From eee726ec7dfa774677e86d84573e04524eff64be Mon Sep 17 00:00:00 2001 From: Marcio T Date: Tue, 23 Mar 2021 00:45:51 -0600 Subject: [PATCH] UBL - Hilbert space-filling curve probing sequence (#21387) --- Marlin/Configuration.h | 2 + Marlin/src/feature/bedlevel/ubl/ubl.h | 5 ++ Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 58 +++++++++++++++++++-- buildroot/tests/mega2560 | 2 +- 4 files changed, 63 insertions(+), 4 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index ce847c0d65..339dae7702 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1478,6 +1478,8 @@ #define GRID_MAX_POINTS_X 10 // Don't use more than 15 points per axis, implementation limited. #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X + //#define UBL_HILBERT_CURVE // Use Hilbert distribution for less travel when probing multiple points + #define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle #define UBL_SAVE_ACTIVE_ON_M500 // Save the currently active mesh in the current slot on M500 diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.h b/Marlin/src/feature/bedlevel/ubl/ubl.h index d5da43a6a2..0c4667eed8 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.h +++ b/Marlin/src/feature/bedlevel/ubl/ubl.h @@ -98,6 +98,11 @@ public: static void display_map(const int) _O0; static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0; static mesh_index_pair find_furthest_invalid_mesh_point() _O0; + #if ENABLED(UBL_HILBERT_CURVE) + static void check_if_missing(mesh_index_pair &pt, int x, int y); + static void hilbert(mesh_index_pair &pt, int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n); + static mesh_index_pair find_next_mesh_point(); + #endif static void reset(); static void invalidate(); static void set_all_mesh_points_to_value(const float value); diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 8c70feb661..3ea777fd9a 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -757,9 +757,11 @@ void unified_bed_leveling::shift_mesh_height() { } #endif - best = do_furthest - ? find_furthest_invalid_mesh_point() - : find_closest_mesh_point_of_type(INVALID, nearby, true); + best = do_furthest ? find_furthest_invalid_mesh_point() + : TERN(UBL_HILBERT_CURVE, + next_point_in_grid(), + find_closest_mesh_point_of_type(INVALID, nearby, true) + ); if (best.pos.x >= 0) { // mesh point found and is reachable by probe TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_START)); @@ -1298,6 +1300,56 @@ mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const Mesh return closest; } +#if ENABLED(UBL_HILBERT_CURVE) + + constexpr int8_t to_fix(int8_t v) { return v << 1; } + constexpr int8_t to_int(int8_t v) { return v >> 1; } + constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; } + constexpr uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; } + + void unified_bed_leveling::hilbert(mesh_index_pair &pt, int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n) { + /* Hilbert space filling curve implementation + * + * x and y are the coordinates of the bottom left corner + * xi & xj are the i & j components of the unit x vector of the frame + * similarly yi and yj + * + * From: http://www.fundza.com/algorithmic/space_filling/hilbert/basics/index.html + */ + if (n <= 0) + check_if_missing(pt, to_int(x+(xi+yi)/2),to_int(y+(xj+yj)/2)); + else { + hilbert(pt, x, y, yi/2, yj/2, xi/2, xj/2, n-1); + hilbert(pt, x+xi/2, y+xj/2, xi/2, xj/2, yi/2, yj/2, n-1); + hilbert(pt, x+xi/2+yi/2, y+xj/2+yj/2, xi/2, xj/2, yi/2, yj/2, n-1); + hilbert(pt, x+xi/2+yi, y+xj/2+yj, -yi/2, -yj/2, -xi/2, -xj/2, n-1); + } + } + + void unified_bed_leveling::check_if_missing(mesh_index_pair &pt, int x, int y) { + if ( pt.distance < 0 + && x < GRID_MAX_POINTS_X + && y < GRID_MAX_POINTS_Y + && isnan(z_values[x][y]) + && probe.can_reach(mesh_index_to_xpos(x), mesh_index_to_ypos(y)) + ) { + pt.pos.set(x, y); + pt.distance = 1; + } + } + + mesh_index_pair unified_bed_leveling::find_next_mesh_point() { + mesh_index_pair pt; + pt.invalidate(); + pt.distance = -99999.9f; + constexpr uint8_t ord = order(_MAX(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y)); + constexpr uint8_t dim = _BV(ord); + hilbert(pt, to_fix(0), to_fix(0), to_fix(dim), to_fix(0), to_fix(0), to_fix(dim), ord); + return pt; + } + +#endif // UBL_HILBERT_CURVE + /** * 'Smart Fill': Scan from the outward edges of the mesh towards the center. * If an invalid location is found, use the next two points (if valid) to diff --git a/buildroot/tests/mega2560 b/buildroot/tests/mega2560 index d961ab4eff..e3209899ce 100755 --- a/buildroot/tests/mega2560 +++ b/buildroot/tests/mega2560 @@ -36,7 +36,7 @@ opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO LCD_LANGUAGE jp_kana \ opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LIGHTWEIGHT_UI SHOW_CUSTOM_BOOTSCREEN BOOT_MARLIN_LOGO_SMALL \ LCD_SET_PROGRESS_MANUALLY PRINT_PROGRESS_SHOW_DECIMALS SHOW_REMAINING_TIME STATUS_MESSAGE_SCROLLING SCROLL_LONG_FILENAMES \ SDSUPPORT SDCARD_SORT_ALPHA NO_SD_AUTOSTART USB_FLASH_DRIVE_SUPPORT CANCEL_OBJECTS \ - Z_PROBE_SLED AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT \ + Z_PROBE_SLED AUTO_BED_LEVELING_UBL UBL_HILBERT_CURVE RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT \ EEPROM_SETTINGS EEPROM_CHITCHAT GCODE_MACROS CUSTOM_USER_MENUS \ MULTI_NOZZLE_DUPLICATION CLASSIC_JERK LIN_ADVANCE QUICK_HOME \ NANODLP_Z_SYNC I2C_POSITION_ENCODERS M114_DETAIL \