From a16a059312b0ddb822da2769b5ba5372f9857c48 Mon Sep 17 00:00:00 2001
From: Giuseppe499 <giuseppe499@live.it>
Date: Tue, 7 Dec 2021 02:53:51 +0100
Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20X=20Twist=20Compensation=20&=20Cali?=
=?UTF-8?q?bration=20(#23238)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Marlin/Configuration_adv.h | 16 ++
Marlin/src/feature/bedlevel/abl/x_twist.cpp | 59 ++++++
Marlin/src/feature/bedlevel/abl/x_twist.h | 37 ++++
Marlin/src/feature/bedlevel/bedlevel.h | 3 +
Marlin/src/gcode/bedlevel/abl/G29.cpp | 2 +-
Marlin/src/inc/SanityCheck.h | 4 +
Marlin/src/lcd/language/language_en.h | 4 +
Marlin/src/lcd/marlinui.h | 2 +-
Marlin/src/lcd/menu/menu.cpp | 12 +-
Marlin/src/lcd/menu/menu.h | 13 ++
Marlin/src/lcd/menu/menu_advanced.cpp | 4 +
Marlin/src/lcd/menu/menu_bed_corners.cpp | 4 -
Marlin/src/lcd/menu/menu_bed_leveling.cpp | 2 -
Marlin/src/lcd/menu/menu_motion.cpp | 9 +
Marlin/src/lcd/menu/menu_probe_offset.cpp | 11 +-
Marlin/src/lcd/menu/menu_x_twist.cpp | 224 ++++++++++++++++++++
Marlin/src/module/settings.cpp | 24 +++
buildroot/tests/rambo | 7 +-
ini/features.ini | 1 +
platformio.ini | 2 +
20 files changed, 417 insertions(+), 23 deletions(-)
create mode 100644 Marlin/src/feature/bedlevel/abl/x_twist.cpp
create mode 100644 Marlin/src/feature/bedlevel/abl/x_twist.h
create mode 100644 Marlin/src/lcd/menu/menu_x_twist.cpp
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 5f02d25cc4..4e10ce5577 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1270,6 +1270,22 @@
// Set a convenient position to do the calibration (probing point and nozzle/bed-distance)
//#define PROBE_OFFSET_WIZARD_XY_POS { X_CENTER, Y_CENTER }
#endif
+
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+ // Add a calibration procedure in the Probe Offsets menu
+ // to compensate for twist in the X-axis.
+ //#define X_AXIS_TWIST_COMPENSATION
+ #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+ /**
+ * Enable to init the Probe Z-Offset when starting the Wizard.
+ * Use a height slightly above the estimated nozzle-to-probe Z offset.
+ * For example, with an offset of -5, consider a starting height of -4.
+ */
+ #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
+ #endif
+ #endif
#endif
// Include a page of printer information in the LCD Main Menu
diff --git a/Marlin/src/feature/bedlevel/abl/x_twist.cpp b/Marlin/src/feature/bedlevel/abl/x_twist.cpp
new file mode 100644
index 0000000000..c4a62c3595
--- /dev/null
+++ b/Marlin/src/feature/bedlevel/abl/x_twist.cpp
@@ -0,0 +1,59 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+
+#include "../bedlevel.h"
+
+XATC xatc;
+
+float XATC::spacing, XATC::start;
+xatc_points_t XATC::z_values;
+
+void XATC::print_points() {
+ SERIAL_ECHOLNPGM(" X-Twist Correction:");
+ LOOP_L_N(x, XATC_MAX_POINTS) {
+ SERIAL_CHAR(' ');
+ if (!isnan(z_values[x])) {
+ if (z_values[x] >= 0) SERIAL_CHAR('+');
+ SERIAL_ECHO_F(z_values[x], 3);
+ }
+ else {
+ LOOP_L_N(i, 6)
+ SERIAL_CHAR(i ? '=' : ' ');
+ }
