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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 "../../MarlinCore.h"
-
- #if ENABLED(CALIBRATION_GCODE)
-
- #include "../gcode.h"
-
- #if ENABLED(BACKLASH_GCODE)
- #include "../../feature/backlash.h"
- #endif
-
- #include "../../lcd/marlinui.h"
- #include "../../module/motion.h"
- #include "../../module/planner.h"
- #include "../../module/tool_change.h"
- #include "../../module/endstops.h"
- #include "../../feature/bedlevel/bedlevel.h"
-
- #if !AXIS_CAN_CALIBRATE(X)
- #undef CALIBRATION_MEASURE_LEFT
- #undef CALIBRATION_MEASURE_RIGHT
- #endif
-
- #if !AXIS_CAN_CALIBRATE(Y)
- #undef CALIBRATION_MEASURE_FRONT
- #undef CALIBRATION_MEASURE_BACK
- #endif
-
- #if !AXIS_CAN_CALIBRATE(Z)
- #undef CALIBRATION_MEASURE_AT_TOP_EDGES
- #endif
-
- /**
- * G425 backs away from the calibration object by various distances
- * depending on the confidence level:
- *
- * UNKNOWN - No real notion on where the calibration object is on the bed
- * UNCERTAIN - Measurement may be uncertain due to backlash
- * CERTAIN - Measurement obtained with backlash compensation
- */
-
- #ifndef CALIBRATION_MEASUREMENT_UNKNOWN
- #define CALIBRATION_MEASUREMENT_UNKNOWN 5.0 // mm
- #endif
- #ifndef CALIBRATION_MEASUREMENT_UNCERTAIN
- #define CALIBRATION_MEASUREMENT_UNCERTAIN 1.0 // mm
- #endif
- #ifndef CALIBRATION_MEASUREMENT_CERTAIN
- #define CALIBRATION_MEASUREMENT_CERTAIN 0.5 // mm
- #endif
-
- #if BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT)
- #define HAS_X_CENTER 1
- #endif
- #if ALL(HAS_Y_AXIS, CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK)
- #define HAS_Y_CENTER 1
- #endif
- #if ALL(HAS_I_AXIS, CALIBRATION_MEASURE_IMIN, CALIBRATION_MEASURE_IMAX)
- #define HAS_I_CENTER 1
- #endif
- #if ALL(HAS_J_AXIS, CALIBRATION_MEASURE_JMIN, CALIBRATION_MEASURE_JMAX)
- #define HAS_J_CENTER 1
- #endif
- #if ALL(HAS_K_AXIS, CALIBRATION_MEASURE_KMIN, CALIBRATION_MEASURE_KMAX)
- #define HAS_K_CENTER 1
- #endif
- #if ALL(HAS_U_AXIS, CALIBRATION_MEASURE_UMIN, CALIBRATION_MEASURE_UMAX)
- #define HAS_U_CENTER 1
- #endif
- #if ALL(HAS_V_AXIS, CALIBRATION_MEASURE_VMIN, CALIBRATION_MEASURE_VMAX)
- #define HAS_V_CENTER 1
- #endif
- #if ALL(HAS_W_AXIS, CALIBRATION_MEASURE_WMIN, CALIBRATION_MEASURE_WMAX)
- #define HAS_W_CENTER 1
- #endif
-
- enum side_t : uint8_t {
- TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES,
- LIST_N(DOUBLE(SECONDARY_AXES), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM, UMINIMUM, UMAXIMUM, VMINIMUM, VMAXIMUM, WMINIMUM, WMAXIMUM)
- };
-
- static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
- static constexpr xyz_float_t dimensions CALIBRATION_OBJECT_DIMENSIONS;
- static constexpr xy_float_t nod = { CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER };
-
- struct measurements_t {
- xyz_pos_t obj_center = true_center; // Non-static must be assigned from xyz_pos_t
-
- float obj_side[NUM_SIDES], backlash[NUM_SIDES];
- xyz_float_t pos_error;
-
- xy_float_t nozzle_outer_dimension = nod;
- };
-
- #if ENABLED(BACKLASH_GCODE)
- class restorer_correction {
- const uint8_t val_;
- public:
- restorer_correction(const uint8_t temp_val) : val_(backlash.get_correction_uint8()) { backlash.set_correction_uint8(temp_val); }
- ~restorer_correction() { backlash.set_correction_uint8(val_); }
- };
-
- #define TEMPORARY_BACKLASH_CORRECTION(value) restorer_correction restorer_tbst(value)
- #else
- #define TEMPORARY_BACKLASH_CORRECTION(value)
- #endif
-
- #if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
- class restorer_smoothing {
- const float val_;
- public:
- restorer_smoothing(const float temp_val) : val_(backlash.get_smoothing_mm()) { backlash.set_smoothing_mm(temp_val); }
- ~restorer_smoothing() { backlash.set_smoothing_mm(val_); }
- };
-
- #define TEMPORARY_BACKLASH_SMOOTHING(value) restorer_smoothing restorer_tbsm(value)
