From 564af168905b82e78ed0ae07b850c496f3410a74 Mon Sep 17 00:00:00 2001 From: Tor-p <63096807+Tor-p@users.noreply.github.com> Date: Mon, 6 Apr 2020 22:32:06 +0200 Subject: [PATCH] Fix G76 probe height / position (#17392) --- Marlin/Configuration_adv.h | 11 +---- Marlin/src/feature/probe_temp_comp.cpp | 10 ++-- Marlin/src/feature/probe_temp_comp.h | 34 +++++++------- Marlin/src/gcode/calibrate/G76_M871.cpp | 61 ++++++++++++------------- Marlin/src/inc/SanityCheck.h | 15 ++++++ buildroot/share/tests/rambo-tests | 2 +- 6 files changed, 67 insertions(+), 66 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 7d1547c0d027..c715fe333298 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -1600,18 +1600,11 @@ // Add additional compensation depending on hotend temperature // Note: this values cannot be calibrated and have to be set manually #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 - #define PTC_PARK_POS_X 0.0F - #define PTC_PARK_POS_Y 0.0F - #define PTC_PARK_POS_Z 100.0F + #define PTC_PARK_POS { 0, 0, 100 } // Probe position to probe and wait for probe to reach target temperature - #define PTC_PROBE_POS_X 90.0F - #define PTC_PROBE_POS_Y 100.0F + #define PTC_PROBE_POS { 90, 100 } // Enable additional compensation using hotend temperature // Note: this values cannot be calibrated automatically but have to be set manually diff --git a/Marlin/src/feature/probe_temp_comp.cpp b/Marlin/src/feature/probe_temp_comp.cpp index 6b787f420a33..b773536a5d54 100644 --- a/Marlin/src/feature/probe_temp_comp.cpp +++ b/Marlin/src/feature/probe_temp_comp.cpp @@ -29,11 +29,11 @@ ProbeTempComp temp_comp; -int16_t ProbeTempComp::z_offsets_probe[ProbeTempComp::cali_info_init[TSI_PROBE].measurements], // = {0} - ProbeTempComp::z_offsets_bed[ProbeTempComp::cali_info_init[TSI_BED].measurements]; // = {0} +int16_t ProbeTempComp::z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // = {0} + ProbeTempComp::z_offsets_bed[cali_info_init[TSI_BED].measurements]; // = {0} #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 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] = { - 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) - , ProbeTempComp::cali_info_init[TSI_EXT] + , cali_info_init[TSI_EXT] #endif }; diff --git a/Marlin/src/feature/probe_temp_comp.h b/Marlin/src/feature/probe_temp_comp.h index 2ed10eeb990a..dff21b92ad6a 100644 --- a/Marlin/src/feature/probe_temp_comp.h +++ b/Marlin/src/feature/probe_temp_comp.h @@ -44,30 +44,28 @@ typedef struct { * Z-probes like the P.I.N.D.A V2 allow for compensation of * 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 { 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]; // Where to park nozzle to wait for probe cooldown - static constexpr float park_point_x = PTC_PARK_POS_X, - 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 - probe_calib_bed_temp = max_bed_temp, // Bed temperature while calibrating probe + static constexpr xyz_pos_t park_point = PTC_PARK_POS; + + // XY coordinates of nozzle for probing the bed + 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 static int16_t *sensor_z_offsets[TSI_COUNT], diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp index 4bc27b82f5f9..50b099bd1c7c 100644 --- a/Marlin/src/gcode/calibrate/G76_M871.cpp +++ b/Marlin/src/gcode/calibrate/G76_M871.cpp @@ -103,13 +103,19 @@ void GcodeSuite::G76() { 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 - 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)) SERIAL_ECHOLNPGM("!Received NAN. Aborting."); - else + else { 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; }; @@ -125,8 +131,9 @@ void GcodeSuite::G76() { // Synchronize with planner planner.synchronize(); - const xyz_pos_t parkpos = { temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z }; - const xy_pos_t ppos = { temp_comp.measure_point_x, temp_comp.measure_point_y }; + const xyz_pos_t parkpos = temp_comp.park_point, + 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) { // Ensure park position is reachable @@ -135,7 +142,7 @@ void GcodeSuite::G76() { SERIAL_ECHOLNPGM("!Park"); else { // Ensure probe position is reachable - reachable = probe.can_reach(ppos); + reachable = probe.can_reach(probe_pos_xyz); if (!reachable) SERIAL_ECHOLNPGM("!Probe"); } @@ -149,8 +156,6 @@ void GcodeSuite::G76() { remember_feedrate_scaling_off(); - // Nozzle position based on probe position - const xy_pos_t noz_pos = ppos - probe.offset_xy; /****************************************** * Calibrate bed temperature offsets @@ -159,9 +164,13 @@ void GcodeSuite::G76() { // Report temperatures every second and handle heating timeouts 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) { - 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; SERIAL_ECHOLNPGM("Waiting for cooling."); @@ -176,7 +185,7 @@ void GcodeSuite::G76() { for (;;) { thermalManager.setTargetBed(target_bed); - SERIAL_ECHOLNPAIR("Target Bed:", target_bed, " Probe:", target_probe); + report_targets(target_bed, target_probe); // Park nozzle 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 - do_blocking_move_to_xy(noz_pos); + do_blocking_move_to(noz_pos_xyz); SERIAL_ECHOLNPGM("Waiting for probe heating."); while (thermalManager.degProbe() < target_probe) report_temps(next_temp_report); - const float measured_z = g76_probe(noz_pos); - if (isnan(measured_z)) 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; + const float measured_z = g76_probe(TSI_BED, target_bed, noz_pos_xyz); + if (isnan(measured_z) || target_bed > BED_MAXTEMP - 10) break; } 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; 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_temps(target_bed, target_probe, next_temp_report); @@ -244,7 +247,7 @@ void GcodeSuite::G76() { bool timeout = false; for (;;) { // 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); const millis_t probe_timeout_ms = millis() + 900UL * 1000UL; @@ -257,16 +260,8 @@ void GcodeSuite::G76() { } if (timeout) break; - const float measured_z = g76_probe(noz_pos); - if (isnan(measured_z)) 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; + const float measured_z = g76_probe(TSI_PROBE, target_probe, noz_pos_xyz); + if (isnan(measured_z) || target_probe > cali_info_init[TSI_PROBE].end_temp) break; } SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index()); diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index 088ad098db92..185f5c0b4dce 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -491,6 +491,21 @@ #error "DUGS_UI_MOVE_DIS_OPTION is spelled DGUS_UI_MOVE_DIS_OPTION. Please update Configuration_adv.h." #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 */ diff --git a/buildroot/share/tests/rambo-tests b/buildroot/share/tests/rambo-tests index 8092059627ea..57c363c3a467 100644 --- a/buildroot/share/tests/rambo-tests +++ b/buildroot/share/tests/rambo-tests @@ -50,7 +50,7 @@ opt_set GRID_MAX_POINTS_X 16 opt_set FANMUX0_PIN 53 opt_disable USE_WATCHDOG 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 \ 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 \