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Remove conditional wrap from ubl.h

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This commit is contained in:
Scott Lahteine 2018-02-25 20:37:40 -06:00
parent 8f6a5d538f
commit 1617798287
1 changed files with 303 additions and 306 deletions
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Marlin/ubl.h
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@ -25,353 +25,350 @@
#include "MarlinConfig.h" #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" #define UBL_VERSION "1.01"
#include "planner.h" #define UBL_OK false
#include "math.h" #define UBL_ERR true
#include "vector_3.h"
#include "configuration_store.h"
#define UBL_VERSION "1.01" #define USE_NOZZLE_AS_REFERENCE 0
#define UBL_OK false #define USE_PROBE_AS_REFERENCE 1
#define UBL_ERR true
#define USE_NOZZLE_AS_REFERENCE 0 // ubl_motion.cpp
#define USE_PROBE_AS_REFERENCE 1
// 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) // ubl_G29.cpp
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 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); extern uint8_t ubl_cnt;
void home_all_axes();
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) #define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
extern char lcd_status_message[]; #define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
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)) class unified_bed_leveling {
#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) private:
class unified_bed_leveling { static int g29_verbose_level,
private: 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, #if HAS_BED_PROBE
g29_phase_value, static int g29_grid_size;
g29_repetition_cnt, #endif
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 #if ENABLED(NEWPANEL)
static int g29_grid_size; static void move_z_with_encoder(const float &multiplier);
#endif 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 bool g29_parameter_parsing() _O0;
static void move_z_with_encoder(const float &multiplier); static void find_mean_mesh_height();
static float measure_point_with_encoder(); static void shift_mesh_height();
static float measure_business_card_thickness(float in_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 manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0; static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0; static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
#endif 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; public:
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: 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 G29() _O0; // O0 for no optimization
static void report_state(); static void smart_fill_wlsf(const float &); // O2 gives smaller code than Os on A2560
static void save_ubl_active_state_and_disable(); static int8_t storage_slot;
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 float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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]; // 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, constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
// until determinism prevails MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST),
constexpr static float _mesh_index_to_xpos[16] PROGMEM = { MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST),
MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST), MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST),
MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST), MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST),
MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST), MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST),
MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST), MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST),
MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST), MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST),
MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST), MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_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 = { #if ENABLED(ULTIPANEL)
MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST), static bool lcd_map_control;
MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST), #endif
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 volatile int encoder_diff; // Volatile because it's changed at interrupt time.
static bool lcd_map_control;
#endif
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) { static int8_t find_closest_x_index(const float &x) {
const int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (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 return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
} // 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) { static int8_t find_closest_y_index(const float &y) {
const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; 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)); * z2 --|
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; * z0 | |
} * | | + (z2-z1)
* z1 | | |
/** * ---+-------------+--------+-- --|
* z2 --| * a1 a0 a2
* z0 | | * |<---delta_a---------->|
* | | + (z2-z1) *
* z1 | | | * 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.
* a1 a0 a2 *
* |<---delta_a---------->| * It is fairly expensive with its 4 floating point additions and 2 floating point
* * multiplications.
* 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. 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);
* 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);
/**
* 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 ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(" raw get_z_correction(", rx0); serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );
SERIAL_CHAR(','); SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);
SERIAL_ECHO(ry0); SERIAL_ECHOPAIR(",x1_i=", x1_i);
SERIAL_ECHOPGM(") = "); SERIAL_ECHOPAIR(",yi=", yi);
SERIAL_ECHO_F(z0, 6); SERIAL_CHAR(')');
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPGM(" >>>---> ");
SERIAL_ECHO_F(z0, 6);
SERIAL_EOL(); SERIAL_EOL();
} }
#endif #endif
// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN return (
z0 = 0.0; // in ubl.z_values[][] and propagate through the #ifdef UBL_Z_RAISE_WHEN_OFF_MESH
// calculations. If our correction is NAN, we throw it out UBL_Z_RAISE_WHEN_OFF_MESH
// because part of the Mesh is undefined and we don't have the #else
// information we need to complete the height correction. NAN
#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 #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 #endif // UNIFIED_BED_LEVELING_H