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@ -41,7 +41,7 @@ |
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#include "../../module/tool_change.h" |
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#endif |
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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#include "../../libs/least_squares_fit.h" |
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#endif |
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@ -122,7 +122,7 @@ void GcodeSuite::G34() { |
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break; |
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} |
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const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP)); |
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const float z_auto_align_amplification = TERN(HAS_Z_STEPPER_ALIGN_STEPPER_XY, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP)); |
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if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) { |
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SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0)."); |
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break; |
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@ -179,7 +179,7 @@ void GcodeSuite::G34() { |
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// Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error.
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// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f); |
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#else |
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float last_z_align_level_indicator = 10000.0f; |
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@ -188,7 +188,7 @@ void GcodeSuite::G34() { |
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z_maxdiff = 0.0f, |
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amplification = z_auto_align_amplification; |
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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bool adjustment_reverse = false; |
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#endif |
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@ -256,7 +256,7 @@ void GcodeSuite::G34() { |
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z_maxdiff = z_measured_max - z_measured_min; |
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z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff; |
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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// Replace the initial values in z_measured with calculated heights at
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// each stepper position. This allows the adjustment algorithm to be
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// shared between both possible probing mechanisms.
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@ -338,7 +338,7 @@ void GcodeSuite::G34() { |
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return false; |
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}; |
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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// Check if the applied corrections go in the correct direction.
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// Calculate the sum of the absolute deviations from the mean of the probe measurements.
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// Compare to the last iteration to ensure it's getting better.
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@ -370,7 +370,7 @@ void GcodeSuite::G34() { |
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float z_align_move = z_measured[zstepper] - z_measured_min; |
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const float z_align_abs = ABS(z_align_move); |
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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// Optimize one iteration's correction based on the first measurements
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if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification; |
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@ -394,7 +394,7 @@ void GcodeSuite::G34() { |
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// Lock all steppers except one
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stepper.set_all_z_lock(true, zstepper); |
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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// Decreasing accuracy was detected so move was inverted.
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// Will match reversed Z steppers on dual steppers. Triple will need more work to map.
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if (adjustment_reverse) { |
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@ -467,7 +467,7 @@ void GcodeSuite::G34() { |
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* |
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* S<index> : Index of the probe point to set |
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* |
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* With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS: |
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* With Z_STEPPER_ALIGN_STEPPER_XY: |
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* W<index> : Index of the Z stepper position to set |
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* The W and S parameters may not be combined. |
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* |
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@ -488,18 +488,18 @@ void GcodeSuite::M422() { |
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const bool is_probe_point = parser.seen('S'); |
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if (TERN0(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, is_probe_point && parser.seen('W'))) { |
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if (TERN0(HAS_Z_STEPPER_ALIGN_STEPPER_XY, is_probe_point && parser.seen('W'))) { |
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SERIAL_ECHOLNPGM("?(S) and (W) may not be combined."); |
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return; |
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} |
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xy_pos_t *pos_dest = ( |
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TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !is_probe_point ? z_stepper_align.stepper_xy :) |
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TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !is_probe_point ? z_stepper_align.stepper_xy :) |
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z_stepper_align.xy |
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); |
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if (!is_probe_point && TERN1(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !parser.seen('W'))) { |
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SERIAL_ECHOLNPGM("?(S)" TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, " or (W)") " is required."); |
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if (!is_probe_point && TERN1(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !parser.seen('W'))) { |
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SERIAL_ECHOLNPGM("?(S)" TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, " or (W)") " is required."); |
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return; |
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} |
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@ -513,7 +513,7 @@ void GcodeSuite::M422() { |
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} |
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} |
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else { |
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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position_index = parser.intval('W') - 1; |
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if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) { |
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SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid."); |
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@ -551,7 +551,7 @@ void GcodeSuite::M422_report(const bool forReplay/*=true*/) { |
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SP_Y_STR, z_stepper_align.xy[i].y |
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); |
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} |
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) |
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#if HAS_Z_STEPPER_ALIGN_STEPPER_XY |
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LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { |
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report_echo_start(forReplay); |
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SERIAL_ECHOLNPGM_P( |
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Scott Lahteine
2 years ago