335 lines
15 KiB
C++
335 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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#include "Marlin.h"
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#include "math.h"
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#ifndef UNIFIED_BED_LEVELING_H
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#define UNIFIED_BED_LEVELING_H
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#define UBL_OK false
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#define UBL_ERR true
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typedef struct {
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int x_index, y_index;
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float distance; // Not always used. But when populated, it is the distance
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// from the search location
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} mesh_index_pair;
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typedef struct { double dx, dy, dz; } vector;
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enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
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bool axis_unhomed_error(bool, bool, bool);
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void dump(char *str, float f);
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bool ubl_lcd_clicked();
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void probe_entire_mesh(float, float, bool, bool);
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void ubl_line_to_destination(const float&, const float&, const float&, const float&, const float&, uint8_t);
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void manually_probe_remaining_mesh(float, float, float, float, bool);
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vector tilt_mesh_based_on_3pts(float, float, float);
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void new_set_bed_level_equation_3pts(float, float, float);
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float measure_business_card_thickness(float);
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mesh_index_pair find_closest_mesh_point_of_type(MeshPointType, float, float, bool, unsigned int[16]);
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void find_mean_mesh_height();
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void shift_mesh_height();
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bool g29_parameter_parsing();
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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(float, float, bool);
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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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char *ftostr43sign(const float&, char);
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void gcode_G26();
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void gcode_G28();
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void gcode_G29();
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extern char conv[9];
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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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///////////////////////////////////////////////////////////////////////////////////////////////////////
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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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enum MBLStatus { MBL_STATUS_NONE = 0, MBL_STATUS_HAS_MESH_BIT = 0, MBL_STATUS_ACTIVE_BIT = 1 };
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#define MESH_X_DIST ((float(UBL_MESH_MAX_X) - float(UBL_MESH_MIN_X)) / (float(UBL_MESH_NUM_X_POINTS) - 1.0))
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#define MESH_Y_DIST ((float(UBL_MESH_MAX_Y) - float(UBL_MESH_MIN_Y)) / (float(UBL_MESH_NUM_Y_POINTS) - 1.0))
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extern bool g26_debug_flag;
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extern float last_specified_z;
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extern float fade_scaling_factor_for_current_height;
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extern float z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS];
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extern float mesh_index_to_x_location[UBL_MESH_NUM_X_POINTS + 1]; // +1 just because of paranoia that we might end up on the
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extern float mesh_index_to_y_location[UBL_MESH_NUM_Y_POINTS + 1]; // the last Mesh Line and that is the start of a whole new cell
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class unified_bed_leveling {
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public:
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struct ubl_state {
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bool active = false;
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float z_offset = 0.0;
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int eeprom_storage_slot = -1,
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n_x = UBL_MESH_NUM_X_POINTS,
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n_y = UBL_MESH_NUM_Y_POINTS;
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float mesh_x_min = UBL_MESH_MIN_X,
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mesh_y_min = UBL_MESH_MIN_Y,
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mesh_x_max = UBL_MESH_MAX_X,
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mesh_y_max = UBL_MESH_MAX_Y,
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mesh_x_dist = MESH_X_DIST,
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mesh_y_dist = MESH_Y_DIST,
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g29_correction_fade_height = 10.0,
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g29_fade_height_multiplier = 1.0 / 10.0; // It is cheaper to do a floating point multiply than a floating
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// point divide. So, we keep this number in both forms. The first
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// is for the user. The second one is the one that is actually used
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// again and again and again during the correction calculations.
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unsigned char padding[24]; // This is just to allow room to add state variables without
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// changing the location of data structures in the EEPROM.
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// This is for compatability with future versions to keep
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// people from having to regenerate thier mesh data.
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//
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// If you change the contents of this struct, please adjust
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// the padding[] to keep the size the same!
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} state, pre_initialized;
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unified_bed_leveling();
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// ~unified_bed_leveling(); // No destructor because this object never goes away!
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void display_map(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(int);
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void load_mesh(int);
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bool sanity_check();
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FORCE_INLINE float map_x_index_to_bed_location(int8_t i){ return ((float) UBL_MESH_MIN_X) + (((float) MESH_X_DIST) * (float) i); };
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FORCE_INLINE float map_y_index_to_bed_location(int8_t i){ return ((float) UBL_MESH_MIN_Y) + (((float) MESH_Y_DIST) * (float) i); };
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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(float x) {
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int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
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return constrain(cx, 0, (UBL_MESH_NUM_X_POINTS) - 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(float y) {
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int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
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return constrain(cy, 0, (UBL_MESH_NUM_Y_POINTS) - 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(float x) {
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int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
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return (px >= 0 && px < (UBL_MESH_NUM_X_POINTS)) ? px : -1;
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}
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int8_t find_closest_y_index(float y) {
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int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
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return (py >= 0 && py < (UBL_MESH_NUM_Y_POINTS)) ? 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 farly expensive with its 4 floating point additions and 2 floating point
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* multiplications.
