From 2e39bc30fd748b0ade7aafdab4827f942536cdcd Mon Sep 17 00:00:00 2001 From: tombrazier <68918209+tombrazier@users.noreply.github.com> Date: Wed, 2 Mar 2022 22:13:46 +0000 Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=B8=20Universal=20X=5FAXIS=5FTWIST=5FC?= =?UTF-8?q?OMPENSATION=20(#23828)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/Configuration_adv.h | 3 +- Marlin/src/feature/bedlevel/bedlevel.h | 3 - .../feature/{bedlevel/abl => }/x_twist.cpp | 15 ++++- .../src/feature/{bedlevel/abl => }/x_twist.h | 5 +- Marlin/src/gcode/bedlevel/abl/G29.cpp | 2 +- Marlin/src/lcd/menu/menu_x_twist.cpp | 3 + Marlin/src/module/probe.cpp | 5 ++ Marlin/src/module/settings.cpp | 58 ++++++++++++------- ini/features.ini | 2 +- platformio.ini | 2 +- 10 files changed, 67 insertions(+), 31 deletions(-) rename Marlin/src/feature/{bedlevel/abl => }/x_twist.cpp (82%) rename Marlin/src/feature/{bedlevel/abl => }/x_twist.h (88%) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index e5379ed84f..970be38667 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -1299,7 +1299,7 @@ #if HAS_MARLINUI_MENU - #if BOTH(HAS_BED_PROBE, AUTO_BED_LEVELING_BILINEAR) + #if HAS_BED_PROBE // Add calibration in the Probe Offsets menu to compensate for X-axis twist. //#define X_AXIS_TWIST_COMPENSATION #if ENABLED(X_AXIS_TWIST_COMPENSATION) @@ -1311,6 +1311,7 @@ #define XATC_START_Z 0.0 #define XATC_MAX_POINTS 3 // Number of points to probe in the wizard #define XATC_Y_POSITION Y_CENTER // (mm) Y position to probe + #define XATC_Z_OFFSETS { 0, 0, 0 } // Z offsets for X axis sample points #endif #endif diff --git a/Marlin/src/feature/bedlevel/bedlevel.h b/Marlin/src/feature/bedlevel/bedlevel.h index c623c99b5c..63f032eee8 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.h +++ b/Marlin/src/feature/bedlevel/bedlevel.h @@ -63,9 +63,6 @@ class TemporaryBedLevelingState { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) #include "abl/abl.h" - #if ENABLED(X_AXIS_TWIST_COMPENSATION) - #include "abl/x_twist.h" - #endif #elif ENABLED(AUTO_BED_LEVELING_UBL) #include "ubl/ubl.h" #elif ENABLED(MESH_BED_LEVELING) diff --git a/Marlin/src/feature/bedlevel/abl/x_twist.cpp b/Marlin/src/feature/x_twist.cpp similarity index 82% rename from Marlin/src/feature/bedlevel/abl/x_twist.cpp rename to Marlin/src/feature/x_twist.cpp index 24fdbca950..deac1bceba 100644 --- a/Marlin/src/feature/bedlevel/abl/x_twist.cpp +++ b/Marlin/src/feature/x_twist.cpp @@ -19,16 +19,24 @@ * along with this program. If not, see . * */ -#include "../../../inc/MarlinConfig.h" +#include "../inc/MarlinConfig.h" #if ENABLED(X_AXIS_TWIST_COMPENSATION) -#include "../bedlevel.h" +#include "x_twist.h" XATC xatc; +bool XATC::enabled = true; float XATC::spacing, XATC::start; -xatc_array_t XATC::z_offset; +xatc_array_t XATC::z_offset; // Initialized by settings.load() + +void XATC::reset() { + constexpr float xzo[] = XATC_Z_OFFSETS; + static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size."); + enabled = false; + COPY(z_offset, xzo); +} void XATC::print_points() { SERIAL_ECHOLNPGM(" X-Twist Correction:"); @@ -49,6 +57,7 @@ void XATC::print_points() { float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); } float XATC::compensation(const xy_pos_t &raw) { + if (!enabled) return 0; if (NEAR_ZERO(spacing)) return 0; float t = (raw.x - start) / spacing; int i = FLOOR(t); diff --git a/Marlin/src/feature/bedlevel/abl/x_twist.h b/Marlin/src/feature/x_twist.h similarity index 88% rename from