New feature: BED_SKEW_CORRECTION
This commit is contained in:
Scott Lahteine
parent
a8d83aec89
commit
172ce67344
@ -89,7 +89,7 @@ script:
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- opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS
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- opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS
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- opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED
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- opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
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- opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE
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- opt_enable_adv FWRETRACT MAX7219_DEBUG LED_CONTROL_MENU
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- opt_set ABL_GRID_POINTS_X 16
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- opt_set ABL_GRID_POINTS_Y 16
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@ -844,6 +844,49 @@
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#define Z_PROBE_OFFSET_FROM_EXTRUDER 0
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#endif
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/**
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* XYZ Bed Skew Correction
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*/
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#if ENABLED(SKEW_CORRECTION)
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#define SKEW_FACTOR_MIN -1
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#define SKEW_FACTOR_MAX 1
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#define _GET_SIDE(a,b,c) (SQRT(2*sq(a)+2*sq(b)-4*sq(c))*0.5)
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#define _SKEW_SIDE(a,b,c) tan(M_PI*0.5-acos((sq(a)-sq(b)-sq(c))/(2*c*b)))
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#define _SKEW_FACTOR(a,b,c) _SKEW_SIDE(a,_GET_SIDE(a,b,c),c)
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#ifndef XY_SKEW_FACTOR
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constexpr float XY_SKEW_FACTOR = (
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#if defined(XY_DIAG_AC) && defined(XY_DIAG_BD) && defined(XY_SIDE_AD)
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_SKEW_FACTOR(XY_DIAG_AC, XY_DIAG_BD, XY_SIDE_AD)
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#else
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0.0
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#endif
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);
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#endif
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#ifndef XZ_SKEW_FACTOR
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#if defined(XY_SIDE_AD) && !defined(XZ_SIDE_AD)
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#define XZ_SIDE_AD XY_SIDE_AD
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#endif
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constexpr float XZ_SKEW_FACTOR = (
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#if defined(XZ_DIAG_AC) && defined(XZ_DIAG_BD) && defined(XZ_SIDE_AD)
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_SKEW_FACTOR(XZ_DIAG_AC, XZ_DIAG_BD, XZ_SIDE_AD)
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#else
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0.0
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#endif
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);
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#endif
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#ifndef YZ_SKEW_FACTOR
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constexpr float YZ_SKEW_FACTOR = (
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#if defined(YZ_DIAG_AC) && defined(YZ_DIAG_BD) && defined(YZ_SIDE_AD)
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_SKEW_FACTOR(YZ_DIAG_AC, YZ_DIAG_BD, YZ_SIDE_AD)
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#else
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0.0
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#endif
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);
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#endif
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#endif // SKEW_CORRECTION
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/**
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* Heater & Fan Pausing
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*/
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@ -898,7 +941,7 @@
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#define HAS_LEVELING (HAS_ABL || ENABLED(MESH_BED_LEVELING))
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#define HAS_AUTOLEVEL (HAS_ABL && DISABLED(PROBE_MANUALLY))
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#define HAS_MESH (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
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#define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_DELTA)
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#define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_DELTA || ENABLED(SKEW_CORRECTION))
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#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
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#if HAS_PROBING_PROCEDURE
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#define PROBE_BED_WIDTH abs(RIGHT_PROBE_BED_POSITION - (LEFT_PROBE_BED_POSITION))
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@ -832,7 +832,7 @@
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//===========================================================================
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//=============================== Bed Leveling ==============================
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//===========================================================================
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// @section bedlevel
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// @section calibrate
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/**
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* Choose one of the options below to enable G29 Bed Leveling. The parameters
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@ -1044,6 +1044,63 @@
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#define HOMING_FEEDRATE_XY (50*60)
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#define HOMING_FEEDRATE_Z (4*60)
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// @section calibrate
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/**
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* Bed Skew Compensation
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*
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* This feature corrects for misalignment in the XYZ axes.
