Merge pull request #9087 from thinkyhead/bf2_mbl_localize
[2.0.x] MBL cleanup, has_mesh() method
This commit is contained in:
commit
e180b7a460
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@ -49,7 +49,7 @@
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bool leveling_is_valid() {
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bool leveling_is_valid() {
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return
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return
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#if ENABLED(MESH_BED_LEVELING)
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#if ENABLED(MESH_BED_LEVELING)
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mbl.has_mesh
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mbl.has_mesh()
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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!!bilinear_grid_spacing[X_AXIS]
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!!bilinear_grid_spacing[X_AXIS]
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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@ -178,10 +178,7 @@ void reset_bed_level() {
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#endif
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#endif
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set_bed_leveling_enabled(false);
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set_bed_leveling_enabled(false);
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#if ENABLED(MESH_BED_LEVELING)
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#if ENABLED(MESH_BED_LEVELING)
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if (leveling_is_valid()) {
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mbl.reset();
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mbl.reset();
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mbl.has_mesh = false;
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}
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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ubl.reset();
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ubl.reset();
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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@ -31,8 +31,6 @@
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mesh_bed_leveling mbl;
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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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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::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_xpos[GRID_MAX_POINTS_X],
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@ -47,7 +45,6 @@
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}
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}
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void mesh_bed_leveling::reset() {
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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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z_offset = 0;
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ZERO(z_values);
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ZERO(z_values);
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}
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}
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@ -58,12 +55,12 @@
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* Prepare a mesh-leveled linear move in a Cartesian setup,
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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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* splitting the move where it crosses mesh borders.
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*/
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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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void mesh_bed_leveling::line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
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// Get current and destination cells for this line
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// Get current and destination cells for this line
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int cx1 = mbl.cell_index_x(current_position[X_AXIS]),
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int cx1 = cell_index_x(current_position[X_AXIS]),
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cy1 = mbl.cell_index_y(current_position[Y_AXIS]),
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cy1 = cell_index_y(current_position[Y_AXIS]),
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cx2 = mbl.cell_index_x(destination[X_AXIS]),
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cx2 = cell_index_x(destination[X_AXIS]),
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cy2 = mbl.cell_index_y(destination[Y_AXIS]);
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cy2 = cell_index_y(destination[Y_AXIS]);
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NOMORE(cx1, GRID_MAX_POINTS_X - 2);
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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(cy1, GRID_MAX_POINTS_Y - 2);
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NOMORE(cx2, GRID_MAX_POINTS_X - 2);
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NOMORE(cx2, GRID_MAX_POINTS_X - 2);
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@ -71,7 +68,7 @@
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// Start and end in the same cell? No split needed.
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// Start and end in the same cell? No split needed.
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if (cx1 == cx2 && cy1 == cy2) {
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if (cx1 == cx2 && cy1 == cy2) {
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buffer_line_to_destination(fr_mm_s);
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line_to_destination(fr_mm_s);
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set_current_from_destination();
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set_current_from_destination();
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return;
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return;
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}
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}
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@ -87,7 +84,7 @@
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// Split on the X grid line
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// Split on the X grid line
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CBI(x_splits, gcx);
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CBI(x_splits, gcx);
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COPY(end, destination);
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COPY(end, destination);
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destination[X_AXIS] = mbl.index_to_xpos[gcx];
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destination[X_AXIS] = 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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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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destination[Y_AXIS] = MBL_SEGMENT_END(Y);
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}
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}
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@ -96,14 +93,14 @@
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// Split on the Y grid line
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// Split on the Y grid line
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CBI(y_splits, gcy);
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CBI(y_splits, gcy);
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COPY(end, destination);
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COPY(end, destination);
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destination[Y_AXIS] = mbl.index_to_ypos[gcy];
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destination[Y_AXIS] = 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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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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destination[X_AXIS] = MBL_SEGMENT_END(X);
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}
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}
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else {
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else {
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// Must already have been split on these border(s)
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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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// This should be a rare case.
