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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 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 "MarlinConfig.h"
-
- #if ENABLED(AUTO_BED_LEVELING_UBL)
-
- #include "Marlin.h"
- #include "UBL.h"
- #include "planner.h"
- #include <avr/io.h>
- #include <math.h>
-
- extern float destination[XYZE];
- extern void set_current_to_destination();
-
- void debug_current_and_destination(char *title) {
-
- // if the title message starts with a '!' it is so important, we are going to
- // ignore the status of the g26_debug_flag
- if (*title != '!' && !g26_debug_flag) return;
-
- const float de = destination[E_AXIS] - current_position[E_AXIS];
-
- if (de == 0.0) return;
-
- const float dx = current_position[X_AXIS] - destination[X_AXIS],
- dy = current_position[Y_AXIS] - destination[Y_AXIS],
- xy_dist = HYPOT(dx, dy);
-
- if (xy_dist == 0.0) {
- return;
- //SERIAL_ECHOPGM(" FPMM=");
- //const float fpmm = de / xy_dist;
- //SERIAL_PROTOCOL_F(fpmm, 6);
- }
- else {
- SERIAL_ECHOPGM(" fpmm=");
- const float fpmm = de / xy_dist;
- SERIAL_ECHO_F(fpmm, 6);
- }
-
- SERIAL_ECHOPGM(" current=( ");
- SERIAL_ECHO_F(current_position[X_AXIS], 6);
- SERIAL_ECHOPGM(", ");
- SERIAL_ECHO_F(current_position[Y_AXIS], 6);
- SERIAL_ECHOPGM(", ");
- SERIAL_ECHO_F(current_position[Z_AXIS], 6);
- SERIAL_ECHOPGM(", ");
- SERIAL_ECHO_F(current_position[E_AXIS], 6);
- SERIAL_ECHOPGM(" ) destination=( ");
- if (current_position[X_AXIS] == destination[X_AXIS])
- SERIAL_ECHOPGM("-------------");
- else
- SERIAL_ECHO_F(destination[X_AXIS], 6);
-
- SERIAL_ECHOPGM(", ");
-
- if (current_position[Y_AXIS] == destination[Y_AXIS])
- SERIAL_ECHOPGM("-------------");
- else
- SERIAL_ECHO_F(destination[Y_AXIS], 6);
-
- SERIAL_ECHOPGM(", ");
-
- if (current_position[Z_AXIS] == destination[Z_AXIS])
- SERIAL_ECHOPGM("-------------");
- else
- SERIAL_ECHO_F(destination[Z_AXIS], 6);
-
- SERIAL_ECHOPGM(", ");
-
- if (current_position[E_AXIS] == destination[E_AXIS])
- SERIAL_ECHOPGM("-------------");
- else
- SERIAL_ECHO_F(destination[E_AXIS], 6);
-
- SERIAL_ECHOPGM(" ) ");
- SERIAL_ECHO(title);
- SERIAL_EOL;
-
- SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66. Right Switch is on pin 65
-
- //if (been_to_2_6) {
- //while ((digitalRead(66) & 0x01) != 0)
- // idle();
- //}
- }
-
- void ubl_line_to_destination(const float &x_end, const float &y_end, const float &z_end, const float &e_end, const float &feed_rate, uint8_t extruder) {
- /**
- * Much of the nozzle movement will be within the same cell. So we will do as little computation
- * as possible to determine if this is the case. If this move is within the same cell, we will
- * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
- */
- const float x_start = current_position[X_AXIS],
- y_start = current_position[Y_AXIS],
- z_start = current_position[Z_AXIS],
- e_start = current_position[E_AXIS];
-
- const int cell_start_xi = ubl.get_cell_index_x(RAW_X_POSITION(x_start)),
- cell_start_yi = ubl.get_cell_index_y(RAW_Y_POSITION(y_start)),
- cell_dest_xi = ubl.get_cell_index_x(RAW_X_POSITION(x_end)),
- cell_dest_yi = ubl.get_cell_index_y(RAW_Y_POSITION(y_end));
-
- if (g26_debug_flag) {
- SERIAL_ECHOPGM(" ubl_line_to_destination(xe=");
- SERIAL_ECHO(x_end);
- SERIAL_ECHOPGM(", ye=");
- SERIAL_ECHO(y_end);
- SERIAL_ECHOPGM(", ze=");
- SERIAL_ECHO(z_end);
- SERIAL_ECHOPGM(", ee=");
- SERIAL_ECHO(e_end);
- SERIAL_ECHOLNPGM(")");
- debug_current_and_destination((char*)"Start of ubl_line_to_destination()");
- }
-
- if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
- /**
- * we don't need to break up the move
- *
- * If we are moving off the print bed, we are going to allow the move at this level.
