🚸 Fix, extend X Axis Twist Compensation (#23745)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
Giuseppe499 2022-03-12 00:12:03 +01:00 committed by Scott Lahteine
parent eabeac29fd
commit c6f4b38877
14 changed files with 142 additions and 34 deletions

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@ -78,6 +78,14 @@ void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(
void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); } void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }
void serial_offset(const_float_t v, const uint8_t sp/*=0*/) {
if (v == 0 && sp == 1)
SERIAL_CHAR(' ');
else if (v > 0 || (v == 0 && sp == 2))
SERIAL_CHAR('+');
SERIAL_DECIMAL(v);
}
void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) { void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) {
if (pre) serial_print(pre); if (pre) serial_print(pre);
serial_print(onoff ? on : off); serial_print(onoff ? on : off);

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@ -345,6 +345,7 @@ void serialprint_onoff(const bool onoff);
void serialprintln_onoff(const bool onoff); void serialprintln_onoff(const bool onoff);
void serialprint_truefalse(const bool tf); void serialprint_truefalse(const bool tf);
void serial_spaces(uint8_t count); void serial_spaces(uint8_t count);
void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2)
void print_bin(const uint16_t val); void print_bin(const uint16_t val);
void print_pos(LINEAR_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr); void print_pos(LINEAR_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);

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@ -126,10 +126,8 @@ void safe_delay(millis_t ms) {
#if ABL_PLANAR #if ABL_PLANAR
SERIAL_ECHOPGM("ABL Adjustment"); SERIAL_ECHOPGM("ABL Adjustment");
LOOP_LINEAR_AXES(a) { LOOP_LINEAR_AXES(a) {
const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
SERIAL_CHAR(' ', AXIS_CHAR(a)); SERIAL_CHAR(' ', AXIS_CHAR(a));
if (v > 0) SERIAL_CHAR('+'); serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]);
SERIAL_DECIMAL(v);
} }
#else #else
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)

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@ -213,8 +213,8 @@ void unified_bed_leveling::display_map(const uint8_t map_type) {
else if (isnan(f)) else if (isnan(f))
SERIAL_ECHOF(human ? F(" . ") : F("NAN")); SERIAL_ECHOF(human ? F(" . ") : F("NAN"));
else if (human || csv) { else if (human || csv) {
if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0) if (human && f >= 0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0)
SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits SERIAL_DECIMAL(f); // Positive: 5 digits, Negative: 6 digits
} }
if (csv && i < (GRID_MAX_POINTS_X) - 1) SERIAL_CHAR('\t'); if (csv && i < (GRID_MAX_POINTS_X) - 1) SERIAL_CHAR('\t');

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@ -63,7 +63,7 @@ void Mixer::normalize(const uint8_t tool_index) {
#ifdef MIXER_NORMALIZER_DEBUG #ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOPGM("Mixer: Old relation : [ "); SERIAL_ECHOPGM("Mixer: Old relation : [ ");
MIXER_STEPPER_LOOP(i) { MIXER_STEPPER_LOOP(i) {
SERIAL_ECHO_F(collector[i] / csum, 3); SERIAL_DECIMAL(collector[i] / csum);
SERIAL_CHAR(' '); SERIAL_CHAR(' ');
} }
SERIAL_ECHOLNPGM("]"); SERIAL_ECHOLNPGM("]");

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@ -36,8 +36,8 @@ void XATC::reset() {
constexpr float xzo[] = XATC_Z_OFFSETS; constexpr float xzo[] = XATC_Z_OFFSETS;
static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size."); static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size.");
COPY(z_offset, xzo); COPY(z_offset, xzo);
xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1); start = probe.min_x();
xatc.start = probe.min_x(); spacing = (probe.max_x() - start) / (XATC_MAX_POINTS - 1);
enabled = true; enabled = true;
} }
@ -45,14 +45,10 @@ void XATC::print_points() {
SERIAL_ECHOLNPGM(" X-Twist Correction:"); SERIAL_ECHOLNPGM(" X-Twist Correction:");
LOOP_L_N(x, XATC_MAX_POINTS) { LOOP_L_N(x, XATC_MAX_POINTS) {
SERIAL_CHAR(' '); SERIAL_CHAR(' ');
if (!isnan(z_offset[x])) { if (!isnan(z_offset[x]))
if (z_offset[x] >= 0) SERIAL_CHAR('+'); serial_offset(z_offset[x]);
SERIAL_ECHO_F(z_offset[x], 3); else
} LOOP_L_N(i, 6) SERIAL_CHAR(i ? '=' : ' ');
else {
LOOP_L_N(i, 6)
SERIAL_CHAR(i ? '=' : ' ');
}
} }
SERIAL_EOL(); SERIAL_EOL();
} }
@ -63,8 +59,7 @@ float XATC::compensation(const xy_pos_t &raw) {
if (!enabled) return 0; if (!enabled) return 0;
if (NEAR_ZERO(spacing)) return 0; if (NEAR_ZERO(spacing)) return 0;
float t = (raw.x - start) / spacing; float t = (raw.x - start) / spacing;
int i = FLOOR(t); const int i = constrain(FLOOR(t), 0, XATC_MAX_POINTS - 2);
LIMIT(i, 0, XATC_MAX_POINTS - 2);
t -= i; t -= i;
return lerp(t, z_offset[i], z_offset[i + 1]); return lerp(t, z_offset[i], z_offset[i + 1]);
} }