+ }
+ SERIAL_EOL();
+}
+
+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) {
+ float t = (raw.x - start) / spacing;
+ int i = FLOOR(t);
+ LIMIT(i, 0, XATC_MAX_POINTS - 2);
+ t -= i;
+ return lerp(t, z_values[i], z_values[i + 1]);
+}
+
+#endif // X_AXIS_TWIST_COMPENSATION
diff --git a/Marlin/src/feature/bedlevel/abl/x_twist.h b/Marlin/src/feature/bedlevel/abl/x_twist.h
new file mode 100644
index 0000000000..bbad9e73ef
--- /dev/null
+++ b/Marlin/src/feature/bedlevel/abl/x_twist.h
@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../../inc/MarlinConfigPre.h"
+
+typedef float xatc_points_t[XATC_MAX_POINTS];
+
+class XATC {
+public:
+ static float spacing, start;
+ static xatc_points_t z_values;
+
+ static float compensation(const xy_pos_t &raw);
+ static void print_points();
+};
+
+extern XATC xatc;
diff --git a/Marlin/src/feature/bedlevel/bedlevel.h b/Marlin/src/feature/bedlevel/bedlevel.h
index 63f032eee8..c623c99b5c 100644
--- a/Marlin/src/feature/bedlevel/bedlevel.h
+++ b/Marlin/src/feature/bedlevel/bedlevel.h
@@ -63,6 +63,9 @@ 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)
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index 14da38c8fe..6765ec86a6 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -662,7 +662,7 @@ 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;
+ z_values[abl.meshCount.x][abl.meshCount.y] = z PLUS_TERN0(X_AXIS_TWIST_COMPENSATION, xatc.compensation(abl.probePos));
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z));
#endif
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 1442b9219f..a809fad132 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -3391,6 +3391,10 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#endif
#endif
+#if BOTH(X_AXIS_TWIST_COMPENSATION, NOZZLE_AS_PROBE)
+ #error "X_AXIS_TWIST_COMPENSATION is incompatible with NOZZLE_AS_PROBE."
+#endif
+
#if ENABLED(POWER_LOSS_RECOVERY)
#if ENABLED(BACKUP_POWER_SUPPLY) && !PIN_EXISTS(POWER_LOSS)
#error "BACKUP_POWER_SUPPLY requires a POWER_LOSS_PIN."
diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h
index 907faa1436..9f60632152 100644
--- a/Marlin/src/lcd/language/language_en.h
+++ b/Marlin/src/lcd/language/language_en.h
@@ -734,6 +734,10 @@ namespace Language_en {
LSTR MSG_PROBE_WIZARD_PROBING = _UxGT("Probing Z Reference");
LSTR MSG_PROBE_WIZARD_MOVING = _UxGT("Moving to Probing Pos");
+ LSTR MSG_XATC = _UxGT("X-Twist Wizard");
+ LSTR MSG_XATC_DONE = _UxGT("X-Twist Wizard Done!");
+ LSTR MSG_XATC_UPDATE_Z_OFFSET = _UxGT("Update Probe Z-Offset to ");
+
LSTR MSG_SOUND = _UxGT("Sound");
LSTR MSG_TOP_LEFT = _UxGT("Top Left");
diff --git a/Marlin/src/lcd/marlinui.h b/Marlin/src/lcd/marlinui.h
index ed5b539eaf..7014040097 100644
--- a/Marlin/src/lcd/marlinui.h
+++ b/Marlin/src/lcd/marlinui.h
@@ -640,7 +640,7 @@ public:
//
// Special handling if a move is underway
//
- #if ANY(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION, PROBE_OFFSET_WIZARD) || (ENABLED(LCD_BED_LEVELING) && EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
