diff --git a/Marlin/src/config/examples/Micromake/C1/README.md b/Marlin/src/config/examples/Micromake/C1/README.md
index 5e5f0afafaa60013c30b9dda839dc7300aba07ec..0111f6f00a0ee83f2447a52fbe7c7cee148006d7 100644
--- a/Marlin/src/config/examples/Micromake/C1/README.md
+++ b/Marlin/src/config/examples/Micromake/C1/README.md
@@ -13,4 +13,3 @@ Configuration files for Micromake C1 with…
- 128 STEPS configured with jumper on the motherboard (all open for 128 Steps).
- Capacitive Probe (Adjust offsets at your convenience)
- French language with no accents for Japanese LCD.
-
diff --git a/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
index 57bb3c3fb3006fdc8ce25c04d53de7d25e65b8fc..17cff0ef91f3b88a0e0d430680368a6774129758 100644
--- a/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
@@ -496,6 +496,12 @@
#if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
+
+ // Enable and set these values based on results of 'G33 A1'
+ //#define H_FACTOR 1.01
+ //#define R_FACTOR 2.61
+ //#define A_FACTOR 0.87
+
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
diff --git a/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
index 65a34da45f6c0ff62f9f6adfacf62fb5807d8ce2..49ac6ede2afae5ce753a530027619ad13f8dc644 100644
--- a/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
@@ -496,6 +496,12 @@
#if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
+
+ // Enable and set these values based on results of 'G33 A1'
+ //#define H_FACTOR 1.01
+ //#define R_FACTOR 2.61
+ //#define A_FACTOR 0.87
+
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
diff --git a/Marlin/src/config/examples/delta/generic/Configuration.h b/Marlin/src/config/examples/delta/generic/Configuration.h
index ebf8a73901307530ea97865fd32c1e1290dbe65b..2542f3f37067119ef7adfbcade271f9fbfa95010 100644
--- a/Marlin/src/config/examples/delta/generic/Configuration.h
+++ b/Marlin/src/config/examples/delta/generic/Configuration.h
@@ -486,6 +486,12 @@
#if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
+
+ // Enable and set these values based on results of 'G33 A1'
+ //#define H_FACTOR 1.01
+ //#define R_FACTOR 2.61
+ //#define A_FACTOR 0.87
+
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
diff --git a/Marlin/src/config/examples/delta/kossel_mini/Configuration.h b/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
index 764ec46021192d0c588e66490527f2125f320549..94a74254d8163736a6e8188385453d840e9e0266 100644
--- a/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
@@ -486,6 +486,12 @@
#if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
+
+ // Enable and set these values based on results of 'G33 A1'
+ //#define H_FACTOR 1.01
+ //#define R_FACTOR 2.61
+ //#define A_FACTOR 0.87
+
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
diff --git a/Marlin/src/config/examples/delta/kossel_pro/Configuration.h b/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
index c1f1f56c0602616b8d10d506b9ab4b24cfe2d4ad..dce7a25b0209d84eb8f4179c91ad0178e4a3ab34 100644
--- a/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
@@ -472,6 +472,12 @@
#if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
+
+ // Enable and set these values based on results of 'G33 A1'
+ //#define H_FACTOR 1.01
+ //#define R_FACTOR 2.61
+ //#define A_FACTOR 0.87
+
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
diff --git a/Marlin/src/config/examples/delta/kossel_xl/Configuration.h b/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
index 24355c424c418c628e335c98e0f8b594e796e08a..ba73a95e59c2adb3236d409065aba841892fc419 100644
--- a/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
@@ -490,6 +490,12 @@
#if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
+
+ // Enable and set these values based on results of 'G33 A1'
+ //#define H_FACTOR 1.01
+ //#define R_FACTOR 2.61
+ //#define A_FACTOR 0.87
+
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
index 5746c3c4dedff7325cbec13f427f727d62428dc0..abb8eed4b275dff04db9a6875f28ad4a7382648f 100644
--- a/Marlin/src/gcode/calibrate/G33.cpp
+++ b/Marlin/src/gcode/calibrate/G33.cpp
@@ -37,35 +37,6 @@
#include "../../feature/bedlevel/bedlevel.h"
#endif
-/**
- * G33 - Delta '1-4-7-point' Auto-Calibration
- * Calibrate height, endstops, delta radius, and tower angles.
