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Initial commit. Unusable Marlin 2.0.5.3 core without any custimization.

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Knutwurst
2020-06-02 11:44:35 +02:00
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417
Marlin/src/feature/bedlevel/abl/abl.cpp Executable file
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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "../bedlevel.h"
#include "../../../module/motion.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../../core/debug_out.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extui/ui_api.h"
#endif
xy_pos_t bilinear_grid_spacing, bilinear_start;
xy_float_t bilinear_grid_factor;
bed_mesh_t z_values;
/**
* Extrapolate a single point from its neighbors
*/
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
if (!isnan(z_values[x][y])) return;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM("Extrapolate [");
if (x < 10) DEBUG_CHAR(' ');
DEBUG_ECHO((int)x);
DEBUG_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
DEBUG_CHAR(' ');
if (y < 10) DEBUG_CHAR(' ');
DEBUG_ECHO((int)y);
DEBUG_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
DEBUG_ECHOLNPGM("]");
}
// Get X neighbors, Y neighbors, and XY neighbors
const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
b1 = z_values[x ][y1], b2 = z_values[x ][y2],
c1 = z_values[x1][y1], c2 = z_values[x2][y2];
// Treat far unprobed points as zero, near as equal to far
if (isnan(a2)) a2 = 0.0;
if (isnan(a1)) a1 = a2;
if (isnan(b2)) b2 = 0.0;
if (isnan(b1)) b1 = b2;
if (isnan(c2)) c2 = 0.0;
if (isnan(c1)) c1 = c2;
const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
// Take the average instead of the median
z_values[x][y] = (a + b + c) / 3.0;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(x, y, z_values[x][y]);
#endif
// Median is robust (ignores outliers).
// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
// : ((c < b) ? b : (a < c) ? a : c);
}
//Enable this if your SCARA uses 180° of total area
//#define EXTRAPOLATE_FROM_EDGE
#if ENABLED(EXTRAPOLATE_FROM_EDGE)
#if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
#define HALF_IN_X
#elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
#define HALF_IN_Y
#endif
#endif
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
void extrapolate_unprobed_bed_level() {
#ifdef HALF_IN_X
constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
#else
constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
xlen = ctrx1;
#endif
#ifdef HALF_IN_Y
constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
#else
constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
ylen = ctry1;
#endif
LOOP_LE_N(xo, xlen)
LOOP_LE_N(yo, ylen) {
uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
#ifndef HALF_IN_X
const uint8_t x1 = ctrx1 - xo;
#endif
#ifndef HALF_IN_Y
const uint8_t y1 = ctry1 - yo;
#ifndef HALF_IN_X
extrapolate_one_point(x1, y1, +1, +1); // left-below + +
#endif
extrapolate_one_point(x2, y1, -1, +1); // right-below - +
#endif
#ifndef HALF_IN_X
extrapolate_one_point(x1, y2, +1, -1); // left-above + -
#endif
extrapolate_one_point(x2, y2, -1, -1); // right-above - -
}
}
void print_bilinear_leveling_grid() {
SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
);
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
xy_pos_t bilinear_grid_spacing_virt;
xy_float_t bilinear_grid_factor_virt;
void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
);
}
#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
uint8_t ep = 0, ip = 1;
if (!x || x == ABL_TEMP_POINTS_X - 1) {
if (x) {
ep = GRID_MAX_POINTS_X - 1;
ip = GRID_MAX_POINTS_X - 2;
}
if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
return LINEAR_EXTRAPOLATION(
z_values[ep][y - 1],
z_values[ip][y - 1]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(ep + 1, y),
bed_level_virt_coord(ip + 1, y)
);
}
if (!y || y == ABL_TEMP_POINTS_Y - 1) {
if (y) {
ep = GRID_MAX_POINTS_Y - 1;
ip = GRID_MAX_POINTS_Y - 2;
}
