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Merge pull request #6176 from thinkyhead/rc_mbl_abl_optimize

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Make MBL a static class, use lookup for index-to-point conversion
This commit is contained in:
Scott Lahteine 2017-03-31 02:12:49 -05:00 committed by GitHub
parent de9d2cddc3 c9eb1d6ab7
commit e746d68a12
4 changed files with 52 additions and 47 deletions
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8
Marlin/Marlin_main.cpp
View file

@ -652,7 +652,7 @@ static bool send_ok[BUFSIZE];
#endif #endif
#if ENABLED(HOST_KEEPALIVE_FEATURE) #if ENABLED(HOST_KEEPALIVE_FEATURE)
static MarlinBusyState busy_state = NOT_BUSY; MarlinBusyState busy_state = NOT_BUSY;
static millis_t next_busy_signal_ms = 0; static millis_t next_busy_signal_ms = 0;
uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL; uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#else #else
@ -3839,7 +3839,7 @@ inline void gcode_G28() {
// If there's another point to sample, move there with optional lift. // If there's another point to sample, move there with optional lift.
if (probe_index < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) { if (probe_index < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
mbl.zigzag(probe_index, px, py); mbl.zigzag(probe_index, px, py);
_mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py)); _mbl_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
#if HAS_SOFTWARE_ENDSTOPS #if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment // Disable software endstops to allow manual adjustment
@ -9649,14 +9649,14 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2); const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) { if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination); COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx)); destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y); destination[Y_AXIS] = MBL_SEGMENT_END(Y);
CBI(x_splits, gcx); CBI(x_splits, gcx);
} }
else if (cy2 != cy1 && TEST(y_splits, gcy)) { else if (cy2 != cy1 && TEST(y_splits, gcy)) {
COPY(end, destination); COPY(end, destination);
destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy)); destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X); destination[X_AXIS] = MBL_SEGMENT_END(X);
CBI(y_splits, gcy); CBI(y_splits, gcy);

15
Marlin/mesh_bed_leveling.cpp
View file

@ -26,7 +26,20 @@
mesh_bed_leveling mbl; mesh_bed_leveling mbl;
mesh_bed_leveling::mesh_bed_leveling() { reset(); } uint8_t mesh_bed_leveling::status;
float mesh_bed_leveling::z_offset,
mesh_bed_leveling::z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS],
mesh_bed_leveling::index_to_xpos[MESH_NUM_X_POINTS],
mesh_bed_leveling::index_to_ypos[MESH_NUM_Y_POINTS];
mesh_bed_leveling::mesh_bed_leveling() {
for (uint8_t i = 0; i < MESH_NUM_X_POINTS; ++i)
index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST);
for (uint8_t i = 0; i < MESH_NUM_Y_POINTS; ++i)
index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST);
reset();
}
void mesh_bed_leveling::reset() { void mesh_bed_leveling::reset() {
status = MBL_STATUS_NONE; status = MBL_STATUS_NONE;

