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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(MESH_BED_LEVELING)
-
- #include "mesh_bed_leveling.h"
-
- #include "../../../module/motion.h"
- #include "../../../feature/bedlevel/bedlevel.h"
-
- mesh_bed_leveling mbl;
-
- float mesh_bed_leveling::z_offset,
- mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
- mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X],
- mesh_bed_leveling::index_to_ypos[GRID_MAX_POINTS_Y];
-
- mesh_bed_leveling::mesh_bed_leveling() {
- for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i)
- index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST);
- for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; ++i)
- index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST);
- reset();
- }
-
- void mesh_bed_leveling::reset() {
- z_offset = 0;
- ZERO(z_values);
- #if ENABLED(EXTENSIBLE_UI)
- for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
- for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
- ExtUI::onMeshUpdate(x, y, 0);
- #endif
- }
-
- #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
-
- /**
- * Prepare a mesh-leveled linear move in a Cartesian setup,
- * splitting the move where it crosses mesh borders.
- */
- void mesh_bed_leveling::line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_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]);
- NOMORE(cx1, GRID_MAX_POINTS_X - 2);
- NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
- NOMORE(cx2, GRID_MAX_POINTS_X - 2);
- NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
-
- // Start and end in the same cell? No split needed.
- if (cx1 == cx2 && cy1 == cy2) {
- line_to_destination(fr_mm_s);
- set_current_from_destination();
- return;
- }
-
- #define MBL_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] = index_to_xpos[gcx];
- normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
- destination[Y_AXIS] = MBL_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] = index_to_ypos[gcy];
- normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
- destination[X_AXIS] = MBL_SEGMENT_END(X);
- }
- else {
- // Must already have been split on these border(s)
- // This should be a rare case.
- line_to_destination(fr_mm_s);
- set_current_from_destination();
- return;
- }
-
- destination[Z_AXIS] = MBL_SEGMENT_END(Z);
- destination[E_AXIS] = MBL_SEGMENT_END(E);
-
- // Do the split and look for more borders
- line_to_destination(fr_mm_s, x_splits, y_splits);
-
- // Restore destination from stack
- COPY(destination, end);
- line_to_destination(fr_mm_s, x_splits, y_splits);
- }
-
- #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
-
- void mesh_bed_leveling::report_mesh() {
- SERIAL_ECHOPAIR_F(STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh. Z offset: ", z_offset, 5);
- SERIAL_ECHOLNPGM("\nMeasured points:");
- print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
- [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
- );
- }
-
- #endif // MESH_BED_LEVELING
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