From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001
From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com>
Date: Thu, 4 Mar 2021 22:54:23 +0500
Subject: Initial commit
---
Marlin/src/gcode/calibrate/G425.cpp | 623 ++++++++++++++++++++++++++++++++++++
1 file changed, 623 insertions(+)
create mode 100644 Marlin/src/gcode/calibrate/G425.cpp
(limited to 'Marlin/src/gcode/calibrate/G425.cpp')
diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
new file mode 100644
index 0000000..9510da7
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -0,0 +1,623 @@
+/**
+ * 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 .
+ *
+ */
+
+#include "../../MarlinCore.h"
+
+#if ENABLED(CALIBRATION_GCODE)
+
+#include "../gcode.h"
+
+#if ENABLED(BACKLASH_GCODE)
+ #include "../../feature/backlash.h"
+#endif
+
+#include "../../lcd/marlinui.h"
+#include "../../module/motion.h"
+#include "../../module/planner.h"
+#include "../../module/tool_change.h"
+#include "../../module/endstops.h"
+#include "../../feature/bedlevel/bedlevel.h"
+
+#if !AXIS_CAN_CALIBRATE(X)
+ #undef CALIBRATION_MEASURE_LEFT
+ #undef CALIBRATION_MEASURE_RIGHT
+#endif
+
+#if !AXIS_CAN_CALIBRATE(Y)
+ #undef CALIBRATION_MEASURE_FRONT
+ #undef CALIBRATION_MEASURE_BACK
+#endif
+
+#if !AXIS_CAN_CALIBRATE(Z)
+ #undef CALIBRATION_MEASURE_AT_TOP_EDGES
+#endif
+
+/**
+ * G425 backs away from the calibration object by various distances
+ * depending on the confidence level:
+ *
+ * UNKNOWN - No real notion on where the calibration object is on the bed
+ * UNCERTAIN - Measurement may be uncertain due to backlash
+ * CERTAIN - Measurement obtained with backlash compensation
+ */
+
+#ifndef CALIBRATION_MEASUREMENT_UNKNOWN
+ #define CALIBRATION_MEASUREMENT_UNKNOWN 5.0 // mm
+#endif
+#ifndef CALIBRATION_MEASUREMENT_UNCERTAIN
+ #define CALIBRATION_MEASUREMENT_UNCERTAIN 1.0 // mm
+#endif
+#ifndef CALIBRATION_MEASUREMENT_CERTAIN
+ #define CALIBRATION_MEASUREMENT_CERTAIN 0.5 // mm
+#endif
+
+#if BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT)
+ #define HAS_X_CENTER 1
+#endif
+#if BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK)
+ #define HAS_Y_CENTER 1
+#endif
+
+enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
+
+static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
+static constexpr xyz_float_t dimensions CALIBRATION_OBJECT_DIMENSIONS;
+static constexpr xy_float_t nod = { CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER };
+
+struct measurements_t {
+ xyz_pos_t obj_center = true_center; // Non-static must be assigned from xyz_pos_t
+
+ float obj_side[NUM_SIDES], backlash[NUM_SIDES];
+ xyz_float_t pos_error;
+
+ xy_float_t nozzle_outer_dimension = nod;
+};
+
+#if ENABLED(BACKLASH_GCODE)
+ #define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash.correction, value)
+#else
+ #define TEMPORARY_BACKLASH_CORRECTION(value)
+#endif
+
+#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
+ #define TEMPORARY_BACKLASH_SMOOTHING(value) REMEMBER(tbsm, backlash.smoothing_mm, value)
+#else
+ #define TEMPORARY_BACKLASH_SMOOTHING(value)
+#endif
+
+inline void calibration_move() {
+ do_blocking_move_to(current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
+}
+
+/**
+ * Move to the exact center above the calibration object
+ *
+ * m in - Measurement record
+ * uncertainty in - How far away from the object top to park