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*
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* Take the following steps to get the bed skew in the XY plane:
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* 1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
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* 2. For XY_DIAG_AC measure the diagonal A to C
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* 3. For XY_DIAG_BD measure the diagonal B to D
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* 4. For XY_SIDE_AD measure the edge A to D
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*
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* Marlin automatically computes skew factors from these measurements.
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* Skew factors may also be computed and set manually:
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*
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* - Compute AB : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
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* - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
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*
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* If desired, follow the same procedure for XZ and YZ.
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* Use these diagrams for reference:
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*
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* Y Z Z
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* ^ B-------C ^ B-------C ^ B-------C
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* | / / | / / | / /
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* | / / | / / | / /
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* | A-------D | A-------D | A-------D
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* +-------------->X +-------------->X +-------------->Y
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* XY_SKEW_FACTOR XZ_SKEW_FACTOR YZ_SKEW_FACTOR
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*/
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//#define SKEW_CORRECTION
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#if ENABLED(SKEW_CORRECTION)
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// Input all length measurements here:
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#define XY_DIAG_AC 282.8427124746
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#define XY_DIAG_BD 282.8427124746
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#define XY_SIDE_AD 200
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// Or, set the default skew factors directly here
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// to override the above measurements:
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#define XY_SKEW_FACTOR 0.0
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//#define SKEW_CORRECTION_FOR_Z
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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#define XZ_DIAG_AC 282.8427124746
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#define XZ_DIAG_BD 282.8427124746
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#define YZ_DIAG_AC 282.8427124746
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#define YZ_DIAG_BD 282.8427124746
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#define YZ_SIDE_AD 200
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#define XZ_SKEW_FACTOR 0.0
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#define YZ_SKEW_FACTOR 0.0
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#endif
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// Enable this option for M852 to set skew at runtime
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//#define SKEW_CORRECTION_GCODE
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#endif
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//=============================================================================
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//============================= Additional Features ===========================
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//=============================================================================
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@ -205,6 +205,7 @@
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* M666 - Set delta endstop adjustment. (Requires DELTA)
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* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
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* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
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* M852 - Set skew factors: "M852 [I<xy>] [J<xz>] [K<yz>]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ)
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* M860 - Report the position of position encoder modules.
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* M861 - Report the status of position encoder modules.
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* M862 - Perform an axis continuity test for position encoder modules.
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@ -9942,6 +9943,69 @@ inline void gcode_M502() {
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#endif // HAS_BED_PROBE
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#if ENABLED(SKEW_CORRECTION_GCODE)
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/**
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* M852: Get or set the machine skew factors. Reports current values with no arguments.
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*
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* S[xy_factor] - Alias for 'I'
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* I[xy_factor] - New XY skew factor
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* J[xz_factor] - New XZ skew factor
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* K[yz_factor] - New YZ skew factor
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*/
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inline void gcode_M852() {
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const bool ijk = parser.seen('I') || parser.seen('S')
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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|| parser.seen('J') || parser.seen('K')
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#endif
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;
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bool badval = false;
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if (parser.seen('I') || parser.seen('S')) {
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const float value = parser.value_linear_units();
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if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
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planner.xy_skew_factor = value;
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else
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badval = true;
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}
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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if (parser.seen('J')) {
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const float value = parser.value_linear_units();
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if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
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planner.xz_skew_factor = value;
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else
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badval = true;
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}
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if (parser.seen('K')) {
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const float value = parser.value_linear_units();
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if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
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planner.yz_skew_factor = value;
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else
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badval = true;
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}
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#endif
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if (badval)
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SERIAL_ECHOLNPGM(MSG_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " MSG_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX));
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if (!ijk) {
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(MSG_SKEW_FACTOR " XY: ", planner.xy_skew_factor);
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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SERIAL_ECHOPAIR(" XZ: ", planner.xz_skew_factor);
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SERIAL_ECHOLNPAIR(" YZ: ", planner.yz_skew_factor);
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#else
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SERIAL_EOL();
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#endif
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}
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}
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#endif // SKEW_CORRECTION_GCODE
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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/**
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@ -11787,6 +11851,12 @@ void process_parsed_command() {
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break;
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#endif // HAS_BED_PROBE
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#if ENABLED(SKEW_CORRECTION_GCODE)
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case 852: // M852: Set Skew factors
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gcode_M852();
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break;
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#endif
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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case 600: // M600: Pause for filament change
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gcode_M600();
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@ -1518,3 +1518,17 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
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#if ENABLED(LED_CONTROL_MENU) && DISABLED(ULTIPANEL)
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#error "LED_CONTROL_MENU requires an LCD controller."
