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MarlinKimbra
Commit 43d598eb authored by MagoKimbra's avatar MagoKimbra
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Fix Autocalibration Delta

parent 8e9f3658
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Showing with 202 additions and 228 deletions
MK/Configuration_Delta.h
View file @ 43d598eb
......@@ -142,9 +142,6 @@
// Precision for G30 delta autocalibration function
#define AUTOCALIBRATION_PRECISION 0.1 // mm
// Precision probe. Number of probe for the mean
#define PROBE_COUNT 3
// Z-Probe variables
// Offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets MUST be INTEGERS
......@@ -163,13 +160,13 @@
#define Z_PROBE_OFFSET_FROM_EXTRUDER -1 // Z offset: -below [of the nozzle] (always negative!)
// Start and end location values are used to deploy/retract the probe (will move from start to end and back again)
#define Z_PROBE_DEPLOY_START_LOCATION {0, 0, 20} // X, Y, Z, E start location for z-probe deployment sequence
#define Z_PROBE_DEPLOY_END_LOCATION {0, 0, 20} // X, Y, Z, E end location for z-probe deployment sequence
#define Z_PROBE_RETRACT_START_LOCATION {0, 0, 20} // X, Y, Z, E start location for z-probe retract sequence
#define Z_PROBE_RETRACT_END_LOCATION {0, 0, 20} // X, Y, Z, E end location for z-probe retract sequence
#define Z_PROBE_DEPLOY_START_LOCATION {0, 0, 30} // X, Y, Z, E start location for z-probe deployment sequence
#define Z_PROBE_DEPLOY_END_LOCATION {0, 0, 30} // X, Y, Z, E end location for z-probe deployment sequence
#define Z_PROBE_RETRACT_START_LOCATION {0, 0, 30} // X, Y, Z, E start location for z-probe retract sequence
#define Z_PROBE_RETRACT_END_LOCATION {0, 0, 30} // X, Y, Z, E end location for z-probe retract sequence
// How much the nozzle will be raised when travelling from between next probing points
#define Z_RAISE_BETWEEN_PROBINGS 5
#define Z_RAISE_BETWEEN_PROBINGS 30
// Define the grid for bed level AUTO BED LEVELING GRID POINTS X AUTO BED LEVELING GRID POINTS.
#define AUTO_BED_LEVELING_GRID_POINTS 9
......
MK/module/MK_Main.cpp
View file @ 43d598eb
......@@ -225,9 +225,9 @@ double printer_usage_filament;
static float adj_t1_Radius = 0;
static float adj_t2_Radius = 0;
static float adj_t3_Radius = 0;
static float z_offset;
static float bed_level_c, bed_level_x, bed_level_y, bed_level_z;
static float bed_level_ox, bed_level_oy, bed_level_oz;
static float bed_safe_z;
static int loopcount;
static bool home_all_axis = true;
#else
......@@ -347,8 +347,6 @@ void stop();
void get_available_commands();
void process_next_command();
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
void delay_ms(millis_t ms) {
ms += millis();
while (millis() < ms) idle();
......@@ -1351,21 +1349,32 @@ static void axis_unhomed_error() {
ECHO_LM(ER, MSG_POSITION_UNKNOWN);
}
#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX) || MECH(SCARA)
/**
/**
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
static void do_blocking_move_to(float x, float y, float z) {
static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
feedrate = homing_feedrate[Z_AXIS];
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("do_blocking_move_to", x, y, z);
}
#if MECH(DELTA)
feedrate = AUTOCAL_TRAVELRATE * 60;
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
#else
feedrate = homing_feedrate[Z_AXIS];
current_position[Z_AXIS] = z;
line_to_current_position();
st_synchronize();
......@@ -1377,15 +1386,18 @@ static void axis_unhomed_error() {
line_to_current_position();
st_synchronize();
#endif
feedrate = oldFeedRate;
}
}
inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); }
inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); }
inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }
inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); }
inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); }
inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX) || MECH(SCARA)
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_GRID)
static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
if (DEBUGGING(INFO)) {
......@@ -1809,9 +1821,9 @@ static void axis_unhomed_error() {
base_max_pos[Z_AXIS] = sw_endstop_max[Z_AXIS];
base_home_pos[Z_AXIS] = sw_endstop_max[Z_AXIS];
delta_diagonal_rod_1 = pow(delta_diagonal_rod + diagrod_adj[0], 2);
delta_diagonal_rod_2 = pow(delta_diagonal_rod + diagrod_adj[1], 2);
delta_diagonal_rod_3 = pow(delta_diagonal_rod + diagrod_adj[2], 2);
delta_diagonal_rod_1 = sq(delta_diagonal_rod + diagrod_adj[0]);
delta_diagonal_rod_2 = sq(delta_diagonal_rod + diagrod_adj[1]);
delta_diagonal_rod_3 = sq(delta_diagonal_rod + diagrod_adj[2]);
// Effective X/Y positions of the three vertical towers.
