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Merge pull request #4835 from thinkyhead/rc_abl_non_square_grid

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Allow non-square Auto Bed Leveling grid
This commit is contained in:
Scott Lahteine 2016-09-18 13:37:43 -05:00 committed by GitHub
commit 48fe2fdc9e
24 changed files with 94 additions and 65 deletions
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3
Marlin/Configuration.h
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@ -768,7 +768,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

73
Marlin/Marlin_main.cpp
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@ -494,7 +494,7 @@ static uint8_t target_extruder;
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
int nonlinear_grid_spacing[2] = { 0 };
float bed_level_grid[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
#endif
#if IS_SCARA
@ -2122,14 +2122,15 @@ static void clean_up_after_endstop_or_probe_move() {
* using linear extrapolation, away from the center.
*/
static void extrapolate_unprobed_bed_level() {
uint8_t half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
for (uint8_t y = 0; y <= half; y++) {
for (uint8_t x = 0; x <= half; x++) {
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
for (uint8_t y = 0; y <= half_y; y++) {
for (uint8_t x = 0; x <= half_x; x++) {
if (x + y < 3) continue;
extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
extrapolate_one_point(half_x - x, half_y - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half_x + x, half_y - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
extrapolate_one_point(half_x - x, half_y + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
extrapolate_one_point(half_x + x, half_y + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
}
}
}
@ -2138,8 +2139,8 @@ static void clean_up_after_endstop_or_probe_move() {
* Print calibration results for plotting or manual frame adjustment.
*/
static void print_bed_level() {
for (uint8_t y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (uint8_t x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) {
for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
SERIAL_PROTOCOL_F(bed_level_grid[x][y], 2);
SERIAL_PROTOCOLCHAR(' ');
}
@ -3308,11 +3309,12 @@ inline void gcode_G28() {
if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
}
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
int abl_grid_points_x = ABL_GRID_POINTS_X,
abl_grid_points_y = ABL_GRID_POINTS_Y;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
if (auto_bed_leveling_grid_points < 2) {
if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
if (abl_grid_points_x < 2) {
SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
return;
}
@ -3400,8 +3402,8 @@ inline void gcode_G28() {
#if ENABLED(AUTO_BED_LEVELING_GRID)
// probe at the points of a lattice grid
const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
@ -3421,30 +3423,31 @@ inline void gcode_G28() {
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
int abl2 = sq(auto_bed_leveling_grid_points);
int abl2 = abl_grid_points_x * abl_grid_points_y;
double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
int indexIntoAB[abl_grid_points_x][abl_grid_points_y];
#endif // AUTO_BED_LEVELING_LINEAR
int probePointCounter = 0;
bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
bool zig = abl_grid_points_y & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
for (uint8_t yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
for (uint8_t yCount = 0; yCount < abl_grid_points_y; yCount++) {
float yBase = front_probe_bed_position + yGridSpacing * yCount;
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
int8_t xStart, xStop, xInc;
if (zig) {
xStart = 0;
xStop = auto_bed_leveling_grid_points;
xStop = abl_grid_points_x;
xInc = 1;
}
else {
xStart = auto_bed_leveling_grid_points - 1;
xStart = abl_grid_points_x - 1;
xStop = -1;
xInc = -1;
}
@ -3579,8 +3582,8 @@ inline void gcode_G28() {
float min_diff = 999;
for (int8_t yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean,
x_tmp = eqnAMatrix[ind + 0 * abl2],
@ -3604,8 +3607,8 @@ inline void gcode_G28() {
if (verbose_level > 3) {
SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
int ind = indexIntoAB[xx][yy];
float x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
@ -7796,16 +7799,18 @@ void ok_to_send() {
void adjust_delta(float cartesian[XYZ]) {
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
float h1 = 0.001 - half, h2 = half - 0.001,
grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
float hx2 = half_x - 0.001, hx1 = -hx2,
hy2 = half_y - 0.001, hy1 = -hy2,
grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level_grid[floor_x + half][floor_y + half],
z2 = bed_level_grid[floor_x + half][floor_y + half + 1],
z3 = bed_level_grid[floor_x + half + 1][floor_y + half],
z4 = bed_level_grid[floor_x + half + 1][floor_y + half + 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],
z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y],
z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1],
left = (1 - ratio_y) * z1 + ratio_y * z2,
right = (1 - ratio_y) * z3 + ratio_y * z4,
offset = (1 - ratio_x) * left + ratio_x * right;

