UBL G29 -P3.1 smart fill (#6823)
* UBL G29 -P3.1 mesh fill with distance-weighted least squares fit. * Back to original -O0 on G29 for now.
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oldmcg
Roxy-3D
parent
850203fb3a
commit
48f7652143
@ -41,27 +41,12 @@
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#include "least_squares_fit.h"
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void incremental_LSF_reset(struct linear_fit_data *lsf) {
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memset(lsf, 0, sizeof(linear_fit_data));
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}
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void incremental_LSF(struct linear_fit_data *lsf, float x, float y, float z) {
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lsf->xbar += x;
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lsf->ybar += y;
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lsf->zbar += z;
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lsf->x2bar += sq(x);
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lsf->y2bar += sq(y);
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lsf->z2bar += sq(z);
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lsf->xybar += x * y;
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lsf->xzbar += x * z;
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lsf->yzbar += y * z;
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lsf->max_absx = max(fabs(x), lsf->max_absx);
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lsf->max_absy = max(fabs(y), lsf->max_absy);
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lsf->n++;
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}
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int finish_incremental_LSF(struct linear_fit_data *lsf) {
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const float N = (float)lsf->n;
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const float N = lsf->N;
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if (N == 0.0)
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return 1;
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lsf->xbar /= N;
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lsf->ybar /= N;
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@ -41,16 +41,49 @@
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#include <math.h>
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struct linear_fit_data {
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int n;
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float xbar, ybar, zbar,
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x2bar, y2bar, z2bar,
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xybar, xzbar, yzbar,
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max_absx, max_absy,
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A, B, D;
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A, B, D, N;
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};
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void incremental_LSF_reset(struct linear_fit_data *);
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void incremental_LSF(struct linear_fit_data *, float x, float y, float z);
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void inline incremental_LSF_reset(struct linear_fit_data *lsf) {
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memset(lsf, 0, sizeof(linear_fit_data));
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}
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void inline incremental_WLSF(struct linear_fit_data *lsf, float x, float y, float z, float w) {
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// weight each accumulator by factor w, including the "number" of samples
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// (analagous to calling inc_LSF twice with same values to weight it by 2X)
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lsf->xbar += w * x;
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lsf->ybar += w * y;
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lsf->zbar += w * z;
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lsf->x2bar += w * x * x; // don't use sq(x) -- let compiler re-use w*x four times
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lsf->y2bar += w * y * y;
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lsf->z2bar += w * z * z;
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lsf->xybar += w * x * y;
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lsf->xzbar += w * x * z;
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lsf->yzbar += w * y * z;
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lsf->N += w;
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lsf->max_absx = max(fabs( w * x ), lsf->max_absx);
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lsf->max_absy = max(fabs( w * y ), lsf->max_absy);
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}
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void inline incremental_LSF(struct linear_fit_data *lsf, float x, float y, float z) {
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lsf->xbar += x;
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lsf->ybar += y;
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lsf->zbar += z;
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lsf->x2bar += sq(x);
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lsf->y2bar += sq(y);
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lsf->z2bar += sq(z);
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lsf->xybar += x * y;
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lsf->xzbar += x * z;
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lsf->yzbar += y * z;
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lsf->max_absx = max(fabs(x), lsf->max_absx);
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lsf->max_absy = max(fabs(y), lsf->max_absy);
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lsf->N += 1.0;
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}
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int finish_incremental_LSF(struct linear_fit_data *);
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#endif
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@ -30,6 +30,12 @@
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#define FORCE_INLINE __attribute__((always_inline)) inline
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#define _O0 __attribute__((optimize("O0")))
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#define _Os __attribute__((optimize("Os")))
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#define _O1 __attribute__((optimize("O1")))
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#define _O2 __attribute__((optimize("O2")))
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#define _O3 __attribute__((optimize("O3")))
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// Bracket code that shouldn't be interrupted
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#ifndef CRITICAL_SECTION_START
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#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
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@ -23,8 +23,6 @@
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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//#include "vector_3.h"
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//#include "qr_solve.h"
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#include "ubl.h"
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#include "Marlin.h"
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@ -36,6 +34,8 @@
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#include <math.h>
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#include "least_squares_fit.h"
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#define UBL_G29_P31
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extern float destination[XYZE];
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extern float current_position[XYZE];
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@ -55,6 +55,7 @@
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extern float probe_pt(float x, float y, bool, int);
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extern bool set_probe_deployed(bool);
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void smart_fill_mesh();
