marlin-lulzbot-laser/Marlin/mesh_bed_leveling.h

#include "Marlin.h"

#if defined(MESH_BED_LEVELING)

#define MESH_X_DIST ((MESH_MAX_X - MESH_MIN_X)/(MESH_NUM_X_POINTS - 1))
#define MESH_Y_DIST ((MESH_MAX_Y - MESH_MIN_Y)/(MESH_NUM_Y_POINTS - 1))

class mesh_bed_leveling {
public:
    
    float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
    
    mesh_bed_leveling() {
        reset();
    }
    
    void reset() {
        for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
            for (int x=0; x<MESH_NUM_X_POINTS; x++) {
                z_values[y][x] = 0;
            }
        }
    }
    
    float get_x(int i) { return MESH_MIN_X + MESH_X_DIST*i; }
    float get_y(int i) { return MESH_MIN_Y + MESH_Y_DIST*i; }
    void set_z(int ix, int iy, float z) { z_values[iy][ix] = z; }
    
    int select_x_index(float x) {
        int i = 1;
        while (x > get_x(i) && i < MESH_NUM_X_POINTS-1) {
            i++;
        }
        return i-1;
    }
    
    int select_y_index(float y) {
        int i = 1;
        while (y > get_y(i) && i < MESH_NUM_Y_POINTS-1) {
            i++;
        }
        return i-1;
    }
    
    float calc_z0(float a0, float a1, float z1, float a2, float z2) {
        float delta_z = (z2 - z1)/(a2 - a1);
        float delta_a = a0 - a1;
        return z1 + delta_a * delta_z;
    }
    
    float get_z(float x0, float y0) {
        int x_index = select_x_index(x0);
        int y_index = select_y_index(y0);
        float z1 = calc_z0(x0,
                           get_x(x_index), z_values[y_index][x_index],
                           get_x(x_index+1), z_values[y_index][x_index+1]);
        float z2 = calc_z0(x0,
                           get_x(x_index), z_values[y_index+1][x_index],
                           get_x(x_index+1), z_values[y_index+1][x_index+1]);
        float z0 = calc_z0(y0,
                           get_y(y_index), z1,
                           get_y(y_index+1), z2);
        return z0;
    }
};

extern mesh_bed_leveling mbl;

#endif  // MESH_BED_LEVELING