- *
- * Parameters:
- *
- * Pn Number of probe points:
- *
- * P0 No probe. Normalize only.
- * 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.
- *
- * T0 Don't calibrate tower angle corrections
- *
- * Cn.nn Calibration precision; when omitted calibrates to maximum precision
- *
- * Fn Force to run at least n iterations and takes the best result
- *
- * Vn Verbose level:
- *
- * V0 Dry-run mode. Report settings and probe results. No calibration.
- * V1 Report settings
- * V2 Report settings and probe results
- *
- * E Engage the probe for each point
- */
-
static void print_signed_float(const char * const prefix, const float &f) {
SERIAL_PROTOCOLPGM(" ");
serialprintPGM(prefix);
@@ -77,21 +48,55 @@ static void print_signed_float(const char * const prefix, const float &f) {
static void print_G33_settings(const bool end_stops, const bool tower_angles) {
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (end_stops) {
- print_signed_float(PSTR(" Ex"), delta_endstop_adj[A_AXIS]);
+ print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
- SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
- SERIAL_EOL();
+ if (end_stops && tower_angles) {
+ SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
+ SERIAL_EOL();
+ SERIAL_CHAR('.');
+ SERIAL_PROTOCOL_SP(13);
+ }
if (tower_angles) {
- SERIAL_PROTOCOLPGM(".Tower angle : ");
print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
+ }
+ if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
+ SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
+ }
+ SERIAL_EOL();
+}
+
+static void print_G33_results(const float z_at_pt[13], const bool tower_points, const bool opposite_points) {
+ SERIAL_PROTOCOLPGM(". ");
+ print_signed_float(PSTR("c"), z_at_pt[0]);
+ if (tower_points) {
+ print_signed_float(PSTR(" x"), z_at_pt[1]);
+ print_signed_float(PSTR(" y"), z_at_pt[5]);
+ print_signed_float(PSTR(" z"), z_at_pt[9]);
+ }
+ if (tower_points && opposite_points) {
SERIAL_EOL();
+ SERIAL_CHAR('.');
+ SERIAL_PROTOCOL_SP(13);
}
+ if (opposite_points) {
+ print_signed_float(PSTR("yz"), z_at_pt[7]);
+ print_signed_float(PSTR("zx"), z_at_pt[11]);
+ print_signed_float(PSTR("xy"), z_at_pt[3]);
+ }
+ SERIAL_EOL();
}
+/**
+ * After G33:
+ * - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
+ * - Stow the probe
+ * - Restore endstops state
+ * - Select the old tool, if needed
+ */
static void G33_cleanup(
#if HOTENDS > 1
const uint8_t old_tool_index
@@ -107,6 +112,216 @@ static void G33_cleanup(
#endif
}
+static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
+ const bool _0p_calibration = probe_points == 0,
+ _1p_calibration = probe_points == 1,
+ _4p_calibration = probe_points == 2,
+ _4p_opposite_points = _4p_calibration && !towers_set,
+ _7p_calibration = probe_points >= 3 || probe_points == 0,
+ _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_intermed_points = probe_points >= 4,
+ _7p_multi_circle = probe_points >= 5;
+
+ #if DISABLED(PROBE_MANUALLY)
+ const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
+ dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
+ #endif
+
+ for (uint8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] = 0.0;
+
+ if (!_0p_calibration) {
+
+ if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
+ #if ENABLED(PROBE_MANUALLY)
+ z_at_pt[0] += lcd_probe_pt(0, 0);
+ #else
+ z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
+ #endif
+ }
+
+ if (_7p_calibration) { // probe extra center points
+ for (int8_t axis = _7p_multi_circle ? COUNT(z_at_pt) - 2 : COUNT(z_at_pt) - 4; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
+ const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
+ #if ENABLED(PROBE_MANUALLY)
+ z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
+ #else
+ z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+ #endif
+ }
+ z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
+ }
+
+ if (!_1p_calibration) { // probe the radius
+ bool zig_zag = true;
+ const uint8_t start = _4p_opposite_points ? 3 : 1,
+ step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
+ for (uint8_t axis = start; axis < COUNT(z_at_pt); axis += step) {
+ const float zigadd = (zig_zag ? 0.5 : 0.0),
+ offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
+ _7p_triple_circle ? zigadd + 0.5 :
+ _7p_double_circle ? zigadd : 0;
+ for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
+ const float a = RADIANS(180 + 30 * axis),
+ r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
+ #if ENABLED(PROBE_MANUALLY)
+ z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
+ #else
+ z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+ #endif
+ }
+ zig_zag = !zig_zag;
+ z_at_pt[axis] /= (2 * offset_circles + 1);
+ }
+ }
+
+ if (_7p_intermed_points) // average intermediates to tower and opposites
+ for (uint8_t axis = 1; axis < COUNT(z_at_pt); 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;
+
+ float S1 = z_at_pt[0],
+ S2 = sq(z_at_pt[0]);
+ int16_t N = 1;
+ if (!_1p_calibration) // std dev from zero plane
+ for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < COUNT(z_at_pt); axis += (_4p_calibration ? 4 : 2)) {
+ S1 += z_at_pt[axis];
+ S2 += sq(z_at_pt[axis]);
+ N++;
+ }
+ return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
+ }
+
+ return 0.00001;
+}
+
+#if DISABLED(PROBE_MANUALLY)
+
+ static void G33_auto_tune() {
+ float z_at_pt[13] = { 0.0 },
+ z_at_pt_base[13] = { 0.0 },
+ z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
+
+ #define ZP(N,I) ((N) * z_at_pt[I])
+ #define Z06(I) ZP(6, I)
+ #define Z03(I) ZP(3, I)
+ #define Z02(I) ZP(2, I)
+ #define Z01(I) ZP(1, I)
+ #define Z32(I) ZP(3/2, I)
+
+ SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
+ SERIAL_EOL();
+ probe_G33_points(z_at_pt_base, 3, true, false);
+ print_G33_results(z_at_pt_base, true, true);
+
+ LOOP_XYZ(axis) {
+ delta_endstop_adj[axis] -= 1.0;
+
+ endstops.enable(true);
+ if (!home_delta()) return;
+ endstops.not_homing();
+
+ SERIAL_PROTOCOLPGM("Tuning E");
+ SERIAL_CHAR(tolower(axis_codes[axis]));
+ SERIAL_EOL();
+
+ probe_G33_points(z_at_pt, 3, true, false);
+ for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
+ print_G33_results(z_at_pt, true, true);
+ delta_endstop_adj[axis] += 1.0;
+ switch (axis) {
+ case A_AXIS :
+ h_fac += 4.0 / (Z03(0) +Z01(1) +Z32(11) +Z32(3)); // Offset by X-tower end-stop
+ break;
+ case B_AXIS :
+ h_fac += 4.0 / (Z03(0) +Z01(5) +Z32(7) +Z32(3)); // Offset by Y-tower end-stop
+ break;
+ case C_AXIS :
+ h_fac += 4.0 / (Z03(0) +Z01(9) +Z32(7) +Z32(11) ); // Offset by Z-tower end-stop
+ break;
+ }
+ }
+ h_fac /= 3.0;
+ h_fac *= norm; // Normalize to 1.02 for Kossel mini
+
+ for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
+ delta_radius += 1.0 * zig_zag;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+
+ endstops.enable(true);
+ if (!home_delta()) return;
+ endstops.not_homing();
+
+ SERIAL_PROTOCOLPGM("Tuning R");
+ SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
+ SERIAL_EOL();
+ probe_G33_points(z_at_pt, 3, true, false);
+ for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
+ print_G33_results(z_at_pt, true, true);
+ delta_radius -= 1.0 * zig_zag;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+ r_fac -= zig_zag * 6.0 / (Z03(1) + Z03(5) + Z03(9) + Z03(7) + Z03(11) + Z03(3)); // Offset by delta radius
+ }
+ r_fac /= 2.0;
+ r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
+
+ LOOP_XYZ(axis) {
+ delta_tower_angle_trim[axis] += 1.0;
+ delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
+ delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
