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G34 Z stepper locking (#20091)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
InsanityAutomation
2020-11-12 23:54:18 -05:00
committed by GitHub
parent 99c377b4e4
commit 1b0a5abd73
6 changed files with 382 additions and 339 deletions
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5
Marlin/src/gcode/calibrate/G28.cpp
View File

@@ -375,6 +375,11 @@ void GcodeSuite::G28() {
// Home Z last if homing towards the bed
#if DISABLED(HOME_Z_FIRST)
if (doZ) {
#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
stepper.set_all_z_lock(false);
stepper.set_separate_multi_axis(false);
#endif
TERN_(BLTOUCH, bltouch.init());
TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS));
probe.move_z_after_homing();

704
Marlin/src/gcode/calibrate/G34_M422.cpp
View File

@@ -22,7 +22,7 @@
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
#include "../../feature/z_stepper_align.h"
@@ -51,364 +51,398 @@
/**
* G34: Z-Stepper automatic alignment
*
* I<iterations>
* T<accuracy>
* A<amplification>
* R<recalculate> points based on current probe offsets
* Manual stepper lock controls (reset by G28):
* L Unlock all steppers
* Z<1-4> Z stepper to lock / unlock
* S<state> 0=UNLOCKED 1=LOCKED. If omitted, assume LOCKED.
*
* Examples:
* G34 Z1 ; Lock Z1
* G34 L Z2 ; Unlock all, then lock Z2
* G34 Z2 S0 ; Unlock Z2
*
* With Z_STEPPER_AUTO_ALIGN:
* I<iterations> Number of tests. If omitted, Z_STEPPER_ALIGN_ITERATIONS.
* T<accuracy> Target Accuracy factor. If omitted, Z_STEPPER_ALIGN_ACC.
* A<amplification> Provide an Amplification value. If omitted, Z_STEPPER_ALIGN_AMP.
* R Flag to recalculate points based on current probe offsets
*/
void GcodeSuite::G34() {
DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
if (DEBUGGING(LEVELING)) log_machine_info();
do { // break out on error
planner.synchronize(); // Prevent damage
#if NUM_Z_STEPPER_DRIVERS == 4
SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!");
#elif NUM_Z_STEPPER_DRIVERS > 4
SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers");
break;
#endif
const bool seenL = parser.seen('L');
if (seenL) stepper.set_all_z_lock(false);
const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
if (!WITHIN(z_auto_align_iterations, 1, 30)) {
SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
break;
const bool seenZ = parser.seenval('Z');
if (seenZ) {
const bool state = parser.boolval('S', true);
switch (parser.intval('Z')) {
case 1: stepper.set_z1_lock(state); break;
case 2: stepper.set_z2_lock(state); break;
#if NUM_Z_STEPPER_DRIVERS >= 3
case 3: stepper.set_z3_lock(state); break;
#if NUM_Z_STEPPER_DRIVERS >= 4
case 4: stepper.set_z4_lock(state); break;
#endif
#endif
}
}
const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC);
if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) {
SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0).");
break;
}
if (seenL || seenZ) {
stepper.set_separate_multi_axis(seenZ);
return;
}
const float z_auto_align_amplification =
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
Z_STEPPER_ALIGN_AMP;
#else
parser.floatval('A', Z_STEPPER_ALIGN_AMP);
if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
break;
}
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
do { // break out on error
#if NUM_Z_STEPPER_DRIVERS == 4
SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!");
#elif NUM_Z_STEPPER_DRIVERS > 4
SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers");
break;
#endif
if (parser.seen('R')) z_stepper_align.reset_to_default();
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
// Wait for planner moves to finish!
planner.synchronize();
// Disable the leveling matrix before auto-aligning
#if HAS_LEVELING
TERN_(RESTORE_LEVELING_AFTER_G34, const bool leveling_was_active = planner.leveling_active);
set_bed_leveling_enabled(false);
#endif
TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY);
// Always home with tool 0 active
#if HAS_MULTI_HOTEND
const uint8_t old_tool_index = active_extruder;
tool_change(0, true);
#endif
TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
// In BLTOUCH HS mode, the probe travels in a deployed state.
// Users of G34 might have a badly misaligned bed, so raise Z by the
// length of the deployed pin (BLTOUCH stroke < 7mm)
#define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + 7.0f * BOTH(BLTOUCH, BLTOUCH_HS_MODE))
// Compute a worst-case clearance height to probe from. After the first
// iteration this will be re-calculated based on the actual bed position
auto magnitude2 = [&](const uint8_t i, const uint8_t j) {
const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
return HYPOT2(diff.x, diff.y);
};
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(
#if NUM_Z_STEPPER_DRIVERS == 3
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0))
#elif NUM_Z_STEPPER_DRIVERS == 4
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3),
magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3))
#else
magnitude2(0, 1)
#endif
);
// Home before the alignment procedure
if (!all_axes_known()) home_all_axes();
// Move the Z coordinate realm towards the positive - dirty trick
current_position.z += z_probe * 0.5f;
sync_plan_position();
// Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error.
// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f);
#else
float last_z_align_level_indicator = 10000.0f;
#endif
float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 },
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
bool adjustment_reverse = false;
#endif
#if HAS_DISPLAY
PGM_P const msg_iteration = GET_TEXT(MSG_ITERATION);
const uint8_t iter_str_len = strlen_P(msg_iteration);
#endif
// Final z and iteration values will be used after breaking the loop
float z_measured_min;
uint8_t iteration = 0;
bool err_break = false; // To break out of nested loops
while (iteration < z_auto_align_iterations) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
const int iter = iteration + 1;
SERIAL_ECHOLNPAIR("\nG34 Iteration: ", iter);
#if HAS_DISPLAY
char str[iter_str_len + 2 + 1];
sprintf_P(str, msg_iteration, iter);
ui.set_status(str);
#endif
// Initialize minimum value
z_measured_min = 100000.0f;
float z_measured_max = -100000.0f;
// Probe all positions (one per Z-Stepper)
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
// iteration odd/even --> downward / upward stepper sequence
const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i;
// Safe clearance even on an incline
if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe);
if (DEBUGGING(LEVELING))
DEBUG_ECHOLNPAIR_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y);
// Probe a Z height for each stepper.
// Probing sanity check is disabled, as it would trigger even in normal cases because
// current_position.z has been manually altered in the "dirty trick" above.
const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed");
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
err_break = true;
break;
}
// Add height to each value, to provide a more useful target height for
// the next iteration of probing. This allows adjustments to be made away from the bed.
z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(iprobe + 1), " measured position is ", z_measured[iprobe]);
// Remember the minimum measurement to calculate the correction later on
z_measured_min = _MIN(z_measured_min, z_measured[iprobe]);
z_measured_max = _MAX(z_measured_max, z_measured[iprobe]);
} // for (i)
if (err_break) break;
// Adapt the next probe clearance height based on the new measurements.
// Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment.
z_maxdiff = z_measured_max - z_measured_min;
z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff;
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Replace the initial values in z_measured with calculated heights at
// each stepper position. This allows the adjustment algorithm to be
// shared between both possible probing mechanisms.
// This must be done after the next z_probe height is calculated, so that
// the height is calculated from actual print area positions, and not
// extrapolated motor movements.
// Compute the least-squares fit for all probed points.
// Calculate the Z position of each stepper and store it in z_measured.
// This allows the actual adjustment logic to be shared by both algorithms.
linear_fit_data lfd;
incremental_LSF_reset(&lfd);
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
SERIAL_ECHOLNPAIR("PROBEPT_", int(i), ": ", z_measured[i]);
incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
}
finish_incremental_LSF(&lfd);
z_measured_min = 100000.0f;
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D);
z_measured_min = _MIN(z_measured_min, z_measured[i]);
}
SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]);
#endif
SERIAL_ECHOLNPAIR("\n"
"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
#if NUM_Z_STEPPER_DRIVERS == 3
, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
#endif
);
#if HAS_DISPLAY
char fstr1[10];
#if NUM_Z_STEPPER_DRIVERS == 2
char msg[6 + (6 + 5) * 1 + 1];
#else
char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10];
#endif
sprintf_P(msg,
PSTR("Diffs Z1-Z2=%s"
#if NUM_Z_STEPPER_DRIVERS == 3
" Z2-Z3=%s"
" Z3-Z1=%s"
#endif
), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1)
#if NUM_Z_STEPPER_DRIVERS == 3
, dtostrf(ABS(z_measured[1] - z_measured[2]), 1, 3, fstr2)
, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)
#endif
);
ui.set_status(msg);
#endif
auto decreasing_accuracy = [](const float &v1, const float &v2){
if (v1 < v2 * 0.7f) {
SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
return true;
}
return false;
};
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Check if the applied corrections go in the correct direction.
// Calculate the sum of the absolute deviations from the mean of the probe measurements.
// Compare to the last iteration to ensure it's getting better.
// Calculate mean value as a reference
float z_measured_mean = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper];
z_measured_mean /= NUM_Z_STEPPER_DRIVERS;
// Calculate the sum of the absolute deviations from the mean value
float z_align_level_indicator = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS)
z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean);
// If it's getting worse, stop and throw an error
err_break = decreasing_accuracy(last_z_align_level_indicator, z_align_level_indicator);
if (err_break) break;
