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♻️ Refactor and fix ABL Bilinear (#23868, #24009, #24107)

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This commit is contained in:
tombrazier
2022-04-01 03:13:16 +01:00
committed by Scott Lahteine
parent 4ec9af42b8
commit 74565890f3
16 changed files with 210 additions and 168 deletions
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45
Marlin/src/feature/bedlevel/abl/abl.h
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@ -1,45 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../../../inc/MarlinConfigPre.h"
extern xy_pos_t bilinear_grid_spacing, bilinear_start;
extern xy_float_t bilinear_grid_factor;
extern bed_mesh_t z_values;
float bilinear_z_offset(const xy_pos_t &raw);
void extrapolate_unprobed_bed_level();
void print_bilinear_leveling_grid();
void refresh_bed_level();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
void print_bilinear_leveling_grid_virt();
void bed_level_virt_interpolate();
#endif
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
void bilinear_line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
#endif
#define _GET_MESH_X(I) float(bilinear_start.x + (I) * bilinear_grid_spacing.x)
#define _GET_MESH_Y(J) float(bilinear_start.y + (J) * bilinear_grid_spacing.y)
#define Z_VALUES_ARR z_values

124
Marlin/src/feature/bedlevel/abl/abl.cpp → Marlin/src/feature/bedlevel/abl/bbl.cpp
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@ -35,14 +35,19 @@
#include "../../../lcd/extui/ui_api.h"
#endif
xy_pos_t bilinear_grid_spacing, bilinear_start;
xy_float_t bilinear_grid_factor;
bed_mesh_t z_values;
LevelingBilinear bbl;
xy_pos_t LevelingBilinear::grid_spacing,
LevelingBilinear::grid_start;
xy_float_t LevelingBilinear::grid_factor;
bed_mesh_t LevelingBilinear::z_values;
xy_pos_t LevelingBilinear::cached_rel;
xy_int8_t LevelingBilinear::cached_g;
/**
* Extrapolate a single point from its neighbors
*/
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
void LevelingBilinear::extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
if (!isnan(z_values[x][y])) return;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM("Extrapolate [");
@ -92,11 +97,26 @@ static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t
#endif
#endif
void LevelingBilinear::reset() {
grid_start.reset();
grid_spacing.reset();
GRID_LOOP(x, y) {
z_values[x][y] = NAN;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, 0));
}
}
void LevelingBilinear::set_grid(const xy_pos_t& _grid_spacing, const xy_pos_t& _grid_start) {
grid_spacing = _grid_spacing;
grid_start = _grid_start;
grid_factor = grid_spacing.reciprocal();
}
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
void extrapolate_unprobed_bed_level() {
void LevelingBilinear::extrapolate_unprobed_bed_level() {
#ifdef HALF_IN_X
constexpr uint8_t ctrx2 = 0, xend = GRID_MAX_POINTS_X - 1;
#else
@ -131,35 +151,31 @@ void extrapolate_unprobed_bed_level() {
#endif
extrapolate_one_point(x2, y2, -1, -1); // right-above - -
}
}
void print_bilinear_leveling_grid() {
void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL*/) {
// print internal grid(s) or just the one passed as a parameter
SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
);
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3, _z_values ? *_z_values[0] : z_values[0]);
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
if (!_z_values) {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5, z_values_virt[0]);
}
#endif
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_GRID_POINTS_VIRT_X GRID_MAX_CELLS_X * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_GRID_POINTS_VIRT_Y GRID_MAX_CELLS_Y * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
xy_pos_t bilinear_grid_spacing_virt;
xy_float_t bilinear_grid_factor_virt;
void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
);
}
float LevelingBilinear::z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
xy_pos_t LevelingBilinear::grid_spacing_virt;
xy_float_t LevelingBilinear::grid_factor_virt;
#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
float LevelingBilinear::bed_level_virt_coord(const uint8_t x, const uint8_t y) {
uint8_t ep = 0, ip = 1;
if (x > (GRID_MAX_POINTS_X) + 1 || y > (GRID_MAX_POINTS_Y) + 1) {
// The requested point requires extrapolating two points beyond the mesh.
@ -204,7 +220,7 @@ void print_bilinear_leveling_grid() {
return z_values[x - 1][y - 1];
}
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
float LevelingBilinear::bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
return (
p[i-1] * -t * sq(1 - t)
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
@ -213,7 +229,7 @@ void print_bilinear_leveling_grid() {
) * 0.5f;
}
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty) {
float LevelingBilinear::bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty) {
float row[4], column[4];
LOOP_L_N(i, 4) {
LOOP_L_N(j, 4) {
@ -224,9 +240,9 @@ void print_bilinear_leveling_grid() {
return bed_level_virt_cmr(row, 1, tx);
