1
0
mirror of https://github.com/MarlinFirmware/Marlin.git synced 2024-12-15 23:11:46 +00:00
MarlinFirmware/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp

128 lines
4.5 KiB
C++
Raw Normal View History

/**
2016-03-24 18:01:20 +00:00
* 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/>.
*
*/
2017-09-08 20:35:25 +00:00
#include "../../../inc/MarlinConfig.h"
2015-03-15 09:43:26 +00:00
#if ENABLED(MESH_BED_LEVELING)
2015-03-15 09:43:26 +00:00
2017-09-06 11:28:32 +00:00
#include "mesh_bed_leveling.h"
2017-09-08 20:35:25 +00:00
#include "../../../module/motion.h"
#include "../../../feature/bedlevel/bedlevel.h"
mesh_bed_leveling mbl;
2015-03-15 09:43:26 +00:00
bool mesh_bed_leveling::has_mesh;
float mesh_bed_leveling::z_offset,
2017-04-12 22:24:05 +00:00
mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X],
mesh_bed_leveling::index_to_ypos[GRID_MAX_POINTS_Y];
mesh_bed_leveling::mesh_bed_leveling() {
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i)
index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST);
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; ++i)
index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST);
reset();
}
void mesh_bed_leveling::reset() {
has_mesh = false;
z_offset = 0;
2016-10-22 15:07:18 +00:00
ZERO(z_values);
}
2015-03-15 22:18:11 +00:00
2017-11-29 21:30:42 +00:00
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
/**
* Prepare a mesh-leveled linear move in a Cartesian setup,
* splitting the move where it crosses mesh borders.
*/
void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
int cx1 = mbl.cell_index_x(current_position[X_AXIS]),
cy1 = mbl.cell_index_y(current_position[Y_AXIS]),
cx2 = mbl.cell_index_x(destination[X_AXIS]),
cy2 = mbl.cell_index_y(destination[Y_AXIS]);
NOMORE(cx1, GRID_MAX_POINTS_X - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2);
NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
#define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = 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] = 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);
}
else {
// Already split on a border
buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
destination[Z_AXIS] = MBL_SEGMENT_END(Z);
destination[E_AXIS] = MBL_SEGMENT_END(E);
// Do the split and look for more borders
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
2017-11-29 21:30:42 +00:00
#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
2017-09-08 20:35:25 +00:00
void mbl_mesh_report() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
);
}
2017-05-09 17:35:43 +00:00
#endif // MESH_BED_LEVELING