124 lines
4.3 KiB
C++
124 lines
4.3 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 "../../../inc/MarlinConfig.h"
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#if ENABLED(MESH_BED_LEVELING)
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#include "mesh_bed_leveling.h"
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#include "../../../module/motion.h"
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#include "../../../feature/bedlevel/bedlevel.h"
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mesh_bed_leveling mbl;
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bool mesh_bed_leveling::has_mesh;
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float mesh_bed_leveling::z_offset,
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mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
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mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X],
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mesh_bed_leveling::index_to_ypos[GRID_MAX_POINTS_Y];
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mesh_bed_leveling::mesh_bed_leveling() {
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for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i)
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index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST);
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for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; ++i)
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index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST);
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reset();
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}
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void mesh_bed_leveling::reset() {
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has_mesh = false;
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z_offset = 0;
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ZERO(z_values);
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}
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/**
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* Prepare a mesh-leveled linear move in a Cartesian setup,
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* splitting the move where it crosses mesh borders.
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*/
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void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
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int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
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cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
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cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
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cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
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NOMORE(cx1, GRID_MAX_POINTS_X - 2);
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NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
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NOMORE(cx2, GRID_MAX_POINTS_X - 2);
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NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
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if (cx1 == cx2 && cy1 == cy2) {
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// Start and end on same mesh square
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line_to_destination(fr_mm_s);
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set_current_to_destination();
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return;
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}
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#define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
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float normalized_dist, end[XYZE];
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// Split at the left/front border of the right/top square
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const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
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if (cx2 != cx1 && TEST(x_splits, gcx)) {
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COPY(end, destination);
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destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
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normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
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destination[Y_AXIS] = MBL_SEGMENT_END(Y);
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CBI(x_splits, gcx);
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}
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else if (cy2 != cy1 && TEST(y_splits, gcy)) {
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COPY(end, destination);
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destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
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normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
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destination[X_AXIS] = MBL_SEGMENT_END(X);
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CBI(y_splits, gcy);
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}
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else {
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// Already split on a border
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line_to_destination(fr_mm_s);
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set_current_to_destination();
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return;
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}
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destination[Z_AXIS] = MBL_SEGMENT_END(Z);
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destination[E_AXIS] = MBL_SEGMENT_END(E);
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// Do the split and look for more borders
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mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
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// Restore destination from stack
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COPY(destination, end);
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mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
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}
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void mbl_mesh_report() {
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SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
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SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
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SERIAL_PROTOCOLLNPGM("\nMeasured points:");
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print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
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[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
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);
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}
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#endif // MESH_BED_LEVELING
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