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/*** Marlin 3D Printer Firmware* Copyright (C) 2016, 2017 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 UNIFIED_BED_LEVELING_H#define UNIFIED_BED_LEVELING_H#include "MarlinConfig.h"//#define UBL_DEVEL_DEBUGGING#include "Marlin.h"#include "planner.h"#include "math.h"#include "configuration_store.h"#define UBL_VERSION "1.01"#define UBL_OK false#define UBL_ERR true#define USE_NOZZLE_AS_REFERENCE 0#define USE_PROBE_AS_REFERENCE 1// ubl_motion.cpp#if ENABLED(UBL_DEVEL_DEBUGGING)void debug_current_and_destination(const char * const title);#elseFORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }#endif// ubl_G29.cppenum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };// External referenceschar *ftostr43sign(const float&, char);extern uint8_t ubl_cnt;///////////////////////////////////////////////////////////////////////////////////////////////////////#if ENABLED(ULTRA_LCD)void lcd_quick_feedback(const bool clear_buttons);#endif#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))class unified_bed_leveling {private:static int g29_verbose_level,g29_phase_value,g29_repetition_cnt,g29_storage_slot,g29_map_type;static bool g29_c_flag, g29_x_flag, g29_y_flag;static float g29_x_pos, g29_y_pos,g29_card_thickness,g29_constant;#if HAS_BED_PROBEstatic int g29_grid_size;#endif#if ENABLED(NEWPANEL)static void move_z_with_encoder(const float &multiplier);static float measure_point_with_encoder();static float measure_business_card_thickness(float in_height);static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;#endifstatic bool g29_parameter_parsing() _O0;static void shift_mesh_height();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;static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);static void g29_what_command();static void g29_eeprom_dump();static void g29_compare_current_mesh_to_stored_mesh();static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);static void smart_fill_mesh();public:static void echo_name();static void report_current_mesh();static void report_state();static void save_ubl_active_state_and_disable();static void restore_ubl_active_state_and_leave();static void display_map(const int) _O0;static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0;static mesh_index_pair find_furthest_invalid_mesh_point() _O0;static void reset();static void invalidate();static void set_all_mesh_points_to_value(const float value);static void adjust_mesh_to_mean(const bool cflag, const float value);static bool sanity_check();static void G29() _O0; // O0 for no optimizationstatic void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560static int8_t storage_slot;static float 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 prevailsstatic constexpr float _mesh_index_to_xpos[16] PROGMEM = {MESH_MIN_X + 0 * (MESH_X_DIST), MESH_MIN_X + 1 * (MESH_X_DIST),MESH_MIN_X + 2 * (MESH_X_DIST), MESH_MIN_X + 3 * (MESH_X_DIST),MESH_MIN_X + 4 * (MESH_X_DIST), MESH_MIN_X + 5 * (MESH_X_DIST),MESH_MIN_X + 6 * (MESH_X_DIST), MESH_MIN_X + 7 * (MESH_X_DIST),MESH_MIN_X + 8 * (MESH_X_DIST), MESH_MIN_X + 9 * (MESH_X_DIST),MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST),MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST),MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST)};static constexpr float _mesh_index_to_ypos[16] PROGMEM = {MESH_MIN_Y + 0 * (MESH_Y_DIST), MESH_MIN_Y + 1 * (MESH_Y_DIST),MESH_MIN_Y + 2 * (MESH_Y_DIST), MESH_MIN_Y + 3 * (MESH_Y_DIST),MESH_MIN_Y + 4 * (MESH_Y_DIST), MESH_MIN_Y + 5 * (MESH_Y_DIST),MESH_MIN_Y + 6 * (MESH_Y_DIST), MESH_MIN_Y + 7 * (MESH_Y_DIST),MESH_MIN_Y + 8 * (MESH_Y_DIST), MESH_MIN_Y + 9 * (MESH_Y_DIST),MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST),MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST),MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST)};#if ENABLED(ULTIPANEL)static bool lcd_map_control;#endifstatic volatile int encoder_diff; // Volatile because it's changed at interrupt time.unified_bed_leveling();FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }static int8_t get_cell_index_x(const float &x) {const int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST));return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX} // position. But with this defined this way, it is possible// to extrapolate off of this point even further out. Probably// that is OK because something else should be keeping that from// happening and should not be worried about at this level.static int8_t get_cell_index_y(const float &y) {const int8_t cy = (y - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX} // position. But with this defined this way, it is possible// to extrapolate off of this point even further out. Probably// that is OK because something else should be keeping that from// happening and should not be worried about at this level.static int8_t find_closest_x_index(const float &x) {const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5f) * (1.0f / (MESH_X_DIST));return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;}static int8_t find_closest_y_index(const float &y) {const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5f) * (1.0f / (MESH_Y_DIST));return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;}/*** z2 --|* z0 | |* | | + (z2-z1)* z1 | | |* ---+-------------+--------+-- --|* a1 a0 a2* |<---delta_a---------->|** calc_z0 is the basis for all the Mesh Based correction. It is used to* find the expected Z Height at a position between two known Z-Height locations.