My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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ubl_motion.cpp 19KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. #include "MarlinConfig.h"
  23. #if ENABLED(AUTO_BED_LEVELING_UBL)
  24. #include "Marlin.h"
  25. #include "ubl.h"
  26. #include "planner.h"
  27. #include <avr/io.h>
  28. #include <math.h>
  29. extern float destination[XYZE];
  30. extern void set_current_to_destination();
  31. static void debug_echo_axis(const AxisEnum axis) {
  32. if (current_position[axis] == destination[axis])
  33. SERIAL_ECHOPGM("-------------");
  34. else
  35. SERIAL_ECHO_F(destination[X_AXIS], 6);
  36. }
  37. void debug_current_and_destination(const char *title) {
  38. // if the title message starts with a '!' it is so important, we are going to
  39. // ignore the status of the g26_debug_flag
  40. if (*title != '!' && !ubl.g26_debug_flag) return;
  41. const float de = destination[E_AXIS] - current_position[E_AXIS];
  42. if (de == 0.0) return;
  43. const float dx = current_position[X_AXIS] - destination[X_AXIS],
  44. dy = current_position[Y_AXIS] - destination[Y_AXIS],
  45. xy_dist = HYPOT(dx, dy);
  46. if (xy_dist == 0.0) {
  47. return;
  48. //SERIAL_ECHOPGM(" FPMM=");
  49. //const float fpmm = de / xy_dist;
  50. //SERIAL_PROTOCOL_F(fpmm, 6);
  51. }
  52. else {
  53. SERIAL_ECHOPGM(" fpmm=");
  54. const float fpmm = de / xy_dist;
  55. SERIAL_ECHO_F(fpmm, 6);
  56. }
  57. SERIAL_ECHOPGM(" current=( ");
  58. SERIAL_ECHO_F(current_position[X_AXIS], 6);
  59. SERIAL_ECHOPGM(", ");
  60. SERIAL_ECHO_F(current_position[Y_AXIS], 6);
  61. SERIAL_ECHOPGM(", ");
  62. SERIAL_ECHO_F(current_position[Z_AXIS], 6);
  63. SERIAL_ECHOPGM(", ");
  64. SERIAL_ECHO_F(current_position[E_AXIS], 6);
  65. SERIAL_ECHOPGM(" ) destination=( ");
  66. debug_echo_axis(X_AXIS);
  67. SERIAL_ECHOPGM(", ");
  68. debug_echo_axis(Y_AXIS);
  69. SERIAL_ECHOPGM(", ");
  70. debug_echo_axis(Z_AXIS);
  71. SERIAL_ECHOPGM(", ");
  72. debug_echo_axis(E_AXIS);
  73. SERIAL_ECHOPGM(" ) ");
  74. SERIAL_ECHO(title);
  75. SERIAL_EOL;
  76. }
  77. void ubl_line_to_destination(const float &feed_rate, uint8_t extruder) {
  78. /**
  79. * Much of the nozzle movement will be within the same cell. So we will do as little computation
  80. * as possible to determine if this is the case. If this move is within the same cell, we will
  81. * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
  82. */
  83. const float start[XYZE] = {
  84. current_position[X_AXIS],
  85. current_position[Y_AXIS],
  86. current_position[Z_AXIS],
  87. current_position[E_AXIS]
  88. },
  89. end[XYZE] = {
  90. destination[X_AXIS],
  91. destination[Y_AXIS],
  92. destination[Z_AXIS],
  93. destination[E_AXIS]
  94. };
  95. const int cell_start_xi = ubl.get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
  96. cell_start_yi = ubl.get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
  97. cell_dest_xi = ubl.get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
  98. cell_dest_yi = ubl.get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
  99. if (ubl.g26_debug_flag) {
  100. SERIAL_ECHOPAIR(" ubl_line_to_destination(xe=", end[X_AXIS]);
  101. SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
  102. SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
  103. SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
  104. SERIAL_CHAR(')');
  105. SERIAL_EOL;
  106. debug_current_and_destination(PSTR("Start of ubl_line_to_destination()"));
  107. }
  108. if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
  109. /**
  110. * we don't need to break up the move
  111. *
  112. * If we are moving off the print bed, we are going to allow the move at this level.
  113. * But we detect it and isolate it. For now, we just pass along the request.
  114. */
  115. if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) {
  116. // Note: There is no Z Correction in this case. We are off the grid and don't know what
  117. // a reasonable correction would be.
