735 lines
26 KiB
C++
735 lines
26 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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#include "../gcode.h"
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#include "../../module/delta.h"
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#include "../../module/motion.h"
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#include "../../module/stepper.h"
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#include "../../module/endstops.h"
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#include "../../lcd/ultralcd.h"
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#if HAS_BED_PROBE
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#include "../../module/probe.h"
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#endif
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#if HOTENDS > 1
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#include "../../module/tool_change.h"
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#endif
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#if HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
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_4P_STEP = _7P_STEP * 2, // 4-point step
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NPP = _7P_STEP * 6; // number of calibration points on the radius
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enum CalEnum : char { // the 7 main calibration points - add definitions if needed
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CEN = 0,
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__A = 1,
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_AB = __A + _7P_STEP,
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__B = _AB + _7P_STEP,
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_BC = __B + _7P_STEP,
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__C = _BC + _7P_STEP,
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_CA = __C + _7P_STEP,
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};
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#define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
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#define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
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#define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
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#define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
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#define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
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#define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
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#if HOTENDS > 1
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const uint8_t old_tool_index = active_extruder;
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#define AC_CLEANUP() ac_cleanup(old_tool_index)
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#else
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#define AC_CLEANUP() ac_cleanup()
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#endif
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float lcd_probe_pt(const float &rx, const float &ry);
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bool ac_home() {
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endstops.enable(true);
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if (!home_delta())
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return false;
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endstops.not_homing();
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return true;
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}
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void ac_setup(const bool reset_bed) {
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#if HOTENDS > 1
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tool_change(0, 0, true);
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#endif
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planner.synchronize();
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setup_for_endstop_or_probe_move();
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#if HAS_LEVELING
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if (reset_bed) reset_bed_level(); // After full calibration bed-level data is no longer valid
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#endif
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}
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void ac_cleanup(
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#if HOTENDS > 1
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const uint8_t old_tool_index
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#endif
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) {
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#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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#if HAS_BED_PROBE
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STOW_PROBE();
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#endif
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clean_up_after_endstop_or_probe_move();
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#if HOTENDS > 1
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tool_change(old_tool_index, 0, true);
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#endif
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}
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void print_signed_float(const char * const prefix, const float &f) {
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SERIAL_PROTOCOLPGM(" ");
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serialprintPGM(prefix);
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SERIAL_PROTOCOLCHAR(':');
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if (f >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(f, 2);
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}
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/**
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* - Print the delta settings
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*/
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static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
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SERIAL_PROTOCOLPAIR(".Height:", delta_height);
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if (end_stops) {
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print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
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print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
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print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
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}
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if (end_stops && tower_angles) {
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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SERIAL_EOL();
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SERIAL_CHAR('.');
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SERIAL_PROTOCOL_SP(13);
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}
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if (tower_angles) {
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print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
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print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
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print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
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}
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if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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}
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#if HAS_BED_PROBE
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if (!end_stops && !tower_angles) {
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SERIAL_PROTOCOL_SP(30);
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print_signed_float(PSTR("Offset"), zprobe_zoffset);
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}
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#endif
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SERIAL_EOL();
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}
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/**
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* - Print the probe results
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*/
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static void print_calibration_results(const float z_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
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SERIAL_PROTOCOLPGM(". ");
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print_signed_float(PSTR("c"), z_pt[CEN]);
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if (tower_points) {
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print_signed_float(PSTR(" x"), z_pt[__A]);
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print_signed_float(PSTR(" y"), z_pt[__B]);
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print_signed_float(PSTR(" z"), z_pt[__C]);
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}
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if (tower_points && opposite_points) {
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SERIAL_EOL();
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SERIAL_CHAR('.');
