diff --git a/Marlin/ubl.h b/Marlin/ubl.h index 22b3bc5e0..245173630 100644 --- a/Marlin/ubl.h +++ b/Marlin/ubl.h @@ -20,320 +20,322 @@ * */ -#include "Marlin.h" -#include "math.h" -#include "vector_3.h" - #ifndef UNIFIED_BED_LEVELING_H #define UNIFIED_BED_LEVELING_H - #if ENABLED(AUTO_BED_LEVELING_UBL) - - #define UBL_VERSION "1.00" - #define UBL_OK false - #define UBL_ERR true - - typedef struct { - int8_t x_index, y_index; - float distance; // When populated, the distance from the search location - } mesh_index_pair; - - enum MeshPointType { INVALID, REAL, SET_IN_BITMAP }; - - void dump(char * const str, const float &f); - bool ubl_lcd_clicked(); - void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool); - void debug_current_and_destination(char *title); - void ubl_line_to_destination(const float&, uint8_t); - void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool); - vector_3 tilt_mesh_based_on_3pts(const float&, const float&, const float&); - float measure_business_card_thickness(const float&); - mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool); - void find_mean_mesh_height(); - void shift_mesh_height(); - bool g29_parameter_parsing(); - void g29_what_command(); - void g29_eeprom_dump(); - void g29_compare_current_mesh_to_stored_mesh(); - void fine_tune_mesh(const float&, const float&, const bool); - void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y); - void bit_set(uint16_t bits[16], uint8_t x, uint8_t y); - bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y); - char *ftostr43sign(const float&, char); - - void gcode_G26(); - void gcode_G28(); - void gcode_G29(); - extern char conv[9]; - - void save_ubl_active_state_and_disable(); - void restore_ubl_active_state_and_leave(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////// - - #if ENABLED(ULTRA_LCD) - extern char lcd_status_message[]; - void lcd_quick_feedback(); +#include "MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) + + #include "Marlin.h" + #include "math.h" + #include "vector_3.h" + + #define UBL_VERSION "1.00" + #define UBL_OK false + #define UBL_ERR true + + typedef struct { + int8_t x_index, y_index; + float distance; // When populated, the distance from the search location + } mesh_index_pair; + + enum MeshPointType { INVALID, REAL, SET_IN_BITMAP }; + + void dump(char * const str, const float &f); + bool ubl_lcd_clicked(); + void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool); + void debug_current_and_destination(char *title); + void ubl_line_to_destination(const float&, uint8_t); + void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool); + vector_3 tilt_mesh_based_on_3pts(const float&, const float&, const float&); + float measure_business_card_thickness(const float&); + mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool); + void find_mean_mesh_height(); + void shift_mesh_height(); + bool g29_parameter_parsing(); + void g29_what_command(); + void g29_eeprom_dump(); + void g29_compare_current_mesh_to_stored_mesh(); + void fine_tune_mesh(const float&, const float&, const bool); + void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y); + void bit_set(uint16_t bits[16], uint8_t x, uint8_t y); + bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y); + char *ftostr43sign(const float&, char); + + void gcode_G26(); + void gcode_G28(); + void gcode_G29(); + extern char conv[9]; + + void save_ubl_active_state_and_disable(); + void restore_ubl_active_state_and_leave(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////// + + #if ENABLED(ULTRA_LCD) + extern char lcd_status_message[]; + void lcd_quick_feedback(); + #endif + + enum MBLStatus { MBL_STATUS_NONE = 0, MBL_STATUS_HAS_MESH_BIT = 0, MBL_STATUS_ACTIVE_BIT = 1 }; + + #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1)) + #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) + + typedef struct { + bool active = false; + float z_offset = 0.0; + int8_t eeprom_storage_slot = -1, + n_x = GRID_MAX_POINTS_X, + n_y = GRID_MAX_POINTS_Y; + + float mesh_x_min = UBL_MESH_MIN_X, + mesh_y_min = UBL_MESH_MIN_Y, + mesh_x_max = UBL_MESH_MAX_X, + mesh_y_max = UBL_MESH_MAX_Y, + mesh_x_dist = MESH_X_DIST, + mesh_y_dist = MESH_Y_DIST; + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + float g29_correction_fade_height = 10.0, + g29_fade_height_multiplier = 1.0 / 10.0; // It's cheaper to do a floating point multiply than divide, + // so keep this value and its reciprocal. #endif - enum MBLStatus { MBL_STATUS_NONE = 0, MBL_STATUS_HAS_MESH_BIT = 0, MBL_STATUS_ACTIVE_BIT = 1 }; - - #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1)) - #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) - - typedef struct { - bool active = false; - float z_offset = 0.0; - int8_t eeprom_storage_slot = -1, - n_x = GRID_MAX_POINTS_X, - n_y = GRID_MAX_POINTS_Y; - - float mesh_x_min = UBL_MESH_MIN_X, - mesh_y_min = UBL_MESH_MIN_Y, - mesh_x_max = UBL_MESH_MAX_X, - mesh_y_max = UBL_MESH_MAX_Y, - mesh_x_dist = MESH_X_DIST, - mesh_y_dist = MESH_Y_DIST; - - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - float g29_correction_fade_height = 10.0, - g29_fade_height_multiplier = 1.0 / 10.0; // It's cheaper to do a floating point multiply than divide, - // so keep this value and its reciprocal. - #endif - - // If you change this struct, adjust TOTAL_STRUCT_SIZE - - #define TOTAL_STRUCT_SIZE 40 // Total size of the above fields - - // padding provides space to add state variables without - // changing the location of data structures in the EEPROM. - // This is for compatibility with future versions to keep - // users from having to regenerate their mesh data. - unsigned char padding[64 - TOTAL_STRUCT_SIZE]; - - } ubl_state; - - class unified_bed_leveling { - private: - - static float last_specified_z; - - public: - - static ubl_state state, pre_initialized; - - static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], - mesh_index_to_xpos[GRID_MAX_POINTS_X + 1], // +1 safety margin for now, until determinism prevails - mesh_index_to_ypos[GRID_MAX_POINTS_Y + 1]; - - static bool g26_debug_flag, - has_control_of_lcd_panel; - - static int8_t eeprom_start; - - static volatile int encoder_diff; // Volatile because it's changed at interrupt time. - - unified_bed_leveling(); - - static void display_map(const int); - - static void reset(); - static void invalidate(); - - static void store_state(); - static void load_state(); - static void store_mesh(const int16_t); - static void load_mesh(const int16_t); - - static bool sanity_check(); - - static FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } - - static int8_t get_cell_index_x(const float &x) { - const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (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 get_cell_index_y(const float &y) { - const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (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 int8_t find_closest_x_index(const float &x) { - const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); - return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; + // If you change this struct, adjust TOTAL_STRUCT_SIZE + + #define TOTAL_STRUCT_SIZE 40 // Total size of the above fields + + // padding provides space to add state variables without + // changing the location of data structures in the EEPROM. + // This is for compatibility with future versions to keep + // users from having to regenerate their mesh data. + unsigned char padding[64 - TOTAL_STRUCT_SIZE]; + + } ubl_state; + + class unified_bed_leveling { + private: + + static float last_specified_z; + + public: + + static ubl_state state, pre_initialized; + + static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], + mesh_index_to_xpos[GRID_MAX_POINTS_X + 1], // +1 safety margin for now, until determinism prevails + mesh_index_to_ypos[GRID_MAX_POINTS_Y + 1]; + + static bool g26_debug_flag, + has_control_of_lcd_panel; + + static int8_t eeprom_start; + + static volatile int encoder_diff; // Volatile because it's changed at interrupt time. + + unified_bed_leveling(); + + static void display_map(const int); + + static void reset(); + static void invalidate(); + + static void store_state(); + static void load_state(); + static void store_mesh(const int16_t); + static void load_mesh(const int16_t); + + static bool sanity_check(); + + static FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } + + static int8_t get_cell_index_x(const float &x) { + const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (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 get_cell_index_y(const float &y) { + const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (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 int8_t find_closest_x_index(const float &x) { + const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); + return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; + } + + static int8_t find_closest_y_index(const float &y) { + const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST)); + return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; + } + + /** + * 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. + */ + static FORCE_INLINE 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 rare occasion when a point lies exactly on a Mesh line (denoted by index yi). + */ + static inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, 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)) { + SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0); + SERIAL_ECHOPAIR(",x1_i=", x1_i); + SERIAL_ECHOPAIR(",yi=", yi); + SERIAL_CHAR(')'); + SERIAL_EOL; + return NAN; } - static int8_t find_closest_y_index(const float &y) { - const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST)); - return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; + const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)), + z1 = z_values[x1_i][yi]; + + return z1 + xratio * (z_values[x1_i + 1][yi] - z1); + } + + // + // 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 &ly0, 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)) { + SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0); + SERIAL_ECHOPAIR(", x1_i=", xi); + SERIAL_ECHOPAIR(", yi=", y1_i); + SERIAL_CHAR(')'); + SERIAL_EOL; + return NAN; } - /** - * 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. - */ - static FORCE_INLINE 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); - } + const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)), + z1 = z_values[xi][y1_i]; - /** - * z_correction_for_x_on_horizontal_mesh_line is an optimization for - * the rare occasion when a point lies exactly on a Mesh line (denoted by index yi). - */ - static inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, 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)) { - SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0); - SERIAL_ECHOPAIR(",x1_i=", x1_i); - SERIAL_ECHOPAIR(",yi=", yi); - SERIAL_CHAR(')'); - SERIAL_EOL; - return NAN; - } + return z1 + yratio * (z_values[xi][y1_i + 1] - z1); + } - const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)), - z1 = z_values[x1_i][yi]; + /** + * 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 &lx0, const float &ly0) { + const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)), + cy = get_cell_index_y(RAW_Y_POSITION(ly0)); - return z1 + xratio * (z_values[x1_i + 1][yi] - z1); - } + if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) { - // - // 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 &ly0, 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)) { - SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0); - SERIAL_ECHOPAIR(", x1_i=", xi); - SERIAL_ECHOPAIR(", yi=", y1_i); - SERIAL_CHAR(')'); - SERIAL_EOL; - return NAN; - } + SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0); + SERIAL_ECHOPAIR(", ly0=", ly0); + SERIAL_CHAR(')'); + SERIAL_EOL; - const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)), - z1 = z_values[xi][y1_i]; - - return z1 + yratio * (z_values[xi][y1_i + 1] - z1); + #if ENABLED(ULTRA_LCD) + strcpy(lcd_status_message, "get_z_correction() indexes out of range."); + lcd_quick_feedback(); + #endif + return 0.0; // this used to return state.z_offset } - /** - * 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 &lx0, const float &ly0) { - const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)), - cy = get_cell_index_y(RAW_Y_POSITION(ly0)); - - if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) { - - SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0); - SERIAL_ECHOPAIR(", ly0=", ly0); - SERIAL_CHAR(')'); - SERIAL_EOL; + const