My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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ubl_motion.cpp 27KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. #include "../../../inc/MarlinConfig.h"
  23. #if ENABLED(AUTO_BED_LEVELING_UBL)
  24. #include "../bedlevel.h"
  25. #include "../../../module/planner.h"
  26. #include "../../../module/stepper.h"
  27. #include "../../../module/motion.h"
  28. #if ENABLED(DELTA)
  29. #include "../../../module/delta.h"
  30. #endif
  31. #include "../../../Marlin.h"
  32. #include <math.h>
  33. #if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
  34. inline void set_current_from_destination() { COPY(current_position, destination); }
  35. #else
  36. extern void set_current_from_destination();
  37. #endif
  38. #if !UBL_SEGMENTED
  39. void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) {
  40. /**
  41. * Much of the nozzle movement will be within the same cell. So we will do as little computation
  42. * as possible to determine if this is the case. If this move is within the same cell, we will
  43. * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
  44. */
  45. #if ENABLED(SKEW_CORRECTION)
  46. // For skew correction just adjust the destination point and we're done
  47. float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
  48. end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
  49. planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
  50. planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
  51. #else
  52. const float (&start)[XYZE] = current_position,
  53. (&end)[XYZE] = destination;
  54. #endif
  55. const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
  56. cell_start_yi = get_cell_index_y(start[Y_AXIS]),
  57. cell_dest_xi = get_cell_index_x(end[X_AXIS]),
  58. cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
  59. if (g26_debug_flag) {
  60. SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]);
  61. SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]);
  62. SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]);
  63. SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]);
  64. SERIAL_CHAR(')');
  65. SERIAL_EOL();
  66. debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
  67. }
  68. if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
  69. /**
  70. * we don't need to break up the move
  71. *
  72. * If we are moving off the print bed, we are going to allow the move at this level.
  73. * But we detect it and isolate it. For now, we just pass along the request.
  74. */
  75. if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) {
  76. // Note: There is no Z Correction in this case. We are off the grid and don't know what
  77. // a reasonable correction would be.
  78. planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder);
  79. set_current_from_destination();
  80. if (g26_debug_flag)
  81. debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()"));
  82. return;
  83. }
  84. FINAL_MOVE:
  85. /**
  86. * Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
  87. * generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
  88. * We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
  89. * We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
  90. * instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
  91. * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
  92. */
  93. const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST));
  94. float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
  95. (z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
  96. z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
  97. (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
  98. if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0;
  99. // we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
  100. // are going to apply the Y-Distance into the cell to interpolate the final Z correction.
  101. const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
  102. float z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
  103. /**
  104. * If part of the Mesh is undefined, it will show up as NAN
  105. * in z_values[][] and propagate through the
  106. * calculations. If our correction is NAN, we throw it out
  107. * because part of the Mesh is undefined and we don't have the
  108. * information we need to complete the height correction.
  109. */
  110. if (isnan(z0)) z0 = 0.0;
  111. planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder);
  112. if (g26_debug_flag)
  113. debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()"));
  114. set_current_from_destination();
  115. return;
  116. }
  117. /**
  118. * If we get here, we are processing a move that crosses at least one Mesh Line. We will check
  119. * for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
  120. * of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
  121. * computation and in fact most lines are of this nature. We will check for that in the following
  122. * blocks of code:
  123. */
  124. const float dx = end[X_AXIS] - start[X_AXIS],
  125. dy = end[Y_AXIS] - start[Y_AXIS];
  126. const int left_flag = dx < 0.0 ? 1 : 0,
  127. down_flag = dy < 0.0 ? 1 : 0;
  128. const float adx = left_flag ? -dx : dx,
  129. ady = down_flag ? -dy : dy;
  130. const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
  131. dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
  132. /**
  133. * Compute the scaling factor for the extruder for each partial move.
  134. * We need to watch out for zero length moves because it will cause us to
  135. * have an infinate scaling factor. We are stuck doing a floating point
  136. * divide to get our scaling factor, but after that, we just multiply by this
  137. * number. We also pick our scaling factor based on whether the X or Y
  138. * component is larger. We use the biggest of the two to preserve precision.