last_z_align_level_indicator = z_align_level_indicator;
#endif
// The following correction actions are to be enabled for select Z-steppers only
stepper.set_separate_multi_axis(true);
bool success_break = true;
// Correct the individual stepper offsets
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) {
// Calculate current stepper move
float z_align_move = z_measured[zstepper] - z_measured_min;
const float z_align_abs = ABS(z_align_move);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Optimize one iteration's correction based on the first measurements
if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
// Check for less accuracy compared to last move
if (decreasing_accuracy(last_z_align_move[zstepper], z_align_abs)) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " last_z_align_move = ", last_z_align_move[zstepper]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " z_align_abs = ", z_align_abs);
adjustment_reverse = !adjustment_reverse;
}
// Remember the alignment for the next iteration, but only if steppers move,
// otherwise it would be just zero (in case this stepper was at z_measured_min already)
if (z_align_abs > 0) last_z_align_move[zstepper] = z_align_abs;
#endif
// Stop early if all measured points achieve accuracy target
if (z_align_abs > z_auto_align_accuracy) success_break = false;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " corrected by ", z_align_move);
// Lock all steppers except one
stepper.set_all_z_lock(true, zstepper);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Decreasing accuracy was detected so move was inverted.
// Will match reversed Z steppers on dual steppers. Triple will need more work to map.
if (adjustment_reverse) {
z_align_move = -z_align_move;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " correction reversed to ", z_align_move);
}
#endif
// Do a move to correct part of the misalignment for the current stepper
do_blocking_move_to_z(amplification * z_align_move + current_position.z);
} // for (zstepper)
// Back to normal stepper operations
stepper.set_all_z_lock(false);
stepper.set_separate_multi_axis(false);
if (err_break) break;
if (success_break) {
SERIAL_ECHOLNPGM("Target accuracy achieved.");
LCD_MESSAGEPGM(MSG_ACCURACY_ACHIEVED);
const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
if (!WITHIN(z_auto_align_iterations, 1, 30)) {
SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
break;
}
iteration++;
} // while (iteration < z_auto_align_iterations)
const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC);
if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) {
SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0).");
break;
}
if (err_break)
SERIAL_ECHOLNPGM("G34 aborted.");
else {
SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " of ", int(z_auto_align_iterations));
SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
}
const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
break;
}
// Stow the probe, as the last call to probe.probe_at_point(...) left
// the probe deployed if it was successful.
probe.stow();
if (parser.seen('R')) z_stepper_align.reset_to_default();
#if ENABLED(HOME_AFTER_G34)
// After this operation the z position needs correction
set_axis_never_homed(Z_AXIS);
// Home Z after the alignment procedure
process_subcommands_now_P(PSTR("G28Z"));
#else
// Use the probed height from the last iteration to determine the Z height.
// z_measured_min is used, because all steppers are aligned to z_measured_min.
// Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier.
current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES;
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
// Disable the leveling matrix before auto-aligning
#if HAS_LEVELING
TERN_(RESTORE_LEVELING_AFTER_G34, const bool leveling_was_active = planner.leveling_active);
set_bed_leveling_enabled(false);
#endif
TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY);
// Always home with tool 0 active
#if HAS_MULTI_HOTEND
const uint8_t old_tool_index = active_extruder;
tool_change(0, true);
#endif
TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
// In BLTOUCH HS mode, the probe travels in a deployed state.
// Users of G34 might have a badly misaligned bed, so raise Z by the
// length of the deployed pin (BLTOUCH stroke < 7mm)
#define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + 7.0f * BOTH(BLTOUCH, BLTOUCH_HS_MODE))
// Compute a worst-case clearance height to probe from. After the first
// iteration this will be re-calculated based on the actual bed position
auto magnitude2 = [&](const uint8_t i, const uint8_t j) {
const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
return HYPOT2(diff.x, diff.y);
};
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(
#if NUM_Z_STEPPER_DRIVERS == 3
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0))
#elif NUM_Z_STEPPER_DRIVERS == 4
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3),
magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3))
#else
magnitude2(0, 1)
#endif
);
// Home before the alignment procedure
if (!all_axes_known()) home_all_axes();
// Move the Z coordinate realm towards the positive - dirty trick
current_position.z += z_probe * 0.5f;
sync_plan_position();
#endif
// Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error.
// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
// Restore the active tool after homing
TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER))); // Fetch previous tool for parking extruder
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f);
#else
float last_z_align_level_indicator = 10000.0f;
#endif
float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 },
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
#if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34)
set_bed_leveling_enabled(leveling_was_active);
#endif
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
bool adjustment_reverse = false;
#endif
}while(0);
#if HAS_DISPLAY
PGM_P const msg_iteration = GET_TEXT(MSG_ITERATION);
const uint8_t iter_str_len = strlen_P(msg_iteration);
#endif
// Final z and iteration values will be used after breaking the loop
float z_measured_min;
uint8_t iteration = 0;
bool err_break = false; // To break out of nested loops
while (iteration < z_auto_align_iterations) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
const int iter = iteration + 1;
SERIAL_ECHOLNPAIR("\nG34 Iteration: ", iter);
#if HAS_DISPLAY
char str[iter_str_len + 2 + 1];
sprintf_P(str, msg_iteration, iter);
ui.set_status(str);
#endif
// Initialize minimum value
z_measured_min = 100000.0f;
float z_measured_max = -100000.0f;
// Probe all positions (one per Z-Stepper)
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
// iteration odd/even --> downward / upward stepper sequence
const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i;
// Safe clearance even on an incline
if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe);
if (DEBUGGING(LEVELING))
DEBUG_ECHOLNPAIR_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y);
// Probe a Z height for each stepper.
// Probing sanity check is disabled, as it would trigger even in normal cases because
// current_position.z has been manually altered in the "dirty trick" above.
const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed");
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
err_break = true;
break;
}
// Add height to each value, to provide a more useful target height for
// the next iteration of probing. This allows adjustments to be made away from the bed.
z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(iprobe + 1), " measured position is ", z_measured[iprobe]);
// Remember the minimum measurement to calculate the correction later on
z_measured_min = _MIN(z_measured_min, z_measured[iprobe]);
z_measured_max = _MAX(z_measured_max, z_measured[iprobe]);
} // for (i)
if (err_break) break;
// Adapt the next probe clearance height based on the new measurements.
// Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment.
z_maxdiff = z_measured_max - z_measured_min;
z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff;
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Replace the initial values in z_measured with calculated heights at
// each stepper position. This allows the adjustment algorithm to be
// shared between both possible probing mechanisms.
// This must be done after the next z_probe height is calculated, so that
// the height is calculated from actual print area positions, and not
// extrapolated motor movements.
// Compute the least-squares fit for all probed points.
// Calculate the Z position of each stepper and store it in z_measured.
// This allows the actual adjustment logic to be shared by both algorithms.
linear_fit_data lfd;
incremental_LSF_reset(&lfd);
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
SERIAL_ECHOLNPAIR("PROBEPT_", int(i), ": ", z_measured[i]);
incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
}
finish_incremental_LSF(&lfd);
z_measured_min = 100000.0f;
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D);
z_measured_min = _MIN(z_measured_min, z_measured[i]);
}
SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]);
#endif
SERIAL_ECHOLNPAIR("\n"
"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
#if NUM_Z_STEPPER_DRIVERS == 3
, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
#endif
);
#if HAS_DISPLAY
char fstr1[10];
#if NUM_Z_STEPPER_DRIVERS == 2
char msg[6 + (6 + 5) * 1 + 1];
#else
char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10];
#endif
sprintf_P(msg,
PSTR("Diffs Z1-Z2=%s"
#if NUM_Z_STEPPER_DRIVERS == 3
" Z2-Z3=%s"
" Z3-Z1=%s"
#endif
), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1)
#if NUM_Z_STEPPER_DRIVERS == 3
, dtostrf(ABS(z_measured[1] - z_measured[2]), 1, 3, fstr2)
, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)
#endif
);
ui.set_status(msg);
#endif
auto decreasing_accuracy = [](const float &v1, const float &v2){
if (v1 < v2 * 0.7f) {
SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
return true;
}
return false;
};
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Check if the applied corrections go in the correct direction.
// Calculate the sum of the absolute deviations from the mean of the probe measurements.
// Compare to the last iteration to ensure it's getting better.
// Calculate mean value as a reference
float z_measured_mean = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper];
z_measured_mean /= NUM_Z_STEPPER_DRIVERS;
// Calculate the sum of the absolute deviations from the mean value
float z_align_level_indicator = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS)
z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean);
// If it's getting worse, stop and throw an error
err_break = decreasing_accuracy(last_z_align_level_indicator, z_align_level_indicator);
if (err_break) break;
last_z_align_level_indicator = z_align_level_indicator;
#endif
// The following correction actions are to be enabled for select Z-steppers only
stepper.set_separate_multi_axis(true);
bool success_break = true;
// Correct the individual stepper offsets
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) {
// Calculate current stepper move
float z_align_move = z_measured[zstepper] - z_measured_min;
const float z_align_abs = ABS(z_align_move);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Optimize one iteration's correction based on the first measurements
if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
// Check for less accuracy compared to last move
if (decreasing_accuracy(last_z_align_move[zstepper], z_align_abs)) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " last_z_align_move = ", last_z_align_move[zstepper]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " z_align_abs = ", z_align_abs);
adjustment_reverse = !adjustment_reverse;
}
// Remember the alignment for the next iteration, but only if steppers move,
// otherwise it would be just zero (in case this stepper was at z_measured_min already)
if (z_align_abs > 0) last_z_align_move[zstepper] = z_align_abs;
#endif
// Stop early if all measured points achieve accuracy target
if (z_align_abs > z_auto_align_accuracy) success_break = false;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " corrected by ", z_align_move);
// Lock all steppers except one
stepper.set_all_z_lock(true, zstepper);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Decreasing accuracy was detected so move was inverted.
// Will match reversed Z steppers on dual steppers. Triple will need more work to map.
if (adjustment_reverse) {
z_align_move = -z_align_move;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " correction reversed to ", z_align_move);
}
#endif
// Do a move to correct part of the misalignment for the current stepper
do_blocking_move_to_z(amplification * z_align_move + current_position.z);
} // for (zstepper)
// Back to normal stepper operations
stepper.set_all_z_lock(false);
stepper.set_separate_multi_axis(false);
if (err_break) break;
if (success_break) {
SERIAL_ECHOLNPGM("Target accuracy achieved.");
LCD_MESSAGEPGM(MSG_ACCURACY_ACHIEVED);
break;
}
iteration++;
} // while (iteration < z_auto_align_iterations)
if (err_break)
SERIAL_ECHOLNPGM("G34 aborted.");
else {
SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " of ", int(z_auto_align_iterations));
SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
}
// Stow the probe, as the last call to probe.probe_at_point(...) left
// the probe deployed if it was successful.
probe.stow();
#if ENABLED(HOME_AFTER_G34)
// After this operation the z position needs correction
set_axis_never_homed(Z_AXIS);
// Home Z after the alignment procedure
process_subcommands_now_P(PSTR("G28Z"));
#else
// Use the probed height from the last iteration to determine the Z height.
// z_measured_min is used, because all steppers are aligned to z_measured_min.
// Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier.
current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES;
sync_plan_position();
#endif
// Restore the active tool after homing
TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER))); // Fetch previous tool for parking extruder
#if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34)
set_bed_leveling_enabled(leveling_was_active);
#endif
}while(0);
#endif
}
#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
/**
* M422: Set a Z-Stepper automatic alignment XY point.
* Use repeatedly to set multiple points.

2
Marlin/src/gcode/gcode.cpp
View File

@@ -327,7 +327,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
case 33: G33(); break; // G33: Delta Auto-Calibration
#endif
#if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
#if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
case 34: G34(); break; // G34: Z Stepper automatic alignment using probe
#endif

2
Marlin/src/gcode/gcode.h
View File

@@ -468,7 +468,7 @@ private:
TERN_(DELTA_AUTO_CALIBRATION, static void G33());
#if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
#if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
static void G34();
#endif

7
Marlin/src/inc/SanityCheck.h
View File

@@ -2792,8 +2792,11 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#error "Z_STEPPER_AUTO_ALIGN requires NUM_Z_STEPPER_DRIVERS greater than 1."
#elif !HAS_BED_PROBE
#error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
#elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) && NUM_Z_STEPPER_DRIVERS < 3
#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
#elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
static_assert(WITHIN(Z_STEPPER_ALIGN_AMP, 0.5, 2.0), "Z_STEPPER_ALIGN_AMP must be between 0.5 and 2.0.");
#if NUM_Z_STEPPER_DRIVERS < 3
#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
#endif
#endif
#endif