josh
/
Prusa-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

improved algorithm for first hit, improving sensor point changed, just one calibration round for 4point heatbed (no second run for improving measured coordinates)

This commit is contained in:
PavelSindler 2018-03-04 20:21:31 +01:00
parent 15a7699fe0
commit ad702c6d1f
4 changed files with 391 additions and 196 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Firmware/Marlin_main.cpp
View File

@ -2228,6 +2228,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
#ifndef HEATBED_V2
if (result >= 0)
{
point_too_far_mask = 0;
@ -2246,6 +2247,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
st_synchronize();
// if (result >= 0) babystep_apply();
}
#endif //HEATBED_V2
lcd_bed_calibration_show_result(result, point_too_far_mask);
if (result >= 0)
{

572
Firmware/mesh_bed_calibration.cpp
View File

@ -907,21 +907,22 @@ error:
#define FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP (2.f)
#define FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR (0.01f)
#ifdef HEATBED_V2
inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
{
#ifdef SUPPORT_VERBOSITY
if(verbosity_level >= 10) MYSERIAL.println("find bed induction sensor point xy");
if (verbosity_level >= 10) MYSERIAL.println("find bed induction sensor point xy");
#endif // SUPPORT_VERBOSITY
float feedrate = homing_feedrate[X_AXIS] / 60.f;
bool found = false;
bool found = false;
{
float x0 = current_position[X_AXIS] - FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS;
float x1 = current_position[X_AXIS] + FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS;
float y0 = current_position[Y_AXIS] - FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS;
float y1 = current_position[Y_AXIS] + FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS;
uint8_t nsteps_y;
uint8_t i;
{
float x0 = current_position[X_AXIS] - FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS;
float x1 = current_position[X_AXIS] + FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS;
float y0 = current_position[Y_AXIS] - FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS;
float y1 = current_position[Y_AXIS] + FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS;
uint8_t nsteps_y;
uint8_t i;
if (x0 < X_MIN_POS) {
x0 = X_MIN_POS;
#ifdef SUPPORT_VERBOSITY
@ -946,35 +947,31 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
if (verbosity_level >= 20) SERIAL_ECHOLNPGM("Y searching radius higher than X_MAX. Clamping was done.");
#endif // SUPPORT_VERBOSITY
}
nsteps_y = int(ceil((y1 - y0) / FIND_BED_INDUCTION_SENSOR_POINT_XY_STEP));
nsteps_y = int(ceil((y1 - y0) / FIND_BED_INDUCTION_SENSOR_POINT_XY_STEP));
enable_endstops(false);
bool dir_positive = true;
enable_endstops(false);
bool dir_positive = true;
float z_error = 2 * FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP;
float find_bed_induction_sensor_point_z_step = FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP;
float initial_z_position = current_position[Z_AXIS];
// go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60);
go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
// Continously lower the Z axis.
endstops_hit_on_purpose();
enable_z_endstop(true);
while (current_position[Z_AXIS] > -10.f && z_error > FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR) {
// Do nsteps_y zig-zag movements.
/*SERIAL_ECHOLNPGM("---------------");
SERIAL_ECHOPGM("Y coordinate:");
MYSERIAL.println(current_position[Y_AXIS]);
SERIAL_ECHOPGM("Z coordinate:");
MYSERIAL.println(current_position[Z_AXIS]);*/
SERIAL_ECHOPGM("z_error: ");
MYSERIAL.println(z_error);
current_position[Y_AXIS] = y0;
// go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60);
go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
// Continously lower the Z axis.
endstops_hit_on_purpose();
enable_z_endstop(true);
while (current_position[Z_AXIS] > -10.f && z_error > FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR) {
// Do nsteps_y zig-zag movements.
