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Merge pull request #9087 from thinkyhead/bf2_mbl_localize

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[2.0.x] MBL cleanup, has_mesh() method
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Scott Lahteine 2018-01-07 20:10:22 -06:00 committed by GitHub
commit e180b7a460
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6 changed files with 34 additions and 48 deletions
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7
Marlin/src/feature/bedlevel/bedlevel.cpp
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@ -49,7 +49,7 @@
bool leveling_is_valid() { bool leveling_is_valid() {
return return
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing[X_AXIS] !!bilinear_grid_spacing[X_AXIS]
#elif ENABLED(AUTO_BED_LEVELING_UBL) #elif ENABLED(AUTO_BED_LEVELING_UBL)
@ -178,10 +178,7 @@ void reset_bed_level() {
#endif #endif
set_bed_leveling_enabled(false); set_bed_leveling_enabled(false);
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
if (leveling_is_valid()) { mbl.reset();
mbl.reset();
mbl.has_mesh = false;
}
#elif ENABLED(AUTO_BED_LEVELING_UBL) #elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.reset(); ubl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)

31
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
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@ -31,8 +31,6 @@
mesh_bed_leveling mbl; mesh_bed_leveling mbl;
bool mesh_bed_leveling::has_mesh;
float mesh_bed_leveling::z_offset, float mesh_bed_leveling::z_offset,
mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X], mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X],
@ -47,7 +45,6 @@
} }
void mesh_bed_leveling::reset() { void mesh_bed_leveling::reset() {
has_mesh = false;
z_offset = 0; z_offset = 0;
ZERO(z_values); ZERO(z_values);
} }
@ -58,12 +55,12 @@
* Prepare a mesh-leveled linear move in a Cartesian setup, * Prepare a mesh-leveled linear move in a Cartesian setup,
* splitting the move where it crosses mesh borders. * splitting the move where it crosses mesh borders.
*/ */
void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) { void mesh_bed_leveling::line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
// Get current and destination cells for this line // Get current and destination cells for this line
int cx1 = mbl.cell_index_x(current_position[X_AXIS]), int cx1 = cell_index_x(current_position[X_AXIS]),
cy1 = mbl.cell_index_y(current_position[Y_AXIS]), cy1 = cell_index_y(current_position[Y_AXIS]),
cx2 = mbl.cell_index_x(destination[X_AXIS]), cx2 = cell_index_x(destination[X_AXIS]),
cy2 = mbl.cell_index_y(destination[Y_AXIS]); cy2 = cell_index_y(destination[Y_AXIS]);
NOMORE(cx1, GRID_MAX_POINTS_X - 2); NOMORE(cx1, GRID_MAX_POINTS_X - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2); NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2); NOMORE(cx2, GRID_MAX_POINTS_X - 2);
@ -71,7 +68,7 @@
// Start and end in the same cell? No split needed. // Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) { if (cx1 == cx2 && cy1 == cy2) {
buffer_line_to_destination(fr_mm_s); line_to_destination(fr_mm_s);
set_current_from_destination(); set_current_from_destination();
return; return;
} }
@ -87,7 +84,7 @@
// Split on the X grid line // Split on the X grid line
CBI(x_splits, gcx); CBI(x_splits, gcx);
COPY(end, destination); COPY(end, destination);
destination[X_AXIS] = mbl.index_to_xpos[gcx]; destination[X_AXIS] = index_to_xpos[gcx];
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y); destination[Y_AXIS] = MBL_SEGMENT_END(Y);
} }
@ -96,14 +93,14 @@
// Split on the Y grid line // Split on the Y grid line
CBI(y_splits, gcy); CBI(y_splits, gcy);
COPY(end, destination); COPY(end, destination);
destination[Y_AXIS] = mbl.index_to_ypos[gcy]; destination[Y_AXIS] = index_to_ypos[gcy];
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X); destination[X_AXIS] = MBL_SEGMENT_END(X);
} }
else { else {
// Must already have been split on these border(s) // Must already have been split on these border(s)
// This should be a rare case. // This should be a rare case.
buffer_line_to_destination(fr_mm_s); line_to_destination(fr_mm_s);
set_current_from_destination(); set_current_from_destination();
return; return;
} }
@ -112,21 +109,21 @@
destination[E_AXIS] = MBL_SEGMENT_END(E); destination[E_AXIS] = MBL_SEGMENT_END(E);
// Do the split and look for more borders // Do the split and look for more borders
mesh_line_to_destination(fr_mm_s, x_splits, y_splits); line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack // Restore destination from stack
COPY(destination, end); COPY(destination, end);
mesh_line_to_destination(fr_mm_s, x_splits, y_splits); line_to_destination(fr_mm_s, x_splits, y_splits);
} }
#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
void mbl_mesh_report() { void mesh_bed_leveling::report_mesh() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y)); SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5); SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:"); SERIAL_PROTOCOLLNPGM("\nMeasured points:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5, print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; } [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
); );
} }

22
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
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@ -39,7 +39,6 @@ enum MeshLevelingState {
class mesh_bed_leveling { class mesh_bed_leveling {
public: public:
static bool has_mesh;
static float z_offset, static float z_offset,
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
index_to_xpos[GRID_MAX_POINTS_X], index_to_xpos[GRID_MAX_POINTS_X],
@ -47,8 +46,17 @@ public:
mesh_bed_leveling(); mesh_bed_leveling();
static void report_mesh();
static void reset(); static void reset();
FORCE_INLINE static bool has_mesh() {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
if (z_values[x][y]) return true;
return false;
}
static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) { static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
@ -105,15 +113,13 @@ public:
#endif #endif
; ;
} }
// Support functions, which may be embedded in the class later
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
void line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
#endif
}; };
extern mesh_bed_leveling mbl; extern mesh_bed_leveling mbl;
// Support functions, which may be embedded in the class later
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
#endif
void mbl_mesh_report();
#endif // _MESH_BED_LEVELING_H_ #endif // _MESH_BED_LEVELING_H_

