From 44d54a0d010c78ba43ebcf5283c30505e76e6098 Mon Sep 17 00:00:00 2001 From: Luc Van Daele Date: Mon, 13 Sep 2021 02:35:37 +0200 Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=B8=20G33=20R=20and=20O=20options=20(#?= =?UTF-8?q?22707)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/gcode/calibrate/G33.cpp | 65 ++++++++++++-------- Marlin/src/lcd/menu/menu_delta_calibrate.cpp | 3 +- Marlin/src/module/delta.cpp | 22 ------- Marlin/src/module/delta.h | 13 ---- 4 files changed, 40 insertions(+), 63 deletions(-) diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp index 95a862b5f7..8867c168d2 100644 --- a/Marlin/src/gcode/calibrate/G33.cpp +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -69,6 +69,8 @@ enum CalEnum : char { // the 7 main calibration points - float lcd_probe_pt(const xy_pos_t &xy); +float dcr; + void ac_home() { endstops.enable(true); TERN_(SENSORLESS_HOMING, probe.set_homing_current(true)); @@ -175,9 +177,9 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool /** * - Probe a point */ -static float calibration_probe(const xy_pos_t &xy, const bool stow) { +static float calibration_probe(const xy_pos_t &xy, const bool stow, const bool probe_at_offset) { #if HAS_BED_PROBE - return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, false); + return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, probe_at_offset); #else UNUSED(stow); return lcd_probe_pt(xy); @@ -187,7 +189,7 @@ static float calibration_probe(const xy_pos_t &xy, const bool stow) { /** * - 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) { +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 probe_at_offset) { const bool _0p_calibration = probe_points == 0, _1p_calibration = probe_points == 1 || probe_points == -1, _4p_calibration = probe_points == 2, @@ -209,11 +211,9 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi if (!_0p_calibration) { - const float dcr = delta_calibration_radius(); - if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center const xy_pos_t center{0}; - z_pt[CEN] += calibration_probe(center, stow_after_each); + z_pt[CEN] += calibration_probe(center, stow_after_each, probe_at_offset); if (isnan(z_pt[CEN])) return false; } @@ -224,7 +224,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), r = dcr * 0.1; const xy_pos_t vec = { cos(a), sin(a) }; - z_pt[CEN] += calibration_probe(vec * r, stow_after_each); + z_pt[CEN] += calibration_probe(vec * r, stow_after_each, probe_at_offset); if (isnan(z_pt[CEN])) return false; } z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points); @@ -249,7 +249,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi r = dcr * (1 - 0.1 * (zig_zag ? offset - circle : circle)), interpol = FMOD(rad, 1); const xy_pos_t vec = { cos(a), sin(a) }; - const float z_temp = calibration_probe(vec * r, stow_after_each); + const float z_temp = calibration_probe(vec * r, stow_after_each, probe_at_offset); if (isnan(z_temp)) return false; // split probe point to neighbouring calibration points z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90))); @@ -276,7 +276,6 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) { xyz_pos_t pos{0}; - const float dcr = delta_calibration_radius(); LOOP_CAL_ALL(rad) { const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), r = (rad == CEN ? 0.0f : dcr); @@ -287,7 +286,7 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_ } static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) { - const float r_quot = delta_calibration_radius() / delta_radius; + const float r_quot = dcr / delta_radius; #define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A) #define Z00(I, A) ZPP( 0, I, A) @@ -328,7 +327,7 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t d } static float auto_tune_h() { - const float r_quot = delta_calibration_radius() / delta_radius; + const float r_quot = dcr / delta_radius; return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR } @@ -373,6 +372,8 @@ static float auto_tune_a() { * P3 Probe all positions: center, towers and opposite towers. Calibrate all. * P4-P10 Probe all positions at different intermediate locations and average them. * + * Rn.nn override default calibration Radius + * * T Don't calibrate tower angle corrections * * Cn.nn Calibration precision; when omitted calibrates to maximum precision @@ -387,6 +388,8 @@ static float