- #else
- #define TEMPORARY_BACKLASH_SMOOTHING(value)
- #endif
-
- inline void calibration_move() {
- do_blocking_move_to((xyz_pos_t)current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
- }
-
- /**
- * Move to the exact center above the calibration object
- *
- * m in - Measurement record
- * uncertainty in - How far away from the object top to park
- */
- inline void park_above_object(measurements_t &m, const float uncertainty) {
- // Move to safe distance above calibration object
- current_position.z = m.obj_center.z + dimensions.z / 2 + uncertainty;
- calibration_move();
-
- // Move to center of calibration object in XY
- current_position = xy_pos_t(m.obj_center);
- calibration_move();
- }
-
- #if HAS_MULTI_HOTEND
- inline void set_nozzle(measurements_t &m, const uint8_t extruder) {
- if (extruder != active_extruder) {
- park_above_object(m, CALIBRATION_MEASUREMENT_UNKNOWN);
- tool_change(extruder);
- }
- }
- #endif
-
- #if HAS_HOTEND_OFFSET
-
- inline void normalize_hotend_offsets() {
- LOOP_S_L_N(e, 1, HOTENDS)
- hotend_offset[e] -= hotend_offset[0];
- hotend_offset[0].reset();
- }
-
- #endif
-
- #if !PIN_EXISTS(CALIBRATION)
- #include "../../module/probe.h"
- #endif
-
- inline bool read_calibration_pin() {
- return (
- #if PIN_EXISTS(CALIBRATION)
- READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING
- #else
- PROBE_TRIGGERED()
- #endif
- );
- }
-
- /**
- * Move along axis in the specified dir until the probe value becomes stop_state,
- * then return the axis value.
- *
- * axis in - Axis along which the measurement will take place
- * dir in - Direction along that axis (-1 or 1)
- * stop_state in - Move until probe pin becomes this value
- * fast in - Fast vs. precise measurement
- */
- float measuring_movement(const AxisEnum axis, const int dir, const bool stop_state, const bool fast) {
- const float step = fast ? 0.25 : CALIBRATION_MEASUREMENT_RESOLUTION;
- const feedRate_t mms = fast ? MMM_TO_MMS(CALIBRATION_FEEDRATE_FAST) : MMM_TO_MMS(CALIBRATION_FEEDRATE_SLOW);
- const float limit = fast ? 50 : 5;
-
- destination = current_position;
- for (float travel = 0; travel < limit; travel += step) {
- destination[axis] += dir * step;
- do_blocking_move_to((xyz_pos_t)destination, mms);
- planner.synchronize();
- if (read_calibration_pin() == stop_state) break;
- }
- return destination[axis];
- }
-
- /**
- * Move along axis until the probe is triggered. Move toolhead to its starting
- * point and return the measured value.
- *
- * axis in - Axis along which the measurement will take place
- * dir in - Direction along that axis (-1 or 1)
- * stop_state in - Move until probe pin becomes this value
- * backlash_ptr in/out - When not nullptr, measure and record axis backlash
- * uncertainty in - If uncertainty is CALIBRATION_MEASUREMENT_UNKNOWN, do a fast probe.
- */
- inline float measure(const AxisEnum axis, const int dir, const bool stop_state, float * const backlash_ptr, const float uncertainty) {
- const bool fast = uncertainty == CALIBRATION_MEASUREMENT_UNKNOWN;
-
- // Save the current position of the specified axis
- const float start_pos = current_position[axis];
-
- // Take a measurement. Only the specified axis will be affected.
- const float measured_pos = measuring_movement(axis, dir, stop_state, fast);
-
- // Measure backlash
- if (backlash_ptr && !fast) {
- const float release_pos = measuring_movement(axis, -dir, !stop_state, fast);
- *backlash_ptr = ABS(release_pos - measured_pos);
- }
-
- // Move back to the starting position
- destination = current_position;
- destination[axis] = start_pos;
- do_blocking_move_to((xyz_pos_t)destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
- return measured_pos;
- }
-
- /**
- * Probe one side of the calibration object
- *
- * m in/out - Measurement record, m.obj_center and m.obj_side will be updated.
