/** * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . * */ #pragma once //#define UBL_DEVEL_DEBUGGING #include "../../../module/motion.h" #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../../../core/debug_out.h" #define UBL_VERSION "1.01" #define UBL_OK false #define UBL_ERR true enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST }; // External references struct mesh_index_pair; #define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_CELLS_X)) #define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y)) #if ENABLED(OPTIMIZED_MESH_STORAGE) typedef int16_t mesh_store_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; #endif typedef struct { bool C_seen; int8_t KLS_storage_slot; uint8_t R_repetition, V_verbosity, P_phase, T_map_type; float B_shim_thickness, C_constant; xy_pos_t XY_pos; xy_bool_t XY_seen; #if HAS_BED_PROBE uint8_t J_grid_size; #endif } G29_parameters_t; class unified_bed_leveling { private: static G29_parameters_t param; #if IS_NEWPANEL static void move_z_with_encoder(const_float_t multiplier); static float measure_point_with_encoder(); static float measure_business_card_thickness(); static void manually_probe_remaining_mesh(const xy_pos_t&, const_float_t , const_float_t , const bool) __O0; static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) __O0; #endif static bool G29_parse_parameters() __O0; static void shift_mesh_height(); static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) __O0; static void tilt_mesh_based_on_3pts(const_float_t z1, const_float_t z2, const_float_t z3); static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); static bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) { return smart_fill_one(pos.x, pos.y, dir.x, dir.y); } #if ENABLED(UBL_DEVEL_DEBUGGING) static void g29_what_command(); static void g29_eeprom_dump(); static void g29_compare_current_mesh_to_stored_mesh(); #endif public: static void echo_name(); static void report_current_mesh(); static void report_state(); static void save_ubl_active_state_and_disable(); static void restore_ubl_active_state_and_leave(); static void display_map(const uint8_t) __O0; static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) __O0; static mesh_index_pair find_furthest_invalid_mesh_point() __O0; static void reset(); static void invalidate(); static void set_all_mesh_points_to_value(const_float_t value); static void adjust_mesh_to_mean(const bool cflag, const_float_t value); static bool sanity_check(); static void smart_fill_mesh(); static void G29() __O0; // O0 for no optimization static void smart_fill_wlsf(const_float_t ) __O2; // O2 gives smaller code than Os on A2560 static int8_t storage_slot; static bed_mesh_t z_values; #if ENABLED(OPTIMIZED_MESH_STORAGE) static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values); static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values); #endif static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X], _mesh_index_to_ypos[GRID_MAX_POINTS_Y]; #if HAS_MARLINUI_MENU static bool lcd_map_control; static void steppers_were_disabled(); #else static void steppers_were_disabled() {} #endif static volatile int16_t encoder_diff; // Volatile because buttons may change it at interrupt time unified_bed_leveling(); FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const_float_t z) { z_values[px][py] = z; } static int8_t cell_index_x_raw(const_float_t x) { return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)); } static int8_t cell_index_y_raw(const_float_t y) { return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST)); } static int8_t cell_index_x_valid(const_float_t x) { return WITHIN(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1); } static int8_t cell_index_y_valid(const_float_t y) { return WITHIN(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1); } static int8_t cell_index_x(const_float_t x) { return constrain(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1); } static int8_t cell_index_y(const_float_t y) { return constrain(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1); } static xy_int8_t cell_indexes(const_float_t x, const_float_t y) { return { cell_index_x(x), cell_index_y(y) }; } static xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } static int8_t closest_x_index(const_float_t x) { const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST); return WITHIN(px, 0, (GRID_MAX_POINTS_X) - 1) ? px : -1; } static int8_t closest_y_index(const_float_t y) { const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST); return WITHIN(py, 0, (GRID_MAX_POINTS_Y) - 1) ? py : -1; } static xy_int8_t closest_indexes(const xy_pos_t &xy) { return { closest_x_index(xy.x), closest_y_index(xy.y) }; } /** * z2 --| * z0 | | * | | + (z2-z1) * z1 | | | * ---+-------------+--------+-- --| * a1 a0 a2 * |<---delta_a---------->| * * calc_z0 is the basis for all the Mesh Based correction. It is used to * find the expected Z Height at a position between two known Z-Height locations. * * It is fairly expensive with its 4 floating point additions and 2 floating point * multiplications. */ FORCE_INLINE static float calc_z0(const_float_t a0, const_float_t a1, const_float_t z1, const_float_t a2, const_float_t z2) { return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); } #ifdef UBL_Z_RAISE_WHEN_OFF_MESH #define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH #else #define _UBL_OUTER_Z_RAISE NAN #endif /** * z_correction_for_x_on_horizontal_mesh_line is an optimization for * the case where the printer is making a vertical line that only crosses horizontal mesh lines. */ static float z_correction_for_x_on_horizontal_mesh_line(const_float_t rx0, const int x1_i, const int yi) { if (!WITHIN(x1_i, 0, (GRID_MAX_POINTS_X) - 1) || !WITHIN(yi, 0, (GRID_MAX_POINTS_Y) - 1)) { if (DEBUGGING(LEVELING)) { if (WITHIN(x1_i, 0, (GRID_MAX_POINTS_X) - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i"); DEBUG_ECHOLNPGM(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")"); } // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. return _UBL_OUTER_Z_RAISE; } const float xratio = (rx0 - get_mesh_x(x1_i)) * RECIPROCAL(MESH_X_DIST), z1 = z_values[x1_i][yi]; return z1 + xratio * (z_values[_MIN(x1_i, (GRID_MAX_POINTS_X) - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array // If it is, it is clamped to the last element of the // z_values[][] array and no correction is applied. } // // See comments above for z_correction_for_x_on_horizontal_mesh_line // static float z_correction_for_y_on_vertical_mesh_line(const_float_t ry0, const int xi, const int y1_i) { if (!WITHIN(xi, 0, (GRID_MAX_POINTS_X) - 1) || !WITHIN(y1_i, 0, (GRID_MAX_POINTS_Y) - 1)) { if (DEBUGGING(LEVELING)) { if (WITHIN(xi, 0, (GRID_MAX_POINTS_X) - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi"); DEBUG_ECHOLNPGM(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")"); } // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. return _UBL_OUTER_Z_RAISE; } const float yratio = (ry0 - get_mesh_y(y1_i)) * RECIPROCAL(MESH_Y_DIST), z1 = z_values[xi][y1_i]; return z1 + yratio * (z_values[xi][_MIN(y1_i, (GRID_MAX_POINTS_Y) - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array // If it is, it is clamped to the last element of the // z_values[][] array and no correction is applied. } /** * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first * does a linear interpolation along both of the bounding X-Mesh-Lines to find the * Z-Height at both ends. Then it does a linear interpolation of these heights based * on the Y position within the cell. */ static float get_z_correction(const_float_t rx0, const_float_t ry0) { const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped /** * Check if the requested location is off the mesh. If so, and * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned. */ #ifdef UBL_Z_RAISE_WHEN_OFF_MESH if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y)) return UBL_Z_RAISE_WHEN_OFF_MESH; #endif const uint8_t mx = _MIN(cx, (GRID_MAX_POINTS_X) - 2) + 1, my = _MIN(cy, (GRID_MAX_POINTS_Y) - 2) + 1, x0 = get_mesh_x(cx), x1 = get_mesh_x(cx + 1); const float z1 = calc_z0(rx0, x0, z_values[cx][cy], x1, z_values[mx][cy]), z2 = calc_z0(rx0, x0, z_values[cx][my], x1, z_values[mx][my]); float z0 = calc_z0(ry0, get_mesh_y(cy), z1, get_mesh_y(cy + 1), z2); if (isnan(z0)) { // If part of the Mesh is undefined, it will show up as NAN z0 = 0.0; // 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 // needed to complete the height correction. if (DEBUGGING(MESH_ADJUST)) DEBUG_ECHOLNPGM("??? Yikes! NAN in "); } if (DEBUGGING(MESH_ADJUST)) { DEBUG_ECHOPGM("get_z_correction(", rx0, ", ", ry0); DEBUG_ECHOLNPAIR_F(") => ", z0, 6); } return z0; } static float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } static constexpr float get_z_offset() { return 0.0f; } static float get_mesh_x(const uint8_t i) { return i < (GRID_MAX_POINTS_X) ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST); } static float get_mesh_y(const uint8_t i) { return i < (GRID_MAX_POINTS_Y) ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST); } #if UBL_SEGMENTED static bool line_to_destination_segmented(const_feedRate_t scaled_fr_mm_s); #else static void line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t e); #endif static bool mesh_is_valid() { GRID_LOOP(x, y) if (isnan(z_values[x][y])) return false; return true; } }; // class unified_bed_leveling extern unified_bed_leveling bedlevel; // Prevent debugging propagating to other files #include "../../../core/debug_out.h"