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#include "mesh_bed_leveling.h"
#include "mesh_bed_calibration.h"
#include "Configuration.h"
#ifdef MESH_BED_LEVELING
mesh_bed_leveling mbl;
mesh_bed_leveling::mesh_bed_leveling() { reset(); }
void mesh_bed_leveling::reset() {
active = 0;
for (int y = 0; y < MESH_NUM_Y_POINTS; y++)
for (int x = 0; x < MESH_NUM_X_POINTS; x++)
z_values[y][x] = 0;
}
static inline bool vec_undef(const float v[2])
{
const uint32_t *vx = (const uint32_t*)v;
return vx[0] == 0x0FFFFFFFF || vx[1] == 0x0FFFFFFFF;
}
void mesh_bed_leveling::get_meas_xy(int ix, int iy, float &x, float &y, bool use_default)
{
#if 0
float cntr[2] = {
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0)),
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4))
};
float vec_x[2] = {
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +0)),
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +4))
};
float vec_y[2] = {
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +0)),
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +4))
};
if (use_default || vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) {
// Default, uncorrected positions of the calibration points. Works well for correctly built printers.
x = float(MESH_MIN_X) + float(MEAS_NUM_X_DIST) * float(ix) - X_PROBE_OFFSET_FROM_EXTRUDER;
//FIXME
//x -= 5.f;
y = float(MESH_MIN_Y) + float(MEAS_NUM_Y_DIST) * float(iy) - Y_PROBE_OFFSET_FROM_EXTRUDER;
} else {
#if 0
SERIAL_ECHO("Running bed leveling. Calibration data: ");
SERIAL_ECHO(cntr[0]);
SERIAL_ECHO(",");
SERIAL_ECHO(cntr[1]);
SERIAL_ECHO(", x: ");
SERIAL_ECHO(vec_x[0]);
SERIAL_ECHO(",");
SERIAL_ECHO(vec_x[1]);
SERIAL_ECHO(", y: ");
SERIAL_ECHO(vec_y[0]);
SERIAL_ECHO(",");
SERIAL_ECHO(vec_y[1]);
SERIAL_ECHOLN("");
#endif
x = cntr[0];
y = cntr[1];
if (ix < 1) {
x -= vec_x[0];
y -= vec_x[1];
} else if (ix > 1) {
x += vec_x[0];
y += vec_x[1];
}
if (iy < 1) {
x -= vec_y[0];
y -= vec_y[1];
} else if (iy > 1) {
x += vec_y[0];
y += vec_y[1];
}
#if 0
SERIAL_ECHO("Calibration point position: ");
SERIAL_ECHO(x);
SERIAL_ECHO(",");
SERIAL_ECHO(y);
SERIAL_ECHOLN("");
#endif
}
#else
// Default, uncorrected positions of the calibration points.
// This coordinate will be corrected by the planner.
x = pgm_read_float(bed_ref_points + 2 * (iy * 3 + ix));
y = pgm_read_float(bed_ref_points + 2 * (iy * 3 + ix) + 1);
#endif
}
#if MESH_NUM_X_POINTS>=5 && MESH_NUM_Y_POINTS>=5 && (MESH_NUM_X_POINTS&1)==1 && (MESH_NUM_Y_POINTS&1)==1
// Works for an odd number of MESH_NUM_X_POINTS and MESH_NUM_Y_POINTS
// #define MBL_BILINEAR
void mesh_bed_leveling::upsample_3x3()
{
int idx0 = 0;
int idx1 = MESH_NUM_X_POINTS / 2;
int idx2 = MESH_NUM_X_POINTS - 1;
{
// First interpolate the points in X axis.
static const float x0 = MESH_MIN_X;
static const float x1 = 0.5f * float(MESH_MIN_X + MESH_MAX_X);
static const float x2 = MESH_MAX_X;
for (int j = 0; j < 3; ++ j) {
// 1) Copy the source points to their new destination.
z_values[j][idx2] = z_values[j][2];
z_values[j][idx1] = z_values[j][1];
// 2) Interpolate the remaining values by Largrangian polynomials.
for (int i = idx0 + 1; i < idx2; ++ i) {
if (i == idx1)
continue;
float x = get_x(i);
#ifdef MBL_BILINEAR
z_values[j][i] = (x < x1) ?
((z_values[j][idx0] * (x - x0) + z_values[j][idx1] * (x1 - x)) / (x1 - x0)) :
((z_values[j][idx1] * (x - x1) + z_values[j][idx2] * (x2 - x)) / (x2 - x1));
#else
z_values[j][i] =
z_values[j][idx0] * (x - x1) * (x - x2) / ((x0 - x1) * (x0 - x2)) +
z_values[j][idx1] * (x - x0) * (x - x2) / ((x1 - x0) * (x1 - x2)) +
z_values[j][idx2] * (x - x0) * (x - x1) / ((x2 - x0) * (x2 - x1));
#endif
}
}
}
{
// Second interpolate the points in Y axis.
static const float y0 = MESH_MIN_Y;
static const float y1 = 0.5f * float(MESH_MIN_Y + MESH_MAX_Y);
static const float y2 = MESH_MAX_Y;
for (int i = 0; i < MESH_NUM_X_POINTS; ++ i) {
// 1) Copy the intermediate points to their new destination.
z_values[idx2][i] = z_values[2][i];
z_values[idx1][i] = z_values[1][i];
// 2) Interpolate the remaining values by Largrangian polynomials.
for (int j = 1; j + 1 < MESH_NUM_Y_POINTS; ++ j) {
if (j == idx1)
continue;
float y = get_y(j);
#ifdef MBL_BILINEAR
z_values[j][i] = (y < y1) ?
((z_values[idx0][i] * (y - y0) + z_values[idx1][i] * (y1 - y)) / (y1 - y0)) :
((z_values[idx1][i] * (y - y1) + z_values[idx2][i] * (y2 - y)) / (y2 - y1));
#else
z_values[j][i] =
z_values[idx0][i] * (y - y1) * (y - y2) / ((y0 - y1) * (y0 - y2)) +
z_values[idx1][i] * (y - y0) * (y - y2) / ((y1 - y0) * (y1 - y2)) +
z_values[idx2][i] * (y - y0) * (y - y1) / ((y2 - y0) * (y2 - y1));
#endif
}
}
}
/*
// Relax the non-measured points.
const float weight = 0.2f;
for (uint8_t iter = 0; iter < 20; ++ iter) {
for (int8_t j = 1; j < 6; ++ j) {
for (int8_t i = 1; i < 6; ++ i) {
if (i == 3 || j == 3)
continue;
if ((i % 3) == 0 && (j % 3) == 0)
continue;
float avg = 0.25f * (z_values[j][i-1]+z_values[j][i+1]+z_values[j-1][i]+z_values[j+1][i]);
z_values[j][i] = (1.f-weight)*z_values[j][i] + weight*avg;
}
}
}
*/
}
#endif
#endif // MESH_BED_LEVELING
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