Two index finding functions for MBL
This commit is contained in:
Scott Lahteine
parent
678cbad76a
commit
a4ed988c60
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@ -3008,7 +3008,7 @@ inline void gcode_G28() {
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return;
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}
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int8_t ix, iy;
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int8_t px, py;
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float z;
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switch (state) {
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@ -3023,10 +3023,10 @@ inline void gcode_G28() {
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SERIAL_PROTOCOLPGM("\nZ offset: ");
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SERIAL_PROTOCOL_F(mbl.z_offset, 5);
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SERIAL_PROTOCOLLNPGM("\nMeasured points:");
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for (int y = 0; y < MESH_NUM_Y_POINTS; y++) {
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for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
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for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
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for (px = 0; px < MESH_NUM_X_POINTS; px++) {
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SERIAL_PROTOCOLPGM(" ");
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SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
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SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
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}
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SERIAL_EOL;
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}
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@ -3058,8 +3058,8 @@ inline void gcode_G28() {
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}
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// If there's another point to sample, move there with optional lift.
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if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
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mbl.zigzag(probe_point, ix, iy);
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_mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
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mbl.zigzag(probe_point, px, py);
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_mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
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probe_point++;
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}
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else {
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@ -3082,8 +3082,8 @@ inline void gcode_G28() {
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case MeshSet:
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if (code_seen('X')) {
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ix = code_value_long() - 1;
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if (ix < 0 || ix >= MESH_NUM_X_POINTS) {
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px = code_value_long() - 1;
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if (px < 0 || px >= MESH_NUM_X_POINTS) {
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SERIAL_PROTOCOLPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").\n");
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return;
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}
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@ -3093,8 +3093,8 @@ inline void gcode_G28() {
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return;
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}
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if (code_seen('Y')) {
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iy = code_value_long() - 1;
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if (iy < 0 || iy >= MESH_NUM_Y_POINTS) {
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py = code_value_long() - 1;
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if (py < 0 || py >= MESH_NUM_Y_POINTS) {
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SERIAL_PROTOCOLPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").\n");
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return;
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}
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@ -3110,7 +3110,7 @@ inline void gcode_G28() {
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SERIAL_PROTOCOLPGM("Z not entered.\n");
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return;
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}
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mbl.z_values[iy][ix] = z;
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mbl.z_values[py][px] = z;
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break;
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case MeshSetZOffset:
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@ -5905,36 +5905,35 @@ inline void gcode_M410() { stepper.quick_stop(); }
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*/
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inline void gcode_M421() {
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float x = 0, y = 0, z = 0;
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int8_t i = 0, j = 0;
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int8_t px = 0, py = 0;
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bool err = false, hasX, hasY, hasZ, hasI, hasJ;
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if ((hasX = code_seen('X'))) x = code_value();
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if ((hasY = code_seen('Y'))) y = code_value();
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if ((hasI = code_seen('I'))) i = code_value();
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if ((hasJ = code_seen('J'))) j = code_value();
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if ((hasZ = code_seen('Z'))) z = code_value();
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if ((hasI = code_seen('I'))) px = code_value();
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if ((hasJ = code_seen('J'))) py = code_value();
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if (hasX && hasY && hasZ) {
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int8_t ix = mbl.select_x_index(x),
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iy = mbl.select_y_index(y);
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px = mbl.probe_index_x(x);
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py = mbl.probe_index_y(y);
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if (ix >= 0 && iy >= 0)
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mbl.set_z(ix, iy, z);
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if (px >= 0 && py >= 0)
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mbl.set_z(px, py, z);
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else {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
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}
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}
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else if (hasI && hasJ && hasZ) {
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if (i >= 0 && i < MESH_NUM_X_POINTS && j >= 0 && j < MESH_NUM_Y_POINTS)
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mbl.set_z(i, j, z);
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if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
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mbl.set_z(px, py, z);
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else {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
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}
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}
