134 lines
4.7 KiB
C++
134 lines
4.7 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
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*
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*/
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#include "Marlin.h"
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#if ENABLED(MESH_BED_LEVELING)
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enum MeshLevelingState {
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MeshReport,
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MeshStart,
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MeshNext,
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MeshSet,
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MeshSetZOffset,
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MeshReset
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};
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enum MBLStatus {
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MBL_STATUS_NONE = 0,
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MBL_STATUS_HAS_MESH_BIT = 0,
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MBL_STATUS_ACTIVE_BIT = 1,
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MBL_STATUS_REACTIVATE_BIT = 2
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};
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#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X))/(MESH_NUM_X_POINTS - 1))
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#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y))/(MESH_NUM_Y_POINTS - 1))
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class mesh_bed_leveling {
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public:
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uint8_t status; // Has Mesh and Is Active bits
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float z_offset;
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float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
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mesh_bed_leveling();
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void reset();
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static FORCE_INLINE float get_probe_x(const int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
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static FORCE_INLINE float get_probe_y(const int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
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void set_z(const int8_t px, const int8_t py, const float &z) { z_values[py][px] = z; }
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bool active() const { return TEST(status, MBL_STATUS_ACTIVE_BIT); }
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void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); }
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bool has_mesh() const { return TEST(status, MBL_STATUS_HAS_MESH_BIT); }
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void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); }
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bool reactivate() { bool b = TEST(status, MBL_STATUS_REACTIVATE_BIT); CBI(status, MBL_STATUS_REACTIVATE_BIT); return b; }
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void set_reactivate(const bool onOff) { onOff ? SBI(status, MBL_STATUS_REACTIVATE_BIT) : CBI(status, MBL_STATUS_REACTIVATE_BIT); }
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inline void zigzag(const int8_t index, int8_t &px, int8_t &py) const {
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px = index % (MESH_NUM_X_POINTS);
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py = index / (MESH_NUM_X_POINTS);
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if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag
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}
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void set_zigzag_z(const int8_t index, const float &z) {
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int8_t px, py;
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zigzag(index, px, py);
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set_z(px, py, z);
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}
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int8_t cell_index_x(const float &x) const {
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int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
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return constrain(cx, 0, (MESH_NUM_X_POINTS) - 2);
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}
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int8_t cell_index_y(const float &y) const {
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int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
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return constrain(cy, 0, (MESH_NUM_Y_POINTS) - 2);
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}
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int8_t probe_index_x(const float &x) const {
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int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST));
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return (px >= 0 && px < (MESH_NUM_X_POINTS)) ? px : -1;
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}
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int8_t probe_index_y(const float &y) const {
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int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST));
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return (py >= 0 && py < (MESH_NUM_Y_POINTS)) ? py : -1;
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}
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float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) const {
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const float delta_z = (z2 - z1) / (a2 - a1);
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const float delta_a = a0 - a1;
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return z1 + delta_a * delta_z;
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}
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float get_z(const float &x0, const float &y0
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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, const float &factor
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#endif
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) const {
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int8_t cx = cell_index_x(x0),
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cy = cell_index_y(y0);
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if (cx < 0 || cy < 0) return z_offset;
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float z1 = calc_z0(x0,
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get_probe_x(cx), z_values[cy][cx],
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get_probe_x(cx + 1), z_values[cy][cx + 1]);
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float z2 = calc_z0(x0,
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get_probe_x(cx), z_values[cy + 1][cx],
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get_probe_x(cx + 1), z_values[cy + 1][cx + 1]);
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float z0 = calc_z0(y0,
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get_probe_y(cy), z1,
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get_probe_y(cy + 1), z2);
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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return z0 * factor + z_offset;
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#else
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return z0 + z_offset;
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#endif
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}
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};
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extern mesh_bed_leveling mbl;
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#endif // MESH_BED_LEVELING
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