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96 lines
3.1 KiB
96 lines
3.1 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_x(int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
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static FORCE_INLINE float get_y(int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
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void set_z(int8_t ix, int8_t iy, float z) { z_values[iy][ix] = z; }
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inline void zigzag(int8_t index, int8_t &ix, int8_t &iy) {
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ix = index % (MESH_NUM_X_POINTS);
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iy = index / (MESH_NUM_X_POINTS);
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if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // 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 ix, iy;
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zigzag(index, ix, iy);
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set_z(ix, iy, z);
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}
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int8_t select_x_index(float x) {
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for (uint8_t i = MESH_NUM_X_POINTS; i--;)
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if (fabs(x - get_x(i)) <= (MESH_X_DIST) / 2)
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return i;
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return -1;
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}
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int8_t select_y_index(float y) {
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for (uint8_t i = MESH_NUM_Y_POINTS; i--;)
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if (fabs(y - get_y(i)) <= (MESH_Y_DIST) / 2)
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return i;
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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 x_index = select_x_index(x0);
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int8_t y_index = select_y_index(y0);
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if (x_index < 0 || y_index < 0) return z_offset;
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float z1 = calc_z0(x0,
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get_x(x_index), z_values[y_index][x_index],
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get_x(x_index + 1), z_values[y_index][x_index + 1]);
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float z2 = calc_z0(x0,
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get_x(x_index), z_values[y_index + 1][x_index],
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get_x(x_index + 1), z_values[y_index + 1][x_index + 1]);
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float z0 = calc_z0(y0,
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get_y(y_index), z1,
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get_y(y_index + 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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