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Firmware2/Marlin/src/gcode/calibrate/G425.cpp

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/**
* 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 "../../Marlin.h"
#if ENABLED(CALIBRATION_GCODE)
#include "../gcode.h"
#include "../../lcd/ultralcd.h"
#include "../../module/motion.h"
#include "../../module/planner.h"
#include "../../module/tool_change.h"
#include "../../module/endstops.h"
/**
* G425 backs away from the calibration object by various distances
* depending on the confidence level:
*
* UNKNOWN - No real notion on where the calibration object is on the bed
* UNCERTAIN - Measurement may be uncertain due to backlash
* CERTAIN - Measurement obtained with backlash compensation
*/
#ifndef CALIBRATION_MEASUREMENT_UNKNOWN
#define CALIBRATION_MEASUREMENT_UNKNOWN 5.0 // mm
#endif
#ifndef CALIBRATION_MEASUREMENT_UNCERTAIN
#define CALIBRATION_MEASUREMENT_UNCERTAIN 1.0 // mm
#endif
#ifndef CALIBRATION_MEASUREMENT_CERTAIN
#define CALIBRATION_MEASUREMENT_CERTAIN 0.5 // mm
#endif
#define HAS_X_CENTER (ENABLED(CALIBRATION_MEASURE_LEFT) && ENABLED(CALIBRATION_MEASURE_RIGHT))
#define HAS_Y_CENTER (ENABLED(CALIBRATION_MEASURE_FRONT) && ENABLED(CALIBRATION_MEASURE_BACK))
#if ENABLED(BACKLASH_GCODE)
extern float backlash_distance_mm[], backlash_correction, backlash_smoothing_mm;
#endif
enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
struct measurements_t {
static const float dimensions[XYZ];
static const float true_center[XYZ]; // This cannot be constexpr since it is accessed by index in probe_side
float obj_center[XYZ] = CALIBRATION_OBJECT_CENTER;
float obj_side[NUM_SIDES];
float backlash[NUM_SIDES];
float pos_error[XYZ];
float nozzle_outer_dimension[2] = {CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER};
};
const float measurements_t::true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
const float measurements_t::dimensions[] = CALIBRATION_OBJECT_DIMENSIONS;
#define TEMPORARY_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable); TemporaryGlobalEndstopsState tges(enable)
#if ENABLED(BACKLASH_GCODE)
#define TEMPORARY_BACKLASH_STATE(enable) REMEMBER(tbst, backlash_correction, enable)
#else
#define TEMPORARY_BACKLASH_STATE(enable)
#endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
#define TEMPORARY_BACKLASH_SMOOTHING(value) REMEMBER(tbsm, backlash_smoothing_mm, value)
#else
#define TEMPORARY_BACKLASH_SMOOTHING(value)
#endif
/**
* Move to a particular location. Up to three individual axes
* and their destinations can be specified, in any order.
*/
inline void move_to(
const AxisEnum a1 = NO_AXIS, const float p1 = 0,
const AxisEnum a2 = NO_AXIS, const float p2 = 0,
const AxisEnum a3 = NO_AXIS, const float p3 = 0
) {
set_destination_from_current();
// Note: The order of p1, p2, p3 may not correspond to X, Y, Z
if (a1 != NO_AXIS) destination[a1] = p1;
if (a2 != NO_AXIS) destination[a2] = p2;
if (a3 != NO_AXIS) destination[a3] = p3;
// Make sure coordinates are within bounds
destination[X_AXIS] = MAX(MIN(destination[X_AXIS], X_MAX_POS), X_MIN_POS);
destination[Y_AXIS] = MAX(MIN(destination[Y_AXIS], Y_MAX_POS), Y_MIN_POS);
destination[Z_AXIS] = MAX(MIN(destination[Z_AXIS], Z_MAX_POS), Z_MIN_POS);
// Move to position
do_blocking_move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
}
/**
* Move to the exact center above the calibration object
*
* m in - Measurement record
* uncertainty in - How far away from the object top to park
*/
inline void park_above_object(measurements_t &m, const float uncertainty) {
/* Move to safe distance above calibration object */
move_to(Z_AXIS, m.obj_center[Z_AXIS] + m.dimensions[Z_AXIS] / 2 + uncertainty);
/* Move to center of calibration object in XY */
move_to(X_AXIS, m.obj_center[X_AXIS], Y_AXIS, m.obj_center[Y_AXIS]);
}
#if HOTENDS > 1
inline void set_nozzle(measurements_t &m, const uint8_t extruder) {
if (extruder != active_extruder) {
park_above_object(m, CALIBRATION_MEASUREMENT_UNKNOWN);
tool_change(extruder);
}
}
inline void reset_nozzle_offsets() {
constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
}
inline void normalize_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++) {
hotend_offset[X_AXIS][e] -= hotend_offset[X_AXIS][0];
hotend_offset[Y_AXIS][e] -= hotend_offset[Y_AXIS][0];
hotend_offset[Z_AXIS][e] -= hotend_offset[Z_AXIS][0];
}
hotend_offset[X_AXIS][0] = 0;
hotend_offset[Y_AXIS][0] = 0;
hotend_offset[Z_AXIS][0] = 0;
}
#endif // HOTENDS > 1
inline bool read_calibration_pin() {
#if HAS_CALIBRATION_PIN
return (READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING);
#elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
return (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#else
return (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
#endif
}
/**
* Move along axis in the specified dir until the probe value becomes stop_state,
* then return the axis value.
