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G33 R and O options
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Directs issues #xxx and #yyy by:

Making that the default calculated delta_calibration_radius() can be overwritten by issuing the G33 Rn.nn option.

Restoring probing at the nozzle positions as default but with an option to override this to probe offset positions by issuing the G33 O option.

some cleanup

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@LVD-AC
LVD-AC committed Sep 4, 2021
1 parent 682d6c9 commit ae71868
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Showing 4 changed files with 46 additions and 62 deletions.
70 changes: 44 additions & 26 deletions Marlin/src/gcode/calibrate/G33.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ enum CalEnum : char { // the 7 main calibration points -

float lcd_probe_pt(const xy_pos_t &xy);

float dcr;

void ac_home() {
endstops.enable(true);
TERN_(SENSORLESS_HOMING, probe.set_homing_current(true));
Expand Down Expand Up @@ -175,9 +177,9 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
/**
* - Probe a point
*/
static float calibration_probe(const xy_pos_t &xy, const bool stow) {
static float calibration_probe(const xy_pos_t &xy, const bool stow, const bool probe_at_offset) {
#if HAS_BED_PROBE
return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, false);
return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true, probe_at_offset);
#else
UNUSED(stow);
return lcd_probe_pt(xy);
Expand All @@ -187,7 +189,7 @@ static float calibration_probe(const xy_pos_t &xy, const bool stow) {
/**
* - Probe a grid
*/
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each, const bool probe_at_offset) {
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
Expand All @@ -209,11 +211,9 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi

if (!_0p_calibration) {

const float dcr = delta_calibration_radius();

if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
const xy_pos_t center{0};
z_pt[CEN] += calibration_probe(center, stow_after_each);
z_pt[CEN] += calibration_probe(center, stow_after_each, probe_at_offset);
if (isnan(z_pt[CEN])) return false;
}

Expand All @@ -224,7 +224,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = dcr * 0.1;
const xy_pos_t vec = { cos(a), sin(a) };
z_pt[CEN] += calibration_probe(vec * r, stow_after_each);
z_pt[CEN] += calibration_probe(vec * r, stow_after_each, probe_at_offset);
if (isnan(z_pt[CEN])) return false;
}
z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
Expand All @@ -249,7 +249,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
r = dcr * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
interpol = FMOD(rad, 1);
const xy_pos_t vec = { cos(a), sin(a) };
const float z_temp = calibration_probe(vec * r, stow_after_each);
const float z_temp = calibration_probe(vec * r, stow_after_each, probe_at_offset);
if (isnan(z_temp)) return false;
// split probe point to neighbouring calibration points
z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
Expand All @@ -276,7 +276,6 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) {
xyz_pos_t pos{0};

const float dcr = delta_calibration_radius();
LOOP_CAL_ALL(rad) {
const float a = RADIANS(210 + (360 / NPP) * (rad - 1)),
r = (rad == CEN ? 0.0f : dcr);
Expand All @@ -287,7 +286,7 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_
}

static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) {
const float r_quot = delta_calibration_radius() / delta_radius;
const float r_quot = dcr / delta_radius;

#define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A)
#define Z00(I, A) ZPP( 0, I, A)
Expand Down Expand Up @@ -328,7 +327,7 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t d
}

static float auto_tune_h() {
const float r_quot = delta_calibration_radius() / delta_radius;
const float r_quot = dcr / delta_radius;
return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR
}

Expand Down Expand Up @@ -373,6 +372,8 @@ static float auto_tune_a() {
* P3 Probe all positions: center, towers and opposite towers. Calibrate all.
* P4-P10 Probe all positions at different intermediate locations and average them.
*
* Rn.nn override default calibration Radius
*
* T Don't calibrate tower angle corrections
*
* Cn.nn Calibration precision; when omitted calibrates to maximum precision
Expand All @@ -387,6 +388,8 @@ static float auto_tune_a() {
*
* E Engage the probe for each point
*
* O Probe at offset points (this is wrong but it seems to work)
*
* With SENSORLESS_PROBING:
* Use these flags to calibrate stall sensitivity: (e.g., `G33 P1 Y Z` to calibrate X only.)
* X Don't activate stallguard on X.
Expand All @@ -405,6 +408,33 @@ void GcodeSuite::G33() {

const bool towers_set = !parser.seen_test('T');

