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Fix G76 probe height / position (#17392)

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Tor-p 2020-04-06 22:32:06 +02:00 committed by GitHub
parent 1d81bb7a2b
commit d6f39a69af
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6 changed files with 66 additions and 65 deletions
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11
Marlin/Configuration_adv.h
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@ -1600,18 +1600,11 @@
// Add additional compensation depending on hotend temperature // Add additional compensation depending on hotend temperature
// Note: this values cannot be calibrated and have to be set manually // Note: this values cannot be calibrated and have to be set manually
#if ENABLED(PROBE_TEMP_COMPENSATION) #if ENABLED(PROBE_TEMP_COMPENSATION)
// Max temperature that can be reached by heated bed.
// This is required only for the calibration process.
#define PTC_MAX_BED_TEMP BED_MAXTEMP
// Park position to wait for probe cooldown // Park position to wait for probe cooldown
#define PTC_PARK_POS_X 0.0F #define PTC_PARK_POS { 0, 0, 100 }
#define PTC_PARK_POS_Y 0.0F
#define PTC_PARK_POS_Z 100.0F
// Probe position to probe and wait for probe to reach target temperature // Probe position to probe and wait for probe to reach target temperature
#define PTC_PROBE_POS_X 90.0F #define PTC_PROBE_POS { 90, 100 }
#define PTC_PROBE_POS_Y 100.0F
// Enable additional compensation using hotend temperature // Enable additional compensation using hotend temperature
// Note: this values cannot be calibrated automatically but have to be set manually // Note: this values cannot be calibrated automatically but have to be set manually

10
Marlin/src/feature/probe_temp_comp.cpp
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@ -29,11 +29,11 @@
ProbeTempComp temp_comp; ProbeTempComp temp_comp;
int16_t ProbeTempComp::z_offsets_probe[ProbeTempComp::cali_info_init[TSI_PROBE].measurements], // = {0} int16_t ProbeTempComp::z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // = {0}
ProbeTempComp::z_offsets_bed[ProbeTempComp::cali_info_init[TSI_BED].measurements]; // = {0} ProbeTempComp::z_offsets_bed[cali_info_init[TSI_BED].measurements]; // = {0}
#if ENABLED(USE_TEMP_EXT_COMPENSATION) #if ENABLED(USE_TEMP_EXT_COMPENSATION)
int16_t ProbeTempComp::z_offsets_ext[ProbeTempComp::cali_info_init[TSI_EXT].measurements]; // = {0} int16_t ProbeTempComp::z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // = {0}
#endif #endif
int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = { int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
@ -44,9 +44,9 @@ int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
}; };
const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = { const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = {
ProbeTempComp::cali_info_init[TSI_PROBE], ProbeTempComp::cali_info_init[TSI_BED] cali_info_init[TSI_PROBE], cali_info_init[TSI_BED]
#if ENABLED(USE_TEMP_EXT_COMPENSATION) #if ENABLED(USE_TEMP_EXT_COMPENSATION)
, ProbeTempComp::cali_info_init[TSI_EXT] , cali_info_init[TSI_EXT]
#endif #endif
}; };

32
Marlin/src/feature/probe_temp_comp.h
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@ -44,30 +44,28 @@ typedef struct {
* Z-probes like the P.I.N.D.A V2 allow for compensation of * Z-probes like the P.I.N.D.A V2 allow for compensation of
* measurement errors/shifts due to changed temperature. * measurement errors/shifts due to changed temperature.
*/ */
static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
{ 10, 5, 30, 30 + 10 * 5 }, // Probe
{ 10, 5, 60, 60 + 10 * 5 }, // Bed
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
{ 20, 5, 180, 180 + 5 * 20 } // Extruder
#endif
};
class ProbeTempComp { class ProbeTempComp {
public: public:
static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
{ 10, 5, 30, 30 + 10 * 5 }, // Probe
{ 10, 5, 60, 60 + 10 * 5 }, // Bed
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
{ 20, 5, 180, 180 + 5 * 20 } // Extruder
#endif
};
static const temp_calib_t cali_info[TSI_COUNT]; static const temp_calib_t cali_info[TSI_COUNT];
// Where to park nozzle to wait for probe cooldown // Where to park nozzle to wait for probe cooldown
static constexpr float park_point_x = PTC_PARK_POS_X, static constexpr xyz_pos_t park_point = PTC_PARK_POS;
park_point_y = PTC_PARK_POS_Y,
park_point_z = PTC_PARK_POS_Z,
// XY coordinates of nozzle for probing the bed
measure_point_x = PTC_PROBE_POS_X, // Coordinates to probe
measure_point_y = PTC_PROBE_POS_Y;
//measure_point_x = 12.0f, // Coordinates to probe on MK52 magnetic heatbed
//measure_point_y = 7.3f;
static constexpr int max_bed_temp = PTC_MAX_BED_TEMP, // Max temperature to avoid heating errors // XY coordinates of nozzle for probing the bed
probe_calib_bed_temp = max_bed_temp, // Bed temperature while calibrating probe static constexpr xy_pos_t measure_point = PTC_PROBE_POS; // Coordinates to probe
//measure_point = { 12.0f, 7.3f }; // Coordinates for the MK52 magnetic heatbed
static constexpr int probe_calib_bed_temp = BED_MAXTEMP - 10, // Bed temperature while calibrating probe
bed_calib_probe_temp = 30; // Probe temperature while calibrating bed bed_calib_probe_temp = 30; // Probe temperature while calibrating bed
static int16_t *sensor_z_offsets[TSI_COUNT], static int16_t *sensor_z_offsets[TSI_COUNT],

