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Code Issues Releases Wiki Activity

🚸 Universal X_AXIS_TWIST_COMPENSATION (#23828)

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This commit is contained in:
tombrazier 2022-03-02 22:13:46 +00:00 committed by Scott Lahteine
parent 43d4e30668
commit 575c3150f9
10 changed files with 67 additions and 31 deletions
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3
Marlin/Configuration_adv.h
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@ -1299,7 +1299,7 @@
#if HAS_MARLINUI_MENU
#if BOTH(HAS_BED_PROBE, AUTO_BED_LEVELING_BILINEAR)
#if HAS_BED_PROBE
// Add calibration in the Probe Offsets menu to compensate for X-axis twist.
//#define X_AXIS_TWIST_COMPENSATION
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
@ -1311,6 +1311,7 @@
#define XATC_START_Z 0.0
#define XATC_MAX_POINTS 3 // Number of points to probe in the wizard
#define XATC_Y_POSITION Y_CENTER // (mm) Y position to probe
#define XATC_Z_OFFSETS { 0, 0, 0 } // Z offsets for X axis sample points
#endif
#endif

3
Marlin/src/feature/bedlevel/bedlevel.h
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@ -63,9 +63,6 @@ class TemporaryBedLevelingState {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "abl/abl.h"
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
#include "abl/x_twist.h"
#endif
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl/ubl.h"
#elif ENABLED(MESH_BED_LEVELING)

15
Marlin/src/feature/bedlevel/abl/x_twist.cpp → Marlin/src/feature/x_twist.cpp
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@ -19,16 +19,24 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#include "../inc/MarlinConfig.h"
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
#include "../bedlevel.h"
#include "x_twist.h"
XATC xatc;
bool XATC::enabled = true;
float XATC::spacing, XATC::start;
xatc_array_t XATC::z_offset;
xatc_array_t XATC::z_offset; // Initialized by settings.load()
void XATC::reset() {
constexpr float xzo[] = XATC_Z_OFFSETS;
static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size.");
enabled = false;
COPY(z_offset, xzo);
}
void XATC::print_points() {
SERIAL_ECHOLNPGM(" X-Twist Correction:");
@ -49,6 +57,7 @@ void XATC::print_points() {
float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); }
float XATC::compensation(const xy_pos_t &raw) {
if (!enabled) return 0;
if (NEAR_ZERO(spacing)) return 0;
float t = (raw.x - start) / spacing;
int i = FLOOR(t);

5
Marlin/src/feature/bedlevel/abl/x_twist.h → Marlin/src/feature/x_twist.h
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@ -21,15 +21,18 @@
*/
#pragma once
#include "../../../inc/MarlinConfigPre.h"
#include "../inc/MarlinConfigPre.h"
typedef float xatc_array_t[XATC_MAX_POINTS];
class XATC {
static bool enabled;
public:
static float spacing, start;
static xatc_array_t z_offset;
static void reset();
static void set_enabled(const bool ena) { enabled = ena; }
static float compensation(const xy_pos_t &raw);
static void print_points();
};

2
Marlin/src/gcode/bedlevel/abl/G29.cpp
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@ -681,7 +681,7 @@ G29_TYPE GcodeSuite::G29() {
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
const float z = abl.measured_z + abl.Z_offset;
z_values[abl.meshCount.x][abl.meshCount.y] = z PLUS_TERN0(X_AXIS_TWIST_COMPENSATION, xatc.compensation(abl.probePos));
z_values[abl.meshCount.x][abl.meshCount.y] = z;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z));
#endif

3
Marlin/src/lcd/menu/menu_x_twist.cpp
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@ -27,6 +27,7 @@
#include "menu_addon.h"
#include "../../module/planner.h"
#include "../../feature/bedlevel/bedlevel.h"
#include "../../feature/x_twist.h"
#include "../../module/motion.h"
#include "../../gcode/queue.h"
#include "../../module/probe.h"
@ -148,7 +149,9 @@ void xatc_wizard_goto_next_point() {
// Deploy certain probes before starting probing
TERN_(BLTOUCH, do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE));
xatc.set_enabled(false);
measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
xatc.set_enabled(true);
current_position += probe.offset_xy;
current_position.z = XATC_START_Z - probe.offset.z + measured_z;
line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));

5
Marlin/src/module/probe.cpp
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@ -81,6 +81,10 @@
#include "../feature/probe_temp_comp.h"
#endif
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
#include "../feature/x_twist.h"
#endif
#if ENABLED(EXTENSIBLE_UI)
#include "../lcd/extui/ui_api.h"
#elif ENABLED(DWIN_CREALITY_LCD_ENHANCED)
@ -808,6 +812,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
if (!deploy()) {
measured_z = run_z_probe(sanity_check) + offset.z;
TERN_(HAS_PTC, ptc.apply_compensation(measured_z));
TERN_(X_AXIS_TWIST_COMPENSATION, measured_z += xatc.compensation(npos + offset_xy));
}
if (!isnan(measured_z)) {
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;

