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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/>.
- *
- */
- #pragma once
-
- #include "../../../inc/MarlinConfig.h"
-
- enum MeshLevelingState : char {
- MeshReport, // G29 S0
- MeshStart, // G29 S1
- MeshNext, // G29 S2
- MeshSet, // G29 S3
- MeshSetZOffset, // G29 S4
- MeshReset // G29 S5
- };
-
- #define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_CELLS_X))
- #define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y))
- #define _GET_MESH_X(I) mbl.index_to_xpos[I]
- #define _GET_MESH_Y(J) mbl.index_to_ypos[J]
- #define Z_VALUES_ARR mbl.z_values
-
- class mesh_bed_leveling {
- public:
- static float z_offset,
- z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
- index_to_xpos[GRID_MAX_POINTS_X],
- index_to_ypos[GRID_MAX_POINTS_Y];
-
- mesh_bed_leveling();
-
- static void report_mesh();
-
- static void reset();
-
- FORCE_INLINE static bool has_mesh() {
- GRID_LOOP(x, y) if (z_values[x][y]) return true;
- return false;
- }
-
- static void set_z(const int8_t px, const int8_t py, const_float_t z) { z_values[px][py] = z; }
-
- static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
- px = index % (GRID_MAX_POINTS_X);
- py = index / (GRID_MAX_POINTS_X);
- if (py & 1) px = (GRID_MAX_POINTS_X) - 1 - px; // Zig zag
- }
-
- static void set_zigzag_z(const int8_t index, const_float_t z) {
- int8_t px, py;
- zigzag(index, px, py);
- set_z(px, py, z);
- }
-
- static int8_t cell_index_x(const_float_t x) {
- int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
- return constrain(cx, 0, GRID_MAX_CELLS_X - 1);
- }
- static int8_t cell_index_y(const_float_t y) {
- int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
- return constrain(cy, 0, GRID_MAX_CELLS_Y - 1);
- }
- static inline xy_int8_t cell_indexes(const_float_t x, const_float_t y) {
- return { cell_index_x(x), cell_index_y(y) };
- }
- static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
-
- static int8_t probe_index_x(const_float_t x) {
- int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST);
- return WITHIN(px, 0, (GRID_MAX_POINTS_X) - 1) ? px : -1;
- }
- static int8_t probe_index_y(const_float_t y) {
- int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST);
- return WITHIN(py, 0, (GRID_MAX_POINTS_Y) - 1) ? py : -1;
- }
- static inline xy_int8_t probe_indexes(const_float_t x, const_float_t y) {
- return { probe_index_x(x), probe_index_y(y) };
- }
- static inline xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); }
-
- static float calc_z0(const_float_t a0, const_float_t a1, const_float_t z1, const_float_t a2, const_float_t z2) {
- const float delta_z = (z2 - z1) / (a2 - a1),
- delta_a = a0 - a1;
- return z1 + delta_a * delta_z;
- }
-
- static float get_z(const xy_pos_t &pos
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- , const_float_t factor=1.0f
- #endif
- ) {
- #if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
- constexpr float factor = 1.0f;
- #endif
- const xy_int8_t ind = cell_indexes(pos);
- const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
- y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1],
- z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y ], x2, z_values[ind.x+1][ind.y ]),
- z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]),
- zf = calc_z0(pos.y, y1, z1, y2, z2);
-
- return z_offset + zf * factor;
- }
-
- #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
- static void line_to_destination(const_feedRate_t scaled_fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
- #endif
- };
-
- extern mesh_bed_leveling mbl;
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