+ #if ANY(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION) || (ENABLED(LCD_BED_LEVELING) && EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
#define LCD_HAS_WAIT_FOR_MOVE 1
static bool wait_for_move;
#else
diff --git a/Marlin/src/lcd/menu/menu.cpp b/Marlin/src/lcd/menu/menu.cpp
index a24ad883f7..c566e9b2a6 100644
--- a/Marlin/src/lcd/menu/menu.cpp
+++ b/Marlin/src/lcd/menu/menu.cpp
@@ -38,7 +38,7 @@
#include "../../module/probe.h"
#endif
-#if EITHER(ENABLE_LEVELING_FADE_HEIGHT, AUTO_BED_LEVELING_UBL)
+#if HAS_LEVELING
#include "../../feature/bedlevel/bedlevel.h"
#endif
@@ -46,6 +46,13 @@
///////////// Global Variables /////////////
////////////////////////////////////////////
+#if HAS_LEVELING && ANY(LEVEL_BED_CORNERS, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+ bool leveling_was_active; // = false
+#endif
+#if ANY(PROBE_MANUALLY, MESH_BED_LEVELING, X_AXIS_TWIST_COMPENSATION)
+ uint8_t manual_probe_index; // = 0
+#endif
+
// Menu Navigation
int8_t encoderTopLine, encoderLine, screen_items;
@@ -338,8 +345,7 @@ void _lcd_draw_homing() {
}
}
-#if ENABLED(LCD_BED_LEVELING) || (HAS_LEVELING && DISABLED(SLIM_LCD_MENUS))
- #include "../../feature/bedlevel/bedlevel.h"
+#if HAS_LEVELING && DISABLED(SLIM_LCD_MENUS)
void _lcd_toggle_bed_leveling() { set_bed_leveling_enabled(!planner.leveling_active); }
#endif
diff --git a/Marlin/src/lcd/menu/menu.h b/Marlin/src/lcd/menu/menu.h
index 44b0e89aca..048dab9b73 100644
--- a/Marlin/src/lcd/menu/menu.h
+++ b/Marlin/src/lcd/menu/menu.h
@@ -218,6 +218,11 @@ void _lcd_draw_homing();
void goto_probe_offset_wizard();
#endif
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+ void xatc_wizard_continue();
+ void menu_advanced_settings();
+#endif
+
#if ENABLED(LCD_BED_LEVELING) || (HAS_LEVELING && DISABLED(SLIM_LCD_MENUS))
void _lcd_toggle_bed_leveling();
#endif
@@ -249,3 +254,11 @@ extern uint8_t screen_history_depth;
inline void clear_menu_history() { screen_history_depth = 0; }
#define STICKY_SCREEN(S) []{ ui.defer_status_screen(); ui.goto_screen(S); }
+
+#if HAS_LEVELING && ANY(LEVEL_BED_CORNERS, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+ extern bool leveling_was_active;
+#endif
+
+#if ANY(PROBE_MANUALLY, MESH_BED_LEVELING, X_AXIS_TWIST_COMPENSATION)
+ extern uint8_t manual_probe_index;
+#endif
diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp
index 8b688ab2ab..a5b4455d6f 100644
--- a/Marlin/src/lcd/menu/menu_advanced.cpp
+++ b/Marlin/src/lcd/menu/menu_advanced.cpp
@@ -508,6 +508,10 @@ void menu_backlash();
SUBMENU(MSG_PROBE_WIZARD, goto_probe_offset_wizard);
#endif
+ #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+ SUBMENU(MSG_XATC, xatc_wizard_continue);
+ #endif
+
END_MENU();
}
#endif
diff --git a/Marlin/src/lcd/menu/menu_bed_corners.cpp b/Marlin/src/lcd/menu/menu_bed_corners.cpp
index 872b9b3840..7bf247f40b 100644
--- a/Marlin/src/lcd/menu/menu_bed_corners.cpp
+++ b/Marlin/src/lcd/menu/menu_bed_corners.cpp
@@ -66,10 +66,6 @@
