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554 lines
22 KiB
554 lines
22 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
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*
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*/
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#include "Marlin.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "UBL.h"
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#include "planner.h"
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#include <avr/io.h>
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#include <math.h>
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extern void set_current_to_destination();
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extern bool G26_Debug_flag;
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void debug_current_and_destination(char *title);
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void wait_for_button_press();
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void UBL_line_to_destination(const float &x_end, const float &y_end, const float &z_end, const float &e_end, const float &feed_rate, uint8_t extruder) {
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int cell_start_xi, cell_start_yi, cell_dest_xi, cell_dest_yi;
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int left_flag, down_flag;
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int current_xi, current_yi;
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int dxi, dyi, xi_cnt, yi_cnt;
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bool use_X_dist, inf_normalized_flag, inf_m_flag;
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float x_start, y_start;
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float x, y, z1, z2, z0 /*, z_optimized */;
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float next_mesh_line_x, next_mesh_line_y, a0ma1diva2ma1;
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float on_axis_distance, e_normalized_dist, e_position, e_start, z_normalized_dist, z_position, z_start;
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float dx, dy, adx, ady, m, c;
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//
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// Much of the nozzle movement will be within the same cell. So we will do as little computation
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// as possible to determine if this is the case. If this move is within the same cell, we will
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// just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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//
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x_start = current_position[X_AXIS];
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y_start = current_position[Y_AXIS];
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z_start = current_position[Z_AXIS];
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e_start = current_position[E_AXIS];
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cell_start_xi = blm.get_cell_index_x(x_start);
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cell_start_yi = blm.get_cell_index_y(y_start);
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cell_dest_xi = blm.get_cell_index_x(x_end);
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cell_dest_yi = blm.get_cell_index_y(y_end);
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if (G26_Debug_flag!=0) {
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SERIAL_ECHOPGM(" UBL_line_to_destination(xe=");
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SERIAL_ECHO(x_end);
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SERIAL_ECHOPGM(",ye=");
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SERIAL_ECHO(y_end);
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SERIAL_ECHOPGM(",ze=");
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SERIAL_ECHO(z_end);
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SERIAL_ECHOPGM(",ee=");
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SERIAL_ECHO(e_end);
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SERIAL_ECHOPGM(")\n");
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debug_current_and_destination( (char *) "Start of UBL_line_to_destination()");
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}
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if ((cell_start_xi == cell_dest_xi) && (cell_start_yi == cell_dest_yi)) { // if the whole move is within the same cell,
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// we don't need to break up the move
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//
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// If we are moving off the print bed, we are going to allow the move at this level.
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// But we detect it and isolate it. For now, we just pass along the request.
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//
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if (cell_dest_xi<0 || cell_dest_yi<0 || cell_dest_xi >= UBL_MESH_NUM_X_POINTS || cell_dest_yi >= UBL_MESH_NUM_Y_POINTS) {
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
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// a reasonable correction would be.
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planner.buffer_line(x_end, y_end, z_end + blm.state.z_offset, e_end, feed_rate, extruder);
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set_current_to_destination();
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if (G26_Debug_flag!=0) {
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debug_current_and_destination( (char *) "out of bounds in UBL_line_to_destination()");
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}
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return;
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}
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// we can optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
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// generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
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// We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
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// We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
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// instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
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// to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
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FINAL_MOVE:
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a0ma1diva2ma1 = (x_end - mesh_index_to_X_location[cell_dest_xi]) * (float) (1.0 / MESH_X_DIST);
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z1 = z_values[cell_dest_xi][cell_dest_yi] +
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(z_values[cell_dest_xi + 1][cell_dest_yi] - z_values[cell_dest_xi][cell_dest_yi]) * a0ma1diva2ma1;
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z2 = z_values[cell_dest_xi][cell_dest_yi+1] +
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(z_values[cell_dest_xi+1][cell_dest_yi+1] - z_values[cell_dest_xi][cell_dest_yi+1]) * a0ma1diva2ma1;
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// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
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// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
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a0ma1diva2ma1 = (y_end - mesh_index_to_Y_location[cell_dest_yi]) * (float) (1.0 / MESH_Y_DIST);
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z0 = z1 + (z2 - z1) * a0ma1diva2ma1;
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// debug code to use non-optimized get_z_correction() and to do a sanity check
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// that the correct value is being passed to planner.buffer_line()
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//
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/*
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z_optimized = z0;
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z0 = blm.get_z_correction( x_end, y_end);
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if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) ) {
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debug_current_and_destination( (char *) "FINAL_MOVE: z_correction()");
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if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN ");
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if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN ");
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SERIAL_ECHOPAIR(" x_end=", x_end);
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SERIAL_ECHOPAIR(" y_end=", y_end);
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SERIAL_ECHOPAIR(" z0=", z0);
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SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized - z0));
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SERIAL_EOL;
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}
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*/
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z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in z_values[][] and propagate through the
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// calculations. If our correction is NAN, we throw it out
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// because part of the Mesh is undefined and we don't have the
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// information we need to complete the height correction.
