Firmware2/Marlin/src/gcode/calibrate/M48.cpp

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
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#include "../../inc/MarlinConfig.h"
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
#include "../gcode.h"
#include "../../module/motion.h"
#include "../../module/probe.h"
#if DISABLED(DELTA)
#include "../../feature/bedlevel/bedlevel.h"
#endif
/**
* M48: Z probe repeatability measurement function.
*
* Usage:
* M48 <P#> <X#> <Y#> <V#> <E> <L#>
* P = Number of sampled points (4-50, default 10)
* X = Sample X position
* Y = Sample Y position
* V = Verbose level (0-4, default=1)
* E = Engage Z probe for each reading
* L = Number of legs of movement before probe
* S = Schizoid (Or Star if you prefer)
*
* This function assumes the bed has been homed. Specifically, that a G28 command
* as been issued prior to invoking the M48 Z probe repeatability measurement function.
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated.
*/
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void GcodeSuite::M48() {
if (axis_unhomed_error()) return;
const int8_t verbose_level = parser.byteval('V', 1);
if (!WITHIN(verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
return;
}
if (verbose_level > 0)
SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
const int8_t n_samples = parser.byteval('P', 10);
if (!WITHIN(n_samples, 4, 50)) {
SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
return;
}
const bool stow_probe_after_each = parser.boolval('E');
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);
#if DISABLED(DELTA)
if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) {
out_of_range_error(PSTR("X"));
return;
}
if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) {
out_of_range_error(PSTR("Y"));
return;
}
#else
if (!position_is_reachable_by_probe_xy(X_probe_location, Y_probe_location)) {
SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
return;
}
#endif
bool seen_L = parser.seen('L');
uint8_t n_legs = seen_L ? parser.value_byte() : 0;
if (n_legs > 15) {
SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
return;
}
if (n_legs == 1) n_legs = 2;
const bool schizoid_flag = parser.boolval('S');
if (schizoid_flag && !seen_L) n_legs = 7;
/**
* Now get everything to the specified probe point So we can safely do a
* probe to get us close to the bed. If the Z-Axis is far from the bed,
* we don't want to use that as a starting point for each probe.
*/
if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Positioning the probe...");
// Disable bed level correction in M48 because we want the raw data when we probe
#if HAS_LEVELING
const bool was_enabled = leveling_is_active();
set_bed_leveling_enabled(false);
#endif
setup_for_endstop_or_probe_move();
double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
// Move to the first point, deploy, and probe
const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
bool probing_good = !isnan(t);
if (probing_good) {
randomSeed(millis());
for (uint8_t n = 0; n < n_samples; n++) {
if (n_legs) {
const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
float angle = random(0.0, 360.0);
const float radius = random(
#if ENABLED(DELTA)
0.1250000000 * (DELTA_PROBEABLE_RADIUS),
0.3333333333 * (DELTA_PROBEABLE_RADIUS)
#else
5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE)
#endif
);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius);
SERIAL_ECHOPAIR(" angle: ", angle);
SERIAL_ECHOPGM(" Direction: ");
if (dir > 0) SERIAL_ECHOPGM("Counter-");
SERIAL_ECHOLNPGM("Clockwise");
}
for (uint8_t l = 0; l < n_legs - 1; l++) {
double delta_angle;
if (schizoid_flag)
// The points of a 5 point star are 72 degrees apart. We need to
// skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
else
// If we do this line, we are just trying to move further
// around the circle.
delta_angle = dir * (float) random(25, 45);
angle += delta_angle;
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
#if DISABLED(DELTA)
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
while (!position_is_reachable_by_probe_xy(X_current, Y_current)) {
X_current *= 0.8;
Y_current *= 0.8;
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
SERIAL_ECHOLNPAIR(", ", Y_current);
}
}
#endif
if (verbose_level > 3) {
SERIAL_PROTOCOLPGM("Going to:");
SERIAL_ECHOPAIR(" X", X_current);
SERIAL_ECHOPAIR(" Y", Y_current);
SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
}
do_blocking_move_to_xy(X_current, Y_current);
} // n_legs loop
} // n_legs
// Probe a single point
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
// Break the loop if the probe fails
probing_good = !isnan(sample_set[n]);
if (!probing_good) break;
/**
* Get the current mean for the data points we have so far
*/
double sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
NOMORE(min, sample_set[n]);
NOLESS(max, sample_set[n]);
/**
* Now, use that mean to calculate the standard deviation for the
* data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++)
sum += sq(sample_set[j] - mean);
sigma = SQRT(sum / (n + 1));
if (verbose_level > 0) {
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOLPGM(": z: ");
SERIAL_PROTOCOL_F(sample_set[n], 3);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(mean, 4);
SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM(" min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" range: ");
SERIAL_PROTOCOL_F(max-min, 3);
}
SERIAL_EOL();
}
}
} // n_samples loop
}
STOW_PROBE();
if (probing_good) {
SERIAL_PROTOCOLLNPGM("Finished!");
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" Min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" Max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" Range: ");
SERIAL_PROTOCOL_F(max-min, 3);
SERIAL_EOL();
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL();
SERIAL_EOL();
}
clean_up_after_endstop_or_probe_move();
// Re-enable bed level correction if it had been on
#if HAS_LEVELING
set_bed_leveling_enabled(was_enabled);
#endif
report_current_position();
}
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#endif // Z_MIN_PROBE_REPEATABILITY_TEST