125 lines
4.5 KiB
C++
125 lines
4.5 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
#include "Marlin.h"
|
|
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
|
|
enum MeshLevelingState {
|
|
MeshReport,
|
|
MeshStart,
|
|
MeshNext,
|
|
MeshSet,
|
|
MeshSetZOffset,
|
|
MeshReset
|
|
};
|
|
|
|
enum MBLStatus {
|
|
MBL_STATUS_NONE = 0,
|
|
MBL_STATUS_HAS_MESH_BIT = 0,
|
|
MBL_STATUS_ACTIVE_BIT = 1,
|
|
MBL_STATUS_REACTIVATE_BIT = 2
|
|
};
|
|
|
|
#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (MESH_NUM_X_POINTS - 1))
|
|
#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (MESH_NUM_Y_POINTS - 1))
|
|
|
|
class mesh_bed_leveling {
|
|
public:
|
|
static uint8_t status; // Has Mesh and Is Active bits
|
|
static float z_offset,
|
|
z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS],
|
|
index_to_xpos[MESH_NUM_X_POINTS],
|
|
index_to_ypos[MESH_NUM_Y_POINTS];
|
|
|
|
mesh_bed_leveling();
|
|
|
|
static void reset();
|
|
|
|
static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[py][px] = z; }
|
|
|
|
static bool active() { return TEST(status, MBL_STATUS_ACTIVE_BIT); }
|
|
static void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); }
|
|
static bool has_mesh() { return TEST(status, MBL_STATUS_HAS_MESH_BIT); }
|
|
static void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); }
|
|
static bool reactivate() { bool b = TEST(status, MBL_STATUS_REACTIVATE_BIT); CBI(status, MBL_STATUS_REACTIVATE_BIT); return b; }
|
|
static void set_reactivate(const bool onOff) { onOff ? SBI(status, MBL_STATUS_REACTIVATE_BIT) : CBI(status, MBL_STATUS_REACTIVATE_BIT); }
|
|
|
|
static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
|
|
px = index % (MESH_NUM_X_POINTS);
|
|
py = index / (MESH_NUM_X_POINTS);
|
|
if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag
|
|
}
|
|
|
|
static void set_zigzag_z(const int8_t index, const float &z) {
|
|
int8_t px, py;
|
|
zigzag(index, px, py);
|
|
set_z(px, py, z);
|
|
}
|
|
|
|
static int8_t cell_index_x(const float &x) {
|
|
int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
|
|
return constrain(cx, 0, (MESH_NUM_X_POINTS) - 2);
|
|
}
|
|
|
|
static int8_t cell_index_y(const float &y) {
|
|
int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
|
|
return constrain(cy, 0, (MESH_NUM_Y_POINTS) - 2);
|
|
}
|
|
|
|
static int8_t probe_index_x(const float &x) {
|
|
int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST));
|
|
return WITHIN(px, 0, MESH_NUM_X_POINTS - 1) ? px : -1;
|
|
}
|
|
|
|
static int8_t probe_index_y(const float &y) {
|
|
int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST));
|
|
return WITHIN(py, 0, MESH_NUM_Y_POINTS - 1) ? py : -1;
|
|
}
|
|
|
|
static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
|
|
const float delta_z = (z2 - z1) / (a2 - a1);
|
|
const float delta_a = a0 - a1;
|
|
return z1 + delta_a * delta_z;
|
|
}
|
|
|
|
static float get_z(const float &x0, const float &y0
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
, const float &factor
|
|
#endif
|
|
) {
|
|
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
|
|
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cy][cx], index_to_xpos[cx + 1], z_values[cy][cx + 1]),
|
|
z2 = calc_z0(x0, index_to_xpos[cx], z_values[cy + 1][cx], index_to_xpos[cx + 1], z_values[cy + 1][cx + 1]),
|
|
z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
|
|
|
|
return z_offset + z0
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
* factor
|
|
#endif
|
|
;
|
|
}
|
|
};
|
|
|
|
extern mesh_bed_leveling mbl;
|
|
|
|
#endif // MESH_BED_LEVELING
|