Marlin_Firmware/Marlin/UBL_Bed_Leveling.cpp
2017-03-18 11:35:19 -05:00

297 lines
9.6 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
*
*/
#include "Marlin.h"
#include "math.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "UBL.h"
#include "hex_print_routines.h"
/**
* These variables used to be declared inside the bed_leveling class. We are going to still declare
* them within the .cpp file for bed leveling. But there is only one instance of the bed leveling
* object and we can get rid of a level of inderection by not making them 'member data'. So, in the
* interest of speed, we do it this way. When we move to a 32-Bit processor, they can be moved
* back inside the bed leveling class.
*/
float last_specified_z,
fade_scaling_factor_for_current_height,
z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS],
mesh_index_to_X_location[UBL_MESH_NUM_X_POINTS + 1], // +1 just because of paranoia that we might end up on the
mesh_index_to_Y_location[UBL_MESH_NUM_Y_POINTS + 1]; // the last Mesh Line and that is the start of a whole new cell
bed_leveling::bed_leveling() {
for (uint8_t i = 0; i <= UBL_MESH_NUM_X_POINTS; i++) // We go one past what we expect to ever need for safety
mesh_index_to_X_location[i] = double(UBL_MESH_MIN_X) + double(MESH_X_DIST) * double(i);
for (uint8_t i = 0; i <= UBL_MESH_NUM_Y_POINTS; i++) // We go one past what we expect to ever need for safety
mesh_index_to_Y_location[i] = double(UBL_MESH_MIN_Y) + double(MESH_Y_DIST) * double(i);
reset();
}
void bed_leveling::store_state() {
int k = E2END - sizeof(blm.state);
eeprom_write_block((void *)&blm.state, (void *)k, sizeof(blm.state));
}
void bed_leveling::load_state() {
int k = E2END - sizeof(blm.state);
eeprom_read_block((void *)&blm.state, (void *)k, sizeof(blm.state));
if (sanity_check())
SERIAL_PROTOCOLLNPGM("?In load_state() sanity_check() failed.\n");
// These lines can go away in a few weeks. They are just
// to make sure people updating thier firmware won't be using
if (blm.state.G29_Fade_Height_Multiplier != 1.0 / blm.state.G29_Correction_Fade_Height) { // an incomplete Bed_Leveling.state structure. For speed
blm.state.G29_Fade_Height_Multiplier = 1.0 / blm.state.G29_Correction_Fade_Height; // we now multiply by the inverse of the Fade Height instead of
store_state(); // dividing by it. Soon... all of the old structures will be
} // updated, but until then, we try to ease the transition
// for our Beta testers.
}
void bed_leveling::load_mesh(int m) {
int k = E2END - sizeof(blm.state),
j = (k - Unified_Bed_Leveling_EEPROM_start) / sizeof(z_values);
if (m == -1) {
SERIAL_PROTOCOLLNPGM("?No mesh saved in EEPROM. Zeroing mesh in memory.\n");
reset();
return;
}
if (m < 0 || m >= j || Unified_Bed_Leveling_EEPROM_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
return;
}
j = k - (m + 1) * sizeof(z_values);
eeprom_read_block((void *)&z_values , (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPGM("Mesh loaded from slot ");
SERIAL_PROTOCOL(m);
SERIAL_PROTOCOLPGM(" at offset 0x");
prt_hex_word(j);
SERIAL_EOL;
}
void bed_leveling:: store_mesh(int m) {
int k = E2END - sizeof(state),
j = (k - Unified_Bed_Leveling_EEPROM_start) / sizeof(z_values);
if (m < 0 || m >= j || Unified_Bed_Leveling_EEPROM_start <= 0) {
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available to load mesh.\n");
SERIAL_PROTOCOL(m);
SERIAL_PROTOCOLLNPGM(" mesh slots available.\n");
SERIAL_PROTOCOLLNPAIR("E2END : ", E2END);
SERIAL_PROTOCOLLNPAIR("k : ", k);
SERIAL_PROTOCOLLNPAIR("j : ", j);
SERIAL_PROTOCOLLNPAIR("m : ", m);
SERIAL_EOL;
return;
}
j = k - (m + 1) * sizeof(z_values);
eeprom_write_block((const void *)&z_values, (void *)j, sizeof(z_values));
SERIAL_PROTOCOLPGM("Mesh saved in slot ");
SERIAL_PROTOCOL(m);
SERIAL_PROTOCOLPGM(" at offset 0x");
prt_hex_word(j);
SERIAL_EOL;
}
void bed_leveling::reset() {
state.active = false;
