358 lines
15 KiB
C++
358 lines
15 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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#if ENABLED(AUTO_BED_LEVELING_UBL)
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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 "vector_3.h"
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#define UBL_VERSION "1.00"
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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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typedef struct {
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int8_t x_index, y_index;
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float distance; // When populated, the distance from the search location
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} mesh_index_pair;
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// ubl.cpp
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void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
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void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
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bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
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// ubl_motion.cpp
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void debug_current_and_destination(const char * const title);
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void ubl_line_to_destination_cartesian(const float&, uint8_t);
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bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate );
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// ubl_G29.cpp
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enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
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void dump(char * const str, const float &f);
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void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool);
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float measure_business_card_thickness(float&);
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mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
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void shift_mesh_height();
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void fine_tune_mesh(const float&, const float&, const bool);
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bool g29_parameter_parsing();
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void g29_eeprom_dump();
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void g29_compare_current_mesh_to_stored_mesh();
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// External references
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char *ftostr43sign(const float&, char);
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bool ubl_lcd_clicked();
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void home_all_axes();
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void gcode_G26();
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void gcode_G29();
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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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extern char lcd_status_message[];
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void lcd_quick_feedback();
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#endif
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#define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
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#define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
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typedef struct {
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bool active = false;
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float z_offset = 0.0;
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int8_t eeprom_storage_slot = -1;
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} ubl_state;
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class unified_bed_leveling {
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private:
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static float last_specified_z;
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public:
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void find_mean_mesh_height();
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void shift_mesh_height();
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void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
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void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
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void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
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void save_ubl_active_state_and_disable();
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void restore_ubl_active_state_and_leave();
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void g29_what_command();
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void g29_eeprom_dump();
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void g29_compare_current_mesh_to_stored_mesh();
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void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
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void smart_fill_mesh();
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void display_map(const int);
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void reset();
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void invalidate();
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void store_state();
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void load_state();
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void store_mesh(const int16_t);
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void load_mesh(const int16_t);
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bool sanity_check();
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static ubl_state state;
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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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constexpr static float mesh_index_to_xpos[16] PROGMEM = {
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UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST),
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UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST),
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UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST),
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UBL_MESH_MIN_X + 6 * (MESH_X_DIST), UBL_MESH_MIN_X + 7 * (MESH_X_DIST),
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UBL_MESH_MIN_X + 8 * (MESH_X_DIST), UBL_MESH_MIN_X + 9 * (MESH_X_DIST),
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UBL_MESH_MIN_X + 10 * (MESH_X_DIST), UBL_MESH_MIN_X + 11 * (MESH_X_DIST),
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UBL_MESH_MIN_X + 12 * (MESH_X_DIST), UBL_MESH_MIN_X + 13 * (MESH_X_DIST),
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UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST)
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};
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constexpr static float mesh_index_to_ypos[16] PROGMEM = {
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UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST),
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UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST),
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UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST),
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UBL_MESH_MIN_Y + 6 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 7 * (MESH_Y_DIST),
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UBL_MESH_MIN_Y + 8 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 9 * (MESH_Y_DIST),
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UBL_MESH_MIN_Y + 10 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 11 * (MESH_Y_DIST),
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UBL_MESH_MIN_Y + 12 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 13 * (MESH_Y_DIST),
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UBL_MESH_MIN_Y + 14 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 15 * (MESH_Y_DIST)
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};
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static bool g26_debug_flag, has_control_of_lcd_panel;
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static int16_t eeprom_start; // Please do no change this to 8 bits in size
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// It needs to hold values bigger than this.
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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 void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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int8_t get_cell_index_x(const float &x) {
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const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (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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int8_t get_cell_index_y(const float &y) {
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const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (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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int8_t find_closest_x_index(const float &x) {
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const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (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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int8_t find_closest_y_index(const float &y) {
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const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (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 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 rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
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*/
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inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, 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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serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
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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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return NAN;
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}
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const float xratio = (RAW_X_POSITION(lx0) - pgm_read_float(&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[x1_i + 1][yi] - z1);
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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 float z_correction_for_y_on_vertical_mesh_line(const float &ly0, 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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serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
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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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return NAN;
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}
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const float yratio = (RAW_Y_POSITION(ly0) - pgm_read_float(&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][y1_i + 1] - z1);
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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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float get_z_correction(const float &lx0, const float &ly0) {
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const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
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cy = get_cell_index_y(RAW_Y_POSITION(ly0));
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if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) {
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SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
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SERIAL_ECHOPAIR(", ly0=", ly0);
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SERIAL_CHAR(')');
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SERIAL_EOL;
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#if ENABLED(ULTRA_LCD)
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strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
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lcd_quick_feedback();
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#endif
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return 0.0; // this used to return state.z_offset
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}
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const float z1 = calc_z0(RAW_X_POSITION(lx0),
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pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy],
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pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy]);
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const float z2 = calc_z0(RAW_X_POSITION(lx0),
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pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy + 1],
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pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy + 1]);
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float z0 = calc_z0(RAW_Y_POSITION(ly0),
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pgm_read_float(&mesh_index_to_ypos[cy]), z1,
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pgm_read_float(&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(", lx0);
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SERIAL_CHAR(',');
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SERIAL_ECHO(ly0);
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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(", lx0);
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SERIAL_CHAR(',');
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SERIAL_ECHO(ly0);
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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; // there used to be a +state.z_offset on this line
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}
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/**
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* This function sets the Z leveling fade factor based on the given Z height,
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* only re-calculating when necessary.
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*
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* Returns 1.0 if planner.z_fade_height is 0.0.
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* Returns 0.0 if Z is past the specified 'Fade Height'.
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*/
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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inline float fade_scaling_factor_for_z(const float &lz) {
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if (planner.z_fade_height == 0.0) return 1.0;
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static float fade_scaling_factor = 1.0;
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const float rz = RAW_Z_POSITION(lz);
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if (last_specified_z != rz) {
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last_specified_z = rz;
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fade_scaling_factor =
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rz < planner.z_fade_height
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? 1.0 - (rz * planner.inverse_z_fade_height)
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: 0.0;
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}
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return fade_scaling_factor;
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}
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#else
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inline float fade_scaling_factor_for_z(const float &lz) {
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return 1.0;
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}
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#endif
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}; // class unified_bed_leveling
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extern unified_bed_leveling ubl;
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#define UBL_LAST_EEPROM_INDEX E2END
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#endif // AUTO_BED_LEVELING_UBL
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#endif // UNIFIED_BED_LEVELING_H
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