MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

Overhaul of G33 Delta Calibration (#8822)

Browse Source
This commit is contained in:
Luc Van Daele 2018-04-12 04:14:48 +02:00 committed by Scott Lahteine
parent ac2e0afb62
commit 646aa20b43
20 changed files with 516 additions and 478 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Marlin/src/config/examples/JGAurora/A5/Configuration.h
View File

@ -320,7 +320,7 @@
#define TEMP_SENSOR_2 0 #define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0 #define TEMP_SENSOR_3 0
#define TEMP_SENSOR_4 0 #define TEMP_SENSOR_4 0
#define TEMP_SENSOR_BED 1 // measured to be satisfactorily accurate on centre of bed within +/- 1 degC. #define TEMP_SENSOR_BED 1 // measured to be satisfactorily accurate on center of bed within +/- 1 degC.
#define TEMP_SENSOR_CHAMBER 0 #define TEMP_SENSOR_CHAMBER 0
// Dummy thermistor constant temperature readings, for use with 998 and 999 // Dummy thermistor constant temperature readings, for use with 998 and 999

2
Marlin/src/config/examples/RepRapPro/Huxley/Configuration.h
View File

@ -620,7 +620,7 @@ Black rubber belt(MXL), 18 - tooth aluminium pulley : 87.489 step per mm (Huxley
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_MAX_Z_FEEDRATE 3.3 // older Huxley has problem with speeds > 3.3 mm/s on z axis #define DEFAULT_MAX_Z_FEEDRATE 3.3 // older Huxley has problem with speeds > 3.3 mm/s on z axis
#define DEFAULT_MAX_FEEDRATE { 200, 200, DEFAULT_MAX_Z_FEEDRATE, 25 } #define DEFAULT_MAX_FEEDRATE { 200, 200, DEFAULT_MAX_Z_FEEDRATE, 25 }
/** /**
* Default Max Acceleration (change/s) change = mm/s * Default Max Acceleration (change/s) change = mm/s

20
Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
View File

@ -532,19 +532,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // mm #define DELTA_CALIBRATION_RADIUS 73.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -653,7 +647,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 100 } // default steps per unit for Kossel (GT2, 20 tooth) // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 16
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 100 } // default steps per unit for Kossel (GT2, 20 tooth)
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

20
Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h
View File

@ -532,19 +532,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 7 #define DELTA_CALIBRATION_DEFAULT_POINTS 7
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 63 // mm #define DELTA_CALIBRATION_RADIUS 63 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -653,7 +647,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 100 } // default steps per unit for Kossel (GT2, 20 tooth) // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 16
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 100 } // default steps per unit for Kossel (GT2, 20 tooth)
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

20
Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
View File

@ -532,19 +532,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 73.5 // mm #define DELTA_CALIBRATION_RADIUS 73.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -653,7 +647,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 90 } // default steps per unit for Kossel (GT2, 20 tooth) // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 16
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 90 } // default steps per unit for Kossel (GT2, 20 tooth)
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

20
Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h
View File

@ -537,19 +537,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // mm #define DELTA_CALIBRATION_RADIUS 121.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -658,7 +652,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { 100, 100, 100, 95 } // default steps per unit for Kossel (GT2, 20 tooth) // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 16
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 95 } // default steps per unit for Kossel (GT2, 20 tooth)
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

20
Marlin/src/config/examples/delta/generic/Configuration.h
View File

@ -522,19 +522,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // mm #define DELTA_CALIBRATION_RADIUS 121.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -643,7 +637,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 80, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth) // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 20
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

20
Marlin/src/config/examples/delta/kossel_mini/Configuration.h
View File

@ -522,19 +522,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 78.0 // mm #define DELTA_CALIBRATION_RADIUS 78.0 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -643,7 +637,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 80, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth) // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 20
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

20
Marlin/src/config/examples/delta/kossel_pro/Configuration.h
View File

@ -508,19 +508,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 110.0 // mm #define DELTA_CALIBRATION_RADIUS 110.0 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -636,7 +630,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { XYZ_STEPS, XYZ_STEPS, XYZ_STEPS, 184.8 } // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 32
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 20
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 184.8 } // default steps per unit for Kossel (GT2, 20 tooth)
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

29
Marlin/src/config/examples/delta/kossel_xl/Configuration.h
View File

@ -526,19 +526,13 @@
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
// Enable and set these values based on results of 'G33 A'
//#define H_FACTOR 1.01
//#define R_FACTOR 2.61
//#define A_FACTOR 0.87
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
// Set the radius for the calibration probe points - max 0.9 * DELTA_PRINTABLE_RADIUS for non-eccentric probes // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS for non-eccentric probes
#define DELTA_CALIBRATION_RADIUS 121.5 // mm #define DELTA_CALIBRATION_RADIUS 121.5 // mm
// Set the steprate for papertest probing // Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.025 #define PROBE_MANUALLY_STEP (MIN_STEPS_PER_SEGMENT / DEFAULT_XYZ_STEPS_PER_UNIT)
#endif #endif
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
@ -626,15 +620,6 @@
//============================================================================= //=============================================================================
// @section motion // @section motion
// variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 16
// delta speeds must be the same on xyz
#define XYZ_STEPS (XYZ_FULL_STEPS_PER_ROTATION * XYZ_MICROSTEPS / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
/** /**
* Default Settings * Default Settings
* *
@ -655,7 +640,15 @@
* Override with M92 * Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]] * X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/ */
#define DEFAULT_AXIS_STEPS_PER_UNIT { XYZ_STEPS, XYZ_STEPS, XYZ_STEPS, 158 } // default steps per unit for PowerWasp // variables to calculate steps
#define XYZ_FULL_STEPS_PER_ROTATION 200
#define XYZ_MICROSTEPS 16
#define XYZ_BELT_PITCH 2
#define XYZ_PULLEY_TEETH 16
// delta speeds must be the same on xyz
#define DEFAULT_XYZ_STEPS_PER_UNIT ((XYZ_FULL_STEPS_PER_ROTATION) * (XYZ_MICROSTEPS) / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))
#define DEFAULT_AXIS_STEPS_PER_UNIT { DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, DEFAULT_XYZ_STEPS_PER_UNIT, 158 } // default steps per unit for PowerWasp
/** /**
* Default Max Feed Rate (mm/s) * Default Max Feed Rate (mm/s)

4
Marlin/src/feature/Max7219_Debug_LEDs.cpp
View File

@ -287,8 +287,8 @@ void Max7219_idle_tasks() {
#endif #endif
CRITICAL_SECTION_END CRITICAL_SECTION_END
#endif #endif
static uint16_t refresh_cnt = 0; // The Max7219 circuit boards available for several dollars on eBay static uint16_t refresh_cnt = 0; // The Max7219 circuit boards available for several dollars on eBay
if (refresh_cnt++ > 50000) { // are vulnerable to electrical noise, especially with long wires if (refresh_cnt++ > 50000) { // are vulnerable to electrical noise, especially with long wires
Max7219_register_setup(); // next to high current wires. If the display becomes corrupted due Max7219_register_setup(); // next to high current wires. If the display becomes corrupted due
Max7219_LED_Toggle(7, 0); // to electrical noise, this will fix it within a couple of seconds. Max7219_LED_Toggle(7, 0); // to electrical noise, this will fix it within a couple of seconds.

