marlin/Marlin/UBL.h

/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016, 2017 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"
#include "vector_3.h"

#ifndef UNIFIED_BED_LEVELING_H
#define UNIFIED_BED_LEVELING_H

  #if ENABLED(AUTO_BED_LEVELING_UBL)

    #define UBL_OK false
    #define UBL_ERR true

    typedef struct {
      int8_t x_index, y_index;
      float distance; // When populated, the distance from the search location
    } mesh_index_pair;

    enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };

    void dump(char * const str, const float &f);
    bool ubl_lcd_clicked();
    void probe_entire_mesh(const float&, const float&, const bool, 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(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], bool);
    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(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);
    char *ftostr43sign(const float&, char);

    void gcode_G26();
    void gcode_G28();
    void gcode_G29();
    extern char conv[9];

    void save_ubl_active_state_and_disable();
    void restore_ubl_active_state_and_leave();

    ///////////////////////////////////////////////////////////////////////////////////////////////////////

    #if ENABLED(ULTRA_LCD)
      extern char lcd_status_message[];
      void lcd_quick_feedback();
    #endif

    enum MBLStatus { MBL_STATUS_NONE = 0, MBL_STATUS_HAS_MESH_BIT = 0, MBL_STATUS_ACTIVE_BIT = 1 };

    #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(UBL_MESH_NUM_X_POINTS - 1))
    #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(UBL_MESH_NUM_Y_POINTS - 1))

    typedef struct {
      bool active = false;
      float z_offset = 0.0;
      int8_t eeprom_storage_slot = -1,
             n_x = UBL_MESH_NUM_X_POINTS,
             n_y = UBL_MESH_NUM_Y_POINTS;

      float mesh_x_min = UBL_MESH_MIN_X,
            mesh_y_min = UBL_MESH_MIN_Y,
            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;

      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
        float g29_correction_fade_height = 10.0,
              g29_fade_height_multiplier = 1.0 / 10.0; // It's cheaper to do a floating point multiply than divide,
                                                       // so keep this value and its reciprocal.
      #else
        const float g29_correction_fade_height = 10.0,
                    g29_fade_height_multiplier = 1.0 / 10.0;
      #endif

      // If you change this struct, adjust TOTAL_STRUCT_SIZE

      #define TOTAL_STRUCT_SIZE 40 // Total size of the above fields

      // padding provides space to add state variables without
      // changing the location of data structures in the EEPROM.
      // This is for compatibility with future versions to keep
      // users from having to regenerate their mesh data.
      unsigned char padding[64 - TOTAL_STRUCT_SIZE];

    } ubl_state;

    class unified_bed_leveling {
      private:

        static float last_specified_z,
                     fade_scaling_factor_for_current_height;

      public:

        static ubl_state state, pre_initialized;

        static float z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS],
                     mesh_index_to_xpos[UBL_MESH_NUM_X_POINTS + 1], // +1 safety margin for now, until determinism prevails
                     mesh_index_to_ypos[UBL_MESH_NUM_Y_POINTS + 1];

        static bool g26_debug_flag,
                    has_control_of_lcd_panel;

        static int8_t eeprom_start;

        static volatile int encoder_diff; // Volatile because it's changed at interrupt time.

        unified_bed_leveling();

        static void display_map(const int);

        static void reset();
        static void invalidate();

        static void store_state();
        static void load_state();
        static void store_mesh(const int16_t);
        static void load_mesh(const int16_t);

        static bool sanity_check();

        static FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }

        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.
        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.

        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;
        }

        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;
        }

        /**
         *                           z2   --|
         *                 z0        |      |
         *                  |        |      + (z2-z1)
         *   z1             |        |      |
         * ---+-------------+--------+--  --|
         *   a1            a0        a2
         *    |<---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.
         *
         *  It is fairly expensive with its 4 floating point additions and 2 floating point
         *  multiplications.
         */
        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;
        }

        /**
         * get_z_correction_at_Y_intercept(float x0, int x1_i, int yi) only takes
         * three parameters. It assumes the x0 point is on a Mesh line denoted by yi. In theory
         * we could use get_cell_index_x(float x) to obtain the 2nd parameter x1_i but any code calling
         * the get_z_correction_along_vertical_mesh_line_at_specific_X routine  will already have
         * the X index of the x0 intersection available and we don't want to perform any extra floating
         * point operations.
         */
        static 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);
            SERIAL_ECHOPAIR(",yi=", yi);
            SERIAL_CHAR(')');
            SERIAL_EOL;
            return NAN;
          }

          const float xratio = (RAW_X_POSITION(x0) - mesh_index_to_xpos[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 + xratio * dz;
        }

        //
        // See comments above for get_z_correction_along_horizontal_mesh_line_at_specific_X
        //
        static 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);
            SERIAL_ECHOPAIR(", yi=", y1_i);
            SERIAL_CHAR(')');
            SERIAL_EOL;
            return NAN;
          }

          const float yratio = (RAW_Y_POSITION(y0) - mesh_index_to_ypos[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 + yratio * dz;
        }

        /**
         * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
         * does a linear interpolation along both of the bounding X-Mesh-Lines to find the
         * Z-Height at both ends. Then it does a linear interpolation of these heights based
         * on the Y position within the cell.
         */
        static float get_z_correction(const float &x0, const float &y0) {
          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) {

            SERIAL_ECHOPAIR("? in get_z_correction(x0=", x0);
            SERIAL_ECHOPAIR(", y0=", y0);
            SERIAL_CHAR(')');
            SERIAL_EOL;

            #if ENABLED(ULTRA_LCD)
              strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
              lcd_quick_feedback();
            #endif
            return 0.0; // this used to return state.z_offset
          }

          const float z1 = calc_z0(RAW_X_POSITION(x0),
                        mesh_index_to_xpos[cx], z_values[cx][cy],
                        mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy]),
                      z2 = calc_z0(RAW_X_POSITION(x0),
                        mesh_index_to_xpos[cx], z_values[cx][cy + 1],
                        mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]);
                float z0 = calc_z0(RAW_Y_POSITION(y0),
                    mesh_index_to_ypos[cy], z1,
                    mesh_index_to_ypos[cy + 1], z2);

          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(MESH_ADJUST)) {
              SERIAL_ECHOPAIR(" raw get_z_correction(", x0);
              SERIAL_CHAR(',')
              SERIAL_ECHO(y0);
              SERIAL_ECHOPGM(") = ");
              SERIAL_ECHO_F(z0, 6);
            }
          #endif

          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(MESH_ADJUST)) {
              SERIAL_ECHOPGM(" >>>---> ");
              SERIAL_ECHO_F(z0, 6);
              SERIAL_EOL;
            }
          #endif

          if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
            z0 = 0.0;      // in ubl.z_values[][] and propagate through the
                           // calculations. If our correction is NAN, we throw it out
                           // because part of the Mesh is undefined and we don't have the
                           // information we need to complete the height correction.

            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(MESH_ADJUST)) {
                SERIAL_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", x0);
                SERIAL_CHAR(',');
                SERIAL_ECHO(y0);
                SERIAL_CHAR(')');
                SERIAL_EOL;
              }
            #endif
          }
          return z0; // there used to be a +state.z_offset on this line
        }

        /**
         * This routine is used to scale the Z correction depending upon the current nozzle height. It is
         * optimized for speed. It avoids floating point operations by checking if the requested scaling
         * factor is going to be the same as the last time the function calculated a value. If so, it just
         * returns it.
         *
         * 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'
         */
        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)

          FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
            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;

    #define UBL_LAST_EEPROM_INDEX (E2END - sizeof(unified_bed_leveling::state))

  #endif // AUTO_BED_LEVELING_UBL
#endif // UNIFIED_BED_LEVELING_H