296 lines
9.8 KiB
C++
296 lines
9.8 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "UBL.h"
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#include "hex_print_routines.h"
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/**
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* These support functions allow the use of large bit arrays of flags that take very
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* little RAM. Currently they are limited to being 16x16 in size. Changing the declaration
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* to unsigned long will allow us to go to 32x32 if higher resolution Mesh's are needed
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* in the future.
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*/
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void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y) { CBI(bits[y], x); }
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void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); }
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bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }
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static void serial_echo_xy(const uint16_t x, const uint16_t y) {
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SERIAL_CHAR('(');
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SERIAL_ECHO(x);
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SERIAL_CHAR(',');
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SERIAL_ECHO(y);
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SERIAL_CHAR(')');
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safe_delay(10);
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}
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static void serial_echo_10x_spaces() {
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for (uint8_t i = UBL_MESH_NUM_X_POINTS - 1; --i;) {
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SERIAL_ECHOPGM(" ");
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#if TX_BUFFER_SIZE > 0
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MYSERIAL.flushTX();
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#endif
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safe_delay(10);
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}
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}
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/**
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* These variables used to be declared inside the unified_bed_leveling class. We are going to
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* still declare them within the .cpp file for bed leveling. But there is only one instance of
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* the bed leveling object and we can get rid of a level of inderection by not making them
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* 'member data'. So, in the interest of speed, we do it this way. On a 32-bit CPU they can be
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* moved back inside the bed leveling class.
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*/
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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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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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unified_bed_leveling::unified_bed_leveling() {
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for (uint8_t i = 0; i <= UBL_MESH_NUM_X_POINTS; i++) // We go one past what we expect to ever need for safety
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mesh_index_to_x_location[i] = double(UBL_MESH_MIN_X) + double(MESH_X_DIST) * double(i);
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for (uint8_t i = 0; i <= UBL_MESH_NUM_Y_POINTS; i++) // We go one past what we expect to ever need for safety
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mesh_index_to_y_location[i] = double(UBL_MESH_MIN_Y) + double(MESH_Y_DIST) * double(i);
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reset();
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}
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void unified_bed_leveling::store_state() {
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const uint16_t i = UBL_LAST_EEPROM_INDEX;
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eeprom_write_block((void *)&ubl.state, (void *)i, sizeof(state));
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}
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void unified_bed_leveling::load_state() {
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const uint16_t i = UBL_LAST_EEPROM_INDEX;
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eeprom_read_block((void *)&ubl.state, (void *)i, sizeof(state));
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if (sanity_check())
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SERIAL_PROTOCOLLNPGM("?In load_state() sanity_check() failed.\n");
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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/**
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* These lines can go away in a few weeks. They are just
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* to make sure people updating their firmware won't be using
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* an incomplete Bed_Leveling.state structure. For speed
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* we now multiply by the inverse of the Fade Height instead of
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* dividing by it. Soon... all of the old structures will be
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* updated, but until then, we try to ease the transition
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* for our Beta testers.
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*/
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if (ubl.state.g29_fade_height_multiplier != 1.0 / ubl.state.g29_correction_fade_height) {
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ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
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store_state();
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}
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#endif
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}
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void unified_bed_leveling::load_mesh(const int16_t m) {
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int16_t j = (UBL_LAST_EEPROM_INDEX - eeprom_start) / sizeof(z_values);
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if (m == -1) {
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SERIAL_PROTOCOLLNPGM("?No mesh saved in EEPROM. Zeroing mesh in memory.\n");
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reset();
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return;
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}
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if (m < 0 || m >= j || eeprom_start <= 0) {
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SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
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return;
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}
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j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values);
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eeprom_read_block((void *)&z_values, (void *)j, sizeof(z_values));
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SERIAL_PROTOCOLPAIR("Mesh loaded from slot ", m);
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SERIAL_PROTOCOLLNPAIR(" at offset 0x", hex_word(j));
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}
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void unified_bed_leveling::store_mesh(const int16_t m) {
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int16_t j = (UBL_LAST_EEPROM_INDEX - eeprom_start) / sizeof(z_values);
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if (m < 0 || m >= j || eeprom_start <= 0) {
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SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
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SERIAL_PROTOCOL(m);
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SERIAL_PROTOCOLLNPGM(" mesh slots available.\n");
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SERIAL_PROTOCOLLNPAIR("E2END : ", E2END);
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SERIAL_PROTOCOLLNPAIR("k : ", (int)UBL_LAST_EEPROM_INDEX);
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SERIAL_PROTOCOLLNPAIR("j : ", j);
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SERIAL_PROTOCOLLNPAIR("m : ", m);
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SERIAL_EOL;
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return;
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}
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j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values);
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eeprom_write_block((const void *)&z_values, (void *)j, sizeof(z_values));
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SERIAL_PROTOCOLPAIR("Mesh saved in slot ", m);
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SERIAL_PROTOCOLLNPAIR(" at offset 0x", hex_word(j));
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}
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void unified_bed_leveling::reset() {
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state.active = false;
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state.z_offset = 0;