if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
return LINEAR_EXTRAPOLATION(
z_values[x - 1][ep],
z_values[x - 1][ip]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(x, ep + 1),
bed_level_virt_coord(x, ip + 1)
);
}
return z_values[x - 1][y - 1];
}
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
return (
p[i-1] * -t * sq(1 - t)
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - t)
) * 0.5f;
}
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
float row[4], column[4];
LOOP_L_N(i, 4) {
LOOP_L_N(j, 4) {
column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
}
row[i] = bed_level_virt_cmr(column, 1, ty);
}
return bed_level_virt_cmr(row, 1, tx);
}
void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
LOOP_L_N(y, GRID_MAX_POINTS_Y)
LOOP_L_N(x, GRID_MAX_POINTS_X)
LOOP_L_N(ty, BILINEAR_SUBDIVISIONS)
LOOP_L_N(tx, BILINEAR_SUBDIVISIONS) {
if ((ty && y == (GRID_MAX_POINTS_Y) - 1) || (tx && x == (GRID_MAX_POINTS_X) - 1))
continue;
z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
bed_level_virt_2cmr(
x + 1,
y + 1,
(float)tx / (BILINEAR_SUBDIVISIONS),
(float)ty / (BILINEAR_SUBDIVISIONS)
);
}
}
#endif // ABL_BILINEAR_SUBDIVISION
// Refresh after other values have been updated
void refresh_bed_level() {
bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt.A
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor.A
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif
// Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(const xy_pos_t &raw) {
static float z1, d2, z3, d4, L, D;
static xy_pos_t prev { -999.999, -999.999 }, ratio;
// Whole units for the grid line indices. Constrained within bounds.
static xy_int8_t thisg, nextg, lastg { -99, -99 };
// XY relative to the probed area
xy_pos_t rel = raw - bilinear_start.asFloat();
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
#define FAR_EDGE_OR_BOX 2 // Keep using the last grid box
#else
#define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
#endif
if (prev.x != rel.x) {
prev.x = rel.x;
ratio.x = rel.x * ABL_BG_FACTOR(x);
const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
ratio.x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x)
#endif
thisg.x = gx;
nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
}
if (prev.y != rel.y || lastg.x != thisg.x) {
if (prev.y != rel.y) {
prev.y = rel.y;
ratio.y = rel.y * ABL_BG_FACTOR(y);
const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio.y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.)
#endif
thisg.y = gy;
nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
}
if (lastg != thisg) {
lastg = thisg;
// Z at the box corners
z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front
d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta)
}
// Bilinear interpolate. Needed since rel.y or thisg.x has changed.
L = z1 + d2 * ratio.y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio.y; // Linear interp. RF -> RB
D = R - L;
}
const float offset = L + ratio.x * D; // the offset almost always changes
/*
static float last_offset = 0;
if (ABS(last_offset - offset) > 0.2) {
SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
}
last_offset = offset;
//*/
return offset;
}
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
#define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(const feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
// Get current and destination cells for this line
xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (c1 == c2) {
current_position = destination;
line_to_current_position(scaled_fr_mm_s);
return;
}
#define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
float normalized_dist;
xyze_pos_t end;
const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) };
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (c2.x != c1.x && TEST(x_splits, gc.x)) {
// Split on the X grid line
CBI(x_splits, gc.x);
end = destination;
destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
destination.y = LINE_SEGMENT_END(y);
}
// Crosses on the Y and not already split on this Y?
