Quad Z leveling, G34 (R)ecalculate (#17122)
This commit is contained in:
InsanityAutomation
parent
118bd2f8b2
commit
cee07f3f6b
GPG key ID:
4AEE18F83AFDEB23
2 changed files with 45 additions and 32 deletions
|
|
@ -64,6 +64,7 @@ inline void set_all_z_lock(const bool lock) {
|
|||
* I<iterations>
|
||||
* T<accuracy>
|
||||
* A<amplification>
|
||||
* R<recalculate> points based on current probe offsets
|
||||
*/
|
||||
void GcodeSuite::G34() {
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
|
|
@ -73,8 +74,10 @@ void GcodeSuite::G34() {
|
|||
|
||||
do { // break out on error
|
||||
|
||||
#if NUM_Z_STEPPER_DRIVERS >= 4
|
||||
SERIAL_ECHOLNPGM("Alignment not supported for over 3 steppers");
|
||||
#if NUM_Z_STEPPER_DRIVERS == 4
|
||||
SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!");
|
||||
#elif NUM_Z_STEPPER_DRIVERS > 4
|
||||
SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers");
|
||||
break;
|
||||
#endif
|
||||
|
||||
|
|
@ -101,6 +104,8 @@ void GcodeSuite::G34() {
|
|||
}
|
||||
#endif
|
||||
|
||||
if (parser.seen('R')) z_stepper_align.reset_to_default();
|
||||
|
||||
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
|
||||
|
||||
// Wait for planner moves to finish!
|
||||
|
|
@ -139,13 +144,18 @@ void GcodeSuite::G34() {
|
|||
|
||||
// Compute a worst-case clearance height to probe from. After the first
|
||||
// iteration this will be re-calculated based on the actual bed position
|
||||
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
|
||||
auto magnitude2 = [&](const uint8_t i, const uint8_t j) {
|
||||
const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
|
||||
return HYPOT2(diff.x, diff.y);
|
||||
};
|
||||
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(
|
||||
#if NUM_Z_STEPPER_DRIVERS == 3
|
||||
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)))
|
||||
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0))
|
||||
#elif NUM_Z_STEPPER_DRIVERS == 4
|
||||
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3),
|
||||
magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3))
|
||||
#else
|
||||
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)
|
||||
magnitude2(0, 1)
|
||||
#endif
|
||||
);
|
||||
|
||||
|
|
@ -159,7 +169,7 @@ void GcodeSuite::G34() {
|
|||
// 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);
|
||||
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f);
|
||||
#else
|
||||
float last_z_align_level_indicator = 10000.0f;
|
||||
#endif
|
||||
|
|
@ -241,7 +251,7 @@ void GcodeSuite::G34() {
|
|||
linear_fit_data lfd;
|
||||
incremental_LSF_reset(&lfd);
|
||||
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
|
||||
SERIAL_ECHOLNPAIR("PROBEPT_", ('0' + i), ": ", z_measured[i]);
|
||||
SERIAL_ECHOLNPAIR("PROBEPT_", int(i), ": ", z_measured[i]);
|
||||
incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
|
||||
}
|
||||
finish_incremental_LSF(&lfd);
|
||||
|
|
@ -322,9 +332,12 @@ void GcodeSuite::G34() {
|
|||
switch (zstepper) {
|
||||
case 0: stepper.set_z_lock(false); break;
|
||||
case 1: stepper.set_z2_lock(false); break;
|
||||
#if NUM_Z_STEPPER_DRIVERS == 3
|
||||
#if NUM_Z_STEPPER_DRIVERS >= 3
|
||||
case 2: stepper.set_z3_lock(false); break;
|
||||
#endif
|
||||
#if NUM_Z_STEPPER_DRIVERS == 4
|
||||
case 3: stepper.set_z4_lock(false); break;
|
||||
#endif
|
||||
}
|
||||
|
||||
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
|
||||
|
|
@ -348,27 +361,12 @@ void GcodeSuite::G34() {
|
|||
|
||||
} // for (iteration)
|
||||
|
||||
if (err_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));
|
||||
else {
|
||||
SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " of ", int(z_auto_align_iterations));
|
||||
SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
|
||||
|
||||
// Restore the active tool after homing
|
||||
#if HOTENDS > 1
|
||||
tool_change(old_tool_index, (true
|
||||
#if ENABLED(PARKING_EXTRUDER)
|
||||
&& false // Fetch the previous toolhead
|
||||
#endif
|
||||
));
|
||||
#endif
|
||||
|
||||
#if HAS_LEVELING && ENABLED(RESTORE_LEVELING_AFTER_G34)
|
||||
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.
|
||||
|
|
@ -377,7 +375,6 @@ void GcodeSuite::G34() {
|
|||
#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
|
||||
|
|
@ -388,6 +385,15 @@ void GcodeSuite::G34() {
|
|||
sync_plan_position();
|
||||
#endif
|
||||
|
||||
// Restore the active tool after homing
|
||||
#if HOTENDS > 1
|
||||
tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous tool for parking extruder
|
||||
#endif
|
||||
|
||||
#if HAS_LEVELING && ENABLED(RESTORE_LEVELING_AFTER_G34)
|
||||
set_bed_leveling_enabled(leveling_was_active);
|
||||
#endif
|
||||
|
||||
}while(0);
|
||||
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G34");
|
||||
|
|
@ -406,9 +412,16 @@ void GcodeSuite::G34() {
|
|||
* S and W require an X and/or Y parameter
|
||||
* X<pos> : X position to set (Unchanged if omitted)
|
||||
* Y<pos> : Y position to set (Unchanged if omitted)
|
||||
*
|
||||
* R : Recalculate points based on current probe offsets
|
||||
*/
|
||||
void GcodeSuite::M422() {
|
||||
|
||||
if (parser.seen('R')) {
|
||||
z_stepper_align.reset_to_default();
|
||||
return;
|
||||
}
|
||||
|
||||
if (!parser.seen_any()) {
|
||||
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS)
|
||||
SERIAL_ECHOLNPAIR_P(PSTR("M422 S"), int(i + 1), SP_X_STR, z_stepper_align.xy[i].x, SP_Y_STR, z_stepper_align.xy[i].y);
|
||||
|
|
|
|||
|
|
@ -2509,8 +2509,8 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
|
|||
#error "Z_STEPPER_AUTO_ALIGN requires NUM_Z_STEPPER_DRIVERS greater than 1."
|
||||
#elif !HAS_BED_PROBE
|
||||
#error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
|
||||
#elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) && NUM_Z_STEPPER_DRIVERS != 3
|
||||
#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3."
|
||||
#elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) && NUM_Z_STEPPER_DRIVERS < 3
|
||||
#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
|
|
|||
Reference in a new issue