Firmware2/Marlin/UBL_Bed_Leveling.cpp

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "Marlin.h"
#include "math.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
#include "hex_print_routines.h"
/**
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* These variables used to be declared inside the unified_bed_leveling class. We are going to
* still declare them within the .cpp file for bed leveling. But there is only one instance of
* the bed leveling object and we can get rid of a level of inderection by not making them
* 'member data'. So, in the interest of speed, we do it this way. On a 32-bit CPU they can be
* moved back inside the bed leveling class.
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*/
float last_specified_z,
fade_scaling_factor_for_current_height,
z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS],
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mesh_index_to_x_location[UBL_MESH_NUM_X_POINTS + 1], // +1 just because of paranoia that we might end up on the
mesh_index_to_y_location[UBL_MESH_NUM_Y_POINTS + 1]; // the last Mesh Line and that is the start of a whole new cell
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unified_bed_leveling::unified_bed_leveling() {
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for (uint8_t i = 0; i <= UBL_MESH_NUM_X_POINTS; i++) // We go one past what we expect to ever need for safety
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mesh_index_to_x_location[i] = double(UBL_MESH_MIN_X) + double(MESH_X_DIST) * double(i);
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for (uint8_t i = 0; i <= UBL_MESH_NUM_Y_POINTS; i++) // We go one past what we expect to ever need for safety
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mesh_index_to_y_location[i] = double(UBL_MESH_MIN_Y) + double(MESH_Y_DIST) * double(i);
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reset();
}
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void unified_bed_leveling::store_state() {
int k = E2END - sizeof(ubl.state);
eeprom_write_block((void *)&ubl.state, (void *)k, sizeof(ubl.state));
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}
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void unified_bed_leveling::load_state() {
int k = E2END - sizeof(ubl.state);
eeprom_read_block((void *)&ubl.state, (void *)k, sizeof(ubl.state));
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if (sanity_check())
SERIAL_PROTOCOLLNPGM("?In load_state() sanity_check() failed.\n");
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/**
* These lines can go away in a few weeks. They are just
* to make sure people updating thier firmware won't be using
* an incomplete Bed_Leveling.state structure. For speed
* we now multiply by the inverse of the Fade Height instead of
* dividing by it. Soon... all of the old structures will be
* updated, but until then, we try to ease the transition
* for our Beta testers.
*/
if (ubl.state.g29_fade_height_multiplier != 1.0 / ubl.state.g29_correction_fade_height) {
ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
store_state();
}
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}
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void unified_bed_leveling::load_mesh(int m) {
int k = E2END - sizeof(ubl.state),
j = (k - ubl_eeprom_start) / sizeof(z_values);
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if (m == -1) {
SERIAL_PROTOCOLLNPGM("?No mesh saved in EEPROM. Zeroing mesh in memory.\n");
reset();
return;
}
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if (m < 0 || m >= j || ubl_eeprom_start <= 0) {
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SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
return;
}
j = k - (m + 1) * sizeof(z_values);
eeprom_read_block((void *)&z_values , (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPGM("Mesh loaded from slot ");
SERIAL_PROTOCOL(m);
SERIAL_PROTOCOLPGM(" at offset 0x");
prt_hex_word(j);
SERIAL_EOL;
}
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void unified_bed_leveling:: store_mesh(int m) {
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int k = E2END - sizeof(state),
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j = (k - ubl_eeprom_start) / sizeof(z_values);
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if (m < 0 || m >= j || ubl_eeprom_start <= 0) {
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SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
SERIAL_PROTOCOL(m);
SERIAL_PROTOCOLLNPGM(" mesh slots available.\n");
SERIAL_PROTOCOLLNPAIR("E2END : ", E2END);
SERIAL_PROTOCOLLNPAIR("k : ", k);
SERIAL_PROTOCOLLNPAIR("j : ", j);
SERIAL_PROTOCOLLNPAIR("m : ", m);
SERIAL_EOL;
return;
}
j = k - (m + 1) * sizeof(z_values);
eeprom_write_block((const void *)&z_values, (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPGM("Mesh saved in slot ");
SERIAL_PROTOCOL(m);
SERIAL_PROTOCOLPGM(" at offset 0x");
prt_hex_word(j);
SERIAL_EOL;
}
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void unified_bed_leveling::reset() {
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state.active = false;
state.z_offset = 0;
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state.eeprom_storage_slot = -1;
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ZERO(z_values);
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last_specified_z = -999.9;
fade_scaling_factor_for_current_height = 0.0;
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}
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void unified_bed_leveling::invalidate() {
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prt_hex_word((unsigned int)this);
SERIAL_EOL;
state.active = false;
state.z_offset = 0;
for (int x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
for (int y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
z_values[x][y] = NAN;
}
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void unified_bed_leveling::display_map(int map_type) {
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float f, current_xi, current_yi;
int8_t i, j;
UNUSED(map_type);
SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n");
SERIAL_ECHOPAIR("(", 0);
SERIAL_ECHOPAIR(", ", UBL_MESH_NUM_Y_POINTS - 1);
SERIAL_ECHOPGM(") ");
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current_xi = ubl.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0);
current_yi = ubl.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
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for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS - 1);
SERIAL_ECHOPAIR(",", UBL_MESH_NUM_Y_POINTS - 1);
SERIAL_ECHOLNPGM(")");
// if (map_type || 1) {
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SERIAL_ECHOPAIR("(", UBL_MESH_MIN_X);
SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y);
SERIAL_CHAR(')');
for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", UBL_MESH_MAX_X);
SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y);
SERIAL_ECHOLNPGM(")");
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// }
for (j = UBL_MESH_NUM_Y_POINTS - 1; j >= 0; j--) {
for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
f = z_values[i][j];
// is the nozzle here? if so, mark the number
SERIAL_CHAR(i == current_xi && j == current_yi ? '[' : ' ');
if (isnan(f))
SERIAL_PROTOCOLPGM(" . ");
else {
// if we don't do this, the columns won't line up nicely
if (f >= 0.0) SERIAL_CHAR(' ');
SERIAL_PROTOCOL_F(f, 5);
idle();
}
if (i == current_xi && j == current_yi) // is the nozzle here? if so, finish marking the number
SERIAL_CHAR(']');
else
SERIAL_PROTOCOL(" ");
SERIAL_CHAR(' ');
}
SERIAL_EOL;
if (j) { // we want the (0,0) up tight against the block of numbers
SERIAL_CHAR(' ');
SERIAL_EOL;
}
}
// if (map_type) {
SERIAL_ECHOPAIR("(", int(UBL_MESH_MIN_X));
SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y));
SERIAL_ECHOPGM(") ");
for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", int(UBL_MESH_MAX_X));
SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y));
SERIAL_CHAR(')');
// }
SERIAL_ECHOPAIR("(", 0);
SERIAL_ECHOPAIR(",", 0);
SERIAL_ECHOPGM(") ");
for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS-1);
SERIAL_ECHOPAIR(",", 0);
SERIAL_CHAR(')');
SERIAL_CHAR(' ');
SERIAL_EOL;
}
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bool unified_bed_leveling::sanity_check() {
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uint8_t error_flag = 0;
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if (state.n_x != UBL_MESH_NUM_X_POINTS) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_X_POINTS set wrong\n");
error_flag++;
}
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if (state.n_y != UBL_MESH_NUM_Y_POINTS) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_Y_POINTS set wrong\n");
error_flag++;
}
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if (state.mesh_x_min != UBL_MESH_MIN_X) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_X set wrong\n");
error_flag++;
}
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if (state.mesh_y_min != UBL_MESH_MIN_Y) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_Y set wrong\n");
error_flag++;
}
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if (state.mesh_x_max != UBL_MESH_MAX_X) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_X set wrong\n");
error_flag++;
}
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if (state.mesh_y_max != UBL_MESH_MAX_Y) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_Y set wrong\n");
error_flag++;
}
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if (state.mesh_x_dist != MESH_X_DIST) {
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SERIAL_PROTOCOLLNPGM("?MESH_X_DIST set wrong\n");
error_flag++;
}
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if (state.mesh_y_dist != MESH_Y_DIST) {
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SERIAL_PROTOCOLLNPGM("?MESH_Y_DIST set wrong\n");
error_flag++;
}
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const int k = E2END - sizeof(ubl.state),
j = (k - ubl_eeprom_start) / sizeof(z_values);
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if (j < 1) {
SERIAL_PROTOCOLLNPGM("?No EEPROM storage available for a mesh of this size.\n");
error_flag++;
}
// SERIAL_PROTOCOLPGM("?sanity_check() return value: ");
// SERIAL_PROTOCOL(error_flag);
// SERIAL_EOL;
return !!error_flag;
}
#endif // AUTO_BED_LEVELING_UBL