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SERIAL_PROTOCOL_SP(13);
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}
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if (opposite_points) {
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print_signed_float(PSTR("yz"), z_pt[_BC]);
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print_signed_float(PSTR("zx"), z_pt[_CA]);
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print_signed_float(PSTR("xy"), z_pt[_AB]);
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}
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SERIAL_EOL();
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}
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/**
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* - Calculate the standard deviation from the zero plane
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*/
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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) {
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if (!_0p_cal) {
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float S2 = sq(z_pt[CEN]);
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int16_t N = 1;
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if (!_1p_cal) { // std dev from zero plane
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LOOP_CAL_ACT(rad, _4p_cal, _4p_opp) {
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S2 += sq(z_pt[rad]);
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N++;
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}
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return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
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}
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}
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return 0.00001;
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}
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/**
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* - Probe a point
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*/
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static float calibration_probe(const float &nx, const float &ny, const bool stow, const bool set_up) {
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#if HAS_BED_PROBE
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return probe_pt(nx, ny, set_up ? PROBE_PT_BIG_RAISE : stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
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#else
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UNUSED(stow);
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UNUSED(set_up);
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return lcd_probe_pt(nx, ny);
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#endif
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}
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#if HAS_BED_PROBE
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static float probe_z_shift(const float center) {
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STOW_PROBE();
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endstops.enable_z_probe(false);
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float z_shift = lcd_probe_pt(0, 0) - center;
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endstops.enable_z_probe(true);
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return z_shift;
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}
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#endif
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/**
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* - Probe a grid
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*/
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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) {
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const bool _0p_calibration = probe_points == 0,
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_1p_calibration = probe_points == 1 || probe_points == -1,
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_4p_calibration = probe_points == 2,
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_4p_opposite_points = _4p_calibration && !towers_set,
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_7p_calibration = probe_points >= 3,
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_7p_no_intermediates = probe_points == 3,
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_7p_1_intermediates = probe_points == 4,
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_7p_2_intermediates = probe_points == 5,
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_7p_4_intermediates = probe_points == 6,
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_7p_6_intermediates = probe_points == 7,
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_7p_8_intermediates = probe_points == 8,
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_7p_11_intermediates = probe_points == 9,
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_7p_14_intermediates = probe_points == 10,
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_7p_intermed_points = probe_points >= 4,
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_7p_6_center = probe_points >= 5 && probe_points <= 7,
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_7p_9_center = probe_points >= 8;
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LOOP_CAL_ALL(rad) z_pt[rad] = 0.0;
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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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z_pt[CEN] += calibration_probe(0, 0, stow_after_each, set_up);
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if (isnan(z_pt[CEN])) return false;
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}
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if (_7p_calibration) { // probe extra center points
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const float start = _7p_9_center ? _CA + _7P_STEP / 3.0 : _7p_6_center ? _CA : __C,
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steps = _7p_9_center ? _4P_STEP / 3.0 : _7p_6_center ? _7P_STEP : _4P_STEP;
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I_LOOP_CAL_PT(rad, start, steps) {
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const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
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r = delta_calibration_radius * 0.1;
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z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
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if (isnan(z_pt[CEN])) return false;
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}
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z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
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}
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if (!_1p_calibration) { // probe the radius
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const CalEnum start = _4p_opposite_points ? _AB : __A;
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const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
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_7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
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_7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
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_7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
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_7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
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_7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
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_7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
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_7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
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_4P_STEP; // .5r * 6 + 1c = 4
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bool zig_zag = true;
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F_LOOP_CAL_PT(rad, start, _7p_9_center ? steps * 3 : steps) {
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const int8_t offset = _7p_9_center ? 2 : 0;
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for (int8_t circle = 0; circle <= offset; circle++) {
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const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
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r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
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interpol = fmod(rad, 1);
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const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
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if (isnan(z_temp)) return false;
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// split probe point to neighbouring calibration points
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z_pt[uint8_t(round(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
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z_pt[uint8_t(round(rad - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
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}
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zig_zag = !zig_zag;
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}
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if (_7p_intermed_points)
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LOOP_CAL_RAD(rad)
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z_pt[rad] /= _7P_STEP / steps;
