452 lines
17 KiB
C
452 lines
17 KiB
C
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "common.h"
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#if HOTENDS > 1
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#include "../control/tool_change.h"
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#endif
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/**
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* G33 - Delta '1-4-7-point' Auto-Calibration
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* Calibrate height, endstops, delta radius, and tower angles.
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*
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* Parameters:
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*
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* Pn Number of probe points:
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*
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* P1 Probe center and set height only.
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* P2 Probe center and towers. Set height, endstops, and delta radius.
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* P3 Probe all positions: center, towers and opposite towers. Set all.
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* P4-P7 Probe all positions at different locations and average them.
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*
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* T0 Don't calibrate tower angle corrections
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*
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* Cn.nn Calibration precision; when omitted calibrates to maximum precision
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*
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* Fn Force to run at least n iterations and takes the best result
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*
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* Vn Verbose level:
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*
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* V0 Dry-run mode. Report settings and probe results. No calibration.
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* V1 Report settings
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* V2 Report settings and probe results
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*
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* E Engage the probe for each point
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*/
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void print_signed_float(const char * const prefix, const float &f) {
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SERIAL_PROTOCOLPGM(" ");
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serialprintPGM(prefix);
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SERIAL_PROTOCOLCHAR(':');
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if (f >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(f, 2);
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}
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inline void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ???
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SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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if (end_stops) {
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print_signed_float(PSTR(" Ex"), endstop_adj[A_AXIS]);
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print_signed_float(PSTR("Ey"), endstop_adj[B_AXIS]);
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print_signed_float(PSTR("Ez"), endstop_adj[C_AXIS]);
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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}
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SERIAL_EOL();
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if (tower_angles) {
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SERIAL_PROTOCOLPGM(".Tower angle : ");
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print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
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print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
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SERIAL_PROTOCOLLNPGM(" Tz:+0.00");
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}
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}
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void G33_cleanup(
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#if HOTENDS > 1
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const uint8_t old_tool_index
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#endif
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) {
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#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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STOW_PROBE();
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clean_up_after_endstop_or_probe_move();
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#if HOTENDS > 1
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tool_change(old_tool_index, 0, true);
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#endif
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}
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void gcode_G33() {
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const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
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if (!WITHIN(probe_points, 1, 7)) {
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SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (1-7).");
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return;
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}
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const int8_t verbose_level = parser.byteval('V', 1);
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if (!WITHIN(verbose_level, 0, 2)) {
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SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
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return;
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}
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const float calibration_precision = parser.floatval('C');
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if (calibration_precision < 0) {
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SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
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return;
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}
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const int8_t force_iterations = parser.intval('F', 0);
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if (!WITHIN(force_iterations, 0, 30)) {
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SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
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return;
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}
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const bool towers_set = parser.boolval('T', true),
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stow_after_each = parser.boolval('E'),
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_1p_calibration = probe_points == 1,
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_4p_calibration = probe_points == 2,
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_4p_towers_points = _4p_calibration && towers_set,
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_4p_opposite_points = _4p_calibration && !towers_set,
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_7p_calibration = probe_points >= 3,
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_7p_half_circle = probe_points == 3,
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_7p_double_circle = probe_points == 5,
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_7p_triple_circle = probe_points == 6,
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_7p_quadruple_circle = probe_points == 7,
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_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
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_7p_intermed_points = _7p_calibration && !_7p_half_circle;
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const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
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const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
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dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
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int8_t iterations = 0;
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float test_precision,
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zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
