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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2019 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_BILINEAR)
-
- #include "abl.h"
- #include "../bedlevel.h"
-
- #include "../../../module/motion.h"
-
- int bilinear_grid_spacing[2], bilinear_start[2];
- float bilinear_grid_factor[2],
- z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
-
- /**
- * Extrapolate a single point from its neighbors
- */
- static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("Extrapolate [");
- if (x < 10) SERIAL_CHAR(' ');
- SERIAL_ECHO((int)x);
- SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
- SERIAL_CHAR(' ');
- if (y < 10) SERIAL_CHAR(' ');
- SERIAL_ECHO((int)y);
- SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
- SERIAL_CHAR(']');
- }
- #endif
- if (!isnan(z_values[x][y])) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
- #endif
- return; // Don't overwrite good values.
- }
- SERIAL_EOL();
-
- // Get X neighbors, Y neighbors, and XY neighbors
- const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
- float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
- b1 = z_values[x ][y1], b2 = z_values[x ][y2],
- c1 = z_values[x1][y1], c2 = z_values[x2][y2];
-
- // Treat far unprobed points as zero, near as equal to far
- if (isnan(a2)) a2 = 0.0;
- if (isnan(a1)) a1 = a2;
- if (isnan(b2)) b2 = 0.0;
- if (isnan(b1)) b1 = b2;
- if (isnan(c2)) c2 = 0.0;
- if (isnan(c1)) c1 = c2;
-
- const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
-
- // Take the average instead of the median
- z_values[x][y] = (a + b + c) / 3.0;
- #if ENABLED(EXTENSIBLE_UI)
- ExtUI::onMeshUpdate(x, y, z_values[x][y]);
- #endif
-
- // Median is robust (ignores outliers).
- // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
- // : ((c < b) ? b : (a < c) ? a : c);
- }
-
- //Enable this if your SCARA uses 180° of total area
- //#define EXTRAPOLATE_FROM_EDGE
-
- #if ENABLED(EXTRAPOLATE_FROM_EDGE)
- #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
- #define HALF_IN_X
- #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
- #define HALF_IN_Y
- #endif
- #endif
-
- /**
- * Fill in the unprobed points (corners of circular print surface)
- * using linear extrapolation, away from the center.
- */
- void extrapolate_unprobed_bed_level() {
- #ifdef HALF_IN_X
- constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
- #else
- constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
- ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
- xlen = ctrx1;
- #endif
-
- #ifdef HALF_IN_Y
- constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
- #else
- constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
- ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
- ylen = ctry1;
- #endif
-
- for (uint8_t xo = 0; xo <= xlen; xo++)
- for (uint8_t yo = 0; yo <= ylen; yo++) {
- uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
- #ifndef HALF_IN_X
- const uint8_t x1 = ctrx1 - xo;
- #endif
- #ifndef HALF_IN_Y
- const uint8_t y1 = ctry1 - yo;
- #ifndef HALF_IN_X
- extrapolate_one_point(x1, y1, +1, +1); // left-below + +
- #endif
- extrapolate_one_point(x2, y1, -1, +1); // right-below - +
- #endif
- #ifndef HALF_IN_X
- extrapolate_one_point(x1, y2, +1, -1); // left-above + -
- #endif
- extrapolate_one_point(x2, y2, -1, -1); // right-above - -
- }
-
- }
-
- void print_bilinear_leveling_grid() {
- SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
- print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
- [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
- );
- }
-
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
-
- #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
- #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
- #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
- #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
- float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
- int bilinear_grid_spacing_virt[2] = { 0 };
- float bilinear_grid_factor_virt[2] = { 0 };
-
- void print_bilinear_leveling_grid_virt() {
- SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
- print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
- [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
- );
- }
-
- #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
- float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
- uint8_t ep = 0, ip = 1;
- if (!x || x == ABL_TEMP_POINTS_X - 1) {
- if (x) {
- ep = GRID_MAX_POINTS_X - 1;
- ip = GRID_MAX_POINTS_X - 2;
- }
- if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
- return LINEAR_EXTRAPOLATION(
- z_values[ep][y - 1],
- z_values[ip][y - 1]
- );
- else
- return LINEAR_EXTRAPOLATION(
- bed_level_virt_coord(ep + 1, y),
- bed_level_virt_coord(ip + 1, y)
- );
- }
- if (!y || y == ABL_TEMP_POINTS_Y - 1) {
- if (y) {
- ep = GRID_MAX_POINTS_Y - 1;
- ip = GRID_MAX_POINTS_Y - 2;
- }
- if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
- return LINEAR_EXTRAPOLATION(
- z_values[x - 1][ep],
- z_values[x - 1][ip]
- );
- else
- return LINEAR_EXTRAPOLATION(
- bed_level_virt_coord(x, ep + 1),
- bed_level_virt_coord(x, ip + 1)
- );
- }
- return z_values[x - 1][y - 1];
- }
-
- static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
- return (
- p[i-1] * -t * sq(1 - t)
- + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
- + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- - p[i+2] * sq(t) * (1 - t)
- ) * 0.5;
- }
-
- static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
- float row[4], column[4];
- for (uint8_t i = 0; i < 4; i++) {
- for (uint8_t j = 0; j < 4; j++) {
- column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
- }
- row[i] = bed_level_virt_cmr(column, 1, ty);
- }
- return bed_level_virt_cmr(row, 1, tx);
- }
-
- void bed_level_virt_interpolate() {
- bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
- bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
- bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
- bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
- for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
- for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
- for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
- if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
- continue;
- z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
- bed_level_virt_2cmr(
- x + 1,
- y + 1,
- (float)tx / (BILINEAR_SUBDIVISIONS),
- (float)ty / (BILINEAR_SUBDIVISIONS)
- );
- }
- }
- #endif // ABL_BILINEAR_SUBDIVISION
-
- // Refresh after other values have been updated
- void refresh_bed_level() {
- bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
- bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
- bed_level_virt_interpolate();
- #endif
- }
-
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
- #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
- #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
- #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
- #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
- #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
- #else
- #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
- #define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
- #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
- #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
- #define ABL_BG_GRID(X,Y) z_values[X][Y]
- #endif
-
- // Get the Z adjustment for non-linear bed leveling
- float bilinear_z_offset(const float raw[XYZ]) {
-
- static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
- last_x = -999.999, last_y = -999.999;
-
- // Whole units for the grid line indices. Constrained within bounds.
