diff --git a/Marlin/ubl.h b/Marlin/ubl.h index 70fde0fff1..360ff7694a 100644 --- a/Marlin/ubl.h +++ b/Marlin/ubl.h @@ -25,353 +25,350 @@ #include "MarlinConfig.h" -#if ENABLED(AUTO_BED_LEVELING_UBL) +//#define UBL_DEVEL_DEBUGGING - //#define UBL_DEVEL_DEBUGGING +#include "Marlin.h" +#include "planner.h" +#include "math.h" +#include "vector_3.h" +#include "configuration_store.h" - #include "Marlin.h" - #include "planner.h" - #include "math.h" - #include "vector_3.h" - #include "configuration_store.h" +#define UBL_VERSION "1.01" +#define UBL_OK false +#define UBL_ERR true - #define UBL_VERSION "1.01" - #define UBL_OK false - #define UBL_ERR true +#define USE_NOZZLE_AS_REFERENCE 0 +#define USE_PROBE_AS_REFERENCE 1 - #define USE_NOZZLE_AS_REFERENCE 0 - #define USE_PROBE_AS_REFERENCE 1 +// ubl_motion.cpp - // ubl_motion.cpp +#if ENABLED(UBL_DEVEL_DEBUGGING) + void debug_current_and_destination(const char * const title); +#else + FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); } +#endif - #if ENABLED(UBL_DEVEL_DEBUGGING) - void debug_current_and_destination(const char * const title); - #else - FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); } - #endif +// ubl_G29.cpp - // ubl_G29.cpp +enum MeshPointType { INVALID, REAL, SET_IN_BITMAP }; - enum MeshPointType { INVALID, REAL, SET_IN_BITMAP }; +// External references - // External references +char *ftostr43sign(const float&, char); +void home_all_axes(); - char *ftostr43sign(const float&, char); - void home_all_axes(); +extern uint8_t ubl_cnt; - extern uint8_t ubl_cnt; +/////////////////////////////////////////////////////////////////////////////////////////////////////// - /////////////////////////////////////////////////////////////////////////////////////////////////////// +#if ENABLED(ULTRA_LCD) + extern char lcd_status_message[]; + void lcd_quick_feedback(const bool clear_buttons); +#endif - #if ENABLED(ULTRA_LCD) - extern char lcd_status_message[]; - void lcd_quick_feedback(const bool clear_buttons); - #endif +#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 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)) +class unified_bed_leveling { + private: - class unified_bed_leveling { - private: + static int g29_verbose_level, + g29_phase_value, + g29_repetition_cnt, + g29_storage_slot, + g29_map_type; + static bool g29_c_flag, g29_x_flag, g29_y_flag; + static float g29_x_pos, g29_y_pos, + g29_card_thickness, + g29_constant; - static int g29_verbose_level, - g29_phase_value, - g29_repetition_cnt, - g29_storage_slot, - g29_map_type; - static bool g29_c_flag, g29_x_flag, g29_y_flag; - static float g29_x_pos, g29_y_pos, - g29_card_thickness, - g29_constant; + #if HAS_BED_PROBE + static int g29_grid_size; + #endif - #if HAS_BED_PROBE - static int g29_grid_size; - #endif + #if ENABLED(NEWPANEL) + static void move_z_with_encoder(const float &multiplier); + static float measure_point_with_encoder(); + static float measure_business_card_thickness(float in_height); + static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0; + static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0; + #endif - #if ENABLED(NEWPANEL) - static void move_z_with_encoder(const float &multiplier); - static float measure_point_with_encoder(); - static float measure_business_card_thickness(float in_height); - static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0; - static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0; - #endif + static bool g29_parameter_parsing() _O0; + static void find_mean_mesh_height(); + static void shift_mesh_height(); + static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) _O0; + static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3); + static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); + static void g29_what_command(); + static void g29_eeprom_dump(); + static void g29_compare_current_mesh_to_stored_mesh(); + static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); + static void smart_fill_mesh(); - static bool g29_parameter_parsing() _O0; - static void find_mean_mesh_height(); - static void shift_mesh_height(); - static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) _O0; - static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3); - static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); - static void g29_what_command(); - static void g29_eeprom_dump(); - static void g29_compare_current_mesh_to_stored_mesh(); - static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); - static void smart_fill_mesh(); + public: - public: + static void echo_name(); + static void report_state(); + static void save_ubl_active_state_and_disable(); + static void restore_ubl_active_state_and_leave(); + static void display_map(const int) _O0; + static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0; + static mesh_index_pair find_furthest_invalid_mesh_point() _O0; + static void reset(); + static void invalidate(); + static void set_all_mesh_points_to_value(const float); + static bool sanity_check(); - static void echo_name(); - static void report_state(); - static void save_ubl_active_state_and_disable(); - static void restore_ubl_active_state_and_leave(); - static void display_map(const int) _O0; - static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0; - static mesh_index_pair find_furthest_invalid_mesh_point() _O0; - static void reset(); - static void invalidate(); - static void set_all_mesh_points_to_value(const float); - static bool sanity_check(); + static void G29() _O0; // O0 for no optimization + static void smart_fill_wlsf(const float &); // O2 gives smaller code than Os on A2560 + static int8_t storage_slot; - static void G29() _O0; // O0 for no optimization - static void smart_fill_wlsf(const float &); // O2 gives smaller code than Os on A2560 - static int8_t storage_slot; + static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; - static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + // 15 is the maximum nubmer of grid points supported + 1 safety margin for now, + // until determinism prevails + constexpr static float _mesh_index_to_xpos[16] PROGMEM = { + MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST), + MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST), + MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST), + MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST), + MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST), + MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST), + MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST), + MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST) + }; - // 15 is the maximum nubmer of grid points supported + 1 safety margin for now, - // until determinism prevails - constexpr static float _mesh_index_to_xpos[16] PROGMEM = { - MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST), - MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST), - MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST), - MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST), - MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST), - MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST), - MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST), - MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST) - }; + constexpr static float _mesh_index_to_ypos[16] PROGMEM = { + MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST), + MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST), + MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST), + MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST), + MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST), + MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST), + MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST), + MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST) + }; - constexpr static float _mesh_index_to_ypos[16] PROGMEM = { - MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST), - MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST), - MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST), - MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST), - MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST), - MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST), - MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST), - MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST) - }; + #if ENABLED(ULTIPANEL) + static bool lcd_map_control; + #endif - #if ENABLED(ULTIPANEL) - static bool lcd_map_control; - #endif + static volatile int encoder_diff; // Volatile because it's changed at interrupt time. - static volatile int encoder_diff; // Volatile because it's changed at interrupt time. + unified_bed_leveling(); - unified_bed_leveling(); + FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } - FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } + static int8_t get_cell_index_x(const float &x) { + const int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); + return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX + } // position. But with this defined this way, it is possible + // to extrapolate off of this point even further out. Probably + // that is OK because something else should be keeping that from + // happening and should not be worried about at this level. + static int8_t get_cell_index_y(const float &y) { + const int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); + return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX + } // position. But with this defined this way, it is possible + // to extrapolate off of this point even further out. Probably + // that is OK because something else should be keeping that from + // happening and should not be worried about at this level. - static int8_t get_cell_index_x(const float &x) { - const int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); - return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX - } // position. But with this defined this way, it is possible - // to extrapolate off of this point even further out. Probably - // that is OK because something else should be keeping that from - // happening and should not be worried about at this level. - static int8_t get_cell_index_y(const float &y) { - const int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); - return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX - } // position. But with this defined this way, it is possible - // to extrapolate off of this point even further out. Probably - // that is OK because something else should be keeping that from - // happening and should not be worried about at this level. + static int8_t find_closest_x_index(const float &x) { + const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); + return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; + } - static int8_t find_closest_x_index(const float &x) { - const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); - return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; - } + static int8_t find_closest_y_index(const float &y) { + const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST)); + return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; + } - static