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UBL - Hilbert space-filling curve probing sequence (#21387)

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Marcio T 2021-03-23 00:45:51 -06:00 committed by Scott Lahteine
parent c9674cd809
commit e806c3376a
4 changed files with 63 additions and 4 deletions
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2
Marlin/Configuration.h
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@ -1478,6 +1478,8 @@
#define GRID_MAX_POINTS_X 10 // Don't use more than 15 points per axis, implementation limited.
#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
//#define UBL_HILBERT_CURVE // Use Hilbert distribution for less travel when probing multiple points
#define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle
#define UBL_SAVE_ACTIVE_ON_M500 // Save the currently active mesh in the current slot on M500

5
Marlin/src/feature/bedlevel/ubl/ubl.h
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@ -98,6 +98,11 @@ public:
static void display_map(const int) _O0;
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
#if ENABLED(UBL_HILBERT_CURVE)
static void check_if_missing(mesh_index_pair &pt, int x, int y);
static void hilbert(mesh_index_pair &pt, int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n);
static mesh_index_pair find_next_mesh_point();
#endif
static void reset();
static void invalidate();
static void set_all_mesh_points_to_value(const float value);

58
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
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@ -757,9 +757,11 @@ void unified_bed_leveling::shift_mesh_height() {
}
#endif
best = do_furthest
? find_furthest_invalid_mesh_point()
: find_closest_mesh_point_of_type(INVALID, nearby, true);
best = do_furthest ? find_furthest_invalid_mesh_point()
: TERN(UBL_HILBERT_CURVE,
next_point_in_grid(),
find_closest_mesh_point_of_type(INVALID, nearby, true)
);
if (best.pos.x >= 0) { // mesh point found and is reachable by probe
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_START));
@ -1298,6 +1300,56 @@ mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const Mesh
return closest;
}
#if ENABLED(UBL_HILBERT_CURVE)
constexpr int8_t to_fix(int8_t v) { return v << 1; }
constexpr int8_t to_int(int8_t v) { return v >> 1; }
constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; }
constexpr uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; }
void unified_bed_leveling::hilbert(mesh_index_pair &pt, int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n) {
/* Hilbert space filling curve implementation
*
* x and y are the coordinates of the bottom left corner
* xi & xj are the i & j components of the unit x vector of the frame
* similarly yi and yj
*
* From: http://www.fundza.com/algorithmic/space_filling/hilbert/basics/index.html
*/
if (n <= 0)
check_if_missing(pt, to_int(x+(xi+yi)/2),to_int(y+(xj+yj)/2));
else {
hilbert(pt, x, y, yi/2, yj/2, xi/2, xj/2, n-1);
hilbert(pt, x+xi/2, y+xj/2, xi/2, xj/2, yi/2, yj/2, n-1);
hilbert(pt, x+xi/2+yi/2, y+xj/2+yj/2, xi/2, xj/2, yi/2, yj/2, n-1);
hilbert(pt, x+xi/2+yi, y+xj/2+yj, -yi/2, -yj/2, -xi/2, -xj/2, n-1);
}
}
void unified_bed_leveling::check_if_missing(mesh_index_pair &pt, int x, int y) {
if ( pt.distance < 0
&& x < GRID_MAX_POINTS_X
&& y < GRID_MAX_POINTS_Y
&& isnan(z_values[x][y])
&& probe.can_reach(mesh_index_to_xpos(x), mesh_index_to_ypos(y))
) {
pt.pos.set(x, y);
pt.distance = 1;
}
}
mesh_index_pair unified_bed_leveling::find_next_mesh_point() {
mesh_index_pair pt;
pt.invalidate();
pt.distance = -99999.9f;
constexpr uint8_t ord = order(_MAX(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y));
constexpr uint8_t dim = _BV(ord);
hilbert(pt, to_fix(0), to_fix(0), to_fix(dim), to_fix(0), to_fix(0), to_fix(dim), ord);
return pt;
}
#endif // UBL_HILBERT_CURVE
/**
* 'Smart Fill': Scan from the outward edges of the mesh towards the center.
* If an invalid location is found, use the next two points (if valid) to

2
buildroot/tests/mega2560
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@ -36,7 +36,7 @@ opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO LCD_LANGUAGE jp_kana \
opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LIGHTWEIGHT_UI SHOW_CUSTOM_BOOTSCREEN BOOT_MARLIN_LOGO_SMALL \
LCD_SET_PROGRESS_MANUALLY PRINT_PROGRESS_SHOW_DECIMALS SHOW_REMAINING_TIME STATUS_MESSAGE_SCROLLING SCROLL_LONG_FILENAMES \
SDSUPPORT SDCARD_SORT_ALPHA NO_SD_AUTOSTART USB_FLASH_DRIVE_SUPPORT CANCEL_OBJECTS \
Z_PROBE_SLED AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT \
Z_PROBE_SLED AUTO_BED_LEVELING_UBL UBL_HILBERT_CURVE RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT \
EEPROM_SETTINGS EEPROM_CHITCHAT GCODE_MACROS CUSTOM_USER_MENUS \
MULTI_NOZZLE_DUPLICATION CLASSIC_JERK LIN_ADVANCE QUICK_HOME \
NANODLP_Z_SYNC I2C_POSITION_ENCODERS M114_DETAIL \