418 lines
14 KiB
C++
418 lines
14 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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 "../../../inc/MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#include "../bedlevel.h"
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#include "../../../module/motion.h"
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../../core/debug_out.h"
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#if ENABLED(EXTENSIBLE_UI)
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#include "../../../lcd/extui/ui_api.h"
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#endif
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xy_pos_t bilinear_grid_spacing, bilinear_start;
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xy_float_t bilinear_grid_factor;
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bed_mesh_t z_values;
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/**
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* Extrapolate a single point from its neighbors
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*/
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static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
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if (!isnan(z_values[x][y])) return;
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOPGM("Extrapolate [");
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if (x < 10) DEBUG_CHAR(' ');
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DEBUG_ECHO((int)x);
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DEBUG_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
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DEBUG_CHAR(' ');
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if (y < 10) DEBUG_CHAR(' ');
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DEBUG_ECHO((int)y);
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DEBUG_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
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DEBUG_ECHOLNPGM("]");
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}
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// Get X neighbors, Y neighbors, and XY neighbors
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const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
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float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
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b1 = z_values[x ][y1], b2 = z_values[x ][y2],
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c1 = z_values[x1][y1], c2 = z_values[x2][y2];
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// Treat far unprobed points as zero, near as equal to far
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if (isnan(a2)) a2 = 0.0;
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if (isnan(a1)) a1 = a2;
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if (isnan(b2)) b2 = 0.0;
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if (isnan(b1)) b1 = b2;
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if (isnan(c2)) c2 = 0.0;
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if (isnan(c1)) c1 = c2;
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const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
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// Take the average instead of the median
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z_values[x][y] = (a + b + c) / 3.0;
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#if ENABLED(EXTENSIBLE_UI)
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ExtUI::onMeshUpdate(x, y, z_values[x][y]);
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#endif
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// Median is robust (ignores outliers).
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// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
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// : ((c < b) ? b : (a < c) ? a : c);
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}
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//Enable this if your SCARA uses 180° of total area
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//#define EXTRAPOLATE_FROM_EDGE
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#if ENABLED(EXTRAPOLATE_FROM_EDGE)
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#if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
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#define HALF_IN_X
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#elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
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#define HALF_IN_Y
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#endif
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#endif
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/**
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* Fill in the unprobed points (corners of circular print surface)
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* using linear extrapolation, away from the center.
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*/
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void extrapolate_unprobed_bed_level() {
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#ifdef HALF_IN_X
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constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
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#else
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constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
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ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
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xlen = ctrx1;
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#endif
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#ifdef HALF_IN_Y
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constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
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#else
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constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
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ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
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ylen = ctry1;
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#endif
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LOOP_LE_N(xo, xlen)
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LOOP_LE_N(yo, ylen) {
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uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
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#ifndef HALF_IN_X
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const uint8_t x1 = ctrx1 - xo;
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#endif
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#ifndef HALF_IN_Y
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const uint8_t y1 = ctry1 - yo;
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#ifndef HALF_IN_X
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extrapolate_one_point(x1, y1, +1, +1); // left-below + +
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#endif
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extrapolate_one_point(x2, y1, -1, +1); // right-below - +
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#endif
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#ifndef HALF_IN_X
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extrapolate_one_point(x1, y2, +1, -1); // left-above + -
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#endif
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extrapolate_one_point(x2, y2, -1, -1); // right-above - -
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}
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}
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void print_bilinear_leveling_grid() {
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SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
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print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
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[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
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);
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}
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
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#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
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#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
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#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
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float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
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xy_pos_t bilinear_grid_spacing_virt;
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xy_float_t bilinear_grid_factor_virt;
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void print_bilinear_leveling_grid_virt() {
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SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
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print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
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[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
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);
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}
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#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
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float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
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uint8_t ep = 0, ip = 1;
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if (!x || x == ABL_TEMP_POINTS_X - 1) {
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if (x) {
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ep = GRID_MAX_POINTS_X - 1;
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ip = GRID_MAX_POINTS_X - 2;
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}
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if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
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return LINEAR_EXTRAPOLATION(
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z_values[ep][y - 1],
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z_values[ip][y - 1]
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);
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else
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return LINEAR_EXTRAPOLATION(
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bed_level_virt_coord(ep + 1, y),
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bed_level_virt_coord(ip + 1, y)
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);
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}
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if (!y || y == ABL_TEMP_POINTS_Y - 1) {
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if (y) {
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ep = GRID_MAX_POINTS_Y - 1;
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ip = GRID_MAX_POINTS_Y - 2;
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}
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if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
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return LINEAR_EXTRAPOLATION(
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z_values[x - 1][ep],
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z_values[x - 1][ip]
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);
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else
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return LINEAR_EXTRAPOLATION(
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bed_level_virt_coord(x, ep + 1),
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bed_level_virt_coord(x, ip + 1)
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);
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}
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return z_values[x - 1][y - 1];
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}
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static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
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return (
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p[i-1] * -t * sq(1 - t)
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+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
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+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
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- p[i+2] * sq(t) * (1 - t)
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) * 0.5f;
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}
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static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
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float row[4], column[4];
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LOOP_L_N(i, 4) {
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LOOP_L_N(j, 4) {
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column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
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}
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row[i] = bed_level_virt_cmr(column, 1, ty);
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}
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return bed_level_virt_cmr(row, 1, tx);
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}
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void bed_level_virt_interpolate() {
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bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
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bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
