UBL's Grid Based Leveling code
Pretty much... The code is in place. Still more work to do. But it has a lot of hooks and variables in other code, so commit and merge before I pick up a million 'Conflicts'.2.0.x
Roxy-3D
8 years ago
committed by
Roxy-3D
parent
549055f20c
commit
1451b7eacf
@ -0,0 +1,110 @@
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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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/**
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* Custom Bitmap for splashscreen
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*
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* You may use one of the following tools to generate the C++ bitmap array from
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* a black and white image:
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*
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* - http://www.marlinfw.org/tools/u8glib/converter.html
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* - http://www.digole.com/tools/PicturetoC_Hex_converter.php
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*/
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//custom screen can be up to 112 wide and 64 high
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#include <avr/pgmspace.h>
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#define CUSTOM_BOOTSCREEN_TIMEOUT 2500
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#define CUSTOM_BOOTSCREEN_BMPWIDTH 112
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#define CUSTOM_BOOTSCREEN_BMPHEIGHT 64
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// Width: 112, Height: 64
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const unsigned char custom_start_bmp[896] PROGMEM = {
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0xff, 0xff, 0xff, 0xff, 0xfe, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x00, 0x31, 0x00, 0x00, 0x01, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x00, 0x00, 0x01, 0xf9, 0x00, 0x00, 0x03, 0xf8, 0x00, 0x00, 0x01, 0xc0, 0x01,
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0x80, 0x00, 0x00, 0x06, 0x4d, 0x00, 0x00, 0x07, 0x38, 0x00, 0x00, 0x01, 0xc0, 0x01,
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0x80, 0x00, 0x00, 0x0c, 0x26, 0x00, 0x0e, 0xe7, 0x39, 0xd3, 0xe1, 0xf3, 0xe7, 0xc1,
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0x80, 0x00, 0x00, 0x19, 0x12, 0x00, 0x0f, 0xe7, 0x39, 0xf7, 0xf3, 0xfb, 0xef, 0xe1,
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0x80, 0x00, 0x00, 0x37, 0xce, 0x00, 0x0e, 0xe7, 0x01, 0xf7, 0x73, 0xb9, 0xce, 0xe1,
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0x80, 0x00, 0x00, 0x64, 0x66, 0x00, 0x0e, 0xe7, 0x01, 0xc7, 0xf3, 0xb9, 0xcf, 0xe1,
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0x80, 0x00, 0x00, 0x4b, 0xa6, 0x00, 0x0e, 0xe7, 0x39, 0xc7, 0xf0, 0xf9, 0xcf, 0xe1,
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0x80, 0x00, 0x00, 0xca, 0xb4, 0x00, 0x0f, 0xe7, 0x39, 0xc7, 0x03, 0xf9, 0xce, 0x01,
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0x80, 0x00, 0x00, 0xcd, 0xa4, 0x00, 0x06, 0xe7, 0x39, 0xc7, 0x73, 0xb9, 0xce, 0xe1,
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0x80, 0x00, 0x03, 0xa6, 0x6c, 0x00, 0x00, 0xe7, 0x39, 0xc7, 0x73, 0xb9, 0xce, 0xe1,
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0x80, 0x00, 0xff, 0x13, 0xd8, 0x00, 0x0e, 0xe3, 0xf1, 0xc7, 0xf3, 0xf9, 0xef, 0xe1,
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0x80, 0x01, 0x21, 0x88, 0x18, 0x00, 0x0f, 0xe1, 0xe1, 0xc3, 0xe1, 0xb9, 0xe7, 0xc1,
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0x80, 0x06, 0x61, 0x16, 0x30, 0x00, 0x07, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x04, 0x41, 0x23, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x04, 0xfe, 0x41, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x0b, 0x86, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x1f, 0x80, 0x00, 0x00, 0x01,
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0x80, 0x1e, 0x01, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x1f, 0x80, 0x00, 0x00, 0x01,
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0x80, 0x1c, 0x07, 0x22, 0x00, 0x00, 0x07, 0xbc, 0x3f, 0x9f, 0x81, 0xf8, 0xf1, 0xe1,
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0x80, 0x08, 0x1f, 0xe2, 0x00, 0x00, 0x0f, 0xfc, 0x3f, 0xbf, 0x87, 0xfe, 0x71, 0xc1,
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0x80, 0x00, 0x33, 0x62, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xb7, 0x87, 0x9e, 0x7b, 0xc1,
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0x80, 0x00, 0xc2, 0x22, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xb7, 0x87, 0x9e, 0x7b, 0xc1,
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0x80, 0x00, 0xc2, 0x3e, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x80, 0x7e, 0x3b, 0x81,
