738 lines
26 KiB
C++
738 lines
26 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
#include "../../inc/MarlinConfig.h"
|
|
|
|
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
|
|
|
#include "../gcode.h"
|
|
#include "../../module/delta.h"
|
|
#include "../../module/motion.h"
|
|
#include "../../module/stepper.h"
|
|
#include "../../module/endstops.h"
|
|
#include "../../lcd/ultralcd.h"
|
|
|
|
#if HAS_BED_PROBE
|
|
#include "../../module/probe.h"
|
|
#endif
|
|
|
|
#if HOTENDS > 1
|
|
#include "../../module/tool_change.h"
|
|
#endif
|
|
|
|
#if HAS_LEVELING
|
|
#include "../../feature/bedlevel/bedlevel.h"
|
|
#endif
|
|
|
|
constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
|
|
_4P_STEP = _7P_STEP * 2, // 4-point step
|
|
NPP = _7P_STEP * 6; // number of calibration points on the radius
|
|
enum CalEnum : char { // the 7 main calibration points - add definitions if needed
|
|
CEN = 0,
|
|
__A = 1,
|
|
_AB = __A + _7P_STEP,
|
|
__B = _AB + _7P_STEP,
|
|
_BC = __B + _7P_STEP,
|
|
__C = _BC + _7P_STEP,
|
|
_CA = __C + _7P_STEP,
|
|
};
|
|
|
|
#define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
|
|
#define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
|
|
#define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
|
|
#define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
|
|
#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)
|
|
|
|
#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(" ");
|
|
serialprintPGM(prefix);
|
|
SERIAL_PROTOCOLCHAR(':');
|
|
if (f >= 0) SERIAL_CHAR('+');
|
|
SERIAL_PROTOCOL_F(f, 2);
|
|
}
|
|
|
|
/**
|
|
* - Print the delta settings
|
|
*/
|
|
static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
|
|
SERIAL_PROTOCOLPAIR(".Height:", delta_height);
|
|
if (end_stops) {
|
|
print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
|
|
print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
|
|
print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
|
|
}
|
|
if (end_stops && tower_angles) {
|
|
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
|
|
SERIAL_EOL();
|
|
SERIAL_CHAR('.');
|
|
SERIAL_PROTOCOL_SP(13);
|
|
}
|
|
if (tower_angles) {
|
|
print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
|
|
print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
|
|
print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
|
|
}
|
|
if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
|
|
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();
|
|
}
|
|
|
|
/**
|
|
* - 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(". ");
|
|
print_signed_float(PSTR("c"), z_pt[CEN]);
|
|
if (tower_points) {
|
|
print_signed_float(PSTR(" x"), z_pt[__A]);
|
|
print_signed_float(PSTR(" y"), z_pt[__B]);
|
|
print_signed_float(PSTR(" z"), z_pt[__C]);
|
|
}
|
|
if (tower_points && opposite_points) {
|
|
SERIAL_EOL();
|
|
SERIAL_CHAR('.');
|
|
SERIAL_PROTOCOL_SP(13);
|
|
}
|
|
if (opposite_points) {
|
|
print_signed_float(PSTR("yz"), z_pt[_BC]);
|
|
print_signed_float(PSTR("zx"), z_pt[_CA]);
|
|
print_signed_float(PSTR("xy"), z_pt[_AB]);
|
|
}
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
/**
|
|
* - Calculate the standard deviation from the zero plane
|
|
*/
|
|
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 (!_0p_cal) {
|
|
float S2 = sq(z_pt[CEN]);
|
|
int16_t N = 1;
|
|
if (!_1p_cal) { // std dev from zero plane
|
|
LOOP_CAL_ACT(rad, _4p_cal, _4p_opp) {
|
|
S2 += sq(z_pt[rad]);
|
|
N++;
|
|
}
|
|
return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
|
|
}
|
|
}
|
|
return 0.00001;
|
|
}
|
|
|
|
/**
|
|
* - Probe a point
|
|
*/
|
|
static float calibration_probe(const float &nx, const float &ny, const bool stow, const bool set_up) {
|
|
#if HAS_BED_PROBE
|
|
return probe_pt(nx, ny, set_up ? PROBE_PT_BIG_RAISE : stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
|
|
#else
|
|
UNUSED(stow);
|
|
UNUSED(set_up);
|
|
return lcd_probe_pt(nx, ny);
|
|
#endif
|
|
}
|
|
|
|
#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,
|
|
_1p_calibration = probe_points == 1 || probe_points == -1,
|
|
_4p_calibration = probe_points == 2,
