From 627aa8db2dcb59584a815095e4a382a556323a9c Mon Sep 17 00:00:00 2001 From: jufimu12 Date: Wed, 11 Mar 2020 02:00:26 +0100 Subject: [PATCH] Fix G34, add HOME_AFTER_G34 option (#17108) Co-authored-by: Scott Lahteine --- Marlin/Configuration_adv.h | 3 ++ Marlin/src/gcode/calibrate/G34_M422.cpp | 43 +++++++++++++++++-------- Marlin/src/lcd/menu/menu_motion.cpp | 6 ++-- Marlin/src/module/motion.cpp | 6 ++-- Marlin/src/module/motion.h | 2 +- 5 files changed, 39 insertions(+), 21 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index eed781527..f405085c9 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -718,6 +718,9 @@ #define Z_STEPPER_ALIGN_ITERATIONS 5 // Number of iterations to apply during alignment #define Z_STEPPER_ALIGN_ACC 0.02 // Stop iterating early if the accuracy is better than this #define RESTORE_LEVELING_AFTER_G34 // Restore leveling after G34 is done? + // After G34, re-home Z (G28 Z) or just calculate it from the last probe heights? + // Re-homing might be more precise in reproducing the actual 'G28 Z' homing height, especially on an uneven bed. + #define HOME_AFTER_G34 #endif // @section motion diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp index 5dcad991f..087172518 100644 --- a/Marlin/src/gcode/calibrate/G34_M422.cpp +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -141,11 +141,11 @@ void GcodeSuite::G34() { // iteration this will be re-calculated based on the actual bed position float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * ( #if NUM_Z_STEPPER_DRIVERS == 3 - 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), - 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), - 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))) + 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), + 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), + 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))) #else - 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) + 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) #endif ); @@ -156,6 +156,7 @@ void GcodeSuite::G34() { current_position.z += z_probe * 0.5f; sync_plan_position(); // Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error. + // 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); @@ -166,8 +167,10 @@ void GcodeSuite::G34() { z_maxdiff = 0.0f, amplification = z_auto_align_amplification; + // These are needed after the for-loop uint8_t iteration; bool err_break = false; + float z_measured_min; #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) bool adjustment_reverse = false; @@ -181,8 +184,8 @@ void GcodeSuite::G34() { SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1)); // Initialize minimum value - float z_measured_min = 100000.0f, - z_measured_max = -100000.0f; + z_measured_min = 100000.0f; + float z_measured_max = -100000.0f; // Probe all positions (one per Z-Stepper) LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { @@ -238,14 +241,14 @@ void GcodeSuite::G34() { linear_fit_data lfd; incremental_LSF_reset(&lfd); LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { - SERIAL_ECHOLNPAIR("PROBEPT_", i + '1', ": ", z_measured[i]); + SERIAL_ECHOLNPAIR("PROBEPT_", ('0' + i), ": ", z_measured[i]); incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]); } finish_incremental_LSF(&lfd); z_measured_min = 100000.0f; LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { - z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y); + z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D); z_measured_min = _MIN(z_measured_min, z_measured[i]); } @@ -345,7 +348,11 @@ void GcodeSuite::G34() { } // for (iteration) - if (err_break) { SERIAL_ECHOLNPGM("G34 aborted."); break; } + if (err_break) { + SERIAL_ECHOLNPGM("G34 aborted."); + set_axis_not_trusted(Z_AXIS); // The Z coordinate is messed up now + break; + } SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " iterations of ", int(z_auto_align_iterations)); SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff); @@ -363,15 +370,23 @@ void GcodeSuite::G34() { set_bed_leveling_enabled(leveling_was_active); #endif - // After this operation the z position needs correction - set_axis_is_not_at_home(Z_AXIS); - // Stow the probe, as the last call to probe.probe_at_point(...) left // the probe deployed if it was successful. probe.stow(); - // Home Z after the alignment procedure - process_subcommands_now_P(PSTR("G28 Z")); + #if ENABLED(HOME_AFTER_G34) + // After this operation the z position needs correction + set_axis_not_trusted(Z_AXIS); + + // Home Z after the alignment procedure + process_subcommands_now_P(PSTR("G28Z")); + #else + // Use the probed height from the last iteration to determine the Z height. + // z_measured_min is used, because all steppers are aligned to z_measured_min. + // Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier. + current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES; + sync_plan_position(); + #endif }while(0); diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp index 12cc7a331..3f14e5878 100644 --- a/Marlin/src/lcd/menu/menu_motion.cpp +++ b/Marlin/src/lcd/menu/menu_motion.cpp @@ -393,9 +393,9 @@ void menu_motion() { // GCODES_ITEM(MSG_AUTO_HOME, G28_STR); #if ENABLED(INDIVIDUAL_AXIS_HOMING_MENU) - GCODES_ITEM(MSG_AUTO_HOME_X, PSTR("G28 X")); - GCODES_ITEM(MSG_AUTO_HOME_Y, PSTR("G28 Y")); - GCODES_ITEM(MSG_AUTO_HOME_Z, PSTR("G28 Z")); + GCODES_ITEM(MSG_AUTO_HOME_X, PSTR("G28X")); + GCODES_ITEM(MSG_AUTO_HOME_Y, PSTR("G28Y")); + GCODES_ITEM(MSG_AUTO_HOME_Z, PSTR("G28Z")); #endif // diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index b1c0f3790..c1d8fceaa 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -1460,13 +1460,13 @@ void set_axis_is_at_home(const AxisEnum axis) { /** * Set an axis' to be unhomed. */ -void set_axis_is_not_at_home(const AxisEnum axis) { - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_not_at_home(", axis_codes[axis], ")"); +void set_axis_not_trusted(const AxisEnum axis) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_not_trusted(", axis_codes[axis], ")"); CBI(axis_known_position, axis); CBI(axis_homed, axis); - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_is_not_at_home(", axis_codes[axis], ")"); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_not_trusted(", axis_codes[axis], ")"); #if ENABLED(I2C_POSITION_ENCODERS) I2CPEM.unhomed(axis); diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 4dfbe629d..f6a75a91a 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -244,7 +244,7 @@ bool axis_unhomed_error(uint8_t axis_bits=0x07); void set_axis_is_at_home(const AxisEnum axis); -void set_axis_is_not_at_home(const AxisEnum axis); +void set_axis_not_trusted(const AxisEnum axis); void homeaxis(const AxisEnum axis);