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Add New G34 mode for current adjustable drivers

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TODO : Sanity checks, Finish DAC mode, Test on Rambo
This commit is contained in:
InsanityAutomation
2020-07-22 17:07:44 -04:00
committed by InsanityAutomation
parent 38286d9805
commit 0a52d5c032
3 changed files with 144 additions and 162 deletions
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Marlin/Configuration_adv.h
+19
View File
@@ -3361,6 +3361,25 @@
#define GANTRY_CALIBRATION_COMMANDS_POST "G28" // G28 is highly recommended here as position is likely no longer accurate.
#endif
/**
* Modern replacement for the Prusa TMC_Z_CALIBRATION
* Adds capability to work with any adjustable current drivers
* Implements as G34 as M915 is deprecated
*/
//#define MECHANICAL_GANTRY_CALIBRATION
#if ENABLED(MECHANICAL_GANTRY_CALIBRATION)
#define GANTRY_CALIBRATION_CURRENT 600 // Default calibration current in ma
#define GANTRY_CALIBRATION_EXTRA_HEIGHT 15 // Extra distance in mm past Z_###_POS to move
#define GANTRY_CALIBRATION_DIRECTION 1 // Set to 1 for Max or 0 for min
#define GANTRY_CALIBRATION_FEEDRATE 500 // Feedrate for correction move
//#define GANTRY_CALIBRATION_SAFE_POSITION {X_CENTER, Y_CENTER} // Safe position for nozzle
//#define GANTRY_CALIBRATION_XY_PARK_FEEDRATE 3000 // XY Park Feedrate - MMM
//#define GANTRY_CALIBRATION_COMMANDS_PRE ""
//#define GANTRY_CALIBRATION_COMMANDS_POST "G28"
#endif
/**
* MAX7219 Debug Matrix
*
Marlin/src/gcode/calibrate/G34_M422.cpp
+123 -158
View File
@@ -20,37 +20,33 @@
*
*/
#include "../../inc/MarlinConfigPre.h"
#include "../../inc/MarlinConfig.h"
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#include "../../feature/z_stepper_align.h"
#include "../gcode.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
#include "../../module/motion.h"
#include "../../module/probe.h"
#include "../../lcd/ultralcd.h" // for LCD_MESSAGEPGM
#if HAS_LEVELING
#include "../../feature/bedlevel/bedlevel.h"
#endif
#if HAS_MULTI_HOTEND
#include "../../module/tool_change.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#include "../../feature/z_stepper_align.h"
#if HAS_LEVELING
#include "../../feature/bedlevel/bedlevel.h"
#endif
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#include "../../libs/least_squares_fit.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
/**
* G34: Z-Stepper automatic alignment
*
@@ -158,29 +154,22 @@ void GcodeSuite::G34() {
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
// These are needed after the for-loop
uint8_t iteration;
bool err_break = false;
float z_measured_min;
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
bool adjustment_reverse = false;
#endif
#if HAS_DISPLAY
PGM_P const msg_iteration = GET_TEXT(MSG_ITERATION);
const uint8_t iter_str_len = strlen_P(msg_iteration);
#endif
// Final z and iteration values will be used after breaking the loop
float z_measured_min;
uint8_t iteration = 0;
bool err_break = false; // To break out of nested loops
while (iteration < z_auto_align_iterations) {
// 'iteration' is declared above and is also used after the for-loop.