|
|
_4p_opposite_points = _4p_calibration && !towers_set,
|
|
_7p_calibration = probe_points >= 3,
|
|
_7p_no_intermediates = probe_points == 3,
|
|
_7p_1_intermediates = probe_points == 4,
|
|
_7p_2_intermediates = probe_points == 5,
|
|
_7p_4_intermediates = probe_points == 6,
|
|
_7p_6_intermediates = probe_points == 7,
|
|
_7p_8_intermediates = probe_points == 8,
|
|
_7p_11_intermediates = probe_points == 9,
|
|
_7p_14_intermediates = probe_points == 10,
|
|
_7p_intermed_points = probe_points >= 4,
|
|
_7p_6_center = probe_points >= 5 && probe_points <= 7,
|
|
_7p_9_center = probe_points >= 8;
|
|
|
|
LOOP_CAL_ALL(rad) z_pt[rad] = 0.0;
|
|
|
|
if (!_0p_calibration) {
|
|
|
|
if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
|
|
z_pt[CEN] += calibration_probe(0, 0, stow_after_each, set_up);
|
|
if (isnan(z_pt[CEN])) return false;
|
|
}
|
|
|
|
if (_7p_calibration) { // probe extra center points
|
|
const float start = _7p_9_center ? _CA + _7P_STEP / 3.0 : _7p_6_center ? _CA : __C,
|
|
steps = _7p_9_center ? _4P_STEP / 3.0 : _7p_6_center ? _7P_STEP : _4P_STEP;
|
|
I_LOOP_CAL_PT(rad, start, steps) {
|
|
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
|
|
r = delta_calibration_radius * 0.1;
|
|
z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
|
|
if (isnan(z_pt[CEN])) return false;
|
|
}
|
|
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
|
|
}
|
|
|
|
if (!_1p_calibration) { // probe the radius
|
|
const CalEnum start = _4p_opposite_points ? _AB : __A;
|
|
const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
|
|
_7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
|
|
_7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
|
|
_7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
|
|
_7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
|
|
_7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
|
|
_7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
|
|
_7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
|
|
_4P_STEP; // .5r * 6 + 1c = 4
|
|
bool zig_zag = true;
|
|
F_LOOP_CAL_PT(rad, start, _7p_9_center ? steps * 3 : steps) {
|
|
const int8_t offset = _7p_9_center ? 2 : 0;
|
|
for (int8_t circle = 0; circle <= offset; circle++) {
|
|
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
|
|
r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
|
|
interpol = fmod(rad, 1);
|
|
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
|
|
if (isnan(z_temp)) return false;
|
|
// split probe point to neighbouring calibration points
|
|
z_pt[uint8_t(round(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
|
|
z_pt[uint8_t(round(rad - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
|
|
}
|
|
zig_zag = !zig_zag;
|
|
}
|
|
if (_7p_intermed_points)
|
|
LOOP_CAL_RAD(rad)
|
|
z_pt[rad] /= _7P_STEP / steps;
|
|
|
|
do_blocking_move_to_xy(0.0, 0.0);
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* 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 };
|
|
|
|
LOOP_CAL_ALL(rad) {
|
|
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
|
|
r = (rad == CEN ? 0.0 : delta_calibration_radius);
|
|
pos[X_AXIS] = cos(a) * r;
|
|
pos[Y_AXIS] = sin(a) * r;
|
|
pos[Z_AXIS] = z_pt[rad];
|
|
inverse_kinematics(pos);
|
|
LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
|
|
}
|
|
}
|
|
|
|
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
|
|
* Calibrate height, z_offset, endstops, delta radius, and tower angles.
|
|
*
|
|
* Parameters:
|
|
*
|
|
* S Setup mode; disables probe protection
|
|
*
|
|
* Pn Number of probe points:
|
|
* P-1 Checks the z_offset with a center probe and paper test.
|
|
* P0 Normalizes calibration.
|
|
* P1 Calibrates height only with center probe.
|
|
* P2 Probe center and towers. Calibrate height, endstops and delta radius.
|
|
* 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
|
|
*
|
|
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
|
|
*
|
|
* Fn Force to run at least n iterations and take the best result
|
|
*
|
|
* Vn Verbose level:
|
|
* V0 Dry-run mode. Report settings and probe results. No calibration.
