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Marlin-Artillery-M600/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

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/**
* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
* 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/>.
*
*/
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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "../bedlevel.h"
#include "../../../module/planner.h"
#include "../../../module/stepper.h"
#include "../../../module/motion.h"
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#if ENABLED(DELTA)
#include "../../../module/delta.h"
#endif
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#include "../../../Marlin.h"
#include <math.h>
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
inline void set_current_from_destination() { COPY(current_position, destination); }
#else
extern void set_current_from_destination();
#endif
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#if !UBL_SEGMENTED
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void unified_bed_leveling::line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t extruder) {
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/**
* Much of the nozzle movement will be within the same cell. So we will do as little computation
* as possible to determine if this is the case. If this move is within the same cell, we will
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
#if HAS_POSITION_MODIFIERS
float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
planner.apply_modifiers(start);
planner.apply_modifiers(end);
#else
const float (&start)[XYZE] = current_position,
(&end)[XYZE] = destination;
#endif
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const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
cell_start_yi = get_cell_index_y(start[Y_AXIS]),
cell_dest_xi = get_cell_index_x(end[X_AXIS]),
cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
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// A move within the same cell needs no splitting
if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) {
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// For a move off the bed, use a constant Z raise
if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) {
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
// a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH
// value, that will be used instead of a calculated (Bi-Linear interpolation) correction.
const float z_raise = 0.0
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
+ UBL_Z_RAISE_WHEN_OFF_MESH
#endif
;
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z_raise, end[E_AXIS], scaled_fr_mm_s, extruder);
set_current_from_destination();
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return;
}
FINAL_MOVE:
// The distance is always MESH_X_DIST so multiply by the constant reciprocal.
const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * RECIPROCAL(MESH_X_DIST);
float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
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if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0;
// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * RECIPROCAL(MESH_Y_DIST),
z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
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// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + (isnan(z0) ? 0.0 : z0), end[E_AXIS], scaled_fr_mm_s, extruder);
set_current_from_destination();
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return;
}
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/**
* Past this point the move is known to cross one or more mesh lines. Check for the most common
* case - crossing only one X or Y line - after details are worked out to reduce computation.
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*/
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const float dx = end[X_AXIS] - start[X_AXIS],
dy = end[Y_AXIS] - start[Y_AXIS];
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const int left_flag = dx < 0.0 ? 1 : 0,
down_flag = dy < 0.0 ? 1 : 0;
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const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy;
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const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
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/**
* Compute the extruder scaling factor for each partial move, checking for
* zero-length moves that would result in an infinite scaling factor.
* A float divide is required for this, but then it just multiplies.
* Also select a scaling factor based on the larger of the X and Y
* components. The larger of the two is used to preserve precision.
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*/
const bool use_x_dist = adx > ady;
float on_axis_distance = use_x_dist ? dx : dy,
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e_position = end[E_AXIS] - start[E_AXIS],
z_position = end[Z_AXIS] - start[Z_AXIS];
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const float e_normalized_dist = e_position / on_axis_distance,
z_normalized_dist = z_position / on_axis_distance;
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int current_xi = cell_start_xi,
current_yi = cell_start_yi;
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const float m = dy / dx,
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c = start[Y_AXIS] - m * start[X_AXIS];
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const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0),
inf_m_flag = (isinf(m) != 0);
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/**
* Handle vertical lines that stay within one column.
* These need not be perfectly vertical.
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*/
if (dxi == 0) { // Vertical line?
current_yi += down_flag; // Line going down? Just go to the bottom.
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while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi;
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const float next_mesh_line_y = mesh_index_to_ypos(current_yi);
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/**
* Skip the calculations for an infinite slope.
* For others the next X is the same so this can continue.
* Calculate X at the next Y mesh line.
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*/
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const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
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float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
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// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
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const float ry = mesh_index_to_ypos(current_yi);
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/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading down, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
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*/
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if (ry != start[Y_AXIS]) {
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if (!inf_normalized_flag) {
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on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
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e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
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z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
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}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
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}
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planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
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} //else printf("FIRST MOVE PRUNED ");
}
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// At the final destination? Usually not, but when on a Y Mesh Line it's completed.
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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goto FINAL_MOVE;
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set_current_from_destination();
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return;
}
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/**
* Handle horizontal lines that stay within one row.
* These need not be perfectly horizontal.
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*/
if (dyi == 0) { // Horizontal line?
current_xi += left_flag; // Heading left? Just go to the left edge of the cell for the first move.
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while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
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const float next_mesh_line_x = mesh_index_to_xpos(current_xi),
ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
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float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
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// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
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if (isnan(z0)) z0 = 0.0;
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const float rx = mesh_index_to_xpos(current_xi);
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/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading left, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
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*/
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if (rx != start[X_AXIS]) {
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if (!inf_normalized_flag) {
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on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
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e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
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}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
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}
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if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
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} //else printf("FIRST MOVE PRUNED ");
}
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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goto FINAL_MOVE;
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set_current_from_destination();
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return;
}
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/**
*
* Handle the generic case of a line crossing both X and Y Mesh lines.
