✨ X Twist Compensation & Calibration (#23238)

Marlin/src/lcd/language/language_en.h

@@ -734,6 +734,10 @@ namespace Language_en {
   LSTR MSG_PROBE_WIZARD_PROBING           = _UxGT("Probing Z Reference");
   LSTR MSG_PROBE_WIZARD_MOVING            = _UxGT("Moving to Probing Pos");
 
+  LSTR MSG_XATC                           = _UxGT("X-Twist Wizard");
+  LSTR MSG_XATC_DONE                      = _UxGT("X-Twist Wizard Done!");
+  LSTR MSG_XATC_UPDATE_Z_OFFSET           = _UxGT("Update Probe Z-Offset to ");
+
   LSTR MSG_SOUND                          = _UxGT("Sound");
 
   LSTR MSG_TOP_LEFT                       = _UxGT("Top Left");

Marlin/src/lcd/marlinui.h

@@ -640,7 +640,7 @@ public:
   //
   // Special handling if a move is underway
   //
-  #if ANY(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION, PROBE_OFFSET_WIZARD) || (ENABLED(LCD_BED_LEVELING) && EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
+  #if ANY(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION) || (ENABLED(LCD_BED_LEVELING) && EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
     #define LCD_HAS_WAIT_FOR_MOVE 1
     static bool wait_for_move;
   #else

Marlin/src/lcd/menu/menu.cpp

@@ -38,7 +38,7 @@
   #include "../../module/probe.h"
 #endif
 
-#if EITHER(ENABLE_LEVELING_FADE_HEIGHT, AUTO_BED_LEVELING_UBL)
+#if HAS_LEVELING
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
@@ -46,6 +46,13 @@
 ///////////// Global Variables /////////////
 ////////////////////////////////////////////
 
+#if HAS_LEVELING && ANY(LEVEL_BED_CORNERS, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+  bool leveling_was_active; // = false
+#endif
+#if ANY(PROBE_MANUALLY, MESH_BED_LEVELING, X_AXIS_TWIST_COMPENSATION)
+  uint8_t manual_probe_index; // = 0
+#endif
+
 // Menu Navigation
 int8_t encoderTopLine, encoderLine, screen_items;
 

Marlin/src/lcd/menu/menu.h

@@ -218,6 +218,11 @@ void _lcd_draw_homing();
   void goto_probe_offset_wizard();
 #endif
 
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+  void xatc_wizard_continue();
+  void menu_advanced_settings();
+#endif
+
 #if ENABLED(LCD_BED_LEVELING) || (HAS_LEVELING && DISABLED(SLIM_LCD_MENUS))
   void _lcd_toggle_bed_leveling();
 #endif
@@ -249,3 +254,11 @@ extern uint8_t screen_history_depth;
 inline void clear_menu_history() { screen_history_depth = 0; }
 
 #define STICKY_SCREEN(S) []{ ui.defer_status_screen(); ui.goto_screen(S); }
+
+#if HAS_LEVELING && ANY(LEVEL_BED_CORNERS, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+  extern bool leveling_was_active;
+#endif
+
+#if ANY(PROBE_MANUALLY, MESH_BED_LEVELING, X_AXIS_TWIST_COMPENSATION)
+  extern uint8_t manual_probe_index;
+#endif

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -508,6 +508,10 @@ void menu_backlash();
         SUBMENU(MSG_PROBE_WIZARD, goto_probe_offset_wizard);
       #endif
 
+      #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+        SUBMENU(MSG_XATC, xatc_wizard_continue);
+      #endif
+
       END_MENU();
     }
   #endif

Marlin/src/lcd/menu/menu_bed_corners.cpp

@@ -66,10 +66,6 @@
 
 static_assert(LEVEL_CORNERS_Z_HOP >= 0, "LEVEL_CORNERS_Z_HOP must be >= 0. Please update your configuration.");
 
-#if HAS_LEVELING
-  static bool leveling_was_active = false;
-#endif
-
 #ifndef LEVEL_CORNERS_LEVELING_ORDER
   #define LEVEL_CORNERS_LEVELING_ORDER { LF, RF, LB, RB } // Default
   //#define LEVEL_CORNERS_LEVELING_ORDER { LF, LB, RF  }  // 3 hard-coded points

Marlin/src/lcd/menu/menu_bed_leveling.cpp

@@ -52,8 +52,6 @@
   // Motion > Level Bed handlers
   //
 
-  static uint8_t manual_probe_index;
-
   // LCD probed points are from defaults
   constexpr uint8_t total_probe_points = TERN(AUTO_BED_LEVELING_3POINT, 3, GRID_MAX_POINTS);
 

Marlin/src/lcd/menu/menu_motion.cpp

@@ -134,6 +134,15 @@ void lcd_move_x() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_X), X_AXIS); }
 