// *not* the same as LOOP_L_N(iteration, z_auto_align_iterations)
for (iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
const int iter = iteration + 1;
SERIAL_ECHOLNPAIR("\nG34 Iteration: ", iter);
#if HAS_DISPLAY
char str[iter_str_len + 2 + 1];
sprintf_P(str, msg_iteration, iter);
ui.set_status(str);
#endif
SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1));
ui.set_status("\nITERATION: ", int(iteration + 1));
// Initialize minimum value
z_measured_min = 100000.0f;
@@ -202,8 +191,8 @@ void GcodeSuite::G34() {
// current_position.z has been manually altered in the "dirty trick" above.
const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed");
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
SERIAL_ECHOLNPGM(MSG_LCD_PROBING_FAILED);
ui.set_status_P(MSG_LCD_PROBING_FAILED)
err_break = true;
break;
}
@@ -262,27 +251,13 @@ void GcodeSuite::G34() {
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
#endif
);
#if HAS_DISPLAY
char fstr1[10];
#if NUM_Z_STEPPER_DRIVERS == 2
char msg[6 + (6 + 5) * 1 + 1];
#else
char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10];
ui.set_status("\n"
"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
#if NUM_Z_STEPPER_DRIVERS == 3
, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
#endif
sprintf_P(msg,
PSTR("Diffs Z1-Z2=%s"
#if NUM_Z_STEPPER_DRIVERS == 3
" Z2-Z3=%s"
" Z3-Z1=%s"
#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
);
ui.set_status(msg);
#endif
);
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Check if the applied corrections go in the correct direction.
@@ -301,8 +276,8 @@ void GcodeSuite::G34() {
// If it's getting worse, stop and throw an error
if (last_z_align_level_indicator < z_align_level_indicator * 0.7f) {
SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
SERIAL_ECHOLNPGM(DECREASING_ACCURACY);
ui.set_status_P(DECREASING_ACCURACY);
err_break = true;
break;
}
@@ -326,8 +301,8 @@ void GcodeSuite::G34() {
// Check for less accuracy compared to last move
if (last_z_align_move[zstepper] < z_align_abs * 0.7f) {
SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
SERIAL_ECHOLNPGM(DECREASING_ACCURACY);
ui.set_status_P(DECREASING_ACCURACY);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " last_z_align_move = ", last_z_align_move[zstepper]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " z_align_abs = ", z_align_abs);
adjustment_reverse = !adjustment_reverse;
@@ -367,12 +342,11 @@ void GcodeSuite::G34() {
if (success_break) {
SERIAL_ECHOLNPGM("Target accuracy achieved.");
LCD_MESSAGEPGM(MSG_ACCURACY_ACHIEVED);
ui.set_status_P(PGM_P("Target accuracy achieved."));
break;
}
iteration++;
} // while (iteration < z_auto_align_iterations)
} // for (iteration)
if (err_break)
SERIAL_ECHOLNPGM("G34 aborted.");
@@ -511,132 +485,123 @@ void GcodeSuite::M422() {
}
#elif ENABLED(MECHANICAL_GANTRY_CALIBRATION)
#include "../../module/endstops.h"
void GcodeSuite::G34() {
if (homing_needed()) return;
if (axis_unhomed_error()) return;
TEMPORARY_SOFT_ENDSTOP_STATE(false);
TEMPORARY_BED_LEVELING_STATE(false);
TemporaryGlobalEndstopsState unlock_z(false);
#ifdef GANTRY_CALIBRATION_COMMANDS_PRE
gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE));
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed");
#endif
#ifdef GANTRY_CALIBRATION_SAFE_POSITION
// Move XY to safe position
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY");
const xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION;
do_blocking_move_to(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE));
#endif
const float move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT),
zpounce = (
#if GANTRY_CALIBRATION_DIRECTION == 1
(Z_MAX_POS) - move_distance
#else
(Z_MIN_POS) + move_distance