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buffer_line_to_destination(fr_mm_s);
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line_to_destination(fr_mm_s);
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set_current_from_destination();
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set_current_from_destination();
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return;
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return;
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}
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}
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@ -112,21 +109,21 @@
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destination[E_AXIS] = MBL_SEGMENT_END(E);
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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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// 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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line_to_destination(fr_mm_s, x_splits, y_splits);
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// Restore destination from stack
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// Restore destination from stack
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COPY(destination, end);
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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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line_to_destination(fr_mm_s, x_splits, y_splits);
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}
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}
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#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
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#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
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void mbl_mesh_report() {
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void mesh_bed_leveling::report_mesh() {
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SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
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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_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(z_offset, 5);
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SERIAL_PROTOCOLLNPGM("\nMeasured points:");
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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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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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[](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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}
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}
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@ -39,7 +39,6 @@ enum MeshLevelingState {
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class mesh_bed_leveling {
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class mesh_bed_leveling {
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public:
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public:
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static bool has_mesh;
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static float z_offset,
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static float z_offset,
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
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index_to_xpos[GRID_MAX_POINTS_X],
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index_to_xpos[GRID_MAX_POINTS_X],
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@ -47,8 +46,17 @@ public:
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mesh_bed_leveling();
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mesh_bed_leveling();
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static void report_mesh();
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static void reset();
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static void reset();
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FORCE_INLINE static bool has_mesh() {
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
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if (z_values[x][y]) return true;
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return false;
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}
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static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
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static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
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@ -105,15 +113,13 @@ public:
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#endif
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#endif
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;
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;
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}
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}
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// Support functions, which may be embedded in the class later
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#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
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void line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
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#endif
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};
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};
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extern mesh_bed_leveling mbl;
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extern mesh_bed_leveling mbl;
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// Support functions, which may be embedded in the class later
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#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
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void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
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#endif
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void mbl_mesh_report();
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#endif // _MESH_BED_LEVELING_H_
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#endif // _MESH_BED_LEVELING_H_
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@ -100,7 +100,7 @@ void GcodeSuite::M420() {
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#endif
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#endif
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#elif ENABLED(MESH_BED_LEVELING)
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#elif ENABLED(MESH_BED_LEVELING)
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SERIAL_ECHOLNPGM("Mesh Bed Level data:");
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SERIAL_ECHOLNPGM("Mesh Bed Level data:");
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mbl_mesh_report();
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mbl.report_mesh();
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#endif
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#endif
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}
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}
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#endif
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#endif
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@ -81,7 +81,7 @@ void GcodeSuite::G29() {
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case MeshReport:
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case MeshReport:
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if (leveling_is_valid()) {
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if (leveling_is_valid()) {
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SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
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SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
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mbl_mesh_report();
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mbl.report_mesh();
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}
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}
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else
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else
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SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
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SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
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@ -136,7 +136,6 @@ void GcodeSuite::G29() {
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SERIAL_PROTOCOLLNPGM("Mesh probing done.");
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SERIAL_PROTOCOLLNPGM("Mesh probing done.");
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BUZZ(100, 659);
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BUZZ(100, 659);
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BUZZ(100, 698);
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BUZZ(100, 698);
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mbl.has_mesh = true;
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gcode.home_all_axes();
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gcode.home_all_axes();
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set_bed_leveling_enabled(true);
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set_bed_leveling_enabled(true);
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@ -185,9 +184,6 @@ void GcodeSuite::G29() {
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SERIAL_CHAR('Z'); echo_not_entered();
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SERIAL_CHAR('Z'); echo_not_entered();
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return;
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return;
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}
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}
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mbl.has_mesh = true; // set since user manually entered a mesh point
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break;
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break;
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case MeshSetZOffset:
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case MeshSetZOffset:
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@ -37,7 +37,7 @@
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*/
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*/
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// Change EEPROM version if the structure changes
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// Change EEPROM version if the structure changes
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#define EEPROM_VERSION "V48"
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#define EEPROM_VERSION "V49"
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#define EEPROM_OFFSET 100
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#define EEPROM_OFFSET 100
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// Check the integrity of data offsets.