 #endif // E_MANUAL
 
+#if EITHER(PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+
+  void _goto_manual_move_z(const_float_t scale) {
+    ui.manual_move.menu_scale = scale;
+    ui.goto_screen(lcd_move_z);
+  }
+
+#endif
+
 //
 // "Motion" > "Move Xmm" > "Move XYZ" submenu
 //

Marlin/src/lcd/menu/menu_probe_offset.cpp

@@ -39,13 +39,11 @@
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
+void _goto_manual_move_z(const_float_t);
+
 // Global storage
 float z_offset_backup, calculated_z_offset, z_offset_ref;
 
-#if HAS_LEVELING
-  bool leveling_was_active;
-#endif
-
 inline void z_clearance_move() {
   do_z_clearance(
     #ifdef Z_AFTER_HOMING
@@ -65,11 +63,6 @@ void set_offset_and_go_back(const_float_t z) {
   ui.goto_previous_screen_no_defer();
 }
 
-void _goto_manual_move_z(const_float_t scale) {
-  ui.manual_move.menu_scale = scale;
-  ui.goto_screen(lcd_move_z);
-}
-
 void probe_offset_wizard_menu() {
   START_MENU();
   calculated_z_offset = probe.offset.z + current_position.z - z_offset_ref;

Marlin/src/lcd/menu/menu_x_twist.cpp

@@ -0,0 +1,224 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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/>.
+ *
+ */
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+
+#include "menu_item.h"
+#include "menu_addon.h"
+#include "../../module/planner.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/motion.h"
+#include "../../gcode/queue.h"
+#include "../../module/probe.h"
+
+#ifndef XATC_Y_POSITION
+  #define XATC_Y_POSITION ((probe.max_y() - probe.min_y())/2)
+#endif
+
+void _goto_manual_move_z(const_float_t);
+
+float measured_z, z_offset;
+
+//
+// Step 9: X Axis Twist Compensation Wizard is finished.
+//
+void xatc_wizard_done() {
+  if (!ui.wait_for_move) {
+    xatc.print_points();
+    set_bed_leveling_enabled(leveling_was_active);
+    SET_SOFT_ENDSTOP_LOOSE(false);
+    ui.goto_screen(menu_advanced_settings);
+  }
+  if (ui.should_draw())
+    MenuItem_static::draw(LCD_HEIGHT >= 4, GET_TEXT(MSG_XATC_DONE));
+  ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
+}
+
+void xatc_wizard_goto_next_point();
+
+//
+// Step 8: Ask the user if he wants to update the z-offset of the probe
+//
+void xatc_wizard_update_z_offset() {
+  MenuItem_confirm::select_screen(
+      GET_TEXT(MSG_YES), GET_TEXT(MSG_NO)
+    , []{
+        probe.offset.z = z_offset;
+        ui.goto_screen(xatc_wizard_done);
+      }
+    , xatc_wizard_done
+    , GET_TEXT(MSG_XATC_UPDATE_Z_OFFSET)
+    , ftostr42_52(z_offset), PSTR("?")
+  );
+}
+
+//
+// Step 7: Set the Z-offset for this point and go to the next one.
+//
+void xatc_wizard_set_offset_and_go_to_next_point() {
+  // Set Z-offset at probed point
+  xatc.z_values[manual_probe_index++] = probe.offset.z + current_position.z - measured_z;
+  // Go to next point
+  ui.goto_screen(xatc_wizard_goto_next_point);
+}
+
+//
+// Step 6: Wizard Menu. Move the nozzle down until it touches the bed.
+//
+void xatc_wizard_menu() {
+  START_MENU();
+  float calculated_z_offset = probe.offset.z + current_position.z - measured_z;
+
+  if (LCD_HEIGHT >= 4)
+    STATIC_ITEM(MSG_MOVE_NOZZLE_TO_BED, SS_CENTER|SS_INVERT);
+
+  STATIC_ITEM_P(PSTR("Z="), SS_CENTER, ftostr42_52(current_position.z));
+  STATIC_ITEM(MSG_ZPROBE_ZOFFSET, SS_LEFT, ftostr42_52(calculated_z_offset));
+
+  SUBMENU(MSG_MOVE_1MM,  []{ _goto_manual_move_z( 1);    });
+  SUBMENU(MSG_MOVE_01MM, []{ _goto_manual_move_z( 0.1f); });
+
+  if ((FINE_MANUAL_MOVE) > 0.0f && (FINE_MANUAL_MOVE) < 0.1f) {
+    char tmp[20], numstr[10];
+    // Determine digits needed right of decimal
+    const uint8_t digs = !UNEAR_ZERO((FINE_MANUAL_MOVE) * 1000 - int((FINE_MANUAL_MOVE) * 1000)) ? 4 :