739
Marlin/src/gcode/calibrate/G33.cpp
View File

@ -26,12 +26,15 @@
#include "../gcode.h" #include "../gcode.h"
#include "../../module/delta.h" #include "../../module/delta.h"
#include "../../module/probe.h"
#include "../../module/motion.h" #include "../../module/motion.h"
#include "../../module/stepper.h" #include "../../module/stepper.h"
#include "../../module/endstops.h" #include "../../module/endstops.h"
#include "../../lcd/ultralcd.h" #include "../../lcd/ultralcd.h"
#if HAS_BED_PROBE
#include "../../module/probe.h"
#endif
#if HOTENDS > 1 #if HOTENDS > 1
#include "../../module/tool_change.h" #include "../../module/tool_change.h"
#endif #endif
@ -43,7 +46,7 @@
constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
_4P_STEP = _7P_STEP * 2, // 4-point step _4P_STEP = _7P_STEP * 2, // 4-point step
NPP = _7P_STEP * 6; // number of calibration points on the radius NPP = _7P_STEP * 6; // number of calibration points on the radius
enum CalEnum : char { // the 7 main calibration points - add definitions if needed enum CalEnum : char { // the 7 main calibration points - add definitions if needed
CEN = 0, CEN = 0,
__A = 1, __A = 1,
_AB = __A + _7P_STEP, _AB = __A + _7P_STEP,
@ -60,7 +63,54 @@ enum CalEnum : char { // the 7 main calibration po
#define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP) #define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
#define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP) #define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
static void print_signed_float(const char * const prefix, const float &f) { #if HOTENDS > 1
const uint8_t old_tool_index = active_extruder;
#define AC_CLEANUP() ac_cleanup(old_tool_index)
#else
#define AC_CLEANUP() ac_cleanup()
#endif
float lcd_probe_pt(const float &rx, const float &ry);
bool ac_home() {
endstops.enable(true);
if (!home_delta())
return false;
endstops.not_homing();
return true;
}
void ac_setup(const bool reset_bed) {
#if HOTENDS > 1
tool_change(0, 0, true);
#endif
stepper.synchronize();
setup_for_endstop_or_probe_move();
#if HAS_LEVELING
if (reset_bed) reset_bed_level(); // After full calibration bed-level data is no longer valid
#endif
}
void ac_cleanup(
#if HOTENDS > 1
const uint8_t old_tool_index
#endif
) {
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_BED_PROBE
STOW_PROBE();
#endif
clean_up_after_endstop_or_probe_move();
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
}
void print_signed_float(const char * const prefix, const float &f) {
SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOLPGM(" ");
serialprintPGM(prefix); serialprintPGM(prefix);
SERIAL_PROTOCOLCHAR(':'); SERIAL_PROTOCOLCHAR(':');
@ -68,7 +118,10 @@ static void print_signed_float(const char * const prefix, const float &f) {
SERIAL_PROTOCOL_F(f, 2); SERIAL_PROTOCOL_F(f, 2);
} }
static void print_G33_settings(const bool end_stops, const bool tower_angles) { /**
* - Print the delta settings
*/
static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
SERIAL_PROTOCOLPAIR(".Height:", delta_height); SERIAL_PROTOCOLPAIR(".Height:", delta_height);
if (end_stops) { if (end_stops) {
print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]); print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
@ -89,16 +142,25 @@ static void print_G33_settings(const bool end_stops, const bool tower_angles) {
if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
} }
#if HAS_BED_PROBE
if (!end_stops && !tower_angles) {
SERIAL_PROTOCOL_SP(30);
print_signed_float(PSTR("Offset"), zprobe_zoffset);
}
#endif
SERIAL_EOL(); SERIAL_EOL();
} }
static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) { /**
* - Print the probe results
*/
static void print_calibration_results(const float z_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
SERIAL_PROTOCOLPGM(". "); SERIAL_PROTOCOLPGM(". ");
print_signed_float(PSTR("c"), z_at_pt[CEN]); print_signed_float(PSTR("c"), z_pt[CEN]);
if (tower_points) { if (tower_points) {
print_signed_float(PSTR(" x"), z_at_pt[__A]); print_signed_float(PSTR(" x"), z_pt[__A]);
print_signed_float(PSTR(" y"), z_at_pt[__B]); print_signed_float(PSTR(" y"), z_pt[__B]);
print_signed_float(PSTR(" z"), z_at_pt[__C]); print_signed_float(PSTR(" z"), z_pt[__C]);
} }
if (tower_points && opposite_points) { if (tower_points && opposite_points) {
SERIAL_EOL(); SERIAL_EOL();
@ -106,50 +168,63 @@ static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_poi
SERIAL_PROTOCOL_SP(13); SERIAL_PROTOCOL_SP(13);
} }
if (opposite_points) { if (opposite_points) {
print_signed_float(PSTR("yz"), z_at_pt[_BC]); print_signed_float(PSTR("yz"), z_pt[_BC]);
print_signed_float(PSTR("zx"), z_at_pt[_CA]); print_signed_float(PSTR("zx"), z_pt[_CA]);
print_signed_float(PSTR("xy"), z_at_pt[_AB]); print_signed_float(PSTR("xy"), z_pt[_AB]);
} }
SERIAL_EOL(); SERIAL_EOL();
} }
/** /**
* After G33: * - Calculate the standard deviation from the zero plane
* - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
* - Stow the probe
* - Restore endstops state
* - Select the old tool, if needed
*/ */
static void G33_cleanup( static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool _1p_cal, const bool _4p_cal, const bool _4p_opp) {
#if HOTENDS > 1 if (!_0p_cal) {
const uint8_t old_tool_index float S2 = sq(z_pt[CEN]);
#endif int16_t N = 1;
) { if (!_1p_cal) { // std dev from zero plane
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE) LOOP_CAL_ACT(rad, _4p_cal, _4p_opp) {
do_blocking_move_to_z(delta_clip_start_height); S2 += sq(z_pt[rad]);
#endif N++;
STOW_PROBE(); }
clean_up_after_endstop_or_probe_move(); return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
#if HOTENDS > 1 }
tool_change(old_tool_index, 0, true); }
#endif return 0.00001;
} }
inline float calibration_probe(const float nx, const float ny, const bool stow) { /**
* - Probe a point
*/
static float calibration_probe(const float &nx, const float &ny, const bool stow, const bool set_up) {
#if HAS_BED_PROBE #if HAS_BED_PROBE
return probe_pt(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false); return probe_pt(nx, ny, set_up ? PROBE_PT_BIG_RAISE : stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
#else #else
UNUSED(stow); UNUSED(stow);
UNUSED(set_up);
return lcd_probe_pt(nx, ny); return lcd_probe_pt(nx, ny);
#endif #endif
} }
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) { #if HAS_BED_PROBE
static float probe_z_shift(const float center) {
STOW_PROBE();
endstops.enable_z_probe(false);
float z_shift = lcd_probe_pt(0, 0) - center;
endstops.enable_z_probe(true);
return z_shift;
}
#endif
/**
* - Probe a grid
*/
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each, const bool set_up) {