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#endif
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#if ENABLED(SKEW_CORRECTION)
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#if !defined(XY_SKEW_FACTOR) && !(defined(XY_DIAG_AC) && defined(XY_DIAG_BD) && defined(XY_SIDE_AD))
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#error "SKEW_CORRECTION requires XY_SKEW_FACTOR or XY_DIAG_AC, XY_DIAG_BD, XY_SIDE_AD."
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#endif
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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#if !defined(XZ_SKEW_FACTOR) && !(defined(XZ_DIAG_AC) && defined(XZ_DIAG_BD) && defined(XZ_SIDE_AD))
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#error "SKEW_CORRECTION requires XZ_SKEW_FACTOR or XZ_DIAG_AC, XZ_DIAG_BD, XZ_SIDE_AD."
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#endif
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#if !defined(YZ_SKEW_FACTOR) && !(defined(YZ_DIAG_AC) && defined(YZ_DIAG_BD) && defined(YZ_SIDE_AD))
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#error "SKEW_CORRECTION requires YZ_SKEW_FACTOR or YZ_DIAG_AC, YZ_DIAG_BD, YZ_SIDE_AD."
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#endif
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#endif
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#endif
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@ -36,13 +36,13 @@
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*
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*/
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#define EEPROM_VERSION "V45"
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#define EEPROM_VERSION "V46"
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// Change EEPROM version if these are changed:
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#define EEPROM_OFFSET 100
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/**
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* V45 EEPROM Layout:
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* V46 EEPROM Layout:
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*
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* 100 Version (char x4)
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* 104 EEPROM CRC16 (uint16_t)
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@ -166,8 +166,13 @@
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* CNC_COORDINATE_SYSTEMS 108 bytes
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* 602 G54-G59.3 coordinate_system (float x 27)
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*
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* 710 Minimum end-point
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* 2239 (710 + 208 + 36 + 9 + 288 + 988) Maximum end-point
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* SKEW_CORRECTION: 12 bytes
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* 710 M852 I planner.xy_skew_factor (float)
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* 714 M852 J planner.xz_skew_factor (float)
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* 718 M852 K planner.yz_skew_factor (float)
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*
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* 722 Minimum end-point
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* 2251 (722 + 208 + 36 + 9 + 288 + 988) Maximum end-point
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*
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* ========================================================================
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* meshes_begin (between max and min end-point, directly above)
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@ -664,6 +669,10 @@ void MarlinSettings::postprocess() {
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for (uint8_t q = 3; q--;) EEPROM_WRITE(dummyui32);
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#endif
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//
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// CNC Coordinate Systems
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//
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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EEPROM_WRITE(coordinate_system); // 27 floats
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#else
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@ -671,6 +680,19 @@ void MarlinSettings::postprocess() {
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for (uint8_t q = 27; q--;) EEPROM_WRITE(dummy);
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#endif
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//
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// Skew correction factors
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//
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#if ENABLED(SKEW_CORRECTION)
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EEPROM_WRITE(planner.xy_skew_factor);
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EEPROM_WRITE(planner.xz_skew_factor);
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EEPROM_WRITE(planner.yz_skew_factor);
