Fix G34, add HOME_AFTER_G34 option (#17108)
Co-authored-by: Scott Lahteine <github@thinkyhead.com>
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5 changed files with 39 additions and 21 deletions
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@ -718,6 +718,9 @@
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#define Z_STEPPER_ALIGN_ITERATIONS 5 // Number of iterations to apply during alignment
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#define Z_STEPPER_ALIGN_ACC 0.02 // Stop iterating early if the accuracy is better than this
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#define RESTORE_LEVELING_AFTER_G34 // Restore leveling after G34 is done?
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// After G34, re-home Z (G28 Z) or just calculate it from the last probe heights?
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// Re-homing might be more precise in reproducing the actual 'G28 Z' homing height, especially on an uneven bed.
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#define HOME_AFTER_G34
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#endif
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// @section motion
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@ -141,11 +141,11 @@ void GcodeSuite::G34() {
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// iteration this will be re-calculated based on the actual bed position
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float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
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#if NUM_Z_STEPPER_DRIVERS == 3
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SQRT(_MAX(HYPOT2(z_stepper_align.xy[0].x - z_stepper_align.xy[0].y, z_stepper_align.xy[1].x - z_stepper_align.xy[1].y),
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HYPOT2(z_stepper_align.xy[1].x - z_stepper_align.xy[1].y, z_stepper_align.xy[2].x - z_stepper_align.xy[2].y),
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HYPOT2(z_stepper_align.xy[2].x - z_stepper_align.xy[2].y, z_stepper_align.xy[0].x - z_stepper_align.xy[0].y)))
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SQRT(_MAX(HYPOT2(z_stepper_align.xy[0].x - z_stepper_align.xy[1].x, z_stepper_align.xy[0].y - z_stepper_align.xy[1].y),
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HYPOT2(z_stepper_align.xy[1].x - z_stepper_align.xy[2].x, z_stepper_align.xy[1].y - z_stepper_align.xy[2].y),
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HYPOT2(z_stepper_align.xy[2].x - z_stepper_align.xy[0].x, z_stepper_align.xy[2].y - z_stepper_align.xy[0].y)))
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#else
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HYPOT(z_stepper_align.xy[0].x - z_stepper_align.xy[0].y, z_stepper_align.xy[1].x - z_stepper_align.xy[1].y)
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HYPOT(z_stepper_align.xy[0].x - z_stepper_align.xy[1].x, z_stepper_align.xy[0].y - z_stepper_align.xy[1].y)
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#endif
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);
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@ -156,6 +156,7 @@ void GcodeSuite::G34() {
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current_position.z += z_probe * 0.5f;
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sync_plan_position();
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// Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error.
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// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f);
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@ -166,8 +167,10 @@ void GcodeSuite::G34() {
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z_maxdiff = 0.0f,
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amplification = z_auto_align_amplification;
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// These are needed after the for-loop
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uint8_t iteration;
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bool err_break = false;
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float z_measured_min;
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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bool adjustment_reverse = false;
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@ -181,8 +184,8 @@ void GcodeSuite::G34() {
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SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1));
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// Initialize minimum value
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float z_measured_min = 100000.0f,
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z_measured_max = -100000.0f;
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z_measured_min = 100000.0f;
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float z_measured_max = -100000.0f;
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// Probe all positions (one per Z-Stepper)
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LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
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@ -238,14 +241,14 @@ void GcodeSuite::G34() {
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linear_fit_data lfd;
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incremental_LSF_reset(&lfd);
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LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
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SERIAL_ECHOLNPAIR("PROBEPT_", i + '1', ": ", z_measured[i]);
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SERIAL_ECHOLNPAIR("PROBEPT_", ('0' + i), ": ", z_measured[i]);
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incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
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}
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finish_incremental_LSF(&lfd);
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z_measured_min = 100000.0f;
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LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
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z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y);
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z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D);
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z_measured_min = _MIN(z_measured_min, z_measured[i]);
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}
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@ -345,7 +348,11 @@ void GcodeSuite::G34() {
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} // for (iteration)
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if (err_break) { SERIAL_ECHOLNPGM("G34 aborted."); break; }
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if (err_break) {
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SERIAL_ECHOLNPGM("G34 aborted.");
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set_axis_not_trusted(Z_AXIS); // The Z coordinate is messed up now
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break;
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}
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SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " iterations of ", int(z_auto_align_iterations));
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SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
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@ -363,15 +370,23 @@ void GcodeSuite::G34() {
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set_bed_leveling_enabled(leveling_was_active);
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#endif
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// After this operation the z position needs correction
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set_axis_is_not_at_home(Z_AXIS);
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// Stow the probe, as the last call to probe.probe_at_point(...) left
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// the probe deployed if it was successful.
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probe.stow();
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// Home Z after the alignment procedure
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process_subcommands_now_P(PSTR("G28 Z"));
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#if ENABLED(HOME_AFTER_G34)
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// After this operation the z position needs correction
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set_axis_not_trusted(Z_AXIS);
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// Home Z after the alignment procedure
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process_subcommands_now_P(PSTR("G28Z"));
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#else
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// Use the probed height from the last iteration to determine the Z height.
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// z_measured_min is used, because all steppers are aligned to z_measured_min.
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// Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier.
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current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES;
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sync_plan_position();
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#endif
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}while(0);
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@ -393,9 +393,9 @@ void menu_motion() {
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//
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GCODES_ITEM(MSG_AUTO_HOME, G28_STR);
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#if ENABLED(INDIVIDUAL_AXIS_HOMING_MENU)
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GCODES_ITEM(MSG_AUTO_HOME_X, PSTR("G28 X"));
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GCODES_ITEM(MSG_AUTO_HOME_Y, PSTR("G28 Y"));
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GCODES_ITEM(MSG_AUTO_HOME_Z, PSTR("G28 Z"));
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GCODES_ITEM(MSG_AUTO_HOME_X, PSTR("G28X"));
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GCODES_ITEM(MSG_AUTO_HOME_Y, PSTR("G28Y"));
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GCODES_ITEM(MSG_AUTO_HOME_Z, PSTR("G28Z"));
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#endif
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//
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@ -1460,13 +1460,13 @@ void set_axis_is_at_home(const AxisEnum axis) {
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/**
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* Set an axis' to be unhomed.
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*/
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void set_axis_is_not_at_home(const AxisEnum axis) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_not_at_home(", axis_codes[axis], ")");
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void set_axis_not_trusted(const AxisEnum axis) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_not_trusted(", axis_codes[axis], ")");
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CBI(axis_known_position, axis);
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CBI(axis_homed, axis);
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_is_not_at_home(", axis_codes[axis], ")");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_not_trusted(", axis_codes[axis], ")");
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#if ENABLED(I2C_POSITION_ENCODERS)
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I2CPEM.unhomed(axis);
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@ -244,7 +244,7 @@ bool axis_unhomed_error(uint8_t axis_bits=0x07);
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void set_axis_is_at_home(const AxisEnum axis);
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void set_axis_is_not_at_home(const AxisEnum axis);
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void set_axis_not_trusted(const AxisEnum axis);
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void homeaxis(const AxisEnum axis);
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