✨ Update G34 for 4x Z steppers (#22039)
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Scott Lahteine
Scott Lahteine
parent
aeb8097cbc
commit
c90fa530db
@ -48,6 +48,13 @@
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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#if NUM_Z_STEPPER_DRIVERS >= 3
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#define TRIPLE_Z 1
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#if NUM_Z_STEPPER_DRIVERS >= 4
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#define QUAD_Z 1
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#endif
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#endif
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/**
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* G34: Z-Stepper automatic alignment
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*
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@ -82,9 +89,9 @@ void GcodeSuite::G34() {
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switch (parser.intval('Z')) {
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case 1: stepper.set_z1_lock(state); break;
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case 2: stepper.set_z2_lock(state); break;
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#if NUM_Z_STEPPER_DRIVERS >= 3
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#if TRIPLE_Z
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case 3: stepper.set_z3_lock(state); break;
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#if NUM_Z_STEPPER_DRIVERS >= 4
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#if QUAD_Z
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case 4: stepper.set_z4_lock(state); break;
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#endif
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#endif
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@ -99,13 +106,6 @@ void GcodeSuite::G34() {
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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do { // break out on error
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#if NUM_Z_STEPPER_DRIVERS == 4
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SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!");
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#elif NUM_Z_STEPPER_DRIVERS > 4
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SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers");
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break;
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#endif
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const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
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if (!WITHIN(z_auto_align_iterations, 1, 30)) {
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SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
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@ -157,16 +157,14 @@ void GcodeSuite::G34() {
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const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
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return HYPOT2(diff.x, diff.y);
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};
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float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(
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#if NUM_Z_STEPPER_DRIVERS == 3
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_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0))
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#elif NUM_Z_STEPPER_DRIVERS == 4
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_MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3),
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magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3))
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#else
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magnitude2(0, 1)
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float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1)
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#if TRIPLE_Z
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, magnitude2(2, 1), magnitude2(2, 0)
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#if QUAD_Z
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, magnitude2(3, 2), magnitude2(3, 1), magnitude2(3, 0)
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#endif
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#endif
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);
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));
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// Home before the alignment procedure
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if (!all_axes_trusted()) home_all_axes();
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@ -178,7 +176,7 @@ void GcodeSuite::G34() {
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// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
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#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f);
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float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
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#else
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float last_z_align_level_indicator = 10000.0f;
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#endif
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@ -280,39 +278,52 @@ void GcodeSuite::G34() {
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z_measured_min = _MIN(z_measured_min, z_measured[i]);
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}
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SERIAL_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]);
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SERIAL_ECHOLNPAIR(
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LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS),
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"Calculated Z1=", z_measured[0],
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" Z2=", z_measured[1],
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" Z3=", z_measured[2],
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" Z4=", z_measured[3]
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)
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);
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#endif
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SERIAL_ECHOLNPAIR("\n"
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"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
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#if NUM_Z_STEPPER_DRIVERS == 3
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, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
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"Z2-Z1=", ABS(z_measured[1] - z_measured[0])
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#if TRIPLE_Z
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, " Z3-Z2=", ABS(z_measured[2] - z_measured[1])
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, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
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#if QUAD_Z
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, " Z4-Z3=", ABS(z_measured[3] - z_measured[2])
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, " Z4-Z2=", ABS(z_measured[3] - z_measured[1])
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, " Z4-Z1=", ABS(z_measured[3] - z_measured[0])
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#endif
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#endif
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);
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#if HAS_STATUS_MESSAGE
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char fstr1[10];
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#if NUM_Z_STEPPER_DRIVERS == 2
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char msg[6 + (6 + 5) * 1 + 1];
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#else
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char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10];
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#endif
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sprintf_P(msg,
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PSTR("Diffs Z1-Z2=%s"
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#if NUM_Z_STEPPER_DRIVERS == 3
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" Z2-Z3=%s"
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" Z3-Z1=%s"
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char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1]
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#if TRIPLE_Z
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, fstr2[10], fstr3[10]
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#if QUAD_Z
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, fstr4[10], fstr5[10], fstr6[10]
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#endif
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), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1)
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#if NUM_Z_STEPPER_DRIVERS == 3
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, dtostrf(ABS(z_measured[1] - z_measured[2]), 1, 3, fstr2)
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, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)
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#endif
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;
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sprintf_P(msg,
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PSTR("1:2=%s" TERN_(TRIPLE_Z, " 3-2=%s 3-1=%s") TERN_(QUAD_Z, " 4-3=%s 4-2=%s 4-1=%s")),
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dtostrf(ABS(z_measured[1] - z_measured[0]), 1, 3, fstr1)
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OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[1]), 1, 3, fstr2))
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OPTARG(TRIPLE_Z, dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3))
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OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[2]), 1, 3, fstr4))
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OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[1]), 1, 3, fstr5))
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OPTARG(QUAD_Z, dtostrf(ABS(z_measured[3] - z_measured[0]), 1, 3, fstr6))
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);
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ui.set_status(msg);
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#endif
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auto decreasing_accuracy = [](const_float_t v1, const_float_t v2){
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auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) {
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if (v1 < v2 * 0.7f) {
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SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
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LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
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@ -437,7 +448,7 @@ void GcodeSuite::G34() {
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#endif
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}while(0);
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#endif
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#endif // Z_STEPPER_AUTO_ALIGN
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}
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#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN
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