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#else
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dummy = 0.0f;
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for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
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#endif
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if (!eeprom_error) {
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const int eeprom_size = eeprom_index;
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@ -1105,6 +1127,23 @@ void MarlinSettings::postprocess() {
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for (uint8_t q = 27; q--;) EEPROM_READ(dummy);
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#endif
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//
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// Skew correction factors
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//
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#if ENABLED(SKEW_CORRECTION_GCODE)
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EEPROM_READ(planner.xy_skew_factor);
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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EEPROM_READ(planner.xz_skew_factor);
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EEPROM_READ(planner.yz_skew_factor);
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#else
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EEPROM_READ(dummy);
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EEPROM_READ(dummy);
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#endif
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#else
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for (uint8_t q = 3; q--;) EEPROM_READ(dummy);
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#endif
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if (working_crc == stored_crc) {
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postprocess();
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#if ENABLED(EEPROM_CHITCHAT)
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@ -1483,6 +1522,14 @@ void MarlinSettings::reset() {
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ubl.reset();
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#endif
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#if ENABLED(SKEW_CORRECTION_GCODE)
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planner.xy_skew_factor = XY_SKEW_FACTOR;
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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planner.xz_skew_factor = XZ_SKEW_FACTOR;
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planner.yz_skew_factor = YZ_SKEW_FACTOR;
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#endif
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#endif
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postprocess();
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#if ENABLED(EEPROM_CHITCHAT)
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@ -1912,6 +1959,24 @@ void MarlinSettings::reset() {
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SERIAL_ECHOLNPAIR(" M851 Z", LINEAR_UNIT(zprobe_zoffset));
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#endif
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/**
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* Bed Skew Correction
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*/
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#if ENABLED(SKEW_CORRECTION_GCODE)
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if (!forReplay) {
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CONFIG_ECHO_START;
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SERIAL_ECHOLNPGM("Skew Factor: ");
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}
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CONFIG_ECHO_START;
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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SERIAL_ECHOPAIR(" M852 I", LINEAR_UNIT(planner.xy_skew_factor));
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SERIAL_ECHOPAIR(" J", LINEAR_UNIT(planner.xz_skew_factor));
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SERIAL_ECHOLNPAIR(" K", LINEAR_UNIT(planner.yz_skew_factor));
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#else
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SERIAL_ECHOLNPAIR(" M852 S", LINEAR_UNIT(planner.xy_skew_factor));
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#endif
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#endif
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/**
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* TMC2130 stepper driver current
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*/
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@ -162,6 +162,9 @@
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#define MSG_Z2_MAX "z2_max: "
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#define MSG_Z_PROBE "z_probe: "
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#define MSG_PROBE_Z_OFFSET "Probe Z Offset"
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#define MSG_SKEW_MIN "min_skew_factor: "
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#define MSG_SKEW_MAX "max_skew_factor: "
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#define MSG_SKEW_WARN "WARNING: Skew compensation disabled (outside MIN/MAX limits)"
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#define MSG_FILAMENT_RUNOUT_SENSOR "filament: "
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#define MSG_ERR_MATERIAL_INDEX "M145 S<index> out of range (0-1)"
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#define MSG_ERR_M355_NONE "No case light"
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@ -699,6 +699,9 @@
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#ifndef MSG_ZPROBE_OUT
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#define MSG_ZPROBE_OUT _UxGT("Z probe out. bed")
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#endif
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#ifndef MSG_SKEW_FACTOR
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#define MSG_SKEW_FACTOR _UxGT("Skew Factor")
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#endif
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#ifndef MSG_BLTOUCH
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#define MSG_BLTOUCH _UxGT("BLTouch")
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#endif
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@ -124,6 +124,20 @@ float Planner::min_feedrate_mm_s,
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#endif
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#endif
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#if ENABLED(SKEW_CORRECTION)
|
||||
#if ENABLED(SKEW_CORRECTION_GCODE)
|
||||
// Initialized by settings.load()
|
||||
float Planner::xy_skew_factor;
|
||||
#if ENABLED(SKEW_CORRECTION_FOR_Z)
|
||||
float Planner::xz_skew_factor, Planner::yz_skew_factor;
|
||||
#else
|
||||
constexpr float Planner::xz_skew_factor, Planner::yz_skew_factor;
|
||||
#endif
|
||||
#else
|
||||
constexpr float Planner::xy_skew_factor, Planner::xz_skew_factor, Planner::yz_skew_factor;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if ENABLED(AUTOTEMP)
|
||||
float Planner::autotemp_max = 250,
|
||||
Planner::autotemp_min = 210,
|
||||
@ -554,6 +568,19 @@ void Planner::calculate_volumetric_multipliers() {
|
||||
*/
|
||||
void Planner::apply_leveling(float &rx, float &ry, float &rz) {
|
||||
|
||||
#if ENABLED(SKEW_CORRECTION)
|
||||
if (WITHIN(rx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(ry, Y_MIN_POS + 1, Y_MAX_POS)) {
|
||||
const float tempry = ry - (rz * planner.yz_skew_factor),
|
||||
temprx = rx - (ry * planner.xy_skew_factor) - (rz * (planner.xz_skew_factor - (planner.xy_skew_factor * planner.yz_skew_factor)));
|
||||
if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
|
||||
rx = temprx;
|
||||
ry = tempry;
|
||||
}
|
||||
else
|
||||
SERIAL_ECHOLN(MSG_SKEW_WARN);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (!leveling_active) return;
|
||||
|
||||
#if ABL_PLANAR
|
||||
@ -600,7 +627,13 @@ void Planner::calculate_volumetric_multipliers() {
|
||||
|
||||
void Planner::unapply_leveling(float raw[XYZ]) {
|
||||
|
||||
if (!leveling_active) return;
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
|
||||
#else
|
||||
constexpr float fade_scaling_factor = 1.0;
|
||||
#endif
|
||||
|
||||
if (leveling_active && fade_scaling_factor) {
|
||||
|
||||
#if ABL_PLANAR
|
||||
|
||||
@ -614,14 +647,7 @@ void Planner::calculate_volumetric_multipliers() {
|
||||
raw[X_AXIS] = dx + X_TILT_FULCRUM;
|
||||
raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
|
||||
|
||||
#else
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
|
||||
if (!fade_scaling_factor) return;
|
||||
#elif HAS_MESH
|
||||
constexpr float fade_scaling_factor = 1.0;
|
||||
#endif
|
||||
#else // !ABL_PLANAR
|
||||
|
||||
raw[Z_AXIS] -= (
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
@ -639,6 +665,18 @@ void Planner::calculate_volumetric_multipliers() {
|
||||
#endif
|
||||
);
|
||||
|
||||
#endif // !ABL_PLANAR
|
||||
}
|
||||
|
||||
#if ENABLED(SKEW_CORRECTION)
|
||||
if (WITHIN(raw[X_AXIS], X_MIN_POS, X_MAX_POS) && WITHIN(raw[Y_AXIS], Y_MIN_POS, Y_MAX_POS)) {
|
||||
const float temprx = raw[X_AXIS] + raw[Y_AXIS] * planner.xy_skew_factor + raw[Z_AXIS] * planner.xz_skew_factor,
|
||||
tempry = raw[Y_AXIS] + raw[Z_AXIS] * planner.yz_skew_factor;
|
||||
if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
|
||||
raw[X_AXIS] = temprx;
|
||||
raw[Y_AXIS] = tempry;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -176,6 +176,23 @@ class Planner {
|
||||
static float extruder_advance_k, advance_ed_ratio;
|
||||
#endif
|
||||
|
||||
#if ENABLED(SKEW_CORRECTION)
|
||||
#if ENABLED(SKEW_CORRECTION_GCODE)
|
||||
static float xy_skew_factor;
|
||||
#else
|
||||
static constexpr float xy_skew_factor = XY_SKEW_FACTOR;
|
||||
#endif
|
||||
#if ENABLED(SKEW_CORRECTION_FOR_Z)
|
||||
#if ENABLED(SKEW_CORRECTION_GCODE)
|
||||
static float xz_skew_factor, yz_skew_factor;
|
||||
#else
|
||||
static constexpr float xz_skew_factor = XZ_SKEW_FACTOR, yz_skew_factor = YZ_SKEW_FACTOR;
|
||||
#endif
|
||||
#else
|
||||
static constexpr float xz_skew_factor = 0, yz_skew_factor = 0;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
|
||||
Loading…
Reference in New Issue
Block a user