🚸 G33 R and O options (#22707)

Marlin/src/gcode/calibrate/G33.cpp

@@ -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));
@@ -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);
@@ -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,
@@ -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;
     }
 
@@ -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);
@@ -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)));
@@ -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);
@@ -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)
@@ -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
 }
 
@@ -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
@@ -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.
@@ -403,7 +406,27 @@ void GcodeSuite::G33() {
     return;
   }
 
-  const bool towers_set = !parser.seen_test('T');
+  const bool probe_at_offset = TERN0(HAS_PROBE_XY_OFFSET, parser.boolval('O')),
+                  towers_set = !parser.seen_test('T');
+
+  float max_dcr = dcr = DELTA_PRINTABLE_RADIUS;
+  #if HAS_PROBE_XY_OFFSET
+    // For offset probes the 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 = dcr;
+    }
+    // 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 of
+    // the effector crashing into the towers.
+  #endif
+
+  if (parser.seenval('R')) dcr = parser.value_float();
+  if (!WITHIN(dcr, 0, max_dcr)) {
+    SERIAL_ECHOLNPGM("?calibration (R)adius implausible.");
+    return;
+  }
 
   const float calibration_precision = parser.floatval('C', 0.0f);
   if (calibration_precision < 0) {
@@ -453,18 +476,6 @@ 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);
@@ -487,7 +498,7 @@ 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));
     }
@@ -526,11 +537,11 @@ 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:

Marlin/src/lcd/menu/menu_delta_calibrate.cpp

@@ -88,8 +88,9 @@ void _man_probe_pt(const xy_pos_t &xy) {
   }
 
   void _goto_tower_a(const_float_t a) {
+    constexpr 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); }

Marlin/src/module/delta.cpp

@@ -83,28 +83,6 @@ void recalc_delta_settings() {
 }
 
 /**
- * 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
  *
  * Calculate the tower positions for a given machine

Marlin/src/module/delta.h

@@ -46,19 +46,6 @@ 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
  *
  * Calculate the tower positions for a given machine