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@ -98,8 +98,7 @@ void ac_cleanup(TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index)) {
void print_signed_float(FSTR_P const prefix, const_float_t f) { void print_signed_float(FSTR_P const prefix, const_float_t f) {
SERIAL_ECHOPGM(" "); SERIAL_ECHOPGM(" ");
SERIAL_ECHOF(prefix, AS_CHAR(':')); SERIAL_ECHOF(prefix, AS_CHAR(':'));
if (f >= 0) SERIAL_CHAR('+'); serial_offset(f);
SERIAL_ECHO_F(f, 2);
} }
/** /**

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@ -1195,6 +1195,11 @@ private:
static void M1000(); static void M1000();
#endif #endif
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
static void M423();
static void M423_report(const bool forReplay=true);
#endif
#if ENABLED(SDSUPPORT) #if ENABLED(SDSUPPORT)
static void M1001(); static void M1001();
#endif #endif

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@ -0,0 +1,99 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2022 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 <https://www.gnu.org/licenses/>.
*
*/
/**
* M423.cpp - X-Axis Twist Compensation
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
#include "../gcode.h"
#include "../../feature/x_twist.h"
#include "../../module/probe.h"
/**
* M423: Set a Z offset for X-Twist (added to the mesh on future G29).
* M423 [R] [A<startx>] [I<interval>] [X<index> Z<offset>]
*
* R - Reset the twist compensation data
* A<linear> - Set the X twist starting X position
* E<linear> - Set the X twist ending X position
* I<linear> - Set the X twist X-spacing directly
* X<index> - Index of a Z value in the list
* Z<linear> - A Z value to set
*/
void GcodeSuite::M423() {
bool do_report = true;
float new_spacing = 0;
if (parser.seen_test('R')) {
do_report = false;
xatc.reset();
}
if (parser.seenval('A')) {
do_report = false;
xatc.start = parser.value_float();
new_spacing = (probe.max_x() - xatc.start) / (XATC_MAX_POINTS - 1);
}
if (parser.seenval('E')) {
do_report = false;
new_spacing = (parser.value_float() - xatc.start) / (XATC_MAX_POINTS - 1);
}
else if (parser.seenval('I')) {
do_report = false;
new_spacing = parser.value_float();
}
if (new_spacing) xatc.spacing = new_spacing;
if (parser.seenval('X')) {
do_report = false;
const int8_t x = parser.value_int();
if (!WITHIN(x, 0, XATC_MAX_POINTS - 1))
SERIAL_ECHOLNPGM("?(X) out of range (0..", XATC_MAX_POINTS - 1, ").");
else {
if (parser.seenval('Z'))
xatc.z_offset[x] = parser.value_linear_units();
else
SERIAL_ECHOLNPGM("?(Z) required.");
}
}
if (do_report) M423_report();
}
void GcodeSuite::M423_report(const bool forReplay/*=true*/) {
report_heading(forReplay, F("X-Twist Correction"));
SERIAL_ECHOLNPGM(" M423 A", xatc.start, " I", xatc.spacing);
LOOP_L_N(x, XATC_MAX_POINTS) {
const float z = xatc.z_offset[x];
SERIAL_ECHOPGM(" M423 X", x, " Z");
serial_offset(isnan(z) ? 0 : z);
SERIAL_EOL();
}
}
#endif // X_AXIS_TWIST_COMPENSATION

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@ -153,7 +153,7 @@ void xatc_wizard_goto_next_point() {
measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW); measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
xatc.set_enabled(true); xatc.set_enabled(true);
current_position += probe.offset_xy; current_position += probe.offset_xy;
current_position.z = XATC_START_Z - probe.offset.z + measured_z; current_position.z = (XATC_START_Z) - probe.offset.z + measured_z;
line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE)); line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));
ui.wait_for_move = false; ui.wait_for_move = false;
} }

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@ -141,8 +141,7 @@ void matrix_3x3::debug(FSTR_P const title) {
if (title) SERIAL_ECHOLNF(title); if (title) SERIAL_ECHOLNF(title);
LOOP_L_N(i, 3) { LOOP_L_N(i, 3) {
LOOP_L_N(j, 3) { LOOP_L_N(j, 3) {
if (vectors[i][j] >= 0.0) SERIAL_CHAR('+'); serial_offset(vectors[i][j], 2);
SERIAL_ECHO_F(vectors[i][j], 6);
SERIAL_CHAR(' '); SERIAL_CHAR(' ');
} }
SERIAL_EOL(); SERIAL_EOL();

