PINDA v2 temperature sensor / compensation (#16293)
tompe-proj
5 years ago
committed by
Scott Lahteine
parent
4108c5d01f
commit
a338dce83f
@ -0,0 +1,223 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(PROBE_TEMP_COMPENSATION)
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#include "probe_temp_compensation.h"
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#include <math.h>
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ProbeTempComp temp_comp;
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int16_t ProbeTempComp::z_offsets_probe[ProbeTempComp::cali_info_init[TSI_PROBE].measurements], // = {0}
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ProbeTempComp::z_offsets_bed[ProbeTempComp::cali_info_init[TSI_BED].measurements]; // = {0}
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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int16_t ProbeTempComp::z_offsets_ext[ProbeTempComp::cali_info_init[TSI_EXT].measurements]; // = {0}
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#endif
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int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
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ProbeTempComp::z_offsets_probe, ProbeTempComp::z_offsets_bed
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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, ProbeTempComp::z_offsets_ext
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#endif
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};
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const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = {
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ProbeTempComp::cali_info_init[TSI_PROBE], ProbeTempComp::cali_info_init[TSI_BED]
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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, ProbeTempComp::cali_info_init[TSI_EXT]
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#endif
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};
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uint8_t ProbeTempComp::calib_idx; // = 0
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float ProbeTempComp::init_measurement; // = 0.0
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void ProbeTempComp::clear_offsets(const TempSensorID tsi) {
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for (uint8_t i = 0; i < cali_info[tsi].measurements; ++i)
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sensor_z_offsets[tsi][i] = 0;
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calib_idx = 0;
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}
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bool ProbeTempComp::set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset) {
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if (idx >= cali_info[tsi].measurements) return false;
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sensor_z_offsets[tsi][idx] = offset;
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return true;
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}
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void ProbeTempComp::print_offsets() {
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for (uint8_t s = 0; s < TSI_COUNT; s++) {
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float temp = cali_info[s].start_temp;
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for (int16_t i = -1; i < cali_info[s].measurements; ++i) {
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serialprintPGM(s == TSI_BED ? PSTR("Bed") :
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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s == TSI_EXT ? PSTR("Extruder") :
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#endif
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PSTR("Probe")
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);
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SERIAL_ECHOLNPAIR(
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" temp: ", temp,
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"C; Offset: ", i < 0 ? 0.0f : sensor_z_offsets[s][i], " um"
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);
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temp += cali_info[s].temp_res;
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}
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}
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}
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void ProbeTempComp::prepare_new_calibration(const float &init_meas_z) {
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calib_idx = 0;
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init_measurement = init_meas_z;
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}
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void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const float &meas_z) {
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switch (tsi) {
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case TSI_PROBE:
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case TSI_BED:
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//case TSI_EXT:
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if (calib_idx >= cali_info[tsi].measurements) return;
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sensor_z_offsets[tsi][calib_idx++] = static_cast<int16_t>(meas_z * 1000.0f - init_measurement * 1000.0f);
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default: break;
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}
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}
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bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
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if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
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if (calib_idx < 3) {
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SERIAL_ECHOLNPGM("!Insufficient measurements (min. 3).");
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clear_offsets(tsi);
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return false;
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}
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const uint8_t measurements = cali_info[tsi].measurements;
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const float start_temp = cali_info[tsi].start_temp,
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res_temp = cali_info[tsi].temp_res;
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int16_t * const data = sensor_z_offsets[tsi];
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// Extrapolate
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float k, d;
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if (calib_idx < measurements) {
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SERIAL_ECHOLNPAIR("Got ", calib_idx, " measurements. ");
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if (linear_regression(tsi, k, d)) {
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SERIAL_ECHOPGM("Applying linear extrapolation");
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calib_idx--;
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for (; calib_idx < measurements; ++calib_idx) {
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const float temp = start_temp + float(calib_idx) * res_temp;
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data[calib_idx] = static_cast<int16_t>(k * temp + d);
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}
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}
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else {
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// Simply use the last measured value for higher temperatures
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SERIAL_ECHOPGM("Failed to extrapolate");
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const int16_t last_val = data[calib_idx];
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for (; calib_idx < measurements; ++calib_idx)
