diff --git a/Marlin/G26_Mesh_Validation_Tool.cpp b/Marlin/G26_Mesh_Validation_Tool.cpp
index fc64eb3cb4c02092c47117dd3267217b3567529d..12042a5de7714e296893c78fae4c281de2f60737 100644
--- a/Marlin/G26_Mesh_Validation_Tool.cpp
+++ b/Marlin/G26_Mesh_Validation_Tool.cpp
@@ -28,12 +28,11 @@
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
+ #include "ubl.h"
#include "Marlin.h"
- #include "Configuration.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
- #include "UBL.h"
#include "ultralcd.h"
#define EXTRUSION_MULTIPLIER 1.0
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 6f73300b455de4cf7935086aa85682afda31e254..1c610e0b52910f8e7a93555b2d0f96f77b89202f 100755
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -297,7 +297,7 @@
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
- #include "UBL.h"
+ #include "ubl.h"
unified_bed_leveling ubl;
#define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
&& ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
diff --git a/Marlin/UBL.h b/Marlin/UBL.h
deleted file mode 100644
index 22b3bc5e01ca943011f20437d04b8e48f69fb174..0000000000000000000000000000000000000000
--- a/Marlin/UBL.h
+++ /dev/null
@@ -1,339 +0,0 @@
-/**
- * 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_VERSION "1.00"
- #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&, 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(GRID_MAX_POINTS_X - 1))
- #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
-
- typedef struct {
- bool active = false;
- float z_offset = 0.0;
- int8_t eeprom_storage_slot = -1,
- n_x = GRID_MAX_POINTS_X,
- n_y = GRID_MAX_POINTS_Y;
-
- 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.
- #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;
-
- public:
-
- static ubl_state state, pre_initialized;
-
- static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
- mesh_index_to_xpos[GRID_MAX_POINTS_X + 1], // +1 safety margin for now, until determinism prevails
- mesh_index_to_ypos[GRID_MAX_POINTS_Y + 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, (GRID_MAX_POINTS_X) - 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, (GRID_MAX_POINTS_Y) - 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 WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? 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 WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? 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) {
- return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
- }
-
- /**
- * z_correction_for_x_on_horizontal_mesh_line is an optimization for
- * the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
- */
- static inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
- if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
- SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
- SERIAL_ECHOPAIR(",x1_i=", x1_i);
- SERIAL_ECHOPAIR(",yi=", yi);
- SERIAL_CHAR(')');
- SERIAL_EOL;
- return NAN;
- }
-
- const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)),
- z1 = z_values[x1_i][yi];
-
- return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
- }
-
- //
- // See comments above for z_correction_for_x_on_horizontal_mesh_line
- //
- static inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
- if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
- SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0);
- SERIAL_ECHOPAIR(", x1_i=", xi);
- SERIAL_ECHOPAIR(", yi=", y1_i);
- SERIAL_CHAR(')');
- SERIAL_EOL;
- return NAN;
- }
-
- const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)),
- z1 = z_values[xi][y1_i];
-
- return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
- }
-
- /**
- * 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 &lx0, const float &ly0) {
- const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
- cy = get_cell_index_y(RAW_Y_POSITION(ly0));
-
- if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) {
-
- SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
- SERIAL_ECHOPAIR(", ly0=", ly0);
- 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(lx0),
- 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(lx0),
- 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(ly0),
- 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(", lx0);
- SERIAL_CHAR(',')
- SERIAL_ECHO(ly0);
- 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(", lx0);
- SERIAL_CHAR(',');
- SERIAL_ECHO(ly0);
- SERIAL_CHAR(')');
- SERIAL_EOL;
- }
- #endif
- }
- return z0; // there used to be a +state.z_offset on this line
- }
-
- /**
- * This function sets the Z leveling fade factor based on the given Z height,
- * only re-calculating when necessary.
- *
- * Returns 1.0 if g29_correction_fade_height is 0.0.
- * Returns 0.0 if Z is past the specified 'Fade Height'.
- */
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-
- static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
- if (state.g29_correction_fade_height == 0.0) return 1.0;
-
- static float fade_scaling_factor = 1.0;
- const float rz = RAW_Z_POSITION(lz);
- if (last_specified_z != rz) {
- last_specified_z = rz;
- fade_scaling_factor =
- rz < state.g29_correction_fade_height
- ? 1.0 - (rz * state.g29_fade_height_multiplier)
- : 0.0;
- }
- return fade_scaling_factor;
- }
-
- #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
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 42228b8b3861b6796080b9c9de43d7c473e02735..eddf51b5382c67864eeb5d03f6702139e8cd125b 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -165,7 +165,7 @@
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
- #include "UBL.h"
+ #include "ubl.h"
#endif
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
diff --git a/Marlin/UBL_Bed_Leveling.cpp b/Marlin/ubl.cpp
similarity index 99%
rename from Marlin/UBL_Bed_Leveling.cpp
rename to Marlin/ubl.cpp
index 330d2c2e52d65156f00ffdf7120942e91cf3f370..48db524c6853d9aa4cba9fa65d4a1ba690a8777d 100644
--- a/Marlin/UBL_Bed_Leveling.cpp
+++ b/Marlin/ubl.cpp
@@ -25,7 +25,7 @@
#if ENABLED(AUTO_BED_LEVELING_UBL)
- #include "UBL.h"
+ #include "ubl.h"
#include "hex_print_routines.h"
/**
diff --git a/Marlin/ubl.h b/Marlin/ubl.h
new file mode 100644
index 0000000000000000000000000000000000000000..245173630427fe42f25eb9f317cc8d44e923395d
--- /dev/null
+++ b/Marlin/ubl.h
@@ -0,0 +1,341 @@
+/**
+ * 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/>.
