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G33 evolutionary changes

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master
Scott Lahteine 8 years ago
parent b3a38fd300
commit 6ce2b1ff4a
10 changed files with 168 additions and 120 deletions
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202
Marlin/Marlin_main.cpp
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@ -3019,12 +3019,12 @@ static void homeaxis(const AxisEnum axis) {
// so here it re-homes each tower in turn. // so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes. // Delta homing treats the axes as normal linear axes.
// retrace by the amount specified in endstop_adj // retrace by the amount specified in endstop_adj + additional 0.1mm in order to have minimum steps
if (endstop_adj[axis] * Z_HOME_DIR < 0) { if (endstop_adj[axis] * Z_HOME_DIR <= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
#endif #endif
do_homing_move(axis, endstop_adj[axis]); do_homing_move(axis, endstop_adj[axis] - 0.1);
} }
#else #else
@ -5098,20 +5098,18 @@ void home_all_axes() { gcode_G28(true); }
* *
* Parameters: * Parameters:
* *
* P Number of probe points: * Pn Number of probe points:
* *
* P1 Probe center and set height only. * P1 Probe center and set height only.
* P2 Probe center and towers. Set height, endstops, and delta radius. * P2 Probe center and towers. Set height, endstops, and delta radius.
* P3 Probe all positions: center, towers and opposite towers. Set all. * P3 Probe all positions: center, towers and opposite towers. Set all.
* P4-P7 Probe all positions at different locations and average them. * P4-P7 Probe all positions at different locations and average them.
* *
* A Abort delta height calibration after 1 probe (only P1) * T Don't calibrate tower angle corrections
* *
* O Use opposite tower points instead of tower points (only P2) * Cn.nn Calibration precision; when omitted calibrates to maximum precision
* *
* T Don't calibrate tower angle corrections (P3-P7) * Vn Verbose level:
*
* V Verbose level:
* *
* V0 Dry-run mode. Report settings and probe results. No calibration. * V0 Dry-run mode. Report settings and probe results. No calibration.
* V1 Report settings * V1 Report settings
@ -5131,30 +5129,61 @@ void home_all_axes() { gcode_G28(true); }
return; return;
} }
const bool do_height_only = probe_points == 1, const float calibration_precision = code_seen('C') ? code_value_float() : 0.0;
do_center_and_towers = probe_points == 2, if (calibration_precision < 0) {
do_all_positions = probe_points == 3, SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
do_circle_x2 = probe_points == 5, return;
do_circle_x3 = probe_points == 6, }
do_circle_x4 = probe_points == 7,
probe_center_plus_3 = probe_points >= 3,
point_averaging = probe_points >= 4,
probe_center_plus_6 = probe_points >= 5;
const char negating_parameter = do_height_only ? 'A' : do_center_and_towers ? 'O' : 'T'; const bool towers_set = !code_seen('T'),
int8_t probe_mode = code_seen(negating_parameter) && code_value_bool() ? -probe_points : probe_points;
_1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2,
_4p_towers_points = _4p_calibration && towers_set,
_4p_opposite_points = _4p_calibration && !towers_set,
_7p_calibration = probe_points >= 3,
_7p_half_circle = probe_points == 3,
_7p_double_circle = probe_points == 5,
_7p_triple_circle = probe_points == 6,
_7p_quadruple_circle = probe_points == 7,
_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
_7p_intermed_points = _7p_calibration && !_7p_half_circle;
if (!_1p_calibration) { // test if the outer radius is reachable
for (uint8_t axis = 1; axis < 13; ++axis) {
float circles = (_7p_quadruple_circle ? 1.5 :
_7p_triple_circle ? 1.0 :
_7p_double_circle ? 0.5 : 0);
if (!position_is_reachable_by_probe_xy(cos(RADIANS(180 + 30 * axis)) *
delta_calibration_radius * (1 + circles * 0.1),
sin(RADIANS(180 + 30 * axis)) *
delta_calibration_radius * (1 + circles * 0.1))) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
return;
}
}
}
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
stepper.synchronize();
#if HAS_LEVELING #if HAS_LEVELING
