From b220bc75216ce437a7cf808e589cb21144ffe3e3 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 6 Oct 2017 15:47:51 -0500 Subject: [PATCH] Apply G33 updates Adapted from #7865 --- Marlin/src/gcode/calibrate/G33.cpp | 81 +++++++++++++++++++----------- 1 file changed, 53 insertions(+), 28 deletions(-) diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp index 2fd07806c..0b3d75313 100644 --- a/Marlin/src/gcode/calibrate/G33.cpp +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -107,6 +107,34 @@ static void G33_cleanup( #endif } +/** + * G33 - Delta '1-4-7-point' Auto-Calibration + * Calibrate height, endstops, delta radius, and tower angles. + * + * Parameters: + * + * Pn Number of probe points: + * + * P0 No probe. Normalize only. + * P1 Probe center and set height only. + * P2 Probe center and towers. Set height, endstops, and delta radius. + * P3 Probe all positions: center, towers and opposite towers. Set all. + * P4-P7 Probe all positions at different locations and average them. + * + * T0 Don't calibrate tower angle corrections + * + * Cn.nn Calibration precision; when omitted calibrates to maximum precision + * + * Fn Force to run at least n iterations and takes the best result + * + * Vn Verbose level: + * + * V0 Dry-run mode. Report settings and probe results. No calibration. + * V1 Report settings + * V2 Report settings and probe results + * + * E Engage the probe for each point + */ void GcodeSuite::G33() { const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS); @@ -134,6 +162,7 @@ void GcodeSuite::G33() { } const bool towers_set = parser.boolval('T', true), + stow_after_each = parser.boolval('E'), _0p_calibration = probe_points == 0, _1p_calibration = probe_points == 1, _4p_calibration = probe_points == 2, @@ -146,15 +175,9 @@ void GcodeSuite::G33() { _7p_quadruple_circle = probe_points == 7, _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle, _7p_intermed_points = _7p_calibration && !_7p_half_circle; - - #if DISABLED(PROBE_MANUALLY) - const bool stow_after_each = parser.boolval('E'); - const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER), - dy = (Y_PROBE_OFFSET_FROM_EXTRUDER); - #endif - const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; - + const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER), + dy = (Y_PROBE_OFFSET_FROM_EXTRUDER); int8_t iterations = 0; float test_precision, zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end @@ -189,7 +212,6 @@ void GcodeSuite::G33() { SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); stepper.synchronize(); - #if HAS_LEVELING reset_bed_level(); // After calibration bed-level data is no longer valid #endif @@ -220,19 +242,11 @@ void GcodeSuite::G33() { print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); - #if DISABLED(PROBE_MANUALLY) - if (!_0p_calibration) { - const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height - if (isnan(measured_z)) return G33_CLEANUP(); - home_offset[Z_AXIS] -= measured_z; - } - #endif - do { float z_at_pt[13] = { 0.0 }; - test_precision = _0p_calibration ? 0.00 : zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; + test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; iterations++; @@ -301,7 +315,7 @@ void GcodeSuite::G33() { // Solve matrices - if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) { + if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) { if (zero_std_dev < zero_std_dev_min) { COPY(e_old, delta_endstop_adj); dr_old = delta_radius; @@ -311,9 +325,9 @@ void GcodeSuite::G33() { float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 }; const float r_diff = delta_radius - delta_calibration_radius, - h_factor = (1.00 + r_diff * 0.001) / 6.0, //1.02 / 6 for r_diff = 20mm - r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)) / 6.0, //2.25 / 6 for r_diff = 20mm - a_factor = 66.66 / delta_calibration_radius; //1.25 for cal_rd = 80mm + h_factor = (1.00 + r_diff * 0.001) / 6.0, // 1.02 for r_diff = 20mm + r_factor = (-(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff))) / 6.0, // 2.25 for r_diff = 20mm + a_factor = (66.66 / delta_calibration_radius) / (iterations == 1 ? 16.0 : 2.0); // 0.83 for cal_rd = 80mm #define ZP(N,I) ((N) * z_at_pt[I]) #define Z6(I) ZP(6, I) @@ -326,8 +340,16 @@ void GcodeSuite::G33() { #endif switch (probe_points) { + case 0: + #if DISABLED(PROBE_MANUALLY) + test_precision = 0.00; // forced end + #endif + break; + case 1: - test_precision = 0.00; // forced end + #if DISABLED(PROBE_MANUALLY) + test_precision = 0.00; // forced end + #endif LOOP_XYZ(axis) e_delta[axis] = Z1(0); break; @@ -353,9 +375,12 @@ void GcodeSuite::G33() { r_delta = (Z6(0) - Z1(1) - Z1(5) - Z1(9) - Z1(7) - Z1(11) - Z1(3)) * r_factor; if (towers_set) { - t_delta[A_AXIS] = ( - Z2(5) + Z1(9) - Z2(11) + Z1(3)) * a_factor; - t_delta[B_AXIS] = ( Z2(1) - Z1(9) + Z2(7) - Z1(3)) * a_factor; - t_delta[C_AXIS] = ( -Z2(1) + Z1(5) - Z2(7) + Z1(11) ) * a_factor; + t_delta[A_AXIS] = ( - Z2(5) + Z2(9) - Z2(11) + Z2(3)) * a_factor; + t_delta[B_AXIS] = ( Z2(1) - Z2(9) + Z2(7) - Z2(3)) * a_factor; + t_delta[C_AXIS] = (-Z2(1) + Z2(5) - Z2(7) + Z2(11) ) * a_factor; + e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5; + e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5; + e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5; } break; } @@ -407,7 +432,7 @@ void GcodeSuite::G33() { } } if (verbose_level != 0) { // !dry run - if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) { // end iterations + if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations SERIAL_PROTOCOLPGM("Calibration OK"); SERIAL_PROTOCOL_SP(36); #if DISABLED(PROBE_MANUALLY) @@ -469,7 +494,7 @@ void GcodeSuite::G33() { endstops.not_homing(); } - while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations); + while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision); G33_CLEANUP(); }