475 lines
20 KiB
C++
475 lines
20 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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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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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "Marlin.h"
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#include "ubl.h"
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#include "planner.h"
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#include <avr/io.h>
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#include <math.h>
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extern float destination[XYZE];
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extern void set_current_to_destination();
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static void debug_echo_axis(const AxisEnum axis) {
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if (current_position[axis] == destination[axis])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[X_AXIS], 6);
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}
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void debug_current_and_destination(const char *title) {
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// if the title message starts with a '!' it is so important, we are going to
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// ignore the status of the g26_debug_flag
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if (*title != '!' && !ubl.g26_debug_flag) return;
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const float de = destination[E_AXIS] - current_position[E_AXIS];
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if (de == 0.0) return;
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const float dx = current_position[X_AXIS] - destination[X_AXIS],
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dy = current_position[Y_AXIS] - destination[Y_AXIS],
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xy_dist = HYPOT(dx, dy);
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if (xy_dist == 0.0) {
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return;
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//SERIAL_ECHOPGM(" FPMM=");
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//const float fpmm = de / xy_dist;
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//SERIAL_PROTOCOL_F(fpmm, 6);
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}
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else {
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SERIAL_ECHOPGM(" fpmm=");
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const float fpmm = de / xy_dist;
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SERIAL_ECHO_F(fpmm, 6);
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}
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SERIAL_ECHOPGM(" current=( ");
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SERIAL_ECHO_F(current_position[X_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Y_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Z_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[E_AXIS], 6);
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SERIAL_ECHOPGM(" ) destination=( ");
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debug_echo_axis(X_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Y_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Z_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(E_AXIS);
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SERIAL_ECHOPGM(" ) ");
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SERIAL_ECHO(title);
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SERIAL_EOL;
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}
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void ubl_line_to_destination(const float &feed_rate, uint8_t extruder) {
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/**
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* Much of the nozzle movement will be within the same cell. So we will do as little computation
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* as possible to determine if this is the case. If this move is within the same cell, we will
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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*/
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const float start[XYZE] = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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},
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end[XYZE] = {
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destination[X_AXIS],
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destination[Y_AXIS],
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destination[Z_AXIS],
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destination[E_AXIS]
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};
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const int cell_start_xi = ubl.get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
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cell_start_yi = ubl.get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
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cell_dest_xi = ubl.get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
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cell_dest_yi = ubl.get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
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if (ubl.g26_debug_flag) {
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SERIAL_ECHOPAIR(" ubl_line_to_destination(xe=", end[X_AXIS]);
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SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
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SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
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SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
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SERIAL_CHAR(')');
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SERIAL_EOL;
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debug_current_and_destination(PSTR("Start of ubl_line_to_destination()"));
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}
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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/**
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* we don't need to break up the move
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*
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* If we are moving off the print bed, we are going to allow the move at this level.
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* But we detect it and isolate it. For now, we just pass along the request.
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*/
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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
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// a reasonable correction would be.
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planner.buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
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set_current_to_destination();
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if (ubl.g26_debug_flag)
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debug_current_and_destination(PSTR("out of bounds in ubl_line_to_destination()"));
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return;
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}
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FINAL_MOVE:
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/**
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* Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
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* generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
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* We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
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* We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
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* instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
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* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
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*/
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const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&ubl.mesh_index_to_xpos[cell_dest_xi])) * (1.0 / (MESH_X_DIST)),
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z1 = ubl.z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
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(ubl.z_values[cell_dest_xi + 1][cell_dest_yi ] - ubl.z_values[cell_dest_xi][cell_dest_yi ]),
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z2 = ubl.z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
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(ubl.z_values[cell_dest_xi + 1][cell_dest_yi + 1] - ubl.z_values[cell_dest_xi][cell_dest_yi + 1]);
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// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
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// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
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const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&ubl.mesh_index_to_ypos[cell_dest_yi])) * (1.0 / (MESH_Y_DIST));
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float z0 = z1 + (z2 - z1) * yratio;
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z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in z_values[][] and propagate through the
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* calculations. If our correction is NAN, we throw it out
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* because part of the Mesh is undefined and we don't have the
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* information we need to complete the height correction.
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*/
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if (isnan(z0)) z0 = 0.0;
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planner.buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
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if (ubl.g26_debug_flag)
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl_line_to_destination()"));
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set_current_to_destination();
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return;
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}
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/**
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* If we get here, we are processing a move that crosses at least one Mesh Line. We will check
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* for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
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* of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
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* computation and in fact most lines are of this nature. We will check for that in the following
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* blocks of code:
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*/
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const float dx = end[X_AXIS] - start[X_AXIS],
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dy = end[Y_AXIS] - start[Y_AXIS];
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const int left_flag = dx < 0.0 ? 1 : 0,
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down_flag = dy < 0.0 ? 1 : 0;
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const float adx = left_flag ? -dx : dx,
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ady = down_flag ? -dy : dy;
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const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
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dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
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/**
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* Compute the scaling factor for the extruder for each partial move.
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* We need to watch out for zero length moves because it will cause us to
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* have an infinate scaling factor. We are stuck doing a floating point
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* divide to get our scaling factor, but after that, we just multiply by this
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* number. We also pick our scaling factor based on whether the X or Y
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* component is larger. We use the biggest of the two to preserve precision.
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*/
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const bool use_x_dist = adx > ady;
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float on_axis_distance = use_x_dist ? dx : dy,
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e_position = end[E_AXIS] - start[E_AXIS],
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z_position = end[Z_AXIS] - start[Z_AXIS];
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const float e_normalized_dist = e_position / on_axis_distance,
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z_normalized_dist = z_position / on_axis_distance;
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int current_xi = cell_start_xi,
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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),
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inf_m_flag = (isinf(m) != 0);
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/**
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* This block handles vertical lines. These are lines that stay within the same
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* X Cell column. They do not need to be perfectly vertical. They just can
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* not cross into another X Cell column.
