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[2.0.x] G33 magic numbers (#8171)

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* [2.0.x] G33 magic numbers

* oops

* Comments

* oops

* warning

* better comment section

* remarks

* extra grids
This commit is contained in:
Luc Van Daele 2017-11-03 09:36:16 +01:00 committed by Scott Lahteine
parent 8735ae984b
commit 6827e243a0
7 changed files with 139 additions and 98 deletions
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4
Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
View file

@ -497,7 +497,7 @@
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A1' // Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01 //#define H_FACTOR 1.01
//#define R_FACTOR 2.61 //#define R_FACTOR 2.61
//#define A_FACTOR 0.87 //#define A_FACTOR 0.87
@ -505,7 +505,7 @@
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // mm #define DELTA_CALIBRATION_RADIUS 73.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP 0.025

4
Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
View file

@ -497,7 +497,7 @@
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A1' // Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01 //#define H_FACTOR 1.01
//#define R_FACTOR 2.61 //#define R_FACTOR 2.61
//#define A_FACTOR 0.87 //#define A_FACTOR 0.87
@ -505,7 +505,7 @@
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // mm #define DELTA_CALIBRATION_RADIUS 73.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP 0.025

4
Marlin/src/config/examples/delta/generic/Configuration.h
View file

@ -487,7 +487,7 @@
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A1' // Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01 //#define H_FACTOR 1.01
//#define R_FACTOR 2.61 //#define R_FACTOR 2.61
//#define A_FACTOR 0.87 //#define A_FACTOR 0.87
@ -495,7 +495,7 @@
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // mm #define DELTA_CALIBRATION_RADIUS 121.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP 0.025

4
Marlin/src/config/examples/delta/kossel_mini/Configuration.h
View file

@ -487,7 +487,7 @@
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A1' // Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01 //#define H_FACTOR 1.01
//#define R_FACTOR 2.61 //#define R_FACTOR 2.61
//#define A_FACTOR 0.87 //#define A_FACTOR 0.87
@ -495,7 +495,7 @@
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 78.0 // mm #define DELTA_CALIBRATION_RADIUS 78.0 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP 0.025

4
Marlin/src/config/examples/delta/kossel_pro/Configuration.h
View file

@ -473,7 +473,7 @@
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A1' // Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01 //#define H_FACTOR 1.01
//#define R_FACTOR 2.61 //#define R_FACTOR 2.61
//#define A_FACTOR 0.87 //#define A_FACTOR 0.87
@ -481,7 +481,7 @@
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 110.0 // mm #define DELTA_CALIBRATION_RADIUS 110.0 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP 0.025

4
Marlin/src/config/examples/delta/kossel_xl/Configuration.h
View file

@ -491,7 +491,7 @@
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A1' // Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01 //#define H_FACTOR 1.01
//#define R_FACTOR 2.61 //#define R_FACTOR 2.61
//#define A_FACTOR 0.87 //#define A_FACTOR 0.87
@ -499,7 +499,7 @@
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // mm #define DELTA_CALIBRATION_RADIUS 121.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP 0.025