}
void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
void LevelingBilinear::bed_level_virt_interpolate() {
grid_spacing_virt = grid_spacing / (BILINEAR_SUBDIVISIONS);
grid_factor_virt = grid_spacing_virt.reciprocal();
LOOP_L_N(y, GRID_MAX_POINTS_Y)
LOOP_L_N(x, GRID_MAX_POINTS_X)
LOOP_L_N(ty, BILINEAR_SUBDIVISIONS)
@ -244,38 +260,40 @@ void print_bilinear_leveling_grid() {
}
#endif // ABL_BILINEAR_SUBDIVISION
// Refresh after other values have been updated
void refresh_bed_level() {
bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
void LevelingBilinear::refresh_bed_level() {
TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate());
cached_rel.x = cached_rel.y = -999.999;
cached_g.x = cached_g.y = -99;
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt.A
#define ABL_BG_SPACING(A) grid_spacing_virt.A
#define ABL_BG_FACTOR(A) grid_factor_virt.A
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor.A
#define ABL_BG_SPACING(A) grid_spacing.A
#define ABL_BG_FACTOR(A) grid_factor.A
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif
// Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(const xy_pos_t &raw) {
float LevelingBilinear::get_z_correction(const xy_pos_t &raw) {
static float z1, d2, z3, d4, L, D;
static xy_pos_t prev { -999.999, -999.999 }, ratio;
static xy_pos_t ratio;
// Whole units for the grid line indices. Constrained within bounds.
static xy_int8_t thisg, nextg, lastg { -99, -99 };
static xy_int8_t thisg, nextg;
// XY relative to the probed area
xy_pos_t rel = raw - bilinear_start.asFloat();
xy_pos_t rel = raw - grid_start.asFloat();
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
#define FAR_EDGE_OR_BOX 2 // Keep using the last grid box
@ -283,8 +301,8 @@ float bilinear_z_offset(const xy_pos_t &raw) {
#define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
#endif
if (prev.x != rel.x) {
prev.x = rel.x;
if (cached_rel.x != rel.x) {
cached_rel.x = rel.x;
ratio.x = rel.x * ABL_BG_FACTOR(x);
const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
ratio.x -= gx; // Subtract whole to get the ratio within the grid box
@ -298,10 +316,10 @@ float bilinear_z_offset(const xy_pos_t &raw) {
nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
}
if (prev.y != rel.y || lastg.x != thisg.x) {
if (cached_rel.y != rel.y || cached_g.x != thisg.x) {
if (prev.y != rel.y) {
prev.y = rel.y;
if (cached_rel.y != rel.y) {
cached_rel.y = rel.y;
ratio.y = rel.y * ABL_BG_FACTOR(y);
const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio.y -= gy;
@ -315,8 +333,8 @@ float bilinear_z_offset(const xy_pos_t &raw) {
nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
}
if (lastg != thisg) {
lastg = thisg;
if (cached_g != thisg) {
cached_g = thisg;
// Z at the box corners
z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
@ -336,8 +354,8 @@ float bilinear_z_offset(const xy_pos_t &raw) {
/*
static float last_offset = 0;
if (ABS(last_offset - offset) > 0.2) {
SERIAL_ECHOLNPGM("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
SERIAL_ECHOLNPGM(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
SERIAL_ECHOLNPGM("Sudden Shift at x=", rel.x, " / ", grid_spacing.x, " -> thisg.x=", thisg.x);
SERIAL_ECHOLNPGM(" y=", rel.y, " / ", grid_spacing.y, " -> thisg.y=", thisg.y);
SERIAL_ECHOLNPGM(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
SERIAL_ECHOLNPGM(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
SERIAL_ECHOLNPGM(" L=", L, " R=", R, " offset=", offset);
@ -350,13 +368,13 @@ float bilinear_z_offset(const xy_pos_t &raw) {
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
#define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
#define CELL_INDEX(A,V) ((V - grid_start.A) * ABL_BG_FACTOR(A))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
void LevelingBilinear::line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
// Get current and destination cells for this line
xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
@ -384,7 +402,7 @@ float bilinear_z_offset(const xy_pos_t &raw) {
// Split on the X grid line
CBI(x_splits, gc.x);
end = destination;
destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
destination.x = grid_start.x + ABL_BG_SPACING(x) * gc.x;
normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
destination.y = LINE_SEGMENT_END(y);
}
@ -393,7 +411,7 @@ float bilinear_z_offset(const xy_pos_t &raw) {
// Split on the Y grid line
CBI(y_splits, gc.y);
end = destination;
destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
destination.y = grid_start.y + ABL_BG_SPACING(y) * gc.y;
normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
destination.x = LINE_SEGMENT_END(x);
}
@ -409,11 +427,11 @@ float bilinear_z_offset(const xy_pos_t &raw) {
destination.e = LINE_SEGMENT_END(e);
// Do the split and look for more borders
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
destination = end;
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}
#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES

73
Marlin/src/feature/bedlevel/abl/bbl.h Normal file
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@ -0,0 +1,73 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../../../inc/MarlinConfigPre.h"
class LevelingBilinear {
private:
static xy_pos_t grid_spacing, grid_start;
static xy_float_t grid_factor;
static bed_mesh_t z_values;
static xy_pos_t cached_rel;
static xy_int8_t cached_g;
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_CELLS_X * (BILINEAR_SUBDIVISIONS) + 1)
#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_CELLS_Y * (BILINEAR_SUBDIVISIONS) + 1)
static float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
static xy_pos_t grid_spacing_virt;
static xy_float_t grid_factor_virt;
static float bed_level_virt_coord(const uint8_t x, const uint8_t y);
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t);
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty);
static void bed_level_virt_interpolate();
#endif
public:
static void reset();
static void set_grid(const xy_pos_t& _grid_spacing, const xy_pos_t& _grid_start);
static void extrapolate_unprobed_bed_level();
static void print_leveling_grid(const bed_mesh_t* _z_values = NULL);
static void refresh_bed_level();
static bool has_mesh() { return !!grid_spacing.x; }
static bed_mesh_t& get_z_values() { return z_values; }
static const xy_pos_t& get_grid_spacing() { return grid_spacing; }
static const xy_pos_t& get_grid_start() { return grid_start; }
static float get_mesh_x(int16_t i) { return grid_start.x + i * grid_spacing.x; }
static float get_mesh_y(int16_t j) { return grid_start.y + j * grid_spacing.y; }
static float get_z_correction(const xy_pos_t &raw);
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
static void line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
#endif
};
extern LevelingBilinear bbl;
#define _GET_MESH_X(I) bbl.get_mesh_x(I)
#define _GET_MESH_Y(J) bbl.get_mesh_y(J)
#define Z_VALUES_ARR bbl.get_z_values()

19
Marlin/src/feature/bedlevel/bedlevel.cpp
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@ -48,7 +48,7 @@
bool leveling_is_valid() {
return TERN1(MESH_BED_LEVELING, mbl.has_mesh())
&& TERN1(AUTO_BED_LEVELING_BILINEAR, !!bilinear_grid_spacing.x)
&& TERN1(AUTO_BED_LEVELING_BILINEAR, bbl.has_mesh())
&& TERN1(AUTO_BED_LEVELING_UBL, ubl.mesh_is_valid());
}
@ -67,12 +67,6 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
planner.synchronize();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const xyz_pos_t reset { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
if (planner.leveling_active) { // leveling from on to off
if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling ON", current_position);
// change unleveled current_position to physical current_position without moving steppers.
@ -129,12 +123,7 @@ void reset_bed_level() {
#if ENABLED(MESH_BED_LEVELING)
mbl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start.reset();
bilinear_grid_spacing.reset();
GRID_LOOP(x, y) {
z_values[x][y] = NAN;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, 0));
}
bbl.reset();
#elif ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#endif
@ -156,7 +145,7 @@ void reset_bed_level() {
/**
* Print calibration results for plotting or manual frame adjustment.
*/
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values) {
#ifndef SCAD_MESH_OUTPUT
LOOP_L_N(x, sx) {
serial_spaces(precision + (x < 10 ? 3 : 2));
@ -176,7 +165,7 @@ void reset_bed_level() {
#endif
LOOP_L_N(x, sx) {
SERIAL_CHAR(' ');
const float offset = fn(x, y);
const float offset = values[x * sx + y];
if (!isnan(offset)) {
if (offset >= 0) SERIAL_CHAR('+');
SERIAL_ECHO_F(offset, int(precision));

4
Marlin/src/feature/bedlevel/bedlevel.h
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@ -62,7 +62,7 @@ class TemporaryBedLevelingState {
typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "abl/abl.h"
#include "abl/bbl.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl/ubl.h"
#elif ENABLED(MESH_BED_LEVELING)
@ -81,7 +81,7 @@ class TemporaryBedLevelingState {
/**
* Print calibration results for plotting or manual frame adjustment.
*/
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn);
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values);
#endif

4
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
View File

@ -125,9 +125,7 @@
void mesh_bed_leveling::report_mesh() {
SERIAL_ECHOPAIR_F(STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh. Z offset: ", z_offset, 5);
SERIAL_ECHOLNPGM("\nMeasured points:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
);
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5, z_values[0]);
}
#endif // MESH_BED_LEVELING