//SERIAL_ECHOPGM("z_error: ");
//MYSERIAL.println(z_error);
current_position[Y_AXIS] = y0;
initial_z_position = current_position[Z_AXIS];
for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++ i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= find_bed_induction_sensor_point_z_step / float(nsteps_y - 1);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = ! dir_positive;
for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= find_bed_induction_sensor_point_z_step / float(nsteps_y - 1);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = !dir_positive;
if (endstop_z_hit_on_purpose()) {
update_current_position_xyz();
z_error = 2 * (initial_z_position - current_position[Z_AXIS]);
@ -987,13 +984,13 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
}
goto endloop;
}
}
}
initial_z_position = current_position[Z_AXIS];
for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++ i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= find_bed_induction_sensor_point_z_step / float(nsteps_y - 1);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = ! dir_positive;
for (i = 0; i < (nsteps_y - 1); current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= find_bed_induction_sensor_point_z_step / float(nsteps_y - 1);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = !dir_positive;
if (endstop_z_hit_on_purpose()) {
update_current_position_xyz();
z_error = 2 * (initial_z_position - current_position[Z_AXIS]);
@ -1006,177 +1003,356 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
}
goto endloop;
}
}
endloop: ;
/*SERIAL_ECHOPGM("Y coordinate:");
MYSERIAL.println(current_position[Y_AXIS]);
SERIAL_ECHOPGM("Z coordinate:");
MYSERIAL.println(current_position[Z_AXIS]);*/
}
// endloop:
SERIAL_ECHO("First hit");
SERIAL_ECHO("- X: ");
MYSERIAL.print(current_position[X_AXIS]);
SERIAL_ECHO("; Y: ");
MYSERIAL.print(current_position[Y_AXIS]);
SERIAL_ECHO("; Z: ");
MYSERIAL.println(current_position[Z_AXIS]);
}
endloop:;
}
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) {
SERIAL_ECHO("First hit");
SERIAL_ECHO("- X: ");
MYSERIAL.print(current_position[X_AXIS]);
SERIAL_ECHO("; Y: ");
MYSERIAL.print(current_position[Y_AXIS]);
SERIAL_ECHO("; Z: ");
MYSERIAL.println(current_position[Z_AXIS]);
}
#endif //SUPPORT_VERBOSITY
//lcd_show_fullscreen_message_and_wait_P(PSTR("First hit"));
//lcd_update_enable(true);
lcd_show_fullscreen_message_and_wait_P(PSTR("First hit"));
lcd_update_enable(true);
float init_x_position = current_position[X_AXIS];
float init_y_position = current_position[Y_AXIS];
//scan
//if (current_position[X_AXIS] > 100 && current_position[Y_AXIS] > 100) {
// scan();
//}
// we have to let the planner know where we are right now as it is not where we said to go.
update_current_position_xyz();
// Search in this plane for the first hit. Zig-zag first in X, then in Y axis.
for (int8_t iter = 0; iter < 9; ++ iter) {
SERIAL_ECHOPGM("iter: ");
// we have to let the planner know where we are right now as it is not where we said to go.
update_current_position_xyz();
enable_z_endstop(false);
for (int8_t iter = 0; iter < 2; ++iter) {
/*SERIAL_ECHOPGM("iter: ");
MYSERIAL.println(iter);
if (iter > 0) {
// Slightly lower the Z axis to get a reliable trigger.
current_position[Z_AXIS] -= 0.005f;
go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60);
}
SERIAL_ECHOPGM("1 - current_position[Z_AXIS]: ");
MYSERIAL.println(current_position[Z_AXIS]);*/
SERIAL_ECHOPGM("current_position[Z_AXIS]: ");
MYSERIAL.println(current_position[Z_AXIS]);
// Do nsteps_y zig-zag movements.
