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-
-
- #ifndef UNIFIED_BED_LEVELING_H
- #define UNIFIED_BED_LEVELING_H
-
- #include "MarlinConfig.h"
-
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- #include "Marlin.h"
- #include "planner.h"
- #include "math.h"
- #include "vector_3.h"
- #include "configuration_store.h"
-
- #define UBL_VERSION "1.01"
- #define UBL_OK false
- #define UBL_ERR true
-
- #define USE_NOZZLE_AS_REFERENCE 0
- #define USE_PROBE_AS_REFERENCE 1
-
- typedef struct {
- int8_t x_index, y_index;
- float distance;
- } mesh_index_pair;
-
-
-
- void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
- void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
- bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
-
-
-
- void debug_current_and_destination(const char * const title);
-
-
-
- enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
-
-
-
- char *ftostr43sign(const float&, char);
- bool ubl_lcd_clicked();
- void home_all_axes();
-
- extern uint8_t ubl_cnt;
-
-
-
- #if ENABLED(ULTRA_LCD)
- extern char lcd_status_message[];
- void lcd_quick_feedback();
- #endif
-
- #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
- #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
-
- typedef struct {
- bool active = false;
- float z_offset = 0.0;
- int8_t storage_slot = -1;
- } ubl_state;
-
- class unified_bed_leveling {
- private:
-
- static float last_specified_z;
-
- static int g29_verbose_level,
- g29_phase_value,
- g29_repetition_cnt,
- g29_storage_slot,
- g29_map_type,
- g29_grid_size;
- static bool g29_c_flag, g29_x_flag, g29_y_flag;
- static float g29_x_pos, g29_y_pos,
- g29_card_thickness,
- g29_constant;
-
- #if ENABLED(UBL_G26_MESH_VALIDATION)
- static float g26_extrusion_multiplier,
- g26_retraction_multiplier,
- g26_nozzle,
- g26_filament_diameter,
- g26_prime_length,
- g26_x_pos, g26_y_pos,
- g26_ooze_amount,
- g26_layer_height;
- static int16_t g26_bed_temp,
- g26_hotend_temp,
- g26_repeats;
- static int8_t g26_prime_flag;
- static bool g26_continue_with_closest, g26_keep_heaters_on;
- #endif
-
- static float measure_point_with_encoder();
- static float measure_business_card_thickness(float&);
- static bool g29_parameter_parsing();
- static void find_mean_mesh_height();
- static void shift_mesh_height();
- static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
- static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
- static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
- static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
- static void g29_what_command();
- static void g29_eeprom_dump();
- static void g29_compare_current_mesh_to_stored_mesh();
- static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
- static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
- static void smart_fill_mesh();
-
- #if ENABLED(UBL_G26_MESH_VALIDATION)
- static bool exit_from_g26();
- static bool parse_G26_parameters();
- static void G26_line_to_destination(const float &feed_rate);
- static mesh_index_pair find_closest_circle_to_print(const float&, const float&);
- static bool look_for_lines_to_connect();
- static bool turn_on_heaters();
- static bool prime_nozzle();
- static void retract_filament(float where[XYZE]);
- static void recover_filament(float where[XYZE]);
- static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
- static void move_to(const float&, const float&, const float&, const float&);
- #endif
-
- public:
-
- static void echo_name();
- static void report_state();
- static void save_ubl_active_state_and_disable();
- static void restore_ubl_active_state_and_leave();
- static void display_map(const int);
- static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
- static void reset();
- static void invalidate();
- static bool sanity_check();
-
- static void G29() _O0;
- static void smart_fill_wlsf(const float &) _O2;
-
- #if ENABLED(UBL_G26_MESH_VALIDATION)
- static void G26();
- #endif
-
- static ubl_state state;
-
- static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
-
-
-
- constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
- UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST),
- UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST),
- UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST),
- UBL_MESH_MIN_X + 6 * (MESH_X_DIST), UBL_MESH_MIN_X + 7 * (MESH_X_DIST),
- UBL_MESH_MIN_X + 8 * (MESH_X_DIST), UBL_MESH_MIN_X + 9 * (MESH_X_DIST),
- UBL_MESH_MIN_X + 10 * (MESH_X_DIST), UBL_MESH_MIN_X + 11 * (MESH_X_DIST),
- UBL_MESH_MIN_X + 12 * (MESH_X_DIST), UBL_MESH_MIN_X + 13 * (MESH_X_DIST),
- UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST)
- };
-
- constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
- UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST),
- UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST),
- UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST),
- UBL_MESH_MIN_Y + 6 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 7 * (MESH_Y_DIST),
- UBL_MESH_MIN_Y + 8 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 9 * (MESH_Y_DIST),
