G35: Bed tramming assistant (#16897)
Rui Caridade
4 years ago
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GitHub
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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(ASSISTED_TRAMMING)
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#include "../gcode.h"
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#include "../../module/planner.h"
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#include "../../module/probe.h"
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#include "../../feature/bedlevel/bedlevel.h"
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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constexpr xy_pos_t screws_tilt_adjust_pos[] = TRAMMING_POINT_XY;
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static PGMSTR(point_name_1, TRAMMING_POINT_NAME_1);
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static PGMSTR(point_name_2, TRAMMING_POINT_NAME_2);
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static PGMSTR(point_name_3, TRAMMING_POINT_NAME_3);
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#ifdef TRAMMING_POINT_NAME_4
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static PGMSTR(point_name_4, TRAMMING_POINT_NAME_4);
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#ifdef TRAMMING_POINT_NAME_5
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static PGMSTR(point_name_5, TRAMMING_POINT_NAME_5);
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#endif
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#endif
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static PGM_P const tramming_point_name[] PROGMEM = {
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point_name_1, point_name_2, point_name_3
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#ifdef TRAMMING_POINT_NAME_4
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, point_name_4
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#ifdef TRAMMING_POINT_NAME_5
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, point_name_5
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#endif
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#endif
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};
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#define G35_PROBE_COUNT COUNT(screws_tilt_adjust_pos)
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#if !WITHIN(TRAMMING_SCREW_THREAD, 30, 51) || TRAMMING_SCREW_THREAD % 10 > 1
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#error "TRAMMING_SCREW_THREAD must be equal to 30, 31, 40, 41, 50, or 51."
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#endif
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static_assert(G35_PROBE_COUNT > 2, "TRAMMING_POINT_XY requires at least 3 XY positions.");
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/**
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* G35: Read bed corners to help adjust bed screws
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*
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* S<screw_thread>
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*
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* Screw thread: 30 - Clockwise M3
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* 31 - Counter-Clockwise M3
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* 40 - Clockwise M4
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* 41 - Counter-Clockwise M4
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* 50 - Clockwise M5
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* 51 - Counter-Clockwise M5
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**/
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void GcodeSuite::G35() {
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPGM(">>> G35");
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log_machine_info();
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}
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float z_measured[G35_PROBE_COUNT] = { 0 };
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const uint8_t screw_thread = parser.byteval('S', TRAMMING_SCREW_THREAD);
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if (!WITHIN(screw_thread, 30, 51) || screw_thread % 10 > 1) {
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SERIAL_ECHOLNPGM("?(S)crew thread must be 30, 31, 40, 41, 50, or 51.");
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goto EXIT_G35;
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}
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// Wait for planner moves to finish!
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planner.synchronize();
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// Disable the leveling matrix before auto-aligning
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#if HAS_LEVELING
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TERN_(RESTORE_LEVELING_AFTER_G35, const bool leveling_was_active = planner.leveling_active);
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set_bed_leveling_enabled(false);
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#endif
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#if ENABLED(CNC_WORKSPACE_PLANES)
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workspace_plane = PLANE_XY;
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#endif
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// Always home with tool 0 active
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#if HAS_MULTI_HOTEND
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const uint8_t old_tool_index = active_extruder;
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tool_change(0, true);
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#endif
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#if HAS_DUPLICATION_MODE
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extruder_duplication_enabled = false;
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#endif
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// Home all before this procedure
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home_all_axes();
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bool err_break = false;
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// Probe all positions
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LOOP_L_N(i, G35_PROBE_COUNT) {
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// In BLTOUCH HS mode, the probe travels in a deployed state.
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// Users of G35 might have a badly misaligned bed, so raise Z by the
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// length of the deployed pin (BLTOUCH stroke < 7mm)
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current_position.z = (Z_CLEARANCE_BETWEEN_PROBES) + (7 * ENABLED(BLTOUCH_HS_MODE));
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const float z_probed_height = probe.probe_at_point(screws_tilt_adjust_pos[i], PROBE_PT_RAISE, 0, true);
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if (isnan(z_probed_height)) {
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SERIAL_ECHOLNPAIR("G35 failed at point ", int(i), " (", tramming_point_name[i], ")"
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" X", screws_tilt_adjust_pos[i].x,
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" Y", screws_tilt_adjust_pos[i].y);
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err_break = true;
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break;
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}
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if (DEBUGGING(LEVELING))
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DEBUG_ECHOLNPAIR("Probing point ", int(i), " (", tramming_point_name[i], ")"
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" X", screws_tilt_adjust_pos[i].x,
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" Y", screws_tilt_adjust_pos[i].y,
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" Z", z_probed_height);
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z_measured[i] = z_probed_height;
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}
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if (!err_break) {
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const float threads_factor[] = { 0.5, 0.7, 0.8 };
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// Calculate adjusts
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LOOP_S_L_N(i, 1, G35_PROBE_COUNT) {
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const float diff = z_measured[0] - z_measured[i],
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adjust = abs(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10];
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const int full_turns = trunc(adjust);
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const float decimal_part = adjust - float(full_turns);
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const int minutes = trunc(decimal_part * 60.0f);
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SERIAL_ECHOPAIR("Turn ", tramming_point_name[i],
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" ", (screw_thread & 1) == (adjust > 0) ? "Counter-Clockwise" : "Clockwise",
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"by ", abs(full_turns), " turns");
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if (minutes) SERIAL_ECHOPAIR(" and ", abs(minutes), " minutes");
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SERIAL_EOL();
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}
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}
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else
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SERIAL_ECHOLNPGM("G35 aborted.");
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// Restore the active tool after homing
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#if HAS_MULTI_HOTEND
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tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER
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#endif
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#if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35)
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set_bed_leveling_enabled(leveling_was_active);
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#endif
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// Stow the probe, as the last call to probe.probe_at_point(...) left
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// the probe deployed if it was successful.
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probe.stow();
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// After this operation the Z position needs correction
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set_axis_not_trusted(Z_AXIS);
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// Home Z after the alignment procedure
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process_subcommands_now_P(PSTR("G28Z"));
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EXIT_G35:
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G35");
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}
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#endif // ASSISTED_TRAMMING
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