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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2021 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 ENABLED(X_AXIS_TWIST_COMPENSATION)
-
- #include "x_twist.h"
- #include "../module/probe.h"
-
- XATC xatc;
-
- bool XATC::enabled;
- float XATC::spacing, XATC::start;
- xatc_array_t XATC::z_offset; // Initialized by settings.load()
-
- void XATC::reset() {
- constexpr float xzo[] = XATC_Z_OFFSETS;
- static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size.");
- COPY(z_offset, xzo);
- start = probe.min_x();
- spacing = (probe.max_x() - start) / (XATC_MAX_POINTS - 1);
- enabled = true;
- }
-
- void XATC::print_points() {
- SERIAL_ECHOLNPGM(" X-Twist Correction:");
- LOOP_L_N(x, XATC_MAX_POINTS) {
- SERIAL_CHAR(' ');
- if (!isnan(z_offset[x]))
- serial_offset(z_offset[x]);
- else
- LOOP_L_N(i, 6) SERIAL_CHAR(i ? '=' : ' ');
- }
- SERIAL_EOL();
- }
-
- float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); }
-
- float XATC::compensation(const xy_pos_t &raw) {
- if (!enabled) return 0;
- if (NEAR_ZERO(spacing)) return 0;
- float t = (raw.x - start) / spacing;
- const int i = constrain(FLOOR(t), 0, XATC_MAX_POINTS - 2);
- t -= i;
- return lerp(t, z_offset[i], z_offset[i + 1]);
- }
-
- #endif // X_AXIS_TWIST_COMPENSATION
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