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Cn negative : no tower angle calibration

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Giving a negative number of probe points disables the tower angle
correction calibration ('4point' instead of '7point' solution)

EEPROM version updated
master
LVD-AC 8 years ago committed by teemuatlut
parent a9bc1d30cc
commit d8102aeca8
2 changed files with 65 additions and 49 deletions
Show Stats Download Patch File Download Diff File

112
Marlin/Marlin_main.cpp
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@ -4993,15 +4993,18 @@ inline void gcode_G28() {
* Usage: * Usage:
* G33 <Cn> <Vn> * G33 <Cn> <Vn>
* *
* Cn = (default) = calibrates height ('1 point'), endstops, and delta radius with '4 point' * Cn = n=-7 -> +7 : n*n probe points
* and calibrates tower angles with '7+ point' * calibrates height ('1 point'), endstops, and delta radius ('4 points')
* n= -2, 1-7 : n*n probe points * and calibrates tower angles with n >= 3 ('7+ points')
* n=1 probes center - sets height only - usefull when z_offset is changed * n=0 <default>
* n=2 probes center and towers * n=1 probes center / sets height only
* n=-2 probes center and opposite towers * n=-1 same but 1 iteration only
* n=3 probes all points: center, towers and opposite towers * n=2 probes center and towers / sets height, endstops and delta radius
* n>3 probes all points multiple times and averages * n=-2 same but opposite towers
* Vn = verbose level (n=0-3 default 1) * n=3 probes all points: center, towers and opposite towers / sets all
* n>3 probes all points multiple times and averages
* n<=3 same but tower angle calibration disabled
* Vn = verbose level (n=0-2 default 1)
* n=0 dry-run mode: no calibration * n=0 dry-run mode: no calibration
* n=1 settings * n=1 settings
* n=2 setting + probe results * n=2 setting + probe results
@ -5015,13 +5018,13 @@ inline void gcode_G28() {
#endif #endif
const int8_t pp = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS, const int8_t pp = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS,
probe_points = (WITHIN(pp, 1, 7) || pp == -2) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS; probe_points = (WITHIN(pp, -7, -1) || WITHIN(pp, 1, 7)) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS;
int8_t verbose_level = code_seen('V') ? code_value_byte() : 1; int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1; if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end
gcode_G28(); gcode_G28();
@ -5084,54 +5087,54 @@ inline void gcode_G28() {
int16_t center_points = 0; int16_t center_points = 0;
if (probe_points != 3 && probe_points != 6) { // probe centre if (abs(probe_points) != 3 && abs(probe_points != 6)) { // probe centre
z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1); z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
center_points = 1; center_points = 1;
} }
int16_t step_axis = (probe_points > 4) ? 2 : 4; int16_t step_axis = (abs(probe_points) > 4) ? 2 : 4;
if (probe_points >= 3) { // probe extra 3 or 6 centre points if (abs(probe_points) >= 3) { // probe extra 3 or 6 centre points
for (int8_t axis = (probe_points > 4) ? 11 : 9; axis > 0; axis -= step_axis) { for (int8_t axis = (abs(probe_points) > 4) ? 11 : 9; axis > 0; axis -= step_axis) {
z_at_pt[0] += probe_pt( z_at_pt[0] += probe_pt(
cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1); sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
} }
center_points += (probe_points > 4) ? 6 : 3; // average centre points center_points += (abs(probe_points) > 4) ? 6 : 3; // average centre points
z_at_pt[0] /= center_points; z_at_pt[0] /= center_points;
} }
float S1 = z_at_pt[0], S2 = sq(S1); float S1 = z_at_pt[0], S2 = sq(S1);
int16_t N = 1, start = (probe_points == -2) ? 3 : 1; int16_t N = 1, start = (probe_points == -2) ? 3 : 1;
step_axis = (abs(probe_points) == 2) ? 4 : (probe_points == 4 || probe_points > 5) ? 1 : 2; step_axis = (abs(probe_points) == 2) ? 4 : (abs(probe_points) == 4 || abs(probe_points) > 5) ? 1 : 2;
float start_circles = (probe_points > 6) ? -1.5 : (probe_points > 4) ? -1 : 0, // one or multi radius points float start_circles = (abs(probe_points) > 6) ? -1.5 : (abs(probe_points) > 4) ? -1 : 0, // one or multi radius points
end_circles = (probe_points > 6) ? 1.5 : (probe_points > 4) ? 1 : 0; // one or multi radius points end_circles = (abs(probe_points) > 6) ? 1.5 : (abs(probe_points) > 4) ? 1 : 0; // one or multi radius points
int8_t zig_zag = 1; int8_t zig_zag = 1;
if (probe_points != 1) { if (abs(probe_points) > 1) {
for (uint8_t axis = start; axis < 13; axis += step_axis) { // probes 3, 6 or 12 points on the calibration radius for (uint8_t axis = start; axis < 13; axis += step_axis) { // probes 3, 6 or 12 points on the calibration radius
for (float circles = start_circles ; circles <= end_circles; circles++) // one or multi radius points for (float circles = start_circles ; circles <= end_circles; circles++) // one or multi radius points
z_at_pt[axis] += probe_pt( z_at_pt[axis] += probe_pt(
cos(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * zig_zag) * delta_calibration_radius), cos(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * zig_zag) * delta_calibration_radius),
sin(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * zig_zag) * delta_calibration_radius), true, 1); sin(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * zig_zag) * delta_calibration_radius), true, 1);
