243 lines
7.1 KiB
C++
243 lines
7.1 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 HAS_LEVELING
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#include "bedlevel.h"
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#include "../../module/planner.h"
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#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
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#include "../../module/motion.h"
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#endif
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#if ENABLED(PROBE_MANUALLY)
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bool g29_in_progress = false;
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#endif
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#if ENABLED(LCD_BED_LEVELING)
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#include "../../lcd/ultralcd.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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bool leveling_is_valid() {
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return
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#if ENABLED(MESH_BED_LEVELING)
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mbl.has_mesh()
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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!!bilinear_grid_spacing[X_AXIS]
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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ubl.mesh_is_valid()
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#else // 3POINT, LINEAR
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true
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#endif
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;
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}
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/**
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* Turn bed leveling on or off, fixing the current
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* position as-needed.
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*
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* Disable: Current position = physical position
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* Enable: Current position = "unleveled" physical position
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*/
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void set_bed_leveling_enabled(const bool enable/*=true*/) {
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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const bool can_change = (!enable || leveling_is_valid());
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#else
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constexpr bool can_change = true;
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#endif
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if (can_change && enable != planner.leveling_active) {
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planner.synchronize();
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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// Force bilinear_z_offset to re-calculate next time
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const float reset[XYZ] = { -9999.999, -9999.999, 0 };
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(void)bilinear_z_offset(reset);
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#endif
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if (planner.leveling_active) { // leveling from on to off
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// change unleveled current_position to physical current_position without moving steppers.
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planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
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planner.leveling_active = false; // disable only AFTER calling apply_leveling
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}
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else { // leveling from off to on
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planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
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// change physical current_position to unleveled current_position without moving steppers.
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planner.unapply_leveling(current_position);
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}
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sync_plan_position();
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}
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}
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
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if (planner.z_fade_height == zfh) return;
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const bool leveling_was_active = planner.leveling_active;
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set_bed_leveling_enabled(false);
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planner.set_z_fade_height(zfh);
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if (leveling_was_active) {
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const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
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set_bed_leveling_enabled(true);
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if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
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report_current_position();
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}
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}
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#endif // ENABLE_LEVELING_FADE_HEIGHT
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/**
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* Reset calibration results to zero.
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*/
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void reset_bed_level() {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level");
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set_bed_leveling_enabled(false);
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#if ENABLED(MESH_BED_LEVELING)
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mbl.reset();
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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ubl.reset();
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
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bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
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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] = NAN;
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#if ENABLED(EXTENSIBLE_UI)
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ExtUI::onMeshUpdate(x, y, 0);
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#endif
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}
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#elif ABL_PLANAR
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planner.bed_level_matrix.set_to_identity();
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#endif
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}
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#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
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/**
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* Enable to produce output in JSON format suitable
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* for SCAD or JavaScript mesh visualizers.
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*
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* Visualize meshes in OpenSCAD using the included script.
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*
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* buildroot/shared/scripts/MarlinMesh.scad
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*/
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//#define SCAD_MESH_OUTPUT
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/**
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* Print calibration results for plotting or manual frame adjustment.
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*/
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void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
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#ifndef SCAD_MESH_OUTPUT
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for (uint8_t x = 0; x < sx; x++) {
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serial_spaces(precision + (x < 10 ? 3 : 2));
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SERIAL_ECHO(int(x));
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}
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SERIAL_EOL();
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#endif
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_ECHOLNPGM("measured_z = ["); // open 2D array
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#endif
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for (uint8_t y = 0; y < sy; y++) {
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_ECHOPGM(" ["); // open sub-array
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#else
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if (y < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO(int(y));
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#endif
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for (uint8_t x = 0; x < sx; x++) {
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SERIAL_CHAR(' ');
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const float offset = fn(x, y);
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if (!isnan(offset)) {
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if (offset >= 0) SERIAL_CHAR('+');
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SERIAL_ECHO_F(offset, int(precision));
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}
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else {
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#ifdef SCAD_MESH_OUTPUT
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for (uint8_t i = 3; i < precision + 3; i++)
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SERIAL_CHAR(' ');
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SERIAL_ECHOPGM("NAN");
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#else
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for (uint8_t i = 0; i < precision + 3; i++)
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SERIAL_CHAR(i ? '=' : ' ');
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#endif
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}
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#ifdef SCAD_MESH_OUTPUT
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if (x < sx - 1) SERIAL_CHAR(',');
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#endif
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}
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_CHAR(' ');
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SERIAL_CHAR(']'); // close sub-array
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if (y < sy - 1) SERIAL_CHAR(',');
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#endif
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SERIAL_EOL();
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}
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_ECHOPGM("];"); // close 2D array
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#endif
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SERIAL_EOL();
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}
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#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
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#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
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void _manual_goto_xy(const float &rx, const float &ry) {
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#ifdef MANUAL_PROBE_START_Z
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#if MANUAL_PROBE_HEIGHT > 0
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do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
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do_blocking_move_to_z(MAX(0,MANUAL_PROBE_START_Z));
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#else
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do_blocking_move_to(rx, ry, MAX(0,MANUAL_PROBE_START_Z));
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#endif
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#elif MANUAL_PROBE_HEIGHT > 0
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const float prev_z = current_position[Z_AXIS];
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do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
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do_blocking_move_to_z(prev_z);
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#else
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do_blocking_move_to_xy(rx, ry);
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#endif
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current_position[X_AXIS] = rx;
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current_position[Y_AXIS] = ry;
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#if ENABLED(LCD_BED_LEVELING)
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ui.wait_for_bl_move = false;
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#endif
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}
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#endif
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#endif // HAS_LEVELING
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