G34 Auto-align multi-stepper Z axis (#11302)
TheLongAndOnly
6 years ago
committed by
Scott Lahteine
parent
f9b80e7217
commit
5536228359
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/**
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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(Z_STEPPER_AUTO_ALIGN)
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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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#if HOTENDS > 1
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#include "../../module/tool_change.h"
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#endif
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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 HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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float z_auto_align_xpos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_X,
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z_auto_align_ypos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_Y;
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inline void set_all_z_lock(const bool lock) {
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stepper.set_z_lock(lock);
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stepper.set_z2_lock(lock);
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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stepper.set_z3_lock(lock);
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#endif
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}
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/**
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* G34: Z-Stepper automatic alignment
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*
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* Parameters: I<iterations> T<accuracy> A<amplification>
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*/
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void GcodeSuite::G34() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPGM(">>> G34");
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log_machine_info();
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}
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#endif
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do { // break out on error
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if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> XY homing required.");
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#endif
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break;
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}
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const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
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if (!WITHIN(z_auto_align_iterations, 1, 30)) {
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SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
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break;
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}
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const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC);
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if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) {
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SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0).");
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break;
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}
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const float z_auto_align_amplification = parser.floatval('A', Z_STEPPER_ALIGN_AMP);
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if (!WITHIN(z_auto_align_amplification, 0.5f, 2.0f)) {
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SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
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break;
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}
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// Wait for planner moves to finish!
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planner.synchronize();
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// Disable the leveling matrix before auto-aligning
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#if HAS_LEVELING
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#if ENABLED(RESTORE_LEVELING_AFTER_G34)
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const bool leveling_was_active = planner.leveling_active;
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#endif
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set_bed_leveling_enabled(false);
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#endif
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#if ENABLED(CNC_WORKSPACE_PLANES)
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workspace_plane = PLANE_XY;
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#endif
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#if ENABLED(BLTOUCH)
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bltouch_command(BLTOUCH_RESET);
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set_bltouch_deployed(false);
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#endif
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// Always home with tool 0 active
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#if HOTENDS > 1
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const uint8_t old_tool_index = active_extruder;
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tool_change(0, 0, true);
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#endif
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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extruder_duplication_enabled = false;
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#endif
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// Remember corrections to determine errors on each iteration
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float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
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z_measured[Z_STEPPER_COUNT] = { 0 };
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bool err_break = false;
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for (uint8_t iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> probing all positions.");
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#endif
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// Reset minimum value
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float z_measured_min = 100000.0f;
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// For each iteration go through all probe positions (one per Z-Stepper)
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for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
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// Probe a Z height for each stepper
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z_measured[zstepper] = probe_pt(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], PROBE_PT_RAISE, false);
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// Stop on error
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if (isnan(z_measured[zstepper])) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> PROBING FAILED!");
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#endif
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err_break = true;
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break;
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("> Z", int(zstepper + 1));
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SERIAL_ECHOLNPAIR(" measured position is ", z_measured[zstepper]);
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}
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#endif
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// Remember the maximum position to calculate the correction
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z_measured_min = MIN(z_measured_min, z_measured[zstepper]);
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}
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if (err_break) break;
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// Remember the current z position to return to
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float z_original_position = current_position[Z_AXIS];
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// Iterations can stop early if all corrections are below required accuracy
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bool success_break = true;
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// Correct stepper offsets and re-iterate
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for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
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stepper.set_separate_multi_axis(true);
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set_all_z_lock(true); // Steppers will be enabled separately
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// Calculate current stepper move
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const float z_align_move = z_measured[zstepper] - z_measured_min,
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z_align_abs = ABS(z_align_move);
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// Check for lost accuracy compared to last move
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if (last_z_align_move[zstepper] < z_align_abs - 1.0) {
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// Stop here
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> detected decreasing accuracy.");
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#endif
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err_break = true;
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break;
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}
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else
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last_z_align_move[zstepper] = z_align_abs;
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// Only stop early if all measured points achieve accuracy target
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if (z_align_abs > z_auto_align_accuracy) success_break = false;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("> Z", int(zstepper + 1));
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SERIAL_ECHOLNPAIR(" corrected by ", z_align_move);
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}
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#endif
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switch (zstepper) {
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case 0: stepper.set_z_lock(false); break;
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case 1: stepper.set_z2_lock(false); break;
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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case 2: stepper.set_z3_lock(false); break;
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#endif
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}
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// This will lose home position and require re-homing
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do_blocking_move_to_z(z_auto_align_amplification * z_align_move + current_position[Z_AXIS]);
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}
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if (err_break) break;
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// Move Z back to previous position
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set_all_z_lock(true);
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do_blocking_move_to_z(z_original_position);
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set_all_z_lock(false);
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stepper.set_separate_multi_axis(false);
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if (success_break) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> achieved target accuracy.");
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#endif
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break;
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}
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}
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if (err_break) break;
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// Restore the active tool after homing
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#if HOTENDS > 1
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tool_change(old_tool_index, 0,
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#if ENABLED(PARKING_EXTRUDER)
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false // Fetch the previous toolhead
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#else
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true
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#endif
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);
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#endif
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#if HAS_LEVELING
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#if ENABLED(RESTORE_LEVELING_AFTER_G34)
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set_bed_leveling_enabled(leveling_was_active);
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#endif
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#endif
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// After this operation the z position needs correction
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set_axis_is_not_at_home(Z_AXIS);
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gcode.G28(false);
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} while(0);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G34");
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#endif
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}
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/**
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* M422: Z-Stepper automatic alignment parameter selection
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*/
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void GcodeSuite::M422() {
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const int8_t zstepper = parser.intval('S') - 1;
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if (!WITHIN(zstepper, 0, Z_STEPPER_COUNT - 1)) {
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SERIAL_PROTOCOLLNPGM("?(S) Z-Stepper index invalid.");
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return;
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}
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const float x_pos = parser.floatval('X', z_auto_align_xpos[zstepper]);
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if (!WITHIN(x_pos, X_MIN_POS, X_MAX_POS)) {
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SERIAL_PROTOCOLLNPGM("?(X) out of bounds.");
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return;
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}
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const float y_pos = parser.floatval('Y', z_auto_align_ypos[zstepper]);
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if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
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SERIAL_PROTOCOLLNPGM("?(Y) out of bounds.");
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return;
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}
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z_auto_align_xpos[zstepper] = x_pos;
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z_auto_align_ypos[zstepper] = y_pos;
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}
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#endif // Z_STEPPER_AUTO_ALIGN
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