- * But we detect it and isolate it. For now, we just pass along the request.
- */
-
- if (cell_dest_xi < 0 || cell_dest_yi < 0 || cell_dest_xi >= UBL_MESH_NUM_X_POINTS || cell_dest_yi >= UBL_MESH_NUM_Y_POINTS) {
-
- // Note: There is no Z Correction in this case. We are off the grid and don't know what
- // a reasonable correction would be.
-
- planner.buffer_line(x_end, y_end, z_end + ubl.state.z_offset, e_end, feed_rate, extruder);
- set_current_to_destination();
-
- if (g26_debug_flag)
- debug_current_and_destination((char*)"out of bounds in ubl_line_to_destination()");
-
- return;
- }
-
- FINAL_MOVE:
-
- /**
- * Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
- * generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
- * We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
- * We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
- * instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
- * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
- */
-
- const float xratio = (RAW_X_POSITION(x_end) - mesh_index_to_x_location[cell_dest_xi]) * (1.0 / (MESH_X_DIST)),
- z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
- (z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
- z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
- (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
-
- // we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
- // are going to apply the Y-Distance into the cell to interpolate the final Z correction.
-
- const float yratio = (RAW_Y_POSITION(y_end) - mesh_index_to_y_location[cell_dest_yi]) * (1.0 / (MESH_Y_DIST));
-
- float z0 = z1 + (z2 - z1) * yratio;
-
- /**
- * Debug code to use non-optimized get_z_correction() and to do a sanity check
- * that the correct value is being passed to planner.buffer_line()
- */
- /*
- z_optimized = z0;
- z0 = ubl.get_z_correction(x_end, y_end);
- if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
- debug_current_and_destination((char*)"FINAL_MOVE: z_correction()");
- if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
- if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
- SERIAL_ECHOPAIR(" x_end=", x_end);
- SERIAL_ECHOPAIR(" y_end=", y_end);
- SERIAL_ECHOPAIR(" z0=", z0);
- SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
- SERIAL_ECHOPAIR(" err=",fabs(z_optimized - z0));
- SERIAL_EOL;
- }
- //*/
- z0 *= ubl.fade_scaling_factor_for_z(z_end);
-
- /**
- * If part of the Mesh is undefined, it will show up as NAN
- * in z_values[][] and propagate through the
- * calculations. If our correction is NAN, we throw it out
- * because part of the Mesh is undefined and we don't have the
- * information we need to complete the height correction.
- */
- if (isnan(z0)) z0 = 0.0;
-
- planner.buffer_line(x_end, y_end, z_end + z0 + ubl.state.z_offset, e_end, feed_rate, extruder);
-
- if (g26_debug_flag)
- debug_current_and_destination((char*)"FINAL_MOVE in ubl_line_to_destination()");
-
- set_current_to_destination();
- return;
- }
-
- /**
- * If we get here, we are processing a move that crosses at least one Mesh Line. We will check
- * for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
- * of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
- * computation and in fact most lines are of this nature. We will check for that in the following
- * blocks of code:
- */
-
- const float dx = x_end - x_start,
- dy = y_end - y_start;
-
- const int left_flag = dx < 0.0 ? 1 : 0,
- down_flag = dy < 0.0 ? 1 : 0;
-
- const float adx = left_flag ? -dx : dx,
- ady = down_flag ? -dy : dy;
-
- const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
- dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
-
- /**
- * Compute the scaling factor for the extruder for each partial move.
- * We need to watch out for zero length moves because it will cause us to
- * have an infinate scaling factor. We are stuck doing a floating point
- * divide to get our scaling factor, but after that, we just multiply by this
- * number. We also pick our scaling factor based on whether the X or Y
- * component is larger. We use the biggest of the two to preserve precision.
- */
-
- const bool use_x_dist = adx > ady;
-
- float on_axis_distance = use_x_dist ? dx : dy,
- e_position = e_end - e_start,
- z_position = z_end - z_start;
-
- const float e_normalized_dist = e_position / on_axis_distance,
- z_normalized_dist = z_position / on_axis_distance;
-
- int current_xi = cell_start_xi, current_yi = cell_start_yi;
-
- const float m = dy / dx,
- c = y_start - m * x_start;
-
- const bool inf_normalized_flag = NEAR_ZERO(on_axis_distance),
- inf_m_flag = NEAR_ZERO(dx);
-
- /**
- * This block handles vertical lines. These are lines that stay within the same
- * X Cell column. They do not need to be perfectly vertical. They just can
- * not cross into another X Cell column.
