Save 7714 bytes of program memory when doing AUTO_BED_LEVELING_LINEAR (#7276)
We can save more and a pile of RAM by eleminating the eqnBVector and EqnAMatrix arrays next.
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@ -261,7 +261,7 @@
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#if HAS_ABL
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#include "vector_3.h"
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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#include "qr_solve.h"
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#include "least_squares_fit.h"
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#endif
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#elif ENABLED(MESH_BED_LEVELING)
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#include "mesh_bed_leveling.h"
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@ -4336,8 +4336,8 @@ void home_all_axes() { gcode_G28(true); }
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ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
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eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
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mean;
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eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
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mean;
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#endif
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#elif ENABLED(AUTO_BED_LEVELING_3POINT)
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@ -4353,6 +4353,11 @@ void home_all_axes() { gcode_G28(true); }
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#endif // AUTO_BED_LEVELING_3POINT
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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struct linear_fit_data lsf_results;
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incremental_LSF_reset(&lsf_results);
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#endif
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/**
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* On the initial G29 fetch command parameters.
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*/
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@ -4549,11 +4554,7 @@ void home_all_axes() { gcode_G28(true); }
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abl_should_enable = false;
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}
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#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
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mean = 0.0;
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#endif // AUTO_BED_LEVELING_LINEAR
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#endif // AUTO_BED_LEVELING_BILINEAR
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#if ENABLED(AUTO_BED_LEVELING_3POINT)
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@ -4616,11 +4617,11 @@ void home_all_axes() { gcode_G28(true); }
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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mean += measured_z;
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eqnBVector[abl_probe_index] = measured_z;
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eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
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eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
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eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
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// mean += measured_z; // I believe this is unused code?
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// eqnBVector[abl_probe_index] = measured_z; // I believe this is unused code?
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// eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe; // I believe this is unused code?
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// eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe; // I believe this is unused code?
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// eqnAMatrix[abl_probe_index + 2 * abl2] = 1; // I believe this is unused code?
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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@ -4794,6 +4795,11 @@ void home_all_axes() { gcode_G28(true); }
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eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
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eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
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incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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indexIntoAB[xCount][yCount] = abl_probe_index;
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#endif
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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z_values[xCount][yCount] = measured_z + zoffset;
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@ -4894,7 +4900,11 @@ void home_all_axes() { gcode_G28(true); }
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* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
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*/
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float plane_equation_coefficients[3];
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qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
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finish_incremental_LSF(&lsf_results);
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plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
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plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
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plane_equation_coefficients[2] = -lsf_results.D;
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mean /= abl2;
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@ -4916,7 +4926,7 @@ void home_all_axes() { gcode_G28(true); }
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// Create the matrix but don't correct the position yet
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if (!dryrun) {
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planner.bed_level_matrix = matrix_3x3::create_look_at(
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vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
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vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eleminate the '-' here and up above
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);
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}
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@ -34,7 +34,7 @@
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
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#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_LINEAR)
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#include "macros.h"
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#include <math.h>
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@ -68,4 +68,4 @@ int finish_incremental_LSF(struct linear_fit_data *lsf) {
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return 0;
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}
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#endif // AUTO_BED_LEVELING_UBL
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#endif // AUTO_BED_LEVELING_UBL || ENABLED(AUTO_BED_LEVELING_LINEAR)
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@ -34,7 +34,7 @@
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
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#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_LINEAR)
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#include "Marlin.h"
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#include "macros.h"
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1591
Marlin/qr_solve.cpp
1591
Marlin/qr_solve.cpp
File diff suppressed because it is too large
Load Diff
@ -1,44 +0,0 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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void daxpy(int n, float da, float dx[], int incx, float dy[], int incy);
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float ddot(int n, float dx[], int incx, float dy[], int incy);
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float dnrm2(int n, float x[], int incx);
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void dqrank(float a[], int lda, int m, int n, float tol, int* kr,
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int jpvt[], float qraux[]);
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void dqrdc(float a[], int lda, int n, int p, float qraux[], int jpvt[],
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float work[], int job);
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int dqrls(float a[], int lda, int m, int n, float tol, int* kr, float b[],
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float x[], float rsd[], int jpvt[], float qraux[], int itask);
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void dqrlss(float a[], int lda, int m, int n, int kr, float b[], float x[],
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float rsd[], int jpvt[], float qraux[]);
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int dqrsl(float a[], int lda, int n, int k, float qraux[], float y[],
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float qy[], float qty[], float b[], float rsd[], float ab[], int job);
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void dscal(int n, float sa, float x[], int incx);
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void dswap(int n, float x[], int incx, float y[], int incy);
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void qr_solve(float x[], int m, int n, float a[], float b[]);
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#endif
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