131 lines
4.6 KiB
C++
131 lines
4.6 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
#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)) / (GRID_MAX_CELLS_X))
|
|
#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
|
|
#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() {
|
|
GRID_LOOP(x, y) if (z_values[x][y]) return true;
|
|
return false;
|
|
}
|
|
|
|
static void set_z(const int8_t px, const int8_t py, const_float_t 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_t z) {
|
|
int8_t px, py;
|
|
zigzag(index, px, py);
|
|
set_z(px, py, z);
|
|
}
|
|
|
|
static int8_t cell_index_x(const_float_t x) {
|
|
int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
|
|
return constrain(cx, 0, GRID_MAX_CELLS_X - 1);
|
|
}
|
|
static int8_t cell_index_y(const_float_t y) {
|
|
int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
|
|
return constrain(cy, 0, GRID_MAX_CELLS_Y - 1);
|
|
}
|
|
static inline xy_int8_t cell_indexes(const_float_t x, const_float_t y) {
|
|
return { cell_index_x(x), cell_index_y(y) };
|
|
}
|
|
static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
|
|
|
|
static int8_t probe_index_x(const_float_t 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_t 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 inline xy_int8_t probe_indexes(const_float_t x, const_float_t y) {
|
|
return { probe_index_x(x), probe_index_y(y) };
|
|
}
|
|
static inline xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); }
|
|
|
|
static float calc_z0(const_float_t a0, const_float_t a1, const_float_t z1, const_float_t a2, const_float_t z2) {
|
|
if (ISNAN(a0) || ISNAN(a1) || ISNAN(z1) || ISNAN(a2) || ISNAN(z2)) return MFNAN;
|
|
const float delta_z = (z2 - z1) / (a2 - a1),
|
|
delta_a = a0 - a1;
|
|
return z1 + delta_a * delta_z;
|
|
}
|
|
|
|
static float get_z(const xy_pos_t &pos
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
, const_float_t factor=1.0f
|
|
#endif
|
|
) {
|
|
#if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
constexpr float factor = 1.0f;
|
|
#endif
|
|
const xy_int8_t ind = cell_indexes(pos);
|
|
const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
|
|
y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1],
|
|
z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y ], x2, z_values[ind.x+1][ind.y ]),
|
|
z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]),
|
|
zf = calc_z0(pos.y, y1, z1, y2, z2);
|
|
|
|
|
|
return ISNAN(zf) ? zf : z_offset + zf * factor;
|
|
}
|
|
|
|
#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;
|