2
Marlin/src/gcode/bedlevel/M420.cpp
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@ -100,7 +100,7 @@ void GcodeSuite::M420() {
#endif #endif
#elif ENABLED(MESH_BED_LEVELING) #elif ENABLED(MESH_BED_LEVELING)
SERIAL_ECHOLNPGM("Mesh Bed Level data:"); SERIAL_ECHOLNPGM("Mesh Bed Level data:");
mbl_mesh_report(); mbl.report_mesh();
#endif #endif
} }
#endif #endif

6
Marlin/src/gcode/bedlevel/mbl/G29.cpp
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@ -81,7 +81,7 @@ void GcodeSuite::G29() {
case MeshReport: case MeshReport:
if (leveling_is_valid()) { if (leveling_is_valid()) {
SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF); SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
mbl_mesh_report(); mbl.report_mesh();
} }
else else
SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data."); SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
@ -136,7 +136,6 @@ void GcodeSuite::G29() {
SERIAL_PROTOCOLLNPGM("Mesh probing done."); SERIAL_PROTOCOLLNPGM("Mesh probing done.");
BUZZ(100, 659); BUZZ(100, 659);
BUZZ(100, 698); BUZZ(100, 698);
mbl.has_mesh = true;
gcode.home_all_axes(); gcode.home_all_axes();
set_bed_leveling_enabled(true); set_bed_leveling_enabled(true);
@ -185,9 +184,6 @@ void GcodeSuite::G29() {
SERIAL_CHAR('Z'); echo_not_entered(); SERIAL_CHAR('Z'); echo_not_entered();
return; return;
} }
mbl.has_mesh = true; // set since user manually entered a mesh point
break; break;
case MeshSetZOffset: case MeshSetZOffset:

14
Marlin/src/module/configuration_store.cpp
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@ -37,7 +37,7 @@
*/ */
// Change EEPROM version if the structure changes // Change EEPROM version if the structure changes
#define EEPROM_VERSION "V48" #define EEPROM_VERSION "V49"
#define EEPROM_OFFSET 100 #define EEPROM_OFFSET 100
// Check the integrity of data offsets. // Check the integrity of data offsets.
@ -114,7 +114,6 @@ typedef struct SettingsDataStruct {
// //
// MESH_BED_LEVELING // MESH_BED_LEVELING
// //
bool mbl_has_mesh; // mbl.has_mesh
float mbl_z_offset; // mbl.z_offset float mbl_z_offset; // mbl.z_offset
uint8_t mesh_num_x, mesh_num_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y uint8_t mesh_num_x, mesh_num_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
@ -297,7 +296,6 @@ void MarlinSettings::postprocess() {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
refresh_bed_level(); refresh_bed_level();
//set_bed_leveling_enabled(leveling_is_on);
#endif #endif
#if HAS_MOTOR_CURRENT_PWM #if HAS_MOTOR_CURRENT_PWM
@ -425,16 +423,13 @@ void MarlinSettings::postprocess() {
"MBL Z array is the wrong size." "MBL Z array is the wrong size."
); );
const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y; const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
EEPROM_WRITE(mbl.has_mesh);
EEPROM_WRITE(mbl.z_offset); EEPROM_WRITE(mbl.z_offset);
EEPROM_WRITE(mesh_num_x); EEPROM_WRITE(mesh_num_x);
EEPROM_WRITE(mesh_num_y); EEPROM_WRITE(mesh_num_y);
EEPROM_WRITE(mbl.z_values); EEPROM_WRITE(mbl.z_values);
#else // For disabled MBL write a default mesh #else // For disabled MBL write a default mesh
const bool leveling_is_on = false;
dummy = 0.0f; dummy = 0.0f;
const uint8_t mesh_num_x = 3, mesh_num_y = 3; const uint8_t mesh_num_x = 3, mesh_num_y = 3;
EEPROM_WRITE(leveling_is_on);
EEPROM_WRITE(dummy); // z_offset EEPROM_WRITE(dummy); // z_offset
EEPROM_WRITE(mesh_num_x); EEPROM_WRITE(mesh_num_x);
EEPROM_WRITE(mesh_num_y); EEPROM_WRITE(mesh_num_y);
@ -925,18 +920,13 @@ void MarlinSettings::postprocess() {
// Mesh (Manual) Bed Leveling // Mesh (Manual) Bed Leveling
// //
bool leveling_is_on;
uint8_t mesh_num_x, mesh_num_y; uint8_t mesh_num_x, mesh_num_y;
EEPROM_READ_ALWAYS(leveling_is_on);
EEPROM_READ(dummy); EEPROM_READ(dummy);
EEPROM_READ_ALWAYS(mesh_num_x); EEPROM_READ_ALWAYS(mesh_num_x);
EEPROM_READ_ALWAYS(mesh_num_y); EEPROM_READ_ALWAYS(mesh_num_y);
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
if (!validating) { if (!validating) mbl.z_offset = dummy;
mbl.has_mesh = leveling_is_on;
mbl.z_offset = dummy;
}
if (mesh_num_x == GRID_MAX_POINTS_X && mesh_num_y == GRID_MAX_POINTS_Y) { if (mesh_num_x == GRID_MAX_POINTS_X && mesh_num_y == GRID_MAX_POINTS_Y) {
// EEPROM data fits the current mesh // EEPROM data fits the current mesh
EEPROM_READ(mbl.z_values); EEPROM_READ(mbl.z_values);