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Patches to UBL

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master
Scott Lahteine 9 years ago committed by Roxy-3D
parent 14cf527bb8
commit 15edb41cee
3 changed files with 191 additions and 217 deletions
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6
Marlin/Marlin.h
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@ -299,10 +299,8 @@ float code_value_temp_diff();
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
struct linear_fit {
double A, B, D;
};
struct linear_fit *lsf_linear_fit( double *, double *, double *, int );
typedef struct { double A, B, D; } linear_fit;
linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);
#endif
#if PLANNER_LEVELING

72
Marlin/least_squares_fit.cpp
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@ -23,35 +23,36 @@
/**
* Least Squares Best Fit By Roxy and Ed Williams
*
* This algorythm is high speed and has a very small code footprint.
* Its results are identical to both the Iterative Least Squares published
* This algorithm is high speed and has a very small code footprint.
* Its results are identical to both the Iterative Least-Squares published
* earlier by Roxy and the QR_SOLVE solution. If used in place of QR_SOLVE
* it saves roughly 10KB of program memory.
* it saves roughly 10K of program memory.
*
*/
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
#include <math.h>
#include "ubl.h"
#include "Marlin.h"
#include "macros.h"
#include <math.h>
double linear_fit_average(double *, int);
double linear_fit_average_squared(double *, int);
double linear_fit_average_mixed_terms(double *, double *, int );
double linear_fit_average_product(double *matrix1, double *matrix2, int n);
void linear_fit_subtract_mean(double *matrix, double bar, int n);
double linear_fit_max_abs(double *, int);
double linear_fit_average(double m[], const int);
//double linear_fit_average_squared(double m[], const int);
//double linear_fit_average_mixed_terms(double m1[], double m2[], const int);
double linear_fit_average_product(double matrix1[], double matrix2[], const int n);
void linear_fit_subtract_mean(double matrix[], double bar, const int n);
double linear_fit_max_abs(double m[], const int);
struct linear_fit linear_fit_results;
linear_fit linear_fit_results;
struct linear_fit *lsf_linear_fit(double *x, double *y, double *z, int n) {
double xbar, ybar, zbar;
double x2bar, y2bar;
double xybar, xzbar, yzbar;
double D;
int i;
linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int n) {
double xbar, ybar, zbar,
x2bar, y2bar,
xybar, xzbar, yzbar,
D;
linear_fit_results.A = 0.0;
linear_fit_results.B = 0.0;
@ -72,7 +73,7 @@ struct linear_fit *lsf_linear_fit(double *x, double *y, double *z, int n) {
yzbar = linear_fit_average_product(y, z, n);
D = x2bar * y2bar - xybar * xybar;
for(i=0; i<n; i++) {
for (int i = 0; i < n; i++) {
if (fabs(D) <= 1e-15 * (linear_fit_max_abs(x, n) + linear_fit_max_abs(y, n))) {
printf("error: x,y points are collinear at index:%d\n", i);
return NULL;
@ -87,46 +88,29 @@ struct linear_fit *lsf_linear_fit(double *x, double *y, double *z, int n) {
return &linear_fit_results;
}
double linear_fit_average(double *matrix, int n)
{
int i;
double linear_fit_average(double *matrix, const int n) {
double sum = 0.0;
for (i = 0; i < n; i++)
for (int i = 0; i < n; i++)
sum += matrix[i];
return sum / (double)n;
}
double linear_fit_average_product(double *matrix1, double *matrix2, int n) {
int i;
