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Cleanup magnet compensation code

This commit is contained in:
Alex Voinea 2023-05-05 10:50:18 +02:00
parent 46710c4b4e
commit 83879fd10c
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GPG Key ID: 37EDFD565CB33BAD
3 changed files with 17 additions and 29 deletions
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2
Firmware/Marlin_main.cpp
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@ -3058,7 +3058,7 @@ static void gcode_G80()
mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
if (nMeasPoints == 7 && magnet_elimination) {
mbl_interpolation(nMeasPoints);
mbl_magnet_elimination();
}
mbl.active = 1; //activate mesh bed leveling

39
Firmware/mesh_bed_calibration.cpp
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@ -3116,15 +3116,14 @@ void mbl_settings_init() {
//parameter ix: index of mesh bed leveling point in X-axis (for meas_points == 7 is valid range from 0 to 6; for meas_points == 3 is valid range from 0 to 2 )
//parameter iy: index of mesh bed leveling point in Y-axis (for meas_points == 7 is valid range from 0 to 6; for meas_points == 3 is valid range from 0 to 2 )
//parameter meas_points: number of mesh bed leveling points in one axis; currently designed and tested for values 3 and 7
//parameter zigzag: false if ix is considered 0 on left side of bed and ix rises with rising X coordinate; true if ix is considered 0 on the right side of heatbed for odd iy values (zig zag mesh bed leveling movements)
//function returns true if point is considered valid (typicaly in safe distance from magnet or another object which inflences PINDA measurements)
bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy, uint8_t meas_points, bool zigzag) {
bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy) {
//"human readable" heatbed plan
//magnet proximity influence Z coordinate measurements significantly (40 - 100 um)
//0 - measurement point is above magnet and Z coordinate can be influenced negatively
//1 - we should be in safe distance from magnets, measurement should be accurate
if ((ix >= meas_points) || (iy >= meas_points)) return false;
if ((ix >= MESH_NUM_X_POINTS) || (iy >= MESH_NUM_Y_POINTS))
return false;
uint8_t valid_points_mask[7] = {
//[X_MAX,Y_MAX]
@ -3138,36 +3137,26 @@ bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy, uint8_t meas_points, bo
0b1111111,//0
//[0,0]
};
if (meas_points == 3) {
ix *= 3;
iy *= 3;
}
if (zigzag) {
if ((iy % 2) == 0) return (valid_points_mask[6 - iy] & (1 << (6 - ix)));
else return (valid_points_mask[6 - iy] & (1 << ix));
}
else {
return (valid_points_mask[6 - iy] & (1 << (6 - ix)));
}
return (valid_points_mask[6 - iy] & (1 << (6 - ix)));
}
void mbl_single_point_interpolation(uint8_t x, uint8_t y, uint8_t meas_points) {
void mbl_single_point_interpolation(uint8_t x, uint8_t y) {
//printf_P(PSTR("x = %d; y = %d \n"), x, y);
uint8_t count = 0;
float z = 0;
if (mbl_point_measurement_valid(x, y + 1, meas_points, false)) { z += mbl.z_values[y + 1][x]; /*printf_P(PSTR("x; y+1: Z = %f \n"), mbl.z_values[y + 1][x]);*/ count++; }
if (mbl_point_measurement_valid(x, y - 1, meas_points, false)) { z += mbl.z_values[y - 1][x]; /*printf_P(PSTR("x; y-1: Z = %f \n"), mbl.z_values[y - 1][x]);*/ count++; }
if (mbl_point_measurement_valid(x + 1, y, meas_points, false)) { z += mbl.z_values[y][x + 1]; /*printf_P(PSTR("x+1; y: Z = %f \n"), mbl.z_values[y][x + 1]);*/ count++; }
if (mbl_point_measurement_valid(x - 1, y, meas_points, false)) { z += mbl.z_values[y][x - 1]; /*printf_P(PSTR("x-1; y: Z = %f \n"), mbl.z_values[y][x - 1]);*/ count++; }
if (mbl_point_measurement_valid(x, y + 1)) { z += mbl.z_values[y + 1][x]; /*printf_P(PSTR("x; y+1: Z = %f \n"), mbl.z_values[y + 1][x]);*/ count++; }
if (mbl_point_measurement_valid(x, y - 1)) { z += mbl.z_values[y - 1][x]; /*printf_P(PSTR("x; y-1: Z = %f \n"), mbl.z_values[y - 1][x]);*/ count++; }
if (mbl_point_measurement_valid(x + 1, y)) { z += mbl.z_values[y][x + 1]; /*printf_P(PSTR("x+1; y: Z = %f \n"), mbl.z_values[y][x + 1]);*/ count++; }
if (mbl_point_measurement_valid(x - 1, y)) { z += mbl.z_values[y][x - 1]; /*printf_P(PSTR("x-1; y: Z = %f \n"), mbl.z_values[y][x - 1]);*/ count++; }
if(count != 0) mbl.z_values[y][x] = z / count; //if we have at least one valid point in surrounding area use average value, otherwise use inaccurately measured Z-coordinate
//printf_P(PSTR("result: Z = %f \n\n"), mbl.z_values[y][x]);
}
void mbl_interpolation(uint8_t meas_points) {
for (uint8_t x = 0; x < meas_points; x++) {
for (uint8_t y = 0; y < meas_points; y++) {
if (!mbl_point_measurement_valid(x, y, meas_points, false)) {
mbl_single_point_interpolation(x, y, meas_points);
void mbl_magnet_elimination() {
for (uint8_t y = 0; y < MESH_NUM_Y_POINTS; y++) {
for (uint8_t x = 0; x < MESH_NUM_X_POINTS; x++) {
if (!mbl_point_measurement_valid(x, y)) {
mbl_single_point_interpolation(x, y);
}
}
}

5
Firmware/mesh_bed_calibration.h
View File

@ -203,6 +203,5 @@ extern void count_xyz_details(float (&distanceMin)[2]);
extern bool sample_z();
extern void mbl_settings_init();
extern bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy, uint8_t meas_points, bool zigzag);
extern void mbl_interpolation(uint8_t meas_points);
extern bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy);
extern void mbl_magnet_elimination();