Improve G34, M422 (Z alignment) (#14142)
This commit is contained in:
parent
391250b04f
commit
bf64dd4db6
@ -73,11 +73,6 @@ void GcodeSuite::G34() {
|
||||
|
||||
do { // break out on error
|
||||
|
||||
if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
|
||||
SERIAL_ECHOLNPGM("Home XY first");
|
||||
break;
|
||||
}
|
||||
|
||||
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).");
|
||||
@ -111,10 +106,6 @@ void GcodeSuite::G34() {
|
||||
workspace_plane = PLANE_XY;
|
||||
#endif
|
||||
|
||||
#if ENABLED(BLTOUCH)
|
||||
bltouch.init();
|
||||
#endif
|
||||
|
||||
// Always home with tool 0 active
|
||||
#if HOTENDS > 1
|
||||
const uint8_t old_tool_index = active_extruder;
|
||||
@ -125,78 +116,126 @@ void GcodeSuite::G34() {
|
||||
extruder_duplication_enabled = false;
|
||||
#endif
|
||||
|
||||
// Before moving other axes raise Z, if needed. Never lower Z.
|
||||
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before moving to probe pos) to ", Z_CLEARANCE_BETWEEN_PROBES);
|
||||
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
||||
}
|
||||
#if BOTH(BLTOUCH, BLTOUCH_HS_MODE)
|
||||
// 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
|
||||
#else
|
||||
#define Z_BASIC_CLEARANCE Z_CLEARANCE_BETWEEN_PROBES
|
||||
#endif
|
||||
|
||||
// 0.05 is a 5% incline. On a 300mm bed that would be a misalignment of about 1.5cm.
|
||||
// This angle is the maximum misalignment catered for
|
||||
#define MAX_ANGLE 0.05f
|
||||
float z_probe = Z_BASIC_CLEARANCE + MAX_ANGLE * (
|
||||
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
|
||||
SQRT(MAX(HYPOT2(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1]),
|
||||
HYPOT2(z_auto_align_xpos[1] - z_auto_align_ypos[1], z_auto_align_xpos[2] - z_auto_align_ypos[2]),
|
||||
HYPOT2(z_auto_align_xpos[2] - z_auto_align_ypos[2], z_auto_align_xpos[0] - z_auto_align_ypos[0])))
|
||||
#else
|
||||
HYPOT(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1])
|
||||
#endif
|
||||
);
|
||||
|
||||
// Home before the alignment procedure
|
||||
home_all_axes();
|
||||
|
||||
// Move the Z coordinate realm towards the positive - dirty trick
|
||||
current_position[Z_AXIS] -= z_probe * 0.5;
|
||||
|
||||
// Remember corrections to determine errors on each iteration
|
||||
float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
|
||||
z_measured[Z_STEPPER_COUNT] = { 0 };
|
||||
z_measured[Z_STEPPER_COUNT] = { 0 },
|
||||
z_maxdiff = 0.0f,
|
||||
amplification = z_auto_align_amplification;
|
||||
|
||||
uint8_t iteration;
|
||||
bool err_break = false;
|
||||
for (uint8_t iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
|
||||
for (iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
|
||||
|
||||
// Reset minimum value
|
||||
float z_measured_min = 100000.0f;
|
||||
// For each iteration go through all probe positions (one per Z-Stepper)
|
||||
for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
|
||||
SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1));
|
||||
|
||||
#if BOTH(BLTOUCH, BLTOUCH_HS_MODE)
|
||||
// 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)
|
||||
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES + 7);
|
||||
#endif
|
||||
// Initialize minimum value
|
||||
float z_measured_min = 100000.0f;
|
||||
// Probe all positions (one per Z-Stepper)
|
||||
for (uint8_t izstepper = 0; izstepper < Z_STEPPER_COUNT; ++izstepper) {
|
||||
// iteration odd/even --> downward / upward stepper sequence
|
||||
const uint8_t zstepper = (iteration & 1) ? Z_STEPPER_COUNT - 1 - izstepper : izstepper;
|
||||
|
||||
// Safe clearance even on an incline
|
||||
if (iteration == 0 || izstepper > 0) do_blocking_move_to_z(z_probe);
|
||||
|
||||
// Probe a Z height for each stepper
|
||||
z_measured[zstepper] = probe_pt(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], PROBE_PT_RAISE, false);
|
||||
|
||||
// Stop on error
|
||||
if (isnan(z_measured[zstepper])) {
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> PROBING FAILED!");
|
||||
if (isnan(probe_pt(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], PROBE_PT_RAISE, 0, true))) {
|
||||
SERIAL_ECHOLNPGM("Probing failed.");
|
||||
err_break = true;
|
||||
break;
|
||||
}
|
||||
|
||||
// This is not the trigger Z value. It is the position of the probe after raising it.