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do_blocking_move_to_xy(0.0, 0.0);
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}
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}
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return true;
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}
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/**
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* kinematics routines and auto tune matrix scaling parameters:
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* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
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* - formulae for approximative forward kinematics in the end-stop displacement matrix
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* - definition of the matrix scaling parameters
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*/
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static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_axis[NPP + 1][ABC]) {
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float pos[XYZ] = { 0.0 };
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LOOP_CAL_ALL(rad) {
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const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
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r = (rad == CEN ? 0.0 : delta_calibration_radius);
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pos[X_AXIS] = cos(a) * r;
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pos[Y_AXIS] = sin(a) * r;
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pos[Z_AXIS] = z_pt[rad];
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inverse_kinematics(pos);
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LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
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}
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}
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static void forward_kinematics_probe_points(float mm_at_pt_axis[NPP + 1][ABC], float z_pt[NPP + 1]) {
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const float r_quot = delta_calibration_radius / delta_radius;
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#define ZPP(N,I,A) ((1 / 3.0 + r_quot * (N) / 3.0 ) * mm_at_pt_axis[I][A])
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#define Z00(I, A) ZPP( 0, I, A)
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#define Zp1(I, A) ZPP(+1, I, A)
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#define Zm1(I, A) ZPP(-1, I, A)
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#define Zp2(I, A) ZPP(+2, I, A)
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#define Zm2(I, A) ZPP(-2, I, A)
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z_pt[CEN] = Z00(CEN, A_AXIS) + Z00(CEN, B_AXIS) + Z00(CEN, C_AXIS);
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z_pt[__A] = Zp2(__A, A_AXIS) + Zm1(__A, B_AXIS) + Zm1(__A, C_AXIS);
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z_pt[__B] = Zm1(__B, A_AXIS) + Zp2(__B, B_AXIS) + Zm1(__B, C_AXIS);
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z_pt[__C] = Zm1(__C, A_AXIS) + Zm1(__C, B_AXIS) + Zp2(__C, C_AXIS);
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z_pt[_BC] = Zm2(_BC, A_AXIS) + Zp1(_BC, B_AXIS) + Zp1(_BC, C_AXIS);
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z_pt[_CA] = Zp1(_CA, A_AXIS) + Zm2(_CA, B_AXIS) + Zp1(_CA, C_AXIS);
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z_pt[_AB] = Zp1(_AB, A_AXIS) + Zp1(_AB, B_AXIS) + Zm2(_AB, C_AXIS);
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}
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static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], float delta_e[ABC], float delta_r, float delta_t[ABC]) {
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const float z_center = z_pt[CEN];
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float diff_mm_at_pt_axis[NPP + 1][ABC],
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new_mm_at_pt_axis[NPP + 1][ABC];
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reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis);
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delta_radius += delta_r;
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LOOP_XYZ(axis) delta_tower_angle_trim[axis] += delta_t[axis];
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recalc_delta_settings();
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reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis);
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LOOP_XYZ(axis) LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad][axis] -= new_mm_at_pt_axis[rad][axis] + delta_e[axis];
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forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt);
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LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center;
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z_pt[CEN] = z_center;
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delta_radius -= delta_r;
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LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= delta_t[axis];
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recalc_delta_settings();
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}
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static float auto_tune_h() {
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const float r_quot = delta_calibration_radius / delta_radius;
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float h_fac = 0.0;
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h_fac = r_quot / (2.0 / 3.0);
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h_fac = 1.0 / h_fac; // (2/3)/CR
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return h_fac;
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}
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static float auto_tune_r() {
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const float diff = 0.01;
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float r_fac = 0.0,
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z_pt[NPP + 1] = { 0.0 },
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delta_e[ABC] = {0.0},
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delta_r = {0.0},
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delta_t[ABC] = {0.0};
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delta_r = diff;
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calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
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r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0;
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r_fac = diff / r_fac / 3.0; // 1/(3*delta_Z)
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return r_fac;
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}
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static float auto_tune_a() {
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const float diff = 0.01;
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float a_fac = 0.0,
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z_pt[NPP + 1] = { 0.0 },
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delta_e[ABC] = {0.0},
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delta_r = {0.0},
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delta_t[ABC] = {0.0};
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LOOP_XYZ(axis) {
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LOOP_XYZ(axis_2) delta_t[axis_2] = 0.0;
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delta_t[axis] = diff;
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calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
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a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0;
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a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0;
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}
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a_fac = diff / a_fac / 3.0; // 1/(3*delta_Z)
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return a_fac;
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}
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/**
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* G33 - Delta '1-4-7-point' Auto-Calibration
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* Calibrate height, z_offset, endstops, delta radius, and tower angles.
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*
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* Parameters:
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*
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* S Setup mode; disables probe protection
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*
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* Pn Number of probe points:
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* P-1 Checks the z_offset with a center probe and paper test.
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* P0 Normalizes calibration.
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* P1 Calibrates height only with center probe.
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* P2 Probe center and towers. Calibrate height, endstops and delta radius.
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* P3 Probe all positions: center, towers and opposite towers. Calibrate all.
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* P4-P10 Probe all positions at different intermediate locations and average them.
