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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 <http://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(Z_STEPPER_AUTO_ALIGN)
-
- #include "../../feature/z_stepper_align.h"
-
- #include "../gcode.h"
- #include "../../module/planner.h"
- #include "../../module/stepper.h"
- #include "../../module/motion.h"
- #include "../../module/probe.h"
-
- #if HOTENDS > 1
- #include "../../module/tool_change.h"
- #endif
-
- #if HAS_LEVELING
- #include "../../feature/bedlevel/bedlevel.h"
- #endif
-
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- #include "../../libs/least_squares_fit.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../core/debug_out.h"
-
- inline void set_all_z_lock(const bool lock) {
- stepper.set_z_lock(lock);
- stepper.set_z2_lock(lock);
- #if NUM_Z_STEPPER_DRIVERS >= 3
- stepper.set_z3_lock(lock);
- #if NUM_Z_STEPPER_DRIVERS >= 4
- stepper.set_z4_lock(lock);
- #endif
- #endif
- }
-
- /**
- * G34: Z-Stepper automatic alignment
- *
- * I<iterations>
- * T<accuracy>
- * A<amplification>
- * R<recalculate> points based on current probe offsets
- */
- void GcodeSuite::G34() {
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM(">>> G34");
- log_machine_info();
- }
-
- do { // break out on error
-
- #if NUM_Z_STEPPER_DRIVERS == 4
- SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!");
- #elif NUM_Z_STEPPER_DRIVERS > 4
- SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers");
- break;
- #endif
-
- const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
- if (!WITHIN(z_auto_align_iterations, 1, 30)) {
- SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
- break;
- }
-
- const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC);
- if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) {
- SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0).");
- break;
- }
-
- const float z_auto_align_amplification =
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- Z_STEPPER_ALIGN_AMP;
- #else
- 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;
- }
- #endif
-
- if (parser.seen('R')) z_stepper_align.reset_to_default();
-
- const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
-
- // Wait for planner moves to finish!
- planner.synchronize();
-
- // Disable the leveling matrix before auto-aligning
- #if HAS_LEVELING
- #if ENABLED(RESTORE_LEVELING_AFTER_G34)
- const bool leveling_was_active = planner.leveling_active;
- #endif
- set_bed_leveling_enabled(false);
- #endif
-
- #if ENABLED(CNC_WORKSPACE_PLANES)
- workspace_plane = PLANE_XY;
- #endif
-
- // Always home with tool 0 active
- #if HOTENDS > 1
- const uint8_t old_tool_index = active_extruder;
- tool_change(0, true);
- #endif
-
- #if HAS_DUPLICATION_MODE
- extruder_duplication_enabled = false;
- #endif
-
- #if BOTH(BLTOUCH, BLTOUCH_HS_MODE)
- // In BLTOUCH HS mode, the probe travels in a deployed state.
- // Users of G34 might have a badly misaligned bed, so raise Z by the
- // length of the deployed pin (BLTOUCH stroke < 7mm)
- #define Z_BASIC_CLEARANCE Z_CLEARANCE_BETWEEN_PROBES + 7.0f
- #else
- #define Z_BASIC_CLEARANCE Z_CLEARANCE_BETWEEN_PROBES
- #endif
-
- // Compute a worst-case clearance height to probe from. After the first
- // iteration this will be re-calculated based on the actual bed position
- auto magnitude2 = [&](const uint8_t i, const uint8_t j) {
- const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
- return HYPOT2(diff.x, diff.y);
- };
- float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(
- #if NUM_Z_STEPPER_DRIVERS == 3
- _MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0))
- #elif NUM_Z_STEPPER_DRIVERS == 4
- _MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3),
- magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3))
- #else
- magnitude2(0, 1)
- #endif
- );
-
- // Home before the alignment procedure
- if (!all_axes_known()) home_all_axes();
-
- // Move the Z coordinate realm towards the positive - dirty trick
- current_position.z += z_probe * 0.5f;
- sync_plan_position();
- // 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)
- float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f);
- #else
- float last_z_align_level_indicator = 10000.0f;
- #endif
- float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 },
- z_maxdiff = 0.0f,
- amplification = z_auto_align_amplification;
-
- // These are needed after the for-loop
- uint8_t iteration;
- bool err_break = false;
- float z_measured_min;
-
- #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- bool adjustment_reverse = false;
- #endif
-
- // 'iteration' is declared above and is also used after the for-loop.