|
||||
// It is higher than the trigger value by a constant value (not known here). This value
|
||||
// is more useful for determining the desired next iteration Z position for probing. It is
|
||||
// equally well suited for determining the misalignment, just like the trigger position would be.
|
||||
z_measured[zstepper] = current_position[Z_AXIS];
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " measured position is ", z_measured[zstepper]);
|
||||
|
||||
// Remember the maximum position to calculate the correction
|
||||
// Remember the minimum measurement to calculate the correction later on
|
||||
z_measured_min = MIN(z_measured_min, z_measured[zstepper]);
|
||||
}
|
||||
} // for (zstepper)
|
||||
|
||||
if (err_break) break;
|
||||
|
||||
// Remember the current z position to return to
|
||||
float z_original_position = current_position[Z_AXIS];
|
||||
// Adapt the next probe clearance height based on the new measurements.
|
||||
// Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment.
|
||||
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
|
||||
z_maxdiff = MAX(ABS(z_measured[0] - z_measured[1]), ABS(z_measured[1] - z_measured[2]), ABS(z_measured[2] - z_measured[0]));
|
||||
z_probe = Z_BASIC_CLEARANCE + MAX(z_measured[0], z_measured[1], z_measured[2]) + z_maxdiff;
|
||||
#else
|
||||
z_maxdiff = ABS(z_measured[0] - z_measured[1]);
|
||||
z_probe = Z_BASIC_CLEARANCE + MAX(z_measured[0], z_measured[1]) + z_maxdiff;
|
||||
#endif
|
||||
|
||||
SERIAL_ECHOPAIR("\n"
|
||||
"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
|
||||
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
|
||||
, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
|
||||
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
|
||||
#endif
|
||||
);
|
||||
SERIAL_EOL();
|
||||
SERIAL_EOL();
|
||||
|
||||
// The following correction actions are to be enabled for select Z-steppers only
|
||||
stepper.set_separate_multi_axis(true);
|
||||
|
||||
// Iterations can stop early if all corrections are below required accuracy
|
||||
bool success_break = true;
|
||||
// Correct stepper offsets and re-iterate
|
||||
// Correct the individual stepper offsets
|
||||
for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
|
||||
stepper.set_separate_multi_axis(true);
|
||||
set_all_z_lock(true); // Steppers will be enabled separately
|
||||
|
||||
// Calculate current stepper move
|
||||
const float z_align_move = z_measured[zstepper] - z_measured_min,
|
||||
z_align_abs = ABS(z_align_move);
|
||||
|
||||
// Check for lost accuracy compared to last move
|
||||
// Optimize one iterations correction based on the first measurements
|
||||
if (z_align_abs > 0.0f) 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 (last_z_align_move[zstepper] < z_align_abs - 1.0) {
|
||||
// Stop here
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> detected decreasing accuracy.");
|
||||
SERIAL_ECHOLNPGM("Decreasing accuracy detected.");
|
||||
err_break = true;
|
||||
break;
|
||||
}
|
||||
else
|
||||
last_z_align_move[zstepper] = z_align_abs;
|
||||
|
||||
// Only stop early if all measured points achieve accuracy target
|
||||
// Remember the alignment for the next iteration
|
||||
last_z_align_move[zstepper] = z_align_abs;
|
||||
|
||||
// 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
|
||||
set_all_z_lock(true);
|
||||
switch (zstepper) {
|
||||
case 0: stepper.set_z_lock(false); break;
|
||||
case 1: stepper.set_z2_lock(false); break;