else if (c2.y != c1.y && TEST(y_splits, gc.y)) {
// Split on the Y grid line
CBI(y_splits, gc.y);
end = destination;
destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
destination.x = LINE_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 = LINE_SEGMENT_END(z);
destination.e = LINE_SEGMENT_END(e);
// Do the split and look for more borders
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
destination = end;
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}
#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
#endif // AUTO_BED_LEVELING_BILINEAR

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Marlin/src/feature/bedlevel/abl/abl.h Executable file
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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../../../inc/MarlinConfigPre.h"
extern xy_pos_t bilinear_grid_spacing, bilinear_start;
extern xy_float_t bilinear_grid_factor;
extern bed_mesh_t z_values;
float bilinear_z_offset(const xy_pos_t &raw);
void extrapolate_unprobed_bed_level();
void print_bilinear_leveling_grid();
void refresh_bed_level();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
void print_bilinear_leveling_grid_virt();
void bed_level_virt_interpolate();
#endif
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
void bilinear_line_to_destination(const feedRate_t &scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
#endif
#define _GET_MESH_X(I) float(bilinear_start.x + (I) * bilinear_grid_spacing.x)
#define _GET_MESH_Y(J) float(bilinear_start.y + (J) * bilinear_grid_spacing.y)
#define Z_VALUES_ARR z_values

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Marlin/src/feature/bedlevel/bedlevel.cpp Executable file
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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if HAS_LEVELING
#include "bedlevel.h"
#include "../../module/planner.h"
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
#include "../../module/motion.h"
#endif
#if ENABLED(PROBE_MANUALLY)
bool g29_in_progress = false;
#endif
#if ENABLED(LCD_BED_LEVELING)
#include "../../lcd/ultralcd.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../lcd/extui/ui_api.h"
#endif
bool leveling_is_valid() {
return
#if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing.x
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.mesh_is_valid()
#else // 3POINT, LINEAR
true
#endif
;
}
/**
* Turn bed leveling on or off, fixing the current
* position as-needed.
*
* Disable: Current position = physical position
* Enable: Current position = "unleveled" physical position
*/
void set_bed_leveling_enabled(const bool enable/*=true*/) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const bool can_change = (!enable || leveling_is_valid());
#else
constexpr bool can_change = true;
#endif
if (can_change && enable != planner.leveling_active) {
planner.synchronize();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const xyz_pos_t reset { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
if (planner.leveling_active) { // leveling from on to off
if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling ON", current_position);
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position);
planner.leveling_active = false; // disable only AFTER calling apply_leveling
if (DEBUGGING(LEVELING)) DEBUG_POS("...Now OFF", current_position);
}
else { // leveling from off to on
if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling OFF", current_position);
planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
// change physical current_position to unleveled current_position without moving steppers.
planner.unapply_leveling(current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS("...Now ON", current_position);
}
sync_plan_position();
}
}
TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(planner.leveling_active) {
set_bed_leveling_enabled(enable);
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
if (planner.z_fade_height == zfh) return;
const bool leveling_was_active = planner.leveling_active;
set_bed_leveling_enabled(false);
planner.set_z_fade_height(zfh);
if (leveling_was_active) {
const xyz_pos_t oldpos = current_position;
set_bed_leveling_enabled(true);
if (do_report && oldpos != current_position)
report_current_position();
}
}
#endif // ENABLE_LEVELING_FADE_HEIGHT
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level");
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.reset();
#else
set_bed_leveling_enabled(false);
#if ENABLED(MESH_BED_LEVELING)
mbl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start.reset();
bilinear_grid_spacing.reset();
GRID_LOOP(x, y) {
z_values[x][y] = NAN;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(x, y, 0);
#endif
}
#elif ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#endif
#endif
}
#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
/**
* Enable to produce output in JSON format suitable
* for SCAD or JavaScript mesh visualizers.
*
* Visualize meshes in OpenSCAD using the included script.
*
* buildroot/shared/scripts/MarlinMesh.scad
*/
//#define SCAD_MESH_OUTPUT
/**
* Print calibration results for plotting or manual frame adjustment.
*/
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
#ifndef SCAD_MESH_OUTPUT
LOOP_L_N(x, sx) {
serial_spaces(precision + (x < 10 ? 3 : 2));
SERIAL_ECHO(int(x));
}
SERIAL_EOL();
#endif
#ifdef SCAD_MESH_OUTPUT
SERIAL_ECHOLNPGM("measured_z = ["); // open 2D array
#endif
LOOP_L_N(y, sy) {
#ifdef SCAD_MESH_OUTPUT
SERIAL_ECHOPGM(" ["); // open sub-array
#else
if (y < 10) SERIAL_CHAR(' ');
SERIAL_ECHO(int(y));
#endif
LOOP_L_N(x, sx) {
SERIAL_CHAR(' ');
const float offset = fn(x, y);
if (!isnan(offset)) {
if (offset >= 0) SERIAL_CHAR('+');
SERIAL_ECHO_F(offset, int(precision));
}
else {
#ifdef SCAD_MESH_OUTPUT
for (uint8_t i = 3; i < precision + 3; i++)
SERIAL_CHAR(' ');
SERIAL_ECHOPGM("NAN");
#else
LOOP_L_N(i, precision + 3)
SERIAL_CHAR(i ? '=' : ' ');
#endif
}
#ifdef SCAD_MESH_OUTPUT
if (x < sx - 1) SERIAL_CHAR(',');
#endif
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_CHAR(' ', ']'); // close sub-array
if (y < sy - 1) SERIAL_CHAR(',');
#endif
SERIAL_EOL();
}
#ifdef SCAD_MESH_OUTPUT
SERIAL_ECHOPGM("];"); // close 2D array
#endif
SERIAL_EOL();
}
#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
void _manual_goto_xy(const xy_pos_t &pos) {
#ifdef MANUAL_PROBE_START_Z
constexpr float startz = _MAX(0, MANUAL_PROBE_START_Z);
#if MANUAL_PROBE_HEIGHT > 0
do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(startz);
#else
do_blocking_move_to_xy_z(pos, startz);
#endif
#elif MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position.z;
do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(prev_z);
#else
do_blocking_move_to_xy(pos);
#endif
current_position = pos;
#if ENABLED(LCD_BED_LEVELING)
ui.wait_for_move = false;
#endif
}
#endif
#endif // HAS_LEVELING

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(PROBE_MANUALLY)
extern bool g29_in_progress;
#else
constexpr bool g29_in_progress = false;
#endif
bool leveling_is_valid();
void set_bed_leveling_enabled(const bool enable=true);
void reset_bed_level();
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height(const float zfh, const bool do_report=true);
#endif
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
void _manual_goto_xy(const xy_pos_t &pos);
#endif
/**
* A class to save and change the bed leveling state,
* then restore it when it goes out of scope.
*/
class TemporaryBedLevelingState {
bool saved;
public:
TemporaryBedLevelingState(const bool enable);
~TemporaryBedLevelingState() { set_bed_leveling_enabled(saved); }
};
#define TEMPORARY_BED_LEVELING_STATE(enable) const TemporaryBedLevelingState tbls(enable)
#if HAS_MESH
typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "abl/abl.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl/ubl.h"
#elif ENABLED(MESH_BED_LEVELING)
#include "mbl/mesh_bed_leveling.h"
#endif
#define Z_VALUES(X,Y) Z_VALUES_ARR[X][Y]
#define _GET_MESH_POS(M) { _GET_MESH_X(M.a), _GET_MESH_Y(M.b) }
#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
#include <stdint.h>
typedef float (*element_2d_fn)(const uint8_t, const uint8_t);
/**
* Print calibration results for plotting or manual frame adjustment.
*/
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn);
#endif
struct mesh_index_pair {
xy_int8_t pos;
float distance; // When populated, the distance from the search location
void invalidate() { pos = -1; }
bool valid() const { return pos.x >= 0 && pos.y >= 0; }
#if ENABLED(AUTO_BED_LEVELING_UBL)
xy_pos_t meshpos() {
return { ubl.mesh_index_to_xpos(pos.x), ubl.mesh_index_to_ypos(pos.y) };
}
#endif
operator xy_int8_t&() { return pos; }
operator const xy_int8_t&() const { return pos; }
};
#endif

133
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/**
* 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 <http://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) {
line_to_destination(scaled_fr_mm_s);
current_position = destination;
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.