delta_tower1_x = (delta_radius + tower_adj[3]) * cos((210 + tower_adj[0]) * M_PI/180); // front left tower
......@@ -1822,7 +1834,7 @@ static void axis_unhomed_error() {
delta_tower3_y = (delta_radius + tower_adj[5]) * sin((90 + tower_adj[2]) * M_PI/180);
}
bool Equal_AB(const float A, const float B, const float prec = 0.001) {
bool Equal_AB(const float A, const float B, const float prec = ac_prec) {
if (abs(A - B) <= prec) return true;
return false;
}
......@@ -1872,7 +1884,7 @@ static void axis_unhomed_error() {
}
// Reset calibration results to zero.
void reset_bed_level() {
static void reset_bed_level() {
if (DEBUGGING(INFO)) ECHO_LM(INFO, "reset_bed_level");
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
......@@ -1881,76 +1893,139 @@ static void axis_unhomed_error() {
}
}
void deploy_z_probe() {
static void deploy_z_probe() {
#if HAS(SERVO_ENDSTOPS)
feedrate = homing_feedrate[X_AXIS];
destination[X_AXIS] = z_probe_deploy_start_location[X_AXIS];
destination[Y_AXIS] = z_probe_deploy_start_location[Y_AXIS];
destination[Z_AXIS] = z_probe_deploy_start_location[Z_AXIS];
prepare_move_raw();
st_synchronize();
feedrate = homing_feedrate[Z_AXIS];
do_blocking_move_to_z( z_probe_deploy_start_location[Z_AXIS]);
do_blocking_move_to_xy( z_probe_deploy_start_location[X_AXIS],
z_probe_deploy_start_location[Y_AXIS]);
// Engage Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0)
servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
#else
feedrate = homing_feedrate[X_AXIS];
destination[X_AXIS] = z_probe_deploy_start_location[X_AXIS];
destination[Y_AXIS] = z_probe_deploy_start_location[Y_AXIS];
destination[Z_AXIS] = z_probe_deploy_start_location[Z_AXIS];
prepare_move_raw();
feedrate = homing_feedrate[Z_AXIS];
do_blocking_move_to_z( z_probe_deploy_start_location[Z_AXIS]);
do_blocking_move_to_xy( z_probe_deploy_start_location[X_AXIS],
z_probe_deploy_start_location[Y_AXIS]);
feedrate = homing_feedrate[X_AXIS]/10;
destination[X_AXIS] = z_probe_deploy_end_location[X_AXIS];
destination[Y_AXIS] = z_probe_deploy_end_location[Y_AXIS];
destination[Z_AXIS] = z_probe_deploy_end_location[Z_AXIS];
prepare_move_raw();
feedrate = homing_feedrate[Z_AXIS]/10;
do_blocking_move_to(z_probe_deploy_end_location[X_AXIS],
z_probe_deploy_end_location[Y_AXIS],
z_probe_deploy_end_location[Z_AXIS]);
feedrate = homing_feedrate[X_AXIS];
destination[X_AXIS] = z_probe_deploy_start_location[X_AXIS];
destination[Y_AXIS] = z_probe_deploy_start_location[Y_AXIS];
destination[Z_AXIS] = z_probe_deploy_start_location[Z_AXIS];
prepare_move_raw();
st_synchronize();
feedrate = homing_feedrate[Z_AXIS];
do_blocking_move_to(z_probe_deploy_start_location[X_AXIS],
z_probe_deploy_start_location[Y_AXIS],
z_probe_deploy_start_location[Z_AXIS]);
#endif
sync_plan_position_delta();
}
void retract_z_probe() {
static void retract_z_probe() {
#if HAS(SERVO_ENDSTOPS)
feedrate = homing_feedrate[X_AXIS];
destination[X_AXIS] = z_probe_retract_start_location[X_AXIS];
destination[Y_AXIS] = z_probe_retract_start_location[Y_AXIS];
destination[Z_AXIS] = z_probe_retract_start_location[Z_AXIS];
prepare_move_raw();
st_synchronize();
feedrate = homing_feedrate[Z_AXIS];
do_blocking_move_to(z_probe_retract_start_location[X_AXIS],