const bool _0p_calibration = probe_points == 0, const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1, _1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2, _4p_calibration = probe_points == 2,
_4p_opposite_points = _4p_calibration && !towers_set, _4p_opposite_points = _4p_calibration && !towers_set,
_7p_calibration = probe_points >= 3 || probe_points == 0, _7p_calibration = probe_points >= 3,
_7p_no_intermediates = probe_points == 3, _7p_no_intermediates = probe_points == 3,
_7p_1_intermediates = probe_points == 4, _7p_1_intermediates = probe_points == 4,
_7p_2_intermediates = probe_points == 5, _7p_2_intermediates = probe_points == 5,
@ -159,28 +234,28 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
_7p_11_intermediates = probe_points == 9, _7p_11_intermediates = probe_points == 9,
_7p_14_intermediates = probe_points == 10, _7p_14_intermediates = probe_points == 10,
_7p_intermed_points = probe_points >= 4, _7p_intermed_points = probe_points >= 4,
_7p_6_centre = probe_points >= 5 && probe_points <= 7, _7p_6_center = probe_points >= 5 && probe_points <= 7,
_7p_9_centre = probe_points >= 8; _7p_9_center = probe_points >= 8;
LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0; LOOP_CAL_ALL(rad) z_pt[rad] = 0.0;
if (!_0p_calibration) { if (!_0p_calibration) {
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
z_at_pt[CEN] += calibration_probe(0, 0, stow_after_each); z_pt[CEN] += calibration_probe(0, 0, stow_after_each, set_up);
if (isnan(z_at_pt[CEN])) return NAN; if (isnan(z_pt[CEN])) return false;
} }
if (_7p_calibration) { // probe extra center points if (_7p_calibration) { // probe extra center points
const float start = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C, const float start = _7p_9_center ? _CA + _7P_STEP / 3.0 : _7p_6_center ? _CA : __C,
steps = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP; steps = _7p_9_center ? _4P_STEP / 3.0 : _7p_6_center ? _7P_STEP : _4P_STEP;
I_LOOP_CAL_PT(axis, start, steps) { I_LOOP_CAL_PT(rad, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)), const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * 0.1; r = delta_calibration_radius * 0.1;
z_at_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each); z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
if (isnan(z_at_pt[CEN])) return NAN; if (isnan(z_pt[CEN])) return false;
} }
z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points); z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
} }
if (!_1p_calibration) { // probe the radius if (!_1p_calibration) { // probe the radius
@ -195,182 +270,150 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
_7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9 _7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
_4P_STEP; // .5r * 6 + 1c = 4 _4P_STEP; // .5r * 6 + 1c = 4
bool zig_zag = true; bool zig_zag = true;
F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) { F_LOOP_CAL_PT(rad, start, _7p_9_center ? steps * 3 : steps) {
const int8_t offset = _7p_9_centre ? 1 : 0; const int8_t offset = _7p_9_center ? 2 : 0;
for (int8_t circle = -offset; circle <= offset; circle++) { for (int8_t circle = 0; circle <= offset; circle++) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)), const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)), r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = fmod(axis, 1); interpol = fmod(rad, 1);
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each); const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
if (isnan(z_temp)) return NAN; if (isnan(z_temp)) return false;
// split probe point to neighbouring calibration points // split probe point to neighbouring calibration points
z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90))); z_pt[uint8_t(round(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
z_at_pt[uint8_t(round(axis - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90))); z_pt[uint8_t(round(rad - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
} }
zig_zag = !zig_zag; zig_zag = !zig_zag;
} }
if (_7p_intermed_points) if (_7p_intermed_points)
LOOP_CAL_RAD(axis) LOOP_CAL_RAD(rad)
z_at_pt[axis] /= _7P_STEP / steps; z_pt[rad] /= _7P_STEP / steps;
}
float S1 = z_at_pt[CEN], do_blocking_move_to_xy(0.0, 0.0);
S2 = sq(z_at_pt[CEN]);
int16_t N = 1;
if (!_1p_calibration) { // std dev from zero plane
LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]);
N++;
}
return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
} }
} }
return true;
return 0.00001;
} }
#if HAS_BED_PROBE /**
* kinematics routines and auto tune matrix scaling parameters:
* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
* - formulae for approximative forward kinematics in the end-stop displacement matrix
* - definition of the matrix scaling parameters
*/
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_axis[NPP + 1][ABC]) {
float pos[XYZ] = { 0.0 };
static bool G33_auto_tune() { LOOP_CAL_ALL(rad) {
float z_at_pt[NPP + 1] = { 0.0 }, const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
z_at_pt_base[NPP + 1] = { 0.0 }, r = (rad == CEN ? 0.0 : delta_calibration_radius);
z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8; pos[X_AXIS] = cos(a) * r;
pos[Y_AXIS] = sin(a) * r;
#define ZP(N,I) ((N) * z_at_pt[I]) pos[Z_AXIS] = z_pt[rad];
#define Z06(I) ZP(6, I) inverse_kinematics(pos);
#define Z03(I) ZP(3, I) LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
#define Z02(I) ZP(2, I)
#define Z01(I) ZP(1, I)
#define Z32(I) ZP(3/2, I)
SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
SERIAL_EOL();
if (isnan(probe_G33_points(z_at_pt_base, 3, true, false))) return false;
print_G33_results(z_at_pt_base, true, true);
LOOP_XYZ(axis) {
delta_endstop_adj[axis] -= 1.0;
recalc_delta_settings();
endstops.enable(true);
if (!home_delta()) return false;
endstops.not_homing();
SERIAL_PROTOCOLPGM("Tuning E");
SERIAL_CHAR(tolower(axis_codes[axis]));
SERIAL_EOL();
if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
print_G33_results(z_at_pt, true, true);
delta_endstop_adj[axis] += 1.0;
recalc_delta_settings();
switch (axis) {
case A_AXIS :
h_fac += 4.0 / (Z03(CEN) +Z01(__A) +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
break;
case B_AXIS :
h_fac += 4.0 / (Z03(CEN) +Z01(__B) +Z32(_BC) +Z32(_AB)); // Offset by Y-tower end-stop
break;
case C_AXIS :
h_fac += 4.0 / (Z03(CEN) +Z01(__C) +Z32(_BC) +Z32(_CA) ); // Offset by Z-tower end-stop
break;
}
}
h_fac /= 3.0;
h_fac *= norm; // Normalize to 1.02 for Kossel mini
for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
delta_radius += 1.0 * zig_zag;
recalc_delta_settings();
endstops.enable(true);
if (!home_delta()) return false;
endstops.not_homing();
SERIAL_PROTOCOLPGM("Tuning R");
SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
SERIAL_EOL();
if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
print_G33_results(z_at_pt, true, true);
delta_radius -= 1.0 * zig_zag;
recalc_delta_settings();
r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
}
r_fac /= 2.0;
r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
LOOP_XYZ(axis) {
delta_tower_angle_trim[axis] += 1.0;
delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
recalc_delta_settings();
endstops.enable(true);
if (!home_delta()) return false;
endstops.not_homing();
SERIAL_PROTOCOLPGM("Tuning T");
SERIAL_CHAR(tolower(axis_codes[axis]));
SERIAL_EOL();
if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
print_G33_results(z_at_pt, true, true);
delta_tower_angle_trim[axis] -= 1.0;
delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
recalc_delta_settings();
switch (axis) {
case A_AXIS :
a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
break;
case B_AXIS :
a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
break;
case C_AXIS :
a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
break;
}
}
a_fac /= 3.0;
a_fac *= norm; // Normalize to 0.83 for Kossel mini
endstops.enable(true);
if (!home_delta()) return false;
endstops.not_homing();
print_signed_float(PSTR( "H_FACTOR: "), h_fac);
print_signed_float(PSTR(" R_FACTOR: "), r_fac);
print_signed_float(PSTR(" A_FACTOR: "), a_fac);
SERIAL_EOL();
SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
SERIAL_EOL();
return true;
} }
}
#endif // HAS_BED_PROBE static void forward_kinematics_probe_points(float mm_at_pt_axis[NPP + 1][ABC], float z_pt[NPP + 1]) {
const float r_quot = delta_calibration_radius / delta_radius;
#define ZPP(N,I,A) ((1 / 3.0 + r_quot * (N) / 3.0 ) * mm_at_pt_axis[I][A])
#define Z00(I, A) ZPP( 0, I, A)
#define Zp1(I, A) ZPP(+1, I, A)
#define Zm1(I, A) ZPP(-1, I, A)
#define Zp2(I, A) ZPP(+2, I, A)
#define Zm2(I, A) ZPP(-2, I, A)
z_pt[CEN] = Z00(CEN, A_AXIS) + Z00(CEN, B_AXIS) + Z00(CEN, C_AXIS);
z_pt[__A] = Zp2(__A, A_AXIS) + Zm1(__A, B_AXIS) + Zm1(__A, C_AXIS);
z_pt[__B] = Zm1(__B, A_AXIS) + Zp2(__B, B_AXIS) + Zm1(__B, C_AXIS);
z_pt[__C] = Zm1(__C, A_AXIS) + Zm1(__C, B_AXIS) + Zp2(__C, C_AXIS);
z_pt[_BC] = Zm2(_BC, A_AXIS) + Zp1(_BC, B_AXIS) + Zp1(_BC, C_AXIS);
z_pt[_CA] = Zp1(_CA, A_AXIS) + Zm2(_CA, B_AXIS) + Zp1(_CA, C_AXIS);
z_pt[_AB] = Zp1(_AB, A_AXIS) + Zp1(_AB, B_AXIS) + Zm2(_AB, C_AXIS);
}
static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], float delta_e[ABC], float delta_r, float delta_t[ABC]) {
const float z_center = z_pt[CEN];
float diff_mm_at_pt_axis[NPP + 1][ABC],
new_mm_at_pt_axis[NPP + 1][ABC];
reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis);
delta_radius += delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += delta_t[axis];
recalc_delta_settings();
reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis);
LOOP_XYZ(axis) LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad][axis] -= new_mm_at_pt_axis[rad][axis] + delta_e[axis];
forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt);
LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center;
z_pt[CEN] = z_center;
delta_radius -= delta_r;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= delta_t[axis];
recalc_delta_settings();
}
static float auto_tune_h() {
const float r_quot = delta_calibration_radius / delta_radius;
float h_fac = 0.0;
h_fac = r_quot / (2.0 / 3.0);
h_fac = 1.0 / h_fac; // (2/3)/CR
return h_fac;
}
static float auto_tune_r() {
const float diff = 0.01;
float r_fac = 0.0,
z_pt[NPP + 1] = { 0.0 },
delta_e[ABC] = {0.0},
delta_r = {0.0},
delta_t[ABC] = {0.0};
delta_r = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0;
r_fac = diff / r_fac / 3.0; // 1/(3*delta_Z)
return r_fac;
}
static float auto_tune_a() {
const float diff = 0.01;
float a_fac = 0.0,
z_pt[NPP + 1] = { 0.0 },
delta_e[ABC] = {0.0},
delta_r = {0.0},
delta_t[ABC] = {0.0};
LOOP_XYZ(axis) {
LOOP_XYZ(axis_2) delta_t[axis_2] = 0.0;
delta_t[axis] = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0;
a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0;
}
a_fac = diff / a_fac / 3.0; // 1/(3*delta_Z)
return a_fac;
}
/** /**
* G33 - Delta '1-4-7-point' Auto-Calibration * G33 - Delta '1-4-7-point' Auto-Calibration
* Calibrate height, endstops, delta radius, and tower angles. * Calibrate height, z_offset, endstops, delta radius, and tower angles.
* *
* Parameters: * Parameters:
* *
* S Setup mode; disables probe protection
*
* Pn Number of probe points: * Pn Number of probe points:
* P0 No probe. Normalize only. * P-1 Checks the z_offset with a center probe and paper test.
* P1 Probe center and set height only. * P0 Normalizes calibration.
* P2 Probe center and towers. Set height, endstops and delta radius. * P1 Calibrates height only with center probe.
* P3 Probe all positions: center, towers and opposite towers. Set all. * P2 Probe center and towers. Calibrate height, endstops and delta radius.
* P4-P10 Probe all positions + at different intermediate locations and average them. * P3 Probe all positions: center, towers and opposite towers. Calibrate all.
* P4-P10 Probe all positions at different intermediate locations and average them.
* *
* T Don't calibrate tower angle corrections * T Don't calibrate tower angle corrections
* *
@ -378,8 +421,6 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
* *
* Fn Force to run at least n iterations and take the best result * Fn Force to run at least n iterations and take the best result
* *
* A Auto-tune calibration factors (set in Configuration.h)
*
* Vn Verbose level: * Vn Verbose level:
* V0 Dry-run mode. Report settings and probe results. No calibration. * V0 Dry-run mode. Report settings and probe results. No calibration.
* V1 Report start and end settings only * V1 Report start and end settings only
@ -390,19 +431,22 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points,
*/ */
void GcodeSuite::G33() { void GcodeSuite::G33() {
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS); const bool set_up =
if (!WITHIN(probe_points, 0, 10)) { #if HAS_BED_PROBE
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10)."); parser.seen('S');
#else
false;
#endif
const int8_t probe_points = set_up ? 2 : parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
if (!WITHIN(probe_points, -1, 10)) {
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (-1 - 10).");
return; return;
} }
const int8_t verbose_level = parser.byteval('V', 1); const bool towers_set = !parser.seen('T');
if (!WITHIN(verbose_level, 0, 3)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-3).");
