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Diffstat (limited to 'Marlin/src/feature/bedlevel/ubl/ubl.h')
| -rw-r--r-- | Marlin/src/feature/bedlevel/ubl/ubl.h | 328 |
1 files changed, 328 insertions, 0 deletions
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.h b/Marlin/src/feature/bedlevel/ubl/ubl.h new file mode 100644 index 0000000..876063c --- /dev/null +++ b/Marlin/src/feature/bedlevel/ubl/ubl.h @@ -0,0 +1,328 @@ +/** + * 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 + +//#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 }; + +// External references + +struct mesh_index_pair; + +#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)) + +#if ENABLED(OPTIMIZED_MESH_STORAGE) + typedef int16_t mesh_store_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; +#endif + +class unified_bed_leveling { + private: + + static int g29_verbose_level, + g29_phase_value, + g29_repetition_cnt, + g29_storage_slot, + g29_map_type; + static bool g29_c_flag; + static float g29_card_thickness, + g29_constant; + static xy_pos_t g29_pos; + static xy_bool_t xy_seen; + + #if HAS_BED_PROBE + static int g29_grid_size; + #endif + + #if IS_NEWPANEL + static void move_z_with_encoder(const float &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&, const float&, const bool) _O0; + static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0; + #endif + + static bool g29_parameter_parsing() _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 &z1, const float &z2, const float &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 inline 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); + } + static void smart_fill_mesh(); + + #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 int) _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 value); + static void adjust_mesh_to_mean(const bool cflag, const float value); + static bool sanity_check(); + + static void G29() _O0; // O0 for no optimization + static void smart_fill_wlsf(const float &) _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_LCD_MENU + static bool lcd_map_control; + static void steppers_were_disabled(); + #else + static inline void steppers_were_disabled() {} + #endif + + static volatile int16_t encoder_diff; // Volatile because buttons may changed it at interrupt time + + unified_bed_leveling(); + + FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } + + static int8_t cell_index_x_raw(const float &x) { + return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)); + } + + static int8_t cell_index_y_raw(const float &y) { + return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST)); + } + + static int8_t cell_index_x_valid(const float &x) { + return WITHIN(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X - 2)); + } + + static int8_t cell_index_y_valid(const float &y) { + return WITHIN(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y - 2)); + } + + static int8_t cell_index_x(const float &x) { + return constrain(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X) - 2); + } + + static int8_t cell_index_y(const float &y) { + return constrain(cell_index_y_raw(y), 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 closest_x_index(const float &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 &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 inline 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 &a0, const float &a1, const float &z1, const float &a2, const float &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 inline float z_correction_for_x_on_horizontal_mesh_line(const float &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_ECHOLNPAIR(" 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 - mesh_index_to_xpos(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 inline float z_correction_for_y_on_vertical_mesh_line(const float &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_ECHOLNPAIR(" 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 - mesh_index_to_ypos(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 &rx0, const float &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 float z1 = calc_z0(rx0, + mesh_index_to_xpos(cx), z_values[cx][cy], + mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]); + + const float z2 = calc_z0(rx0, + mesh_index_to_xpos(cx), z_values[cx][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1], + mesh_index_to_xpos(cx + 1), z_values[_MIN(cx, GRID_MAX_POINTS_X - 2) + 1][_MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]); + + float z0 = calc_z0(ry0, + mesh_index_to_ypos(cy), z1, + mesh_index_to_ypos(cy + 1), z2); + + if (DEBUGGING(MESH_ADJUST)) { + DEBUG_ECHOPAIR(" raw get_z_correction(", rx0); + DEBUG_CHAR(','); DEBUG_ECHO(ry0); + DEBUG_ECHOPAIR_F(") = ", z0, 6); + DEBUG_ECHOLNPAIR_F(" >>>---> ", z0, 6); + } + + if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN + z0 = 0.0; // in ubl.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 (DEBUGGING(MESH_ADJUST)) { + DEBUG_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0); + DEBUG_CHAR(','); + DEBUG_ECHO(ry0); + DEBUG_CHAR(')'); + DEBUG_EOL(); + } + } + return z0; + } + static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } + + static inline float mesh_index_to_xpos(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 inline float mesh_index_to_ypos(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 inline 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 ubl; + +#define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I) +#define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J) +#define Z_VALUES_ARR ubl.z_values + +// Prevent debugging propagating to other files +#include "../../../core/debug_out.h" |