- */
- if (dxi == 0) { // Check for a vertical line
- current_yi += down_flag; // Line is heading down, we just want to go to the bottom
- while (current_yi != cell_dest_yi + down_flag) {
- current_yi += dyi;
- const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
-
- /**
- * inf_m_flag? the slope of the line is infinite, we won't do the calculations
- * else, we know the next X is the same so we can recover and continue!
- * Calculate X at the next Y mesh line
- */
- const float x = inf_m_flag ? x_start : (next_mesh_line_y - c) / m;
-
- float z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);
-
- /**
- * Debug code to use non-optimized get_z_correction() and to do a sanity check
- * that the correct value is being passed to planner.buffer_line()
- */
- /*
- z_optimized = z0;
- z0 = ubl.get_z_correction(x, next_mesh_line_y);
- if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
- debug_current_and_destination((char*)"VERTICAL z_correction()");
- if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
- if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
- SERIAL_ECHOPAIR(" x=", x);
- SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
- SERIAL_ECHOPAIR(" z0=", z0);
- SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
- SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
- SERIAL_ECHO("\n");
- }
- //*/
-
- z0 *= ubl.fade_scaling_factor_for_z(z_end);
-
- /**
- * If part of the Mesh is undefined, it will show up as NAN
- * in z_values[][] and propagate through the
- * calculations. If our correction is NAN, we throw it out
- * because part of the Mesh is undefined and we don't have the
- * information we need to complete the height correction.
- */
- if (isnan(z0)) z0 = 0.0;
-
- const float y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
-
- /**
- * Without this check, it is possible for the algorithm to generate a zero length move in the case
- * where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
- * happens, it might be best to remove the check and always 'schedule' the move because
- * the planner.buffer_line() routine will filter it if that happens.
- */
- if (y != y_start) {
- if (!inf_normalized_flag) {
- on_axis_distance = y - y_start; // we don't need to check if the extruder position
- e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a vertical move
- z_position = z_start + on_axis_distance * z_normalized_dist;
- }
- else {
- e_position = e_start;
- z_position = z_start;
- }
-
- planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
- } //else printf("FIRST MOVE PRUNED ");
- }
-
- if (g26_debug_flag)
- debug_current_and_destination((char*)"vertical move done in ubl_line_to_destination()");
-
- //
- // Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
- //
- if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end)
- goto FINAL_MOVE;
-
- set_current_to_destination();
- return;
- }
-
- /**
- *
- * This block handles horizontal lines. These are lines that stay within the same
- * Y Cell row. They do not need to be perfectly horizontal. They just can
- * not cross into another Y Cell row.
- *
- */
-
- if (dyi == 0) { // Check for a horizontal line
- current_xi += left_flag; // Line is heading left, we just want to go to the left
- // edge of this cell for the first move.
- while (current_xi != cell_dest_xi + left_flag) {
- current_xi += dxi;
- const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]),
- y = m * next_mesh_line_x + c; // Calculate X at the next Y mesh line
-
- float z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
-
- /**
- * Debug code to use non-optimized get_z_correction() and to do a sanity check
- * that the correct value is being passed to planner.buffer_line()
- */
- /*
- z_optimized = z0;
- z0 = ubl.get_z_correction(next_mesh_line_x, y);
- if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
- debug_current_and_destination((char*)"HORIZONTAL z_correction()");
- if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
- if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
- SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
- SERIAL_ECHOPAIR(" y=", y);
- SERIAL_ECHOPAIR(" z0=", z0);
- SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
- SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
- SERIAL_ECHO("\n");
- }
- //*/
-
- z0 = z0 * ubl.fade_scaling_factor_for_z(z_end);
-
- /**
- * If part of the Mesh is undefined, it will show up as NAN
- * in z_values[][] and propagate through the
- * calculations. If our correction is NAN, we throw it out
- * because part of the Mesh is undefined and we don't have the
- * information we need to complete the height correction.
- */
- if (isnan(z0)) z0 = 0.0;
-
- const float x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]);
-
- /**
- * Without this check, it is possible for the algorithm to generate a zero length move in the case
- * where the line is heading left and it is starting right on a Mesh Line boundary. For how often
- * that happens, it might be best to remove the check and always 'schedule' the move because
- * the planner.buffer_line() routine will filter it if that happens.
