My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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ubl.cpp 5.7KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. #include "Marlin.h"
  23. #include "math.h"
  24. #if ENABLED(AUTO_BED_LEVELING_UBL)
  25. #include "ubl.h"
  26. #include "hex_print_routines.h"
  27. #include "temperature.h"
  28. extern Planner planner;
  29. /**
  30. * These support functions allow the use of large bit arrays of flags that take very
  31. * little RAM. Currently they are limited to being 16x16 in size. Changing the declaration
  32. * to unsigned long will allow us to go to 32x32 if higher resolution Mesh's are needed
  33. * in the future.
  34. */
  35. void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y) { CBI(bits[y], x); }
  36. void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); }
  37. bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }
  38. uint8_t ubl_cnt = 0;
  39. void unified_bed_leveling::echo_name() { SERIAL_PROTOCOLPGM("Unified Bed Leveling"); }
  40. void unified_bed_leveling::report_state() {
  41. echo_name();
  42. SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");
  43. if (!state.active) SERIAL_PROTOCOLPGM("in");
  44. SERIAL_PROTOCOLLNPGM("active.");
  45. safe_delay(50);
  46. }
  47. static void serial_echo_xy(const int16_t x, const int16_t y) {
  48. SERIAL_CHAR('(');
  49. SERIAL_ECHO(x);
  50. SERIAL_CHAR(',');
  51. SERIAL_ECHO(y);
  52. SERIAL_CHAR(')');
  53. safe_delay(10);
  54. }
  55. ubl_state unified_bed_leveling::state;
  56. float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
  57. unified_bed_leveling::last_specified_z;
  58. // 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
  59. // until determinism prevails
  60. constexpr float unified_bed_leveling::_mesh_index_to_xpos[16],
  61. unified_bed_leveling::_mesh_index_to_ypos[16];
  62. bool unified_bed_leveling::g26_debug_flag = false,
  63. unified_bed_leveling::has_control_of_lcd_panel = false;
  64. volatile int unified_bed_leveling::encoder_diff;
  65. unified_bed_leveling::unified_bed_leveling() {
  66. ubl_cnt++; // Debug counter to insure we only have one UBL object present in memory. We can eliminate this (and all references to ubl_cnt) very soon.
  67. reset();
  68. }
  69. void unified_bed_leveling::reset() {
  70. state.active = false;
  71. state.z_offset = 0;
  72. state.storage_slot = -1;
  73. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  74. planner.z_fade_height = 10.0;
  75. #endif
  76. ZERO(z_values);
  77. last_specified_z = -999.9;
  78. }
  79. void unified_bed_leveling::invalidate() {
  80. state.active = false;
  81. state.z_offset = 0;
  82. for (int x = 0; x < GRID_MAX_POINTS_X; x++)
  83. for (int y = 0; y < GRID_MAX_POINTS_Y; y++)
  84. z_values[x][y] = NAN;
  85. }
  86. void unified_bed_leveling::display_map(const int map_type) {
  87. const bool map0 = map_type == 0;
  88. constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
  89. if (map0) {
  90. SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n");
  91. serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
  92. SERIAL_ECHO_SP(spaces + 3);
  93. serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
  94. SERIAL_EOL;
  95. serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MAX_Y);
  96. SERIAL_ECHO_SP(spaces);
  97. serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MAX_Y);
  98. SERIAL_EOL;
  99. }
  100. const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
  101. current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
  102. for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
  103. for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
  104. const bool is_current = i == current_xi && j == current_yi;
  105. // is the nozzle here? then mark the number
  106. if (map0) SERIAL_CHAR(is_current ? '[' : ' ');
  107. const float f = z_values[i][j];
  108. if (isnan(f)) {
  109. serialprintPGM(map0 ? PSTR(" . ") : PSTR("NAN"));
  110. }
  111. else {
  112. // if we don't do this, the columns won't line up nicely
  113. if (map0 && f >= 0.0) SERIAL_CHAR(' ');
  114. SERIAL_PROTOCOL_F(f, 3);
  115. idle();
  116. }
  117. if (!map0 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
  118. #if TX_BUFFER_SIZE > 0
  119. MYSERIAL.flushTX();
  120. #endif
  121. safe_delay(15);
  122. if (map0) {
  123. SERIAL_CHAR(is_current ? ']' : ' ');
  124. SERIAL_CHAR(' ');
  125. }
  126. }
  127. SERIAL_EOL;
  128. if (j && map0) { // we want the (0,0) up tight against the block of numbers
  129. SERIAL_CHAR(' ');
  130. SERIAL_EOL;
  131. }
  132. }
  133. if (map0) {
  134. serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
  135. SERIAL_ECHO_SP(spaces + 4);
  136. serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MIN_Y);
  137. SERIAL_EOL;
  138. serial_echo_xy(0, 0);
  139. SERIAL_ECHO_SP(spaces + 5);
  140. serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
  141. SERIAL_EOL;
  142. }
  143. }
  144. bool unified_bed_leveling::sanity_check() {
  145. uint8_t error_flag = 0;
  146. const int a = settings.calc_num_meshes();
  147. if (a < 1) {
  148. SERIAL_PROTOCOLLNPGM("?Insufficient EEPROM storage for a mesh of this size.");
  149. error_flag++;
  150. }
  151. return !!error_flag;
  152. }
  153. #endif // AUTO_BED_LEVELING_UBL