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Fix UBL mesh inset z position #20538

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merged 2 commits into from
Dec 22, 2020
Merged

Fix UBL mesh inset z position #20538

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0d95a88
fix ubl bed inset z position
p3p Dec 21, 2020
d6fe452
fix UBL_Z_RAISE_WHEN_OFF_MESH
p3p Dec 22, 2020
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33 changes: 21 additions & 12 deletions Marlin/src/feature/bedlevel/ubl/ubl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -122,20 +122,29 @@ class unified_bed_leveling {

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

static int8_t cell_index_x_raw(const float &x) {
return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST));
}

static int8_t cell_index_y_raw(const float &y) {
return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST));
}

static int8_t cell_index_x_valid(const float &x) {
return WITHIN(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X - 2));
}

static int8_t cell_index_y_valid(const float &y) {
return WITHIN(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y - 2));
}

static int8_t cell_index_x(const float &x) {
const int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(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.
return constrain(cell_index_x_raw(x), 0, (GRID_MAX_POINTS_X) - 2);
}

static int8_t cell_index_y(const float &y) {
const int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(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.
return constrain(cell_index_y_raw(y), 0, (GRID_MAX_POINTS_Y) - 2);
}

static inline xy_int8_t cell_indexes(const float &x, const float &y) {
return { cell_index_x(x), cell_index_y(y) };
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45 changes: 19 additions & 26 deletions Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,39 +56,32 @@
// A move within the same cell needs no splitting
if (istart == iend) {

// For a move off the bed, use a constant Z raise
if (!WITHIN(iend.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iend.y, 0, GRID_MAX_POINTS_Y - 1)) {
FINAL_MOVE:

// Note: There is no Z Correction in this case. We are off the grid and don't know what
// a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH
// value, that will be used instead of a calculated (Bi-Linear interpolation) correction.
// When UBL_Z_RAISE_WHEN_OFF_MESH is disabled Z correction is extrapolated from the edge of the mesh
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
// For a move off the UBL mesh, use a constant Z raise
if (!cell_index_x_valid(end.x) || !cell_index_y_valid(end.y)) {

#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
#endif
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
// Note: There is no Z Correction in this case. We are off the mesh and don't know what
// a reasonable correction would be, UBL_Z_RAISE_WHEN_OFF_MESH will be used instead of
// a calculated (Bi-Linear interpolation) correction.

FINAL_MOVE:
end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
#endif

// The distance is always MESH_X_DIST so multiply by the constant reciprocal.
const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST);

float z1, z2;
if (iend.x >= GRID_MAX_POINTS_X - 1)
z1 = z2 = 0.0;
else {
z1 = z_values[iend.x ][iend.y ] + xratio *
(z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]),
z2 = z_values[iend.x ][iend.y + 1] + xratio *
(z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);
}
const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST),
yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
z1 = z_values[iend.x][iend.y ] + xratio * (z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]),
z2 = z_values[iend.x][iend.y + 1] + xratio * (z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);

// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
const float yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
z0 = iend.y < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z) : 0.0;
const float z0 = (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z);

// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
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