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/*** 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("-------------");elseSERIAL_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_flagif (*title != '!' && !g26_debug_flag) return;const float de = destination[E_CART] - current_position[E_CART];if (de == 0.0) return; // Printing moves onlyconst 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_DEBUGGINGint8_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 prevailsconstexpr 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;#endifvolatile 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);#endifZERO(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;#endifconstexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567]twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp eachconst 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 Spaceconst bool is_current = i == current_xi && j == current_yi;if (human) SERIAL_CHAR(is_current ? '[' : ' ');// Z Value at current I, Jconst 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 Spaceif (human) SERIAL_CHAR(is_current ? ']' : ' ');#if TX_BUFFER_SIZE > 0SERIAL_FLUSHTX();#endifsafe_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