Update G33: Add F, fix height bug
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134116b874
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99592c8458
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@ -1772,8 +1772,9 @@ static void clean_up_after_endstop_or_probe_move() {
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float z_dest = LOGICAL_Z_POSITION(z_raise);
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float z_dest = LOGICAL_Z_POSITION(z_raise);
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if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
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if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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z_dest -= home_offset[Z_AXIS];
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z_dest -= home_offset[Z_AXIS]; // Account for delta height adjustment
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#endif
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#endif
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if (z_dest > current_position[Z_AXIS])
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if (z_dest > current_position[Z_AXIS])
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@ -2263,9 +2264,11 @@ static void clean_up_after_endstop_or_probe_move() {
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// move down quickly before doing the slow probe
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// move down quickly before doing the slow probe
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float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
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float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
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if (zprobe_zoffset < 0) z -= zprobe_zoffset;
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if (zprobe_zoffset < 0) z -= zprobe_zoffset;
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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z -= home_offset[Z_AXIS];
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z -= home_offset[Z_AXIS]; // Account for delta height adjustment
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#endif
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#endif
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if (z < current_position[Z_AXIS])
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if (z < current_position[Z_AXIS])
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do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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@ -2285,7 +2288,11 @@ static void clean_up_after_endstop_or_probe_move() {
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SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
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SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
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}
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}
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#endif
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#endif
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return RAW_CURRENT_POSITION(Z) + zprobe_zoffset;
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return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
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#if ENABLED(DELTA)
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+ home_offset[Z_AXIS] // Account for delta height adjustment
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#endif
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;
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}
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}
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/**
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/**
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@ -5134,6 +5141,8 @@ void home_all_axes() { gcode_G28(true); }
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* T Don't calibrate tower angle corrections
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* T Don't calibrate tower angle corrections
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*
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*
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* Cn.nn Calibration precision; when omitted calibrates to maximum precision
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* Cn.nn Calibration precision; when omitted calibrates to maximum precision
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*
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* Fn Force to run at least n iterations and takes the best result
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*
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*
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* Vn Verbose level:
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* Vn Verbose level:
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*
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*
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@ -5172,7 +5181,13 @@ void home_all_axes() { gcode_G28(true); }
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return;
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return;
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}
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}
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const bool towers_set = !parser.seen('T'),
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const int8_t force_iterations = parser.seen('F') ? parser.value_int() : 1;
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if (!WITHIN(force_iterations, 1, 30)) {
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SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (1-30).");
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return;
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}
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const bool towers_set = !parser.seen('T'),
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stow_after_each = parser.seen('E') && parser.value_bool(),
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stow_after_each = parser.seen('E') && parser.value_bool(),
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_1p_calibration = probe_points == 1,
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_1p_calibration = probe_points == 1,
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_4p_calibration = probe_points == 2,
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_4p_calibration = probe_points == 2,
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@ -5206,6 +5221,7 @@ void home_all_axes() { gcode_G28(true); }
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float test_precision,
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float test_precision,
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zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
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zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
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zero_std_dev_old = zero_std_dev,
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zero_std_dev_old = zero_std_dev,
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zero_std_dev_min = zero_std_dev,
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e_old[XYZ] = {
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e_old[XYZ] = {
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endstop_adj[A_AXIS],
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endstop_adj[A_AXIS],
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endstop_adj[B_AXIS],
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endstop_adj[B_AXIS],
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@ -5284,9 +5300,10 @@ void home_all_axes() { gcode_G28(true); }
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const uint8_t start = _4p_opposite_points ? 3 : 1,
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const uint8_t start = _4p_opposite_points ? 3 : 1,
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step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
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step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
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for (uint8_t axis = start; axis < 13; axis += step) {
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for (uint8_t axis = start; axis < 13; axis += step) {
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const float offset_circles = _7p_quadruple_circle ? (zig_zag ? 1.5 : 1.0) :
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const float zigadd = (zig_zag ? 0.5 : 0.0),
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_7p_triple_circle ? (zig_zag ? 1.0 : 0.5) :
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offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
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_7p_double_circle ? (zig_zag ? 0.5 : 0.0) : 0;
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_7p_triple_circle ? zigadd + 0.5 :
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_7p_double_circle ? zigadd : 0;
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for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
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for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
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const float a = RADIANS(180 + 30 * axis),
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const float a = RADIANS(180 + 30 * axis),
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r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
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r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
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@ -5310,18 +5327,19 @@ void home_all_axes() { gcode_G28(true); }
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N++;
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N++;
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}
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}
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zero_std_dev_old = zero_std_dev;
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zero_std_dev_old = zero_std_dev;
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zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
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NOMORE(zero_std_dev_min, zero_std_dev);
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zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
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if (iterations == 1) home_offset[Z_AXIS] = zh_old; // reset height after 1st probe change
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// Solve matrices
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// Solve matrices
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if (zero_std_dev < test_precision && zero_std_dev > calibration_precision) {
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if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) {
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COPY(e_old, endstop_adj);
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if (zero_std_dev < zero_std_dev_min) {
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dr_old = delta_radius;
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COPY(e_old, endstop_adj);
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zh_old = home_offset[Z_AXIS];
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dr_old = delta_radius;
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alpha_old = delta_tower_angle_trim[A_AXIS];
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zh_old = home_offset[Z_AXIS];
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beta_old = delta_tower_angle_trim[B_AXIS];
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alpha_old = delta_tower_angle_trim[A_AXIS];
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beta_old = delta_tower_angle_trim[B_AXIS];
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}
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float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0;
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float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0;
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const float r_diff = delta_radius - delta_calibration_radius,
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const float r_diff = delta_radius - delta_calibration_radius,
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@ -5420,7 +5438,7 @@ void home_all_axes() { gcode_G28(true); }
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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 || zero_std_dev <= calibration_precision) { // end iterations
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if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) { // end iterations
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SERIAL_PROTOCOLPGM("Calibration OK");
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SERIAL_PROTOCOLPGM("Calibration OK");
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SERIAL_PROTOCOL_SP(36);
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SERIAL_PROTOCOL_SP(36);
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if (zero_std_dev >= test_precision)
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if (zero_std_dev >= test_precision)
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@ -5458,7 +5476,7 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_PROTOCOLPGM(" Tz:+0.00");
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SERIAL_PROTOCOLPGM(" Tz:+0.00");
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SERIAL_EOL();
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SERIAL_EOL();
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}
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}
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if (zero_std_dev >= test_precision || zero_std_dev <= calibration_precision)
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if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations)
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serialprintPGM(save_message);
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serialprintPGM(save_message);
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SERIAL_EOL();
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SERIAL_EOL();
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}
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}
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@ -5485,7 +5503,7 @@ void home_all_axes() { gcode_G28(true); }
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endstops.not_homing();
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endstops.not_homing();
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}
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}
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while (zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31);
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while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations);
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#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
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#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
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do_blocking_move_to_z(delta_clip_start_height);
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do_blocking_move_to_z(delta_clip_start_height);
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