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+/**
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+ * Marlin 3D Printer Firmware
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+ * Copyright (C) 2016, 2017 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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+
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+#ifndef UNIFIED_BED_LEVELING_H
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+#define UNIFIED_BED_LEVELING_H
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+
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+#include "MarlinConfig.h"
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+
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+#if ENABLED(AUTO_BED_LEVELING_UBL)
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+
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+ #include "Marlin.h"
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+ #include "math.h"
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+ #include "vector_3.h"
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+
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+ #define UBL_VERSION "1.00"
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+ #define UBL_OK false
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+ #define UBL_ERR true
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+
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+ typedef struct {
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+ int8_t x_index, y_index;
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+ float distance; // When populated, the distance from the search location
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+ } mesh_index_pair;
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+
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+ enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
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+
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+ void dump(char * const str, const float &f);
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+ bool ubl_lcd_clicked();
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+ void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool);
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+ void debug_current_and_destination(char *title);
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+ void ubl_line_to_destination(const float&, uint8_t);
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+ void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
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+ vector_3 tilt_mesh_based_on_3pts(const float&, const float&, const float&);
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+ float measure_business_card_thickness(const float&);
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+ mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
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+ void find_mean_mesh_height();
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+ void shift_mesh_height();
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+ bool g29_parameter_parsing();
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+ void g29_what_command();
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+ void g29_eeprom_dump();
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+ void g29_compare_current_mesh_to_stored_mesh();
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+ void fine_tune_mesh(const float&, const float&, const bool);
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+ void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
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+ void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
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+ bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
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+ char *ftostr43sign(const float&, char);
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+
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+ void gcode_G26();
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+ void gcode_G28();
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+ void gcode_G29();
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+ extern char conv[9];
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+
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+ void save_ubl_active_state_and_disable();
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+ void restore_ubl_active_state_and_leave();
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+
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+ ///////////////////////////////////////////////////////////////////////////////////////////////////////
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+
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+ #if ENABLED(ULTRA_LCD)
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+ extern char lcd_status_message[];
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+ void lcd_quick_feedback();
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+ #endif
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+
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+ enum MBLStatus { MBL_STATUS_NONE = 0, MBL_STATUS_HAS_MESH_BIT = 0, MBL_STATUS_ACTIVE_BIT = 1 };
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+
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+ #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
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+ #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
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+
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+ typedef struct {
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+ bool active = false;
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+ float z_offset = 0.0;
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+ int8_t eeprom_storage_slot = -1,
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+ n_x = GRID_MAX_POINTS_X,
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+ n_y = GRID_MAX_POINTS_Y;
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+
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+ float mesh_x_min = UBL_MESH_MIN_X,
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+ mesh_y_min = UBL_MESH_MIN_Y,
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+ mesh_x_max = UBL_MESH_MAX_X,
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+ mesh_y_max = UBL_MESH_MAX_Y,
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+ mesh_x_dist = MESH_X_DIST,
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+ mesh_y_dist = MESH_Y_DIST;
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+
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+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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+ float g29_correction_fade_height = 10.0,
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+ g29_fade_height_multiplier = 1.0 / 10.0; // It's cheaper to do a floating point multiply than divide,
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+ // so keep this value and its reciprocal.
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+ #endif
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+
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+ // If you change this struct, adjust TOTAL_STRUCT_SIZE
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+
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+ #define TOTAL_STRUCT_SIZE 40 // Total size of the above fields
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+
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+ // padding provides space to add state variables without
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+ // changing the location of data structures in the EEPROM.
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+ // This is for compatibility with future versions to keep
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+ // users from having to regenerate their mesh data.