  118. planner.buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
  119. set_current_to_destination();
  120. if (ubl.g26_debug_flag)
  121. debug_current_and_destination(PSTR("out of bounds in ubl_line_to_destination()"));
  122. return;
  123. }
  124. FINAL_MOVE:
  125. /**
  126. * Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
  127. * generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
  128. * We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
  129. * We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
  130. * instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
  131. * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
  132. */
  133. const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&ubl.mesh_index_to_xpos[cell_dest_xi])) * (1.0 / (MESH_X_DIST)),
  134. z1 = ubl.z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
  135. (ubl.z_values[cell_dest_xi + 1][cell_dest_yi ] - ubl.z_values[cell_dest_xi][cell_dest_yi ]),
  136. z2 = ubl.z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
  137. (ubl.z_values[cell_dest_xi + 1][cell_dest_yi + 1] - ubl.z_values[cell_dest_xi][cell_dest_yi + 1]);
  138. // we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
  139. // are going to apply the Y-Distance into the cell to interpolate the final Z correction.
  140. const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&ubl.mesh_index_to_ypos[cell_dest_yi])) * (1.0 / (MESH_Y_DIST));
  141. float z0 = z1 + (z2 - z1) * yratio;
  142. z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
  143. /**
  144. * If part of the Mesh is undefined, it will show up as NAN
  145. * in z_values[][] and propagate through the
  146. * calculations. If our correction is NAN, we throw it out
  147. * because part of the Mesh is undefined and we don't have the
  148. * information we need to complete the height correction.
  149. */
  150. if (isnan(z0)) z0 = 0.0;
  151. planner.buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
  152. if (ubl.g26_debug_flag)
  153. debug_current_and_destination(PSTR("FINAL_MOVE in ubl_line_to_destination()"));
  154. set_current_to_destination();
  155. return;
  156. }
  157. /**
  158. * If we get here, we are processing a move that crosses at least one Mesh Line. We will check
  159. * for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
  160. * of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
  161. * computation and in fact most lines are of this nature. We will check for that in the following
  162. * blocks of code:
  163. */
  164. const float dx = end[X_AXIS] - start[X_AXIS],
  165. dy = end[Y_AXIS] - start[Y_AXIS];
  166. const int left_flag = dx < 0.0 ? 1 : 0,
  167. down_flag = dy < 0.0 ? 1 : 0;
  168. const float adx = left_flag ? -dx : dx,
  169. ady = down_flag ? -dy : dy;
  170. const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
  171. dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
  172. /**
  173. * Compute the scaling factor for the extruder for each partial move.
  174. * We need to watch out for zero length moves because it will cause us to
  175. * have an infinate scaling factor. We are stuck doing a floating point
  176. * divide to get our scaling factor, but after that, we just multiply by this
  177. * number. We also pick our scaling factor based on whether the X or Y
  178. * component is larger. We use the biggest of the two to preserve precision.
  179. */
  180. const bool use_x_dist = adx > ady;
  181. float on_axis_distance = use_x_dist ? dx : dy,
  182. e_position = end[E_AXIS] - start[E_AXIS],
  183. z_position = end[Z_AXIS] - start[Z_AXIS];
  184. const float e_normalized_dist = e_position / on_axis_distance,
  185. z_normalized_dist = z_position / on_axis_distance;
  186. int current_xi = cell_start_xi,
  187. current_yi = cell_start_yi;
  188. const float m = dy / dx,
  189. c = start[Y_AXIS] - m * start[X_AXIS];
  190. const bool inf_normalized_flag = isinf(e_normalized_dist),
  191. inf_m_flag = isinf(m);
  192. /**
  193. * This block handles vertical lines. These are lines that stay within the same
  194. * X Cell column. They do not need to be perfectly vertical. They just can
  195. * not cross into another X Cell column.
  196. */
  197. if (dxi == 0) { // Check for a vertical line
  198. current_yi += down_flag; // Line is heading down, we just want to go to the bottom
  199. while (current_yi != cell_dest_yi + down_flag) {
  200. current_yi += dyi;
  201. const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
  202. /**
  203. * if the slope of the line is infinite, we won't do the calculations
  204. * else, we know the next X is the same so we can recover and continue!
  205. * Calculate X at the next Y mesh line
  206. */
  207. const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
  208. float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
  209. z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
  210. /**
  211. * If part of the Mesh is undefined, it will show up as NAN
  212. * in z_values[][] and propagate through the
  213. * calculations. If our correction is NAN, we throw it out
  214. * because part of the Mesh is undefined and we don't have the
  215. * information we need to complete the height correction.
  216. */
  217. if (isnan(z0)) z0 = 0.0;
  218. const float y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
  219. /**
  220. * Without this check, it is possible for the algorithm to generate a zero length move in the case
  221. * where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
  222. * happens, it might be best to remove the check and always 'schedule' the move because
  223. * the planner.buffer_line() routine will filter it if that happens.
  224. */
  225. if (y != start[Y_AXIS]) {
  226. if (!inf_normalized_flag) {
  227. //on_axis_distance = y - start[Y_AXIS];
  228. on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
  229. //on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
  230. //on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
  231. //on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
  232. //on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
  233. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
  234. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  235. }
  236. else {
  237. e_position = end[E_AXIS];
  238. z_position = end[Z_AXIS];
  239. }
  240. planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
  241. } //else printf("FIRST MOVE PRUNED ");
  242. }
  243. if (ubl.g26_debug_flag)
  244. debug_current_and_destination(PSTR("vertical move done in ubl_line_to_destination()"));
  245. //
  246. // 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.
