diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 90a7b6aa2b9856ed73f433baa13c27f2fa9f86df..30ffb1162fec8aaa7ffbe94d6de1a59b4b7f69c8 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3019,12 +3019,12 @@ static void homeaxis(const AxisEnum axis) {
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
- // retrace by the amount specified in endstop_adj
- if (endstop_adj[axis] * Z_HOME_DIR < 0) {
+ // retrace by the amount specified in endstop_adj + additional 0.1mm in order to have minimum steps
+ if (endstop_adj[axis] * Z_HOME_DIR <= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
#endif
- do_homing_move(axis, endstop_adj[axis]);
+ do_homing_move(axis, endstop_adj[axis] - 0.1);
}
#else
@@ -5098,20 +5098,18 @@ void home_all_axes() { gcode_G28(true); }
*
* Parameters:
*
- * P Number of probe points:
+ * Pn Number of probe points:
*
* P1 Probe center and set height only.
* P2 Probe center and towers. Set height, endstops, and delta radius.
* P3 Probe all positions: center, towers and opposite towers. Set all.
* P4-P7 Probe all positions at different locations and average them.
*
- * A Abort delta height calibration after 1 probe (only P1)
- *
- * O Use opposite tower points instead of tower points (only P2)
- *
- * T Don't calibrate tower angle corrections (P3-P7)
- *
- * V Verbose level:
+ * T Don't calibrate tower angle corrections
+ *
+ * Cn.nn Calibration precision; when omitted calibrates to maximum precision
+ *
+ * Vn Verbose level:
*
* V0 Dry-run mode. Report settings and probe results. No calibration.
* V1 Report settings
@@ -5131,30 +5129,61 @@ void home_all_axes() { gcode_G28(true); }
return;
}
- const bool do_height_only = probe_points == 1,
- do_center_and_towers = probe_points == 2,
- do_all_positions = probe_points == 3,
- do_circle_x2 = probe_points == 5,
- do_circle_x3 = probe_points == 6,
- do_circle_x4 = probe_points == 7,
- probe_center_plus_3 = probe_points >= 3,
- point_averaging = probe_points >= 4,
- probe_center_plus_6 = probe_points >= 5;
+ const float calibration_precision = code_seen('C') ? code_value_float() : 0.0;
+ if (calibration_precision < 0) {
+ SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
+ return;
+ }
- const char negating_parameter = do_height_only ? 'A' : do_center_and_towers ? 'O' : 'T';
- int8_t probe_mode = code_seen(negating_parameter) && code_value_bool() ? -probe_points : probe_points;
+ const bool towers_set = !code_seen('T'),
+
+ _1p_calibration = probe_points == 1,
+ _4p_calibration = probe_points == 2,
+ _4p_towers_points = _4p_calibration && towers_set,
+ _4p_opposite_points = _4p_calibration && !towers_set,
+ _7p_calibration = probe_points >= 3,
+ _7p_half_circle = probe_points == 3,
+ _7p_double_circle = probe_points == 5,
+ _7p_triple_circle = probe_points == 6,
+ _7p_quadruple_circle = probe_points == 7,
+ _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
+ _7p_intermed_points = _7p_calibration && !_7p_half_circle;
+
+ if (!_1p_calibration) { // test if the outer radius is reachable
+ for (uint8_t axis = 1; axis < 13; ++axis) {
+ float circles = (_7p_quadruple_circle ? 1.5 :
+ _7p_triple_circle ? 1.0 :
+ _7p_double_circle ? 0.5 : 0);
+ if (!position_is_reachable_by_probe_xy(cos(RADIANS(180 + 30 * axis)) *
+ delta_calibration_radius * (1 + circles * 0.1),
+ sin(RADIANS(180 + 30 * axis)) *
+ delta_calibration_radius * (1 + circles * 0.1))) {
+ SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
+ return;
+ }
+ }
+ }
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
+ stepper.synchronize();
#if HAS_LEVELING
- set_bed_leveling_enabled(false);
+ reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
+ #if HOTENDS > 1
+ const uint8_t old_tool_index = active_extruder;
+ tool_change(0, 0, true);
+ #endif
+ setup_for_endstop_or_probe_move();
- home_all_axes();
+ endstops.enable(true);
+ home_delta();
+ endstops.not_homing();
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
+ zero_std_dev_old = zero_std_dev,
e_old[XYZ] = {
endstop_adj[A_AXIS],
endstop_adj[B_AXIS],
@@ -5173,7 +5202,7 @@ void home_all_axes() { gcode_G28(true); }
LCD_MESSAGEPGM("Checking... AC"); // TODO: Make translatable string
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
- if (!do_height_only) {
+ if (!_1p_calibration) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@@ -5186,7 +5215,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
- if (probe_mode > 2) { // negative disables tower angles
+ if (_7p_calibration && towers_set) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