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// Check the integrity of data offsets.
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@ -114,7 +114,6 @@ typedef struct SettingsDataStruct {
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//
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//
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// MESH_BED_LEVELING
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// MESH_BED_LEVELING
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//
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//
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bool mbl_has_mesh; // mbl.has_mesh
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float mbl_z_offset; // mbl.z_offset
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float mbl_z_offset; // mbl.z_offset
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uint8_t mesh_num_x, mesh_num_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y
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uint8_t mesh_num_x, mesh_num_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y
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#if ENABLED(MESH_BED_LEVELING)
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#if ENABLED(MESH_BED_LEVELING)
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@ -297,7 +296,6 @@ void MarlinSettings::postprocess() {
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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refresh_bed_level();
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refresh_bed_level();
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//set_bed_leveling_enabled(leveling_is_on);
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#endif
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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#if HAS_MOTOR_CURRENT_PWM
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@ -425,16 +423,13 @@ void MarlinSettings::postprocess() {
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"MBL Z array is the wrong size."
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"MBL Z array is the wrong size."
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);
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);
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const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
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const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
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EEPROM_WRITE(mbl.has_mesh);
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EEPROM_WRITE(mbl.z_offset);
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EEPROM_WRITE(mbl.z_offset);
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EEPROM_WRITE(mesh_num_x);
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EEPROM_WRITE(mesh_num_x);
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EEPROM_WRITE(mesh_num_y);
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EEPROM_WRITE(mesh_num_y);
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EEPROM_WRITE(mbl.z_values);
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EEPROM_WRITE(mbl.z_values);
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#else // For disabled MBL write a default mesh
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#else // For disabled MBL write a default mesh
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const bool leveling_is_on = false;
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dummy = 0.0f;
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dummy = 0.0f;
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const uint8_t mesh_num_x = 3, mesh_num_y = 3;
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const uint8_t mesh_num_x = 3, mesh_num_y = 3;
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EEPROM_WRITE(leveling_is_on);
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EEPROM_WRITE(dummy); // z_offset
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EEPROM_WRITE(dummy); // z_offset
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EEPROM_WRITE(mesh_num_x);
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EEPROM_WRITE(mesh_num_x);
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EEPROM_WRITE(mesh_num_y);
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EEPROM_WRITE(mesh_num_y);
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@ -925,18 +920,13 @@ void MarlinSettings::postprocess() {
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// Mesh (Manual) Bed Leveling
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// Mesh (Manual) Bed Leveling
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//
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//
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bool leveling_is_on;
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uint8_t mesh_num_x, mesh_num_y;
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uint8_t mesh_num_x, mesh_num_y;
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EEPROM_READ_ALWAYS(leveling_is_on);
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EEPROM_READ(dummy);
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EEPROM_READ(dummy);
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EEPROM_READ_ALWAYS(mesh_num_x);
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EEPROM_READ_ALWAYS(mesh_num_x);
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EEPROM_READ_ALWAYS(mesh_num_y);
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EEPROM_READ_ALWAYS(mesh_num_y);
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#if ENABLED(MESH_BED_LEVELING)
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#if ENABLED(MESH_BED_LEVELING)
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if (!validating) {
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if (!validating) mbl.z_offset = dummy;
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mbl.has_mesh = leveling_is_on;
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mbl.z_offset = dummy;
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}
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if (mesh_num_x == GRID_MAX_POINTS_X && mesh_num_y == GRID_MAX_POINTS_Y) {
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if (mesh_num_x == GRID_MAX_POINTS_X && mesh_num_y == GRID_MAX_POINTS_Y) {
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// EEPROM data fits the current mesh
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// EEPROM data fits the current mesh
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EEPROM_READ(mbl.z_values);
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EEPROM_READ(mbl.z_values);
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