int8_t find_closest_y_index(const float &y) { - const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST)); - return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; - } - - /** - * z2 --| - * z0 | | - * | | + (z2-z1) - * z1 | | | - * ---+-------------+--------+-- --| - * a1 a0 a2 - * |<---delta_a---------->| - * - * calc_z0 is the basis for all the Mesh Based correction. It is used to - * find the expected Z Height at a position between two known Z-Height locations. - * - * It is fairly expensive with its 4 floating point additions and 2 floating point - * multiplications. - */ - FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { - return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); - } - - /** - * z_correction_for_x_on_horizontal_mesh_line is an optimization for - * the case where the printer is making a vertical line that only crosses horizontal mesh lines. - */ - inline static float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) { - if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") ); - SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0); - SERIAL_ECHOPAIR(",x1_i=", x1_i); - SERIAL_ECHOPAIR(",yi=", yi); - SERIAL_CHAR(')'); - SERIAL_EOL(); - } - #endif - // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. - return ( - #ifdef UBL_Z_RAISE_WHEN_OFF_MESH - UBL_Z_RAISE_WHEN_OFF_MESH - #else - NAN - #endif - ); - } - - const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)), - z1 = z_values[x1_i][yi]; - - return z1 + xratio * (z_values[min(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array - // If it is, it is clamped to the last element of the - // z_values[][] array and no correction is applied. - } - - // - // See comments above for z_correction_for_x_on_horizontal_mesh_line - // - inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) { - if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") ); - SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0); - SERIAL_ECHOPAIR(", xi=", xi); - SERIAL_ECHOPAIR(", y1_i=", y1_i); - SERIAL_CHAR(')'); - SERIAL_EOL(); - } - #endif - // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. - return ( - #ifdef UBL_Z_RAISE_WHEN_OFF_MESH - UBL_Z_RAISE_WHEN_OFF_MESH - #else - NAN - #endif - ); - } - - const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)), - z1 = z_values[xi][y1_i]; - - return z1 + yratio * (z_values[xi][min(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array - // If it is, it is clamped to the last element of the - // z_values[][] array and no correction is applied. - } - - /** - * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first - * does a linear interpolation along both of the bounding X-Mesh-Lines to find the - * Z-Height at both ends. Then it does a linear interpolation of these heights based - * on the Y position within the cell. - */ - static float get_z_correction(const float &rx0, const float &ry0) { - const int8_t cx = get_cell_index_x(rx0), - cy = get_cell_index_y(ry0); // return values are clamped - - /** - * Check if the requested location is off the mesh. If so, and - * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned. - */ - #ifdef UBL_Z_RAISE_WHEN_OFF_MESH - if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y)) - return UBL_Z_RAISE_WHEN_OFF_MESH; - #endif - - const float z1 = calc_z0(rx0, - mesh_index_to_xpos(cx), z_values[cx][cy], - mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][cy]); - - const float z2 = calc_z0(rx0, - mesh_index_to_xpos(cx), z_values[cx][min(cy, GRID_MAX_POINTS_Y - 2) + 1], - mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][min(cy, GRID_MAX_POINTS_Y - 2) + 1]); - - float z0 = calc_z0(ry0, - mesh_index_to_ypos(cy), z1, - mesh_index_to_ypos(cy + 1), z2); + /** + * z2 --| + * z0 | | + * | | + (z2-z1) + * z1 | | | + * ---+-------------+--------+-- --| + * a1 a0 a2 + * |<---delta_a---------->| + * + * calc_z0 is the basis for all the Mesh Based correction. It is used to + * find the expected Z Height at a position between two known Z-Height locations. + * + * It is fairly expensive with its 4 floating point additions and 2 floating point + * multiplications. + */ + FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) { + return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); + } + /** + * z_correction_for_x_on_horizontal_mesh_line is an optimization for + * the case where the printer is making a vertical line that only crosses horizontal mesh lines. + */ + inline static float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) { + if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) { #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(MESH_ADJUST)) { - SERIAL_ECHOPAIR(" raw get_z_correction(", rx0); - SERIAL_CHAR(','); - SERIAL_ECHO(ry0); - SERIAL_ECHOPGM(") = "); - SERIAL_ECHO_F(z0, 6); - } - #endif - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(MESH_ADJUST)) { - SERIAL_ECHOPGM(" >>>---> "); - SERIAL_ECHO_F(z0, 6); + if (DEBUGGING(LEVELING)) { + serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") ); + SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0); + SERIAL_ECHOPAIR(",x1_i=", x1_i); + SERIAL_ECHOPAIR(",yi=", yi); + SERIAL_CHAR(')'); SERIAL_EOL(); } #endif - - if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN - z0 = 0.0; // in ubl.z_values[][] and propagate through the - // calculations. If our correction is NAN, we throw it out - // because part of the Mesh is undefined and we don't have the - // information we need to complete the height