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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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 "../../MarlinCore.h"
-
- #if ENABLED(CALIBRATION_GCODE)
-
- #include "../gcode.h"
-
- #if ENABLED(BACKLASH_GCODE)
- #include "../../feature/backlash.h"
- #endif
-
- #include "../../lcd/ultralcd.h"
- #include "../../module/motion.h"
- #include "../../module/planner.h"
- #include "../../module/tool_change.h"
- #include "../../module/endstops.h"
- #include "../../feature/bedlevel/bedlevel.h"
-
- /**
- * 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
-
- #define HAS_X_CENTER BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT)
- #define HAS_Y_CENTER BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK)
-
- enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
-
- 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;
- };
-
- #define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
-
- #if ENABLED(BACKLASH_GCODE)
- #define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash.correction, value)
- #else
- #define TEMPORARY_BACKLASH_CORRECTION(value)
- #endif
-
- #if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
- #define TEMPORARY_BACKLASH_SMOOTHING(value) REMEMBER(tbsm, backlash.smoothing_mm, value)
- #else
- #define TEMPORARY_BACKLASH_SMOOTHING(value)
- #endif
-
- inline void calibration_move() {
- do_blocking_move_to(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 HOTENDS > 1
- 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() {
- for (uint8_t e = 1; e < HOTENDS; e++)
- hotend_offset[e] -= hotend_offset[0];
- hotend_offset[0].reset();
- }
-
- #endif
-
- inline bool read_calibration_pin() {
- #if HAS_CALIBRATION_PIN
- return (READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING);
- #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- return (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
- #else
- return (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
- #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(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 position
- destination = current_position;
- const float start_pos = destination[axis];
- 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);
- }
- // Return to starting position
- destination[axis] = start_pos;
- do_blocking_move_to(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;
-
- park_above_object(m, uncertainty);
-
- switch (side) {
- 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;
- }
- case RIGHT: axis = X_AXIS; dir = -1; break;
- case FRONT: axis = Y_AXIS; dir = 1; break;
- case LEFT: axis = X_AXIS; dir = 1; break;
- case BACK: axis = Y_AXIS; dir = -1; break;
- default: return;
- }
-
- if (probe_top_at_edge) {
- // 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;
- }
-
- // 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 * 0.7;
- 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) {
- #ifdef 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
-
- #ifdef CALIBRATION_MEASURE_RIGHT
- probe_side(m, uncertainty, RIGHT, probe_top_at_edge);
- #endif
-
- #ifdef CALIBRATION_MEASURE_FRONT
- probe_side(m, uncertainty, FRONT, probe_top_at_edge);
- #endif
-
- #ifdef CALIBRATION_MEASURE_LEFT
- probe_side(m, uncertainty, LEFT, probe_top_at_edge);
- #endif
- #ifdef CALIBRATION_MEASURE_BACK
- probe_side(m, uncertainty, BACK, probe_top_at_edge);
- #endif
-
- // Compute the measured center of the calibration object.
- #if HAS_X_CENTER
- m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2;
- #endif
- #if HAS_Y_CENTER
- m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2;
- #endif
-
- // Compute the outside diameter of the nozzle at the height
- // at which it makes contact with the calibration object
- #if HAS_X_CENTER
- m.nozzle_outer_dimension.x = m.obj_side[RIGHT] - m.obj_side[LEFT] - dimensions.x;
- #endif
- #if HAS_Y_CENTER
- m.nozzle_outer_dimension.y = m.obj_side[BACK] - m.obj_side[FRONT] - dimensions.y;
- #endif
-
- park_above_object(m, uncertainty);
-
- // The difference between the known and the measured location
- // of the calibration object is the positional error
- m.pos_error.x = (0
- #if HAS_X_CENTER
- + true_center.x - m.obj_center.x
- #endif
- );
- m.pos_error.y = (0
- #if HAS_Y_CENTER
- + true_center.y - m.obj_center.y
- #endif
- );
- m.pos_error.z = true_center.z - m.obj_center.z;
- }
-
- #if ENABLED(CALIBRATION_REPORTING)
- inline void report_measured_faces(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Sides:");
- SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]);
- #if ENABLED(CALIBRATION_MEASURE_LEFT)
- SERIAL_ECHOLNPAIR(" Left: ", m.obj_side[LEFT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_RIGHT)
- SERIAL_ECHOLNPAIR(" Right: ", m.obj_side[RIGHT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_FRONT)
- SERIAL_ECHOLNPAIR(" Front: ", m.obj_side[FRONT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_BACK)
- SERIAL_ECHOLNPAIR(" Back: ", m.obj_side[BACK]);
- #endif
- SERIAL_EOL();
- }
-