line_to_destination(scaled_fr_mm_s);
current_position = destination;
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

127
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h Executable file
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/**
* 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 <http://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;

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "../bedlevel.h"
unified_bed_leveling ubl;
#include "../../../MarlinCore.h"
#include "../../../gcode/gcode.h"
#include "../../../module/configuration_store.h"
#include "../../../module/planner.h"
#include "../../../module/motion.h"
#include "../../../module/probe.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extui/ui_api.h"
#endif
#include "math.h"
void unified_bed_leveling::echo_name() {
SERIAL_ECHOPGM("Unified Bed Leveling");
}
void unified_bed_leveling::report_current_mesh() {
if (!leveling_is_valid()) return;
SERIAL_ECHO_MSG(" G29 I99");
LOOP_L_N(x, GRID_MAX_POINTS_X)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (!isnan(z_values[x][y])) {
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(" M421 I", int(x), " J", int(y));
SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4);
serial_delay(75); // Prevent Printrun from exploding
}
}
void unified_bed_leveling::report_state() {
echo_name();
SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n");
serial_delay(50);
}
int8_t unified_bed_leveling::storage_slot;
float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
#define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST))
const float
unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X,
_GRIDPOS(X, 0), _GRIDPOS(X, 1), _GRIDPOS(X, 2), _GRIDPOS(X, 3),
_GRIDPOS(X, 4), _GRIDPOS(X, 5), _GRIDPOS(X, 6), _GRIDPOS(X, 7),
_GRIDPOS(X, 8), _GRIDPOS(X, 9), _GRIDPOS(X, 10), _GRIDPOS(X, 11),
_GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15)
),
unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y,
_GRIDPOS(Y, 0), _GRIDPOS(Y, 1), _GRIDPOS(Y, 2), _GRIDPOS(Y, 3),
_GRIDPOS(Y, 4), _GRIDPOS(Y, 5), _GRIDPOS(Y, 6), _GRIDPOS(Y, 7),
_GRIDPOS(Y, 8), _GRIDPOS(Y, 9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11),
_GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15)
);
#if HAS_LCD_MENU
bool unified_bed_leveling::lcd_map_control = false;
#endif
volatile int unified_bed_leveling::encoder_diff;
unified_bed_leveling::unified_bed_leveling() {
reset();
}
void unified_bed_leveling::reset() {
const bool was_enabled = planner.leveling_active;
set_bed_leveling_enabled(false);
storage_slot = -1;
ZERO(z_values);
#if ENABLED(EXTENSIBLE_UI)
GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0);
#endif
if (was_enabled) report_current_position();
}
void unified_bed_leveling::invalidate() {
set_bed_leveling_enabled(false);
set_all_mesh_points_to_value(NAN);
}
void unified_bed_leveling::set_all_mesh_points_to_value(const float value) {
GRID_LOOP(x, y) {
z_values[x][y] = value;
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onMeshUpdate(x, y, value);
#endif
}
}
static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
SERIAL_ECHO_SP(sp);
SERIAL_CHAR('(');
if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
SERIAL_ECHO(x);
SERIAL_CHAR(',');
if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
SERIAL_ECHO(y);
SERIAL_CHAR(')');
serial_delay(5);
}
static void serial_echo_column_labels(const uint8_t sp) {
SERIAL_ECHO_SP(7);
for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
if (i < 10) SERIAL_CHAR(' ');
SERIAL_ECHO(i);
SERIAL_ECHO_SP(sp);
}
serial_delay(10);
}
/**
* Produce one of these mesh maps:
* 0: Human-readable
* 1: CSV format for spreadsheet import
* 2: TODO: Display on Graphical LCD
* 4: Compact Human-Readable
*/
void unified_bed_leveling::display_map(const int map_type) {
const bool was = gcode.set_autoreport_paused(true);
constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567]
twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
SERIAL_ECHOPGM("\nBed Topography Report");
if (human) {
SERIAL_ECHOLNPGM(":\n");
serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
SERIAL_EOL();
serial_echo_column_labels(eachsp - 2);
}
else {
SERIAL_ECHOPGM(" for ");
serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
}
// Add XY probe offset from extruder because probe.probe_at_point() subtracts them when
// moving to the XY position to be measured. This ensures better agreement between
// the current Z position after G28 and the mesh values.
