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✨ Update G34 for 4x Z steppers (#22039)

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This commit is contained in:
Scott Lahteine 2021-06-04 23:44:16 -05:00 committed by Scott Lahteine
parent aeb8097cbc
commit c90fa530db
1 changed files with 50 additions and 39 deletions
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89
Marlin/src/gcode/calibrate/G34_M422.cpp
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@ -48,6 +48,13 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h" #include "../../core/debug_out.h"
#if NUM_Z_STEPPER_DRIVERS >= 3
#define TRIPLE_Z 1
#if NUM_Z_STEPPER_DRIVERS >= 4
#define QUAD_Z 1
#endif
#endif
/** /**
* G34: Z-Stepper automatic alignment * G34: Z-Stepper automatic alignment
* *
@ -82,9 +89,9 @@ void GcodeSuite::G34() {
switch (parser.intval('Z')) { switch (parser.intval('Z')) {
case 1: stepper.set_z1_lock(state); break; case 1: stepper.set_z1_lock(state); break;
case 2: stepper.set_z2_lock(state); break; case 2: stepper.set_z2_lock(state); break;
#if NUM_Z_STEPPER_DRIVERS >= 3 #if TRIPLE_Z
case 3: stepper.set_z3_lock(state); break; case 3: stepper.set_z3_lock(state); break;
#if NUM_Z_STEPPER_DRIVERS >= 4 #if QUAD_Z
case 4: stepper.set_z4_lock(state); break; case 4: stepper.set_z4_lock(state); break;
#endif #endif
#endif #endif
@ -99,13 +106,6 @@ void GcodeSuite::G34() {
#if ENABLED(Z_STEPPER_AUTO_ALIGN) #if ENABLED(Z_STEPPER_AUTO_ALIGN)
do { // break out on error do { // break out on error
#if NUM_Z_STEPPER_DRIVERS == 4
SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!");
#elif NUM_Z_STEPPER_DRIVERS > 4
SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers");
break;
#endif
const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS); const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
if (!WITHIN(z_auto_align_iterations, 1, 30)) { if (!WITHIN(z_auto_align_iterations, 1, 30)) {
SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30)."); SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
@ -157,16 +157,14 @@ void GcodeSuite::G34() {
const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j]; const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
return HYPOT2(diff.x, diff.y); return HYPOT2(diff.x, diff.y);
}; };
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT( float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1)
#if NUM_Z_STEPPER_DRIVERS == 3 #if TRIPLE_Z
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0)) , magnitude2(2, 1), magnitude2(2, 0)
#elif NUM_Z_STEPPER_DRIVERS == 4 #if QUAD_Z
_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3), , magnitude2(3, 2), magnitude2(3, 1), magnitude2(3, 0)
magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3)) #endif
#else
magnitude2(0, 1)
#endif #endif
); ));
// Home before the alignment procedure // Home before the alignment procedure
if (!all_axes_trusted()) home_all_axes(); if (!all_axes_trusted()) home_all_axes();
@ -178,7 +176,7 @@ void GcodeSuite::G34() {
// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration. // 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) #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f); float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
#else #else
float last_z_align_level_indicator = 10000.0f; float last_z_align_level_indicator = 10000.0f;
#endif #endif
@ -280,39 +278,52 @@ void GcodeSuite::G34() {
z_measured_min = _MIN(z_measured_min, z_measured[i]); z_measured_min = _MIN(z_measured_min, z_measured[i]);
} }
SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]); SERIAL_ECHOLNPAIR(
LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS),
"Calculated Z1=", z_measured[0],
" Z2=", z_measured[1],
" Z3=", z_measured[2],
" Z4=", z_measured[3]
)
);
#endif #endif
SERIAL_ECHOLNPAIR("\n" SERIAL_ECHOLNPAIR("\n"
"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1]) "Z2-Z1=", ABS(z_measured[1] - z_measured[0])
#if NUM_Z_STEPPER_DRIVERS == 3 #if TRIPLE_Z
, " Z2-Z3=", ABS(z_measured[1] - z_measured[2]) , " Z3-Z2=", ABS(z_measured[2] - z_measured[1])
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0]) , " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
#if QUAD_Z
, " Z4-Z3=", ABS(z_measured[3] - z_measured[2])
, " Z4-Z2=", ABS(z_measured[3] - z_measured[1])
, " Z4-Z1=", ABS(z_measured[3] - z_measured[0])
#endif
#endif #endif
); );
#if HAS_STATUS_MESSAGE #if HAS_STATUS_MESSAGE
char fstr1[10]; char fstr1[10];
#if NUM_Z_STEPPER_DRIVERS == 2 char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1]
char msg[6 + (6 + 5) * 1 + 1]; #if TRIPLE_Z
#else , fstr2[10], fstr3[10]
char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10]; #if QUAD_Z
#endif , fstr4[10], fstr5[10], fstr6[10]
sprintf_P(msg,
PSTR("Diffs Z1-Z2=%s"
#if NUM_Z_STEPPER_DRIVERS == 3
" Z2-Z3=%s"
" Z3-Z1=%s"
#endif #endif
), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1)
#if NUM_Z_STEPPER_DRIVERS == 3
, dtostrf(ABS(z_measured[1] - z_measured[2]), 1, 3, fstr2)
, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)
#endif #endif
;
sprintf_P(msg,
PSTR("1:2=%s" TERN_(TRIPLE_Z, " 3-2=%s 3-1=%s") TERN_(QUAD_Z, " 4-3=%s 4-2=%s 4-1=%s")),
dtostrf(ABS(z_measured[1] - z_measured[0]), 1, 3, fstr1)
OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[1]), 1, 3, fstr2))
OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3))
OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[2]), 1, 3, fstr4))
OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[1]), 1, 3, fstr5))
OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[0]), 1, 3, fstr6))
); );
ui.set_status(msg); ui.set_status(msg);
#endif #endif
auto decreasing_accuracy = [](const_float_t v1, const_float_t v2){ auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) {
if (v1 < v2 * 0.7f) { if (v1 < v2 * 0.7f) {
SERIAL_ECHOLNPGM("Decreasing Accuracy Detected."); SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY); LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
@ -437,7 +448,7 @@ void GcodeSuite::G34() {
#endif #endif
}while(0); }while(0);
#endif #endif // Z_STEPPER_AUTO_ALIGN
} }
#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN #endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN