From 6b549e19719e855555c1a9db5e3c0453516afb28 Mon Sep 17 00:00:00 2001 From: Giuliano Zaro <3684609+GMagician@users.noreply.github.com> Date: Sat, 22 Aug 2020 04:20:30 +0200 Subject: [PATCH] Optional homing in LCD Repeatability Test (#19104) --- Marlin/src/gcode/calibrate/M48.cpp | 175 +++++++++++++------------- Marlin/src/lcd/language/language_en.h | 1 + Marlin/src/lcd/language/language_it.h | 1 + Marlin/src/lcd/menu/menu_motion.cpp | 2 +- 4 files changed, 93 insertions(+), 86 deletions(-) diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp index 47c72eece7..fc9d22957b 100644 --- a/Marlin/src/gcode/calibrate/M48.cpp +++ b/Marlin/src/gcode/calibrate/M48.cpp @@ -27,13 +27,10 @@ #include "../gcode.h" #include "../../module/motion.h" #include "../../module/probe.h" +#include "../../lcd/ultralcd.h" #include "../../feature/bedlevel/bedlevel.h" -#if HAS_SPI_LCD - #include "../../lcd/ultralcd.h" -#endif - #if HAS_LEVELING #include "../../module/planner.h" #endif @@ -77,61 +74,85 @@ void GcodeSuite::M48() { const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE; - xy_float_t next_pos = current_position; - - const xy_pos_t probe_pos = { - parser.linearval('X', next_pos.x + probe.offset_xy.x), // If no X use the probe's current X position - parser.linearval('Y', next_pos.y + probe.offset_xy.y) // If no Y, ditto + // Test at the current position by default, overridden by X and Y + const xy_pos_t test_position = { + parser.linearval('X', current_position.x + probe.offset_xy.x), // If no X use the probe's current X position + parser.linearval('Y', current_position.y + probe.offset_xy.y) // If no Y, ditto }; - if (!probe.can_reach(probe_pos)) { + if (!probe.can_reach(test_position)) { + ui.set_status_P(GET_TEXT(MSG_M48_OUT_OF_BOUNDS), 99); SERIAL_ECHOLNPGM("? (X,Y) out of bounds."); return; } + // Get the number of leg moves per test-point bool seen_L = parser.seen('L'); uint8_t n_legs = seen_L ? parser.value_byte() : 0; if (n_legs > 15) { - SERIAL_ECHOLNPGM("?Number of legs in movement not plausible (0-15)."); + SERIAL_ECHOLNPGM("?Legs of movement implausible (0-15)."); return; } if (n_legs == 1) n_legs = 2; + // Schizoid motion as an optional stress-test const bool schizoid_flag = parser.boolval('S'); if (schizoid_flag && !seen_L) n_legs = 7; - /** - * Now get everything to the specified probe point So we can safely do a - * probe to get us close to the bed. If the Z-Axis is far from the bed, - * we don't want to use that as a starting point for each probe. - */ if (verbose_level > 2) SERIAL_ECHOLNPGM("Positioning the probe..."); - // Disable bed level correction in M48 because we want the raw data when we probe + // Always disable Bed Level correction before probing... #if HAS_LEVELING const bool was_enabled = planner.leveling_active; set_bed_leveling_enabled(false); #endif + // Work with reasonable feedrates remember_feedrate_scaling_off(); - float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples]; + // Working variables + float mean = 0.0, // The average of all points so far, used to calculate deviation + sigma = 0.0, // Standard deviation of all points so far + min = 99999.9, // Smallest value sampled so far + max = -99999.9, // Largest value sampled so far + sample_set[n_samples]; // Storage for sampled values + + auto dev_report = [](const bool verbose, const float &mean, const float &sigma, const float &min, const float &max, const bool final=false) { + if (verbose) { + SERIAL_ECHOPAIR_F("Mean: ", mean, 6); + if (!final) SERIAL_ECHOPAIR_F(" Sigma: ", sigma, 6); + SERIAL_ECHOPAIR_F(" Min: ", min, 3); + SERIAL_ECHOPAIR_F(" Max: ", max, 3); + SERIAL_ECHOPAIR_F(" Range: ", max-min, 3); + if (final) SERIAL_EOL(); + } + if (final) { + SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); + SERIAL_EOL(); + } + }; // Move to the first point, deploy, and probe - const float t = probe.probe_at_point(probe_pos, raise_after, verbose_level); + const float t = probe.probe_at_point(test_position, raise_after, verbose_level); bool probing_good = !isnan(t); if (probing_good) { randomSeed(millis()); + float sample_sum = 0.0; + LOOP_L_N(n, n_samples) { #if HAS_SPI_LCD // Display M48 progress in the status bar ui.status_printf_P(0, PSTR(S_FMT ": %d/%d"), GET_TEXT(MSG_M48_POINT), int(n + 1), int(n_samples)); #endif + + // When there are "legs" of movement move around the point before probing if (n_legs) { + + // Pick a random direction, starting angle, and radius const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise float angle = random(0, 360); const float radius = random( @@ -142,48 +163,51 @@ void GcodeSuite::M48() { int(5), int(0.125 * _MIN(X_BED_SIZE, Y_BED_SIZE)) #endif ); - if (verbose_level > 3) { SERIAL_ECHOPAIR("Start radius:", radius, " angle:", angle, " dir:"); if (dir > 0) SERIAL_CHAR('C'); SERIAL_ECHOLNPGM("CW"); } + // Move from leg to leg in rapid succession LOOP_L_N(l, n_legs - 1) { - float delta_angle; + // Move some distance around the perimeter + float delta_angle; if (schizoid_flag) { - // The points of a 5 point star are 72 degrees apart. We need to - // skip a point and go to the next one on the star. + // The points of a 5 point star are 72 degrees apart. + // Skip a point and go to the next one on the star. delta_angle = dir * 2.0 * 72.0; } else { - // If we do this line, we are just trying to move further - // around the circle. - delta_angle = dir * (float) random(25, 45); + // Just move further along the perimeter. + delta_angle = dir * (float)random(25, 45); } - angle += delta_angle; - while (angle > 360.0) angle -= 360.0; // We probably do not need to keep the angle between 0 and 2*PI, but the - // Arduino documentation says the trig functions should not be given values - while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with - // numbers outside of the range, but just to be safe we clamp them. - const xy_pos_t noz_pos = probe_pos - probe.offset_xy; - next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius, - noz_pos.y + sin(RADIANS(angle)) * radius); + // Trig functions work without clamping, but just to be safe... + while (angle > 360.0) angle -= 360.0; + while (angle < 0.0) angle += 360.0; - #if DISABLED(DELTA) - LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS); - LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS); - #else - // If we have gone out too far, we can do a simple fix and scale the numbers - // back in closer to the origin. + // Choose the next position as an offset to chosen test position + const xy_pos_t noz_pos = test_position - probe.offset_xy; + xy_pos_t next_pos = { + noz_pos.x + cos(RADIANS(angle)) * radius, + noz_pos.y + sin(RADIANS(angle)) * radius + }; + + #if ENABLED(DELTA) + // If the probe can't reach the point on a round bed... + // Simply scale the numbers to bring them closer to origin. while (!probe.can_reach(next_pos)) { next_pos *= 0.8f; if (verbose_level > 3) SERIAL_ECHOLNPAIR_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y); } + #else + // For a rectangular bed just keep the probe in bounds + LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS); + LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS); #endif if (verbose_level > 3) @@ -194,45 +218,35 @@ void GcodeSuite::M48() { } // n_legs // Probe a single point - sample_set[n] = probe.probe_at_point(probe_pos, raise_after, 0); + const float pz = probe.probe_at_point(test_position, raise_after, 0); // Break the loop if the probe fails - probing_good = !isnan(sample_set[n]); + probing_good = !isnan(pz); if (!probing_good) break; - /** - * Get the current mean for the data points we have so far - */ - float sum = 0.0; - LOOP_LE_N(j, n) sum += sample_set[j]; - mean = sum / (n + 1); - - NOMORE(min, sample_set[n]); - NOLESS(max, sample_set[n]); - - /** - * Now, use that mean to calculate the standard deviation for the - * data points we have so far - */ - sum = 0.0; - LOOP_LE_N(j, n) - sum += sq(sample_set[j] - mean); - - sigma = SQRT(sum / (n + 1)); - if (verbose_level > 0) { - if (verbose_level > 1) { - SERIAL_ECHO(n + 1); - SERIAL_ECHOPAIR(" of ", int(n_samples)); - SERIAL_ECHOPAIR_F(": z: ", sample_set[n], 3); - if (verbose_level > 2) { - SERIAL_ECHOPAIR_F(" mean: ", mean, 4); - SERIAL_ECHOPAIR_F(" sigma: ", sigma, 6); - SERIAL_ECHOPAIR_F(" min: ", min, 3); - SERIAL_ECHOPAIR_F(" max: ", max, 3); - SERIAL_ECHOPAIR_F(" range: ", max-min, 3); - } - SERIAL_EOL(); - } + // Store the new sample + sample_set[n] = pz; + + // Keep track of the largest and smallest samples + NOMORE(min, pz); + NOLESS(max, pz); + + // Get the mean value of all samples thus far + sample_sum += pz; + mean = sample_sum / (n + 1); + + // Calculate the standard deviation so far. + // The value after the last sample will be the final output. + float dev_sum = 0.0; + LOOP_LE_N(j, n) dev_sum += sq(sample_set[j] - mean); + sigma = SQRT(dev_sum / (n + 1)); + + if (verbose_level > 1) { + SERIAL_ECHO(n + 1); + SERIAL_ECHOPAIR(" of ", int(n_samples)); + SERIAL_ECHOPAIR_F(": z: ", pz, 3); + dev_report(verbose_level > 2, mean, sigma, min, max); + SERIAL_EOL(); } } // n_samples loop @@ -242,16 +256,7 @@ void GcodeSuite::M48() { if (probing_good) { SERIAL_ECHOLNPGM("Finished!"); - - if (verbose_level > 0) { - SERIAL_ECHOPAIR_F("Mean: ", mean, 6); - SERIAL_ECHOPAIR_F(" Min: ", min, 3); - SERIAL_ECHOPAIR_F(" Max: ", max, 3); - SERIAL_ECHOLNPAIR_F(" Range: ", max-min, 3); - } - - SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); - SERIAL_EOL(); + dev_report(verbose_level > 0, mean, sigma, min, max, true); #if HAS_SPI_LCD // Display M48 results in the status bar diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h index 3791a4ad18..5aa0d76a84 100644 --- a/Marlin/src/lcd/language/language_en.h +++ b/Marlin/src/lcd/language/language_en.h @@ -124,6 +124,7 @@ namespace Language_en { PROGMEM Language_Str MSG_USER_MENU = _UxGT("Custom Commands"); PROGMEM Language_Str MSG_M48_TEST = _UxGT("M48 Probe Test"); PROGMEM Language_Str MSG_M48_POINT = _UxGT("M48 Point"); + PROGMEM Language_Str MSG_M48_OUT_OF_BOUNDS = _UxGT("Probe out of bounds"); PROGMEM Language_Str MSG_M48_DEVIATION = _UxGT("Deviation"); PROGMEM Language_Str MSG_IDEX_MENU = _UxGT("IDEX Mode"); PROGMEM Language_Str MSG_OFFSETS_MENU = _UxGT("Tool Offsets"); diff --git a/Marlin/src/lcd/language/language_it.h b/Marlin/src/lcd/language/language_it.h index 1a5bdb22e9..43765d7c3a 100644 --- a/Marlin/src/lcd/language/language_it.h +++ b/Marlin/src/lcd/language/language_it.h @@ -122,6 +122,7 @@ namespace Language_it { PROGMEM Language_Str MSG_LCD_TILTING_MESH = _UxGT("Punto inclinaz."); PROGMEM Language_Str MSG_M48_TEST = _UxGT("Test sonda M48"); PROGMEM Language_Str MSG_M48_POINT = _UxGT("Punto M48"); + PROGMEM Language_Str MSG_M48_OUT_OF_BOUNDS = _UxGT("Sonda oltre i limiti"); PROGMEM Language_Str MSG_M48_DEVIATION = _UxGT("Deviazione"); PROGMEM Language_Str MSG_IDEX_MENU = _UxGT("Modo IDEX"); PROGMEM Language_Str MSG_OFFSETS_MENU = _UxGT("Strumenti Offsets"); diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp index 914b229008..027be4029d 100644 --- a/Marlin/src/lcd/menu/menu_motion.cpp +++ b/Marlin/src/lcd/menu/menu_motion.cpp @@ -386,7 +386,7 @@ void menu_motion() { #endif #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) - GCODES_ITEM(MSG_M48_TEST, PSTR("G28\nM48 P10")); + GCODES_ITEM(MSG_M48_TEST, PSTR("G28 O\nM48 P10")); #endif //