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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
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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; 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); 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(); st_synchronize();
#ifndef HEATBED_V2
if (result >= 0) if (result >= 0)
{ {
point_too_far_mask = 0; point_too_far_mask = 0;
@ -2246,6 +2247,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
st_synchronize(); st_synchronize();
// if (result >= 0) babystep_apply(); // if (result >= 0) babystep_apply();
} }
#endif //HEATBED_V2
lcd_bed_calibration_show_result(result, point_too_far_mask); lcd_bed_calibration_show_result(result, point_too_far_mask);
if (result >= 0) 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_Z_STEP (2.f)
#define FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR (0.01f) #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) inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
{ {
#ifdef SUPPORT_VERBOSITY #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 #endif // SUPPORT_VERBOSITY
float feedrate = homing_feedrate[X_AXIS] / 60.f; 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 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 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 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; float y1 = current_position[Y_AXIS] + FIND_BED_INDUCTION_SENSOR_POINT_Y_RADIUS;
uint8_t nsteps_y; uint8_t nsteps_y;
uint8_t i; uint8_t i;
if (x0 < X_MIN_POS) { if (x0 < X_MIN_POS) {
x0 = X_MIN_POS; x0 = X_MIN_POS;
#ifdef SUPPORT_VERBOSITY #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."); if (verbosity_level >= 20) SERIAL_ECHOLNPGM("Y searching radius higher than X_MAX. Clamping was done.");
#endif // SUPPORT_VERBOSITY #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); enable_endstops(false);
bool dir_positive = true; bool dir_positive = true;
float z_error = 2 * FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP; 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 find_bed_induction_sensor_point_z_step = FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP;
float initial_z_position = current_position[Z_AXIS]; 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(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); go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
// Continously lower the Z axis. // Continously lower the Z axis.
endstops_hit_on_purpose(); endstops_hit_on_purpose();
enable_z_endstop(true); enable_z_endstop(true);
while (current_position[Z_AXIS] > -10.f && z_error > FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR) { while (current_position[Z_AXIS] > -10.f && z_error > FIND_BED_INDUCTION_SENSOR_POINT_MAX_Z_ERROR) {
// Do nsteps_y zig-zag movements. // Do nsteps_y zig-zag movements.
/*SERIAL_ECHOLNPGM("---------------");
SERIAL_ECHOPGM("Y coordinate:"); //SERIAL_ECHOPGM("z_error: ");
MYSERIAL.println(current_position[Y_AXIS]); //MYSERIAL.println(z_error);
SERIAL_ECHOPGM("Z coordinate:"); current_position[Y_AXIS] = y0;
MYSERIAL.println(current_position[Z_AXIS]);*/
SERIAL_ECHOPGM("z_error: ");
MYSERIAL.println(z_error);
current_position[Y_AXIS] = y0;
initial_z_position = current_position[Z_AXIS]; 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) { 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. // 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); 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); go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = ! dir_positive; dir_positive = !dir_positive;
if (endstop_z_hit_on_purpose()) { if (endstop_z_hit_on_purpose()) {
update_current_position_xyz(); update_current_position_xyz();
z_error = 2 * (initial_z_position - current_position[Z_AXIS]); 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; goto endloop;
} }
} }
initial_z_position = current_position[Z_AXIS]; 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) { 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. // 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); 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); go_xyz(dir_positive ? x1 : x0, current_position[Y_AXIS], current_position[Z_AXIS], feedrate);
dir_positive = ! dir_positive; dir_positive = !dir_positive;
if (endstop_z_hit_on_purpose()) { if (endstop_z_hit_on_purpose()) {
update_current_position_xyz(); update_current_position_xyz();
z_error = 2 * (initial_z_position - current_position[Z_AXIS]); 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; goto endloop;
} }
} }
endloop: ; endloop:;
/*SERIAL_ECHOPGM("Y coordinate:"); }
MYSERIAL.println(current_position[Y_AXIS]); #ifdef SUPPORT_VERBOSITY
SERIAL_ECHOPGM("Z coordinate:"); if (verbosity_level >= 20) {
MYSERIAL.println(current_position[Z_AXIS]);*/ SERIAL_ECHO("First hit");
} SERIAL_ECHO("- X: ");
// endloop: MYSERIAL.print(current_position[X_AXIS]);
SERIAL_ECHO("First hit"); SERIAL_ECHO("; Y: ");
SERIAL_ECHO("- X: "); MYSERIAL.print(current_position[Y_AXIS]);
MYSERIAL.print(current_position[X_AXIS]); SERIAL_ECHO("; Z: ");
SERIAL_ECHO("; Y: "); MYSERIAL.println(current_position[Z_AXIS]);
MYSERIAL.print(current_position[Y_AXIS]); }
SERIAL_ECHO("; Z: "); #endif //SUPPORT_VERBOSITY
MYSERIAL.println(current_position[Z_AXIS]); //lcd_show_fullscreen_message_and_wait_P(PSTR("First hit"));
//lcd_update_enable(true);
lcd_show_fullscreen_message_and_wait_P(PSTR("First hit")); float init_x_position = current_position[X_AXIS];
lcd_update_enable(true); float init_y_position = current_position[Y_AXIS];
// we have to let the planner know where we are right now as it is not where we said to go.
