From 844a8c7074d555bda31a53ae834cee5fac020ca8 Mon Sep 17 00:00:00 2001 From: ubik2 Date: Wed, 23 Dec 2020 16:19:48 -0800 Subject: [PATCH] Add OPTIMIZED_MESH_STORAGE option (for UBL) (#20371) Co-authored-by: Scott Lahteine --- Marlin/Configuration_adv.h | 4 +++ Marlin/src/core/macros.h | 1 + Marlin/src/feature/bedlevel/ubl/ubl.cpp | 35 ++++++++++++++++----- Marlin/src/feature/bedlevel/ubl/ubl.h | 30 +++++++++--------- Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 2 +- Marlin/src/module/settings.cpp | 35 ++++++++++++++++++--- 6 files changed, 80 insertions(+), 27 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 29d8e976c..1abb48fcb 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -1739,6 +1739,10 @@ //#define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET) #endif +#if BOTH(AUTO_BED_LEVELING_UBL, EEPROM_SETTINGS) + //#define OPTIMIZED_MESH_STORAGE // Store mesh with less precision to save EEPROM space +#endif + /** * Repeatedly attempt G29 leveling until it succeeds. * Stop after G29_MAX_RETRIES attempts. diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 76e55ad3d..058008646 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -286,6 +286,7 @@ #define RSQRT(x) (1.0f / sqrtf(x)) #define CEIL(x) ceilf(x) #define FLOOR(x) floorf(x) +#define TRUNC(x) truncf(x) #define LROUND(x) lroundf(x) #define FMOD(x, y) fmodf(x, y) #define HYPOT(x,y) SQRT(HYPOT2(x,y)) diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp index 087fdf42b..fba065fed 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp @@ -42,9 +42,7 @@ #include "math.h" - void unified_bed_leveling::echo_name() { - SERIAL_ECHOPGM("Unified Bed Leveling"); - } + void unified_bed_leveling::echo_name() { SERIAL_ECHOPGM("Unified Bed Leveling"); } void unified_bed_leveling::report_current_mesh() { if (!leveling_is_valid()) return; @@ -86,9 +84,7 @@ volatile int16_t unified_bed_leveling::encoder_diff; - unified_bed_leveling::unified_bed_leveling() { - reset(); - } + unified_bed_leveling::unified_bed_leveling() { reset(); } void unified_bed_leveling::reset() { const bool was_enabled = planner.leveling_active; @@ -113,6 +109,31 @@ } } + #if ENABLED(OPTIMIZED_MESH_STORAGE) + + constexpr float mesh_store_scaling = 1000; + constexpr int16_t Z_STEPS_NAN = INT16_MAX; + + void unified_bed_leveling::set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values) { + auto z_to_store = [](const float &z) { + if (isnan(z)) return Z_STEPS_NAN; + const int32_t z_scaled = TRUNC(z * mesh_store_scaling); + if (z_scaled == Z_STEPS_NAN || !WITHIN(z_scaled, INT16_MIN, INT16_MAX)) + return Z_STEPS_NAN; // If Z is out of range, return our custom 'NaN' + return int16_t(z_scaled); + }; + GRID_LOOP(x, y) stored_values[x][y] = z_to_store(in_values[x][y]); + } + + void unified_bed_leveling::set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values) { + auto store_to_z = [](const int16_t z_scaled) { + return z_scaled == Z_STEPS_NAN ? NAN : z_scaled / mesh_store_scaling; + }; + GRID_LOOP(x, y) out_values[x][y] = store_to_z(stored_values[x][y]); + } + + #endif // OPTIMIZED_MESH_STORAGE + static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) { SERIAL_ECHO_SP(sp); SERIAL_CHAR('('); @@ -127,7 +148,7 @@ static void serial_echo_column_labels(const uint8_t sp) { SERIAL_ECHO_SP(7); - for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) { + LOOP_L_N(i, GRID_MAX_POINTS_X) { if (i < 10) SERIAL_CHAR(' '); SERIAL_ECHO(i); SERIAL_ECHO_SP(sp); diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.h b/Marlin/src/feature/bedlevel/ubl/ubl.h index 762becfb6..876063c87 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.h +++ b/Marlin/src/feature/bedlevel/ubl/ubl.h @@ -41,6 +41,10 @@ struct mesh_index_pair; #define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1)) #define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1)) +#if ENABLED(OPTIMIZED_MESH_STORAGE) + typedef int16_t mesh_store_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; +#endif + class unified_bed_leveling { private: @@ -106,6 +110,10 @@ class unified_bed_leveling { static int8_t storage_slot; static bed_mesh_t z_values; + #if ENABLED(OPTIMIZED_MESH_STORAGE) + static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values); + static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values); + #endif