G35: Bed tramming assistant (#16897)

Marlin/Configuration_adv.h

@@ -767,6 +767,34 @@
   #define HOME_AFTER_G34
 #endif
 
+//
+// Add the G35 command to read bed corners to help adjust screws.
+//
+//#define ASSISTED_TRAMMING
+#if ENABLED(ASSISTED_TRAMMING)
+
+  // Define positions for probing points, use the hotend as reference not the sensor.
+  #define TRAMMING_POINT_XY { {  20, 20 }, { 200,  20 }, { 200, 200 }, { 20, 200 } }
+
+  // Define positions names for probing points.
+  #define TRAMMING_POINT_NAME_1 "Front-Left"
+  #define TRAMMING_POINT_NAME_2 "Front-Right"
+  #define TRAMMING_POINT_NAME_3 "Back-Right"
+  #define TRAMMING_POINT_NAME_4 "Back-Left"
+
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G35
+
+  /**
+   * Screw thread:
+   *   M3: 30 = Clockwise, 31 = Counter-Clockwise
+   *   M4: 40 = Clockwise, 41 = Counter-Clockwise
+   *   M5: 50 = Clockwise, 51 = Counter-Clockwise
+   */
+  #define TRAMMING_SCREW_THREAD 30
+
+#endif
+
 // @section motion
 
 #define AXIS_RELATIVE_MODES { false, false, false, false }

Marlin/src/gcode/bedlevel/G35.cpp

@@ -0,0 +1,192 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(ASSISTED_TRAMMING)
+
+#include "../gcode.h"
+#include "../../module/planner.h"
+#include "../../module/probe.h"
+#include "../../feature/bedlevel/bedlevel.h"
+
+#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
+#include "../../core/debug_out.h"
+
+constexpr xy_pos_t screws_tilt_adjust_pos[] = TRAMMING_POINT_XY;
+
+static PGMSTR(point_name_1, TRAMMING_POINT_NAME_1);
+static PGMSTR(point_name_2, TRAMMING_POINT_NAME_2);
+static PGMSTR(point_name_3, TRAMMING_POINT_NAME_3);
+#ifdef TRAMMING_POINT_NAME_4
+  static PGMSTR(point_name_4, TRAMMING_POINT_NAME_4);
+  #ifdef TRAMMING_POINT_NAME_5
+    static PGMSTR(point_name_5, TRAMMING_POINT_NAME_5);
+  #endif
+#endif
+
+static PGM_P const tramming_point_name[] PROGMEM = {
+  point_name_1, point_name_2, point_name_3
+  #ifdef TRAMMING_POINT_NAME_4
+    , point_name_4
+    #ifdef TRAMMING_POINT_NAME_5
+      , point_name_5
+    #endif
+  #endif
+};
+
+#define G35_PROBE_COUNT COUNT(screws_tilt_adjust_pos)
+
+#if !WITHIN(TRAMMING_SCREW_THREAD, 30, 51) || TRAMMING_SCREW_THREAD % 10 > 1
+  #error "TRAMMING_SCREW_THREAD must be equal to 30, 31, 40, 41, 50, or 51."
+#endif
+
+static_assert(G35_PROBE_COUNT > 2, "TRAMMING_POINT_XY requires at least 3 XY positions.");
+
+/**
+ * G35: Read bed corners to help adjust bed screws
+ *
+ *   S<screw_thread>
+ *
+ * Screw thread: 30 - Clockwise M3
+ *               31 - Counter-Clockwise M3
+ *               40 - Clockwise M4
+ *               41 - Counter-Clockwise M4
+ *               50 - Clockwise M5
+ *               51 - Counter-Clockwise M5
+ **/
+void GcodeSuite::G35() {
+  if (DEBUGGING(LEVELING)) {
+    DEBUG_ECHOLNPGM(">>> G35");
+    log_machine_info();
+  }
+
+  float z_measured[G35_PROBE_COUNT] = { 0 };
+
+  const uint8_t screw_thread = parser.byteval('S', TRAMMING_SCREW_THREAD);
+  if (!WITHIN(screw_thread, 30, 51) || screw_thread % 10 > 1) {
+    SERIAL_ECHOLNPGM("?(S)crew thread must be 30, 31, 40, 41, 50, or 51.");
+    goto EXIT_G35;
+  }
+
+  // Wait for planner moves to finish!
+  planner.synchronize();
+
+  // Disable the leveling matrix before auto-aligning
+  #if HAS_LEVELING
+    TERN_(RESTORE_LEVELING_AFTER_G35, const bool leveling_was_active = planner.leveling_active);
+    set_bed_leveling_enabled(false);
+  #endif
+
+  #if ENABLED(CNC_WORKSPACE_PLANES)
+    workspace_plane = PLANE_XY;
+  #endif
+
+  // Always home with tool 0 active
+  #if HAS_MULTI_HOTEND
+    const uint8_t old_tool_index = active_extruder;
+    tool_change(0, true);
+  #endif
+
+  #if HAS_DUPLICATION_MODE
+    extruder_duplication_enabled = false;
+  #endif
+
+  // Home all before this procedure
+  home_all_axes();
+
+  bool err_break = false;
+
+  // Probe all positions
+  LOOP_L_N(i, G35_PROBE_COUNT) {
+
+    // In BLTOUCH HS mode, the probe travels in a deployed state.
+    // Users of G35 might have a badly misaligned bed, so raise Z by the
+    // length of the deployed pin (BLTOUCH stroke < 7mm)
+    current_position.z = (Z_CLEARANCE_BETWEEN_PROBES) + (7 * ENABLED(BLTOUCH_HS_MODE));
+
+    const float z_probed_height = probe.probe_at_point(screws_tilt_adjust_pos[i], PROBE_PT_RAISE, 0, true);
+
+    if (isnan(z_probed_height)) {
+      SERIAL_ECHOLNPAIR("G35 failed at point ", int(i), " (", tramming_point_name[i], ")"
+                        " X", screws_tilt_adjust_pos[i].x,
+                        " Y", screws_tilt_adjust_pos[i].y);
+      err_break = true;
+      break;
+    }
+
+    if (DEBUGGING(LEVELING))
+      DEBUG_ECHOLNPAIR("Probing point ", int(i), " (", tramming_point_name[i], ")"
+                       " X", screws_tilt_adjust_pos[i].x,
+                       " Y", screws_tilt_adjust_pos[i].y,
+                       " Z", z_probed_height);
+
+    z_measured[i] = z_probed_height;
+  }
+
+  if (!err_break) {
+    const float threads_factor[] = { 0.5, 0.7, 0.8 };
+
+    // Calculate adjusts
+    LOOP_S_L_N(i, 1, G35_PROBE_COUNT) {
+      const float diff = z_measured[0] - z_measured[i],
+                  adjust = abs(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10];
+
+      const int full_turns = trunc(adjust);
+      const float decimal_part = adjust - float(full_turns);
+      const int minutes = trunc(decimal_part * 60.0f);
+
+      SERIAL_ECHOPAIR("Turn ", tramming_point_name[i],
+             " ", (screw_thread & 1) == (adjust > 0) ? "Counter-Clockwise" : "Clockwise",
+             "by ", abs(full_turns), " turns");
+      if (minutes) SERIAL_ECHOPAIR(" and ", abs(minutes), " minutes");
+      SERIAL_EOL();
+    }
+  }
+  else
+    SERIAL_ECHOLNPGM("G35 aborted.");
+
+  // Restore the active tool after homing
+  #if HAS_MULTI_HOTEND
+    tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER
+  #endif
+
+  #if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35)
+    set_bed_leveling_enabled(leveling_was_active);
+  #endif
+
+  // Stow the probe, as the last call to probe.probe_at_point(...) left
+  // the probe deployed if it was successful.
+  probe.stow();
+
+  // 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"));
+
+  EXIT_G35:
+
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G35");
+}
+
+#endif // ASSISTED_TRAMMING

