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Fix bilinear interpolation

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This commit is contained in:
Scott Lahteine 2016-09-27 02:38:38 -05:00
parent 5100bdac81
commit 8b46eb3766
1 changed files with 35 additions and 24 deletions
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59
Marlin/Marlin_main.cpp
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@ -490,7 +490,7 @@ static uint8_t target_extruder;
#endif #endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
int bilinear_grid_spacing[2] = { 0 }; int bilinear_grid_spacing[2] = { 0 }, bilinear_start[2] = { 0 };
float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y]; float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
#endif #endif
@ -3679,9 +3679,15 @@ inline void gcode_G28() {
float zoffset = zprobe_zoffset; float zoffset = zprobe_zoffset;
if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS); if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
if (xGridSpacing != bilinear_grid_spacing[X_AXIS] || yGridSpacing != bilinear_grid_spacing[Y_AXIS]) { if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
|| yGridSpacing != bilinear_grid_spacing[Y_AXIS]
|| left_probe_bed_position != bilinear_start[X_AXIS]
|| front_probe_bed_position != bilinear_start[Y_AXIS]
) {
bilinear_grid_spacing[X_AXIS] = xGridSpacing; bilinear_grid_spacing[X_AXIS] = xGridSpacing;
bilinear_grid_spacing[Y_AXIS] = yGridSpacing; bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
// Can't re-enable (on error) until the new grid is written // Can't re-enable (on error) until the new grid is written
abl_should_enable = false; abl_should_enable = false;
} }
@ -7930,38 +7936,43 @@ void ok_to_send() {
// Get the Z adjustment for non-linear bed leveling // Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(float cartesian[XYZ]) { float bilinear_z_offset(float cartesian[XYZ]) {
int half_x = (ABL_GRID_POINTS_X - 1) / 2, int gridx = (cartesian[X_AXIS] - bilinear_start[X_AXIS]) / bilinear_grid_spacing[X_AXIS],
half_y = (ABL_GRID_POINTS_Y - 1) / 2; gridy = (cartesian[Y_AXIS] - bilinear_start[Y_AXIS]) / bilinear_grid_spacing[Y_AXIS];
float hx2 = half_x - 0.001, hx1 = -hx2,
hy2 = half_y - 0.001, hy1 = -hy2, // What grid box is xy inside?
grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / bilinear_grid_spacing[X_AXIS])), if (gridx < 0) gridx = 0;
grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / bilinear_grid_spacing[Y_AXIS])); if (gridx > ABL_GRID_POINTS_X - 1) gridx = ABL_GRID_POINTS_X - 1;
int floor_x = floor(grid_x), floor_y = floor(grid_y); if (gridy < 0) gridy = 0;
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y, if (gridy > ABL_GRID_POINTS_Y - 1) gridy = ABL_GRID_POINTS_Y - 1;
z1 = bed_level_grid[floor_x + half_x][floor_y + half_y],
z2 = bed_level_grid[floor_x + half_x][floor_y + half_y + 1], // Ratio within the grid box
z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y], float ratio_x = cartesian[X_AXIS] / bilinear_grid_spacing[X_AXIS] - gridx,
z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1], ratio_y = cartesian[Y_AXIS] / bilinear_grid_spacing[Y_AXIS] - gridy,
left = (1 - ratio_y) * z1 + ratio_y * z2,
right = (1 - ratio_y) * z3 + ratio_y * z4; // Z at the box corners
z1 = bed_level_grid[gridx][gridy], // left-front
z2 = bed_level_grid[gridx][gridy + 1], // left-back
z3 = bed_level_grid[gridx + 1][gridy], // right-front
z4 = bed_level_grid[gridx + 1][gridy + 1], // right-back
L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
R = z3 + (z4 - z3) * ratio_y; // Linear interp. RF -> RB
/* /*
SERIAL_ECHOPAIR("grid_x=", grid_x); SERIAL_ECHOPAIR("gridx=", gridx);
SERIAL_ECHOPAIR(" grid_y=", grid_y); SERIAL_ECHOPAIR(" gridy=", gridy);
SERIAL_ECHOPAIR(" floor_x=", floor_x);
SERIAL_ECHOPAIR(" floor_y=", floor_y);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x); SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOPAIR(" ratio_y=", ratio_y); SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1); SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2); SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3); SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOPAIR(" z4=", z4); SERIAL_ECHOPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" left=", left); SERIAL_ECHOPAIR(" L=", L);
SERIAL_ECHOPAIR(" right=", right); SERIAL_ECHOPAIR(" R=", R);
SERIAL_ECHOPAIR(" offset=", (1 - ratio_x) * left + ratio_x * right); SERIAL_ECHOPAIR(" offset=", L + ratio_x * (R - L);
//*/ //*/
return (1 - ratio_x) * left + ratio_x * right; return L + ratio_x * (R - L);
} }
#endif // AUTO_BED_LEVELING_BILINEAR #endif // AUTO_BED_LEVELING_BILINEAR