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void smart_fill_wlsf(float);
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float measure_business_card_thickness(float &in_height);
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void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
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@ -312,7 +313,7 @@
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extern void lcd_setstatus(const char* message, const bool persist);
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extern void lcd_setstatuspgm(const char* message, const uint8_t level);
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void __attribute__((optimize("O0"))) gcode_G29() {
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void _O0 gcode_G29() {
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if (!settings.calc_num_meshes()) {
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SERIAL_PROTOCOLLNPGM("?You need to enable your EEPROM and initialize it");
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@ -529,7 +530,28 @@
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}
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}
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} else {
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smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
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const float cvf = code_value_float();
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switch( (int)truncf( cvf * 10.0 ) - 30 ) { // 3.1 -> 1
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#if ENABLED(UBL_G29_P31)
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case 1: {
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// P3.1 use least squares fit to fill missing mesh values
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// P3.10 zero weighting for distance, all grid points equal, best fit tilted plane
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// P3.11 10X weighting for nearest grid points versus farthest grid points
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// P3.12 100X distance weighting
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// P3.13 1000X distance weighting, approaches simple average of nearest points
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const float weight_power = (cvf - 3.10) * 100.0; // 3.12345 -> 2.345
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const float weight_factor = weight_power ? pow( 10.0, weight_power ) : 0;
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smart_fill_wlsf( weight_factor );
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}
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break;
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#endif
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case 0: // P3 or P3.0
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default: // and anything P3.x that's not P3.1
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smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
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break;
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}
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}
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break;
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}
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@ -1694,4 +1716,66 @@
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#endif
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}
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#if ENABLED(UBL_G29_P31)
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// Note: using optimize("O2") for this routine results in smaller
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// codegen than default optimize("Os") on A2560.
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void _O2 smart_fill_wlsf( float weight_factor ) {
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// For each undefined mesh point, compute a distance-weighted least squares fit
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// from all the originally populated mesh points, weighted toward the point
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// being extrapolated so that nearby points will have greater influence on
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// the point being extrapolated. Then extrapolate the mesh point from WLSF.
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static_assert( GRID_MAX_POINTS_Y <= 16, "GRID_MAX_POINTS_Y too big" );
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uint16_t bitmap[GRID_MAX_POINTS_X] = {0};
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struct linear_fit_data lsf_results;
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SERIAL_ECHOPGM("Extrapolating mesh...");
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const float weight_scaled = weight_factor * max(MESH_X_DIST, MESH_Y_DIST);
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for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) {
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for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
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if ( !isnan( ubl.z_values[jx][jy] )) {
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bitmap[jx] |= (uint16_t)1 << jy;
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}
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}
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}
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for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) {
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const float px = pgm_read_float(&(ubl.mesh_index_to_xpos[ix]));
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for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; iy++) {
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const float py = pgm_read_float(&(ubl.mesh_index_to_ypos[iy]));
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if ( isnan( ubl.z_values[ix][iy] )) {
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// undefined mesh point at (px,py), compute weighted LSF from original valid mesh points.
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incremental_LSF_reset(&lsf_results);
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for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) {
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const float rx = pgm_read_float(&(ubl.mesh_index_to_xpos[jx]));
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for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
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if ( bitmap[jx] & (uint16_t)1 << jy ) {
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const float ry = pgm_read_float(&(ubl.mesh_index_to_ypos[jy]));
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const float rz = ubl.z_values[jx][jy];
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const float w = 1.0 + weight_scaled / HYPOT((rx - px),(ry - py));
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incremental_WLSF(&lsf_results, rx, ry, rz, w);
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}
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}
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}
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if (finish_incremental_LSF(&lsf_results)) {
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SERIAL_ECHOLNPGM("Insufficient data");
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return;
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}
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const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
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ubl.z_values[ix][iy] = ez;
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idle(); // housekeeping
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}
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}
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}
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SERIAL_ECHOLNPGM("done");
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}
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#endif // UBL_G29_P31
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#endif // AUTO_BED_LEVELING_UBL
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