123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246 |
- /**
- * 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_UBL)
-
- #include "../bedlevel.h"
-
- unified_bed_leveling ubl;
-
- #include "../../../MarlinCore.h"
-
- #include "../../../module/configuration_store.h"
- #include "../../../module/planner.h"
- #include "../../../module/motion.h"
- #include "../../../module/probe.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../../lcd/extensible_ui/ui_api.h"
- #endif
-
- #include "math.h"
-
- void unified_bed_leveling::echo_name() {
- SERIAL_ECHOPGM("Unified Bed Leveling");
- }
-
- void unified_bed_leveling::report_current_mesh() {
- if (!leveling_is_valid()) return;
- SERIAL_ECHO_MSG(" G29 I99");
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
- for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
- if (!isnan(z_values[x][y])) {
- SERIAL_ECHO_START();
- SERIAL_ECHOPAIR(" M421 I", int(x), " J", int(y));
- SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4);
- serial_delay(75); // Prevent Printrun from exploding
- }
- }
-
- void unified_bed_leveling::report_state() {
- echo_name();
- SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n");
- serial_delay(50);
- }
-
- int8_t unified_bed_leveling::storage_slot;
-
- float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
-
- #define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST))
-
- const float
- unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X,
- _GRIDPOS(X, 0), _GRIDPOS(X, 1), _GRIDPOS(X, 2), _GRIDPOS(X, 3),
- _GRIDPOS(X, 4), _GRIDPOS(X, 5), _GRIDPOS(X, 6), _GRIDPOS(X, 7),
- _GRIDPOS(X, 8), _GRIDPOS(X, 9), _GRIDPOS(X, 10), _GRIDPOS(X, 11),
- _GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15)
- ),
- unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y,
- _GRIDPOS(Y, 0), _GRIDPOS(Y, 1), _GRIDPOS(Y, 2), _GRIDPOS(Y, 3),
- _GRIDPOS(Y, 4), _GRIDPOS(Y, 5), _GRIDPOS(Y, 6), _GRIDPOS(Y, 7),
- _GRIDPOS(Y, 8), _GRIDPOS(Y, 9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11),
- _GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15)
- );
-
- #if HAS_LCD_MENU
- bool unified_bed_leveling::lcd_map_control = false;
- #endif
-
- volatile int unified_bed_leveling::encoder_diff;
-
- unified_bed_leveling::unified_bed_leveling() {
- reset();
- }
-
- void unified_bed_leveling::reset() {
- const bool was_enabled = planner.leveling_active;
- set_bed_leveling_enabled(false);
- storage_slot = -1;
- ZERO(z_values);
- #if ENABLED(EXTENSIBLE_UI)
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
- for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
- ExtUI::onMeshUpdate(x, y, 0);
- #endif
- if (was_enabled) report_current_position();
- }
-
- void unified_bed_leveling::invalidate() {
- set_bed_leveling_enabled(false);
- set_all_mesh_points_to_value(NAN);
- }
-
- void unified_bed_leveling::set_all_mesh_points_to_value(const float value) {
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) {
- for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
- z_values[x][y] = value;
- #if ENABLED(EXTENSIBLE_UI)
- ExtUI::onMeshUpdate(x, y, value);
- #endif
- }
- }
- }
-
- static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
- SERIAL_ECHO_SP(sp);
- SERIAL_CHAR('(');
- if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
- SERIAL_ECHO(x);
- SERIAL_CHAR(',');
- if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
- SERIAL_ECHO(y);
- SERIAL_CHAR(')');
- serial_delay(5);
- }
-
- static void serial_echo_column_labels(const uint8_t sp) {
- SERIAL_ECHO_SP(7);
- for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
- if (i < 10) SERIAL_CHAR(' ');
- SERIAL_ECHO(i);
- SERIAL_ECHO_SP(sp);
- }
- serial_delay(10);
- }
-
- /**
- * Produce one of these mesh maps:
- * 0: Human-readable
- * 1: CSV format for spreadsheet import
- * 2: TODO: Display on Graphical LCD
- * 4: Compact Human-Readable
- */
- void unified_bed_leveling::display_map(const int map_type) {
- const bool was = gcode.set_autoreport_paused(true);
-
- constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567]
- twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
-
- const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
-
- SERIAL_ECHOPGM("\nBed Topography Report");
- if (human) {
- SERIAL_ECHOLNPGM(":\n");
- serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
- serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
- SERIAL_EOL();
- serial_echo_column_labels(eachsp - 2);
- }
- else {
- SERIAL_ECHOPGM(" for ");
- serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
- }
-
- // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when
- // moving to the XY position to be measured. This ensures better agreement between
- // the current Z position after G28 and the mesh values.
- const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
-
- if (!lcd) SERIAL_EOL();
- for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
-
- // Row Label (J index)
- if (human) {
- if (j < 10) SERIAL_CHAR(' ');
- SERIAL_ECHO(j);
- SERIAL_ECHOPGM(" |");
- }
-
- // Row Values (I indexes)
- for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
-
- // Opening Brace or Space
- const bool is_current = i == curr.x && j == curr.y;
- if (human) SERIAL_CHAR(is_current ? '[' : ' ');
-
- // Z Value at current I, J
- const float f = z_values[i][j];
- if (lcd) {
- // TODO: Display on Graphical LCD
- }
- else if (isnan(f))
- serialprintPGM(human ? PSTR(" . ") : PSTR("NAN"));
- else if (human || csv) {
- if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Space for positive ('-' for negative)
- SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits
- }
- if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
-
- // Closing Brace or Space
- if (human) SERIAL_CHAR(is_current ? ']' : ' ');
-
- SERIAL_FLUSHTX();
- idle();
- }
- if (!lcd) SERIAL_EOL();
-
- // A blank line between rows (unless compact)
- if (j && human && !comp) SERIAL_ECHOLNPGM(" |");
- }
-
- if (human) {
- serial_echo_column_labels(eachsp - 2);
- SERIAL_EOL();
- serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
- serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
- SERIAL_EOL();
- SERIAL_EOL();
- }
-
- set_gcode.set_autoreport_paused(was);
- }
-
- bool unified_bed_leveling::sanity_check() {
- uint8_t error_flag = 0;
-
- if (settings.calc_num_meshes() < 1) {
- SERIAL_ECHOLNPGM("?Mesh too big for EEPROM.");
- error_flag++;
- }
-
- return !!error_flag;
- }
-
- #endif // AUTO_BED_LEVELING_UBL
|