z_probe_retract_start_location[Y_AXIS],
z_probe_retract_start_location[Z_AXIS]);
// Retract Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0)
servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][1]);
#else
feedrate = homing_feedrate[X_AXIS];
destination[X_AXIS] = z_probe_retract_start_location[X_AXIS];
destination[Y_AXIS] = z_probe_retract_start_location[Y_AXIS];
destination[Z_AXIS] = z_probe_retract_start_location[Z_AXIS];
prepare_move_raw();
feedrate = homing_feedrate[Z_AXIS];
do_blocking_move_to(z_probe_retract_start_location[X_AXIS],
z_probe_retract_start_location[Y_AXIS],
z_probe_retract_start_location[Z_AXIS]);
// Move the nozzle below the print surface to push the probe up.
feedrate = homing_feedrate[Z_AXIS]/10;
destination[X_AXIS] = z_probe_retract_end_location[X_AXIS];
destination[Y_AXIS] = z_probe_retract_end_location[Y_AXIS];
destination[Z_AXIS] = z_probe_retract_end_location[Z_AXIS];
prepare_move_raw();
do_blocking_move_to(z_probe_retract_end_location[X_AXIS],
z_probe_retract_end_location[Y_AXIS],
z_probe_retract_end_location[Z_AXIS]);
feedrate = homing_feedrate[Z_AXIS];
destination[X_AXIS] = z_probe_retract_start_location[X_AXIS];
destination[Y_AXIS] = z_probe_retract_start_location[Y_AXIS];
destination[Z_AXIS] = z_probe_retract_start_location[Z_AXIS];
do_blocking_move_to(z_probe_retract_start_location[X_AXIS],
z_probe_retract_start_location[Y_AXIS],
z_probe_retract_start_location[Z_AXIS]);
#endif
sync_plan_position_delta();
}
static void run_z_probe() {
refresh_cmd_timeout();
enable_endstops(true);
float start_z = current_position[Z_AXIS];
long start_steps = st_get_position(Z_AXIS);
feedrate = AUTOCAL_PROBERATE * 60;
destination[Z_AXIS] = -20;
prepare_move_raw();
st_synchronize();
#endif
endstops_hit_on_purpose(); // clear endstop hit flags
enable_endstops(false);
long stop_steps = st_get_position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm;
sync_plan_position_delta();
}
void apply_endstop_adjustment(float x_endstop, float y_endstop, float z_endstop) {
// Probe bed height at position (x,y), returns the measured z value
static float probe_bed(float x, float y) {
// Move Z up to the bed_safe_z
do_blocking_move_to_z(bed_safe_z);
float Dx = x - z_probe_offset[X_AXIS];
NOLESS(Dx, X_MIN_POS);
NOMORE(Dx, X_MAX_POS);
float Dy = y - z_probe_offset[Y_AXIS];
NOLESS(Dy, Y_MIN_POS);
NOMORE(Dy, Y_MAX_POS);
if (DEBUGGING(INFO)) {
ECHO_LM(INFO, "probe_bed >>>");
DEBUG_POS("", current_position);
ECHO_SMV(INFO, " > do_blocking_move_to_xy ", Dx);
ECHO_EMV(", ", Dy);
}
// this also updates current_position
do_blocking_move_to_xy(Dx, Dy);
run_z_probe();
float probe_z = current_position[Z_AXIS] + z_probe_offset[Z_AXIS];
if (DEBUGGING(INFO)) {
ECHO_SM(INFO, "Bed probe heights: ");
if (probe_z >= 0) ECHO_M(" ");
ECHO_EV(probe_z, 4);
}
bed_safe_z = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
return probe_z;
}
static void bed_probe_all() {
// Initial throwaway probe.. used to stabilize probe
bed_level_c = probe_bed(0.0, 0.0);
// Probe all bed positions & store carriage positions
bed_level_z = probe_bed(0.0, bed_radius);
bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
bed_level_x = probe_bed(-SIN_60 * bed_radius, -COS_60 * bed_radius);
bed_level_oz = probe_bed(0.0, -bed_radius);
bed_level_y = probe_bed(SIN_60 * bed_radius, -COS_60 * bed_radius);
bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);
bed_level_c = probe_bed(0.0, 0.0);
}
static void apply_endstop_adjustment(float x_endstop, float y_endstop, float z_endstop) {
memcpy(saved_endstop_adj, endstop_adj, sizeof(saved_endstop_adj));
endstop_adj[X_AXIS] += x_endstop;
endstop_adj[Y_AXIS] += y_endstop;
......@@ -1961,7 +2036,7 @@ static void axis_unhomed_error() {
st_synchronize();
}
void adj_endstops() {
static void adj_endstops() {
boolean x_done = false;
boolean y_done = false;
boolean z_done = false;
......@@ -2068,9 +2143,9 @@ static void axis_unhomed_error() {
xy_equal = false;
xz_equal = false;
yz_equal = false;
if (Equal_AB(x_diff, y_diff, ac_prec)) xy_equal = true;
if (Equal_AB(x_diff, z_diff, ac_prec)) xz_equal = true;
if (Equal_AB(y_diff, z_diff, ac_prec)) yz_equal = true;
if (Equal_AB(x_diff, y_diff)) xy_equal = true;
if (Equal_AB(x_diff, z_diff)) xz_equal = true;
if (Equal_AB(y_diff, z_diff)) yz_equal = true;
ECHO_SM(DB, "xy_equal = ");
if (xy_equal == true) ECHO_EM("true"); else ECHO_EM("false");
......@@ -2088,7 +2163,7 @@ static void axis_unhomed_error() {
ECHO_LMV(DB, "Opp Range = ", high_opp - low_opp, 5);
if (Equal_AB(high_opp, low_opp, ac_prec)) {
if (Equal_AB(high_opp, low_opp)) {
ECHO_LM(DB, "Opposite Points within Limits - Adjustment not required");
t1_err = false;
t2_err = false;
......@@ -2150,7 +2225,6 @@ static void axis_unhomed_error() {
bool adj_deltaradius() {
float adj_r;
float prev_c;
uint8_t c_nochange_count = 0;
float nochange_r;
......@@ -2162,15 +2236,16 @@ static void axis_unhomed_error() {
}
else {
ECHO_LM(DB, "Adjusting Delta Radius");
ECHO_LMV(DB, "Bed level center = ", bed_level_c);
// set initial direction and magnitude for delta radius adjustment
adj_r = 0.5;
if (bed_level_c > 0) adj_r = -0.5;
adj_r = 0.2;
if (bed_level_c > 0) adj_r = -0.2;
do {
delta_radius += adj_r;
set_delta_constants();
prev_c = bed_level_c;
bed_level_c = probe_bed(0.0, 0.0);
//Show progress
......@@ -2179,24 +2254,16 @@ static void axis_unhomed_error() {
ECHO_EMV(") c:", bed_level_c, 4);
//Adjust delta radius
if (((adj_r > 0) and (bed_level_c < prev_c)) or ((adj_r < 0) and (bed_level_c > prev_c))) adj_r = -(adj_r / 2);
//Count iterations with no change to c probe point
if (Equal_AB(bed_level_c, prev_c)) c_nochange_count ++;
if (c_nochange_count == 1) nochange_r = delta_radius;
} while(((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)) and (c_nochange_count < 3));
if (bed_level_c < 0) adj_r = (abs(adj_r) / 2);
if (bed_level_c > 0) adj_r = -(abs(adj_r) / 2);
if (c_nochange_count > 0) {
delta_radius = nochange_r;
set_delta_constants();
}
} while(bed_level_c < -ac_prec or bed_level_c > ac_prec);
return true;
}
}
void adj_tower_radius(int tower) {
static void adj_tower_radius(int tower) {
boolean done,t1_done,t2_done,t3_done;
int nochange_count;
float target, prev_target, prev_bed_level;
......@@ -2254,8 +2321,8 @@ static void axis_unhomed_error() {
temp = (bed_level_ox - target) / 2;
adj_target = target + temp;
if (((bed_level_ox < adj_target) and (adj_t1_Radius > 0)) or ((bed_level_ox > adj_target) and (adj_t1_Radius < 0))) adj_t1_Radius = -(adj_t1_Radius / 2);
