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Patches to bring UBL closer to compliance

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This commit is contained in:
Scott Lahteine
2017-03-24 00:53:37 -05:00
parent d076c1b604
commit b5711a99a2
10 changed files with 493 additions and 543 deletions
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162
Marlin/UBL.h
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@@ -22,6 +22,7 @@
#include "Marlin.h"
#include "math.h"
#include "vector_3.h"
#ifndef UNIFIED_BED_LEVELING_H
#define UNIFIED_BED_LEVELING_H
@@ -32,32 +33,29 @@
#define UBL_ERR true
typedef struct {
int x_index, y_index;
float distance; // Not always used. But when populated, it is the distance
// from the search location
int8_t x_index, y_index;
float distance; // When populated, the distance from the search location
} mesh_index_pair;
typedef struct { double dx, dy, dz; } vector;
enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
bool axis_unhomed_error(bool, bool, bool);
void dump(char *str, float f);
void dump(char * const str, const float &f);
bool ubl_lcd_clicked();
void probe_entire_mesh(float, float, bool, bool);
void probe_entire_mesh(const float&, const float&, const bool, const bool);
void debug_current_and_destination(char *title);
void ubl_line_to_destination(const float&, const float&, const float&, const float&, const float&, uint8_t);
void manually_probe_remaining_mesh(float, float, float, float, bool);
vector tilt_mesh_based_on_3pts(float, float, float);
void new_set_bed_level_equation_3pts(float, float, float);
float measure_business_card_thickness(float);
mesh_index_pair find_closest_mesh_point_of_type(MeshPointType, float, float, bool, unsigned int[16]);
void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
vector_3 tilt_mesh_based_on_3pts(const float&, const float&, const float&);
float measure_business_card_thickness(const float&);
mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16]);
void find_mean_mesh_height();
void shift_mesh_height();
bool g29_parameter_parsing();
void g29_what_command();
void g29_eeprom_dump();
void g29_compare_current_mesh_to_stored_mesh();
void fine_tune_mesh(float, float, bool);
void fine_tune_mesh(const float&, const float&, const bool);
void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
@@ -83,7 +81,11 @@
#define MESH_X_DIST ((float(UBL_MESH_MAX_X) - float(UBL_MESH_MIN_X)) / (float(UBL_MESH_NUM_X_POINTS) - 1.0))
#define MESH_Y_DIST ((float(UBL_MESH_MAX_Y) - float(UBL_MESH_MIN_Y)) / (float(UBL_MESH_NUM_Y_POINTS) - 1.0))
extern bool g26_debug_flag;
#if ENABLED(UBL_MESH_EDIT_ENABLED)
extern bool g26_debug_flag;
#else
constexpr bool g26_debug_flag = false;
#endif
extern float last_specified_z;
extern float fade_scaling_factor_for_current_height;
extern float z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS];
@@ -103,12 +105,15 @@
mesh_x_max = UBL_MESH_MAX_X,
mesh_y_max = UBL_MESH_MAX_Y,
mesh_x_dist = MESH_X_DIST,
mesh_y_dist = MESH_Y_DIST,
g29_correction_fade_height = 10.0,
g29_fade_height_multiplier = 1.0 / 10.0; // It is cheaper to do a floating point multiply than a floating
// point divide. So, we keep this number in both forms. The first
// is for the user. The second one is the one that is actually used
// again and again and again during the correction calculations.
mesh_y_dist = MESH_Y_DIST;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
float g29_correction_fade_height = 10.0,
g29_fade_height_multiplier = 1.0 / 10.0; // It is cheaper to do a floating point multiply than a floating
// point divide. So, we keep this number in both forms. The first
// is for the user. The second one is the one that is actually used
// again and again and again during the correction calculations.
#endif
unsigned char padding[24]; // This is just to allow room to add state variables without
// changing the location of data structures in the EEPROM.