auto_tune_a() { * * E Engage the probe for each point * + * O Probe at offset points (this is wrong but it seems to work) + * * With SENSORLESS_PROBING: * Use these flags to calibrate stall sensitivity: (e.g., `G33 P1 Y Z` to calibrate X only.) * X Don't activate stallguard on X. @@ -403,7 +406,27 @@ void GcodeSuite::G33() { return; } - const bool towers_set = !parser.seen_test('T'); + const bool probe_at_offset = TERN0(HAS_PROBE_XY_OFFSET, parser.boolval('O')), + towers_set = !parser.seen_test('T'); + + float max_dcr = dcr = DELTA_PRINTABLE_RADIUS; + #if HAS_PROBE_XY_OFFSET + // For offset probes the calibration radius is set to a safe but non-optimal value + dcr -= HYPOT(probe.offset_xy.x, probe.offset_xy.y); + if (probe_at_offset) { + // With probe positions both probe and nozzle need to be within the printable area + max_dcr = dcr; + } + // else with nozzle positions there is a risk of the probe being outside the bed + // but as long the nozzle stays within the printable area there is no risk of + // the effector crashing into the towers. + #endif + + if (parser.seenval('R')) dcr = parser.value_float(); + if (!WITHIN(dcr, 0, max_dcr)) { + SERIAL_ECHOLNPGM("?calibration (R)adius implausible."); + return; + } const float calibration_precision = parser.floatval('C', 0.0f); if (calibration_precision < 0) { @@ -453,18 +476,6 @@ void GcodeSuite::G33() { SERIAL_ECHOLNPGM("G33 Auto Calibrate"); - const float dcr = delta_calibration_radius(); - - 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)); - if (!position_is_reachable(cos(a) * dcr, sin(a) * dcr)) { - SERIAL_ECHOLNPGM("?Bed calibration radius implausible."); - return; - } - } - } - // Report settings PGM_P const checkingac = PSTR("Checking... AC"); SERIAL_ECHOPGM_P(checkingac); @@ -487,7 +498,7 @@ void GcodeSuite::G33() { // Probe the points zero_std_dev_old = zero_std_dev; - if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each)) { + if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, probe_at_offset)) { SERIAL_ECHOLNPGM("Correct delta settings with M665 and M666"); return ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index)); } @@ -526,11 +537,11 @@ void GcodeSuite::G33() { #define Z0(I) ZP(0, I) // calculate factors - if (_7p_9_center) calibration_radius_factor = 0.9f; + if (_7p_9_center) dcr *= 0.9f; h_factor = auto_tune_h(); r_factor = auto_tune_r(); a_factor = auto_tune_a(); - calibration_radius_factor = 1.0f; + dcr /= 0.9f; switch (probe_points) { case 0: diff --git a/Marlin/src/lcd/menu/menu_delta_calibrate.cpp b/Marlin/src/lcd/menu/menu_delta_calibrate.cpp index ba119abc37..c9bcb895fc 100644 --- a/Marlin/src/lcd/menu/menu_delta_calibrate.cpp +++ b/Marlin/src/lcd/menu/menu_delta_calibrate.cpp @@ -88,8 +88,9 @@ void _man_probe_pt(const xy_pos_t &xy) { } void _goto_tower_a(const_float_t a) { + constexpr float dcr = DELTA_PRINTABLE_RADIUS; xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) }; - _man_probe_pt(tower_vec * delta_calibration_radius()); + _man_probe_pt(tower_vec * dcr); } void _goto_tower_x() { _goto_tower_a(210); } void _goto_tower_y() { _goto_tower_a(330); } diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index 4401db5a5b..2a4efb47da 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -82,28 +82,6 @@ void recalc_delta_settings() { set_all_unhomed(); } -/** - * Get a safe radius for calibration - */ - -#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU) - - #if ENABLED(DELTA_AUTO_CALIBRATION) - float calibration_radius_factor = 1; - #endif - - float delta_calibration_radius() { - return calibration_radius_factor * ( - #if HAS_BED_PROBE - FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), PROBING_MARGIN)) - #else - DELTA_PRINTABLE_RADIUS - #endif - ); - } - -#endif - /** * Delta Inverse Kinematics * diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h index 308e206700..f1e43c7e4c 100644 --- a/Marlin/src/module/delta.h +++ b/Marlin/src/module/delta.h @@ -45,19 +45,6 @@ extern abc_float_t delta_diagonal_rod_trim; */ void recalc_delta_settings(); -/** - * Get a safe radius for calibration - */ -#if ENABLED(DELTA_AUTO_CALIBRATION) - extern float calibration_radius_factor; -#else - constexpr float calibration_radius_factor = 1; -#endif - -#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU) - float delta_calibration_radius(); -#endif - /** * Delta Inverse Kinematics *