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🚸 Use Z_STEPPER_ALIGN_STEPPER_XY to enable

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This commit is contained in:
Scott Lahteine
2022-03-02 17:50:55 -06:00
parent 575c3150f9
commit e082a141f6
8 changed files with 41 additions and 36 deletions
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30
Marlin/src/gcode/calibrate/G34_M422.cpp
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@@ -41,7 +41,7 @@
#include "../../module/tool_change.h"
#endif
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
#include "../../libs/least_squares_fit.h"
#endif
@@ -122,7 +122,7 @@ void GcodeSuite::G34() {
break;
}
const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
const float z_auto_align_amplification = TERN(HAS_Z_STEPPER_ALIGN_STEPPER_XY, 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;
@@ -179,7 +179,7 @@ void GcodeSuite::G34() {
// 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)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
#else
float last_z_align_level_indicator = 10000.0f;
@@ -188,7 +188,7 @@ void GcodeSuite::G34() {
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
bool adjustment_reverse = false;
#endif
@@ -256,7 +256,7 @@ void GcodeSuite::G34() {
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)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
// 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.
@@ -338,7 +338,7 @@ void GcodeSuite::G34() {
return false;
};
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
// 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.
@@ -370,7 +370,7 @@ void GcodeSuite::G34() {
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)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
// 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;
@@ -394,7 +394,7 @@ void GcodeSuite::G34() {
// Lock all steppers except one
stepper.set_all_z_lock(true, zstepper);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
// 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) {
@@ -467,7 +467,7 @@ void GcodeSuite::G34() {
*
* S<index> : Index of the probe point to set
*
* With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS:
* With Z_STEPPER_ALIGN_STEPPER_XY:
* W<index> : Index of the Z stepper position to set
* The W and S parameters may not be combined.
*
@@ -488,18 +488,18 @@ void GcodeSuite::M422() {
const bool is_probe_point = parser.seen('S');
if (TERN0(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, is_probe_point && parser.seen('W'))) {
if (TERN0(HAS_Z_STEPPER_ALIGN_STEPPER_XY, is_probe_point && parser.seen('W'))) {
SERIAL_ECHOLNPGM("?(S) and (W) may not be combined.");
return;
}
xy_pos_t *pos_dest = (
TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !is_probe_point ? z_stepper_align.stepper_xy :)
TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !is_probe_point ? z_stepper_align.stepper_xy :)
z_stepper_align.xy
);
if (!is_probe_point && TERN1(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !parser.seen('W'))) {
SERIAL_ECHOLNPGM("?(S)" TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, " or (W)") " is required.");
if (!is_probe_point && TERN1(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !parser.seen('W'))) {
SERIAL_ECHOLNPGM("?(S)" TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, " or (W)") " is required.");
return;
}
@@ -513,7 +513,7 @@ void GcodeSuite::M422() {
}
}
else {
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
position_index = parser.intval('W') - 1;
if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) {
SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid.");
@@ -551,7 +551,7 @@ void GcodeSuite::M422_report(const bool forReplay/*=true*/) {
SP_Y_STR, z_stepper_align.xy[i].y
);
}
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
report_echo_start(forReplay);
SERIAL_ECHOLNPGM_P(