jessikitty/Marlin
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add New G34 mode for current adjustable drivers

Browse Source 
TODO : Sanity checks, Finish DAC mode, Test on Rambo
This commit is contained in:
InsanityAutomation
2020-07-22 17:07:44 -04:00
parent 56ed55ddba
commit 24e6dbcf48
3 changed files with 161 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Marlin/Configuration_adv.h
+19
View File
@@ -3338,6 +3338,25 @@
#define JOY_Z_LIMITS { 4800, 8080-100, 8080+100, 11550 }
#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
+141 -4
View File
@@ -169,6 +169,7 @@ void GcodeSuite::G34() {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
SERIAL_ECHOLNPAIR("\nITERATION: ", int(iteration + 1));
ui.set_status("\nITERATION: ", int(iteration + 1));
// Initialize minimum value
z_measured_min = 100000.0f;
@@ -190,7 +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.");
SERIAL_ECHOLNPGM(MSG_LCD_PROBING_FAILED);
ui.set_status_P(MSG_LCD_PROBING_FAILED)
err_break = true;
break;
}
@@ -249,6 +251,13 @@ void GcodeSuite::G34() {
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
#endif
);
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
);
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Check if the applied corrections go in the correct direction.
@@ -267,7 +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.");
SERIAL_ECHOLNPGM(DECREASING_ACCURACY);
ui.set_status_P(DECREASING_ACCURACY);
err_break = true;
break;
}
@@ -291,7 +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.");
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;
@@ -329,7 +340,11 @@ void GcodeSuite::G34() {
if (err_break) break;
if (success_break) { SERIAL_ECHOLNPGM("Target accuracy achieved."); break; }
if (success_break) {
SERIAL_ECHOLNPGM("Target accuracy achieved.");
ui.set_status_P(PGM_P("Target accuracy achieved."));
break;
}
} // for (iteration)
@@ -469,4 +484,126 @@ void GcodeSuite::M422() {
pos_dest[position_index] = pos;
}
#elif ENABLED(MECHANICAL_GANTRY_CALIBRATION)
void GcodeSuite::G34() {
if (axis_unhomed_error()) return;
TEMPORARY_SOFT_ENDSTOP_STATE(false);
TEMPORARY_BED_LEVELING_STATE(false);
#ifdef GANTRY_CALIBRATION_COMMANDS_PRE
gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE));
#endif
// Store current motor settings, then apply reduced value
#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_DIGIPOTSS
const uint32_t previous_current = motor_current_setting[Z_AXIS];
stepper.digipot_current(Z_AXIS, target_current);
#elif HAS_MOTOR_CURRENT_PWM
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)
#elif HAS_TRINAMIC_CONFIG
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
#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 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();
// 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.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
#endif
#ifdef GANTRY_CALIBRATION_COMMANDS_POST
gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
#endif
}
#endif // Z_STEPPER_AUTO_ALIGN
Marlin/src/lcd/language/language_en.h
+1
View File
@@ -68,6 +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 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");