return;
}
const float calibration_precision = parser.floatval('C', 0.0); const float calibration_precision = set_up ? Z_CLEARANCE_BETWEEN_PROBES / 5.0 : parser.floatval('C', 0.0);
if (calibration_precision < 0) { if (calibration_precision < 0) {
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0)."); SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
return; return;
@ -410,36 +454,52 @@ void GcodeSuite::G33() {
const int8_t force_iterations = parser.intval('F', 0); const int8_t force_iterations = parser.intval('F', 0);
if (!WITHIN(force_iterations, 0, 30)) { if (!WITHIN(force_iterations, 0, 30)) {
SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30)."); SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0 - 30).");
return; return;
} }
const bool towers_set = !parser.boolval('T'), const int8_t verbose_level = parser.byteval('V', 1);
auto_tune = parser.boolval('A'), if (!WITHIN(verbose_level, 0, 3)) {
stow_after_each = parser.boolval('E'), SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0 - 3).");
_0p_calibration = probe_points == 0, return;
_1p_calibration = probe_points == 1, }
const bool stow_after_each = parser.seen('E');
if (set_up) {
delta_height = 999.99;
delta_radius = DELTA_PRINTABLE_RADIUS;
ZERO(delta_endstop_adj);
ZERO(delta_tower_angle_trim);
recalc_delta_settings();
}
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2, _4p_calibration = probe_points == 2,
_7p_9_centre = probe_points >= 8, _4p_opposite_points = _4p_calibration && !towers_set,
_tower_results = (_4p_calibration && towers_set) _7p_9_center = probe_points >= 8,
|| probe_points >= 3 || probe_points == 0, _tower_results = (_4p_calibration && towers_set) || probe_points >= 3,
_opposite_results = (_4p_calibration && !towers_set) _opposite_results = (_4p_calibration && !towers_set) || probe_points >= 3,
|| probe_points >= 3 || probe_points == 0, _endstop_results = probe_points != 1 && probe_points != -1 && probe_points != 0,
_endstop_results = probe_points != 1, _angle_results = probe_points >= 3 && towers_set;
_angle_results = (probe_points >= 3 || probe_points == 0) && towers_set;
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
int8_t iterations = 0; int8_t iterations = 0;
float test_precision, float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
zero_std_dev_min = zero_std_dev, zero_std_dev_min = zero_std_dev,
zero_std_dev_old = zero_std_dev,
h_factor,
r_factor,
a_factor,
e_old[ABC] = { e_old[ABC] = {
delta_endstop_adj[A_AXIS], delta_endstop_adj[A_AXIS],
delta_endstop_adj[B_AXIS], delta_endstop_adj[B_AXIS],
delta_endstop_adj[C_AXIS] delta_endstop_adj[C_AXIS]
}, },
dr_old = delta_radius, r_old = delta_radius,
zh_old = delta_height, h_old = delta_height,
ta_old[ABC] = { a_old[ABC] = {
delta_tower_angle_trim[A_AXIS], delta_tower_angle_trim[A_AXIS],
delta_tower_angle_trim[B_AXIS], delta_tower_angle_trim[B_AXIS],
delta_tower_angle_trim[C_AXIS] delta_tower_angle_trim[C_AXIS]
@ -447,10 +507,10 @@ void GcodeSuite::G33() {
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
LOOP_CAL_RAD(axis) { LOOP_CAL_RAD(axis) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)), const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0)); r = delta_calibration_radius;
if (!position_is_reachable(cos(a) * r, sin(a) * r)) { if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible."); SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return; return;
@ -458,159 +518,137 @@ void GcodeSuite::G33() {
} }
} }
stepper.synchronize();
#if HAS_LEVELING
reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
#if HOTENDS > 1
const uint8_t old_tool_index = active_extruder;
tool_change(0, 0, true);
#define G33_CLEANUP() G33_cleanup(old_tool_index)
#else
#define G33_CLEANUP() G33_cleanup()
#endif
setup_for_endstop_or_probe_move();
endstops.enable(true);
if (!_0p_calibration) {
if (!home_delta())
return;
endstops.not_homing();
}
if (auto_tune) {
#if HAS_BED_PROBE
G33_auto_tune();
#else
SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
#endif
G33_CLEANUP();
return;
}
// Report settings // Report settings
PGM_P checkingac = PSTR("Checking... AC"); // TODO: Make translatable string const char *checkingac = PSTR("Checking... AC");
serialprintPGM(checkingac); serialprintPGM(checkingac);
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)"); if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
if (set_up) SERIAL_PROTOCOLPGM(" (SET-UP)");
SERIAL_EOL(); SERIAL_EOL();
lcd_setstatusPGM(checkingac); char mess[11];
strcpy_P(mess, checkingac);
lcd_setstatus(mess);
print_G33_settings(_endstop_results, _angle_results); print_calibration_settings(_endstop_results, _angle_results);
do { ac_setup(!_0p_calibration && !_1p_calibration);
if (!_0p_calibration)
if (!ac_home()) return;
do { // start iterations
float z_at_pt[NPP + 1] = { 0.0 }; float z_at_pt[NPP + 1] = { 0.0 };
test_precision = zero_std_dev; test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
iterations++; iterations++;
// Probe the points // Probe the points
zero_std_dev_old = zero_std_dev;
zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each); if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, set_up)) {
if (isnan(zero_std_dev)) { SERIAL_PROTOCOLLNPGM("Correct delta settings with M665 and M666");
SERIAL_PROTOCOLPGM("Correct delta_radius with M665 R or end-stops with M666 X Y Z"); return AC_CLEANUP();
SERIAL_EOL();
return G33_CLEANUP();
} }
zero_std_dev = std_dev_points(z_at_pt, _0p_calibration, _1p_calibration, _4p_calibration, _4p_opposite_points);
// Solve matrices // Solve matrices
if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) { if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
if (zero_std_dev < zero_std_dev_min) {
COPY(e_old, delta_endstop_adj);
dr_old = delta_radius;
zh_old = delta_height;
COPY(ta_old, delta_tower_angle_trim);
}
float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
const float r_diff = delta_radius - delta_calibration_radius,
h_factor = 1 / 6.0 *
#ifdef H_FACTOR
(H_FACTOR), // Set in Configuration.h
#else
(1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
#endif
r_factor = 1 / 6.0 *
#ifdef R_FACTOR
-(R_FACTOR), // Set in Configuration.h
#else
-(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
#endif
a_factor = 1 / 6.0 *
#ifdef A_FACTOR
(A_FACTOR); // Set in Configuration.h
#else
(66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
#endif
#define ZP(N,I) ((N) * z_at_pt[I])
#define Z6(I) ZP(6, I)
#define Z4(I) ZP(4, I)
#define Z2(I) ZP(2, I)
#define Z1(I) ZP(1, I)
#if !HAS_BED_PROBE #if !HAS_BED_PROBE
test_precision = 0.00; // forced end test_precision = 0.00; // forced end