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LOOP_L_N(y, GRID_MAX_POINTS_Y)
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LOOP_L_N(x, GRID_MAX_POINTS_X)
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LOOP_L_N(ty, BILINEAR_SUBDIVISIONS)
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LOOP_L_N(tx, BILINEAR_SUBDIVISIONS) {
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if ((ty && y == (GRID_MAX_POINTS_Y) - 1) || (tx && x == (GRID_MAX_POINTS_X) - 1))
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continue;
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z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
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bed_level_virt_2cmr(
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x + 1,
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y + 1,
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(float)tx / (BILINEAR_SUBDIVISIONS),
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(float)ty / (BILINEAR_SUBDIVISIONS)
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);
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}
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}
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#endif // ABL_BILINEAR_SUBDIVISION
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// Refresh after other values have been updated
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void refresh_bed_level() {
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bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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bed_level_virt_interpolate();
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#endif
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}
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt.A
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#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt.A
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#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
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#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
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#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
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#else
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#define ABL_BG_SPACING(A) bilinear_grid_spacing.A
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#define ABL_BG_FACTOR(A) bilinear_grid_factor.A
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#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
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#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
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#define ABL_BG_GRID(X,Y) z_values[X][Y]
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#endif
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// Get the Z adjustment for non-linear bed leveling
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float bilinear_z_offset(const xy_pos_t &raw) {
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static float z1, d2, z3, d4, L, D;
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static xy_pos_t prev { -999.999, -999.999 }, ratio;
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// Whole units for the grid line indices. Constrained within bounds.
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static xy_int8_t thisg, nextg, lastg { -99, -99 };
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// XY relative to the probed area
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xy_pos_t rel = raw - bilinear_start.asFloat();
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#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
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#define FAR_EDGE_OR_BOX 2 // Keep using the last grid box
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#else
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#define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
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#endif
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if (prev.x != rel.x) {
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prev.x = rel.x;
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ratio.x = rel.x * ABL_BG_FACTOR(x);
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const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
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ratio.x -= gx; // Subtract whole to get the ratio within the grid box
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#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
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// Beyond the grid maintain height at grid edges
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NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x)
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#endif
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thisg.x = gx;
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nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
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}
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if (prev.y != rel.y || lastg.x != thisg.x) {
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if (prev.y != rel.y) {
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prev.y = rel.y;
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ratio.y = rel.y * ABL_BG_FACTOR(y);
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const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
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ratio.y -= gy;
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#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
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// Beyond the grid maintain height at grid edges
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NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.)
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#endif
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thisg.y = gy;
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nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
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}
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if (lastg != thisg) {
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lastg = thisg;
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// Z at the box corners
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z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
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d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
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z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front
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d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta)
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}
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// Bilinear interpolate. Needed since rel.y or thisg.x has changed.
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L = z1 + d2 * ratio.y; // Linear interp. LF -> LB
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const float R = z3 + d4 * ratio.y; // Linear interp. RF -> RB
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D = R - L;
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}
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const float offset = L + ratio.x * D; // the offset almost always changes
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/*
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static float last_offset = 0;
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if (ABS(last_offset - offset) > 0.2) {
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SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
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SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
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SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
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SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
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SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
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}
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last_offset = offset;
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//*/
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return offset;
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}
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#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
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#define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
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/**
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* Prepare a bilinear-leveled linear move on Cartesian,
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* splitting the move where it crosses grid borders.
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*/
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void bilinear_line_to_destination(const feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
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// Get current and destination cells for this line
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xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
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c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
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LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
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LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
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LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
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LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
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// Start and end in the same cell? No split needed.
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if (c1 == c2) {
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current_position = destination;
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line_to_current_position(scaled_fr_mm_s);
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return;
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}
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#define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
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float normalized_dist;
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xyze_pos_t end;
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const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) };
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// Crosses on the X and not already split on this X?
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// The x_splits flags are insurance against rounding errors.
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if (c2.x != c1.x && TEST(x_splits, gc.x)) {
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// Split on the X grid line
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CBI(x_splits, gc.x);
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end = destination;
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destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
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normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
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destination.y = LINE_SEGMENT_END(y);
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}
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// Crosses on the Y and not already split on this Y?
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else if (c2.y != c1.y && TEST(y_splits, gc.y)) {
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// Split on the Y grid line
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CBI(y_splits, gc.y);
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end = destination;
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destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
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normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
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destination.x = LINE_SEGMENT_END(x);
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}
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else {
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// Must already have been split on these border(s)
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// This should be a rare case.
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current_position = destination;
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line_to_current_position(scaled_fr_mm_s);
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return;
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}
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destination.z = LINE_SEGMENT_END(z);
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destination.e = LINE_SEGMENT_END(e);
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// Do the split and look for more borders
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bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
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// Restore destination from stack
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destination = end;
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bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
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}
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#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
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#endif // AUTO_BED_LEVELING_BILINEAR
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