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Merge pull request #6410 from teemuatlut/LVD-Delta

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Delta auto-calibration updates
This commit is contained in:
Scott Lahteine
2017-04-30 16:39:51 -05:00
committed by GitHub
parent 5d5c9a040a cafc48dff8
commit 671a44b8aa
19 changed files with 402 additions and 513 deletions
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446
Marlin/Marlin_main.cpp
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@ -61,7 +61,7 @@
* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
* G33 - Delta '4-point' auto calibration iteration
* G33 - Delta '1-4-7-point' auto calibration : "G33 V<verbose> P<points> <A> <O> <T>" (Requires DELTA)
* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
@ -585,10 +585,10 @@ static uint8_t target_extruder;
// These values are loaded or reset at boot time when setup() calls
// settings.load(), which calls recalc_delta_settings().
float delta_radius,
delta_tower_angle_trim[ABC],
delta_tower_angle_trim[2],
delta_tower[ABC][2],
delta_diagonal_rod,
delta_diagonal_rod_trim[ABC],
delta_calibration_radius,
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
delta_clip_start_height = Z_MAX_POS;
@ -1830,6 +1830,9 @@ static void clean_up_after_endstop_or_probe_move() {
float z_dest = LOGICAL_Z_POSITION(z_raise);
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
#if ENABLED(DELTA)
z_dest -= home_offset[Z_AXIS];
#endif
if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest);
@ -1837,7 +1840,8 @@ static void clean_up_after_endstop_or_probe_move() {
#endif //HAS_BED_PROBE
#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
#if HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION)
bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
@ -1857,6 +1861,7 @@ static void clean_up_after_endstop_or_probe_move() {
}
return false;
}
#endif
#if ENABLED(Z_PROBE_SLED)
@ -2308,6 +2313,9 @@ static void clean_up_after_endstop_or_probe_move() {
// move down quickly before doing the slow probe
float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
if (zprobe_zoffset < 0) z -= zprobe_zoffset;
#if ENABLED(DELTA)
z -= home_offset[Z_AXIS];
#endif
if (z < current_position[Z_AXIS])
do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
@ -5009,11 +5017,12 @@ inline void gcode_G28() {
/**
* G30: Do a single Z probe at the current XY
* Usage:
* G30 <X#> <Y#> <S#>
* X = Probe X position (default=current probe position)
* Y = Probe Y position (default=current probe position)
* S = Stows the probe if 1 (default=1)
*
* Parameters:
*
* X Probe X position (default current X)
* Y Probe Y position (default current Y)
* S0 Leave the probe deployed
*/
inline void gcode_G30() {
const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
@ -5056,32 +5065,25 @@ inline void gcode_G28() {
#if ENABLED(DELTA_AUTO_CALIBRATION)
/**
* G33: Delta '4-point' auto calibration iteration
*
* Usage: G33 <Cn> <Vn>
*
* C (default) = Calibrate endstops, height and delta radius
*
* -2, 1-4: n x n probe points, default 3 x 3
*
* 1: probe center
* set height only - useful when z_offset is changed
* 2: probe center and towers
* solve one '4 point' calibration
* -2: probe center and opposite the towers
* solve one '4 point' calibration
* 3: probe 3 center points, towers and opposite-towers
* averages between 2 '4 point' calibrations
* 4: probe 4 center points, towers, opposite-towers and itermediate points
* averages between 4 '4 point' calibrations
*
* V Verbose level (0-3, default 1)
*
* 0: Dry-run mode: no calibration
* 1: Settings
* 2: Setting + probe results
* 3: Expert mode: setting + iteration factors (see Configuration_adv.h)
* This prematurely stops the iteration process when factors are found
* G33 - Delta '1-4-7-point' auto calibration (Requires DELTA)
