/** * Marlin 3D Printer Firmware * Copyright (c) 2019 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 . * */ #pragma once #include "../../../inc/MarlinConfig.h" enum MeshLevelingState : char { MeshReport, // G29 S0 MeshStart, // G29 S1 MeshNext, // G29 S2 MeshSet, // G29 S3 MeshSetZOffset, // G29 S4 MeshReset // G29 S5 }; #define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1)) #define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) #define _GET_MESH_X(I) mbl.index_to_xpos[I] #define _GET_MESH_Y(J) mbl.index_to_ypos[J] #define Z_VALUES_ARR mbl.z_values class mesh_bed_leveling { public: static float z_offset, z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], index_to_xpos[GRID_MAX_POINTS_X], index_to_ypos[GRID_MAX_POINTS_Y]; mesh_bed_leveling(); static void report_mesh(); static void reset(); FORCE_INLINE static bool has_mesh() { for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) if (z_values[x][y]) return true; return false; } static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) { px = index % (GRID_MAX_POINTS_X); py = index / (GRID_MAX_POINTS_X); if (py & 1) px = (GRID_MAX_POINTS_X - 1) - px; // Zig zag } 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); } static int8_t cell_index_x(const float &x) { int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST); return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2); } static int8_t cell_index_y(const float &y) { int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST); return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2); } static int8_t probe_index_x(const float &x) { int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST); return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; } static int8_t probe_index_y(const float &y) { int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST); return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; } 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), delta_a = a0 - a1; return z1 + delta_a * delta_z; } 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); const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]), z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]), z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2); return z_offset + z0 #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) * factor #endif ; } #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) static void line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF); #endif }; extern mesh_bed_leveling mbl;