diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 7248e7c4f..438c01f08 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -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); diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 9b99d1a26..6182b4731 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -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 diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 5b580e5c5..bb90a6cd5 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -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); diff --git a/Marlin/mesh_bed_leveling.cpp b/Marlin/mesh_bed_leveling.cpp index 27344599b..cc2ee6ac4 100644 --- a/Marlin/mesh_bed_leveling.cpp +++ b/Marlin/mesh_bed_leveling.cpp @@ -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 diff --git a/Marlin/mesh_bed_leveling.h b/Marlin/mesh_bed_leveling.h index 87afeb558..11e3150ab 100644 --- a/Marlin/mesh_bed_leveling.h +++ b/Marlin/mesh_bed_leveling.h @@ -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_