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+ unsigned char padding[64 - TOTAL_STRUCT_SIZE];
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+
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+ } ubl_state;
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+
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+ class unified_bed_leveling {
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+ private:
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+
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+ static float last_specified_z;
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+
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+ public:
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+
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+ static ubl_state state, pre_initialized;
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+
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+ static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
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+ mesh_index_to_xpos[GRID_MAX_POINTS_X + 1], // +1 safety margin for now, until determinism prevails
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+ mesh_index_to_ypos[GRID_MAX_POINTS_Y + 1];
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+
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+ static bool g26_debug_flag,
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+ has_control_of_lcd_panel;
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+
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+ static int8_t eeprom_start;
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+
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+ static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
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+
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+ unified_bed_leveling();
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+
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+ static void display_map(const int);
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+
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+ static void reset();
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+ static void invalidate();
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+
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+ static void store_state();
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+ static void load_state();
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+ static void store_mesh(const int16_t);
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+ static void load_mesh(const int16_t);
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+
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+ static bool sanity_check();
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+
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+ static FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
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+
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+ static int8_t get_cell_index_x(const float &x) {
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+ const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
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+ return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
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+ } // position. But with this defined this way, it is possible
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+ // to extrapolate off of this point even further out. Probably
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+ // that is OK because something else should be keeping that from
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+ // happening and should not be worried about at this level.
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+ static int8_t get_cell_index_y(const float &y) {
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+ const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
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+ return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
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+ } // position. But with this defined this way, it is possible
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+ // to extrapolate off of this point even further out. Probably
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+ // that is OK because something else should be keeping that from
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+ // happening and should not be worried about at this level.
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+
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+ static int8_t find_closest_x_index(const float &x) {
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+ const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
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+ return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
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+ }
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+
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+ static int8_t find_closest_y_index(const float &y) {
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+ const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
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+ return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
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+ }
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+
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+ /**
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+ * z2 --|
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+ * z0 | |
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+ * | | + (z2-z1)
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+ * z1 | | |
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+ * ---+-------------+--------+-- --|
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+ * a1 a0 a2
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+ * |<---delta_a---------->|
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+ *
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+ * calc_z0 is the basis for all the Mesh Based correction. It is used to
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+ * find the expected Z Height at a position between two known Z-Height locations.
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+ *
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+ * It is fairly expensive with its 4 floating point additions and 2 floating point
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+ * multiplications.
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+ */
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+ static FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
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+ return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
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+ }
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+
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+ /**
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+ * z_correction_for_x_on_horizontal_mesh_line is an optimization for
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+ * the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
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+ */
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+ static inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
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+ if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
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+ SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
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+ SERIAL_ECHOPAIR(",x1_i=", x1_i);
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+ SERIAL_ECHOPAIR(",yi=", yi);
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+ SERIAL_CHAR(')');
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+ SERIAL_EOL;
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+ return NAN;
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+ }
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+
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+ const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)),
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+ z1 = z_values[x1_i][yi];
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+
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+ return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
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+ }
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+
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+ //
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+ // See comments above for z_correction_for_x_on_horizontal_mesh_line
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+ //
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+ static inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
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+ if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
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+ SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0);
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+ SERIAL_ECHOPAIR(", x1_i=", xi);
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+ SERIAL_ECHOPAIR(", yi=", y1_i);
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+ SERIAL_CHAR(')');
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+ SERIAL_EOL;
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+ return NAN;
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+ }
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+
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+ const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)),
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+ z1 = z_values[xi][y1_i];
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+
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+ return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
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+ }
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+
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+ /**
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+ * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
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+ * does a linear interpolation along both of the bounding X-Mesh-Lines to find the
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+ * Z-Height at both ends. Then it does a linear interpolation of these heights based
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+ * on the Y position within the cell.
