[1.1.x] G33 probe error handing
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@ -2386,7 +2386,7 @@ static void clean_up_after_endstop_or_probe_move() {
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}
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}
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#endif
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#endif
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return current_position[Z_AXIS] + zprobe_zoffset;
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return current_position[Z_AXIS];
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}
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}
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/**
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/**
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@ -2398,7 +2398,7 @@ static void clean_up_after_endstop_or_probe_move() {
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* - Raise to the BETWEEN height
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* - Raise to the BETWEEN height
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* - Return the probed Z position
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* - Return the probed Z position
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*/
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*/
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float probe_pt(const float &rx, const float &ry, const bool stow, const uint8_t verbose_level, const bool printable=true) {
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float probe_pt(const float &rx, const float &ry, const bool stow, const uint8_t verbose_level, const bool probe_relative=true) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
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SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
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@ -2409,12 +2409,14 @@ static void clean_up_after_endstop_or_probe_move() {
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}
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}
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#endif
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#endif
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const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER);
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// TODO: Adapt for SCARA, where the offset rotates
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float nx = rx, ny = ry;
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if (!printable
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if (probe_relative) {
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? !position_is_reachable(nx, ny)
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if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
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: !position_is_reachable_by_probe(rx, ry)
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nx -= (X_PROBE_OFFSET_FROM_EXTRUDER); // Get the nozzle position
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) return NAN;
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ny -= (Y_PROBE_OFFSET_FROM_EXTRUDER);
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}
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else if (!position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle
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const float nz =
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const float nz =
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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@ -2433,7 +2435,7 @@ static void clean_up_after_endstop_or_probe_move() {
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float measured_z = NAN;
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float measured_z = NAN;
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if (!DEPLOY_PROBE()) {
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if (!DEPLOY_PROBE()) {
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measured_z = run_z_probe();
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measured_z = run_z_probe() + zprobe_zoffset;
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if (!stow)
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if (!stow)
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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@ -5541,6 +5543,16 @@ void home_all_axes() { gcode_G28(true); }
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#endif
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#endif
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}
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}
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inline float calibration_probe(const float nx, const float ny, const bool stow) {
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return
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#if HAS_BED_PROBE
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probe_pt(nx, ny, stow, 0, false)
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#else
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lcd_probe_pt(nx, ny)
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#endif
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;
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}
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static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
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static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
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const bool _0p_calibration = probe_points == 0,
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const bool _0p_calibration = probe_points == 0,
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_1p_calibration = probe_points == 1,
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_1p_calibration = probe_points == 1,
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@ -5559,23 +5571,13 @@ void home_all_axes() { gcode_G28(true); }
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_7p_6_centre = probe_points >= 5 && probe_points <= 7,
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_7p_6_centre = probe_points >= 5 && probe_points <= 7,
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_7p_9_centre = probe_points >= 8;
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_7p_9_centre = probe_points >= 8;
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#if HAS_BED_PROBE
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const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
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dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
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#endif
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LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
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LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
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if (!_0p_calibration) {
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if (!_0p_calibration) {
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if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
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if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
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z_at_pt[CEN] +=
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z_at_pt[CEN] += calibration_probe(0, 0, stow_after_each);
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#if HAS_BED_PROBE
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if (isnan(z_at_pt[CEN])) return NAN;
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probe_pt(dx, dy, stow_after_each, 1, false)
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#else
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lcd_probe_pt(0, 0)
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#endif
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;
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}
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}
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if (_7p_calibration) { // probe extra center points
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if (_7p_calibration) { // probe extra center points
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@ -5584,14 +5586,9 @@ void home_all_axes() { gcode_G28(true); }
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I_LOOP_CAL_PT(axis, start, steps) {
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I_LOOP_CAL_PT(axis, start, steps) {
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
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r = delta_calibration_radius * 0.1;
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r = delta_calibration_radius * 0.1;
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z_at_pt[CEN] +=
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z_at_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
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#if HAS_BED_PROBE
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if (isnan(z_at_pt[CEN])) return NAN;
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probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false)
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}
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#else
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lcd_probe_pt(cos(a) * r, sin(a) * r)
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#endif
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;
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}
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z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
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z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
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}
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}
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@ -5613,22 +5610,17 @@ void home_all_axes() { gcode_G28(true); }
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
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r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
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r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
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interpol = fmod(axis, 1);
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interpol = fmod(axis, 1);
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const float z_temp =
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const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
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#if HAS_BED_PROBE
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if (isnan(z_temp)) return NAN;
