From 830851df135c873bab51accb3a0d17cd098536ac Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 21 Apr 2017 01:34:03 -0500 Subject: [PATCH] Spend some SRAM to optimize bilinear leveling --- Marlin/Marlin.h | 5 ++- Marlin/Marlin_main.cpp | 96 +++++++++++++++++++++++++++++------------- 2 files changed, 69 insertions(+), 32 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 5ea7eab1f1..9c85c224a3 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -313,8 +313,9 @@ float code_value_temp_diff(); #if ENABLED(AUTO_BED_LEVELING_BILINEAR) extern int bilinear_grid_spacing[2], bilinear_start[2]; - extern float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; - float bilinear_z_offset(float logical[XYZ]); + extern float bilinear_grid_factor[2], + 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); #endif diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 962e3b5f03..1069186821 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -599,7 +599,8 @@ static uint8_t target_extruder; #if ENABLED(AUTO_BED_LEVELING_BILINEAR) 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 #if IS_SCARA @@ -2371,6 +2372,13 @@ static void clean_up_after_endstop_or_probe_move() { #endif 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; if (!enable) 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) float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y]; int bilinear_grid_spacing_virt[2] = { 0 }; + float bilinear_grid_factor_virt[2] = { 0 }; static void bed_level_virt_print() { 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() { 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_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 x = 0; x < GRID_MAX_POINTS_X; x++) 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 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) bed_level_virt_interpolate(); #endif @@ -3130,7 +3143,7 @@ void unknown_command_error() { #endif //HOST_KEEPALIVE_FEATURE -bool position_is_reachable(float target[XYZ] +bool position_is_reachable(const float target[XYZ] #if HAS_BED_PROBE , bool by_probe=false #endif @@ -4648,7 +4661,7 @@ inline void gcode_G28() { #if IS_KINEMATIC // 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; #endif @@ -10484,49 +10497,72 @@ void ok_to_send() { #if ENABLED(ABL_BILINEAR_SUBDIVISION) #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_Y ABL_GRID_POINTS_VIRT_Y #define ABL_BG_GRID(X,Y) z_values_virt[X][Y] #else #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_Y GRID_MAX_POINTS_Y #define ABL_BG_GRID(X,Y) z_values[X][Y] #endif // 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 - const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS], - 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); + static float z1, d2, z3, d4, L, D, ratio_x, ratio_y, + last_x = -999.999, last_y = -999.999; // Whole units for the grid line indices. Constrained within bounds. - const int gridx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1), - gridy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1), - nextx = min(gridx + 1, ABL_BG_POINTS_X - 1), - nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1); + static int8_t gridx, gridy, nextx, nexty, + last_gridx = -99, last_gridy = -99; - // Subtract whole to get the ratio within the grid box - ratio_x -= gridx; ratio_y -= gridy; + // XY relative to the probed area + 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.) - NOLESS(ratio_x, 0); NOLESS(ratio_y, 0); + if (last_x != x) { + 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 - 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 + if (last_y != y || last_gridx != gridx) { - // Bilinear interpolate - L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB - R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB - offset = L + ratio_x * (R - L); + if (last_y != y) { + last_y = y; + ratio_y = y * ABL_BG_FACTOR(Y_AXIS); + 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; @@ -10549,7 +10585,7 @@ void ok_to_send() { SERIAL_ECHOLNPAIR(" offset=", offset); } last_offset = 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 - #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,