58 lines
1.9 KiB
C
58 lines
1.9 KiB
C
|
/**
|
||
|
|
* Marlin 3D Printer Firmware
|
||
|
|
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Incremental Least Squares Best Fit By Roxy and Ed Williams
|
||
|
|
*
|
||
|
|
* 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 10K of program memory. And even better... the data
|
||
|
|
* fed into the algorithm does not need to all be present at the same time.
|
||
|
|
* A point can be probed and its values fed into the algorithm and then discarded.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "MarlinConfig.h"
|
||
|
|
|
||
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
|
||
|
|
|
||
|
|
#include "Marlin.h"
|
||
|
|
#include "macros.h"
|
||
|
|
#include <math.h>
|
||
|
|
|
||
|
|
struct linear_fit_data {
|
||
|
|
int n;
|
||
|
|
float xbar, ybar, zbar;
|
||
|
|
float x2bar, y2bar, z2bar;
|
||
|
|
float xybar, xzbar, yzbar;
|
||
|
|
float max_absx, max_absy;
|
||
|
|
float A, B, D;
|
||
|
|
};
|
||
|
|
|
||
|
|
void incremental_LSF_reset(struct linear_fit_data *);
|
||
|
|
void incremental_LSF(struct linear_fit_data *, float x, float y, float z);
|
||
|
|
int finish_incremental_LSF(struct linear_fit_data *);
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|