274 lines
8.7 KiB
C++
274 lines
8.7 KiB
C++
/**
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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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*
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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 "../../../inc/MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "ubl.h"
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unified_bed_leveling ubl;
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#include "../../../module/configuration_store.h"
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#include "../../../module/planner.h"
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#include "../../../module/motion.h"
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#include "../../bedlevel/bedlevel.h"
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#include "math.h"
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void unified_bed_leveling::echo_name() {
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SERIAL_ECHOPGM("Unified Bed Leveling");
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}
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void unified_bed_leveling::report_current_mesh() {
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if (!leveling_is_valid()) return;
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SERIAL_ECHO_MSG(" G29 I99");
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
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if (!isnan(z_values[x][y])) {
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(" M421 I", x);
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SERIAL_ECHOPAIR(" J", y);
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SERIAL_ECHOPAIR_F(" Z", z_values[x][y], 2);
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SERIAL_EOL();
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serial_delay(75); // Prevent Printrun from exploding
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}
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}
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void unified_bed_leveling::report_state() {
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echo_name();
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SERIAL_ECHOPGM(" System v" UBL_VERSION " ");
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if (!planner.leveling_active) SERIAL_ECHOPGM("in");
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SERIAL_ECHOLNPGM("active.");
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serial_delay(50);
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}
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#if ENABLED(UBL_DEVEL_DEBUGGING)
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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(PGM_P 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 != '!' && !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; // Printing moves only
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const float dx = destination[X_AXIS] - current_position[X_AXIS],
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dy = destination[Y_AXIS] - current_position[Y_AXIS],
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xy_dist = HYPOT(dx, dy);
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if (xy_dist == 0.0) return;
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const float fpmm = de / xy_dist;
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SERIAL_ECHOPAIR_F(" fpmm=", fpmm, 6);
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SERIAL_ECHOPAIR_F(" current=( ", current_position[X_AXIS], 6);
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SERIAL_ECHOPAIR_F(", ", current_position[Y_AXIS], 6);
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SERIAL_ECHOPAIR_F(", ", current_position[Z_AXIS], 6);
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SERIAL_ECHOPAIR_F(", ", current_position[E_AXIS], 6);
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SERIAL_ECHOPGM(" ) destination=( "); debug_echo_axis(X_AXIS);
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SERIAL_ECHOPGM(", "); debug_echo_axis(Y_AXIS);
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SERIAL_ECHOPGM(", "); debug_echo_axis(Z_AXIS);
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SERIAL_ECHOPGM(", "); debug_echo_axis(E_AXIS);
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SERIAL_ECHOPGM(" ) ");
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serialprintPGM(title);
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SERIAL_EOL();
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}
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#endif // UBL_DEVEL_DEBUGGING
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int8_t unified_bed_leveling::storage_slot;
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float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
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// until determinism prevails
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constexpr float unified_bed_leveling::_mesh_index_to_xpos[16],
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unified_bed_leveling::_mesh_index_to_ypos[16];
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#if HAS_LCD_MENU
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bool unified_bed_leveling::lcd_map_control = false;
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#endif
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volatile int unified_bed_leveling::encoder_diff;
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unified_bed_leveling::unified_bed_leveling() {
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reset();
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}
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void unified_bed_leveling::reset() {
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const bool was_enabled = planner.leveling_active;
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set_bed_leveling_enabled(false);
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storage_slot = -1;
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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planner.set_z_fade_height(10.0);
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#endif
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ZERO(z_values);
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if (was_enabled) report_current_position();
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}
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void unified_bed_leveling::invalidate() {
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set_bed_leveling_enabled(false);
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set_all_mesh_points_to_value(NAN);
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}
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void unified_bed_leveling::set_all_mesh_points_to_value(const float value) {
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) {
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
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z_values[x][y] = value;
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}
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}
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}
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static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
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SERIAL_ECHO_SP(sp);
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SERIAL_CHAR('(');
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if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
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SERIAL_ECHO(x);
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SERIAL_CHAR(',');
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if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
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SERIAL_ECHO(y);
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SERIAL_CHAR(')');
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serial_delay(5);
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}
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static void serial_echo_column_labels(const uint8_t sp) {
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SERIAL_ECHO_SP(7);
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for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
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if (i < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO(i);
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SERIAL_ECHO_SP(sp);
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}
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serial_delay(10);
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}
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/**
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* Produce one of these mesh maps:
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* 0: Human-readable
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* 1: CSV format for spreadsheet import
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* 2: TODO: Display on Graphical LCD
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* 4: Compact Human-Readable
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*/
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void unified_bed_leveling::display_map(const int map_type) {
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#if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
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suspend_auto_report = true;
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#endif
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constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567]
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twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
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const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
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SERIAL_ECHOPGM("\nBed Topography Report");
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if (human) {
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SERIAL_ECHOLNPGM(":\n");
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serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
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serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
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SERIAL_EOL();
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serial_echo_column_labels(eachsp - 2);
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}
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else {
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SERIAL_ECHOPGM(" for ");
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serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
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}
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// Add XY_PROBE_OFFSET_FROM_EXTRUDER because probe_pt() subtracts these when
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// moving to the xy position to be measured. This ensures better agreement between
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// the current Z position after G28 and the mesh values.
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const float current_xi = find_closest_x_index(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
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current_yi = find_closest_y_index(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);
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if (!lcd) SERIAL_EOL();
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for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
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// Row Label (J index)
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if (human) {
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if (j < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO(j);
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SERIAL_ECHOPGM(" |");
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}
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// Row Values (I indexes)
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for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
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// Opening Brace or Space
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const bool is_current = i == current_xi && j == current_yi;
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if (human) SERIAL_CHAR(is_current ? '[' : ' ');
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// Z Value at current I, J
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const float f = z_values[i][j];
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if (lcd) {
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// TODO: Display on Graphical LCD
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}
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else if (isnan(f))
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serialprintPGM(human ? PSTR(" . ") : PSTR("NAN"));
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else if (human || csv) {
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if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Space for positive ('-' for negative)
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SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits
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}
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if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
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// Closing Brace or Space
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if (human) SERIAL_CHAR(is_current ? ']' : ' ');
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SERIAL_FLUSHTX();
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idle();
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}
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if (!lcd) SERIAL_EOL();
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// A blank line between rows (unless compact)
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if (j && human && !comp) SERIAL_ECHOLNPGM(" |");
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}
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if (human) {
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serial_echo_column_labels(eachsp - 2);
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SERIAL_EOL();
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serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
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serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
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SERIAL_EOL();
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SERIAL_EOL();
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}
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#if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
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suspend_auto_report = false;
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#endif
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}
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bool unified_bed_leveling::sanity_check() {
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uint8_t error_flag = 0;
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if (settings.calc_num_meshes() < 1) {
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SERIAL_ECHOLNPGM("?Mesh too big for EEPROM.");
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error_flag++;
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}
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return !!error_flag;
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}
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#endif // AUTO_BED_LEVELING_UBL
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