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+ */
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+ static float get_z_correction(const float &lx0, const float &ly0) {
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+ const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
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+ cy = get_cell_index_y(RAW_Y_POSITION(ly0));
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+
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+ if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) {
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+
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+ SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
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+ SERIAL_ECHOPAIR(", ly0=", ly0);
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+ SERIAL_CHAR(')');
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+ SERIAL_EOL;
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+
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+ #if ENABLED(ULTRA_LCD)
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+ strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
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+ lcd_quick_feedback();
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+ #endif
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+ return 0.0; // this used to return state.z_offset
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+ }
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+
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+ const float z1 = calc_z0(RAW_X_POSITION(lx0),
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+ mesh_index_to_xpos[cx], z_values[cx][cy],
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+ mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy]),
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+ z2 = calc_z0(RAW_X_POSITION(lx0),
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+ mesh_index_to_xpos[cx], z_values[cx][cy + 1],
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+ mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]);
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+ float z0 = calc_z0(RAW_Y_POSITION(ly0),
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+ mesh_index_to_ypos[cy], z1,
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+ mesh_index_to_ypos[cy + 1], z2);
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+
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271
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+ #if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
272
|
+ if (DEBUGGING(MESH_ADJUST)) {
|
|
|
273
|
+ SERIAL_ECHOPAIR(" raw get_z_correction(", lx0);
|
|
|
274
|
+ SERIAL_CHAR(',')
|
|
|
275
|
+ SERIAL_ECHO(ly0);
|
|
|
276
|
+ SERIAL_ECHOPGM(") = ");
|
|
|
277
|
+ SERIAL_ECHO_F(z0, 6);
|
|
|
278
|
+ }
|
|
|
279
|
+ #endif
|
|
|
280
|
+
|
|
|
281
|
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
282
|
+ if (DEBUGGING(MESH_ADJUST)) {
|
|
|
283
|
+ SERIAL_ECHOPGM(" >>>---> ");
|
|
|
284
|
+ SERIAL_ECHO_F(z0, 6);
|
|
|
285
|
+ SERIAL_EOL;
|
|
|
286
|
+ }
|
|
|
287
|
+ #endif
|
|
|
288
|
+
|
|
|
289
|
+ if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
|
|
|
290
|
+ z0 = 0.0; // in ubl.z_values[][] and propagate through the
|
|
|
291
|
+ // calculations. If our correction is NAN, we throw it out
|
|
|
292
|
+ // because part of the Mesh is undefined and we don't have the
|
|
|
293
|
+ // information we need to complete the height correction.
|
|
|
294
|
+
|
|
|
295
|
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
296
|
+ if (DEBUGGING(MESH_ADJUST)) {
|
|
|
297
|
+ SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0);
|
|
|
298
|
+ SERIAL_CHAR(',');
|
|
|
299
|
+ SERIAL_ECHO(ly0);
|
|
|
300
|
+ SERIAL_CHAR(')');
|
|
|
301
|
+ SERIAL_EOL;
|
|
|
302
|
+ }
|
|
|
303
|
+ #endif
|
|
|
304
|
+ }
|
|
|
305
|
+ return z0; // there used to be a +state.z_offset on this line
|
|
|
306
|
+ }
|
|
|
307
|
+
|
|
|
308
|
+ /**
|
|
|
309
|
+ * This function sets the Z leveling fade factor based on the given Z height,
|
|
|
310
|
+ * only re-calculating when necessary.
|
|
|
311
|
+ *
|
|
|
312
|
+ * Returns 1.0 if g29_correction_fade_height is 0.0.
|
|
|
313
|
+ * Returns 0.0 if Z is past the specified 'Fade Height'.
|
|
|
314
|
+ */
|
|
|
315
|
+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
|
316
|
+
|
|
|
317
|
+ static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
|
|
|
318
|
+ if (state.g29_correction_fade_height == 0.0) return 1.0;
|
|
|
319
|
+
|
|
|
320
|
+ static float fade_scaling_factor = 1.0;
|
|
|
321
|
+ const float rz = RAW_Z_POSITION(lz);
|
|
|
322
|
+ if (last_specified_z != rz) {
|
|
|
323
|
+ last_specified_z = rz;
|
|
|
324
|
+ fade_scaling_factor =
|
|
|
325
|
+ rz < state.g29_correction_fade_height
|
|
|
326
|
+ ? 1.0 - (rz * state.g29_fade_height_multiplier)
|
|
|
327
|
+ : 0.0;
|
|
|
328
|
+ }
|
|
|
329
|
+ return fade_scaling_factor;
|
|
|
330
|
+ }
|
|
|
331
|
+
|
|
|
332
|
+ #endif
|
|
|
333
|
+
|
|
|
334
|
+ }; // class unified_bed_leveling
|
|
|
335
|
+
|
|
|
336
|
+ extern unified_bed_leveling ubl;
|
|
|
337
|
+
|
|
|
338
|
+ #define UBL_LAST_EEPROM_INDEX (E2END - sizeof(unified_bed_leveling::state))
|
|
|
339
|
+
|
|
|
340
|
+#endif // AUTO_BED_LEVELING_UBL
|
|
|
341
|
+#endif // UNIFIED_BED_LEVELING_H
|
Scott Lahteine
7 years ago