- // *not* the same as LOOP_L_N(iteration, z_auto_align_iterations)
- for (iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
-
- SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1));
-
- // Initialize minimum value
- z_measured_min = 100000.0f;
- float z_measured_max = -100000.0f;
-
- // Probe all positions (one per Z-Stepper)
- LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
- // iteration odd/even --> downward / upward stepper sequence
- const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i;
-
- // Safe clearance even on an incline
- if (iteration == 0 || i > 0) do_blocking_move_to_z(z_probe);
-
- if (DEBUGGING(LEVELING))
- DEBUG_ECHOLNPAIR_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y);
-
- // Probe a Z height for each stepper.
- // Probing sanity check is disabled, as it would trigger even in normal cases because
- // current_position.z has been manually altered in the "dirty trick" above.
- const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false);
- if (isnan(z_probed_height)) {
- SERIAL_ECHOLNPGM("Probing failed.");
- err_break = true;
- break;
- }
-
- // Add height to each value, to provide a more useful target height for
- // the next iteration of probing. This allows adjustments to be made away from the bed.
- z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(iprobe + 1), " measured position is ", z_measured[iprobe]);
-
- // Remember the minimum measurement to calculate the correction later on
- z_measured_min = _MIN(z_measured_min, z_measured[iprobe]);
- z_measured_max = _MAX(z_measured_max, z_measured[iprobe]);
- } // for (i)
-
- if (err_break) break;
-
- // Adapt the next probe clearance height based on the new measurements.
- // Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment.
- 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)
- // 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.
-
- // This must be done after the next z_probe height is calculated, so that
- // the height is calculated from actual print area positions, and not
- // extrapolated motor movements.
-
- // Compute the least-squares fit for all probed points.
- // Calculate the Z position of each stepper and store it in z_measured.
- // This allows the actual adjustment logic to be shared by both algorithms.
- linear_fit_data lfd;
- incremental_LSF_reset(&lfd);
- LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
- SERIAL_ECHOLNPAIR("PROBEPT_", int(i), ": ", z_measured[i]);
- incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
- }
- finish_incremental_LSF(&lfd);
-
- z_measured_min = 100000.0f;
- LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
- z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D);
- z_measured_min = _MIN(z_measured_min, z_measured[i]);
- }
-
- SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]);
- #endif
-
- SERIAL_ECHOLNPAIR("\n"
- "DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
- #if NUM_Z_STEPPER_DRIVERS == 3
- , " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
- , " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
- #endif
- );
-
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- // 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.
-
- // Calculate mean value as a reference
- float z_measured_mean = 0.0f;
- LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper];
- z_measured_mean /= NUM_Z_STEPPER_DRIVERS;
-
- // Calculate the sum of the absolute deviations from the mean value
- float z_align_level_indicator = 0.0f;
- LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS)
- z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean);
-
- // If it's getting worse, stop and throw an error
- if (last_z_align_level_indicator < z_align_level_indicator * 0.7f) {
- SERIAL_ECHOLNPGM("Decreasing accuracy detected.");
- err_break = true;
- break;
- }
-
- last_z_align_level_indicator = z_align_level_indicator;
- #endif
-
- // The following correction actions are to be enabled for select Z-steppers only
- stepper.set_separate_multi_axis(true);
-
- bool success_break = true;
- // Correct the individual stepper offsets
- LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) {
- // Calculate current stepper move
- 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)
- // 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;
-
- // Check for less accuracy compared to last move
- if (last_z_align_move[zstepper] < z_align_abs * 0.7f) {
- SERIAL_ECHOLNPGM("Decreasing accuracy detected.");
- adjustment_reverse = !adjustment_reverse;
- }
-
- // Remember the alignment for the next iteration
- last_z_align_move[zstepper] = z_align_abs;
- #endif
-
- // Stop early if all measured points achieve accuracy target
- if (z_align_abs > z_auto_align_accuracy) success_break = false;
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " corrected by ", z_align_move);
-
- // Lock all steppers except one
- set_all_z_lock(true);
- switch (zstepper) {
- case 0: stepper.set_z_lock(false); break;
- case 1: stepper.set_z2_lock(false); break;
- #if NUM_Z_STEPPER_DRIVERS >= 3
- case 2: stepper.set_z3_lock(false); break;
- #endif
- #if NUM_Z_STEPPER_DRIVERS == 4
- case 3: stepper.set_z4_lock(false); break;
- #endif
- }
-
- #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- // 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)
- z_align_move = -z_align_move;
- #endif
-
- // Do a move to correct part of the misalignment for the current stepper
- do_blocking_move_to_z(amplification * z_align_move + current_position.z);
- } // for (zstepper)
-
- // Back to normal stepper operations
- set_all_z_lock(false);
- stepper.set_separate_multi_axis(false);
-
- if (err_break) break;
-
- if (success_break) { SERIAL_ECHOLNPGM("Target accuracy achieved."); break; }
-
- } // for (iteration)
-
- if (err_break)
- SERIAL_ECHOLNPGM("G34 aborted.");
- else {
- SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " of ", int(z_auto_align_iterations));
- SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
- }
-
- // Stow the probe, as the last call to probe.probe_at_point(...) left
- // the probe deployed if it was successful.
