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Merge pull request #9088 from thinkyhead/bf1_mbl_localize

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[1.1.x] MBL cleanup, has_mesh() method
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Scott Lahteine 2018-01-07 20:10:10 -06:00 committed by GitHub
commit f8dee4e726
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5 changed files with 105 additions and 102 deletions
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5
Marlin/Marlin.h
View File

@ -383,6 +383,11 @@ void report_current_position();
float bilinear_z_offset(const float raw[XYZ]);
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
typedef float (*element_2d_fn)(const uint8_t, const uint8_t);
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const element_2d_fn fn);
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
typedef struct { double A, B, D; } linear_fit;
linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);

24
Marlin/Marlin_main.cpp
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@ -2374,7 +2374,7 @@ static void clean_up_after_endstop_or_probe_move() {
bool leveling_is_valid() {
return
#if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh
mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing[X_AXIS]
#elif ENABLED(AUTO_BED_LEVELING_UBL)
@ -2503,10 +2503,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
set_bed_leveling_enabled(false);
#if ENABLED(MESH_BED_LEVELING)
if (leveling_is_valid()) {
mbl.reset();
mbl.has_mesh = false;
}
mbl.reset();
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -2537,7 +2534,7 @@ static void clean_up_after_endstop_or_probe_move() {
/**
* Print calibration results for plotting or manual frame adjustment.
*/
static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) {
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const element_2d_fn fn) {
#ifndef SCAD_MESH_OUTPUT
for (uint8_t x = 0; x < sx; x++) {
for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
@ -4089,15 +4086,6 @@ void home_all_axes() { gcode_G28(true); }
// Save 130 bytes with non-duplication of PSTR
void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
void mbl_mesh_report() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
);
}
/**
* G29: Mesh-based Z probe, probes a grid and produces a
* mesh to compensate for variable bed height
@ -4138,7 +4126,7 @@ void home_all_axes() { gcode_G28(true); }
case MeshReport:
if (leveling_is_valid()) {
SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
mbl_mesh_report();
mbl.report_mesh();
}
else
SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
@ -4193,7 +4181,6 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
BUZZ(100, 659);
BUZZ(100, 698);
mbl.has_mesh = true;
home_all_axes();
set_bed_leveling_enabled(true);
@ -4242,7 +4229,6 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_CHAR('Z'); echo_not_entered();
return;
}
mbl.has_mesh = true; // set since user manually entered a mesh point
break;
case MeshSetZOffset:
@ -9630,7 +9616,7 @@ void quickstop_stepper() {
#endif
#elif ENABLED(MESH_BED_LEVELING)
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
mbl_mesh_report();
mbl.report_mesh();
#endif
}
#endif

11
Marlin/configuration_store.cpp
View File

@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V48"
#define EEPROM_VERSION "V49"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@ -114,7 +114,6 @@ typedef struct SettingsDataStruct {
//
// MESH_BED_LEVELING
//
bool mbl_has_mesh; // mbl.has_mesh
float mbl_z_offset; // mbl.z_offset
uint8_t mesh_num_x, mesh_num_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y
#if ENABLED(MESH_BED_LEVELING)
@ -453,16 +452,13 @@ void MarlinSettings::postprocess() {
"MBL Z array is the wrong size."
);
const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
EEPROM_WRITE(mbl.has_mesh);
EEPROM_WRITE(mbl.z_offset);
EEPROM_WRITE(mesh_num_x);
EEPROM_WRITE(mesh_num_y);
EEPROM_WRITE(mbl.z_values);
#else // For disabled MBL write a default mesh
const bool leveling_is_on = false;
dummy = 0.0f;
const uint8_t mesh_num_x = 3, mesh_num_y = 3;
EEPROM_WRITE(leveling_is_on);
EEPROM_WRITE(dummy); // z_offset
EEPROM_WRITE(mesh_num_x);
EEPROM_WRITE(mesh_num_y);
@ -960,10 +956,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ_ALWAYS(mesh_num_y);
#if ENABLED(MESH_BED_LEVELING)
if (!validating) {
mbl.has_mesh = leveling_is_on;
mbl.z_offset = dummy;
}
if (!validating) mbl.z_offset = dummy;
if (mesh_num_x == GRID_MAX_POINTS_X && mesh_num_y == GRID_MAX_POINTS_Y) {
// EEPROM data fits the current mesh
EEPROM_READ(mbl.z_values);