@@ -122,45 +127,45 @@
unified_bed_leveling();
// ~unified_bed_leveling(); // No destructor because this object never goes away!
void display_map(int);
void display_map(const int);
void reset();
void invalidate();
void store_state();
void load_state();
void store_mesh(int);
void load_mesh(int);
void store_mesh(const int16_t);
void load_mesh(const int16_t);
bool sanity_check();
FORCE_INLINE float map_x_index_to_bed_location(int8_t i){ return ((float) UBL_MESH_MIN_X) + (((float) MESH_X_DIST) * (float) i); };
FORCE_INLINE float map_y_index_to_bed_location(int8_t i){ return ((float) UBL_MESH_MIN_Y) + (((float) MESH_Y_DIST) * (float) i); };
FORCE_INLINE static float map_x_index_to_bed_location(const int8_t i) { return ((float) UBL_MESH_MIN_X) + (((float) MESH_X_DIST) * (float) i); };
FORCE_INLINE static float map_y_index_to_bed_location(const int8_t i) { return ((float) UBL_MESH_MIN_Y) + (((float) MESH_Y_DIST) * (float) i); };
void set_z(const int8_t px, const int8_t py, const float z) { z_values[px][py] = z; }
FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
int8_t get_cell_index_x(float x) {
int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
static int8_t get_cell_index_x(const float &x) {
const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (UBL_MESH_NUM_X_POINTS) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
int8_t get_cell_index_y(float y) {
int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
static int8_t get_cell_index_y(const float &y) {
const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (UBL_MESH_NUM_Y_POINTS) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
int8_t find_closest_x_index(float x) {
int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
static int8_t find_closest_x_index(const float &x) {
const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
return (px >= 0 && px < (UBL_MESH_NUM_X_POINTS)) ? px : -1;
}
int8_t find_closest_y_index(float y) {
int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
static int8_t find_closest_y_index(const float &y) {
const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
return (py >= 0 && py < (UBL_MESH_NUM_Y_POINTS)) ? py : -1;
}
@@ -174,14 +179,14 @@
* |<---delta_a---------->|
*
* calc_z0 is the basis for all the Mesh Based correction. It is used to
* find the expected Z Height at a position between two known Z-Height locations
* find the expected Z Height at a position between two known Z-Height locations.
*
* It is farly expensive with its 4 floating point additions and 2 floating point
* It is fairly expensive with its 4 floating point additions and 2 floating point
* multiplications.
*/
inline float calc_z0(float a0, float a1, float z1, float a2, float z2) {
float delta_z = (z2 - z1);
float delta_a = (a0 - a1) / (a2 - a1);
static FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1),
delta_a = (a0 - a1) / (a2 - a1);
return z1 + delta_a * delta_z;
}
@@ -193,7 +198,7 @@
* the X index of the x0 intersection available and we don't want to perform any extra floating
* point operations.
*/
inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(float x0, int x1_i, int yi) {
inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(const float &x0, const int x1_i, const int yi) {
if (x1_i < 0 || yi < 0 || x1_i >= UBL_MESH_NUM_X_POINTS || yi >= UBL_MESH_NUM_Y_POINTS) {
SERIAL_ECHOPAIR("? in get_z_correction_along_horizontal_mesh_line_at_specific_X(x0=", x0);
SERIAL_ECHOPAIR(",x1_i=", x1_i);
@@ -203,18 +208,18 @@
return NAN;
}
const float a0ma1diva2ma1 = (x0 - mesh_index_to_x_location[x1_i]) * (1.0 / (MESH_X_DIST)),
const float xratio = (RAW_X_POSITION(x0) - mesh_index_to_x_location[x1_i]) * (1.0 / (MESH_X_DIST)),
z1 = z_values[x1_i][yi],
z2 = z_values[x1_i + 1][yi],
dz = (z2 - z1);
return z1 + a0ma1diva2ma1 * dz;
return z1 + xratio * dz;
}
//
// See comments above for get_z_correction_along_horizontal_mesh_line_at_specific_X
//
inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(float y0, int xi, int y1_i) {
inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(const float &y0, const int xi, const int y1_i) {
if (xi < 0 || y1_i < 0 || xi >= UBL_MESH_NUM_X_POINTS || y1_i >= UBL_MESH_NUM_Y_POINTS) {
SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_X(y0=", y0);
SERIAL_ECHOPAIR(", x1_i=", xi);
@@ -224,12 +229,12 @@
return NAN;
}
const float a0ma1diva2ma1 = (y0 - mesh_index_to_y_location[y1_i]) * (1.0 / (MESH_Y_DIST)),
const float yratio = (RAW_Y_POSITION(y0) - mesh_index_to_y_location[y1_i]) * (1.0 / (MESH_Y_DIST)),
z1 = z_values[xi][y1_i],
z2 = z_values[xi][y1_i + 1],
dz = (z2 - z1);
return z1 + a0ma1diva2ma1 * dz;
return z1 + yratio * dz;
}
/**
@@ -238,9 +243,9 @@
* Z-Height at both ends. Then it does a linear interpolation of these heights based
* on the Y position within the cell.