- * uncertainty in - How far away from the calibration object to begin probing
- * side in - Side of probe where probe will occur
- * probe_top_at_edge in - When probing sides, probe top of calibration object nearest edge
- * to find out height of edge
- */
- inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
- const xyz_float_t dimensions = CALIBRATION_OBJECT_DIMENSIONS;
- AxisEnum axis;
- float dir = 1;
-
- park_above_object(m, uncertainty);
-
- #define _ACASE(N,A,B) case A: dir = -1; case B: axis = N##_AXIS; break
- #define _PCASE(N) _ACASE(N, N##MINIMUM, N##MAXIMUM)
-
- switch (side) {
- #if AXIS_CAN_CALIBRATE(X)
- _ACASE(X, RIGHT, LEFT);
- #endif
- #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y)
- _ACASE(Y, BACK, FRONT);
- #endif
- #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
- case TOP: {
- const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
- m.obj_center.z = measurement - dimensions.z / 2;
- m.obj_side[TOP] = measurement;
- return;
- }
- #endif
- #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I)
- _PCASE(I);
- #endif
- #if HAS_J_AXIS && AXIS_CAN_CALIBRATE(J)
- _PCASE(J);
- #endif
- #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K)
- _PCASE(K);
- #endif
- #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
- _PCASE(U);
- #endif
- #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
- _PCASE(V);
- #endif
- #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
- _PCASE(W);
- #endif
- default: return;
- }
-
- if (probe_top_at_edge) {
- #if AXIS_CAN_CALIBRATE(Z)
- // Probe top nearest the side we are probing
- current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
- calibration_move();
- m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
- m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
- #endif
- }
-
- if ((AXIS_CAN_CALIBRATE(X) && axis == X_AXIS) || (AXIS_CAN_CALIBRATE(Y) && axis == Y_AXIS)) {
- // Move to safe distance to the side of the calibration object
- current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
- calibration_move();
-
- // Plunge below the side of the calibration object and measure
- current_position.z = m.obj_side[TOP] - (CALIBRATION_NOZZLE_TIP_HEIGHT) * 0.7f;
- calibration_move();
- const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
- m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
- m.obj_side[side] = measurement;
- }
- }
-
- /**
- * Probe all sides of the calibration calibration object
- *
- * m in/out - Measurement record: center, backlash and error values be updated.
- * uncertainty in - How far away from the calibration object to begin probing
- */
- inline void probe_sides(measurements_t &m, const float uncertainty) {
- #if ENABLED(CALIBRATION_MEASURE_AT_TOP_EDGES)
- constexpr bool probe_top_at_edge = true;
- #else
- // Probing at the exact center only works if the center is flat. Probing on a washer
- // or bolt will require probing the top near the side edges, away from the center.
- constexpr bool probe_top_at_edge = false;
- probe_side(m, uncertainty, TOP);
- #endif
-
- TERN_(CALIBRATION_MEASURE_RIGHT, probe_side(m, uncertainty, RIGHT, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_FRONT, probe_side(m, uncertainty, FRONT, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_LEFT, probe_side(m, uncertainty, LEFT, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_BACK, probe_side(m, uncertainty, BACK, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_IMIN, probe_side(m, uncertainty, IMINIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_IMAX, probe_side(m, uncertainty, IMAXIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_JMIN, probe_side(m, uncertainty, JMINIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_JMAX, probe_side(m, uncertainty, JMAXIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_KMIN, probe_side(m, uncertainty, KMINIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_KMAX, probe_side(m, uncertainty, KMAXIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_UMIN, probe_side(m, uncertainty, UMINIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_UMAX, probe_side(m, uncertainty, UMAXIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_VMIN, probe_side(m, uncertainty, VMINIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_VMAX, probe_side(m, uncertainty, VMAXIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_WMIN, probe_side(m, uncertainty, WMINIMUM, probe_top_at_edge));
- TERN_(CALIBRATION_MEASURE_WMAX, probe_side(m, uncertainty, WMAXIMUM, probe_top_at_edge));
-
- // Compute the measured center of the calibration object.
- TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2);
- TERN_(HAS_Y_CENTER, m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2);
- TERN_(HAS_I_CENTER, m.obj_center.i = (m.obj_side[IMINIMUM] + m.obj_side[IMAXIMUM]) / 2);
- TERN_(HAS_J_CENTER, m.obj_center.j = (m.obj_side[JMINIMUM] + m.obj_side[JMAXIMUM]) / 2);
- TERN_(HAS_K_CENTER, m.obj_center.k = (m.obj_side[KMINIMUM] + m.obj_side[KMAXIMUM]) / 2);
- TERN_(HAS_U_CENTER, m.obj_center.u = (m.obj_side[UMINIMUM] + m.obj_side[UMAXIMUM]) / 2);
- TERN_(HAS_V_CENTER, m.obj_center.v = (m.obj_side[VMINIMUM] + m.obj_side[VMAXIMUM]) / 2);
- TERN_(HAS_W_CENTER, m.obj_center.w = (m.obj_side[WMINIMUM] + m.obj_side[WMAXIMUM]) / 2);
-
- // Compute the outside diameter of the nozzle at the height
- // at which it makes contact with the calibration object
- TERN_(HAS_X_CENTER, m.nozzle_outer_dimension.x = m.obj_side[RIGHT] - m.obj_side[LEFT] - dimensions.x);
- TERN_(HAS_Y_CENTER, m.nozzle_outer_dimension.y = m.obj_side[BACK] - m.obj_side[FRONT] - dimensions.y);
-
- park_above_object(m, uncertainty);
-
- // The difference between the known and the measured location
- // of the calibration object is the positional error
- NUM_AXIS_CODE(
- m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x),
- m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y),
- m.pos_error.z = true_center.z - m.obj_center.z,
- m.pos_error.i = TERN0(HAS_I_CENTER, true_center.i - m.obj_center.i),
- m.pos_error.j = TERN0(HAS_J_CENTER, true_center.j - m.obj_center.j),
- m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k),
- m.pos_error.u = TERN0(HAS_U_CENTER, true_center.u - m.obj_center.u),
- m.pos_error.v = TERN0(HAS_V_CENTER, true_center.v - m.obj_center.v),
- m.pos_error.w = TERN0(HAS_W_CENTER, true_center.w - m.obj_center.w)
- );
- }
-
- #if ENABLED(CALIBRATION_REPORTING)
- inline void report_measured_faces(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Sides:");
- #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
- SERIAL_ECHOLNPGM(" Top: ", m.obj_side[TOP]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_LEFT)
- SERIAL_ECHOLNPGM(" Left: ", m.obj_side[LEFT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_RIGHT)
- SERIAL_ECHOLNPGM(" Right: ", m.obj_side[RIGHT]);
- #endif
- #if HAS_Y_AXIS
- #if ENABLED(CALIBRATION_MEASURE_FRONT)
- SERIAL_ECHOLNPGM(" Front: ", m.obj_side[FRONT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_BACK)
- SERIAL_ECHOLNPGM(" Back: ", m.obj_side[BACK]);
- #endif
- #endif
- #if HAS_I_AXIS
- #if ENABLED(CALIBRATION_MEASURE_IMIN)
- SERIAL_ECHOLNPGM(" " STR_I_MIN ": ", m.obj_side[IMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_IMAX)
- SERIAL_ECHOLNPGM(" " STR_I_MAX ": ", m.obj_side[IMAXIMUM]);
- #endif
- #endif
- #if HAS_J_AXIS
- #if ENABLED(CALIBRATION_MEASURE_JMIN)
- SERIAL_ECHOLNPGM(" " STR_J_MIN ": ", m.obj_side[JMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_JMAX)
- SERIAL_ECHOLNPGM(" " STR_J_MAX ": ", m.obj_side[JMAXIMUM]);
- #endif
- #endif
- #if HAS_K_AXIS
- #if ENABLED(CALIBRATION_MEASURE_KMIN)
- SERIAL_ECHOLNPGM(" " STR_K_MIN ": ", m.obj_side[KMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_KMAX)
- SERIAL_ECHOLNPGM(" " STR_K_MAX ": ", m.obj_side[KMAXIMUM]);
- #endif
- #endif
- #if HAS_U_AXIS
- #if ENABLED(CALIBRATION_MEASURE_UMIN)
