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562 lines
21 KiB
562 lines
21 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfigPre.h"
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#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
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#include "../../feature/z_stepper_align.h"
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/stepper.h"
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#include "../../module/planner.h"
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#include "../../module/probe.h"
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#include "../../lcd/marlinui.h" // for LCD_MESSAGE
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#if HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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#if HAS_MULTI_HOTEND
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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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#include "../../libs/least_squares_fit.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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#if NUM_Z_STEPPER_DRIVERS >= 3
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#define TRIPLE_Z 1
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#if NUM_Z_STEPPER_DRIVERS >= 4
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#define QUAD_Z 1
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#endif
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#endif
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/**
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* G34: Z-Stepper automatic alignment
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*
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* Manual stepper lock controls (reset by G28):
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* L Unlock all steppers
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* Z<1-4> Z stepper to lock / unlock
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* S<state> 0=UNLOCKED 1=LOCKED. If omitted, assume LOCKED.
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*
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* Examples:
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* G34 Z1 ; Lock Z1
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* G34 L Z2 ; Unlock all, then lock Z2
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* G34 Z2 S0 ; Unlock Z2
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*
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* With Z_STEPPER_AUTO_ALIGN:
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* I<iterations> Number of tests. If omitted, Z_STEPPER_ALIGN_ITERATIONS.
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* T<accuracy> Target Accuracy factor. If omitted, Z_STEPPER_ALIGN_ACC.
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* A<amplification> Provide an Amplification value. If omitted, Z_STEPPER_ALIGN_AMP.
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* R Flag to recalculate points based on current probe offsets
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*/
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void GcodeSuite::G34() {
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DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
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if (DEBUGGING(LEVELING)) log_machine_info();
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planner.synchronize(); // Prevent damage
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const bool seenL = parser.seen('L');
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if (seenL) stepper.set_all_z_lock(false);
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const bool seenZ = parser.seenval('Z');
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if (seenZ) {
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const bool state = parser.boolval('S', true);
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switch (parser.intval('Z')) {
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case 1: stepper.set_z1_lock(state); break;
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case 2: stepper.set_z2_lock(state); break;
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#if TRIPLE_Z
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case 3: stepper.set_z3_lock(state); break;
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#if QUAD_Z
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case 4: stepper.set_z4_lock(state); break;
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#endif
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#endif
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}
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}
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if (seenL || seenZ) {
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stepper.set_separate_multi_axis(seenZ);
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return;
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}
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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do { // break out on error
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const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
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if (!WITHIN(z_auto_align_iterations, 1, 30)) {
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SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
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break;
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}
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const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC);
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if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) {
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SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0).");
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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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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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}
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if (parser.seen('R')) z_stepper_align.reset_to_default();
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const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
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// Disable the leveling matrix before auto-aligning
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#if HAS_LEVELING
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#if ENABLED(RESTORE_LEVELING_AFTER_G34)
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const bool leveling_was_active = planner.leveling_active;
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#endif
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set_bed_leveling_enabled(false);
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#endif
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TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY);
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// Always home with tool 0 active
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#if HAS_MULTI_HOTEND
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const uint8_t old_tool_index = active_extruder;
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tool_change(0, true);
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#endif
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TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
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// In BLTOUCH HS mode, the probe travels in a deployed state.