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data[calib_idx] = last_val;
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}
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SERIAL_ECHOLNPGM(" for higher temperatures.");
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}
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// Sanity check
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for (calib_idx = 0; calib_idx < measurements; ++calib_idx) {
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// Restrict the max. offset
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if (abs(data[calib_idx]) > 2000) {
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SERIAL_ECHOLNPGM("!Invalid Z-offset detected (0-2).");
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clear_offsets(tsi);
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return false;
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}
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// Restrict the max. offset difference between two probings
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if (calib_idx > 0 && abs(data[calib_idx - 1] - data[calib_idx]) > 800) {
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SERIAL_ECHOLNPGM("!Invalid Z-offset between two probings detected (0-0.8).");
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clear_offsets(TSI_PROBE);
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return false;
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}
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}
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return true;
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}
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void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const float &temp, float &meas_z) {
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if (WITHIN(temp, cali_info[tsi].start_temp, cali_info[tsi].end_temp))
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meas_z -= get_offset_for_temperature(tsi, temp);
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}
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float ProbeTempComp::get_offset_for_temperature(const TempSensorID tsi, const float &temp) {
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const uint8_t measurements = cali_info[tsi].measurements;
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const float start_temp = cali_info[tsi].start_temp,
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end_temp = cali_info[tsi].end_temp,
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res_temp = cali_info[tsi].temp_res;
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const int16_t * const data = sensor_z_offsets[tsi];
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if (temp <= start_temp) return 0.0f;
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if (temp >= end_temp) return static_cast<float>(data[measurements - 1]) / 1000.0f;
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// Linear interpolation
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int16_t val1 = 0, val2 = data[0];
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uint8_t idx = 0;
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float meas_temp = start_temp + res_temp;
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while (meas_temp < temp) {
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if (++idx >= measurements) return static_cast<float>(val2) / 1000.0f;
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meas_temp += res_temp;
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val1 = val2;
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val2 = data[idx];
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}
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const float factor = (meas_temp - temp) / static_cast<float>(res_temp);
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return (static_cast<float>(val2) - static_cast<float>(val2 - val1) * factor) / 1000.0f;
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}
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bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) {
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if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
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if (!WITHIN(calib_idx, 2, cali_info[tsi].measurements)) return false;
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const float start_temp = cali_info[tsi].start_temp,
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res_temp = cali_info[tsi].temp_res;
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const int16_t * const data = sensor_z_offsets[tsi];
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float sum_x = start_temp,
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sum_x2 = sq(start_temp),
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sum_xy = 0, sum_y = 0;
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for (uint8_t i = 0; i < calib_idx; ++i) {
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const float xi = start_temp + (i + 1) * res_temp,
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yi = static_cast<float>(data[i]);
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sum_x += xi;
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sum_x2 += sq(xi);
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sum_xy += xi * yi;
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sum_y += yi;
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}
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const float denom = static_cast<float>(calib_idx + 1) * sum_x2 - sq(sum_x);
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if (fabs(denom) <= 10e-5) {
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// Singularity - unable to solve
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k = d = 0.0;
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return false;
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}
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k = (static_cast<float>(calib_idx + 1) * sum_xy - sum_x * sum_y) / denom;
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d = (sum_y - k * sum_x) / static_cast<float>(calib_idx + 1);
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return true;
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}
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#endif // PROBE_TEMP_COMPENSATION
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@ -0,0 +1,116 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfig.h"
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enum TempSensorID : uint8_t {
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TSI_PROBE,
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TSI_BED,
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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TSI_EXT,
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#endif
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TSI_COUNT
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};
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typedef struct {
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uint8_t measurements; // Max. number of measurements to be stored (35 - 80°C)
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float temp_res, // Resolution in °C between measurements
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start_temp, // Base measurement; z-offset == 0
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end_temp;
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} temp_calib_t;
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/**
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* Probe temperature compensation implementation.
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* Z-probes like the P.I.N.D.A V2 allow for compensation of
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* measurement errors/shifts due to changed temperature.
