Subversion Repositories MK-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/>.

 *

 */

#include "MarlinConfig.h"

#if ENABLED(AUTO_BED_LEVELING_UBL)

  #include "Marlin.h"

  #include "ubl.h"

  #include "hex_print_routines.h"

  #include "temperature.h"

  #include "planner.h"

  #include "math.h"

  unified_bed_leveling ubl;

  uint8_t ubl_cnt = 0;

  void unified_bed_leveling::echo_name() { SERIAL_PROTOCOLPGM("Unified Bed Leveling"); }

  void unified_bed_leveling::report_current_mesh() {

    if (!leveling_is_valid()) return;

    SERIAL_ECHO_START();

    SERIAL_ECHOLNPGM("  G29 I999");

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

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

        if (!isnan(z_values[x][y])) {

          SERIAL_ECHO_START();

          SERIAL_ECHOPAIR("  M421 I", x);

          SERIAL_ECHOPAIR(" J", y);

          SERIAL_ECHOPGM(" Z");

          SERIAL_ECHO_F(z_values[x][y], 2);

          SERIAL_EOL();

        }

  }

  void unified_bed_leveling::report_state() {

    echo_name();

    SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");

    if (!planner.leveling_active) SERIAL_PROTOCOLPGM("in");

    SERIAL_PROTOCOLLNPGM("active.");

    safe_delay(50);

  }

  #if ENABLED(UBL_DEVEL_DEBUGGING)

    static void debug_echo_axis(const AxisEnum axis) {

      if (current_position[axis] == destination[axis])

        SERIAL_ECHOPGM("-------------");

      else

        SERIAL_ECHO_F(destination[X_AXIS], 6);

    }

    void debug_current_and_destination(const char *title) {

      // if the title message starts with a '!' it is so important, we are going to

      // ignore the status of the g26_debug_flag

      if (*title != '!' && !g26_debug_flag) return;

      const float de = destination[E_CART] - current_position[E_CART];

      if (de == 0.0) return; // Printing moves only

      const float dx = destination[X_AXIS] - current_position[X_AXIS],

                  dy = destination[Y_AXIS] - current_position[Y_AXIS],

                  xy_dist = HYPOT(dx, dy);

      if (xy_dist == 0.0) return;

      SERIAL_ECHOPGM("   fpmm=");

      const float fpmm = de / xy_dist;

      SERIAL_ECHO_F(fpmm, 6);

      SERIAL_ECHOPGM("    current=( ");

      SERIAL_ECHO_F(current_position[X_AXIS], 6);

      SERIAL_ECHOPGM(", ");

      SERIAL_ECHO_F(current_position[Y_AXIS], 6);

      SERIAL_ECHOPGM(", ");

      SERIAL_ECHO_F(current_position[Z_AXIS], 6);

      SERIAL_ECHOPGM(", ");

      SERIAL_ECHO_F(current_position[E_CART], 6);

      SERIAL_ECHOPGM(" )   destination=( ");

      debug_echo_axis(X_AXIS);

      SERIAL_ECHOPGM(", ");

      debug_echo_axis(Y_AXIS);

      SERIAL_ECHOPGM(", ");

      debug_echo_axis(Z_AXIS);

      SERIAL_ECHOPGM(", ");

      debug_echo_axis(E_AXIS);

      SERIAL_ECHOPGM(" )   ");

      SERIAL_ECHO(title);

      SERIAL_EOL();

    }

  #endif // UBL_DEVEL_DEBUGGING

  int8_t unified_bed_leveling::storage_slot;

  float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];

  // 15 is the maximum nubmer of grid points supported + 1 safety margin for now,

  // until determinism prevails

  constexpr float unified_bed_leveling::_mesh_index_to_xpos[16],

                  unified_bed_leveling::_mesh_index_to_ypos[16];

  #if ENABLED(ULTIPANEL)

    bool unified_bed_leveling::lcd_map_control = false;

  #endif

  volatile int unified_bed_leveling::encoder_diff;

  unified_bed_leveling::unified_bed_leveling() {

    ubl_cnt++;  // Debug counter to ensure we only have one UBL object present in memory.  We can eliminate this (and all references to ubl_cnt) very soon.

    reset();