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// Users of G34 might have a badly misaligned bed, so raise Z by the
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// length of the deployed pin (BLTOUCH stroke < 7mm)
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#define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + 7.0f * BOTH(BLTOUCH, BLTOUCH_HS_MODE))
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// Compute a worst-case clearance height to probe from. After the first
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// iteration this will be re-calculated based on the actual bed position
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auto magnitude2 = [&](const uint8_t i, const uint8_t j) {
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const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
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return HYPOT2(diff.x, diff.y);
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};
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float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1)
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#if TRIPLE_Z
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, magnitude2(2, 1), magnitude2(2, 0)
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#if QUAD_Z
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, magnitude2(3, 2), magnitude2(3, 1), magnitude2(3, 0)
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#endif
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#endif
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));
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// Home before the alignment procedure
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home_if_needed();
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// Move the Z coordinate realm towards the positive - dirty trick
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current_position.z += z_probe * 0.5f;
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sync_plan_position();
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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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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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#endif
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float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 },
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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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bool adjustment_reverse = false;
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#endif
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#if HAS_STATUS_MESSAGE
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PGM_P const msg_iteration = GET_TEXT(MSG_ITERATION);
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const uint8_t iter_str_len = strlen_P(msg_iteration);
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#endif
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// Final z and iteration values will be used after breaking the loop
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float z_measured_min;
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uint8_t iteration = 0;
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bool err_break = false; // To break out of nested loops
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while (iteration < z_auto_align_iterations) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
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const int iter = iteration + 1;
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SERIAL_ECHOLNPGM("\nG34 Iteration: ", iter);
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#if HAS_STATUS_MESSAGE
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char str[iter_str_len + 2 + 1];
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sprintf_P(str, msg_iteration, iter);
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ui.set_status(str);
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#endif
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// Initialize minimum value
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z_measured_min = 100000.0f;
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float z_measured_max = -100000.0f;
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// Probe all positions (one per Z-Stepper)
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LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
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// iteration odd/even --> downward / upward stepper sequence
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const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i;
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// Safe clearance even on an incline
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if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe);
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if (DEBUGGING(LEVELING))
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DEBUG_ECHOLNPGM_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y);
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// Probe a Z height for each stepper.
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// Probing sanity check is disabled, as it would trigger even in normal cases because
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// current_position.z has been manually altered in the "dirty trick" above.
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const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false);
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if (isnan(z_probed_height)) {
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SERIAL_ECHOLNPGM("Probing failed");
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LCD_MESSAGE(MSG_LCD_PROBING_FAILED);
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err_break = true;
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break;
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}
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// Add height to each value, to provide a more useful target height for
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// the next iteration of probing. This allows adjustments to be made away from the bed.
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z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", iprobe + 1, " measured position is ", z_measured[iprobe]);
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// Remember the minimum measurement to calculate the correction later on
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z_measured_min = _MIN(z_measured_min, z_measured[iprobe]);
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z_measured_max = _MAX(z_measured_max, z_measured[iprobe]);
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} // for (i)
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if (err_break) break;
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// Adapt the next probe clearance height based on the new measurements.
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// Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment.
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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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// 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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// This must be done after the next z_probe height is calculated, so that
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// the height is calculated from actual print area positions, and not
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// extrapolated motor movements.
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// Compute the least-squares fit for all probed points.
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// Calculate the Z position of each stepper and store it in z_measured.
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// This allows the actual adjustment logic to be shared by both algorithms.
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linear_fit_data lfd;
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incremental_LSF_reset(&lfd);
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LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
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SERIAL_ECHOLNPGM("PROBEPT_", i, ": ", z_measured[i]);
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incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
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}
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finish_incremental_LSF(&lfd);
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z_measured_min = 100000.0f;
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LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
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z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D);
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z_measured_min = _MIN(z_measured_min, z_measured[i]);
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}
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SERIAL_ECHOLNPGM(
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LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS),
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"Calculated Z1=", z_measured[0],
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" Z2=", z_measured[1],
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" Z3=", z_measured[2],
