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⚡️ Improve Sensorless homing/probing accuracy for G28, G33, M48 (#24220)

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Co-Authored-By: Robby Candra <robbycandra.mail@gmail.com>
Co-Authored-By: ellensp <530024+ellensp@users.noreply.github.com>
This commit is contained in:
lujios
2022-06-03 07:19:25 +02:00
committed by Scott Lahteine
parent 0253500ccd
commit fcef8d946c
12 changed files with 212 additions and 77 deletions
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6
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -321,6 +321,9 @@ void GcodeSuite::G28() {
stepperK.rms_current(K_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
#endif
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
@ -542,6 +545,9 @@ void GcodeSuite::G28() {
#if HAS_CURRENT_HOME(K)
stepperK.rms_current(tmc_save_current_K);
#endif
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif // HAS_HOMING_CURRENT
ui.refresh();

47
Marlin/src/gcode/calibrate/G33.cpp
View File

@ -71,9 +71,9 @@ float lcd_probe_pt(const xy_pos_t &xy);
void ac_home() {
endstops.enable(true);
TERN_(HAS_DELTA_SENSORLESS_PROBING, probe.set_homing_current(true));
TERN_(SENSORLESS_HOMING, endstops.set_homing_current(true));
home_delta();
TERN_(HAS_DELTA_SENSORLESS_PROBING, probe.set_homing_current(false));
TERN_(SENSORLESS_HOMING, endstops.set_homing_current(false));
endstops.not_homing();
}
@ -390,6 +390,8 @@ static float auto_tune_a(const float dcr) {
* X Don't activate stallguard on X.
* Y Don't activate stallguard on Y.
* Z Don't activate stallguard on Z.
*
* S Save offset_sensorless_adj
*/
void GcodeSuite::G33() {
@ -411,7 +413,8 @@ void GcodeSuite::G33() {
dcr -= probe_at_offset ? _MAX(total_offset, PROBING_MARGIN) : total_offset;
#endif
NOMORE(dcr, DELTA_PRINTABLE_RADIUS);
if (parser.seenval('R')) dcr -= _MAX(parser.value_float(),0);
if (parser.seenval('R')) dcr -= _MAX(parser.value_float(), 0.0f);
TERN_(HAS_DELTA_SENSORLESS_PROBING, dcr *= sensorless_radius_factor);
const float calibration_precision = parser.floatval('C', 0.0f);
if (calibration_precision < 0) {
@ -434,9 +437,8 @@ void GcodeSuite::G33() {
const bool stow_after_each = parser.seen_test('E');
#if HAS_DELTA_SENSORLESS_PROBING
probe.test_sensitivity.x = !parser.seen_test('X');
TERN_(HAS_Y_AXIS, probe.test_sensitivity.y = !parser.seen_test('Y'));
TERN_(HAS_Z_AXIS, probe.test_sensitivity.z = !parser.seen_test('Z'));
probe.test_sensitivity.set(!parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z'));
const bool do_save_offset_adj = parser.seen_test('S');
#endif
const bool _0p_calibration = probe_points == 0,
@ -475,6 +477,25 @@ void GcodeSuite::G33() {
if (!_0p_calibration) ac_home();
#if HAS_DELTA_SENSORLESS_PROBING
if (verbose_level > 0 && do_save_offset_adj) {
offset_sensorless_adj.reset();
auto caltower = [&](Probe::sense_bool_t s){
float z_at_pt[NPP + 1];
LOOP_CAL_ALL(rad) z_at_pt[rad] = 0.0f;
probe.test_sensitivity = s;
if (probe_calibration_points(z_at_pt, 1, dcr, false, false, probe_at_offset))
probe.set_offset_sensorless_adj(z_at_pt[CEN]);
};
caltower({ true, false, false }); // A
caltower({ false, true, false }); // B
caltower({ false, false, true }); // C
probe.test_sensitivity = { true, true, true }; // reset to all
}
#endif
do { // start iterations
float z_at_pt[NPP + 1] = { 0.0f };
@ -598,8 +619,17 @@ void GcodeSuite::G33() {
// print report
if (verbose_level == 3 || verbose_level == 0)
if (verbose_level == 3 || verbose_level == 0) {
print_calibration_results(z_at_pt, _tower_results, _opposite_results);
#if HAS_DELTA_SENSORLESS_PROBING
if (verbose_level == 0 && probe_points == 1) {
if (do_save_offset_adj)
probe.set_offset_sensorless_adj(z_at_pt[CEN]);
else
probe.refresh_largest_sensorless_adj();
}
#endif
}
if (verbose_level != 0) { // !dry run
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
@ -660,6 +690,9 @@ void GcodeSuite::G33() {
ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index));
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
#if HAS_DELTA_SENSORLESS_PROBING
probe.test_sensitivity = { true, true, true };
#endif
}
#endif // DELTA_AUTO_CALIBRATION