276 lines
8.8 KiB
C++
276 lines
8.8 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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 <https://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(Z_MIN_PROBE_REPEATABILITY_TEST)
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/probe.h"
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#include "../../lcd/marlinui.h"
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#include "../../feature/bedlevel/bedlevel.h"
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#if HAS_LEVELING
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#include "../../module/planner.h"
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#endif
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/**
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* M48: Z probe repeatability measurement function.
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*
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* Usage:
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* M48 <P#> <X#> <Y#> <V#> <E> <L#> <S>
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* P = Number of sampled points (4-50, default 10)
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* X = Sample X position
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* Y = Sample Y position
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* V = Verbose level (0-4, default=1)
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* E = Engage Z probe for each reading
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* L = Number of legs of movement before probe
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* S = Schizoid (Or Star if you prefer)
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*
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* This function requires the machine to be homed before invocation.
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*/
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void GcodeSuite::M48() {
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if (homing_needed_error()) return;
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const int8_t verbose_level = parser.byteval('V', 1);
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if (!WITHIN(verbose_level, 0, 4)) {
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SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).");
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return;
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}
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if (verbose_level > 0)
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SERIAL_ECHOLNPGM("M48 Z-Probe Repeatability Test");
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const int8_t n_samples = parser.byteval('P', 10);
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if (!WITHIN(n_samples, 4, 50)) {
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SERIAL_ECHOLNPGM("?Sample size not plausible (4-50).");
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return;
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}
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const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
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// Test at the current position by default, overridden by X and Y
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const xy_pos_t test_position = {
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parser.linearval('X', current_position.x + probe.offset_xy.x), // If no X use the probe's current X position
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parser.linearval('Y', current_position.y + probe.offset_xy.y) // If no Y, ditto
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};
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if (!probe.can_reach(test_position)) {
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ui.set_status_P(GET_TEXT(MSG_M48_OUT_OF_BOUNDS), 99);
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SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
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return;
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}
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// Get the number of leg moves per test-point
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bool seen_L = parser.seen('L');
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uint8_t n_legs = seen_L ? parser.value_byte() : 0;
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if (n_legs > 15) {
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SERIAL_ECHOLNPGM("?Legs of movement implausible (0-15).");
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return;
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}
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if (n_legs == 1) n_legs = 2;
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// Schizoid motion as an optional stress-test
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const bool schizoid_flag = parser.boolval('S');
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if (schizoid_flag && !seen_L) n_legs = 7;
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if (verbose_level > 2)
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SERIAL_ECHOLNPGM("Positioning the probe...");
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// Always disable Bed Level correction before probing...
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#if HAS_LEVELING
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const bool was_enabled = planner.leveling_active;
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set_bed_leveling_enabled(false);
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#endif
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// Work with reasonable feedrates
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remember_feedrate_scaling_off();
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// Working variables
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float mean = 0.0, // The average of all points so far, used to calculate deviation
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sigma = 0.0, // Standard deviation of all points so far
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min = 99999.9, // Smallest value sampled so far
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max = -99999.9, // Largest value sampled so far
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sample_set[n_samples]; // Storage for sampled values
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auto dev_report = [](const bool verbose, const float &mean, const float &sigma, const float &min, const float &max, const bool final=false) {
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if (verbose) {
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SERIAL_ECHOPAIR_F("Mean: ", mean, 6);
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if (!final) SERIAL_ECHOPAIR_F(" Sigma: ", sigma, 6);
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SERIAL_ECHOPAIR_F(" Min: ", min, 3);
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SERIAL_ECHOPAIR_F(" Max: ", max, 3);
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SERIAL_ECHOPAIR_F(" Range: ", max-min, 3);
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if (final) SERIAL_EOL();
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}
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if (final) {
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SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6);
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SERIAL_EOL();
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}
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};
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// Move to the first point, deploy, and probe
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const float t = probe.probe_at_point(test_position, raise_after, verbose_level);
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bool probing_good = !isnan(t);
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if (probing_good) {
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randomSeed(millis());
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float sample_sum = 0.0;
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LOOP_L_N(n, n_samples) {
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#if HAS_WIRED_LCD
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// Display M48 progress in the status bar
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ui.status_printf_P(0, PSTR(S_FMT ": %d/%d"), GET_TEXT(MSG_M48_POINT), int(n + 1), int(n_samples));
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#endif
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// When there are "legs" of movement move around the point before probing
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if (n_legs) {
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// Pick a random direction, starting angle, and radius
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const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
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float angle = random(0, 360);
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const float radius = random(
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#if ENABLED(DELTA)
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int(0.1250000000 * (DELTA_PRINTABLE_RADIUS)),
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int(0.3333333333 * (DELTA_PRINTABLE_RADIUS))
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#else
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int(5), int(0.125 * _MIN(X_BED_SIZE, Y_BED_SIZE))
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#endif
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);
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if (verbose_level > 3) {
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SERIAL_ECHOPAIR("Start radius:", radius, " angle:", angle, " dir:");
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if (dir > 0) SERIAL_CHAR('C');
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SERIAL_ECHOLNPGM("CW");
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}
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// Move from leg to leg in rapid succession
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LOOP_L_N(l, n_legs - 1) {
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// Move some distance around the perimeter
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float delta_angle;
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if (schizoid_flag) {
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// The points of a 5 point star are 72 degrees apart.
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// Skip a point and go to the next one on the star.
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delta_angle = dir * 2.0 * 72.0;
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}
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else {
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// Just move further along the perimeter.
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delta_angle = dir * (float)random(25, 45);
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}
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angle += delta_angle;
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// Trig functions work without clamping, but just to be safe...
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while (angle > 360.0) angle -= 360.0;
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while (angle < 0.0) angle += 360.0;
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// Choose the next position as an offset to chosen test position
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const xy_pos_t noz_pos = test_position - probe.offset_xy;
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xy_pos_t next_pos = {
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noz_pos.x + float(cos(RADIANS(angle))) * radius,
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noz_pos.y + float(sin(RADIANS(angle))) * radius
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};
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#if ENABLED(DELTA)
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// If the probe can't reach the point on a round bed...
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// Simply scale the numbers to bring them closer to origin.
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while (!probe.can_reach(next_pos)) {
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next_pos *= 0.8f;
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if (verbose_level > 3)
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SERIAL_ECHOLNPAIR_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y);
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}
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#else
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// For a rectangular bed just keep the probe in bounds
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LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
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LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);
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#endif
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if (verbose_level > 3)
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SERIAL_ECHOLNPAIR_P(PSTR("Going to: X"), next_pos.x, SP_Y_STR, next_pos.y);
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do_blocking_move_to_xy(next_pos);
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} // n_legs loop
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} // n_legs
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// Probe a single point
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const float pz = probe.probe_at_point(test_position, raise_after, 0);
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// Break the loop if the probe fails
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probing_good = !isnan(pz);
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if (!probing_good) break;
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// Store the new sample
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sample_set[n] = pz;
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// Keep track of the largest and smallest samples
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NOMORE(min, pz);
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NOLESS(max, pz);
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// Get the mean value of all samples thus far
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sample_sum += pz;
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mean = sample_sum / (n + 1);
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// Calculate the standard deviation so far.
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// The value after the last sample will be the final output.
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float dev_sum = 0.0;
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LOOP_LE_N(j, n) dev_sum += sq(sample_set[j] - mean);
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sigma = SQRT(dev_sum / (n + 1));
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if (verbose_level > 1) {
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SERIAL_ECHO(n + 1);
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SERIAL_ECHOPAIR(" of ", n_samples);
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SERIAL_ECHOPAIR_F(": z: ", pz, 3);
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SERIAL_CHAR(' ');
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dev_report(verbose_level > 2, mean, sigma, min, max);
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SERIAL_EOL();
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}
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} // n_samples loop
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}
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probe.stow();
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if (probing_good) {
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SERIAL_ECHOLNPGM("Finished!");
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dev_report(verbose_level > 0, mean, sigma, min, max, true);
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#if HAS_WIRED_LCD
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// Display M48 results in the status bar
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char sigma_str[8];
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ui.status_printf_P(0, PSTR(S_FMT ": %s"), GET_TEXT(MSG_M48_DEVIATION), dtostrf(sigma, 2, 6, sigma_str));
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#endif
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}
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restore_feedrate_and_scaling();
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// Re-enable bed level correction if it had been on
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TERN_(HAS_LEVELING, set_bed_leveling_enabled(was_enabled));
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report_current_position();
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}
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#endif // Z_MIN_PROBE_REPEATABILITY_TEST
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