213
Marlin/src/gcode/calibrate/G33.cpp
View file

@ -37,6 +37,26 @@
#include "../../feature/bedlevel/bedlevel.h" #include "../../feature/bedlevel/bedlevel.h"
#endif #endif
constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
_4P_STEP = _7P_STEP * 2, // 4-point step
NPP = _7P_STEP * 6; // number of calibration points on the radius
enum CalEnum { // the 7 main calibration points - add definitions if needed
CEN = 0,
__A = 1,
_AB = __A + _7P_STEP,
__B = _AB + _7P_STEP,
_BC = __B + _7P_STEP,
__C = _BC + _7P_STEP,
_CA = __C + _7P_STEP,
};
#define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
#define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
#define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
#define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
#define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
#define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
static void print_signed_float(const char * const prefix, const float &f) { static void print_signed_float(const char * const prefix, const float &f) {
SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOLPGM(" ");
serialprintPGM(prefix); serialprintPGM(prefix);
@ -69,13 +89,13 @@ static void print_G33_settings(const bool end_stops, const bool tower_angles) {
SERIAL_EOL(); SERIAL_EOL();
} }
static void print_G33_results(const float z_at_pt[13], const bool tower_points, const bool opposite_points) { static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
SERIAL_PROTOCOLPGM(". "); SERIAL_PROTOCOLPGM(". ");
print_signed_float(PSTR("c"), z_at_pt[0]); print_signed_float(PSTR("c"), z_at_pt[CEN]);
if (tower_points) { if (tower_points) {
print_signed_float(PSTR(" x"), z_at_pt[1]); print_signed_float(PSTR(" x"), z_at_pt[__A]);
print_signed_float(PSTR(" y"), z_at_pt[5]); print_signed_float(PSTR(" y"), z_at_pt[__B]);
print_signed_float(PSTR(" z"), z_at_pt[9]); print_signed_float(PSTR(" z"), z_at_pt[__C]);
} }
if (tower_points && opposite_points) { if (tower_points && opposite_points) {
SERIAL_EOL(); SERIAL_EOL();
@ -83,9 +103,9 @@ static void print_G33_results(const float z_at_pt[13], const bool tower_points,
SERIAL_PROTOCOL_SP(13); SERIAL_PROTOCOL_SP(13);
} }
if (opposite_points) { if (opposite_points) {
print_signed_float(PSTR("yz"), z_at_pt[7]); print_signed_float(PSTR("yz"), z_at_pt[_BC]);
print_signed_float(PSTR("zx"), z_at_pt[11]); print_signed_float(PSTR("zx"), z_at_pt[_CA]);
print_signed_float(PSTR("xy"), z_at_pt[3]); print_signed_float(PSTR("xy"), z_at_pt[_AB]);
} }
SERIAL_EOL(); SERIAL_EOL();
} }
@ -112,85 +132,111 @@ static void G33_cleanup(
#endif #endif
} }
static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, const bool towers_set, const bool stow_after_each) { static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
const bool _0p_calibration = probe_points == 0, const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1, _1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2, _4p_calibration = probe_points == 2,
_4p_opposite_points = _4p_calibration && !towers_set, _4p_opposite_points = _4p_calibration && !towers_set,
_7p_calibration = probe_points >= 3 || probe_points == 0, _7p_calibration = probe_points >= 3 || probe_points == 0,
_7p_half_circle = probe_points == 3, _7p_no_intermediates = probe_points == 3,
_7p_double_circle = probe_points == 5, _7p_1_intermediates = probe_points == 4,
_7p_triple_circle = probe_points == 6, _7p_2_intermediates = probe_points == 5,
_7p_quadruple_circle = probe_points == 7, _7p_4_intermediates = probe_points == 6,
_7p_6_intermediates = probe_points == 7,
_7p_8_intermediates = probe_points == 8,
_7p_11_intermediates = probe_points == 9,
_7p_14_intermediates = probe_points == 10,
_7p_intermed_points = probe_points >= 4, _7p_intermed_points = probe_points >= 4,
_7p_multi_circle = probe_points >= 5; _7p_6_centre = probe_points >= 5 && probe_points <= 7,
_7p_9_centre = probe_points >= 8;
#if DISABLED(PROBE_MANUALLY) #if DISABLED(PROBE_MANUALLY)
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER), const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER); dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
#endif #endif
for (uint8_t i = 0; i <= 12; i++) z_at_pt[i] = 0.0; LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
if (!_0p_calibration) { if (!_0p_calibration) {
if (!_7p_half_circle && !_7p_triple_circle) { // probe the center if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
#if ENABLED(PROBE_MANUALLY) #if ENABLED(PROBE_MANUALLY)
z_at_pt[0] += lcd_probe_pt(0, 0); z_at_pt[CEN] += lcd_probe_pt(0, 0);