#endif #endif
if (zero_std_dev < zero_std_dev_min) {
// set roll-back point
COPY(e_old, delta_endstop_adj);
r_old = delta_radius;
h_old = delta_height;
COPY(a_old, delta_tower_angle_trim);
}
float e_delta[ABC] = { 0.0 },
r_delta = 0.0,
t_delta[ABC] = { 0.0 };
/**
* convergence matrices:
* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
* - definition of the matrix scaling parameters
* - matrices for 4 and 7 point calibration
*/
#define ZP(N,I) ((N) * z_at_pt[I] / 4.0) // 4.0 = divider to normalize to integers
#define Z12(I) ZP(12, I)
#define Z4(I) ZP(4, I)
#define Z2(I) ZP(2, I)
#define Z1(I) ZP(1, I)
#define Z0(I) ZP(0, I)
// calculate factors
const float cr_old = delta_calibration_radius;
if (_7p_9_center) delta_calibration_radius *= 0.9;
h_factor = auto_tune_h();
r_factor = auto_tune_r();
a_factor = auto_tune_a();
delta_calibration_radius = cr_old;
switch (probe_points) { switch (probe_points) {
case -1:
#if HAS_BED_PROBE
zprobe_zoffset += probe_z_shift(z_at_pt[CEN]);
#endif
case 0: case 0:
test_precision = 0.00; // forced end test_precision = 0.00; // forced end
break; break;
case 1: case 1:
test_precision = 0.00; // forced end test_precision = 0.00; // forced end
LOOP_XYZ(axis) e_delta[axis] = Z1(CEN); LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN);
break; break;
case 2: case 2:
if (towers_set) { if (towers_set) { // see 4 point calibration (towers) matrix
e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor; e_delta[A_AXIS] = (+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor; e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor; e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN);
r_delta = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor; r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
} }
else { else { // see 4 point calibration (opposites) matrix
e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor; e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor; e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor; e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN);
r_delta = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor; r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
} }
break; break;
default: default: // see 7 point calibration (towers & opposites) matrix
e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor; e_delta[A_AXIS] = (+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor; e_delta[B_AXIS] = (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor; e_delta[C_AXIS] = (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN);
r_delta = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor; r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
if (towers_set) { if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix
t_delta[A_AXIS] = ( -Z4(__B) +Z4(__C) -Z4(_CA) +Z4(_AB)) * a_factor; t_delta[A_AXIS] = (+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor;
t_delta[B_AXIS] = ( Z4(__A) -Z4(__C) +Z4(_BC) -Z4(_AB)) * a_factor; t_delta[B_AXIS] = (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor;
t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) -Z4(_BC) +Z4(_CA) ) * a_factor; t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor;
e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
} }
break; break;
} }
LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis]; LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta; delta_radius += r_delta;
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis]; LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
} }
else if (zero_std_dev >= test_precision) { // step one back else if (zero_std_dev >= test_precision) {
// roll back
COPY(delta_endstop_adj, e_old); COPY(delta_endstop_adj, e_old);
delta_radius = dr_old; delta_radius = r_old;
delta_height = zh_old; delta_height = h_old;
COPY(delta_tower_angle_trim, ta_old); COPY(delta_tower_angle_trim, a_old);
} }
if (verbose_level != 0) { // !dry run if (verbose_level != 0) { // !dry run
// normalise angles to least squares // normalise angles to least squares
if (_angle_results) { if (_angle_results) {
float a_sum = 0.0; float a_sum = 0.0;
@ -628,15 +666,15 @@ void GcodeSuite::G33() {
// print report // print report
if (verbose_level > 2) if (verbose_level == 3)
print_G33_results(z_at_pt, _tower_results, _opposite_results); print_calibration_results(z_at_pt, _tower_results, _opposite_results);
if (verbose_level != 0) { // !dry run if (verbose_level != 0) { // !dry run
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK"); SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOL_SP(32); SERIAL_PROTOCOL_SP(32);
#if HAS_BED_PROBE #if HAS_BED_PROBE
if (zero_std_dev >= test_precision && !_1p_calibration) if (zero_std_dev >= test_precision && !_1p_calibration && !_0p_calibration)
SERIAL_PROTOCOLPGM("rolling back."); SERIAL_PROTOCOLPGM("rolling back.");
else else
#endif #endif
@ -652,11 +690,11 @@ void GcodeSuite::G33() {
else else
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min)); sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
lcd_setstatus(mess); lcd_setstatus(mess);
print_G33_settings(_endstop_results, _angle_results); print_calibration_settings(_endstop_results, _angle_results);
serialprintPGM(save_message); serialprintPGM(save_message);
SERIAL_EOL(); SERIAL_EOL();
} }
else { // !end iterations else { // !end iterations
char mess[15]; char mess[15];
if (iterations < 31) if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations); sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
@ -669,11 +707,11 @@ void GcodeSuite::G33() {
SERIAL_EOL(); SERIAL_EOL();
lcd_setstatus(mess); lcd_setstatus(mess);
if (verbose_level > 1) if (verbose_level > 1)
print_G33_settings(_endstop_results, _angle_results); print_calibration_settings(_endstop_results, _angle_results);
} }
} }
else { // dry run else { // dry run
PGM_P enddryrun = PSTR("End DRY-RUN"); const char *enddryrun = PSTR("End DRY-RUN");
serialprintPGM(enddryrun); serialprintPGM(enddryrun);
SERIAL_PROTOCOL_SP(35); SERIAL_PROTOCOL_SP(35);
SERIAL_PROTOCOLPGM("std dev:"); SERIAL_PROTOCOLPGM("std dev:");
@ -689,16 +727,11 @@ void GcodeSuite::G33() {
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev)); sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
lcd_setstatus(mess); lcd_setstatus(mess);
} }
if (!ac_home()) return;
endstops.enable(true);
if (!home_delta())
return;
endstops.not_homing();
} }
while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision); while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
G33_CLEANUP(); AC_CLEANUP();
} }
#endif // DELTA_AUTO_CALIBRATION #endif // DELTA_AUTO_CALIBRATION

