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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 HAS_LEVELING
-
- #include "bedlevel.h"
- #include "../../module/planner.h"
-
- #if ENABLED(MESH_BED_LEVELING) || ENABLED(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
-
- #if ENABLED(G26_MESH_VALIDATION)
- bool g26_debug_flag; // = false
- #endif
-
- bool leveling_is_valid() {
- return
- #if ENABLED(MESH_BED_LEVELING)
- mbl.has_mesh()
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- !!bilinear_grid_spacing[X_AXIS]
- #elif ENABLED(AUTO_BED_LEVELING_UBL)
- ubl.mesh_is_valid()
- #else // 3POINT, LINEAR
- true
- #endif
- ;
- }
-
- /**
- * 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*/) {
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
- const bool can_change = (!enable || leveling_is_valid());
- #else
- constexpr bool can_change = true;
- #endif
-
- 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 float reset[XYZ] = { -9999.999, -9999.999, 0 };
- (void)bilinear_z_offset(reset);
- #endif
-
- if (planner.leveling_active) { // leveling from on to off
- // change unleveled current_position to physical current_position without moving steppers.
- planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
- planner.leveling_active = false; // disable only AFTER calling apply_leveling
- }
- else { // leveling from off to on
- 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);
- }
-
- sync_plan_position();
- }
- }
-
- #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 float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
- set_bed_leveling_enabled(true);
- if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
- report_current_position();
- }
- }
-
- #endif // ENABLE_LEVELING_FADE_HEIGHT
-
- /**
- * Reset calibration results to zero.
- */
- void reset_bed_level() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
- #endif
- set_bed_leveling_enabled(false);
- #if ENABLED(MESH_BED_LEVELING)
- mbl.reset();
- #elif ENABLED(AUTO_BED_LEVELING_UBL)
- ubl.reset();
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
- bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
- 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] = NAN;
- #if ENABLED(EXTENSIBLE_UI)
- ExtUI::onMeshUpdate(x, y, 0);
- #endif
- }
- #elif ABL_PLANAR
- planner.bed_level_matrix.set_to_identity();
- #endif
- }
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(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
- for (uint8_t x = 0; x < sx; x++) {
- 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
- for (uint8_t y = 0; y < sy; y++) {
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_ECHOPGM(" ["); // open sub-array
- #else
- if (y < 10) SERIAL_CHAR(' ');
- SERIAL_ECHO(int(y));
- #endif
- for (uint8_t x = 0; x < sx; x++) {
- 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
- for (uint8_t i = 0; i < precision + 3; i++)
- SERIAL_CHAR(i ? '=' : ' ');
- #endif
- }
- #ifdef SCAD_MESH_OUTPUT
- if (x < sx - 1) SERIAL_CHAR(',');
- #endif
- }
- #ifdef SCAD_MESH_OUTPUT
- SERIAL_CHAR(' ');
- 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 ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
-
- void _manual_goto_xy(const float &rx, const float &ry) {
-
- #ifdef MANUAL_PROBE_START_Z
- #if MANUAL_PROBE_HEIGHT > 0
- do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
- do_blocking_move_to_z(MAX(0,MANUAL_PROBE_START_Z));
- #else
- do_blocking_move_to(rx, ry, MAX(0,MANUAL_PROBE_START_Z));
- #endif
- #elif MANUAL_PROBE_HEIGHT > 0
- const float prev_z = current_position[Z_AXIS];
- do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
- do_blocking_move_to_z(prev_z);
- #else
- do_blocking_move_to_xy(rx, ry);
- #endif
-
- current_position[X_AXIS] = rx;
- current_position[Y_AXIS] = ry;
-
- #if ENABLED(LCD_BED_LEVELING)
- ui.wait_for_bl_move = false;
- #endif
- }
-
- #endif
-
- #endif // HAS_LEVELING
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