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*
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* T Don't calibrate tower angle corrections
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*
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* Cn.nn Calibration precision; when omitted calibrates to maximum precision
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*
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* Fn Force to run at least n iterations and take the best result
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*
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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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* V1 Report start and end settings only
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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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* E Engage the probe for each point
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*/
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void GcodeSuite::G33() {
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const bool set_up =
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#if HAS_BED_PROBE
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parser.seen('S');
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#else
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false;
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#endif
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const int8_t probe_points = set_up ? 2 : parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
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if (!WITHIN(probe_points, -1, 10)) {
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SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (-1 - 10).");
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return;
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}
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const bool towers_set = !parser.seen('T');
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const float calibration_precision = set_up ? Z_CLEARANCE_BETWEEN_PROBES / 5.0 : parser.floatval('C', 0.0);
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if (calibration_precision < 0) {
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SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
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return;
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}
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const int8_t force_iterations = parser.intval('F', 0);
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if (!WITHIN(force_iterations, 0, 30)) {
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SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0 - 30).");
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return;
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}
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const int8_t verbose_level = parser.byteval('V', 1);
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if (!WITHIN(verbose_level, 0, 3)) {
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SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0 - 3).");
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return;
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}
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const bool stow_after_each = parser.seen('E');
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if (set_up) {
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delta_height = 999.99;
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delta_radius = DELTA_PRINTABLE_RADIUS;
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ZERO(delta_endstop_adj);
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ZERO(delta_tower_angle_trim);
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recalc_delta_settings();
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}
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const bool _0p_calibration = probe_points == 0,
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_1p_calibration = probe_points == 1 || probe_points == -1,
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_4p_calibration = probe_points == 2,
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_4p_opposite_points = _4p_calibration && !towers_set,
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_7p_9_center = probe_points >= 8,
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_tower_results = (_4p_calibration && towers_set) || probe_points >= 3,
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_opposite_results = (_4p_calibration && !towers_set) || probe_points >= 3,
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_endstop_results = probe_points != 1 && probe_points != -1 && probe_points != 0,
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_angle_results = probe_points >= 3 && towers_set;
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static const char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
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int8_t iterations = 0;
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float test_precision,
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zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
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zero_std_dev_min = zero_std_dev,
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zero_std_dev_old = zero_std_dev,
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h_factor,
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r_factor,
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a_factor,
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e_old[ABC] = {
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delta_endstop_adj[A_AXIS],
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delta_endstop_adj[B_AXIS],
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delta_endstop_adj[C_AXIS]
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},
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r_old = delta_radius,
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h_old = delta_height,
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a_old[ABC] = {
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delta_tower_angle_trim[A_AXIS],
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delta_tower_angle_trim[B_AXIS],
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delta_tower_angle_trim[C_AXIS]
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};
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SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
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if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
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LOOP_CAL_RAD(axis) {
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const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
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r = delta_calibration_radius;
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if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
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SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
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return;
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}
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}
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}
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// Report settings
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const char* checkingac = PSTR("Checking... AC");
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serialprintPGM(checkingac);
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if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
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if (set_up) SERIAL_PROTOCOLPGM(" (SET-UP)");
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SERIAL_EOL();
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lcd_setstatusPGM(checkingac);
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print_calibration_settings(_endstop_results, _angle_results);
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ac_setup(!_0p_calibration && !_1p_calibration);
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if (!_0p_calibration)
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if (!ac_home()) return;
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do { // start iterations
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float z_at_pt[NPP + 1] = { 0.0 };
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test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
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iterations++;
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// Probe the points
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zero_std_dev_old = zero_std_dev;
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if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, set_up)) {
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SERIAL_PROTOCOLLNPGM("Correct delta settings with M665 and M666");
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return AC_CLEANUP();
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}
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zero_std_dev = std_dev_points(z_at_pt, _0p_calibration, _1p_calibration, _4p_calibration, _4p_opposite_points);
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// Solve matrices
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if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
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#if !HAS_BED_PROBE
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test_precision = 0.00; // forced end
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#endif
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if (zero_std_dev < zero_std_dev_min) {
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// set roll-back point
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COPY(e_old, delta_endstop_adj);
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r_old = delta_radius;
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h_old = delta_height;
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COPY(a_old, delta_tower_angle_trim);
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}
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float e_delta[ABC] = { 0.0 },
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r_delta = 0.0,
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t_delta[ABC] = { 0.0 };
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/**
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* convergence matrices:
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* see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
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* - definition of the matrix scaling parameters
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* - matrices for 4 and 7 point calibration
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*/
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#define ZP(N,I) ((N) * z_at_pt[I] / 4.0) // 4.0 = divider to normalize to integers
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#define Z12(I) ZP(12, I)
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#define Z4(I) ZP(4, I)
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#define Z2(I) ZP(2, I)
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#define Z1(I) ZP(1, I)