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" Z4=", z_measured[3]
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)
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);
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#endif
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SERIAL_ECHOLNPGM("\n"
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"Z2-Z1=", ABS(z_measured[1] - z_measured[0])
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#if TRIPLE_Z
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, " Z3-Z2=", ABS(z_measured[2] - z_measured[1])
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, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
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#if QUAD_Z
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, " Z4-Z3=", ABS(z_measured[3] - z_measured[2])
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, " Z4-Z2=", ABS(z_measured[3] - z_measured[1])
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, " Z4-Z1=", ABS(z_measured[3] - z_measured[0])
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#endif
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#endif
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);
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#if HAS_STATUS_MESSAGE
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char fstr1[10];
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char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1]
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#if TRIPLE_Z
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, fstr2[10], fstr3[10]
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#if QUAD_Z
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, fstr4[10], fstr5[10], fstr6[10]
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#endif
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#endif
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;
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sprintf_P(msg,
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PSTR("1:2=%s" TERN_(TRIPLE_Z, " 3-2=%s 3-1=%s") TERN_(QUAD_Z, " 4-3=%s 4-2=%s 4-1=%s")),
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dtostrf(ABS(z_measured[1] - z_measured[0]), 1, 3, fstr1)
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OPTARG(TRIPLE_Z,
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dtostrf(ABS(z_measured[2] - z_measured[1]), 1, 3, fstr2),
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dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3))
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OPTARG(QUAD_Z,
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dtostrf(ABS(z_measured[3] - z_measured[2]), 1, 3, fstr4),
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dtostrf(ABS(z_measured[3] - z_measured[1]), 1, 3, fstr5),
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dtostrf(ABS(z_measured[3] - z_measured[0]), 1, 3, fstr6))
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);
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ui.set_status(msg);
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#endif
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auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) {
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if (v1 < v2 * 0.7f) {
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SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
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LCD_MESSAGE(MSG_DECREASING_ACCURACY);
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return true;
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}
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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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// 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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// Calculate mean value as a reference
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float z_measured_mean = 0.0f;
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LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper];
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z_measured_mean /= NUM_Z_STEPPER_DRIVERS;
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// Calculate the sum of the absolute deviations from the mean value
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float z_align_level_indicator = 0.0f;
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LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS)
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z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean);
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// If it's getting worse, stop and throw an error
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err_break = decreasing_accuracy(last_z_align_level_indicator, z_align_level_indicator);
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if (err_break) break;
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last_z_align_level_indicator = z_align_level_indicator;
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#endif
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// The following correction actions are to be enabled for select Z-steppers only
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stepper.set_separate_multi_axis(true);
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bool success_break = true;
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// Correct the individual stepper offsets
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LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) {
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// Calculate current stepper move
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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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// 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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// Check for less accuracy compared to last move
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if (decreasing_accuracy(last_z_align_move[zstepper], z_align_abs)) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " last_z_align_move = ", last_z_align_move[zstepper]);
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " z_align_abs = ", z_align_abs);
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adjustment_reverse = !adjustment_reverse;
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}
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// Remember the alignment for the next iteration, but only if steppers move,
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// otherwise it would be just zero (in case this stepper was at z_measured_min already)
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if (z_align_abs > 0) last_z_align_move[zstepper] = z_align_abs;
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#endif
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// Stop early if all measured points achieve accuracy target
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if (z_align_abs > z_auto_align_accuracy) success_break = false;
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " corrected by ", z_align_move);
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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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// 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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z_align_move = -z_align_move;
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " correction reversed to ", z_align_move);
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}
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#endif
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// Do a move to correct part of the misalignment for the current stepper
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do_blocking_move_to_z(amplification * z_align_move + current_position.z);
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} // for (zstepper)
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// Back to normal stepper operations
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stepper.set_all_z_lock(false);
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stepper.set_separate_multi_axis(false);
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if (err_break) break;
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if (success_break) {
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SERIAL_ECHOLNPGM("Target accuracy achieved.");
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LCD_MESSAGE(MSG_ACCURACY_ACHIEVED);
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break;
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}
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iteration++;
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} // while (iteration < z_auto_align_iterations)
|
|
|
|
if (err_break)
|
|
SERIAL_ECHOLNPGM("G34 aborted.");
|
|
else {
|
|
SERIAL_ECHOLNPGM("Did ", iteration + (iteration != z_auto_align_iterations), " of ", z_auto_align_iterations);
|
|
SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
|
|
}
|
|
|
|
// Stow the probe because the last call to probe.probe_at_point(...)
|
|
// leaves the probe deployed when it's successful.
|
|
IF_DISABLED(TOUCH_MI_PROBE, probe.stow());
|
|
|
|
#if ENABLED(HOME_AFTER_G34)
|
|
// After this operation the z position needs correction
|
|
set_axis_never_homed(Z_AXIS);
|
|
// Home Z after the alignment procedure
|
|
process_subcommands_now(F("G28Z"));
|
|
#else
|
|
// Use the probed height from the last iteration to determine the Z height.