static_assert(LEVEL_CORNERS_Z_HOP >= 0, "LEVEL_CORNERS_Z_HOP must be >= 0. Please update your configuration.");
-#if HAS_LEVELING
- static bool leveling_was_active = false;
-#endif
-
#ifndef LEVEL_CORNERS_LEVELING_ORDER
#define LEVEL_CORNERS_LEVELING_ORDER { LF, RF, LB, RB } // Default
//#define LEVEL_CORNERS_LEVELING_ORDER { LF, LB, RF } // 3 hard-coded points
diff --git a/Marlin/src/lcd/menu/menu_bed_leveling.cpp b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
index eb286f96b9..a47e2517ae 100644
--- a/Marlin/src/lcd/menu/menu_bed_leveling.cpp
+++ b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
@@ -52,8 +52,6 @@
// Motion > Level Bed handlers
//
- static uint8_t manual_probe_index;
-
// LCD probed points are from defaults
constexpr uint8_t total_probe_points = TERN(AUTO_BED_LEVELING_3POINT, 3, GRID_MAX_POINTS);
diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp
index cddb7ede74..29a908ac33 100644
--- a/Marlin/src/lcd/menu/menu_motion.cpp
+++ b/Marlin/src/lcd/menu/menu_motion.cpp
@@ -134,6 +134,15 @@ void lcd_move_x() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_X), X_AXIS); }
#endif // E_MANUAL
+#if EITHER(PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+
+ void _goto_manual_move_z(const_float_t scale) {
+ ui.manual_move.menu_scale = scale;
+ ui.goto_screen(lcd_move_z);
+ }
+
+#endif
+
//
// "Motion" > "Move Xmm" > "Move XYZ" submenu
//
diff --git a/Marlin/src/lcd/menu/menu_probe_offset.cpp b/Marlin/src/lcd/menu/menu_probe_offset.cpp
index 12b55969a3..add7395533 100644
--- a/Marlin/src/lcd/menu/menu_probe_offset.cpp
+++ b/Marlin/src/lcd/menu/menu_probe_offset.cpp
@@ -39,13 +39,11 @@
#include "../../feature/bedlevel/bedlevel.h"
#endif
+void _goto_manual_move_z(const_float_t);
+
// Global storage
float z_offset_backup, calculated_z_offset, z_offset_ref;
-#if HAS_LEVELING
- bool leveling_was_active;
-#endif
-
inline void z_clearance_move() {
do_z_clearance(
#ifdef Z_AFTER_HOMING
@@ -65,11 +63,6 @@ void set_offset_and_go_back(const_float_t z) {
ui.goto_previous_screen_no_defer();
}
-void _goto_manual_move_z(const_float_t scale) {
- ui.manual_move.menu_scale = scale;
- ui.goto_screen(lcd_move_z);
-}
-
void probe_offset_wizard_menu() {
START_MENU();
calculated_z_offset = probe.offset.z + current_position.z - z_offset_ref;
diff --git a/Marlin/src/lcd/menu/menu_x_twist.cpp b/Marlin/src/lcd/menu/menu_x_twist.cpp
new file mode 100644
index 0000000000..288f16603a
--- /dev/null
+++ b/Marlin/src/lcd/menu/menu_x_twist.cpp
@@ -0,0 +1,224 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+
+#include "menu_item.h"
+#include "menu_addon.h"
+#include "../../module/planner.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/motion.h"
+#include "../../gcode/queue.h"
+#include "../../module/probe.h"
+
+#ifndef XATC_Y_POSITION
+ #define XATC_Y_POSITION ((probe.max_y() - probe.min_y())/2)
+#endif
+
+void _goto_manual_move_z(const_float_t);
+
+float measured_z, z_offset;
+
+//
+// Step 9: X Axis Twist Compensation Wizard is finished.
