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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/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_LEVELING
-
- #include "bedlevel.h"
- #include "../../module/planner.h"
-
- #if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
- #include "../../module/motion.h"
- #endif
-
- #if ENABLED(PROBE_MANUALLY)
- bool g29_in_progress = false;
- #endif
-
- #if ENABLED(LCD_BED_LEVELING)
- #include "../../lcd/ultralcd.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../core/debug_out.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../lcd/extui/ui_api.h"
- #endif
-
- bool leveling_is_valid() {
- return TERN1(MESH_BED_LEVELING, mbl.has_mesh())
- && TERN1(AUTO_BED_LEVELING_BILINEAR, !!bilinear_grid_spacing.x)
- && TERN1(AUTO_BED_LEVELING_UBL, ubl.mesh_is_valid());
- }
-
- /**
- * Turn bed leveling on or off, fixing the current
- * position as-needed.
- *
- * Disable: Current position = physical position
- * Enable: Current position = "unleveled" physical position
- */
- void set_bed_leveling_enabled(const bool enable/*=true*/) {
-
- const bool can_change = TERN1(AUTO_BED_LEVELING_BILINEAR, !enable || leveling_is_valid());
-
- if (can_change && enable != planner.leveling_active) {
-
- planner.synchronize();
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
- // Force bilinear_z_offset to re-calculate next time
- const xyz_pos_t reset { -9999.999, -9999.999, 0 };
- (void)bilinear_z_offset(reset);
- #endif
-
- if (planner.leveling_active) { // leveling from on to off
- if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling ON", current_position);
- // change unleveled current_position to physical current_position without moving steppers.
- planner.apply_leveling(current_position);
- planner.leveling_active = false; // disable only AFTER calling apply_leveling
- if (DEBUGGING(LEVELING)) DEBUG_POS("...Now OFF", current_position);
- }
- else { // leveling from off to on
- if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling OFF", current_position);
- planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
- // change physical current_position to unleveled current_position without moving steppers.
- planner.unapply_leveling(current_position);
- if (DEBUGGING(LEVELING)) DEBUG_POS("...Now ON", current_position);
- }
-
- sync_plan_position();
- }
- }
-
- TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(planner.leveling_active) {
- set_bed_leveling_enabled(enable);
- }
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-
- void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
-
- if (planner.z_fade_height == zfh) return;
-
- const bool leveling_was_active = planner.leveling_active;
- set_bed_leveling_enabled(false);
-
- planner.set_z_fade_height(zfh);
-
- if (leveling_was_active) {
- const xyz_pos_t oldpos = current_position;
- set_bed_leveling_enabled(true);
- if (do_report && oldpos != current_position)
- report_current_position();
- }
- }
-
- #endif // ENABLE_LEVELING_FADE_HEIGHT
-
- /**
- * Reset calibration results to zero.
- */
- void reset_bed_level() {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level");
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- ubl.reset();
- #else
- set_bed_leveling_enabled(false);
- #if ENABLED(MESH_BED_LEVELING)
- mbl.reset();
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- bilinear_start.reset();
- bilinear_grid_spacing.reset();
- GRID_LOOP(x, y) {
- z_values[x][y] = NAN;
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, 0));
- }
- #elif ABL_PLANAR
- planner.bed_level_matrix.set_to_identity();
- #endif
- #endif
- }
-
- #if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
-
- /**
- * Enable to produce output in JSON format suitable
- * for SCAD or JavaScript mesh visualizers.
- *
- * Visualize meshes in OpenSCAD using the included script.
- *
- * buildroot/shared/scripts/MarlinMesh.scad
- */
- //#define SCAD_MESH_OUTPUT
-
- /**
- * Print calibration results for plotting or manual frame adjustment.
- */
- void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
- #ifndef SCAD_MESH_OUTPUT
- LOOP_L_N(x, sx) {
- serial_spaces(precision + (x < 10 ? 3 : 2));
- SERIAL_ECHO(int(x));
- }
- SERIAL_EOL();
- #endif
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOLNPGM("measured_z = ["); // open 2D array
- #endif
- LOOP_L_N(y, sy) {
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOPGM(" ["); // open sub-array
- #else
- if (y < 10) SERIAL_CHAR(' ');
- SERIAL_ECHO(int(y));
- #endif
- LOOP_L_N(x, sx) {
- SERIAL_CHAR(' ');
- const float offset = fn(x, y);
- if (!isnan(offset)) {
- if (offset >= 0) SERIAL_CHAR('+');
- SERIAL_ECHO_F(offset, int(precision));
- }
- else {
- #ifdef SCAD_MESH_OUTPUT
- for (uint8_t i = 3; i < precision + 3; i++)
- SERIAL_CHAR(' ');
- SERIAL_ECHOPGM("NAN");
- #else
- LOOP_L_N(i, precision + 3)
- SERIAL_CHAR(i ? '=' : ' ');
- #endif
- }
- #ifdef SCAD_MESH_OUTPUT
- if (x < sx - 1) SERIAL_CHAR(',');
- #endif
- }
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_CHAR(' ', ']'); // close sub-array
- if (y < sy - 1) SERIAL_CHAR(',');
- #endif
- SERIAL_EOL();
- }
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOPGM("];"); // close 2D array
- #endif
- SERIAL_EOL();
- }
-
- #endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
-
- #if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
-
- void _manual_goto_xy(const xy_pos_t &pos) {
-
- #ifdef MANUAL_PROBE_START_Z
- constexpr float startz = _MAX(0, MANUAL_PROBE_START_Z);
- #if MANUAL_PROBE_HEIGHT > 0
- do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
- do_blocking_move_to_z(startz);
- #else
- do_blocking_move_to_xy_z(pos, startz);
- #endif
- #elif MANUAL_PROBE_HEIGHT > 0
- const float prev_z = current_position.z;
- do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
- do_blocking_move_to_z(prev_z);
- #else
- do_blocking_move_to_xy(pos);
- #endif
-
- current_position = pos;
-
- TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
- }
-
- #endif
-
- #endif // HAS_LEVELING
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