- SERIAL_ECHOLNPGM(" " STR_U_MIN ": ", m.obj_side[UMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_UMAX)
- SERIAL_ECHOLNPGM(" " STR_U_MAX ": ", m.obj_side[UMAXIMUM]);
- #endif
- #endif
- #if HAS_V_AXIS
- #if ENABLED(CALIBRATION_MEASURE_VMIN)
- SERIAL_ECHOLNPGM(" " STR_V_MIN ": ", m.obj_side[VMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_VMAX)
- SERIAL_ECHOLNPGM(" " STR_V_MAX ": ", m.obj_side[VMAXIMUM]);
- #endif
- #endif
- #if HAS_W_AXIS
- #if ENABLED(CALIBRATION_MEASURE_WMIN)
- SERIAL_ECHOLNPGM(" " STR_W_MIN ": ", m.obj_side[WMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_WMAX)
- SERIAL_ECHOLNPGM(" " STR_W_MAX ": ", m.obj_side[WMAXIMUM]);
- #endif
- #endif
- SERIAL_EOL();
- }
-
- inline void report_measured_center(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Center:");
- #if HAS_X_CENTER
- SERIAL_ECHOLNPGM_P(SP_X_STR, m.obj_center.x);
- #endif
- #if HAS_Y_CENTER
- SERIAL_ECHOLNPGM_P(SP_Y_STR, m.obj_center.y);
- #endif
- SERIAL_ECHOLNPGM_P(SP_Z_STR, m.obj_center.z);
- #if HAS_I_CENTER
- SERIAL_ECHOLNPGM_P(SP_I_STR, m.obj_center.i);
- #endif
- #if HAS_J_CENTER
- SERIAL_ECHOLNPGM_P(SP_J_STR, m.obj_center.j);
- #endif
- #if HAS_K_CENTER
- SERIAL_ECHOLNPGM_P(SP_K_STR, m.obj_center.k);
- #endif
- #if HAS_U_CENTER
- SERIAL_ECHOLNPGM_P(SP_U_STR, m.obj_center.u);
- #endif
- #if HAS_V_CENTER
- SERIAL_ECHOLNPGM_P(SP_V_STR, m.obj_center.v);
- #endif
- #if HAS_W_CENTER
- SERIAL_ECHOLNPGM_P(SP_W_STR, m.obj_center.w);
- #endif
- SERIAL_EOL();
- }
-
- inline void report_measured_backlash(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Backlash:");
- #if AXIS_CAN_CALIBRATE(X)
- #if ENABLED(CALIBRATION_MEASURE_LEFT)
- SERIAL_ECHOLNPGM(" Left: ", m.backlash[LEFT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_RIGHT)
- SERIAL_ECHOLNPGM(" Right: ", m.backlash[RIGHT]);
- #endif
- #endif
- #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y)
- #if ENABLED(CALIBRATION_MEASURE_FRONT)
- SERIAL_ECHOLNPGM(" Front: ", m.backlash[FRONT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_BACK)
- SERIAL_ECHOLNPGM(" Back: ", m.backlash[BACK]);
- #endif
- #endif
- #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
- SERIAL_ECHOLNPGM(" Top: ", m.backlash[TOP]);
- #endif
- #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I)
- #if ENABLED(CALIBRATION_MEASURE_IMIN)
- SERIAL_ECHOLNPGM(" " STR_I_MIN ": ", m.backlash[IMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_IMAX)
- SERIAL_ECHOLNPGM(" " STR_I_MAX ": ", m.backlash[IMAXIMUM]);
- #endif
- #endif
- #if HAS_J_AXIS && AXIS_CAN_CALIBRATE(J)
- #if ENABLED(CALIBRATION_MEASURE_JMIN)
- SERIAL_ECHOLNPGM(" " STR_J_MIN ": ", m.backlash[JMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_JMAX)
- SERIAL_ECHOLNPGM(" " STR_J_MAX ": ", m.backlash[JMAXIMUM]);
- #endif
- #endif
- #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K)
- #if ENABLED(CALIBRATION_MEASURE_KMIN)
- SERIAL_ECHOLNPGM(" " STR_K_MIN ": ", m.backlash[KMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_KMAX)
- SERIAL_ECHOLNPGM(" " STR_K_MAX ": ", m.backlash[KMAXIMUM]);
- #endif
- #endif
- #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
- #if ENABLED(CALIBRATION_MEASURE_UMIN)
- SERIAL_ECHOLNPGM(" " STR_U_MIN ": ", m.backlash[UMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_UMAX)