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zero_std_dev_old = zero_std_dev,
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zero_std_dev_min = zero_std_dev,
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e_old[XYZ] = {
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endstop_adj[A_AXIS],
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endstop_adj[B_AXIS],
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endstop_adj[C_AXIS]
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},
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dr_old = delta_radius,
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zh_old = home_offset[Z_AXIS],
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alpha_old = delta_tower_angle_trim[A_AXIS],
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beta_old = delta_tower_angle_trim[B_AXIS];
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if (!_1p_calibration) { // test if the outer radius is reachable
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const float circles = (_7p_quadruple_circle ? 1.5 :
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_7p_triple_circle ? 1.0 :
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_7p_double_circle ? 0.5 : 0),
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r = (1 + circles * 0.1) * delta_calibration_radius;
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for (uint8_t axis = 1; axis < 13; ++axis) {
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const float a = RADIANS(180 + 30 * axis);
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if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
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SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
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return;
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}
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}
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}
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SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
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stepper.synchronize();
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#if HAS_LEVELING
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reset_bed_level(); // After calibration bed-level data is no longer valid
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#endif
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#if HOTENDS > 1
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const uint8_t old_tool_index = active_extruder;
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tool_change(0, 0, true);
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#define G33_CLEANUP() G33_cleanup(old_tool_index)
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#else
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#define G33_CLEANUP() G33_cleanup()
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#endif
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setup_for_endstop_or_probe_move();
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endstops.enable(true);
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if (!home_delta())
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return;
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endstops.not_homing();
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// print settings
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const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
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serialprintPGM(checkingac);
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if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
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SERIAL_EOL();
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lcd_setstatusPGM(checkingac);
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print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
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#if DISABLED(PROBE_MANUALLY)
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const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
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if (isnan(measured_z)) return G33_CLEANUP();
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home_offset[Z_AXIS] -= measured_z;
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#endif
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do {
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float z_at_pt[13] = { 0.0 };
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test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
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iterations++;
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// Probe the points
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if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
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#if ENABLED(PROBE_MANUALLY)
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z_at_pt[0] += lcd_probe_pt(0, 0);
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#else
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z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
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if (isnan(z_at_pt[0])) return G33_CLEANUP();
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#endif
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}
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if (_7p_calibration) { // probe extra center points
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for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
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const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
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#if ENABLED(PROBE_MANUALLY)
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z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
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#else
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z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
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if (isnan(z_at_pt[0])) return G33_CLEANUP();
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#endif
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}
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z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
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}
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if (!_1p_calibration) { // probe the radius
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bool zig_zag = true;
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const uint8_t start = _4p_opposite_points ? 3 : 1,
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step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
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for (uint8_t axis = start; axis < 13; axis += step) {
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const float zigadd = (zig_zag ? 0.5 : 0.0),
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offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
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_7p_triple_circle ? zigadd + 0.5 :
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_7p_double_circle ? zigadd : 0;
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for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
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const float a = RADIANS(180 + 30 * axis),
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r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
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#if ENABLED(PROBE_MANUALLY)
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z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
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#else
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z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
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if (isnan(z_at_pt[axis])) return G33_CLEANUP();
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#endif
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}
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zig_zag = !zig_zag;
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z_at_pt[axis] /= (2 * offset_circles + 1);
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}
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}
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if (_7p_intermed_points) // average intermediates to tower and opposites
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for (uint8_t axis = 1; axis < 13; axis += 2)
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z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
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float S1 = z_at_pt[0],
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S2 = sq(z_at_pt[0]);