if (Equal_AB(bed_level_ox, adj_target)) t1_done = true;
if (Equal_AB(bed_level_ox, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (Equal_AB(bed_level_ox, adj_target, ac_prec / 2)) t1_done = true;
if (Equal_AB(bed_level_ox, prev_bed_level, ac_prec / 2) and Equal_AB(adj_target, prev_target, ac_prec / 2)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
t1_done = true;
......@@ -2281,8 +2348,8 @@ static void axis_unhomed_error() {
temp = (bed_level_oy - target) / 2;
adj_target = target + temp;
if (((bed_level_oy < adj_target) and (adj_t2_Radius > 0)) or ((bed_level_oy > adj_target) and (adj_t2_Radius < 0))) adj_t2_Radius = -(adj_t2_Radius / 2);
if (Equal_AB(bed_level_oy, adj_target)) t2_done = true;
if (Equal_AB(bed_level_oy, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (Equal_AB(bed_level_oy, adj_target, ac_prec / 2)) t2_done = true;
if (Equal_AB(bed_level_oy, prev_bed_level, ac_prec / 2) and Equal_AB(adj_target, prev_target, ac_prec / 2)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
t2_done = true;
......@@ -2308,8 +2375,8 @@ static void axis_unhomed_error() {
temp = (bed_level_oz - target) / 2;
adj_target = target + temp;
if (((bed_level_oz < adj_target) and (adj_t3_Radius > 0)) or ((bed_level_oz > adj_target) and (adj_t3_Radius < 0))) adj_t3_Radius = -(adj_t3_Radius / 2);
if (Equal_AB(bed_level_oz, adj_target)) t3_done = true;
if (Equal_AB(bed_level_oz, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (Equal_AB(bed_level_oz, adj_target, ac_prec / 2)) t3_done = true;
if (Equal_AB(bed_level_oz, prev_bed_level, ac_prec / 2) and Equal_AB(adj_target, prev_target, ac_prec / 2)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
t3_done = true;
......@@ -2322,7 +2389,7 @@ static void axis_unhomed_error() {
} while ((t1_done == false) or (t2_done == false) or (t3_done == false));
}
void adj_tower_delta(int tower) {
static void adj_tower_delta(int tower) {
float adj_val = 0;
float adj_mag = 0.2;
float adj_prv;
......@@ -2422,43 +2489,7 @@ static void axis_unhomed_error() {
return (delta_diagonal_rod - prev_diag_rod);
}
float z_probe() {
feedrate = AUTOCAL_TRAVELRATE * 60;
prepare_move(true);
st_synchronize();
enable_endstops(true);
float start_z = current_position[Z_AXIS];
long start_steps = st_get_position(Z_AXIS);
feedrate = AUTOCAL_PROBERATE * 60;
destination[Z_AXIS] = -20;
prepare_move_raw();
st_synchronize();
endstops_hit_on_purpose();
enable_endstops(false);
long stop_steps = st_get_position(Z_AXIS);
/*
if (DEBUGGING(INFO)) {
ECHO_LMV(INFO, "start_z = ", start_z);
ECHO_LMV(INFO, "start_steps = ", start_steps);
ECHO_LMV(INFO, "stop_steps = ", stop_steps);
}
*/
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm;
sync_plan_position_delta();
destination[Z_AXIS] = mm + Z_RAISE_BETWEEN_PROBINGS;
prepare_move_raw();
st_synchronize();
return mm;
}
void calibrate_print_surface(float z_offset) {
static void calibrate_print_surface() {
float probe_bed_z, probe_z, probe_h, probe_l;
int probe_count, auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
......@@ -2513,54 +2544,7 @@ static void axis_unhomed_error() {
print_bed_level();
}
float probe_bed(float x, float y) {