- static int8_t gridx, gridy, nextx, nexty,
- last_gridx = -99, last_gridy = -99;
-
- // XY relative to the probed area
- const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
- ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
-
- #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
- // Keep using the last grid box
- #define FAR_EDGE_OR_BOX 2
- #else
- // Just use the grid far edge
- #define FAR_EDGE_OR_BOX 1
- #endif
-
- if (last_x != rx) {
- last_x = rx;
- ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
- const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
- ratio_x -= gx; // Subtract whole to get the ratio within the grid box
-
- #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
- // Beyond the grid maintain height at grid edges
- NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
- #endif
-
- gridx = gx;
- nextx = MIN(gridx + 1, ABL_BG_POINTS_X - 1);
- }
-
- if (last_y != ry || last_gridx != gridx) {
-
- if (last_y != ry) {
- last_y = ry;
- ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
- const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
- ratio_y -= gy;
-
- #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
- // Beyond the grid maintain height at grid edges
- NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
- #endif
-
- gridy = gy;
- nexty = MIN(gridy + 1, ABL_BG_POINTS_Y - 1);
- }
-
- if (last_gridx != gridx || last_gridy != gridy) {
- last_gridx = gridx;
- last_gridy = gridy;
- // Z at the box corners
- z1 = ABL_BG_GRID(gridx, gridy); // left-front
- d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
- z3 = ABL_BG_GRID(nextx, gridy); // right-front
- d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
- }
-
- // Bilinear interpolate. Needed since ry or gridx has changed.
- L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
- const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
-
- D = R - L;
- }
-
- const float offset = L + ratio_x * D; // the offset almost always changes
-
- /*
- static float last_offset = 0;
- if (ABS(last_offset - offset) > 0.2) {
- SERIAL_ECHOLNPAIR("Sudden Shift at x=", rx, " / ", bilinear_grid_spacing[X_AXIS], " -> gridx=", gridx);
- SERIAL_ECHOLNPAIR(" y=", ry, " / ", bilinear_grid_spacing[Y_AXIS], " -> gridy=", gridy);
- SERIAL_ECHOLNPAIR(" ratio_x=", ratio_x, " ratio_y=", ratio_y);
- SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
- SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
- }
- last_offset = offset;
- //*/
-
- return offset;
- }
-
- #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
-
- #define CELL_INDEX(A,V) ((V - bilinear_start[_AXIS(A)]) * ABL_BG_FACTOR(_AXIS(A)))
-
- /**
- * Prepare a bilinear-leveled linear move on Cartesian,
- * splitting the move where it crosses grid borders.
- */
- void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
- // Get current and destination cells for this line
- int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
- cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
- cx2 = CELL_INDEX(X, destination[X_AXIS]),
- cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
- cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
- cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
- cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
- cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
-
- // Start and end in the same cell? No split needed.
- if (cx1 == cx2 && cy1 == cy2) {
- buffer_line_to_destination(fr_mm_s);
- set_current_from_destination();
- return;
- }
-
- #define LINE_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
-
- float normalized_dist, end[XYZE];
- const int8_t gcx = MAX(cx1, cx2), gcy = MAX(cy1, cy2);
-
- // Crosses on the X and not already split on this X?
- // The x_splits flags are insurance against rounding errors.
- if (cx2 != cx1 && TEST(x_splits, gcx)) {
- // Split on the X grid line
- CBI(x_splits, gcx);
- COPY(end, destination);
- destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
- normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
- destination[Y_AXIS] = LINE_SEGMENT_END(Y);
- }
- // Crosses on the Y and not already split on this Y?
- else if (cy2 != cy1 && TEST(y_splits, gcy)) {
- // Split on the Y grid line
- CBI(y_splits, gcy);
- COPY(end, destination);
- destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
- normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
- destination[X_AXIS] = LINE_SEGMENT_END(X);
- }
- else {
- // Must already have been split on these border(s)
- // This should be a rare case.
- buffer_line_to_destination(fr_mm_s);
- set_current_from_destination();
- return;
- }
-
- destination[Z_AXIS] = LINE_SEGMENT_END(Z);
- destination[E_AXIS] = LINE_SEGMENT_END(E);
-
- // Do the split and look for more borders
- bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
-
- // Restore destination from stack
- COPY(destination, end);
- bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
- }
-
- #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
-
- #endif // AUTO_BED_LEVELING_BILINEAR
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