61
Marlin/src/gcode/calibrate/G76_M871.cpp
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@ -103,13 +103,19 @@ void GcodeSuite::G76() {
return false; return false;
}; };
auto g76_probe = [](const xy_pos_t &xypos) { auto g76_probe = [](const TempSensorID sid, uint16_t &targ, const xy_pos_t &nozpos) {
do_blocking_move_to_z(5.0); // Raise nozzle before probing do_blocking_move_to_z(5.0); // Raise nozzle before probing
const float measured_z = probe.probe_at_point(xypos, PROBE_PT_NONE, 0, false); // verbose=0, probe_relative=false const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_NONE, 0, false); // verbose=0, probe_relative=false
if (isnan(measured_z)) if (isnan(measured_z))
SERIAL_ECHOLNPGM("!Received NAN. Aborting."); SERIAL_ECHOLNPGM("!Received NAN. Aborting.");
else else {
SERIAL_ECHOLNPAIR_F("Measured: ", measured_z); SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
if (targ == cali_info_init[sid].start_temp)
temp_comp.prepare_new_calibration(measured_z);
else
temp_comp.push_back_new_measurement(sid, measured_z);
targ += cali_info_init[sid].temp_res;
}
return measured_z; return measured_z;
}; };
@ -125,8 +131,9 @@ void GcodeSuite::G76() {
// Synchronize with planner // Synchronize with planner
planner.synchronize(); planner.synchronize();
const xyz_pos_t parkpos = { temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z }; const xyz_pos_t parkpos = temp_comp.park_point,
const xy_pos_t ppos = { temp_comp.measure_point_x, temp_comp.measure_point_y }; probe_pos_xyz = temp_comp.measure_point + xyz_pos_t({ 0.0f, 0.0f, 0.5f }),
noz_pos_xyz = probe_pos_xyz - probe.offset_xy; // Nozzle position based on probe position
if (do_bed_cal || do_probe_cal) { if (do_bed_cal || do_probe_cal) {
// Ensure park position is reachable // Ensure park position is reachable
@ -135,7 +142,7 @@ void GcodeSuite::G76() {
SERIAL_ECHOLNPGM("!Park"); SERIAL_ECHOLNPGM("!Park");
else { else {
// Ensure probe position is reachable // Ensure probe position is reachable
reachable = probe.can_reach(ppos); reachable = probe.can_reach(probe_pos_xyz);
if (!reachable) SERIAL_ECHOLNPGM("!Probe"); if (!reachable) SERIAL_ECHOLNPGM("!Probe");
} }
@ -149,8 +156,6 @@ void GcodeSuite::G76() {
remember_feedrate_scaling_off(); remember_feedrate_scaling_off();
// Nozzle position based on probe position
const xy_pos_t noz_pos = ppos - probe.offset_xy;
/****************************************** /******************************************
* Calibrate bed temperature offsets * Calibrate bed temperature offsets
@ -159,9 +164,13 @@ void GcodeSuite::G76() {
// Report temperatures every second and handle heating timeouts // Report temperatures every second and handle heating timeouts
millis_t next_temp_report = millis() + 1000; millis_t next_temp_report = millis() + 1000;
auto report_targets = [&](const uint16_t tb, const uint16_t tp) {
SERIAL_ECHOLNPAIR("Target Bed:", tb, " Probe:", tp);
};
if (do_bed_cal) { if (do_bed_cal) {
uint16_t target_bed = temp_comp.cali_info_init[TSI_BED].start_temp, uint16_t target_bed = cali_info_init[TSI_BED].start_temp,
target_probe = temp_comp.bed_calib_probe_temp; target_probe = temp_comp.bed_calib_probe_temp;
SERIAL_ECHOLNPGM("Waiting for cooling."); SERIAL_ECHOLNPGM("Waiting for cooling.");
@ -176,7 +185,7 @@ void GcodeSuite::G76() {
for (;;) { for (;;) {
thermalManager.setTargetBed(target_bed); thermalManager.setTargetBed(target_bed);
SERIAL_ECHOLNPAIR("Target Bed:", target_bed, " Probe:", target_probe); report_targets(target_bed, target_probe);
// Park nozzle // Park nozzle
do_blocking_move_to(parkpos); do_blocking_move_to(parkpos);
@ -188,21 +197,13 @@ void GcodeSuite::G76() {
} }
// Move the nozzle to the probing point and wait for the probe to reach target temp // Move the nozzle to the probing point and wait for the probe to reach target temp
do_blocking_move_to_xy(noz_pos); do_blocking_move_to(noz_pos_xyz);
SERIAL_ECHOLNPGM("Waiting for probe heating."); SERIAL_ECHOLNPGM("Waiting for probe heating.");
while (thermalManager.degProbe() < target_probe) while (thermalManager.degProbe() < target_probe)
report_temps(next_temp_report); report_temps(next_temp_report);
const float measured_z = g76_probe(noz_pos); const float measured_z = g76_probe(TSI_BED, target_bed, noz_pos_xyz);
if (isnan(measured_z)) break; if (isnan(measured_z) || target_bed > BED_MAXTEMP - 10) break;
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()); SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
@ -231,7 +232,9 @@ void GcodeSuite::G76() {
const uint16_t target_bed = temp_comp.probe_calib_bed_temp; const uint16_t target_bed = temp_comp.probe_calib_bed_temp;
thermalManager.setTargetBed(target_bed); thermalManager.setTargetBed(target_bed);
uint16_t target_probe = temp_comp.cali_info_init[TSI_PROBE].start_temp; uint16_t target_probe = cali_info_init[TSI_PROBE].start_temp;
report_targets(target_bed, target_probe);
// Wait for heatbed to reach target temp and probe to cool below target temp // Wait for heatbed to reach target temp and probe to cool below target temp
wait_for_temps(target_bed, target_probe, next_temp_report); wait_for_temps(target_bed, target_probe, next_temp_report);
@ -244,7 +247,7 @@ void GcodeSuite::G76() {
bool timeout = false; bool timeout = false;
for (;;) { for (;;) {
// Move probe to probing point and wait for it to reach target temperature // Move probe to probing point and wait for it to reach target temperature
do_blocking_move_to_xy(noz_pos); do_blocking_move_to(noz_pos_xyz);
SERIAL_ECHOLNPAIR("Waiting for probe heating. Bed:", target_bed, " Probe:", target_probe); SERIAL_ECHOLNPAIR("Waiting for probe heating. Bed:", target_bed, " Probe:", target_probe);
const millis_t probe_timeout_ms = millis() + 900UL * 1000UL; const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
@ -257,16 +260,8 @@ void GcodeSuite::G76() {
} }
if (timeout) break; if (timeout) break;
const float measured_z = g76_probe(noz_pos); const float measured_z = g76_probe(TSI_PROBE, target_probe, noz_pos_xyz);
if (isnan(measured_z)) break; if (isnan(measured_z) || target_probe > cali_info_init[TSI_PROBE].end_temp) break;
if (target_probe == temp_comp.cali_info_init[TSI_PROBE].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_PROBE].temp_res;
if (target_probe > temp_comp.cali_info_init[TSI_PROBE].end_temp) break;
} }
SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index()); SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());

