372 lines
16 KiB
C++
372 lines
16 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016, 2017 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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#ifndef UNIFIED_BED_LEVELING_H
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#define UNIFIED_BED_LEVELING_H
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#include "MarlinConfig.h"
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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 "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 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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#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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enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
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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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extern uint8_t ubl_cnt;
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///////////////////////////////////////////////////////////////////////////////////////////////////////
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#if ENABLED(ULTRA_LCD)
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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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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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#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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static bool g29_parameter_parsing() _O0;
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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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static void echo_name();
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static void report_current_mesh();
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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 value);
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static void adjust_mesh_to_mean(const bool cflag, const float value);
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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; // 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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// 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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static constexpr 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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static constexpr 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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static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
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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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static int8_t get_cell_index_x(const float &x) {
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const int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (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)) * (1.0f / (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) * 0.5f) * (1.0f / (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) * 0.5f) * (1.0f / (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
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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}
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//
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// See comments above for z_correction_for_x_on_horizontal_mesh_line
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//
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inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
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if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 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(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);
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SERIAL_ECHOPAIR(", xi=", xi);
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SERIAL_ECHOPAIR(", y1_i=", y1_i);
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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 yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
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z1 = z_values[xi][y1_i];
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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
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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}
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/**
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* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
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* does a linear interpolation along both of the bounding X-Mesh-Lines to find the
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* Z-Height at both ends. Then it does a linear interpolation of these heights based
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* on the Y position within the cell.
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*/
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static float get_z_correction(const float &rx0, const float &ry0) {
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const int8_t cx = get_cell_index_x(rx0),
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cy = get_cell_index_y(ry0); // return values are clamped
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/**
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* Check if the requested location is off the mesh. If so, and
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* UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.
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*/
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))
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return UBL_Z_RAISE_WHEN_OFF_MESH;
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#endif
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const float z1 = calc_z0(rx0,
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mesh_index_to_xpos(cx), z_values[cx][cy],
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mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);
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const float z2 = calc_z0(rx0,
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mesh_index_to_xpos(cx), z_values[cx][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1],
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mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]);
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float z0 = calc_z0(ry0,
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mesh_index_to_ypos(cy), z1,
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mesh_index_to_ypos(cy + 1), z2);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(MESH_ADJUST)) {
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SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);
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SERIAL_CHAR(',');
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SERIAL_ECHO(ry0);
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SERIAL_ECHOPGM(") = ");
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SERIAL_ECHO_F(z0, 6);
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}
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(MESH_ADJUST)) {
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SERIAL_ECHOPGM(" >>>---> ");
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SERIAL_ECHO_F(z0, 6);
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SERIAL_EOL();
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}
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#endif
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in ubl.z_values[][] and propagate through the
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// calculations. If our correction is NAN, we throw it out
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// because part of the Mesh is undefined and we don't have the
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// information we need to complete the height correction.
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(MESH_ADJUST)) {
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SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0);
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SERIAL_CHAR(',');
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SERIAL_ECHO(ry0);
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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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}
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return z0;
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}
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FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) {
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return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
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}
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FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) {
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return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
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}
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#if UBL_SEGMENTED
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static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
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#else
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static void line_to_destination_cartesian(const float &fr, const uint8_t e);
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#endif
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inline static bool mesh_is_valid() {
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
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if (isnan(z_values[x][y])) return false;
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return true;
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}
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}; // class unified_bed_leveling
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extern unified_bed_leveling ubl;
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FORCE_INLINE void gcode_G29() { ubl.G29(); }
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#endif // UNIFIED_BED_LEVELING_H
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