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@ -490,7 +490,7 @@ static uint8_t target_extruder;
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#endif
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#endif
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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int bilinear_grid_spacing[2] = { 0 };
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int bilinear_grid_spacing[2] = { 0 }, bilinear_start[2] = { 0 };
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float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
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float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
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#endif
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#endif
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@ -3679,9 +3679,15 @@ inline void gcode_G28() {
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float zoffset = zprobe_zoffset;
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float zoffset = zprobe_zoffset;
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if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
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if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
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if (xGridSpacing != bilinear_grid_spacing[X_AXIS] || yGridSpacing != bilinear_grid_spacing[Y_AXIS]) {
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if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
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|| yGridSpacing != bilinear_grid_spacing[Y_AXIS]
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|| left_probe_bed_position != bilinear_start[X_AXIS]
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|| front_probe_bed_position != bilinear_start[Y_AXIS]
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) {
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bilinear_grid_spacing[X_AXIS] = xGridSpacing;
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bilinear_grid_spacing[X_AXIS] = xGridSpacing;
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bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
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bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
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bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
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bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
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// Can't re-enable (on error) until the new grid is written
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// Can't re-enable (on error) until the new grid is written
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abl_should_enable = false;
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abl_should_enable = false;
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}
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}
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@ -7930,38 +7936,43 @@ void ok_to_send() {
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// Get the Z adjustment for non-linear bed leveling
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// Get the Z adjustment for non-linear bed leveling
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float bilinear_z_offset(float cartesian[XYZ]) {
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float bilinear_z_offset(float cartesian[XYZ]) {
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int half_x = (ABL_GRID_POINTS_X - 1) / 2,
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int gridx = (cartesian[X_AXIS] - bilinear_start[X_AXIS]) / bilinear_grid_spacing[X_AXIS],
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half_y = (ABL_GRID_POINTS_Y - 1) / 2;
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gridy = (cartesian[Y_AXIS] - bilinear_start[Y_AXIS]) / bilinear_grid_spacing[Y_AXIS];
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float hx2 = half_x - 0.001, hx1 = -hx2,
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hy2 = half_y - 0.001, hy1 = -hy2,
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// What grid box is xy inside?
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grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / bilinear_grid_spacing[X_AXIS])),
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if (gridx < 0) gridx = 0;
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grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / bilinear_grid_spacing[Y_AXIS]));
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if (gridx > ABL_GRID_POINTS_X - 1) gridx = ABL_GRID_POINTS_X - 1;
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int floor_x = floor(grid_x), floor_y = floor(grid_y);
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if (gridy < 0) gridy = 0;
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float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
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if (gridy > ABL_GRID_POINTS_Y - 1) gridy = ABL_GRID_POINTS_Y - 1;
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z1 = bed_level_grid[floor_x + half_x][floor_y + half_y],
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z2 = bed_level_grid[floor_x + half_x][floor_y + half_y + 1],
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// Ratio within the grid box
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z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y],
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float ratio_x = cartesian[X_AXIS] / bilinear_grid_spacing[X_AXIS] - gridx,
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z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1],
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ratio_y = cartesian[Y_AXIS] / bilinear_grid_spacing[Y_AXIS] - gridy,
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left = (1 - ratio_y) * z1 + ratio_y * z2,
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right = (1 - ratio_y) * z3 + ratio_y * z4;
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// Z at the box corners
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z1 = bed_level_grid[gridx][gridy], // left-front
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z2 = bed_level_grid[gridx][gridy + 1], // left-back
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z3 = bed_level_grid[gridx + 1][gridy], // right-front
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z4 = bed_level_grid[gridx + 1][gridy + 1], // right-back
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L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
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R = z3 + (z4 - z3) * ratio_y; // Linear interp. RF -> RB
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/*
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/*
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SERIAL_ECHOPAIR("grid_x=", grid_x);
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SERIAL_ECHOPAIR("gridx=", gridx);
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SERIAL_ECHOPAIR(" grid_y=", grid_y);
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SERIAL_ECHOPAIR(" gridy=", gridy);
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SERIAL_ECHOPAIR(" floor_x=", floor_x);
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SERIAL_ECHOPAIR(" floor_y=", floor_y);
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SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
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SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
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SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
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SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
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SERIAL_ECHOPAIR(" z1=", z1);
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SERIAL_ECHOPAIR(" z1=", z1);
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SERIAL_ECHOPAIR(" z2=", z2);
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SERIAL_ECHOPAIR(" z2=", z2);
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SERIAL_ECHOPAIR(" z3=", z3);
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SERIAL_ECHOPAIR(" z3=", z3);
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SERIAL_ECHOPAIR(" z4=", z4);
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SERIAL_ECHOPAIR(" z4=", z4);
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SERIAL_ECHOPAIR(" left=", left);
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SERIAL_ECHOPAIR(" L=", L);
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SERIAL_ECHOPAIR(" right=", right);
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SERIAL_ECHOPAIR(" R=", R);
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SERIAL_ECHOPAIR(" offset=", (1 - ratio_x) * left + ratio_x * right);
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SERIAL_ECHOPAIR(" offset=", L + ratio_x * (R - L);
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//*/
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//*/
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return (1 - ratio_x) * left + ratio_x * right;
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return L + ratio_x * (R - L);
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}
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}
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#endif // AUTO_BED_LEVELING_BILINEAR
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#endif // AUTO_BED_LEVELING_BILINEAR
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