** It is fairly expensive with its 4 floating point additions and 2 floating point* multiplications.*/FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);}/*** z_correction_for_x_on_horizontal_mesh_line is an optimization for* the case where the printer is making a vertical line that only crosses horizontal mesh lines.*/inline static float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {#if ENABLED(DEBUG_LEVELING_FEATURE)if (DEBUGGING(LEVELING)) {serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);SERIAL_ECHOPAIR(",x1_i=", x1_i);SERIAL_ECHOPAIR(",yi=", yi);SERIAL_CHAR(')');SERIAL_EOL();}#endif// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.return (#ifdef UBL_Z_RAISE_WHEN_OFF_MESHUBL_Z_RAISE_WHEN_OFF_MESH#elseNAN#endif);}const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),z1 = z_values[x1_i][yi];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// If it is, it is clamped to the last element of the// z_values[][] array and no correction is applied.}//// See comments above for z_correction_for_x_on_horizontal_mesh_line//inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {#if ENABLED(DEBUG_LEVELING_FEATURE)if (DEBUGGING(LEVELING)) {serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);SERIAL_ECHOPAIR(", xi=", xi);SERIAL_ECHOPAIR(", y1_i=", y1_i);SERIAL_CHAR(')');SERIAL_EOL();}#endif// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.return (#ifdef UBL_Z_RAISE_WHEN_OFF_MESHUBL_Z_RAISE_WHEN_OFF_MESH#elseNAN#endif);}const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),z1 = z_values[xi][y1_i];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// If it is, it is clamped to the last element of the// z_values[][] array and no correction is applied.}/*** This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first* does a linear interpolation along both of the bounding X-Mesh-Lines to find the* Z-Height at both ends. Then it does a linear interpolation of these heights based* on the Y position within the cell.*/static float get_z_correction(const float &rx0, const float &ry0) {const int8_t cx = get_cell_index_x(rx0),cy = get_cell_index_y(ry0); // return values are clamped/*** Check if the requested location is off the mesh. If so, and* UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.*/#ifdef UBL_Z_RAISE_WHEN_OFF_MESHif (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))return UBL_Z_RAISE_WHEN_OFF_MESH;#endifconst float z1 = calc_z0(rx0,mesh_index_to_xpos(cx), z_values[cx][cy],mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);const float z2 = calc_z0(rx0,mesh_index_to_xpos(cx), z_values[cx][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1],mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]);float z0 = calc_z0(ry0,mesh_index_to_ypos(cy), z1,mesh_index_to_ypos(cy + 1), z2);#if ENABLED(DEBUG_LEVELING_FEATURE)if (DEBUGGING(MESH_ADJUST)) {SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);SERIAL_CHAR(',');SERIAL_ECHO(ry0);SERIAL_ECHOPGM(") = ");SERIAL_ECHO_F(z0, 6);}#endif#if ENABLED(DEBUG_LEVELING_FEATURE)if (DEBUGGING(MESH_ADJUST)) {SERIAL_ECHOPGM(" >>>---> ");SERIAL_ECHO_F(z0, 6);SERIAL_EOL();}#endifif (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NANz0 = 0.0; // in ubl.z_values[][] and propagate through the// calculations. If our correction is NAN, we throw it out// because part of the Mesh is undefined and we don't have the// information we need to complete the height correction.#if ENABLED(DEBUG_LEVELING_FEATURE)if (DEBUGGING(MESH_ADJUST)) {SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0);SERIAL_CHAR(',');SERIAL_ECHO(ry0);SERIAL_CHAR(')');SERIAL_EOL();}#endif}return z0;}FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) {return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);}FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) {return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);}#if UBL_SEGMENTEDstatic bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);#elsestatic void line_to_destination_cartesian(const float &fr, const uint8_t e);#endifinline static bool mesh_is_valid() {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])) return false;return true;}}; // class unified_bed_levelingextern unified_bed_leveling ubl;FORCE_INLINE void gcode_G29() { ubl.G29(); }#endif // UNIFIED_BED_LEVELING_H