diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 5d533ea73a54eac0054d6860719ea6e2564cd0d3..de969700b5742d5df34d0b99843ec011177cc511 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -61,7 +61,7 @@
* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
- * G33 - Delta '1-4-7-point' auto calibration : "G33 P<points> <A> <O> <T> V<verbose>" (Requires DELTA)
+ * G33 - Delta '1-4-7-point' auto calibration : "G33 V<verbose> P<points> <A> <O> <T>" (Requires DELTA)
* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
@@ -4994,8 +4994,12 @@ inline void gcode_G28() {
* G33 - Delta '1-4-7-point' auto calibration (Requires DELTA)
*
* Usage:
- * G33 <Pn> <A> <O> <T> <Vn>
+ * G33 <Vn> <Pn> <A> <O> <T>
*
+ * Vn = verbose level (n=0-2 default 1)
+ * n=0 dry-run mode: setting + probe results / no calibration
+ * n=1 settings
+ * n=2 setting + probe results
* Pn = n=-7 -> +7 : n*n probe points
* calibrates height ('1 point'), endstops, and delta radius ('4 points')
* and tower angles with n > 2 ('7+ points')
@@ -5006,10 +5010,6 @@ inline void gcode_G28() {
* A = abort 1 point delta height calibration after 1 probe
* O = use oposite tower points instead of tower points with 4 point calibration
* T = do not calibrate tower angles with 7+ point calibration
- * Vn = verbose level (n=0-2 default 1)
- * n=0 dry-run mode: no calibration
- * n=1 settings
- * n=2 setting + probe results
*/
inline void gcode_G33() {
@@ -5019,14 +5019,14 @@ inline void gcode_G28() {
set_bed_leveling_enabled(false);
#endif
- int8_t pp = code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS,
- probe_mode = (WITHIN(pp, 1, 7)) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS;
+ int8_t pp = (code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS),
+ probe_mode = (WITHIN(pp, 1, 7) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS);
- probe_mode = (code_seen('A') && probe_mode == 1) ? -probe_mode : probe_mode;
- probe_mode = (code_seen('O') && probe_mode == 2) ? -probe_mode : probe_mode;
- probe_mode = (code_seen('T') && probe_mode > 2) ? -probe_mode : probe_mode;
+ probe_mode = (code_seen('A') && probe_mode == 1 ? -probe_mode : probe_mode);
+ probe_mode = (code_seen('O') && probe_mode == 2 ? -probe_mode : probe_mode);
+ probe_mode = (code_seen('T') && probe_mode > 2 ? -probe_mode : probe_mode);
- int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
+ int8_t verbose_level = (code_seen('V') ? code_value_byte() : 1);
if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
@@ -5034,7 +5034,7 @@ inline void gcode_G28() {
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 = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
e_old[XYZ] = {
endstop_adj[A_AXIS],
endstop_adj[B_AXIS],
@@ -5046,11 +5046,17 @@ inline void gcode_G28() {
beta_old = delta_tower_angle_trim[B_AXIS];
int8_t iterations = 0,
probe_points = abs(probe_mode);
- bool _1_point = (probe_points <= 1),
- _7_point = (probe_mode > 2),
- o_mode = (probe_mode == -2),
- towers = (probe_points > 2 || probe_mode == 2),
- opposites = (probe_points > 2 || o_mode);
+ const bool pp_equals_1 = (probe_points == 1),
+ pp_equals_2 = (probe_points == 2),
+ pp_equals_3 = (probe_points == 3),
+ pp_equals_4 = (probe_points == 4),
+ pp_equals_5 = (probe_points == 5),
+ pp_equals_6 = (probe_points == 6),
+ pp_equals_7 = (probe_points == 7),
+ pp_greather_2 = (probe_points > 2),
+ pp_greather_3 = (probe_points > 3),
+ pp_greather_4 = (probe_points > 4),
+ pp_greather_5 = (probe_points > 5);
// print settings
@@ -5061,7 +5067,7 @@ inline void gcode_G28() {
LCD_MESSAGEPGM("Checking... AC");
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
- if (!_1_point) {
+ if (!pp_equals_1) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@@ -5074,7 +5080,7 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
- if (_7_point) {