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*/
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class ProbeTempComp {
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public:
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static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
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{ 30, 10, 5, 30 + 10 * 5 }, // Probe
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{ 60, 10, 5, 60 + 10 * 5 }, // Bed
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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{ 180, 5, 20, 180 + 5 * 20 } // Extruder
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#endif
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};
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static const temp_calib_t cali_info[TSI_COUNT];
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// Where to park nozzle to wait for probe cooldown
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static constexpr xyz_pos_t park_point = { PTC_PARK_POS_X, PTC_PARK_POS_Y, PTC_PARK_POS_Z };
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static constexpr int max_bed_temp = PTC_MAX_BED_TEMP, // Max temperature to avoid heating errors
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// XY coordinates of nozzle for probing the bed
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measure_point_x = PTC_PROBE_POS_X, // X-coordinate to probe
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measure_point_y = PTC_PROBE_POS_Y, // Y-coordinate to probe
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//measure_point_x = 12.0f, // X-coordinate to probe on MK52 magnetic heatbed
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//measure_point_y = 7.3f, // Y-coordinate to probe on MK52 magnetic heatbed
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probe_calib_bed_temp = max_bed_temp, // Bed temperature while calibrating probe
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bed_calib_probe_temp = 30; // Probe temperature while calibrating bed
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static int16_t *sensor_z_offsets[TSI_COUNT],
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z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // (µm)
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z_offsets_bed[cali_info_init[TSI_BED].measurements]; // (µm)
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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static int16_t z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // (µm)
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#endif
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static inline void reset_index() { calib_idx = 0; };
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static inline uint8_t get_index() { return calib_idx; }
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static void clear_offsets(const TempSensorID tsi);
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static inline void clear_all_offsets() {
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clear_offsets(TSI_BED);
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clear_offsets(TSI_PROBE);
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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clear_offsets(TSI_EXT);
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#endif
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}
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static bool set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset);
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static void print_offsets();
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static void prepare_new_calibration(const float &init_meas_z);
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static void push_back_new_measurement(const TempSensorID tsi, const float &meas_z);
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static bool finish_calibration(const TempSensorID tsi);
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static void compensate_measurement(const TempSensorID tsi, const float &temp, float &meas_z);
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private:
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static uint8_t calib_idx;
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/**
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* Base value. Temperature compensation values will be deltas
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* to this value, set at first probe.
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*/
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static float init_measurement;
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static float get_offset_for_temperature(const TempSensorID tsi, const float &temp);
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/**
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* Fit a linear function in measured temperature offsets
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* to allow generating values of higher temperatures.
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*/
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static bool linear_regression(const TempSensorID tsi, float &k, float &d);
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};
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extern ProbeTempComp temp_comp;
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@ -0,0 +1,407 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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||||||
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
||||||
|
*
|
||||||
|
* This program is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* G76_M871.cpp - Temperature calibration/compensation for z-probing
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "../../inc/MarlinConfig.h"
|
||||||
|
|
||||||
|
#if ENABLED(PROBE_TEMP_COMPENSATION)
|
||||||
|
|
||||||
|
#include "../gcode.h"
|
||||||
|
#include "../../module/motion.h"
|
||||||
|
#include "../../module/planner.h"
|
||||||
|
#include "../../module/probe.h"
|
||||||
|
#include "../../feature/bedlevel/bedlevel.h"
|
||||||
|
#include "../../module/temperature.h"
|
||||||
|
#include "../../module/probe.h"
|
||||||
|
#include "../../feature/probe_temp_compensation.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* G76: calibrate probe and/or bed temperature offsets
|
||||||
|
* Notes:
|
||||||
|
* - When calibrating probe, bed temperature is held constant.
|
||||||
|
* Compensation values are deltas to first probe measurement at probe temp. = 30°C.
|
||||||
|
* - When calibrating bed, probe temperature is held constant.
|
||||||
|
* Compensation values are deltas to first probe measurement at bed temp. = 60°C.
|
||||||
|
* - The hotend will not be heated at any time.
|
||||||
|
* - On my Prusa MK3S clone I put a piece of paper between the probe and the hotend
|
||||||
|
* so the hotend fan would not cool my probe constantly. Alternativly you could just
|
||||||
|
* make sure the fan is not running while running the calibration process.