- SERIAL_ECHOLNPGM(" " STR_U_MAX ": ", m.backlash[UMAXIMUM]);
- #endif
- #endif
- #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
- #if ENABLED(CALIBRATION_MEASURE_VMIN)
- SERIAL_ECHOLNPGM(" " STR_V_MIN ": ", m.backlash[VMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_VMAX)
- SERIAL_ECHOLNPGM(" " STR_V_MAX ": ", m.backlash[VMAXIMUM]);
- #endif
- #endif
- #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
- #if ENABLED(CALIBRATION_MEASURE_WMIN)
- SERIAL_ECHOLNPGM(" " STR_W_MIN ": ", m.backlash[WMINIMUM]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_WMAX)
- SERIAL_ECHOLNPGM(" " STR_W_MAX ": ", m.backlash[WMAXIMUM]);
- #endif
- #endif
- SERIAL_EOL();
- }
-
- inline void report_measured_positional_error(const measurements_t &m) {
- SERIAL_CHAR('T');
- SERIAL_ECHO(active_extruder);
- SERIAL_ECHOLNPGM(" Positional Error:");
- #if HAS_X_CENTER && AXIS_CAN_CALIBRATE(X)
- SERIAL_ECHOLNPGM_P(SP_X_STR, m.pos_error.x);
- #endif
- #if HAS_Y_CENTER && AXIS_CAN_CALIBRATE(Y)
- SERIAL_ECHOLNPGM_P(SP_Y_STR, m.pos_error.y);
- #endif
- #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
- SERIAL_ECHOLNPGM_P(SP_Z_STR, m.pos_error.z);
- #endif
- #if HAS_I_CENTER && AXIS_CAN_CALIBRATE(I)
- SERIAL_ECHOLNPGM_P(SP_I_STR, m.pos_error.i);
- #endif
- #if HAS_J_CENTER && AXIS_CAN_CALIBRATE(J)
- SERIAL_ECHOLNPGM_P(SP_J_STR, m.pos_error.j);
- #endif
- #if HAS_K_CENTER && AXIS_CAN_CALIBRATE(K)
- SERIAL_ECHOLNPGM_P(SP_K_STR, m.pos_error.k);
- #endif
- #if HAS_U_CENTER && AXIS_CAN_CALIBRATE(U)
- SERIAL_ECHOLNPGM_P(SP_U_STR, m.pos_error.u);
- #endif
- #if HAS_V_CENTER && AXIS_CAN_CALIBRATE(V)
- SERIAL_ECHOLNPGM_P(SP_V_STR, m.pos_error.v);
- #endif
- #if HAS_W_CENTER && AXIS_CAN_CALIBRATE(W)
- SERIAL_ECHOLNPGM_P(SP_W_STR, m.pos_error.w);
- #endif
- SERIAL_EOL();
- }
-
- inline void report_measured_nozzle_dimensions(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
- #if HAS_X_CENTER
- SERIAL_ECHOLNPGM_P(SP_X_STR, m.nozzle_outer_dimension.x);
- #endif
- #if HAS_Y_CENTER
- SERIAL_ECHOLNPGM_P(SP_Y_STR, m.nozzle_outer_dimension.y);
- #endif
- SERIAL_EOL();
- UNUSED(m);
- }
-
- #if HAS_HOTEND_OFFSET
- //
- // This function requires normalize_hotend_offsets() to be called
- //
- inline void report_hotend_offsets() {
- LOOP_S_L_N(e, 1, HOTENDS)
- SERIAL_ECHOLNPGM_P(PSTR("T"), e, PSTR(" Hotend Offset X"), hotend_offset[e].x, SP_Y_STR, hotend_offset[e].y, SP_Z_STR, hotend_offset[e].z);
- }
- #endif
-
- #endif // CALIBRATION_REPORTING
-
- /**
- * Probe around the calibration object to measure backlash
- *
- * m in/out - Measurement record, updated with new readings
- * uncertainty in - How far away from the object to begin probing
- */
- inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
- // Backlash compensation should be off while measuring backlash
-
- {
- // New scope for TEMPORARY_BACKLASH_CORRECTION
- TEMPORARY_BACKLASH_CORRECTION(backlash.all_off);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- probe_sides(m, uncertainty);
-
- #if ENABLED(BACKLASH_GCODE)
-
- #if HAS_X_CENTER
- backlash.set_distance_mm(X_AXIS, (m.backlash[LEFT] + m.backlash[RIGHT]) / 2);
- #elif ENABLED(CALIBRATION_MEASURE_LEFT)
- backlash.set_distance_mm(X_AXIS, m.backlash[LEFT]);
- #elif ENABLED(CALIBRATION_MEASURE_RIGHT)
