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060e7a3565
* Move home all axis prototype to allow access from UBL.h * Remove home all axis command as it exists in marlin.h now * Reverse order of tool change and home Race condition causes E0 carriage to move on E1 commands and crash into parked head if order is reversed. Needs more research into permanent fix, but this will prevent damage to machines in the meantime.
371 lines
16 KiB
C++
371 lines
16 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef UNIFIED_BED_LEVELING_H
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#define UNIFIED_BED_LEVELING_H
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#include "MarlinConfig.h"
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//#define UBL_DEVEL_DEBUGGING
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#include "Marlin.h"
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#include "planner.h"
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#include "math.h"
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#include "configuration_store.h"
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#define UBL_VERSION "1.01"
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#define UBL_OK false
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#define UBL_ERR true
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#define USE_NOZZLE_AS_REFERENCE 0
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#define USE_PROBE_AS_REFERENCE 1
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// ubl_motion.cpp
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#if ENABLED(UBL_DEVEL_DEBUGGING)
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void debug_current_and_destination(const char * const title);
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#else
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FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }
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#endif
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// ubl_G29.cpp
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enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
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// External references
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char *ftostr43sign(const float&, char);
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extern uint8_t ubl_cnt;
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///////////////////////////////////////////////////////////////////////////////////////////////////////
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#if ENABLED(ULTRA_LCD)
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void lcd_quick_feedback(const bool clear_buttons);
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#endif
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#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
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#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
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class unified_bed_leveling {
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private:
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static int g29_verbose_level,
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g29_phase_value,
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g29_repetition_cnt,
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g29_storage_slot,
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g29_map_type;
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static bool g29_c_flag, g29_x_flag, g29_y_flag;
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static float g29_x_pos, g29_y_pos,
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g29_card_thickness,
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g29_constant;
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#if HAS_BED_PROBE
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static int g29_grid_size;
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#endif
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#if ENABLED(NEWPANEL)
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static void move_z_with_encoder(const float &multiplier);
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static float measure_point_with_encoder();
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static float measure_business_card_thickness(float in_height);
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static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;
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static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;
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#endif
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static bool g29_parameter_parsing() _O0;
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static void shift_mesh_height();
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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;
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static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
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static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
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static void g29_what_command();
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static void g29_eeprom_dump();
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static void g29_compare_current_mesh_to_stored_mesh();
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static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
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static void smart_fill_mesh();
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public:
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static void echo_name();
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static void report_current_mesh();
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static void report_state();
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static void save_ubl_active_state_and_disable();
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static void restore_ubl_active_state_and_leave();
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static void display_map(const int) _O0;
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static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0;
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static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
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static void reset();
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static void invalidate();
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static void set_all_mesh_points_to_value(const float value);
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static void adjust_mesh_to_mean(const bool cflag, const float value);
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static bool sanity_check();
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static void G29() _O0; // O0 for no optimization
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static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
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static int8_t storage_slot;
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static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
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// until determinism prevails
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static constexpr float _mesh_index_to_xpos[16] PROGMEM = {
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MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST),
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MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST),
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MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST),
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MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST),
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MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST),
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MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST),
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MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST),
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MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST)
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};
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static constexpr float _mesh_index_to_ypos[16] PROGMEM = {
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MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST),
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MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST),
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MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST),
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MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST),
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MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST),
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MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST),
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MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST),
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MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST)
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};
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#if ENABLED(ULTIPANEL)
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static bool lcd_map_control;
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#endif
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static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
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unified_bed_leveling();
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FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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static int8_t get_cell_index_x(const float &x) {
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const int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST));
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return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t get_cell_index_y(const float &y) {
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const int8_t cy = (y - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));
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return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
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} // position. But with this defined this way, it is possible
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// to extrapolate off of this point even further out. Probably
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// that is OK because something else should be keeping that from
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// happening and should not be worried about at this level.
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static int8_t find_closest_x_index(const float &x) {
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const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5f) * (1.0f / (MESH_X_DIST));
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return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
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}
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static int8_t find_closest_y_index(const float &y) {
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const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5f) * (1.0f / (MESH_Y_DIST));
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return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
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}
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/**
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* z2 --|
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* z0 | |
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* | | + (z2-z1)
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* z1 | | |
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* ---+-------------+--------+-- --|
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* a1 a0 a2
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* |<---delta_a---------->|
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*
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* calc_z0 is the basis for all the Mesh Based correction. It is used to
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* find the expected Z Height at a position between two known Z-Height locations.
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*
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* It is fairly expensive with its 4 floating point additions and 2 floating point
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* multiplications.
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*/
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FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
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return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
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}
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/**
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* z_correction_for_x_on_horizontal_mesh_line is an optimization for
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* the case where the printer is making a vertical line that only crosses horizontal mesh lines.
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*/
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inline static float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {
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if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);
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SERIAL_ECHOPAIR(",x1_i=", x1_i);
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SERIAL_ECHOPAIR(",yi=", yi);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
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return (
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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UBL_Z_RAISE_WHEN_OFF_MESH
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#else
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NAN
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#endif
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);
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}
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const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
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z1 = z_values[x1_i][yi];
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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
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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}
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//
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// See comments above for z_correction_for_x_on_horizontal_mesh_line
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//
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inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
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if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );
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SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);
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SERIAL_ECHOPAIR(", xi=", xi);
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SERIAL_ECHOPAIR(", y1_i=", y1_i);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
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return (
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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UBL_Z_RAISE_WHEN_OFF_MESH
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#else
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NAN
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#endif
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);
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}
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const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
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z1 = z_values[xi][y1_i];
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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
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// If it is, it is clamped to the last element of the
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// z_values[][] array and no correction is applied.
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}
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/**
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* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
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* does a linear interpolation along both of the bounding X-Mesh-Lines to find the
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* Z-Height at both ends. Then it does a linear interpolation of these heights based
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* on the Y position within the cell.
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*/
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static float get_z_correction(const float &rx0, const float &ry0) {
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const int8_t cx = get_cell_index_x(rx0),
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cy = get_cell_index_y(ry0); // return values are clamped
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/**
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* Check if the requested location is off the mesh. If so, and
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* UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.
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*/
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#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
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if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))
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return UBL_Z_RAISE_WHEN_OFF_MESH;
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#endif
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const float z1 = calc_z0(rx0,
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mesh_index_to_xpos(cx), z_values[cx][cy],
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mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);
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const float z2 = calc_z0(rx0,
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mesh_index_to_xpos(cx), z_values[cx][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1],
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mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]);
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float z0 = calc_z0(ry0,
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mesh_index_to_ypos(cy), z1,
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mesh_index_to_ypos(cy + 1), z2);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(MESH_ADJUST)) {
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SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);
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SERIAL_CHAR(',');
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SERIAL_ECHO(ry0);
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SERIAL_ECHOPGM(") = ");
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SERIAL_ECHO_F(z0, 6);
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}
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(MESH_ADJUST)) {
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SERIAL_ECHOPGM(" >>>---> ");
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SERIAL_ECHO_F(z0, 6);
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SERIAL_EOL();
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}
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#endif
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if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
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z0 = 0.0; // in ubl.z_values[][] and propagate through the
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// calculations. If our correction is NAN, we throw it out
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// because part of the Mesh is undefined and we don't have the
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// information we need to complete the height correction.
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(MESH_ADJUST)) {
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SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0);
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SERIAL_CHAR(',');
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SERIAL_ECHO(ry0);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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}
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return z0;
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}
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FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) {
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return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
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}
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FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) {
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return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
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}
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#if UBL_SEGMENTED
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static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
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#else
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static void line_to_destination_cartesian(const float &fr, const uint8_t e);
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#endif
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inline static bool mesh_is_valid() {
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
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if (isnan(z_values[x][y])) return false;
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return true;
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}
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}; // class unified_bed_leveling
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extern unified_bed_leveling ubl;
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FORCE_INLINE void gcode_G29() { ubl.G29(); }
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#endif // UNIFIED_BED_LEVELING_H
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