state.z_offset = 0;
state.EEPROM_storage_slot = -1;
ZERO(z_values);
last_specified_z = -999.9; // We can't pre-initialize these values in the declaration
fade_scaling_factor_for_current_height = 0.0; // due to C++11 constraints
}
void bed_leveling::invalidate() {
prt_hex_word((unsigned int)this);
SERIAL_EOL;
state.active = false;
state.z_offset = 0;
for (int x = 0; x < UBL_MESH_NUM_X_POINTS; x++)
for (int y = 0; y < UBL_MESH_NUM_Y_POINTS; y++)
z_values[x][y] = NAN;
}
void bed_leveling::display_map(int map_type) {
float f, current_xi, current_yi;
int8_t i, j;
UNUSED(map_type);
SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n");
SERIAL_ECHOPAIR("(", 0);
SERIAL_ECHOPAIR(", ", UBL_MESH_NUM_Y_POINTS - 1);
SERIAL_ECHOPGM(") ");
current_xi = blm.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0);
current_yi = blm.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS - 1);
SERIAL_ECHOPAIR(",", UBL_MESH_NUM_Y_POINTS - 1);
SERIAL_ECHOLNPGM(")");
// if (map_type || 1) {
SERIAL_ECHOPAIR("(", UBL_MESH_MIN_X);
SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y);
SERIAL_CHAR(')');
for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", UBL_MESH_MAX_X);
SERIAL_ECHOPAIR(",", UBL_MESH_MAX_Y);
SERIAL_ECHOLNPGM(")");
// }
for (j = UBL_MESH_NUM_Y_POINTS - 1; j >= 0; j--) {
for (i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
f = z_values[i][j];
// is the nozzle here? if so, mark the number
SERIAL_CHAR(i == current_xi && j == current_yi ? '[' : ' ');
if (isnan(f))
SERIAL_PROTOCOLPGM(" . ");
else {
// if we don't do this, the columns won't line up nicely
if (f >= 0.0) SERIAL_CHAR(' ');
SERIAL_PROTOCOL_F(f, 5);
idle();
}
if (i == current_xi && j == current_yi) // is the nozzle here? if so, finish marking the number
SERIAL_CHAR(']');
else
SERIAL_PROTOCOL(" ");
SERIAL_CHAR(' ');
}
SERIAL_EOL;
if (j) { // we want the (0,0) up tight against the block of numbers
SERIAL_CHAR(' ');
SERIAL_EOL;
}
}
// if (map_type) {
SERIAL_ECHOPAIR("(", int(UBL_MESH_MIN_X));
SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y));
SERIAL_ECHOPGM(") ");
for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", int(UBL_MESH_MAX_X));
SERIAL_ECHOPAIR(",", int(UBL_MESH_MIN_Y));
SERIAL_CHAR(')');
// }
SERIAL_ECHOPAIR("(", 0);
SERIAL_ECHOPAIR(",", 0);
SERIAL_ECHOPGM(") ");
for (i = 0; i < UBL_MESH_NUM_X_POINTS - 1; i++)
SERIAL_ECHOPGM(" ");
SERIAL_ECHOPAIR("(", UBL_MESH_NUM_X_POINTS-1);
SERIAL_ECHOPAIR(",", 0);
SERIAL_CHAR(')');
SERIAL_CHAR(' ');
SERIAL_EOL;
}
bool bed_leveling::sanity_check() {
uint8_t error_flag = 0;
if (state.n_x != UBL_MESH_NUM_X_POINTS) {
SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_X_POINTS set wrong\n");
error_flag++;
}
if (state.n_y != UBL_MESH_NUM_Y_POINTS) {
SERIAL_PROTOCOLLNPGM("?UBL_MESH_NUM_Y_POINTS set wrong\n");
error_flag++;
}
if (state.mesh_x_min != UBL_MESH_MIN_X) {
SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_X set wrong\n");
error_flag++;
}
if (state.mesh_y_min != UBL_MESH_MIN_Y) {
SERIAL_PROTOCOLLNPGM("?UBL_MESH_MIN_Y set wrong\n");
error_flag++;
}
if (state.mesh_x_max != UBL_MESH_MAX_X) {
SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_X set wrong\n");
error_flag++;
}
if (state.mesh_y_max != UBL_MESH_MAX_Y) {
SERIAL_PROTOCOLLNPGM("?UBL_MESH_MAX_Y set wrong\n");
error_flag++;
}
if (state.mesh_x_dist != MESH_X_DIST) {
SERIAL_PROTOCOLLNPGM("?MESH_X_DIST set wrong\n");
error_flag++;
}
if (state.mesh_y_dist != MESH_Y_DIST) {
SERIAL_PROTOCOLLNPGM("?MESH_Y_DIST set wrong\n");
error_flag++;
}
int k = E2END - sizeof(blm.state),
j = (k - Unified_Bed_Leveling_EEPROM_start) / sizeof(z_values);
if (j < 1) {
SERIAL_PROTOCOLLNPGM("?No EEPROM storage available for a mesh of this size.\n");
error_flag++;
}
// SERIAL_PROTOCOLPGM("?sanity_check() return value: ");
// SERIAL_PROTOCOL(error_flag);
// SERIAL_EOL;
return !!error_flag;
}
#endif // AUTO_BED_LEVELING_UBL