Subversion Repositories Tronxy-X3A-Marlin

/**

 * 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/>.

 *

 */

#ifndef _MESH_BED_LEVELING_H_

#define _MESH_BED_LEVELING_H_

#include "MarlinConfig.h"

enum MeshLevelingState : char {

  MeshReport,

  MeshStart,

  MeshNext,

  MeshSet,

  MeshSetZOffset,

  MeshReset

};

#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_POINTS_X - 1))

#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_POINTS_Y - 1))

class mesh_bed_leveling {

public:

  static float z_offset,

               z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],

               index_to_xpos[GRID_MAX_POINTS_X],

               index_to_ypos[GRID_MAX_POINTS_Y];

  mesh_bed_leveling();

  static void report_mesh();

  static void reset();

  FORCE_INLINE static bool has_mesh() {

    for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)

      for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)

        if (z_values[x][y]) return true;

    return false;

  }

  static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }

  static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {

    px = index % (GRID_MAX_POINTS_X);

    py = index / (GRID_MAX_POINTS_X);

    if (py & 1) px = (GRID_MAX_POINTS_X - 1) - px; // Zig zag

  }

  static void set_zigzag_z(const int8_t index, const float &z) {

    int8_t px, py;

    zigzag(index, px, py);

    set_z(px, py, z);

  }

  static int8_t cell_index_x(const float &x) {

    int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST));

    return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);

  }

  static int8_t cell_index_y(const float &y) {

    int8_t cy = (y - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));

    return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);

  }

  static int8_t probe_index_x(const float &x) {

    int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * (1.0f / (MESH_X_DIST));

    return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;

  }

  static int8_t probe_index_y(const float &y) {

    int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * (1.0f / (MESH_Y_DIST));

    return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;

  }

  static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {

    const float delta_z = (z2 - z1) / (a2 - a1),

                delta_a = a0 - a1;

    return z1 + delta_a * delta_z;

  }

  static float get_z(const float &x0, const float &y0

    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)

      , const float &factor

    #endif

  ) {

    const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);

    const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),

                z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),

                z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);

    return z_offset + z0

      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)

        * factor

      #endif

    ;

  }

};

extern mesh_bed_leveling mbl;

#endif // _MESH_BED_LEVELING_H_