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Merge pull request #5816 from thinkyhead/rc_abl_virt_reduce

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Reduce memory use by ABL_BILINEAR_SUBDIVISION slightly
This commit is contained in:
Scott Lahteine 2017-02-14 08:41:44 -06:00 committed by GitHub
commit 467f01435f
1 changed files with 38 additions and 31 deletions
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69
Marlin/Marlin_main.cpp
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@ -2467,8 +2467,9 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_GRID_POINTS_VIRT_X (ABL_GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_GRID_POINTS_VIRT_Y (ABL_GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_TEMP_POINTS_X (ABL_GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (ABL_GRID_MAX_POINTS_Y + 2)
float bed_level_grid_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
float bed_level_grid_virt_temp[ABL_GRID_MAX_POINTS_X + 2][ABL_GRID_MAX_POINTS_Y + 2]; //temporary for calculation (maybe dynamical?)
int bilinear_grid_spacing_virt[2] = { 0 };
static void bed_level_virt_print() {
@ -2486,7 +2487,7 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_PROTOCOLCHAR(' ');
float offset = bed_level_grid_virt[x][y];
if (offset != UNPROBED) {
if (offset > 0) SERIAL_CHAR('+');
if (offset >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(offset, 5);
}
else
@ -2496,35 +2497,42 @@ static void clean_up_after_endstop_or_probe_move() {
}
SERIAL_EOL;
}
#define LINEAR_EXTRAPOLATION(E, I) (E * 2 - I)
void bed_level_virt_prepare() {
for (uint8_t y = 1; y <= ABL_GRID_MAX_POINTS_Y; y++) {
for (uint8_t x = 1; x <= ABL_GRID_MAX_POINTS_X; x++)
bed_level_grid_virt_temp[x][y] = bed_level_grid[x - 1][y - 1];
bed_level_grid_virt_temp[0][y] = LINEAR_EXTRAPOLATION(
bed_level_grid_virt_temp[1][y],
bed_level_grid_virt_temp[2][y]
);
bed_level_grid_virt_temp[(ABL_GRID_MAX_POINTS_X + 2) - 1][y] =
LINEAR_EXTRAPOLATION(
bed_level_grid_virt_temp[(ABL_GRID_MAX_POINTS_X + 2) - 2][y],
bed_level_grid_virt_temp[(ABL_GRID_MAX_POINTS_X + 2) - 3][y]
#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
uint8_t ep = 0, ip = 1;
if (!x || x == ABL_TEMP_POINTS_X - 1) {
if (x) {
ep = ABL_GRID_MAX_POINTS_X - 1;
ip = ABL_GRID_MAX_POINTS_X - 2;
}
if (y > 0 && y < ABL_TEMP_POINTS_Y - 1)
return LINEAR_EXTRAPOLATION(
bed_level_grid[ep][y - 1],
bed_level_grid[ip][y - 1]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(ep + 1, y),
bed_level_virt_coord(ip + 1, y)
);
}
for (uint8_t x = 0; x < ABL_GRID_MAX_POINTS_X + 2; x++) {
bed_level_grid_virt_temp[x][0] = LINEAR_EXTRAPOLATION(
bed_level_grid_virt_temp[x][1],
bed_level_grid_virt_temp[x][2]
);
bed_level_grid_virt_temp[x][(ABL_GRID_MAX_POINTS_Y + 2) - 1] =
LINEAR_EXTRAPOLATION(
bed_level_grid_virt_temp[x][(ABL_GRID_MAX_POINTS_Y + 2) - 2],
bed_level_grid_virt_temp[x][(ABL_GRID_MAX_POINTS_Y + 2) - 3]
if (!y || y == ABL_TEMP_POINTS_Y - 1) {
if (y) {
ep = ABL_GRID_MAX_POINTS_Y - 1;
ip = ABL_GRID_MAX_POINTS_Y - 2;
}
if (x > 0 && x < ABL_TEMP_POINTS_X - 1)
return LINEAR_EXTRAPOLATION(
bed_level_grid[x - 1][ep],
bed_level_grid[x - 1][ip]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(x, ep + 1),
bed_level_virt_coord(x, ip + 1)
);
}
return bed_level_grid[x - 1][y - 1];
}
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
return (
@ -2537,8 +2545,9 @@ static void clean_up_after_endstop_or_probe_move() {
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
float row[4], column[4];
for (uint8_t i = 0; i < 4; i++) {
for (uint8_t j = 0; j < 4; j++) // can be memcopy or through memory access
column[j] = bed_level_grid_virt_temp[i + x - 1][j + y - 1];
for (uint8_t j = 0; j < 4; j++) {
column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
}
row[i] = bed_level_virt_cmr(column, 1, ty);
}
return bed_level_virt_cmr(row, 1, tx);
@ -4242,7 +4251,6 @@ inline void gcode_G28() {
print_bilinear_leveling_grid();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_prepare();
bed_level_virt_interpolate();
bed_level_virt_print();
#endif
@ -7141,7 +7149,6 @@ void quickstop_stepper() {
if (px >= 0 && px < ABL_GRID_MAX_POINTS_X && py >= 0 && py < ABL_GRID_MAX_POINTS_X) {
bed_level_grid[px][py] = z;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_prepare();
bed_level_virt_interpolate();
#endif
}