270 lines
8.4 KiB
C++
270 lines
8.4 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/probe.h"
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#include "../../feature/bedlevel/bedlevel.h"
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#if HAS_SPI_LCD
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#include "../../lcd/ultralcd.h"
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#endif
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#if HAS_LEVELING
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#include "../../module/planner.h"
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#endif
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/**
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* M48: Z probe repeatability measurement function.
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*
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* Usage:
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* M48 <P#> <X#> <Y#> <V#> <E> <L#> <S>
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* P = Number of sampled points (4-50, default 10)
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* X = Sample X position
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* Y = Sample Y position
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* V = Verbose level (0-4, default=1)
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* E = Engage Z probe for each reading
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* L = Number of legs of movement before probe
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* S = Schizoid (Or Star if you prefer)
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*
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* This function requires the machine to be homed before invocation.
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*/
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void GcodeSuite::M48() {
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if (axis_unhomed_error()) return;
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const int8_t verbose_level = parser.byteval('V', 1);
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if (!WITHIN(verbose_level, 0, 4)) {
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SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).");
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return;
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}
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if (verbose_level > 0)
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SERIAL_ECHOLNPGM("M48 Z-Probe Repeatability Test");
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const int8_t n_samples = parser.byteval('P', 10);
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if (!WITHIN(n_samples, 4, 50)) {
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SERIAL_ECHOLNPGM("?Sample size not plausible (4-50).");
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return;
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}
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const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
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xy_float_t next_pos = current_position;
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const xy_pos_t probe_pos = {
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parser.linearval('X', next_pos.x + probe_offset.x),
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parser.linearval('Y', next_pos.y + probe_offset.y)
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};
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if (!position_is_reachable_by_probe(probe_pos)) {
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SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
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return;
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}
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bool seen_L = parser.seen('L');
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uint8_t n_legs = seen_L ? parser.value_byte() : 0;
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if (n_legs > 15) {
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SERIAL_ECHOLNPGM("?Number of legs in movement not plausible (0-15).");
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return;
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}
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if (n_legs == 1) n_legs = 2;
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const bool schizoid_flag = parser.boolval('S');
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if (schizoid_flag && !seen_L) n_legs = 7;
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/**
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* Now get everything to the specified probe point So we can safely do a
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* probe to get us close to the bed. If the Z-Axis is far from the bed,
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* we don't want to use that as a starting point for each probe.
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*/
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if (verbose_level > 2)
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SERIAL_ECHOLNPGM("Positioning the probe...");
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// Disable bed level correction in M48 because we want the raw data when we probe
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#if HAS_LEVELING
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const bool was_enabled = planner.leveling_active;
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set_bed_leveling_enabled(false);
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#endif
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remember_feedrate_scaling_off();
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float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
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// Move to the first point, deploy, and probe
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const float t = probe_at_point(probe_pos, raise_after, verbose_level);
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bool probing_good = !isnan(t);
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if (probing_good) {
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randomSeed(millis());
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for (uint8_t n = 0; n < n_samples; n++) {
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#if HAS_SPI_LCD
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// Display M48 progress in the status bar
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ui.status_printf_P(0, PSTR(MSG_M48_POINT ": %d/%d"), int(n + 1), int(n_samples));
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#endif
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if (n_legs) {
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const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
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float angle = random(0, 360);
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const float radius = random(
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#if ENABLED(DELTA)
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int(0.1250000000 * (DELTA_PRINTABLE_RADIUS)),
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int(0.3333333333 * (DELTA_PRINTABLE_RADIUS))
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#else
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int(5), int(0.125 * _MIN(X_BED_SIZE, Y_BED_SIZE))
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#endif
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);
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if (verbose_level > 3) {
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SERIAL_ECHOPAIR("Start radius:", radius, " angle:", angle, " dir:");
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if (dir > 0) SERIAL_CHAR('C');
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SERIAL_ECHOLNPGM("CW");
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}
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for (uint8_t l = 0; l < n_legs - 1; l++) {
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float delta_angle;
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if (schizoid_flag) {
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// The points of a 5 point star are 72 degrees apart. We need to
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// skip a point and go to the next one on the star.
