/** * 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 . * */ #include "../../../inc/MarlinConfig.h" #if ENABLED(AUTO_BED_LEVELING_UBL) #include "ubl.h" unified_bed_leveling ubl; #include "../../../module/configuration_store.h" #include "../../../module/planner.h" #include "../../../module/motion.h" #include "../../bedlevel/bedlevel.h" #include "math.h" uint8_t ubl_cnt = 0; void unified_bed_leveling::echo_name( #if NUM_SERIAL > 1 const int8_t port/*= -1*/ #endif ) { SERIAL_PROTOCOLPGM_P(port, "Unified Bed Leveling"); } void unified_bed_leveling::report_current_mesh( #if NUM_SERIAL > 1 const int8_t port/*= -1*/ #endif ) { if (!leveling_is_valid()) return; SERIAL_ECHO_START_P(port); SERIAL_ECHOLNPGM_P(port, " G29 I99"); for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) if (!isnan(z_values[x][y])) { SERIAL_ECHO_START_P(port); SERIAL_ECHOPAIR_P(port, " M421 I", x); SERIAL_ECHOPAIR_P(port, " J", y); SERIAL_ECHOPGM_P(port, " Z"); SERIAL_ECHO_F_P(port, z_values[x][y], 2); SERIAL_EOL_P(port); safe_delay(75); // Prevent Printrun from exploding } } void unified_bed_leveling::report_state( #if NUM_SERIAL > 1 const int8_t port/*= -1*/ #endif ) { echo_name( #if NUM_SERIAL > 1 port #endif ); SERIAL_PROTOCOLPGM_P(port, " System v" UBL_VERSION " "); if (!planner.leveling_active) SERIAL_PROTOCOLPGM_P(port, "in"); SERIAL_PROTOCOLLNPGM_P(port, "active."); safe_delay(50); } #if ENABLED(UBL_DEVEL_DEBUGGING) static void debug_echo_axis(const AxisEnum axis) { if (current_position[axis] == destination[axis]) SERIAL_ECHOPGM("-------------"); else SERIAL_ECHO_F(destination[X_AXIS], 6); } void debug_current_and_destination(PGM_P title) { // if the title message starts with a '!' it is so important, we are going to // ignore the status of the g26_debug_flag if (*title != '!' && !g26_debug_flag) return; const float de = destination[E_AXIS] - current_position[E_AXIS]; if (de == 0.0) return; // Printing moves only const float dx = destination[X_AXIS] - current_position[X_AXIS], dy = destination[Y_AXIS] - current_position[Y_AXIS], xy_dist = HYPOT(dx, dy); if (xy_dist == 0.0) return; SERIAL_ECHOPGM(" fpmm="); const float fpmm = de / xy_dist; SERIAL_ECHO_F(fpmm, 6); SERIAL_ECHOPGM(" current=( "); SERIAL_ECHO_F(current_position[X_AXIS], 6); SERIAL_ECHOPGM(", "); SERIAL_ECHO_F(current_position[Y_AXIS], 6); SERIAL_ECHOPGM(", "); SERIAL_ECHO_F(current_position[Z_AXIS], 6); SERIAL_ECHOPGM(", "); SERIAL_ECHO_F(current_position[E_AXIS], 6); SERIAL_ECHOPGM(" ) destination=( "); debug_echo_axis(X_AXIS); SERIAL_ECHOPGM(", "); debug_echo_axis(Y_AXIS); SERIAL_ECHOPGM(", "); debug_echo_axis(Z_AXIS); SERIAL_ECHOPGM(", "); debug_echo_axis(E_AXIS); SERIAL_ECHOPGM(" ) "); serialprintPGM(title); SERIAL_EOL(); } #endif // UBL_DEVEL_DEBUGGING int8_t unified_bed_leveling::storage_slot; float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; // 15 is the maximum nubmer of grid points supported + 1 safety margin for now, // until determinism prevails constexpr float unified_bed_leveling::_mesh_index_to_xpos[16], unified_bed_leveling::_mesh_index_to_ypos[16]; #if HAS_LCD_MENU bool unified_bed_leveling::lcd_map_control = false; #endif volatile int unified_bed_leveling::encoder_diff; unified_bed_leveling::unified_bed_leveling() { ubl_cnt++; // Debug counter to ensure we only have one UBL object present in memory. We can eliminate this (and all references to ubl_cnt) very soon. reset(); } void unified_bed_leveling::reset() { const bool was_enabled = planner.leveling_active; set_bed_leveling_enabled(false); storage_slot = -1; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) planner.set_z_fade_height(10.0); #endif ZERO(z_values); if (was_enabled) report_current_position(); } void unified_bed_leveling::invalidate() { set_bed_leveling_enabled(false); set_all_mesh_points_to_value(NAN); } void unified_bed_leveling::set_all_mesh_points_to_value(const float value) { for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { z_values[x][y] = value; } } } static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) { SERIAL_ECHO_SP(sp); SERIAL_CHAR('('); if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); } SERIAL_ECHO(x); SERIAL_CHAR(','); if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); } SERIAL_ECHO(y); SERIAL_CHAR(')'); safe_delay(5); } static void serial_echo_column_labels(const uint8_t sp) { SERIAL_ECHO_SP(7); for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) { if (i < 10) SERIAL_CHAR(' '); SERIAL_ECHO(i); SERIAL_ECHO_SP(sp); } safe_delay(10); } /** * Produce one of these mesh maps: * 0: Human-readable * 1: CSV format for spreadsheet import * 2: TODO: Display on Graphical LCD * 4: Compact Human-Readable */ void unified_bed_leveling::display_map(const int map_type) { #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE) suspend_auto_report = true; #endif constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567] twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4; SERIAL_ECHOPGM("\nBed Topography Report"); if (human) { SERIAL_ECHOPGM(":\n\n"); serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y); serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y); SERIAL_EOL(); serial_echo_column_labels(eachsp - 2); } else { SERIAL_ECHOPGM(" for "); serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n")); } const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0), current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0); if (!lcd) SERIAL_EOL(); for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) { // Row Label (J index) if (human) { if (j < 10) SERIAL_CHAR(' '); SERIAL_ECHO(j); SERIAL_ECHOPGM(" |"); } // Row Values (I indexes) for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) { // Opening Brace or Space const bool is_current = i == current_xi && j == current_yi; if (human) SERIAL_CHAR(is_current ? '[' : ' '); // Z Value at current I, J const float f = z_values[i][j]; if (lcd) { // TODO: Display on Graphical LCD } else if (isnan(f)) serialprintPGM(human ? PSTR(" . ") : PSTR("NAN")); else if (human || csv) { if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Space for positive ('-' for negative) SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits } if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t'); // Closing Brace or Space if (human) SERIAL_CHAR(is_current ? ']' : ' '); SERIAL_FLUSHTX(); idle(); } if (!lcd) SERIAL_EOL(); // A blank line between rows (unless compact) if (j && human && !comp) SERIAL_ECHOLNPGM(" |"); } if (human) { serial_echo_column_labels(eachsp - 2); SERIAL_EOL(); serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y); serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y); SERIAL_EOL(); SERIAL_EOL(); } #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE) suspend_auto_report = false; #endif } bool unified_bed_leveling::sanity_check() { uint8_t error_flag = 0; if (settings.calc_num_meshes() < 1) { SERIAL_PROTOCOLLNPGM("?Mesh too big for EEPROM."); error_flag++; } return !!error_flag; } #endif // AUTO_BED_LEVELING_UBL