//scan update_current_position_xyz();
//if (current_position[X_AXIS] > 100 && current_position[Y_AXIS] > 100) { enable_z_endstop(false);
// scan();
//} for (int8_t iter = 0; iter < 2; ++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();
// 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: ");
MYSERIAL.println(iter); MYSERIAL.println(iter);
if (iter > 0) { SERIAL_ECHOPGM("1 - current_position[Z_AXIS]: ");
// Slightly lower the Z axis to get a reliable trigger. MYSERIAL.println(current_position[Z_AXIS]);*/
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("current_position[Z_AXIS]: "); // Slightly lower the Z axis to get a reliable trigger.
MYSERIAL.println(current_position[Z_AXIS]); current_position[Z_AXIS] -= 0.05f;
// Do nsteps_y zig-zag movements. go_xyz(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], homing_feedrate[Z_AXIS] / (60 * 10));
float a, b;
enable_endstops(false); SERIAL_ECHOPGM("2 - current_position[Z_AXIS]: ");
enable_z_endstop(false); MYSERIAL.println(current_position[Z_AXIS]);
current_position[Y_AXIS] = y0; // Do nsteps_y zig-zag movements.
go_xy(x0, current_position[Y_AXIS], feedrate); float a, b;
enable_z_endstop(true); float avg[2] = { 0,0 };
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) { for (int iteration = 0; iteration < 8; iteration++) {
go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
//SERIAL_ECHOPGM("current position Z: "); found = false;
//MYSERIAL.println(current_position[Z_AXIS]); enable_z_endstop(true, true);
if (endstop_z_hit_on_purpose()) { go_xy(x0, current_position[Y_AXIS], feedrate / 3);
found = true; update_current_position_xyz();
break; if (!endstop_z_hit_on_purpose()) {
} // SERIAL_ECHOLN("Search X span 0 - not found");
} continue;
update_current_position_xyz(); }
if (! found) {
SERIAL_ECHOLN("Search in Y - not found"); //lcd_show_fullscreen_message_and_wait_P(PSTR("X1 found"));
continue; //lcd_update_enable(true);
} // SERIAL_ECHOLN("Search X span 0 - found");
// SERIAL_ECHOLN("Search in Y - found"); a = current_position[X_AXIS];
lcd_show_fullscreen_message_and_wait_P(PSTR("first Y1 found")); 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); lcd_update_enable(true);
a = current_position[Y_AXIS];
enable_z_endstop(false); break;
current_position[Y_AXIS] = y1; }
go_xy(x0, current_position[Y_AXIS], feedrate); }
enable_z_endstop(true);
found = false; enable_z_endstop(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) { return found;
go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
SERIAL_ECHOPGM("current position Z: "); }
MYSERIAL.println(current_position[Z_AXIS]); #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()) { if (endstop_z_hit_on_purpose()) {
found = true; found = true;
break; break;
} }
} }
update_current_position_xyz(); update_current_position_xyz();
if (! found) { if (!found) {
SERIAL_ECHOLN("Search in Y2 - not found"); // SERIAL_ECHOLN("Search in Y - not found");
continue; continue;
} }
lcd_show_fullscreen_message_and_wait_P(PSTR("first Y2 found")); // SERIAL_ECHOLN("Search in Y - found");
lcd_update_enable(true); a = current_position[Y_AXIS];
// 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. enable_z_endstop(false);
found = false; current_position[Y_AXIS] = y1;
enable_z_endstop(false); go_xy(x0, current_position[Y_AXIS], feedrate);
go_xy(x0, current_position[Y_AXIS], feedrate); enable_z_endstop(true);
enable_z_endstop(true); found = false;
go_xy(x1, current_position[Y_AXIS], feedrate/10); for (i = 0, dir_positive = true; i < nsteps_y; current_position[Y_AXIS] -= (y1 - y0) / float(nsteps_y - 1), ++i, dir_positive = !dir_positive) {
update_current_position_xyz(); go_xy(dir_positive ? x1 : x0, current_position[Y_AXIS], feedrate);
if (! endstop_z_hit_on_purpose()) { if (endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 0 - not found"); found = true;
continue; break;
} }
lcd_show_fullscreen_message_and_wait_P(PSTR("X1 found")); }
lcd_update_enable(true); update_current_position_xyz();
// SERIAL_ECHOLN("Search X span 0 - found"); if (!found) {
a = current_position[X_AXIS]; // SERIAL_ECHOLN("Search in Y2 - not found");
enable_z_endstop(false); continue;
go_xy(x1, current_position[Y_AXIS], feedrate); }
enable_z_endstop(true); // SERIAL_ECHOLN("Search in Y2 - found");
go_xy(x0, current_position[Y_AXIS], feedrate/10); b = current_position[Y_AXIS];
update_current_position_xyz(); current_position[Y_AXIS] = 0.5f * (a + b);
if (! endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search X span 1 - not found"); // Search in the X direction along a cross.
continue; found = false;
} enable_z_endstop(false);
lcd_show_fullscreen_message_and_wait_P(PSTR("X2 found")); go_xy(x0, current_position[Y_AXIS], feedrate);
lcd_update_enable(true); enable_z_endstop(true);
// SERIAL_ECHOLN("Search X span 1 - found"); go_xy(x1, current_position[Y_AXIS], feedrate);
b = current_position[X_AXIS]; update_current_position_xyz();
// Go to the center. if (!endstop_z_hit_on_purpose()) {
enable_z_endstop(false); // SERIAL_ECHOLN("Search X span 0 - not found");
current_position[X_AXIS] = 0.5f * (a + b); continue;
go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate); }
found = 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);
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 #if 1
// Search in the Y direction along a cross. // Search in the Y direction along a cross.
found = false; found = false;
enable_z_endstop(false); enable_z_endstop(false);
go_xy(current_position[X_AXIS], y0, feedrate); go_xy(current_position[X_AXIS], y0, feedrate);
enable_z_endstop(true); enable_z_endstop(true);
go_xy(current_position[X_AXIS], y1, feedrate); go_xy(current_position[X_AXIS], y1, feedrate);
update_current_position_xyz(); update_current_position_xyz();
if (! endstop_z_hit_on_purpose()) { if (!endstop_z_hit_on_purpose()) {
// SERIAL_ECHOLN("Search Y2 span 0 - not found"); // SERIAL_ECHOLN("Search Y2 span 0 - not found");
continue; continue;
} }
lcd_show_fullscreen_message_and_wait_P(PSTR("Y1 found")); // SERIAL_ECHOLN("Search Y2 span 0 - found");
lcd_update_enable(true); a = current_position[Y_AXIS];
// SERIAL_ECHOLN("Search Y2 span 0 - found"); enable_z_endstop(false);
a = current_position[Y_AXIS]; go_xy(current_position[X_AXIS], y1, feedrate);
enable_z_endstop(false); enable_z_endstop(true);
go_xy(current_position[X_AXIS], y1, feedrate); go_xy(current_position[X_AXIS], y0, feedrate);
enable_z_endstop(true); update_current_position_xyz();
go_xy(current_position[X_AXIS], y0, feedrate); if (!endstop_z_hit_on_purpose()) {
update_current_position_xyz(); // SERIAL_ECHOLN("Search Y2 span 1 - not found");
if (! endstop_z_hit_on_purpose()) { continue;
// SERIAL_ECHOLN("Search Y2 span 1 - not found"); }
continue; // SERIAL_ECHOLN("Search Y2 span 1 - found");
} b = current_position[Y_AXIS];
// SERIAL_ECHOLN("Search Y2 span 1 - found"); // Go to the center.
b = current_position[Y_AXIS]; enable_z_endstop(false);
lcd_show_fullscreen_message_and_wait_P(PSTR("Y2 found")); current_position[Y_AXIS] = 0.5f * (a + b);
lcd_update_enable(true); go_xy(current_position[X_AXIS], current_position[Y_AXIS], feedrate);
found = 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;
#endif #endif
break; break;
} }
} }
enable_z_endstop(false); enable_z_endstop(false);
return found; return found;
} }
#endif //HEATBED_V2
// Search around the current_position[X,Y,Z]. // Search around the current_position[X,Y,Z].
// It is expected, that the induction sensor is switched on at the current position. // 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. // 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. // by a cross center method.
// Use a zig-zag search for the first row of the points. // 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_point3(verbosity_level);
//found = improve_bed_induction_sensor_point2(mesh_point < 2, verbosity_level);
SERIAL_ECHOPGM("ITER: ");
SERIAL_ECHO(iter);
} else { } else {
switch (method) { switch (method) {
case 0: found = improve_bed_induction_sensor_point(); break; 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) { if (found) {
lcd_show_fullscreen_message_and_wait_P(PSTR("found"));
lcd_update_enable(true);
if (iter > 3) { if (iter > 3) {
// Average the last 4 measurements. // Average the last 4 measurements.
pts[mesh_point*2 ] += current_position[X_AXIS]; 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_endstops = true;
static bool check_z_endstop = false; static bool check_z_endstop = false;
static bool z_endstop_invert = false;
int8_t SilentMode = 0; int8_t SilentMode = 0;
@ -283,6 +284,15 @@ bool enable_endstops(bool check)
bool enable_z_endstop(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; bool old = check_z_endstop;
check_z_endstop = check; check_z_endstop = check;
endstop_z_hit=false; endstop_z_hit=false;
@ -606,7 +616,7 @@ void isr() {
// Stall guard homing turned on // Stall guard homing turned on
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0); z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
#else #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 #endif //TMC2130_SG_HOMING
if(z_min_endstop && old_z_min_endstop) { if(z_min_endstop && old_z_min_endstop) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; 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_endstops(bool check); // Enable/disable endstop checking. Return the old value.
bool enable_z_endstop(bool check); bool enable_z_endstop(bool check);
bool enable_z_endstop(bool check, bool endstop_invert);
void checkStepperErrors(); //Print errors detected by the stepper void checkStepperErrors(); //Print errors detected by the stepper