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else
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{
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else {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_M421_REQUIRES_XYZ);
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}
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@ -7303,52 +7302,52 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
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set_current_to_destination();
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return;
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}
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int pix = mbl.select_x_index(current_position[X_AXIS] - home_offset[X_AXIS]);
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int piy = mbl.select_y_index(current_position[Y_AXIS] - home_offset[Y_AXIS]);
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int ix = mbl.select_x_index(x - home_offset[X_AXIS]);
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int iy = mbl.select_y_index(y - home_offset[Y_AXIS]);
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pix = min(pix, MESH_NUM_X_POINTS - 2);
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piy = min(piy, MESH_NUM_Y_POINTS - 2);
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ix = min(ix, MESH_NUM_X_POINTS - 2);
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iy = min(iy, MESH_NUM_Y_POINTS - 2);
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if (pix == ix && piy == iy) {
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int pcx = mbl.cel_index_x(current_position[X_AXIS] - home_offset[X_AXIS]);
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int pcy = mbl.cel_index_y(current_position[Y_AXIS] - home_offset[Y_AXIS]);
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int cx = mbl.cel_index_x(x - home_offset[X_AXIS]);
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int cy = mbl.cel_index_y(y - home_offset[Y_AXIS]);
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NOMORE(pcx, MESH_NUM_X_POINTS - 2);
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NOMORE(pcy, MESH_NUM_Y_POINTS - 2);
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NOMORE(cx, MESH_NUM_X_POINTS - 2);
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NOMORE(cy, MESH_NUM_Y_POINTS - 2);
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if (pcx == cx && pcy == cy) {
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// Start and end on same mesh square
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planner.buffer_line(x, y, z, e, feed_rate, extruder);
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set_current_to_destination();
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return;
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}
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float nx, ny, nz, ne, normalized_dist;
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if (ix > pix && TEST(x_splits, ix)) {
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nx = mbl.get_x(ix) + home_offset[X_AXIS];
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if (cx > pcx && TEST(x_splits, cx)) {
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nx = mbl.get_probe_x(cx) + home_offset[X_AXIS];
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normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
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ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(x_splits, ix);
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CBI(x_splits, cx);
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}
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else if (ix < pix && TEST(x_splits, pix)) {
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nx = mbl.get_x(pix) + home_offset[X_AXIS];
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else if (cx < pcx && TEST(x_splits, pcx)) {
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nx = mbl.get_probe_x(pcx) + home_offset[X_AXIS];
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normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
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ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(x_splits, pix);
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CBI(x_splits, pcx);
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}
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else if (iy > piy && TEST(y_splits, iy)) {
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ny = mbl.get_y(iy) + home_offset[Y_AXIS];
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else if (cy > pcy && TEST(y_splits, cy)) {
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ny = mbl.get_probe_y(cy) + home_offset[Y_AXIS];
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normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
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nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(y_splits, iy);
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CBI(y_splits, cy);
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}
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else if (iy < piy && TEST(y_splits, piy)) {
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ny = mbl.get_y(piy) + home_offset[Y_AXIS];
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else if (cy < pcy && TEST(y_splits, pcy)) {
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ny = mbl.get_probe_y(pcy) + home_offset[Y_AXIS];
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normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
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nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
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nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
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ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
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CBI(y_splits, piy);
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CBI(y_splits, pcy);
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}
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else {
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// Already split on a border
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@ -733,13 +733,13 @@ void Config_PrintSettings(bool forReplay) {
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SERIAL_ECHOPAIR(" X", MESH_NUM_X_POINTS);
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SERIAL_ECHOPAIR(" Y", MESH_NUM_Y_POINTS);
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SERIAL_EOL;
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for (uint8_t y = 0; y < MESH_NUM_Y_POINTS; y++) {
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for (uint8_t x = 0; x < MESH_NUM_X_POINTS; x++) {
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for (uint8_t py = 0; py < MESH_NUM_Y_POINTS; py++) {
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for (uint8_t px = 0; px < MESH_NUM_X_POINTS; px++) {
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CONFIG_ECHO_START;
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SERIAL_ECHOPAIR(" M421 X", mbl.get_x(x));
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SERIAL_ECHOPAIR(" Y", mbl.get_y(y));
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SERIAL_ECHOPAIR(" M421 X", mbl.get_probe_x(px));
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SERIAL_ECHOPAIR(" Y", mbl.get_probe_y(py));
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SERIAL_ECHOPGM(" Z");
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SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
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SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
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SERIAL_EOL;
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}
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}
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@ -37,33 +37,45 @@