#else #else
z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false); z_at_pt[CEN] += probe_pt(dx, dy, stow_after_each, 1, false);
#endif #endif
} }
if (_7p_calibration) { // probe extra center points if (_7p_calibration) { // probe extra center points
for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) { const float start = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C,
const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1; steps = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP;
I_LOOP_CAL_PT(axis, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
r = delta_calibration_radius * 0.1;
#if ENABLED(PROBE_MANUALLY) #if ENABLED(PROBE_MANUALLY)
z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r); z_at_pt[CEN] += lcd_probe_pt(cos(a) * r, sin(a) * r);
#else #else
z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); z_at_pt[CEN] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
#endif #endif
} }
z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points); z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
} }
if (!_1p_calibration) { // probe the radius if (!_1p_calibration) { // probe the radius
const CalEnum start = _4p_opposite_points ? _AB : __A;
const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
_7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
_7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
_7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
_7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
_7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
_7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
_7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
_4P_STEP; // .5r * 6 + 1c = 4
bool zig_zag = true; bool zig_zag = true;
const uint8_t start = _4p_opposite_points ? 3 : 1, F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) {
step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1; const int8_t offset = _7p_9_centre ? 1 : 0;
for (uint8_t axis = start; axis <= 12; axis += step) { for (int8_t circle = -offset; circle <= offset; circle++) {
const float zigadd = (zig_zag ? 0.5 : 0.0), const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
offset_circles = _7p_quadruple_circle ? zigadd + 1.0 : r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
_7p_triple_circle ? zigadd + 0.5 : interpol = fmod(axis, 1);
_7p_double_circle ? zigadd : 0;
for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
const float a = RADIANS(180 + 30 * axis),
r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
#if ENABLED(PROBE_MANUALLY) #if ENABLED(PROBE_MANUALLY)
z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r); float z_temp = lcd_probe_pt(cos(a) * r, sin(a) * r);
#else #else
z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); float z_temp = probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
#endif #endif
// split probe point to neighbouring calibration points
z_at_pt[round(axis - interpol + NPP - 1) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
z_at_pt[round(axis - interpol) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
} }
zig_zag = !zig_zag; zig_zag = !zig_zag;
z_at_pt[axis] /= (2 * offset_circles + 1);
} }
if (_7p_intermed_points)
LOOP_CAL_RAD(axis) {
/*
// average intermediate points to towers and opposites - only required with _7P_STEP >= 2
for (int8_t i = 1; i < _7P_STEP; i++) {
const float interpol = i * (1.0 / _7P_STEP);
z_at_pt[axis] += (z_at_pt[(axis + NPP - i - 1) % NPP + 1]
+ z_at_pt[axis + i]) * sq(cos(RADIANS(interpol * 90)));
}
*/
z_at_pt[axis] /= _7P_STEP / steps;
}
} }
if (_7p_intermed_points) // average intermediates to tower and opposites
for (uint8_t axis = 1; axis <= 12; axis += 2)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
float S1 = z_at_pt[0], float S1 = z_at_pt[CEN],
S2 = sq(z_at_pt[0]); S2 = sq(z_at_pt[CEN]);
int16_t N = 1; int16_t N = 1;
if (!_1p_calibration) // std dev from zero plane if (!_1p_calibration) { // std dev from zero plane
for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis <= 12; axis += (_4p_calibration ? 4 : 2)) { LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
S1 += z_at_pt[axis]; S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]); S2 += sq(z_at_pt[axis]);
N++; N++;
} }
return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001; return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
}
} }
return 0.00001; return 0.00001;
@ -199,8 +245,8 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
#if DISABLED(PROBE_MANUALLY) #if DISABLED(PROBE_MANUALLY)
static void G33_auto_tune() { static void G33_auto_tune() {
