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Embed G26/G29 in ubl class, with enhancements

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This commit is contained in:
Scott Lahteine
2017-05-22 14:41:09 -05:00
parent c99bd69889
commit 85b967657e
7 changed files with 513 additions and 482 deletions
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161
Marlin/ubl.h
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@ -53,30 +53,16 @@
// ubl_motion.cpp
void debug_current_and_destination(const char * const title);
void ubl_line_to_destination_cartesian(const float&, uint8_t);
bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate );
// ubl_G29.cpp
enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
void dump(char * const str, const float &f);
void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool);
float measure_business_card_thickness(float&);
mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
void shift_mesh_height();
void fine_tune_mesh(const float&, const float&, const bool);
bool g29_parameter_parsing();
void g29_eeprom_dump();
void g29_compare_current_mesh_to_stored_mesh();
// External references
char *ftostr43sign(const float&, char);
bool ubl_lcd_clicked();
void home_all_axes();
void gcode_G26();
void gcode_G29();
extern uint8_t ubl_cnt;
@ -101,26 +87,81 @@
static float last_specified_z;
static int g29_verbose_level,
g29_phase_value,
g29_repetition_cnt,
g29_storage_slot,
g29_map_type,
g29_grid_size;
static bool g29_c_flag, g29_x_flag, g29_y_flag;
static float g29_x_pos, g29_y_pos,
g29_card_thickness,
g29_constant;
#if ENABLED(UBL_G26_MESH_VALIDATION)
static float g26_extrusion_multiplier,
g26_retraction_multiplier,
g26_nozzle,
g26_filament_diameter,
g26_prime_length,
g26_x_pos, g26_y_pos,
g26_ooze_amount,
g26_layer_height;
static int16_t g26_bed_temp,
g26_hotend_temp,
g26_repeats;
static int8_t g26_prime_flag;
static bool g26_continue_with_closest, g26_keep_heaters_on;
#endif
static float measure_point_with_encoder();
static float measure_business_card_thickness(float&);
static bool g29_parameter_parsing();
static void find_mean_mesh_height();
static void shift_mesh_height();
static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
static void g29_what_command();
static void g29_eeprom_dump();
static void g29_compare_current_mesh_to_stored_mesh();
static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
static void smart_fill_mesh();
#if ENABLED(UBL_G26_MESH_VALIDATION)
static bool exit_from_g26();
static bool parse_G26_parameters();
static void G26_line_to_destination(const float &feed_rate);
static mesh_index_pair find_closest_circle_to_print(const float&, const float&);
static bool look_for_lines_to_connect();
static bool turn_on_heaters();
static bool prime_nozzle();
static void retract_filament(float where[XYZE]);
static void recover_filament(float where[XYZE]);
static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
static void move_to(const float&, const float&, const float&, const float&);
#endif
public:
void echo_name();
void report_state();
void find_mean_mesh_height();
void shift_mesh_height();
void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
void save_ubl_active_state_and_disable();
void restore_ubl_active_state_and_leave();
void g29_what_command();
void g29_eeprom_dump();
void g29_compare_current_mesh_to_stored_mesh();
void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
void smart_fill_mesh();
void display_map(const int);
void reset();
void invalidate();
bool sanity_check();
static void echo_name();
static void report_state();
static void save_ubl_active_state_and_disable();
static void restore_ubl_active_state_and_leave();
static void display_map(const int);
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
static void reset();
static void invalidate();
static bool sanity_check();
static void G29() _O0; // O0 for no optimization
static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
#if ENABLED(UBL_G26_MESH_VALIDATION)
static void G26();
#endif
static ubl_state state;
@ -128,7 +169,7 @@
// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
// until determinism prevails
constexpr static float mesh_index_to_xpos[16] PROGMEM = {
constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST),
UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST),
UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST),
@ -139,7 +180,7 @@
UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST)
};
constexpr static float mesh_index_to_ypos[16] PROGMEM = {
constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST),
@ -156,16 +197,16 @@
unified_bed_leveling();
FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
int8_t get_cell_index_x(const float &x) {
static int8_t get_cell_index_x(const float &x) {
const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
int8_t get_cell_index_y(const float &y) {
static int8_t get_cell_index_y(const float &y) {
const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible
@ -173,12 +214,12 @@
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
int8_t find_closest_x_index(const float &x) {
static int8_t find_closest_x_index(const float &x) {
const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
int8_t find_closest_y_index(const float &y) {
static int8_t find_closest_y_index(const float &y) {
const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
@ -198,7 +239,7 @@
* It is fairly expensive with its 4 floating point additions and 2 floating point
* multiplications.
*/
FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
}
@ -206,7 +247,7 @@
* z_correction_for_x_on_horizontal_mesh_line is an optimization for
* the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
*/
inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
@ -217,7 +258,7 @@
return NAN;
}
const float xratio = (RAW_X_POSITION(lx0) - pgm_read_float(&mesh_index_to_xpos[x1_i])) * (1.0 / (MESH_X_DIST)),
const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
z1 = z_values[x1_i][yi];
return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
@ -226,7 +267,7 @@
//
// See comments above for z_correction_for_x_on_horizontal_mesh_line
//
inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
@ -237,7 +278,7 @@
return NAN;
}
const float yratio = (RAW_Y_POSITION(ly0) - pgm_read_float(&mesh_index_to_ypos[y1_i])) * (1.0 / (MESH_Y_DIST)),
const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
z1 = z_values[xi][y1_i];
return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
@ -249,7 +290,7 @@
* Z-Height at both ends. Then it does a linear interpolation of these heights based
* on the Y position within the cell.
*/
float get_z_correction(const float &lx0, const float &ly0) {
static float get_z_correction(const float &lx0, const float &ly0) {
const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
cy = get_cell_index_y(RAW_Y_POSITION(ly0));
@ -268,16 +309,16 @@
}
const float z1 = calc_z0(RAW_X_POSITION(lx0),
pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy],
pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy]);
mesh_index_to_xpos(cx), z_values[cx][cy],
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]);
const float z2 = calc_z0(RAW_X_POSITION(lx0),
pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy + 1],
pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy + 1]);
mesh_index_to_xpos(cx), z_values[cx][cy + 1],
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]);
float z0 = calc_z0(RAW_Y_POSITION(ly0),
pgm_read_float(&mesh_index_to_ypos[cy]), z1,
pgm_read_float(&mesh_index_to_ypos[cy + 1]), z2);
mesh_index_to_ypos(cy), z1,
mesh_index_to_ypos(cy + 1), z2);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
@ -324,7 +365,7 @@
* Returns 0.0 if Z is past the specified 'Fade Height'.
*/
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
inline float fade_scaling_factor_for_z(const float &lz) {
static inline float fade_scaling_factor_for_z(const float &lz) {
if (planner.z_fade_height == 0.0) return 1.0;
static float fade_scaling_factor = 1.0;
const float rz = RAW_Z_POSITION(lz);
@ -338,14 +379,24 @@
return fade_scaling_factor;
}
#else
inline float fade_scaling_factor_for_z(const float &lz) {
return 1.0;
}
FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; }
#endif
FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_xpos[i]); }
FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_ypos[i]); }
static bool prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate);
static void line_to_destination_cartesian(const float &fr, uint8_t e);
}; // class unified_bed_leveling
extern unified_bed_leveling ubl;
#if ENABLED(UBL_G26_MESH_VALIDATION)
FORCE_INLINE void gcode_G26() { ubl.G26(); }
#endif
FORCE_INLINE void gcode_G29() { ubl.G29(); }
#endif // AUTO_BED_LEVELING_UBL
#endif // UNIFIED_BED_LEVELING_H