+ if (probe_mode > 2) { // negative disables tower angles
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);
@@ -5092,78 +5098,69 @@ inline void gcode_G28() {
do {
float z_at_pt[13] = { 0 },
- S1 = z_at_pt[0],
- S2 = sq(S1);
- int16_t N = 1;
- bool _4_probe = (probe_points == 2),
- _7_probe = (probe_points > 2),
- center_probe = (probe_points != 3 && probe_points != 6),
- multi_circle = (probe_points > 4),
- diff_circle = (probe_points > 5),
- max_circle = (probe_points > 6),
- intermediates = (probe_points == 4 || diff_circle);
-
- setup_for_endstop_or_probe_move();
+ S1 = 0.0,
+ S2 = 0.0;
+ int16_t N = 0;
+
test_precision = zero_std_dev;
iterations++;
// probe the points
- int16_t center_points = 0;
-
- if (center_probe) { // probe centre
+ if (!pp_equals_3 && !pp_equals_6) { // probe the centre
+ setup_for_endstop_or_probe_move();
z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
- center_points = 1;
+ clean_up_after_endstop_or_probe_move();
}
-
- int16_t step_axis = (multi_circle) ? 2 : 4,
- start = (multi_circle) ? 11 : 9;
- if (_7_probe) { // probe extra 3 or 6 centre points
- for (int8_t axis = start; axis > 0; axis -= step_axis) {
+ if (pp_greather_2) { // probe extra centre points
+ for (int8_t axis = (pp_greather_4 ? 11 : 9); axis > 0; axis -= (pp_greather_4 ? 2 : 4)) {
+ setup_for_endstop_or_probe_move();
z_at_pt[0] += probe_pt(
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();
}
- center_points += (multi_circle) ? 6 : 3; // average centre points
- z_at_pt[0] /= center_points;
+ z_at_pt[0] /= (pp_equals_5 ? 7 : probe_points);
}
-
- start = (o_mode) ? 3 : 1;
- step_axis = (_4_probe) ? 4 : (intermediates) ? 1 : 2;
-
- if (!_1_point) {
- float start_circles = (max_circle) ? -1.5 : (multi_circle) ? -1 : 0, // one or multi radius points
+ if (!pp_equals_1) { // probe the radius
+ float start_circles = (pp_equals_7 ? -1.5 : pp_equals_6 || pp_equals_5 ? -1 : 0),
end_circles = -start_circles;
bool zig_zag = true;
- for (uint8_t axis = start; axis < 13; axis += step_axis) { // probes 3, 6 or 12 points on the calibration radius
- for (float circles = start_circles ; circles <= end_circles; circles++) // one or multi radius points
+ for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13;
+ axis += (pp_equals_2 ? 4 : pp_equals_3 || pp_equals_5 ? 2 : 1)) {
+ for (float circles = start_circles ; circles <= end_circles; circles++) {
+ setup_for_endstop_or_probe_move();
z_at_pt[axis] += probe_pt(
- cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius,
- sin(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius, true, 1);
-
- if (diff_circle) {
- start_circles += (zig_zag) ? 0.5 : -0.5; // opposites: one radius point less
- end_circles = -start_circles;
+ cos(RADIANS(180 + 30 * axis)) *
+ (1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius,
+ sin(RADIANS(180 + 30 * axis)) *
+ (1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius, true, 1);
+ clean_up_after_endstop_or_probe_move();
}
+ start_circles += (pp_greather_5 ? (zig_zag ? 0.5 : -0.5) : 0);
+ end_circles = -start_circles;
zig_zag = !zig_zag;
- if (multi_circle) z_at_pt[axis] /= (zig_zag) ? 3.0 : 2.0; // average between radius points
+ z_at_pt[axis] /= (pp_equals_7 ? (zig_zag ? 4.0 : 3.0) :
+ pp_equals_6 ? (zig_zag ? 3.0 : 2.0) : pp_equals_5 ? 3 : 1);
}
}
- if (intermediates) step_axis = 2;
-
- for (uint8_t axis = start; axis < 13; axis += step_axis) { // average half intermediates to towers and opposites
- if (intermediates)
+ if (pp_greather_3 && !pp_equals_5) // average intermediates to tower and opposites
+ for (uint8_t axis = 1; axis < 13; 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[axis];
- S2 += sq(z_at_pt[axis]);
- N++;
- }
+ S1 += z_at_pt[0];
+ S2 += sq(z_at_pt[0]);
+ N++;
+ if (!pp_equals_1) // std dev from zero plane
+ for (uint8_t axis = 1; axis < 13; axis += (pp_equals_2 ? 4 : 2)) {