+ z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
+ home_offset[Z_AXIS] -= z_temp;
+ LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+
+ endstops.enable(true);
+ if (!home_delta()) return;
+ endstops.not_homing();
+
+ SERIAL_PROTOCOLPGM("Tuning T");
+ SERIAL_CHAR(tolower(axis_codes[axis]));
+ SERIAL_EOL();
+
+ probe_G33_points(z_at_pt, 3, true, false);
+ for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
+ print_G33_results(z_at_pt, true, true);
+
+ delta_tower_angle_trim[axis] -= 1.0;
+ delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
+ delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
+ z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
+ home_offset[Z_AXIS] -= z_temp;
+ LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+ switch (axis) {
+ case A_AXIS :
+ a_fac += 4.0 / ( Z06(5) -Z06(9) +Z06(11) -Z06(3)); // Offset by alpha tower angle
+ break;
+ case B_AXIS :
+ a_fac += 4.0 / (-Z06(1) +Z06(9) -Z06(7) +Z06(3)); // Offset by beta tower angle
+ break;
+ case C_AXIS :
+ a_fac += 4.0 / (Z06(1) -Z06(5) +Z06(7) -Z06(11) ); // Offset by gamma tower angle
+ break;
+ }
+ }
+ a_fac /= 3.0;
+ a_fac *= norm; // Normalize to 0.83 for Kossel mini
+
+ endstops.enable(true);
+ if (!home_delta()) return;
+ endstops.not_homing();
+ print_signed_float(PSTR( "H_FACTOR: "), h_fac);
+ print_signed_float(PSTR(" R_FACTOR: "), r_fac);
+ print_signed_float(PSTR(" A_FACTOR: "), a_fac);
+ SERIAL_EOL();
+ SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
+ SERIAL_EOL();
+ }
+
+#endif // !PROBE_MANUALLY
+
/**
* G33 - Delta '1-4-7-point' Auto-Calibration
* Calibrate height, endstops, delta radius, and tower angles.
@@ -114,21 +329,21 @@ static void G33_cleanup(
* Parameters:
*
* Pn Number of probe points:
- *
* P0 No probe. Normalize only.
* P1 Probe center and set height only.
- * P2 Probe center and towers. Set height, endstops, and delta radius.
+ * 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.
*
- * T0 Don't calibrate tower angle corrections
+ * T Don't calibrate tower angle corrections
*
- * Cn.nn Calibration precision; when omitted calibrates to maximum precision
+ * Cn.nn Calibration precision; when omitted calibrates to maximum precision
*
* Fn Force to run at least n iterations and takes the best result
*
- * Vn Verbose level:
+ * A Auto tune calibartion factors (set in Configuration.h)
*
+ * Vn Verbose level:
* V0 Dry-run mode. Report settings and probe results. No calibration.
* V1 Report settings
* V2 Report settings and probe results
@@ -162,26 +377,24 @@ void GcodeSuite::G33() {
}
const bool towers_set = !parser.boolval('T'),
+ auto_tune = parser.boolval('A'),
stow_after_each = parser.boolval('E'),
_0p_calibration = probe_points == 0,
_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 || _0p_calibration,
- _7p_half_circle = probe_points == 3,
+ _tower_results = (_4p_calibration && towers_set)
+ || probe_points >= 3 || probe_points == 0,
+ _opposite_results = (_4p_calibration && !towers_set)
+ || probe_points >= 3 || probe_points == 0,
+ _endstop_results = probe_points != 1,
+ _angle_results = (probe_points >= 3 || probe_points == 0) && towers_set,
_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;
+ _7p_quadruple_circle = probe_points == 7;
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
- const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
- dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
int8_t iterations = 0;
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,
zero_std_dev_min = zero_std_dev,
e_old[ABC] = {
delta_endstop_adj[A_AXIS],
@@ -196,12 +409,14 @@ void GcodeSuite::G33() {
delta_tower_angle_trim[C_AXIS]
};
+ SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
+
if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