#endif
),
zgrind = (
#if GANTRY_CALIBRATION_DIRECTION == 1
(Z_MAX_POS) + move_distance
#else
(Z_MIN_POS) - move_distance
#endif
);
// Move Z to pounce position
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce");
do_blocking_move_to_z(zpounce, MMM_TO_MMS(HOMING_FEEDRATE_Z));
// Store current motor settings, then apply reduced value
#define _REDUCE_CURRENT ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_DAC, HAS_MOTOR_CURRENT_I2C, HAS_TRINAMIC_CONFIG)
#if _REDUCE_CURRENT
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current");
#if DAC_STEPPER_CURRENT
const float target_current = parserfloatval('S', GANTRY_CALIBRATION_CURRENT);
const float previous_current = dac_amps(Z_AXIS, target_current);
else
const int16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
#endif
#if HAS_MOTOR_CURRENT_SPI
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
stepper.set_digipot_current(Z_AXIS, target_current);
#if HAS_DIGIPOTSS
const uint32_t previous_current = motor_current_setting[Z_AXIS];
stepper.digipot_current(Z_AXIS, target_current);
#elif HAS_MOTOR_CURRENT_PWM
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
stepper.set_digipot_current(1, target_current);
#elif HAS_MOTOR_CURRENT_DAC
const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT);
const float previous_current = dac_amps(Z_AXIS, target_current);
stepper_dac.set_current_value(Z_AXIS, target_current);
#elif ENABLED(HAS_MOTOR_CURRENT_I2C)
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
const uint32_t previous_current = motor_current_setting[Z_AXIS];
stepper.digipot_current(1, target_current);
#if DAC_STEPPER_CURRENT
dac_current_raw(Z_AXIS, target_current);
#elif ENABLED(HAS_I2C_DIGIPOT)
previous_current = dac_amps(Z_AXIS);
digipot_i2c.set_current(Z_AXIS, target_current)
digipot_i2c_set_current(Z_AXIS, target_current)
#elif HAS_TRINAMIC_CONFIG
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
#if AXIS_IS_TMC(Z)
previous_current_arr[0] = stepperZ.getMilliamps();
stepperZ.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z2)
previous_current_arr[1] = stepperZ2.getMilliamps();
stepperZ2.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z3)
previous_current_arr[2] = stepperZ3.getMilliamps();
stepperZ3.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z4)
previous_current_arr[3] = stepperZ4.getMilliamps();
stepperZ4.rms_current(target_current);
#endif
previous_current_arr[0] = stepperZ.getMilliamps();
stepperZ.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z2)
previous_current_arr[1] = stepperZ2.getMilliamps();
stepperZ2.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z3)
previous_current_arr[2] = stepperZ3.getMilliamps();
stepperZ3.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z4)
previous_current_arr[3] = stepperZ4.getMilliamps();
stepperZ4.rms_current(target_current);
#endif
#endif
// Move XY to safe position
#ifdef GANTRY_CALIBRATION_SAFE_POSITION
xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION;
current_position[X_AXIS] = safe_pos[X_AXIS];
current_position[Y_AXIS] = safe_pos[Y_AXIS];
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE);
planner.synchronize();
#endif
const uint16_t move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT);
// Move Z to pounce position
#if GANTRY_CALIBRATION_DIRECTION == 1
current_position[Z_AXIS] = (Z_MAX_POS - move_distance);
#else
current_position[Z_AXIS] = (Z_MIN_POS + move_distance);
#endif
do_blocking_move_to(current_position, MMM_TO_MMS(HOMING_FEEDRATE_Z);
planner.synchronize();
// Do Final Z move to adjust
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move");
do_blocking_move_to_z(zgrind, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
