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🎨 Refine probe, more debug

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This commit is contained in:
Scott Lahteine 2023-03-29 22:55:36 -05:00
parent a8ac83bbca
commit 49f1cc8efe
5 changed files with 44 additions and 29 deletions
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9
Marlin/src/gcode/calibrate/G34_M422.cpp
View file

@ -147,18 +147,13 @@ void GcodeSuite::G34() {
TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
// In BLTOUCH HS mode, the probe travels in a deployed state.
// Users of G34 might have a badly misaligned bed, so raise Z by the
// length of the deployed pin (BLTOUCH stroke < 7mm)
#define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + TERN0(BLTOUCH, bltouch.z_extra_clearance()))
// Compute a worst-case clearance height to probe from. After the first
// iteration this will be re-calculated based on the actual bed position
auto magnitude2 = [&](const uint8_t i, const uint8_t j) {
const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j];
return HYPOT2(diff.x, diff.y);
};
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1)
float z_probe = Z_PROBE_SAFE_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1)
#if TRIPLE_Z
, magnitude2(2, 1), magnitude2(2, 0)
#if QUAD_Z
@ -253,7 +248,7 @@ void GcodeSuite::G34() {
// Adapt the next probe clearance height based on the new measurements.
// Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment.
z_maxdiff = z_measured_max - z_measured_min;
z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff;
z_probe = Z_PROBE_SAFE_CLEARANCE + z_measured_max + z_maxdiff;
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
// Replace the initial values in z_measured with calculated heights at

1
Marlin/src/gcode/calibrate/G76_M871.cpp
View file

@ -34,7 +34,6 @@
#include "../../module/probe.h"
#include "../../feature/bedlevel/bedlevel.h"
#include "../../module/temperature.h"
#include "../../module/probe.h"
#include "../../feature/probe_temp_comp.h"
#include "../../lcd/marlinui.h"

11
Marlin/src/module/motion.cpp
View file

@ -672,6 +672,7 @@ void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*
do_blocking_move_to(NUM_AXIS_ELEM(raw), fr_mm_s);
}
void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_x(", rx, ", ", fr_mm_s, ")");
do_blocking_move_to(
NUM_AXIS_LIST(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w),
@ -681,6 +682,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
#if HAS_Y_AXIS
void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_y(", ry, ", ", fr_mm_s, ")");
do_blocking_move_to(
NUM_AXIS_LIST(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w),
@ -691,6 +693,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
#if HAS_Z_AXIS
void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s/*=0.0*/) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_z(", rz, ", ", fr_mm_s, ")");
do_blocking_move_to_xy_z(current_position, rz, fr_mm_s);
}
#endif
@ -769,6 +772,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
#if HAS_Y_AXIS
void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_blocking_move_to_xy(", rx, ", ", ry, ", ", fr_mm_s, ")");
do_blocking_move_to(
NUM_AXIS_LIST(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w),
@ -789,9 +793,10 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
);
}
void do_z_clearance(const_float_t zclear, const bool lower_allowed/*=false*/) {
float zdest = zclear;
if (!lower_allowed) NOLESS(zdest, current_position.z);
do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS)));
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_z_clearance(", zclear, ", ", lower_allowed, ")");
const float zdest = _MIN(zclear, Z_MAX_POS);
if (zdest == current_position.z || (!lower_allowed && zdest < current_position.z)) return;
do_blocking_move_to_z(zdest, TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS)));
}
#endif

