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528b9bd872
Firmware2/Marlin/src/feature/bedlevel/abl/abl.cpp
Scott Lahteine 528b9bd872 Revert experimental NAN patch 
Hold changes from #21575 (24a095c) for more testing.
2021-04-16 02:43:59 -05:00

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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "../bedlevel.h"
#include "../../../module/motion.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../../core/debug_out.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extui/ui_api.h"
#endif
xy_pos_t bilinear_grid_spacing, bilinear_start;
xy_float_t bilinear_grid_factor;
bed_mesh_t z_values;
/**
* Extrapolate a single point from its neighbors
*/
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
if (!isnan(z_values[x][y])) return;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM("Extrapolate [");
if (x < 10) DEBUG_CHAR(' ');
DEBUG_ECHO(x);
DEBUG_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
DEBUG_CHAR(' ');
if (y < 10) DEBUG_CHAR(' ');
DEBUG_ECHO(y);
DEBUG_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
DEBUG_ECHOLNPGM("]");
}
// Get X neighbors, Y neighbors, and XY neighbors
const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
b1 = z_values[x ][y1], b2 = z_values[x ][y2],
c1 = z_values[x1][y1], c2 = z_values[x2][y2];
// Treat far unprobed points as zero, near as equal to far
if (isnan(a2)) a2 = 0.0;
if (isnan(a1)) a1 = a2;
if (isnan(b2)) b2 = 0.0;
if (isnan(b1)) b1 = b2;
if (isnan(c2)) c2 = 0.0;
if (isnan(c1)) c1 = c2;
const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
// Take the average instead of the median
z_values[x][y] = (a + b + c) / 3.0;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
// Median is robust (ignores outliers).
// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
// : ((c < b) ? b : (a < c) ? a : c);
}
//Enable this if your SCARA uses 180° of total area
//#define EXTRAPOLATE_FROM_EDGE
#if ENABLED(EXTRAPOLATE_FROM_EDGE)
#if (GRID_MAX_POINTS_X) < (GRID_MAX_POINTS_Y)
#define HALF_IN_X
#elif (GRID_MAX_POINTS_Y) < (GRID_MAX_POINTS_X)
#define HALF_IN_Y
#endif
#endif
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
void extrapolate_unprobed_bed_level() {
#ifdef HALF_IN_X
constexpr uint8_t ctrx2 = 0, xend = GRID_MAX_POINTS_X - 1;
#else
constexpr uint8_t ctrx1 = (GRID_MAX_CELLS_X) / 2, // left-of-center
ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
xend = ctrx1;
#endif
#ifdef HALF_IN_Y
constexpr uint8_t ctry2 = 0, yend = GRID_MAX_POINTS_Y - 1;
#else
constexpr uint8_t ctry1 = (GRID_MAX_CELLS_Y) / 2, // top-of-center
ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
yend = ctry1;
#endif
LOOP_LE_N(xo, xend)
LOOP_LE_N(yo, yend) {
uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
#ifndef HALF_IN_X
const uint8_t x1 = ctrx1 - xo;
#endif
#ifndef HALF_IN_Y
const uint8_t y1 = ctry1 - yo;
#ifndef HALF_IN_X
extrapolate_one_point(x1, y1, +1, +1); // left-below + +
#endif
extrapolate_one_point(x2, y1, -1, +1); // right-below - +
#endif
#ifndef HALF_IN_X
extrapolate_one_point(x1, y2, +1, -1); // left-above + -
#endif
extrapolate_one_point(x2, y2, -1, -1); // right-above - -
}
}
void print_bilinear_leveling_grid() {
SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
);
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_GRID_POINTS_VIRT_X GRID_MAX_CELLS_X * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_GRID_POINTS_VIRT_Y GRID_MAX_CELLS_Y * (BILINEAR_SUBDIVISIONS) + 1
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 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];
xy_pos_t bilinear_grid_spacing_virt;
xy_float_t bilinear_grid_factor_virt;
void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
);
}
#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 > (GRID_MAX_POINTS_X) + 1 || y > (GRID_MAX_POINTS_Y) + 1) {
// The requested point requires extrapolating two points beyond the mesh.
