From bb2f100fcdaef30958601ec90ebcaad0fcae8815 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 2 Mar 2022 17:50:55 -0600 Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=B8=20Use=20Z=5FSTEPPER=5FALIGN=5FSTEP?= =?UTF-8?q?PER=5FXY=20to=20enable?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/Configuration_adv.h | 20 +++++++++-------- Marlin/src/feature/z_stepper_align.cpp | 4 ++-- Marlin/src/feature/z_stepper_align.h | 2 +- Marlin/src/gcode/calibrate/G34_M422.cpp | 30 ++++++++++++------------- Marlin/src/inc/Conditionals_adv.h | 5 +++-- Marlin/src/inc/SanityCheck.h | 6 +++-- Marlin/src/module/settings.cpp | 8 +++---- buildroot/tests/DUE | 2 +- 8 files changed, 41 insertions(+), 36 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 970be386672c..55857f5dec4d 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -959,15 +959,17 @@ //#define Z_STEPPERS_ORIENTATION 0 #endif - // Provide Z stepper positions for more rapid convergence in bed alignment. - // Requires triple stepper drivers (i.e., set NUM_Z_STEPPER_DRIVERS to 3) - //#define Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) - // Define Stepper XY positions for Z1, Z2, Z3 corresponding to - // the Z screw positions in the bed carriage. - // Define one position per Z stepper in stepper driver order. - #define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } } - #else + /** + * Z Stepper positions for more rapid convergence in bed alignment. + * Requires NUM_Z_STEPPER_DRIVERS to be 3 or 4. + * + * Define Stepper XY positions for Z1, Z2, Z3... corresponding to the screw + * positions in the bed carriage, with one position per Z stepper in stepper + * driver order. + */ + //#define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } } + + #ifndef Z_STEPPER_ALIGN_STEPPER_XY // Amplification factor. Used to scale the correction step up or down in case // the stepper (spindle) position is farther out than the test point. #define Z_STEPPER_ALIGN_AMP 1.0 // Use a value > 1.0 NOTE: This may cause instability! diff --git a/Marlin/src/feature/z_stepper_align.cpp b/Marlin/src/feature/z_stepper_align.cpp index 1b4eb4474903..fdbd464ea1b4 100644 --- a/Marlin/src/feature/z_stepper_align.cpp +++ b/Marlin/src/feature/z_stepper_align.cpp @@ -35,7 +35,7 @@ ZStepperAlign z_stepper_align; xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS]; -#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) +#if HAS_Z_STEPPER_ALIGN_STEPPER_XY xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS]; #endif @@ -103,7 +103,7 @@ void ZStepperAlign::reset_to_default() { COPY(xy, xy_init); - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY; static_assert( COUNT(stepper_xy_init) == NUM_Z_STEPPER_DRIVERS, diff --git a/Marlin/src/feature/z_stepper_align.h b/Marlin/src/feature/z_stepper_align.h index e1b235b52cb3..8a12cd18b0bd 100644 --- a/Marlin/src/feature/z_stepper_align.h +++ b/Marlin/src/feature/z_stepper_align.h @@ -31,7 +31,7 @@ class ZStepperAlign { public: static xy_pos_t xy[NUM_Z_STEPPER_DRIVERS]; - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY static xy_pos_t stepper_xy[NUM_Z_STEPPER_DRIVERS]; #endif diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp index 328a40dbb46a..fc4430885ecb 100644 --- a/Marlin/src/gcode/calibrate/G34_M422.cpp +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -41,7 +41,7 @@ #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 @@ -122,7 +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; @@ -179,7 +179,7 @@ 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) + #if !HAS_Z_STEPPER_ALIGN_STEPPER_XY float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f); #else float last_z_align_level_indicator = 10000.0f; @@ -188,7 +188,7 @@ void GcodeSuite::G34() { 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 @@ -256,7 +256,7 @@ 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. @@ -338,7 +338,7 @@ void GcodeSuite::G34() { 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. @@ -370,7 +370,7 @@ void GcodeSuite::G34() { 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; @@ -394,7 +394,7 @@ 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) { @@ -467,7 +467,7 @@ void GcodeSuite::G34() { * * S : Index of the probe point to set * - * With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS: + * With Z_STEPPER_ALIGN_STEPPER_XY: * W : Index of the Z stepper position to set * The W and S parameters may not be combined. * @@ -488,18 +488,18 @@ void GcodeSuite::M422() { const bool is_probe_point = parser.seen('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('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 :) + 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('W'))) { + SERIAL_ECHOLNPGM("?