Marlin/src/feature/bedlevel/abl/x_twist.h rename to Marlin/src/feature/x_twist.h index 9deb45a8b7..6a2ff27901 100644 --- a/Marlin/src/feature/bedlevel/abl/x_twist.h +++ b/Marlin/src/feature/x_twist.h @@ -21,15 +21,18 @@ */ #pragma once -#include "../../../inc/MarlinConfigPre.h" +#include "../inc/MarlinConfigPre.h" typedef float xatc_array_t[XATC_MAX_POINTS]; class XATC { + static bool enabled; public: static float spacing, start; static xatc_array_t z_offset; + static void reset(); + static void set_enabled(const bool ena) { enabled = ena; } static float compensation(const xy_pos_t &raw); static void print_points(); }; diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp index a6ef6d2729..20f2369b03 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -681,7 +681,7 @@ G29_TYPE GcodeSuite::G29() { #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) const float z = abl.measured_z + abl.Z_offset; - z_values[abl.meshCount.x][abl.meshCount.y] = z PLUS_TERN0(X_AXIS_TWIST_COMPENSATION, xatc.compensation(abl.probePos)); + z_values[abl.meshCount.x][abl.meshCount.y] = z; TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z)); #endif diff --git a/Marlin/src/lcd/menu/menu_x_twist.cpp b/Marlin/src/lcd/menu/menu_x_twist.cpp index fab3b5ae11..ca385ebfeb 100644 --- a/Marlin/src/lcd/menu/menu_x_twist.cpp +++ b/Marlin/src/lcd/menu/menu_x_twist.cpp @@ -27,6 +27,7 @@ #include "menu_addon.h" #include "../../module/planner.h" #include "../../feature/bedlevel/bedlevel.h" +#include "../../feature/x_twist.h" #include "../../module/motion.h" #include "../../gcode/queue.h" #include "../../module/probe.h" @@ -148,7 +149,9 @@ void xatc_wizard_goto_next_point() { // Deploy certain probes before starting probing TERN_(BLTOUCH, do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE)); + xatc.set_enabled(false); measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW); + xatc.set_enabled(true); current_position += probe.offset_xy; current_position.z = XATC_START_Z - probe.offset.z + measured_z; line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE)); diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 95776ffda1..89d2769247 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -81,6 +81,10 @@ #include "../feature/probe_temp_comp.h" #endif +#if ENABLED(X_AXIS_TWIST_COMPENSATION) + #include "../feature/x_twist.h" +#endif + #if ENABLED(EXTENSIBLE_UI) #include "../lcd/extui/ui_api.h" #elif ENABLED(DWIN_CREALITY_LCD_ENHANCED) @@ -808,6 +812,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai if (!deploy()) { measured_z = run_z_probe(sanity_check) + offset.z; TERN_(HAS_PTC, ptc.apply_compensation(measured_z)); + TERN_(X_AXIS_TWIST_COMPENSATION, measured_z += xatc.compensation(npos + offset_xy)); } if (!isnan(measured_z)) { const bool big_raise = raise_after == PROBE_PT_BIG_RAISE; diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp index f512d87b99..2c103b89b4 100644 --- a/Marlin/src/module/settings.cpp +++ b/Marlin/src/module/settings.cpp @@ -64,7 +64,7 @@ #if HAS_LEVELING #include "../feature/bedlevel/bedlevel.h" #if ENABLED(X_AXIS_TWIST_COMPENSATION) - #include "../feature/bedlevel/abl/x_twist.h" + #include "../feature/x_twist.h" #endif #endif @@ -269,13 +269,17 @@ typedef struct SettingsDataStruct { xy_pos_t bilinear_grid_spacing, bilinear_start; // G29 L F #if ENABLED(AUTO_BED_LEVELING_BILINEAR) bed_mesh_t z_values; // G29 - #if ENABLED(X_AXIS_TWIST_COMPENSATION) - XATC xatc; // TBD - #endif #else float z_values[3][3]; #endif + // + // X_AXIS_TWIST_COMPENSATION + // + #if ENABLED(X_AXIS_TWIST_COMPENSATION) + XATC xatc; // TBD + #endif + // // AUTO_BED_LEVELING_UBL // @@ -298,7 +302,7 @@ typedef struct SettingsDataStruct { int16_t z_offsets_bed[COUNT(ptc.z_offsets_bed)]; // M871 B I V #endif #if ENABLED(PTC_HOTEND) - int16_t z_offsets_hotend[COUNT(ptc.z_offsets_hotend)]; // M871 E I V + int16_t z_offsets_hotend[COUNT(ptc.z_offsets_hotend)]; // M871 E I V #endif #endif @@ -873,9 +877,6 @@ void MarlinSettings::postprocess() { sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]), "Bilinear Z array is the wrong size." ); - #if ENABLED(X_AXIS_TWIST_COMPENSATION) - static_assert(COUNT(xatc.z_offset) == XATC_MAX_POINTS, "XATC Z-offset mesh is the wrong size."); - #endif #else const xy_pos_t bilinear_start{0}, bilinear_grid_spacing{0}; #endif @@ -889,15 +890,20 @@ void MarlinSettings::postprocess() { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) EEPROM_WRITE(z_values); // 9-256 floats - #if ENABLED(X_AXIS_TWIST_COMPENSATION) - EEPROM_WRITE(xatc); - #endif #else dummyf = 0; for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_WRITE(dummyf); #endif } + // + // X Axis Twist Compensation + // + #if ENABLED(X_AXIS_TWIST_COMPENSATION) + _FIELD_TEST(xatc); + EEPROM_WRITE(xatc); + #endif + // // Unified Bed Leveling // @@ -1785,9 +1791,6 @@ void MarlinSettings::postprocess() { EEPROM_READ(bilinear_grid_spacing); // 2 ints EEPROM_READ(bilinear_start); // 2 ints EEPROM_READ(z_values); // 9 to 256 floats - #if ENABLED(X_AXIS_TWIST_COMPENSATION) - EEPROM_READ(xatc); - #endif } else // EEPROM data is stale #endif // AUTO_BED_LEVELING_BILINEAR @@ -1800,6 +1803,13 @@ void MarlinSettings::postprocess() { } } + // + // X Axis Twist Compensation + // + #if ENABLED(X_AXIS_TWIST_COMPENSATION) + EEPROM_READ(xatc); + #endif + // // Unified Bed Leveling active state // @@ -2849,6 +2859,14 @@ void MarlinSettings::reset() { TERN_(ENABLE_LEVELING_FADE_HEIGHT, new_z_fade_height = (DEFAULT_LEVELING_FADE_HEIGHT)); TERN_(HAS_LEVELING, reset_bed_level()); + // + // X Axis Twist Compensation + // + TERN_(X_AXIS_TWIST_COMPENSATION, xatc.reset()); + + // + // Nozzle-to-probe Offset + // #if HAS_BED_PROBE constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET; static_assert(COUNT(dpo) == LINEAR_AXES, "NOZZLE_TO_PROBE_OFFSET must contain offsets for each linear axis X, Y, Z...."); @@ -3313,14 +3331,14 @@ void MarlinSettings::reset() { } } - // TODO: Create G-code for settings - //#if ENABLED(X_AXIS_TWIST_COMPENSATION) - // CONFIG_ECHO_START(); - // xatc.print_points(); - //#endif - #endif + // TODO: Create G-code for settings + //#if ENABLED(X_AXIS_TWIST_COMPENSATION) + // CONFIG_ECHO_START(); + // xatc.print_points(); + //#endif + #endif // HAS_LEVELING // diff --git a/ini/features.ini b/ini/features.ini index 627f094e07..4d394e0901 100644 --- a/ini/features.ini +++ b/ini/features.ini @@ -98,7 +98,7 @@ USB_FLASH_DRIVE_SUPPORT = src_filter=+ + AUTO_BED_LEVELING_BILINEAR = src_filter=+ AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+ -X_AXIS_TWIST_COMPENSATION = src_filter=+ + +X_AXIS_TWIST_COMPENSATION = src_filter=+ + MESH_BED_LEVELING = src_filter=+ + AUTO_BED_LEVELING_UBL = src_filter=+ + UBL_HILBERT_CURVE = src_filter=+ diff --git a/platformio.ini b/platformio.ini index 3a02b5ab18..9b64bdd377 100644 --- a/platformio.ini +++ b/platformio.ini @@ -100,7 +100,6 @@ default_src_filter = + - - + - - - - - - - - - - - - @@ -151,6 +150,7 @@ default_src_filter = + - - + - - - - + - - - -