2 files changed, 260 insertions, 0 deletions
diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
new file mode 100644
index 0000000..ec5b95c
--- /dev/null
+++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
@@ -0,0 +1,133 @@
+/**
+ * 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(MESH_BED_LEVELING)
+
+  #include "../bedlevel.h"
+
+  #include "../../../module/motion.h"
+
+  #if ENABLED(EXTENSIBLE_UI)
+    #include "../../../lcd/extui/ui_api.h"
+  #endif
+
+  mesh_bed_leveling mbl;
+
+  float mesh_bed_leveling::z_offset,
+        mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
+        mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X],
+        mesh_bed_leveling::index_to_ypos[GRID_MAX_POINTS_Y];
+
+  mesh_bed_leveling::mesh_bed_leveling() {
+    LOOP_L_N(i, GRID_MAX_POINTS_X)
+      index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST);
+    LOOP_L_N(i, GRID_MAX_POINTS_Y)
+      index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST);
+    reset();
+  }
+
+  void mesh_bed_leveling::reset() {
+    z_offset = 0;
+    ZERO(z_values);
+    #if ENABLED(EXTENSIBLE_UI)
+      GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0);
+    #endif
+  }
+
+  #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
+
+    /**
+     * Prepare a mesh-leveled linear move in a Cartesian setup,
+     * splitting the move where it crosses mesh borders.
+     */
+    void mesh_bed_leveling::line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
+      // Get current and destination cells for this line
+      xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination);
+      NOMORE(scel.x, GRID_MAX_POINTS_X - 2);
+      NOMORE(scel.y, GRID_MAX_POINTS_Y - 2);
+      NOMORE(ecel.x, GRID_MAX_POINTS_X - 2);
+      NOMORE(ecel.y, GRID_MAX_POINTS_Y - 2);
+
+      // Start and end in the same cell? No split needed.
+      if (scel == ecel) {
+        current_position = destination;
+        line_to_current_position(scaled_fr_mm_s);
+        return;
+      }
+
+      #define MBL_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
+
+      float normalized_dist;
+      xyze_pos_t dest;
+      const int8_t gcx = _MAX(scel.x, ecel.x), gcy = _MAX(scel.y, ecel.y);
+
+      // Crosses on the X and not already split on this X?
+      // The x_splits flags are insurance against rounding errors.
+      if (ecel.x != scel.x && TEST(x_splits, gcx)) {
+        // Split on the X grid line
+        CBI(x_splits, gcx);
+        dest = destination;
+        destination.x = index_to_xpos[gcx];
+        normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x);
+        destination.y = MBL_SEGMENT_END(y);
+      }
+      // Crosses on the Y and not already split on this Y?
+      else if (ecel.y != scel.y && TEST(y_splits, gcy)) {
+        // Split on the Y grid line
+        CBI(y_splits, gcy);
+        dest = destination;
+        destination.y = index_to_ypos[gcy];
+        normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y);
+        destination.x = MBL_SEGMENT_END(x);
+      }
+      else {
+        // Must already have been split on these border(s)
+        // This should be a rare case.
+        current_position = destination;
+        line_to_current_position(scaled_fr_mm_s);
+        return;
+      }
+
+      destination.z = MBL_SEGMENT_END(z);
+      destination.e = MBL_SEGMENT_END(e);
+
+      // Do the split and look for more borders
+      line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
+
+      // Restore destination from stack
+      destination = dest;
+      line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
+    }
+
+  #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
+
+  void mesh_bed_leveling::report_mesh() {
+    SERIAL_ECHOPAIR_F(STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh. Z offset: ", z_offset, 5);
+    SERIAL_ECHOLNPGM("\nMeasured points:");
+    print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
+      [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
+    );
+  }
+
+#endif // MESH_BED_LEVELING
diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
new file mode 100644
index 0000000..ade7a93
--- /dev/null
+++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
@@ -0,0 +1,127 @@
+/**
+ * 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../../inc/MarlinConfig.h"
+
+enum MeshLevelingState : char {
+  MeshReport,     // G29 S0
+  MeshStart,      // G29 S1
+  MeshNext,       // G29 S2
+  MeshSet,        // G29 S3
+  MeshSetZOffset, // G29 S4
+  MeshReset       // G29 S5
+};
+
+#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
+#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
+#define _GET_MESH_X(I) mbl.index_to_xpos[I]
+#define _GET_MESH_Y(J) mbl.index_to_ypos[J]
+#define Z_VALUES_ARR mbl.z_values
+
+class mesh_bed_leveling {
+public:
+  static float z_offset,
+               z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
+               index_to_xpos[GRID_MAX_POINTS_X],
+               index_to_ypos[GRID_MAX_POINTS_Y];
+
+  mesh_bed_leveling();
+
+  static void report_mesh();
+
+  static void reset();
+
+  FORCE_INLINE static bool has_mesh() {
+    GRID_LOOP(x, y) if (z_values[x][y]) return true;
+    return false;
+  }
+
+  static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
+
+  static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
+    px = index % (GRID_MAX_POINTS_X);
+    py = index / (GRID_MAX_POINTS_X);
+    if (py & 1) px = (GRID_MAX_POINTS_X - 1) - px; // Zig zag
+  }
+
+  static void set_zigzag_z(const int8_t index, const float &z) {
+    int8_t px, py;
+    zigzag(index, px, py);
+    set_z(px, py, z);
+  }
+
+  static int8_t cell_index_x(const float &x) {
+    int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
+    return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
+  }
+  static int8_t cell_index_y(const float &y) {
+    int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
+    return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
+  }
+  static inline xy_int8_t cell_indexes(const float &x, const float &y) {
+    return { cell_index_x(x), cell_index_y(y) };
+  }
+  static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
+
+  static int8_t probe_index_x(const float &x) {
+    int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST);
+    return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
+  }
+  static int8_t probe_index_y(const float &y) {
+    int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST);
+    return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
+  }
+  static inline xy_int8_t probe_indexes(const float &x, const float &y) {
+    return { probe_index_x(x), probe_index_y(y) };
+  }
+  static inline xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); }
+
+  static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
+    const float delta_z = (z2 - z1) / (a2 - a1),
+                delta_a = a0 - a1;
+    return z1 + delta_a * delta_z;
+  }
+
+  static float get_z(const xy_pos_t &pos
+    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+      , const float &factor=1.0f
+    #endif
+  ) {
+    #if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
+      constexpr float factor = 1.0f;
+    #endif
+    const xy_int8_t ind = cell_indexes(pos);
+    const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
+                y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1],
+                z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y  ], x2, z_values[ind.x+1][ind.y  ]),
+                z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]);
+
+    return z_offset + calc_z0(pos.y, y1, z1, y2, z2) * factor;
+  }
+
+  #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
+    static void line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
+  #endif
+};
+
+extern mesh_bed_leveling mbl;