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108 lines
3.4 KiB
108 lines
3.4 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(MESH_BED_LEVELING)
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#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X))/(MESH_NUM_X_POINTS - 1))
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#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y))/(MESH_NUM_Y_POINTS - 1))
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class mesh_bed_leveling {
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public:
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bool active;
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float z_offset;
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float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
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mesh_bed_leveling();
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void reset();
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static FORCE_INLINE float get_probe_x(int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
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static FORCE_INLINE float get_probe_y(int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
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void set_z(int8_t px, int8_t py, float z) { z_values[py][px] = z; }
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inline void zigzag(int8_t index, int8_t &px, int8_t &py) {
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px = index % (MESH_NUM_X_POINTS);
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py = index / (MESH_NUM_X_POINTS);
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if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag
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}
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void set_zigzag_z(int8_t index, float z) {
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int8_t px, py;
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zigzag(index, px, py);
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set_z(px, py, z);
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}
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int8_t cel_index_x(float x) {
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int8_t cx = 1;
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while (x > get_probe_x(cx) && cx < MESH_NUM_X_POINTS - 1) cx++; // For 3x3 range is 1 to 2
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return cx - 1; // so this will return 0 - 1
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}
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int8_t cel_index_y(float y) {
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int8_t cy = 1;
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while (y > get_probe_y(cy) && cy < MESH_NUM_Y_POINTS - 1) cy++;
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return cy - 1;
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}
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int8_t probe_index_x(float x) {
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for (int8_t px = MESH_NUM_X_POINTS; px--;)
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if (fabs(x - get_probe_x(px)) <= (MESH_X_DIST) / 2)
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return px;
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return -1;
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}
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int8_t probe_index_y(float y) {
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for (int8_t py = MESH_NUM_Y_POINTS; py--;)
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if (fabs(y - get_probe_y(py)) <= (MESH_Y_DIST) / 2)
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return py;
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return -1;
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}
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float calc_z0(float a0, float a1, float z1, float a2, float z2) {
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float delta_z = (z2 - z1) / (a2 - a1);
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float delta_a = a0 - a1;
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return z1 + delta_a * delta_z;
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}
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float get_z(float x0, float y0) {
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int8_t cx = cel_index_x(x0),
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cy = cel_index_y(y0);
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if (cx < 0 || cy < 0) return z_offset;
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float z1 = calc_z0(x0,
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get_probe_x(cx), z_values[cy][cx],
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get_probe_x(cx + 1), z_values[cy][cx + 1]);
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float z2 = calc_z0(x0,
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get_probe_x(cx), z_values[cy + 1][cx],
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get_probe_x(cx + 1), z_values[cy + 1][cx + 1]);
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float z0 = calc_z0(y0,
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get_probe_y(cy), z1,
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get_probe_y(cy + 1), z2);
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return z0 + z_offset;
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}
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};
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extern mesh_bed_leveling mbl;
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#endif // MESH_BED_LEVELING
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