const bool probe_at_offset =
#if HAS_PROBE_XY_OFFSET
parser.seen_test('O');
#else
false;
#endif

dcr = DELTA_PRINTABLE_RADIUS;
float max_dcr = DELTA_PRINTABLE_RADIUS;
#if HAS_PROBE_XY_OFFSET
// for offset probes calibration radius is set to a safe but non-optimal value
dcr -= HYPOT(probe.offset_xy.x, probe.offset_xy.y);
if (probe_at_offset) {
// with probe positions both probe and nozzle need to be within the printable area
max_dcr -= HYPOT(probe.offset_xy.x, probe.offset_xy.y);
}
// else with nozzle positions there is a risk of the probe being outside the bed
// but as long the nozzle stays within the printable area there is no risk
// the effector crashes into the towers
#endif
;
dcr = parser.floatval('R', dcr);
if (dcr < 0 || dcr > max_drc) {
SERIAL_ECHOLNPGM("?calibration (R)adius implausible.");
return;
}

const float calibration_precision = parser.floatval('C', 0.0f);
if (calibration_precision < 0) {
SERIAL_ECHOLNPGM("?(C)alibration precision implausible (>=0).");
Expand Down Expand Up @@ -453,18 +483,6 @@ void GcodeSuite::G33() {

SERIAL_ECHOLNPGM("G33 Auto Calibrate");

const float dcr = delta_calibration_radius();

if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
LOOP_CAL_RAD(axis) {
const float a = RADIANS(210 + (360 / NPP) * (axis - 1));
if (!position_is_reachable(cos(a) * dcr, sin(a) * dcr)) {
SERIAL_ECHOLNPGM("?Bed calibration radius implausible.");
return;
}
}
}

// Report settings
PGM_P const checkingac = PSTR("Checking... AC");
SERIAL_ECHOPGM_P(checkingac);
Expand All @@ -487,7 +505,7 @@ void GcodeSuite::G33() {

// Probe the points
zero_std_dev_old = zero_std_dev;
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each)) {
if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each, probe_at_offset)) {
SERIAL_ECHOLNPGM("Correct delta settings with M665 and M666");
return ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index));
}
Expand Down Expand Up @@ -526,11 +544,11 @@ void GcodeSuite::G33() {
#define Z0(I) ZP(0, I)

// calculate factors
if (_7p_9_center) calibration_radius_factor = 0.9f;
if (_7p_9_center) dcr *= 0.9f;
h_factor = auto_tune_h();
r_factor = auto_tune_r();
a_factor = auto_tune_a();
calibration_radius_factor = 1.0f;
dcr /= 0.9f;

switch (probe_points) {
case 0:
Expand Down
3 changes: 2 additions & 1 deletion Marlin/src/lcd/menu/menu_delta_calibrate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,8 +88,9 @@ void _man_probe_pt(const xy_pos_t &xy) {
}

void _goto_tower_a(const_float_t a) {
const float dcr = DELTA_PRINTABLE_RADIUS;
xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
_man_probe_pt(tower_vec * delta_calibration_radius());
_man_probe_pt(tower_vec * dcr);
}
void _goto_tower_x() { _goto_tower_a(210); }
void _goto_tower_y() { _goto_tower_a(330); }
Expand Down
22 changes: 0 additions & 22 deletions Marlin/src/module/delta.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,28 +82,6 @@ void recalc_delta_settings() {
set_all_unhomed();
}

/**
* Get a safe radius for calibration
*/

#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)

#if ENABLED(DELTA_AUTO_CALIBRATION)
float calibration_radius_factor = 1;
#endif

float delta_calibration_radius() {
return calibration_radius_factor * (
#if HAS_BED_PROBE
FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), PROBING_MARGIN))
#else
DELTA_PRINTABLE_RADIUS
#endif
);
}

#endif

/**
* Delta Inverse Kinematics
*
Expand Down
13 changes: 0 additions & 13 deletions Marlin/src/module/delta.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,19 +45,6 @@ extern abc_float_t delta_diagonal_rod_trim;
*/
void recalc_delta_settings();

/**
* Get a safe radius for calibration
*/
#if ENABLED(DELTA_AUTO_CALIBRATION)
extern float calibration_radius_factor;
#else
constexpr float calibration_radius_factor = 1;
#endif

#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
float delta_calibration_radius();
#endif

/**
* Delta Inverse Kinematics
*
Expand Down

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