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Merged
thinkyhead merged 1 commit into from
Dec 18, 2018
Merged

[2.0.x] G33 clean up #12648

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67 changes: 13 additions & 54 deletions Marlin/src/gcode/calibrate/G33.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,12 +140,6 @@ static void print_calibration_settings(const bool end_stops, const bool tower_an
if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
SERIAL_ECHOPAIR(" Radius:", delta_radius);
}
#if HAS_BED_PROBE
if (!end_stops && !tower_angles) {
SERIAL_ECHO_SP(30);
print_signed_float(PSTR("Offset"), zprobe_zoffset);
}
#endif
SERIAL_EOL();
}

Expand Down Expand Up @@ -194,30 +188,19 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
/**
* - Probe a point
*/
static float calibration_probe(const float &nx, const float &ny, const bool stow, const bool set_up) {
static float calibration_probe(const float &nx, const float &ny, const bool stow) {
#if HAS_BED_PROBE
return probe_pt(nx, ny, set_up ? PROBE_PT_BIG_RAISE : stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
return probe_pt(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
#else
UNUSED(stow);
UNUSED(set_up);
return lcd_probe_pt(nx, ny);
#endif
}

#if HAS_BED_PROBE && HAS_LCD_MENU
static float probe_z_shift(const float center) {
STOW_PROBE();
endstops.enable_z_probe(false);
float z_shift = lcd_probe_pt(0, 0) - center;
endstops.enable_z_probe(true);
return z_shift;
}
#endif

/**
* - Probe a grid
*/
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each, const bool set_up) {
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
Expand All @@ -240,7 +223,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
if (!_0p_calibration) {

if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
z_pt[CEN] += calibration_probe(0, 0, stow_after_each, set_up);
z_pt[CEN] += calibration_probe(0, 0, stow_after_each);
if (isnan(z_pt[CEN])) return false;
}

Expand All @@ -250,7 +233,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
I_LOOP_CAL_PT(rad, start, steps) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * 0.1;
z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
if (isnan(z_pt[CEN])) return false;
}
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
Expand All @@ -274,7 +257,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = FMOD(rad, 1);
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each, set_up);
const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
if (isnan(z_temp)) return false;
// split probe point to neighbouring calibration points
z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
Expand Down Expand Up @@ -403,10 +386,7 @@ static float auto_tune_a() {
*
* Parameters:
*
* S Setup mode; disables probe protection
*
* Pn Number of probe points:
* P-1 Checks the z_offset with a center probe and paper test.
* P0 Normalizes calibration.
* P1 Calibrates height only with center probe.
* P2 Probe center and towers. Calibrate height, endstops and delta radius.
Expand All @@ -429,49 +409,34 @@ static float auto_tune_a() {
*/
void GcodeSuite::G33() {

const bool set_up =
#if HAS_BED_PROBE
parser.seen('S');
#else
false;
#endif

const int8_t probe_points = set_up ? 2 : parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
if (!WITHIN(probe_points, -1, 10)) {
SERIAL_ECHOLNPGM("?(P)oints is implausible (-1 - 10).");
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
if (!WITHIN(probe_points, 0, 10)) {
SERIAL_ECHOLNPGM("?(P)oints is implausible (0-10).");
return;
}

const bool towers_set = !parser.seen('T');

const float calibration_precision = set_up ? Z_CLEARANCE_BETWEEN_PROBES / 5.0 : parser.floatval('C', 0.0);
const float calibration_precision = parser.floatval('C', 0.0);
if (calibration_precision < 0) {
SERIAL_ECHOLNPGM("?(C)alibration precision is implausible (>=0).");
return;
}

const int8_t force_iterations = parser.intval('F', 0);
if (!WITHIN(force_iterations, 0, 30)) {
SERIAL_ECHOLNPGM("?(F)orce iteration is implausible (0 - 30).");
SERIAL_ECHOLNPGM("?(F)orce iteration is implausible (0-30).");
return;
}

const int8_t verbose_level = parser.byteval('V', 1);
if (!WITHIN(verbose_level, 0, 3)) {
SERIAL_ECHOLNPGM("?(V)erbose level is implausible (0 - 3).");
SERIAL_ECHOLNPGM("?(V)erbose level is implausible (0-3).");
return;
}

const bool stow_after_each = parser.seen('E');

if (set_up) {
delta_height = 999.99;
delta_radius = DELTA_PRINTABLE_RADIUS;
ZERO(delta_endstop_adj);
ZERO(delta_tower_angle_trim);
recalc_delta_settings();
}

const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
Expand Down Expand Up @@ -520,7 +485,6 @@ void GcodeSuite::G33() {
PGM_P checkingac = PSTR("Checking... AC");
serialprintPGM(checkingac);
if (verbose_level == 0) SERIAL_ECHOPGM(" (DRY-RUN)");
if (set_up) SERIAL_ECHOPGM(" (SET-UP)");
SERIAL_EOL();
ui.set_status_P(checkingac);

Expand All @@ -539,7 +503,7 @@ void GcodeSuite::G33() {

// Probe the points
zero_std_dev_old = zero_std_dev;
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, set_up)) {
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each)) {
SERIAL_ECHOLNPGM("Correct delta settings with M665 and M666");
return AC_CLEANUP();
}
Expand Down Expand Up @@ -587,11 +551,6 @@ void GcodeSuite::G33() {
delta_calibration_radius = cr_old;

switch (probe_points) {
case -1:
#if HAS_BED_PROBE && HAS_LCD_MENU
zprobe_zoffset += probe_z_shift(z_at_pt[CEN]);
#endif

case 0:
test_precision = 0.00; // forced end
break;
Expand Down
2 changes: 0 additions & 2 deletions Marlin/src/lcd/menu/menu_delta_calibrate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,8 +111,6 @@ void menu_delta_calibrate() {

#if ENABLED(DELTA_AUTO_CALIBRATION)
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 S P1"));
MENU_ITEM(gcode, MSG_DELTA_Z_OFFSET_CALIBRATE, PSTR("G33 P-1"));
#if ENABLED(EEPROM_SETTINGS)
MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings);
MENU_ITEM(function, MSG_LOAD_EEPROM, lcd_load_settings);
Expand Down
4 changes: 2 additions & 2 deletions Marlin/src/module/motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -539,7 +539,7 @@ void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
soft_endstop_min[axis] = base_min_pos(axis);
soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER
- zprobe_zoffset
#endif
: base_max_pos(axis));

Expand Down Expand Up @@ -1277,7 +1277,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
#elif ENABLED(DELTA)
current_position[axis] = (axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER
- zprobe_zoffset
#endif
: base_home_pos(axis));
#else
Expand Down