Marlin/Marlin/ubl.cpp
oldmcg 9f295581f0 Ubl delta fixes and improvements (#6941)
* Change all direct changes of ubl.state.active to
  set_bed_leveling_enabled() which handles apply/unapply
  leveling to maintain current_position consistency.

Fix invalidation of UBL mesh to invalid unreachable
  mesh points as well (delta corners).

Fix UBL_DELTA unapply_leveling logic and when
it gets applied, including fade_height changes.

Add optional M114 D for detailed position information,
disabled from compilation by default (M114_DETAIL).

* UBL_DELTA raw and inline kinematics

* UBL planner fall through fix

* consistent variable names

* Cleanup orphaned code and whitespace changes.
Use _O2.

* compile warnings cleanup

* Remove redundant #ifdef condition
2017-06-03 17:11:43 -05:00

189 lines
5.9 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/>.
*
*/
#include "Marlin.h"
#include "math.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
#include "hex_print_routines.h"
#include "temperature.h"
extern Planner planner;
/**
* These support functions allow the use of large bit arrays of flags that take very
* little RAM. Currently they are limited to being 16x16 in size. Changing the declaration
* to unsigned long will allow us to go to 32x32 if higher resolution Mesh's are needed
* in the future.
*/
void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y) { CBI(bits[y], x); }
void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); }
bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }
uint8_t ubl_cnt = 0;
void unified_bed_leveling::echo_name() { SERIAL_PROTOCOLPGM("Unified Bed Leveling"); }
void unified_bed_leveling::report_state() {
echo_name();
SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");
if (!state.active) SERIAL_PROTOCOLPGM("in");
SERIAL_PROTOCOLLNPGM("active.");
safe_delay(50);
}
static void serial_echo_xy(const int16_t x, const int16_t y) {
SERIAL_CHAR('(');
SERIAL_ECHO(x);
SERIAL_CHAR(',');
SERIAL_ECHO(y);
SERIAL_CHAR(')');
safe_delay(10);
}
ubl_state unified_bed_leveling::state;
float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
unified_bed_leveling::last_specified_z;
// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
// until determinism prevails
constexpr float unified_bed_leveling::_mesh_index_to_xpos[16],
unified_bed_leveling::_mesh_index_to_ypos[16];
bool unified_bed_leveling::g26_debug_flag = false,
unified_bed_leveling::has_control_of_lcd_panel = false;
volatile int unified_bed_leveling::encoder_diff;
unified_bed_leveling::unified_bed_leveling() {
ubl_cnt++; // Debug counter to insure we only have one UBL object present in memory. We can eliminate this (and all references to ubl_cnt) very soon.
reset();
}
void unified_bed_leveling::reset() {
set_bed_leveling_enabled(false);
state.z_offset = 0;
state.storage_slot = -1;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
planner.z_fade_height = 10.0;
#endif
ZERO(z_values);
last_specified_z = -999.9;
}
void unified_bed_leveling::invalidate() {
set_bed_leveling_enabled(false);
state.z_offset = 0;
set_all_mesh_points_to_value(NAN);
}
void unified_bed_leveling::set_all_mesh_points_to_value(float value) {
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] = value;
}
}
}
void unified_bed_leveling::display_map(const int map_type) {
const bool map0 = map_type == 0;
constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
if (map0) {
SERIAL_PROTOCOLLNPGM("\nBed Topography Report:\n");
serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
SERIAL_ECHO_SP(spaces + 3);
serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
SERIAL_EOL;
serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MAX_Y);
SERIAL_ECHO_SP(spaces);
serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MAX_Y);
SERIAL_EOL;
}
const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
const bool is_current = i == current_xi && j == current_yi;
// is the nozzle here? then mark the number
if (map0) SERIAL_CHAR(is_current ? '[' : ' ');
const float f = z_values[i][j];
if (isnan(f)) {
serialprintPGM(map0 ? PSTR(" . ") : PSTR("NAN"));
}
else {
// if we don't do this, the columns won't line up nicely
if (map0 && f >= 0.0) SERIAL_CHAR(' ');
SERIAL_PROTOCOL_F(f, 3);
idle();
}
if (!map0 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
#if TX_BUFFER_SIZE > 0
MYSERIAL.flushTX();
#endif
safe_delay(15);
if (map0) {
SERIAL_CHAR(is_current ? ']' : ' ');
SERIAL_CHAR(' ');
}
}
SERIAL_EOL;
if (j && map0) { // we want the (0,0) up tight against the block of numbers
SERIAL_CHAR(' ');
SERIAL_EOL;
}
}
if (map0) {
serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
SERIAL_ECHO_SP(spaces + 4);
serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MIN_Y);
SERIAL_EOL;
serial_echo_xy(0, 0);
SERIAL_ECHO_SP(spaces + 5);
serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
SERIAL_EOL;
}
}
bool unified_bed_leveling::sanity_check() {
uint8_t error_flag = 0;
const int a = settings.calc_num_meshes();
if (a < 1) {
SERIAL_PROTOCOLLNPGM("?Insufficient EEPROM storage for a mesh of this size.");
error_flag++;
}
return !!error_flag;
}
#endif // AUTO_BED_LEVELING_UBL