diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp index e48620f4e..8541df8b0 100644 --- a/Marlin/src/gcode/calibrate/G425.cpp +++ b/Marlin/src/gcode/calibrate/G425.cpp @@ -30,6 +30,8 @@ #include "../../module/planner.h" #include "../../module/tool_change.h" #include "../../module/endstops.h" +#include "../../feature/bedlevel/bedlevel.h" + /** * G425 backs away from the calibration object by various distances @@ -60,8 +62,9 @@ enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES }; struct measurements_t { - static const float dimensions[XYZ]; - static const float true_center[XYZ]; // This cannot be constexpr since it is accessed by index in probe_side + static constexpr float dimensions[XYZ] = CALIBRATION_OBJECT_DIMENSIONS; + static constexpr float true_center[XYZ] = CALIBRATION_OBJECT_CENTER; + float obj_center[XYZ] = CALIBRATION_OBJECT_CENTER; float obj_side[NUM_SIDES]; @@ -71,16 +74,13 @@ struct measurements_t { float nozzle_outer_dimension[2] = {CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER}; }; -const float measurements_t::true_center[XYZ] = CALIBRATION_OBJECT_CENTER; - -const float measurements_t::dimensions[] = CALIBRATION_OBJECT_DIMENSIONS; - -#define TEMPORARY_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable); TemporaryGlobalEndstopsState tges(enable) +#define TEMPORARY_BED_LEVELING_STATE(enable) TemporaryBedLevelingState tbls(enable) +#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable); #if ENABLED(BACKLASH_GCODE) - #define TEMPORARY_BACKLASH_STATE(enable) REMEMBER(tbst, backlash_correction, enable) + #define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash_correction, value) #else - #define TEMPORARY_BACKLASH_STATE(enable) + #define TEMPORARY_BACKLASH_CORRECTION(value) #endif #if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM) @@ -89,6 +89,20 @@ const float measurements_t::dimensions[] = CALIBRATION_OBJECT_DIMENSIONS; #define TEMPORARY_BACKLASH_SMOOTHING(value) #endif +/** + * A class to save and change the bed leveling state, + * then restore it when it goes out of scope. + */ +class TemporaryBedLevelingState { + bool saved; + + public: + TemporaryBedLevelingState(const bool enable) : saved(planner.leveling_active) { + set_bed_leveling_enabled(enable); + } + ~TemporaryBedLevelingState() { set_bed_leveling_enabled(saved); } +}; + /** * Move to a particular location. Up to three individual axes * and their destinations can be specified, in any order. @@ -121,10 +135,10 @@ inline void move_to( * 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 */ + // Move to safe distance above calibration object move_to(Z_AXIS, m.obj_center[Z_AXIS] + m.dimensions[Z_AXIS] / 2 + uncertainty); - /* Move to center of calibration object in XY */ + // Move to center of calibration object in XY move_to(X_AXIS, m.obj_center[X_AXIS], Y_AXIS, m.obj_center[Y_AXIS]); } @@ -228,6 +242,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state, * 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 float dimensions[] = CALIBRATION_OBJECT_DIMENSIONS; AxisEnum axis; float dir; @@ -236,7 +251,7 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t switch(side) { case TOP: { const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty); - m.obj_center[Z_AXIS] = measurement - m.dimensions[Z_AXIS] / 2; + m.obj_center[Z_AXIS] = measurement - dimensions[Z_AXIS] / 2; m.obj_side[TOP] = measurement; return; } @@ -250,18 +265,18 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t if (probe_top_at_edge) { // Probe top nearest the side we are probing - move_to(axis, m.obj_center[axis] + (-dir) * (m.dimensions[axis] / 2 - m.nozzle_outer_dimension[axis])); + move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis])); m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty); - m.obj_center[Z_AXIS] = m.obj_side[TOP] - m.dimensions[Z_AXIS] / 2; + m.obj_center[Z_AXIS] = m.obj_side[TOP] - dimensions[Z_AXIS] / 2; } // Move to safe distance to the side of the calibration object - move_to(axis, m.obj_center[axis] + (-dir) * (m.dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty)); + move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty)); // Plunge below the side of the calibration object and measure move_to(Z_AXIS, m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7); const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty); - m.obj_center[axis] = measurement + dir * (m.dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2); + m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2); m.obj_side[side] = measurement; } @@ -272,14 +287,11 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t * uncertainty in - How far away from the calibration object to begin probing */ inline void probe_sides(measurements_t &m, const float uncertainty) { - TEMPORARY_ENDSTOP_STATE(false); - #ifdef 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. - */ + // 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 @@ -287,9 +299,11 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { #ifdef CALIBRATION_MEASURE_RIGHT probe_side(m, uncertainty, RIGHT, probe_top_at_edge); #endif + #ifdef CALIBRATION_MEASURE_FRONT probe_side(m, uncertainty, FRONT, probe_top_at_edge); #endif + #ifdef CALIBRATION_MEASURE_LEFT probe_side(m, uncertainty, LEFT, probe_top_at_edge); #endif @@ -297,7 +311,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { probe_side(m, uncertainty, BACK, probe_top_at_edge); #endif - /* Compute the measured center of the calibration object. */ + // Compute the measured center of the calibration object. #if HAS_X_CENTER m.obj_center[X_AXIS] = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2; #endif @@ -305,8 +319,8 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { m.obj_center[Y_AXIS] = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2; #endif - /* Compute the outside diameter of the nozzle at the height - * at which it makes contact with the calibration object */ + // Compute the outside diameter of the nozzle at the height + // at which it makes contact with the calibration object #if HAS_X_CENTER m.nozzle_outer_dimension[X_AXIS] = m.obj_side[RIGHT] - m.obj_side[LEFT] - m.dimensions[X_AXIS]; #endif @@ -316,8 +330,8 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { park_above_object(m, uncertainty); - /* The positional error is the difference between the known calibration - * object location and the measured calibration object location */ + // The difference between the known and the measured location + // of the calibration object is the positional error m.pos_error[X_AXIS] = #if HAS_X_CENTER m.true_center[X_AXIS] - m.obj_center[X_AXIS]; @@ -434,9 +448,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { // Backlash compensation should be off while measuring backlash { - // New scope for TEMPORARY_BACKLASH_STATE - TEMPORARY_BACKLASH_STATE(false); - TEMPORARY_BACKLASH_SMOOTHING(0); + // New scope for TEMPORARY_BACKLASH_CORRECTION + TEMPORARY_BACKLASH_CORRECTION(0.0f); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); probe_sides(m, uncertainty); @@ -466,9 +480,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { // directions to take up any backlash { - // New scope for TEMPORARY_BACKLASH_STATE - TEMPORARY_BACKLASH_STATE(true); - TEMPORARY_BACKLASH_SMOOTHING(0); + // New scope for TEMPORARY_BACKLASH_CORRECTION + TEMPORARY_BACKLASH_CORRECTION(1.0f); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); move_to( X_AXIS, current_position[X_AXIS] + 3, Y_AXIS, current_position[Y_AXIS] + 3, @@ -484,8 +498,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { } inline void update_measurements(measurements_t &m, const AxisEnum axis) { + const float true_center[XYZ] = CALIBRATION_OBJECT_CENTER; current_position[axis] += m.pos_error[axis]; - m.obj_center[axis] = m.true_center[axis]; + m.obj_center[axis] = true_center[axis]; m.pos_error[axis] = 0; } @@ -501,8 +516,8 @@ inline void update_measurements(measurements_t &m, const AxisEnum axis) { * - Call calibrate_backlash() beforehand for best accuracy */ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) { - TEMPORARY_BACKLASH_STATE(true); - TEMPORARY_BACKLASH_SMOOTHING(0); + TEMPORARY_BACKLASH_CORRECTION(1.0f); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); #if HOTENDS > 1 set_nozzle(m, extruder); @@ -510,7 +525,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const probe_sides(m, uncertainty); - /* Adjust the hotend offset */ + // Adjust the hotend offset #if HOTENDS > 1 #if HAS_X_CENTER hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS]; @@ -545,8 +560,8 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const * uncertainty in - How far away from the object to begin probing */ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) { - TEMPORARY_BACKLASH_STATE(true); - TEMPORARY_BACKLASH_SMOOTHING(0); + TEMPORARY_BACKLASH_CORRECTION(1.0f); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e); @@ -574,23 +589,22 @@ inline void calibrate_all() { reset_nozzle_offsets(); #endif - TEMPORARY_BACKLASH_STATE(true); - TEMPORARY_BACKLASH_SMOOTHING(0); + TEMPORARY_BACKLASH_CORRECTION(1.0f); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); - - /* Do a fast and rough calibration of the toolheads */ + // Do a fast and rough calibration of the toolheads calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNKNOWN); #if ENABLED(BACKLASH_GCODE) calibrate_backlash(m, CALIBRATION_MEASUREMENT_UNCERTAIN); #endif - /* Cycle the toolheads so the servos settle into their "natural" positions */ + // Cycle the toolheads so the servos settle into their "natural" positions #if HOTENDS > 1 HOTEND_LOOP() set_nozzle(m, e); #endif - /* Do a slow and precise calibration of the toolheads */ + // Do a slow and precise calibration of the toolheads calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN); move_to(X_AXIS, 150); // Park nozzle away from calibration object @@ -607,6 +621,9 @@ inline void calibrate_all() { * no args - Perform entire calibration sequence (backlash + position on all toolheads) */ void GcodeSuite::G425() { + TEMPORARY_SOFT_ENDSTOP_STATE(false); + TEMPORARY_BED_LEVELING_STATE(false); + if (axis_unhomed_error()) return; measurements_t m;