Consolidate "bedlevel" code

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h

@@ -0,0 +1,129 @@
+/**
+ * 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 "../../../inc/MarlinConfig.h"
+
+enum MeshLevelingState {
+  MeshReport,
+  MeshStart,
+  MeshNext,
+  MeshSet,
+  MeshSetZOffset,
+  MeshReset
+};
+
+enum MBLStatus {
+  MBL_STATUS_NONE = 0,
+  MBL_STATUS_HAS_MESH_BIT = 0,
+  MBL_STATUS_ACTIVE_BIT = 1
+};
+
+#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 uint8_t status; // Has Mesh and Is Active bits
+  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 reset();
+
+  static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
+
+  static bool active()                       { return TEST(status, MBL_STATUS_ACTIVE_BIT); }
+  static void set_active(const bool onOff)   { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); }
+  static bool has_mesh()                     { return TEST(status, MBL_STATUS_HAS_MESH_BIT); }
+  static void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); }
+
+  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)) * (1.0 / (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)) * (1.0 / (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) + 0.5 * (MESH_X_DIST)) * (1.0 / (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) + 0.5 * (MESH_Y_DIST)) * (1.0 / (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;
+
+// Support functions, which may be embedded in the class later
+
+void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
+
+void mbl_mesh_report();
+
+#endif // _MESH_BED_LEVELING_H_