+ S1 += z_at_pt[axis];
+ S2 += sq(z_at_pt[axis]);
+ N++;
+ }
+ zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
// Solve matrices
- zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; // deviation from zero plane
-
if (zero_std_dev < test_precision) {
COPY(e_old, endstop_adj);
dr_old = delta_radius;
@@ -5173,11 +5170,10 @@ inline void gcode_G28() {
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
- a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
+ 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
+ a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
#define ZP(N,I) ((N) * z_at_pt[I])
#define Z1000(I) ZP(1.00, I)
@@ -5218,43 +5214,42 @@ inline void gcode_G28() {
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) { //probe points negative disables tower angles
+ 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);
}
break;
}
- // adjust delta_height and endstops by the max amount
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;
+ // 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]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
- delta_tower_angle_trim[A_AXIS] += t_alpha;
- delta_tower_angle_trim[B_AXIS] -= t_beta;
-
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
- else { // !iterate
- // step one back
+ else { // step one back
COPY(endstop_adj, e_old);
delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old;
delta_tower_angle_trim[A_AXIS] = alpha_old;
delta_tower_angle_trim[B_AXIS] = beta_old;
+
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
- // print report
+ // print report
- if (verbose_level == 2) {
+ if (verbose_level != 1) {
SERIAL_PROTOCOLPGM(". c:");
if (z_at_pt[0] > 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[0], 2);
- if (towers) {
+ if (probe_mode == 2 || pp_greather_2) {
SERIAL_PROTOCOLPGM(" x:");
if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[1], 2);
@@ -5265,11 +5260,11 @@ inline void gcode_G28() {
if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(z_at_pt[9], 2);
}
- if (!o_mode) SERIAL_EOL;
- if (opposites) {
- if (_7_probe) {
+ if (probe_mode != -2) SERIAL_EOL;
+ if (probe_mode == -2 || pp_greather_2) {
+ if (pp_greather_2) {
SERIAL_CHAR('.');
- SERIAL_PROTOCOL_SP(12);
+ SERIAL_PROTOCOL_SP(13);
}
SERIAL_PROTOCOLPGM(" yz:");
if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
@@ -5283,15 +5278,15 @@ inline void gcode_G28() {
SERIAL_EOL;
}
}
- if (test_precision != 0.0) { // !forced end
- if (zero_std_dev >= test_precision) { // end iterations
+ if (test_precision != 0.0) { // !forced end
+ if (zero_std_dev >= test_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK");
SERIAL_PROTOCOL_SP(36);
SERIAL_PROTOCOLPGM("rolling back.");
SERIAL_EOL;
LCD_MESSAGEPGM("Calibration OK");
}
- else { // !end iterations
+ else { // !end iterations
char mess[15] = "No convergence";
if (iterations < 31)
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
@@ -5303,7 +5298,7 @@ inline void gcode_G28() {
lcd_setstatus(mess);
}
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
- if (!_1_point) {
+ if (!pp_equals_1) {
SERIAL_PROTOCOLPGM(" Ex:");
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
@@ -5316,7 +5311,7 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL;
- if (_7_point) {
+ if (probe_mode > 2) { // negative disables tower angles
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);
@@ -5328,8 +5323,9 @@ inline void gcode_G28() {
}
if (zero_std_dev >= test_precision)
serialprintPGM(save_message);
- }
- else { // forced end
+ SERIAL_EOL;
+ }
+ else { // forced end
if (verbose_level == 0) {
SERIAL_PROTOCOLPGM("End DRY-RUN");
SERIAL_PROTOCOL_SP(39);
@@ -5343,10 +5339,10 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
SERIAL_EOL;
serialprintPGM(save_message);
+ SERIAL_EOL;
}
}
- clean_up_after_endstop_or_probe_move();
stepper.synchronize();
gcode_G28();