+ *
+ */
+
+#ifndef UNIFIED_BED_LEVELING_H
+#define UNIFIED_BED_LEVELING_H
+
+#include "MarlinConfig.h"
+
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+
+ #include "Marlin.h"
+ #include "math.h"
+ #include "vector_3.h"
+
+ #define UBL_VERSION "1.00"
+ #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&, 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(GRID_MAX_POINTS_X - 1))
+ #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
+
+ typedef struct {
+ bool active = false;
+ float z_offset = 0.0;
+ int8_t eeprom_storage_slot = -1,
+ n_x = GRID_MAX_POINTS_X,
+ n_y = GRID_MAX_POINTS_Y;
+
+ 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.
+ #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;
+
+ public:
+
+ static ubl_state state, pre_initialized;
+
+ static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
+ mesh_index_to_xpos[GRID_MAX_POINTS_X + 1], // +1 safety margin for now, until determinism prevails
+ mesh_index_to_ypos[GRID_MAX_POINTS_Y + 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, (GRID_MAX_POINTS_X) - 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, (GRID_MAX_POINTS_Y) - 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 WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? 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 WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? 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) {
+ return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
+ }
+
+ /**
+ * z_correction_for_x_on_horizontal_mesh_line is an optimization for
+ * the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
+ */
+ static inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
+ if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
+ SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
+ SERIAL_ECHOPAIR(",x1_i=", x1_i);
+ SERIAL_ECHOPAIR(",yi=", yi);
+ SERIAL_CHAR(')');
+ SERIAL_EOL;
+ return NAN;
+ }
+
+ const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)),
+ z1 = z_values[x1_i][yi];
+
+ return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
+ }
+
+ //
+ // See comments above for z_correction_for_x_on_horizontal_mesh_line
+ //
+ static inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
+ if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
+ SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0);
+ SERIAL_ECHOPAIR(", x1_i=", xi);
+ SERIAL_ECHOPAIR(", yi=", y1_i);
+ SERIAL_CHAR(')');
+ SERIAL_EOL;
+ return NAN;
+ }
+
+ const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)),
+ z1 = z_values[xi][y1_i];
+
+ return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
+ }
+
+ /**
+ * 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 &lx0, const float &ly0) {
+ const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
+ cy = get_cell_index_y(RAW_Y_POSITION(ly0));
+
+ if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 1)) {
+
+ SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
+ SERIAL_ECHOPAIR(", ly0=", ly0);
+ 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(lx0),
+ 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(lx0),
+ 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(ly0),
+ 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(", lx0);
+ SERIAL_CHAR(',')
+ SERIAL_ECHO(ly0);
+ 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(", lx0);
+ SERIAL_CHAR(',');
+ SERIAL_ECHO(ly0);
+ SERIAL_CHAR(')');
+ SERIAL_EOL;
+ }
+ #endif
+ }
+ return z0; // there used to be a +state.z_offset on this line
+ }
+
+ /**
+ * This function sets the Z leveling fade factor based on the given Z height,
+ * only re-calculating when necessary.
+ *
+ * Returns 1.0 if g29_correction_fade_height is 0.0.
+ * Returns 0.0 if Z is past the specified 'Fade Height'.
+ */
+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+
+ static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
+ if (state.g29_correction_fade_height == 0.0) return 1.0;
+
+ static float fade_scaling_factor = 1.0;
+ const float rz = RAW_Z_POSITION(lz);
+ if (last_specified_z != rz) {
+ last_specified_z = rz;
+ fade_scaling_factor =
+ rz < state.g29_correction_fade_height
+ ? 1.0 - (rz * state.g29_fade_height_multiplier)
+ : 0.0;
+ }
+ return fade_scaling_factor;
+ }
+
+ #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
diff --git a/Marlin/UBL_G29.cpp b/Marlin/ubl_G29.cpp
similarity index 99%
rename from Marlin/UBL_G29.cpp
rename to Marlin/ubl_G29.cpp
index 5cb982e3dec4f08b9fadf7c037a82f1e0b0a13ed..9273b6e6ef6fa577f6778a2541d62b90e88f9eef 100644
--- a/Marlin/UBL_G29.cpp
+++ b/Marlin/ubl_G29.cpp
@@ -26,7 +26,7 @@
//#include "vector_3.h"
//#include "qr_solve.h"
- #include "UBL.h"
+ #include "ubl.h"
#include "Marlin.h"
#include "hex_print_routines.h"
#include "configuration_store.h"
diff --git a/Marlin/UBL_line_to_destination.cpp b/Marlin/ubl_motion.cpp
similarity index 99%
rename from Marlin/UBL_line_to_destination.cpp
rename to Marlin/ubl_motion.cpp
index b3a5f73af7f42da00ae85d10f761ecb615505924..4bd34dd3139f2461d5e26b790d338882d8d202f6 100644
--- a/Marlin/UBL_line_to_destination.cpp
+++ b/Marlin/ubl_motion.cpp
@@ -24,7 +24,7 @@
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "Marlin.h"
- #include "UBL.h"
+ #include "ubl.h"
#include "planner.h"
#include <avr/io.h>
#include <math.h>
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index e74f09c8dc0b646f816dba0ae1d967607e60c69b..9e59705d5bc5a67bfe4b84261f1bf5b4837de195 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -122,7 +122,7 @@ uint16_t max_display_update_time = 0;
int32_t lastEncoderMovementMillis;
#if ENABLED(AUTO_BED_LEVELING_UBL)
- #include "UBL.h"
+ #include "ubl.h"
#endif
#if HAS_POWER_SWITCH