126 lines
4.4 KiB
C++
126 lines
4.4 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../../../inc/MarlinConfig.h"
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enum MeshLevelingState : char {
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MeshReport, // G29 S0
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MeshStart, // G29 S1
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MeshNext, // G29 S2
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MeshSet, // G29 S3
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MeshSetZOffset, // G29 S4
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MeshReset // G29 S5
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};
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#define MESH_X_DIST (float((MESH_MAX_X) - (MESH_MIN_X)) / (GRID_MAX_CELLS_X))
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#define MESH_Y_DIST (float((MESH_MAX_Y) - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
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class mesh_bed_leveling {
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public:
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static float z_offset,
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
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index_to_xpos[GRID_MAX_POINTS_X],
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index_to_ypos[GRID_MAX_POINTS_Y];
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mesh_bed_leveling();
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static void report_mesh();
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static void reset();
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FORCE_INLINE static bool has_mesh() {
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GRID_LOOP(x, y) if (z_values[x][y]) return true;
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return false;
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}
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static bool mesh_is_valid() { return has_mesh(); }
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static void set_z(const int8_t px, const int8_t py, const_float_t z) { z_values[px][py] = z; }
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static void zigzag(const int8_t index, int8_t &px, int8_t &py) {
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px = index % (GRID_MAX_POINTS_X);
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py = index / (GRID_MAX_POINTS_X);
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if (py & 1) px = (GRID_MAX_POINTS_X) - 1 - px; // Zig zag
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}
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static void set_zigzag_z(const int8_t index, const_float_t z) {
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int8_t px, py;
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zigzag(index, px, py);
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set_z(px, py, z);
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}
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static float get_mesh_x(const uint8_t i) { return index_to_xpos[i]; }
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static float get_mesh_y(const uint8_t i) { return index_to_ypos[i]; }
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static int8_t cell_index_x(const_float_t x) {
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int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
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return constrain(cx, 0, GRID_MAX_CELLS_X - 1);
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}
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static int8_t cell_index_y(const_float_t y) {
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int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
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return constrain(cy, 0, GRID_MAX_CELLS_Y - 1);
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}
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static xy_int8_t cell_indexes(const_float_t x, const_float_t y) {
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return { cell_index_x(x), cell_index_y(y) };
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}
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static xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
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static int8_t probe_index_x(const_float_t x) {
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int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST);
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return WITHIN(px, 0, (GRID_MAX_POINTS_X) - 1) ? px : -1;
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}
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static int8_t probe_index_y(const_float_t y) {
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int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST);
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return WITHIN(py, 0, (GRID_MAX_POINTS_Y) - 1) ? py : -1;
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}
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static xy_int8_t probe_indexes(const_float_t x, const_float_t y) {
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return { probe_index_x(x), probe_index_y(y) };
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}
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static xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); }
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static float calc_z0(const_float_t a0, const_float_t a1, const_float_t z1, const_float_t a2, const_float_t z2) {
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const float delta_z = (z2 - z1) / (a2 - a1),
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delta_a = a0 - a1;
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return z1 + delta_a * delta_z;
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}
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static float get_z_offset() { return z_offset; }
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static float get_z_correction(const xy_pos_t &pos) {
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const xy_int8_t ind = cell_indexes(pos);
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const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
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y1 = index_to_ypos[ind.y], y2 = index_to_ypos[ind.y+1],
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z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y ], x2, z_values[ind.x+1][ind.y ]),
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z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]),
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zf = calc_z0(pos.y, y1, z1, y2, z2);
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return zf;
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}
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#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
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static void line_to_destination(const_feedRate_t scaled_fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
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#endif
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};
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extern mesh_bed_leveling bedlevel;
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