|
||||||
|
*
|
||||||
|
* Probe calibration:
|
||||||
|
* - Moves probe to cooldown point.
|
||||||
|
* - Heats up bed to 100°C.
|
||||||
|
* - Moves probe to probing point (1mm above heatbed).
|
||||||
|
* - Waits until probe reaches target temperature (30°C).
|
||||||
|
* - Does a z-probing (=base value) and increases target temperature by 5°C.
|
||||||
|
* - Waits until probe reaches increased target temperature.
|
||||||
|
* - Does a z-probing (delta to base value will be a compensation value) and increases target temperature by 5°C.
|
||||||
|
* - Repeats last two steps until max. temperature reached or timeout (i.e. probe does not heat up any further).
|
||||||
|
* - Compensation values of higher temperatures will be extrapolated (using linear regression first).
|
||||||
|
* While this is not exact by any means it is still better than simply using the last compensation value.
|
||||||
|
*
|
||||||
|
* Bed calibration:
|
||||||
|
* - Moves probe to cooldown point.
|
||||||
|
* - Heats up bed to 60°C.
|
||||||
|
* - Moves probe to probing point (1mm above heatbed).
|
||||||
|
* - Waits until probe reaches target temperature (30°C).
|
||||||
|
* - Does a z-probing (=base value) and increases bed temperature by 5°C.
|
||||||
|
* - Moves probe to cooldown point.
|
||||||
|
* - Waits until probe is below 30°C and bed has reached target temperature.
|
||||||
|
* - Moves probe to probing point and waits until it reaches target temperature (30°C).
|
||||||
|
* - Does a z-probing (delta to base value will be a compensation value) and increases bed temperature by 5°C.
|
||||||
|
* - Repeats last four points until max. bed temperature reached (110°C) or timeout.
|
||||||
|
* - Compensation values of higher temperatures will be extrapolated (using linear regression first).
|
||||||
|
* While this is not exact by any means it is still better than simply using the last compensation value.
|
||||||
|
*
|
||||||
|
* G76 [B | P]
|
||||||
|
* - no flag - Both calibration procedures will be run.
|
||||||
|
* - `B` - Run bed temperature calibration.
|
||||||
|
* - `P` - Run probe temperature calibration.
|
||||||
|
*/
|
||||||
|
void GcodeSuite::G76() {
|
||||||
|
// Check if heated bed is available and z-homing is done with probe
|
||||||
|
#if TEMP_SENSOR_BED == 0 || !(HOMING_Z_WITH_PROBE)
|
||||||
|
return;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if ENABLED(BLTOUCH)
|
||||||
|
// Make sure any BLTouch error condition is cleared
|
||||||
|
bltouch_command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY);
|
||||||
|
set_bltouch_deployed(false);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
bool do_bed_cal = parser.boolval('B'),
|
||||||
|
do_probe_cal = parser.boolval('P');
|
||||||
|
if (!do_bed_cal && !do_probe_cal)
|
||||||
|
do_bed_cal = do_probe_cal = true;
|
||||||
|
|
||||||
|
// Synchronize with planner
|
||||||
|
planner.synchronize();
|
||||||
|
|
||||||
|
// Report temperatures every second and handle heating timeouts
|
||||||
|
millis_t next_temp_report = millis() + 1000;
|
||||||
|
|
||||||
|
if (do_bed_cal || do_probe_cal) {
|
||||||
|
// Ensure park position is reachable
|
||||||
|
if (!position_is_reachable(ProbeTempComp::park_point.x, ProbeTempComp::park_point.y)
|
||||||
|
|| !(WITHIN(ProbeTempComp::park_point.z, Z_MIN_POS - 0.001f, Z_MAX_POS + 0.001f))
|
||||||
|
) {
|
||||||
|