set_bed_leveling_enabled(false); reset_bed_level(); // After calibration bed-level data is no longer valid
#endif #endif
#if HOTENDS > 1
const uint8_t old_tool_index = active_extruder;
tool_change(0, 0, true);
#endif
setup_for_endstop_or_probe_move();
home_all_axes(); endstops.enable(true);
home_delta();
endstops.not_homing();
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
float test_precision, float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
zero_std_dev_old = zero_std_dev,
e_old[XYZ] = { e_old[XYZ] = {
endstop_adj[A_AXIS], endstop_adj[A_AXIS],
endstop_adj[B_AXIS], endstop_adj[B_AXIS],
@ -5173,7 +5202,7 @@ void home_all_axes() { gcode_G28(true); }
LCD_MESSAGEPGM("Checking... AC"); // TODO: Make translatable string LCD_MESSAGEPGM("Checking... AC"); // TODO: Make translatable string
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (!do_height_only) { if (!_1p_calibration) {
SERIAL_PROTOCOLPGM(" Ex:"); SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+'); if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2); SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@ -5186,7 +5215,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
} }
SERIAL_EOL; SERIAL_EOL;
if (probe_mode > 2) { // negative disables tower angles if (_7p_calibration && towers_set) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:"); SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+'); if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2); SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
@ -5203,79 +5232,75 @@ void home_all_axes() { gcode_G28(true); }
int8_t iterations = 0; int8_t iterations = 0;
home_offset[Z_AXIS] -= probe_pt(0.0, 0.0 , true, 1); // 1st probe to set height
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
do { do {
float z_at_pt[13] = { 0 }, float z_at_pt[13] = { 0.0 }, S1 = 0.0, S2 = 0.0;
S1 = 0.0,
S2 = 0.0;
int16_t N = 0; int16_t N = 0;
test_precision = zero_std_dev; test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
iterations++; iterations++;
// Probe the points // Probe the points
if (!do_all_positions && !do_circle_x3) { // probe the center if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
setup_for_endstop_or_probe_move(); z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1); // TODO: Needs error handling
clean_up_after_endstop_or_probe_move();
} }
if (probe_center_plus_3) { // probe extra center points if (_7p_calibration) { // probe extra center points
for (int8_t axis = probe_center_plus_6 ? 11 : 9; axis > 0; axis -= probe_center_plus_6 ? 2 : 4) { for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
setup_for_endstop_or_probe_move(); const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
z_at_pt[0] += probe_pt( // TODO: Needs error handling z_at_pt[0] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
clean_up_after_endstop_or_probe_move();
} }
z_at_pt[0] /= float(do_circle_x2 ? 7 : probe_points); z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
} }
if (!do_height_only) { // probe the radius if (!_1p_calibration) { // probe the radius
bool zig_zag = true; bool zig_zag = true;
for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13; const uint8_t start = _4p_opposite_points ? 3 : 1,
axis += (do_center_and_towers ? 4 : do_all_positions ? 2 : 1)) { step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
float offset_circles = (do_circle_x4 ? (zig_zag ? 1.5 : 1.0) : for (uint8_t axis = start; axis < 13; axis += step) {
do_circle_x3 ? (zig_zag ? 1.0 : 0.5) : const float offset_circles = _7p_quadruple_circle ? (zig_zag ? 1.5 : 1.0) :
do_circle_x2 ? (zig_zag ? 0.5 : 0.0) : 0); _7p_triple_circle ? (zig_zag ? 1.0 : 0.5) :
_7p_double_circle ? (zig_zag ? 0.5 : 0.0) : 0;
for (float circles = -offset_circles ; circles <= offset_circles; circles++) { for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
setup_for_endstop_or_probe_move(); const float a = RADIANS(180 + 30 * axis),
z_at_pt[axis] += probe_pt( // TODO: Needs error handling r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
cos(RADIANS(180 + 30 * axis)) * delta_calibration_radius * z_at_pt[axis] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
(1 + circles * 0.1 * (zig_zag ? 1 : -1)),
sin(RADIANS(180 + 30 * axis)) * delta_calibration_radius *
(1 + circles * 0.1 * (zig_zag ? 1 : -1)), true, 1);
clean_up_after_endstop_or_probe_move();
} }
zig_zag = !zig_zag; zig_zag = !zig_zag;
z_at_pt[axis] /= (2 * offset_circles + 1); z_at_pt[axis] /= (2 * offset_circles + 1);
} }
} }
if (point_averaging) // average intermediates to tower and opposites if (_7p_intermed_points) // average intermediates to tower and opposites
for (uint8_t axis = 1; axis <= 11; axis += 2) for (uint8_t axis = 1; axis <= 11; axis += 2)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0; z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
S1 += z_at_pt[0]; S1 += z_at_pt[0];
S2 += sq(z_at_pt[0]); S2 += sq(z_at_pt[0]);
N++; N++;
if (!do_height_only) // std dev from zero plane if (!_1p_calibration) // std dev from zero plane
for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13; axis += (do_center_and_towers ? 4 : 2)) { for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
S1 += z_at_pt[axis]; S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]); S2 += sq(z_at_pt[axis]);
N++; N++;
} }
zero_std_dev_old = zero_std_dev;
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
if (iterations == 1) home_offset[Z_AXIS] = zh_old; // reset height after 1st probe change
// Solve matrices // Solve matrices
if (zero_std_dev < test_precision) { if (zero_std_dev < test_precision && zero_std_dev > calibration_precision) {
COPY(e_old, endstop_adj); COPY(e_old, endstop_adj);
dr_old = delta_radius; dr_old = delta_radius;
zh_old = home_offset[Z_AXIS]; zh_old = home_offset[Z_AXIS];
alpha_old = delta_tower_angle_trim[A_AXIS]; alpha_old = delta_tower_angle_trim[A_AXIS];
beta_old = delta_tower_angle_trim[B_AXIS]; beta_old = delta_tower_angle_trim[B_AXIS];
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0;
t_alpha = 0.0, t_beta = 0.0;
const float r_diff = delta_radius - delta_calibration_radius, const float r_diff = delta_radius - delta_calibration_radius,
h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
@ -5293,25 +5318,25 @@ void home_all_axes() { gcode_G28(true); }
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I) #define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I) #define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
switch (probe_mode) { switch (probe_points) {
case -1:
test_precision = 0.00;
case 1: case 1:
test_precision = 0.00;
LOOP_XYZ(i) e_delta[i] = Z1000(0); LOOP_XYZ(i) e_delta[i] = Z1000(0);
break; break;
case 2: case 2:
if (towers_set) {
e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9); e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9); e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9); e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9); r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
break; }
else {
case -2:
e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3); e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3); e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3); e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3); r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
}
break; break;
default: default:
@ -5320,9 +5345,9 @@ void home_all_axes() { gcode_G28(true); }
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3); e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3); r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
if (probe_mode > 0) { // negative disables tower angles if (towers_set) {
t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3); t_alpha = Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3); t_beta = Z0888(1) - Z0444(5) - Z0444(9) + Z0888(7) - Z0444(11) - Z0444(3);
} }
break; break;
} }
@ -5330,7 +5355,7 @@ void home_all_axes() { gcode_G28(true); }
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis]; LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta; delta_radius += r_delta;
delta_tower_angle_trim[A_AXIS] += t_alpha; delta_tower_angle_trim[A_AXIS] += t_alpha;
delta_tower_angle_trim[B_AXIS] -= t_beta; delta_tower_angle_trim[B_AXIS] += t_beta;
// adjust delta_height and endstops by the max amount // adjust delta_height and endstops by the max amount
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]); const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
@ -5339,7 +5364,7 @@ void home_all_axes() { gcode_G28(true); }
recalc_delta_settings(delta_radius, delta_diagonal_rod); recalc_delta_settings(delta_radius, delta_diagonal_rod);
} }
else { // step one back else if(zero_std_dev >= test_precision) { // step one back
COPY(endstop_adj, e_old); COPY(endstop_adj, e_old);
delta_radius = dr_old; delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old; home_offset[Z_AXIS] = zh_old;
@ -5355,7 +5380,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPGM(". c:"); SERIAL_PROTOCOLPGM(". c:");
if (z_at_pt[0] > 0) SERIAL_CHAR('+'); if (z_at_pt[0] > 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[0], 2); SERIAL_PROTOCOL_F(z_at_pt[0], 2);
if (probe_mode == 2 || probe_center_plus_3) { if (_4p_towers_points || _7p_calibration) {
SERIAL_PROTOCOLPGM(" x:"); SERIAL_PROTOCOLPGM(" x:");
if (z_at_pt[1] >= 0) SERIAL_CHAR('+'); if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[1], 2); SERIAL_PROTOCOL_F(z_at_pt[1], 2);
@ -5366,9 +5391,9 @@ void home_all_axes() { gcode_G28(true); }
if (z_at_pt[9] >= 0) SERIAL_CHAR('+'); if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[9], 2); SERIAL_PROTOCOL_F(z_at_pt[9], 2);
} }
if (probe_mode != -2) SERIAL_EOL; if (!_4p_opposite_points) SERIAL_EOL;
if (probe_mode == -2 || probe_center_plus_3) { if ((_4p_opposite_points) || _7p_calibration) {
if (probe_center_plus_3) { if (_7p_calibration) {
SERIAL_CHAR('.'); SERIAL_CHAR('.');
SERIAL_PROTOCOL_SP(13); SERIAL_PROTOCOL_SP(13);
} }
@ -5385,10 +5410,15 @@ void home_all_axes() { gcode_G28(true); }
} }
} }
if (test_precision != 0.0) { // !forced end if (test_precision != 0.0) { // !forced end
if (zero_std_dev >= test_precision) { // end iterations if (zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK"); SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOL_SP(36); SERIAL_PROTOCOL_SP(36);
if (zero_std_dev >= test_precision)
SERIAL_PROTOCOLPGM("rolling back."); SERIAL_PROTOCOLPGM("rolling back.");
else {
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
}
SERIAL_EOL; SERIAL_EOL;
LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
} }
@ -5404,7 +5434,7 @@ void home_all_axes() { gcode_G28(true); }
lcd_setstatus(mess); lcd_setstatus(mess);
} }
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (!do_height_only) { if (!_1p_calibration) {
SERIAL_PROTOCOLPGM(" Ex:"); SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+'); if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2); SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@ -5417,7 +5447,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
} }
SERIAL_EOL; SERIAL_EOL;
if (probe_mode > 2) { // negative disables tower angles if (_7p_calibration && towers_set) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:"); SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+'); if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2); SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
@ -5427,7 +5457,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPGM(" Tz:+0.00"); SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL; SERIAL_EOL;
} }
if (zero_std_dev >= test_precision) if (zero_std_dev >= test_precision || zero_std_dev <= calibration_precision)
serialprintPGM(save_message); serialprintPGM(save_message);
SERIAL_EOL; SERIAL_EOL;
} }
@ -5449,12 +5479,20 @@ void home_all_axes() { gcode_G28(true); }
} }
} }
stepper.synchronize(); endstops.enable(true);
home_delta();
home_all_axes(); endstops.not_homing();
} while (zero_std_dev < test_precision && iterations < 31); }
while (zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31);
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
do_blocking_move_to_z(delta_clip_start_height);
#endif
clean_up_after_endstop_or_probe_move();
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
#if ENABLED(Z_PROBE_SLED) #if ENABLED(Z_PROBE_SLED)
RETRACT_PROBE(); RETRACT_PROBE();
#endif #endif