- */
- if (x != x_start) {
- if (!inf_normalized_flag) {
- on_axis_distance = x - x_start; // we don't need to check if the extruder position
- e_position = e_start + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
- z_position = z_start + on_axis_distance * z_normalized_dist;
- }
- else {
- e_position = e_start;
- z_position = z_start;
- }
-
- planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
- } //else printf("FIRST MOVE PRUNED ");
- }
-
- if (g26_debug_flag)
- debug_current_and_destination((char*)"horizontal move done in ubl_line_to_destination()");
-
- if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end)
- goto FINAL_MOVE;
-
- set_current_to_destination();
- return;
- }
-
- /**
- *
- * This block handles the generic case of a line crossing both X and Y Mesh lines.
- *
- */
-
- int xi_cnt = cell_start_xi - cell_dest_xi,
- yi_cnt = cell_start_yi - cell_dest_yi;
-
- if (xi_cnt < 0) xi_cnt = -xi_cnt;
- if (yi_cnt < 0) yi_cnt = -yi_cnt;
-
- current_xi += left_flag;
- current_yi += down_flag;
-
- while (xi_cnt > 0 || yi_cnt > 0) {
-
- const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi + dxi]),
- next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi + dyi]),
- y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
- x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line (we don't have to worry
- // about m being equal to 0.0 If this was the case, we would have
- // detected this as a vertical line move up above and we wouldn't
- // be down here doing a generic type of move.
-
- if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
- //
- // Yes! Crossing a Y Mesh Line next
- //
- float z0 = ubl.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi - left_flag, current_yi + dyi);
-
- /**
- * Debug code to use non-optimized get_z_correction() and to do a sanity check
- * that the correct value is being passed to planner.buffer_line()
- */
- /*
- z_optimized = z0;
- z0 = ubl.get_z_correction(x, next_mesh_line_y);
- if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
- debug_current_and_destination((char*)"General_1: z_correction()");
- if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
- if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN "); {
- SERIAL_ECHOPAIR(" x=", x);
- }
- SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
- SERIAL_ECHOPAIR(" z0=", z0);
- SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
- SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
- SERIAL_ECHO("\n");
- }
- //*/
-
- z0 *= ubl.fade_scaling_factor_for_z(z_end);
-
- /**
- * If part of the Mesh is undefined, it will show up as NAN
- * in z_values[][] and propagate through the
- * calculations. If our correction is NAN, we throw it out
- * because part of the Mesh is undefined and we don't have the
- * information we need to complete the height correction.
- */
- if (isnan(z0)) z0 = 0.0;
-
- if (!inf_normalized_flag) {
- on_axis_distance = use_x_dist ? x - x_start : next_mesh_line_y - y_start;
- e_position = e_start + on_axis_distance * e_normalized_dist;
- z_position = z_start + on_axis_distance * z_normalized_dist;
- }
- else {
- e_position = e_start;
- z_position = z_start;
- }
- planner.buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
- current_yi += dyi;
- yi_cnt--;
- }
- else {
- //
- // Yes! Crossing a X Mesh Line next
- //
- float z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi + dxi, current_yi - down_flag);
-
- /**
- * Debug code to use non-optimized get_z_correction() and to do a sanity check
- * that the correct value is being passed to planner.buffer_line()
- */
- /*
- z_optimized = z0;
- z0 = ubl.get_z_correction(next_mesh_line_x, y);
- if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
- debug_current_and_destination((char*)"General_2: z_correction()");
- if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
- if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
- SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
- SERIAL_ECHOPAIR(" y=", y);
- SERIAL_ECHOPAIR(" z0=", z0);
- SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
- SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
- SERIAL_ECHO("\n");
- }
- //*/
-
- z0 *= ubl.fade_scaling_factor_for_z(z_end);
-
- /**
- * If part of the Mesh is undefined, it will show up as NAN
- * in z_values[][] and propagate through the
- * calculations. If our correction is NAN, we throw it out
- * because part of the Mesh is undefined and we don't have the
- * information we need to complete the height correction.
- */
- if (isnan(z0)) z0 = 0.0;
-
- if (!inf_normalized_flag) {
- on_axis_distance = use_x_dist ? next_mesh_line_x - x_start : y - y_start;
- e_position = e_start + on_axis_distance * e_normalized_dist;
- z_position = z_start + on_axis_distance * z_normalized_dist;
- }
- else {
- e_position = e_start;
- z_position = z_start;
- }
-
- planner.buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
- current_xi += dxi;
- xi_cnt--;
- }
- }
-
- if (g26_debug_flag)
- debug_current_and_destination((char*)"generic move done in ubl_line_to_destination()");
-
- if (current_position[0] != x_end || current_position[1] != y_end)
- goto FINAL_MOVE;
-
- set_current_to_destination();
- }
-
- #endif
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