|
|
@ -894,7 +894,7 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
|
|
|
|
current_position[Y_AXIS] = corrected_position.y;
|
|
|
|
current_position[Y_AXIS] = corrected_position.y;
|
|
|
|
current_position[Z_AXIS] = corrected_position.z;
|
|
|
|
current_position[Z_AXIS] = corrected_position.z;
|
|
|
|
|
|
|
|
|
|
|
|
// but the bed at 0 so we don't go below it.
|
|
|
|
// put the bed at 0 so we don't go below it.
|
|
|
|
current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
|
|
|
|
current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
|
|
|
|
|
|
|
|
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
@ -1862,6 +1862,280 @@ void process_commands()
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// M48 Z-Probe repeatability measurement function.
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// This function assumes the bed has been homed. Specificaly, that a G28 command
|
|
|
|
|
|
|
|
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
|
|
|
|
|
|
|
|
// Any information generated by a prior G29 Bed leveling command will be lost and need to be
|
|
|
|
|
|
|
|
// regenerated.
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// The number of samples will default to 10 if not specified. You can use upper or lower case
|
|
|
|
|
|
|
|
// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
|
|
|
|
|
|
|
|
// N for its communication protocol and will get horribly confused if you send it a capital N.
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_REPEATABILITY_TEST
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case 48: // M48 Z-Probe repeatability
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
#if Z_MIN_PIN == -1
|
|
|
|
|
|
|
|
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
double sum=0.0;
|
|
|
|
|
|
|
|
double mean=0.0;
|
|
|
|
|
|
|
|
double sigma=0.0;
|
|
|
|
|
|
|
|
double sample_set[50];
|
|
|
|
|
|
|
|
int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
|
|
|
|
|
|
|
|
double X_current, Y_current, Z_current;
|
|
|
|
|
|
|
|
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (code_seen('V') || code_seen('v')) {
|
|
|
|
|
|
|
|
verbose_level = code_value();
|
|
|
|
|
|
|
|
if (verbose_level<0 || verbose_level>4 ) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
|
|
|
|
|
|
|
|
goto Sigma_Exit;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 0) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (code_seen('n')) {
|
|
|
|
|
|
|
|
n_samples = code_value();
|
|
|
|
|
|
|
|
if (n_samples<4 || n_samples>50 ) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
|
|
|
|
|
|
|
|
goto Sigma_Exit;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
X_current = X_probe_location = st_get_position_mm(X_AXIS);
|
|
|
|
|
|
|
|
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
|
|
|
|
|
|
|
|
Z_current = st_get_position_mm(Z_AXIS);
|
|
|
|
|
|
|
|
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
|
|
|
|
|
|
|
|
ext_position = st_get_position_mm(E_AXIS);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (code_seen('E') || code_seen('e') )
|
|
|
|
|
|
|
|
engage_probe_for_each_reading++;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (code_seen('X') || code_seen('x') ) {
|
|
|
|
|
|
|
|
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
|
|
|
|
|
|
if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
|
|
|
|
|
|
|
|
goto Sigma_Exit;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (code_seen('Y') || code_seen('y') ) {
|
|
|
|
|
|
|
|
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
|
|
|
|
|
|
|
|
if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
|
|
|
|
|
|
|
|
goto Sigma_Exit;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (code_seen('L') || code_seen('l') ) {
|
|
|
|
|
|
|
|
n_legs = code_value();
|
|
|
|
|
|
|
|
if ( n_legs==1 )
|
|
|
|
|
|
|
|
n_legs = 2;
|
|
|
|
|
|
|
|
if ( n_legs<0 || n_legs>15 ) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
|
|
|
|
|
|
|
|
goto Sigma_Exit;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// Do all the preliminary setup work. First raise the probe.
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
plan_bed_level_matrix.set_to_identity();
|
|
|
|
|
|
|
|
plan_buffer_line( X_current, Y_current, Z_start_location,
|
|
|
|
|
|
|
|
ext_position,
|
|
|
|
|
|
|
|
homing_feedrate[Z_AXIS]/60,
|
|
|
|
|
|
|
|
active_extruder);
|
|
|
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// 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_PROTOCOL("Positioning probe for the test.\n");
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
|
|
|
|
|
|
ext_position,
|
|
|
|
|
|
|
|
homing_feedrate[X_AXIS]/60,
|
|
|
|
|
|
|
|
active_extruder);
|
|
|
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
|
|
|
|
|
|
|
|
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
|
|
|
|
|
|
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
|
|
|
|
|
|
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// OK, do the inital probe to get us close to the bed.
