MBL print area

Firmware/Marlin.h

@@ -22,7 +22,6 @@
 #include "pins.h"
 #include "Timer.h"
 #include "mmu2.h"
-extern uint8_t mbl_z_probe_nr;
 
 #ifndef AT90USB
 #define  HardwareSerial_h // trick to disable the standard HWserial
@@ -236,7 +235,7 @@ enum class HeatingStatus : uint8_t
 extern HeatingStatus heating_status;
 
 extern bool fans_check_enabled;
-extern float homing_feedrate[];
+constexpr float homing_feedrate[] = HOMING_FEEDRATE;
 extern uint8_t axis_relative_modes;
 extern float feedrate;
 extern int feedmultiply;

Firmware/mesh_bed_calibration.cpp

@@ -685,11 +685,11 @@ bool is_bed_z_jitter_data_valid()
 // offsets of the Z heiths of the calibration points from the first point are saved as 16bit signed int, scaled to tenths of microns
 // if at least one 16bit integer has different value then -1 (0x0FFFF), data are considered valid and function returns true, otherwise it returns false
 {	
-	bool data_valid = false;
 	for (int8_t i = 0; i < 8; ++i) {
-		if (eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + i * 2)) != 0x0FFFF) data_valid = true;
+		if (eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + i * 2)) != 0x0FFFF)
+            return true;
 	}
-    return data_valid;
+    return false;
 }
 
 static void world2machine_update(const float vec_x[2], const float vec_y[2], const float cntr[2])
@@ -776,7 +776,7 @@ void world2machine_revert_to_uncorrected()
 static inline bool vec_undef(const float v[2])
 {
     const uint32_t *vx = (const uint32_t*)v;
-    return vx[0] == 0x0FFFFFFFF || vx[1] == 0x0FFFFFFFF;
+    return vx[0] == 0xFFFFFFFF || vx[1] == 0xFFFFFFFF;
 }
 
 
@@ -2184,6 +2184,16 @@ inline void scan_bed_induction_sensor_point()
 
 #define MESH_BED_CALIBRATION_SHOW_LCD
 
+float __attribute__((noinline)) BED_X(const uint8_t col)
+{
+    return ((float)col * x_mesh_density + BED_X0);
+}
+
+float __attribute__((noinline)) BED_Y(const uint8_t row)
+{
+    return ((float)row * y_mesh_density + BED_Y0);
+}
+
 BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level, uint8_t &too_far_mask)
 {	
     // Don't let the manage_inactivity() function remove power from the motors.
@@ -2481,8 +2491,8 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
 					uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
 					uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
 					if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix;
-					current_position[X_AXIS] = BED_X(ix, MESH_MEAS_NUM_X_POINTS);
-					current_position[Y_AXIS] = BED_Y(iy, MESH_MEAS_NUM_Y_POINTS);
+					current_position[X_AXIS] = BED_X(ix * 3);
+					current_position[Y_AXIS] = BED_Y(iy * 3);
 					go_to_current(homing_feedrate[X_AXIS] / 60);
 					delay_keep_alive(3000);
 				}
@@ -2814,16 +2824,16 @@ void go_home_with_z_lift()
     // Go home.
     // First move up to a safe height.
     current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-    go_to_current(homing_feedrate[Z_AXIS]/60);
+    go_to_current(homing_feedrate[Z_AXIS] / 60);
     // Second move to XY [0, 0].
-    current_position[X_AXIS] = X_MIN_POS+0.2;
-    current_position[Y_AXIS] = Y_MIN_POS+0.2;
+    current_position[X_AXIS] = X_MIN_POS + 0.2;
+    current_position[Y_AXIS] = Y_MIN_POS + 0.2;
     // Clamp to the physical coordinates.
     world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
-	go_to_current(homing_feedrate[X_AXIS]/20);
+    go_to_current((3 * homing_feedrate[X_AXIS]) / 60);
     // Third move up to a safe height.
     current_position[Z_AXIS] = Z_MIN_POS;
-    go_to_current(homing_feedrate[Z_AXIS]/60);    
+    go_to_current(homing_feedrate[Z_AXIS] / 60);
 }
 
 // Sample the 9 points of the bed and store them into the EEPROM as a reference.
@@ -2884,8 +2894,8 @@ bool sample_mesh_and_store_reference()
 		uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS;
 		uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
 		if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
-		current_position[X_AXIS] = BED_X(ix, MESH_MEAS_NUM_X_POINTS);
-		current_position[Y_AXIS] = BED_Y(iy, MESH_MEAS_NUM_Y_POINTS);
+		current_position[X_AXIS] = BED_X(ix * 3);
+		current_position[Y_AXIS] = BED_Y(iy * 3);
         world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
         go_to_current(homing_feedrate[X_AXIS]/60);
 #ifdef MESH_BED_CALIBRATION_SHOW_LCD
@@ -2951,8 +2961,7 @@ bool sample_mesh_and_store_reference()
             }
     }
 
