Improve Bilinear Grid
- Extrapolate properly for even numbered grid points - Extrapolate using average, not median - Improve bilinear grid report output - Add debug output for bilinear extrapolation - Add option to extrapolate from edge, not center
This commit is contained in:
Scott Lahteine
parent
a3e91ec65e
commit
5100bdac81
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@ -2136,7 +2136,9 @@ static void clean_up_after_endstop_or_probe_move() {
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#if ABL_PLANAR
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planner.bed_level_matrix.set_to_identity();
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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memset(bed_level_grid, 0, sizeof(bed_level_grid));
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for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++)
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for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++)
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bed_level_grid[x][y] = 1000.0;
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#endif
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}
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@ -2148,44 +2150,125 @@ static void clean_up_after_endstop_or_probe_move() {
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* Extrapolate a single point from its neighbors
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*/
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static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
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if (bed_level_grid[x][y]) return; // Don't overwrite good values.
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float a = 2 * bed_level_grid[x + xdir][y] - bed_level_grid[x + xdir * 2][y], // Left to right.
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b = 2 * bed_level_grid[x][y + ydir] - bed_level_grid[x][y + ydir * 2], // Front to back.
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c = 2 * bed_level_grid[x + xdir][y + ydir] - bed_level_grid[x + xdir * 2][y + ydir * 2]; // Diagonal.
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// Median is robust (ignores outliers).
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bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
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: ((c < b) ? b : (a < c) ? a : c);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPGM("Extrapolate [");
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if (x < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO((int)x);
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SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
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SERIAL_CHAR(' ');
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if (y < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO((int)y);
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SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
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SERIAL_CHAR(']');
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}
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#endif
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if (bed_level_grid[x][y] < 999.0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
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#endif
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return; // Don't overwrite good values.
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}
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// Get X neighbors, Y neighbors, and XY neighbors
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float a1 = bed_level_grid[x + xdir][y], a2 = bed_level_grid[x + xdir * 2][y],
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b1 = bed_level_grid[x][y + ydir], b2 = bed_level_grid[x][y + ydir * 2],
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c1 = bed_level_grid[x + xdir][y + ydir], c2 = bed_level_grid[x + xdir * 2][y + ydir * 2];
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// Treat far unprobed points as zero, near as equal to far
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if (a2 > 999.0) a2 = 0.0; if (a1 > 999.0) a1 = a2;
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if (b2 > 999.0) b2 = 0.0; if (b1 > 999.0) b1 = b2;
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if (c2 > 999.0) c2 = 0.0; if (c1 > 999.0) c1 = c2;
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float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
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// Take the average intstead of the median
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bed_level_grid[x][y] = (a + b + c) / 3.0;
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// Median is robust (ignores outliers).
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// bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
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// : ((c < b) ? b : (a < c) ? a : c);
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}
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#define EXTRAPOLATE_FROM_EDGE
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#if ENABLED(EXTRAPOLATE_FROM_EDGE)
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#if ABL_GRID_POINTS_X < ABL_GRID_POINTS_Y
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#define HALF_IN_X
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#elif ABL_GRID_POINTS_Y < ABL_GRID_POINTS_X
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#define HALF_IN_Y
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#endif
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#endif
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/**
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* Fill in the unprobed points (corners of circular print surface)
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* using linear extrapolation, away from the center.
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*/
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static void extrapolate_unprobed_bed_level() {
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int half_x = (ABL_GRID_POINTS_X - 1) / 2,
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half_y = (ABL_GRID_POINTS_Y - 1) / 2;
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for (uint8_t y = 0; y <= half_y; y++) {
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for (uint8_t x = 0; x <= half_x; x++) {
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if (x + y < 3) continue;
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extrapolate_one_point(half_x - x, half_y - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
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extrapolate_one_point(half_x + x, half_y - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
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extrapolate_one_point(half_x - x, half_y + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
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extrapolate_one_point(half_x + x, half_y + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
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}
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#ifdef HALF_IN_X
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const uint8_t ctrx2 = 0, xlen = ABL_GRID_POINTS_X - 1;
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#else
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const uint8_t ctrx1 = (ABL_GRID_POINTS_X - 1) / 2, // left-of-center
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ctrx2 = ABL_GRID_POINTS_X / 2, // right-of-center
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xlen = ctrx1;
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#endif
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#ifdef HALF_IN_Y
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const uint8_t ctry2 = 0, ylen = ABL_GRID_POINTS_Y - 1;
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#else
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const uint8_t ctry1 = (ABL_GRID_POINTS_Y - 1) / 2, // top-of-center
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ctry2 = ABL_GRID_POINTS_Y / 2, // bottom-of-center
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ylen = ctry1;
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#endif
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for (uint8_t xo = 0; xo <= xlen; xo++)
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for (uint8_t yo = 0; yo <= ylen; yo++) {
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uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
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#ifndef HALF_IN_X
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uint8_t x1 = ctrx1 - xo;
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#endif
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#ifndef HALF_IN_Y
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uint8_t y1 = ctry1 - yo;
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#ifndef HALF_IN_X
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extrapolate_one_point(x1, y1, +1, +1); // left-below + +
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#endif
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extrapolate_one_point(x2, y1, -1, +1); // right-below - +
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#endif
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#ifndef HALF_IN_X
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extrapolate_one_point(x1, y2, +1, -1); // left-above + -
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#endif
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extrapolate_one_point(x2, y2, -1, -1); // right-above - -
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}
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}
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/**
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* Print calibration results for plotting or manual frame adjustment.
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*/
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static void print_bed_level() {
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SERIAL_ECHOPGM("Bilinear Leveling Grid:\n ");
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for (uint8_t x = 1; x < ABL_GRID_POINTS_X + 1; x++) {
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SERIAL_PROTOCOLPGM(" ");
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if (x < 10) SERIAL_PROTOCOLCHAR(' ');
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SERIAL_PROTOCOL((int)x);
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}
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SERIAL_EOL;
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for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) {
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if (y < 9) SERIAL_PROTOCOLCHAR(' ');
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SERIAL_PROTOCOL(y + 1);
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for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
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SERIAL_PROTOCOL_F(bed_level_grid[x][y], 2);
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SERIAL_PROTOCOLCHAR(' ');
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float offset = bed_level_grid[x][y];
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if (offset < 999.0) {
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if (offset > 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(offset, 2);
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}
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else
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SERIAL_PROTOCOLPGM(" ====");
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}
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SERIAL_EOL;
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}
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SERIAL_EOL;
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}
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#endif // AUTO_BED_LEVELING_BILINEAR
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