+ */
+inline void park_above_object(measurements_t &m, const float uncertainty) {
+ // Move to safe distance above calibration object
+ current_position.z = m.obj_center.z + dimensions.z / 2 + uncertainty;
+ calibration_move();
+
+ // Move to center of calibration object in XY
+ current_position = xy_pos_t(m.obj_center);
+ calibration_move();
+}
+
+#if HAS_MULTI_HOTEND
+ inline void set_nozzle(measurements_t &m, const uint8_t extruder) {
+ if (extruder != active_extruder) {
+ park_above_object(m, CALIBRATION_MEASUREMENT_UNKNOWN);
+ tool_change(extruder);
+ }
+ }
+#endif
+
+#if HAS_HOTEND_OFFSET
+
+ inline void normalize_hotend_offsets() {
+ LOOP_S_L_N(e, 1, HOTENDS)
+ hotend_offset[e] -= hotend_offset[0];
+ hotend_offset[0].reset();
+ }
+
+#endif
+
+#if !PIN_EXISTS(CALIBRATION)
+ #include "../../module/probe.h"
+#endif
+
+inline bool read_calibration_pin() {
+ return (
+ #if PIN_EXISTS(CALIBRATION)
+ READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING
+ #else
+ PROBE_TRIGGERED()
+ #endif
+ );
+}
+
+/**
+ * Move along axis in the specified dir until the probe value becomes stop_state,
+ * then return the axis value.
+ *
+ * axis in - Axis along which the measurement will take place
+ * dir in - Direction along that axis (-1 or 1)
+ * stop_state in - Move until probe pin becomes this value
+ * fast in - Fast vs. precise measurement
+ */
+float measuring_movement(const AxisEnum axis, const int dir, const bool stop_state, const bool fast) {
+ const float step = fast ? 0.25 : CALIBRATION_MEASUREMENT_RESOLUTION;
+ const feedRate_t mms = fast ? MMM_TO_MMS(CALIBRATION_FEEDRATE_FAST) : MMM_TO_MMS(CALIBRATION_FEEDRATE_SLOW);
+ const float limit = fast ? 50 : 5;
+
+ destination = current_position;
+ for (float travel = 0; travel < limit; travel += step) {
+ destination[axis] += dir * step;
+ do_blocking_move_to(destination, mms);
+ planner.synchronize();
+ if (read_calibration_pin() == stop_state) break;
+ }
+ return destination[axis];
+}
+
+/**
+ * Move along axis until the probe is triggered. Move toolhead to its starting
+ * point and return the measured value.
+ *
+ * axis in - Axis along which the measurement will take place
+ * dir in - Direction along that axis (-1 or 1)
+ * stop_state in - Move until probe pin becomes this value
+ * backlash_ptr in/out - When not nullptr, measure and record axis backlash
+ * uncertainty in - If uncertainty is CALIBRATION_MEASUREMENT_UNKNOWN, do a fast probe.
+ */
+inline float measure(const AxisEnum axis, const int dir, const bool stop_state, float * const backlash_ptr, const float uncertainty) {
+ const bool fast = uncertainty == CALIBRATION_MEASUREMENT_UNKNOWN;
+
+ // Save position
+ destination = current_position;
+ const float start_pos = destination[axis];
+ const float measured_pos = measuring_movement(axis, dir, stop_state, fast);
+ // Measure backlash
+ if (backlash_ptr && !fast) {
+ const float release_pos = measuring_movement(axis, -dir, !stop_state, fast);
+ *backlash_ptr = ABS(release_pos - measured_pos);
+ }
+ // Return to starting position
+ destination[axis] = start_pos;
+ do_blocking_move_to(destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
+ return measured_pos;
+}
+
+/**
+ * Probe one side of the calibration object
+ *
+ * m in/out - Measurement record, m.obj_center and m.obj_side will be updated.
