My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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ubl.h 17KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016, 2017 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. #ifndef UNIFIED_BED_LEVELING_H
  23. #define UNIFIED_BED_LEVELING_H
  24. #include "MarlinConfig.h"
  25. #if ENABLED(AUTO_BED_LEVELING_UBL)
  26. #include "Marlin.h"
  27. #include "planner.h"
  28. #include "math.h"
  29. #include "vector_3.h"
  30. #include "configuration_store.h"
  31. #define UBL_VERSION "1.01"
  32. #define UBL_OK false
  33. #define UBL_ERR true
  34. #define USE_NOZZLE_AS_REFERENCE 0
  35. #define USE_PROBE_AS_REFERENCE 1
  36. typedef struct {
  37. int8_t x_index, y_index;
  38. float distance; // When populated, the distance from the search location
  39. } mesh_index_pair;
  40. // ubl.cpp
  41. void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
  42. void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
  43. bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
  44. // ubl_motion.cpp
  45. void debug_current_and_destination(const char * const title);
  46. // ubl_G29.cpp
  47. enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
  48. // External references
  49. char *ftostr43sign(const float&, char);
  50. bool ubl_lcd_clicked();
  51. void home_all_axes();
  52. extern uint8_t ubl_cnt;
  53. ///////////////////////////////////////////////////////////////////////////////////////////////////////
  54. #if ENABLED(ULTRA_LCD)
  55. extern char lcd_status_message[];
  56. void lcd_quick_feedback();
  57. #endif
  58. #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
  59. #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
  60. typedef struct {
  61. bool active = false;
  62. float z_offset = 0.0;
  63. int8_t storage_slot = -1;
  64. } ubl_state;
  65. class unified_bed_leveling {
  66. private:
  67. static float last_specified_z;
  68. static int g29_verbose_level,
  69. g29_phase_value,
  70. g29_repetition_cnt,
  71. g29_storage_slot,
  72. g29_map_type,
  73. g29_grid_size;
  74. static bool g29_c_flag, g29_x_flag, g29_y_flag;
  75. static float g29_x_pos, g29_y_pos,
  76. g29_card_thickness,
  77. g29_constant;
  78. #if ENABLED(UBL_G26_MESH_VALIDATION)
  79. static float g26_extrusion_multiplier,
  80. g26_retraction_multiplier,
  81. g26_nozzle,
  82. g26_filament_diameter,
  83. g26_prime_length,
  84. g26_x_pos, g26_y_pos,
  85. g26_ooze_amount,
  86. g26_layer_height;
  87. static int16_t g26_bed_temp,
  88. g26_hotend_temp,
  89. g26_repeats;
  90. static int8_t g26_prime_flag;
  91. static bool g26_continue_with_closest, g26_keep_heaters_on;
  92. #endif
  93. static float measure_point_with_encoder();
  94. static float measure_business_card_thickness(float&);
  95. static bool g29_parameter_parsing();
  96. static void find_mean_mesh_height();
  97. static void shift_mesh_height();
  98. static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
  99. static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
  100. static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
  101. static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
  102. static void g29_what_command();
  103. static void g29_eeprom_dump();
  104. static void g29_compare_current_mesh_to_stored_mesh();
  105. static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
  106. static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
  107. static void smart_fill_mesh();
  108. #if ENABLED(UBL_G26_MESH_VALIDATION)
  109. static bool exit_from_g26();
  110. static bool parse_G26_parameters();
  111. static void G26_line_to_destination(const float &feed_rate);
  112. static mesh_index_pair find_closest_circle_to_print(const float&, const float&);
  113. static bool look_for_lines_to_connect();
  114. static bool turn_on_heaters();
  115. static bool prime_nozzle();
  116. static void retract_filament(float where[XYZE]);
  117. static void recover_filament(float where[XYZE]);
  118. static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
  119. static void move_to(const float&, const float&, const float&, const float&);
  120. #endif
  121. public:
  122. static void echo_name();
  123. static void report_state();
  124. static void save_ubl_active_state_and_disable();
  125. static void restore_ubl_active_state_and_leave();
  126. static void display_map(const int);
  127. static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
  128. static void reset();
  129. static void invalidate();
  130. static bool sanity_check();
  131. static void G29() _O0; // O0 for no optimization
  132. static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
  133. #if ENABLED(UBL_G26_MESH_VALIDATION)
  134. static void G26();
  135. #endif
  136. static ubl_state state;
  137. static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  138. // 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
  139. // until determinism prevails
  140. constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
  141. UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST),