static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X], _mesh_index_to_ypos[GRID_MAX_POINTS_Y]; @@ -182,6 +190,12 @@ class unified_bed_leveling { return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); } + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + #define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH + #else + #define _UBL_OUTER_Z_RAISE NAN + #endif + /** * z_correction_for_x_on_horizontal_mesh_line is an optimization for * the case where the printer is making a vertical line that only crosses horizontal mesh lines. @@ -195,13 +209,7 @@ class unified_bed_leveling { } // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. - return ( - #ifdef UBL_Z_RAISE_WHEN_OFF_MESH - UBL_Z_RAISE_WHEN_OFF_MESH - #else - NAN - #endif - ); + return _UBL_OUTER_Z_RAISE; } const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST), @@ -224,13 +232,7 @@ class unified_bed_leveling { } // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. - return ( - #ifdef UBL_Z_RAISE_WHEN_OFF_MESH - UBL_Z_RAISE_WHEN_OFF_MESH - #else - NAN - #endif - ); + return _UBL_OUTER_Z_RAISE; } const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST), diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 549fd7721..598bfeee5 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -543,7 +543,7 @@ } else { const float cvf = parser.value_float(); - switch ((int)truncf(cvf * 10.0f) - 30) { // 3.1 -> 1 + switch ((int)TRUNC(cvf * 10.0f) - 30) { // 3.1 -> 1 #if ENABLED(UBL_G29_P31) case 1: { diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp index ec549ea2f..e66769600 100644 --- a/Marlin/src/module/settings.cpp +++ b/Marlin/src/module/settings.cpp @@ -2385,12 +2385,14 @@ void MarlinSettings::postprocess() { // or down a little bit without disrupting the mesh data } + #define MESH_STORE_SIZE sizeof(TERN(OPTIMIZED_MESH_STORAGE, mesh_store_t, ubl.z_values)) + uint16_t MarlinSettings::calc_num_meshes() { - return (meshes_end - meshes_start_index()) / sizeof(ubl.z_values); + return (meshes_end - meshes_start_index()) / MESH_STORE_SIZE; } int MarlinSettings::mesh_slot_offset(const int8_t slot) { - return meshes_end - (slot + 1) * sizeof(ubl.z_values); + return meshes_end - (slot + 1) * MESH_STORE_SIZE; } void MarlinSettings::store_mesh(const int8_t slot) { @@ -2407,9 +2409,17 @@ void MarlinSettings::postprocess() { int pos = mesh_slot_offset(slot); uint16_t crc = 0; + #if ENABLED(OPTIMIZED_MESH_STORAGE) + int16_t z_mesh_store[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + ubl.set_store_from_mesh(ubl.z_values, z_mesh_store); + uint8_t * const src = (uint8_t*)&z_mesh_store; + #else + uint8_t * const src = (uint8_t*)&ubl.z_values; + #endif + // Write crc to MAT along with other data, or just tack on to the beginning or end persistentStore.access_start(); - const bool status = persistentStore.write_data(pos, (uint8_t *)&ubl.z_values, sizeof(ubl.z_values), &crc); + const bool status = persistentStore.write_data(pos, src, MESH_STORE_SIZE, &crc); persistentStore.access_finish(); if (status) SERIAL_ECHOLNPGM("?Unable to save mesh data."); @@ -2435,12 +2445,27 @@ void MarlinSettings::postprocess() { int pos = mesh_slot_offset(slot); uint16_t crc = 0; - uint8_t * const dest = into ? (uint8_t*)into : (uint8_t*)&ubl.z_values; + #if ENABLED(OPTIMIZED_MESH_STORAGE) + int16_t z_mesh_store[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + uint8_t * const dest = (uint8_t*)&z_mesh_store; + #else + uint8_t * const dest = into ? (uint8_t*)into : (uint8_t*)&ubl.z_values; + #endif persistentStore.access_start(); - const uint16_t status = persistentStore.read_data(pos, dest, sizeof(ubl.z_values), &crc); + const uint16_t status = persistentStore.read_data(pos, dest, MESH_STORE_SIZE, &crc); persistentStore.access_finish(); + #if ENABLED(OPTIMIZED_MESH_STORAGE) + if (into) { + float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + ubl.set_mesh_from_store(z_mesh_store, z_values); + memcpy(into, z_values, sizeof(z_values)); + } + else + ubl.set_mesh_from_store(z_mesh_store, ubl.z_values); + #endif + if (status) SERIAL_ECHOLNPGM("?Unable to load mesh data."); else DEBUG_ECHOLNPAIR("Mesh loaded from slot ", slot);