- probe.stow();
-
- #if ENABLED(HOME_AFTER_G34)
- // After this operation the z position needs correction
- set_axis_not_trusted(Z_AXIS);
- // Home Z after the alignment procedure
- process_subcommands_now_P(PSTR("G28Z"));
- #else
- // Use the probed height from the last iteration to determine the Z height.
- // z_measured_min is used, because all steppers are aligned to z_measured_min.
- // Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier.
- current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES;
- sync_plan_position();
- #endif
-
- // Restore the active tool after homing
- #if HOTENDS > 1
- tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous tool for parking extruder
- #endif
-
- #if HAS_LEVELING && ENABLED(RESTORE_LEVELING_AFTER_G34)
- set_bed_leveling_enabled(leveling_was_active);
- #endif
-
- }while(0);
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G34");
- }
-
- /**
- * M422: Set a Z-Stepper automatic alignment XY point.
- * Use repeatedly to set multiple points.
- *
- * S<index> : Index of the probe point to set
- *
- * With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS:
- * W<index> : Index of the Z stepper position to set
- * The W and S parameters may not be combined.
- *
- * S and W require an X and/or Y parameter
- * X<pos> : X position to set (Unchanged if omitted)
- * Y<pos> : Y position to set (Unchanged if omitted)
- *
- * R : Recalculate points based on current probe offsets
- */
- void GcodeSuite::M422() {
-
- if (parser.seen('R')) {
- z_stepper_align.reset_to_default();
- return;
- }
-
- if (!parser.seen_any()) {
- LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS)
- SERIAL_ECHOLNPAIR_P(PSTR("M422 S"), int(i + 1), SP_X_STR, z_stepper_align.xy[i].x, SP_Y_STR, z_stepper_align.xy[i].y);
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS)
- SERIAL_ECHOLNPAIR_P(PSTR("M422 W"), int(i + 1), SP_X_STR, z_stepper_align.stepper_xy[i].x, SP_Y_STR, z_stepper_align.stepper_xy[i].y);
- #endif
- return;
- }
-
- const bool is_probe_point = parser.seen('S');
-
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- if (is_probe_point && parser.seen('W')) {
- SERIAL_ECHOLNPGM("?(S) and (W) may not be combined.");
- return;
- }
- #endif
-
- xy_pos_t *pos_dest = (
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- !is_probe_point ? z_stepper_align.stepper_xy :
- #endif
- z_stepper_align.xy
- );
-
- if (!is_probe_point
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- && !parser.seen('W')
- #endif
- ) {
- SERIAL_ECHOLNPGM(
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- "?(S) or (W) is required."
- #else
- "?(S) is required."
- #endif
- );
- return;
- }
-
- // Get the Probe Position Index or Z Stepper Index
- int8_t position_index;
- if (is_probe_point) {
- position_index = parser.intval('S') - 1;
- if (!WITHIN(position_index, 0, int8_t(NUM_Z_STEPPER_DRIVERS) - 1)) {
- SERIAL_ECHOLNPGM("?(S) Z-ProbePosition index invalid.");
- return;
- }
- }
- else {
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- position_index = parser.intval('W') - 1;
- if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) {
- SERIAL_ECHOLNPGM("?(W) Z-Stepper index invalid.");
- return;
- }
- #endif
- }
-
- const xy_pos_t pos = {
- parser.floatval('X', pos_dest[position_index].x),
- parser.floatval('Y', pos_dest[position_index].y)
- };
-
- if (is_probe_point) {
- if (!probe.can_reach(pos.x, Y_CENTER)) {
- SERIAL_ECHOLNPGM("?(X) out of bounds.");
- return;
- }
- if (!probe.can_reach(pos)) {
- SERIAL_ECHOLNPGM("?(Y) out of bounds.");
- return;
- }
- }
-
- pos_dest[position_index] = pos;
- }
-
- #endif // Z_STEPPER_AUTO_ALIGN
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