  142. UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST),
  143. UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST),
  144. UBL_MESH_MIN_X + 6 * (MESH_X_DIST), UBL_MESH_MIN_X + 7 * (MESH_X_DIST),
  145. UBL_MESH_MIN_X + 8 * (MESH_X_DIST), UBL_MESH_MIN_X + 9 * (MESH_X_DIST),
  146. UBL_MESH_MIN_X + 10 * (MESH_X_DIST), UBL_MESH_MIN_X + 11 * (MESH_X_DIST),
  147. UBL_MESH_MIN_X + 12 * (MESH_X_DIST), UBL_MESH_MIN_X + 13 * (MESH_X_DIST),
  148. UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST)
  149. };
  150. constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
  151. UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST),
  152. UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST),
  153. UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST),
  154. UBL_MESH_MIN_Y + 6 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 7 * (MESH_Y_DIST),
  155. UBL_MESH_MIN_Y + 8 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 9 * (MESH_Y_DIST),
  156. UBL_MESH_MIN_Y + 10 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 11 * (MESH_Y_DIST),
  157. UBL_MESH_MIN_Y + 12 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 13 * (MESH_Y_DIST),
  158. UBL_MESH_MIN_Y + 14 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 15 * (MESH_Y_DIST)
  159. };
  160. static bool g26_debug_flag, has_control_of_lcd_panel;
  161. static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
  162. unified_bed_leveling();
  163. FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
  164. static int8_t get_cell_index_x(const float &x) {
  165. const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
  166. return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
  167. } // position. But with this defined this way, it is possible
  168. // to extrapolate off of this point even further out. Probably
  169. // that is OK because something else should be keeping that from
  170. // happening and should not be worried about at this level.
  171. static int8_t get_cell_index_y(const float &y) {
  172. const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
  173. return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
  174. } // position. But with this defined this way, it is possible
  175. // to extrapolate off of this point even further out. Probably
  176. // that is OK because something else should be keeping that from
  177. // happening and should not be worried about at this level.
  178. static int8_t find_closest_x_index(const float &x) {
  179. const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
  180. return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
  181. }
  182. static int8_t find_closest_y_index(const float &y) {
  183. const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
  184. return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
  185. }
  186. /**
  187. * z2 --|
  188. * z0 | |
  189. * | | + (z2-z1)
  190. * z1 | | |
  191. * ---+-------------+--------+-- --|
  192. * a1 a0 a2
  193. * |<---delta_a---------->|
  194. *
  195. * calc_z0 is the basis for all the Mesh Based correction. It is used to
  196. * find the expected Z Height at a position between two known Z-Height locations.
  197. *
  198. * It is fairly expensive with its 4 floating point additions and 2 floating point
  199. * multiplications.
  200. */
  201. FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
  202. return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
  203. }
  204. /**
  205. * z_correction_for_x_on_horizontal_mesh_line is an optimization for
  206. * the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
  207. */
  208. inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
  209. if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
  210. serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
  211. SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
  212. SERIAL_ECHOPAIR(",x1_i=", x1_i);
  213. SERIAL_ECHOPAIR(",yi=", yi);
  214. SERIAL_CHAR(')');
  215. SERIAL_EOL;
  216. return NAN;
  217. }
  218. const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
  219. z1 = z_values[x1_i][yi];
  220. return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
  221. }
  222. //
  223. // See comments above for z_correction_for_x_on_horizontal_mesh_line
  224. //
  225. inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
  226. if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
  227. serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
  228. SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
  229. SERIAL_ECHOPAIR(", xi=", xi);
  230. SERIAL_ECHOPAIR(", y1_i=", y1_i);
  231. SERIAL_CHAR(')');
  232. SERIAL_EOL;
  233. return NAN;
  234. }
  235. const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
  236. z1 = z_values[xi][y1_i];
  237. return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
  238. }
  239. /**
  240. * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
  241. * does a linear interpolation along both of the bounding X-Mesh-Lines to find the
  242. * Z-Height at both ends. Then it does a linear interpolation of these heights based
  243. * on the Y position within the cell.