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state.eeprom_storage_slot = -1;
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ZERO(z_values);
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last_specified_z = -999.9;
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fade_scaling_factor_for_current_height = 0.0;
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}
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void unified_bed_leveling::invalidate() {
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print_hex_word((uint16_t)this);
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SERIAL_EOL;
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state.active = false;
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state.z_offset = 0;
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for (int x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
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for (int y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
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z_values[x][y] = NAN;
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}
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void unified_bed_leveling::display_map(const int map_type) {
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const bool map0 = map_type == 0;
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if (map0) {
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SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n");
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serial_echo_xy(0, UBL_MESH_NUM_Y_POINTS - 1);
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SERIAL_ECHOPGM(" ");
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}
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if (map0) {
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serial_echo_10x_spaces();
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serial_echo_xy(UBL_MESH_NUM_X_POINTS - 1, UBL_MESH_NUM_Y_POINTS - 1);
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SERIAL_EOL;
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serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
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serial_echo_10x_spaces();
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serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MAX_Y);
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SERIAL_EOL;
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}
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const float current_xi = ubl.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
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current_yi = ubl.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
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for (uint8_t j = UBL_MESH_NUM_Y_POINTS - 1; j >= 0; j--) {
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for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
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const bool is_current = i == current_xi && j == current_yi;
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// is the nozzle here? then mark the number
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if (map0) SERIAL_CHAR(is_current ? '[' : ' ');
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const float f = z_values[i][j];
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if (isnan(f)) {
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serialprintPGM(map0 ? PSTR(" . ") : PSTR("NAN"));
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}
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else {
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// if we don't do this, the columns won't line up nicely
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if (map0 && f >= 0.0) SERIAL_CHAR(' ');
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SERIAL_PROTOCOL_F(f, 3);
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idle();
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}
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if (!map0 && i < UBL_MESH_NUM_X_POINTS - 1) SERIAL_CHAR(',');
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#if TX_BUFFER_SIZE > 0
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MYSERIAL.flushTX();
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#endif
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safe_delay(15);
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if (map0) {
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SERIAL_CHAR(is_current ? ']' : ' ');
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SERIAL_CHAR(' ');
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}
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}
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SERIAL_EOL;
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if (j && map0) { // we want the (0,0) up tight against the block of numbers
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SERIAL_CHAR(' ');
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SERIAL_EOL;
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}
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}
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if (map0) {
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serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
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SERIAL_ECHOPGM(" ");
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serial_echo_10x_spaces();
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serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MIN_Y);
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SERIAL_EOL;
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serial_echo_xy(0, 0);
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SERIAL_ECHOPGM(" ");
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serial_echo_10x_spaces();
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serial_echo_xy(UBL_MESH_NUM_X_POINTS - 1, 0);
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SERIAL_EOL;
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}
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}
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bool unified_bed_leveling::sanity_check() {
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uint8_t error_flag = 0;
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if (state.n_x != UBL_MESH_NUM_X_POINTS) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_X_POINTS set wrong\n");
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error_flag++;
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}
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if (state.n_y != UBL_MESH_NUM_Y_POINTS) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_Y_POINTS set wrong\n");
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error_flag++;
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}
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if (state.mesh_x_min != UBL_MESH_MIN_X) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_X set wrong\n");
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error_flag++;
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}
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if (state.mesh_y_min != UBL_MESH_MIN_Y) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_Y set wrong\n");
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error_flag++;
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}
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if (state.mesh_x_max != UBL_MESH_MAX_X) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_X set wrong\n");
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error_flag++;
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}
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if (state.mesh_y_max != UBL_MESH_MAX_Y) {
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SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_Y set wrong\n");
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error_flag++;
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}
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if (state.mesh_x_dist != MESH_X_DIST) {
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SERIAL_PROTOCOLLNPGM("?MESH_X_DIST set wrong\n");
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error_flag++;
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}
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if (state.mesh_y_dist != MESH_Y_DIST) {
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SERIAL_PROTOCOLLNPGM("?MESH_Y_DIST set wrong\n");
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error_flag++;
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}
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const int j = (UBL_LAST_EEPROM_INDEX - eeprom_start) / sizeof(z_values);
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if (j < 1) {
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SERIAL_PROTOCOLLNPGM("?No EEPROM storage available for a mesh of this size.\n");
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error_flag++;
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}
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// SERIAL_PROTOCOLPGM("?sanity_check() return value: ");
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// SERIAL_PROTOCOL(error_flag);
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// SERIAL_EOL;
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return !!error_flag;
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}
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#endif // AUTO_BED_LEVELING_UBL
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