@@ -5202,80 +5231,76 @@ void home_all_axes() { gcode_G28(true); }
#endif
int8_t iterations = 0;
+
+ home_offset[Z_AXIS] -= probe_pt(0.0, 0.0 , true, 1); // 1st probe to set height
+ do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
do {
- float z_at_pt[13] = { 0 },
- S1 = 0.0,
- S2 = 0.0;
+ float z_at_pt[13] = { 0.0 }, S1 = 0.0, S2 = 0.0;
int16_t N = 0;
- test_precision = zero_std_dev;
+ test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
+
iterations++;
// Probe the points
- if (!do_all_positions && !do_circle_x3) { // probe the center
- setup_for_endstop_or_probe_move();
- z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1); // TODO: Needs error handling
- clean_up_after_endstop_or_probe_move();
+ if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
+ z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
}
- if (probe_center_plus_3) { // probe extra center points
- for (int8_t axis = probe_center_plus_6 ? 11 : 9; axis > 0; axis -= probe_center_plus_6 ? 2 : 4) {
- setup_for_endstop_or_probe_move();
- z_at_pt[0] += probe_pt( // TODO: Needs error handling
- cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
- sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
- clean_up_after_endstop_or_probe_move();
+ if (_7p_calibration) { // probe extra center points
+ for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
+ const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
+ z_at_pt[0] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
}
- z_at_pt[0] /= float(do_circle_x2 ? 7 : probe_points);
+ z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
}
- if (!do_height_only) { // probe the radius
+ if (!_1p_calibration) { // probe the radius
bool zig_zag = true;
- for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13;
- axis += (do_center_and_towers ? 4 : do_all_positions ? 2 : 1)) {
- float offset_circles = (do_circle_x4 ? (zig_zag ? 1.5 : 1.0) :
- do_circle_x3 ? (zig_zag ? 1.0 : 0.5) :
- do_circle_x2 ? (zig_zag ? 0.5 : 0.0) : 0);
+ const uint8_t start = _4p_opposite_points ? 3 : 1,
+ step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
+ for (uint8_t axis = start; axis < 13; axis += step) {
+ const float offset_circles = _7p_quadruple_circle ? (zig_zag ? 1.5 : 1.0) :
+ _7p_triple_circle ? (zig_zag ? 1.0 : 0.5) :
+ _7p_double_circle ? (zig_zag ? 0.5 : 0.0) : 0;
for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
- setup_for_endstop_or_probe_move();
- z_at_pt[axis] += probe_pt( // TODO: Needs error handling
- cos(RADIANS(180 + 30 * axis)) * delta_calibration_radius *
- (1 + circles * 0.1 * (zig_zag ? 1 : -1)),
- sin(RADIANS(180 + 30 * axis)) * delta_calibration_radius *
- (1 + circles * 0.1 * (zig_zag ? 1 : -1)), true, 1);
- clean_up_after_endstop_or_probe_move();
+ const float a = RADIANS(180 + 30 * axis),
+ r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
+ z_at_pt[axis] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
}
zig_zag = !zig_zag;
z_at_pt[axis] /= (2 * offset_circles + 1);
}
}
- if (point_averaging) // average intermediates to tower and opposites
+ if (_7p_intermed_points) // average intermediates to tower and opposites
for (uint8_t axis = 1; axis <= 11; axis += 2)
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
S1 += z_at_pt[0];
S2 += sq(z_at_pt[0]);
N++;
- if (!do_height_only) // std dev from zero plane
- for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13; axis += (do_center_and_towers ? 4 : 2)) {
+ if (!_1p_calibration) // std dev from zero plane
+ for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
S1 += z_at_pt[axis];
S2 += sq(z_at_pt[axis]);
N++;
}
+ zero_std_dev_old = zero_std_dev;
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
+
+ if (iterations == 1) home_offset[Z_AXIS] = zh_old; // reset height after 1st probe change
// Solve matrices
- if (zero_std_dev < test_precision) {
+ if (zero_std_dev < test_precision && zero_std_dev > calibration_precision) {
COPY(e_old, endstop_adj);
dr_old = delta_radius;
zh_old = home_offset[Z_AXIS];
alpha_old = delta_tower_angle_trim[A_AXIS];
beta_old = delta_tower_angle_trim[B_AXIS];
- float e_delta[XYZ] = { 0.0 }, r_delta = 0.0,
- t_alpha = 0.0, t_beta = 0.0;
+ float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0;
const float r_diff = delta_radius - delta_calibration_radius,
h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
@@ -5293,25 +5318,25 @@ void home_all_axes() { gcode_G28(true); }
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