float z1 = calc_z0(RAW_X_POSITION(lx0), + mesh_index_to_xpos[cx], z_values[cx][cy], + mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy]), + z2 = calc_z0(RAW_X_POSITION(lx0), + mesh_index_to_xpos[cx], z_values[cx][cy + 1], + mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]); + float z0 = calc_z0(RAW_Y_POSITION(ly0), + mesh_index_to_ypos[cy], z1, + mesh_index_to_ypos[cy + 1], z2); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(MESH_ADJUST)) { + SERIAL_ECHOPAIR(" raw get_z_correction(", lx0); + SERIAL_CHAR(',') + SERIAL_ECHO(ly0); + SERIAL_ECHOPGM(") = "); + SERIAL_ECHO_F(z0, 6); + } + #endif - #if ENABLED(ULTRA_LCD) - strcpy(lcd_status_message, "get_z_correction() indexes out of range."); - lcd_quick_feedback(); - #endif - return 0.0; // this used to return state.z_offset + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(MESH_ADJUST)) { + SERIAL_ECHOPGM(" >>>---> "); + SERIAL_ECHO_F(z0, 6); + SERIAL_EOL; } + #endif - const float z1 = calc_z0(RAW_X_POSITION(lx0), - mesh_index_to_xpos[cx], z_values[cx][cy], - mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy]), - z2 = calc_z0(RAW_X_POSITION(lx0), - mesh_index_to_xpos[cx], z_values[cx][cy + 1], - mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]); - float z0 = calc_z0(RAW_Y_POSITION(ly0), - mesh_index_to_ypos[cy], z1, - mesh_index_to_ypos[cy + 1], z2); + 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 ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(MESH_ADJUST)) { - SERIAL_ECHOPAIR(" raw get_z_correction(", lx0); - SERIAL_CHAR(',') + SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0); + SERIAL_CHAR(','); SERIAL_ECHO(ly0); - SERIAL_ECHOPGM(") = "); - SERIAL_ECHO_F(z0, 6); - } - #endif - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(MESH_ADJUST)) { - SERIAL_ECHOPGM(" >>>---> "); - SERIAL_ECHO_F(z0, 6); + SERIAL_CHAR(')'); SERIAL_EOL; } #endif - - 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 ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(MESH_ADJUST)) { - SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0); - SERIAL_CHAR(','); - SERIAL_ECHO(ly0); - SERIAL_CHAR(')'); - SERIAL_EOL; - } - #endif - } - return z0; // there used to be a +state.z_offset on this line } + return z0; // there used to be a +state.z_offset on this line + } + + /** + * This function sets the Z leveling fade factor based on the given Z height, + * only re-calculating when necessary. + * + * Returns 1.0 if g29_correction_fade_height is 0.0. + * Returns 0.0 if Z is past the specified 'Fade Height'. + */ + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - /** - * This function sets the Z leveling fade factor based on the given Z height, - * only re-calculating when necessary. - * - * Returns 1.0 if g29_correction_fade_height is 0.0. - * Returns 0.0 if Z is past the specified 'Fade Height'. - */ - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - - static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) { - if (state.g29_correction_fade_height == 0.0) return 1.0; - - static float fade_scaling_factor = 1.0; - const float rz = RAW_Z_POSITION(lz); - if (last_specified_z != rz) { - last_specified_z = rz; - fade_scaling_factor = - rz < state.g29_correction_fade_height - ? 1.0 - (rz * state.g29_fade_height_multiplier) - : 0.0; - } - return fade_scaling_factor; + static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) { + if (state.g29_correction_fade_height == 0.0) return 1.0; + + static float fade_scaling_factor = 1.0; + const float rz = RAW_Z_POSITION(lz); + if (last_specified_z != rz) { + last_specified_z = rz; + fade_scaling_factor = + rz < state.g29_correction_fade_height + ? 1.0 - (rz * state.g29_fade_height_multiplier) + : 0.0; } + return fade_scaling_factor; + } - #endif + #endif - }; // class unified_bed_leveling + }; // class unified_bed_leveling - extern unified_bed_leveling ubl; + extern unified_bed_leveling ubl; - #define UBL_LAST_EEPROM_INDEX (E2END - sizeof(unified_bed_leveling::state)) + #define UBL_LAST_EEPROM_INDEX (E2END - sizeof(unified_bed_leveling::state)) - #endif // AUTO_BED_LEVELING_UBL +#endif // AUTO_BED_LEVELING_UBL #endif // UNIFIED_BED_LEVELING_H