// These values are only requested for the edges of the mesh, which are always an actual mesh point,
// and do not require interpolation. When interpolation is not needed, this "Mesh + 2" point is
// cancelled out in bed_level_virt_cmr and does not impact the result. Return 0.0 rather than
// making this function more complex by extrapolating two points.
return 0.0;
}
if (!x || x == ABL_TEMP_POINTS_X - 1) {
if (x) {
ep = (GRID_MAX_POINTS_X) - 1;
ip = GRID_MAX_CELLS_X - 1;
}
if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
return LINEAR_EXTRAPOLATION(
z_values[ep][y - 1],
z_values[ip][y - 1]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(ep + 1, y),
bed_level_virt_coord(ip + 1, y)
);
}
if (!y || y == ABL_TEMP_POINTS_Y - 1) {
if (y) {
ep = (GRID_MAX_POINTS_Y) - 1;
ip = GRID_MAX_CELLS_Y - 1;
}
if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
return LINEAR_EXTRAPOLATION(
z_values[x - 1][ep],
z_values[x - 1][ip]
);
else
return LINEAR_EXTRAPOLATION(
bed_level_virt_coord(x, ep + 1),
bed_level_virt_coord(x, ip + 1)
);
}
return z_values[x - 1][y - 1];
}
static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
return (
p[i-1] * -t * sq(1 - t)
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - t)
) * 0.5f;
}
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty) {
float row[4], column[4];
LOOP_L_N(i, 4) {
LOOP_L_N(j, 4) {
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);
}
void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
LOOP_L_N(y, GRID_MAX_POINTS_Y)
LOOP_L_N(x, GRID_MAX_POINTS_X)
LOOP_L_N(ty, BILINEAR_SUBDIVISIONS)
LOOP_L_N(tx, BILINEAR_SUBDIVISIONS) {
if ((ty && y == (GRID_MAX_POINTS_Y) - 1) || (tx && x == (GRID_MAX_POINTS_X) - 1))
continue;
z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
bed_level_virt_2cmr(
x + 1,
y + 1,
(float)tx / (BILINEAR_SUBDIVISIONS),
(float)ty / (BILINEAR_SUBDIVISIONS)
);
}
}
#endif // ABL_BILINEAR_SUBDIVISION
// Refresh after other values have been updated
void refresh_bed_level() {
bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate());
}
#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(const xy_pos_t &raw) {
static float z1, d2, z3, d4, L, D;
static xy_pos_t prev { -999.999, -999.999 }, ratio;
// Whole units for the grid line indices. Constrained within bounds.
static xy_int8_t thisg, nextg, lastg { -99, -99 };
// XY relative to the probed area
xy_pos_t rel = raw - bilinear_start.asFloat();
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
#define FAR_EDGE_OR_BOX 2 // Keep using the last grid box
#else
#define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
#endif
if (prev.x != rel.x) {
prev.x = rel.x;
ratio.x = rel.x * ABL_BG_FACTOR(x);
const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
ratio.x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x)
#endif
thisg.x = gx;
nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
}
if (prev.y != rel.y || lastg.x != thisg.x) {
if (prev.y != rel.y) {
prev.y = rel.y;
ratio.y = rel.y * ABL_BG_FACTOR(y);
const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio.y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.)
#endif
thisg.y = gy;
nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
}
if (lastg != thisg) {
lastg = thisg;
// Z at the box corners
z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front
d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta)
}
// Bilinear interpolate. Needed since rel.y or thisg.x 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;
if (ABS(last_offset - offset) > 0.2) {
SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
}
last_offset = offset;
//*/
return offset;
}
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
#define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
// Get current and destination cells for this line
xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (c1 == c2) {
current_position = destination;
line_to_current_position(scaled_fr_mm_s);
return;
}
#define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
float normalized_dist;
xyze_pos_t end;
const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) };
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (c2.x != c1.x && TEST(x_splits, gc.x)) {
// Split on the X grid line
CBI(x_splits, gc.x);
end = destination;
destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
destination.y = LINE_SEGMENT_END(y);
}
// Crosses on the Y and not already split on this Y?
else if (c2.y != c1.y && TEST(y_splits, gc.y)) {
// Split on the Y grid line
CBI(y_splits, gc.y);
end = destination;
destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
destination.x = LINE_SEGMENT_END(x);
}
else {
// Must already have been split on these border(s)
// This should be a rare case.
current_position = destination;
line_to_current_position(scaled_fr_mm_s);
return;
}
destination.z = LINE_SEGMENT_END(z);
destination.e = LINE_SEGMENT_END(e);
// Do the split and look for more borders
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
destination = end;
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}
#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES
#endif // AUTO_BED_LEVELING_BILINEAR
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