576 lines
23 KiB
C++
576 lines
23 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 "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "Marlin.h"
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#include "UBL.h"
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#include "planner.h"
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#include <avr/io.h>
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#include <math.h>
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extern float destination[XYZE];
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extern void set_current_to_destination();
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void debug_current_and_destination(char *title) {
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// if the title message starts with a '!' it is so important, we are going to
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// ignore the status of the g26_debug_flag
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if (*title != '!' && !g26_debug_flag) return;
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const float de = destination[E_AXIS] - current_position[E_AXIS];
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if (de == 0.0) return;
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const float dx = current_position[X_AXIS] - destination[X_AXIS],
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dy = current_position[Y_AXIS] - destination[Y_AXIS],
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xy_dist = HYPOT(dx, dy);
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if (xy_dist == 0.0) {
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return;
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//SERIAL_ECHOPGM(" FPMM=");
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//const float fpmm = de / xy_dist;
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//SERIAL_PROTOCOL_F(fpmm, 6);
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}
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else {
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SERIAL_ECHOPGM(" fpmm=");
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const float fpmm = de / xy_dist;
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SERIAL_ECHO_F(fpmm, 6);
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}
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SERIAL_ECHOPGM(" current=( ");
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SERIAL_ECHO_F(current_position[X_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Y_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Z_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[E_AXIS], 6);
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SERIAL_ECHOPGM(" ) destination=( ");
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if (current_position[X_AXIS] == destination[X_AXIS])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[X_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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if (current_position[Y_AXIS] == destination[Y_AXIS])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[Y_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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if (current_position[Z_AXIS] == destination[Z_AXIS])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[Z_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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if (current_position[E_AXIS] == destination[E_AXIS])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[E_AXIS], 6);
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SERIAL_ECHOPGM(" ) ");
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SERIAL_ECHO(title);
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SERIAL_EOL;
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SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66. Right Switch is on pin 65
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//if (been_to_2_6) {
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//while ((digitalRead(66) & 0x01) != 0)
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// idle();
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//}
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}
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void ubl_line_to_destination(const float &x_end, const float &y_end, const float &z_end, const float &e_end, const float &feed_rate, uint8_t extruder) {
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/**
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* Much of the nozzle movement will be within the same cell. So we will do as little computation
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* as possible to determine if this is the case. If this move is within the same cell, we will
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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*/
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const float x_start = current_position[X_AXIS],
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y_start = current_position[Y_AXIS],
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z_start = current_position[Z_AXIS],
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e_start = current_position[E_AXIS];
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const int cell_start_xi = ubl.get_cell_index_x(RAW_X_POSITION(x_start)),
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cell_start_yi = ubl.get_cell_index_y(RAW_Y_POSITION(y_start)),
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cell_dest_xi = ubl.get_cell_index_x(RAW_X_POSITION(x_end)),
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cell_dest_yi = ubl.get_cell_index_y(RAW_Y_POSITION(y_end));
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if (g26_debug_flag) {
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SERIAL_ECHOPGM(" ubl_line_to_destination(xe=");
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SERIAL_ECHO(x_end);
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SERIAL_ECHOPGM(", ye=");
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SERIAL_ECHO(y_end);
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SERIAL_ECHOPGM(", ze=");
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SERIAL_ECHO(z_end);
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SERIAL_ECHOPGM(", ee=");
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SERIAL_ECHO(e_end);
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SERIAL_ECHOLNPGM(")");
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debug_current_and_destination((char*)"Start of ubl_line_to_destination()");
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}
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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/**
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* we don't need to break up the move
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*
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* If we are moving off the print bed, we are going to allow the move at this level.
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* But we detect it and isolate it. For now, we just pass along the request.
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*/
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if (cell_dest_xi < 0 || cell_dest_yi < 0 || cell_dest_xi >= UBL_MESH_NUM_X_POINTS || cell_dest_yi >= UBL_MESH_NUM_Y_POINTS) {
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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.