+//
+void xatc_wizard_done() {
+ if (!ui.wait_for_move) {
+ xatc.print_points();
+ set_bed_leveling_enabled(leveling_was_active);
+ SET_SOFT_ENDSTOP_LOOSE(false);
+ ui.goto_screen(menu_advanced_settings);
+ }
+ if (ui.should_draw())
+ MenuItem_static::draw(LCD_HEIGHT >= 4, GET_TEXT(MSG_XATC_DONE));
+ ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
+}
+
+void xatc_wizard_goto_next_point();
+
+//
+// Step 8: Ask the user if he wants to update the z-offset of the probe
+//
+void xatc_wizard_update_z_offset() {
+ MenuItem_confirm::select_screen(
+ GET_TEXT(MSG_YES), GET_TEXT(MSG_NO)
+ , []{
+ probe.offset.z = z_offset;
+ ui.goto_screen(xatc_wizard_done);
+ }
+ , xatc_wizard_done
+ , GET_TEXT(MSG_XATC_UPDATE_Z_OFFSET)
+ , ftostr42_52(z_offset), PSTR("?")
+ );
+}
+
+//
+// Step 7: Set the Z-offset for this point and go to the next one.
+//
+void xatc_wizard_set_offset_and_go_to_next_point() {
+ // Set Z-offset at probed point
+ xatc.z_values[manual_probe_index++] = probe.offset.z + current_position.z - measured_z;
+ // Go to next point
+ ui.goto_screen(xatc_wizard_goto_next_point);
+}
+
+//
+// Step 6: Wizard Menu. Move the nozzle down until it touches the bed.
+//
+void xatc_wizard_menu() {
+ START_MENU();
+ float calculated_z_offset = probe.offset.z + current_position.z - measured_z;
+
+ if (LCD_HEIGHT >= 4)
+ STATIC_ITEM(MSG_MOVE_NOZZLE_TO_BED, SS_CENTER|SS_INVERT);
+
+ STATIC_ITEM_P(PSTR("Z="), SS_CENTER, ftostr42_52(current_position.z));
+ STATIC_ITEM(MSG_ZPROBE_ZOFFSET, SS_LEFT, ftostr42_52(calculated_z_offset));
+
+ SUBMENU(MSG_MOVE_1MM, []{ _goto_manual_move_z( 1); });
+ SUBMENU(MSG_MOVE_01MM, []{ _goto_manual_move_z( 0.1f); });
+
+ if ((FINE_MANUAL_MOVE) > 0.0f && (FINE_MANUAL_MOVE) < 0.1f) {
+ char tmp[20], numstr[10];
+ // Determine digits needed right of decimal
+ const uint8_t digs = !UNEAR_ZERO((FINE_MANUAL_MOVE) * 1000 - int((FINE_MANUAL_MOVE) * 1000)) ? 4 :
+ !UNEAR_ZERO((FINE_MANUAL_MOVE) * 100 - int((FINE_MANUAL_MOVE) * 100)) ? 3 : 2;
+ sprintf_P(tmp, GET_TEXT(MSG_MOVE_N_MM), dtostrf(FINE_MANUAL_MOVE, 1, digs, numstr));
+ #if DISABLED(HAS_GRAPHICAL_TFT)
+ SUBMENU_P(NUL_STR, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
+ MENU_ITEM_ADDON_START(0 + ENABLED(HAS_MARLINUI_HD44780));
+ lcd_put_u8str(tmp);
+ MENU_ITEM_ADDON_END();
+ #else
+ SUBMENU_P(tmp, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
+ #endif
+ }
+
+ ACTION_ITEM(MSG_BUTTON_DONE, xatc_wizard_set_offset_and_go_to_next_point);
+
+ END_MENU();
+}
+
+//
+// Step 5: Display "Next point: 1 / 9" while waiting for move to finish
+//
+void xatc_wizard_moving() {
+ if (ui.should_draw()) {
+ char msg[10];
+ sprintf_P(msg, PSTR("%i / %u"), manual_probe_index + 1, XATC_MAX_POINTS);
+ MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_LEVEL_BED_NEXT_POINT), msg);
+ }
+ ui.refresh(LCDVIEW_CALL_NO_REDRAW);
+ if (!ui.wait_for_move) ui.goto_screen(xatc_wizard_menu);
+}
+
+//
+// Step 4: Initiate a move to the next point
+//
+void xatc_wizard_goto_next_point() {
+ if (manual_probe_index < XATC_MAX_POINTS) {
+
+ const float x = xatc.start + manual_probe_index * xatc.spacing;
+
+ // Avoid probing outside the round or hexagonal area
+ if (!TERN0(IS_KINEMATIC, !probe.can_reach(x, XATC_Y_POSITION))) {
+ ui.wait_for_move = true;
+ ui.goto_screen(xatc_wizard_moving);
+
+ // Deploy certain probes before starting probing
+ TERN_(BLTOUCH, do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE));
+
+ measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
+ 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));
+ ui.wait_for_move = false;
+ }
+ else
+ manual_probe_index++; // Go to next point
+ }
+ else {
+ // Compute the z-offset by averaging the values found with this wizard
+ z_offset = 0;
+ LOOP_L_N(i, XATC_MAX_POINTS) z_offset += xatc.z_values[i];
+ z_offset /= XATC_MAX_POINTS;
+
+ // Subtract the average from the values found with this wizard.
