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✨ Update G34 for 4x Z steppers (#22039)

Scott Lahteine 4 years ago
parent
commit
53a82511ff
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1 changed files with 50 additions and 39 deletions
  1. 50
    39
      Marlin/src/gcode/calibrate/G34_M422.cpp

+ 50
- 39
Marlin/src/gcode/calibrate/G34_M422.cpp View File

@@ -48,6 +48,13 @@
48 48
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
49 49
 #include "../../core/debug_out.h"
50 50
 
51
+#if NUM_Z_STEPPER_DRIVERS >= 3
52
+  #define TRIPLE_Z 1
53
+  #if NUM_Z_STEPPER_DRIVERS >= 4
54
+    #define QUAD_Z 1
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+  #endif
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+#endif
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+
51 58
 /**
52 59
  * G34: Z-Stepper automatic alignment
53 60
  *
@@ -82,9 +89,9 @@ void GcodeSuite::G34() {
82 89
     switch (parser.intval('Z')) {
83 90
       case 1: stepper.set_z1_lock(state); break;
84 91
       case 2: stepper.set_z2_lock(state); break;
85
-      #if NUM_Z_STEPPER_DRIVERS >= 3
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+      #if TRIPLE_Z
86 93
         case 3: stepper.set_z3_lock(state); break;
87
-        #if NUM_Z_STEPPER_DRIVERS >= 4
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+        #if QUAD_Z
88 95
           case 4: stepper.set_z4_lock(state); break;
89 96
         #endif
90 97
       #endif
@@ -99,13 +106,6 @@ void GcodeSuite::G34() {
99 106
   #if ENABLED(Z_STEPPER_AUTO_ALIGN)
100 107
     do { // break out on error
101 108
 
102
-      #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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-
109 109
       const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
110 110
       if (!WITHIN(z_auto_align_iterations, 1, 30)) {
111 111
         SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
@@ -157,16 +157,14 @@ void GcodeSuite::G34() {
157 157
         const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
158 158
         return HYPOT2(diff.x, diff.y);
159 159
       };
160
-      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)
160
+      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
168 166
         #endif
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-      );
167
+      ));
170 168
 
171 169
       // Home before the alignment procedure
172 170
       if (!all_axes_trusted()) home_all_axes();
@@ -178,7 +176,7 @@ void GcodeSuite::G34() {
178 176
       // This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
179 177
 
180 178
       #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
181
-        float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f);
179
+        float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
182 180
       #else
183 181
         float last_z_align_level_indicator = 10000.0f;
184 182
       #endif
@@ -280,39 +278,52 @@ void GcodeSuite::G34() {
280 278
             z_measured_min = _MIN(z_measured_min, z_measured[i]);
281 279
           }
282 280
 
283
-          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]
287
+            )
288
+          );
284 289
         #endif
285 290
 
286 291
         SERIAL_ECHOLNPAIR("\n"
287
-          "DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
288
-          #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])
290 295
             , " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
296
+            #if QUAD_Z
297
+              , " Z4-Z3=", ABS(z_measured[3] - z_measured[2])
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+              , " Z4-Z2=", ABS(z_measured[3] - z_measured[1])
299
+              , " Z4-Z1=", ABS(z_measured[3] - z_measured[0])
300
+            #endif
291 301
           #endif
292 302
         );
303
+
293 304
         #if HAS_STATUS_MESSAGE
294 305
           char fstr1[10];
295
-          #if NUM_Z_STEPPER_DRIVERS == 2
296
-            char msg[6 + (6 + 5) * 1 + 1];
297
-          #else
298
-            char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10];
299
-          #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]
305 311
               #endif
306
-            ), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1)
307
-            #if NUM_Z_STEPPER_DRIVERS == 3
308
-              , 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)
310 312
             #endif
313
+          ;
314
+          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))
320
+            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))
311 322
           );
312 323
           ui.set_status(msg);
313 324
         #endif
314 325
 
315
-        auto decreasing_accuracy = [](const_float_t v1, const_float_t v2){
326
+        auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) {
316 327
           if (v1 < v2 * 0.7f) {
317 328
             SERIAL_ECHOLNPGM("Decreasing Accuracy Detected.");
318 329
             LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY);
@@ -437,7 +448,7 @@ void GcodeSuite::G34() {
437 448
       #endif
438 449
 
439 450
     }while(0);
440
-  #endif
451
+  #endif // Z_STEPPER_AUTO_ALIGN
441 452
 }
442 453
 
443 454
 #endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN

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