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}
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planner.buffer_line(x_end, y_end, z_end + z0 + blm.state.z_offset, e_end, feed_rate, extruder);
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if (G26_Debug_flag!=0) {
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debug_current_and_destination( (char *) "FINAL_MOVE in UBL_line_to_destination()");
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}
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set_current_to_destination();
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return;
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}
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//
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// If we get here, we are processing a move that crosses at least one Mesh Line. We will check
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// for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
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// of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
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// computation and in fact most lines are of this nature. We will check for that in the following
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// blocks of code:
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left_flag = 0;
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down_flag = 0;
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inf_m_flag = false;
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inf_normalized_flag = false;
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dx = x_end - x_start;
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dy = y_end - y_start;
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if (dx<0.0) { // figure out which way we need to move to get to the next cell
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dxi = -1;
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adx = -dx; // absolute value of dx. We already need to check if dx and dy are negative.
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}
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else { // We may as well generate the appropriate values for adx and ady right now
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dxi = 1; // to save setting up the abs() function call and actually doing the call.
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adx = dx;
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}
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if (dy<0.0) {
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dyi = -1;
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ady = -dy; // absolute value of dy
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}
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else {
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dyi = 1;
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ady = dy;
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}
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if (dx<0.0) left_flag = 1;
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if (dy<0.0) down_flag = 1;
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if (cell_start_xi == cell_dest_xi) dxi = 0;
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if (cell_start_yi == cell_dest_yi) dyi = 0;
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//
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// Compute the scaling factor for the extruder for each partial move.
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// We need to watch out for zero length moves because it will cause us to
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// have an infinate scaling factor. We are stuck doing a floating point
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// divide to get our scaling factor, but after that, we just multiply by this
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// number. We also pick our scaling factor based on whether the X or Y
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// component is larger. We use the biggest of the two to preserve precision.
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//
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if ( adx > ady ) {
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use_X_dist = true;
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on_axis_distance = x_end-x_start;
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}
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else {
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use_X_dist = false;
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on_axis_distance = y_end-y_start;
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}
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e_position = e_end - e_start;
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e_normalized_dist = e_position / on_axis_distance;
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z_position = z_end - z_start;
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z_normalized_dist = z_position / on_axis_distance;
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if (e_normalized_dist==INFINITY || e_normalized_dist==-INFINITY) {
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inf_normalized_flag = true;
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}
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current_xi = cell_start_xi;
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current_yi = cell_start_yi;
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m = dy / dx;
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c = y_start - m*x_start;
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if (m == INFINITY || m == -INFINITY) {
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inf_m_flag = true;
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}
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//
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// This block handles vertical lines. These are lines that stay within the same
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// X Cell column. They do not need to be perfectly vertical. They just can
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// not cross into another X Cell column.
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//
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if (dxi == 0) { // Check for a vertical line
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current_yi += down_flag; // Line is heading down, we just want to go to the bottom
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while (current_yi != cell_dest_yi + down_flag) {
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current_yi += dyi;
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next_mesh_line_y = mesh_index_to_Y_location[current_yi];
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if (inf_m_flag) {
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x = x_start; // if the slope of the line is infinite, we won't do the calculations
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}
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// we know the next X is the same so we can recover and continue!
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else {
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x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
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}
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z0 = blm.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);
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//
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// debug code to use non-optimized get_z_correction() and to do a sanity check
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// that the correct value is being passed to planner.buffer_line()
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//
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/*
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z_optimized = z0;
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z0 = blm.get_z_correction( x, next_mesh_line_y);
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if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) ) {
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debug_current_and_destination( (char *) "VERTICAL z_correction()");
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if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN ");
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if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN ");
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SERIAL_ECHOPAIR(" x=", x);
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SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
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SERIAL_ECHOPAIR(" z0=", z0);
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SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
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SERIAL_ECHO("\n");
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}
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*/
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z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in z_values[][] and propagate through the
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// calculations. If our correction is NAN, we throw it out
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// because part of the Mesh is undefined and we don't have the
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// information we need to complete the height correction.