+ // This way they are indipendent from the z-offset
+ LOOP_L_N(i, XATC_MAX_POINTS) xatc.z_values[i] -= z_offset;
+
+ ui.goto_screen(xatc_wizard_update_z_offset);
+ }
+}
+
+//
+// Step 3: Display "Click to Begin", wait for click
+// Move to the first probe position
+//
+void xatc_wizard_homing_done() {
+ if (ui.should_draw()) {
+ MenuItem_static::draw(1, GET_TEXT(MSG_LEVEL_BED_WAITING));
+
+ // Color UI needs a control to detect a touch
+ #if BOTH(TOUCH_SCREEN, HAS_GRAPHICAL_TFT)
+ touch.add_control(CLICK, 0, 0, TFT_WIDTH, TFT_HEIGHT);
+ #endif
+ }
+
+ if (ui.use_click()) {
+ xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
+ xatc.start = probe.min_x();
+
+ SET_SOFT_ENDSTOP_LOOSE(true); // Disable soft endstops for free Z movement
+
+ ui.goto_screen(xatc_wizard_goto_next_point);
+ }
+}
+
+//
+// Step 2: Display "Homing XYZ" - Wait for homing to finish
+//
+void xatc_wizard_homing() {
+ _lcd_draw_homing();
+ if (all_axes_homed())
+ ui.goto_screen(xatc_wizard_homing_done);
+}
+
+//
+// Step 1: Prepare for the wizard...
+//
+void xatc_wizard_continue() {
+ // Store Bed-Leveling-State and disable
+ #if HAS_LEVELING
+ leveling_was_active = planner.leveling_active;
+ set_bed_leveling_enabled(false);
+ #endif
+
+ // Home all axes
+ ui.defer_status_screen();
+ set_all_unhomed();
+ ui.goto_screen(xatc_wizard_homing);
+ queue.inject_P(G28_STR);
+}
+
+#endif // X_AXIS_TWIST_COMPENSATION
diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp
index 4057d339dc..8ccf773adc 100644
--- a/Marlin/src/module/settings.cpp
+++ b/Marlin/src/module/settings.cpp
@@ -63,6 +63,9 @@
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
+ #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+ #include "../feature/bedlevel/abl/x_twist.h"
+ #endif
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
@@ -250,6 +253,9 @@ 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
@@ -814,6 +820,12 @@ 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(
+ sizeof(xatc.z_values) == (XATC_MAX_POINTS) * sizeof(xatc.z_values[0]),
+ "Z-offset mesh is the wrong size."