float a, b;
enable_endstops(false);
enable_z_endstop(false);
current_position[Y_AXIS] = y0;
go_xy(x0, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
found = false;
for (i = 0, dir_positive = true; i < (nsteps_y - 1); current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++ i, dir_positive = ! dir_positive) {
go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
//SERIAL_ECHOPGM("current position Z: ");
//MYSERIAL.println(current_position[Z_AXIS]);
if (endstop_z_hit_on_purpose()) {
found = true;
break;
}
}
update_current_position_xyz();
if (! found) {
SERIAL_ECHOLN("Search in Y - not found");
continue;
}
// SERIAL_ECHOLN("Search in Y - found");
lcd_show_fullscreen_message_and_wait_P(PSTR("first Y1 found"));
// Slightly lower the Z axis to get a reliable trigger.
current_position[Z_AXIS] -= 0.05f;
go_xyz(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], homing_feedrate[Z_AXIS] / (60 * 10));
SERIAL_ECHOPGM("2 - current_position[Z_AXIS]: ");
MYSERIAL.println(current_position[Z_AXIS]);
// Do nsteps_y zig-zag movements.
float a, b;
float avg[2] = { 0,0 };
for (int iteration = 0; iteration < 8; iteration++) {
found = false;
enable_z_endstop(true, true);
go_xy(x0, current_position[Y_AXIS], feedrate / 3);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 0 - not found");
continue;
}
//lcd_show_fullscreen_message_and_wait_P(PSTR("X1 found"));
//lcd_update_enable(true);
// SERIAL_ECHOLN("Search X span 0 - found");
a = current_position[X_AXIS];
enable_z_endstop(false);
go_xy(init_x_position, current_position[Y_AXIS], feedrate / 3);
enable_z_endstop(true);
go_xy(x1, current_position[Y_AXIS], feedrate / 3);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 1 - not found");
continue;
}
//lcd_show_fullscreen_message_and_wait_P(PSTR("X2 found"));
//lcd_update_enable(true);
// SERIAL_ECHOLN("Search X span 1 - found");
b = current_position[X_AXIS];
// Go to the center.
enable_z_endstop(false);
current_position[X_AXIS] = 0.5f * (a + b);
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate / 3);
found = true;
// Search in the Y direction along a cross.
found = false;
enable_z_endstop(true);
go_xy(current_position[X_AXIS], y0, feedrate / 3);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search Y2 span 0 - not found");
continue;
}
//lcd_show_fullscreen_message_and_wait_P(PSTR("Y1 found"));
//lcd_update_enable(true);
// SERIAL_ECHOLN("Search Y2 span 0 - found");
a = current_position[Y_AXIS];
enable_z_endstop(false);
go_xy(current_position[X_AXIS], init_y_position, feedrate / 3);
enable_z_endstop(true);
go_xy(current_position[X_AXIS], y1, feedrate / 3);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search Y2 span 1 - not found");
continue;
}
// SERIAL_ECHOLN("Search Y2 span 1 - found");
b = current_position[Y_AXIS];
//lcd_show_fullscreen_message_and_wait_P(PSTR("Y2 found"));
//lcd_update_enable(true);
// Go to the center.
enable_z_endstop(false, false);
current_position[Y_AXIS] = 0.5f * (a + b);
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate / 3);
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) {
SERIAL_ECHOPGM("ITERATION: ");
MYSERIAL.println(iteration);
SERIAL_ECHOPGM("CURRENT POSITION X: ");
MYSERIAL.println(current_position[X_AXIS]);
SERIAL_ECHOPGM("CURRENT POSITION Y: ");
MYSERIAL.println(current_position[Y_AXIS]);
}
#endif //SUPPORT_VERBOSITY
if (iteration > 3) {
// Average the last 4 measurements.
