Fix G76 probe height / position (#17392)
This commit is contained in:
parent
1d81bb7a2b
commit
d6f39a69af
6 changed files with 66 additions and 65 deletions
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@ -1600,18 +1600,11 @@
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// Add additional compensation depending on hotend temperature
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// Add additional compensation depending on hotend temperature
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// Note: this values cannot be calibrated and have to be set manually
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// Note: this values cannot be calibrated and have to be set manually
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#if ENABLED(PROBE_TEMP_COMPENSATION)
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#if ENABLED(PROBE_TEMP_COMPENSATION)
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// Max temperature that can be reached by heated bed.
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// This is required only for the calibration process.
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#define PTC_MAX_BED_TEMP BED_MAXTEMP
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// Park position to wait for probe cooldown
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// Park position to wait for probe cooldown
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#define PTC_PARK_POS_X 0.0F
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#define PTC_PARK_POS { 0, 0, 100 }
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#define PTC_PARK_POS_Y 0.0F
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#define PTC_PARK_POS_Z 100.0F
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// Probe position to probe and wait for probe to reach target temperature
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// Probe position to probe and wait for probe to reach target temperature
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#define PTC_PROBE_POS_X 90.0F
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#define PTC_PROBE_POS { 90, 100 }
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#define PTC_PROBE_POS_Y 100.0F
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// Enable additional compensation using hotend temperature
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// Enable additional compensation using hotend temperature
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// Note: this values cannot be calibrated automatically but have to be set manually
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// Note: this values cannot be calibrated automatically but have to be set manually
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@ -29,11 +29,11 @@
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ProbeTempComp temp_comp;
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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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int16_t ProbeTempComp::z_offsets_probe[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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ProbeTempComp::z_offsets_bed[cali_info_init[TSI_BED].measurements]; // = {0}
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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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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int16_t ProbeTempComp::z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // = {0}
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#endif
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#endif
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int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
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int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
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@ -44,9 +44,9 @@ int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
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};
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};
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const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = {
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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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cali_info_init[TSI_PROBE], cali_info_init[TSI_BED]
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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, ProbeTempComp::cali_info_init[TSI_EXT]
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, cali_info_init[TSI_EXT]
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#endif
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#endif
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};
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};
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@ -44,8 +44,6 @@ typedef struct {
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* Z-probes like the P.I.N.D.A V2 allow for compensation of
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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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* measurement errors/shifts due to changed temperature.
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*/
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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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static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
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{ 10, 5, 30, 30 + 10 * 5 }, // Probe
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{ 10, 5, 30, 30 + 10 * 5 }, // Probe
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@ -54,20 +52,20 @@ class ProbeTempComp {
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{ 20, 5, 180, 180 + 5 * 20 } // Extruder
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{ 20, 5, 180, 180 + 5 * 20 } // Extruder
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#endif
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#endif
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};
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};
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class ProbeTempComp {
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public:
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static const temp_calib_t cali_info[TSI_COUNT];
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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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// Where to park nozzle to wait for probe cooldown
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static constexpr float park_point_x = PTC_PARK_POS_X,
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static constexpr xyz_pos_t park_point = PTC_PARK_POS;
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park_point_y = PTC_PARK_POS_Y,
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park_point_z = PTC_PARK_POS_Z,
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// XY coordinates of nozzle for probing the bed
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measure_point_x = PTC_PROBE_POS_X, // Coordinates to probe
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measure_point_y = PTC_PROBE_POS_Y;
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//measure_point_x = 12.0f, // Coordinates to probe on MK52 magnetic heatbed
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//measure_point_y = 7.3f;
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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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probe_calib_bed_temp = max_bed_temp, // Bed temperature while calibrating probe
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static constexpr xy_pos_t measure_point = PTC_PROBE_POS; // Coordinates to probe
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//measure_point = { 12.0f, 7.3f }; // Coordinates for the MK52 magnetic heatbed
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static constexpr int probe_calib_bed_temp = BED_MAXTEMP - 10, // Bed temperature while calibrating probe
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bed_calib_probe_temp = 30; // Probe temperature while calibrating bed
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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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static int16_t *sensor_z_offsets[TSI_COUNT],
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@ -103,13 +103,19 @@ void GcodeSuite::G76() {
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return false;
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return false;
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};
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};
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auto g76_probe = [](const xy_pos_t &xypos) {
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auto g76_probe = [](const TempSensorID sid, uint16_t &targ, const xy_pos_t &nozpos) {
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do_blocking_move_to_z(5.0); // Raise nozzle before probing
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do_blocking_move_to_z(5.0); // Raise nozzle before probing
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const float measured_z = probe.probe_at_point(xypos, PROBE_PT_NONE, 0, false); // verbose=0, probe_relative=false
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const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_NONE, 0, false); // verbose=0, probe_relative=false
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if (isnan(measured_z))
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if (isnan(measured_z))
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SERIAL_ECHOLNPGM("!Received NAN. Aborting.");
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SERIAL_ECHOLNPGM("!Received NAN. Aborting.");
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else
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else {
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SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
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SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
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if (targ == cali_info_init[sid].start_temp)
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temp_comp.prepare_new_calibration(measured_z);
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else
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temp_comp.push_back_new_measurement(sid, measured_z);
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targ += cali_info_init[sid].temp_res;
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}
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return measured_z;
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return measured_z;
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};
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};
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@ -125,8 +131,9 @@ void GcodeSuite::G76() {
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// Synchronize with planner
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// Synchronize with planner
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planner.synchronize();
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planner.synchronize();
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const xyz_pos_t parkpos = { temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z };
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const xyz_pos_t parkpos = temp_comp.park_point,
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const xy_pos_t ppos = { temp_comp.measure_point_x, temp_comp.measure_point_y };
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probe_pos_xyz = temp_comp.measure_point + xyz_pos_t({ 0.0f, 0.0f, 0.5f }),
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noz_pos_xyz = probe_pos_xyz - probe.offset_xy; // Nozzle position based on probe position
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if (do_bed_cal || do_probe_cal) {
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if (do_bed_cal || do_probe_cal) {
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// Ensure park position is reachable
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// Ensure park position is reachable
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@ -135,7 +142,7 @@ void GcodeSuite::G76() {
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SERIAL_ECHOLNPGM("!Park");
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SERIAL_ECHOLNPGM("!Park");
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else {
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else {
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// Ensure probe position is reachable
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// Ensure probe position is reachable
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reachable = probe.can_reach(ppos);
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reachable = probe.can_reach(probe_pos_xyz);
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if (!reachable) SERIAL_ECHOLNPGM("!Probe");
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if (!reachable) SERIAL_ECHOLNPGM("!Probe");
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}
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}
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@ -149,8 +156,6 @@ void GcodeSuite::G76() {
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remember_feedrate_scaling_off();
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remember_feedrate_scaling_off();
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// Nozzle position based on probe position
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const xy_pos_t noz_pos = ppos - probe.offset_xy;
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/******************************************
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/******************************************
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* Calibrate bed temperature offsets
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* Calibrate bed temperature offsets
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@ -159,9 +164,13 @@ void GcodeSuite::G76() {
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// Report temperatures every second and handle heating timeouts
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// Report temperatures every second and handle heating timeouts
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millis_t next_temp_report = millis() + 1000;
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millis_t next_temp_report = millis() + 1000;
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auto report_targets = [&](const uint16_t tb, const uint16_t tp) {
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SERIAL_ECHOLNPAIR("Target Bed:", tb, " Probe:", tp);
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};
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if (do_bed_cal) {
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if (do_bed_cal) {
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uint16_t target_bed = temp_comp.cali_info_init[TSI_BED].start_temp,
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uint16_t target_bed = cali_info_init[TSI_BED].start_temp,
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target_probe = temp_comp.bed_calib_probe_temp;
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target_probe = temp_comp.bed_calib_probe_temp;
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SERIAL_ECHOLNPGM("Waiting for cooling.");
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SERIAL_ECHOLNPGM("Waiting for cooling.");
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@ -176,7 +185,7 @@ void GcodeSuite::G76() {
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for (;;) {
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for (;;) {
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thermalManager.setTargetBed(target_bed);
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thermalManager.setTargetBed(target_bed);
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SERIAL_ECHOLNPAIR("Target Bed:", target_bed, " Probe:", target_probe);
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report_targets(target_bed, target_probe);
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// Park nozzle
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// Park nozzle
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do_blocking_move_to(parkpos);
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do_blocking_move_to(parkpos);
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@ -188,21 +197,13 @@ void GcodeSuite::G76() {
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}
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}
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// Move the nozzle to the probing point and wait for the probe to reach target temp
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// Move the nozzle to the probing point and wait for the probe to reach target temp
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do_blocking_move_to_xy(noz_pos);
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do_blocking_move_to(noz_pos_xyz);
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SERIAL_ECHOLNPGM("Waiting for probe heating.");
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SERIAL_ECHOLNPGM("Waiting for probe heating.");
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while (thermalManager.degProbe() < target_probe)
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while (thermalManager.degProbe() < target_probe)
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report_temps(next_temp_report);
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report_temps(next_temp_report);
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const float measured_z = g76_probe(noz_pos);
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const float measured_z = g76_probe(TSI_BED, target_bed, noz_pos_xyz);
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if (isnan(measured_z)) break;
