123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417 |
- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 "../../../inc/MarlinConfig.h"
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- #include "../bedlevel.h"
-
- #include "../../../module/motion.h"
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../../core/debug_out.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../../lcd/extui/ui_api.h"
- #endif
-
- xy_pos_t bilinear_grid_spacing, bilinear_start;
- xy_float_t bilinear_grid_factor;
- bed_mesh_t z_values;
-
- /**
- * Extrapolate a single point from its neighbors
- */
- static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
- if (!isnan(z_values[x][y])) return;
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPGM("Extrapolate [");
- if (x < 10) DEBUG_CHAR(' ');
- DEBUG_ECHO((int)x);
- DEBUG_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
- DEBUG_CHAR(' ');
- if (y < 10) DEBUG_CHAR(' ');
- DEBUG_ECHO((int)y);
- DEBUG_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
- DEBUG_ECHOLNPGM("]");
- }
-
- // Get X neighbors, Y neighbors, and XY neighbors
- const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
- float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
- b1 = z_values[x ][y1], b2 = z_values[x ][y2],
- c1 = z_values[x1][y1], c2 = z_values[x2][y2];
-
- // Treat far unprobed points as zero, near as equal to far
- if (isnan(a2)) a2 = 0.0;
- if (isnan(a1)) a1 = a2;
- if (isnan(b2)) b2 = 0.0;
- if (isnan(b1)) b1 = b2;
- if (isnan(c2)) c2 = 0.0;
- if (isnan(c1)) c1 = c2;
-
- const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
-
- // Take the average instead of the median
- z_values[x][y] = (a + b + c) / 3.0;
- #if ENABLED(EXTENSIBLE_UI)
- ExtUI::onMeshUpdate(x, y, z_values[x][y]);
- #endif
-
- // Median is robust (ignores outliers).
- // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
- // : ((c < b) ? b : (a < c) ? a : c);
- }
-
- //Enable this if your SCARA uses 180° of total area
- //#define EXTRAPOLATE_FROM_EDGE
-
- #if ENABLED(EXTRAPOLATE_FROM_EDGE)
- #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
- #define HALF_IN_X
- #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
- #define HALF_IN_Y
- #endif
- #endif
-
- /**
- * Fill in the unprobed points (corners of circular print surface)
- * using linear extrapolation, away from the center.
- */
- void extrapolate_unprobed_bed_level() {
- #ifdef HALF_IN_X
- constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
- #else
- constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
- ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
- xlen = ctrx1;
- #endif
-
- #ifdef HALF_IN_Y
- constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
- #else
- constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
- ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
- ylen = ctry1;
- #endif
-
- LOOP_LE_N(xo, xlen)
- LOOP_LE_N(yo, ylen) {
- uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
- #ifndef HALF_IN_X
- const uint8_t x1 = ctrx1 - xo;
- #endif
- #ifndef HALF_IN_Y
- const uint8_t y1 = ctry1 - yo;
- #ifndef HALF_IN_X
- extrapolate_one_point(x1, y1, +1, +1); // left-below + +
- #endif
- extrapolate_one_point(x2, y1, -1, +1); // right-below - +
- #endif
- #ifndef HALF_IN_X
- extrapolate_one_point(x1, y2, +1, -1); // left-above + -
- #endif
- extrapolate_one_point(x2, y2, -1, -1); // right-above - -
- }
-
- }
-
- void print_bilinear_leveling_grid() {
- SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
- print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
- [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
- );
- }
-
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
-
- #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
- #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
- #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
- #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
- float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
- xy_pos_t bilinear_grid_spacing_virt;
- xy_float_t bilinear_grid_factor_virt;
-
- void print_bilinear_leveling_grid_virt() {
- SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
- print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
- [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
- );
- }
-
- #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
- float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
- uint8_t ep = 0, ip = 1;
- if (!x || x == ABL_TEMP_POINTS_X - 1) {
- if (x) {
- ep = GRID_MAX_POINTS_X - 1;
- ip = GRID_MAX_POINTS_X - 2;
- }
- if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
- return LINEAR_EXTRAPOLATION(
- z_values[ep][y - 1],
- z_values[ip][y - 1]
- );
- else
- return LINEAR_EXTRAPOLATION(
- bed_level_virt_coord(ep + 1, y),
- bed_level_virt_coord(ip + 1, y)
- );
- }
- if (!y || y == ABL_TEMP_POINTS_Y - 1) {
- if (y) {
- ep = GRID_MAX_POINTS_Y - 1;
- ip = GRID_MAX_POINTS_Y - 2;
- }
- if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
- return LINEAR_EXTRAPOLATION(
- z_values[x - 1][ep],
- z_values[x - 1][ip]
- );
- else
- return LINEAR_EXTRAPOLATION(
- bed_level_virt_coord(x, ep + 1),
- bed_level_virt_coord(x, ip + 1)
- );
- }
- return z_values[x - 1][y - 1];
- }
-
- static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
- return (
- p[i-1] * -t * sq(1 - t)
- + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
- + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- - p[i+2] * sq(t) * (1 - t)
- ) * 0.5f;
- }
-
- static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
- float row[4], column[4];
- LOOP_L_N(i, 4) {
- LOOP_L_N(j, 4) {
- column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
- }
- row[i] = bed_level_virt_cmr(column, 1, ty);
- }
- return bed_level_virt_cmr(row, 1, tx);
- }
-
- void bed_level_virt_interpolate() {
- bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
- bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
- LOOP_L_N(y, GRID_MAX_POINTS_Y)
- LOOP_L_N(x, GRID_MAX_POINTS_X)
- LOOP_L_N(ty, BILINEAR_SUBDIVISIONS)
- LOOP_L_N(tx, BILINEAR_SUBDIVISIONS) {