*
* Usage:
* G33 <Vn> <Pn> <A> <O> <T>
*
* Vn = verbose level (n=0-2 default 1)
* n=0 dry-run mode: setting + probe results / no calibration
* n=1 settings
* n=2 setting + probe results
* Pn = n=-7 -> +7 : n*n probe points
* calibrates height ('1 point'), endstops, and delta radius ('4 points')
* and tower angles with n > 2 ('7+ points')
* n=1 probes center / sets height only
* n=2 probes center and towers / sets height, endstops and delta radius
* n=3 probes all points: center, towers and opposite towers / sets all
* n>3 probes all points multiple times and averages
* A = abort 1 point delta height calibration after 1 probe
* O = use oposite tower points instead of tower points with 4 point calibration
* T = do not calibrate tower angles with 7+ point calibration
*/
inline void gcode_G33() {
@ -5091,49 +5093,55 @@ inline void gcode_G28() {
set_bed_leveling_enabled(false);
#endif
const int8_t pp = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS,
probe_points = (WITHIN(pp, 1, 4) || pp == -2) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS;
int8_t pp = (code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS),
probe_mode = (WITHIN(pp, 1, 7) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS);
int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
probe_mode = (code_seen('A') && probe_mode == 1 ? -probe_mode : probe_mode);
probe_mode = (code_seen('O') && probe_mode == 2 ? -probe_mode : probe_mode);
probe_mode = (code_seen('T') && probe_mode > 2 ? -probe_mode : probe_mode);
int8_t verbose_level = (code_seen('V') ? code_value_byte() : 1);
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
#define _MAX_M33_V 3
if (verbose_level == 3 && probe_points == 1) verbose_level--; // needs at least 4 points
#else
#define _MAX_M33_V 2
if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Enable DELTA_CALIBRATE_EXPERT_MODE in Configuration_adv.h");
#endif
if (!WITHIN(verbose_level, 0, _MAX_M33_V)) verbose_level = 1;
float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end
if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
gcode_G28();
float e_old[XYZ],
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
e_old[XYZ] = {
endstop_adj[A_AXIS],
endstop_adj[B_AXIS],
endstop_adj[C_AXIS]
},
dr_old = delta_radius,
zh_old = home_offset[Z_AXIS];
COPY(e_old,endstop_adj);
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
// expert variables
float h_f_old = 1.00, r_f_old = 0.00,
h_diff_min = 1.00, r_diff_max = 0.10;
#endif
zh_old = home_offset[Z_AXIS],
alpha_old = delta_tower_angle_trim[A_AXIS],
beta_old = delta_tower_angle_trim[B_AXIS];
int8_t iterations = 0,
probe_points = abs(probe_mode);
const bool pp_equals_1 = (probe_points == 1),
pp_equals_2 = (probe_points == 2),
pp_equals_3 = (probe_points == 3),
pp_equals_4 = (probe_points == 4),
pp_equals_5 = (probe_points == 5),
pp_equals_6 = (probe_points == 6),
pp_equals_7 = (probe_points == 7),
pp_greather_2 = (probe_points > 2),
pp_greather_3 = (probe_points > 3),
pp_greather_4 = (probe_points > 4),
pp_greather_5 = (probe_points > 5);
// print settings
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
SERIAL_PROTOCOLPGM("Checking... AC");
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
if (verbose_level == 3) SERIAL_PROTOCOLPGM(" (EXPERT)");
#endif
SERIAL_EOL;
LCD_MESSAGEPGM("Checking... AC");
SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (abs(probe_points) > 1) {
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (!pp_equals_1) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@ -5146,74 +5154,84 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
if (probe_mode > 2) { // negative disables tower angles
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
#if ENABLED(Z_PROBE_SLED)
DEPLOY_PROBE();
#endif
float test_precision;