  139. */
  140. const bool use_x_dist = adx > ady;
  141. float on_axis_distance = use_x_dist ? dx : dy,
  142. e_position = end[E_AXIS] - start[E_AXIS],
  143. z_position = end[Z_AXIS] - start[Z_AXIS];
  144. const float e_normalized_dist = e_position / on_axis_distance,
  145. z_normalized_dist = z_position / on_axis_distance;
  146. int current_xi = cell_start_xi,
  147. current_yi = cell_start_yi;
  148. const float m = dy / dx,
  149. c = start[Y_AXIS] - m * start[X_AXIS];
  150. const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0),
  151. inf_m_flag = (isinf(m) != 0);
  152. /**
  153. * This block handles vertical lines. These are lines that stay within the same
  154. * X Cell column. They do not need to be perfectly vertical. They just can
  155. * not cross into another X Cell column.
  156. */
  157. if (dxi == 0) { // Check for a vertical line
  158. current_yi += down_flag; // Line is heading down, we just want to go to the bottom
  159. while (current_yi != cell_dest_yi + down_flag) {
  160. current_yi += dyi;
  161. const float next_mesh_line_y = mesh_index_to_ypos(current_yi);
  162. /**
  163. * if the slope of the line is infinite, we won't do the calculations
  164. * else, we know the next X is the same so we can recover and continue!
  165. * Calculate X at the next Y mesh line
  166. */
  167. const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
  168. float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi)
  169. * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
  170. /**
  171. * If part of the Mesh is undefined, it will show up as NAN
  172. * in z_values[][] and propagate through the
  173. * calculations. If our correction is NAN, we throw it out
  174. * because part of the Mesh is undefined and we don't have the
  175. * information we need to complete the height correction.
  176. */
  177. if (isnan(z0)) z0 = 0.0;
  178. const float ry = mesh_index_to_ypos(current_yi);
  179. /**
  180. * Without this check, it is possible for the algorithm to generate a zero length move in the case
  181. * where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
  182. * happens, it might be best to remove the check and always 'schedule' the move because
  183. * the planner.buffer_segment() routine will filter it if that happens.
  184. */
  185. if (ry != start[Y_AXIS]) {
  186. if (!inf_normalized_flag) {
  187. on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
  188. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
  189. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  190. }
  191. else {
  192. e_position = end[E_AXIS];
  193. z_position = end[Z_AXIS];
  194. }
  195. planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder);
  196. } //else printf("FIRST MOVE PRUNED ");
  197. }
  198. if (g26_debug_flag)
  199. debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()"));
  200. //
  201. // Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
  202. //
  203. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
  204. goto FINAL_MOVE;
  205. set_current_from_destination();
  206. return;
  207. }
  208. /**
  209. *
  210. * This block handles horizontal lines. These are lines that stay within the same
  211. * Y Cell row. They do not need to be perfectly horizontal. They just can
  212. * not cross into another Y Cell row.
  213. *
  214. */
  215. if (dyi == 0) { // Check for a horizontal line
  216. current_xi += left_flag; // Line is heading left, we just want to go to the left
  217. // edge of this cell for the first move.
  218. while (current_xi != cell_dest_xi + left_flag) {
  219. current_xi += dxi;
  220. const float next_mesh_line_x = mesh_index_to_xpos(current_xi),
  221. ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
  222. float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi)
  223. * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
  224. /**
  225. * If part of the Mesh is undefined, it will show up as NAN
  226. * in z_values[][] and propagate through the
  227. * calculations. If our correction is NAN, we throw it out
  228. * because part of the Mesh is undefined and we don't have the
  229. * information we need to complete the height correction.
  230. */
  231. if (isnan(z0)) z0 = 0.0;
  232. const float rx = mesh_index_to_xpos(current_xi);
  233. /**
  234. * Without this check, it is possible for the algorithm to generate a zero length move in the case
  235. * where the line is heading left and it is starting right on a Mesh Line boundary. For how often
  236. * that happens, it might be best to remove the check and always 'schedule' the move because
  237. * the planner.buffer_segment() routine will filter it if that happens.
  238. */
  239. if (rx != start[X_AXIS]) {
  240. if (!inf_normalized_flag) {
  241. on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
  242. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
  243. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  244. }
  245. else {
  246. e_position = end[E_AXIS];
  247. z_position = end[Z_AXIS];
  248. }
  249. planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder);
  250. } //else printf("FIRST MOVE PRUNED ");
  251. }
  252. if (g26_debug_flag)
  253. debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()"));
  254. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
  255. goto FINAL_MOVE;
  256. set_current_from_destination();
  257. return;
  258. }
  259. /**
  260. *
  261. * This block handles the generic case of a line crossing both X and Y Mesh lines.