const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
if (!lcd) SERIAL_EOL();
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
// Row Label (J index)
if (human) {
if (j < 10) SERIAL_CHAR(' ');
SERIAL_ECHO(j);
SERIAL_ECHOPGM(" |");
}
// Row Values (I indexes)
LOOP_L_N(i, GRID_MAX_POINTS_X) {
// Opening Brace or Space
const bool is_current = i == curr.x && j == curr.y;
if (human) SERIAL_CHAR(is_current ? '[' : ' ');
// Z Value at current I, J
const float f = z_values[i][j];
if (lcd) {
// TODO: Display on Graphical LCD
}
else if (isnan(f))
serialprintPGM(human ? PSTR(" . ") : PSTR("NAN"));
else if (human || csv) {
if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Space for positive ('-' for negative)
SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits
}
if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
// Closing Brace or Space
if (human) SERIAL_CHAR(is_current ? ']' : ' ');
SERIAL_FLUSHTX();
idle();
}
if (!lcd) SERIAL_EOL();
// A blank line between rows (unless compact)
if (j && human && !comp) SERIAL_ECHOLNPGM(" |");
}
if (human) {
serial_echo_column_labels(eachsp - 2);
SERIAL_EOL();
serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
SERIAL_EOL();
SERIAL_EOL();
}
gcode.set_autoreport_paused(was);
}
bool unified_bed_leveling::sanity_check() {
uint8_t error_flag = 0;
if (settings.calc_num_meshes() < 1) {
SERIAL_ECHOLNPGM("?Mesh too big for EEPROM.");
error_flag++;
}
return !!error_flag;
}
#endif // AUTO_BED_LEVELING_UBL

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/**
* 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 <http://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))
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 ENABLED(NEWPANEL)
static void move_z_with_encoder(const float &multiplier);
static float measure_point_with_encoder();
static float measure_business_card_thickness(float in_height);
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;
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;
#endif
static volatile int encoder_diff; // Volatile because it's changed 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(const float &x) {
const int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
static int8_t cell_index_y(const float &y) {
const int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
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);
}
/**
* 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 (
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
UBL_Z_RAISE_WHEN_OFF_MESH
#else
NAN
#endif
);
}
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 (
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
UBL_Z_RAISE_WHEN_OFF_MESH
#else
NAN
#endif
);
}
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"

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Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp Executable file
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Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp Executable file
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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "../bedlevel.h"
#include "../../../module/planner.h"
#include "../../../module/stepper.h"
#include "../../../module/motion.h"
#if ENABLED(DELTA)
#include "../../../module/delta.h"
#endif
#include "../../../MarlinCore.h"
#include <math.h>
#if !UBL_SEGMENTED
void unified_bed_leveling::line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t extruder) {
/**
* Much of the nozzle movement will be within the same cell. So we will do as little computation
* as possible to determine if this is the case. If this move is within the same cell, we will
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
#if HAS_POSITION_MODIFIERS
xyze_pos_t start = current_position, end = destination;
planner.apply_modifiers(start);
planner.apply_modifiers(end);
#else
const xyze_pos_t &start = current_position, &end = destination;
#endif
const xy_int8_t istart = cell_indexes(start), iend = cell_indexes(end);
// A move within the same cell needs no splitting
if (istart == iend) {
// For a move off the bed, use a constant Z raise
if (!WITHIN(iend.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iend.y, 0, GRID_MAX_POINTS_Y - 1)) {
// Note: There is no Z Correction in this case. We are off the grid and don't know what
// a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH
// value, that will be used instead of a calculated (Bi-Linear interpolation) correction.
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
#endif
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
FINAL_MOVE:
// The distance is always MESH_X_DIST so multiply by the constant reciprocal.
const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST);
float z1, z2;
if (iend.x >= GRID_MAX_POINTS_X - 1)
z1 = z2 = 0.0;
else {
z1 = z_values[iend.x ][iend.y ] + xratio *
(z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]),
z2 = z_values[iend.x ][iend.y + 1] + xratio *
(z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);
}
// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
const float yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
z0 = iend.y < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z) : 0.0;
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (!isnan(z0)) end.z += z0;
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
/**
* Past this point the move is known to cross one or more mesh lines. Check for the most common
* case - crossing only one X or Y line - after details are worked out to reduce computation.