float z_at_pt[13] = { 0.0 }, float z_at_pt[NPP + 1] = { 0.0 },
z_at_pt_base[13] = { 0.0 }, z_at_pt_base[NPP + 1] = { 0.0 },
z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8; z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
#define ZP(N,I) ((N) * z_at_pt[I]) #define ZP(N,I) ((N) * z_at_pt[I])
@ -227,18 +273,18 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
SERIAL_EOL(); SERIAL_EOL();
probe_G33_points(z_at_pt, 3, true, false); probe_G33_points(z_at_pt, 3, true, false);
for (int8_t i = 0; i <= 12; i++) z_at_pt[i] -= z_at_pt_base[i]; LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
print_G33_results(z_at_pt, true, true); print_G33_results(z_at_pt, true, true);
delta_endstop_adj[axis] += 1.0; delta_endstop_adj[axis] += 1.0;
switch (axis) { switch (axis) {
case A_AXIS : case A_AXIS :
h_fac += 4.0 / (Z03(0) +Z01(1) +Z32(11) +Z32(3)); // Offset by X-tower end-stop h_fac += 4.0 / (Z03(CEN) +Z01(__A) +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
break; break;
case B_AXIS : case B_AXIS :
h_fac += 4.0 / (Z03(0) +Z01(5) +Z32(7) +Z32(3)); // Offset by Y-tower end-stop h_fac += 4.0 / (Z03(CEN) +Z01(__B) +Z32(_BC) +Z32(_AB)); // Offset by Y-tower end-stop
break; break;
case C_AXIS : case C_AXIS :
h_fac += 4.0 / (Z03(0) +Z01(9) +Z32(7) +Z32(11) ); // Offset by Z-tower end-stop h_fac += 4.0 / (Z03(CEN) +Z01(__C) +Z32(_BC) +Z32(_CA) ); // Offset by Z-tower end-stop
break; break;
} }
} }
@ -257,11 +303,11 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+"); SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
SERIAL_EOL(); SERIAL_EOL();
probe_G33_points(z_at_pt, 3, true, false); probe_G33_points(z_at_pt, 3, true, false);
for (int8_t i = 0; i <= 12; i++) z_at_pt[i] -= z_at_pt_base[i]; LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
print_G33_results(z_at_pt, true, true); print_G33_results(z_at_pt, true, true);
delta_radius -= 1.0 * zig_zag; delta_radius -= 1.0 * zig_zag;
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim); recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
r_fac -= zig_zag * 6.0 / (Z03(1) + Z03(5) + Z03(9) + Z03(7) + Z03(11) + Z03(3)); // Offset by delta radius r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
} }
r_fac /= 2.0; r_fac /= 2.0;
r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
@ -284,7 +330,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
SERIAL_EOL(); SERIAL_EOL();
probe_G33_points(z_at_pt, 3, true, false); probe_G33_points(z_at_pt, 3, true, false);
for (int8_t i = 0; i <= 12; i++) z_at_pt[i] -= z_at_pt_base[i]; LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
print_G33_results(z_at_pt, true, true); print_G33_results(z_at_pt, true, true);
delta_tower_angle_trim[axis] -= 1.0; delta_tower_angle_trim[axis] -= 1.0;
@ -296,13 +342,13 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim); recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
switch (axis) { switch (axis) {
case A_AXIS : case A_AXIS :
a_fac += 4.0 / ( Z06(5) -Z06(9) +Z06(11) -Z06(3)); // Offset by alpha tower angle a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
break; break;
case B_AXIS : case B_AXIS :
a_fac += 4.0 / (-Z06(1) +Z06(9) -Z06(7) +Z06(3)); // Offset by beta tower angle a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
break; break;
case C_AXIS : case C_AXIS :
a_fac += 4.0 / (Z06(1) -Z06(5) +Z06(7) -Z06(11) ); // Offset by gamma tower angle a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
break; break;
} }
} }
@ -333,7 +379,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
* P1 Probe center and set height only. * P1 Probe center and set height only.
* P2 Probe center and towers. Set height, endstops and delta radius. * P2 Probe center and towers. Set height, endstops and delta radius.
* P3 Probe all positions: center, towers and opposite towers. Set all. * P3 Probe all positions: center, towers and opposite towers. Set all.
* P4-P7 Probe all positions at different locations and average them. * P4-P10 Probe all positions + at different itermediate locations and average them.
* *
* T Don't calibrate tower angle corrections * T Don't calibrate tower angle corrections
* *
@ -353,8 +399,8 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
void GcodeSuite::G33() { void GcodeSuite::G33() {
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS); const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
if (!WITHIN(probe_points, 0, 7)) { if (!WITHIN(probe_points, 0, 10)) {
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-7)."); SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
return; return;
} }
@ -382,15 +428,13 @@ void GcodeSuite::G33() {
_0p_calibration = probe_points == 0, _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1, _1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2, _4p_calibration = probe_points == 2,
_7p_9_centre = probe_points >= 8,
_tower_results = (_4p_calibration && towers_set) _tower_results = (_4p_calibration && towers_set)
|| probe_points >= 3 || probe_points == 0, || probe_points >= 3 || probe_points == 0,
_opposite_results = (_4p_calibration && !towers_set) _opposite_results = (_4p_calibration && !towers_set)
|| probe_points >= 3 || probe_points == 0, || probe_points >= 3 || probe_points == 0,
_endstop_results = probe_points != 1, _endstop_results = probe_points != 1,
_angle_results = (probe_points >= 3 || probe_points == 0) && towers_set, _angle_results = (probe_points >= 3 || probe_points == 0) && towers_set;
_7p_double_circle = probe_points == 5,
_7p_triple_circle = probe_points == 6,
_7p_quadruple_circle = probe_points == 7;
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
int8_t iterations = 0; int8_t iterations = 0;
float test_precision, float test_precision,
@ -412,12 +456,9 @@ void GcodeSuite::G33() {
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
const float circles = (_7p_quadruple_circle ? 1.5 : LOOP_CAL_RAD(axis) {
_7p_triple_circle ? 1.0 : const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
_7p_double_circle ? 0.5 : 0), r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
r = (1 + circles * 0.1) * delta_calibration_radius;
for (uint8_t axis = 1; axis <= 12; ++axis) {
const float a = RADIANS(180 + 30 * axis);
if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) { if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible."); SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return; return;
@ -468,7 +509,7 @@ void GcodeSuite::G33() {
do { do {
float z_at_pt[13] = { 0.0 }; float z_at_pt[NPP + 1] = { 0.0 };
test_precision = zero_std_dev; test_precision = zero_std_dev;
@ -526,34 +567,34 @@ void GcodeSuite::G33() {
case 1: case 1:
test_precision = 0.00; // forced end test_precision = 0.00; // forced end
LOOP_XYZ(axis) e_delta[axis] = Z1(0); LOOP_XYZ(axis) e_delta[axis] = Z1(CEN);
break; break;
case 2: case 2:
if (towers_set) { if (towers_set) {
e_delta[A_AXIS] = (Z6(0) + Z4(1) - Z2(5) - Z2(9)) * h_factor; e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor;
e_delta[B_AXIS] = (Z6(0) - Z2(1) + Z4(5) - Z2(9)) * h_factor; e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor;
e_delta[C_AXIS] = (Z6(0) - Z2(1) - Z2(5) + Z4(9)) * h_factor; e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor;
r_delta = (Z6(0) - Z2(1) - Z2(5) - Z2(9)) * r_factor; r_delta = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor;
} }
else { else {
e_delta[A_AXIS] = (Z6(0) - Z4(7) + Z2(11) + Z2(3)) * h_factor; e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor;
e_delta[B_AXIS] = (Z6(0) + Z2(7) - Z4(11) + Z2(3)) * h_factor; e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor;
e_delta[C_AXIS] = (Z6(0) + Z2(7) + Z2(11) - Z4(3)) * h_factor; e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor;
r_delta = (Z6(0) - Z2(7) - Z2(11) - Z2(3)) * r_factor; r_delta = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor;
} }
break; break;
default: default:
e_delta[A_AXIS] = (Z6(0) + Z2(1) - Z1(5) - Z1(9) - Z2(7) + Z1(11) + Z1(3)) * h_factor; e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor;
e_delta[B_AXIS] = (Z6(0) - Z1(1) + Z2(5) - Z1(9) + Z1(7) - Z2(11) + Z1(3)) * h_factor; e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor;
e_delta[C_AXIS] = (Z6(0) - Z1(1) - Z1(5) + Z2(9) + Z1(7) + Z1(11) - Z2(3)) * h_factor; e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor;
r_delta = (Z6(0) - Z1(1) - Z1(5) - Z1(9) - Z1(7) - Z1(11) - Z1(3)) * r_factor; r_delta = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor;
if (towers_set) { if (towers_set) {
t_delta[A_AXIS] = ( - Z4(5) + Z4(9) - Z4(11) + Z4(3)) * a_factor; t_delta[A_AXIS] = ( -Z4(__B) +Z4(__C) -Z4(_CA) +Z4(_AB)) * a_factor;
t_delta[B_AXIS] = ( Z4(1) - Z4(9) + Z4(7) - Z4(3)) * a_factor; t_delta[B_AXIS] = ( Z4(__A) -Z4(__C) +Z4(_BC) -Z4(_AB)) * a_factor;
t_delta[C_AXIS] = (-Z4(1) + Z4(5) - Z4(7) + Z4(11) ) * a_factor; t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) -Z4(_BC) +Z4(_CA) ) * a_factor;
e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5; 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[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; e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;