//Probe bed at specified location and return z height of bed
uint8_t probe_count = PROBE_COUNT;
float probe_z, probe_bed_array[probe_count], probe_bed_mean = 0;
destination[X_AXIS] = x - z_probe_offset[X_AXIS];
NOLESS(destination[X_AXIS], X_MIN_POS);
NOMORE(destination[X_AXIS], X_MAX_POS);
destination[Y_AXIS] = y - z_probe_offset[Y_AXIS];
NOLESS(destination[Y_AXIS], Y_MIN_POS);
NOMORE(destination[Y_AXIS], Y_MAX_POS);
for(int i = 0; i < probe_count; i++) {
probe_bed_array[i] = z_probe() + z_probe_offset[Z_AXIS];
probe_bed_mean += probe_bed_array[i];
}
probe_z = probe_bed_mean / probe_count;
if (DEBUGGING(INFO)) {
ECHO_SM(INFO, "Bed probe heights: ");
for(int i = 0; i < probe_count; i++) {
if (probe_bed_array[i] >= 0) ECHO_M(" ");
ECHO_VM(probe_bed_array[i], " ", 4);
}
ECHO_M("mean");
if (probe_z >= 0) ECHO_M(" ");
ECHO_EV(probe_z, 4);
}
return probe_z;
}
void bed_probe_all() {
// Initial throwaway probe.. used to stabilize probe
bed_level_c = probe_bed(0.0, 0.0);
// Probe all bed positions & store carriage positions
bed_level_z = probe_bed(0.0, bed_radius);
bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
bed_level_x = probe_bed(-SIN_60 * bed_radius, -COS_60 * bed_radius);
bed_level_oz = probe_bed(0.0, -bed_radius);
bed_level_y = probe_bed(SIN_60 * bed_radius, -COS_60 * bed_radius);
bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);
bed_level_c = probe_bed(0.0, 0.0);
}
void calibration_report() {
static void calibration_report() {
// Display Report
ECHO_LM(DB, "|\tZ-Tower\t\t\tEndstop Offsets");
......@@ -2605,7 +2589,7 @@ static void axis_unhomed_error() {
ECHO_E;
}
void home_delta_axis() {
static void home_delta_axis() {
saved_feedrate = feedrate;
saved_feedrate_multiplier = feedrate_multiplier;
feedrate_multiplier = 100;
......@@ -2648,7 +2632,7 @@ static void axis_unhomed_error() {
endstops_hit_on_purpose(); // clear endstop hit flags
}
void prepare_move_raw() {
static void prepare_move_raw() {
if (DEBUGGING(INFO))
DEBUG_POS("prepare_move_raw", destination);
......@@ -2658,7 +2642,7 @@ static void axis_unhomed_error() {
set_current_to_destination();
}
void calculate_delta(float cartesian[3]) {
static void calculate_delta(float cartesian[3]) {
delta[TOWER_1] = sqrt(delta_diagonal_rod_1
- sq(delta_tower1_x - cartesian[X_AXIS])
- sq(delta_tower1_y - cartesian[Y_AXIS])
......@@ -2674,7 +2658,7 @@ static void axis_unhomed_error() {
}
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[3]) {
static void adjust_delta(float cartesian[3]) {
if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
......@@ -4153,7 +4137,8 @@ inline void gcode_G28() {
home_delta_axis();
deploy_z_probe();
calibrate_print_surface(z_probe_offset[Z_AXIS] + (code_seen(axis_codes[Z_AXIS]) ? code_value() : 0.0));
bed_safe_z = current_position[Z_AXIS];
calibrate_print_surface();
retract_z_probe();
clean_up_after_endstop_move();
......@@ -4188,6 +4173,7 @@ inline void gcode_G28() {
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS])
home_delta_axis();
deploy_z_probe();
bed_safe_z = current_position[Z_AXIS];
if (code_seen('X') and code_seen('Y')) {
// Probe specified X,Y point
......@@ -4871,7 +4857,7 @@ inline void gcode_M42() {
if (deploy_probe_for_each_reading) stow_z_probe();