|
|
* V1 Report start and end settings only
|
|
* V2 Report settings at each iteration
|
|
* V3 Report settings and probe results
|
|
*
|
|
* E Engage the probe for each point
|
|
*/
|
|
void GcodeSuite::G33() {
|
|
|
|
const bool set_up =
|
|
#if HAS_BED_PROBE
|
|
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;
|
|
}
|
|
|
|
const bool towers_set = !parser.seen('T');
|
|
|
|
const float calibration_precision = set_up ? Z_CLEARANCE_BETWEEN_PROBES / 5.0 : parser.floatval('C', 0.0);
|
|
if (calibration_precision < 0) {
|
|
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
|
|
return;
|
|
}
|
|
|
|
const int8_t force_iterations = parser.intval('F', 0);
|
|
if (!WITHIN(force_iterations, 0, 30)) {
|
|
SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0 - 30).");
|
|
return;
|
|
}
|
|
|
|
const int8_t verbose_level = parser.byteval('V', 1);
|
|
if (!WITHIN(verbose_level, 0, 3)) {
|
|
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0 - 3).");
|
|
return;
|
|
}
|
|
|
|
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_opposite_points = _4p_calibration && !towers_set,
|
|
_7p_9_center = probe_points >= 8,
|
|
_tower_results = (_4p_calibration && towers_set) || probe_points >= 3,
|
|
_opposite_results = (_4p_calibration && !towers_set) || probe_points >= 3,
|
|
_endstop_results = probe_points != 1 && probe_points != -1 && probe_points != 0,
|
|
_angle_results = probe_points >= 3 && towers_set;
|
|
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
|
|
int8_t iterations = 0;
|
|
float test_precision,
|
|
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_old = zero_std_dev,
|
|
h_factor,
|
|
r_factor,
|
|
a_factor,
|
|
e_old[ABC] = {
|
|
delta_endstop_adj[A_AXIS],
|
|
delta_endstop_adj[B_AXIS],
|
|
delta_endstop_adj[C_AXIS]
|
|
},
|
|
r_old = delta_radius,
|
|
h_old = delta_height,
|
|
a_old[ABC] = {
|
|
delta_tower_angle_trim[A_AXIS],
|
|
delta_tower_angle_trim[B_AXIS],
|
|
delta_tower_angle_trim[C_AXIS]
|
|
};
|
|
|
|
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
|
|
|
|
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
|
|
LOOP_CAL_RAD(axis) {
|
|
const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
|
|
r = delta_calibration_radius;
|
|
if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
|
|
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Report settings
|
|
|
|
const char *checkingac = PSTR("Checking... AC");
|
|
serialprintPGM(checkingac);
|
|
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
|
|
if (set_up) SERIAL_PROTOCOLPGM(" (SET-UP)");
|
|
SERIAL_EOL();
|
|
char mess[11];
|
|
strcpy_P(mess, checkingac);
|
|
lcd_setstatus(mess);
|
|
|
|
print_calibration_settings(_endstop_results, _angle_results);
|
|
|
|
ac_setup(!_0p_calibration && !_1p_calibration);
|
|
|
|
if (!_0p_calibration)
|
|
if (!ac_home()) return;
|
|
|
|
do { // start iterations
|
|
|
|
float z_at_pt[NPP + 1] = { 0.0 };
|
|
|
|
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
|
|
iterations++;
|
|
|
|
// Probe the points
|
|
zero_std_dev_old = zero_std_dev;
|
|
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, set_up)) {
|
|
SERIAL_PROTOCOLLNPGM("Correct delta settings with M665 and M666");
|
|
return AC_CLEANUP();
|
|
}
|
|
zero_std_dev = std_dev_points(z_at_pt, _0p_calibration, _1p_calibration, _4p_calibration, _4p_opposite_points);
|
|
|
|
// Solve matrices
|
|
|
|
if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
|
|
|
|
#if !HAS_BED_PROBE
|
|
test_precision = 0.00; // forced end
|
|
#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) {
|
|
case -1:
|
|
#if HAS_BED_PROBE
|
|
zprobe_zoffset += probe_z_shift(z_at_pt[CEN]);
|
|
#endif
|
|
|
|
case 0:
|
|
test_precision = 0.00; // forced end
|
|
break;
|
|
|
|
case 1:
|
|
test_precision = 0.00; // forced end
|
|
LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN);
|
|
break;
|
|
|
|
case 2:
|
|
if (towers_set) { // see 4 point calibration (towers) matrix
|
|
e_delta[A_AXIS] = (+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN);
|
|
