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Merge upstream changes from Marlin 2.1.1

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This commit is contained in:
Stefan Kalscheuer
2022-09-03 09:23:32 +02:00
parent 626283aadb
commit 986e416c7f
1610 changed files with 73839 additions and 40857 deletions
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117
Marlin/src/gcode/calibrate/G34_M422.cpp
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@@ -31,7 +31,7 @@
#include "../../module/stepper.h"
#include "../../module/planner.h"
#include "../../module/probe.h"
#include "../../lcd/marlinui.h" // for LCD_MESSAGEPGM
#include "../../lcd/marlinui.h" // for LCD_MESSAGE
#if HAS_LEVELING
#include "../../feature/bedlevel/bedlevel.h"
@@ -41,16 +41,20 @@
#include "../../module/tool_change.h"
#endif
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
#include "../../libs/least_squares_fit.h"
#endif
#if ENABLED(BLTOUCH)
#include "../../feature/bltouch.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
#define TRIPLE_Z 1
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
#define QUAD_Z 1
#endif
#endif
@@ -118,7 +122,7 @@ void GcodeSuite::G34() {
break;
}
const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
const float z_auto_align_amplification = TERN(HAS_Z_STEPPER_ALIGN_STEPPER_XY, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
break;
@@ -149,7 +153,7 @@ void GcodeSuite::G34() {
// In BLTOUCH HS mode, the probe travels in a deployed state.
// Users of G34 might have a badly misaligned bed, so raise Z by the
// length of the deployed pin (BLTOUCH stroke < 7mm)
#define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + 7.0f * BOTH(BLTOUCH, BLTOUCH_HS_MODE))
#define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + TERN0(BLTOUCH, bltouch.z_extra_clearance()))
// Compute a worst-case clearance height to probe from. After the first
// iteration this will be re-calculated based on the actual bed position
@@ -175,16 +179,16 @@ void GcodeSuite::G34() {
// Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error.
// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
float last_z_align_move[NUM_Z_STEPPERS] = ARRAY_N_1(NUM_Z_STEPPERS, 10000.0f);
#else
float last_z_align_level_indicator = 10000.0f;
#endif
float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 },
float z_measured[NUM_Z_STEPPERS] = { 0 },
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
bool adjustment_reverse = false;
#endif
@@ -213,23 +217,25 @@ void GcodeSuite::G34() {
float z_measured_max = -100000.0f;
// Probe all positions (one per Z-Stepper)
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
// iteration odd/even --> downward / upward stepper sequence
const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i;
const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPERS - 1 - i : i;
// Safe clearance even on an incline
if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe);
xy_pos_t &ppos = z_stepper_align.xy[iprobe];
if (DEBUGGING(LEVELING))
DEBUG_ECHOLNPGM_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y);
DEBUG_ECHOLNPGM_P(PSTR("Probing X"), ppos.x, SP_Y_STR, ppos.y);
// Probe a Z height for each stepper.
// Probing sanity check is disabled, as it would trigger even in normal cases because
// current_position.z has been manually altered in the "dirty trick" above.
const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false);
const float z_probed_height = probe.probe_at_point(DIFF_TERN(HAS_HOME_OFFSET, ppos, xy_pos_t(home_offset)), raise_after, 0, true, false);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed");
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
LCD_MESSAGE(MSG_LCD_PROBING_FAILED);
err_break = true;
break;
}
@@ -252,7 +258,7 @@ void GcodeSuite::G34() {
z_maxdiff = z_measured_max - z_measured_min;
z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff;
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Replace the initial values in z_measured with calculated heights at
// each stepper position. This allows the adjustment algorithm to be
// shared between both possible probing mechanisms.
@@ -266,20 +272,20 @@ void GcodeSuite::G34() {
// This allows the actual adjustment logic to be shared by both algorithms.
linear_fit_data lfd;
incremental_LSF_reset(&lfd);
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
SERIAL_ECHOLNPGM("PROBEPT_", i, ": ", z_measured[i]);
incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
}
finish_incremental_LSF(&lfd);
z_measured_min = 100000.0f;
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D);
z_measured_min = _MIN(z_measured_min, z_measured[i]);
}
SERIAL_ECHOLNPGM(
LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS),
LIST_N(DOUBLE(NUM_Z_STEPPERS),
"Calculated Z1=", z_measured[0],
" Z2=", z_measured[1],
" Z3=", z_measured[2],
@@ -303,7 +309,7 @@ void GcodeSuite::G34() {
#if HAS_STATUS_MESSAGE
char fstr1[10];
char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1]
char msg[6 + (6 + 5) * NUM_Z_STEPPERS + 1]
#if TRIPLE_Z
, fstr2[10], fstr3[10]
#if QUAD_Z
@@ -328,25 +334,25 @@ void GcodeSuite::G34() {
auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) {
if (v1 < v2 * 0.7f) {
SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
LCD_MESSAGE(MSG_DECREASING_ACCURACY);
return true;
}
return false;
};
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Check if the applied corrections go in the correct direction.
// Calculate the sum of the absolute deviations from the mean of the probe measurements.
// Compare to the last iteration to ensure it's getting better.