for (uint8_t n=0; n < n_samples; n++) {
for (uint8_t n = 0; n < n_samples; n++) {
// Make sure we are at the probe location
do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position
......@@ -8244,7 +8230,7 @@ static void report_current_position() {
#if MECH(DELTA) || MECH(SCARA)
inline bool prepare_move_delta(float target[NUM_AXIS], const bool delta_probe) {
inline bool prepare_move_delta(float target[NUM_AXIS]) {
float difference[NUM_AXIS];
float addDistance[NUM_AXIS];
float fractions[NUM_AXIS];
......@@ -8298,7 +8284,7 @@ static void report_current_position() {
#endif
calculate_delta(target);
if (!delta_probe) adjust_delta(target);
adjust_delta(target);
if (DEBUGGING(DEBUG)) {
ECHO_LMV(DEB, "target[X_AXIS]=", target[X_AXIS]);
......@@ -8317,7 +8303,7 @@ static void report_current_position() {
#endif // DELTA || SCARA
#if MECH(SCARA)
inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target, false); }
inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target); }
#endif
#if ENABLED(DUAL_X_CARRIAGE)
......@@ -8379,11 +8365,7 @@ static void report_current_position() {
* (This may call plan_buffer_line several times to put
* smaller moves into the planner for DELTA or SCARA.)
*/
void prepare_move(
#if MECH(DELTA)
const bool delta_probe /*= false*/
#endif
) {
void prepare_move() {
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
......@@ -8394,7 +8376,7 @@ void prepare_move(
#if MECH(SCARA)
if (!prepare_move_scara(destination)) return;
#elif MECH(DELTA)
if (!prepare_move_delta(destination, delta_probe)) return;
if (!prepare_move_delta(destination)) return;
#endif
#if ENABLED(DUAL_X_CARRIAGE)
......
MK/module/MK_Main.h
View file @ 43d598eb
......@@ -40,19 +40,18 @@ void FlushSerialRequestResend();
void ok_to_send();
#if MECH(DELTA)
float probe_bed(float x, float y);
void set_delta_constants();
void adj_tower_delta(int tower);
void adj_tower_radius(int tower);
void home_delta_axis();
void calibration_report();
void bed_probe_all();
void set_delta_constants();
void calculate_delta(float cartesian[3]);
void adjust_delta(float cartesian[3]);
void adj_endstops();
void reset_bed_level();
void prepare_move_raw();
static float probe_bed(float x, float y);
static void adj_tower_delta(int tower);
static void adj_tower_radius(int tower);
static void home_delta_axis();
static void calibration_report();
static void bed_probe_all();
static void calculate_delta(float cartesian[3]);
static void adjust_delta(float cartesian[3]);
static void adj_endstops();
static void reset_bed_level();
static void prepare_move_raw();
extern float delta[3];
extern float delta_tmp[3];
extern float delta_tower1_x, delta_tower1_y;
......@@ -71,11 +70,7 @@ void ok_to_send();
void calculate_SCARA_forward_Transform(float f_scara[3]);
#endif
void prepare_move(
#if MECH(DELTA)
const bool delta_probe = false
#endif
);
void prepare_move();
void kill(const char *);
void Stop();
......@@ -113,7 +108,7 @@ void prepare_arc_move(char isclockwise);
void clamp_to_software_endstops(float target[3]);
extern millis_t previous_cmd_ms;
void refresh_cmd_timeout();
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
extern void delay_ms(millis_t ms);
......
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