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planner.buffer_line(x_end, y_end, z_end + ubl.state.z_offset, e_end, feed_rate, extruder);
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set_current_to_destination();
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if (g26_debug_flag)
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debug_current_and_destination((char*)"out of bounds in ubl_line_to_destination()");
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return;
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}
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FINAL_MOVE:
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/**
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* Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
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* generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
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* We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
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* We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
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* instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
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* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
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*/
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const float xratio = (RAW_X_POSITION(x_end) - mesh_index_to_x_location[cell_dest_xi]) * (1.0 / (MESH_X_DIST)),
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z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
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(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
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z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
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(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
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// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
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// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
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const float yratio = (RAW_Y_POSITION(y_end) - mesh_index_to_y_location[cell_dest_yi]) * (1.0 / (MESH_Y_DIST));
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float z0 = z1 + (z2 - z1) * yratio;
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/**
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* Debug code to use non-optimized get_z_correction() and to do a sanity check
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* that the correct value is being passed to planner.buffer_line()
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*/
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/*
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z_optimized = z0;
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z0 = ubl.get_z_correction(x_end, y_end);
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if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
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debug_current_and_destination((char*)"FINAL_MOVE: z_correction()");
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if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
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if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
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SERIAL_ECHOPAIR(" x_end=", x_end);
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SERIAL_ECHOPAIR(" y_end=", y_end);
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SERIAL_ECHOPAIR(" z0=", z0);
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SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized - z0));
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SERIAL_EOL;
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}
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//*/
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z0 *= ubl.fade_scaling_factor_for_z(z_end);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in 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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*/
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if (isnan(z0)) z0 = 0.0;
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planner.buffer_line(x_end, y_end, z_end + z0 + ubl.state.z_offset, e_end, feed_rate, extruder);
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if (g26_debug_flag)
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debug_current_and_destination((char*)"FINAL_MOVE in ubl_line_to_destination()");
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set_current_to_destination();
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return;
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}
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/**
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* If we get here, we are processing a move that crosses at least one Mesh Line. We will check
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* for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
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* of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
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* computation and in fact most lines are of this nature. We will check for that in the following
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* blocks of code:
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*/
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const float dx = x_end - x_start,
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dy = y_end - y_start;
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const int left_flag = dx < 0.0 ? 1 : 0,
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down_flag = dy < 0.0 ? 1 : 0;
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const float adx = left_flag ? -dx : dx,
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ady = down_flag ? -dy : dy;
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const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
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dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
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/**
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* Compute the scaling factor for the extruder for each partial move.
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* We need to watch out for zero length moves because it will cause us to
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* have an infinate scaling factor. We are stuck doing a floating point
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* divide to get our scaling factor, but after that, we just multiply by this
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* number. We also pick our scaling factor based on whether the X or Y
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* component is larger. We use the biggest of the two to preserve precision.
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*/
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const bool use_x_dist = adx > ady;
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float on_axis_distance = use_x_dist ? dx : dy,
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e_position = e_end - e_start,
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z_position = z_end - z_start;
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const float e_normalized_dist = e_position / on_axis_distance,
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z_normalized_dist = z_position / on_axis_distance;
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int current_xi = cell_start_xi, current_yi = cell_start_yi;
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const float m = dy / dx,
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c = y_start - m * x_start;
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const bool inf_normalized_flag = NEAR_ZERO(on_axis_distance),
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inf_m_flag = NEAR_ZERO(dx);
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/**
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* This block handles vertical lines. These are lines that stay within the same
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* X Cell column. They do not need to be perfectly vertical. They just can
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* not cross into another X Cell column.
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*/
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if (dxi == 0) { // Check for a vertical line
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current_yi += down_flag; // Line is heading down, we just want to go to the bottom
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while (current_yi != cell_dest_yi + down_flag) {
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current_yi += dyi;
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const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
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/**
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* inf_m_flag? the slope of the line is infinite, we won't do the calculations
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* else, we know the next X is the same so we can recover and continue!