- UBL_MESH_MIN_Y + 10 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 11 * (MESH_Y_DIST),
- UBL_MESH_MIN_Y + 12 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 13 * (MESH_Y_DIST),
- UBL_MESH_MIN_Y + 14 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 15 * (MESH_Y_DIST)
- };
-
- static bool g26_debug_flag, has_control_of_lcd_panel;
-
- static volatile int encoder_diff;
-
- unified_bed_leveling();
-
- FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
-
- static int8_t get_cell_index_x(const float &x) {
- const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
- return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1);
- }
-
-
-
- static int8_t get_cell_index_y(const float &y) {
- const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
- return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1);
- }
-
-
-
-
- static int8_t find_closest_x_index(const float &x) {
- const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
- return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
- }
-
- static int8_t find_closest_y_index(const float &y) {
- const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
- return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
- }
-
-
-
- FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
- return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
- }
-
-
-
- inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
- if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
- serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
- SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
- SERIAL_ECHOPAIR(",x1_i=", x1_i);
- SERIAL_ECHOPAIR(",yi=", yi);
- SERIAL_CHAR(')');
- SERIAL_EOL;
- return NAN;
- }
-
- const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
- z1 = z_values[x1_i][yi];
-
- return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
- }
-
-
-
-
- inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
- if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
- serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
- SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
- SERIAL_ECHOPAIR(", xi=", xi);
- SERIAL_ECHOPAIR(", y1_i=", y1_i);
- SERIAL_CHAR(')');
- SERIAL_EOL;
- return NAN;
- }
-
- const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
- z1 = z_values[xi][y1_i];
-
- return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
- }
-
-
-
- static float get_z_correction(const float &lx0, const float &ly0) {
- const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
- cy = get_cell_index_y(RAW_Y_POSITION(ly0));
-
- if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) {
-
- SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
- SERIAL_ECHOPAIR(", ly0=", ly0);
- SERIAL_CHAR(')');
- SERIAL_EOL;
-
- #if ENABLED(ULTRA_LCD)
- strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
- lcd_quick_feedback();
- #endif
- return 0.0;
- }
-
- const float z1 = calc_z0(RAW_X_POSITION(lx0),
- mesh_index_to_xpos(cx), z_values[cx][cy],
- mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]);
-
- const float z2 = calc_z0(RAW_X_POSITION(lx0),
- mesh_index_to_xpos(cx), z_values[cx][cy + 1],
- mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]);
-
- float z0 = calc_z0(RAW_Y_POSITION(ly0),
- mesh_index_to_ypos(cy), z1,
- mesh_index_to_ypos(cy + 1), z2);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(MESH_ADJUST)) {
- SERIAL_ECHOPAIR(" raw get_z_correction(", lx0);
- SERIAL_CHAR(',');
- SERIAL_ECHO(ly0);
- SERIAL_ECHOPGM(") = ");
- SERIAL_ECHO_F(z0, 6);
- }
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(MESH_ADJUST)) {
- SERIAL_ECHOPGM(" >>>---> ");
- SERIAL_ECHO_F(z0, 6);
- SERIAL_EOL;
- }
- #endif
-
- if (isnan(z0)) {
- z0 = 0.0;
-
-
-
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(MESH_ADJUST)) {
- SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0);
- SERIAL_CHAR(',');
- SERIAL_ECHO(ly0);
- SERIAL_CHAR(')');
- SERIAL_EOL;
- }
- #endif
- }
- return z0;
- }
-
-
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- static inline float fade_scaling_factor_for_z(const float &lz) {
- if (planner.z_fade_height == 0.0) return 1.0;
- static float fade_scaling_factor = 1.0;
- const float rz = RAW_Z_POSITION(lz);
- if (last_specified_z != rz) {
- last_specified_z = rz;
- fade_scaling_factor =
- rz < planner.z_fade_height
- ? 1.0 - (rz * planner.inverse_z_fade_height)
- : 0.0;
- }
- return fade_scaling_factor;
- }
- #else
- FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; }
- #endif
-
- FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_xpos[i]); }
- FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_ypos[i]); }
-
- static bool prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate);
- static void line_to_destination_cartesian(const float &fr, uint8_t e);
-
- };
-
- extern unified_bed_leveling ubl;
-
- #if ENABLED(UBL_G26_MESH_VALIDATION)
- FORCE_INLINE void gcode_G26() { ubl.G26(); }
- #endif
-
- FORCE_INLINE void gcode_G29() { ubl.G29(); }
-
- #endif
- #endif
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