10
Marlin/SanityCheck.h
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@ -139,6 +139,8 @@
#error "PREVENT_DANGEROUS_EXTRUDE is now PREVENT_COLD_EXTRUSION. Please update your configuration."
#elif defined(SCARA)
#error "SCARA is now MORGAN_SCARA. Please update your configuration."
#elif defined(AUTO_BED_LEVELING_GRID_POINTS)
#error "AUTO_BED_LEVELING_GRID_POINTS is now ABL_GRID_POINTS_X and ABL_GRID_POINTS_Y. Please update your configuration."
#endif
/**
@ -196,10 +198,10 @@
#error "You probably want to use Max Endstops for DELTA!"
#endif
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if (AUTO_BED_LEVELING_GRID_POINTS & 1) == 0
#error "DELTA requires an odd value for AUTO_BED_LEVELING_GRID_POINTS."
#elif AUTO_BED_LEVELING_GRID_POINTS < 3
#error "DELTA requires at least 3 AUTO_BED_LEVELING_GRID_POINTS."
#if (ABL_GRID_POINTS_X & 1) == 0 || (ABL_GRID_POINTS_Y & 1) == 0
#error "DELTA requires ABL_GRID_POINTS_X and ABL_GRID_POINTS_Y to be odd numbers."
#elif ABL_GRID_POINTS_X < 3
#error "DELTA requires ABL_GRID_POINTS_X and ABL_GRID_POINTS_Y to be 3 or higher."
#endif
#endif
#endif

3
Marlin/example_configurations/Cartesio/Configuration.h
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@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Felix/Configuration.h
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@ -734,7 +734,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Felix/DUAL/Configuration.h
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@ -732,7 +732,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Hephestos/Configuration.h
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@ -743,7 +743,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/Hephestos_2/Configuration.h
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@ -745,7 +745,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/K8200/Configuration.h
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@ -768,7 +768,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/K8400/Configuration.h
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@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/K8400/Dual-head/Configuration.h
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@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/RigidBot/Configuration.h
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@ -749,7 +749,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/SCARA/Configuration.h
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@ -761,7 +761,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/TAZ4/Configuration.h
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@ -772,7 +772,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/WITBOX/Configuration.h
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@ -743,7 +743,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/adafruit/ST7565/Configuration.h
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@ -751,7 +751,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/biv2.5/Configuration.h
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@ -844,8 +844,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 9
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 9
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/generic/Configuration.h
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@ -838,8 +838,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 9
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 9
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/kossel_mini/Configuration.h
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@ -841,8 +841,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 9
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 9
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/kossel_pro/Configuration.h
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@ -842,8 +842,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 7
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 7
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

5
Marlin/example_configurations/delta/kossel_xl/Configuration.h
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@ -844,8 +844,9 @@
// Non-linear bed leveling will be used.
// Compensate by interpolating between the nearest four Z probe values for each point.
// Useful for deltas where the print surface may appear like a bowl or dome shape.
// Works best with AUTO_BED_LEVELING_GRID_POINTS 5 or higher.
#define AUTO_BED_LEVELING_GRID_POINTS 5
// Works best with 5 or more points in each dimension.
#define ABL_GRID_POINTS_X 5
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/makibox/Configuration.h
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@ -754,7 +754,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID

3
Marlin/example_configurations/tvrrug/Round2/Configuration.h
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@ -747,7 +747,8 @@
// Set the number of grid points per dimension.
// You probably don't need more than 3 (squared=9).
#define AUTO_BED_LEVELING_GRID_POINTS 3
#define ABL_GRID_POINTS_X 3
#define ABL_GRID_POINTS_Y ABL_GRID_POINTS_X
#else // !AUTO_BED_LEVELING_GRID