From c90fa530db2e6c98cfc8329ef36eda837b5ecc30 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 4 Jun 2021 23:44:16 -0500 Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20Update=20G34=20for=204x=20Z=20stepp?= =?UTF-8?q?ers=20(#22039)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/gcode/calibrate/G34_M422.cpp | 89 ++++++++++++++----------- 1 file changed, 50 insertions(+), 39 deletions(-) diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp index 1614dd6fb..1803933d1 100644 --- a/Marlin/src/gcode/calibrate/G34_M422.cpp +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -48,6 +48,13 @@ #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../../core/debug_out.h" +#if NUM_Z_STEPPER_DRIVERS >= 3 + #define TRIPLE_Z 1 + #if NUM_Z_STEPPER_DRIVERS >= 4 + #define QUAD_Z 1 + #endif +#endif + /** * G34: Z-Stepper automatic alignment * @@ -82,9 +89,9 @@ void GcodeSuite::G34() { 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 + #if TRIPLE_Z case 3: stepper.set_z3_lock(state); break; - #if NUM_Z_STEPPER_DRIVERS >= 4 + #if QUAD_Z case 4: stepper.set_z4_lock(state); break; #endif #endif @@ -99,13 +106,6 @@ void GcodeSuite::G34() { #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)."); @@ -157,16 +157,14 @@ void GcodeSuite::G34() { 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) + float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1) + #if TRIPLE_Z + , magnitude2(2, 1), magnitude2(2, 0) + #if QUAD_Z + , magnitude2(3, 2), magnitude2(3, 1), magnitude2(3, 0) + #endif #endif - ); + )); // Home before the alignment procedure if (!all_axes_trusted()) home_all_axes(); @@ -178,7 +176,7 @@ void GcodeSuite::G34() { // 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); + float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f); #else float last_z_align_level_indicator = 10000.0f; #endif @@ -280,39 +278,52 @@ void GcodeSuite::G34() { 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]); + SERIAL_ECHOLNPAIR( + LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS), + "Calculated Z1=", z_measured[0], + " Z2=", z_measured[1], + " Z3=", z_measured[2], + " Z4=", z_measured[3] + ) + ); #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]) + "Z2-Z1=", ABS(z_measured[1] - z_measured[0]) + #if TRIPLE_Z + , " Z3-Z2=", ABS(z_measured[2] - z_measured[1]) , " Z3-Z1=", ABS(z_measured[2] - z_measured[0]) + #if QUAD_Z + , " Z4-Z3=", ABS(z_measured[3] - z_measured[2]) + , " Z4-Z2=", ABS(z_measured[3] - z_measured[1]) + , " Z4-Z1=", ABS(z_measured[3] - z_measured[0]) + #endif #endif ); + #if HAS_STATUS_MESSAGE 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" + char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1] + #if TRIPLE_Z + , fstr2[10], fstr3[10] + #if QUAD_Z + , fstr4[10], fstr5[10], fstr6[10] #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 + ; + sprintf_P(msg, + PSTR("1:2=%s" TERN_(TRIPLE_Z, " 3-2=%s 3-1=%s") TERN_(QUAD_Z, " 4-3=%s 4-2=%s 4-1=%s")), + dtostrf(ABS(z_measured[1] - z_measured[0]), 1, 3, fstr1) + OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[1]), 1, 3, fstr2)) + OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)) + OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[2]), 1, 3, fstr4)) + OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[1]), 1, 3, fstr5)) + OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[0]), 1, 3, fstr6)) ); ui.set_status(msg); #endif - auto decreasing_accuracy = [](const_float_t v1, const_float_t v2){ + auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) { if (v1 < v2 * 0.7f) { SERIAL_ECHOLNPGM("Decreasing Accuracy Detected."); LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY); @@ -437,7 +448,7 @@ void GcodeSuite::G34() { #endif }while(0); - #endif + #endif // Z_STEPPER_AUTO_ALIGN } #endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN