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@ -61,7 +61,7 @@
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* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
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* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
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* G31 - Dock sled (Z_PROBE_SLED only)
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* G31 - Dock sled (Z_PROBE_SLED only)
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* G32 - Undock sled (Z_PROBE_SLED only)
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* G32 - Undock sled (Z_PROBE_SLED only)
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* G33 - Delta '4-point' auto calibration iteration
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* G33 - Delta '4-7-point' auto calibration : "G33 C<points> V<verbose>" (Requires DELTA)
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* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
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* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
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* G90 - Use Absolute Coordinates
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* G90 - Use Absolute Coordinates
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* G91 - Use Relative Coordinates
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* G91 - Use Relative Coordinates
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@ -4982,32 +4982,23 @@ inline void gcode_G28() {
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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/**
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/**
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* G33: Delta '4-point' auto calibration iteration
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* G33 - Delta '4-7-point' auto calibration (Requires DELTA)
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*
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*
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* Usage: G33 <Cn> <Vn>
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* Usage:
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*
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* G33 <Cn> <Vn>
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* C (default) = Calibrate endstops, height and delta radius
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*
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*
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* Cn = (default) = calibrates height ('1 point'), endstops, and delta radius with '4 point'
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* -2, 1-4: n x n probe points, default 3 x 3
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* and calibrates tower angles with '7+ point'
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*
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* n= -2, 1-7 : n*n probe points
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* 1: probe center
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* n=1 probes center - sets height only - usefull when z_offset is changed
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* set height only - useful when z_offset is changed
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* n=2 probes center and towers
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* 2: probe center and towers
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* n=-2 probes center and opposite towers
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* solve one '4 point' calibration
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* n=3 probes all points: center, towers and opposite towers
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* -2: probe center and opposite the towers
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* n>3 probes all points multiple times and averages
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* solve one '4 point' calibration
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* Vn = verbose level (n=0-3 default 1)
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* 3: probe 3 center points, towers and opposite-towers
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* n=0 dry-run mode: no calibration
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* averages between 2 '4 point' calibrations
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* n=1 settings
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* 4: probe 4 center points, towers, opposite-towers and itermediate points
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* n=2 setting + probe results
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* averages between 4 '4 point' calibrations
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*
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* V Verbose level (0-3, default 1)
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*
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* 0: Dry-run mode: no calibration
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* 1: Settings
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* 2: Setting + probe results
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* 3: Expert mode: setting + iteration factors (see Configuration_adv.h)
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* This prematurely stops the iteration process when factors are found
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*/
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*/
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inline void gcode_G33() {
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inline void gcode_G33() {
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@ -5022,16 +5013,7 @@ inline void gcode_G28() {
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int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
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int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
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#define _MAX_M33_V 3
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if (verbose_level == 3 && probe_points == 1) verbose_level--; // needs at least 4 points
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#else
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#define _MAX_M33_V 2
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if (verbose_level > 2)
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SERIAL_PROTOCOLLNPGM("Enable DELTA_CALIBRATE_EXPERT_MODE in Configuration_adv.h");
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#endif
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if (!WITHIN(verbose_level, 0, _MAX_M33_V)) verbose_level = 1;
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float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end
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float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end
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@ -5041,20 +5023,12 @@ inline void gcode_G28() {
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dr_old = delta_radius,
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dr_old = delta_radius,
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zh_old = home_offset[Z_AXIS];
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zh_old = home_offset[Z_AXIS];
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COPY(e_old,endstop_adj);
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COPY(e_old,endstop_adj);
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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// expert variables
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float h_f_old = 1.00, r_f_old = 0.00,
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h_diff_min = 1.00, r_diff_max = 0.10;
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#endif
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// print settings
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// print settings
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SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
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SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
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SERIAL_PROTOCOLPGM("Checking... AC");
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SERIAL_PROTOCOLPGM("Checking... AC");
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if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
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if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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if (verbose_level == 3) SERIAL_PROTOCOLPGM(" (EXPERT)");
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#endif
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SERIAL_EOL;
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SERIAL_EOL;
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LCD_MESSAGEPGM("Checking... AC");
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LCD_MESSAGEPGM("Checking... AC");
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@ -5084,16 +5058,8 @@ inline void gcode_G28() {
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setup_for_endstop_or_probe_move();
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setup_for_endstop_or_probe_move();
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test_precision =
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test_precision = zero_std_dev;
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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// Expert mode : forced end at std_dev < 0.1
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(verbose_level == 3 && zero_std_dev < 0.1) ? 0.0 :
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#endif
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zero_std_dev
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;
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float z_at_pt[13] = { 0 };
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float z_at_pt[13] = { 0 };
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iterations++;
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iterations++;