+ * uncertainty in - How far away from the calibration object to begin probing
+ * side in - Side of probe where probe will occur
+ * probe_top_at_edge in - When probing sides, probe top of calibration object nearest edge
+ * to find out height of edge
+ */
+inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
+ const xyz_float_t dimensions = CALIBRATION_OBJECT_DIMENSIONS;
+ AxisEnum axis;
+ float dir = 1;
+
+ park_above_object(m, uncertainty);
+
+ switch (side) {
+ #if AXIS_CAN_CALIBRATE(Z)
+ case TOP: {
+ const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
+ m.obj_center.z = measurement - dimensions.z / 2;
+ m.obj_side[TOP] = measurement;
+ return;
+ }
+ #endif
+ #if AXIS_CAN_CALIBRATE(X)
+ case LEFT: axis = X_AXIS; break;
+ case RIGHT: axis = X_AXIS; dir = -1; break;
+ #endif
+ #if AXIS_CAN_CALIBRATE(Y)
+ case FRONT: axis = Y_AXIS; break;
+ case BACK: axis = Y_AXIS; dir = -1; break;
+ #endif
+ default: return;
+ }
+
+ if (probe_top_at_edge) {
+ #if AXIS_CAN_CALIBRATE(Z)
+ // Probe top nearest the side we are probing
+ current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
+ calibration_move();
+ m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
+ m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
+ #endif
+ }
+
+ if ((AXIS_CAN_CALIBRATE(X) && axis == X_AXIS) || (AXIS_CAN_CALIBRATE(Y) && axis == Y_AXIS)) {
+ // Move to safe distance to the side of the calibration object
+ current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
+ calibration_move();
+
+ // Plunge below the side of the calibration object and measure
+ current_position.z = m.obj_side[TOP] - (CALIBRATION_NOZZLE_TIP_HEIGHT) * 0.7f;
+ calibration_move();
+ const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
+ m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
+ m.obj_side[side] = measurement;
+ }
+}
+
+/**
+ * Probe all sides of the calibration calibration object
+ *
+ * m in/out - Measurement record: center, backlash and error values be updated.
+ * uncertainty in - How far away from the calibration object to begin probing
+ */
+inline void probe_sides(measurements_t &m, const float uncertainty) {
+ #if ENABLED(CALIBRATION_MEASURE_AT_TOP_EDGES)
+ constexpr bool probe_top_at_edge = true;
+ #else
+ // Probing at the exact center only works if the center is flat. Probing on a washer
+ // or bolt will require probing the top near the side edges, away from the center.
+ constexpr bool probe_top_at_edge = false;
+ probe_side(m, uncertainty, TOP);
+ #endif
+
+ TERN_(CALIBRATION_MEASURE_RIGHT, probe_side(m, uncertainty, RIGHT, probe_top_at_edge));
+ TERN_(CALIBRATION_MEASURE_FRONT, probe_side(m, uncertainty, FRONT, probe_top_at_edge));
+ TERN_(CALIBRATION_MEASURE_LEFT, probe_side(m, uncertainty, LEFT, probe_top_at_edge));
+ TERN_(CALIBRATION_MEASURE_BACK, probe_side(m, uncertainty, BACK, probe_top_at_edge));
+
+ // Compute the measured center of the calibration object.
+ TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2);
+ TERN_(HAS_Y_CENTER, m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2);
+
+ // Compute the outside diameter of the nozzle at the height
+ // at which it makes contact with the calibration object
+ TERN_(HAS_X_CENTER, m.nozzle_outer_dimension.x = m.obj_side[RIGHT] - m.obj_side[LEFT] - dimensions.x);
+ TERN_(HAS_Y_CENTER, m.nozzle_outer_dimension.y = m.obj_side[BACK] - m.obj_side[FRONT] - dimensions.y);
+
+ park_above_object(m, uncertainty);
+
+ // The difference between the known and the measured location
+ // of the calibration object is the positional error
+ m.pos_error.x = (0
+ #if HAS_X_CENTER
+ + true_center.x - m.obj_center.x
+ #endif
+ );
+ m.pos_error.y = (0
+ #if HAS_Y_CENTER
+ + true_center.y - m.obj_center.y
+ #endif
+ );
+ m.pos_error.z = true_center.z - m.obj_center.z;
+}
+
+#if ENABLED(CALIBRATION_REPORTING)
+ inline void report_measured_faces(const measurements_t &m) {
+ SERIAL_ECHOLNPGM("Sides:");
+ #if AXIS_CAN_CALIBRATE(Z)
+ SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]);
+ #endif
+ #if ENABLED(CALIBRATION_MEASURE_LEFT)
+ SERIAL_ECHOLNPAIR(" Left: ", m.obj_side[LEFT]);
+ #endif
+ #if ENABLED(CALIBRATION_MEASURE_RIGHT)
+ SERIAL_ECHOLNPAIR(" Right: ", m.obj_side[RIGHT]);
+ #endif
+ #if ENABLED(CALIBRATION_MEASURE_FRONT)
+ SERIAL_ECHOLNPAIR(" Front: ", m.obj_side[FRONT]);
+ #endif
+ #if ENABLED(CALIBRATION_MEASURE_BACK)
+ SERIAL_ECHOLNPAIR(" Back: ", m.obj_side[BACK]);
+ #endif
+ SERIAL_EOL();
+ }
+
+ inline void report_measured_center(const measurements_t &m) {
+ SERIAL_ECHOLNPGM("Center:");
+ #if HAS_X_CENTER
+ SERIAL_ECHOLNPAIR_P(SP_X_STR, m.obj_center.x);
+ #endif
+ #if HAS_Y_CENTER
+ SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.obj_center.y);
+ #endif
+ SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.obj_center.z);
+ SERIAL_EOL();
+ }
+
+ inline void report_measured_backlash(const measurements_t &m) {
+ SERIAL_ECHOLNPGM("Backlash:");
+ #if AXIS_CAN_CALIBRATE(X)
+ #if ENABLED(CALIBRATION_MEASURE_LEFT)
+ SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]);
+ #endif
+ #if ENABLED(CALIBRATION_MEASURE_RIGHT)
+ SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]);
+ #endif
+ #endif
+ #if AXIS_CAN_CALIBRATE(Y)
+ #if ENABLED(CALIBRATION_MEASURE_FRONT)
+ SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]);
+ #endif
+ #if ENABLED(CALIBRATION_MEASURE_BACK)
+ SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]);
+ #endif
+ #endif
+ #if AXIS_CAN_CALIBRATE(Z)
+ SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]);
+ #endif
+ SERIAL_EOL();
+ }
+
+ inline void report_measured_positional_error(const measurements_t &m) {
+ SERIAL_CHAR('T');
+ SERIAL_ECHO(int(active_extruder));
+ SERIAL_ECHOLNPGM(" Positional Error:");
+ #if HAS_X_CENTER
+ SERIAL_ECHOLNPAIR_P(SP_X_STR, m.pos_error.x);
+ #endif
+ #if HAS_Y_CENTER
+ SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.pos_error.y);
+ #endif
+ if (AXIS_CAN_CALIBRATE(Z)) SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
+ SERIAL_EOL();
+ }
+
+ inline void report_measured_nozzle_dimensions(const measurements_t &m) {
+ SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
+ #if HAS_X_CENTER || HAS_Y_CENTER
+ #if HAS_X_CENTER
+ SERIAL_ECHOLNPAIR_P(SP_X_STR, m.nozzle_outer_dimension.x);
+ #endif
+ #if HAS_Y_CENTER
+ SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.nozzle_outer_dimension.y);
+ #endif
+ #else
+ UNUSED(m);
+ #endif
+ SERIAL_EOL();
+ }
+
+ #if HAS_HOTEND_OFFSET
+ //
+ // This function requires normalize_hotend_offsets() to be called
+ //
+ inline void report_hotend_offsets() {
+ LOOP_S_L_N(e, 1, HOTENDS)