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* Calculate X at the next Y mesh line
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*/
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const float x = inf_m_flag ? x_start : (next_mesh_line_y - c) / m;
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float z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);
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/**
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* Debug code to use non-optimized get_z_correction() and to do a sanity check
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* that the correct value is being passed to planner.buffer_line()
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*/
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/*
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z_optimized = z0;
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z0 = ubl.get_z_correction(x, next_mesh_line_y);
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if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
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debug_current_and_destination((char*)"VERTICAL z_correction()");
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if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
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if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
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SERIAL_ECHOPAIR(" x=", x);
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SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
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SERIAL_ECHOPAIR(" z0=", z0);
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SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
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SERIAL_ECHO("\n");
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}
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//*/
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z0 *= ubl.fade_scaling_factor_for_z(z_end);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in 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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*/
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if (isnan(z0)) z0 = 0.0;
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const float y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
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/**
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
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* happens, it might be best to remove the check and always 'schedule' the move because
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* the planner.buffer_line() routine will filter it if that happens.
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*/
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if (y != y_start) {
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if (!inf_normalized_flag) {
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on_axis_distance = y - y_start; // we don't need to check if the extruder position
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e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a vertical move
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z_position = z_start + on_axis_distance * z_normalized_dist;
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}
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else {
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e_position = e_start;
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z_position = z_start;
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}
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planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
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} //else printf("FIRST MOVE PRUNED ");
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}
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if (g26_debug_flag)
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debug_current_and_destination((char*)"vertical move done in ubl_line_to_destination()");
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//
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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//
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if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end)
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goto FINAL_MOVE;
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set_current_to_destination();
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return;
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}
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/**
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*
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* This block handles horizontal lines. These are lines that stay within the same
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* Y Cell row. They do not need to be perfectly horizontal. They just can
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* not cross into another Y Cell row.
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*
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*/
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if (dyi == 0) { // Check for a horizontal line
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current_xi += left_flag; // Line is heading left, we just want to go to the left
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// edge of this cell for the first move.
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while (current_xi != cell_dest_xi + left_flag) {
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current_xi += dxi;
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const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]),
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y = m * next_mesh_line_x + c; // Calculate X at the next Y mesh line
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float z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
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/**
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* Debug code to use non-optimized get_z_correction() and to do a sanity check
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* that the correct value is being passed to planner.buffer_line()
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*/
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/*
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z_optimized = z0;
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z0 = ubl.get_z_correction(next_mesh_line_x, y);
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if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
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debug_current_and_destination((char*)"HORIZONTAL z_correction()");
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if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
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if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
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SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
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SERIAL_ECHOPAIR(" y=", y);
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SERIAL_ECHOPAIR(" z0=", z0);
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SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
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SERIAL_ECHO("\n");
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}
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//*/
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z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in 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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*/
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if (isnan(z0)) z0 = 0.0;
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const float x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]);
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/**
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* where the line is heading left and it is starting right on a Mesh Line boundary. For how often
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* that happens, it might be best to remove the check and always 'schedule' the move because
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* the planner.buffer_line() routine will filter it if that happens.
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*/
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if (x != x_start) {
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if (!inf_normalized_flag) {
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on_axis_distance = x - x_start; // we don't need to check if the extruder position
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e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
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z_position = z_start + on_axis_distance * z_normalized_dist;
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}
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else {
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e_position = e_start;
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z_position = z_start;
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}
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planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
} //else printf("FIRST MOVE PRUNED ");
|
|
}
|
|
|
|
if (g26_debug_flag)
|
|
debug_current_and_destination((char*)"horizontal move done in ubl_line_to_destination()");
|
|
|
|
if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end)
|
|
goto FINAL_MOVE;
|
|
|
|
set_current_to_destination();
|
|
return;
|
|
}
|
|
|
|
/**
|
|
*
|
|
* This block handles the generic case of a line crossing both X and Y Mesh lines.
|
|
*
|
|
*/
|
|
|
|
int xi_cnt = cell_start_xi - cell_dest_xi,
|
|
yi_cnt = cell_start_yi - cell_dest_yi;
|
|
|
|
if (xi_cnt < 0) xi_cnt = -xi_cnt;
|
|
if (yi_cnt < 0) yi_cnt = -yi_cnt;
|
|
|
|
current_xi += left_flag;
|
|
current_yi += down_flag;
|
|
|
|
while (xi_cnt > 0 || yi_cnt > 0) {
|
|
|
|
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi + dxi]),
|
|
next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi + dyi]),
|
|
y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
|
|
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line (we don't have to worry
|
|
// about m being equal to 0.0 If this was the case, we would have
|
|
// detected this as a vertical line move up above and we wouldn't
|
|
// be down here doing a generic type of move.