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// probe the points
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// probe the points
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@ -5149,21 +5115,19 @@ inline void gcode_G28() {
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zh_old = home_offset[Z_AXIS];
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zh_old = home_offset[Z_AXIS];
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float e_delta[XYZ] = { 0.0 }, r_delta = 0.0;
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float e_delta[XYZ] = { 0.0 }, r_delta = 0.0;
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const float r_diff = delta_radius - delta_calibration_radius,
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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h_factor = 1.00 + r_diff * 0.001,
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float h_f_new = 0.0, r_f_new = 0.0 , t_f_new = 0.0,
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r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)); //2.25 for r_diff = 20mm
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h_diff = 0.00, r_diff = 0.00;
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#endif
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#define ZP(N,I) ((N) * z_at_pt[I])
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#define ZP(N,I) ((N) * z_at_pt[I])
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#define Z1000(I) ZP(1.00, I)
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#define Z1000(I) ZP(1.00, I)
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#define Z1050(I) ZP(H_FACTOR, I)
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#define Z1050(I) ZP(h_factor, I)
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#define Z0700(I) ZP((H_FACTOR) * 2.0 / 3.00, I)
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#define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
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#define Z0350(I) ZP((H_FACTOR) / 3.00, I)
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#define Z0350(I) ZP(h_factor / 3.00, I)
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#define Z0175(I) ZP((H_FACTOR) / 6.00, I)
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#define Z0175(I) ZP(h_factor / 6.00, I)
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#define Z2250(I) ZP(R_FACTOR, I)
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#define Z2250(I) ZP(r_factor, I)
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#define Z0750(I) ZP((R_FACTOR) / 3.00, I)
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#define Z0750(I) ZP(r_factor / 3.00, I)
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#define Z0375(I) ZP((R_FACTOR) / 6.00, I)
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#define Z0375(I) ZP(r_factor / 6.00, I)
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switch (probe_points) {
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switch (probe_points) {
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case 1:
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case 1:
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@ -5193,28 +5157,7 @@ inline void gcode_G28() {
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break;
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break;
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}
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}
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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// adjust delta_height and endstops by the max amount
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// Calculate h & r factors
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if (verbose_level == 3) {
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LOOP_XYZ(axis) h_f_new += e_delta[axis] / 3;
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r_f_new = r_delta;
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h_diff = (1.0 / H_FACTOR) * (h_f_old - h_f_new) / h_f_old;
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if (h_diff < h_diff_min && h_diff > 0.9) h_diff_min = h_diff;
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if (r_f_old != 0)
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r_diff = ( 0.0301 * sq(R_FACTOR) * R_FACTOR
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+ 0.311 * sq(R_FACTOR)
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+ 1.1493 * R_FACTOR
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+ 1.7952
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) * (r_f_old - r_f_new) / r_f_old;
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if (r_diff > r_diff_max && r_diff < 0.4444) r_diff_max = r_diff;
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SERIAL_EOL;
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h_f_old = h_f_new;
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r_f_old = r_f_new;
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}
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#endif // DELTA_CALIBRATE_EXPERT_MODE
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// Adjust delta_height and endstops by the max amount
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LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
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LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
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delta_radius += r_delta;
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delta_radius += r_delta;
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@ -5235,17 +5178,6 @@ inline void gcode_G28() {
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// print report
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// print report
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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if (verbose_level == 3) {
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const float r_factor = 22.902 * sq(r_diff_max) * r_diff_max
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- 44.988 * sq(r_diff_max)
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+ 31.697 * r_diff_max
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- 9.4439;
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SERIAL_PROTOCOLPAIR("h_factor:", 1.0 / h_diff_min);
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SERIAL_PROTOCOLPAIR(" r_factor:", r_factor);
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SERIAL_EOL;
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}
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#endif
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if (verbose_level == 2) {
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if (verbose_level == 2) {
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SERIAL_PROTOCOLPGM(". c:");
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SERIAL_PROTOCOLPGM(". c:");
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if (z_at_pt[0] > 0) SERIAL_CHAR('+');
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if (z_at_pt[0] > 0) SERIAL_CHAR('+');
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@ -5277,7 +5209,7 @@ inline void gcode_G28() {
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}
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}
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}
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}
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if (test_precision != 0.0) { // !forced end
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if (test_precision != 0.0) { // !forced end
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if (zero_std_dev >= test_precision) {
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if (zero_std_dev >= test_precision) { // end iterations
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SERIAL_PROTOCOLPGM("Calibration OK");
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SERIAL_PROTOCOLPGM("Calibration OK");
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SERIAL_PROTOCOLLNPGM(" rolling back 1");
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SERIAL_PROTOCOLLNPGM(" rolling back 1");
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LCD_MESSAGEPGM("Calibration OK");
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LCD_MESSAGEPGM("Calibration OK");
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@ -5311,16 +5243,9 @@ inline void gcode_G28() {
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SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
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SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
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}
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}
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else { // forced end
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else { // forced end
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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SERIAL_PROTOCOLPGM("End DRY-RUN std dev:");
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if (verbose_level == 3)
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SERIAL_PROTOCOL_F(zero_std_dev, 3);
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SERIAL_PROTOCOLLNPGM("Copy to Configuration_adv.h");
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SERIAL_EOL;
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else
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#endif
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{
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SERIAL_PROTOCOLPGM("End DRY-RUN std dev:");
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SERIAL_PROTOCOL_F(zero_std_dev, 3);
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SERIAL_EOL;
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}
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}
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}
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clean_up_after_endstop_or_probe_move();
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clean_up_after_endstop_or_probe_move();
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LVD-AC
8 years ago
committed by