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MarlinFirmware/Marlin/mesh_bed_leveling.h
2016-05-15 12:35:01 -07:00

96 lines
3.1 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:
bool active;
float z_offset;
float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
mesh_bed_leveling();
void reset();
static FORCE_INLINE float get_x(int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
static FORCE_INLINE float get_y(int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
void set_z(int8_t ix, int8_t iy, float z) { z_values[iy][ix] = z; }
inline void zigzag(int8_t index, int8_t &ix, int8_t &iy) {
ix = index % (MESH_NUM_X_POINTS);
iy = index / (MESH_NUM_X_POINTS);
if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
}
void set_zigzag_z(int8_t index, float z) {
int8_t ix, iy;
zigzag(index, ix, iy);
set_z(ix, iy, z);
}
int8_t select_x_index(float x) {
for (uint8_t i = MESH_NUM_X_POINTS; i--;)
if (fabs(x - get_x(i)) <= (MESH_X_DIST) / 2)
return i;
return -1;
}
int8_t select_y_index(float y) {
for (uint8_t i = MESH_NUM_Y_POINTS; i--;)
if (fabs(y - get_y(i)) <= (MESH_Y_DIST) / 2)
return i;
return -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 x_index = select_x_index(x0);
int8_t y_index = select_y_index(y0);
if (x_index < 0 || y_index < 0) return z_offset;
float z1 = calc_z0(x0,
get_x(x_index), z_values[y_index][x_index],
get_x(x_index + 1), z_values[y_index][x_index + 1]);
float z2 = calc_z0(x0,
get_x(x_index), z_values[y_index + 1][x_index],
get_x(x_index + 1), z_values[y_index + 1][x_index + 1]);
float z0 = calc_z0(y0,
get_y(y_index), z1,
get_y(y_index + 1), z2);
return z0 + z_offset;
}
};
extern mesh_bed_leveling mbl;
#endif // MESH_BED_LEVELING