  262. *
  263. */
  264. int xi_cnt = cell_start_xi - cell_dest_xi,
  265. yi_cnt = cell_start_yi - cell_dest_yi;
  266. if (xi_cnt < 0) xi_cnt = -xi_cnt;
  267. if (yi_cnt < 0) yi_cnt = -yi_cnt;
  268. current_xi += left_flag;
  269. current_yi += down_flag;
  270. while (xi_cnt > 0 || yi_cnt > 0) {
  271. const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi),
  272. next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi),
  273. ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
  274. rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
  275. // (No need to worry about m being zero.
  276. // If that was the case, it was already detected
  277. // as a vertical line move above.)
  278. if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
  279. // Yes! Crossing a Y Mesh Line next
  280. float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi)
  281. * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
  282. /**
  283. * If part of the Mesh is undefined, it will show up as NAN
  284. * in z_values[][] and propagate through the
  285. * calculations. If our correction is NAN, we throw it out
  286. * because part of the Mesh is undefined and we don't have the
  287. * information we need to complete the height correction.
  288. */
  289. if (isnan(z0)) z0 = 0.0;
  290. if (!inf_normalized_flag) {
  291. on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
  292. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
  293. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  294. }
  295. else {
  296. e_position = end[E_AXIS];
  297. z_position = end[Z_AXIS];
  298. }
  299. planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
  300. current_yi += dyi;
  301. yi_cnt--;
  302. }
  303. else {
  304. // Yes! Crossing a X Mesh Line next
  305. float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag)
  306. * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
  307. /**
  308. * If part of the Mesh is undefined, it will show up as NAN
  309. * in z_values[][] and propagate through the
  310. * calculations. If our correction is NAN, we throw it out
  311. * because part of the Mesh is undefined and we don't have the
  312. * information we need to complete the height correction.
  313. */
  314. if (isnan(z0)) z0 = 0.0;
  315. if (!inf_normalized_flag) {
  316. on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS];
  317. e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
  318. z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
  319. }
  320. else {
  321. e_position = end[E_AXIS];
  322. z_position = end[Z_AXIS];
  323. }
  324. planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder);
  325. current_xi += dxi;
  326. xi_cnt--;
  327. }
  328. if (xi_cnt < 0 || yi_cnt < 0) break; // we've gone too far, so exit the loop and move on to FINAL_MOVE
  329. }
  330. if (g26_debug_flag)
  331. debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()"));
  332. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
  333. goto FINAL_MOVE;
  334. set_current_from_destination();
  335. }
  336. #else // UBL_SEGMENTED
  337. #if IS_SCARA // scale the feed rate from mm/s to degrees/s
  338. static float scara_feed_factor, scara_oldA, scara_oldB;
  339. #endif
  340. // We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
  341. // so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
  342. inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) {
  343. #if ENABLED(SKEW_CORRECTION)
  344. float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] };
  345. planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
  346. #else
  347. const float (&raw)[XYZE] = in_raw;
  348. #endif
  349. #if ENABLED(DELTA) // apply delta inverse_kinematics
  350. DELTA_RAW_IK();
  351. planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
  352. #elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
  353. inverse_kinematics(raw); // this writes delta[ABC] from raw[XYZE]
  354. // should move the feedrate scaling to scara inverse_kinematics
  355. const float adiff = FABS(delta[A_AXIS] - scara_oldA),
  356. bdiff = FABS(delta[B_AXIS] - scara_oldB);
  357. scara_oldA = delta[A_AXIS];
  358. scara_oldB = delta[B_AXIS];
  359. float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
  360. planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder);
  361. #else // CARTESIAN
  362. planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder);
  363. #endif
  364. }
  365. #if IS_SCARA
  366. #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
  367. #elif ENABLED(DELTA)
  368. #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
  369. #else // CARTESIAN
  370. #ifdef LEVELED_SEGMENT_LENGTH
  371. #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
  372. #else
  373. #define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
  374. #endif
  375. #endif
  376. /**
  377. * Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
  378. * This calls planner.buffer_segment multiple times for small incremental moves.
  379. * Returns true if did NOT move, false if moved (requires current_position update).