-    mbl.upsample_3x3();
-    mbl.active = true;
+    mbl.reset();
 
     go_home_with_z_lift();
 
@@ -3004,8 +3013,8 @@ bool scan_bed_induction_points(int8_t verbosity_level)
 		uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
 		uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
 		if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix;
-		float bedX = BED_X(ix, MESH_MEAS_NUM_X_POINTS);
-		float bedY = BED_Y(iy, MESH_MEAS_NUM_Y_POINTS);
+		float bedX = BED_X(ix * 3);
+		float bedY = BED_Y(iy * 3);
         current_position[X_AXIS] = vec_x[0] * bedX + vec_y[0] * bedY + cntr[0];
         current_position[Y_AXIS] = vec_x[1] * bedX + vec_y[1] * bedY + cntr[1];
         // The calibration points are very close to the min Y.
@@ -3034,9 +3043,12 @@ bool scan_bed_induction_points(int8_t verbosity_level)
 // To replace loading of the babystep correction.
 static void shift_z(float delta)
 {
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - delta, current_position[E_AXIS], homing_feedrate[Z_AXIS]/40);
+    const float curpos_z = current_position[Z_AXIS];
+    current_position[Z_AXIS] -= delta;
+    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
     st_synchronize();
-    plan_set_z_position(current_position[Z_AXIS]);
+    current_position[Z_AXIS] = curpos_z;
+    plan_set_z_position(curpos_z);
 }
 
 // Number of baby steps applied
@@ -3112,20 +3124,19 @@ void mbl_settings_init() {
 //magnet elimination: use aaproximate Z-coordinate instead of measured values for points which are near magnets
 	eeprom_init_default_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION, 1);
 	eeprom_init_default_byte((uint8_t*)EEPROM_MBL_POINTS_NR, 3);
-	mbl_z_probe_nr = eeprom_init_default_byte((uint8_t*)EEPROM_MBL_PROBE_NR, 3);
+	eeprom_init_default_byte((uint8_t*)EEPROM_MBL_PROBE_NR, 3);
 }
 
 //parameter ix: index of mesh bed leveling point in X-axis (for meas_points == 7 is valid range from 0 to 6; for meas_points == 3 is valid range from 0 to 2 )  
 //parameter iy: index of mesh bed leveling point in Y-axis (for meas_points == 7 is valid range from 0 to 6; for meas_points == 3 is valid range from 0 to 2 ) 
-//parameter meas_points: number of mesh bed leveling points in one axis; currently designed and tested for values 3 and 7
-//parameter zigzag: false if ix is considered 0 on left side of bed and ix rises with rising X coordinate; true if ix is considered 0 on the right side of heatbed for odd iy values (zig zag mesh bed leveling movements)  
 //function returns true if point is considered valid (typicaly in safe distance from magnet or another object which inflences PINDA measurements)
-bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy, uint8_t meas_points, bool zigzag) {
+bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy) {
 	    //"human readable" heatbed plan
 		//magnet proximity influence Z coordinate measurements significantly (40 - 100 um)
 		//0 - measurement point is above magnet and Z coordinate can be influenced negatively
 		//1 - we should be in safe distance from magnets, measurement should be accurate
-		if ((ix >= meas_points) || (iy >= meas_points)) return false;
+		if ((ix >= MESH_NUM_X_POINTS) || (iy >= MESH_NUM_Y_POINTS))
+            return false;
 
 		uint8_t valid_points_mask[7] = {
 					//[X_MAX,Y_MAX]
@@ -3139,36 +3150,26 @@ bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy, uint8_t meas_points, bo
 			0b1111111,//0
 		//[0,0]
 		};
-		if (meas_points == 3) {
-			ix *= 3;
-			iy *= 3;
-		}
-		if (zigzag) {
-			if ((iy % 2) == 0)	return (valid_points_mask[6 - iy] & (1 << (6 - ix)));
-			else return (valid_points_mask[6 - iy] & (1 << ix));
-		}
-		else {
-			return (valid_points_mask[6 - iy] & (1 << (6 - ix)));
-		}
+        return (valid_points_mask[6 - iy] & (1 << (6 - ix)));
 }
 