double linear_fit_average_product(double *matrix1, double *matrix2, const int n) {
double sum = 0.0;
for (i = 0; i < n; i++)
for (int i = 0; i < n; i++)
sum += matrix1[i] * matrix2[i];
return sum / (double)n;
}
void linear_fit_subtract_mean(double *matrix, double bar, int n) {
int i;
for (i = 0; i < n; i++) {
void linear_fit_subtract_mean(double *matrix, double bar, const int n) {
for (int i = 0; i < n; i++)
matrix[i] -= bar;
}
return;
}
double linear_fit_max_abs(double *matrix, int n) {
int i;
double linear_fit_max_abs(double *matrix, const int n) {
double max_abs = 0.0;
for(i=0; i<n; i++)
if ( max_abs < fabs(matrix[i]))
max_abs = fabs(matrix[i]);
for (int i = 0; i < n; i++)
NOLESS(max_abs, fabs(matrix[i]));
return max_abs;
}
#endif

126
Marlin/ubl_G29.cpp
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@ -424,9 +424,9 @@
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.\n");
}
if (g29_verbose_level > 1) {
SERIAL_ECHOPGM("Probing Mesh Points Closest to (");
SERIAL_ECHO(x_pos);
SERIAL_ECHOPAIR(",", y_pos);
SERIAL_PROTOCOLPAIR("Probing Mesh Points Closest to (", x_pos);
SERIAL_PROTOCOLCHAR(',');
SERIAL_PROTOCOL(y_pos);
SERIAL_PROTOCOLLNPGM(")\n");
}
probe_entire_mesh(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
@ -440,16 +440,16 @@
SERIAL_PROTOCOLLNPGM("Manually probing unreachable mesh locations.\n");
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (!x_flag && !y_flag) { // use a good default location for the path
x_pos = X_MIN_POS;
y_pos = Y_MIN_POS;
if (X_PROBE_OFFSET_FROM_EXTRUDER > 0) // The flipped > and < operators on these two comparisons is
x_pos = X_MAX_POS; // intentional. It should cause the probed points to follow a
if (Y_PROBE_OFFSET_FROM_EXTRUDER < 0) // nice path on Cartesian printers. It may make sense to
y_pos = Y_MAX_POS; // have Delta printers default to the center of the bed.
} // For now, until that is decided, it can be forced with the X
// The flipped > and < operators on these two comparisons is
// intentional. It should cause the probed points to follow a
// nice path on Cartesian printers. It may make sense to
// have Delta printers default to the center of the bed.
// For now, until that is decided, it can be forced with the X
// and Y parameters.
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS;
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS;
}
if (code_seen('C')) {
x_pos = current_position[X_AXIS];
y_pos = current_position[Y_AXIS];
@ -674,7 +674,7 @@
if (ELAPSED(millis(), nxt)) {
SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
lcd_setstatuspgm("Z-Offset Stopped");
lcd_setstatuspgm(PSTR("Z-Offset Stopped"));
restore_ubl_active_state_and_leave();
goto LEAVE;
}
@ -693,7 +693,7 @@
#if ENABLED(ULTRA_LCD)
lcd_reset_alert_level();
lcd_setstatuspgm("");
lcd_setstatuspgm(PSTR(""));
lcd_quick_feedback();
#endif
@ -997,7 +997,7 @@
bool g29_parameter_parsing() {
#if ENABLED(ULTRA_LCD)
lcd_setstatuspgm("Doing G29 UBL!");
lcd_setstatuspgm(PSTR("Doing G29 UBL!"));
lcd_quick_feedback();
#endif
@ -1118,7 +1118,7 @@
ubl_state_recursion_chk++;
if (ubl_state_recursion_chk != 1) {
SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
lcd_setstatuspgm("save_UBL_active() error");
lcd_setstatuspgm(PSTR("save_UBL_active() error"));
lcd_quick_feedback();
return;
}
@ -1129,7 +1129,7 @@
void restore_ubl_active_state_and_leave() {
if (--ubl_state_recursion_chk) {
SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
lcd_setstatuspgm("restore_UBL_active() error");
lcd_setstatuspgm(PSTR("restore_UBL_active() error"));