2
Marlin/src/gcode/calibrate/M665.cpp
View File

@ -40,7 +40,7 @@
* B = delta calibration radius * B = delta calibration radius
* X = Alpha (Tower 1) angle trim * X = Alpha (Tower 1) angle trim
* Y = Beta (Tower 2) angle trim * Y = Beta (Tower 2) angle trim
* Z = Rotate A and B by this angle * Z = Gamma (Tower 3) angle trim
*/ */
void GcodeSuite::M665() { void GcodeSuite::M665() {
if (parser.seen('H')) delta_height = parser.value_linear_units(); if (parser.seen('H')) delta_height = parser.value_linear_units();

2
Marlin/src/gcode/gcode.h
View File

@ -202,7 +202,7 @@
* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE) * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE) * M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE) * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA) * M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops (Requires [XYZ]_DUAL_ENDSTOPS). * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops (Requires [XYZ]_DUAL_ENDSTOPS).
* M701 - Load filament (requires FILAMENT_LOAD_UNLOAD_GCODES) * M701 - Load filament (requires FILAMENT_LOAD_UNLOAD_GCODES)
* M702 - Unload filament (requires FILAMENT_LOAD_UNLOAD_GCODES) * M702 - Unload filament (requires FILAMENT_LOAD_UNLOAD_GCODES)

3
Marlin/src/lcd/language/language_en.h
View File

@ -870,6 +870,9 @@
#ifndef MSG_DELTA_HEIGHT_CALIBRATE #ifndef MSG_DELTA_HEIGHT_CALIBRATE
#define MSG_DELTA_HEIGHT_CALIBRATE _UxGT("Set Delta Height") #define MSG_DELTA_HEIGHT_CALIBRATE _UxGT("Set Delta Height")
#endif #endif
#ifndef MSG_DELTA_Z_OFFSET_CALIBRATE
#define MSG_DELTA_Z_OFFSET_CALIBRATE _UxGT("Probe Z-offset")
#endif
#ifndef MSG_DELTA_DIAG_ROD #ifndef MSG_DELTA_DIAG_ROD
#define MSG_DELTA_DIAG_ROD _UxGT("Diag Rod") #define MSG_DELTA_DIAG_ROD _UxGT("Diag Rod")
#endif #endif

