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Make MBL a static class, use lookup for index-to-point conversion

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This commit is contained in:
Scott Lahteine
2017-03-31 01:28:07 -05:00
parent de9d2cddc3
commit c9eb1d6ab7
4 changed files with 52 additions and 47 deletions
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74
Marlin/mesh_bed_leveling.h
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@@ -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
;
}
};