lcd_quick_feedback();
return;
}
@ -1369,7 +1369,7 @@
memset(not_done, 0xFF, sizeof(not_done));
#if ENABLED(ULTRA_LCD)
lcd_setstatuspgm("Fine Tuning Mesh");
lcd_setstatuspgm(PSTR("Fine Tuning Mesh"));
#endif
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
@ -1428,7 +1428,7 @@
lcd_return_to_status();
//SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped.");
do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
lcd_setstatuspgm("Mesh Editing Stopped");
lcd_setstatuspgm(PSTR("Mesh Editing Stopped"));
while (ubl_lcd_clicked()) idle();
@ -1456,42 +1456,41 @@
do_blocking_move_to_xy(lx, ly);
#if ENABLED(ULTRA_LCD)
lcd_setstatuspgm("Done Editing Mesh");
lcd_setstatuspgm(PSTR("Done Editing Mesh"));
#endif
SERIAL_ECHOLNPGM("Done Editing Mesh");
}
void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map) {
int8_t grid_G_index_to_xpos[grid_size_G]; // UBL MESH X index to be probed
int8_t grid_G_index_to_ypos[grid_size_G]; // UBL MESH Y index to be probed
int8_t i, j ,k, xCount, yCount, G_X_index, G_Y_index; // counter variables
int8_t grid_G_index_to_xpos[grid_size_G], // UBL MESH X index to be probed
grid_G_index_to_ypos[grid_size_G], // UBL MESH Y index to be probed
i, j ,k, xCount, yCount, G_X_index, G_Y_index; // counter variables
float z_values_G[grid_size_G][grid_size_G];
struct linear_fit *results;
linear_fit *results;
for (G_Y_index = 0; G_Y_index < grid_size_G; G_Y_index++)
for (G_X_index = 0; G_X_index < grid_size_G; G_X_index++)
z_values_G[G_X_index][G_Y_index] = NAN;
uint8_t x_min = GRID_MAX_POINTS_X - 1;
uint8_t x_max = 0;
uint8_t y_min = GRID_MAX_POINTS_Y - 1;
uint8_t y_max = 0;
uint8_t x_min = GRID_MAX_POINTS_X - 1,
x_max = 0,
y_min = GRID_MAX_POINTS_Y - 1,
y_max = 0;
//find min & max probeable points in the mesh
for (xCount = 0; xCount < GRID_MAX_POINTS_X; xCount++) {
for (yCount = 0; yCount < GRID_MAX_POINTS_Y; yCount++) {
if (WITHIN(ubl.mesh_index_to_xpos[xCount], MIN_PROBE_X, MAX_PROBE_X) && WITHIN(ubl.mesh_index_to_ypos[yCount], MIN_PROBE_Y, MAX_PROBE_Y)) {
if (x_min > xCount) x_min = xCount;
if (x_max < xCount) x_max = xCount;
if (y_min > yCount) y_min = yCount;
if (y_max < yCount) y_max = yCount;
NOMORE(x_min, xCount);
NOLESS(x_max, xCount);
NOMORE(y_min, yCount);
NOLESS(y_max, yCount);
}
}
}
if ((x_max - x_min + 1) < (grid_size_G) || (y_max - y_min + 1) < (grid_size_G)) {
if (x_max - x_min + 1 < grid_size_G || y_max - y_min + 1 < grid_size_G) {
SERIAL_ECHOPAIR("ERROR - probeable UBL MESH smaller than grid - X points: ", x_max - x_min + 1);
SERIAL_ECHOPAIR(" Y points: ", y_max - y_min + 1);
SERIAL_ECHOLNPAIR(" grid: ", grid_size_G);
@ -1557,40 +1556,39 @@ SERIAL_ECHOPAIR("\nPR_OUTER_VAR: ", PR_OUTER_VAR);
// Inner loop is Y with PROBE_Y_FIRST enabled
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
SERIAL_ECHOPAIR("\nPR_INNER_VAR: ", PR_INNER_VAR);
//SERIAL_ECHOPAIR("\nPR_INNER_VAR: ", PR_INNER_VAR);
SERIAL_ECHOPAIR("\nCheckpoint: ", 1);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 1);
// end of G29 AUTO_BED_LEVELING_BILINEAR method/code
if (ubl_lcd_clicked()) {
SERIAL_ECHOPAIR("\nCheckpoint: ", 2);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 2);
SERIAL_ECHOLNPGM("\nGrid only partially populated.\n");
lcd_quick_feedback();
STOW_PROBE();
SERIAL_ECHOPAIR("\nCheckpoint: ", 3);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 3);
while (ubl_lcd_clicked()) idle();
SERIAL_ECHOPAIR("\nCheckpoint: ", 4);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 4);