-void mbl_single_point_interpolation(uint8_t x, uint8_t y, uint8_t meas_points) {
+void mbl_single_point_interpolation(uint8_t x, uint8_t y) {
 	//printf_P(PSTR("x = %d; y = %d \n"), x, y);
 		uint8_t count = 0;
 		float z = 0;
-		if (mbl_point_measurement_valid(x, y + 1, meas_points, false)) { z += mbl.z_values[y + 1][x]; /*printf_P(PSTR("x; y+1: Z = %f \n"), mbl.z_values[y + 1][x]);*/ count++; }
-		if (mbl_point_measurement_valid(x, y - 1, meas_points, false)) { z += mbl.z_values[y - 1][x]; /*printf_P(PSTR("x; y-1: Z = %f \n"), mbl.z_values[y - 1][x]);*/ count++; }
-		if (mbl_point_measurement_valid(x + 1, y, meas_points, false)) { z += mbl.z_values[y][x + 1]; /*printf_P(PSTR("x+1; y: Z = %f \n"), mbl.z_values[y][x + 1]);*/ count++; }
-		if (mbl_point_measurement_valid(x - 1, y, meas_points, false)) { z += mbl.z_values[y][x - 1]; /*printf_P(PSTR("x-1; y: Z = %f \n"), mbl.z_values[y][x - 1]);*/ count++; }
+		if (mbl_point_measurement_valid(x, y + 1)) { z += mbl.z_values[y + 1][x]; /*printf_P(PSTR("x; y+1: Z = %f \n"), mbl.z_values[y + 1][x]);*/ count++; }
+		if (mbl_point_measurement_valid(x, y - 1)) { z += mbl.z_values[y - 1][x]; /*printf_P(PSTR("x; y-1: Z = %f \n"), mbl.z_values[y - 1][x]);*/ count++; }
+		if (mbl_point_measurement_valid(x + 1, y)) { z += mbl.z_values[y][x + 1]; /*printf_P(PSTR("x+1; y: Z = %f \n"), mbl.z_values[y][x + 1]);*/ count++; }
+		if (mbl_point_measurement_valid(x - 1, y)) { z += mbl.z_values[y][x - 1]; /*printf_P(PSTR("x-1; y: Z = %f \n"), mbl.z_values[y][x - 1]);*/ count++; }
 		if(count != 0) mbl.z_values[y][x] = z / count; //if we have at least one valid point in surrounding area use average value, otherwise use inaccurately measured Z-coordinate
 		//printf_P(PSTR("result: Z = %f \n\n"), mbl.z_values[y][x]);
 }
 
-void mbl_interpolation(uint8_t meas_points) {
-	for (uint8_t x = 0; x < meas_points; x++) {
-		for (uint8_t y = 0; y < meas_points; y++) {
-			if (!mbl_point_measurement_valid(x, y, meas_points, false)) {
-				mbl_single_point_interpolation(x, y, meas_points);
+void mbl_magnet_elimination() {
+    for (uint8_t y = 0; y < MESH_NUM_Y_POINTS; y++) {
+		for (uint8_t x = 0; x < MESH_NUM_X_POINTS; x++) {
+			if (!mbl_point_measurement_valid(x, y)) {
+				mbl_single_point_interpolation(x, y);
 			}
 		}
 	}

Firmware/mesh_bed_calibration.h

@@ -21,8 +21,8 @@
 
 #endif //not HEATBED_V2
 
-#define BED_X(i, n) ((float)i * (BED_Xn - BED_X0) / (n - 1) + BED_X0)
-#define BED_Y(i, n)  ((float)i * (BED_Yn - BED_Y0) / (n - 1) + BED_Y0)
+constexpr float x_mesh_density = (BED_Xn - BED_X0) / (MESH_NUM_X_POINTS - 1);
+constexpr float y_mesh_density = (BED_Yn - BED_Y0) / (MESH_NUM_Y_POINTS - 1);
 
 // Exact positions of the print head above the bed reference points, in the world coordinates.
 // The world coordinates match the machine coordinates only in case, when the machine
@@ -145,6 +145,17 @@ inline bool world2machine_clamp(float &x, float &y)
         machine2world(tmpx, tmpy, x, y);
     return clamped;
 }
+
+/// @brief For a given column on the mesh calculate the bed X coordinate
+/// @param col column index on mesh
+/// @return Bed X coordinate
+float BED_X(const uint8_t col);
+
+/// @brief For a given row on the mesh calculate the bed Y coordinate
+/// @param row row index on mesh
+/// @return Bed Y coordinate
+float BED_Y(const uint8_t row);
+
 /**
  * @brief Bed skew and offest detection result
  *
@@ -203,6 +214,5 @@ extern void count_xyz_details(float (&distanceMin)[2]);
 extern bool sample_z();
 
 extern void mbl_settings_init();
-
-extern bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy, uint8_t meas_points, bool zigzag);
-extern void mbl_interpolation(uint8_t meas_points);
+extern bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy);
+extern void mbl_magnet_elimination();