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G80: Re-implement optimisation from user espr14 

Original Pull Request:
https://github.com/prusa3d/Prusa-Firmware/pull/3061

Change in memory:
Flash: -292 bytes
SRAM: 0 bytes
This commit is contained in:
Guðni Már Gilbert 2022-12-30 14:52:08 +00:00 committed by DRracer
parent 7f921b4071
commit 956efde822
1 changed files with 19 additions and 42 deletions
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61
Firmware/Marlin_main.cpp
View File

@ -3090,61 +3090,38 @@ static void gcode_G80()
eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
}
#endif // SUPPORT_VERBOSITY
for (uint8_t i = 0; i < 4; ++i) {
static const char codes[4] PROGMEM = { 'L', 'R', 'F', 'B' };
static uint8_t *const eep_addresses[4] PROGMEM = {
const constexpr uint8_t sides = 4;
long correction[sides] = {0};
for (uint8_t i = 0; i < sides; ++i) {
static const char codes[sides] PROGMEM = { 'L', 'R', 'F', 'B' };
static uint8_t *const eep_addresses[sides] PROGMEM = {
(uint8_t*)EEPROM_BED_CORRECTION_LEFT,
(uint8_t*)EEPROM_BED_CORRECTION_RIGHT,
(uint8_t*)EEPROM_BED_CORRECTION_FRONT,
(uint8_t*)EEPROM_BED_CORRECTION_REAR,
};
long correction = 0;
if (code_seen(pgm_read_byte(&codes[i])))
correction = code_value_long();
correction[i] = code_value_long();
else if (eeprom_bed_correction_valid)
correction = (int8_t)eeprom_read_byte((uint8_t*)pgm_read_ptr(&eep_addresses[i]));
if (correction == 0)
correction[i] = (int8_t)eeprom_read_byte((uint8_t*)pgm_read_ptr(&eep_addresses[i]));
if (correction[i] == 0)
continue;
if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
if (labs(correction[i]) > BED_ADJUSTMENT_UM_MAX) {
SERIAL_ERROR_START;
SERIAL_ECHOPGM("Excessive bed leveling correction: ");
SERIAL_ECHO(correction);
SERIAL_ECHO(correction[i]);
SERIAL_ECHOLNPGM(" microns");
correction[i] = 0;
}
else {
float offset = float(correction) * 0.001f;
switch (i) {
case 0:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
}
}
break;
case 1:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 1; col < nMeasPoints; ++col) {
mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
}
}
break;
case 2:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 0; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
}
}
break;
case 3:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 1; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
}
}
break;
}
}
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 0; col < nMeasPoints; ++col) {
mbl.z_values[row][col] +=0.001f * (
+ correction[0] * (nMeasPoints - 1 - col)
+ correction[1] * col
+ correction[2] * (nMeasPoints - 1 - row)
+ correction[3] * row) / (float)(nMeasPoints - 1);
}
}
// SERIAL_ECHOLNPGM("Bed leveling correction finished");