ubl.has_control_of_lcd_panel = false;
restore_ubl_active_state_and_leave();
safe_delay(50); // Debounce the Encoder wheel
return;
}
SERIAL_ECHOPAIR("\nCheckpoint: ", 5);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 5);
const float probeX = ubl.mesh_index_to_xpos[grid_G_index_to_xpos[xCount]], //where we want the probe to be
probeY = ubl.mesh_index_to_ypos[grid_G_index_to_ypos[yCount]];
SERIAL_ECHOPAIR("\nCheckpoint: ", 6);
//SERIAL_ECHOPAIR("\nCheckpoint: ", 6);
const float measured_z = probe_pt(LOGICAL_X_POSITION(probeX), LOGICAL_Y_POSITION(probeY), code_seen('E'), (code_seen('V') && code_has_value()) ? code_value_int() : 0); // takes into account the offsets
SERIAL_ECHOPAIR("\nmeasured_z: ", measured_z );
//SERIAL_ECHOPAIR("\nmeasured_z: ", measured_z);
z_values_G[xCount][yCount] = measured_z;
//SERIAL_LNPGM("\nFine Tuning of Mesh Stopped.");
//SERIAL_ECHOLNPGM("\nFine Tuning of Mesh Stopped.");
}
}
SERIAL_ECHO("\nDone probing...\n");
//SERIAL_ECHOLNPGM("\nDone probing...\n");
STOW_PROBE();
restore_ubl_active_state_and_leave();
@ -1599,40 +1597,34 @@ SERIAL_ECHO("\nDone probing...\n");
//do_blocking_move_to_xy(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[0]], ubl.mesh_index_to_ypos[grid_G_index_to_ypos[0]]);
// least squares code
double xxx9[] = { 0,50,100,150,200, 20,70,120,165,195, 0,50,100,150,200, 0,55,100,150,200, 0,65,100,150,205 };
double yyy9[] = { 0, 1, 2, 3, 4, 50, 51, 52, 53, 54, 100, 101,102,103,104, 150,151,152,153,154, 200,201,202,203,204 };
double zzz9[] = { 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.012,0.01};
int nine_size = sizeof(xxx9) / sizeof(double);
double xxx0[] = { 0.0, 0.0, 1.0 }; // Expect [0,0,0.1,0]
double yyy0[] = { 0.0, 1.0, 0.0 };
double zzz0[] = { 0.1, 0.1, 0.1 };
int zero_size = sizeof(xxx0) / sizeof(double);
double xxx[] = { 0.0, 0.0, 1.0, 1.0 }; // Expect [0.1,0,0.05,0]
double yyy[] = { 0.0, 1.0, 0.0, 1.0 };
double zzz[] = { 0.05, 0.05, 0.15, 0.15 };
int three_size = sizeof(xxx) / sizeof(double);
results = lsf_linear_fit(xxx9, yyy9, zzz9, nine_size);
double xxx9[] = { 0,50,100,150,200, 20,70,120,165,195, 0,50,100,150,200, 0,55,100,150,200, 0,65,100,150,205 },
yyy9[] = { 0, 1, 2, 3, 4, 50, 51, 52, 53, 54, 100, 101,102,103,104, 150,151,152,153,154, 200,201,202,203,204 },
zzz9[] = { 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.02,0, 0.01,.002,-.01,-.012,0.01},
xxx0[] = { 0.0, 0.0, 1.0 }, // Expect [0,0,0.1,0]
yyy0[] = { 0.0, 1.0, 0.0 },
zzz0[] = { 0.1, 0.1, 0.1 },
xxx[] = { 0.0, 0.0, 1.0, 1.0 }, // Expect [0.1,0,0.05,0]
yyy[] = { 0.0, 1.0, 0.0, 1.0 },
zzz[] = { 0.05, 0.05, 0.15, 0.15 };
results = lsf_linear_fit(xxx9, yyy9, zzz9, COUNT(xxx9));
SERIAL_ECHOPAIR("\nxxx9->A =", results->A);
SERIAL_ECHOPAIR("\nxxx9->B =", results->B);
SERIAL_ECHOPAIR("\nxxx9->D =", results->D);
SERIAL_ECHO("\n");
SERIAL_EOL;
results = lsf_linear_fit(xxx0, yyy0, zzz0, zero_size);
results = lsf_linear_fit(xxx0, yyy0, zzz0, COUNT(xxx0));
SERIAL_ECHOPAIR("\nxxx0->A =", results->A);
SERIAL_ECHOPAIR("\nxxx0->B =", results->B);
SERIAL_ECHOPAIR("\nxxx0->D =", results->D);
SERIAL_ECHO("\n");
SERIAL_EOL;
results = lsf_linear_fit(xxx, yyy, zzz, three_size);
results = lsf_linear_fit(xxx, yyy, zzz, COUNT(xxx));
SERIAL_ECHOPAIR("\nxxx->A =", results->A);
SERIAL_ECHOPAIR("\nxxx->B =", results->B);
SERIAL_ECHOPAIR("\nxxx->D =", results->D);
SERIAL_ECHO("\n");
SERIAL_EOL;
return;
} // end of tilt_mesh_based_on_probed_grid()
#endif // AUTO_BED_LEVELING_UBL

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