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#define Z0(I) ZP(0, I)
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// calculate factors
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const float cr_old = delta_calibration_radius;
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if (_7p_9_center) delta_calibration_radius *= 0.9;
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h_factor = auto_tune_h();
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r_factor = auto_tune_r();
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a_factor = auto_tune_a();
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delta_calibration_radius = cr_old;
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switch (probe_points) {
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case -1:
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#if HAS_BED_PROBE
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zprobe_zoffset += probe_z_shift(z_at_pt[CEN]);
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#endif
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case 0:
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test_precision = 0.00; // forced end
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break;
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case 1:
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test_precision = 0.00; // forced end
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LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN);
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break;
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case 2:
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if (towers_set) { // see 4 point calibration (towers) matrix
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e_delta[A_AXIS] = (+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN);
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e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN);
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e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN);
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r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
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}
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else { // see 4 point calibration (opposites) matrix
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e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
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e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
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e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN);
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r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
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}
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break;
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default: // see 7 point calibration (towers & opposites) matrix
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e_delta[A_AXIS] = (+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
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e_delta[B_AXIS] = (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
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e_delta[C_AXIS] = (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN);
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r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
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if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix
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t_delta[A_AXIS] = (+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor;
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t_delta[B_AXIS] = (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor;
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t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor;
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}
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break;
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}
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LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
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delta_radius += r_delta;
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LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
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}
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else if (zero_std_dev >= test_precision) {
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// roll back
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COPY(delta_endstop_adj, e_old);
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delta_radius = r_old;
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delta_height = h_old;
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COPY(delta_tower_angle_trim, a_old);
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}
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if (verbose_level != 0) { // !dry run
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// normalise angles to least squares
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if (_angle_results) {
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float a_sum = 0.0;
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LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
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LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
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}
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// adjust delta_height and endstops by the max amount
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const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
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delta_height -= z_temp;
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LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
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}
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recalc_delta_settings();
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NOMORE(zero_std_dev_min, zero_std_dev);
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// print report
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if (verbose_level == 3)
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print_calibration_results(z_at_pt, _tower_results, _opposite_results);
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if (verbose_level != 0) { // !dry run
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if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
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SERIAL_PROTOCOLPGM("Calibration OK");
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SERIAL_PROTOCOL_SP(32);
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#if HAS_BED_PROBE
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if (zero_std_dev >= test_precision && !_1p_calibration && !_0p_calibration)
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SERIAL_PROTOCOLPGM("rolling back.");
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else
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#endif
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{
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SERIAL_PROTOCOLPGM("std dev:");
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SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
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}
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SERIAL_EOL();
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char mess[21];
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strcpy_P(mess, PSTR("Calibration sd:"));
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if (zero_std_dev_min < 1)
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sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
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else
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sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
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lcd_setstatus(mess);
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print_calibration_settings(_endstop_results, _angle_results);
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serialprintPGM(save_message);
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SERIAL_EOL();
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}
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else { // !end iterations
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char mess[15];
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if (iterations < 31)
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sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
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else
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strcpy_P(mess, PSTR("No convergence"));
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SERIAL_PROTOCOL(mess);
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SERIAL_PROTOCOL_SP(32);
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SERIAL_PROTOCOLPGM("std dev:");
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SERIAL_PROTOCOL_F(zero_std_dev, 3);
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SERIAL_EOL();
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lcd_setstatus(mess);
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if (verbose_level > 1)
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print_calibration_settings(_endstop_results, _angle_results);
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}
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}
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else { // dry run
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const char *enddryrun = PSTR("End DRY-RUN");
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serialprintPGM(enddryrun);
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SERIAL_PROTOCOL_SP(35);
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SERIAL_PROTOCOLPGM("std dev:");
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SERIAL_PROTOCOL_F(zero_std_dev, 3);
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SERIAL_EOL();
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char mess[21];
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strcpy_P(mess, enddryrun);
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strcpy_P(&mess[11], PSTR(" sd:"));
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if (zero_std_dev < 1)
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sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
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else
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sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
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lcd_setstatus(mess);
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}
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if (!ac_home()) return;
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}
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while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
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AC_CLEANUP();
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}
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#endif // DELTA_AUTO_CALIBRATION
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