53
Marlin/src/lcd/ultralcd.cpp
View File

@ -2712,29 +2712,22 @@ void kill_screen(const char* lcd_msg) {
float move_menu_scale; float move_menu_scale;
#if ENABLED(DELTA_CALIBRATION_MENU) || (ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE) #if ENABLED(DELTA_CALIBRATION_MENU) || ENABLED(DELTA_AUTO_CALIBRATION)
void lcd_move_z(); void lcd_move_z();
void _man_probe_pt(const float &rx, const float &ry) { void _man_probe_pt(const float &rx, const float &ry) {
#if HAS_LEVELING do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
reset_bed_level(); // After calibration bed-level data is no longer valid do_blocking_move_to_xy(rx, ry);
#endif
line_to_z((Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5);
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
line_to_current_z();
line_to_z(Z_CLEARANCE_BETWEEN_PROBES);
lcd_synchronize(); lcd_synchronize();
move_menu_scale = PROBE_MANUALLY_STEP; move_menu_scale = PROBE_MANUALLY_STEP;
lcd_goto_screen(lcd_move_z); lcd_goto_screen(lcd_move_z);
} }
#endif // DELTA_CALIBRATION_MENU || (DELTA_AUTO_CALIBRATION && !HAS_BED_PROBE) #endif // DELTA_CALIBRATION_MENU || DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE #if ENABLED(DELTA_AUTO_CALIBRATION)
float lcd_probe_pt(const float &rx, const float &ry) { float lcd_probe_pt(const float &rx, const float &ry) {
_man_probe_pt(rx, ry); _man_probe_pt(rx, ry);
@ -2747,7 +2740,7 @@ void kill_screen(const char* lcd_msg) {
return current_position[Z_AXIS]; return current_position[Z_AXIS];
} }
#endif // DELTA_AUTO_CALIBRATION && !HAS_BED_PROBE #endif // DELTA_AUTO_CALIBRATION
#if ENABLED(DELTA_CALIBRATION_MENU) #if ENABLED(DELTA_CALIBRATION_MENU)
@ -2759,10 +2752,6 @@ void kill_screen(const char* lcd_msg) {
} }
void _lcd_delta_calibrate_home() { void _lcd_delta_calibrate_home() {
#if HAS_LEVELING
reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
enqueue_and_echo_commands_P(PSTR("G28")); enqueue_and_echo_commands_P(PSTR("G28"));
lcd_goto_screen(_lcd_calibrate_homing); lcd_goto_screen(_lcd_calibrate_homing);
} }
@ -2776,18 +2765,25 @@ void kill_screen(const char* lcd_msg) {
#if ENABLED(DELTA_CALIBRATION_MENU) || ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_CALIBRATION_MENU) || ENABLED(DELTA_AUTO_CALIBRATION)
void _recalc_delta_settings() {
#if HAS_LEVELING
reset_bed_level(); // After changing kinematics bed-level data is no longer valid
#endif
recalc_delta_settings();
}
void lcd_delta_settings() { void lcd_delta_settings() {
START_MENU(); START_MENU();
MENU_BACK(MSG_DELTA_CALIBRATE); MENU_BACK(MSG_DELTA_CALIBRATE);
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5.0, delta_diagonal_rod + 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5.0, delta_radius + 5.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5.0, delta_radius + 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Tz", &delta_tower_angle_trim[C_AXIS], -5.0, 5.0, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Tz", &delta_tower_angle_trim[C_AXIS], -5.0, 5.0, recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5.0, delta_diagonal_rod + 5.0, _recalc_delta_settings);
END_MENU(); END_MENU();
} }
@ -2797,6 +2793,7 @@ void kill_screen(const char* lcd_msg) {
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33")); MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1")); MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1"));
MENU_ITEM(gcode, MSG_DELTA_Z_OFFSET_CALIBRATE, PSTR("G33 P-1"));
#if ENABLED(EEPROM_SETTINGS) #if ENABLED(EEPROM_SETTINGS)
MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings); MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings);
MENU_ITEM(function, MSG_LOAD_EEPROM, lcd_load_settings); MENU_ITEM(function, MSG_LOAD_EEPROM, lcd_load_settings);
@ -4590,7 +4587,7 @@ void kill_screen(const char* lcd_msg) {
#if LCD_HEIGHT > _FC_LINES_G + 1 #if LCD_HEIGHT > _FC_LINES_G + 1
STATIC_ITEM(" "); STATIC_ITEM(" ");
#endif #endif
HOTEND_STATUS_ITEM(); HOTEND_STATUS_ITEM();
END_SCREEN(); END_SCREEN();
} }
@ -4645,7 +4642,7 @@ void kill_screen(const char* lcd_msg) {
case ADVANCED_PAUSE_MESSAGE_OPTION: advanced_pause_menu_response = ADVANCED_PAUSE_RESPONSE_WAIT_FOR; case ADVANCED_PAUSE_MESSAGE_OPTION: advanced_pause_menu_response = ADVANCED_PAUSE_RESPONSE_WAIT_FOR;
return lcd_advanced_pause_option_menu; return lcd_advanced_pause_option_menu;
#if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE) #if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE)
case ADVANCED_PAUSE_MESSAGE_CONTINUOUS_PURGE: return lcd_advanced_pause_continuous_purge_menu; case ADVANCED_PAUSE_MESSAGE_CONTINUOUS_PURGE: return lcd_advanced_pause_continuous_purge_menu;
#endif #endif
case ADVANCED_PAUSE_MESSAGE_STATUS: case ADVANCED_PAUSE_MESSAGE_STATUS:
default: break; default: break;

4
Marlin/src/lcd/ultralcd.h
View File

@ -148,10 +148,6 @@
float lcd_z_offset_edit(); float lcd_z_offset_edit();
#endif #endif
#if ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE
float lcd_probe_pt(const float &rx, const float &ry);
#endif
#else #else
inline void lcd_buttons_update() {} inline void lcd_buttons_update() {}

6
Marlin/src/module/motion.cpp
View File

@ -617,7 +617,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
safe_delay(5); safe_delay(5);
//*/ //*/
#endif #endif
// Get the current position as starting point // Get the current position as starting point
float raw[XYZE]; float raw[XYZE];
COPY(raw, current_position); COPY(raw, current_position);
@ -1349,12 +1349,12 @@ void homeaxis(const AxisEnum axis) {
// so here it re-homes each tower in turn. // so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes. // Delta homing treats the axes as normal linear axes.
// retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps // retrace by the amount specified in delta_endstop_adj + additional dist in order to have minimum steps
if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) { if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
#endif #endif
do_homing_move(axis, delta_endstop_adj[axis] - 0.1 * Z_HOME_DIR); do_homing_move(axis, delta_endstop_adj[axis] - MIN_STEPS_PER_SEGMENT / planner.axis_steps_per_mm[axis] * Z_HOME_DIR);
} }
#else #else

5
Marlin/src/module/probe.cpp
View File

@ -673,8 +673,9 @@ float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/
if (!DEPLOY_PROBE()) { if (!DEPLOY_PROBE()) {
measured_z = run_z_probe() + zprobe_zoffset; measured_z = run_z_probe() + zprobe_zoffset;
if (raise_after == PROBE_PT_RAISE) const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); if (big_raise || raise_after == PROBE_PT_RAISE)
do_blocking_move_to_z(current_position[Z_AXIS] + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else if (raise_after == PROBE_PT_STOW) else if (raise_after == PROBE_PT_STOW)
if (STOW_PROBE()) measured_z = NAN; if (STOW_PROBE()) measured_z = NAN;
} }

3
Marlin/src/module/probe.h
View File

@ -38,7 +38,8 @@
enum ProbePtRaise : unsigned char { enum ProbePtRaise : unsigned char {
PROBE_PT_NONE, // No raise or stow after run_z_probe PROBE_PT_NONE, // No raise or stow after run_z_probe
PROBE_PT_STOW, // Do a complete stow after run_z_probe PROBE_PT_STOW, // Do a complete stow after run_z_probe
PROBE_PT_RAISE // Raise to "between" clearance after run_z_probe PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
}; };
float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true); float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
#define DEPLOY_PROBE() set_probe_deployed(true) #define DEPLOY_PROBE() set_probe_deployed(true)