|
|
|
|
if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
|
|
//
|
|
// Yes! Crossing a Y Mesh Line next
|
|
//
|
|
float z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi - left_flag, current_yi + dyi);
|
|
|
|
/**
|
|
* Debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
* that the correct value is being passed to planner.buffer_line()
|
|
*/
|
|
/*
|
|
z_optimized = z0;
|
|
z0 = ubl.get_z_correction(x, next_mesh_line_y);
|
|
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
|
|
debug_current_and_destination((char*)"General_1: z_correction()");
|
|
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
|
|
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN "); {
|
|
SERIAL_ECHOPAIR(" x=", x);
|
|
}
|
|
SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
|
|
SERIAL_ECHOPAIR(" z0=", z0);
|
|
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
|
|
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
|
|
SERIAL_ECHO("\n");
|
|
}
|
|
//*/
|
|
|
|
z0 *= ubl.fade_scaling_factor_for_z(z_end);
|
|
|
|
/**
|
|
* If part of the Mesh is undefined, it will show up as NAN
|
|
* in z_values[][] and propagate through the
|
|
* calculations. If our correction is NAN, we throw it out
|
|
* because part of the Mesh is undefined and we don't have the
|
|
* information we need to complete the height correction.
|
|
*/
|
|
if (isnan(z0)) z0 = 0.0;
|
|
|
|
if (!inf_normalized_flag) {
|
|
on_axis_distance = use_x_dist ? x - x_start : next_mesh_line_y - y_start;
|
|
e_position = e_start + on_axis_distance * e_normalized_dist;
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
}
|
|
else {
|
|
e_position = e_start;
|
|
z_position = z_start;
|
|
}
|
|
planner.buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
current_yi += dyi;
|
|
yi_cnt--;
|
|
}
|
|
else {
|
|
//
|
|
// Yes! Crossing a X Mesh Line next
|
|
//
|
|
float z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi + dxi, current_yi - down_flag);
|
|
|
|
/**
|
|
* Debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
* that the correct value is being passed to planner.buffer_line()
|
|
*/
|
|
/*
|
|
z_optimized = z0;
|
|
z0 = ubl.get_z_correction(next_mesh_line_x, y);
|
|
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
|
|
debug_current_and_destination((char*)"General_2: z_correction()");
|
|
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
|
|
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
|
|
SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
|
|
SERIAL_ECHOPAIR(" y=", y);
|
|
SERIAL_ECHOPAIR(" z0=", z0);
|
|
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
|
|
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
|
|
SERIAL_ECHO("\n");
|
|
}
|
|
//*/
|
|
|
|
z0 *= ubl.fade_scaling_factor_for_z(z_end);
|
|
|
|
/**
|
|
* If part of the Mesh is undefined, it will show up as NAN
|
|
* in z_values[][] and propagate through the
|
|
* calculations. If our correction is NAN, we throw it out
|
|
* because part of the Mesh is undefined and we don't have the
|
|
* information we need to complete the height correction.
|
|
*/
|
|
if (isnan(z0)) z0 = 0.0;
|
|
|
|
if (!inf_normalized_flag) {
|
|
on_axis_distance = use_x_dist ? next_mesh_line_x - x_start : y - y_start;
|
|
e_position = e_start + on_axis_distance * e_normalized_dist;
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
}
|
|
else {
|
|
e_position = e_start;
|
|
z_position = z_start;
|
|
}
|
|
|
|
planner.buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
current_xi += dxi;
|
|
xi_cnt--;
|
|
}
|
|
}
|
|
|
|
if (g26_debug_flag)
|
|
debug_current_and_destination((char*)"generic move done in ubl_line_to_destination()");
|
|
|
|
if (current_position[0] != x_end || current_position[1] != y_end)
|
|
goto FINAL_MOVE;
|
|
|
|
set_current_to_destination();
|
|
}
|
|
|
|
#endif
|