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- /**
- * 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 <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_LEVELING
-
- #include "bedlevel.h"
- #include "../../module/planner.h"
-
- #if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
- #include "../../module/motion.h"
- #endif
-
- #if ENABLED(PROBE_MANUALLY)
- bool g29_in_progress = false;
- #endif
-
- #if ENABLED(LCD_BED_LEVELING)
- #include "../../lcd/marlinui.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../core/debug_out.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../lcd/extui/ui_api.h"
- #endif
-
- bool leveling_is_valid() {
- return TERN1(HAS_MESH, bedlevel.mesh_is_valid());
- }
-
- /**
- * Turn bed leveling on or off, correcting the current position.
- *
- * Disable: Current position = physical position
- * Enable: Current position = "unleveled" physical position
- */
- void set_bed_leveling_enabled(const bool enable/*=true*/) {
-
- const bool can_change = TERN1(AUTO_BED_LEVELING_BILINEAR, !enable || leveling_is_valid());
-
- if (can_change && enable != planner.leveling_active) {
-
- auto _report_leveling = []{
- if (DEBUGGING(LEVELING)) {
- if (planner.leveling_active)
- DEBUG_POS("Leveling ON", current_position);
- else
- DEBUG_POS("Leveling OFF", current_position);
- }
- };
-
- _report_leveling();
- planner.synchronize();
-
- // Get the corrected leveled / unleveled position
- planner.apply_modifiers(current_position, true); // Physical position with all modifiers
- planner.leveling_active ^= true; // Toggle leveling between apply and unapply
- planner.unapply_modifiers(current_position, true); // Logical position with modifiers removed
-
- sync_plan_position();
- _report_leveling();
- }
- }
-
- TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(planner.leveling_active) {
- set_bed_leveling_enabled(enable);
- }
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-
- void set_z_fade_height(const_float_t zfh, const bool do_report/*=true*/) {
-
- if (planner.z_fade_height == zfh) return;
-
- const bool leveling_was_active = planner.leveling_active;
- set_bed_leveling_enabled(false);
-
- planner.set_z_fade_height(zfh);
-
- if (leveling_was_active) {
- const xyz_pos_t oldpos = current_position;
- set_bed_leveling_enabled(true);
- if (do_report && oldpos != current_position)
- report_current_position();
- }
- }
-
- #endif // ENABLE_LEVELING_FADE_HEIGHT
-
- /**
- * Reset calibration results to zero.
- */
- void reset_bed_level() {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level");
- IF_DISABLED(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(false));
- TERN_(HAS_MESH, bedlevel.reset());
- TERN_(ABL_PLANAR, planner.bed_level_matrix.set_to_identity());
- }
-
- #if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
-
- /**
- * Enable to produce output in JSON format suitable
- * for SCAD or JavaScript mesh visualizers.
- *
- * Visualize meshes in OpenSCAD using the included script.
- *
- * buildroot/shared/scripts/MarlinMesh.scad
- */
- //#define SCAD_MESH_OUTPUT
-
- /**
- * Print calibration results for plotting or manual frame adjustment.
- */
- void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values) {
- #ifndef SCAD_MESH_OUTPUT
- LOOP_L_N(x, sx) {
- serial_spaces(precision + (x < 10 ? 3 : 2));
- SERIAL_ECHO(x);
- }
- SERIAL_EOL();
- #endif
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOLNPGM("measured_z = ["); // open 2D array
- #endif
- LOOP_L_N(y, sy) {
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOPGM(" ["); // open sub-array
- #else
- if (y < 10) SERIAL_CHAR(' ');
- SERIAL_ECHO(y);
- #endif
- LOOP_L_N(x, sx) {
- SERIAL_CHAR(' ');
- const float offset = values[x * sy + y];
- if (!isnan(offset)) {
- if (offset >= 0) SERIAL_CHAR('+');
- SERIAL_ECHO_F(offset, int(precision));
- }
- else {
- #ifdef SCAD_MESH_OUTPUT
- for (uint8_t i = 3; i < precision + 3; i++)
- SERIAL_CHAR(' ');
- SERIAL_ECHOPGM("NAN");
- #else
- LOOP_L_N(i, precision + 3)
- SERIAL_CHAR(i ? '=' : ' ');
- #endif
- }
- #ifdef SCAD_MESH_OUTPUT
- if (x < sx - 1) SERIAL_CHAR(',');
- #endif
- }
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOPGM(" ]"); // close sub-array
- if (y < sy - 1) SERIAL_CHAR(',');
- #endif
- SERIAL_EOL();
- }
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOPGM("];"); // close 2D array
- #endif
- SERIAL_EOL();
- }
-
- #endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
-
- #if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
-
- void _manual_goto_xy(const xy_pos_t &pos) {
-
- // Get the resting Z position for after the XY move
- #ifdef MANUAL_PROBE_START_Z
- constexpr float finalz = _MAX(0, MANUAL_PROBE_START_Z); // If a MANUAL_PROBE_START_Z value is set, always respect it
- #else
- #warning "It's recommended to set some MANUAL_PROBE_START_Z value for manual leveling."
- #endif
- #if Z_CLEARANCE_BETWEEN_MANUAL_PROBES > 0 // A probe/obstacle clearance exists so there is a raise:
- #ifndef MANUAL_PROBE_START_Z
- const float finalz = current_position.z; // - Use the current Z for starting-Z if no MANUAL_PROBE_START_Z was provided
- #endif
- do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_MANUAL_PROBES); // - Raise Z, then move to the new XY
- do_blocking_move_to_z(finalz); // - Lower down to the starting Z height, ready for adjustment!
- #elif defined(MANUAL_PROBE_START_Z) // A starting-Z was provided, but there's no raise:
- do_blocking_move_to_xy_z(pos, finalz); // - Move in XY then down to the starting Z height, ready for adjustment!
- #else // Zero raise and no starting Z height either:
- do_blocking_move_to_xy(pos); // - Move over with no raise, ready for adjustment!
- #endif
-
- TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
- }
-
- #endif // MESH_BED_LEVELING || PROBE_MANUALLY
-
- #endif // HAS_LEVELING
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