/** * Marlin 3D Printer Firmware * Copyright (C) 2016 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 . * */ #include "../../inc/MarlinConfig.h" #if ENABLED(DELTA_AUTO_CALIBRATION) #include "../gcode.h" #include "../../module/delta.h" #include "../../module/probe.h" #include "../../module/motion.h" #include "../../module/stepper.h" #include "../../module/endstops.h" #include "../../module/tool_change.h" #include "../../lcd/ultralcd.h" #if HAS_LEVELING #include "../../feature/bedlevel/bedlevel.h" #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 */ static void print_signed_float(const char * const prefix, const float &f) { SERIAL_PROTOCOLPGM(" "); serialprintPGM(prefix); SERIAL_PROTOCOLCHAR(':'); if (f >= 0) SERIAL_CHAR('+'); SERIAL_PROTOCOL_F(f, 2); } static void print_G33_settings(const bool end_stops, const bool tower_angles) { SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); if (end_stops) { print_signed_float(PSTR(" Ex"), delta_endstop_adj[A_AXIS]); print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]); print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); } SERIAL_EOL(); if (tower_angles) { SERIAL_PROTOCOLPGM(".Tower angle : "); print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]); print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]); print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]); SERIAL_EOL(); } } static void G33_cleanup( #if HOTENDS > 1 const uint8_t old_tool_index #endif ) { #if ENABLED(DELTA_HOME_TO_SAFE_ZONE) do_blocking_move_to_z(delta_clip_start_height); #endif STOW_PROBE(); clean_up_after_endstop_or_probe_move(); #if HOTENDS > 1 tool_change(old_tool_index, 0, true); #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); if (!WITHIN(probe_points, 0, 7)) { SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-7)."); return; } const int8_t verbose_level = parser.byteval('V', 1); if (!WITHIN(verbose_level, 0, 2)) { SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2)."); return; } const float calibration_precision = parser.floatval('C'); if (calibration_precision < 0) { SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0)."); return; } const int8_t force_iterations = parser.intval('F', 0); if (!WITHIN(force_iterations, 0, 30)) { SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30)."); return; } const bool towers_set = !parser.boolval('T'), stow_after_each = parser.boolval('E'), _0p_calibration = probe_points == 0, _1p_calibration = probe_points == 1, _4p_calibration = probe_points == 2, _4p_towers_points = _4p_calibration && towers_set, _4p_opposite_points = _4p_calibration && !towers_set, _7p_calibration = probe_points >= 3 || _0p_calibration, _7p_half_circle = probe_points == 3, _7p_double_circle = probe_points == 5, _7p_triple_circle = probe_points == 6, _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; 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 zero_std_dev_old = zero_std_dev, zero_std_dev_min = zero_std_dev, e_old[ABC] = { delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS] }, dr_old = delta_radius, zh_old = home_offset[Z_AXIS], ta_old[ABC] = { delta_tower_angle_trim[A_AXIS], delta_tower_angle_trim[B_AXIS], delta_tower_angle_trim[C_AXIS] }; if (!_1p_calibration && !_0p_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), r = (1 + circles * 0.1) * delta_calibration_radius; for (uint8_t axis = 1; axis < 13; ++axis) { const float a = RADIANS(180 + 30 * axis); if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) { SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible."); return; } } } SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); stepper.synchronize(); #if HAS_LEVELING reset_bed_level(); // After calibration bed-level data is no longer valid #endif #if HOTENDS > 1 const uint8_t old_tool_index = active_extruder; tool_change(0, 0, true); #define G33_CLEANUP() G33_cleanup(old_tool_index) #else #define G33_CLEANUP() G33_cleanup() #endif setup_for_endstop_or_probe_move(); endstops.enable(true); if (!_0p_calibration) { if (!home_delta()) return; endstops.not_homing(); } // print settings const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string serialprintPGM(checkingac); if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)"); SERIAL_EOL(); lcd_setstatusPGM(checkingac); print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); do { float z_at_pt[13] = { 0.0 }; test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; iterations++; // Probe the points if (!_0p_calibration){ if (!_7p_half_circle && !_7p_triple_circle) { // probe the center #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); if (isnan(z_at_pt[0])) return G33_CLEANUP(); #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; #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); if (isnan(z_at_pt[0])) return G33_CLEANUP(); #endif } z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points); } if (!_1p_calibration) { // probe the radius bool zig_zag = true; const uint8_t start = _4p_opposite_points ? 3 : 1, step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1; for (uint8_t axis = start; axis < 13; axis += step) { const float zigadd = (zig_zag ? 0.5 : 0.0), offset_circles = _7p_quadruple_circle ? zigadd + 1.0 : _7p_triple_circle ? zigadd + 0.5 : _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) 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); if (isnan(z_at_pt[axis])) return G33_CLEANUP(); #endif } zig_zag = !zig_zag; z_at_pt[axis] /= (2 * offset_circles + 1); } } if (_7p_intermed_points) // average intermediates to tower and opposites for (uint8_t axis = 1; axis < 13; 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], S2 = sq(z_at_pt[0]); int16_t N = 1; if (!_1p_calibration) // std dev from zero plane for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) { S1 += z_at_pt[axis]; S2 += sq(z_at_pt[axis]); N++; } zero_std_dev_old = zero_std_dev; zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001; // Solve matrices 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; zh_old = home_offset[Z_AXIS]; COPY(ta_old, delta_tower_angle_trim); } 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 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) #define Z4(I) ZP(4, I) #define Z2(I) ZP(2, I) #define Z1(I) ZP(1, I) #if ENABLED(PROBE_MANUALLY) test_precision = 0.00; // forced end #endif switch (probe_points) { case 0: #if DISABLED(PROBE_MANUALLY) test_precision = 0.00; // forced end #endif break; case 1: #if DISABLED(PROBE_MANUALLY) test_precision = 0.00; // forced end #endif LOOP_XYZ(axis) e_delta[axis] = Z1(0); break; case 2: if (towers_set) { e_delta[A_AXIS] = (Z6(0) + Z4(1) - Z2(5) - Z2(9)) * h_factor; e_delta[B_AXIS] = (Z6(0) - Z2(1) + Z4(5) - Z2(9)) * h_factor; e_delta[C_AXIS] = (Z6(0) - Z2(1) - Z2(5) + Z4(9)) * h_factor; r_delta = (Z6(0) - Z2(1) - Z2(5) - Z2(9)) * r_factor; } else { e_delta[A_AXIS] = (Z6(0) - Z4(7) + Z2(11) + Z2(3)) * h_factor; e_delta[B_AXIS] = (Z6(0) + Z2(7) - Z4(11) + Z2(3)) * h_factor; e_delta[C_AXIS] = (Z6(0) + Z2(7) + Z2(11) - Z4(3)) * h_factor; r_delta = (Z6(0) - Z2(7) - Z2(11) - Z2(3)) * r_factor; } break; default: e_delta[A_AXIS] = (Z6(0) + Z2(1) - Z1(5) - Z1(9) - Z2(7) + Z1(11) + Z1(3)) * h_factor; e_delta[B_AXIS] = (Z6(0) - Z1(1) + Z2(5) - Z1(9) + Z1(7) - Z2(11) + Z1(3)) * h_factor; e_delta[C_AXIS] = (Z6(0) - Z1(1) - Z1(5) + Z2(9) + Z1(7) + Z1(11) - Z2(3)) * h_factor; 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) + 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; } LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis]; delta_radius += r_delta; LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis]; } else if (zero_std_dev >= test_precision) { // step one back COPY(delta_endstop_adj, e_old); delta_radius = dr_old; home_offset[Z_AXIS] = zh_old; COPY(delta_tower_angle_trim, ta_old); } if (verbose_level != 0) { // !dry run // normalise angles to least squares float a_sum = 0.0; LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis]; LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0; // adjust delta_height and endstops by the max amount const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]); home_offset[Z_AXIS] -= z_temp; LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp; } recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim); NOMORE(zero_std_dev_min, zero_std_dev); // print report if (verbose_level != 1) { SERIAL_PROTOCOLPGM(". "); print_signed_float(PSTR("c"), z_at_pt[0]); if (_4p_towers_points || _7p_calibration) { print_signed_float(PSTR(" x"), z_at_pt[1]); print_signed_float(PSTR(" y"), z_at_pt[5]); print_signed_float(PSTR(" z"), z_at_pt[9]); } if (!_4p_opposite_points) SERIAL_EOL(); if ((_4p_opposite_points) || _7p_calibration) { if (_7p_calibration) { SERIAL_CHAR('.'); SERIAL_PROTOCOL_SP(13); } print_signed_float(PSTR(" yz"), z_at_pt[7]); print_signed_float(PSTR("zx"), z_at_pt[11]); print_signed_float(PSTR("xy"), z_at_pt[3]); SERIAL_EOL(); } } if (verbose_level != 0) { // !dry run 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) if (zero_std_dev >= test_precision && !_1p_calibration) SERIAL_PROTOCOLPGM("rolling back."); else #endif { SERIAL_PROTOCOLPGM("std dev:"); SERIAL_PROTOCOL_F(zero_std_dev_min, 3); } SERIAL_EOL(); char mess[21]; sprintf_P(mess, PSTR("Calibration sd:")); if (zero_std_dev_min < 1) sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0)); else sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min)); lcd_setstatus(mess); print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); serialprintPGM(save_message); SERIAL_EOL(); } else { // !end iterations char mess[15]; if (iterations < 31) sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations); else sprintf_P(mess, PSTR("No convergence")); SERIAL_PROTOCOL(mess); SERIAL_PROTOCOL_SP(36); SERIAL_PROTOCOLPGM("std dev:"); SERIAL_PROTOCOL_F(zero_std_dev, 3); SERIAL_EOL(); lcd_setstatus(mess); print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); } } else { // dry run const char *enddryrun = PSTR("End DRY-RUN"); serialprintPGM(enddryrun); SERIAL_PROTOCOL_SP(39); SERIAL_PROTOCOLPGM("std dev:"); SERIAL_PROTOCOL_F(zero_std_dev, 3); SERIAL_EOL(); char mess[21]; sprintf_P(mess, enddryrun); sprintf_P(&mess[11], PSTR(" sd:")); if (zero_std_dev < 1) sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0)); else sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev)); lcd_setstatus(mess); } endstops.enable(true); home_delta(); endstops.not_homing(); } while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision); G33_CLEANUP(); } #endif // DELTA_AUTO_CALIBRATION