- switch (probe_mode) {
- case -1:
- test_precision = 0.00;
+ switch (probe_points) {
case 1:
+ test_precision = 0.00;
LOOP_XYZ(i) e_delta[i] = Z1000(0);
break;
case 2:
- e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
- e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
- e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
- r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
- break;
-
- case -2:
- e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
- e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
- e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
- r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
+ if (towers_set) {
+ e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
+ e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
+ e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
+ r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
+ }
+ else {
+ e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
+ e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
+ e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
+ r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
+ }
break;
default:
@@ -5320,9 +5345,9 @@ void home_all_axes() { gcode_G28(true); }
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
- if (probe_mode > 0) { // negative disables tower angles
- t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
- t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
+ if (towers_set) {
+ t_alpha = Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
+ t_beta = Z0888(1) - Z0444(5) - Z0444(9) + Z0888(7) - Z0444(11) - Z0444(3);
}
break;
}
@@ -5330,7 +5355,7 @@ void home_all_axes() { gcode_G28(true); }
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta;
delta_tower_angle_trim[A_AXIS] += t_alpha;
- delta_tower_angle_trim[B_AXIS] -= t_beta;
+ delta_tower_angle_trim[B_AXIS] += t_beta;
// adjust delta_height and endstops by the max amount
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
@@ -5339,7 +5364,7 @@ void home_all_axes() { gcode_G28(true); }
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
- else { // step one back
+ else if(zero_std_dev >= test_precision) { // step one back
COPY(endstop_adj, e_old);
delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old;
@@ -5355,7 +5380,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPGM(". c:");
if (z_at_pt[0] > 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[0], 2);
- if (probe_mode == 2 || probe_center_plus_3) {
+ if (_4p_towers_points || _7p_calibration) {
SERIAL_PROTOCOLPGM(" x:");
if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[1], 2);
@@ -5366,9 +5391,9 @@ void home_all_axes() { gcode_G28(true); }
if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[9], 2);
}
- if (probe_mode != -2) SERIAL_EOL;
- if (probe_mode == -2 || probe_center_plus_3) {
- if (probe_center_plus_3) {
+ if (!_4p_opposite_points) SERIAL_EOL;
+ if ((_4p_opposite_points) || _7p_calibration) {
+ if (_7p_calibration) {
SERIAL_CHAR('.');
SERIAL_PROTOCOL_SP(13);
}
@@ -5385,10 +5410,15 @@ void home_all_axes() { gcode_G28(true); }
}
}
if (test_precision != 0.0) { // !forced end
- if (zero_std_dev >= test_precision) { // end iterations
+ if (zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOL_SP(36);
- SERIAL_PROTOCOLPGM("rolling back.");
+ if (zero_std_dev >= test_precision)
+ SERIAL_PROTOCOLPGM("rolling back.");
+ else {
+ SERIAL_PROTOCOLPGM("std dev:");
+ SERIAL_PROTOCOL_F(zero_std_dev, 3);
+ }
SERIAL_EOL;
LCD_MESSAGEPGM("Calibration OK"); // TODO: Make translatable string
}
@@ -5404,7 +5434,7 @@ void home_all_axes() { gcode_G28(true); }
lcd_setstatus(mess);
}
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
- if (!do_height_only) {
+ if (!_1p_calibration) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@@ -5417,7 +5447,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
- if (probe_mode > 2) { // negative disables tower angles
+ if (_7p_calibration && towers_set) {
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
@@ -5427,7 +5457,7 @@ void home_all_axes() { gcode_G28(true); }
SERIAL_PROTOCOLPGM(" Tz:+0.00");
SERIAL_EOL;
}
- if (zero_std_dev >= test_precision)
+ if (zero_std_dev >= test_precision || zero_std_dev <= calibration_precision)
serialprintPGM(save_message);
SERIAL_EOL;
}
@@ -5449,12 +5479,20 @@ void home_all_axes() { gcode_G28(true); }
}
}
- stepper.synchronize();
-
- home_all_axes();
+ endstops.enable(true);
+ home_delta();
+ endstops.not_homing();