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int16_t N = 1;
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if (!_1p_calibration) // std dev from zero plane
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for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
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S1 += z_at_pt[axis];
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S2 += sq(z_at_pt[axis]);
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N++;
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}
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zero_std_dev_old = zero_std_dev;
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zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
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// Solve matrices
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if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) {
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if (zero_std_dev < zero_std_dev_min) {
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COPY(e_old, endstop_adj);
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dr_old = delta_radius;
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zh_old = home_offset[Z_AXIS];
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alpha_old = delta_tower_angle_trim[A_AXIS];
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beta_old = delta_tower_angle_trim[B_AXIS];
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}
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float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0;
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const float r_diff = delta_radius - delta_calibration_radius,
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h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
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r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
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a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
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#define ZP(N,I) ((N) * z_at_pt[I])
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#define Z1000(I) ZP(1.00, I)
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#define Z1050(I) ZP(h_factor, I)
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#define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
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#define Z0350(I) ZP(h_factor / 3.00, I)
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#define Z0175(I) ZP(h_factor / 6.00, I)
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#define Z2250(I) ZP(r_factor, I)
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#define Z0750(I) ZP(r_factor / 3.00, I)
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#define Z0375(I) ZP(r_factor / 6.00, I)
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#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
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#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
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#if ENABLED(PROBE_MANUALLY)
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test_precision = 0.00; // forced end
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#endif
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switch (probe_points) {
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case 1:
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test_precision = 0.00; // forced end
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LOOP_XYZ(i) e_delta[i] = Z1000(0);
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break;
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case 2:
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if (towers_set) {
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e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
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e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
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e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
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r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
|
||
|
|
e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
|
||
|
|
e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
|
||
|
|
r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
default:
|
||
|
|
e_delta[X_AXIS] = Z1050(0) + Z0350(1) - Z0175(5) - Z0175(9) - Z0350(7) + Z0175(11) + Z0175(3);
|
||
|
|
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
|
||
|
|
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
|
||
|
|
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
|
||
|
|
|
||
|
|
if (towers_set) {
|
||
|
|
t_alpha = Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
|
||
|
|
t_beta = Z0888(1) - Z0444(5) - Z0444(9) + Z0888(7) - Z0444(11) - Z0444(3);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
|
||
|
|
delta_radius += r_delta;
|
||
|
|
delta_tower_angle_trim[A_AXIS] += t_alpha;
|
||
|
|
delta_tower_angle_trim[B_AXIS] += t_beta;
|
||
|
|
|
||
|
|
// adjust delta_height and endstops by the max amount
|
||
|
|
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
|
||
|
|
home_offset[Z_AXIS] -= z_temp;
|
||
|
|
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
|
||
|
|
|
||
|
|
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
||
|
|
}
|
||
|
|
else if (zero_std_dev >= test_precision) { // step one back
|
||
|
|
COPY(endstop_adj, e_old);
|
||
|
|
delta_radius = dr_old;
|
||
|
|
home_offset[Z_AXIS] = zh_old;
|
||
|
|
delta_tower_angle_trim[A_AXIS] = alpha_old;
|
||
|
|
delta_tower_angle_trim[B_AXIS] = beta_old;
|
||
|
|
|
||
|
|
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
||
|
|
}
|
||
|
|
NOMORE(zero_std_dev_min, zero_std_dev);
|
||
|
|
|
||
|
|
// print report
|
||
|
|
|
||
|
|
if (verbose_level != 1) {
|
||
|
|
SERIAL_PROTOCOLPGM(". ");
|
||
|
|
print_signed_float(PSTR("c"), z_at_pt[0]);
|
||
|
|
if (_4p_towers_points || _7p_calibration) {
|
||
|
|
print_signed_float(PSTR(" x"), z_at_pt[1]);
|
||
|
|
print_signed_float(PSTR(" y"), z_at_pt[5]);
|
||
|
|
print_signed_float(PSTR(" z"), z_at_pt[9]);
|
||
|
|
}
|
||
|
|
if (!_4p_opposite_points) SERIAL_EOL();
|
||
|
|
if ((_4p_opposite_points) || _7p_calibration) {
|
||
|
|
if (_7p_calibration) {
|
||
|
|
SERIAL_CHAR('.');
|
||
|
|
SERIAL_PROTOCOL_SP(13);
|
||
|
|
}
|
||
|
|
print_signed_float(PSTR(" yz"), z_at_pt[7]);
|
||
|
|
print_signed_float(PSTR("zx"), z_at_pt[11]);
|
||
|
|
print_signed_float(PSTR("xy"), z_at_pt[3]);
|
||
|
|
SERIAL_EOL();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (verbose_level != 0) { // !dry run
|
||
|
|
if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) { // end iterations
|
||
|
|
SERIAL_PROTOCOLPGM("Calibration OK");
|
||
|
|
SERIAL_PROTOCOL_SP(36);
|
||
|
|
#if DISABLED(PROBE_MANUALLY)
|
||
|
|
if (zero_std_dev >= test_precision && !_1p_calibration)
|
||
|
|
SERIAL_PROTOCOLPGM("rolling back.");
|
||
|
|
else
|
||
|
|
#endif
|
||
|
|
{
|
||
|
|
SERIAL_PROTOCOLPGM("std dev:");
|
||
|
|
SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
|
||
|
|
}
|
||
|
|
SERIAL_EOL();
|
||
|
|
char mess[21];
|
||
|
|
sprintf_P(mess, PSTR("Calibration sd:"));
|
||
|
|
if (zero_std_dev_min < 1)
|
||
|
|
sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
|
||
|
|
else
|
||
|
|
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
|
||
|
|
lcd_setstatus(mess);
|
||
|
|
print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
|
||
|
|
serialprintPGM(save_message);
|
||
|
|
SERIAL_EOL();
|
||
|
|
}
|
||
|
|
else { // !end iterations
|
||
|
|
char mess[15];
|
||
|
|
if (iterations < 31)
|
||
|
|
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
|
||
|
|
else
|
||
|
|
sprintf_P(mess, PSTR("No convergence"));
|
||
|
|
SERIAL_PROTOCOL(mess);
|
||
|
|
SERIAL_PROTOCOL_SP(36);
|
||
|
|
SERIAL_PROTOCOLPGM("std dev:");
|
||
|
|
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
||
|
|
SERIAL_EOL();
|
||
|
|
lcd_setstatus(mess);
|
||
|
|
print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else { // dry run
|
||
|
|
const char *enddryrun = PSTR("End DRY-RUN");
|
||
|
|
serialprintPGM(enddryrun);
|
||
|
|
SERIAL_PROTOCOL_SP(39);
|
||
|
|
SERIAL_PROTOCOLPGM("std dev:");
|
||
|
|
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
||
|
|
SERIAL_EOL();
|
||
|
|
|
||
|
|
char mess[21];
|
||
|
|
sprintf_P(mess, enddryrun);
|
||
|
|
sprintf_P(&mess[11], PSTR(" sd:"));
|
||
|
|
if (zero_std_dev < 1)
|
||
|
|
sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
|
||
|
|
else
|
||
|
|
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
|
||
|
|
lcd_setstatus(mess);
|
||
|
|
}
|
||
|
|
|
||
|
|
endstops.enable(true);
|
||
|
|
home_delta();
|
||
|
|
endstops.not_homing();
|
||
|
|
|
||
|
|
}
|
||
|
|
while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations);
|
||
|
|
|
||
|
|
G33_CLEANUP();
|
||
|
|
}
|