  380. */
  381. bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) {
  382. if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
  383. return true; // did not move, so current_position still accurate
  384. const float total[XYZE] = {
  385. rtarget[X_AXIS] - current_position[X_AXIS],
  386. rtarget[Y_AXIS] - current_position[Y_AXIS],
  387. rtarget[Z_AXIS] - current_position[Z_AXIS],
  388. rtarget[E_AXIS] - current_position[E_AXIS]
  389. };
  390. const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance
  391. #if IS_KINEMATIC
  392. const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
  393. uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate
  394. seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
  395. NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments)
  396. #else
  397. uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
  398. #endif
  399. NOLESS(segments, 1); // must have at least one segment
  400. const float inv_segments = 1.0 / segments; // divide once, multiply thereafter
  401. #if IS_SCARA // scale the feed rate from mm/s to degrees/s
  402. scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
  403. scara_oldA = stepper.get_axis_position_degrees(A_AXIS);
  404. scara_oldB = stepper.get_axis_position_degrees(B_AXIS);
  405. #endif
  406. const float diff[XYZE] = {
  407. total[X_AXIS] * inv_segments,
  408. total[Y_AXIS] * inv_segments,
  409. total[Z_AXIS] * inv_segments,
  410. total[E_AXIS] * inv_segments
  411. };
  412. // Note that E segment distance could vary slightly as z mesh height
  413. // changes for each segment, but small enough to ignore.
  414. float raw[XYZE] = {
  415. current_position[X_AXIS],
  416. current_position[Y_AXIS],
  417. current_position[Z_AXIS],
  418. current_position[E_AXIS]
  419. };
  420. // Only compute leveling per segment if ubl active and target below z_fade_height.
  421. if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling
  422. while (--segments) {
  423. LOOP_XYZE(i) raw[i] += diff[i];
  424. ubl_buffer_segment_raw(raw, feedrate);
  425. }
  426. ubl_buffer_segment_raw(rtarget, feedrate);
  427. return false; // moved but did not set_current_from_destination();
  428. }
  429. // Otherwise perform per-segment leveling
  430. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  431. const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]);
  432. #endif
  433. // increment to first segment destination
  434. LOOP_XYZE(i) raw[i] += diff[i];
  435. for(;;) { // for each mesh cell encountered during the move
  436. // Compute mesh cell invariants that remain constant for all segments within cell.
  437. // Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
  438. // the bilinear interpolation from the adjacent cell within the mesh will still work.
  439. // Inner loop will exit each time (because out of cell bounds) but will come back
  440. // in top of loop and again re-find same adjacent cell and use it, just less efficient
  441. // for mesh inset area.
  442. int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
  443. cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
  444. cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
  445. cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
  446. const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add
  447. y0 = mesh_index_to_ypos(cell_yi);
  448. float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
  449. z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
  450. z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
  451. z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
  452. if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A)
  453. if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
  454. if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
  455. if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
  456. float cx = raw[X_AXIS] - x0, // cell-relative x and y
  457. cy = raw[Y_AXIS] - y0;
  458. const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
  459. z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
  460. float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell)
  461. const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
  462. z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
  463. float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST)); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
  464. // float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
  465. // As subsequent segments step through this cell, the z_cxy0 intercept will change
  466. // and the z_cxym slope will change, both as a function of cx within the cell, and
  467. // each change by a constant for fixed segment lengths.
  468. const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
  469. z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * diff[X_AXIS]; // per-segment adjustment to z_cxym
  470. for(;;) { // for all segments within this mesh cell
  471. if (--segments == 0) // if this is last segment, use rtarget for exact
  472. COPY(raw, rtarget);
  473. const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
  474. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  475. * fade_scaling_factor // apply fade factor to interpolated mesh height
  476. #endif
  477. ;
  478. const float z = raw[Z_AXIS];
  479. raw[Z_AXIS] += z_cxcy;
  480. ubl_buffer_segment_raw(raw, feedrate);
  481. raw[Z_AXIS] = z;
  482. if (segments == 0) // done with last segment
  483. return false; // did not set_current_from_destination()
  484. LOOP_XYZE(i) raw[i] += diff[i];
  485. cx += diff[X_AXIS];
  486. cy += diff[Y_AXIS];
  487. if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
  488. break;
  489. // Next segment still within same mesh cell, adjust the per-segment
  490. // slope and intercept to compute next z height.
  491. z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0
  492. z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym
  493. } // segment loop
  494. } // cell loop
  495. }
  496. #endif // UBL_SEGMENTED
  497. #endif // AUTO_BED_LEVELING_UBL