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}
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y = mesh_index_to_Y_location[current_yi];
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// Without this check, it is possible for the algorythm to generate a zero length move in the case
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// where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
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// happens, it might be best to remove the check and always 'schedule' the move because
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// the planner.buffer_line() routine will filter it if that happens.
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if ( y!=y_start) {
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if ( inf_normalized_flag == false ) {
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on_axis_distance = y - y_start; // we don't need to check if the extruder position
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e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a vertical move
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z_position = z_start + on_axis_distance * z_normalized_dist;
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}
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else {
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e_position = e_start;
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z_position = z_start;
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}
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planner.buffer_line(x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
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} //else printf("FIRST MOVE PRUNED ");
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}
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//
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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//
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if (G26_Debug_flag!=0) {
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debug_current_and_destination( (char *) "vertical move done in UBL_line_to_destination()");
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}
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if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end) {
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goto FINAL_MOVE;
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}
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set_current_to_destination();
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return;
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}
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//
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// This block handles horizontal lines. These are lines that stay within the same
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// Y Cell row. They do not need to be perfectly horizontal. They just can
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// not cross into another Y Cell row.
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//
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if (dyi == 0) { // Check for a horiziontal line
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current_xi += left_flag; // Line is heading left, we just want to go to the left
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// edge of this cell for the first move.
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while (current_xi != cell_dest_xi + left_flag) {
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current_xi += dxi;
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next_mesh_line_x = mesh_index_to_X_location[current_xi];
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y = m * next_mesh_line_x + c; // Calculate X at the next Y mesh line
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z0 = blm.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
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//
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// debug code to use non-optimized get_z_correction() and to do a sanity check
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// that the correct value is being passed to planner.buffer_line()
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//
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/*
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z_optimized = z0;
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z0 = blm.get_z_correction( next_mesh_line_x, y);
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if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) ) {
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debug_current_and_destination( (char *) "HORIZONTAL z_correction()");
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if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN ");
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if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN ");
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SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
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SERIAL_ECHOPAIR(" y=", y);
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SERIAL_ECHOPAIR(" z0=", z0);
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SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
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SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
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SERIAL_ECHO("\n");
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}
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*/
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z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in z_values[][] and propagate through the
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// calculations. If our correction is NAN, we throw it out
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// because part of the Mesh is undefined and we don't have the
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// information we need to complete the height correction.
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}
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x = mesh_index_to_X_location[current_xi];
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// Without this check, it is possible for the algorythm to generate a zero length move in the case
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// where the line is heading left and it is starting right on a Mesh Line boundary. For how often
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// that happens, it might be best to remove the check and always 'schedule' the move because
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// the planner.buffer_line() routine will filter it if that happens.
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if ( x!=x_start) {
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if ( inf_normalized_flag == false ) {
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on_axis_distance = x - x_start; // we don't need to check if the extruder position
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e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
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z_position = z_start + on_axis_distance * z_normalized_dist;
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}
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else {
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e_position = e_start;
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z_position = z_start;
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}
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planner.buffer_line(x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
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} //else printf("FIRST MOVE PRUNED ");
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}
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if (G26_Debug_flag!=0) {
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debug_current_and_destination( (char *) "horizontal move done in UBL_line_to_destination()");
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}
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if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end) {
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goto FINAL_MOVE;
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}
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set_current_to_destination();
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return;
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}
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//
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//
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//
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//
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// This block handles the generic case of a line crossing both X and Y
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// Mesh lines.
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//
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//
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//
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//
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xi_cnt = cell_start_xi - cell_dest_xi;
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if ( xi_cnt < 0 ) {
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xi_cnt = -xi_cnt;
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}
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yi_cnt = cell_start_yi - cell_dest_yi;
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if ( yi_cnt < 0 ) {
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yi_cnt = -yi_cnt;
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}
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current_xi += left_flag;
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current_yi += down_flag;
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while ( xi_cnt>0 || yi_cnt>0 ) {
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next_mesh_line_x = mesh_index_to_X_location[current_xi + dxi];
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next_mesh_line_y = mesh_index_to_Y_location[current_yi + dyi];
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y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
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x = (next_mesh_line_y-c) / m; // Calculate X at the next Y mesh line (we don't have to worry
|
|
// about m being equal to 0.0 If this was the case, we would have
|
|
// detected this as a vertical line move up above and we wouldn't
|
|
// be down here doing a generic type of move.