- } while (zero_std_dev < test_precision && iterations < 31);
+ }
+ while (zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31);
+ #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
+ do_blocking_move_to_z(delta_clip_start_height);
+ #endif
+ clean_up_after_endstop_or_probe_move();
+ #if HOTENDS > 1
+ tool_change(old_tool_index, 0, true);
+ #endif
#if ENABLED(Z_PROBE_SLED)
RETRACT_PROBE();
#endif
diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
index 2c31e0226ca3be19bb7c37449abd91dffaef53f4..b23bb75f6e6b5f7494f09b1f04703c72447d8224 100644
--- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
@@ -447,10 +447,10 @@
#define DELTA_DIAGONAL_ROD 218.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS 100.00 //mm // get this value from auto calibrate
+ #define DELTA_RADIUS 100.00 //mm Get this value from auto calibrate
// height from z=0 to home position
- #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 A at 1st time calibration
+ #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0
@@ -460,8 +460,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051
#define DELTA_CALIBRATION_MENU
- // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
- #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+ // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
+ #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
#define DELTA_AUTO_CALIBRATION
diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
index ce585c1aff5e7b313e56c9a1eb8f693f5220be56..9838387b47af0f4a8f7da920cd1254e1c3ba02b9 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
@@ -454,10 +454,10 @@
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
- #define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
+ #define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 85.0
@@ -467,8 +467,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU
- // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
- #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
+ // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
+ #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 0b942adba0a1f9c87f605e08d13e78c24342ba93..dee93545c517bf9539466a054f947a0d83e1a675 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -444,10 +444,10 @@
#define DELTA_CARRIAGE_OFFSET 18.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate // height from z=0.00 to home position
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
- #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
+ #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0
@@ -456,8 +456,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU
- // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
- #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
+ // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
+ #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 3c9fff7d6116296d29a0fd6dfe8d18396b9b8786..5af56f44911806bc560ca714ca54f043be41bd1c 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -444,10 +444,10 @@
#define DELTA_CARRIAGE_OFFSET 19.5 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
- #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
+ #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 90.0
@@ -456,8 +456,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU
- // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
- #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 18) // mm
+ // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
+ #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 6e672402a56a97bfae510e232864e4b23dbf4a87..1a623d6b0f3bf79606a789141c961b8296d16271 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -431,10 +431,10 @@
#define DELTA_CARRIAGE_OFFSET 30.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
- #define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
+ #define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 127.0
@@ -443,8 +443,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU
- // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
- #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 25.4) // mm
+ // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
+ #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index 62f9bafb5299cfabe8893ba1a476e5e1fc86fd09..fa9c006922358fa495df094b685fdd72be122fb4 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -449,10 +449,10 @@
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
// Horizontal distance bridged by diagonal push rods when effector is centered.