|
||||
@ -205,26 +244,25 @@ void GcodeSuite::G34() {
|
||||
#endif
|
||||
}
|
||||
|
||||
// This will lose home position and require re-homing
|
||||
do_blocking_move_to_z(z_auto_align_amplification * z_align_move + current_position[Z_AXIS]);
|
||||
}
|
||||
// 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_AXIS]);
|
||||
} // for (zstepper)
|
||||
|
||||
// Back to normal stepper operations
|
||||
set_all_z_lock(false);
|
||||
stepper.set_separate_multi_axis(false);
|
||||
|
||||
if (err_break) break;
|
||||
|
||||
// Move Z back to previous position
|
||||
set_all_z_lock(true);
|
||||
do_blocking_move_to_z(z_original_position);
|
||||
set_all_z_lock(false);
|
||||
if (success_break) { SERIAL_ECHOLNPGM("Target accuracy achieved."); break; }
|
||||
|
||||
stepper.set_separate_multi_axis(false);
|
||||
} // for (iteration)
|
||||
|
||||
if (success_break) {
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> achieved target accuracy.");
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (err_break) { SERIAL_ECHOLNPGM("G34 aborted."); break; }
|
||||
|
||||
if (err_break) break;
|
||||
SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " iterations of ", int(z_auto_align_iterations));
|
||||
SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
|
||||
SERIAL_EOL();
|
||||
|
||||
// Restore the active tool after homing
|
||||
#if HOTENDS > 1
|
||||
@ -250,7 +288,8 @@ void GcodeSuite::G34() {
|
||||
bltouch._stow();
|
||||
#endif
|
||||
|
||||
gcode.G28(false);
|
||||
// Home after the alignment procedure
|
||||
home_all_axes();
|
||||
|
||||
} while(0);
|
||||
|
||||
|
@ -187,11 +187,7 @@ void GcodeSuite::dwell(millis_t time) {
|
||||
/**
|
||||
* Process the parsed command and dispatch it to its handler
|
||||
*/
|
||||
void GcodeSuite::process_parsed_command(
|
||||
#if USE_EXECUTE_COMMANDS_IMMEDIATE
|
||||
const bool no_ok
|
||||
#endif
|
||||
) {
|
||||
void GcodeSuite::process_parsed_command(const bool no_ok) {
|
||||
KEEPALIVE_STATE(IN_HANDLER);
|
||||
|
||||
// Handle a known G, M, or T
|
||||
@ -802,10 +798,7 @@ void GcodeSuite::process_parsed_command(
|
||||
|
||||
KEEPALIVE_STATE(NOT_BUSY);
|
||||
|
||||
#if USE_EXECUTE_COMMANDS_IMMEDIATE
|
||||
if (!no_ok)
|
||||
#endif
|
||||
ok_to_send();
|
||||
if (!no_ok) ok_to_send();
|
||||
}
|
||||
|
||||
/**
|
||||
@ -831,43 +824,39 @@ void GcodeSuite::process_next_command() {
|
||||
process_parsed_command();
|
||||
}
|
||||
|
||||
#if USE_EXECUTE_COMMANDS_IMMEDIATE
|
||||
/**
|
||||
* Run a series of commands, bypassing the command queue to allow
|
||||
* G-code "macros" to be called from within other G-code handlers.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Run a series of commands, bypassing the command queue to allow
|
||||
* G-code "macros" to be called from within other G-code handlers.
|
||||
*/
|
||||
|
||||
void GcodeSuite::process_subcommands_now_P(PGM_P pgcode) {
|
||||
char * const saved_cmd = parser.command_ptr; // Save the parser state
|
||||
for (;;) {
|
||||
PGM_P const delim = strchr_P(pgcode, '\n'); // Get address of next newline
|
||||
const size_t len = delim ? delim - pgcode : strlen_P(pgcode); // Get the command length
|
||||
char cmd[len + 1]; // Allocate a stack buffer
|
||||
strncpy_P(cmd, pgcode, len); // Copy the command to the stack
|
||||
cmd[len] = '\0'; // End with a nul
|
||||
parser.parse(cmd); // Parse the command
|
||||
process_parsed_command(true); // Process it
|
||||
if (!delim) break; // Last command?