correction. - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(MESH_ADJUST)) { - SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0); - SERIAL_CHAR(','); - SERIAL_ECHO(ry0); - SERIAL_CHAR(')'); - SERIAL_EOL(); - } + // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. + return ( + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + UBL_Z_RAISE_WHEN_OFF_MESH + #else + NAN #endif - } - return z0; - } - - FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { - return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST); - } - - FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { - return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST); - } - - #if UBL_SEGMENTED - static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate); - #else - static void line_to_destination_cartesian(const float &fr, const uint8_t e); - #endif - - #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1]) - #define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1)) - #define ZZER(a) (z_values[a][0] == 0) - - FORCE_INLINE bool mesh_is_valid() { - return !( - ( CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal? - && ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge? - ) - || isnan(z_values[0][0]) ); } - }; // class unified_bed_leveling - extern unified_bed_leveling ubl; + const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)), + z1 = z_values[x1_i][yi]; - FORCE_INLINE void gcode_G29() { ubl.G29(); } + return z1 + xratio * (z_values[min(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array + // If it is, it is clamped to the last element of the + // z_values[][] array and no correction is applied. + } + + // + // See comments above for z_correction_for_x_on_horizontal_mesh_line + // + inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) { + if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") ); + SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0); + SERIAL_ECHOPAIR(", xi=", xi); + SERIAL_ECHOPAIR(", y1_i=", y1_i); + SERIAL_CHAR(')'); + SERIAL_EOL(); + } + #endif + // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. + return ( + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + UBL_Z_RAISE_WHEN_OFF_MESH + #else + NAN + #endif + ); + } + + const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)), + z1 = z_values[xi][y1_i]; + + return z1 + yratio * (z_values[xi][min(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array + // If it is, it is clamped to the last element of the + // z_values[][] array and no correction is applied. + } + + /** + * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first + * does a linear interpolation along both of the bounding X-Mesh-Lines to find the + * Z-Height at both ends. Then it does a linear interpolation of these heights based + * on the Y position within the cell. + */ + static float get_z_correction(const float &rx0, const float &ry0) { + const int8_t cx = get_cell_index_x(rx0), + cy = get_cell_index_y(ry0); // return values are clamped + + /** + * Check if the requested location is off the mesh. If so, and + * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned. + */ + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y)) + return UBL_Z_RAISE_WHEN_OFF_MESH; + #endif + + const float z1 = calc_z0(rx0, + mesh_index_to_xpos(cx), z_values[cx][cy], + mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][cy]); + + const float z2 = calc_z0(rx0, + mesh_index_to_xpos(cx), z_values[cx][min(cy, GRID_MAX_POINTS_Y - 2) + 1], + mesh_index_to_xpos(cx + 1), z_values[min(cx, GRID_MAX_POINTS_X - 2) + 1][min(cy, GRID_MAX_POINTS_Y - 2) + 1]); + + float z0 = calc_z0(ry0, + mesh_index_to_ypos(cy), z1, + mesh_index_to_ypos(cy + 1), z2); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(MESH_ADJUST)) { + SERIAL_ECHOPAIR(" raw get_z_correction(", rx0); + SERIAL_CHAR(','); + SERIAL_ECHO(ry0); + SERIAL_ECHOPGM(") = "); + SERIAL_ECHO_F(z0, 6); + } + #endif + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(MESH_ADJUST)) { + SERIAL_ECHOPGM(" >>>---> "); + SERIAL_ECHO_F(z0, 6); + SERIAL_EOL(); + } + #endif + + if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN + z0 = 0.0; // in ubl.z_values[][] and propagate through the + // calculations. If our correction is NAN, we throw it out + // because part of the Mesh is undefined and we don't have the + // information we need to complete the height correction. + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(MESH_ADJUST)) { + SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0); + SERIAL_CHAR(','); + SERIAL_ECHO(ry0); + SERIAL_CHAR(')'); + SERIAL_EOL(); + } + #endif + } + return z0; + } + + FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { + return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST); + } + + FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { + return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST); + } + + #if UBL_SEGMENTED + static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate); + #else + static void line_to_destination_cartesian(const float &fr, const uint8_t e); + #endif + + #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1]) + #define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1)) + #define ZZER(a) (z_values[a][0] == 0) + + FORCE_INLINE bool mesh_is_valid() { + return !( + ( CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal? + && ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge? + ) + || isnan(z_values[0][0]) + ); + } +}; // class unified_bed_leveling + +extern unified_bed_leveling ubl; + +FORCE_INLINE void gcode_G29() { ubl.G29(); } -#endif // AUTO_BED_LEVELING_UBL #endif // UNIFIED_BED_LEVELING_H