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*
*/
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int xi_cnt = cell_start_xi - cell_dest_xi,
yi_cnt = cell_start_yi - cell_dest_yi;
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if (xi_cnt < 0) xi_cnt = -xi_cnt;
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if (yi_cnt < 0) yi_cnt = -yi_cnt;
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current_xi += left_flag;
current_yi += down_flag;
while (xi_cnt || yi_cnt) {
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const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi),
next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi),
ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero.
// If that was the case, it was already detected
// as a vertical line move above.)
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if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
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// Yes! Crossing a Y Mesh Line next
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float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
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// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
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if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
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on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
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e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
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}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
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}
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if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
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current_yi += dyi;
yi_cnt--;
}
else {
// Yes! Crossing a X Mesh Line next
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float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
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// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
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if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
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on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS];
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e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
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}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
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}
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if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
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current_xi += dxi;
xi_cnt--;
}
if (xi_cnt < 0 || yi_cnt < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
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}
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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goto FINAL_MOVE;
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set_current_from_destination();
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}
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#else // UBL_SEGMENTED
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#if IS_SCARA
#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
#elif ENABLED(DELTA)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
#else // CARTESIAN
#ifdef LEVELED_SEGMENT_LENGTH
#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
#else
#define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
#endif
#endif
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/**
* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
* This calls planner.buffer_segment multiple times for small incremental moves.
* Returns true if did NOT move, false if moved (requires current_position update).
*/
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bool _O2 unified_bed_leveling::line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s) {
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if (!position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) // fail if moving outside reachable boundary
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return true; // did not move, so current_position still accurate
const float total[XYZE] = {
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destination[X_AXIS] - current_position[X_AXIS],
destination[Y_AXIS] - current_position[Y_AXIS],
destination[Z_AXIS] - current_position[Z_AXIS],
destination[E_AXIS] - current_position[E_AXIS]
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};
const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance
#if IS_KINEMATIC
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const float seconds = cartesian_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(delta_segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
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#else
uint16_t segments = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // cartesian fixed segment length
#endif
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NOLESS(segments, 1U); // must have at least one segment
const float inv_segments = 1.0f / segments; // divide once, multiply thereafter
const float segment_xyz_mm = HYPOT(cartesian_xy_mm, total[Z_AXIS]) * inv_segments; // length of each segment
#if ENABLED(SCARA_FEEDRATE_SCALING)
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const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
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#endif
const float diff[XYZE] = {
total[X_AXIS] * inv_segments,
total[Y_AXIS] * inv_segments,
total[Z_AXIS] * inv_segments,
total[E_AXIS] * inv_segments
};
// Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore.
float raw[XYZE] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
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// Just do plain segmentation if UBL is inactive or the target is above the fade height
if (!planner.leveling_active || !planner.leveling_active_at_z(destination[Z_AXIS])) {
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while (--segments) {
LOOP_XYZE(i) raw[i] += diff[i];
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planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
}
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planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
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return false; // moved but did not set_current_from_destination();
}
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// Otherwise perform per-segment leveling
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination[Z_AXIS]);
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#endif
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// increment to first segment destination
LOOP_XYZE(i) raw[i] += diff[i];
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for (;;) { // for each mesh cell encountered during the move
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// Compute mesh cell invariants that remain constant for all segments within cell.
// Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
// the bilinear interpolation from the adjacent cell within the mesh will still work.
// Inner loop will exit each time (because out of cell bounds) but will come back
// in top of loop and again re-find same adjacent cell and use it, just less efficient
// for mesh inset area.
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST),
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
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LIMIT(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
LIMIT(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
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const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add
y0 = mesh_index_to_ypos(cell_yi);
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float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
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if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A)
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
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float cx = raw[X_AXIS] - x0, // cell-relative x and y
cy = raw[Y_AXIS] - y0;
const float z_xmy0 = (z_x1y0 - z_x0y0) * RECIPROCAL(MESH_X_DIST), // z slope per x along y0 (lower left to lower right)
z_xmy1 = (z_x1y1 - z_x0y1) * RECIPROCAL(MESH_X_DIST); // z slope per x along y1 (upper left to upper right)
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float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell)
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const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
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// float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
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// As subsequent segments step through this cell, the z_cxy0 intercept will change
// and the z_cxym slope will change, both as a function of cx within the cell, and
// each change by a constant for fixed segment lengths.
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const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff[X_AXIS]; // per-segment adjustment to z_cxym
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for (;;) { // for all segments within this mesh cell
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if (--segments == 0) COPY(raw, destination); // if this is last segment, use destination for exact
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const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* fade_scaling_factor // apply fade factor to interpolated mesh height
#endif
;
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const float z = raw[Z_AXIS];
raw[Z_AXIS] += z_cxcy;
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planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
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raw[Z_AXIS] = z;
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if (segments == 0) // done with last segment
return false; // did not set_current_from_destination()
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LOOP_XYZE(i) raw[i] += diff[i];
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cx += diff[X_AXIS];
cy += diff[Y_AXIS];
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if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
break;
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// Next segment still within same mesh cell, adjust the per-segment
// slope and intercept to compute next z height.
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z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0
z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym
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} // segment loop
} // cell loop
return false; // caller will update current_position
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}
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#endif // UBL_SEGMENTED
#endif // AUTO_BED_LEVELING_UBL