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@ -277,7 +277,7 @@ typedef struct SettingsDataStruct {
// X_AXIS_TWIST_COMPENSATION // X_AXIS_TWIST_COMPENSATION
// //
#if ENABLED(X_AXIS_TWIST_COMPENSATION) #if ENABLED(X_AXIS_TWIST_COMPENSATION)
XATC xatc; // TBD XATC xatc; // M423 X Z
#endif #endif
// //
@ -901,7 +901,9 @@ void MarlinSettings::postprocess() {
// //
#if ENABLED(X_AXIS_TWIST_COMPENSATION) #if ENABLED(X_AXIS_TWIST_COMPENSATION)
_FIELD_TEST(xatc); _FIELD_TEST(xatc);
EEPROM_WRITE(xatc); EEPROM_WRITE(xatc.spacing);
EEPROM_WRITE(xatc.start);
EEPROM_WRITE(xatc.z_offset);
#endif #endif
// //
@ -1809,7 +1811,10 @@ void MarlinSettings::postprocess() {
// X Axis Twist Compensation // X Axis Twist Compensation
// //
#if ENABLED(X_AXIS_TWIST_COMPENSATION) #if ENABLED(X_AXIS_TWIST_COMPENSATION)
EEPROM_READ(xatc); _FIELD_TEST(xatc);
EEPROM_READ(xatc.spacing);
EEPROM_READ(xatc.start);
EEPROM_READ(xatc.z_offset);
#endif #endif
// //
@ -3337,14 +3342,13 @@ void MarlinSettings::reset() {
#endif #endif
// TODO: Create G-code for settings
//#if ENABLED(X_AXIS_TWIST_COMPENSATION)
// CONFIG_ECHO_START();
// xatc.print_points();
//#endif
#endif // HAS_LEVELING #endif // HAS_LEVELING
//
// X Axis Twist Compensation
//
TERN_(X_AXIS_TWIST_COMPENSATION, gcode.M423_report(forReplay));
// //
// Editable Servo Angles // Editable Servo Angles
// //

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@ -98,7 +98,7 @@ USB_FLASH_DRIVE_SUPPORT = src_filter=+<src/sd/usb_flashdrive/Sd2C
HAS_MCP3426_ADC = src_filter=+<src/feature/adc> +<src/gcode/feature/adc> HAS_MCP3426_ADC = src_filter=+<src/feature/adc> +<src/gcode/feature/adc>
AUTO_BED_LEVELING_BILINEAR = src_filter=+<src/feature/bedlevel/abl> AUTO_BED_LEVELING_BILINEAR = src_filter=+<src/feature/bedlevel/abl>
AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+<src/gcode/bedlevel/abl> AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+<src/gcode/bedlevel/abl>
X_AXIS_TWIST_COMPENSATION = src_filter=+<src/feature/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp> X_AXIS_TWIST_COMPENSATION = src_filter=+<src/feature/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp> +<src/gcode/probe/M423.cpp>
MESH_BED_LEVELING = src_filter=+<src/feature/bedlevel/mbl> +<src/gcode/bedlevel/mbl> MESH_BED_LEVELING = src_filter=+<src/feature/bedlevel/mbl> +<src/gcode/bedlevel/mbl>
AUTO_BED_LEVELING_UBL = src_filter=+<src/feature/bedlevel/ubl> +<src/gcode/bedlevel/ubl> AUTO_BED_LEVELING_UBL = src_filter=+<src/feature/bedlevel/ubl> +<src/gcode/bedlevel/ubl>
UBL_HILBERT_CURVE = src_filter=+<src/feature/bedlevel/hilbert_curve.cpp> UBL_HILBERT_CURVE = src_filter=+<src/feature/bedlevel/hilbert_curve.cpp>

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@ -150,7 +150,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/feature/tmc_util.cpp> -<src/module/stepper/trinamic.cpp> -<src/feature/tmc_util.cpp> -<src/module/stepper/trinamic.cpp>
-<src/feature/tramming.cpp> -<src/feature/tramming.cpp>
-<src/feature/twibus.cpp> -<src/feature/twibus.cpp>
-<src/feature/x_twist.cpp> -<src/feature/x_twist.cpp> -<src/gcode/probe/M423.cpp>
-<src/feature/z_stepper_align.cpp> -<src/feature/z_stepper_align.cpp>
-<src/gcode/bedlevel/G26.cpp> -<src/gcode/bedlevel/G26.cpp>
-<src/gcode/bedlevel/G35.cpp> -<src/gcode/bedlevel/G35.cpp>