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delta_angle = dir * 2.0 * 72.0;
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}
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else {
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// If we do this line, we are just trying to move further
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// around the circle.
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delta_angle = dir * (float) random(25, 45);
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}
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angle += delta_angle;
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while (angle > 360.0) angle -= 360.0; // We probably do not need to keep the angle between 0 and 2*PI, but the
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// Arduino documentation says the trig functions should not be given values
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while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with
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// numbers outside of the range, but just to be safe we clamp them.
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next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
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probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
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#if DISABLED(DELTA)
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LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
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LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);
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#else
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// If we have gone out too far, we can do a simple fix and scale the numbers
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// back in closer to the origin.
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while (!position_is_reachable_by_probe(next_pos)) {
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next_pos *= 0.8f;
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if (verbose_level > 3)
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SERIAL_ECHOLNPAIR("Moving inward: X", next_pos.x, " Y", next_pos.y);
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}
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#endif
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if (verbose_level > 3)
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SERIAL_ECHOLNPAIR("Going to: X", next_pos.x, " Y", next_pos.y);
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do_blocking_move_to_xy(next_pos);
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} // n_legs loop
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} // n_legs
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// Probe a single point
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sample_set[n] = probe_at_point(probe_pos, raise_after, 0);
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// Break the loop if the probe fails
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probing_good = !isnan(sample_set[n]);
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if (!probing_good) break;
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/**
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* Get the current mean for the data points we have so far
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*/
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float sum = 0.0;
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for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
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mean = sum / (n + 1);
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NOMORE(min, sample_set[n]);
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NOLESS(max, sample_set[n]);
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/**
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* Now, use that mean to calculate the standard deviation for the
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* data points we have so far
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*/
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sum = 0.0;
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for (uint8_t j = 0; j <= n; j++)
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sum += sq(sample_set[j] - mean);
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sigma = SQRT(sum / (n + 1));
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if (verbose_level > 0) {
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if (verbose_level > 1) {
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SERIAL_ECHO(n + 1);
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SERIAL_ECHOPAIR(" of ", int(n_samples));
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SERIAL_ECHOPAIR_F(": z: ", sample_set[n], 3);
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if (verbose_level > 2) {
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SERIAL_ECHOPAIR_F(" mean: ", mean, 4);
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SERIAL_ECHOPAIR_F(" sigma: ", sigma, 6);
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SERIAL_ECHOPAIR_F(" min: ", min, 3);
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SERIAL_ECHOPAIR_F(" max: ", max, 3);
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SERIAL_ECHOPAIR_F(" range: ", max-min, 3);
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}
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SERIAL_EOL();
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}
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}
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} // n_samples loop
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}
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STOW_PROBE();
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if (probing_good) {
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SERIAL_ECHOLNPGM("Finished!");
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if (verbose_level > 0) {
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SERIAL_ECHOPAIR_F("Mean: ", mean, 6);
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SERIAL_ECHOPAIR_F(" Min: ", min, 3);
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SERIAL_ECHOPAIR_F(" Max: ", max, 3);
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SERIAL_ECHOLNPAIR_F(" Range: ", max-min, 3);
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}
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SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6);
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SERIAL_EOL();
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#if HAS_SPI_LCD
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// Display M48 results in the status bar
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char sigma_str[8];
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ui.status_printf_P(0, PSTR(MSG_M48_DEVIATION ": %s"), dtostrf(sigma, 2, 6, sigma_str));
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#endif
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}
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restore_feedrate_and_scaling();
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// Re-enable bed level correction if it had been on
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#if HAS_LEVELING
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set_bed_leveling_enabled(was_enabled);
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#endif
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report_current_position();
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}
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#endif // Z_MIN_PROBE_REPEATABILITY_TEST
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