183 lines
6.4 KiB
C
183 lines
6.4 KiB
C
#ifndef MESH_BED_CALIBRATION_H
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#define MESH_BED_CALIBRATION_H
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// Exact positions of the print head above the bed reference points, in the world coordinates.
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// The world coordinates match the machine coordinates only in case, when the machine
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// is built properly, the end stops are at the correct positions and the axes are perpendicular.
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extern const float bed_ref_points[] PROGMEM;
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// Is the world2machine correction activated?
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enum World2MachineCorrectionMode
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{
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WORLD2MACHINE_CORRECTION_NONE = 0,
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WORLD2MACHINE_CORRECTION_SHIFT = 1,
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WORLD2MACHINE_CORRECTION_SKEW = 2,
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};
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extern uint8_t world2machine_correction_mode;
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// 2x2 transformation matrix from the world coordinates to the machine coordinates.
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// Corrects for the rotation and skew of the machine axes.
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// Used by the planner's plan_buffer_line() and plan_set_position().
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extern float world2machine_rotation_and_skew[2][2];
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extern float world2machine_rotation_and_skew_inv[2][2];
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// Shift of the machine zero point, in the machine coordinates.
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extern float world2machine_shift[2];
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// Resets the transformation to identity.
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extern void world2machine_reset();
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// Resets the transformation to identity and update current_position[X,Y] from the servos.
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extern void world2machine_revert_to_uncorrected();
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// Loads the transformation from the EEPROM, if available.
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extern void world2machine_initialize();
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// When switching from absolute to corrected coordinates,
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// this will apply an inverse world2machine transformation
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// to current_position[x,y].
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extern void world2machine_update_current();
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inline void world2machine(const float &x, const float &y, float &out_x, float &out_y)
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{
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if (world2machine_correction_mode == WORLD2MACHINE_CORRECTION_NONE) {
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// No correction.
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out_x = x;
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out_y = y;
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} else {
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SKEW) {
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// Firs the skew & rotation correction.
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out_x = world2machine_rotation_and_skew[0][0] * x + world2machine_rotation_and_skew[0][1] * y;
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out_y = world2machine_rotation_and_skew[1][0] * x + world2machine_rotation_and_skew[1][1] * y;
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}
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SHIFT) {
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// Then add the offset.
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out_x += world2machine_shift[0];
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out_y += world2machine_shift[1];
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}
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}
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}
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inline void world2machine(float &x, float &y)
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{
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if (world2machine_correction_mode == WORLD2MACHINE_CORRECTION_NONE) {
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// No correction.
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} else {
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SKEW) {
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// Firs the skew & rotation correction.
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float out_x = world2machine_rotation_and_skew[0][0] * x + world2machine_rotation_and_skew[0][1] * y;
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float out_y = world2machine_rotation_and_skew[1][0] * x + world2machine_rotation_and_skew[1][1] * y;
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x = out_x;
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y = out_y;
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}
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SHIFT) {
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// Then add the offset.
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x += world2machine_shift[0];
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y += world2machine_shift[1];
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}
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}
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}
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inline void machine2world(float x, float y, float &out_x, float &out_y)
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{
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if (world2machine_correction_mode == WORLD2MACHINE_CORRECTION_NONE) {
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// No correction.
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out_x = x;
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out_y = y;
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} else {
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SHIFT) {
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// Then add the offset.
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x -= world2machine_shift[0];
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y -= world2machine_shift[1];
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}
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SKEW) {
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// Firs the skew & rotation correction.
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out_x = world2machine_rotation_and_skew_inv[0][0] * x + world2machine_rotation_and_skew_inv[0][1] * y;
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out_y = world2machine_rotation_and_skew_inv[1][0] * x + world2machine_rotation_and_skew_inv[1][1] * y;
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}
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}
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}
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inline void machine2world(float &x, float &y)
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{
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if (world2machine_correction_mode == WORLD2MACHINE_CORRECTION_NONE) {
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// No correction.
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} else {
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SHIFT) {
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// Then add the offset.
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x -= world2machine_shift[0];
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y -= world2machine_shift[1];
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}
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if (world2machine_correction_mode & WORLD2MACHINE_CORRECTION_SKEW) {
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// Firs the skew & rotation correction.
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float out_x = world2machine_rotation_and_skew_inv[0][0] * x + world2machine_rotation_and_skew_inv[0][1] * y;
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float out_y = world2machine_rotation_and_skew_inv[1][0] * x + world2machine_rotation_and_skew_inv[1][1] * y;
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x = out_x;
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y = out_y;
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}
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}
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}
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inline bool world2machine_clamp(float &x, float &y)
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{
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bool clamped = false;
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float tmpx, tmpy;
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world2machine(x, y, tmpx, tmpy);
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if (tmpx < X_MIN_POS) {
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tmpx = X_MIN_POS;
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clamped = true;
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}
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if (tmpy < Y_MIN_POS) {
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tmpy = Y_MIN_POS;
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clamped = true;
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}
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if (tmpx > X_MAX_POS) {
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tmpx = X_MAX_POS;
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clamped = true;
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}
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if (tmpy > Y_MAX_POS) {
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tmpy = Y_MAX_POS;
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clamped = true;
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}
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if (clamped)
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machine2world(tmpx, tmpy, x, y);
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return clamped;
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}
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extern bool find_bed_induction_sensor_point_z(float minimum_z = -10.f, uint8_t n_iter = 3);
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extern bool find_bed_induction_sensor_point_xy();
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extern void go_home_with_z_lift();
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// Positive or zero: ok
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// Negative: failed
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enum BedSkewOffsetDetectionResultType {
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// Detection failed, some point was not found.
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BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND = -1,
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BED_SKEW_OFFSET_DETECTION_FITTING_FAILED = -2,
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// Detection finished with success.
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BED_SKEW_OFFSET_DETECTION_PERFECT = 0,
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BED_SKEW_OFFSET_DETECTION_SKEW_MILD = 1,
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BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME = 2
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};
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extern BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level);
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extern BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8_t verbosity_level, uint8_t &too_far_mask);
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extern bool sample_mesh_and_store_reference();
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extern void reset_bed_offset_and_skew();
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extern bool is_bed_z_jitter_data_valid();
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// Scan the mesh bed induction points one by one by a left-right zig-zag movement,
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// write the trigger coordinates to the serial line.
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// Useful for visualizing the behavior of the bed induction detector.
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extern bool scan_bed_induction_points(int8_t verbosity_level);
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// Apply Z babystep value from the EEPROM through the planner.
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extern void babystep_apply();
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// Undo the current Z babystep value.
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extern void babystep_undo();
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// Reset the current babystep counter without moving the axes.
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extern void babystep_reset();
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#endif /* MESH_BED_CALIBRATION_H */
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