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probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false)
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#else
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lcd_probe_pt(cos(a) * r, sin(a) * r)
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#endif
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;
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// split probe point to neighbouring calibration points
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// split probe point to neighbouring calibration points
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z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
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z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
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z_at_pt[uint8_t(round(axis - interpol )) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
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z_at_pt[uint8_t(round(axis - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
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}
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}
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zig_zag = !zig_zag;
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zig_zag = !zig_zag;
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}
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}
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if (_7p_intermed_points)
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if (_7p_intermed_points)
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LOOP_CAL_RAD(axis)
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LOOP_CAL_RAD(axis)
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z_at_pt[axis] /= _7P_STEP / steps;
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z_at_pt[axis] /= _7P_STEP / steps;
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}
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}
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float S1 = z_at_pt[CEN],
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float S1 = z_at_pt[CEN],
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@ -5649,7 +5641,7 @@ void home_all_axes() { gcode_G28(true); }
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#if HAS_BED_PROBE
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#if HAS_BED_PROBE
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static void G33_auto_tune() {
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static bool G33_auto_tune() {
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float z_at_pt[NPP + 1] = { 0.0 },
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float z_at_pt[NPP + 1] = { 0.0 },
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z_at_pt_base[NPP + 1] = { 0.0 },
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z_at_pt_base[NPP + 1] = { 0.0 },
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z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
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z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
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@ -5663,7 +5655,7 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
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SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
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SERIAL_EOL();
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SERIAL_EOL();
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probe_G33_points(z_at_pt_base, 3, true, false);
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if (isnan(probe_G33_points(z_at_pt_base, 3, true, false))) return false;
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print_G33_results(z_at_pt_base, true, true);
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print_G33_results(z_at_pt_base, true, true);
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LOOP_XYZ(axis) {
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LOOP_XYZ(axis) {
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@ -5678,7 +5670,7 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_CHAR(tolower(axis_codes[axis]));
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SERIAL_CHAR(tolower(axis_codes[axis]));
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SERIAL_EOL();
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SERIAL_EOL();
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probe_G33_points(z_at_pt, 3, true, false);
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if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
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LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
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LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
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print_G33_results(z_at_pt, true, true);
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print_G33_results(z_at_pt, true, true);
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delta_endstop_adj[axis] += 1.0;
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delta_endstop_adj[axis] += 1.0;
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@ -5709,7 +5701,7 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_PROTOCOLPGM("Tuning R");
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SERIAL_PROTOCOLPGM("Tuning R");
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SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
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SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
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SERIAL_EOL();
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SERIAL_EOL();
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probe_G33_points(z_at_pt, 3, true, false);
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if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
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LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
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LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
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print_G33_results(z_at_pt, true, true);
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print_G33_results(z_at_pt, true, true);
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delta_radius -= 1.0 * zig_zag;
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delta_radius -= 1.0 * zig_zag;
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@ -5736,7 +5728,7 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_CHAR(tolower(axis_codes[axis]));
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SERIAL_CHAR(tolower(axis_codes[axis]));
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SERIAL_EOL();
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SERIAL_EOL();
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probe_G33_points(z_at_pt, 3, true, false);
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if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
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LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
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LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
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print_G33_results(z_at_pt, true, true);
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print_G33_results(z_at_pt, true, true);
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@ -5749,14 +5741,14 @@ void home_all_axes() { gcode_G28(true); }
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recalc_delta_settings();
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recalc_delta_settings();
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switch (axis) {
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switch (axis) {
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case A_AXIS :
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case A_AXIS :
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a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
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a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
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break;
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break;
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case B_AXIS :
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case B_AXIS :
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a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
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a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
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break;
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break;
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case C_AXIS :
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case C_AXIS :
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a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
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a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
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break;
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break;
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}
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}
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}
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}
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a_fac /= 3.0;
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a_fac /= 3.0;
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@ -5771,6 +5763,7 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_EOL();
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SERIAL_EOL();
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SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
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SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
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SERIAL_EOL();
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SERIAL_EOL();
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return true;
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}
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}
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#endif // HAS_BED_PROBE
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#endif // HAS_BED_PROBE
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@ -5798,8 +5791,9 @@ void home_all_axes() { gcode_G28(true); }
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*
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*
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* Vn Verbose level:
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* Vn Verbose level:
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* V0 Dry-run mode. Report settings and probe results. No calibration.