if (probe_points > 5) start_circles += (zig_zag == 1) ? +0.5 : -0.5; // opposite one radius point less if (abs(probe_points) > 5) start_circles += (zig_zag == 1) ? +0.5 : -0.5; // opposites: one radius point less
if (probe_points > 5) end_circles += (zig_zag == 1) ? -0.5 : +0.5; if (abs(probe_points) > 5) end_circles += (zig_zag == 1) ? -0.5 : +0.5;
zig_zag = -zig_zag; zig_zag = -zig_zag;
if (probe_points > 4) z_at_pt[axis] /= (zig_zag == 1) ? 3.0 : 2.0; // average between radius points if (abs(probe_points) > 4) z_at_pt[axis] /= (zig_zag == 1) ? 3.0 : 2.0; // average between radius points
} }
} }
if (probe_points == 4 || probe_points > 5) step_axis = 2; if (abs(probe_points) == 4 || abs(probe_points) > 5) step_axis = 2;
for (uint8_t axis = start; axis < 13; axis += step_axis) { // average half intermediates to tower and opposite for (uint8_t axis = start; axis < 13; axis += step_axis) { // average half intermediates to towers and opposites
if (probe_points == 4 || probe_points > 5) if (abs(probe_points) == 4 || abs(probe_points) > 5)
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[axis]; S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]); S2 += sq(z_at_pt[axis]);
N++; N++;
} }
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; // deviation from zero plane zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; // deviation from zero plane
// Solve matrices // Solve matrices
@ -5145,9 +5148,9 @@ inline void gcode_G28() {
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, 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
a_factor = 100.0 / delta_calibration_radius; a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
#define ZP(N,I) ((N) * z_at_pt[I]) #define ZP(N,I) ((N) * z_at_pt[I])
#define Z1000(I) ZP(1.00, I) #define Z1000(I) ZP(1.00, I)
@ -5162,9 +5165,10 @@ inline void gcode_G28() {
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I) #define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
switch (probe_points) { switch (probe_points) {
case -1:
test_precision = 0.00;
case 1: case 1:
LOOP_XYZ(i) e_delta[i] = Z1000(0); LOOP_XYZ(i) e_delta[i] = Z1000(0);
r_delta = 0.00;
break; break;
case 2: case 2:
@ -5186,8 +5190,11 @@ inline void gcode_G28() {
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3); e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
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);
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); if (probe_points > 0) { //probe points negative disables tower angles
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);
}
break; break;
} }
@ -5221,7 +5228,7 @@ inline void gcode_G28() {
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_points > 1) { if (abs(probe_points) > 2 || probe_points == 2) {
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);
@ -5232,9 +5239,9 @@ inline void gcode_G28() {
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_points > 0) SERIAL_EOL; if (probe_points != -2) SERIAL_EOL;
if (probe_points > 2 || probe_points == -2) { if (abs(probe_points) > 2 || probe_points == -2) {
if (probe_points > 2) SERIAL_PROTOCOLPGM(". "); if (abs(probe_points) > 2) SERIAL_PROTOCOLPGM(". ");
SERIAL_PROTOCOLPGM(" yz:"); SERIAL_PROTOCOLPGM(" yz:");
if (z_at_pt[7] >= 0) SERIAL_CHAR('+'); if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[7], 2); SERIAL_PROTOCOL_F(z_at_pt[7], 2);
@ -5247,14 +5254,14 @@ inline void gcode_G28() {
SERIAL_EOL; SERIAL_EOL;
} }
} }
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) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK"); SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOLLNPGM(" rolling back."); SERIAL_PROTOCOLPGM(" rolling back.");
LCD_MESSAGEPGM("Calibration OK");
SERIAL_EOL; SERIAL_EOL;
LCD_MESSAGEPGM("Calibration OK");
} }
else { // !end iterations else { // !end iterations
char mess[15] = "No convergence"; char mess[15] = "No convergence";
if (iterations < 31) if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations); sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
@ -5291,10 +5298,19 @@ inline void gcode_G28() {
if (zero_std_dev >= test_precision) if (zero_std_dev >= test_precision)
SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h"); SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
} }
else { // forced end else { // forced end
SERIAL_PROTOCOLPGM("End DRY-RUN std dev:"); if (verbose_level == 0) {
SERIAL_PROTOCOL_F(zero_std_dev, 3); SERIAL_PROTOCOLPGM("End DRY-RUN std dev:");
SERIAL_EOL; SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL;
}
else {
SERIAL_PROTOCOLLNPGM("Calibration OK");
LCD_MESSAGEPGM("Calibration OK");
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
SERIAL_EOL;
SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
}
} }
clean_up_after_endstop_or_probe_move(); clean_up_after_endstop_or_probe_move();

2
Marlin/ultralcd.cpp
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@ -1834,7 +1834,7 @@ void kill_screen(const char* lcd_msg) {
MENU_BACK(MSG_MAIN); MENU_BACK(MSG_MAIN);
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33 C")); MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33 C"));
MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 C1")); MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 C-1"));
#endif #endif
MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home); MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
if (axis_homed[Z_AXIS]) { if (axis_homed[Z_AXIS]) {

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