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https://github.com/MarlinFirmware/Marlin.git
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Spend some SRAM to optimize bilinear leveling
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Scott Lahteine
parent
091179d960
commit
830851df13
@ -313,8 +313,9 @@ float code_value_temp_diff();
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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extern int bilinear_grid_spacing[2], bilinear_start[2];
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extern float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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float bilinear_z_offset(float logical[XYZ]);
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extern float bilinear_grid_factor[2],
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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float bilinear_z_offset(const float logical[XYZ]);
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void set_bed_leveling_enabled(bool enable=true);
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#endif
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@ -599,7 +599,8 @@ static uint8_t target_extruder;
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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int bilinear_grid_spacing[2], bilinear_start[2];
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float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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float bilinear_grid_factor[2],
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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#endif
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#if IS_SCARA
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@ -2371,6 +2372,13 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif
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if (can_change && enable != planner.abl_enabled) {
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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// Force bilinear_z_offset to re-calculate next time
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const float reset[XYZ] = { -9999.999, -9999.999, 0 };
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(void)bilinear_z_offset(reset);
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#endif
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planner.abl_enabled = enable;
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if (!enable)
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set_current_from_steppers_for_axis(
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@ -2629,6 +2637,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
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float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
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int bilinear_grid_spacing_virt[2] = { 0 };
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float bilinear_grid_factor_virt[2] = { 0 };
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static void bed_level_virt_print() {
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SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
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@ -2698,6 +2707,8 @@ static void clean_up_after_endstop_or_probe_move() {
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void bed_level_virt_interpolate() {
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bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
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bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
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bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
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bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
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for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
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@ -2717,6 +2728,8 @@ static void clean_up_after_endstop_or_probe_move() {
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// Refresh after other values have been updated
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void refresh_bed_level() {
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bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
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bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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bed_level_virt_interpolate();
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#endif
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@ -3130,7 +3143,7 @@ void unknown_command_error() {
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#endif //HOST_KEEPALIVE_FEATURE
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bool position_is_reachable(float target[XYZ]
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bool position_is_reachable(const float target[XYZ]
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#if HAS_BED_PROBE
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, bool by_probe=false
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#endif
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@ -4648,7 +4661,7 @@ inline void gcode_G28() {
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#if IS_KINEMATIC
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// Avoid probing outside the round or hexagonal area
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float pos[XYZ] = { xProbe, yProbe, 0 };
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const float pos[XYZ] = { xProbe, yProbe, 0 };
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if (!position_is_reachable(pos, true)) continue;
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#endif
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@ -10484,49 +10497,72 @@ void ok_to_send() {
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
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#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
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#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
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#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
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#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
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#else
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#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
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#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
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#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
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#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
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#define ABL_BG_GRID(X,Y) z_values[X][Y]
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#endif
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// Get the Z adjustment for non-linear bed leveling
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float bilinear_z_offset(float cartesian[XYZ]) {
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float bilinear_z_offset(const float logical[XYZ]) {
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// XY relative to the probed area
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const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS],
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y = RAW_Y_POSITION(cartesian[Y_AXIS]) - bilinear_start[Y_AXIS];
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// Convert to grid box units
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float ratio_x = x / ABL_BG_SPACING(X_AXIS),
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ratio_y = y / ABL_BG_SPACING(Y_AXIS);
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static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
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last_x = -999.999, last_y = -999.999;
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// Whole units for the grid line indices. Constrained within bounds.
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const int gridx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1),
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gridy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1),
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nextx = min(gridx + 1, ABL_BG_POINTS_X - 1),
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nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
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static int8_t gridx, gridy, nextx, nexty,
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last_gridx = -99, last_gridy = -99;
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// Subtract whole to get the ratio within the grid box
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ratio_x -= gridx; ratio_y -= gridy;
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// XY relative to the probed area
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const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
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y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
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// Never less than 0.0. (Over 1.0 is fine due to previous contraints.)
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NOLESS(ratio_x, 0); NOLESS(ratio_y, 0);
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if (last_x != x) {
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last_x = x;
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ratio_x = x * ABL_BG_FACTOR(X_AXIS);
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const float gx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1);
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ratio_x -= gx; // Subtract whole to get the ratio within the grid box
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NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
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gridx = gx;
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nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
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}
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// Z at the box corners
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const float z1 = ABL_BG_GRID(gridx, gridy), // left-front
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z2 = ABL_BG_GRID(gridx, nexty), // left-back
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z3 = ABL_BG_GRID(nextx, gridy), // right-front
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z4 = ABL_BG_GRID(nextx, nexty), // right-back
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if (last_y != y || last_gridx != gridx) {
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// Bilinear interpolate
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L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
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R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB
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offset = L + ratio_x * (R - L);
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if (last_y != y) {
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last_y = y;
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ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
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const float gy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1);
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ratio_y -= gy;
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NOLESS(ratio_y, 0);
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gridy = gy;
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nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
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}
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if (last_gridx != gridx || last_gridy != gridy) {
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last_gridx = gridx;
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last_gridy = gridy;
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// Z at the box corners
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z1 = ABL_BG_GRID(gridx, gridy); // left-front
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d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
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z3 = ABL_BG_GRID(nextx, gridy); // right-front
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d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
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}
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// Bilinear interpolate. Needed since y or gridx has changed.
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L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
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const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
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D = R - L;
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}
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const float offset = L + ratio_x * D; // the offset almost always changes
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/*
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static float last_offset = 0;
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@ -10549,7 +10585,7 @@ void ok_to_send() {
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SERIAL_ECHOLNPAIR(" offset=", offset);
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}
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last_offset = offset;
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*/
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//*/
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return offset;
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}
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@ -10869,7 +10905,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
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#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) / ABL_BG_SPACING(A##_AXIS))
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#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
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/**
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* Prepare a bilinear-leveled linear move on Cartesian,
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