- #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
+ #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm Get this value from auto calibrate
// height from z=0.00 to home position
- #define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
+ #define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 P1 at 1st time calibration
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0
@@ -461,8 +461,8 @@
// See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU
- // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
- #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
+ // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
+ #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION
diff --git a/Marlin/planner.h b/Marlin/planner.h
index ca23979fab45eba6286ff10cf06026a80aad1b84..d389adc46d3a88633fd0427bb242e667a1a63441 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -160,8 +160,10 @@ class Planner {
min_travel_feedrate_mm_s;
#if HAS_ABL
- static bool abl_enabled; // Flag that bed leveling is enabled
- static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
+ static bool abl_enabled; // Flag that bed leveling is enabled
+ #if ABL_PLANAR
+ static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
+ #endif
#endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index ac702737b27cf1c285215c93b47177d642f7468b..e66f55a536962ec4300ff2284b7a21b11a12b7f8 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -2151,6 +2151,10 @@ void kill_screen(const char* lcd_msg) {
}
void _lcd_delta_calibrate_home() {
+ #if HAS_LEVELING
+ reset_bed_level(); // After calibration bed-level data is no longer valid
+ #endif
+
enqueue_and_echo_commands_P(PSTR("G28"));
lcd_goto_screen(_lcd_calibrate_homing);
}
@@ -2158,6 +2162,10 @@ void kill_screen(const char* lcd_msg) {
// Move directly to the tower position with uninterpolated moves
// If we used interpolated moves it would cause this to become re-entrant
void _goto_tower_pos(const float &a) {
+ #if HAS_LEVELING
+ reset_bed_level(); // After calibration bed-level data is no longer valid
+ #endif
+
current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
line_to_current(Z_AXIS);
diff --git a/README.md b/README.md
index c253011d4624c2704311e196ca61854fd23915ee..2b296dc26c2f5cb5b86062719bd42eca1a0007f7 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@
<img align="top" width=175 src="buildroot/share/pixmaps/logo/marlin-250.png" />
Additional documentation can be found at the [Marlin Home Page](http://marlinfw.org/).
-Please test this firmware and inform us if it misbehaves in any way, volunteers are standing by!
+Please test this firmware and let us know if it misbehaves in any way. Volunteers are standing by!
## Bugfix Branch
@@ -14,91 +14,18 @@ __Not for production use. Use with caution!__
This branch is used to accumulate patches to the latest 1.1.x release version. Periodically this branch will form the basis for the next minor 1.1.x release.
-Download earlier versions of Marlin on the [Releases page](https://github.com/MarlinFirmware/Marlin/releases). (The latest tagged release of Marlin is version 1.1.0.)
+Download earlier versions of Marlin on the [Releases page](https://github.com/MarlinFirmware/Marlin/releases). (The latest tagged release of Marlin is version 1.1.1.)
## Recent Changes
-- 1.1.0 - 4 May 2017
- - See the [1.1.0 Release Notes](https://github.com/MarlinFirmware/Marlin/releases/tag/1.1.0) for a full list of changes.
-
-- RC8 - 6 Dec 2016
- - Major performance improvement for Graphical LCDs
- - Simplified probe configuration
- - Enable Auto Bed Leveling by type
- - Reduce serial communication errors
- - Make Bilinear (Mesh) Grid Leveling available for non-delta
- - Support for Trinamic TMC2130 SilentStepStick SPI-based drivers
- - Add `M211` to Enable/Disable Software Endstops
- - Add `M355` to turn the case light on/off and set brightness
- - Improved I2C class with full master/slave support