46
Marlin/src/module/probe.cpp
View file

@ -361,6 +361,7 @@ void Probe::do_z_raise(const float z_raise) {
}
FORCE_INLINE void probe_specific_action(const bool deploy) {
DEBUG_SECTION(log_psa, "Probe::probe_specific_action", DEBUGGING(LEVELING));
#if ENABLED(PAUSE_BEFORE_DEPLOY_STOW)
do {
#if ENABLED(PAUSE_PROBE_DEPLOY_WHEN_TRIGGERED)
@ -505,7 +506,6 @@ void Probe::probe_error_stop() {
* Return TRUE if the probe could not be deployed/stowed
*/
bool Probe::set_deployed(const bool deploy, const bool no_return/*=false*/) {
if (DEBUGGING(LEVELING)) {
DEBUG_POS("Probe::set_deployed", current_position);
DEBUG_ECHOLNPGM("deploy=", deploy, " no_return=", no_return);
@ -688,12 +688,12 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
bool Probe::tare() {
#if BOTH(PROBE_ACTIVATION_SWITCH, PROBE_TARE_ONLY_WHILE_INACTIVE)
if (endstops.probe_switch_activated()) {
SERIAL_ECHOLNPGM("Cannot tare an active probe");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Cannot tare an active probe");
return true;
}
#endif
SERIAL_ECHOLNPGM("Taring probe");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Taring probe");
WRITE(PROBE_TARE_PIN, PROBE_TARE_STATE);
delay(PROBE_TARE_TIME);
WRITE(PROBE_TARE_PIN, !PROBE_TARE_STATE);
@ -718,6 +718,8 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
const float zoffs = SUM_TERN(HAS_HOTEND_OFFSET, -offset.z, hotend_offset[active_extruder].z);
auto try_to_probe = [&](PGM_P const plbl, const_float_t z_probe_low_point, const feedRate_t fr_mm_s, const bool scheck, const float clearance) -> bool {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("try_to_probe(..., ", z_probe_low_point, ", ", fr_mm_s, ", ", scheck, ", ", clearance);
// Tare the probe, if supported
if (TERN0(PROBE_TARE, tare())) return true;
@ -742,6 +744,8 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
// If Z isn't known then probe to -10mm.
const float z_probe_low_point = axis_is_trusted(Z_AXIS) ? zoffs + Z_PROBE_LOW_POINT : -10.0f;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probe Low Point: ", z_probe_low_point);
// Double-probing does a fast probe followed by a slow probe
#if TOTAL_PROBING == 2
@ -749,6 +753,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (TERN0(PROBE_TARE, tare())) return NAN;
// Do a first probe at the fast speed
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Fast Probe:");
if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s,
sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN;
@ -756,17 +761,17 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", first_probe_z);
// Raise to give the probe clearance
do_z_clearance(current_position.z + Z_CLEARANCE_MULTI_PROBE);
do_z_clearance(Z_CLEARANCE_MULTI_PROBE);
#elif Z_PROBE_FEEDRATE_FAST != Z_PROBE_FEEDRATE_SLOW
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0f + (zoffs > 0 ? zoffs : 0);
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0f + _MAX(zoffs, 0.0f);
if (current_position.z > z) {
// Probe down fast. If the probe never triggered, raise for probe clearance
if (!probe_down_to_z(z, z_probe_fast_mm_s))
do_z_clearance(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
}
#endif
@ -789,6 +794,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (TERN0(PROBE_TARE, tare())) return true;
// Probe downward slowly to find the bed
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Slow Probe:");
if (try_to_probe(PSTR("SLOW"), z_probe_low_point, MMM_TO_MMS(Z_PROBE_FEEDRATE_SLOW),
sanity_check, Z_CLEARANCE_MULTI_PROBE) ) return NAN;
@ -798,7 +804,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
#if EXTRA_PROBING > 0
// Insert Z measurement into probes[]. Keep it sorted ascending.
LOOP_LE_N(i, p) { // Iterate the saved Zs to insert the new Z
LOOP_LE_N(i, p) { // Iterate the saved Zs to insert the new Z
if (i == p || probes[i] > z) { // Last index or new Z is smaller than this Z
for (int8_t m = p; --m >= i;) probes[m + 1] = probes[m]; // Shift items down after the insertion point
probes[i] = z; // Insert the new Z measurement
@ -817,7 +823,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
#if EXTRA_PROBING > 0
< TOTAL_PROBING - 1
#endif
) do_z_clearance(z + Z_CLEARANCE_MULTI_PROBE);
) do_z_clearance(Z_CLEARANCE_MULTI_PROBE);
#endif
}
@ -919,7 +925,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
#endif
// Use a safe Z height for the XY move
const float safe_z = _MAX(current_position.z, SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance()));
const float safe_z = _MAX(current_position.z, Z_PROBE_SAFE_CLEARANCE);
// On delta keep Z below clip height or do_blocking_move_to will abort
xyz_pos_t npos = NUM_AXIS_ARRAY(
@ -928,12 +934,16 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
current_position.u, current_position.v, current_position.w
);
if (!can_reach(npos, probe_relative)) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Not Reachable");
return NAN;
}
if (probe_relative) // Get the nozzle position, adjust for active hotend if not 0
if (DEBUGGING(LEVELING)) DEBUG_ECHOPGM("Move to probe");
if (probe_relative) { // Get the nozzle position, adjust for active hotend if not 0
if (DEBUGGING(LEVELING)) DEBUG_ECHOPGM("-relative");
npos -= DIFF_TERN(HAS_HOTEND_OFFSET, offset_xy, xy_pos_t(hotend_offset[active_extruder]));
}
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(" point");
// Move the probe to the starting XYZ
do_blocking_move_to(npos, feedRate_t(XY_PROBE_FEEDRATE_MM_S));
@ -953,11 +963,15 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
// Raise and/or stow the probe depending on 'raise_after' and settings.
if (!isnan(measured_z)) {
const ProbePtRaise raise_type = (TERN0(BLTOUCH, !bltouch.high_speed_mode) && raise_after == PROBE_PT_RAISE) ? PROBE_PT_STOW : raise_after;
const bool big_raise = raise_type == PROBE_PT_BIG_RAISE;
if (big_raise || raise_type == PROBE_PT_RAISE)
do_z_clearance(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES));
else if (raise_type == PROBE_PT_STOW || raise_type == PROBE_PT_LAST_STOW)
if (stow()) measured_z = NAN; // Error on stow?
switch (raise_type) {
default: break;
case PROBE_PT_RAISE:
do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
break;
case PROBE_PT_STOW: case PROBE_PT_LAST_STOW:
if (stow()) measured_z = NAN; // Error on stow?
break;
}
if (verbose_level > 2)
SERIAL_ECHOLNPGM("Bed X: ", LOGICAL_X_POSITION(rx), " Y: ", LOGICAL_Y_POSITION(ry), " Z: ", measured_z);

6
Marlin/src/module/probe.h
View file

@ -38,8 +38,7 @@
PROBE_PT_NONE, // No raise or stow after run_z_probe
PROBE_PT_STOW, // Do a complete stow after run_z_probe
PROBE_PT_LAST_STOW, // Stow for sure, even in BLTouch HS mode
PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
PROBE_PT_RAISE // Raise to "between" clearance after run_z_probe
};
#endif
@ -59,6 +58,9 @@
#define Z_POST_CLEARANCE 10
#endif
// In BLTOUCH HS mode, the probe travels in a deployed state.
#define Z_PROBE_SAFE_CLEARANCE SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance())
#if ENABLED(PREHEAT_BEFORE_LEVELING)
#ifndef LEVELING_NOZZLE_TEMP
#define LEVELING_NOZZLE_TEMP 0