Save 7714 bytes of program memory when doing AUTO_BED_LEVELING_LINEAR (#7276)

We can save more and a pile of RAM by eleminating the eqnBVector and
EqnAMatrix arrays next.

Marlin/Marlin_main.cpp

@@ -261,7 +261,7 @@
 #if HAS_ABL
   #include "vector_3.h"
   #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-    #include "qr_solve.h"
+    #include "least_squares_fit.h"
   #endif
 #elif ENABLED(MESH_BED_LEVELING)
   #include "mesh_bed_leveling.h"
@@ -4336,8 +4336,8 @@ void home_all_axes() { gcode_G28(true); }
         ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
 
         ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
-                     eqnBVector[GRID_MAX_POINTS],     // "B" vector of Z points
+                      eqnBVector[GRID_MAX_POINTS],     // "B" vector of Z points
-                     mean;
+                      mean;
       #endif
 
     #elif ENABLED(AUTO_BED_LEVELING_3POINT)
@@ -4353,6 +4353,11 @@ void home_all_axes() { gcode_G28(true); }
 
     #endif // AUTO_BED_LEVELING_3POINT
 
+    #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+      struct linear_fit_data lsf_results;
+      incremental_LSF_reset(&lsf_results);
+    #endif
+
     /**
      * On the initial G29 fetch command parameters.
      */
@@ -4549,11 +4554,7 @@ void home_all_axes() { gcode_G28(true); }
           abl_should_enable = false;
         }
 
-      #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
+      #endif // AUTO_BED_LEVELING_BILINEAR
-
-        mean = 0.0;
-
-      #endif // AUTO_BED_LEVELING_LINEAR
 
       #if ENABLED(AUTO_BED_LEVELING_3POINT)
 
@@ -4616,11 +4617,11 @@ void home_all_axes() { gcode_G28(true); }
 
         #if ENABLED(AUTO_BED_LEVELING_LINEAR)
 
-          mean += measured_z;
+//        mean += measured_z;                                  // I believe this is unused code?
-          eqnBVector[abl_probe_index] = measured_z;
+//        eqnBVector[abl_probe_index] = measured_z;            // I believe this is unused code?
-          eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
+//        eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;     // I believe this is unused code?
-          eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
+//        eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;     // I believe this is unused code?
-          eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
+//        eqnAMatrix[abl_probe_index + 2 * abl2] = 1;          // I believe this is unused code?
 
         #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
@@ -4794,6 +4795,11 @@ void home_all_axes() { gcode_G28(true); }
               eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
               eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
 
+              incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
+
+          #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+            indexIntoAB[xCount][yCount] = abl_probe_index;
+          #endif
             #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
               z_values[xCount][yCount] = measured_z + zoffset;
@@ -4894,7 +4900,11 @@ void home_all_axes() { gcode_G28(true); }
        * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
        */
       float plane_equation_coefficients[3];
-      qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
+
+      finish_incremental_LSF(&lsf_results);
+      plane_equation_coefficients[0] = -lsf_results.A;  // We should be able to eliminate the '-' on these three lines and down below
+      plane_equation_coefficients[1] = -lsf_results.B;  // but that is not yet tested.
+      plane_equation_coefficients[2] = -lsf_results.D;
 
       mean /= abl2;
 
@@ -4916,7 +4926,7 @@ void home_all_axes() { gcode_G28(true); }
       // Create the matrix but don't correct the position yet
       if (!dryrun) {
         planner.bed_level_matrix = matrix_3x3::create_look_at(
-          vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
+          vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)    // We can eleminate the '-' here and up above
         );
       }
 

Marlin/least_squares_fit.cpp

@@ -34,7 +34,7 @@
 
 #include "MarlinConfig.h"
 
-#if ENABLED(AUTO_BED_LEVELING_UBL)  // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
+#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_LINEAR)
 
 #include "macros.h"
 #include <math.h>
@@ -68,4 +68,4 @@ int finish_incremental_LSF(struct linear_fit_data *lsf) {
   return 0;
 }
 
-#endif // AUTO_BED_LEVELING_UBL
+#endif // AUTO_BED_LEVELING_UBL || ENABLED(AUTO_BED_LEVELING_LINEAR)  

Marlin/least_squares_fit.h

@@ -34,7 +34,7 @@
 
 #include "MarlinConfig.h"
 
-#if ENABLED(AUTO_BED_LEVELING_UBL)  // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
+#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_LINEAR)    
 
 #include "Marlin.h"
 #include "macros.h"

Marlin/qr_solve.h

@@ -1,44 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#include "MarlinConfig.h"
-
-#if ENABLED(AUTO_BED_LEVELING_LINEAR)
-
-void daxpy(int n, float da, float dx[], int incx, float dy[], int incy);
-float ddot(int n, float dx[], int incx, float dy[], int incy);
-float dnrm2(int n, float x[], int incx);
-void dqrank(float a[], int lda, int m, int n, float tol, int* kr,
-            int jpvt[], float qraux[]);
-void dqrdc(float a[], int lda, int n, int p, float qraux[], int jpvt[],
-           float work[], int job);
-int dqrls(float a[], int lda, int m, int n, float tol, int* kr, float b[],
-          float x[], float rsd[], int jpvt[], float qraux[], int itask);
-void dqrlss(float a[], int lda, int m, int n, int kr, float b[], float x[],
-            float rsd[], int jpvt[], float qraux[]);
-int dqrsl(float a[], int lda, int n, int k, float qraux[], float y[],
-          float qy[], float qty[], float b[], float rsd[], float ab[], int job);
-void dscal(int n, float sa, float x[], int incx);
-void dswap(int n, float x[], int incx, float y[], int incy);
-void qr_solve(float x[], int m, int n, float a[], float b[]);
-
-#endif