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🚸 Use Z_STEPPER_ALIGN_STEPPER_XY to enable

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This commit is contained in:
Scott Lahteine 2022-03-02 17:50:55 -06:00
parent 575c3150f9
commit e082a141f6
8 changed files with 41 additions and 36 deletions
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20
Marlin/Configuration_adv.h
View File

@ -959,15 +959,17 @@
//#define Z_STEPPERS_ORIENTATION 0
#endif
// Provide Z stepper positions for more rapid convergence in bed alignment.
// Requires triple stepper drivers (i.e., set NUM_Z_STEPPER_DRIVERS to 3)
//#define Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Define Stepper XY positions for Z1, Z2, Z3 corresponding to
// the Z screw positions in the bed carriage.
// Define one position per Z stepper in stepper driver order.
#define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } }
#else
/**
* Z Stepper positions for more rapid convergence in bed alignment.
* Requires NUM_Z_STEPPER_DRIVERS to be 3 or 4.
*
* Define Stepper XY positions for Z1, Z2, Z3... corresponding to the screw
* positions in the bed carriage, with one position per Z stepper in stepper
* driver order.
*/
//#define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } }
#ifndef Z_STEPPER_ALIGN_STEPPER_XY
// Amplification factor. Used to scale the correction step up or down in case
// the stepper (spindle) position is farther out than the test point.
#define Z_STEPPER_ALIGN_AMP 1.0 // Use a value > 1.0 NOTE: This may cause instability!

4
Marlin/src/feature/z_stepper_align.cpp
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@ -35,7 +35,7 @@ ZStepperAlign z_stepper_align;
xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS];
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS];
#endif
@ -103,7 +103,7 @@ void ZStepperAlign::reset_to_default() {
COPY(xy, xy_init);
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY;
static_assert(
COUNT(stepper_xy_init) == NUM_Z_STEPPER_DRIVERS,

2
Marlin/src/feature/z_stepper_align.h
View File

@ -31,7 +31,7 @@ class ZStepperAlign {
public:
static xy_pos_t xy[NUM_Z_STEPPER_DRIVERS];
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
static xy_pos_t stepper_xy[NUM_Z_STEPPER_DRIVERS];
#endif

30
Marlin/src/gcode/calibrate/G34_M422.cpp
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@ -41,7 +41,7 @@
#include "../../module/tool_change.h"
#endif
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
#include "../../libs/least_squares_fit.h"
#endif
@ -122,7 +122,7 @@ void GcodeSuite::G34() {
break;
}
const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
const float z_auto_align_amplification = TERN(HAS_Z_STEPPER_ALIGN_STEPPER_XY, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
break;
@ -179,7 +179,7 @@ void GcodeSuite::G34() {
// Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error.
// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
#else
float last_z_align_level_indicator = 10000.0f;
@ -188,7 +188,7 @@ void GcodeSuite::G34() {
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
bool adjustment_reverse = false;
#endif
@ -256,7 +256,7 @@ void GcodeSuite::G34() {
z_maxdiff = z_measured_max - z_measured_min;
z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff;
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Replace the initial values in z_measured with calculated heights at
// each stepper position. This allows the adjustment algorithm to be
// shared between both possible probing mechanisms.
@ -338,7 +338,7 @@ void GcodeSuite::G34() {
return false;
};
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Check if the applied corrections go in the correct direction.
// Calculate the sum of the absolute deviations from the mean of the probe measurements.
// Compare to the last iteration to ensure it's getting better.
@ -370,7 +370,7 @@ void GcodeSuite::G34() {
float z_align_move = z_measured[zstepper] - z_measured_min;
const float z_align_abs = ABS(z_align_move);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Optimize one iteration's correction based on the first measurements
if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
@ -394,7 +394,7 @@ void GcodeSuite::G34() {
// Lock all steppers except one
stepper.set_all_z_lock(true, zstepper);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Decreasing accuracy was detected so move was inverted.
// Will match reversed Z steppers on dual steppers. Triple will need more work to map.
if (adjustment_reverse) {
@ -467,7 +467,7 @@ void GcodeSuite::G34() {
*
* S<index> : Index of the probe point to set
*
* With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS:
* With Z_STEPPER_ALIGN_STEPPER_XY:
* W<index> : Index of the Z stepper position to set
* The W and S parameters may not be combined.
*
@ -488,18 +488,18 @@ void GcodeSuite::M422() {
const bool is_probe_point = parser.seen('S');
if (TERN0(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, is_probe_point && parser.seen('W'))) {
if (TERN0(HAS_Z_STEPPER_ALIGN_STEPPER_XY, is_probe_point && parser.seen('W'))) {
SERIAL_ECHOLNPGM("?(S) and (W) may not be combined.");
return;
}
xy_pos_t *pos_dest = (
TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !is_probe_point ? z_stepper_align.stepper_xy :)
TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !is_probe_point ? z_stepper_align.stepper_xy :)
z_stepper_align.xy
);
if (!is_probe_point && TERN1(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !parser.seen('W'))) {
SERIAL_ECHOLNPGM("?(S)" TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, " or (W)") " is required.");
if (!is_probe_point && TERN1(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !parser.seen('W'))) {
SERIAL_ECHOLNPGM("?(S)" TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, " or (W)") " is required.");
return;
}
@ -513,7 +513,7 @@ void GcodeSuite::M422() {
}
}
else {
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
position_index = parser.intval('W') - 1;
if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) {
SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid.");
@ -551,7 +551,7 @@ void GcodeSuite::M422_report(const bool forReplay/*=true*/) {
SP_Y_STR, z_stepper_align.xy[i].y
);
}
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
report_echo_start(forReplay);
SERIAL_ECHOLNPGM_P(

5
Marlin/src/inc/Conditionals_adv.h
View File

@ -630,7 +630,8 @@
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#ifdef Z_STEPPER_ALIGN_STEPPER_XY
#define HAS_Z_STEPPER_ALIGN_STEPPER_XY 1
#undef Z_STEPPER_ALIGN_AMP
#endif
#ifndef Z_STEPPER_ALIGN_AMP
@ -986,7 +987,7 @@
#endif
// Flag whether least_squares_fit.cpp is used
#if ANY(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_LINEAR, Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if ANY(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_LINEAR, HAS_Z_STEPPER_ALIGN_STEPPER_XY)
#define NEED_LSF 1
#endif

6
Marlin/src/inc/SanityCheck.h
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@ -613,6 +613,8 @@
#error "NOZZLE_PARK_X_ONLY is now NOZZLE_PARK_MOVE 1."
#elif defined(NOZZLE_PARK_Y_ONLY)
#error "NOZZLE_PARK_X_ONLY is now NOZZLE_PARK_MOVE 2."
#elif defined(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS is now just Z_STEPPER_ALIGN_STEPPER_XY."
#endif
constexpr float arm[] = AXIS_RELATIVE_MODES;
@ -3479,10 +3481,10 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#error "Z_STEPPER_AUTO_ALIGN requires NUM_Z_STEPPER_DRIVERS greater than 1."
#elif !HAS_BED_PROBE
#error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
#elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#elif HAS_Z_STEPPER_ALIGN_STEPPER_XY
static_assert(WITHIN(Z_STEPPER_ALIGN_AMP, 0.5, 2.0), "Z_STEPPER_ALIGN_AMP must be between 0.5 and 2.0.");
#if NUM_Z_STEPPER_DRIVERS < 3
#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
#error "Z_STEPPER_ALIGN_STEPPER_XY requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
#endif
#endif
#endif

8
Marlin/src/module/settings.cpp
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@ -341,11 +341,11 @@ typedef struct SettingsDataStruct {
#endif
//
// Z_STEPPER_AUTO_ALIGN, Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS
// Z_STEPPER_AUTO_ALIGN, HAS_Z_STEPPER_ALIGN_STEPPER_XY
//
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
xy_pos_t z_stepper_align_xy[NUM_Z_STEPPER_DRIVERS]; // M422 S X Y
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
xy_pos_t z_stepper_align_stepper_xy[NUM_Z_STEPPER_DRIVERS]; // M422 W X Y
#endif
#endif
@ -1005,7 +1005,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
EEPROM_WRITE(z_stepper_align.xy);
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
EEPROM_WRITE(z_stepper_align.stepper_xy);
#endif
#endif
@ -1924,7 +1924,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
EEPROM_READ(z_stepper_align.xy);
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
EEPROM_READ(z_stepper_align.stepper_xy);
#endif
#endif

2
buildroot/tests/DUE
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@ -37,7 +37,7 @@ exec_test $1 $2 "RAMPS4DUE_EFB with ABL (Bilinear), ExtUI, S-Curve, many options
restore_configs
opt_set MOTHERBOARD BOARD_RADDS NUM_Z_STEPPER_DRIVERS 3
opt_enable USE_XMAX_PLUG USE_YMAX_PLUG ENDSTOPPULLUPS BLTOUCH AUTO_BED_LEVELING_BILINEAR \
Z_STEPPER_AUTO_ALIGN Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS Z_SAFE_HOMING
Z_STEPPER_AUTO_ALIGN Z_STEPPER_ALIGN_STEPPER_XY Z_SAFE_HOMING
pins_set ramps/RAMPS X_MAX_PIN -1
pins_set ramps/RAMPS Y_MAX_PIN -1
exec_test $1 $2 "RADDS with ABL (Bilinear), Triple Z Axis, Z_STEPPER_AUTO_ALIGN, E_DUAL_STEPPER_DRIVERS" "$3"