*/
float get_z_correction(float x0, float y0) {
int8_t cx = get_cell_index_x(x0),
cy = get_cell_index_y(y0);
float get_z_correction(const float &x0, const float &y0) const {
const int8_t cx = get_cell_index_x(RAW_X_POSITION(x0)),
cy = get_cell_index_y(RAW_Y_POSITION(y0));
if (cx < 0 || cy < 0 || cx >= UBL_MESH_NUM_X_POINTS || cy >= UBL_MESH_NUM_Y_POINTS) {
@@ -256,15 +261,15 @@
return 0.0; // this used to return state.z_offset
}
float z1 = calc_z0(x0,
map_x_index_to_bed_location(cx), z_values[cx][cy],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy]);
float z2 = calc_z0(x0,
map_x_index_to_bed_location(cx), z_values[cx][cy + 1],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy + 1]);
float z0 = calc_z0(y0,
map_y_index_to_bed_location(cy), z1,
map_y_index_to_bed_location(cy + 1), z2);
const float z1 = calc_z0(RAW_X_POSITION(x0),
map_x_index_to_bed_location(cx), z_values[cx][cy],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy]),
z2 = calc_z0(RAW_X_POSITION(x0),
map_x_index_to_bed_location(cx), z_values[cx][cy + 1],
map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy + 1]);
float z0 = calc_z0(RAW_Y_POSITION(y0),
map_y_index_to_bed_location(cy), z1,
map_y_index_to_bed_location(cy + 1), z2);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
@@ -308,27 +313,36 @@
* factor is going to be the same as the last time the function calculated a value. If so, it just
* returns it.
*
* If it must do a calcuation, it will return a scaling factor of 0.0 if the UBL System is not active
* or if the current Z Height is past the specified 'Fade Height'
* It returns a scaling factor of 1.0 if UBL is inactive.
* It returns a scaling factor of 0.0 if Z is past the specified 'Fade Height'
*/
FORCE_INLINE float fade_scaling_factor_for_z(float current_z) {
#ifndef ENABLE_LEVELING_FADE_HEIGHT // if turned off, just return 0.000 Note that we assume the
return 0.000; // compiler will do 'Dead Code' elimination so there is no need
#endif // for an #else clause here.
if (last_specified_z == current_z)
return fade_scaling_factor_for_current_height;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
last_specified_z = current_z;
fade_scaling_factor_for_current_height =
state.active && current_z < state.g29_correction_fade_height
? 1.0 - (current_z * state.g29_fade_height_multiplier)
: 0.0;
return fade_scaling_factor_for_current_height;
}
};
FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) const {
const float rz = RAW_Z_POSITION(lz);
if (last_specified_z != rz) {
last_specified_z = rz;
fade_scaling_factor_for_current_height =
state.active && rz < state.g29_correction_fade_height
? 1.0 - (rz * state.g29_fade_height_multiplier)
: 0.0;
}
return fade_scaling_factor_for_current_height;
}
#else
static constexpr float fade_scaling_factor_for_z(const float &lz) { UNUSED(lz); return 1.0; }
#endif
}; // class unified_bed_leveling
extern unified_bed_leveling ubl;
extern int ubl_eeprom_start;
#endif // AUTO_BED_LEVELING_UBL
#define UBL_LAST_EEPROM_INDEX (E2END - sizeof(unified_bed_leveling::state))
#endif // AUTO_BED_LEVELING_UBL
#endif // UNIFIED_BED_LEVELING_H