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Additional UBL fixes, optimizations

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This commit is contained in:
Scott Lahteine
2017-03-31 07:57:41 -05:00
parent a5e085cbea
commit 342ee458ae
7 changed files with 177 additions and 216 deletions
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72
Marlin/UBL.h
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@@ -43,7 +43,7 @@
bool ubl_lcd_clicked();
void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool);
void debug_current_and_destination(char *title);
void ubl_line_to_destination(const float&, const float&, const float&, const float&, const float&, uint8_t);
void ubl_line_to_destination(const float&, uint8_t);
void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
vector_3 tilt_mesh_based_on_3pts(const float&, const float&, const float&);
float measure_business_card_thickness(const float&);
@@ -193,22 +193,16 @@
* multiplications.
*/
static FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1),
delta_a = (a0 - a1) / (a2 - a1);
return z1 + delta_a * delta_z;
return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
}
/**
* get_z_correction_at_Y_intercept(float x0, int x1_i, int yi) only takes
* three parameters. It assumes the x0 point is on a Mesh line denoted by yi. In theory
* we could use get_cell_index_x(float x) to obtain the 2nd parameter x1_i but any code calling
* the get_z_correction_along_vertical_mesh_line_at_specific_X routine will already have
* the X index of the x0 intersection available and we don't want to perform any extra floating
* point operations.
* z_correction_for_x_on_horizontal_mesh_line is an optimization for
* the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
*/
static inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(const float &x0, const int x1_i, const int yi) {
if (x1_i < 0 || yi < 0 || x1_i >= UBL_MESH_NUM_X_POINTS || yi >= UBL_MESH_NUM_Y_POINTS) {
SERIAL_ECHOPAIR("? in get_z_correction_along_horizontal_mesh_line_at_specific_X(x0=", x0);
static inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
if (!WITHIN(x1_i, 0, UBL_MESH_NUM_X_POINTS - 1) || !WITHIN(yi, 0, UBL_MESH_NUM_Y_POINTS - 1)) {
SERIAL_ECHOPAIR("? in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
SERIAL_ECHOPAIR(",x1_i=", x1_i);
SERIAL_ECHOPAIR(",yi=", yi);
SERIAL_CHAR(')');
@@ -216,20 +210,18 @@
return NAN;
}
const float xratio = (RAW_X_POSITION(x0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)),
z1 = z_values[x1_i][yi],
z2 = z_values[x1_i + 1][yi],
dz = (z2 - z1);
const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)),
z1 = z_values[x1_i][yi];
return z1 + xratio * dz;
return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
}
//
// See comments above for get_z_correction_along_horizontal_mesh_line_at_specific_X
// See comments above for z_correction_for_x_on_horizontal_mesh_line
//
static inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(const float &y0, const int xi, const int y1_i) {
if (xi < 0 || y1_i < 0 || xi >= UBL_MESH_NUM_X_POINTS || y1_i >= UBL_MESH_NUM_Y_POINTS) {
SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_X(y0=", y0);
static inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
if (!WITHIN(xi, 0, UBL_MESH_NUM_X_POINTS - 1) || !WITHIN(y1_i, 0, UBL_MESH_NUM_Y_POINTS - 1)) {
SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_x(ly0=", ly0);
SERIAL_ECHOPAIR(", x1_i=", xi);
SERIAL_ECHOPAIR(", yi=", y1_i);
SERIAL_CHAR(')');
@@ -237,12 +229,10 @@
return NAN;
}
const float yratio = (RAW_Y_POSITION(y0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)),
z1 = z_values[xi][y1_i],
z2 = z_values[xi][y1_i + 1],
dz = (z2 - z1);
const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)),
z1 = z_values[xi][y1_i];
return z1 + yratio * dz;
return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
}
/**
@@ -251,14 +241,14 @@
* Z-Height at both ends. Then it does a linear interpolation of these heights based
* on the Y position within the cell.
*/
static float get_z_correction(const float &x0, const float &y0) {
const int8_t cx = get_cell_index_x(RAW_X_POSITION(x0)),
cy = get_cell_index_y(RAW_Y_POSITION(y0));
static float get_z_correction(const float &lx0, const float &ly0) {
const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
cy = get_cell_index_y(RAW_Y_POSITION(ly0));
if (cx < 0 || cy < 0 || cx >= UBL_MESH_NUM_X_POINTS || cy >= UBL_MESH_NUM_Y_POINTS) {
if (!WITHIN(cx, 0, UBL_MESH_NUM_X_POINTS - 1) || !WITHIN(cy, 0, UBL_MESH_NUM_Y_POINTS - 1)) {
SERIAL_ECHOPAIR("? in get_z_correction(x0=", x0);
SERIAL_ECHOPAIR(", y0=", y0);
SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
SERIAL_ECHOPAIR(", ly0=", ly0);
SERIAL_CHAR(')');
SERIAL_EOL;
@@ -269,21 +259,21 @@
return 0.0; // this used to return state.z_offset
}
const float z1 = calc_z0(RAW_X_POSITION(x0),
const float z1 = calc_z0(RAW_X_POSITION(lx0),
mesh_index_to_xpos[cx], z_values[cx][cy],
mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy]),
z2 = calc_z0(RAW_X_POSITION(x0),
z2 = calc_z0(RAW_X_POSITION(lx0),
mesh_index_to_xpos[cx], z_values[cx][cy + 1],
mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]);
float z0 = calc_z0(RAW_Y_POSITION(y0),
float z0 = calc_z0(RAW_Y_POSITION(ly0),
mesh_index_to_ypos[cy], z1,
mesh_index_to_ypos[cy + 1], z2);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPAIR(" raw get_z_correction(", x0);
SERIAL_ECHOPAIR(" raw get_z_correction(", lx0);
SERIAL_CHAR(',')
SERIAL_ECHO(y0);
SERIAL_ECHO(ly0);
SERIAL_ECHOPGM(") = ");
SERIAL_ECHO_F(z0, 6);
}
@@ -305,9 +295,9 @@
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", x0);
SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0);
SERIAL_CHAR(',');
SERIAL_ECHO(y0);
SERIAL_ECHO(ly0);
SERIAL_CHAR(')');
SERIAL_EOL;
}
@@ -327,7 +317,7 @@
*/
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
const float rz = RAW_Z_POSITION(lz);
if (last_specified_z != rz) {
last_specified_z = rz;