SERIAL_ECHOLNPGM("!Park position unreachable - aborting.");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
// Ensure probe position is reachable
|
||||||
|
destination.set(
|
||||||
|
temp_comp.measure_point_x - probe_offset.x,
|
||||||
|
temp_comp.measure_point_y - probe_offset.y
|
||||||
|
);
|
||||||
|
if (!position_is_reachable_by_probe(destination)) {
|
||||||
|
SERIAL_ECHOLNPGM("!Probe position unreachable - aborting.");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
G28(true);
|
||||||
|
}
|
||||||
|
|
||||||
|
/******************************************
|
||||||
|
* Calibrate bed temperature offsets
|
||||||
|
******************************************/
|
||||||
|
|
||||||
|
if (do_bed_cal) {
|
||||||
|
|
||||||
|
uint16_t target_bed = temp_comp.cali_info_init[TSI_BED].start_temp,
|
||||||
|
target_probe = temp_comp.bed_calib_probe_temp;
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPGM("Waiting for printer to cool down.");
|
||||||
|
while (thermalManager.degBed() > target_bed
|
||||||
|
|| thermalManager.degProbe() > target_probe
|
||||||
|
) {
|
||||||
|
idle(
|
||||||
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
||||||
|
true
|
||||||
|
#endif
|
||||||
|
);
|
||||||
|
const millis_t ms = millis();
|
||||||
|
if (ELAPSED(ms, next_temp_report)) {
|
||||||
|
thermalManager.print_heater_states(active_extruder);
|
||||||
|
next_temp_report = ms + 1000;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Disable leveling so it won't mess with us
|
||||||
|
#if HAS_LEVELING
|
||||||
|
set_bed_leveling_enabled(false);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
bool timeout = false;
|
||||||
|
while (true) {
|
||||||
|
thermalManager.setTargetBed(target_bed);
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPAIR("Target Bed: ", target_bed, "; Probe: ", target_probe);
|
||||||
|
|
||||||
|
// Park nozzle
|
||||||
|
do_blocking_move_to(ProbeTempComp::park_point.x, ProbeTempComp::park_point.y, ProbeTempComp::park_point.z);
|
||||||
|
|
||||||
|
// Wait for heatbed to reach target temp and probe to cool below target temp
|
||||||
|
SERIAL_ECHOLNPGM("Waiting for bed and probe to reach target temp.");
|
||||||
|
const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
|
||||||
|
while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1 || thermalManager.degProbe() > target_probe) {
|
||||||
|
idle(
|
||||||
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
||||||
|
true
|
||||||
|
#endif
|
||||||
|
);
|
||||||
|
const millis_t ms = millis();
|
||||||
|
if (ELAPSED(ms, next_temp_report)) {
|
||||||
|
thermalManager.print_heater_states(active_extruder);
|
||||||
|
next_temp_report = ms + 1000;
|
||||||
|
}
|
||||||
|
if (ELAPSED(ms, probe_timeout_ms)) {
|
||||||
|
SERIAL_ECHOLNPGM("!Bed heating timeout.");
|
||||||
|
timeout = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (timeout) break;
|
||||||
|
|
||||||
|
// Move probe to probing point and wait for probe to reach target temp
|
||||||
|
destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y, 0.5);
|
||||||
|
do_blocking_move_to(destination.x, destination.y, destination.z);
|
||||||
|
SERIAL_ECHOLNPGM("Waiting for probe heating.");
|
||||||
|
while (thermalManager.degProbe() < target_probe) {
|
||||||
|
idle(
|
||||||
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
||||||
|
true
|
||||||
|
#endif
|
||||||
|
);
|
||||||
|
const millis_t ms = millis();
|
||||||
|