int8_t iterations = 0;
do {
do { // start iterations
setup_for_endstop_or_probe_move();
test_precision =
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
// Expert mode : forced end at std_dev < 0.1
(verbose_level == 3 && zero_std_dev < 0.1) ? 0.0 :
#endif
zero_std_dev
;
float z_at_pt[13] = { 0 };
float z_at_pt[13] = { 0 },
S1 = 0.0,
S2 = 0.0;
int16_t N = 0;
test_precision = zero_std_dev;
iterations++;
// probe the points
int16_t center_points = 0;
if (probe_points != 3) {
if (!pp_equals_3 && !pp_equals_6) { // probe the centre
setup_for_endstop_or_probe_move();
z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
center_points = 1;
clean_up_after_endstop_or_probe_move();
}
int16_t step_axis = 4;
if (probe_points >= 3) {
for (int8_t axis = 9; axis > 0; axis -= step_axis) { // uint8_t starts endless loop
if (pp_greather_2) { // probe extra centre points
for (int8_t axis = (pp_greather_4 ? 11 : 9); axis > 0; axis -= (pp_greather_4 ? 2 : 4)) {
setup_for_endstop_or_probe_move();
z_at_pt[0] += probe_pt(
0.1 * cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
0.1 * sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1);
cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
clean_up_after_endstop_or_probe_move();
}
center_points += 3;
z_at_pt[0] /= center_points;
z_at_pt[0] /= (pp_equals_5 ? 7 : probe_points);
}
float S1 = z_at_pt[0], S2 = sq(S1);
int16_t N = 1, start = (probe_points == -2) ? 3 : 1;
step_axis = (abs(probe_points) == 2) ? 4 : (probe_points == 3) ? 2 : 1;
if (probe_points != 1) {
for (uint8_t axis = start; axis < 13; axis += step_axis)
z_at_pt[axis] += probe_pt(
cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1
);
if (probe_points == 4) step_axis = 2;
if (!pp_equals_1) { // probe the radius
float start_circles = (pp_equals_7 ? -1.5 : pp_equals_6 || pp_equals_5 ? -1 : 0),
end_circles = -start_circles;
bool zig_zag = true;
for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13;
axis += (pp_equals_2 ? 4 : pp_equals_3 || pp_equals_5 ? 2 : 1)) {
for (float circles = start_circles ; circles <= end_circles; circles++) {
setup_for_endstop_or_probe_move();
z_at_pt[axis] += probe_pt(
cos(RADIANS(180 + 30 * axis)) *
(1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius,
sin(RADIANS(180 + 30 * axis)) *
(1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius, true, 1);
clean_up_after_endstop_or_probe_move();
}
start_circles += (pp_greather_5 ? (zig_zag ? 0.5 : -0.5) : 0);
end_circles = -start_circles;
zig_zag = !zig_zag;
z_at_pt[axis] /= (pp_equals_7 ? (zig_zag ? 4.0 : 3.0) :
pp_equals_6 ? (zig_zag ? 3.0 : 2.0) : pp_equals_5 ? 3 : 1);
}
}
for (uint8_t axis = start; axis < 13; axis += step_axis) {
if (probe_points == 4)
if (pp_greather_3 && !pp_equals_5) // average intermediates to tower and opposites
for (uint8_t axis = 1; axis < 13; axis += 2)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]);
N++;
}
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; // deviation from zero plane
S1 += z_at_pt[0];
S2 += sq(z_at_pt[0]);
N++;
if (!pp_equals_1) // std dev from zero plane
for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13; axis += (pp_equals_2 ? 4 : 2)) {
S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]);
N++;
}
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
// Solve matrices
@ -5221,28 +5239,33 @@ inline void gcode_G28() {
COPY(e_old, endstop_adj);
dr_old = delta_radius;
zh_old = home_offset[Z_AXIS];
alpha_old = delta_tower_angle_trim[A_AXIS];
beta_old = delta_tower_angle_trim[B_AXIS];
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0;
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
float h_f_new = 0.0, r_f_new = 0.0 , t_f_new = 0.0,
h_diff = 0.00, r_diff = 0.00;
#endif
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0,
t_alpha = 0.0, t_beta = 0.0;
