You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
355 lines
16 KiB
355 lines
16 KiB
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016, 2017 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/>.
|
|
*
|
|
*/
|
|
|
|
#ifndef UNIFIED_BED_LEVELING_H
|
|
#define UNIFIED_BED_LEVELING_H
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
|
|
//#define UBL_DEVEL_DEBUGGING
|
|
|
|
#include "Marlin.h"
|
|
#include "planner.h"
|
|
#include "math.h"
|
|
#include "vector_3.h"
|
|
#include "configuration_store.h"
|
|
|
|
#define UBL_VERSION "1.01"
|
|
#define UBL_OK false
|
|
#define UBL_ERR true
|
|
|
|
#define USE_NOZZLE_AS_REFERENCE 0
|
|
#define USE_PROBE_AS_REFERENCE 1
|
|
|
|
// ubl_motion.cpp
|
|
|
|
#if ENABLED(UBL_DEVEL_DEBUGGING)
|
|
void debug_current_and_destination(const char * const title);
|
|
#else
|
|
FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }
|
|
#endif
|
|
|
|
// ubl_G29.cpp
|
|
|
|
enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
|
|
|
|
// External references
|
|
|
|
char *ftostr43sign(const float&, char);
|
|
void home_all_axes();
|
|
|
|
extern uint8_t ubl_cnt;
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
extern char lcd_status_message[];
|
|
void lcd_quick_feedback();
|
|
#endif
|
|
|
|
#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, g29_x_flag, g29_y_flag;
|
|
static float g29_x_pos, g29_y_pos,
|
|
g29_card_thickness,
|
|
g29_constant;
|
|
|
|
#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(const float&);
|
|
static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
|
|
static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map);
|
|
#endif
|
|
|
|
static bool g29_parameter_parsing();
|
|
static void find_mean_mesh_height();
|
|
static void shift_mesh_height();
|
|
static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
|
|
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 void g29_what_command();
|
|
static void g29_eeprom_dump();
|
|
static void g29_compare_current_mesh_to_stored_mesh();
|
|
static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
|
|
static void smart_fill_mesh();
|
|
|
|
public:
|
|
|
|
static void echo_name();
|
|
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);
|
|
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]);
|
|
static mesh_index_pair find_furthest_invalid_mesh_point();
|
|
static void reset();
|
|
static void invalidate();
|
|
static void set_all_mesh_points_to_value(const float);
|
|
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 float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
|
|
|
|
// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
|
|
// until determinism prevails
|
|
constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
|
|
MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST),
|
|
MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST),
|
|
MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST),
|
|
MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST),
|
|
MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST),
|
|
MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST),
|
|
MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST),
|
|
MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST)
|
|
};
|
|
|
|
constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
|
|
MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST),
|
|
MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST),
|
|
MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST),
|
|
MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST),
|
|
MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST),
|
|
MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST),
|
|
MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST),
|
|
MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST)
|
|
};
|
|
|
|
#if ENABLED(ULTIPANEL)
|
|
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 get_cell_index_x(const float &x) {
|
|
const int8_t cx = (x - (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 - (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 - (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 - (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.
|
|
*/
|
|
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.
|
|
*/
|
|
inline static 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 ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );
|
|
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);
|
|
SERIAL_ECHOPAIR(",x1_i=", x1_i);
|
|
SERIAL_ECHOPAIR(",yi=", yi);
|
|
SERIAL_CHAR(')');
|
|
SERIAL_EOL();
|
|
}
|
|
#endif
|
|
return NAN;
|
|
}
|
|
|
|
const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (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
|
|
//
|
|
inline static 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 ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );
|
|
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);
|
|
SERIAL_ECHOPAIR(", xi=", xi);
|
|
SERIAL_ECHOPAIR(", y1_i=", y1_i);
|
|
SERIAL_CHAR(')');
|
|
SERIAL_EOL();
|
|
}
|
|
#endif
|
|
return NAN;
|
|
}
|
|
|
|
const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (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 = get_cell_index_x(rx0),
|
|
cy = get_cell_index_y(ry0); // return values are clamped
|
|
|
|
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 ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(MESH_ADJUST)) {
|
|
SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);
|
|
SERIAL_CHAR(',');
|
|
SERIAL_ECHO(ry0);
|
|
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_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(", rx0);
|
|
SERIAL_CHAR(',');
|
|
SERIAL_ECHO(ry0);
|
|
SERIAL_CHAR(')');
|
|
SERIAL_EOL();
|
|
}
|
|
#endif
|
|
}
|
|
return z0;
|
|
}
|
|
|
|
FORCE_INLINE static 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);
|
|
}
|
|
|
|
FORCE_INLINE static 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 prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
|
|
#else
|
|
static void line_to_destination_cartesian(const float &fr, const uint8_t e);
|
|
#endif
|
|
|
|
#define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
|
|
#define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
|
|
#define ZZER(a) (z_values[a][0] == 0)
|
|
|
|
FORCE_INLINE bool mesh_is_valid() {
|
|
return !(
|
|
( CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal?
|
|
&& ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge?
|
|
)
|
|
|| isnan(z_values[0][0])
|
|
);
|
|
}
|
|
}; // class unified_bed_leveling
|
|
|
|
extern unified_bed_leveling ubl;
|
|
|
|
FORCE_INLINE void gcode_G29() { ubl.G29(); }
|
|
|
|
#endif // AUTO_BED_LEVELING_UBL
|
|
#endif // UNIFIED_BED_LEVELING_H
|