|
|
|
|
if ((left_flag && (x>next_mesh_line_x)) || (!left_flag && (x<next_mesh_line_x))) { // Check if we hit the Y line first
|
|
//
|
|
// Yes! Crossing a Y Mesh Line next
|
|
//
|
|
z0 = blm.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi-left_flag, current_yi+dyi);
|
|
|
|
//
|
|
// debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
// that the correct value is being passed to planner.buffer_line()
|
|
//
|
|
|
|
/*
|
|
|
|
z_optimized = z0;
|
|
|
|
z0 = blm.get_z_correction( x, next_mesh_line_y);
|
|
if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) ) {
|
|
debug_current_and_destination( (char *) "General_1: z_correction()");
|
|
if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN ");
|
|
if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN "); {
|
|
SERIAL_ECHOPAIR(" x=", x);
|
|
}
|
|
SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
|
|
SERIAL_ECHOPAIR(" z0=", z0);
|
|
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
|
|
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
|
|
SERIAL_ECHO("\n");
|
|
}
|
|
*/
|
|
|
|
z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
|
|
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
|
z0 = 0.0; // in 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 ( inf_normalized_flag == false ) {
|
|
if ( use_X_dist ) {
|
|
on_axis_distance = x - x_start;
|
|
}
|
|
else {
|
|
on_axis_distance = next_mesh_line_y - y_start;
|
|
}
|
|
e_position = e_start + on_axis_distance * e_normalized_dist;
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
}
|
|
else {
|
|
e_position = e_start;
|
|
z_position = z_start;
|
|
}
|
|
planner.buffer_line(x, next_mesh_line_y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
|
|
current_yi += dyi;
|
|
yi_cnt--;
|
|
}
|
|
else {
|
|
//
|
|
// Yes! Crossing a X Mesh Line next
|
|
//
|
|
z0 = blm.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi+dxi, current_yi-down_flag);
|
|
|
|
|
|
//
|
|
// debug code to use non-optimized get_z_correction() and to do a sanity check
|
|
// that the correct value is being passed to planner.buffer_line()
|
|
//
|
|
/*
|
|
z_optimized = z0;
|
|
z0 = blm.get_z_correction( next_mesh_line_x, y);
|
|
if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) ) {
|
|
debug_current_and_destination( (char *) "General_2: z_correction()");
|
|
if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN ");
|
|
if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN ");
|
|
SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
|
|
SERIAL_ECHOPAIR(" y=", y);
|
|
SERIAL_ECHOPAIR(" z0=", z0);
|
|
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
|
|
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
|
|
SERIAL_ECHO("\n");
|
|
}
|
|
*/
|
|
|
|
z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
|
|
|
|
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
|
z0 = 0.0; // in 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 ( inf_normalized_flag == false ) {
|
|
if ( use_X_dist ) {
|
|
on_axis_distance = next_mesh_line_x - x_start;
|
|
}
|
|
else {
|
|
on_axis_distance = y - y_start;
|
|
}
|
|
e_position = e_start + on_axis_distance * e_normalized_dist;
|
|
z_position = z_start + on_axis_distance * z_normalized_dist;
|
|
}
|
|
else {
|
|
e_position = e_start;
|
|
z_position = z_start;
|
|
}
|
|
|
|
planner.buffer_line(next_mesh_line_x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
|
|
current_xi += dxi;
|
|
xi_cnt--;
|
|
}
|
|
}
|
|
if (G26_Debug_flag) {
|
|
debug_current_and_destination( (char *) "generic move done in UBL_line_to_destination()");
|
|
}
|
|
if (current_position[0] != x_end || current_position[1] != y_end) {
|
|
goto FINAL_MOVE;
|
|
}
|
|
set_current_to_destination();
|
|
return;
|
|
}
|
|
|
|
void wait_for_button_press() {
|
|
// if ( !been_to_2_6 )
|
|
//return; // bob - I think this should be commented out
|
|
|
|
SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66. Right Switch is on pin 65
|
|
SET_OUTPUT(64);
|
|
while (READ(66) & 0x01) idle();
|
|
|
|
delay(50);
|
|
while (!(READ(66) & 0x01)) idle();
|
|
delay(50);
|
|
}
|
|
|
|
#endif
|
|
|
|
|