- inline void report_measured_center(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Center:");
- #if HAS_X_CENTER
- SERIAL_ECHOLNPAIR_P(SP_X_STR, m.obj_center.x);
- #endif
- #if HAS_Y_CENTER
- SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.obj_center.y);
- #endif
- SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.obj_center.z);
- SERIAL_EOL();
- }
-
- inline void report_measured_backlash(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Backlash:");
- #if ENABLED(CALIBRATION_MEASURE_LEFT)
- SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_RIGHT)
- SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_FRONT)
- SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]);
- #endif
- #if ENABLED(CALIBRATION_MEASURE_BACK)
- SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]);
- #endif
- SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]);
- SERIAL_EOL();
- }
-
- inline void report_measured_positional_error(const measurements_t &m) {
- SERIAL_CHAR('T');
- SERIAL_ECHO(int(active_extruder));
- SERIAL_ECHOLNPGM(" Positional Error:");
- #if HAS_X_CENTER
- SERIAL_ECHOLNPAIR_P(SP_X_STR, m.pos_error.x);
- #endif
- #if HAS_Y_CENTER
- SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.pos_error.y);
- #endif
- SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
- SERIAL_EOL();
- }
-
- inline void report_measured_nozzle_dimensions(const measurements_t &m) {
- SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
- #if HAS_X_CENTER || HAS_Y_CENTER
- #if HAS_X_CENTER
- SERIAL_ECHOLNPAIR_P(SP_X_STR, m.nozzle_outer_dimension.x);
- #endif
- #if HAS_Y_CENTER
- SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.nozzle_outer_dimension.y);
- #endif
- #else
- UNUSED(m);
- #endif
- SERIAL_EOL();
- }
-
- #if HAS_HOTEND_OFFSET
- //
- // This function requires normalize_hotend_offsets() to be called
- //
- inline void report_hotend_offsets() {
- for (uint8_t e = 1; e < HOTENDS; e++)
- SERIAL_ECHOLNPAIR_P(PSTR("T"), int(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(all_off);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- probe_sides(m, uncertainty);
-
- #if ENABLED(BACKLASH_GCODE)
- #if HAS_X_CENTER
- backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
- #elif ENABLED(CALIBRATION_MEASURE_LEFT)
- backlash.distance_mm.x = m.backlash[LEFT];
- #elif ENABLED(CALIBRATION_MEASURE_RIGHT)
- backlash.distance_mm.x = m.backlash[RIGHT];
- #endif
-
- #if HAS_Y_CENTER
- backlash.distance_mm.y = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
- #elif ENABLED(CALIBRATION_MEASURE_FRONT)
- backlash.distance_mm.y = m.backlash[FRONT];
- #elif ENABLED(CALIBRATION_MEASURE_BACK)
- backlash.distance_mm.y = m.backlash[BACK];
- #endif
-
- backlash.distance_mm.z = m.backlash[TOP];
- #endif
- }
-
- #if ENABLED(BACKLASH_GCODE)
- // Turn on backlash compensation and move in all
- // directions to take up any backlash
- {
- // New scope for TEMPORARY_BACKLASH_CORRECTION
- TEMPORARY_BACKLASH_CORRECTION(all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
- const xyz_float_t move = { 3, 3, 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(all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- #if HOTENDS > 1
- set_nozzle(m, extruder);
- #else
- UNUSED(extruder);
- #endif
-
- probe_sides(m, uncertainty);
-
- // Adjust the hotend offset
- #if HAS_HOTEND_OFFSET
- #if HAS_X_CENTER
- hotend_offset[extruder].x += m.pos_error.x;
- #endif
- #if HAS_Y_CENTER
- hotend_offset[extruder].y += m.pos_error.y;
- #endif
- 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 HAS_X_CENTER
- update_measurements(m, X_AXIS);
- #endif
- #if HAS_Y_CENTER
- update_measurements(m, Y_AXIS);
- #endif
- update_measurements(m, Z_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(all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
-
- #if HAS_HOTEND_OFFSET
- normalize_hotend_offsets();
- #endif
-
- #if HOTENDS > 1
- set_nozzle(m, 0);
- #endif
- }
-
- /**
- * 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 axis (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;
-
- #if HAS_HOTEND_OFFSET
- reset_hotend_offsets();
- #endif
-
- TEMPORARY_BACKLASH_CORRECTION(all_on);
- TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-
- // Do a fast and rough calibration of the toolheads
- calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNKNOWN);
-
- #if ENABLED(BACKLASH_GCODE)
- calibrate_backlash(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
- #endif
-
- // Cycle the toolheads so the servos settle into their "natural" positions
- #if HOTENDS > 1
- 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() {
- TEMPORARY_SOFT_ENDSTOP_STATE(false);
- TEMPORARY_BED_LEVELING_STATE(false);
-
- if (axis_unhomed_error()) return;
-
- measurements_t m;
-
- float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN;
-
- if (parser.seen('B'))
- calibrate_backlash(m, uncertainty);
- else if (parser.seen('T'))
- calibrate_toolhead(m, uncertainty, parser.has_value() ? parser.value_int() : 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();
- }
-
- #endif // CALIBRATION_GCODE
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