(S)" TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, " or (W)") " is required."); return; } @@ -513,7 +513,7 @@ void GcodeSuite::M422() { } } else { - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY position_index = parser.intval('W') - 1; if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) { SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid."); @@ -551,7 +551,7 @@ 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) + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { report_echo_start(forReplay); SERIAL_ECHOLNPGM_P( diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h index 82b32ba0031f..d63395a7199f 100644 --- a/Marlin/src/inc/Conditionals_adv.h +++ b/Marlin/src/inc/Conditionals_adv.h @@ -630,7 +630,8 @@ #endif #if ENABLED(Z_STEPPER_AUTO_ALIGN) - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #ifdef Z_STEPPER_ALIGN_STEPPER_XY + #define HAS_Z_STEPPER_ALIGN_STEPPER_XY 1 #undef Z_STEPPER_ALIGN_AMP #endif #ifndef Z_STEPPER_ALIGN_AMP @@ -986,7 +987,7 @@ #endif // Flag whether least_squares_fit.cpp is used -#if ANY(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_LINEAR, Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) +#if ANY(AUTO_BED_LEVELING_UBL, AUTO_BED_LEVELING_LINEAR, HAS_Z_STEPPER_ALIGN_STEPPER_XY) #define NEED_LSF 1 #endif diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index b34d982e75e4..e8abf1b286c5 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -613,6 +613,8 @@ #error "NOZZLE_PARK_X_ONLY is now NOZZLE_PARK_MOVE 1." #elif defined(NOZZLE_PARK_Y_ONLY) #error "NOZZLE_PARK_X_ONLY is now NOZZLE_PARK_MOVE 2." +#elif defined(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS is now just Z_STEPPER_ALIGN_STEPPER_XY." #endif constexpr float arm[] = AXIS_RELATIVE_MODES; @@ -3479,10 +3481,10 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive."); #error "Z_STEPPER_AUTO_ALIGN requires NUM_Z_STEPPER_DRIVERS greater than 1." #elif !HAS_BED_PROBE #error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe." - #elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #elif HAS_Z_STEPPER_ALIGN_STEPPER_XY static_assert(WITHIN(Z_STEPPER_ALIGN_AMP, 0.5, 2.0), "Z_STEPPER_ALIGN_AMP must be between 0.5 and 2.0."); #if NUM_Z_STEPPER_DRIVERS < 3 - #error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4." + #error "Z_STEPPER_ALIGN_STEPPER_XY requires NUM_Z_STEPPER_DRIVERS to be 3 or 4." #endif #endif #endif diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp index 2c103b89b4ff..fed1f67755b7 100644 --- a/Marlin/src/module/settings.cpp +++ b/Marlin/src/module/settings.cpp @@ -341,11 +341,11 @@ typedef struct SettingsDataStruct { #endif // - // Z_STEPPER_AUTO_ALIGN, Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS + // Z_STEPPER_AUTO_ALIGN, HAS_Z_STEPPER_ALIGN_STEPPER_XY // #if ENABLED(Z_STEPPER_AUTO_ALIGN) xy_pos_t z_stepper_align_xy[NUM_Z_STEPPER_DRIVERS]; // M422 S X Y - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY xy_pos_t z_stepper_align_stepper_xy[NUM_Z_STEPPER_DRIVERS]; // M422 W X Y #endif #endif @@ -1005,7 +1005,7 @@ void MarlinSettings::postprocess() { #if ENABLED(Z_STEPPER_AUTO_ALIGN) EEPROM_WRITE(z_stepper_align.xy); - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY EEPROM_WRITE(z_stepper_align.stepper_xy); #endif #endif @@ -1924,7 +1924,7 @@ void MarlinSettings::postprocess() { #if ENABLED(Z_STEPPER_AUTO_ALIGN) EEPROM_READ(z_stepper_align.xy); - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY EEPROM_READ(z_stepper_align.stepper_xy); #endif #endif diff --git a/buildroot/tests/DUE b/buildroot/tests/DUE index 5810b73bdca8..9b968cbd8d4d 100755 --- a/buildroot/tests/DUE +++ b/buildroot/tests/DUE @@ -37,7 +37,7 @@ exec_test $1 $2 "RAMPS4DUE_EFB with ABL (Bilinear), ExtUI, S-Curve, many options restore_configs opt_set MOTHERBOARD BOARD_RADDS NUM_Z_STEPPER_DRIVERS 3 opt_enable USE_XMAX_PLUG USE_YMAX_PLUG ENDSTOPPULLUPS BLTOUCH AUTO_BED_LEVELING_BILINEAR \ - Z_STEPPER_AUTO_ALIGN Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS Z_SAFE_HOMING + Z_STEPPER_AUTO_ALIGN Z_STEPPER_ALIGN_STEPPER_XY Z_SAFE_HOMING pins_set ramps/RAMPS X_MAX_PIN -1 pins_set ramps/RAMPS Y_MAX_PIN -1 exec_test $1 $2 "RADDS with ABL (Bilinear), Triple Z Axis, Z_STEPPER_AUTO_ALIGN, E_DUAL_STEPPER_DRIVERS" "$3"