// Calculate mean value as a reference
float z_measured_mean = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper];
z_measured_mean /= NUM_Z_STEPPER_DRIVERS;
LOOP_L_N(zstepper, NUM_Z_STEPPERS) z_measured_mean += z_measured[zstepper];
z_measured_mean /= NUM_Z_STEPPERS;
// Calculate the sum of the absolute deviations from the mean value
float z_align_level_indicator = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS)
LOOP_L_N(zstepper, NUM_Z_STEPPERS)
z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean);
// If it's getting worse, stop and throw an error
@@ -361,12 +367,12 @@ void GcodeSuite::G34() {
bool success_break = true;
// Correct the individual stepper offsets
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(zstepper, NUM_Z_STEPPERS) {
// Calculate current stepper move
float z_align_move = z_measured[zstepper] - z_measured_min;
const float z_align_abs = ABS(z_align_move);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Optimize one iteration's correction based on the first measurements
if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
@@ -390,7 +396,7 @@ void GcodeSuite::G34() {
// Lock all steppers except one
stepper.set_all_z_lock(true, zstepper);
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Decreasing accuracy was detected so move was inverted.
// Will match reversed Z steppers on dual steppers. Triple will need more work to map.
if (adjustment_reverse) {
@@ -411,7 +417,7 @@ void GcodeSuite::G34() {
if (success_break) {
SERIAL_ECHOLNPGM("Target accuracy achieved.");
LCD_MESSAGEPGM(MSG_ACCURACY_ACHIEVED);
LCD_MESSAGE(MSG_ACCURACY_ACHIEVED);
break;
}
@@ -433,7 +439,7 @@ void GcodeSuite::G34() {
// After this operation the z position needs correction
set_axis_never_homed(Z_AXIS);
// Home Z after the alignment procedure
process_subcommands_now_P(PSTR("G28Z"));
process_subcommands_now(F("G28Z"));
#else
// Use the probed height from the last iteration to determine the Z height.
// z_measured_min is used, because all steppers are aligned to z_measured_min.
@@ -463,7 +469,7 @@ void GcodeSuite::G34() {
*
* S<index> : Index of the probe point to set
*
* With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS:
* With Z_STEPPER_ALIGN_STEPPER_XY:
* W<index> : Index of the Z stepper position to set
* The W and S parameters may not be combined.
*
@@ -482,42 +488,43 @@ void GcodeSuite::M422() {
return;
}
const bool is_probe_point = parser.seen('S');
const bool is_probe_point = parser.seen_test('S');
if (TERN0(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, is_probe_point && parser.seen('W'))) {
if (TERN0(HAS_Z_STEPPER_ALIGN_STEPPER_XY, is_probe_point && parser.seen_test('W'))) {
SERIAL_ECHOLNPGM("?(S) and (W) may not be combined.");
return;
}
xy_pos_t *pos_dest = (
TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !is_probe_point ? z_stepper_align.stepper_xy :)
xy_pos_t * const pos_dest = (
TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !is_probe_point ? z_stepper_align.stepper_xy :)
z_stepper_align.xy
);
if (!is_probe_point && TERN1(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !parser.seen('W'))) {
SERIAL_ECHOLNPGM("?(S)" TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, " or (W)") " is required.");
if (!is_probe_point && TERN1(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !parser.seen_test('W'))) {
SERIAL_ECHOLNPGM("?(S)" TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, " or (W)") " is required.");
return;
}
// Get the Probe Position Index or Z Stepper Index
int8_t position_index;
if (is_probe_point) {
position_index = parser.intval('S') - 1;
if (!WITHIN(position_index, 0, int8_t(NUM_Z_STEPPER_DRIVERS) - 1)) {
SERIAL_ECHOLNPGM("?(S) Probe-position index invalid.");
return;
}
}
int8_t position_index = 1;
FSTR_P err_string = F("?(S) Probe-position");
if (is_probe_point)
position_index = parser.intval('S');
else {
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
position_index = parser.intval('W') - 1;
if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) {
SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid.");
return;
}
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
err_string = F("?(W) Z-stepper");
position_index = parser.intval('W');
#endif
}
if (!WITHIN(position_index, 1, NUM_Z_STEPPERS)) {
SERIAL_ECHOF(err_string);
SERIAL_ECHOLNPGM(" index invalid (1.." STRINGIFY(NUM_Z_STEPPERS) ").");
return;
}
--position_index;
const xy_pos_t pos = {
parser.floatval('X', pos_dest[position_index].x),
parser.floatval('Y', pos_dest[position_index].y)
@@ -538,8 +545,8 @@ void GcodeSuite::M422() {
}
void GcodeSuite::M422_report(const bool forReplay/*=true*/) {
report_heading(forReplay, PSTR(STR_Z_AUTO_ALIGN));
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
report_heading(forReplay, F(STR_Z_AUTO_ALIGN));
LOOP_L_N(i, NUM_Z_STEPPERS) {
report_echo_start(forReplay);
SERIAL_ECHOLNPGM_P(
PSTR(" M422 S"), i + 1,
@@ -547,8 +554,8 @@ void GcodeSuite::M422_report(const bool forReplay/*=true*/) {
SP_Y_STR, z_stepper_align.xy[i].y
);
}
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
LOOP_L_N(i, NUM_Z_STEPPERS) {
report_echo_start(forReplay);
SERIAL_ECHOLNPGM_P(
PSTR(" M422 W"), i + 1,