Marlin/src/gcode/gcode.cpp

@@ -321,6 +321,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 34: G34(); break;                                    // G34: Z Stepper automatic alignment using probe
       #endif
 
+      #if ENABLED(ASSISTED_TRAMMING)
+        case 35: G35(); break;                                    // G35: Read four bed corners to help adjust bed screws
+      #endif
+
       #if ENABLED(G38_PROBE_TARGET)
         case 38:                                                  // G38.2, G38.3: Probe towards target
           if (WITHIN(parser.subcode, 2,

Marlin/src/gcode/gcode.h

@@ -65,6 +65,7 @@
  * G32  - Undock sled (Z_PROBE_SLED only)
  * G33  - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
  * G34  - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
+ * G35  - Read bed corners to help adjust bed screws: T<screw_thread> (Requires ASSISTED_TRAMMING)
  * G38  - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
  * G42  - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
  * G60  - Save current position. (Requires SAVED_POSITIONS)
@@ -454,6 +455,8 @@ private:
     static void M422();
   #endif
 
+  TERN_(ASSISTED_TRAMMING, static void G35());
+
   TERN_(G38_PROBE_TARGET, static void G38(const int8_t subcode));
 
   TERN_(HAS_MESH, static void G42());

buildroot/share/tests/DUE-tests

@@ -14,7 +14,7 @@ opt_set TEMP_SENSOR_BED 2
 opt_set GRID_MAX_POINTS_X 16
 opt_set FANMUX0_PIN 53
 opt_enable S_CURVE_ACCELERATION EEPROM_SETTINGS GCODE_MACROS \
-           PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING \
+           FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING ASSISTED_TRAMMING \
            EEPROM_SETTINGS SDSUPPORT BINARY_FILE_TRANSFER \
            BLINKM PCA9533 PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \
            NEOPIXEL_LED CASE_LIGHT_ENABLE CASE_LIGHT_USE_NEOPIXEL CASE_LIGHT_MENU \
@@ -24,7 +24,7 @@ opt_enable S_CURVE_ACCELERATION EEPROM_SETTINGS GCODE_MACROS \
            BACKLASH_COMPENSATION BACKLASH_GCODE BAUD_RATE_GCODE BEZIER_CURVE_SUPPORT \
            FWRETRACT ARC_SUPPORT ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS \
            PSU_CONTROL AUTO_POWER_CONTROL \
-           SLOW_PWM_HEATERS THERMAL_PROTECTION_CHAMBER \
+           PIDTEMPBED SLOW_PWM_HEATERS THERMAL_PROTECTION_CHAMBER \
            PINS_DEBUGGING MAX7219_DEBUG M114_DETAIL \
            EXTENSIBLE_UI
 opt_add    EXTUI_EXAMPLE