15
Marlin/src/inc/SanityCheck.h
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@ -491,6 +491,21 @@
#error "DUGS_UI_MOVE_DIS_OPTION is spelled DGUS_UI_MOVE_DIS_OPTION. Please update Configuration_adv.h." #error "DUGS_UI_MOVE_DIS_OPTION is spelled DGUS_UI_MOVE_DIS_OPTION. Please update Configuration_adv.h."
#endif #endif
/**
* Probe temp compensation requirements
*/
#if ENABLED(PROBE_TEMP_COMPENSATION)
#if defined(PTC_PARK_POS_X) || defined(PTC_PARK_POS_Y) || defined(PTC_PARK_POS_Z)
#error "PTC_PARK_POS_[XYZ] is now PTC_PARK_POS (array). Please update Configuration_adv.h."
#elif !defined(PTC_PARK_POS)
#error "PROBE_TEMP_COMPENSATION requires PTC_PARK_POS."
#elif defined(PTC_PROBE_POS_X) || defined(PTC_PROBE_POS_Y)
#error "PTC_PROBE_POS_[XY] is now PTC_PROBE_POS (array). Please update Configuration_adv.h."
#elif !defined(PTC_PROBE_POS)
#error "PROBE_TEMP_COMPENSATION requires PTC_PROBE_POS."
#endif
#endif
/** /**
* Marlin release, version and default string * Marlin release, version and default string
*/ */

2
buildroot/share/tests/rambo-tests
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@ -50,7 +50,7 @@ opt_set GRID_MAX_POINTS_X 16
opt_set FANMUX0_PIN 53 opt_set FANMUX0_PIN 53
opt_disable USE_WATCHDOG opt_disable USE_WATCHDOG
opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST \ opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST \
FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING PIDTEMPBED \ FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING PIDTEMPBED PROBE_TEMP_COMPENSATION \
PROBING_HEATERS_OFF PROBING_FANS_OFF PROBING_STEPPERS_OFF WAIT_FOR_BED_HEATER \ PROBING_HEATERS_OFF PROBING_FANS_OFF PROBING_STEPPERS_OFF WAIT_FOR_BED_HEATER \
EEPROM_SETTINGS SDSUPPORT SD_REPRINT_LAST_SELECTED_FILE BINARY_FILE_TRANSFER \ EEPROM_SETTINGS SDSUPPORT SD_REPRINT_LAST_SELECTED_FILE BINARY_FILE_TRANSFER \
BLINKM PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \ BLINKM PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \