From c9eb1d6ab74c03539af0421c14ae21df27ef06ed Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 31 Mar 2017 01:28:07 -0500 Subject: [PATCH] Make MBL a static class, use lookup for index-to-point conversion --- Marlin/Marlin_main.cpp | 8 ++-- Marlin/mesh_bed_leveling.cpp | 15 +++++++- Marlin/mesh_bed_leveling.h | 74 ++++++++++++++++-------------------- Marlin/ultralcd.cpp | 2 +- 4 files changed, 52 insertions(+), 47 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index e23207e6ab..d77c1b6451 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -652,7 +652,7 @@ static bool send_ok[BUFSIZE]; #endif #if ENABLED(HOST_KEEPALIVE_FEATURE) - static MarlinBusyState busy_state = NOT_BUSY; + MarlinBusyState busy_state = NOT_BUSY; static millis_t next_busy_signal_ms = 0; uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL; #else @@ -3839,7 +3839,7 @@ inline void gcode_G28() { // If there's another point to sample, move there with optional lift. if (probe_index < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) { mbl.zigzag(probe_index, px, py); - _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py)); + _mbl_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]); #if HAS_SOFTWARE_ENDSTOPS // Disable software endstops to allow manual adjustment @@ -9649,14 +9649,14 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2); if (cx2 != cx1 && TEST(x_splits, gcx)) { COPY(end, destination); - destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx)); + destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]); normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); destination[Y_AXIS] = MBL_SEGMENT_END(Y); CBI(x_splits, gcx); } else if (cy2 != cy1 && TEST(y_splits, gcy)) { COPY(end, destination); - destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy)); + destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]); normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); destination[X_AXIS] = MBL_SEGMENT_END(X); CBI(y_splits, gcy); diff --git a/Marlin/mesh_bed_leveling.cpp b/Marlin/mesh_bed_leveling.cpp index fa45198c6f..8809b0754e 100644 --- a/Marlin/mesh_bed_leveling.cpp +++ b/Marlin/mesh_bed_leveling.cpp @@ -26,7 +26,20 @@ mesh_bed_leveling mbl; - mesh_bed_leveling::mesh_bed_leveling() { reset(); } + uint8_t mesh_bed_leveling::status; + + float mesh_bed_leveling::z_offset, + mesh_bed_leveling::z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS], + mesh_bed_leveling::index_to_xpos[MESH_NUM_X_POINTS], + mesh_bed_leveling::index_to_ypos[MESH_NUM_Y_POINTS]; + + mesh_bed_leveling::mesh_bed_leveling() { + for (uint8_t i = 0; i < MESH_NUM_X_POINTS; ++i) + index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST); + for (uint8_t i = 0; i < MESH_NUM_Y_POINTS; ++i) + index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST); + reset(); + } void mesh_bed_leveling::reset() { status = MBL_STATUS_NONE; diff --git a/Marlin/mesh_bed_leveling.h b/Marlin/mesh_bed_leveling.h index fd0d1d7b1a..6a683627b8 100644 --- a/Marlin/mesh_bed_leveling.h +++ b/Marlin/mesh_bed_leveling.h @@ -40,91 +40,83 @@ MBL_STATUS_REACTIVATE_BIT = 2 }; - #define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X))/(MESH_NUM_X_POINTS - 1)) - #define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y))/(MESH_NUM_Y_POINTS - 1)) + #define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (MESH_NUM_X_POINTS - 1)) + #define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (MESH_NUM_Y_POINTS - 1)) class mesh_bed_leveling { public: - uint8_t status; // Has Mesh and Is Active bits - float z_offset; - float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS]; + static uint8_t status; // Has Mesh and Is Active bits + static float z_offset, + z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS], + index_to_xpos[MESH_NUM_X_POINTS], + index_to_ypos[MESH_NUM_Y_POINTS]; mesh_bed_leveling(); - void reset(); + static void reset(); - static FORCE_INLINE float get_probe_x(const int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; } - static FORCE_INLINE float get_probe_y(const int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; } - void set_z(const int8_t px, const int8_t py, const float &z) { z_values[py][px] = z; } + static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[py][px] = z; } - bool active() const { return TEST(status, MBL_STATUS_ACTIVE_BIT); } - void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); } - bool has_mesh() const { return TEST(status, MBL_STATUS_HAS_MESH_BIT); } - void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); } - bool reactivate() { bool b = TEST(status, MBL_STATUS_REACTIVATE_BIT); CBI(status, MBL_STATUS_REACTIVATE_BIT); return b; } - void set_reactivate(const bool onOff) { onOff ? SBI(status, MBL_STATUS_REACTIVATE_BIT) : CBI(status, MBL_STATUS_REACTIVATE_BIT); } + static bool active() { return TEST(status, MBL_STATUS_ACTIVE_BIT); } + static void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); } + static bool has_mesh() { return TEST(status, MBL_STATUS_HAS_MESH_BIT); } + static void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); } + static bool reactivate() { bool b = TEST(status, MBL_STATUS_REACTIVATE_BIT); CBI(status, MBL_STATUS_REACTIVATE_BIT); return b; } + static void set_reactivate(const bool onOff) { onOff ? SBI(status, MBL_STATUS_REACTIVATE_BIT) : CBI(status, MBL_STATUS_REACTIVATE_BIT); } - inline void zigzag(const int8_t index, int8_t &px, int8_t &py) const { + static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) { px = index % (MESH_NUM_X_POINTS); py = index / (MESH_NUM_X_POINTS); if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag } - void set_zigzag_z(const int8_t index, const float &z) { + static void set_zigzag_z(const int8_t index, const float &z) { int8_t px, py; zigzag(index, px, py); set_z(px, py, z); } - int8_t cell_index_x(const float &x) const { + static int8_t cell_index_x(const float &x) { int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); return constrain(cx, 0, (MESH_NUM_X_POINTS) - 2); } - int8_t cell_index_y(const float &y) const { + static int8_t cell_index_y(const float &y) { int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); return constrain(cy, 0, (MESH_NUM_Y_POINTS) - 2); } - int8_t probe_index_x(const float &x) const { + static int8_t probe_index_x(const float &x) { int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST)); return (px >= 0 && px < (MESH_NUM_X_POINTS)) ? px : -1; } - int8_t probe_index_y(const float &y) const { + static int8_t probe_index_y(const float &y) { int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST)); return (py >= 0 && py < (MESH_NUM_Y_POINTS)) ? py : -1; } - float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) const { + static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { const float delta_z = (z2 - z1) / (a2 - a1); const float delta_a = a0 - a1; return z1 + delta_a * delta_z; } - float get_z(const float &x0, const float &y0 + static float get_z(const float &x0, const float &y0 #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) , const float &factor #endif - ) const { - int8_t cx = cell_index_x(x0), - cy = cell_index_y(y0); - if (cx < 0 || cy < 0) return z_offset; - float z1 = calc_z0(x0, - get_probe_x(cx), z_values[cy][cx], - get_probe_x(cx + 1), z_values[cy][cx + 1]); - float z2 = calc_z0(x0, - get_probe_x(cx), z_values[cy + 1][cx], - get_probe_x(cx + 1), z_values[cy + 1][cx + 1]); - float z0 = calc_z0(y0, - get_probe_y(cy), z1, - get_probe_y(cy + 1), z2); + ) { + const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0); + const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cy][cx], index_to_xpos[cx + 1], z_values[cy][cx + 1]), + z2 = calc_z0(x0, index_to_xpos[cx], z_values[cy + 1][cx], index_to_xpos[cx + 1], z_values[cy + 1][cx + 1]), + z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2); - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - return z0 * factor + z_offset; - #else - return z0 + z_offset; - #endif + return z_offset + z0 + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + * factor + #endif + ; } }; diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index f2ff7d4f19..02cb3e239b 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1437,7 +1437,7 @@ KeepDrawing: // _manual_probe_xy runs the menu loop until the move is done int8_t px, py; mbl.zigzag(manual_probe_index, px, py); - _manual_probe_xy(mbl.get_probe_x(px), mbl.get_probe_y(py)); + _manual_probe_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]); // After the blocking function returns, change menus lcd_goto_screen(_lcd_level_bed_get_z);