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0x80, 0x01, 0xe6, 0x1e, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x83, 0xfe, 0x3f, 0x81,
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0x80, 0x01, 0x3c, 0x12, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x87, 0x9e, 0x3b, 0x81,
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0x80, 0x01, 0x1c, 0x26, 0x00, 0x00, 0x0f, 0xfc, 0x3d, 0xf7, 0x87, 0x9e, 0x7b, 0xc1,
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0x80, 0x01, 0x70, 0x64, 0x00, 0x00, 0x07, 0xbc, 0x3c, 0xe7, 0x87, 0x9e, 0x7b, 0xc1,
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0x80, 0x03, 0xc0, 0x58, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0xe7, 0x87, 0xfe, 0x71, 0xc1,
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0x80, 0x0d, 0x80, 0xf0, 0x00, 0x00, 0x0f, 0x3c, 0x3c, 0xe7, 0x83, 0xde, 0xf1, 0xe1,
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0x80, 0x1a, 0x00, 0xe0, 0x00, 0x00, 0x0f, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x26, 0x00, 0x40, 0x00, 0x00, 0x03, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0x4c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x80, 0xb2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x81, 0x06, 0x00, 0x00, 0x00, 0x00, 0x07, 0x1c, 0x03, 0xc0, 0x20, 0x10, 0x00, 0x01,
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0x83, 0x24, 0x00, 0x00, 0x00, 0x00, 0x08, 0x92, 0x02, 0x20, 0x00, 0x10, 0x00, 0x01,
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0x02, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x02, 0x23, 0x27, 0x39, 0x8c, 0xe1,
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0x06, 0x38, 0x00, 0x00, 0x00, 0x00, 0x03, 0x11, 0x03, 0xc2, 0x24, 0x92, 0x49, 0x01,
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0x04, 0x50, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x02, 0x02, 0x24, 0x93, 0xc8, 0xc1,
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0x0d, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x08, 0x92, 0x02, 0x02, 0x24, 0x92, 0x08, 0x21,
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0x08, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x07, 0x1c, 0x02, 0x02, 0x24, 0x99, 0xc9, 0xc1,
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0x18, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x10, 0x30, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x0f, 0xe0, 0x0f, 0x00, 0x01,
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0x30, 0x20, 0x00, 0x37, 0x00, 0x00, 0x00, 0x12, 0x24, 0x08, 0x10, 0x09, 0x00, 0x01,
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0x20, 0x30, 0x00, 0x6d, 0x80, 0x00, 0x00, 0x12, 0x24, 0x09, 0x88, 0x09, 0x00, 0x01,
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0x10, 0x18, 0x1f, 0x60, 0xc0, 0x00, 0x00, 0x12, 0x24, 0x09, 0x48, 0x09, 0x00, 0x01,
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0x30, 0x0c, 0x39, 0xe0, 0x60, 0x00, 0x00, 0x12, 0x24, 0x09, 0x90, 0x09, 0x00, 0x01,
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0x30, 0x07, 0x90, 0x70, 0x60, 0x00, 0x00, 0x12, 0x24, 0x08, 0x60, 0x09, 0x00, 0x01,
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0x10, 0x16, 0xf0, 0x18, 0x20, 0x00, 0x00, 0x12, 0x24, 0x08, 0x10, 0x09, 0x00, 0x01,
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0x1a, 0x10, 0x60, 0x08, 0x30, 0x00, 0x00, 0x12, 0x24, 0x09, 0xc8, 0x09, 0x00, 0x01,
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0x0b, 0x09, 0x80, 0x00, 0x30, 0x00, 0x00, 0x12, 0x24, 0x09, 0x24, 0x09, 0x00, 0x01,
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0x0e, 0x07, 0x80, 0x00, 0x10, 0x00, 0x00, 0x13, 0xe4, 0x89, 0xc4, 0x89, 0xf9, 0x01,
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0x06, 0x1e, 0x40, 0x10, 0x10, 0x00, 0x00, 0x10, 0x05, 0xc8, 0x09, 0xc8, 0x0b, 0x81,
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0x06, 0x00, 0x40, 0x20, 0x10, 0x00, 0x00, 0x0f, 0xf8, 0x8f, 0xf0, 0x8f, 0xf9, 0x01,
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0x03, 0x80, 0x00, 0x20, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
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0x01, 0xff, 0xff, 0xff, 0xe0, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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};
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@ -0,0 +1,134 @@
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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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/**
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* Least Squares Best Fit By Roxy and Ed Williams
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*
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* This algorythm is high speed and has a very small code footprint.
