(cx), z_values[cx][cy],
|
||||
mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);
|
||||
|
||||
const float z2 = calc_z0(rx0,
|
||||
mesh_index_to_xpos(cx), z_values[cx][min(cy, GRID_MAX_POINTS_Y - 2) + 1],
|
||||
mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][min(cy, GRID_MAX_POINTS_Y - 2) + 1]);
|
||||
|
||||
float z0 = calc_z0(ry0,
|
||||
mesh_index_to_ypos(cy), z1,
|
||||
mesh_index_to_ypos(cy + 1), z2);
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(MESH_ADJUST)) {
|
||||
SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);
|
||||
SERIAL_CHAR(',');
|
||||
SERIAL_ECHO(ry0);
|
||||
SERIAL_ECHOPGM(") = ");
|
||||
SERIAL_ECHO_F(z0, 6);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(MESH_ADJUST)) {
|
||||
SERIAL_ECHOPGM(" >>>---> ");
|
||||
SERIAL_ECHO_F(z0, 6);
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
|
||||
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
||||
z0 = 0.0; // in ubl.z_values[][] and propagate through the
|
||||
// calculations. If our correction is NAN, we throw it out
|
||||
// because part of the Mesh is undefined and we don't have the
|
||||
// information we need to complete the height correction.
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(MESH_ADJUST)) {
|
||||
SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0);
|
||||
SERIAL_CHAR(',');
|
||||
SERIAL_ECHO(ry0);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
return z0;
|
||||
}
|
||||
|
||||
FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) {
|
||||
return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
|
||||
}
|
||||
|
||||
FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) {
|
||||
return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
|
||||
}
|
||||
|
||||
#if UBL_SEGMENTED
|
||||
static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
|
||||
#else
|
||||
static void line_to_destination_cartesian(const float &fr, const uint8_t e);
|
||||
#endif
|
||||
|
||||
#define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
|
||||
#define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
|
||||
#define ZZER(a) (z_values[a][0] == 0)
|
||||
|
||||
FORCE_INLINE bool mesh_is_valid() {
|
||||
return !(
|
||||
( CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal?
|
||||
&& ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge?
|
||||
)
|
||||
|| isnan(z_values[0][0])
|
||||
);
|
||||
}
|
||||
}; // class unified_bed_leveling
|
||||
|
||||
extern unified_bed_leveling ubl;
|
||||
|
||||
FORCE_INLINE void gcode_G29() { ubl.G29(); }
|
||||
|
||||
#endif // AUTO_BED_LEVELING_UBL
|
||||
#endif // UNIFIED_BED_LEVELING_H
|
||||
|
||||
Loading…
Reference in New Issue
Block a user