48
Marlin/src/module/settings.cpp
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@ -64,7 +64,7 @@
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
#include "../feature/bedlevel/abl/x_twist.h"
#include "../feature/x_twist.h"
#endif
#endif
@ -269,13 +269,17 @@ typedef struct SettingsDataStruct {
xy_pos_t bilinear_grid_spacing, bilinear_start; // G29 L F
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
bed_mesh_t z_values; // G29
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
XATC xatc; // TBD
#endif
#else
float z_values[3][3];
#endif
//
// X_AXIS_TWIST_COMPENSATION
//
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
XATC xatc; // TBD
#endif
//
// AUTO_BED_LEVELING_UBL
//
@ -873,9 +877,6 @@ void MarlinSettings::postprocess() {
sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]),
"Bilinear Z array is the wrong size."
);
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
static_assert(COUNT(xatc.z_offset) == XATC_MAX_POINTS, "XATC Z-offset mesh is the wrong size.");
#endif
#else
const xy_pos_t bilinear_start{0}, bilinear_grid_spacing{0};
#endif
@ -889,15 +890,20 @@ void MarlinSettings::postprocess() {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
EEPROM_WRITE(z_values); // 9-256 floats
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
EEPROM_WRITE(xatc);
#endif
#else
dummyf = 0;
for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_WRITE(dummyf);
#endif
}
//
// X Axis Twist Compensation
//
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
_FIELD_TEST(xatc);
EEPROM_WRITE(xatc);
#endif
//
// Unified Bed Leveling
//
@ -1785,9 +1791,6 @@ void MarlinSettings::postprocess() {
EEPROM_READ(bilinear_grid_spacing); // 2 ints
EEPROM_READ(bilinear_start); // 2 ints
EEPROM_READ(z_values); // 9 to 256 floats
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
EEPROM_READ(xatc);
#endif
}
else // EEPROM data is stale
#endif // AUTO_BED_LEVELING_BILINEAR
@ -1800,6 +1803,13 @@ void MarlinSettings::postprocess() {
}
}
//
// X Axis Twist Compensation
//
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
EEPROM_READ(xatc);
#endif
//
// Unified Bed Leveling active state
//
@ -2849,6 +2859,14 @@ void MarlinSettings::reset() {
TERN_(ENABLE_LEVELING_FADE_HEIGHT, new_z_fade_height = (DEFAULT_LEVELING_FADE_HEIGHT));
TERN_(HAS_LEVELING, reset_bed_level());
//
// X Axis Twist Compensation
//
TERN_(X_AXIS_TWIST_COMPENSATION, xatc.reset());
//
// Nozzle-to-probe Offset
//
#if HAS_BED_PROBE
constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET;
static_assert(COUNT(dpo) == LINEAR_AXES, "NOZZLE_TO_PROBE_OFFSET must contain offsets for each linear axis X, Y, Z....");
@ -3313,14 +3331,14 @@ void MarlinSettings::reset() {
}
}
#endif
// TODO: Create G-code for settings
//#if ENABLED(X_AXIS_TWIST_COMPENSATION)
// CONFIG_ECHO_START();
// xatc.print_points();
//#endif
#endif
#endif // HAS_LEVELING
//

2
ini/features.ini
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@ -98,7 +98,7 @@ USB_FLASH_DRIVE_SUPPORT = src_filter=+<src/sd/usb_flashdrive/Sd2C
HAS_MCP3426_ADC = src_filter=+<src/feature/adc> +<src/gcode/feature/adc>
AUTO_BED_LEVELING_BILINEAR = src_filter=+<src/feature/bedlevel/abl>
AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+<src/gcode/bedlevel/abl>
X_AXIS_TWIST_COMPENSATION = src_filter=+<src/feature/bedlevel/abl/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp>
X_AXIS_TWIST_COMPENSATION = src_filter=+<src/feature/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp>
MESH_BED_LEVELING = src_filter=+<src/feature/bedlevel/mbl> +<src/gcode/bedlevel/mbl>
AUTO_BED_LEVELING_UBL = src_filter=+<src/feature/bedlevel/ubl> +<src/gcode/bedlevel/ubl>
UBL_HILBERT_CURVE = src_filter=+<src/feature/bedlevel/hilbert_curve.cpp>

2
platformio.ini
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@ -100,7 +100,6 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/feature/backlash.cpp>
-<src/feature/baricuda.cpp> -<src/gcode/feature/baricuda>
-<src/feature/bedlevel/abl> -<src/gcode/bedlevel/abl>
-<src/feature/bedlevel/abl/x_twist.cpp>
-<src/feature/bedlevel/mbl> -<src/gcode/bedlevel/mbl>
-<src/feature/bedlevel/ubl> -<src/gcode/bedlevel/ubl>
-<src/feature/bedlevel/hilbert_curve.cpp>
@ -151,6 +150,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/feature/tmc_util.cpp> -<src/module/stepper/trinamic.cpp>
-<src/feature/tramming.cpp>
-<src/feature/twibus.cpp>
-<src/feature/x_twist.cpp>
-<src/feature/z_stepper_align.cpp>
-<src/gcode/bedlevel/G26.cpp>
-<src/gcode/bedlevel/G35.cpp>