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*/
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inline float calc_z0(float a0, float a1, float z1, float a2, float z2) {
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float delta_z = (z2 - z1);
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float delta_a = (a0 - a1) / (a2 - a1);
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return z1 + delta_a * delta_z;
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}
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/**
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* get_z_correction_at_Y_intercept(float x0, int x1_i, int yi) only takes
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* three parameters. It assumes the x0 point is on a Mesh line denoted by yi. In theory
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* we could use get_cell_index_x(float x) to obtain the 2nd parameter x1_i but any code calling
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* the get_z_correction_along_vertical_mesh_line_at_specific_X routine will already have
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* the X index of the x0 intersection available and we don't want to perform any extra floating
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* point operations.
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*/
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inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(float x0, int x1_i, int yi) {
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if (x1_i < 0 || yi < 0 || x1_i >= UBL_MESH_NUM_X_POINTS || yi >= UBL_MESH_NUM_Y_POINTS) {
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SERIAL_ECHOPAIR("? in get_z_correction_along_horizontal_mesh_line_at_specific_X(x0=", x0);
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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 a0ma1diva2ma1 = (x0 - mesh_index_to_x_location[x1_i]) * (1.0 / (MESH_X_DIST)),
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z1 = z_values[x1_i][yi],
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z2 = z_values[x1_i + 1][yi],
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dz = (z2 - z1);
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return z1 + a0ma1diva2ma1 * dz;
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}
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//
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// See comments above for get_z_correction_along_horizontal_mesh_line_at_specific_X
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//
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inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(float y0, int xi, int y1_i) {
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if (xi < 0 || y1_i < 0 || xi >= UBL_MESH_NUM_X_POINTS || y1_i >= UBL_MESH_NUM_Y_POINTS) {
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SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_X(y0=", y0);
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SERIAL_ECHOPAIR(", x1_i=", xi);
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SERIAL_ECHOPAIR(", yi=", 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 a0ma1diva2ma1 = (y0 - mesh_index_to_y_location[y1_i]) * (1.0 / (MESH_Y_DIST)),
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z1 = z_values[xi][y1_i],
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z2 = z_values[xi][y1_i + 1],
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dz = (z2 - z1);
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return z1 + a0ma1diva2ma1 * dz;
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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(float x0, float y0) {
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int8_t cx = get_cell_index_x(x0),
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cy = get_cell_index_y(y0);
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if (cx < 0 || cy < 0 || cx >= UBL_MESH_NUM_X_POINTS || cy >= UBL_MESH_NUM_Y_POINTS) {
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SERIAL_ECHOPAIR("? in get_z_correction(x0=", x0);
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SERIAL_ECHOPAIR(", y0=", y0);
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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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float z1 = calc_z0(x0,
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map_x_index_to_bed_location(cx), z_values[cx][cy],
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map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy]);
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float z2 = calc_z0(x0,
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map_x_index_to_bed_location(cx), z_values[cx][cy + 1],
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map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy + 1]);
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float z0 = calc_z0(y0,
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map_y_index_to_bed_location(cy), z1,
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map_y_index_to_bed_location(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(", x0);
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SERIAL_ECHOPAIR(",", y0);
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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_ECHOPGM("??? Yikes! NAN in get_z_correction( ");
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SERIAL_ECHO(x0);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO(y0);
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SERIAL_ECHOLNPGM(" )");
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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 routine is used to scale the Z correction depending upon the current nozzle height. It is
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* optimized for speed. It avoids floating point operations by checking if the requested scaling
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* factor is going to be the same as the last time the function calculated a value. If so, it just
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* returns it.
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*
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* If it must do a calcuation, it will return a scaling factor of 0.0 if the UBL System is not active
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* or if the current Z Height is past the specified 'Fade Height'
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*/
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FORCE_INLINE float fade_scaling_factor_for_z(float current_z) {
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#ifndef ENABLE_LEVELING_FADE_HEIGHT // if turned off, just return 0.000 Note that we assume the
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return 0.000; // compiler will do 'Dead Code' elimination so there is no need
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#endif // for an #else clause here.
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if (last_specified_z == current_z)
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return fade_scaling_factor_for_current_height;
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last_specified_z = current_z;
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fade_scaling_factor_for_current_height =
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state.active && current_z < state.g29_correction_fade_height
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? 1.0 - (current_z * state.g29_fade_height_multiplier)
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: 0.0;
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return fade_scaling_factor_for_current_height;
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}
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};
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extern unified_bed_leveling ubl;
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extern int ubl_eeprom_start;
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#endif // AUTO_BED_LEVELING_UBL
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#endif // UNIFIED_BED_LEVELING_H
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