Merge pull request #7238 from thinkyhead/bf_probe_manual_G33

Add PROBE_MANUALLY support to G33

Marlin/Marlin_main.cpp

@@ -5127,6 +5127,10 @@ void home_all_axes() { gcode_G28(true); }
 
   #endif // Z_PROBE_SLED
 
+#endif // HAS_BED_PROBE
+
+#if PROBE_SELECTED
+
   #if ENABLED(DELTA_AUTO_CALIBRATION)
     /**
      * G33 - Delta '1-4-7-point' Auto-Calibration
@@ -5184,9 +5188,9 @@ void home_all_axes() { gcode_G28(true); }
         return;
       }
 
-      const int8_t force_iterations = parser.intval('F', 1);
+      const int8_t force_iterations = parser.intval('F', 0);
-      if (!WITHIN(force_iterations, 1, 30)) {
+      if (!WITHIN(force_iterations, 0, 30)) {
-        SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (1-30).");
+        SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
         return;
       }
 
@@ -5221,7 +5225,7 @@ void home_all_axes() { gcode_G28(true); }
             alpha_old = delta_tower_angle_trim[A_AXIS],
             beta_old = delta_tower_angle_trim[B_AXIS];
 
-       if (!_1p_calibration) {  // test if the outer radius is reachable
+      if (!_1p_calibration) {  // test if the outer radius is reachable
         const float circles = (_7p_quadruple_circle ? 1.5 :
                                _7p_triple_circle    ? 1.0 :
                                _7p_double_circle    ? 0.5 : 0),
@@ -5273,7 +5277,9 @@ void home_all_axes() { gcode_G28(true); }
         SERIAL_EOL();
       }
 
-      home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+      #if DISABLED(PROBE_MANUALLY)
+        home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+      #endif
       
       do {
 
@@ -5286,12 +5292,20 @@ void home_all_axes() { gcode_G28(true); }
         // Probe the points
 
         if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
-          z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
+          #if ENABLED(PROBE_MANUALLY)
+            z_at_pt[0] += lcd_probe_pt(0, 0);
+          #else
+            z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
+          #endif
         }
         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 a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
-            z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+            #if ENABLED(PROBE_MANUALLY)
+              z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
+            #else
+              z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+            #endif
           }
           z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
         }
@@ -5307,7 +5321,11 @@ void home_all_axes() { gcode_G28(true); }
             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));
-              z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+              #if ENABLED(PROBE_MANUALLY)
+                z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
+              #else
+                z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+              #endif
             }
             zig_zag = !zig_zag;
             z_at_pt[axis] /= (2 * offset_circles + 1);
@@ -5359,9 +5377,13 @@ void home_all_axes() { gcode_G28(true); }
           #define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
           #define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
 
+          #if ENABLED(PROBE_MANUALLY)
+            test_precision = 0.00; // forced end
+          #endif
+          
           switch (probe_points) {
             case 1:
-              test_precision = 0.00;
+              test_precision = 0.00; // forced end
               LOOP_XYZ(i) e_delta[i] = Z1000(0);
               break;
 
@@ -5437,16 +5459,19 @@ void home_all_axes() { gcode_G28(true); }
             SERIAL_EOL();
           }
         }
-        if (test_precision != 0.0) {                                 // !forced end
+        if (verbose_level != 0) {                                    // !dry run
           if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) {  // end iterations
             SERIAL_PROTOCOLPGM("Calibration OK");
             SERIAL_PROTOCOL_SP(36);
-            if (zero_std_dev >= test_precision)
+            #if DISABLED(PROBE_MANUALLY)
-              SERIAL_PROTOCOLPGM("rolling back.");
+              if (zero_std_dev >= test_precision && !_1p_calibration)
-            else {
+                SERIAL_PROTOCOLPGM("rolling back.");
-              SERIAL_PROTOCOLPGM("std dev:");
+              else
-              SERIAL_PROTOCOL_F(zero_std_dev, 3);
+            #endif
-            }
+              {
+                SERIAL_PROTOCOLPGM("std dev:");
+                SERIAL_PROTOCOL_F(zero_std_dev, 3);
+              }
             SERIAL_EOL();
             LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
           }
@@ -5480,22 +5505,12 @@ void home_all_axes() { gcode_G28(true); }
             serialprintPGM(save_message);
             SERIAL_EOL();
         }
-        else {                                                       // forced end
+        else {                                                       // dry run
-          if (verbose_level == 0) {
+          SERIAL_PROTOCOLPGM("End DRY-RUN");
-            SERIAL_PROTOCOLPGM("End DRY-RUN");
+          SERIAL_PROTOCOL_SP(39);
-            SERIAL_PROTOCOL_SP(39);
+          SERIAL_PROTOCOLPGM("std dev:");
-            SERIAL_PROTOCOLPGM("std dev:");
+          SERIAL_PROTOCOL_F(zero_std_dev, 3);
-            SERIAL_PROTOCOL_F(zero_std_dev, 3);
+          SERIAL_EOL();
-            SERIAL_EOL();
-          }
-          else {
-            SERIAL_PROTOCOLLNPGM("Calibration OK");
-            LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
-            SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
-            SERIAL_EOL();
-            serialprintPGM(save_message);
-            SERIAL_EOL();
-          }
         }
 
         endstops.enable(true);
@@ -5517,7 +5532,7 @@ void home_all_axes() { gcode_G28(true); }
 
   #endif // DELTA_AUTO_CALIBRATION
 
-#endif // HAS_BED_PROBE
+#endif // PROBE_SELECTED
 
 #if ENABLED(G38_PROBE_TARGET)
 
@@ -10493,6 +10508,10 @@ void process_next_command() {
 
         #endif // Z_PROBE_SLED
 
+      #endif // HAS_BED_PROBE
+
+      #if PROBE_SELECTED
+
         #if ENABLED(DELTA_AUTO_CALIBRATION)
 
           case 33: // G33: Delta Auto-Calibration
@@ -10501,7 +10520,7 @@ void process_next_command() {
 
         #endif // DELTA_AUTO_CALIBRATION
 
-      #endif // HAS_BED_PROBE
+      #endif // PROBE_SELECTED
 
       #if ENABLED(G38_PROBE_TARGET)
         case 38: // G38.2 & G38.3

Marlin/SanityCheck.h

@@ -480,8 +480,10 @@ static_assert(1 >= 0
     #error "You probably want to use Max Endstops for DELTA!"
   #elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_DELTA
     #error "ENABLE_LEVELING_FADE_HEIGHT on DELTA requires AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL."
-  #elif ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE
+  #elif ENABLED(DELTA_AUTO_CALIBRATION) && !PROBE_SELECTED
-    #error "DELTA_AUTO_CALIBRATION requires a probe: FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or Z Servo."
+    #error "DELTA_AUTO_CALIBRATION requires a probe: PROBE_MANUALLY, FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, Z Servo."
+  #elif ENABLED(DELTA_AUTO_CALIBRATION) && ENABLED(PROBE_MANUALLY) && DISABLED(ULTIPANEL)
+    #error "DELTA_AUTO_CALIBRATION requires an LCD controller with PROBE_MANUALLY."
   #elif ABL_GRID
     #if (GRID_MAX_POINTS_X & 1) == 0 || (GRID_MAX_POINTS_Y & 1) == 0
       #error "DELTA requires GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y to be odd numbers."

Marlin/ultralcd.cpp

@@ -2486,31 +2486,37 @@ void kill_screen(const char* lcd_msg) {
       lcd_goto_screen(_lcd_calibrate_homing);
     }
 
-    // Move directly to the tower position with uninterpolated moves
+    void _man_probe_pt(const float &lx, const float &ly) {
-    // If we used interpolated moves it would cause this to become re-entrant
-    void _goto_tower_pos(const float &a) {
       #if HAS_LEVELING
         reset_bed_level(); // After calibration bed-level data is no longer valid
       #endif
 
-      line_to_z(max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5);
+      float z_dest = LOGICAL_Z_POSITION((Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5);
-
+      line_to_z(z_dest);
-      current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : cos(RADIANS(a)) * delta_calibration_radius;
+      current_position[X_AXIS] = LOGICAL_X_POSITION(lx);
-      current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : sin(RADIANS(a)) * delta_calibration_radius;
+      current_position[Y_AXIS] = LOGICAL_Y_POSITION(ly);
       line_to_current_z();
-
+      z_dest = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
-      line_to_z(4.0);
+      line_to_z(z_dest);
 
       lcd_synchronize();
-
       move_menu_scale = 0.1;
       lcd_goto_screen(lcd_move_z);
     }
 
-    void _goto_tower_x() { _goto_tower_pos(210); }
+    float lcd_probe_pt(const float &lx, const float &ly) {
-    void _goto_tower_y() { _goto_tower_pos(330); }
+      _man_probe_pt(lx, ly);
-    void _goto_tower_z() { _goto_tower_pos(90); }
+      KEEPALIVE_STATE(PAUSED_FOR_USER);
-    void _goto_center()  { _goto_tower_pos(-1); }
+      wait_for_user = true;
+      while (wait_for_user) idle();
+      KEEPALIVE_STATE(IN_HANDLER);
+      return current_position[Z_AXIS];
+    }
+
+    void _goto_tower_x() { _man_probe_pt(cos(RADIANS(210)) * delta_calibration_radius, sin(RADIANS(210)) * delta_calibration_radius); }
+    void _goto_tower_y() { _man_probe_pt(cos(RADIANS(330)) * delta_calibration_radius, sin(RADIANS(330)) * delta_calibration_radius); }
+    void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); }
+    void _goto_center()  { _man_probe_pt(0,0); }
 
     void lcd_delta_calibrate_menu() {
       START_MENU();

Marlin/ultralcd.h

@@ -197,4 +197,8 @@ void lcd_reset_status();
   float lcd_z_offset_edit();
 #endif
 
+#if ENABLED(DELTA_CALIBRATION_MENU)
+  float lcd_probe_pt(const float &lx, const float &ly);
+#endif
+
 #endif // ULTRALCD_H