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Diffstat (limited to 'Marlin/src/gcode/calibrate/G34_M422.cpp')
| -rw-r--r-- | Marlin/src/gcode/calibrate/G34_M422.cpp | 533 |
1 files changed, 533 insertions, 0 deletions
diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp new file mode 100644 index 0000000..0bcf954 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -0,0 +1,533 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>. + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + +#include "../../feature/z_stepper_align.h" + +#include "../gcode.h" +#include "../../module/motion.h" +#include "../../module/stepper.h" +#include "../../module/planner.h" +#include "../../module/probe.h" +#include "../../lcd/marlinui.h" // for LCD_MESSAGEPGM + +#if HAS_LEVELING + #include "../../feature/bedlevel/bedlevel.h" +#endif + +#if HAS_MULTI_HOTEND + #include "../../module/tool_change.h" +#endif + +#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #include "../../libs/least_squares_fit.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +/** + * G34: Z-Stepper automatic alignment + * + * Manual stepper lock controls (reset by G28): + * L Unlock all steppers + * Z<1-4> Z stepper to lock / unlock + * S<state> 0=UNLOCKED 1=LOCKED. If omitted, assume LOCKED. + * + * Examples: + * G34 Z1 ; Lock Z1 + * G34 L Z2 ; Unlock all, then lock Z2 + * G34 Z2 S0 ; Unlock Z2 + * + * With Z_STEPPER_AUTO_ALIGN: + * I<iterations> Number of tests. If omitted, Z_STEPPER_ALIGN_ITERATIONS. + * T<accuracy> Target Accuracy factor. If omitted, Z_STEPPER_ALIGN_ACC. + * A<amplification> Provide an Amplification value. If omitted, Z_STEPPER_ALIGN_AMP. + * R Flag to recalculate points based on current probe offsets + */ +void GcodeSuite::G34() { + DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING)); + if (DEBUGGING(LEVELING)) log_machine_info(); + + planner.synchronize(); // Prevent damage + + const bool seenL = parser.seen('L'); + if (seenL) stepper.set_all_z_lock(false); + + const bool seenZ = parser.seenval('Z'); + if (seenZ) { + const bool state = parser.boolval('S', true); + switch (parser.intval('Z')) { + case 1: stepper.set_z1_lock(state); break; + case 2: stepper.set_z2_lock(state); break; + #if NUM_Z_STEPPER_DRIVERS >= 3 + case 3: stepper.set_z3_lock(state); break; + #if NUM_Z_STEPPER_DRIVERS >= 4 + case 4: stepper.set_z4_lock(state); break; + #endif + #endif + } + } + + if (seenL || seenZ) { + stepper.set_separate_multi_axis(seenZ); + return; + } + + #if ENABLED(Z_STEPPER_AUTO_ALIGN) + do { // break out on error + + #if NUM_Z_STEPPER_DRIVERS == 4 + SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!"); + #elif NUM_Z_STEPPER_DRIVERS > 4 + SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers"); + break; + #endif + + const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS); + if (!WITHIN(z_auto_align_iterations, 1, 30)) { + SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30)."); + break; + } + + const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC); + if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) { + SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0)."); + break; + } + + const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP)); + if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) { + SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0)."); + break; + } + + if (parser.seen('R')) z_stepper_align.reset_to_default(); + + const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE; + + // Disable the leveling matrix before auto-aligning + #if HAS_LEVELING + TERN_(RESTORE_LEVELING_AFTER_G34, const bool leveling_was_active = planner.leveling_active); + set_bed_leveling_enabled(false); + #endif + + TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY); + + // Always home with tool 0 active + #if HAS_MULTI_HOTEND + const uint8_t old_tool_index = active_extruder; + tool_change(0, true); + #endif + + TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); + + // In BLTOUCH HS mode, the probe travels in a deployed state. + // Users of G34 might have a badly misaligned bed, so raise Z by the + // length of the deployed pin (BLTOUCH stroke < 7mm) + #define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + 7.0f * BOTH(BLTOUCH, BLTOUCH_HS_MODE)) + + // Compute a worst-case clearance height to probe from. After the first + // iteration this will be