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void reset();
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static FORCE_INLINE float get_x(int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
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static FORCE_INLINE float get_y(int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
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void set_z(int8_t ix, int8_t iy, float z) { z_values[iy][ix] = z; }
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static FORCE_INLINE float get_probe_x(int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
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static FORCE_INLINE float get_probe_y(int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
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void set_z(int8_t px, int8_t py, float z) { z_values[py][px] = z; }
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inline void zigzag(int8_t index, int8_t &ix, int8_t &iy) {
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ix = index % (MESH_NUM_X_POINTS);
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iy = index / (MESH_NUM_X_POINTS);
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
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inline void zigzag(int8_t index, int8_t &px, int8_t &py) {
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px = index % (MESH_NUM_X_POINTS);
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py = index / (MESH_NUM_X_POINTS);
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if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag
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}
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void set_zigzag_z(int8_t index, float z) {
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int8_t ix, iy;
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zigzag(index, ix, iy);
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set_z(ix, iy, z);
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int8_t px, py;
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zigzag(index, px, py);
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set_z(px, py, z);
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}
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int8_t select_x_index(float x) {
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for (uint8_t i = MESH_NUM_X_POINTS; i--;)
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if (fabs(x - get_x(i)) <= (MESH_X_DIST) / 2)
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return i;
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int8_t cel_index_x(float x) {
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int8_t cx = 1;
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while (x > get_probe_x(cx) && cx < MESH_NUM_X_POINTS - 1) cx++; // For 3x3 range is 1 to 2
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return cx - 1; // so this will return 0 - 1
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}
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int8_t cel_index_y(float y) {
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int8_t cy = 1;
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while (y > get_probe_y(cy) && cy < MESH_NUM_Y_POINTS - 1) cy++;
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return cy - 1;
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}
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int8_t probe_index_x(float x) {
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for (int8_t px = MESH_NUM_X_POINTS; px--;)
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if (fabs(x - get_probe_x(px)) <= (MESH_X_DIST) / 2)
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return px;
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return -1;
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}
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int8_t select_y_index(float y) {
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for (uint8_t i = MESH_NUM_Y_POINTS; i--;)
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if (fabs(y - get_y(i)) <= (MESH_Y_DIST) / 2)
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return i;
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int8_t probe_index_y(float y) {
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for (int8_t py = MESH_NUM_Y_POINTS; py--;)
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if (fabs(y - get_probe_y(py)) <= (MESH_Y_DIST) / 2)
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return py;
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return -1;
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}
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@ -74,18 +86,18 @@
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}
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float get_z(float x0, float y0) {
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int8_t x_index = select_x_index(x0);
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int8_t y_index = select_y_index(y0);
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if (x_index < 0 || y_index < 0) return z_offset;
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int8_t cx = cel_index_x(x0),
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cy = cel_index_y(y0);
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if (cx < 0 || cy < 0) return z_offset;
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float z1 = calc_z0(x0,
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get_x(x_index), z_values[y_index][x_index],
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get_x(x_index + 1), z_values[y_index][x_index + 1]);
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get_probe_x(cx), z_values[cy][cx],
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get_probe_x(cx + 1), z_values[cy][cx + 1]);
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float z2 = calc_z0(x0,
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get_x(x_index), z_values[y_index + 1][x_index],
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get_x(x_index + 1), z_values[y_index + 1][x_index + 1]);
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get_probe_x(cx), z_values[cy + 1][cx],
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get_probe_x(cx + 1), z_values[cy + 1][cx + 1]);
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float z0 = calc_z0(y0,
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get_y(y_index), z1,
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get_y(y_index + 1), z2);
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get_probe_y(cy), z1,
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get_probe_y(cy + 1), z2);
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return z0 + z_offset;
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}
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};
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@ -1013,9 +1013,9 @@ void lcd_cooldown() {
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lcd_goto_menu(_lcd_level_bed_moving);
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// _mbl_goto_xy runs the menu loop until the move is done
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int8_t ix, iy;
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mbl.zigzag(_lcd_level_bed_position, ix, iy);
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_mbl_goto_xy(mbl.get_x(ix), mbl.get_y(iy));
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int8_t px, py;
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mbl.zigzag(_lcd_level_bed_position, px, py);
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_mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
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// After the blocking function returns, change menus
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lcd_goto_menu(_lcd_level_bed_get_z);
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