*
* axis in - Axis along which the measurement will take place
* dir in - Direction along that axis (-1 or 1)
* stop_state in - Move until probe pin becomes this value
* fast in - Fast vs. precise measurement
*/
float measuring_movement(const AxisEnum axis, const int dir, const bool stop_state, const bool fast) {
const float step = fast ? 0.25 : CALIBRATION_MEASUREMENT_RESOLUTION;
const float mms = MMM_TO_MMS(fast ? CALIBRATION_FEEDRATE_FAST : CALIBRATION_FEEDRATE_SLOW);
const float limit = fast ? 50 : 5;
set_destination_from_current();
for (float travel = 0; travel < limit; travel += step) {
destination[axis] += dir * step;
do_blocking_move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], mms);
planner.synchronize();
if (read_calibration_pin() == stop_state)
break;
}
return destination[axis];
}
/**
* Move along axis until the probe is triggered. Move toolhead to its starting
* point and return the measured value.
*
* axis in - Axis along which the measurement will take place
* dir in - Direction along that axis (-1 or 1)
* stop_state in - Move until probe pin becomes this value
* backlash_ptr in/out - When not NULL, measure and record axis backlash
* uncertainty in - If uncertainty is CALIBRATION_MEASUREMENT_UNKNOWN, do a fast probe.
*/
inline float measure(const AxisEnum axis, const int dir, const bool stop_state, float * const backlash_ptr, const float uncertainty) {
const bool fast = uncertainty == CALIBRATION_MEASUREMENT_UNKNOWN;
// Save position
set_destination_from_current();
const float start_pos = destination[axis];
const float measured_pos = measuring_movement(axis, dir, stop_state, fast);
// Measure backlash
if (backlash_ptr && !fast) {
const float release_pos = measuring_movement(axis, -dir, !stop_state, fast);
*backlash_ptr = ABS(release_pos - measured_pos);
}
// Return to starting position
destination[axis] = start_pos;
do_blocking_move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
return measured_pos;
}
/**
* Probe one side of the calibration object
*
* m in/out - Measurement record, m.obj_center and m.obj_side will be updated.
* uncertainty in - How far away from the calibration object to begin probing
* side in - Side of probe where probe will occur
* probe_top_at_edge in - When probing sides, probe top of calibration object nearest edge
* to find out height of edge
*/
inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
AxisEnum axis;
float dir;
park_above_object(m, uncertainty);
switch(side) {
case TOP: {
const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
m.obj_center[Z_AXIS] = measurement - m.dimensions[Z_AXIS] / 2;
m.obj_side[TOP] = measurement;
return;
}
case RIGHT: axis = X_AXIS; dir = -1; break;
case FRONT: axis = Y_AXIS; dir = 1; break;
case LEFT: axis = X_AXIS; dir = 1; break;
case BACK: axis = Y_AXIS; dir = -1; break;
default:
return;
}
if (probe_top_at_edge) {
// Probe top nearest the side we are probing
move_to(axis, m.obj_center[axis] + (-dir) * (m.dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]));
m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
m.obj_center[Z_AXIS] = m.obj_side[TOP] - m.dimensions[Z_AXIS] / 2;
}
// Move to safe distance to the side of the calibration object
move_to(axis, m.obj_center[axis] + (-dir) * (m.dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty));
// Plunge below the side of the calibration object and measure
move_to(Z_AXIS, m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7);
const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
m.obj_center[axis] = measurement + dir * (m.dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
m.obj_side[side] = measurement;
}
/**
* Probe all sides of the calibration calibration object
*
* m in/out - Measurement record: center, backlash and error values be updated.