const float circles = (_7p_quadruple_circle ? 1.5 :
_7p_triple_circle ? 1.0 :
_7p_double_circle ? 0.5 : 0),
r = (1 + circles * 0.1) * delta_calibration_radius;
- for (uint8_t axis = 1; axis < 13; ++axis) {
+ for (uint8_t axis = 1; axis <= 12; ++axis) {
const float a = RADIANS(180 + 30 * axis);
if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
@@ -209,7 +424,6 @@ void GcodeSuite::G33() {
}
}
}
- SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
stepper.synchronize();
#if HAS_LEVELING
@@ -232,7 +446,17 @@ void GcodeSuite::G33() {
endstops.not_homing();
}
- // print settings
+ if (auto_tune) {
+ #if ENABLED(PROBE_MANUALLY)
+ SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
+ #else
+ G33_auto_tune();
+ #endif
+ G33_CLEANUP();
+ return;
+ }
+
+ // Report settings
const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
serialprintPGM(checkingac);
@@ -240,78 +464,19 @@ void GcodeSuite::G33() {
SERIAL_EOL();
lcd_setstatusPGM(checkingac);
- print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
+ print_G33_settings(_endstop_results, _angle_results);
do {
float z_at_pt[13] = { 0.0 };
- test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
+ test_precision = zero_std_dev;
iterations++;
// Probe the points
- if (!_0p_calibration){
- if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
- #if ENABLED(PROBE_MANUALLY)
- z_at_pt[0] += lcd_probe_pt(0, 0);
- #else
- z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
- if (isnan(z_at_pt[0])) return G33_CLEANUP();
- #endif
- }
- 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;
- #if ENABLED(PROBE_MANUALLY)
- z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
- #else
- z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
- if (isnan(z_at_pt[0])) return G33_CLEANUP();
- #endif
- }
- z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
- }
- if (!_1p_calibration) { // probe the radius
- bool zig_zag = true;
- 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 zigadd = (zig_zag ? 0.5 : 0.0),
- offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
- _7p_triple_circle ? zigadd + 0.5 :
- _7p_double_circle ? zigadd : 0;
- for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
- const float a = RADIANS(180 + 30 * axis),
- r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
- #if ENABLED(PROBE_MANUALLY)
- z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
- #else
- z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
- if (isnan(z_at_pt[axis])) return G33_CLEANUP();
- #endif
- }
- zig_zag = !zig_zag;
- z_at_pt[axis] /= (2 * offset_circles + 1);
- }
- }
- if (_7p_intermed_points) // 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;
- }
-
- float S1 = z_at_pt[0],
- S2 = sq(z_at_pt[0]);
- int16_t N = 1;
- 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;
+ zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
// Solve matrices
@@ -325,9 +490,24 @@ void GcodeSuite::G33() {
float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
const float r_diff = delta_radius - delta_calibration_radius,
- h_factor = (1.00 + r_diff * 0.001) / 6.0, // 1.02 for r_diff = 20mm
- r_factor = (-(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff))) / 6.0, // 2.25 for r_diff = 20mm
- a_factor = (66.66 / delta_calibration_radius) / (iterations == 1 ? 16.0 : 2.0); // 0.83 for cal_rd = 80mm
+ h_factor = 1 / 6.0 *
+ #ifdef H_FACTOR
+ (H_FACTOR), // Set in Configuration.h
+ #else
+ (1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
+ #endif
+ r_factor = 1 / 6.0 *
+ #ifdef R_FACTOR
+ -(R_FACTOR), // Set in Configuration.h
+ #else
+ -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
+ #endif
+ a_factor = 1 / 6.0 *
+ #ifdef A_FACTOR
+ (A_FACTOR); // Set in Configuration.h
+ #else