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*/
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if (dxi == 0) { // Check for a vertical line
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current_yi += down_flag; // Line is heading down, we just want to go to the bottom
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while (current_yi != cell_dest_yi + down_flag) {
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current_yi += dyi;
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const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
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/**
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* if the slope of the line is infinite, we won't do the calculations
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* else, we know the next X is the same so we can recover and continue!
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* Calculate X at the next Y mesh line
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*/
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const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
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float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
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z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in z_values[][] and propagate through the
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* calculations. If our correction is NAN, we throw it out
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* because part of the Mesh is undefined and we don't have the
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* information we need to complete the height correction.
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*/
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if (isnan(z0)) z0 = 0.0;
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const float y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
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/**
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
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* happens, it might be best to remove the check and always 'schedule' the move because
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* the planner.buffer_line() routine will filter it if that happens.
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*/
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if (y != start[Y_AXIS]) {
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if (!inf_normalized_flag) {
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//on_axis_distance = y - start[Y_AXIS];
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on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
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//on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
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//on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
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//on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
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//on_axis_distance = use_x_dist ? x - 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;
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z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
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}
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else {
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e_position = end[E_AXIS];
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z_position = end[Z_AXIS];
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}
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planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
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} //else printf("FIRST MOVE PRUNED ");
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}
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if (ubl.g26_debug_flag)
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debug_current_and_destination(PSTR("vertical move done in ubl_line_to_destination()"));
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//
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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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_to_destination();
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return;
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}
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/**
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*
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* This block handles horizontal lines. These are lines that stay within the same
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* Y Cell row. They do not need to be perfectly horizontal. They just can
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* not cross into another Y Cell row.
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*
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*/
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if (dyi == 0) { // Check for a horizontal line
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current_xi += left_flag; // Line is heading left, we just want to go to the left
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// edge of this cell for the first move.
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while (current_xi != cell_dest_xi + left_flag) {
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current_xi += dxi;
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const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi])),
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y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
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float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
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z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in z_values[][] and propagate through the
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* calculations. If our correction is NAN, we throw it out
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* because part of the Mesh is undefined and we don't have the
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* information we need to complete the height correction.
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*/
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if (isnan(z0)) z0 = 0.0;
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const float x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi]));
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/**
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* where the line is heading left and it is starting right on a Mesh Line boundary. For how often
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* that happens, it might be best to remove the check and always 'schedule' the move because
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* the planner.buffer_line() routine will filter it if that happens.
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*/
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if (x != start[X_AXIS]) {
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if (!inf_normalized_flag) {
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//on_axis_distance = x - start[X_AXIS];
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on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
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//on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
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//on_axis_distance = use_x_dist ? x - 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; // is based on X or Y because this is a horizontal move
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z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
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}
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else {
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e_position = end[E_AXIS];
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z_position = end[Z_AXIS];
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}
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planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
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} //else printf("FIRST MOVE PRUNED ");
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}
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if (ubl.g26_debug_flag)
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debug_current_and_destination(PSTR("horizontal move done in ubl_line_to_destination()"));
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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_to_destination();
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return;
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}
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/**
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*
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* This block handles the generic case of a line crossing both X and Y Mesh lines.
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*
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*/
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int xi_cnt = cell_start_xi - cell_dest_xi,
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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;
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current_yi += down_flag;
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while (xi_cnt > 0 || yi_cnt > 0) {
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const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi + dxi])),
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next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi + dyi])),
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y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
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x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
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// (No need to worry about m being zero.
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// If that was the case, it was already detected
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// as a vertical line move above.)
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if (left_flag == (x > 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 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
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z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
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/**
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* If part of the Mesh is undefined, it will show up as NAN
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* in z_values[][] and propagate through the
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* calculations. If our correction is NAN, we throw it out
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* because part of the Mesh is undefined and we don't have the
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* information we need to complete the height correction.
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*/
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if (isnan(z0)) z0 = 0.0;
|
|
|
|
if (!inf_normalized_flag) {
|
|
on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
|
|
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
|
|
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
|
|
}
|
|
else {
|
|
e_position = end[E_AXIS];
|
|
z_position = end[Z_AXIS];
|
|
}
|
|
planner.buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
current_yi += dyi;
|
|
yi_cnt--;
|
|
}
|
|
else {
|
|
// Yes! Crossing a X Mesh Line next
|
|
float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
|
|
|
|
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
|
|
|
|
/**
|
|
* If part of the Mesh is undefined, it will show up as NAN
|
|
* in 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 (isnan(z0)) z0 = 0.0;
|
|
|
|
if (!inf_normalized_flag) {
|
|
on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
|
|
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
|
|
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
|
|
}
|
|
else {
|
|
e_position = end[E_AXIS];
|
|
z_position = end[Z_AXIS];
|
|
}
|
|
|
|
planner.buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
|
|
current_xi += dxi;
|
|
xi_cnt--;
|
|
}
|
|
|
|
if (xi_cnt < 0 || yi_cnt < 0) break; // we've gone too far, so exit the loop and move on to FINAL_MOVE
|
|
}
|
|
|
|
if (ubl.g26_debug_flag)
|
|
debug_current_and_destination(PSTR("generic move done in ubl_line_to_destination()"));
|
|
|
|
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
|
|
goto FINAL_MOVE;
|
|
|
|
set_current_to_destination();
|
|
}
|
|
|
|
#endif
|