From 6b549e19719e855555c1a9db5e3c0453516afb28 Mon Sep 17 00:00:00 2001
From: Giuliano Zaro <3684609+GMagician@users.noreply.github.com>
Date: Sat, 22 Aug 2020 04:20:30 +0200
Subject: [PATCH] Optional homing in LCD Repeatability Test (#19104)
---
Marlin/src/gcode/calibrate/M48.cpp | 169 +++++++++++++-------------
Marlin/src/lcd/language/language_en.h | 1 +
Marlin/src/lcd/language/language_it.h | 1 +
Marlin/src/lcd/menu/menu_motion.cpp | 2 +-
4 files changed, 90 insertions(+), 83 deletions(-)
diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp
index 47c72eece7..fc9d22957b 100644
--- a/Marlin/src/gcode/calibrate/M48.cpp
+++ b/Marlin/src/gcode/calibrate/M48.cpp
@@ -27,13 +27,10 @@
#include "../gcode.h"
#include "../../module/motion.h"
#include "../../module/probe.h"
+#include "../../lcd/ultralcd.h"
#include "../../feature/bedlevel/bedlevel.h"
-#if HAS_SPI_LCD
- #include "../../lcd/ultralcd.h"
-#endif
-
#if HAS_LEVELING
#include "../../module/planner.h"
#endif
@@ -77,61 +74,85 @@ void GcodeSuite::M48() {
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
- xy_float_t next_pos = current_position;
-
- const xy_pos_t probe_pos = {
- parser.linearval('X', next_pos.x + probe.offset_xy.x), // If no X use the probe's current X position
- parser.linearval('Y', next_pos.y + probe.offset_xy.y) // If no Y, ditto
+ // Test at the current position by default, overridden by X and Y
+ const xy_pos_t test_position = {
+ parser.linearval('X', current_position.x + probe.offset_xy.x), // If no X use the probe's current X position
+ parser.linearval('Y', current_position.y + probe.offset_xy.y) // If no Y, ditto
};
- if (!probe.can_reach(probe_pos)) {
+ if (!probe.can_reach(test_position)) {
+ ui.set_status_P(GET_TEXT(MSG_M48_OUT_OF_BOUNDS), 99);
SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
return;
}
+ // Get the number of leg moves per test-point
bool seen_L = parser.seen('L');
uint8_t n_legs = seen_L ? parser.value_byte() : 0;
if (n_legs > 15) {
- SERIAL_ECHOLNPGM("?Number of legs in movement not plausible (0-15).");
+ SERIAL_ECHOLNPGM("?Legs of movement implausible (0-15).");
return;
}
if (n_legs == 1) n_legs = 2;
+ // Schizoid motion as an optional stress-test
const bool schizoid_flag = parser.boolval('S');
if (schizoid_flag && !seen_L) n_legs = 7;
- /**
- * Now get everything to the specified probe point So we can safely do a
- * probe to get us close to the bed. If the Z-Axis is far from the bed,
- * we don't want to use that as a starting point for each probe.
- */
if (verbose_level > 2)
SERIAL_ECHOLNPGM("Positioning the probe...");
- // Disable bed level correction in M48 because we want the raw data when we probe
+ // Always disable Bed Level correction before probing...