  }

  void unified_bed_leveling::reset() {

    const bool was_enabled = planner.leveling_active;

    set_bed_leveling_enabled(false);

    storage_slot = -1;

    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)

      planner.set_z_fade_height(10.0);

    #endif

    ZERO(z_values);

    if (was_enabled) report_current_position();

  }

  void unified_bed_leveling::invalidate() {

    set_bed_leveling_enabled(false);

    set_all_mesh_points_to_value(NAN);

  }

  void unified_bed_leveling::set_all_mesh_points_to_value(const float value) {

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

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

        z_values[x][y] = value;

      }

    }

  }

  static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {

    SERIAL_ECHO_SP(sp);

    SERIAL_CHAR('(');

    if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }

    SERIAL_ECHO(x);

    SERIAL_CHAR(',');

    if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }

    SERIAL_ECHO(y);

    SERIAL_CHAR(')');

    safe_delay(5);

  }

  static void serial_echo_column_labels(const uint8_t sp) {

    SERIAL_ECHO_SP(7);

    for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {

      if (i < 10) SERIAL_CHAR(' ');

      SERIAL_ECHO(i);

      SERIAL_ECHO_SP(sp);

    }

    safe_delay(10);

  }

  /**

   * Produce one of these mesh maps:

   *   0: Human-readable

   *   1: CSV format for spreadsheet import

   *   2: TODO: Display on Graphical LCD

   *   4: Compact Human-Readable

   */

  void unified_bed_leveling::display_map(const int map_type) {

    #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)

      suspend_auto_report = true;

    #endif

    constexpr uint8_t eachsp = 1 + 6 + 1,                           // [-3.567]

                      twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each

    const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;

    SERIAL_ECHOPGM("\nBed Topography Report");

    if (human) {

      SERIAL_ECHOPGM(":\n\n");

      serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);

      serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);

      SERIAL_EOL();

      serial_echo_column_labels(eachsp - 2);

    }

    else {

      SERIAL_ECHOPGM(" for ");

      serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));

    }

    // Add XY_PROBE_OFFSET_FROM_EXTRUDER because probe_pt() subtracts these when

    // moving to the xy position to be measured. This ensures better agreement between

    // the current Z position after G28 and the mesh values.

    const float current_xi = find_closest_x_index(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),

                current_yi = find_closest_y_index(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);

    if (!lcd) SERIAL_EOL();

    for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {

      // Row Label (J index)

      if (human) {

        if (j < 10) SERIAL_CHAR(' ');

        SERIAL_ECHO(j);

        SERIAL_ECHOPGM(" |");

      }

      // Row Values (I indexes)

      for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {

        // Opening Brace or Space

        const bool is_current = i == current_xi && j == current_yi;

        if (human) SERIAL_CHAR(is_current ? '[' : ' ');

        // Z Value at current I, J

        const float f = z_values[i][j];

        if (lcd) {

          // TODO: Display on Graphical LCD

        }

        else if (isnan(f))

          serialprintPGM(human ? PSTR("  .   ") : PSTR("NAN"));

        else if (human || csv) {

          if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' ');  // Space for positive ('-' for negative)

          SERIAL_ECHO_F(f, 3);                                    // Positive: 5 digits, Negative: 6 digits

        }

        idle();

        if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');

        // Closing Brace or Space

        if (human) SERIAL_CHAR(is_current ? ']' : ' ');

        #if TX_BUFFER_SIZE > 0

          SERIAL_FLUSHTX();

        #endif

        safe_delay(5);

      }

      if (!lcd) SERIAL_EOL();

      // A blank line between rows (unless compact)

      if (j && human && !comp) SERIAL_ECHOLNPGM("   |");

    }

    if (human) {

      serial_echo_column_labels(eachsp - 2);

      SERIAL_EOL();

      serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);

      serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);

      SERIAL_EOL();

      SERIAL_EOL();

    }

    #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)

      suspend_auto_report = false;

    #endif

  }

  bool unified_bed_leveling::sanity_check() {

    uint8_t error_flag = 0;

    if (settings.calc_num_meshes() < 1) {

      SERIAL_PROTOCOLLNPGM("?Mesh too big for EEPROM.");

      error_flag++;

    }

    return !!error_flag;

  }

#endif // AUTO_BED_LEVELING_UBL