- if ((ty && y == (GRID_MAX_POINTS_Y) - 1) || (tx && x == (GRID_MAX_POINTS_X) - 1))
- continue;
- z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
- bed_level_virt_2cmr(
- x + 1,
- y + 1,
- (float)tx / (BILINEAR_SUBDIVISIONS),
- (float)ty / (BILINEAR_SUBDIVISIONS)
- );
- }
- }
- #endif // ABL_BILINEAR_SUBDIVISION
-
- // Refresh after other values have been updated
- void refresh_bed_level() {
- bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
- bed_level_virt_interpolate();
- #endif
- }
-
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
- #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt.A
- #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt.A
- #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
- #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
- #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
- #else
- #define ABL_BG_SPACING(A) bilinear_grid_spacing.A
- #define ABL_BG_FACTOR(A) bilinear_grid_factor.A
- #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
- #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
- #define ABL_BG_GRID(X,Y) z_values[X][Y]
- #endif
-
- // Get the Z adjustment for non-linear bed leveling
- float bilinear_z_offset(const xy_pos_t &raw) {
-
- static float z1, d2, z3, d4, L, D;
-
- static xy_pos_t prev { -999.999, -999.999 }, ratio;
-
- // Whole units for the grid line indices. Constrained within bounds.
- static xy_int8_t thisg, nextg, lastg { -99, -99 };
-
- // XY relative to the probed area
- xy_pos_t rel = raw - bilinear_start.asFloat();
-
- #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
- #define FAR_EDGE_OR_BOX 2 // Keep using the last grid box
- #else
- #define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
- #endif
-
- if (prev.x != rel.x) {
- prev.x = rel.x;
- ratio.x = rel.x * ABL_BG_FACTOR(x);
- const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
- ratio.x -= gx; // Subtract whole to get the ratio within the grid box
-
- #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
- // Beyond the grid maintain height at grid edges
- NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x)
- #endif
-
- thisg.x = gx;
- nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
- }
-
- if (prev.y != rel.y || lastg.x != thisg.x) {
-
- if (prev.y != rel.y) {
- prev.y = rel.y;
- ratio.y = rel.y * ABL_BG_FACTOR(y);
- const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
- ratio.y -= gy;
-
- #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
- // Beyond the grid maintain height at grid edges
- NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.)
- #endif
-
- thisg.y = gy;
- nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
- }
-
- if (lastg != thisg) {
- lastg = thisg;
- // Z at the box corners
- z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
- d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
- z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front
- d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta)
- }
-
- // Bilinear interpolate. Needed since rel.y or thisg.x has changed.
- L = z1 + d2 * ratio.y; // Linear interp. LF -> LB
- const float R = z3 + d4 * ratio.y; // Linear interp. RF -> RB
-
- D = R - L;
- }
-
- const float offset = L + ratio.x * D; // the offset almost always changes
-
- /*
- static float last_offset = 0;
- if (ABS(last_offset - offset) > 0.2) {
- SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
- SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
- SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
- SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
- SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
- }
- last_offset = offset;
- //*/
-
- return offset;
- }
-
- #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
-
- #define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
-
- /**
- * Prepare a bilinear-leveled linear move on Cartesian,
- * splitting the move where it crosses grid borders.
- */
- void bilinear_line_to_destination(const feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
- // Get current and destination cells for this line
- xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
- c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
- LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
- LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
- LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
- LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
-
- // Start and end in the same cell? No split needed.
- if (c1 == c2) {
- current_position = destination;
- line_to_current_position(scaled_fr_mm_s);
- return;
- }
-
- #define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
-
- float normalized_dist;
- xyze_pos_t end;
- const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) };
-
- // Crosses on the X and not already split on this X?
- // The x_splits flags are insurance against rounding errors.
- if (c2.x != c1.x && TEST(x_splits, gc.x)) {
- // Split on the X grid line
- CBI(x_splits, gc.x);
- end = destination;
- destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
- normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
- destination.y = LINE_SEGMENT_END(y);
- }
- // Crosses on the Y and not already split on this Y?
- else if (c2.y != c1.y && TEST(y_splits, gc.y)) {
- // Split on the Y grid line
- CBI(y_splits, gc.y);
- end = destination;
- destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
- normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
- destination.x = LINE_SEGMENT_END(x);
- }
- else {
- // Must already have been split on these border(s)
- // This should be a rare case.
- current_position = destination;
- line_to_current_position(scaled_fr_mm_s);
- return;
- }
-
- destination.z = LINE_SEGMENT_END(z);
- destination.e = LINE_SEGMENT_END(e);
-
- // Do the split and look for more borders
- bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
-
- // Restore destination from stack
- destination = end;
- bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
- }
-
- #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
-
- #endif // AUTO_BED_LEVELING_BILINEAR
|