120 lines
3.8 KiB
C++
120 lines
3.8 KiB
C++
/**
|
|
* 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/>.
|
|
*
|
|
*/
|
|
|
|
#ifndef _MESH_BED_LEVELING_H_
|
|
#define _MESH_BED_LEVELING_H_
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
enum MeshLevelingState : char {
|
|
MeshReport,
|
|
MeshStart,
|
|
MeshNext,
|
|
MeshSet,
|
|
MeshSetZOffset,
|
|
MeshReset
|
|
};
|
|
|
|
#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_POINTS_X - 1))
|
|
#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_POINTS_Y - 1))
|
|
|
|
class mesh_bed_leveling {
|
|
public:
|
|
static float z_offset,
|
|
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
|
|
index_to_xpos[GRID_MAX_POINTS_X],
|
|
index_to_ypos[GRID_MAX_POINTS_Y];
|
|
|
|
mesh_bed_leveling();
|
|
|
|
static void report_mesh();
|
|
|
|
static void reset();
|
|
|
|
FORCE_INLINE static bool has_mesh() {
|
|
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
|
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
|
if (z_values[x][y]) return true;
|
|
return false;
|
|
}
|
|
|
|
static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
|
|
|
|
static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
|
|
px = index % (GRID_MAX_POINTS_X);
|
|
py = index / (GRID_MAX_POINTS_X);
|
|
if (py & 1) px = (GRID_MAX_POINTS_X - 1) - px; // Zig zag
|
|
}
|
|
|
|
static void set_zigzag_z(const int8_t index, const float &z) {
|
|
int8_t px, py;
|
|
zigzag(index, px, py);
|
|
set_z(px, py, z);
|
|
}
|
|
|
|
static int8_t cell_index_x(const float &x) {
|
|
int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST));
|
|
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
|
|
}
|
|
|
|
static int8_t cell_index_y(const float &y) {
|
|
int8_t cy = (y - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));
|
|
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
|
|
}
|
|
|
|
static int8_t probe_index_x(const float &x) {
|
|
int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * (1.0f / (MESH_X_DIST));
|
|
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
|
|
}
|
|
|
|
static int8_t probe_index_y(const float &y) {
|
|
int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * (1.0f / (MESH_Y_DIST));
|
|
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
|
|
}
|
|
|
|
static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
|
|
const float delta_z = (z2 - z1) / (a2 - a1),
|
|
delta_a = a0 - a1;
|
|
return z1 + delta_a * delta_z;
|
|
}
|
|
|
|
static float get_z(const float &x0, const float &y0
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
, const float &factor
|
|
#endif
|
|
) {
|
|
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
|
|
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),
|
|
z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),
|
|
z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
|
|
|
|
return z_offset + z0
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
* factor
|
|
#endif
|
|
;
|
|
}
|
|
};
|
|
|
|
extern mesh_bed_leveling mbl;
|
|
|
|
#endif // _MESH_BED_LEVELING_H_
|