if (ELAPSED(ms, next_temp_report)) {
|
||||||
|
thermalManager.print_heater_states(active_extruder);
|
||||||
|
next_temp_report = ms + 1000;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Raise nozzle before probing
|
||||||
|
destination.z = 5.0;
|
||||||
|
do_blocking_move_to_z(destination.z);
|
||||||
|
|
||||||
|
// Do a single probe
|
||||||
|
remember_feedrate_scaling_off();
|
||||||
|
const float measured_z = probe_at_point(
|
||||||
|
destination.x + probe_offset.x,
|
||||||
|
destination.y + probe_offset.y,
|
||||||
|
PROBE_PT_NONE
|
||||||
|
);
|
||||||
|
restore_feedrate_and_scaling();
|
||||||
|
|
||||||
|
if (isnan(measured_z)) {
|
||||||
|
SERIAL_ECHOLNPGM("!Received NAN measurement - aborting.");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
|
||||||
|
|
||||||
|
if (target_bed == temp_comp.cali_info_init[TSI_BED].start_temp)
|
||||||
|
temp_comp.prepare_new_calibration(measured_z);
|
||||||
|
else
|
||||||
|
temp_comp.push_back_new_measurement(TSI_BED, measured_z);
|
||||||
|
|
||||||
|
target_bed += temp_comp.cali_info_init[TSI_BED].temp_res;
|
||||||
|
if (target_bed > temp_comp.max_bed_temp) break;
|
||||||
|
}
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
|
||||||
|
if (temp_comp.finish_calibration(TSI_BED))
|
||||||
|
SERIAL_ECHOLNPGM("Successfully calibrated bed.");
|
||||||
|
else
|
||||||
|
SERIAL_ECHOLNPGM("!Failed to calibrated bed - reset calibration values.");
|
||||||
|
|
||||||
|
// Cleanup
|
||||||
|
thermalManager.setTargetBed(0);
|
||||||
|
#if HAS_LEVELING
|
||||||
|
set_bed_leveling_enabled(true);
|
||||||
|
#endif
|
||||||
|
} // do_bed_cal
|
||||||
|
|
||||||
|
/********************************************
|
||||||
|
* Calibrate probe temperature offsets
|
||||||
|
********************************************/
|
||||||
|
|
||||||
|
if (do_probe_cal) {
|
||||||
|
|
||||||
|
// Park nozzle
|
||||||
|
do_blocking_move_to(ProbeTempComp::park_point.x, ProbeTempComp::park_point.y, ProbeTempComp::park_point.z);
|
||||||
|
|
||||||
|
// Initialize temperatures
|
||||||
|
uint16_t target_bed = temp_comp.probe_calib_bed_temp,
|
||||||
|
target_probe = temp_comp.cali_info_init[TSI_BED].start_temp;
|
||||||
|
thermalManager.setTargetBed(target_bed);
|
||||||
|
SERIAL_ECHOLNPGM("Waiting for bed and probe temperature.");
|
||||||
|
while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1f
|
||||||
|
|| thermalManager.degProbe() > target_probe
|
||||||
|
) {
|
||||||
|
idle(
|
||||||
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
||||||
|
true
|
||||||
|
#endif
|
||||||
|
);
|
||||||
|
const millis_t ms = millis();
|
||||||
|
if (ELAPSED(ms, next_temp_report)) {
|
||||||
|
thermalManager.print_heater_states(active_extruder);
|
||||||
|
next_temp_report = ms + 1000;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Disable leveling so it won't mess with us
|
||||||
|
#if HAS_LEVELING
|
||||||
|
set_bed_leveling_enabled(false);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
bool timeout = false;
|
||||||
|
while (true) {
|
||||||
|
// Move probe to probing point and wait for it to reach target temperature
|
||||||
|
destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y, 0.5);
|
||||||
|
do_blocking_move_to(destination);
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPAIR(
|
||||||
|
"Bed temp: ", target_bed,
|
||||||
|
"; Probe temp: ", target_probe,
|
||||||
|
" Waiting for probe heating."