74
Marlin/mesh_bed_leveling.h
View file

@ -40,91 +40,83 @@
MBL_STATUS_REACTIVATE_BIT = 2 MBL_STATUS_REACTIVATE_BIT = 2
}; };
#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X))/(MESH_NUM_X_POINTS - 1)) #define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (MESH_NUM_X_POINTS - 1))
#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y))/(MESH_NUM_Y_POINTS - 1)) #define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (MESH_NUM_Y_POINTS - 1))
class mesh_bed_leveling { class mesh_bed_leveling {
public: public:
uint8_t status; // Has Mesh and Is Active bits static uint8_t status; // Has Mesh and Is Active bits
float z_offset; static float z_offset,
float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS]; z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS],
index_to_xpos[MESH_NUM_X_POINTS],
index_to_ypos[MESH_NUM_Y_POINTS];
mesh_bed_leveling(); mesh_bed_leveling();
void reset(); static void reset();
static FORCE_INLINE float get_probe_x(const int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; } static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[py][px] = z; }
static FORCE_INLINE float get_probe_y(const int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
void set_z(const int8_t px, const int8_t py, const float &z) { z_values[py][px] = z; }
bool active() const { return TEST(status, MBL_STATUS_ACTIVE_BIT); } static bool active() { return TEST(status, MBL_STATUS_ACTIVE_BIT); }
void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); } static void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); }
bool has_mesh() const { return TEST(status, MBL_STATUS_HAS_MESH_BIT); } static bool has_mesh() { return TEST(status, MBL_STATUS_HAS_MESH_BIT); }
void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); } static void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); }
bool reactivate() { bool b = TEST(status, MBL_STATUS_REACTIVATE_BIT); CBI(status, MBL_STATUS_REACTIVATE_BIT); return b; } static bool reactivate() { bool b = TEST(status, MBL_STATUS_REACTIVATE_BIT); CBI(status, MBL_STATUS_REACTIVATE_BIT); return b; }
void set_reactivate(const bool onOff) { onOff ? SBI(status, MBL_STATUS_REACTIVATE_BIT) : CBI(status, MBL_STATUS_REACTIVATE_BIT); } static void set_reactivate(const bool onOff) { onOff ? SBI(status, MBL_STATUS_REACTIVATE_BIT) : CBI(status, MBL_STATUS_REACTIVATE_BIT); }
inline void zigzag(const int8_t index, int8_t &px, int8_t &py) const { static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
px = index % (MESH_NUM_X_POINTS); px = index % (MESH_NUM_X_POINTS);
py = index / (MESH_NUM_X_POINTS); py = index / (MESH_NUM_X_POINTS);
if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag
} }
void set_zigzag_z(const int8_t index, const float &z) { static void set_zigzag_z(const int8_t index, const float &z) {
int8_t px, py; int8_t px, py;
zigzag(index, px, py); zigzag(index, px, py);
set_z(px, py, z); set_z(px, py, z);
} }
int8_t cell_index_x(const float &x) const { static int8_t cell_index_x(const float &x) {
int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (MESH_NUM_X_POINTS) - 2); return constrain(cx, 0, (MESH_NUM_X_POINTS) - 2);
} }
int8_t cell_index_y(const float &y) const { static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (MESH_NUM_Y_POINTS) - 2); return constrain(cy, 0, (MESH_NUM_Y_POINTS) - 2);
} }
int8_t probe_index_x(const float &x) const { static int8_t probe_index_x(const float &x) {
int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST)); int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST));
return (px >= 0 && px < (MESH_NUM_X_POINTS)) ? px : -1; return (px >= 0 && px < (MESH_NUM_X_POINTS)) ? px : -1;
} }
int8_t probe_index_y(const float &y) const { static int8_t probe_index_y(const float &y) {
int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST)); int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST));
return (py >= 0 && py < (MESH_NUM_Y_POINTS)) ? py : -1; return (py >= 0 && py < (MESH_NUM_Y_POINTS)) ? py : -1;
} }
float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) const { static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1) / (a2 - a1); const float delta_z = (z2 - z1) / (a2 - a1);
const float delta_a = a0 - a1; const float delta_a = a0 - a1;
return z1 + delta_a * delta_z; return z1 + delta_a * delta_z;
} }
float get_z(const float &x0, const float &y0 static float get_z(const float &x0, const float &y0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, const float &factor , const float &factor
#endif #endif
) const { ) {
int8_t cx = cell_index_x(x0), const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
cy = cell_index_y(y0); const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cy][cx], index_to_xpos[cx + 1], z_values[cy][cx + 1]),
if (cx < 0 || cy < 0) return z_offset; z2 = calc_z0(x0, index_to_xpos[cx], z_values[cy + 1][cx], index_to_xpos[cx + 1], z_values[cy + 1][cx + 1]),
float z1 = calc_z0(x0, z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
get_probe_x(cx), z_values[cy][cx],
get_probe_x(cx + 1), z_values[cy][cx + 1]);
float z2 = calc_z0(x0,
get_probe_x(cx), z_values[cy + 1][cx],
get_probe_x(cx + 1), z_values[cy + 1][cx + 1]);
float z0 = calc_z0(y0,
get_probe_y(cy), z1,
get_probe_y(cy + 1), z2);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) return z_offset + z0
return z0 * factor + z_offset; #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
#else * factor
return z0 + z_offset; #endif
#endif ;
} }
}; };

2
Marlin/ultralcd.cpp
View file

@ -1437,7 +1437,7 @@ KeepDrawing:
// _manual_probe_xy runs the menu loop until the move is done // _manual_probe_xy runs the menu loop until the move is done
int8_t px, py; int8_t px, py;
mbl.zigzag(manual_probe_index, px, py); mbl.zigzag(manual_probe_index, px, py);
_manual_probe_xy(mbl.get_probe_x(px), mbl.get_probe_y(py)); _manual_probe_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
// After the blocking function returns, change menus // After the blocking function returns, change menus
lcd_goto_screen(_lcd_level_bed_get_z); lcd_goto_screen(_lcd_level_bed_get_z);