const float r_diff = delta_radius - delta_calibration_radius,
h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
#define ZP(N,I) ((N) * z_at_pt[I])
#define Z1000(I) ZP(1.00, I)
#define Z1050(I) ZP(H_FACTOR, I)
#define Z0700(I) ZP((H_FACTOR) * 2.0 / 3.00, I)
#define Z0350(I) ZP((H_FACTOR) / 3.00, I)
#define Z0175(I) ZP((H_FACTOR) / 6.00, I)
#define Z2250(I) ZP(R_FACTOR, I)
#define Z0750(I) ZP((R_FACTOR) / 3.00, I)
#define Z0375(I) ZP((R_FACTOR) / 6.00, I)
#define Z1050(I) ZP(h_factor, I)
#define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
#define Z0350(I) ZP(h_factor / 3.00, I)
#define Z0175(I) ZP(h_factor / 6.00, I)
#define Z2250(I) ZP(r_factor, I)
#define Z0750(I) ZP(r_factor / 3.00, I)
#define Z0375(I) ZP(r_factor / 6.00, I)
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
switch (probe_points) {
switch (probe_mode) {
case -1:
test_precision = 0.00;
case 1:
LOOP_XYZ(i) e_delta[i] = Z1000(0);
r_delta = 0.00;
break;
case 2:
@ -5264,67 +5287,43 @@ inline void gcode_G28() {
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
if (probe_mode > 0) { // negative disables tower angles
t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
}
break;
}
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
// Calculate h & r factors
if (verbose_level == 3) {
LOOP_XYZ(axis) h_f_new += e_delta[axis] / 3;
r_f_new = r_delta;
h_diff = (1.0 / H_FACTOR) * (h_f_old - h_f_new) / h_f_old;
if (h_diff < h_diff_min && h_diff > 0.9) h_diff_min = h_diff;
if (r_f_old != 0)
r_diff = ( 0.0301 * sq(R_FACTOR) * R_FACTOR
+ 0.311 * sq(R_FACTOR)
+ 1.1493 * R_FACTOR
+ 1.7952
) * (r_f_old - r_f_new) / r_f_old;
if (r_diff > r_diff_max && r_diff < 0.4444) r_diff_max = r_diff;
SERIAL_EOL;
h_f_old = h_f_new;
r_f_old = r_f_new;
}
#endif // DELTA_CALIBRATE_EXPERT_MODE
// Adjust delta_height and endstops by the max amount
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta;
delta_tower_angle_trim[A_AXIS] += t_alpha;
delta_tower_angle_trim[B_AXIS] -= t_beta;
const float z_temp = MAX3(endstop_adj[0], endstop_adj[1], endstop_adj[2]);
// adjust delta_height and endstops by the max amount
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
else { // !iterate
// step one back
else { // step one back
COPY(endstop_adj, e_old);
delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old;
delta_tower_angle_trim[A_AXIS] = alpha_old;
delta_tower_angle_trim[B_AXIS] = beta_old;
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
// print report
// print report
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
if (verbose_level == 3) {
const float r_factor = 22.902 * sq(r_diff_max) * r_diff_max
- 44.988 * sq(r_diff_max)
+ 31.697 * r_diff_max
- 9.4439;
SERIAL_PROTOCOLPAIR("h_factor:", 1.0 / h_diff_min);
SERIAL_PROTOCOLPAIR(" r_factor:", r_factor);
SERIAL_EOL;
}
#endif
if (verbose_level == 2) {
SERIAL_PROTOCOLPGM(". c:");
if (verbose_level != 1) {
SERIAL_PROTOCOLPGM(". c:");
if (z_at_pt[0] > 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[0], 2);
if (probe_points > 1) {
if (probe_mode == 2 || pp_greather_2) {
SERIAL_PROTOCOLPGM(" x:");
if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[1], 2);
@ -5335,9 +5334,12 @@ inline void gcode_G28() {
if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[9], 2);
}
if (probe_points > 0) SERIAL_EOL;
if (probe_points > 2 || probe_points == -2) {
if (probe_points > 2) SERIAL_PROTOCOLPGM(". ");
if (probe_mode != -2) SERIAL_EOL;
if (probe_mode == -2 || pp_greather_2) {
if (pp_greather_2) {
SERIAL_CHAR('.');
SERIAL_PROTOCOL_SP(13);
}
SERIAL_PROTOCOLPGM(" yz:");
if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[7], 2);
@ -5350,25 +5352,27 @@ inline void gcode_G28() {
SERIAL_EOL;
}
}
if (test_precision != 0.0) { // !forced end
if (zero_std_dev >= test_precision) {
if (test_precision != 0.0) { // !forced end
if (zero_std_dev >= test_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOLLNPGM(" rolling back 1");
LCD_MESSAGEPGM("Calibration OK");
SERIAL_PROTOCOL_SP(36);
SERIAL_PROTOCOLPGM("rolling back.");
SERIAL_EOL;
LCD_MESSAGEPGM("Calibration OK");
}
else { // !end iterations
else { // !end iterations
char mess[15] = "No convergence";
if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
SERIAL_PROTOCOL(mess);
SERIAL_PROTOCOLPGM(" std dev:");
SERIAL_PROTOCOL_SP(36);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL;
lcd_setstatus(mess);
}
SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (abs(probe_points) > 1) {
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (!pp_equals_1) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@ -5381,23 +5385,38 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
if (probe_mode > 2) { // negative disables tower angles
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
SERIAL_PROTOCOLPGM(" Ty:");
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
if (zero_std_dev >= test_precision)
SERIAL_PROTOCOLLNPGM("Save with M500");
serialprintPGM(save_message);
SERIAL_EOL;
}
else { // forced end
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
if (verbose_level == 3)
SERIAL_PROTOCOLLNPGM("Copy to Configuration_adv.h");
else
#endif
{
SERIAL_PROTOCOLPGM("End DRY-RUN std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL;
}
else { // forced end
if (verbose_level == 0) {
SERIAL_PROTOCOLPGM("End DRY-RUN");
SERIAL_PROTOCOL_SP(39);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL;
}
else {
SERIAL_PROTOCOLLNPGM("Calibration OK");
LCD_MESSAGEPGM("Calibration OK");
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
SERIAL_EOL;
serialprintPGM(save_message);
SERIAL_EOL;
}
}
clean_up_after_endstop_or_probe_move();
stepper.synchronize();
gcode_G28();
@ -7620,12 +7639,13 @@ inline void gcode_M205() {
if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
if (code_seen('R')) delta_radius = code_value_linear_units();
if (code_seen('S')) delta_segments_per_second = code_value_float();
if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units();
if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units();
if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units();
if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units();
if (code_seen('B')) delta_calibration_radius = code_value_float();
if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
if (code_seen('Z')) { // rotate all 3 axis for Z = 0
delta_tower_angle_trim[A_AXIS] -= code_value_linear_units();
delta_tower_angle_trim[B_AXIS] -= code_value_linear_units();
}
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
@ -7653,6 +7673,10 @@ inline void gcode_M205() {
SERIAL_ECHOLNPGM("<<< gcode_M666");
}
#endif
// normalize endstops so all are <=0; set the residue to delta height
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
}
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
@ -8564,7 +8588,7 @@ inline void gcode_M503() {
if (!isnan(last_zoffset)) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET)
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
const float diff = zprobe_zoffset - last_zoffset;
#endif
@ -8586,6 +8610,10 @@ inline void gcode_M503() {
#else
UNUSED(no_babystep);
#endif
#if ENABLED(DELTA) // correct the delta_height
home_offset[Z_AXIS] -= diff;
#endif
}
last_zoffset = zprobe_zoffset;
@ -10651,15 +10679,17 @@ void ok_to_send() {
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1);
delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2);
delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); // back middle tower
delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]);
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
}
#if ENABLED(DELTA_FAST_SQRT)