|
||||||
|
);
|
||||||
|
|
||||||
|
const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
|
||||||
|
while (thermalManager.degProbe() < target_probe) {
|
||||||
|
idle(
|
||||||
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
||||||
|
true
|
||||||
|
#endif
|
||||||
|
);
|
||||||
|
const millis_t ms = millis();
|
||||||
|
if (ELAPSED(ms, next_temp_report)) {
|
||||||
|
thermalManager.print_heater_states(active_extruder);
|
||||||
|
next_temp_report = ms + 1000;
|
||||||
|
}
|
||||||
|
if (ELAPSED(ms, probe_timeout_ms)) {
|
||||||
|
SERIAL_ECHOLNPGM("!Probe heating aborted due to timeout.");
|
||||||
|
timeout = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (timeout) break;
|
||||||
|
|
||||||
|
// Raise nozzle before probing
|
||||||
|
destination.z = 5.0;
|
||||||
|
do_blocking_move_to_z(destination.z);
|
||||||
|
|
||||||
|
// Do a single probe
|
||||||
|
remember_feedrate_scaling_off();
|
||||||
|
const float measured_z = probe_at_point(
|
||||||
|
destination.x + probe_offset.x,
|
||||||
|
destination.y + probe_offset.y,
|
||||||
|
PROBE_PT_NONE
|
||||||
|
);
|
||||||
|
restore_feedrate_and_scaling();
|
||||||
|
|
||||||
|
if (isnan(measured_z)) {
|
||||||
|
SERIAL_ECHOLNPGM("!Received NAN measurement - aborting.");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
|
||||||
|
|
||||||
|
if (target_probe == temp_comp.cali_info_init[TSI_BED].start_temp)
|
||||||
|
temp_comp.prepare_new_calibration(measured_z);
|
||||||
|
else
|
||||||
|
temp_comp.push_back_new_measurement(TSI_PROBE, measured_z);
|
||||||
|
|
||||||
|
target_probe += temp_comp.cali_info_init[TSI_BED].temp_res;
|
||||||
|
if (target_probe > temp_comp.cali_info_init[TSI_BED].end_temp) break;
|
||||||
|
}
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
|
||||||
|
if (temp_comp.finish_calibration(TSI_PROBE))
|
||||||
|
SERIAL_ECHOLNPGM("Successfully calibrated probe.");
|
||||||
|
else
|
||||||
|
SERIAL_ECHOLNPGM("!Failed to calibrated probe.");
|
||||||
|
|
||||||
|
// Cleanup
|
||||||
|
thermalManager.setTargetBed(0);
|
||||||
|
#if HAS_LEVELING
|
||||||
|
set_bed_leveling_enabled(true);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPGM("Final compensation values:");
|
||||||
|
temp_comp.print_offsets();
|
||||||
|
} // do_probe_cal
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M871: Report / reset temperature compensation offsets.
|
||||||
|
* Note: This does not affect values in EEPROM until M500.
|
||||||
|
*
|
||||||
|
* M871 [ R | B | P | E ]
|
||||||
|
*
|
||||||
|
* No Parameters - Print current offset values.
|
||||||
|
*
|
||||||
|
* Select only one of these flags:
|
||||||
|
* R - Reset all offsets to zero (i.e., disable compensation).
|
||||||
|
* B - Manually set offset for bed
|
||||||
|
* P - Manually set offset for probe
|
||||||
|
* E - Manually set offset for extruder
|
||||||
|
*
|
||||||
|
* With B, P, or E:
|
||||||
|
* I[index] - Index in the array
|
||||||
|
* V[value] - Adjustment in µm
|
||||||
|
*/
|
||||||
|
void GcodeSuite::M871() {
|
||||||
|
|
||||||
|
if (parser.seen('R')) {
|
||||||
|
// Reset z-probe offsets to factory defaults
|
||||||
|
temp_comp.clear_all_offsets();
|
||||||
|
SERIAL_ECHOLNPGM("Offsets reset to default.");
|
||||||
|
}
|
||||||
|
else if (parser.seen("BPE")) {
|
||||||
|
if (!parser.seenval('V')) return;
|
||||||
|
const int16_t val = parser.value_int();
|
||||||
|
if (!parser.seenval('I')) return;
|
||||||
|
const int16_t idx = parser.value_int();
|
||||||
|
const TempSensorID mod = (parser.seen('B') ? TSI_BED :
|
||||||
|
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
|
||||||
|
parser.seen('E') ? TSI_EXT :
|
||||||
|
#endif
|
||||||
|
TSI_PROBE
|
||||||
|
);
|
||||||
|
if (idx > 0 && temp_comp.set_offset(mod, idx - 1, val))
|
||||||
|
SERIAL_ECHOLNPAIR("Set value: ", val);
|
||||||
|
else
|
||||||
|
SERIAL_ECHOLNPGM("!Invalid index. Failed to set value (note: value at index 0 is constant).");
|
||||||
|
|
||||||
|
}
|
||||||
|
else // Print current Z-probe adjustments. Note: Values in EEPROM might differ.
|
||||||
|
temp_comp.print_offsets();
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // PROBE_TEMP_COMPENSATION
|
||||||
Loading…
Reference in New Issue