Fix UBL mesh inset Z position (#20538)
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@ -122,20 +122,29 @@ class unified_bed_leveling {
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FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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FORCE_INLINE 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 int8_t cell_index_x_raw(const float &x) {
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return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST));
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}
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static int8_t cell_index_y_raw(const float &y) {
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return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST));
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}
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static int8_t cell_index_x_valid(const float &x) {
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return WITHIN(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X - 2));
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}
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static int8_t cell_index_y_valid(const float &y) {
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return WITHIN(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y - 2));
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}
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static int8_t cell_index_x(const float &x) {
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static int8_t cell_index_x(const float &x) {
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const int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
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return constrain(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X) - 2);
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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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}
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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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static int8_t cell_index_y(const float &y) {
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static int8_t cell_index_y(const float &y) {
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const int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
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return constrain(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y) - 2);
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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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}
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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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static inline xy_int8_t cell_indexes(const float &x, const float &y) {
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static inline xy_int8_t cell_indexes(const float &x, const float &y) {
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return { cell_index_x(x), cell_index_y(y) };
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return { cell_index_x(x), cell_index_y(y) };
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@ -56,39 +56,32 @@
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// A move within the same cell needs no splitting
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// A move within the same cell needs no splitting
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if (istart == iend) {
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if (istart == iend) {
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// For a move off the bed, use a constant Z raise
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FINAL_MOVE:
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if (!WITHIN(iend.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iend.y, 0, GRID_MAX_POINTS_Y - 1)) {
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
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// a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH
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// value, that will be used instead of a calculated (Bi-Linear interpolation) correction.
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// When UBL_Z_RAISE_WHEN_OFF_MESH is disabled Z correction is extrapolated from the edge of the mesh
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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// For a move off the UBL mesh, use a constant Z raise
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if (!cell_index_x_valid(end.x) || !cell_index_y_valid(end.y)) {
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// Note: There is no Z Correction in this case. We are off the mesh and don't know what
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// a reasonable correction would be, UBL_Z_RAISE_WHEN_OFF_MESH will be used instead of
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// a calculated (Bi-Linear interpolation) correction.
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end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
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end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
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#endif
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planner.buffer_segment(end, scaled_fr_mm_s, extruder);
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planner.buffer_segment(end, scaled_fr_mm_s, extruder);
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current_position = destination;
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current_position = destination;
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return;
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return;
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}
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}
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#endif
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FINAL_MOVE:
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// The distance is always MESH_X_DIST so multiply by the constant reciprocal.
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// The distance is always MESH_X_DIST so multiply by the constant reciprocal.
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const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST);
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const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST),
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yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
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float z1, z2;
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z1 = z_values[iend.x][iend.y ] + xratio * (z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]),
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if (iend.x >= GRID_MAX_POINTS_X - 1)
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z2 = z_values[iend.x][iend.y + 1] + xratio * (z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);
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z1 = z2 = 0.0;
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else {
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z1 = z_values[iend.x ][iend.y ] + xratio *
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(z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]),
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z2 = z_values[iend.x ][iend.y + 1] + xratio *
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(z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);
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}
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// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
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// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
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const float yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
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const float z0 = (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z);
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z0 = iend.y < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z) : 0.0;
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// Undefined parts of the Mesh in z_values[][] are NAN.
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// Undefined parts of the Mesh in z_values[][] are NAN.
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// Replace NAN corrections with 0.0 to prevent NAN propagation.
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// Replace NAN corrections with 0.0 to prevent NAN propagation.
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