#if HAS_LEVELING
const bool was_enabled = planner.leveling_active;
set_bed_leveling_enabled(false);
#endif
+ // Work with reasonable feedrates
remember_feedrate_scaling_off();
- float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
+ // Working variables
+ float mean = 0.0, // The average of all points so far, used to calculate deviation
+ sigma = 0.0, // Standard deviation of all points so far
+ min = 99999.9, // Smallest value sampled so far
+ max = -99999.9, // Largest value sampled so far
+ sample_set[n_samples]; // Storage for sampled values
+
+ auto dev_report = [](const bool verbose, const float &mean, const float &sigma, const float &min, const float &max, const bool final=false) {
+ if (verbose) {
+ SERIAL_ECHOPAIR_F("Mean: ", mean, 6);
+ if (!final) SERIAL_ECHOPAIR_F(" Sigma: ", sigma, 6);
+ SERIAL_ECHOPAIR_F(" Min: ", min, 3);
+ SERIAL_ECHOPAIR_F(" Max: ", max, 3);
+ SERIAL_ECHOPAIR_F(" Range: ", max-min, 3);
+ if (final) SERIAL_EOL();
+ }
+ if (final) {
+ SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6);
+ SERIAL_EOL();
+ }
+ };
// Move to the first point, deploy, and probe
- const float t = probe.probe_at_point(probe_pos, raise_after, verbose_level);
+ const float t = probe.probe_at_point(test_position, raise_after, verbose_level);
bool probing_good = !isnan(t);
if (probing_good) {
randomSeed(millis());
+ float sample_sum = 0.0;
+
LOOP_L_N(n, n_samples) {
#if HAS_SPI_LCD
// Display M48 progress in the status bar
ui.status_printf_P(0, PSTR(S_FMT ": %d/%d"), GET_TEXT(MSG_M48_POINT), int(n + 1), int(n_samples));
#endif
+
+ // When there are "legs" of movement move around the point before probing
if (n_legs) {
+
+ // Pick a random direction, starting angle, and radius
const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
float angle = random(0, 360);
const float radius = random(
@@ -142,48 +163,51 @@ void GcodeSuite::M48() {
int(5), int(0.125 * _MIN(X_BED_SIZE, Y_BED_SIZE))
#endif
);
-
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Start radius:", radius, " angle:", angle, " dir:");
if (dir > 0) SERIAL_CHAR('C');
SERIAL_ECHOLNPGM("CW");
}
+ // Move from leg to leg in rapid succession
LOOP_L_N(l, n_legs - 1) {
- float delta_angle;
+ // Move some distance around the perimeter
+ float delta_angle;
if (schizoid_flag) {
- // The points of a 5 point star are 72 degrees apart. We need to
- // skip a point and go to the next one on the star.
+ // The points of a 5 point star are 72 degrees apart.
+ // Skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
}
else {
- // If we do this line, we are just trying to move further
- // around the circle.
- delta_angle = dir * (float) random(25, 45);
+ // Just move further along the perimeter.
+ delta_angle = dir * (float)random(25, 45);
}
-
angle += delta_angle;
- while (angle > 360.0) angle -= 360.0; // We probably do not need to keep the angle between 0 and 2*PI, but the
- // Arduino documentation says the trig functions should not be given values
- while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with
- // numbers outside of the range, but just to be safe we clamp them.
- const xy_pos_t noz_pos = probe_pos - probe.offset_xy;
- next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius,
- noz_pos.y + sin(RADIANS(angle)) * radius);
+ // Trig functions work without clamping, but just to be safe...
+ while (angle > 360.0) angle -= 360.0;
+ while (angle < 0.0) angle += 360.0;
- #if DISABLED(DELTA)
- LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
- LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);
- #else
- // If we have gone out too far, we can do a simple fix and scale the numbers
- // back in closer to the origin.
+ // Choose the next position as an offset to chosen test position
+ const xy_pos_t noz_pos = test_position - probe.offset_xy;
+ xy_pos_t next_pos = {
+ noz_pos.x + cos(RADIANS(angle)) * radius,
+ noz_pos.y + sin(RADIANS(angle)) * radius
+ };
+
+ #if ENABLED(DELTA)
+ // If the probe can't reach the point on a round bed...
+ // Simply scale the numbers to bring them closer to origin.
while (!probe.can_reach(next_pos)) {
next_pos *= 0.8f;
if (verbose_level > 3)
SERIAL_ECHOLNPAIR_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y);
}
+ #else
+ // For a rectangular bed just keep the probe in bounds
+ LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
+ LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);
#endif
if (verbose_level > 3)
@@ -194,45 +218,35 @@ void GcodeSuite::M48() {
} // n_legs
// Probe a single point
- sample_set[n] = probe.probe_at_point(probe_pos, raise_after, 0);
+ const float pz = probe.probe_at_point(test_position, raise_after, 0);
// Break the loop if the probe fails
- probing_good = !isnan(sample_set[n]);
+ probing_good = !isnan(pz);
if (!probing_good) break;
- /**
- * Get the current mean for the data points we have so far
- */
- float sum = 0.0;
- LOOP_LE_N(j, n) sum += sample_set[j];
- mean = sum / (n + 1);
+ // Store the new sample
+ sample_set[n] = pz;
- NOMORE(min, sample_set[n]);
- NOLESS(max, sample_set[n]);
+ // Keep track of the largest and smallest samples
+ NOMORE(min, pz);
+ NOLESS(max, pz);
- /**
- * Now, use that mean to calculate the standard deviation for the
- * data points we have so far
- */
- sum = 0.0;
- LOOP_LE_N(j, n)
- sum += sq(sample_set[j] - mean);
+ // Get the mean value of all samples thus far
+ sample_sum += pz;
+ mean = sample_sum / (n + 1);
- sigma = SQRT(sum / (n + 1));
- if (verbose_level > 0) {
- if (verbose_level > 1) {
- SERIAL_ECHO(n + 1);
- SERIAL_ECHOPAIR(" of ", int(n_samples));
- SERIAL_ECHOPAIR_F(": z: ", sample_set[n], 3);
- if (verbose_level > 2) {
- SERIAL_ECHOPAIR_F(" mean: ", mean, 4);
- SERIAL_ECHOPAIR_F(" sigma: ", sigma, 6);
- SERIAL_ECHOPAIR_F(" min: ", min, 3);
- SERIAL_ECHOPAIR_F(" max: ", max, 3);
- SERIAL_ECHOPAIR_F(" range: ", max-min, 3);
- }
- SERIAL_EOL();
- }
+ // Calculate the standard deviation so far.
