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Fix G34, add HOME_AFTER_G34 option (#17108)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
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jufimu12 2020-03-11 02:00:26 +01:00 committed by GitHub
parent e7004550c4
commit 627aa8db2d
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5 changed files with 39 additions and 21 deletions
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3
Marlin/Configuration_adv.h
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@ -718,6 +718,9 @@
#define Z_STEPPER_ALIGN_ITERATIONS 5 // Number of iterations to apply during alignment
#define Z_STEPPER_ALIGN_ACC 0.02 // Stop iterating early if the accuracy is better than this
#define RESTORE_LEVELING_AFTER_G34 // Restore leveling after G34 is done?
// After G34, re-home Z (G28 Z) or just calculate it from the last probe heights?
// Re-homing might be more precise in reproducing the actual 'G28 Z' homing height, especially on an uneven bed.
#define HOME_AFTER_G34
#endif
// @section motion

39
Marlin/src/gcode/calibrate/G34_M422.cpp
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@ -141,11 +141,11 @@ void GcodeSuite::G34() {
// iteration this will be re-calculated based on the actual bed position
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
#if NUM_Z_STEPPER_DRIVERS == 3
SQRT(_MAX(HYPOT2(z_stepper_align.xy[0].x - z_stepper_align.xy[0].y, z_stepper_align.xy[1].x - z_stepper_align.xy[1].y),
HYPOT2(z_stepper_align.xy[1].x - z_stepper_align.xy[1].y, z_stepper_align.xy[2].x - z_stepper_align.xy[2].y),
HYPOT2(z_stepper_align.xy[2].x - z_stepper_align.xy[2].y, z_stepper_align.xy[0].x - z_stepper_align.xy[0].y)))
SQRT(_MAX(HYPOT2(z_stepper_align.xy[0].x - z_stepper_align.xy[1].x, z_stepper_align.xy[0].y - z_stepper_align.xy[1].y),
HYPOT2(z_stepper_align.xy[1].x - z_stepper_align.xy[2].x, z_stepper_align.xy[1].y - z_stepper_align.xy[2].y),
HYPOT2(z_stepper_align.xy[2].x - z_stepper_align.xy[0].x, z_stepper_align.xy[2].y - z_stepper_align.xy[0].y)))
#else
HYPOT(z_stepper_align.xy[0].x - z_stepper_align.xy[0].y, z_stepper_align.xy[1].x - z_stepper_align.xy[1].y)
HYPOT(z_stepper_align.xy[0].x - z_stepper_align.xy[1].x, z_stepper_align.xy[0].y - z_stepper_align.xy[1].y)
#endif
);
@ -156,6 +156,7 @@ void GcodeSuite::G34() {
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);
@ -166,8 +167,10 @@ void GcodeSuite::G34() {
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;
@ -181,8 +184,8 @@ void GcodeSuite::G34() {
SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1));
// Initialize minimum value
float z_measured_min = 100000.0f,
z_measured_max = -100000.0f;
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) {
@ -238,14 +241,14 @@ void GcodeSuite::G34() {
linear_fit_data lfd;
incremental_LSF_reset(&lfd);
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
SERIAL_ECHOLNPAIR("PROBEPT_", i + '1', ": ", z_measured[i]);
SERIAL_ECHOLNPAIR("PROBEPT_", ('0' + 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);
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]);
}
@ -345,7 +348,11 @@ void GcodeSuite::G34() {
} // for (iteration)
if (err_break) { SERIAL_ECHOLNPGM("G34 aborted."); break; }
if (err_break) {
SERIAL_ECHOLNPGM("G34 aborted.");
set_axis_not_trusted(Z_AXIS); // The Z coordinate is messed up now
break;
}
SERIAL_ECHOLNPAIR("Did ", int(iteration + (iteration != z_auto_align_iterations)), " iterations of ", int(z_auto_align_iterations));
SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff);
@ -363,15 +370,23 @@ void GcodeSuite::G34() {
set_bed_leveling_enabled(leveling_was_active);
#endif
// After this operation the z position needs correction
set_axis_is_not_at_home(Z_AXIS);
// 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
}while(0);

6
Marlin/src/module/motion.cpp
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@ -1460,13 +1460,13 @@ void set_axis_is_at_home(const AxisEnum axis) {
/**
* Set an axis' to be unhomed.
*/
void set_axis_is_not_at_home(const AxisEnum axis) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_not_at_home(", axis_codes[axis], ")");
void set_axis_not_trusted(const AxisEnum axis) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_not_trusted(", axis_codes[axis], ")");
CBI(axis_known_position, axis);
CBI(axis_homed, axis);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_is_not_at_home(", axis_codes[axis], ")");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_not_trusted(", axis_codes[axis], ")");
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.unhomed(axis);

2
Marlin/src/module/motion.h
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@ -244,7 +244,7 @@ bool axis_unhomed_error(uint8_t axis_bits=0x07);
void set_axis_is_at_home(const AxisEnum axis);
void set_axis_is_not_at_home(const AxisEnum axis);
void set_axis_not_trusted(const AxisEnum axis);
void homeaxis(const AxisEnum axis);