marlin-lulzbot-laser/Marlin/UBL_Bed_Leveling.cpp

/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 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/>.
 *
 */

#include "Marlin.h"
#include "math.h"

#if ENABLED(AUTO_BED_LEVELING_UBL)

  #include "UBL.h"
  #include "hex_print_routines.h"

  /**
   * These support functions allow the use of large bit arrays of flags that take very
   * little RAM. Currently they are limited to being 16x16 in size. Changing the declaration
   * to unsigned long will allow us to go to 32x32 if higher resolution Mesh's are needed
   * in the future.
   */
  void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y) { CBI(bits[y], x); }
  void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); }
  bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }

  /**
   * These variables used to be declared inside the unified_bed_leveling class. We are going to
   * still declare them within the .cpp file for bed leveling. But there is only one instance of
   * the bed leveling object and we can get rid of a level of inderection by not making them
   * 'member data'. So, in the interest of speed, we do it this way. On a 32-bit CPU they can be
   * moved back inside the bed leveling class.
   */
  float last_specified_z,
        fade_scaling_factor_for_current_height,
        z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS],
        mesh_index_to_x_location[UBL_MESH_NUM_X_POINTS + 1], // +1 just because of paranoia that we might end up on the
        mesh_index_to_y_location[UBL_MESH_NUM_Y_POINTS + 1]; // the last Mesh Line and that is the start of a whole new cell

  unified_bed_leveling::unified_bed_leveling() {
    for (uint8_t i = 0; i <= UBL_MESH_NUM_X_POINTS; i++)  // We go one past what we expect to ever need for safety
      mesh_index_to_x_location[i] = double(UBL_MESH_MIN_X) + double(MESH_X_DIST) * double(i);

    for (uint8_t i = 0; i <= UBL_MESH_NUM_Y_POINTS; i++)  // We go one past what we expect to ever need for safety
      mesh_index_to_y_location[i] = double(UBL_MESH_MIN_Y) + double(MESH_Y_DIST) * double(i);

    reset();
  }

  void unified_bed_leveling::store_state() {
    const uint16_t i = UBL_LAST_EEPROM_INDEX;
    eeprom_write_block((void *)&ubl.state, (void *)i, sizeof(state));
  }

  void unified_bed_leveling::load_state() {
    const uint16_t i = UBL_LAST_EEPROM_INDEX;
    eeprom_read_block((void *)&ubl.state, (void *)i, sizeof(state));

    if (sanity_check())
      SERIAL_PROTOCOLLNPGM("?In load_state() sanity_check() failed.\n");

    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
      /**
       * These lines can go away in a few weeks.  They are just
       * to make sure people updating thier firmware won't be using
       * an incomplete Bed_Leveling.state structure. For speed
       * we now multiply by the inverse of the Fade Height instead of
       * dividing by it. Soon... all of the old structures will be
       * updated, but until then, we try to ease the transition
       * for our Beta testers.
       */
      if (ubl.state.g29_fade_height_multiplier != 1.0 / ubl.state.g29_correction_fade_height) {
        ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
        store_state();
      }
    #endif
  }

  void unified_bed_leveling::load_mesh(const int16_t m) {
    int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);

    if (m == -1) {
      SERIAL_PROTOCOLLNPGM("?No mesh saved in EEPROM. Zeroing mesh in memory.\n");
      reset();
      return;
    }

    if (m < 0 || m >= j || ubl_eeprom_start <= 0) {
      SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
      return;
    }

    j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values);
    eeprom_read_block((void *)&z_values , (void *)j, sizeof(z_values));

    SERIAL_PROTOCOLPGM("Mesh loaded from slot ");
    SERIAL_PROTOCOL(m);
    SERIAL_PROTOCOLPGM("  at offset 0x");
    prt_hex_word(j);
    SERIAL_EOL;
  }

  void unified_bed_leveling::store_mesh(const int16_t m) {
    int16_t j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);

    if (m < 0 || m >= j || ubl_eeprom_start <= 0) {
      SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
      SERIAL_PROTOCOL(m);
      SERIAL_PROTOCOLLNPGM(" mesh slots available.\n");
      SERIAL_PROTOCOLLNPAIR("E2END     : ", E2END);
      SERIAL_PROTOCOLLNPAIR("k         : ", (int)UBL_LAST_EEPROM_INDEX);
      SERIAL_PROTOCOLLNPAIR("j         : ", j);
      SERIAL_PROTOCOLLNPAIR("m         : ", m);
      SERIAL_EOL;
      return;
    }

    j = UBL_LAST_EEPROM_INDEX - (m + 1) * sizeof(z_values);
    eeprom_write_block((const void *)&z_values, (void *)j, sizeof(z_values));

    SERIAL_PROTOCOLPGM("Mesh saved in slot ");
    SERIAL_PROTOCOL(m);
    SERIAL_PROTOCOLPGM("  at offset 0x");
    prt_hex_word(j);
    SERIAL_EOL;
  }

  void unified_bed_leveling::reset() {
    state.active = false;
    state.z_offset = 0;
    state.eeprom_storage_slot = -1;

    ZERO(z_values);

    last_specified_z = -999.9;
    fade_scaling_factor_for_current_height = 0.0;
  }

  void unified_bed_leveling::invalidate() {
    prt_hex_word((unsigned int)this);
    SERIAL_EOL;

    state.active = false;
    state.z_offset = 0;
    for (int x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
      for (int y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
        z_values[x][y] = NAN;
  }

  void unified_bed_leveling::display_map(const int map_type) {
    float f, current_xi, current_yi;
    int8_t i, j;
    UNUSED(map_type);

    if (map_type==0) {
      SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n");