* uncertainty in - How far away from the calibration object to begin probing
*/
inline void probe_sides(measurements_t &m, const float uncertainty) {
TEMPORARY_ENDSTOP_STATE(false);
#ifdef CALIBRATION_MEASURE_AT_TOP_EDGES
constexpr bool probe_top_at_edge = true;
#else
/* Probing at the exact center only works if the center is flat. Probing on a washer
* or bolt will require probing the top near the side edges, away from the center.
*/
constexpr bool probe_top_at_edge = false;
probe_side(m, uncertainty, TOP);
#endif
#ifdef CALIBRATION_MEASURE_RIGHT
probe_side(m, uncertainty, RIGHT, probe_top_at_edge);
#endif
#ifdef CALIBRATION_MEASURE_FRONT
probe_side(m, uncertainty, FRONT, probe_top_at_edge);
#endif
#ifdef CALIBRATION_MEASURE_LEFT
probe_side(m, uncertainty, LEFT, probe_top_at_edge);
#endif
#ifdef CALIBRATION_MEASURE_BACK
probe_side(m, uncertainty, BACK, probe_top_at_edge);
#endif
/* Compute the measured center of the calibration object. */
#if HAS_X_CENTER
m.obj_center[X_AXIS] = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2;
#endif
#if HAS_Y_CENTER
m.obj_center[Y_AXIS] = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2;
#endif
/* Compute the outside diameter of the nozzle at the height
* at which it makes contact with the calibration object */
#if HAS_X_CENTER
m.nozzle_outer_dimension[X_AXIS] = m.obj_side[RIGHT] - m.obj_side[LEFT] - m.dimensions[X_AXIS];
#endif
#if HAS_Y_CENTER
m.nozzle_outer_dimension[Y_AXIS] = m.obj_side[BACK] - m.obj_side[FRONT] - m.dimensions[Y_AXIS];
#endif
park_above_object(m, uncertainty);
/* The positional error is the difference between the known calibration
* object location and the measured calibration object location */
m.pos_error[X_AXIS] =
#if HAS_X_CENTER
m.true_center[X_AXIS] - m.obj_center[X_AXIS];
#else
0;
#endif
m.pos_error[Y_AXIS] =
#if HAS_Y_CENTER
m.true_center[Y_AXIS] - m.obj_center[Y_AXIS];
#else
0;
#endif
m.pos_error[Z_AXIS] = m.true_center[Z_AXIS] - m.obj_center[Z_AXIS];
}
#if ENABLED(CALIBRATION_REPORTING)
inline void report_measured_faces(const measurements_t &m) {
SERIAL_ECHOLNPGM("Sides:");
SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]);
#if ENABLED(CALIBRATION_MEASURE_LEFT)
SERIAL_ECHOLNPAIR(" Left: ", m.obj_side[LEFT]);
#endif
#if ENABLED(CALIBRATION_MEASURE_RIGHT)
SERIAL_ECHOLNPAIR(" Right: ", m.obj_side[RIGHT]);
#endif
#if ENABLED(CALIBRATION_MEASURE_FRONT)
SERIAL_ECHOLNPAIR(" Front: ", m.obj_side[FRONT]);
#endif
#if ENABLED(CALIBRATION_MEASURE_BACK)
SERIAL_ECHOLNPAIR(" Back: ", m.obj_side[BACK]);
#endif
SERIAL_EOL();
}
inline void report_measured_center(const measurements_t &m) {
SERIAL_ECHOLNPGM("Center:");
#if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.obj_center[X_AXIS]);
#endif
#if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.obj_center[Y_AXIS]);
#endif
SERIAL_ECHOLNPAIR(" Z", m.obj_center[Z_AXIS]);
SERIAL_EOL();
}
inline void report_measured_backlash(const measurements_t &m) {
SERIAL_ECHOLNPGM("Backlash:");
#if ENABLED(CALIBRATION_MEASURE_LEFT)
SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]);
#endif
#if ENABLED(CALIBRATION_MEASURE_RIGHT)
SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]);
#endif
#if ENABLED(CALIBRATION_MEASURE_FRONT)
SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]);
#endif
#if ENABLED(CALIBRATION_MEASURE_BACK)
SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]);
#endif
SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]);
SERIAL_EOL();
}
inline void report_measured_positional_error(const measurements_t &m) {
SERIAL_CHAR('T');
SERIAL_ECHO(int(active_extruder));
SERIAL_ECHOLNPGM(" Positional Error:");
#if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.pos_error[X_AXIS]);
#endif
#if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.pos_error[Y_AXIS]);
#endif
SERIAL_ECHOLNPAIR(" Z", m.pos_error[Z_AXIS]);
SERIAL_EOL();
}
inline void report_measured_nozzle_dimensions(const measurements_t &m) {
SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
#if HAS_X_CENTER
SERIAL_ECHOLNPAIR(" X", m.nozzle_outer_dimension[X_AXIS]);
#endif
#if HAS_Y_CENTER
SERIAL_ECHOLNPAIR(" Y", m.nozzle_outer_dimension[Y_AXIS]);
#endif
SERIAL_EOL();
}
#if HOTENDS > 1
//
// This function requires normalize_hotend_offsets() to be called
//
inline void report_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++) {
SERIAL_ECHOPAIR("T", int(e));
SERIAL_ECHOLNPGM(" Hotend Offset:");
SERIAL_ECHOLNPAIR(" X: ", hotend_offset[X_AXIS][e]);
SERIAL_ECHOLNPAIR(" Y: ", hotend_offset[Y_AXIS][e]);
SERIAL_ECHOLNPAIR(" Z: ", hotend_offset[Z_AXIS][e]);
SERIAL_EOL();
}
}
#endif
#endif // CALIBRATION_REPORTING
/**
* Probe around the calibration object to measure backlash
*
* m in/out - Measurement record, updated with new readings
* uncertainty in - How far away from the object to begin probing
*/
inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
// Backlash compensation should be off while measuring backlash
{
// New scope for TEMPORARY_BACKLASH_STATE
TEMPORARY_BACKLASH_STATE(false);
TEMPORARY_BACKLASH_SMOOTHING(0);
probe_sides(m, uncertainty);
#if ENABLED(BACKLASH_GCODE)
#if HAS_X_CENTER
backlash_distance_mm[X_AXIS] = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
#elif ENABLED(CALIBRATION_MEASURE_LEFT)
backlash_distance_mm[X_AXIS] = m.backlash[LEFT];
#elif ENABLED(CALIBRATION_MEASURE_RIGHT)
backlash_distance_mm[X_AXIS] = m.backlash[RIGHT];
#endif
#if HAS_Y_CENTER
backlash_distance_mm[Y_AXIS] = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
#elif ENABLED(CALIBRATION_MEASURE_FRONT)
backlash_distance_mm[Y_AXIS] = m.backlash[FRONT];
#elif ENABLED(CALIBRATION_MEASURE_BACK)
backlash_distance_mm[Y_AXIS] = m.backlash[BACK];
#endif
backlash_distance_mm[Z_AXIS] = m.backlash[TOP];
#endif
}
#if ENABLED(BACKLASH_GCODE)
// Turn on backlash compensation and move in all
// directions to take up any backlash
{
// New scope for TEMPORARY_BACKLASH_STATE
TEMPORARY_BACKLASH_STATE(true);
TEMPORARY_BACKLASH_SMOOTHING(0);
move_to(
X_AXIS, current_position[X_AXIS] + 3,
Y_AXIS, current_position[Y_AXIS] + 3,
Z_AXIS, current_position[Z_AXIS] + 3
);
move_to(
X_AXIS, current_position[X_AXIS] - 3,
Y_AXIS, current_position[Y_AXIS] - 3,
Z_AXIS, current_position[Z_AXIS] - 3
);
}
#endif
}
inline void update_measurements(measurements_t &m, const AxisEnum axis) {
current_position[axis] += m.pos_error[axis];
m.obj_center[axis] = m.true_center[axis];
m.pos_error[axis] = 0;
}
/**
* Probe around the calibration object. Adjust the position and toolhead offset
* using the deviation from the known position of the calibration object.
*
* m in/out - Measurement record, updated with new readings
* uncertainty in - How far away from the object to begin probing
* extruder in - What extruder to probe
*
* Prerequisites:
* - Call calibrate_backlash() beforehand for best accuracy
*/
inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) {
TEMPORARY_BACKLASH_STATE(true);
TEMPORARY_BACKLASH_SMOOTHING(0);
#if HOTENDS > 1
set_nozzle(m, extruder);
#endif
probe_sides(m, uncertainty);
/* Adjust the hotend offset */
#if HOTENDS > 1
#if HAS_X_CENTER
hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS];
#endif
#if HAS_Y_CENTER
hotend_offset[Y_AXIS][extruder] += m.pos_error[Y_AXIS];
#endif
hotend_offset[Z_AXIS][extruder] += m.pos_error[Z_AXIS];
normalize_hotend_offsets();
#endif
// Correct for positional error, so the object
// is at the known actual spot
planner.synchronize();
#if HAS_X_CENTER
update_measurements(m, X_AXIS);
#endif
#if HAS_Y_CENTER
update_measurements(m, Y_AXIS);
#endif
update_measurements(m, Z_AXIS);
sync_plan_position();
}
/**
* Probe around the calibration object for all toolheads, adjusting the coordinate
* system for the first nozzle and the nozzle offset for subsequent nozzles.
*
* m in/out - Measurement record, updated with new readings
* uncertainty in - How far away from the object to begin probing
*/
inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) {
TEMPORARY_BACKLASH_STATE(true);
TEMPORARY_BACKLASH_SMOOTHING(0);
HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
#if HOTENDS > 1
normalize_hotend_offsets();
set_nozzle(m, 0);
#endif
}
/**
* Perform a full auto-calibration routine:
*
* 1) For each nozzle, touch top and sides of object to determine object position and
* nozzle offsets. Do a fast but rough search over a wider area.
* 2) With the first nozzle, touch top and sides of object to determine backlash values
* for all axis (if BACKLASH_GCODE is enabled)
* 3) For each nozzle, touch top and sides of object slowly to determine precise
* position of object. Adjust coordinate system and nozzle offsets so probed object
* location corresponds to known object location with a high degree of precision.
*/
inline void calibrate_all() {
measurements_t m;
#if HOTENDS > 1
reset_nozzle_offsets();
#endif
TEMPORARY_BACKLASH_STATE(true);
TEMPORARY_BACKLASH_SMOOTHING(0);
/* Do a fast and rough calibration of the toolheads */
calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNKNOWN);
#if ENABLED(BACKLASH_GCODE)
calibrate_backlash(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
#endif
/* Cycle the toolheads so the servos settle into their "natural" positions */
#if HOTENDS > 1
HOTEND_LOOP() set_nozzle(m, e);
#endif
/* Do a slow and precise calibration of the toolheads */
calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
move_to(X_AXIS, 150); // Park nozzle away from calibration object
}
/**
* G425: Perform calibration with calibration object.
*
* B - Perform calibration of backlash only.
* T<extruder> - Perform calibration of toolhead only.
* V - Probe object and print position, error, backlash and hotend offset.
* U - Uncertainty, how far to start probe away from the object (mm)
*
* no args - Perform entire calibration sequence (backlash + position on all toolheads)
*/
void GcodeSuite::G425() {
if (axis_unhomed_error()) return;
measurements_t m;
float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN;
if (parser.seen('B'))
calibrate_backlash(m, uncertainty);
else if (parser.seen('T'))
calibrate_toolhead(m, uncertainty, parser.has_value() ? parser.value_int() : active_extruder);
#if ENABLED(CALIBRATION_REPORTING)
else if (parser.seen('V')) {
probe_sides(m, uncertainty);
SERIAL_EOL();
report_measured_faces(m);
report_measured_center(m);
report_measured_backlash(m);
report_measured_nozzle_dimensions(m);
report_measured_positional_error(m);
#if HOTENDS > 1
normalize_hotend_offsets();
report_hotend_offsets();
#endif
}
#endif
else
calibrate_all();
}
#endif // CALIBRATION_GCODE
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