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Spend some SRAM to optimize bilinear leveling

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This commit is contained in:
Scott Lahteine 2017-04-21 01:34:03 -05:00
parent 091179d960
commit 830851df13
2 changed files with 69 additions and 32 deletions
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5
Marlin/Marlin.h
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@ -313,8 +313,9 @@ float code_value_temp_diff();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
extern int bilinear_grid_spacing[2], bilinear_start[2]; extern int bilinear_grid_spacing[2], bilinear_start[2];
extern float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; extern float bilinear_grid_factor[2],
float bilinear_z_offset(float logical[XYZ]); z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
float bilinear_z_offset(const float logical[XYZ]);
void set_bed_leveling_enabled(bool enable=true); void set_bed_leveling_enabled(bool enable=true);
#endif #endif

96
Marlin/Marlin_main.cpp
View file

@ -599,7 +599,8 @@ static uint8_t target_extruder;
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
int bilinear_grid_spacing[2], bilinear_start[2]; int bilinear_grid_spacing[2], bilinear_start[2];
float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
#endif #endif
#if IS_SCARA #if IS_SCARA
@ -2371,6 +2372,13 @@ static void clean_up_after_endstop_or_probe_move() {
#endif #endif
if (can_change && enable != planner.abl_enabled) { if (can_change && enable != planner.abl_enabled) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
planner.abl_enabled = enable; planner.abl_enabled = enable;
if (!enable) if (!enable)
set_current_from_steppers_for_axis( set_current_from_steppers_for_axis(
@ -2629,6 +2637,7 @@ static void clean_up_after_endstop_or_probe_move() {
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2) #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y]; float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
int bilinear_grid_spacing_virt[2] = { 0 }; int bilinear_grid_spacing_virt[2] = { 0 };
float bilinear_grid_factor_virt[2] = { 0 };
static void bed_level_virt_print() { static void bed_level_virt_print() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:"); SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
@ -2698,6 +2707,8 @@ static void clean_up_after_endstop_or_probe_move() {
void bed_level_virt_interpolate() { void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS); bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS); bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++) for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
@ -2717,6 +2728,8 @@ static void clean_up_after_endstop_or_probe_move() {
// Refresh after other values have been updated // Refresh after other values have been updated
void refresh_bed_level() { void refresh_bed_level() {
bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
#if ENABLED(ABL_BILINEAR_SUBDIVISION) #if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate(); bed_level_virt_interpolate();
#endif #endif
@ -3130,7 +3143,7 @@ void unknown_command_error() {
#endif //HOST_KEEPALIVE_FEATURE #endif //HOST_KEEPALIVE_FEATURE
bool position_is_reachable(float target[XYZ] bool position_is_reachable(const float target[XYZ]
#if HAS_BED_PROBE #if HAS_BED_PROBE
, bool by_probe=false , bool by_probe=false
#endif #endif
@ -4648,7 +4661,7 @@ inline void gcode_G28() {
#if IS_KINEMATIC #if IS_KINEMATIC
// Avoid probing outside the round or hexagonal area // Avoid probing outside the round or hexagonal area
float pos[XYZ] = { xProbe, yProbe, 0 }; const float pos[XYZ] = { xProbe, yProbe, 0 };
if (!position_is_reachable(pos, true)) continue; if (!position_is_reachable(pos, true)) continue;
#endif #endif
@ -10484,49 +10497,72 @@ void ok_to_send() {
#if ENABLED(ABL_BILINEAR_SUBDIVISION) #if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A] #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y] #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else #else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A] #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y] #define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif #endif
// Get the Z adjustment for non-linear bed leveling // Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(float cartesian[XYZ]) { float bilinear_z_offset(const float logical[XYZ]) {
// XY relative to the probed area static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS], last_x = -999.999, last_y = -999.999;
y = RAW_Y_POSITION(cartesian[Y_AXIS]) - bilinear_start[Y_AXIS];
// Convert to grid box units
float ratio_x = x / ABL_BG_SPACING(X_AXIS),
ratio_y = y / ABL_BG_SPACING(Y_AXIS);
// Whole units for the grid line indices. Constrained within bounds. // Whole units for the grid line indices. Constrained within bounds.
const int gridx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1), static int8_t gridx, gridy, nextx, nexty,
gridy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1), last_gridx = -99, last_gridy = -99;
nextx = min(gridx + 1, ABL_BG_POINTS_X - 1),
nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
// Subtract whole to get the ratio within the grid box // XY relative to the probed area
ratio_x -= gridx; ratio_y -= gridy; const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
// Never less than 0.0. (Over 1.0 is fine due to previous contraints.) if (last_x != x) {
NOLESS(ratio_x, 0); NOLESS(ratio_y, 0); last_x = x;
ratio_x = x * ABL_BG_FACTOR(X_AXIS);
const float gx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1);
ratio_x -= gx; // Subtract whole to get the ratio within the grid box
NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
gridx = gx;
nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
}
// Z at the box corners if (last_y != y || last_gridx != gridx) {
const float z1 = ABL_BG_GRID(gridx, gridy), // left-front
z2 = ABL_BG_GRID(gridx, nexty), // left-back
z3 = ABL_BG_GRID(nextx, gridy), // right-front
z4 = ABL_BG_GRID(nextx, nexty), // right-back
// Bilinear interpolate if (last_y != y) {
L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB last_y = y;
R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
offset = L + ratio_x * (R - L); const float gy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1);
ratio_y -= gy;
NOLESS(ratio_y, 0);
gridy = gy;
nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
}
if (last_gridx != gridx || last_gridy != gridy) {
last_gridx = gridx;
last_gridy = gridy;
// Z at the box corners
z1 = ABL_BG_GRID(gridx, gridy); // left-front
d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextx, gridy); // right-front
d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
}
// Bilinear interpolate. Needed since y or gridx has changed.
L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
D = R - L;
}
const float offset = L + ratio_x * D; // the offset almost always changes
/* /*
static float last_offset = 0; static float last_offset = 0;
@ -10549,7 +10585,7 @@ void ok_to_send() {
SERIAL_ECHOLNPAIR(" offset=", offset); SERIAL_ECHOLNPAIR(" offset=", offset);
} }
last_offset = offset; last_offset = offset;
*/ //*/
return offset; return offset;
} }
@ -10869,7 +10905,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) / ABL_BG_SPACING(A##_AXIS)) #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
/** /**
* Prepare a bilinear-leveled linear move on Cartesian, * Prepare a bilinear-leveled linear move on Cartesian,