+ SERIAL_ECHOLNPAIR_P(PSTR("T"), int(e), PSTR(" Hotend Offset X"), hotend_offset[e].x, SP_Y_STR, hotend_offset[e].y, SP_Z_STR, hotend_offset[e].z);
+ }
+ #endif
+
+#endif // CALIBRATION_REPORTING
+
+/**
+ * Probe around the calibration object to measure backlash
+ *
+ * m in/out - Measurement record, updated with new readings
+ * uncertainty in - How far away from the object to begin probing
+ */
+inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
+ // Backlash compensation should be off while measuring backlash
+
+ {
+ // New scope for TEMPORARY_BACKLASH_CORRECTION
+ TEMPORARY_BACKLASH_CORRECTION(all_off);
+ TEMPORARY_BACKLASH_SMOOTHING(0.0f);
+
+ probe_sides(m, uncertainty);
+
+ #if ENABLED(BACKLASH_GCODE)
+
+ #if HAS_X_CENTER
+ backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
+ #elif ENABLED(CALIBRATION_MEASURE_LEFT)
+ backlash.distance_mm.x = m.backlash[LEFT];
+ #elif ENABLED(CALIBRATION_MEASURE_RIGHT)
+ backlash.distance_mm.x = m.backlash[RIGHT];
+ #endif
+
+ #if HAS_Y_CENTER
+ backlash.distance_mm.y = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
+ #elif ENABLED(CALIBRATION_MEASURE_FRONT)
+ backlash.distance_mm.y = m.backlash[FRONT];
+ #elif ENABLED(CALIBRATION_MEASURE_BACK)
+ backlash.distance_mm.y = m.backlash[BACK];
+ #endif
+
+ if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP];
+ #endif
+ }
+
+ #if ENABLED(BACKLASH_GCODE)
+ // Turn on backlash compensation and move in all
+ // allowed directions to take up any backlash
+ {
+ // New scope for TEMPORARY_BACKLASH_CORRECTION
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
+ TEMPORARY_BACKLASH_SMOOTHING(0.0f);
+ const xyz_float_t move = { AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3 };
+ current_position += move; calibration_move();
+ current_position -= move; calibration_move();
+ }
+ #endif
+}
+
+inline void update_measurements(measurements_t &m, const AxisEnum axis) {
+ current_position[axis] += m.pos_error[axis];
+ m.obj_center[axis] = true_center[axis];
+ m.pos_error[axis] = 0;
+}
+
+/**
+ * Probe around the calibration object. Adjust the position and toolhead offset
+ * using the deviation from the known position of the calibration object.
+ *
+ * m in/out - Measurement record, updated with new readings
+ * uncertainty in - How far away from the object to begin probing
+ * extruder in - What extruder to probe
+ *
+ * Prerequisites:
+ * - Call calibrate_backlash() beforehand for best accuracy
+ */
+inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) {
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
+ TEMPORARY_BACKLASH_SMOOTHING(0.0f);
+
+ #if HAS_MULTI_HOTEND
+ set_nozzle(m, extruder);
+ #else
+ UNUSED(extruder);
+ #endif
+
+ probe_sides(m, uncertainty);
+
+ // Adjust the hotend offset
+ #if HAS_HOTEND_OFFSET
+ if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) hotend_offset[extruder].x += m.pos_error.x;
+ if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) hotend_offset[extruder].y += m.pos_error.y;
+ if (AXIS_CAN_CALIBRATE(Z)) hotend_offset[extruder].z += m.pos_error.z;
+ normalize_hotend_offsets();
+ #endif
+
+ // Correct for positional error, so the object
+ // is at the known actual spot
+ planner.synchronize();
+ if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) update_measurements(m, X_AXIS);
+ if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) update_measurements(m, Y_AXIS);
+ if (AXIS_CAN_CALIBRATE(Z)) update_measurements(m, Z_AXIS);
+
+ sync_plan_position();
+}
+
+/**
+ * Probe around the calibration object for all toolheads, adjusting the coordinate
+ * system for the first nozzle and the nozzle offset for subsequent nozzles.