e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN);
|
|
e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN);
|
|
r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
|
|
}
|
|
else { // see 4 point calibration (opposites) matrix
|
|
e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
|
|
e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN);
|
|
e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN);
|
|
r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
|
|
}
|
|
break;
|
|
|
|
default: // see 7 point calibration (towers & opposites) matrix
|
|
e_delta[A_AXIS] = (+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
|
|
e_delta[B_AXIS] = (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN);
|
|
e_delta[C_AXIS] = (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN);
|
|
r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
|
|
|
|
if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix
|
|
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) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor;
|
|
t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor;
|
|
}
|
|
break;
|
|
}
|
|
LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
|
|
delta_radius += r_delta;
|
|
LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
|
|
}
|
|
else if (zero_std_dev >= test_precision) {
|
|
// roll back
|
|
COPY(delta_endstop_adj, e_old);
|
|
delta_radius = r_old;
|
|
delta_height = h_old;
|
|
COPY(delta_tower_angle_trim, a_old);
|
|
}
|
|
|
|
if (verbose_level != 0) { // !dry run
|
|
|
|
// normalise angles to least squares
|
|
if (_angle_results) {
|
|
float a_sum = 0.0;
|
|
LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
|
|
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
|
|
}
|
|
|
|
// adjust delta_height and endstops by the max amount
|
|
const float 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();
|
|
NOMORE(zero_std_dev_min, zero_std_dev);
|
|
|
|
// print report
|
|
|
|
if (verbose_level == 3)
|
|
print_calibration_results(z_at_pt, _tower_results, _opposite_results);
|
|
|
|
if (verbose_level != 0) { // !dry run
|
|
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
|
|
SERIAL_PROTOCOLPGM("Calibration OK");
|
|
SERIAL_PROTOCOL_SP(32);
|
|
#if HAS_BED_PROBE
|
|
if (zero_std_dev >= test_precision && !_1p_calibration && !_0p_calibration)
|
|
SERIAL_PROTOCOLPGM("rolling back.");
|
|
else
|
|
#endif
|
|
{
|
|
SERIAL_PROTOCOLPGM("std dev:");
|
|
SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
|
|
}
|
|
SERIAL_EOL();
|
|
char mess[21];
|
|
strcpy_P(mess, PSTR("Calibration sd:"));
|
|
if (zero_std_dev_min < 1)
|
|
sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
|
|
else
|
|
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
|
|
lcd_setstatus(mess);
|
|
print_calibration_settings(_endstop_results, _angle_results);
|
|
serialprintPGM(save_message);
|
|
SERIAL_EOL();
|
|
}
|
|
else { // !end iterations
|
|
char mess[15];
|
|
if (iterations < 31)
|
|
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
|
|
else
|
|
strcpy_P(mess, PSTR("No convergence"));
|
|
SERIAL_PROTOCOL(mess);
|
|
SERIAL_PROTOCOL_SP(32);
|
|
SERIAL_PROTOCOLPGM("std dev:");
|
|
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
|
SERIAL_EOL();
|
|
lcd_setstatus(mess);
|
|
if (verbose_level > 1)
|
|
print_calibration_settings(_endstop_results, _angle_results);
|
|
}
|
|
}
|
|
else { // dry run
|
|
const char *enddryrun = PSTR("End DRY-RUN");
|
|
serialprintPGM(enddryrun);
|
|
SERIAL_PROTOCOL_SP(35);
|
|
SERIAL_PROTOCOLPGM("std dev:");
|
|
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
|
SERIAL_EOL();
|
|
|
|
char mess[21];
|
|
strcpy_P(mess, enddryrun);
|
|
strcpy_P(&mess[11], PSTR(" sd:"));
|
|
if (zero_std_dev < 1)
|
|
sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
|
|
else
|
|
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
|
|
lcd_setstatus(mess);
|
|
}
|
|
if (!ac_home()) return;
|
|
}
|
|
while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
|
|
|
|
AC_CLEANUP();
|
|
}
|
|
|
|
#endif // DELTA_AUTO_CALIBRATION
|