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if (isnan(measured_z) || target_bed > BED_MAXTEMP - 10) break;
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if (target_bed == temp_comp.cali_info_init[TSI_BED].start_temp)
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temp_comp.prepare_new_calibration(measured_z);
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else
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temp_comp.push_back_new_measurement(TSI_BED, measured_z);
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target_bed += temp_comp.cali_info_init[TSI_BED].temp_res;
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if (target_bed > temp_comp.max_bed_temp) break;
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}
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}
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SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
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SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
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@ -231,7 +232,9 @@ void GcodeSuite::G76() {
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const uint16_t target_bed = temp_comp.probe_calib_bed_temp;
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const uint16_t target_bed = temp_comp.probe_calib_bed_temp;
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thermalManager.setTargetBed(target_bed);
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thermalManager.setTargetBed(target_bed);
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uint16_t target_probe = temp_comp.cali_info_init[TSI_PROBE].start_temp;
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uint16_t target_probe = cali_info_init[TSI_PROBE].start_temp;
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report_targets(target_bed, target_probe);
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// Wait for heatbed to reach target temp and probe to cool below target temp
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// Wait for heatbed to reach target temp and probe to cool below target temp
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wait_for_temps(target_bed, target_probe, next_temp_report);
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wait_for_temps(target_bed, target_probe, next_temp_report);
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@ -244,7 +247,7 @@ void GcodeSuite::G76() {
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bool timeout = false;
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bool timeout = false;
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for (;;) {
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for (;;) {
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// Move probe to probing point and wait for it to reach target temperature
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// Move probe to probing point and wait for it to reach target temperature
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do_blocking_move_to_xy(noz_pos);
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do_blocking_move_to(noz_pos_xyz);
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SERIAL_ECHOLNPAIR("Waiting for probe heating. Bed:", target_bed, " Probe:", target_probe);
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SERIAL_ECHOLNPAIR("Waiting for probe heating. Bed:", target_bed, " Probe:", target_probe);
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const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
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const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
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}
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}
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if (timeout) break;
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if (timeout) break;
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const float measured_z = g76_probe(noz_pos);
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const float measured_z = g76_probe(TSI_PROBE, target_probe, noz_pos_xyz);
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if (isnan(measured_z)) break;
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if (isnan(measured_z) || target_probe > cali_info_init[TSI_PROBE].end_temp) break;
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if (target_probe == temp_comp.cali_info_init[TSI_PROBE].start_temp)
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temp_comp.prepare_new_calibration(measured_z);
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else
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temp_comp.push_back_new_measurement(TSI_PROBE, measured_z);
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target_probe += temp_comp.cali_info_init[TSI_PROBE].temp_res;
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if (target_probe > temp_comp.cali_info_init[TSI_PROBE].end_temp) break;
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}
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}
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SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
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SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
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@ -491,6 +491,21 @@
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#error "DUGS_UI_MOVE_DIS_OPTION is spelled DGUS_UI_MOVE_DIS_OPTION. Please update Configuration_adv.h."
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#error "DUGS_UI_MOVE_DIS_OPTION is spelled DGUS_UI_MOVE_DIS_OPTION. Please update Configuration_adv.h."
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#endif
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#endif
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/**
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* Probe temp compensation requirements
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*/
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#if ENABLED(PROBE_TEMP_COMPENSATION)
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#if defined(PTC_PARK_POS_X) || defined(PTC_PARK_POS_Y) || defined(PTC_PARK_POS_Z)
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#error "PTC_PARK_POS_[XYZ] is now PTC_PARK_POS (array). Please update Configuration_adv.h."
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#elif !defined(PTC_PARK_POS)
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#error "PROBE_TEMP_COMPENSATION requires PTC_PARK_POS."
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#elif defined(PTC_PROBE_POS_X) || defined(PTC_PROBE_POS_Y)
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#error "PTC_PROBE_POS_[XY] is now PTC_PROBE_POS (array). Please update Configuration_adv.h."
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#elif !defined(PTC_PROBE_POS)
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#error "PROBE_TEMP_COMPENSATION requires PTC_PROBE_POS."
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#endif
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#endif
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/**
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/**
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* Marlin release, version and default string
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* Marlin release, version and default string
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*/
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*/
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@ -50,7 +50,7 @@ opt_set GRID_MAX_POINTS_X 16
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opt_set FANMUX0_PIN 53
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opt_set FANMUX0_PIN 53
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opt_disable USE_WATCHDOG
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opt_disable USE_WATCHDOG
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opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST \
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opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST \
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FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING PIDTEMPBED \
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FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING PIDTEMPBED PROBE_TEMP_COMPENSATION \
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PROBING_HEATERS_OFF PROBING_FANS_OFF PROBING_STEPPERS_OFF WAIT_FOR_BED_HEATER \
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PROBING_HEATERS_OFF PROBING_FANS_OFF PROBING_STEPPERS_OFF WAIT_FOR_BED_HEATER \
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EEPROM_SETTINGS SDSUPPORT SD_REPRINT_LAST_SELECTED_FILE BINARY_FILE_TRANSFER \
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EEPROM_SETTINGS SDSUPPORT SD_REPRINT_LAST_SELECTED_FILE BINARY_FILE_TRANSFER \
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BLINKM PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \
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BLINKM PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \
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