  244. */
  245. static float get_z_correction(const float &lx0, const float &ly0) {
  246. const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
  247. cy = get_cell_index_y(RAW_Y_POSITION(ly0));
  248. if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) {
  249. SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
  250. SERIAL_ECHOPAIR(", ly0=", ly0);
  251. SERIAL_CHAR(')');
  252. SERIAL_EOL;
  253. #if ENABLED(ULTRA_LCD)
  254. strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
  255. lcd_quick_feedback();
  256. #endif
  257. return 0.0; // this used to return state.z_offset
  258. }
  259. const float z1 = calc_z0(RAW_X_POSITION(lx0),
  260. mesh_index_to_xpos(cx), z_values[cx][cy],
  261. mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]);
  262. const float z2 = calc_z0(RAW_X_POSITION(lx0),
  263. mesh_index_to_xpos(cx), z_values[cx][cy + 1],
  264. mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]);
  265. float z0 = calc_z0(RAW_Y_POSITION(ly0),
  266. mesh_index_to_ypos(cy), z1,
  267. mesh_index_to_ypos(cy + 1), z2);
  268. #if ENABLED(DEBUG_LEVELING_FEATURE)
  269. if (DEBUGGING(MESH_ADJUST)) {
  270. SERIAL_ECHOPAIR(" raw get_z_correction(", lx0);
  271. SERIAL_CHAR(',');
  272. SERIAL_ECHO(ly0);
  273. SERIAL_ECHOPGM(") = ");
  274. SERIAL_ECHO_F(z0, 6);
  275. }
  276. #endif
  277. #if ENABLED(DEBUG_LEVELING_FEATURE)
  278. if (DEBUGGING(MESH_ADJUST)) {
  279. SERIAL_ECHOPGM(" >>>---> ");
  280. SERIAL_ECHO_F(z0, 6);
  281. SERIAL_EOL;
  282. }
  283. #endif
  284. if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
  285. z0 = 0.0; // in ubl.z_values[][] and propagate through the
  286. // calculations. If our correction is NAN, we throw it out
  287. // because part of the Mesh is undefined and we don't have the
  288. // information we need to complete the height correction.
  289. #if ENABLED(DEBUG_LEVELING_FEATURE)
  290. if (DEBUGGING(MESH_ADJUST)) {
  291. SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0);
  292. SERIAL_CHAR(',');
  293. SERIAL_ECHO(ly0);
  294. SERIAL_CHAR(')');
  295. SERIAL_EOL;
  296. }
  297. #endif
  298. }
  299. return z0; // there used to be a +state.z_offset on this line
  300. }
  301. /**
  302. * This function sets the Z leveling fade factor based on the given Z height,
  303. * only re-calculating when necessary.
  304. *
  305. * Returns 1.0 if planner.z_fade_height is 0.0.
  306. * Returns 0.0 if Z is past the specified 'Fade Height'.
  307. */
  308. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  309. static inline float fade_scaling_factor_for_z(const float &lz) {
  310. if (planner.z_fade_height == 0.0) return 1.0;
  311. static float fade_scaling_factor = 1.0;
  312. const float rz = RAW_Z_POSITION(lz);
  313. if (last_specified_z != rz) {
  314. last_specified_z = rz;
  315. fade_scaling_factor =
  316. rz < planner.z_fade_height
  317. ? 1.0 - (rz * planner.inverse_z_fade_height)
  318. : 0.0;
  319. }
  320. return fade_scaling_factor;
  321. }
  322. #else
  323. FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; }
  324. #endif
  325. FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_xpos[i]); }
  326. FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_ypos[i]); }
  327. static bool prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate);
  328. static void line_to_destination_cartesian(const float &fr, uint8_t e);
  329. }; // class unified_bed_leveling
  330. extern unified_bed_leveling ubl;
  331. #if ENABLED(UBL_G26_MESH_VALIDATION)
  332. FORCE_INLINE void gcode_G26() { ubl.G26(); }
  333. #endif
  334. FORCE_INLINE void gcode_G29() { ubl.G29(); }
  335. #endif // AUTO_BED_LEVELING_UBL
  336. #endif // UNIFIED_BED_LEVELING_H