+ *
+ * m in/out - Measurement record, updated with new readings
+ * uncertainty in - How far away from the object to begin probing
+ */
+inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) {
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
+ TEMPORARY_BACKLASH_SMOOTHING(0.0f);
+
+ HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
+
+ TERN_(HAS_HOTEND_OFFSET, normalize_hotend_offsets());
+
+ TERN_(HAS_MULTI_HOTEND, set_nozzle(m, 0));
+}
+
+/**
+ * Perform a full auto-calibration routine:
+ *
+ * 1) For each nozzle, touch top and sides of object to determine object position and
+ * nozzle offsets. Do a fast but rough search over a wider area.
+ * 2) With the first nozzle, touch top and sides of object to determine backlash values
+ * for all axis (if BACKLASH_GCODE is enabled)
+ * 3) For each nozzle, touch top and sides of object slowly to determine precise
+ * position of object. Adjust coordinate system and nozzle offsets so probed object
+ * location corresponds to known object location with a high degree of precision.
+ */
+inline void calibrate_all() {
+ measurements_t m;
+
+ TERN_(HAS_HOTEND_OFFSET, reset_hotend_offsets());
+
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
+ TEMPORARY_BACKLASH_SMOOTHING(0.0f);
+
+ // Do a fast and rough calibration of the toolheads
+ calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNKNOWN);
+
+ TERN_(BACKLASH_GCODE, calibrate_backlash(m, CALIBRATION_MEASUREMENT_UNCERTAIN));
+
+ // Cycle the toolheads so the servos settle into their "natural" positions
+ #if HAS_MULTI_HOTEND
+ HOTEND_LOOP() set_nozzle(m, e);
+ #endif
+
+ // Do a slow and precise calibration of the toolheads
+ calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
+
+ current_position.x = X_CENTER;
+ calibration_move(); // Park nozzle away from calibration object
+}
+
+/**
+ * G425: Perform calibration with calibration object.
+ *
+ * B - Perform calibration of backlash only.
+ * T - Perform calibration of toolhead only.
+ * V - Probe object and print position, error, backlash and hotend offset.
+ * U - Uncertainty, how far to start probe away from the object (mm)
+ *
+ * no args - Perform entire calibration sequence (backlash + position on all toolheads)
+ */
+void GcodeSuite::G425() {
+
+ #ifdef CALIBRATION_SCRIPT_PRE
+ GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_PRE));
+ #endif
+
+ if (homing_needed_error()) return;
+
+ TEMPORARY_BED_LEVELING_STATE(false);
+ SET_SOFT_ENDSTOP_LOOSE(true);
+
+ measurements_t m;
+ float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN;
+
+ if (parser.seen('B'))
+ calibrate_backlash(m, uncertainty);
+ else if (parser.seen('T'))
+ calibrate_toolhead(m, uncertainty, parser.has_value() ? parser.value_int() : active_extruder);
+ #if ENABLED(CALIBRATION_REPORTING)
+ else if (parser.seen('V')) {
+ probe_sides(m, uncertainty);
+ SERIAL_EOL();
+ report_measured_faces(m);
+ report_measured_center(m);
+ report_measured_backlash(m);
+ report_measured_nozzle_dimensions(m);
+ report_measured_positional_error(m);
+ #if HAS_HOTEND_OFFSET
+ normalize_hotend_offsets();
+ report_hotend_offsets();
+ #endif
+ }
+ #endif
+ else
+ calibrate_all();
+
+ SET_SOFT_ENDSTOP_LOOSE(false);
+
+ #ifdef CALIBRATION_SCRIPT_POST
+ GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_POST));
+ #endif
+}
+
+#endif // CALIBRATION_GCODE
--
cgit v1.2.3