18
Marlin/mesh_bed_leveling.cpp
View File

@ -20,13 +20,15 @@
*
*/
#include "mesh_bed_leveling.h"
#include "MarlinConfig.h"
#if ENABLED(MESH_BED_LEVELING)
mesh_bed_leveling mbl;
#include "mesh_bed_leveling.h"
#include "Marlin.h"
#include "serial.h"
bool mesh_bed_leveling::has_mesh;
mesh_bed_leveling mbl;
float mesh_bed_leveling::z_offset,
mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
@ -42,9 +44,17 @@
}
void mesh_bed_leveling::reset() {
has_mesh = false;
z_offset = 0;
ZERO(z_values);
}
void mesh_bed_leveling::report_mesh() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
);
}
#endif // MESH_BED_LEVELING

149
Marlin/mesh_bed_leveling.h
View File

@ -20,92 +20,101 @@
*
*/
#include "Marlin.h"
#ifndef _MESH_BED_LEVELING_H_
#define _MESH_BED_LEVELING_H_
#if ENABLED(MESH_BED_LEVELING)
#include "MarlinConfig.h"
enum MeshLevelingState {
MeshReport,
MeshStart,
MeshNext,
MeshSet,
MeshSetZOffset,
MeshReset
};
enum MeshLevelingState {
MeshReport,
MeshStart,
MeshNext,
MeshSet,
MeshSetZOffset,
MeshReset
};
#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_POINTS_X - 1))
#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_POINTS_Y - 1))
#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_POINTS_X - 1))
#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_POINTS_Y - 1))
class mesh_bed_leveling {
public:
static bool has_mesh;
static float z_offset,
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
index_to_xpos[GRID_MAX_POINTS_X],
index_to_ypos[GRID_MAX_POINTS_Y];
class mesh_bed_leveling {
public:
static float z_offset,
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
index_to_xpos[GRID_MAX_POINTS_X],
index_to_ypos[GRID_MAX_POINTS_Y];
mesh_bed_leveling();
mesh_bed_leveling();
static void reset();
static void report_mesh();
static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static void reset();
static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
px = index % (GRID_MAX_POINTS_X);
py = index / (GRID_MAX_POINTS_X);
if (py & 1) px = (GRID_MAX_POINTS_X - 1) - px; // Zig zag
}
FORCE_INLINE static bool has_mesh() {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (z_values[x][y]) return true;
return false;
}
static void set_zigzag_z(const int8_t index, const float &z) {
int8_t px, py;
zigzag(index, px, py);
set_z(px, py, z);
}
static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static int8_t cell_index_x(const float &x) {
int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
}
static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
px = index % (GRID_MAX_POINTS_X);
py = index / (GRID_MAX_POINTS_X);
if (py & 1) px = (GRID_MAX_POINTS_X - 1) - px; // Zig zag
}
static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
}
static void set_zigzag_z(const int8_t index, const float &z) {
int8_t px, py;
zigzag(index, px, py);
set_z(px, py, z);
}
static int8_t probe_index_x(const float &x) {
int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static int8_t cell_index_x(const float &x) {
int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
}
static int8_t probe_index_y(const float &y) {
int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
}
static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1) / (a2 - a1),
delta_a = a0 - a1;
return z1 + delta_a * delta_z;
}
static int8_t probe_index_x(const float &x) {
int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static float get_z(const float &x0, const float &y0
static int8_t probe_index_y(const float &y) {
int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1) / (a2 - a1),
delta_a = a0 - a1;
return z1 + delta_a * delta_z;
}
static float get_z(const float &x0, const float &y0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, const float &factor
#endif
) {
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),
z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),
z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
return z_offset + z0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, const float &factor
* factor
#endif
) {
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),
z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),
z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
;
}
};
return z_offset + z0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* factor
#endif
;
}
};
extern mesh_bed_leveling mbl;
extern mesh_bed_leveling mbl;
#endif // MESH_BED_LEVELING
#endif // _MESH_BED_LEVELING_H_