      SERIAL_ECHOPAIR("(", 0);
      SERIAL_ECHOPAIR(", ", UBL_MESH_NUM_Y_POINTS - 1);
      SERIAL_ECHOPGM(")    ");
    }

    current_xi = ubl.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0);
    current_yi = ubl.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);

    if (map_type==0) {
      for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++) {
        SERIAL_ECHOPGM("            ");
        #if TX_BUFFER_SIZE>0
          MYSERIAL.flushTX();
        #endif
        safe_delay(15);
      }
      
      SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS - 1);
      SERIAL_ECHOPAIR(",", UBL_MESH_NUM_Y_POINTS - 1);
      SERIAL_ECHOLNPGM(")");

      SERIAL_ECHOPAIR("(", UBL_MESH_MIN_X);
      SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y);
      SERIAL_CHAR(')');
      safe_delay(15);

      for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++) {
        SERIAL_ECHOPGM("            ");
        #if TX_BUFFER_SIZE>0
          MYSERIAL.flushTX();
        #endif
        safe_delay(15);
      }

      SERIAL_ECHOPAIR("(", UBL_MESH_MAX_X);
      SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y);
      SERIAL_ECHOLNPGM(")");
      safe_delay(15);
    }

    for (j = UBL_MESH_NUM_Y_POINTS - 1; j >= 0; j--) {
      for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
        f = z_values[i][j];

        // is the nozzle here?  if so, mark the number
        if (map_type==0) 
          SERIAL_CHAR(i == current_xi && j == current_yi ? '[' : ' ');

        if (isnan(f))
          if (map_type==0) {
            SERIAL_PROTOCOLPGM("    .    ");
          } else 
            SERIAL_PROTOCOLPGM("NAN");
        else {
          // if we don't do this, the columns won't line up nicely
          if (f>=0.0 && map_type==0) SERIAL_CHAR(' ');
          SERIAL_PROTOCOL_F(f, 3);
          idle();
        }
        if (map_type!=0 && i<UBL_MESH_NUM_X_POINTS-1) 
         SERIAL_PROTOCOLPGM(",");

        #if TX_BUFFER_SIZE>0
          MYSERIAL.flushTX();
        #endif
        safe_delay(15);
        if (map_type==0) {
          if (i == current_xi && j == current_yi) // is the nozzle here? if so, finish marking the number
            SERIAL_CHAR(']');
          else
            SERIAL_PROTOCOL("  ");
          SERIAL_CHAR(' ');
        }
      }
      SERIAL_EOL;
      if (j && map_type==0) { // we want the (0,0) up tight against the block of numbers
        SERIAL_CHAR(' ');
        SERIAL_EOL;
      }
    }

    if (map_type==0) {
      SERIAL_ECHOPAIR("(", int(UBL_MESH_MIN_X));
      SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y));
      SERIAL_ECHOPGM(")    ");

      for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)  {
        SERIAL_ECHOPGM("            ");
        #if TX_BUFFER_SIZE>0
          MYSERIAL.flushTX();
        #endif
        safe_delay(15);
      }
      SERIAL_ECHOPAIR("(", int(UBL_MESH_MAX_X));
      SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y));
      SERIAL_CHAR(')');
      SERIAL_EOL;

      SERIAL_ECHOPAIR("(", 0);
      SERIAL_ECHOPAIR(",", 0);
      SERIAL_ECHOPGM(")       ");

      for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++) {
        SERIAL_ECHOPGM("            ");
        #if TX_BUFFER_SIZE>0
          MYSERIAL.flushTX();
        #endif
        safe_delay(15);
      }
      SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS-1);
      SERIAL_ECHOPAIR(",", 0);
      SERIAL_ECHOLNPGM(")");
    }
  }

  bool unified_bed_leveling::sanity_check() {
    uint8_t error_flag = 0;

    if (state.n_x !=  UBL_MESH_NUM_X_POINTS) {
      SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_X_POINTS set wrong\n");
      error_flag++;
    }

    if (state.n_y !=  UBL_MESH_NUM_Y_POINTS) {
      SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_Y_POINTS set wrong\n");
      error_flag++;
    }

    if (state.mesh_x_min !=  UBL_MESH_MIN_X) {
      SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_X set wrong\n");
      error_flag++;
    }

    if (state.mesh_y_min !=  UBL_MESH_MIN_Y) {
      SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_Y set wrong\n");
      error_flag++;
    }

    if (state.mesh_x_max !=  UBL_MESH_MAX_X) {
      SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_X set wrong\n");
      error_flag++;
    }

    if (state.mesh_y_max !=  UBL_MESH_MAX_Y) {
      SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_Y set wrong\n");
      error_flag++;
    }

    if (state.mesh_x_dist !=  MESH_X_DIST) {
      SERIAL_PROTOCOLLNPGM("?MESH_X_DIST set wrong\n");
      error_flag++;
    }

    if (state.mesh_y_dist !=  MESH_Y_DIST) {
      SERIAL_PROTOCOLLNPGM("?MESH_Y_DIST set wrong\n");
      error_flag++;
    }

    const int j = (UBL_LAST_EEPROM_INDEX - ubl_eeprom_start) / sizeof(z_values);
    if (j < 1) {
      SERIAL_PROTOCOLLNPGM("?No EEPROM storage available for a mesh of this size.\n");
      error_flag++;
    }

    //  SERIAL_PROTOCOLPGM("?sanity_check() return value: ");
    //  SERIAL_PROTOCOL(error_flag);
    //  SERIAL_EOL;

    return !!error_flag;
  }

#endif // AUTO_BED_LEVELING_UBL