- backlash.set_distance_mm(X_AXIS, m.backlash[RIGHT]);
- #endif
-
- #if HAS_Y_CENTER
- backlash.set_distance_mm(Y_AXIS, (m.backlash[FRONT] + m.backlash[BACK]) / 2);
- #elif ENABLED(CALIBRATION_MEASURE_FRONT)
- backlash.set_distance_mm(Y_AXIS, m.backlash[FRONT]);
- #elif ENABLED(CALIBRATION_MEASURE_BACK)
- backlash.set_distance_mm(Y_AXIS, m.backlash[BACK]);
- #endif
-
- TERN_(HAS_Z_AXIS, if (AXIS_CAN_CALIBRATE(Z)) backlash.set_distance_mm(Z_AXIS, m.backlash[TOP]));
-
- #if HAS_I_CENTER
- backlash.set_distance_mm(I_AXIS, (m.backlash[IMINIMUM] + m.backlash[IMAXIMUM]) / 2);
- #elif ENABLED(CALIBRATION_MEASURE_IMIN)
- backlash.set_distance_mm(I_AXIS, m.backlash[IMINIMUM]);
- #elif ENABLED(CALIBRATION_MEASURE_IMAX)
- backlash.set_distance_mm(I_AXIS, m.backlash[IMAXIMUM]);
- #endif
-
- #if HAS_J_CENTER
- backlash.set_distance_mm(J_AXIS, (m.backlash[JMINIMUM] + m.backlash[JMAXIMUM]) / 2);
- #elif ENABLED(CALIBRATION_MEASURE_JMIN)
- backlash.set_distance_mm(J_AXIS, m.backlash[JMINIMUM]);
- #elif ENABLED(CALIBRATION_MEASURE_JMAX)
- backlash.set_distance_mm(J_AXIS, m.backlash[JMAXIMUM]);
- #endif
-
- #if HAS_K_CENTER
- backlash.set_distance_mm(K_AXIS, (m.backlash[KMINIMUM] + m.backlash[KMAXIMUM]) / 2);
- #elif ENABLED(CALIBRATION_MEASURE_KMIN)
- backlash.set_distance_mm(K_AXIS, m.backlash[KMINIMUM]);
- #elif ENABLED(CALIBRATION_MEASURE_KMAX)
- backlash.set_distance_mm(K_AXIS, m.backlash[KMAXIMUM]);
- #endif
-
- #if HAS_U_CENTER
- backlash.distance_mm.u = (m.backlash[UMINIMUM] + m.backlash[UMAXIMUM]) / 2;
- #elif ENABLED(CALIBRATION_MEASURE_UMIN)
- backlash.distance_mm.u = m.backlash[UMINIMUM];
- #elif ENABLED(CALIBRATION_MEASURE_UMAX)
- backlash.distance_mm.u = m.backlash[UMAXIMUM];
- #endif
-
- #if HAS_V_CENTER
- backlash.distance_mm.v = (m.backlash[VMINIMUM] + m.backlash[VMAXIMUM]) / 2;
- #elif ENABLED(CALIBRATION_MEASURE_VMIN)
- backlash.distance_mm.v = m.backlash[VMINIMUM];
- #elif ENABLED(CALIBRATION_MEASURE_UMAX)
- backlash.distance_mm.v = m.backlash[VMAXIMUM];
- #endif
-
- #if HAS_W_CENTER
- backlash.distance_mm.w = (m.backlash[WMINIMUM] + m.backlash[WMAXIMUM]) / 2;
- #elif ENABLED(CALIBRATION_MEASURE_WMIN)
- backlash.distance_mm.w = m.backlash[WMINIMUM];
- #elif ENABLED(CALIBRATION_MEASURE_WMAX)
- backlash.distance_mm.w = m.backlash[WMAXIMUM];
- #endif
-
- #endif // BACKLASH_GCODE
- }
-
- #if ENABLED(BACKLASH_GCODE)
- // Turn on backlash compensation and move in all
- // allowed directions to take up any backlash
- {
- // New scope for TEMPORARY_BACKLASH_CORRECTION
- TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
- const xyz_float_t move = NUM_AXIS_ARRAY(
- AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3,
- AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3,
- AXIS_CAN_CALIBRATE(U) * 3, AXIS_CAN_CALIBRATE(V) * 3, AXIS_CAN_CALIBRATE(W) * 3
- );
- current_position += move; calibration_move();
- current_position -= move; calibration_move();
- }
- #endif
- }
-
- inline void update_measurements(measurements_t &m, const AxisEnum axis) {
- current_position[axis] += m.pos_error[axis];
- m.obj_center[axis] = true_center[axis];
- m.pos_error[axis] = 0;
- }
-
- /**
- * Probe around the calibration object. Adjust the position and toolhead offset
- * using the deviation from the known position of the calibration object.