  247. //
  248. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
  249. goto FINAL_MOVE;
  250. set_current_to_destination();
  251. return;
  252. }
  253. /**
  254. *
  255. * This block handles horizontal lines. These are lines that stay within the same
  256. * Y Cell row. They do not need to be perfectly horizontal. They just can
  257. * not cross into another Y Cell row.
  258. *
  259. */
  260. if (dyi == 0) { // Check for a horizontal line
  261. current_xi += left_flag; // Line is heading left, we just want to go to the left
  262. // edge of this cell for the first move.
  263. while (current_xi != cell_dest_xi + left_flag) {
  264. current_xi += dxi;
  265. const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi])),
  266. y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
  267. float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
  268. z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
  269. /**
  270. * If part of the Mesh is undefined, it will show up as NAN
  271. * in z_values[][] and propagate through the
  272. * calculations. If our correction is NAN, we throw it out
  273. * because part of the Mesh is undefined and we don't have the
  274. * information we need to complete the height correction.
  275. */
  276. if (isnan(z0)) z0 = 0.0;
  277. const float x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi]));
  278. /**
  279. * Without this check, it is possible for the algorithm to generate a zero length move in the case
  280. * where the line is heading left and it is starting right on a Mesh Line boundary. For how often
  281. * that happens, it might be best to remove the check and always 'schedule' the move because
  282. * the planner.buffer_line() routine will filter it if that happens.
  283. */
  284. if (x != start[X_AXIS]) {
  285. if (!inf_normalized_flag) {
  286. //on_axis_distance = x - start[X_AXIS];
  287. on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
  288. //on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
  289. //on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
  290. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
  291. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  292. }
  293. else {
  294. e_position = end[E_AXIS];
  295. z_position = end[Z_AXIS];
  296. }
  297. planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
  298. } //else printf("FIRST MOVE PRUNED ");
  299. }
  300. if (ubl.g26_debug_flag)
  301. debug_current_and_destination(PSTR("horizontal move done in ubl_line_to_destination()"));
  302. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
  303. goto FINAL_MOVE;
  304. set_current_to_destination();
  305. return;
  306. }
  307. /**
  308. *
  309. * This block handles the generic case of a line crossing both X and Y Mesh lines.
  310. *
  311. */
  312. int xi_cnt = cell_start_xi - cell_dest_xi,
  313. yi_cnt = cell_start_yi - cell_dest_yi;
  314. if (xi_cnt < 0) xi_cnt = -xi_cnt;
  315. if (yi_cnt < 0) yi_cnt = -yi_cnt;
  316. current_xi += left_flag;
  317. current_yi += down_flag;
  318. while (xi_cnt > 0 || yi_cnt > 0) {
  319. const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi + dxi])),
  320. next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi + dyi])),
  321. y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
  322. x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
  323. // (No need to worry about m being zero.
  324. // If that was the case, it was already detected
  325. // as a vertical line move above.)
  326. if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
  327. //
  328. // Yes! Crossing a Y Mesh Line next
  329. //
  330. float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
  331. z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
  332. /**
  333. * If part of the Mesh is undefined, it will show up as NAN
  334. * in z_values[][] and propagate through the
  335. * calculations. If our correction is NAN, we throw it out
  336. * because part of the Mesh is undefined and we don't have the
  337. * information we need to complete the height correction.
  338. */
  339. if (isnan(z0)) z0 = 0.0;
  340. if (!inf_normalized_flag) {
  341. on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
  342. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
  343. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  344. }
  345. else {
  346. e_position = end[E_AXIS];
  347. z_position = end[Z_AXIS];
  348. }
  349. planner.buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
  350. current_yi += dyi;
  351. yi_cnt--;
  352. }
  353. else {
  354. //
  355. // Yes! Crossing a X Mesh Line next
  356. //
  357. float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
  358. z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
  359. /**
  360. * If part of the Mesh is undefined, it will show up as NAN
  361. * in z_values[][] and propagate through the
  362. * calculations. If our correction is NAN, we throw it out
  363. * because part of the Mesh is undefined and we don't have the
  364. * information we need to complete the height correction.
  365. */
  366. if (isnan(z0)) z0 = 0.0;
  367. if (!inf_normalized_flag) {
  368. on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
  369. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
  370. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  371. }
  372. else {
  373. e_position = end[E_AXIS];
  374. z_position = end[Z_AXIS];
  375. }
  376. planner.buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
  377. current_xi += dxi;
  378. xi_cnt--;
  379. }
  380. }
  381. if (ubl.g26_debug_flag)
  382. debug_current_and_destination(PSTR("generic move done in ubl_line_to_destination()"));
  383. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
  384. goto FINAL_MOVE;
  385. set_current_to_destination();
  386. }
  387. #endif