8
Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
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@ -447,10 +447,10 @@
#define DELTA_DIAGONAL_ROD 218.0 // mm #define DELTA_DIAGONAL_ROD 218.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 100.00 //mm // get this value from auto calibrate #define DELTA_RADIUS 100.00 //mm Get this value from auto calibrate
// height from z=0 to home position // height from z=0 to home position
#define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 A at 1st time calibration #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0 #define DELTA_PRINTABLE_RADIUS 85.0
@ -460,8 +460,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
#define DELTA_CALIBRATION_MENU #define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_AUTO_CALIBRATION #define DELTA_AUTO_CALIBRATION

8
Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
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@ -454,10 +454,10 @@
#define DELTA_CARRIAGE_OFFSET 22.0 // mm #define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 C-1 at 1st time calibration #define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0 #define DELTA_PRINTABLE_RADIUS 85.0
@ -467,8 +467,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION

8
Marlin/example_configurations/delta/generic/Configuration.h
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@ -444,10 +444,10 @@
#define DELTA_CARRIAGE_OFFSET 18.0 // mm #define DELTA_CARRIAGE_OFFSET 18.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate // height from z=0.00 to home position #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 #define DELTA_PRINTABLE_RADIUS 140.0
@ -456,8 +456,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION

8
Marlin/example_configurations/delta/kossel_mini/Configuration.h
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@ -444,10 +444,10 @@
#define DELTA_CARRIAGE_OFFSET 19.5 // mm #define DELTA_CARRIAGE_OFFSET 19.5 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 90.0 #define DELTA_PRINTABLE_RADIUS 90.0
@ -456,8 +456,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 18) // mm #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION

8
Marlin/example_configurations/delta/kossel_pro/Configuration.h
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@ -431,10 +431,10 @@
#define DELTA_CARRIAGE_OFFSET 30.0 // mm #define DELTA_CARRIAGE_OFFSET 30.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 C-1 at 1st time calibration #define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 127.0 #define DELTA_PRINTABLE_RADIUS 127.0
@ -443,8 +443,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 25.4) // mm #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION

8
Marlin/example_configurations/delta/kossel_xl/Configuration.h
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@ -449,10 +449,10 @@
#define DELTA_CARRIAGE_OFFSET 22.0 // mm #define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered. // Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position // height from z=0.00 to home position
#define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 C-1 at 1st time calibration #define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 #define DELTA_PRINTABLE_RADIUS 140.0
@ -461,8 +461,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION

2
Marlin/planner.h
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@ -161,8 +161,10 @@ class Planner {
#if HAS_ABL #if HAS_ABL
static bool abl_enabled; // Flag that bed leveling is enabled static bool abl_enabled; // Flag that bed leveling is enabled
#if ABL_PLANAR
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
#endif #endif
#endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
static float z_fade_height, inverse_z_fade_height; static float z_fade_height, inverse_z_fade_height;

8
Marlin/ultralcd.cpp
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@ -2151,6 +2151,10 @@ void kill_screen(const char* lcd_msg) {
} }
void _lcd_delta_calibrate_home() { void _lcd_delta_calibrate_home() {
#if HAS_LEVELING
reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
enqueue_and_echo_commands_P(PSTR("G28")); enqueue_and_echo_commands_P(PSTR("G28"));
lcd_goto_screen(_lcd_calibrate_homing); lcd_goto_screen(_lcd_calibrate_homing);
} }
@ -2158,6 +2162,10 @@ void kill_screen(const char* lcd_msg) {
// Move directly to the tower position with uninterpolated moves // Move directly to the tower position with uninterpolated moves
// If we used interpolated moves it would cause this to become re-entrant // If we used interpolated moves it would cause this to become re-entrant
void _goto_tower_pos(const float &a) { void _goto_tower_pos(const float &a) {
#if HAS_LEVELING
reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5; current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
line_to_current(Z_AXIS); line_to_current(Z_AXIS);

2
README.md
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@ -69,7 +69,7 @@ More features have been added by:
- [[@Tannoo](https://github.com/Tannoo)] - [[@Tannoo](https://github.com/Tannoo)]
- [[@teemuatlut](https://github.com/teemuatlut)] - [[@teemuatlut](https://github.com/teemuatlut)]
- [[@bgort](https://github.com/bgort)] - [[@bgort](https://github.com/bgort)]
- [[@LVD-AC](https://github.com/LVD-AC)] - Luc Van Daele[[@LVD-AC](https://github.com/LVD-AC)] - Dutch, French, English
- [[@paulusjacobus](https://github.com/paulusjacobus)] - [[@paulusjacobus](https://github.com/paulusjacobus)]
- ...and many others - ...and many others

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