+ (66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
+ #endif
#define ZP(N,I) ((N) * z_at_pt[I])
#define Z6(I) ZP(6, I)
@@ -341,15 +521,11 @@ void GcodeSuite::G33() {
switch (probe_points) {
case 0:
- #if DISABLED(PROBE_MANUALLY)
- test_precision = 0.00; // forced end
- #endif
+ test_precision = 0.00; // forced end
break;
case 1:
- #if DISABLED(PROBE_MANUALLY)
- test_precision = 0.00; // forced end
- #endif
+ test_precision = 0.00; // forced end
LOOP_XYZ(axis) e_delta[axis] = Z1(0);
break;
@@ -375,9 +551,9 @@ void GcodeSuite::G33() {
r_delta = (Z6(0) - Z1(1) - Z1(5) - Z1(9) - Z1(7) - Z1(11) - Z1(3)) * r_factor;
if (towers_set) {
- t_delta[A_AXIS] = ( - Z2(5) + Z2(9) - Z2(11) + Z2(3)) * a_factor;
- t_delta[B_AXIS] = ( Z2(1) - Z2(9) + Z2(7) - Z2(3)) * a_factor;
- t_delta[C_AXIS] = (-Z2(1) + Z2(5) - Z2(7) + Z2(11) ) * a_factor;
+ t_delta[A_AXIS] = ( - Z4(5) + Z4(9) - Z4(11) + Z4(3)) * a_factor;
+ t_delta[B_AXIS] = ( Z4(1) - Z4(9) + Z4(7) - Z4(3)) * a_factor;
+ t_delta[C_AXIS] = (-Z4(1) + Z4(5) - Z4(7) + Z4(11) ) * a_factor;
e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
@@ -395,11 +571,14 @@ void GcodeSuite::G33() {
home_offset[Z_AXIS] = zh_old;
COPY(delta_tower_angle_trim, ta_old);
}
+
if (verbose_level != 0) { // !dry run
// normalise angles to least squares
- float a_sum = 0.0;
- LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
- LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
+ if (_angle_results) {
+ float a_sum = 0.0;
+ LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
+ LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
+ }
// adjust delta_height and endstops by the max amount
const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
@@ -411,30 +590,13 @@ void GcodeSuite::G33() {
// print report
- if (verbose_level != 1) {
- SERIAL_PROTOCOLPGM(". ");
- print_signed_float(PSTR("c"), z_at_pt[0]);
- if (_4p_towers_points || _7p_calibration) {
- print_signed_float(PSTR(" x"), z_at_pt[1]);
- print_signed_float(PSTR(" y"), z_at_pt[5]);
- print_signed_float(PSTR(" z"), z_at_pt[9]);
- }
- if (!_4p_opposite_points) SERIAL_EOL();
- if ((_4p_opposite_points) || _7p_calibration) {
- if (_7p_calibration) {
- SERIAL_CHAR('.');
- SERIAL_PROTOCOL_SP(13);
- }
- print_signed_float(PSTR(" yz"), z_at_pt[7]);
- print_signed_float(PSTR("zx"), z_at_pt[11]);
- print_signed_float(PSTR("xy"), z_at_pt[3]);
- SERIAL_EOL();
- }
- }
+ if (verbose_level != 1)
+ print_G33_results(z_at_pt, _tower_results, _opposite_results);
+
if (verbose_level != 0) { // !dry run
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
SERIAL_PROTOCOLPGM("Calibration OK");
- SERIAL_PROTOCOL_SP(36);
+ SERIAL_PROTOCOL_SP(32);
#if DISABLED(PROBE_MANUALLY)
if (zero_std_dev >= test_precision && !_1p_calibration)
SERIAL_PROTOCOLPGM("rolling back.");
@@ -452,7 +614,7 @@ void GcodeSuite::G33() {
else
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
lcd_setstatus(mess);
- print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
+ print_G33_settings(_endstop_results, _angle_results);
serialprintPGM(save_message);
SERIAL_EOL();
}
@@ -463,18 +625,18 @@ void GcodeSuite::G33() {
else
sprintf_P(mess, PSTR("No convergence"));
SERIAL_PROTOCOL(mess);
- SERIAL_PROTOCOL_SP(36);
+ SERIAL_PROTOCOL_SP(32);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL();
lcd_setstatus(mess);
- print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
+ print_G33_settings(_endstop_results, _angle_results);
}
}
else { // dry run
const char *enddryrun = PSTR("End DRY-RUN");
serialprintPGM(enddryrun);
- SERIAL_PROTOCOL_SP(39);
+ SERIAL_PROTOCOL_SP(35);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL();
@@ -490,7 +652,8 @@ void GcodeSuite::G33() {
}
endstops.enable(true);
- home_delta();
+ if (!home_delta())
+ return;
endstops.not_homing();
}