// Back off end plate, back to normal motion range
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff");
do_blocking_move_to_z(zpounce, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
// Reset current to original values
#if _REDUCE_CURRENT
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current");
#if GANTRY_CALIBRATION_DIRECTION == 1
current_position[Z_AXIS] = (Z_MAX_POS + move_distance);
#else
current_position[Z_AXIS] = (Z_MIN_POS - move_distance);
#endif
#if HAS_MOTOR_CURRENT_SPI
stepper.set_digipot_current(Z_AXIS, previous_current);
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE);
planner.synchronize();
// Back off end plate, back to normal motion range
#if GANTRY_CALIBRATION_DIRECTION == 1
current_position[Z_AXIS] = (Z_MAX_POS - move_distance);
#else
current_position[Z_AXIS] = (Z_MIN_POS + move_distance);
#endif
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE);
planner.synchronize();
// Reset current to original values
#if HAS_DIGIPOTSS
stepper.digipot_current(Z_AXIS, previous_current);
#elif HAS_MOTOR_CURRENT_PWM
stepper.set_digipot_current(1, previous_current);
#elif HAS_MOTOR_CURRENT_DAC
stepper_dac.set_current_value(Z_AXIS, previous_current);
#elif ENABLED(HAS_MOTOR_CURRENT_I2C)
digipot_i2c.set_current(Z_AXIS, previous_current)
stepper.digipot_current(1, previous_current);
#if DAC_STEPPER_CURRENT
dac_current_raw(Z_AXIS, previous_current);
#elif ENABLED(HAS_I2C_DIGIPOT)
digipot_i2c_set_current(Z_AXIS, previous_current)
#elif HAS_TRINAMIC_CONFIG
static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
#if AXIS_IS_TMC(Z)
stepperZ.rms_current(previous_current_arr[0]);
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.rms_current(previous_current_arr[1]);
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.rms_current(previous_current_arr[2]);
#endif
#if AXIS_IS_TMC(Z4)
stepperZ4.rms_current(previous_current_arr[3]);
#endif
stepperZ.rms_current(previous_current_arr[0]);
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.rms_current(previous_current_arr[1]);
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.rms_current(previous_current_arr[2]);
#endif
#if AXIS_IS_TMC(Z4)
stepperZ4.rms_current(previous_current_arr[3]);
#endif
#endif
#ifdef GANTRY_CALIBRATION_COMMANDS_POST
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
#endif
}
Marlin/src/lcd/language/language_en.h
+2 -4
View File
@@ -26,6 +26,7 @@
*
* LCD Menu Messages
* See also https://marlinfw.org/docs/development/lcd_language.html
*
*/
#define en 1234
@@ -67,9 +68,7 @@ namespace Language_en {
PROGMEM Language_Str MSG_AUTO_HOME_Z = _UxGT("Home Z");
PROGMEM Language_Str MSG_AUTO_Z_ALIGN = _UxGT("Auto Z-Align");
PROGMEM Language_Str MSG_ASSISTED_TRAMMING = _UxGT("Assisted Tramming");
PROGMEM Language_Str MSG_ITERATION = _UxGT("G34 Iteration: %i");
PROGMEM Language_Str MSG_DECREASING_ACCURACY = _UxGT("Accuracy Decreasing!");
PROGMEM Language_Str MSG_ACCURACY_ACHIEVED = _UxGT("Accuracy Achieved");
PROGMEM Language_Str DECREASING_ACCURACY = _UxGT("Decreasing accuracy detected.");
PROGMEM Language_Str MSG_LEVEL_BED_HOMING = _UxGT("Homing XYZ");
PROGMEM Language_Str MSG_LEVEL_BED_WAITING = _UxGT("Click to Begin");
PROGMEM Language_Str MSG_LEVEL_BED_NEXT_POINT = _UxGT("Next Point");
@@ -368,7 +367,6 @@ namespace Language_en {
PROGMEM Language_Str MSG_PAUSING = _UxGT("Pausing...");
PROGMEM Language_Str MSG_PAUSE_PRINT = _UxGT("Pause Print");
PROGMEM Language_Str MSG_RESUME_PRINT = _UxGT("Resume Print");
PROGMEM Language_Str MSG_HOST_START_PRINT = _UxGT("Host Start");
PROGMEM Language_Str MSG_STOP_PRINT = _UxGT("Stop Print");
PROGMEM Language_Str MSG_PRINTING_OBJECT = _UxGT("Printing Object");
PROGMEM Language_Str MSG_CANCEL_OBJECT = _UxGT("Cancel Object");