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* V0 Dry-run mode. Report settings and probe results. No calibration.
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* V1 Report settings
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* V1 Report start and end settings only
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* V2 Report settings and probe results
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* V2 Report settings at each iteration
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* V3 Report settings and probe results
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*
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*
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* E Engage the probe for each point
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* E Engage the probe for each point
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*/
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*/
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@ -5812,12 +5806,12 @@ void home_all_axes() { gcode_G28(true); }
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}
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}
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const int8_t verbose_level = parser.byteval('V', 1);
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const int8_t verbose_level = parser.byteval('V', 1);
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if (!WITHIN(verbose_level, 0, 2)) {
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if (!WITHIN(verbose_level, 0, 3)) {
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SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
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SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-3).");
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return;
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return;
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}
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}
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const float calibration_precision = parser.floatval('C');
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const float calibration_precision = parser.floatval('C', 0.0);
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if (calibration_precision < 0) {
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if (calibration_precision < 0) {
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SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
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SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
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return;
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return;
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@ -5925,6 +5919,11 @@ void home_all_axes() { gcode_G28(true); }
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// Probe the points
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// Probe the points
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zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
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zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
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if (isnan(zero_std_dev)) {
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SERIAL_PROTOCOLPGM("Correct delta_radius with M665 R or end-stops with M666 X Y Z");
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SERIAL_EOL();
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return G33_CLEANUP();
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}
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// Solve matrices
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// Solve matrices
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@ -6038,7 +6037,7 @@ void home_all_axes() { gcode_G28(true); }
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// print report
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// print report
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if (verbose_level != 1)
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if (verbose_level > 2)
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print_G33_results(z_at_pt, _tower_results, _opposite_results);
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print_G33_results(z_at_pt, _tower_results, _opposite_results);
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if (verbose_level != 0) { // !dry run
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if (verbose_level != 0) { // !dry run
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@ -6078,7 +6077,8 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_PROTOCOL_F(zero_std_dev, 3);
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SERIAL_PROTOCOL_F(zero_std_dev, 3);
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SERIAL_EOL();
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SERIAL_EOL();
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lcd_setstatus(mess);
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lcd_setstatus(mess);
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print_G33_settings(_endstop_results, _angle_results);
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if (verbose_level > 1)
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print_G33_settings(_endstop_results, _angle_results);
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}
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}
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}
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}
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else { // dry run
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else { // dry run
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@ -8981,10 +8981,7 @@ inline void gcode_M205() {
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* Z = Rotate A and B by this angle
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* Z = Rotate A and B by this angle
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*/
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*/
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inline void gcode_M665() {
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inline void gcode_M665() {
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if (parser.seen('H')) {
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if (parser.seen('H')) delta_height = parser.value_linear_units();
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||||||
delta_height = parser.value_linear_units();
|
|
||||||
update_software_endstops(Z_AXIS);
|
|
||||||
}
|
|
||||||
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
|
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
|
||||||
if (parser.seen('R')) delta_radius = parser.value_linear_units();
|
if (parser.seen('R')) delta_radius = parser.value_linear_units();
|
||||||
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
|
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
|
||||||
|
Loading…
Reference in New Issue
Block a user