*/
const xy_float_t dist = end - start;
const xy_bool_t neg { dist.x < 0, dist.y < 0 };
const xy_int8_t ineg { int8_t(neg.x), int8_t(neg.y) };
const xy_float_t sign { neg.x ? -1.0f : 1.0f, neg.y ? -1.0f : 1.0f };
const xy_int8_t iadd { int8_t(iend.x == istart.x ? 0 : sign.x), int8_t(iend.y == istart.y ? 0 : sign.y) };
/**
* Compute the extruder scaling factor for each partial move, checking for
* zero-length moves that would result in an infinite scaling factor.
* A float divide is required for this, but then it just multiplies.
* Also select a scaling factor based on the larger of the X and Y
* components. The larger of the two is used to preserve precision.
*/
const xy_float_t ad = sign * dist;
const bool use_x_dist = ad.x > ad.y;
float on_axis_distance = use_x_dist ? dist.x : dist.y,
e_position = end.e - start.e,
z_position = end.z - start.z;
const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero
z_normalized_dist = z_position / on_axis_distance;
xy_int8_t icell = istart;
const float ratio = dist.y / dist.x, // Allow divide by zero
c = start.y - ratio * start.x;
const bool inf_normalized_flag = isinf(e_normalized_dist),
inf_ratio_flag = isinf(ratio);
/**
* Handle vertical lines that stay within one column.
* These need not be perfectly vertical.
*/
if (iadd.x == 0) { // Vertical line?
icell.y += ineg.y; // Line going down? Just go to the bottom.
while (icell.y != iend.y + ineg.y) {
icell.y += iadd.y;
const float next_mesh_line_y = mesh_index_to_ypos(icell.y);
/**
* Skip the calculations for an infinite slope.
* For others the next X is the same so this can continue.
* Calculate X at the next Y mesh line.
*/
const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
const float ry = mesh_index_to_ypos(icell.y);
/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading down, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (ry != start.y) {
if (!inf_normalized_flag) { // fall-through faster than branch
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
}
planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
} //else printf("FIRST MOVE PRUNED ");
}
// At the final destination? Usually not, but when on a Y Mesh Line it's completed.
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
current_position = destination;
return;
}
/**
* Handle horizontal lines that stay within one row.
* These need not be perfectly horizontal.
*/
if (iadd.y == 0) { // Horizontal line?
icell.x += ineg.x; // Heading left? Just go to the left edge of the cell for the first move.
while (icell.x != iend.x + ineg.x) {
icell.x += iadd.x;
const float rx = mesh_index_to_xpos(icell.x);
const float ry = ratio * rx + c; // Calculate Y at the next X mesh line
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading left, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (rx != start.x) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
} //else printf("FIRST MOVE PRUNED ");
}
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
current_position = destination;
return;
}
/**
*
* Generic case of a line crossing both X and Y Mesh lines.
*
*/
xy_int8_t cnt = (istart - iend).ABS();
icell += ineg;
while (cnt) {
const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x),
next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y),
ry = ratio * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line
// (No need to worry about ratio == 0.
// In that case, it was already detected
// as a vertical line move above.)
if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
// Yes! Crossing a Y Mesh Line next
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
icell.y += iadd.y;
cnt.y--;
}
else {
// Yes! Crossing a X Mesh Line next
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
icell.x += iadd.x;
cnt.x--;
}
if (cnt.x < 0 || cnt.y < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
}
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
current_position = destination;
}
#else // UBL_SEGMENTED
#if IS_SCARA
#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
#elif ENABLED(DELTA)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
#else // CARTESIAN
#ifdef LEVELED_SEGMENT_LENGTH
#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
#else
#define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
#endif
#endif
/**
* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
* This calls planner.buffer_segment multiple times for small incremental moves.
* Returns true if did NOT move, false if moved (requires current_position update).