+                         !UNEAR_ZERO((FINE_MANUAL_MOVE) *  100 - int((FINE_MANUAL_MOVE) *  100)) ? 3 : 2;
+    sprintf_P(tmp, GET_TEXT(MSG_MOVE_N_MM), dtostrf(FINE_MANUAL_MOVE, 1, digs, numstr));
+    #if DISABLED(HAS_GRAPHICAL_TFT)
+      SUBMENU_P(NUL_STR, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
+      MENU_ITEM_ADDON_START(0 + ENABLED(HAS_MARLINUI_HD44780));
+      lcd_put_u8str(tmp);
+      MENU_ITEM_ADDON_END();
+    #else
+      SUBMENU_P(tmp, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
+    #endif
+  }
+
+  ACTION_ITEM(MSG_BUTTON_DONE, xatc_wizard_set_offset_and_go_to_next_point);
+
+  END_MENU();
+}
+
+//
+// Step 5: Display "Next point: 1 / 9" while waiting for move to finish
+//
+void xatc_wizard_moving() {
+  if (ui.should_draw()) {
+    char msg[10];
+    sprintf_P(msg, PSTR("%i / %u"), manual_probe_index + 1, XATC_MAX_POINTS);
+    MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_LEVEL_BED_NEXT_POINT), msg);
+  }
+  ui.refresh(LCDVIEW_CALL_NO_REDRAW);
+  if (!ui.wait_for_move) ui.goto_screen(xatc_wizard_menu);
+}
+
+//
+// Step 4: Initiate a move to the next point
+//
+void xatc_wizard_goto_next_point() {
+  if (manual_probe_index < XATC_MAX_POINTS) {
+
+    const float x = xatc.start + manual_probe_index * xatc.spacing;
+
+    // Avoid probing outside the round or hexagonal area
+    if (!TERN0(IS_KINEMATIC, !probe.can_reach(x, XATC_Y_POSITION))) {
+      ui.wait_for_move = true;
+      ui.goto_screen(xatc_wizard_moving);
+
+      // Deploy certain probes before starting probing
+      TERN_(BLTOUCH, do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE));
+
+      measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
+      current_position += probe.offset_xy;
+      current_position.z = XATC_START_Z - probe.offset.z + measured_z;
+      line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));
+      ui.wait_for_move = false;
+    }
+    else
+      manual_probe_index++; // Go to next point
+  }
+  else {
+    // Compute the z-offset by averaging the values found with this wizard
+    z_offset = 0;
+    LOOP_L_N(i, XATC_MAX_POINTS) z_offset += xatc.z_values[i];
+    z_offset /= XATC_MAX_POINTS;
+
+    // Subtract the average from the values found with this wizard.
+    // This way they are indipendent from the z-offset
+    LOOP_L_N(i, XATC_MAX_POINTS) xatc.z_values[i] -= z_offset;
+
+    ui.goto_screen(xatc_wizard_update_z_offset);
+  }
+}
+
+//
+// Step 3: Display "Click to Begin", wait for click
+//         Move to the first probe position
+//
+void xatc_wizard_homing_done() {
+  if (ui.should_draw()) {
+    MenuItem_static::draw(1, GET_TEXT(MSG_LEVEL_BED_WAITING));
+
+    // Color UI needs a control to detect a touch
+    #if BOTH(TOUCH_SCREEN, HAS_GRAPHICAL_TFT)
+      touch.add_control(CLICK, 0, 0, TFT_WIDTH, TFT_HEIGHT);
+    #endif
+  }
+
+  if (ui.use_click()) {
+    xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
+    xatc.start = probe.min_x();
+
+    SET_SOFT_ENDSTOP_LOOSE(true); // Disable soft endstops for free Z movement
+
+    ui.goto_screen(xatc_wizard_goto_next_point);
+  }
+}
+
+//
+// Step 2: Display "Homing XYZ" - Wait for homing to finish
+//
+void xatc_wizard_homing() {
+  _lcd_draw_homing();
+  if (all_axes_homed())
+    ui.goto_screen(xatc_wizard_homing_done);
+}
+
+//
+// Step 1: Prepare for the wizard...
+//
+void xatc_wizard_continue() {
+  // Store Bed-Leveling-State and disable
+  #if HAS_LEVELING
+    leveling_was_active = planner.leveling_active;
+    set_bed_leveling_enabled(false);
+  #endif
+
+  // Home all axes
+  ui.defer_status_screen();
+  set_all_unhomed();
+  ui.goto_screen(xatc_wizard_homing);
+  queue.inject_P(G28_STR);
+}
+
+#endif // X_AXIS_TWIST_COMPENSATION