- - Add `G38.2` `G38.3` command option for CNC style probing
- - Add `MINIMUM_STEPPER_PULSE` option to adjust step pulse duration
- - Add `R` parameter support for `G2`/`G3`
- - Add `M43` optional command (`PINS_DEBUGGING`)
- - Remove SCARA axis scaling
- - Improved sanity checking of configuration
- - Improved support for PlatformIO and command-line build
- - Usable `DELTA_CALIBRATION_MENU`
- - Support for Printrbot Rev.F
- - New and updated languages
-
-- RC7 - 26 Jul 2016
- - Add Print Job Timer and Print Counter (`PRINTCOUNTER`)
- - New `M600` Filament Change (`FILAMENT_CHANGE_FEATURE`)
- - New `G12` Nozzle Clean (`NOZZLE_CLEAN_FEATURE`)
- - New `G27` Nozzle Park (`NOZZLE_PARK_FEATURE`)
- - Add support for `COREYZ`
- - Add a new Advance Extrusion algorithm (`LIN_ADVANCE`)
- - Add support for inches, Fahrenheit, Kelvin units (`INCH_MODE_SUPPORT`, `TEMPERATURE_UNITS_SUPPORT`)
- - Better handling of `G92` shifting of the coordinate space
- - Add Greek and Croatian languages
- - Improve the Manual (Mesh) Bed Leveling user interface
- - Add support for more boards, controllers, and probes:
- - Vellemann K8400 (`BOARD_K8400`)
- - RigidBot V2 (`BOARD_RIGIDBOARD_V2`)
- - Cartesio UI (`BOARD_CNCONTROLS_12`)
- - BLTouch probe sensor (`BLTOUCH`)
- - Viki 2 with RAMPS and MKS boards
- - Improve support for `DELTA` and other kinematics
- - Improve thermal management, add `WATCH_BED_TEMP_PERIOD`
- - Better handling of toolchange, multiple tools
- - Add support for two X steppers `X_DUAL_STEPPER_DRIVERS`
- - Add support for `SINGLENOZZLE`, `MIXING_EXTRUDER`, `SWITCHING_NOZZLE`, and `SWITCHING_EXTRUDER`
- - Simplified probe configuration, allow usage without bed leveling
- - And much more… See the [1.1.0-RC7 Change Log](https://github.com/MarlinFirmware/Marlin/releases/tag/1.1.0-RC7) for the complete list of changes.
-
-- RC6 - 24 Apr 2016
- - Marlin now requires Arduino version 1.6.0 or later
- - Completed support for CoreXY / CoreXZ
- - See the [1.1.0-RC6 Change Log](https://github.com/MarlinFirmware/Marlin/releases/tag/1.1.0-RC6) for all the changes.
-
-- RC5 - 01 Apr 2016
- - Warn if compiling with older versions (<1.50) of Arduino
- - Fix various LCD menu issues
- - Add formal support for MKSv1.3 and Sainsmart (RAMPS variants)
- - Fix bugs in M104, M109, and M190
- - Fix broken M404 command
- - Fix issues with M23 and "Start SD Print"
- - More output for M111
- - Rename FILAMENT_SENSOR to FILAMENT_WIDTH_SENSOR
- - Fix SD card bugs
- - and a lot more
- - See the [1.1.0-RC5 Change Log](https://github.com/MarlinFirmware/Marlin/releases/tag/1.1.0-RC5) for more!
-
-- RC4 - 24 Mar 2016
- - Many lingering bugs and nagging issues addressed
- - Improvements to LCD menus, CoreXY/CoreXZ, Delta, Bed Leveling, and more…
-
-- RC3 - 01 Dec 2015
- - A number of language sensitive strings have been revised
- - Formatting of the LCD display has been improved to handle negative coordinates better
- - Various compiler-related issues have been corrected
-
-- RC2 - 29 Sep 2015
- - File styling reverted
- - LCD update frequency reduced
-
-- RC1 - 19 Sep 2015
- - Published for testing
+- Further integration of Unified Bed Leveling
+- Initial UBL LCD Menu
+- New optimized G-code parser singleton
+- Initial M3/M4/M5 Spindle and Laser support
+- Added M421 Q to offset a mesh point
+- Refinements to G26 and G33
+- Added M80 S to query the power state
+- "Cancel Print" now shuts off heaters
+- Added `EXTRAPOLATE_BEYOND_GRID` option for mesh-based leveling
## Submitting Patches
@@ -142,7 +69,7 @@ More features have been added by:
- [[@Tannoo](https://github.com/Tannoo)]
- [[@teemuatlut](https://github.com/teemuatlut)]
- [[@bgort](https://github.com/bgort)]
- - [[@LVD-AC](https://github.com/LVD-AC)]
+ - Luc Van Daele[[@LVD-AC](https://github.com/LVD-AC)] - Dutch, French, English
- [[@paulusjacobus](https://github.com/paulusjacobus)]
- ...and many others