+ // The value after the last sample will be the final output.
+ float dev_sum = 0.0;
+ LOOP_LE_N(j, n) dev_sum += sq(sample_set[j] - mean);
+ sigma = SQRT(dev_sum / (n + 1));
+
+ if (verbose_level > 1) {
+ SERIAL_ECHO(n + 1);
+ SERIAL_ECHOPAIR(" of ", int(n_samples));
+ SERIAL_ECHOPAIR_F(": z: ", pz, 3);
+ dev_report(verbose_level > 2, mean, sigma, min, max);
+ SERIAL_EOL();
}
} // n_samples loop
@@ -242,16 +256,7 @@ void GcodeSuite::M48() {
if (probing_good) {
SERIAL_ECHOLNPGM("Finished!");
-
- if (verbose_level > 0) {
- SERIAL_ECHOPAIR_F("Mean: ", mean, 6);
- SERIAL_ECHOPAIR_F(" Min: ", min, 3);
- SERIAL_ECHOPAIR_F(" Max: ", max, 3);
- SERIAL_ECHOLNPAIR_F(" Range: ", max-min, 3);
- }
-
- SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6);
- SERIAL_EOL();
+ dev_report(verbose_level > 0, mean, sigma, min, max, true);
#if HAS_SPI_LCD
// Display M48 results in the status bar
diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h
index 3791a4ad18..5aa0d76a84 100644
--- a/Marlin/src/lcd/language/language_en.h
+++ b/Marlin/src/lcd/language/language_en.h
@@ -124,6 +124,7 @@ namespace Language_en {
PROGMEM Language_Str MSG_USER_MENU = _UxGT("Custom Commands");
PROGMEM Language_Str MSG_M48_TEST = _UxGT("M48 Probe Test");
PROGMEM Language_Str MSG_M48_POINT = _UxGT("M48 Point");
+ PROGMEM Language_Str MSG_M48_OUT_OF_BOUNDS = _UxGT("Probe out of bounds");
PROGMEM Language_Str MSG_M48_DEVIATION = _UxGT("Deviation");
PROGMEM Language_Str MSG_IDEX_MENU = _UxGT("IDEX Mode");
PROGMEM Language_Str MSG_OFFSETS_MENU = _UxGT("Tool Offsets");
diff --git a/Marlin/src/lcd/language/language_it.h b/Marlin/src/lcd/language/language_it.h
index 1a5bdb22e9..43765d7c3a 100644
--- a/Marlin/src/lcd/language/language_it.h
+++ b/Marlin/src/lcd/language/language_it.h
@@ -122,6 +122,7 @@ namespace Language_it {
PROGMEM Language_Str MSG_LCD_TILTING_MESH = _UxGT("Punto inclinaz.");
PROGMEM Language_Str MSG_M48_TEST = _UxGT("Test sonda M48");
PROGMEM Language_Str MSG_M48_POINT = _UxGT("Punto M48");
+ PROGMEM Language_Str MSG_M48_OUT_OF_BOUNDS = _UxGT("Sonda oltre i limiti");
PROGMEM Language_Str MSG_M48_DEVIATION = _UxGT("Deviazione");
PROGMEM Language_Str MSG_IDEX_MENU = _UxGT("Modo IDEX");
PROGMEM Language_Str MSG_OFFSETS_MENU = _UxGT("Strumenti Offsets");
diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp
index 914b229008..027be4029d 100644
--- a/Marlin/src/lcd/menu/menu_motion.cpp
+++ b/Marlin/src/lcd/menu/menu_motion.cpp
@@ -386,7 +386,7 @@ void menu_motion() {
#endif
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
- GCODES_ITEM(MSG_M48_TEST, PSTR("G28\nM48 P10"));
+ GCODES_ITEM(MSG_M48_TEST, PSTR("G28 O\nM48 P10"));
#endif
//