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* Its results are identical to both the Iterative Least Squares published
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* earlier by Roxy and the QR_SOLVE solution. If used in place of QR_SOLVE
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* it saves roughly 10KB of program memory.
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*
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*/
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include <math.h>
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#include "UBL.h"
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#include "Marlin.h"
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double linear_fit_average(double *, int);
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double linear_fit_average_squared(double *, int);
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double linear_fit_average_mixed_terms(double *, double *, int );
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double linear_fit_average_product(double *matrix1, double *matrix2, int n);
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void linear_fit_subtract_mean(double *matrix, double bar, int n);
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double linear_fit_max_abs(double *, int);
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struct linear_fit linear_fit_results;
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struct linear_fit *lsf_linear_fit(double *x, double *y, double *z, int n) {
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double xbar, ybar, zbar;
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double x2bar, y2bar;
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double xybar, xzbar, yzbar;
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double D;
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int i;
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linear_fit_results.A = 0.0;
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linear_fit_results.B = 0.0;
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linear_fit_results.D = 0.0;
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xbar = linear_fit_average(x, n);
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ybar = linear_fit_average(y, n);
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zbar = linear_fit_average(z, n);
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linear_fit_subtract_mean( x, xbar, n);
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linear_fit_subtract_mean( y, ybar, n);
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linear_fit_subtract_mean( z, zbar, n);
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x2bar = linear_fit_average_product( x, x, n);
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y2bar = linear_fit_average_product( y, y, n);
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xybar = linear_fit_average_product( x, y, n);
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xzbar = linear_fit_average_product( x, z, n);
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yzbar = linear_fit_average_product( y, z, n);
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D = x2bar*y2bar - xybar*xybar;
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for(i=0; i<n; i++) {
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if (fabs(D) <= 1e-15*( linear_fit_max_abs(x, n) + linear_fit_max_abs(y, n))) {
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printf( "error: x,y points are collinear at index:%d \n", i );
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return NULL;
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}
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}
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linear_fit_results.A = -(xzbar*y2bar - yzbar*xybar) / D;
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linear_fit_results.B = -(yzbar*x2bar - xzbar*xybar) / D;
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// linear_fit_results.D = -(zbar - linear_fit_results->A*xbar - linear_fit_results->B*ybar);
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linear_fit_results.D = -(zbar + linear_fit_results.A*xbar + linear_fit_results.B*ybar);
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return &linear_fit_results;
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}
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double linear_fit_average(double *matrix, int n)
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{
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int i;
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double sum=0.0;
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for (i = 0; i < n; i++)
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sum += matrix[i];
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return sum / (double) n;
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}
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double linear_fit_average_product(double *matrix1, double *matrix2, int n) {
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int i;
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double sum = 0.0;
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for (i = 0; i < n; i++)
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sum += matrix1[i] * matrix2[i];
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return sum / (double) n;
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}
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void linear_fit_subtract_mean(double *matrix, double bar, int n) {
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int i;
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for (i = 0; i < n; i++) {
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matrix[i] -= bar;
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}
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return;
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}
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double linear_fit_max_abs(double *matrix, int n) {
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int i;
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double max_abs = 0.0;
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for(i=0; i<n; i++)
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if ( max_abs < fabs(matrix[i]))
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max_abs = fabs(matrix[i]);
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return max_abs;
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}
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#endif
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Loading…
Reference in New Issue