|
|
// z_measured_min is used, because all steppers are aligned to z_measured_min.
|
|
// Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier.
|
|
current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES;
|
|
sync_plan_position();
|
|
#endif
|
|
|
|
// Restore the active tool after homing
|
|
TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER))); // Fetch previous tool for parking extruder
|
|
|
|
#if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34)
|
|
set_bed_leveling_enabled(leveling_was_active);
|
|
#endif
|
|
|
|
}while(0);
|
|
#endif // Z_STEPPER_AUTO_ALIGN
|
|
}
|
|
|
|
#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN
|
|
|
|
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
|
|
|
|
/**
|
|
* M422: Set a Z-Stepper automatic alignment XY point.
|
|
* Use repeatedly to set multiple points.
|
|
*
|
|
* S<index> : Index of the probe point to set
|
|
*
|
|
* With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS:
|
|
* W<index> : Index of the Z stepper position to set
|
|
* The W and S parameters may not be combined.
|
|
*
|
|
* 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_any()) return M422_report();
|
|
|
|
if (parser.seen('R')) {
|
|
z_stepper_align.reset_to_default();
|
|
return;
|
|
}
|
|
|
|
const bool is_probe_point = parser.seen('S');
|
|
|
|
if (TERN0(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, is_probe_point && parser.seen('W'))) {
|
|
SERIAL_ECHOLNPGM("?(S) and (W) may not be combined.");
|
|
return;
|
|
}
|
|
|
|
xy_pos_t *pos_dest = (
|
|
TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !is_probe_point ? z_stepper_align.stepper_xy :)
|
|
z_stepper_align.xy
|
|
);
|
|
|
|
if (!is_probe_point && TERN1(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !parser.seen('W'))) {
|
|
SERIAL_ECHOLNPGM("?(S)" TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, " or (W)") " is required.");
|
|
return;
|
|
}
|
|
|
|
// Get the Probe Position Index or Z Stepper Index
|
|
int8_t position_index;
|
|
if (is_probe_point) {
|
|
position_index = parser.intval('S') - 1;
|
|
if (!WITHIN(position_index, 0, int8_t(NUM_Z_STEPPER_DRIVERS) - 1)) {
|
|
SERIAL_ECHOLNPGM("?(S) Probe-position index invalid.");
|
|
return;
|
|
}
|
|
}
|
|
else {
|
|
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
|
|
position_index = parser.intval('W') - 1;
|
|
if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) {
|
|
SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid.");
|
|
return;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
const xy_pos_t pos = {
|
|
parser.floatval('X', pos_dest[position_index].x),
|
|
parser.floatval('Y', pos_dest[position_index].y)
|
|
};
|
|
|
|
if (is_probe_point) {
|
|
if (!probe.can_reach(pos.x, Y_CENTER)) {
|
|
SERIAL_ECHOLNPGM("?(X) out of bounds.");
|
|
return;
|
|
}
|
|
if (!probe.can_reach(pos)) {
|
|
SERIAL_ECHOLNPGM("?(Y) out of bounds.");
|
|
return;
|
|
}
|
|
}
|
|
|
|
pos_dest[position_index] = pos;
|
|
}
|
|
|
|
void GcodeSuite::M422_report(const bool forReplay/*=true*/) {
|
|
report_heading(forReplay, PSTR(STR_Z_AUTO_ALIGN));
|
|
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
|
|
report_echo_start(forReplay);
|
|
SERIAL_ECHOLNPGM_P(
|
|
PSTR(" M422 S"), i + 1,
|
|
SP_X_STR, z_stepper_align.xy[i].x,
|
|
SP_Y_STR, z_stepper_align.xy[i].y
|
|
);
|
|
}
|
|
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
|
|
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
|
|
report_echo_start(forReplay);
|
|
SERIAL_ECHOLNPGM_P(
|
|
PSTR(" M422 W"), i + 1,
|
|
SP_X_STR, z_stepper_align.stepper_xy[i].x,
|
|
SP_Y_STR, z_stepper_align.stepper_xy[i].y
|
|
);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
#endif // Z_STEPPER_AUTO_ALIGN
|
|
|