avg[X_AXIS] += current_position[X_AXIS];
avg[Y_AXIS] += current_position[Y_AXIS];
}
found = true;
}
avg[X_AXIS] *= (1.f / 4.f);
avg[Y_AXIS] *= (1.f / 4.f);
current_position[X_AXIS] = avg[X_AXIS];
current_position[Y_AXIS] = avg[Y_AXIS];
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) {
SERIAL_ECHOPGM("AVG CURRENT POSITION X: ");
MYSERIAL.println(current_position[X_AXIS]);
SERIAL_ECHOPGM("AVG CURRENT POSITION Y: ");
MYSERIAL.println(current_position[Y_AXIS]);
}
#endif // SUPPORT_VERBOSITY
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate);
lcd_show_fullscreen_message_and_wait_P(PSTR("Final position"));
lcd_update_enable(true);
a = current_position[Y_AXIS];
enable_z_endstop(false);
current_position[Y_AXIS] = y1;
go_xy(x0, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
found = false;
for (i = 0, dir_positive = true; i < (nsteps_y - 1); current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++ i, dir_positive = ! dir_positive) {
go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
SERIAL_ECHOPGM("current position Z: ");
MYSERIAL.println(current_position[Z_AXIS]);
break;
}
}
enable_z_endstop(false);
return found;
}
#else //HEATBED_V2
inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
{
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 10) MYSERIAL.println("find bed induction sensor point xy");
#endif // SUPPORT_VERBOSITY
float feedrate = homing_feedrate[X_AXIS] / 60.f;
bool found = false;
{
float x0 = current_position[X_AXIS] - FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS;
float x1 = current_position[X_AXIS] + FIND_BED_INDUCTION_SENSOR_POINT_X_RADIUS;
float y0 = current_position[Y_AXIS] - FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS;
float y1 = current_position[Y_AXIS] + FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS;
uint8_t nsteps_y;
uint8_t i;
if (x0 < X_MIN_POS) {
x0 = X_MIN_POS;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) SERIAL_ECHOLNPGM("X searching radius lower than X_MIN. Clamping was done.");
#endif // SUPPORT_VERBOSITY
}
if (x1 > X_MAX_POS) {
x1 = X_MAX_POS;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) SERIAL_ECHOLNPGM("X searching radius higher than X_MAX. Clamping was done.");
#endif // SUPPORT_VERBOSITY
}
if (y0 < Y_MIN_POS_FOR_BED_CALIBRATION) {
y0 = Y_MIN_POS_FOR_BED_CALIBRATION;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) SERIAL_ECHOLNPGM("Y searching radius lower than Y_MIN. Clamping was done.");
#endif // SUPPORT_VERBOSITY
}
if (y1 > Y_MAX_POS) {
y1 = Y_MAX_POS;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) SERIAL_ECHOLNPGM("Y searching radius higher than X_MAX. Clamping was done.");
#endif // SUPPORT_VERBOSITY
}
nsteps_y = int(ceil((y1 - y0) / FIND_BED_INDUCTION_SENSOR_POINT_XY_STEP));
enable_endstops(false);
bool dir_positive = true;
// go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60);
go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
// Continously lower the Z axis.
endstops_hit_on_purpose();
enable_z_endstop(true);
while (current_position[Z_AXIS] > -10.f) {
// Do nsteps_y zig-zag movements.
current_position[Y_AXIS] = y0;
for (i = 0; i < nsteps_y; current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP / float(nsteps_y);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = !dir_positive;
if (endstop_z_hit_on_purpose())
goto endloop;
}
for (i = 0; i < nsteps_y; current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++i) {
// Run with a slightly decreasing Z axis, zig-zag movement. Stop at the Z end-stop.
current_position[Z_AXIS] -= FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP / float(nsteps_y);
go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = !dir_positive;
if (endstop_z_hit_on_purpose())
goto endloop;
}
}
endloop:
// SERIAL_ECHOLN("First hit");
// we have to let the planner know where we are right now as it is not where we said to go.
update_current_position_xyz();
// Search in this plane for the first hit. Zig-zag first in X, then in Y axis.
for (int8_t iter = 0; iter < 3; ++iter) {
if (iter > 0) {
// Slightly lower the Z axis to get a reliable trigger.
current_position[Z_AXIS] -= 0.02f;
go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS] / 60);
}
// Do nsteps_y zig-zag movements.
float a, b;
enable_endstops(false);
enable_z_endstop(false);
current_position[Y_AXIS] = y0;
go_xy(x0, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
found = false;
for (i = 0, dir_positive = true; i < nsteps_y; current_position[Y_AXIS] += (y1 - y0) / float(nsteps_y - 1), ++i, dir_positive = !dir_positive) {
go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
if (endstop_z_hit_on_purpose()) {
found = true;
break;
}
}
update_current_position_xyz();
if (! found) {
SERIAL_ECHOLN("Search in Y2 - not found");
continue;
}
lcd_show_fullscreen_message_and_wait_P(PSTR("first Y2 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search in Y2 - found");
b = current_position[Y_AXIS];
current_position[Y_AXIS] = 0.5f * (a + b);
found = true;
break;
}
}
update_current_position_xyz();
if (!found) {
// SERIAL_ECHOLN("Search in Y - not found");
continue;
}
// SERIAL_ECHOLN("Search in Y - found");
a = current_position[Y_AXIS];
// Search in the X direction along a cross.
found = false;
enable_z_endstop(false);
go_xy(x0, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
go_xy(x1, current_position[Y_AXIS], feedrate/10);
update_current_position_xyz();
if (! endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 0 - not found");
continue;
}
lcd_show_fullscreen_message_and_wait_P(PSTR("X1 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search X span 0 - found");
a = current_position[X_AXIS];
enable_z_endstop(false);
go_xy(x1, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
go_xy(x0, current_position[Y_AXIS], feedrate/10);
update_current_position_xyz();
if (! endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 1 - not found");
continue;
}
lcd_show_fullscreen_message_and_wait_P(PSTR("X2 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search X span 1 - found");
b = current_position[X_AXIS];
// Go to the center.
enable_z_endstop(false);
current_position[X_AXIS] = 0.5f * (a + b);
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate);
found = true;
enable_z_endstop(false);
current_position[Y_AXIS] = y1;
go_xy(x0, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
found = false;
for (i = 0, dir_positive = true; i < nsteps_y; current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++i, dir_positive = !dir_positive) {
go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
if (endstop_z_hit_on_purpose()) {
found = true;
break;
}
}
update_current_position_xyz();
if (!found) {
// SERIAL_ECHOLN("Search in Y2 - not found");
continue;
}
// SERIAL_ECHOLN("Search in Y2 - found");
b = current_position[Y_AXIS];
current_position[Y_AXIS] = 0.5f * (a + b);
// Search in the X direction along a cross.
found = false;
enable_z_endstop(false);
go_xy(x0, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
go_xy(x1, current_position[Y_AXIS], feedrate);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 0 - not found");
continue;
}
// SERIAL_ECHOLN("Search X span 0 - found");
a = current_position[X_AXIS];
enable_z_endstop(false);
go_xy(x1, current_position[Y_AXIS], feedrate);
enable_z_endstop(true);
go_xy(x0, current_position[Y_AXIS], feedrate);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 1 - not found");
continue;
}
// SERIAL_ECHOLN("Search X span 1 - found");
b = current_position[X_AXIS];
// Go to the center.
enable_z_endstop(false);
current_position[X_AXIS] = 0.5f * (a + b);
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate);
found = true;
#if 1
// Search in the Y direction along a cross.
found = false;
enable_z_endstop(false);
go_xy(current_position[X_AXIS], y0, feedrate);
enable_z_endstop(true);
go_xy(current_position[X_AXIS], y1, feedrate);
update_current_position_xyz();
if (! endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search Y2 span 0 - not found");
continue;
}
lcd_show_fullscreen_message_and_wait_P(PSTR("Y1 found"));
lcd_update_enable(true);
// SERIAL_ECHOLN("Search Y2 span 0 - found");
a = current_position[Y_AXIS];
enable_z_endstop(false);
go_xy(current_position[X_AXIS], y1, feedrate);
enable_z_endstop(true);
go_xy(current_position[X_AXIS], y0, feedrate);
update_current_position_xyz();
if (! endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search Y2 span 1 - not found");
continue;
}
// SERIAL_ECHOLN("Search Y2 span 1 - found");
b = current_position[Y_AXIS];
lcd_show_fullscreen_message_and_wait_P(PSTR("Y2 found"));
lcd_update_enable(true);
// Go to the center.
enable_z_endstop(false);
current_position[Y_AXIS] = 0.5f * (a + b);
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate);
found = true;
// Search in the Y direction along a cross.
found = false;
enable_z_endstop(false);
go_xy(current_position[X_AXIS], y0, feedrate);
enable_z_endstop(true);
go_xy(current_position[X_AXIS], y1, feedrate);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search Y2 span 0 - not found");
continue;
}
// SERIAL_ECHOLN("Search Y2 span 0 - found");
a = current_position[Y_AXIS];
enable_z_endstop(false);
go_xy(current_position[X_AXIS], y1, feedrate);
enable_z_endstop(true);
go_xy(current_position[X_AXIS], y0, feedrate);
update_current_position_xyz();
if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search Y2 span 1 - not found");
continue;
}
// SERIAL_ECHOLN("Search Y2 span 1 - found");
b = current_position[Y_AXIS];
// Go to the center.
enable_z_endstop(false);
current_position[Y_AXIS] = 0.5f * (a + b);
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate);
found = true;
#endif
break;
}
}
break;
}
}
enable_z_endstop(false);
return found;
enable_z_endstop(false);
return found;
}
#endif //HEATBED_V2
// Search around the current_position[X,Y,Z].
// It is expected, that the induction sensor is switched on at the current position.
// Look around this center point by painting a star around the point.
@ -2211,6 +2387,9 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
// by a cross center method.
// Use a zig-zag search for the first row of the points.
found = improve_bed_induction_sensor_point3(verbosity_level);
//found = improve_bed_induction_sensor_point2(mesh_point < 2, verbosity_level);
SERIAL_ECHOPGM("ITER: ");
SERIAL_ECHO(iter);
} else {
switch (method) {
case 0: found = improve_bed_induction_sensor_point(); break;
@ -2219,6 +2398,9 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
}
}
if (found) {
lcd_show_fullscreen_message_and_wait_P(PSTR("found"));
lcd_update_enable(true);
if (iter > 3) {
// Average the last 4 measurements.
pts[mesh_point*2 ] += current_position[X_AXIS];

12
Firmware/stepper.cpp
View File

@ -98,6 +98,7 @@ static bool old_z_max_endstop=false;
static bool check_endstops = true;
static bool check_z_endstop = false;
static bool z_endstop_invert = false;
int8_t SilentMode = 0;
@ -283,6 +284,15 @@ bool enable_endstops(bool check)
bool enable_z_endstop(bool check)
{
bool old = check_z_endstop;
check_z_endstop = check;
endstop_z_hit = false;
return old;
}
bool enable_z_endstop(bool check, bool endstop_invert)
{
z_endstop_invert = endstop_invert;
bool old = check_z_endstop;
check_z_endstop = check;
endstop_z_hit=false;
@ -606,7 +616,7 @@ void isr() {
// Stall guard homing turned on
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
z_min_endstop = (READ(Z_MIN_PIN) != z_endstop_invert);
#endif //TMC2130_SG_HOMING
if(z_min_endstop && old_z_min_endstop) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];

1
Firmware/stepper.h
View File

@ -93,6 +93,7 @@ bool endstop_z_hit_on_purpose();
bool enable_endstops(bool check); // Enable/disable endstop checking. Return the old value.
bool enable_z_endstop(bool check);
bool enable_z_endstop(bool check, bool endstop_invert);
void checkStepperErrors(); //Print errors detected by the stepper