|
|
|
|
|
|
|
|
// Then retrace the right amount and use that in subsequent probes
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
engage_z_probe();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
setup_for_endstop_move();
|
|
|
|
|
|
|
|
run_z_probe();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
|
|
|
|
|
|
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
|
|
|
|
|
|
ext_position,
|
|
|
|
|
|
|
|
homing_feedrate[X_AXIS]/60,
|
|
|
|
|
|
|
|
active_extruder);
|
|
|
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (engage_probe_for_each_reading)
|
|
|
|
|
|
|
|
retract_z_probe();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
for( n=0; n<n_samples; n++) {
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if ( n_legs) {
|
|
|
|
|
|
|
|
double radius=0.0, theta=0.0, x_sweep, y_sweep;
|
|
|
|
|
|
|
|
int rotational_direction, l;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
|
|
|
|
|
|
|
|
radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
|
|
|
|
|
|
|
|
theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//SERIAL_ECHOPAIR("starting radius: ",radius);
|
|
|
|
|
|
|
|
//SERIAL_ECHOPAIR(" theta: ",theta);
|
|
|
|
|
|
|
|
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
|
|
|
|
|
|
|
|
//SERIAL_PROTOCOLLNPGM("");
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
for( l=0; l<n_legs-1; l++) {
|
|
|
|
|
|
|
|
if (rotational_direction==1)
|
|
|
|
|
|
|
|
theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
|
|
|
|
|
|
|
|
else
|
|
|
|
|
|
|
|
theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
|
|
|
|
|
|
|
|
if ( radius<0.0 )
|
|
|
|
|
|
|
|
radius = -radius;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
X_current = X_probe_location + cos(theta) * radius;
|
|
|
|
|
|
|
|
Y_current = Y_probe_location + sin(theta) * radius;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
|
|
|
|
|
|
|
|
X_current = X_MIN_POS;
|
|
|
|
|
|
|
|
if ( X_current>X_MAX_POS)
|
|
|
|
|
|
|
|
X_current = X_MAX_POS;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
|
|
|
|
|
|
|
|
Y_current = Y_MIN_POS;
|
|
|
|
|
|
|
|
if ( Y_current>Y_MAX_POS)
|
|
|
|
|
|
|
|
Y_current = Y_MAX_POS;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (verbose_level>3 ) {
|
|
|
|
|
|
|
|
SERIAL_ECHOPAIR("x: ", X_current);
|
|
|
|
|
|
|
|
SERIAL_ECHOPAIR("y: ", Y_current);
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLLNPGM("");
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
do_blocking_move_to( X_current, Y_current, Z_current );
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (engage_probe_for_each_reading) {
|
|
|
|
|
|
|
|
engage_z_probe();
|
|
|
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
setup_for_endstop_move();
|
|
|
|
|
|
|
|
run_z_probe();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
sample_set[n] = current_position[Z_AXIS];
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// Get the current mean for the data points we have so far
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
sum=0.0;
|
|
|
|
|
|
|
|
for( j=0; j<=n; j++) {
|
|
|
|
|
|
|
|
sum = sum + sample_set[j];
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
mean = sum / (double (n+1));
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
// Now, use that mean to calculate the standard deviation for the
|
|
|
|
|
|
|
|
// data points we have so far
|
|
|
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
sum=0.0;
|
|
|
|
|
|
|
|
for( j=0; j<=n; j++) {
|
|
|
|
|
|
|
|
sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
sigma = sqrt( sum / (double (n+1)) );
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 1) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL(n+1);
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL(" of ");
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL(n_samples);
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM(" z: ");
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 2) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL(" mean: ");
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL_F(mean,6);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL(" sigma: ");
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL_F(sigma,6);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 0)
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
|
|
|
|
|
|
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
|
|
|
|
|
|
|
|
st_synchronize();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (engage_probe_for_each_reading) {
|
|
|
|
|
|
|
|
retract_z_probe();
|
|
|
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
retract_z_probe();
|
|
|
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
clean_up_after_endstop_move();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// enable_endstops(true);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (verbose_level > 0) {
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("Mean: ");
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL_F(mean, 6);
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("Standard Deviation: ");
|
|
|
|
|
|
|
|
SERIAL_PROTOCOL_F(sigma, 6);
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("\n\n");
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Sigma_Exit:
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif // Z_PROBE_REPEATABILITY_TEST
|
|
|
|
|
|
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
|
|
|
|
|
|
|
|
case 104: // M104
|
|
|
|
case 104: // M104
|
|
|
|
if(setTargetedHotend(104)){
|
|
|
|
if(setTargetedHotend(104)){
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|