|
||||
pgcode = delim + 1; // Get the next command
|
||||
}
|
||||
parser.parse(saved_cmd); // Restore the parser state
|
||||
void GcodeSuite::process_subcommands_now_P(PGM_P pgcode) {
|
||||
char * const saved_cmd = parser.command_ptr; // Save the parser state
|
||||
for (;;) {
|
||||
PGM_P const delim = strchr_P(pgcode, '\n'); // Get address of next newline
|
||||
const size_t len = delim ? delim - pgcode : strlen_P(pgcode); // Get the command length
|
||||
char cmd[len + 1]; // Allocate a stack buffer
|
||||
strncpy_P(cmd, pgcode, len); // Copy the command to the stack
|
||||
cmd[len] = '\0'; // End with a nul
|
||||
parser.parse(cmd); // Parse the command
|
||||
process_parsed_command(true); // Process it
|
||||
if (!delim) break; // Last command?
|
||||
pgcode = delim + 1; // Get the next command
|
||||
}
|
||||
parser.parse(saved_cmd); // Restore the parser state
|
||||
}
|
||||
|
||||
void GcodeSuite::process_subcommands_now(char * gcode) {
|
||||
char * const saved_cmd = parser.command_ptr; // Save the parser state
|
||||
for (;;) {
|
||||
char * const delim = strchr(gcode, '\n'); // Get address of next newline
|
||||
if (delim) *delim = '\0'; // Replace with nul
|
||||
parser.parse(gcode); // Parse the current command
|
||||
process_parsed_command(true); // Process it
|
||||
if (!delim) break; // Last command?
|
||||
gcode = delim + 1; // Get the next command
|
||||
}
|
||||
parser.parse(saved_cmd); // Restore the parser state
|
||||
void GcodeSuite::process_subcommands_now(char * gcode) {
|
||||
char * const saved_cmd = parser.command_ptr; // Save the parser state
|
||||
for (;;) {
|
||||
char * const delim = strchr(gcode, '\n'); // Get address of next newline
|
||||
if (delim) *delim = '\0'; // Replace with nul
|
||||
parser.parse(gcode); // Parse the current command
|
||||
process_parsed_command(true); // Process it
|
||||
if (!delim) break; // Last command?
|
||||
gcode = delim + 1; // Get the next command
|
||||
}
|
||||
|
||||
#endif // USE_EXECUTE_COMMANDS_IMMEDIATE
|
||||
parser.parse(saved_cmd); // Restore the parser state
|
||||
}
|
||||
|
||||
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
||||
|
||||
|
@ -312,19 +312,14 @@ public:
|
||||
static int8_t get_target_e_stepper_from_command();
|
||||
static void get_destination_from_command();
|
||||
|
||||
static void process_parsed_command(
|
||||
#if USE_EXECUTE_COMMANDS_IMMEDIATE
|
||||
const bool no_ok = false
|
||||
#endif
|
||||
);
|
||||
static void process_parsed_command(const bool no_ok=false);
|
||||
static void process_next_command();
|
||||
|
||||
#if USE_EXECUTE_COMMANDS_IMMEDIATE
|
||||
static void process_subcommands_now_P(PGM_P pgcode);
|
||||
static void process_subcommands_now(char * gcode);
|
||||
#endif
|
||||
// Execute G-code as a macro, preserving parser state
|
||||
static void process_subcommands_now_P(PGM_P pgcode);
|
||||
static void process_subcommands_now(char * gcode);
|
||||
|
||||
FORCE_INLINE static void home_all_axes() { G28(true); }
|
||||
static inline void home_all_axes() { process_subcommands_now_P(PSTR("G28")); }
|
||||
|
||||
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
||||
/**
|
||||
|
@ -1700,8 +1700,6 @@
|
||||
// If platform requires early initialization of watchdog to properly boot
|
||||
#define EARLY_WATCHDOG (ENABLED(USE_WATCHDOG) && defined(ARDUINO_ARCH_SAM))
|
||||
|
||||
#define USE_EXECUTE_COMMANDS_IMMEDIATE (ANY(G29_RETRY_AND_RECOVER, GCODE_MACROS, POWER_LOSS_RECOVERY) || HAS_DRIVER(L6470))
|
||||
|
||||
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
|
||||
#define Z_STEPPER_COUNT 3
|
||||
#elif ENABLED(Z_DUAL_STEPPER_DRIVERS)
|
||||
|
Loading…
Reference in New Issue
Block a user