*/
bool _O2 unified_bed_leveling::line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s) {
if (!position_is_reachable(destination)) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
const xyze_pos_t total = destination - current_position;
const float cart_xy_mm_2 = HYPOT2(total.x, total.y),
cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance
#if IS_KINEMATIC
const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(delta_segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
#else
uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
#endif
NOLESS(segments, 1U); // Must have at least one segment
const float inv_segments = 1.0f / segments, // Reciprocal to save calculation
segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments; // Length of each segment
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
#endif
xyze_float_t diff = total * inv_segments;
// Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore.
xyze_pos_t raw = current_position;
// Just do plain segmentation if UBL is inactive or the target is above the fade height
if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) {
while (--segments) {
raw += diff;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
}
planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
return false; // Did not set current from destination
}
// Otherwise perform per-segment leveling
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination.z);
#endif
// Move to first segment destination
raw += diff;
for (;;) { // for each mesh cell encountered during the move
// Compute mesh cell invariants that remain constant for all segments within cell.
// Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
// the bilinear interpolation from the adjacent cell within the mesh will still work.
// Inner loop will exit each time (because out of cell bounds) but will come back
// in top of loop and again re-find same adjacent cell and use it, just less efficient
// for mesh inset area.
xy_int8_t icell = {
int8_t((raw.x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)),
int8_t((raw.y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST))
};
LIMIT(icell.x, 0, (GRID_MAX_POINTS_X) - 1);
LIMIT(icell.y, 0, (GRID_MAX_POINTS_Y) - 1);
float z_x0y0 = z_values[icell.x ][icell.y ], // z at lower left corner
z_x1y0 = z_values[icell.x+1][icell.y ], // z at upper left corner
z_x0y1 = z_values[icell.x ][icell.y+1], // z at lower right corner
z_x1y1 = z_values[icell.x+1][icell.y+1]; // z at upper right corner
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A)
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
const xy_pos_t pos = { mesh_index_to_xpos(icell.x), mesh_index_to_ypos(icell.y) };
xy_pos_t cell = raw - pos;
const float z_xmy0 = (z_x1y0 - z_x0y0) * RECIPROCAL(MESH_X_DIST), // z slope per x along y0 (lower left to lower right)
z_xmy1 = (z_x1y1 - z_x0y1) * RECIPROCAL(MESH_X_DIST); // z slope per x along y1 (upper left to upper right)
float z_cxy0 = z_x0y0 + z_xmy0 * cell.x; // z height along y0 at cell.x (changes for each cell.x in cell)
const float z_cxy1 = z_x0y1 + z_xmy1 * cell.x, // z height along y1 at cell.x
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cell.x from y0 to y1
float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cell.x from pos.y to y1 (changes for each cell.x in cell)
// float z_cxcy = z_cxy0 + z_cxym * cell.y; // interpolated mesh z height along cell.x at cell.y (do inside the segment loop)
// As subsequent segments step through this cell, the z_cxy0 intercept will change
// and the z_cxym slope will change, both as a function of cell.x within the cell, and
// each change by a constant for fixed segment lengths.
const float z_sxy0 = z_xmy0 * diff.x, // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff.x; // per-segment adjustment to z_cxym
for (;;) { // for all segments within this mesh cell
if (--segments == 0) raw = destination; // if this is last segment, use destination for exact
const float z_cxcy = (z_cxy0 + z_cxym * cell.y) // interpolated mesh z height along cell.x at cell.y
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* fade_scaling_factor // apply fade factor to interpolated mesh height
#endif
;
planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
if (segments == 0) // done with last segment
return false; // didn't set current from destination
raw += diff;
cell += diff;
if (!WITHIN(cell.x, 0, MESH_X_DIST) || !WITHIN(cell.y, 0, MESH_Y_DIST)) // done within this cell, break to next
break;
// Next segment still within same mesh cell, adjust the per-segment
// slope and intercept to compute next z height.
z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0
z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym
} // segment loop
} // cell loop
return false; // caller will update current_position
}
#endif // UBL_SEGMENTED
#endif // AUTO_BED_LEVELING_UBL