- *
- * m in/out - Measurement record, updated with new readings
- * uncertainty in - How far away from the object to begin probing
- * extruder in - What extruder to probe
- *
- * Prerequisites:
- * - Call calibrate_backlash() beforehand for best accuracy
- */
- inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) {
- TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- TERN(HAS_MULTI_HOTEND, set_nozzle(m, extruder), UNUSED(extruder));
-
- probe_sides(m, uncertainty);
-
- // Adjust the hotend offset
- #if HAS_HOTEND_OFFSET
- if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) hotend_offset[extruder].x += m.pos_error.x;
- if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) hotend_offset[extruder].y += m.pos_error.y;
- if (AXIS_CAN_CALIBRATE(Z)) hotend_offset[extruder].z += m.pos_error.z;
- normalize_hotend_offsets();
- #endif
-
- // Correct for positional error, so the object
- // is at the known actual spot
- planner.synchronize();
- if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) update_measurements(m, X_AXIS);
- if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) update_measurements(m, Y_AXIS);
- if (AXIS_CAN_CALIBRATE(Z)) update_measurements(m, Z_AXIS);
-
- TERN_(HAS_I_CENTER, update_measurements(m, I_AXIS));
- TERN_(HAS_J_CENTER, update_measurements(m, J_AXIS));
- TERN_(HAS_K_CENTER, update_measurements(m, K_AXIS));
- TERN_(HAS_U_CENTER, update_measurements(m, U_AXIS));
- TERN_(HAS_V_CENTER, update_measurements(m, V_AXIS));
- TERN_(HAS_W_CENTER, update_measurements(m, W_AXIS));
-
- sync_plan_position();
- }
-
- /**
- * Probe around the calibration object for all toolheads, adjusting the coordinate
- * system for the first nozzle and the nozzle offset for subsequent nozzles.
- *
- * m in/out - Measurement record, updated with new readings
- * uncertainty in - How far away from the object to begin probing
- */
- inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) {
- TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
-
- TERN_(HAS_HOTEND_OFFSET, normalize_hotend_offsets());
-
- TERN_(HAS_MULTI_HOTEND, set_nozzle(m, 0));
- }
-
- /**
- * Perform a full auto-calibration routine:
- *
- * 1) For each nozzle, touch top and sides of object to determine object position and
- * nozzle offsets. Do a fast but rough search over a wider area.
- * 2) With the first nozzle, touch top and sides of object to determine backlash values
- * for all axes (if BACKLASH_GCODE is enabled)
- * 3) For each nozzle, touch top and sides of object slowly to determine precise
- * position of object. Adjust coordinate system and nozzle offsets so probed object
- * location corresponds to known object location with a high degree of precision.
- */
- inline void calibrate_all() {
- measurements_t m;
-
- TERN_(HAS_HOTEND_OFFSET, reset_hotend_offsets());
-
- TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- // Do a fast and rough calibration of the toolheads
- calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNKNOWN);
-
- TERN_(BACKLASH_GCODE, calibrate_backlash(m, CALIBRATION_MEASUREMENT_UNCERTAIN));
-
- // Cycle the toolheads so the servos settle into their "natural" positions
- #if HAS_MULTI_HOTEND
- HOTEND_LOOP() set_nozzle(m, e);
- #endif
-
- // Do a slow and precise calibration of the toolheads
- calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
-
- current_position.x = X_CENTER;
- calibration_move(); // Park nozzle away from calibration object
- }
-
- /**
- * G425: Perform calibration with calibration object.
- *
- * B - Perform calibration of backlash only.
- * T<extruder> - Perform calibration of toolhead only.
- * V - Probe object and print position, error, backlash and hotend offset.
- * U - Uncertainty, how far to start probe away from the object (mm)
- *
- * no args - Perform entire calibration sequence (backlash + position on all toolheads)
- */
- void GcodeSuite::G425() {
-
- #ifdef CALIBRATION_SCRIPT_PRE
- process_subcommands_now(F(CALIBRATION_SCRIPT_PRE));
- #endif
-
- if (homing_needed_error()) return;
-
- TEMPORARY_BED_LEVELING_STATE(false);
- SET_SOFT_ENDSTOP_LOOSE(true);
-
- measurements_t m;
- const float uncertainty = parser.floatval('U', CALIBRATION_MEASUREMENT_UNCERTAIN);
-
- if (parser.seen_test('B'))
- calibrate_backlash(m, uncertainty);
- else if (parser.seen_test('T'))
- calibrate_toolhead(m, uncertainty, parser.intval('T', active_extruder));
- #if ENABLED(CALIBRATION_REPORTING)
- else if (parser.seen('V')) {
- probe_sides(m, uncertainty);
- SERIAL_EOL();
- report_measured_faces(m);
- report_measured_center(m);
- report_measured_backlash(m);
- report_measured_nozzle_dimensions(m);
- report_measured_positional_error(m);
- #if HAS_HOTEND_OFFSET
- normalize_hotend_offsets();
- report_hotend_offsets();
- #endif
- }
- #endif
- else
- calibrate_all();
-
- SET_SOFT_ENDSTOP_LOOSE(false);
-
- #ifdef CALIBRATION_SCRIPT_POST
- process_subcommands_now(F(CALIBRATION_SCRIPT_POST));
- #endif
- }
-
- #endif // CALIBRATION_GCODE
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