mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-24 04:29:34 +00:00
106 lines
3.8 KiB
C++
106 lines
3.8 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"
|
|
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X))/(MESH_NUM_X_POINTS - 1))
|
|
#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y))/(MESH_NUM_Y_POINTS - 1))
|
|
|
|
class mesh_bed_leveling {
|
|
public:
|
|
uint8_t status; // Has Mesh and Is Active bits
|
|
float z_offset;
|
|
float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
|
|
|
|
mesh_bed_leveling();
|
|
|
|
void reset();
|
|
|
|
static FORCE_INLINE float get_probe_x(int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
|
|
static FORCE_INLINE float get_probe_y(int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
|
|
void set_z(const int8_t px, const int8_t py, const float z) { z_values[py][px] = z; }
|
|
|
|
bool active() { return TEST(status, MBL_STATUS_ACTIVE_BIT); }
|
|
void set_active(bool onOff) { if (onOff) SBI(status, MBL_STATUS_ACTIVE_BIT); else CBI(status, MBL_STATUS_ACTIVE_BIT); }
|
|
bool has_mesh() { return TEST(status, MBL_STATUS_HAS_MESH_BIT); }
|
|
void set_has_mesh(bool onOff) { if (onOff) SBI(status, MBL_STATUS_HAS_MESH_BIT); else CBI(status, MBL_STATUS_HAS_MESH_BIT); }
|
|
|
|
inline void zigzag(int8_t index, int8_t &px, int8_t &py) {
|
|
px = index % (MESH_NUM_X_POINTS);
|
|
py = index / (MESH_NUM_X_POINTS);
|
|
if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag
|
|
}
|
|
|
|
void set_zigzag_z(int8_t index, float z) {
|
|
int8_t px, py;
|
|
zigzag(index, px, py);
|
|
set_z(px, py, z);
|
|
}
|
|
|
|
int8_t cell_index_x(float x) {
|
|
int8_t cx = int(x - (MESH_MIN_X)) / (MESH_X_DIST);
|
|
return constrain(cx, 0, (MESH_NUM_X_POINTS) - 2);
|
|
}
|
|
|
|
int8_t cell_index_y(float y) {
|
|
int8_t cy = int(y - (MESH_MIN_Y)) / (MESH_Y_DIST);
|
|
return constrain(cy, 0, (MESH_NUM_Y_POINTS) - 2);
|
|
}
|
|
|
|
int8_t probe_index_x(float x) {
|
|
int8_t px = int(x - (MESH_MIN_X) + (MESH_X_DIST) / 2) / (MESH_X_DIST);
|
|
return (px >= 0 && px < (MESH_NUM_X_POINTS)) ? px : -1;
|
|
}
|
|
|
|
int8_t probe_index_y(float y) {
|
|
int8_t py = int(y - (MESH_MIN_Y) + (MESH_Y_DIST) / 2) / (MESH_Y_DIST);
|
|
return (py >= 0 && py < (MESH_NUM_Y_POINTS)) ? py : -1;
|
|
}
|
|
|
|
float calc_z0(float a0, float a1, float z1, float a2, float z2) {
|
|
float delta_z = (z2 - z1) / (a2 - a1);
|
|
float delta_a = a0 - a1;
|
|
return z1 + delta_a * delta_z;
|
|
}
|
|
|
|
float get_z(float x0, float y0) {
|
|
int8_t cx = cell_index_x(x0),
|
|
cy = cell_index_y(y0);
|
|
if (cx < 0 || cy < 0) return z_offset;
|
|
float z1 = calc_z0(x0,
|
|
get_probe_x(cx), z_values[cy][cx],
|
|
get_probe_x(cx + 1), z_values[cy][cx + 1]);
|
|
float z2 = calc_z0(x0,
|
|
get_probe_x(cx), z_values[cy + 1][cx],
|
|
get_probe_x(cx + 1), z_values[cy + 1][cx + 1]);
|
|
float z0 = calc_z0(y0,
|
|
get_probe_y(cy), z1,
|
|
get_probe_y(cy + 1), z2);
|
|
return z0 + z_offset;
|
|
}
|
|
};
|
|
|
|
extern mesh_bed_leveling mbl;
|
|
|
|
#endif // MESH_BED_LEVELING
|