re-calculated based on the actual bed position + auto magnitude2 = [&](const uint8_t i, const uint8_t j) { + const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j]; + return HYPOT2(diff.x, diff.y); + }; + float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT( + #if NUM_Z_STEPPER_DRIVERS == 3 + _MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0)) + #elif NUM_Z_STEPPER_DRIVERS == 4 + _MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3), + magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3)) + #else + magnitude2(0, 1) + #endif + ); + + // Home before the alignment procedure + if (!all_axes_trusted()) home_all_axes(); + + // Move the Z coordinate realm towards the positive - dirty trick + current_position.z += z_probe * 0.5f; + sync_plan_position(); + // Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error. + // This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration. + + #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f); + #else + float last_z_align_level_indicator = 10000.0f; + #endif + float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 }, + z_maxdiff = 0.0f, + amplification = z_auto_align_amplification; + + #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + bool adjustment_reverse = false; + #endif + + #if HAS_DISPLAY + PGM_P const msg_iteration = GET_TEXT(MSG_ITERATION); + const uint8_t iter_str_len = strlen_P(msg_iteration); + #endif + + // Final z and iteration values will be used after breaking the loop + float z_measured_min; + uint8_t iteration = 0; + bool err_break = false; // To break out of nested loops + while (iteration < z_auto_align_iterations) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions."); + + const int iter = iteration + 1; + SERIAL_ECHOLNPAIR("\nG34 Iteration: ", iter); + #if HAS_DISPLAY + char str[iter_str_len + 2 + 1]; + sprintf_P(str, msg_iteration, iter); + ui.set_status(str); + #endif + + // Initialize minimum value + z_measured_min = 100000.0f; + float z_measured_max = -100000.0f; + + // Probe all positions (one per Z-Stepper) + LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + // iteration odd/even --> downward / upward stepper sequence + const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i; + + // Safe clearance even on an incline + if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe); + + if (DEBUGGING(LEVELING)) + DEBUG_ECHOLNPAIR_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y); + + // Probe a Z height for each stepper. + // Probing sanity check is disabled, as it would trigger even in normal cases because + // current_position.z has been manually altered in the "dirty trick" above. + const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false); + if (isnan(z_probed_height)) { + SERIAL_ECHOLNPGM("Probing failed"); + LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED); + err_break = true; + break; + } + + // Add height to each value, to provide a more useful target height for + // the next iteration of probing. This allows adjustments to be made away from the bed. + z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(iprobe + 1), " measured position is ", z_measured[iprobe]); + + // Remember the minimum measurement to calculate the correction later on + z_measured_min = _MIN(z_measured_min, z_measured[iprobe]); + z_measured_max = _MAX(z_measured_max, z_measured[iprobe]); + } // for (i) + + if (err_break) break; + + // Adapt the next probe clearance height based on the new measurements. + // Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment. + z_maxdiff = z_measured_max - z_measured_min; + z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff; + + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + // Replace the initial values in z_measured with calculated heights at + // each stepper position. This allows the adjustment algorithm to be + // shared between both possible probing mechanisms. + + // This must be done after the next z_probe height is calculated, so that + // the height is calculated from actual print area positions, and not + // extrapolated motor movements. + + // Compute the least-squares fit for all probed points. + // Calculate the Z position of each stepper and store it in z_measured. + // This allows the actual adjustment logic to be shared by both algorithms. + linear_fit_data lfd; + incremental_LSF_reset(&lfd); + LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + SERIAL_ECHOLNPAIR("PROBEPT_", int(i), ": ", z_measured[i]); + incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]); + } + finish_incremental_LSF(&lfd); + + z_measured_min = 100000.0f; + LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D); + z_measured_min = _MIN(z_measured_min, z_measured[i]); + } + + SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]); + #endif + + SERIAL_ECHOLNPAIR("\n" + "DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1]) + #if NUM_Z_STEPPER_DRIVERS == 3 + , " Z2-Z3=", ABS(z_measured[1] - z_measured[2]) + , " Z3-Z1=", ABS(z_measured[2] - z_measured[0]) + #endif + ); + #if HAS_DISPLAY + char fstr1[10]; + #if NUM_Z_STEPPER_DRIVERS == 2 + char msg[6 + (6 + 5) * 1 + 1]; + #else + char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10]; + #endif + sprintf_P(msg, + PSTR("Diffs Z1-Z2=%s" + #if NUM_Z_STEPPER_DRIVERS == 3 + " Z2-Z3=%s" + " Z3-Z1=%s" + #endif + ), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1) + #if NUM_Z_STEPPER_DRIVERS == 3 + , dtostrf(ABS(z_measured[1] - z_measured[2]), 1, 3, fstr2) + , dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3) + #endif + ); + ui.set_status(msg); + #endif + + auto decreasing_accuracy = [](const float &v1, const float &v2){ + if (v1 < v2 * 0.7f) { + SERIAL_ECHOLNPGM("Decreasing Accuracy Detected."); + LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY); + return true; + } + return false; + }; + + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + // Check if the applied corrections go in the correct direction. + // Calculate the sum of the absolute deviations from the mean of the probe measurements. + // Compare to the last iteration to ensure it's getting better. + + // Calculate mean value as a reference + float z_measured_mean = 0.0f; + LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper]; + z_measured_mean /= NUM_Z_STEPPER_DRIVERS; + + // Calculate the sum of the absolute deviations from the mean value + float z_align_level_indicator = 0.0f; + LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) + z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean); + + // If it's getting worse, stop and throw an error + err_break = decreasing_accuracy(last_z_align_level_indicator, z_align_level_indicator); + if (err_break) break; + + last_z_align_level_indicator = z_align_level_indicator; + #endif + + // The following correction actions are to be enabled for select Z-steppers only + stepper.set_separate_multi_axis(true); + + bool success_break = true; + // Correct the individual stepper offsets + LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) { + // Calculate current stepper move + float z_align_move = z_measured[zstepper] - z_measured_min; + const float z_align_abs = ABS(z_align_move); + + #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + // Optimize one iteration's correction based on the first measurements + if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification; + + // Check for less accuracy compared to last move + if (decreasing_accuracy(last_z_align_move[zstepper], z_align_abs)) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " last_z_align_move = ", last_z_align_move[zstepper]); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " z_align_abs = ", z_align_abs); + adjustment_reverse = !adjustment_reverse; + } + + // Remember the alignment for the next iteration, but only if steppers move, + // otherwise it would be just zero (in case this stepper was at z_measured_min already) + if (z_align_abs > 0) last_z_align_move[zstepper] = z_align_abs; + #endif + + // Stop early if all measured points achieve accuracy target + if (z_align_abs > z_auto_align_accuracy) success_break = false; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " corrected by ", z_align_move); + + // Lock all steppers except one + stepper.set_all_z_lock(true, zstepper); + + #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + // Decreasing accuracy was detected so move was inverted. + // Will match reversed Z steppers on dual steppers. Triple will need more work to map. + if (adjustment_reverse) { + z_align_move = -z_align_move; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " correction reversed to ", z_align_move); + } + #endif + + // Do a move to correct part of the misalignment for the current stepper + do_blocking_move_to_z(amplification * z_align_move + current_position.z); + } // for (zstepper) + + // Back to normal stepper operations + stepper.set_all_z_lock(false); + stepper.set_separate_multi_axis(false); + + if (err_break) break; + + if (success_break) { + SERIAL_ECHOLNPGM("Target accuracy achieved."); + LCD_MESSAGEPGM(MSG_ACCURACY_ACHIEVED); + break; + } + + iteration++; + } // while (iteration < z_auto_align_iterations) + + if (err_break) + SERIAL_ECHOLNPGM("G34 aborted."); + else { + SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " of ", int(z_auto_align_iterations)); + SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff); + } + + // Stow the probe, as the last call to probe.probe_at_point(...) left + // the probe deployed if it was successful. + probe.stow(); + + #if ENABLED(HOME_AFTER_G34) + // After this operation the z position needs correction + set_axis_never_homed(Z_AXIS); + // Home Z after the alignment procedure + process_subcommands_now_P(PSTR("G28Z")); + #else + // Use the probed height from the last iteration to determine the Z height. + // z_measured_min is used, because all steppers are aligned to z_measured_min. + // Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier. + current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES; + sync_plan_position(); + #endif + + // Restore the active tool after homing + TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER))); // Fetch previous tool for parking extruder + + #if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34) + set_bed_leveling_enabled(leveling_was_active); + #endif + + }while(0); + #endif +} + +#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN + +#if ENABLED(Z_STEPPER_AUTO_ALIGN) + +/** + * M422: Set a Z-Stepper automatic alignment XY point. + * Use repeatedly to set multiple points. + * + * S<index> : Index of the probe point to set + * + * With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS: + * W<index> : Index of the Z stepper position to set + * The W and S parameters may not be combined. + * + * S and W require an X and/or Y parameter + * X<pos> : X position to set (Unchanged if omitted) + * Y<pos> : Y position to set (Unchanged if omitted) + * + * R : Recalculate points based on current probe offsets + */ +void GcodeSuite::M422() { + + if (parser.seen('R')) { + z_stepper_align.reset_to_default(); + return; + } + + if (!parser.seen_any()) { + LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) + SERIAL_ECHOLNPAIR_P(PSTR("M422 S"), int(i + 1), SP_X_STR, z_stepper_align.xy[i].x, SP_Y_STR, z_stepper_align.xy[i].y); + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) + SERIAL_ECHOLNPAIR_P(PSTR("M422 W"), int(i + 1), SP_X_STR, z_stepper_align.stepper_xy[i].x, SP_Y_STR, z_stepper_align.stepper_xy[i].y); + #endif + return; + } + + const bool is_probe_point = parser.seen('S'); + + if (TERN0(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, is_probe_point && parser.seen('W'))) { + SERIAL_ECHOLNPGM("?(S) and (W) may not be combined."); + return; + } + + xy_pos_t *pos_dest = ( + TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !is_probe_point ? z_stepper_align.stepper_xy :) + z_stepper_align.xy + ); + + if (!is_probe_point && TERN1(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !parser.seen('W'))) { + SERIAL_ECHOLNPGM("?(S)" TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, " or (W)") " is required."); + return; + } + + // Get the Probe Position Index or Z Stepper Index + int8_t position_index; + if (is_probe_point) { + position_index = parser.intval('S') - 1; + if (!WITHIN(position_index, 0, int8_t(NUM_Z_STEPPER_DRIVERS) - 1)) { + SERIAL_ECHOLNPGM("?(S) Probe-position index invalid."); + return; + } + } + else { + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + position_index = parser.intval('W') - 1; + if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) { + SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid."); + return; + } + #endif + } + + const xy_pos_t pos = { + parser.floatval('X', pos_dest[position_index].x), + parser.floatval('Y', pos_dest[position_index].y) + }; + + if (is_probe_point) { + if (!probe.can_reach(pos.x, Y_CENTER)) { + SERIAL_ECHOLNPGM("?(X) out of bounds."); + return; + } + if (!probe.can_reach(pos)) { + SERIAL_ECHOLNPGM("?(Y) out of bounds."); + return; + } + } + + pos_dest[position_index] = pos; +} + +#endif // Z_STEPPER_AUTO_ALIGN |