+ );
+ #endif
#else
const xy_pos_t bilinear_start{0}, bilinear_grid_spacing{0};
#endif
@@ -827,6 +839,9 @@ 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);
@@ -1691,6 +1706,9 @@ 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
@@ -3197,6 +3215,12 @@ void MarlinSettings::reset() {
}
}
+ // TODO: Create G-code for settings
+ //#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+ // CONFIG_ECHO_START();
+ // xatc.print_points();
+ //#endif
+
#endif
#endif // HAS_LEVELING
diff --git a/buildroot/tests/rambo b/buildroot/tests/rambo
index b7136e445e..a54c04eeb2 100755
--- a/buildroot/tests/rambo
+++ b/buildroot/tests/rambo
@@ -91,7 +91,7 @@ opt_set MOTHERBOARD BOARD_MINIRAMBO \
I2C_SLAVE_ADDRESS 63
opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER \
SDSUPPORT PCA9632 SOUND_MENU_ITEM GCODE_REPEAT_MARKERS \
- AUTO_BED_LEVELING_BILINEAR PROBE_MANUALLY LCD_BED_LEVELING G26_MESH_VALIDATION MESH_EDIT_MENU \
+ AUTO_BED_LEVELING_LINEAR PROBE_MANUALLY LCD_BED_LEVELING \
LIN_ADVANCE EXTRA_LIN_ADVANCE_K \
INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT EXPERIMENTAL_I2CBUS M100_FREE_MEMORY_WATCHER \
NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE \
@@ -99,7 +99,7 @@ opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CO
PRINTCOUNTER SERVICE_NAME_1 SERVICE_INTERVAL_1 M114_DETAIL
opt_add M100_FREE_MEMORY_DUMPER
opt_add M100_FREE_MEMORY_CORRUPTOR
-exec_test $1 $2 "MINIRAMBO | RRDGFSC | ABL Bilinear Manual | M100 | PWM_MOTOR_CURRENT | M600..." "$3"
+exec_test $1 $2 "MINIRAMBO | RRDGFSC | ABL Linear Manual | M100 | PWM_MOTOR_CURRENT | M600..." "$3"
#
# Test many less common options
@@ -118,7 +118,8 @@ opt_enable COREYX USE_XMAX_PLUG MIXING_EXTRUDER GRADIENT_MIX \
BABYSTEPPING BABYSTEP_DISPLAY_TOTAL FILAMENT_LCD_DISPLAY FILAMENT_WIDTH_SENSOR \
REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER MENU_ADDAUTOSTART SDSUPPORT SDCARD_SORT_ALPHA \
ENDSTOP_NOISE_THRESHOLD FAN_SOFT_PWM \
- FIX_MOUNTED_PROBE PROBING_ESTEPPERS_OFF AUTO_BED_LEVELING_LINEAR DEBUG_LEVELING_FEATURE PROBE_OFFSET_WIZARD \
+ FIX_MOUNTED_PROBE PROBING_ESTEPPERS_OFF PROBE_OFFSET_WIZARD \
+ AUTO_BED_LEVELING_BILINEAR X_AXIS_TWIST_COMPENSATION MESH_EDIT_MENU DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION \
Z_SAFE_HOMING SHOW_TEMP_ADC_VALUES HOME_Y_BEFORE_X EMERGENCY_PARSER \
SD_ABORT_ON_ENDSTOP_HIT HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT HOST_PAUSE_M76 ADVANCED_OK M114_DETAIL \
VOLUMETRIC_DEFAULT_ON NO_WORKSPACE_OFFSETS EXTRA_FAN_SPEED FWRETRACT \
diff --git a/ini/features.ini b/ini/features.ini
index b56565b154..5f69fcca25 100644
--- a/ini/features.ini
+++ b/ini/features.ini
@@ -97,6 +97,7 @@ 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>
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>
diff --git a/platformio.ini b/platformio.ini
index 1b4effcf25..55a2bd2457 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -74,6 +74,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/lcd/menu/menu_touch_screen.cpp>
-<src/lcd/menu/menu_tramming.cpp>
-<src/lcd/menu/menu_ubl.cpp>
+ -<src/lcd/menu/menu_x_twist.cpp>
-<src/lcd/extui/anycubic_chiron>
-<src/lcd/extui/anycubic_i3mega>
-<src/lcd/extui/dgus> -<src/lcd/extui/dgus/fysetc> -<src/lcd/extui/dgus/hiprecy> -<src/lcd/extui/dgus/mks> -<src/lcd/extui/dgus/origin>
@@ -97,6 +98,7 @@ 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>