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🚸 BD Sensor Z axis stop height (#26015)

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Mark 2023-08-07 12:33:20 +08:00 committed by GitHub
parent 205a679959
commit ffef8f1b29
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 27 additions and 13 deletions
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27
Marlin/src/feature/bedlevel/bdl/bdl.cpp
View file

@ -78,8 +78,8 @@ bool BDS_Leveling::check(const uint16_t data, const bool raw_data/*=false*/, con
return true; // error
}
if (raw_data == true) {
if (hicheck && (data & 0x3FF) > 550)
SERIAL_ECHOLNPGM("BD Sensor mounted too high!");
if (hicheck && (data & 0x3FF) > 400)
SERIAL_ECHOLNPGM("Bad BD Sensor height! Recommended distance 0.5-2.0mm");
else if (!good_data(data))
SERIAL_ECHOLNPGM("Invalid data, please calibrate.");
else
@ -109,7 +109,8 @@ void BDS_Leveling::process() {
static float zpos = 0.0f;
const millis_t ms = millis();
if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
next_check_ms = ms + (config_state < BDS_IDLE ? 200 : 50); // check at 5Hz or 20Hz
// Check at 1KHz, 5Hz, or 20Hz
next_check_ms = ms + (config_state == BDS_HOMING_Z ? 1 : (config_state < BDS_IDLE ? 200 : 50));
uint16_t tmp = 0;
const float cur_z = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
@ -127,16 +128,14 @@ void BDS_Leveling::process() {
babystep.set_mm(Z_AXIS, cur_z - z_sensor);
DEBUG_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
}
else {
babystep.set_mm(Z_AXIS, 0); //if (old_cur_z <= cur_z) Z_DIR_WRITE(HIGH);
//stepper.apply_directions(); // TODO: Remove this line as probably not needed
}
else
babystep.set_mm(Z_AXIS, 0);
}
#endif
old_cur_z = cur_z;
old_buf_z = current_position.z;
endstops.bdp_state_update(z_sensor <= 0.01f);
endstops.bdp_state_update(z_sensor <= BD_SENSOR_HOME_Z_POSITION);
#if HAS_STATUS_MESSAGE
static float old_z_sensor = 0;
@ -149,8 +148,10 @@ void BDS_Leveling::process() {
}
#endif
}
else
stepper.apply_directions();
else if (config_state == BDS_HOMING_Z) {
SERIAL_ECHOLNPGM("Read:", tmp);
kill(F("BDsensor connect Err!"));
}
DEBUG_ECHOLNPGM("BD:", tmp & 0x3FF, " Z:", cur_z, "|", current_position.z);
if (TERN0(DEBUG_OUT_BD, BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0)) DEBUG_ECHOLNPGM("CRC error");
@ -233,11 +234,13 @@ void BDS_Leveling::process() {
sprintf_P(tmp_1, PSTR("G1Z%d.%d"), int(zpos), int(zpos * 10) % 10);
gcode.process_subcommands_now(tmp_1);
SERIAL_ECHO(tmp_1); SERIAL_ECHOLNPGM(", Z:", current_position.z);
for (float tmp_k = 0; abs(zpos - tmp_k) > 0.004f;) {
uint16_t failcount = 300;
for (float tmp_k = 0; abs(zpos - tmp_k) > 0.006f && failcount--;) {
tmp_k = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
safe_delay(10);
if (!failcount--) break;
}
safe_delay(zpos <= 0.4f ? 600 : 100);
safe_delay(600);
tmp = uint16_t((zpos + 0.00001f) * 10);
BD_I2C_SENSOR.BD_i2c_write(tmp);
SERIAL_ECHOLNPGM("w:", tmp, ", Z:", zpos);

4
Marlin/src/feature/bedlevel/bdl/bdl.h
View file

@ -23,6 +23,10 @@
#include <stdint.h>
#ifndef BD_SENSOR_HOME_Z_POSITION
#define BD_SENSOR_HOME_Z_POSITION 0.5
#endif
enum BDS_State : int8_t {
BDS_IDLE,
BDS_VERSION = -1,

1
Marlin/src/gcode/bedlevel/abl/G29.cpp
View file

@ -748,6 +748,7 @@ G29_TYPE GcodeSuite::G29() {
}
//if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(axis == Y_AXIS ? PSTR("Y=") : PSTR("X=", pos);
safe_delay(4);
abl.measured_z = current_position.z - bdl.read();
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("x_cur ", planner.get_axis_position_mm(X_AXIS), " z ", abl.measured_z);

5
Marlin/src/module/motion.cpp
View file

@ -2479,7 +2479,12 @@ void set_axis_is_at_home(const AxisEnum axis) {
#if HAS_BED_PROBE && Z_HOME_TO_MIN
if (axis == Z_AXIS) {
#if HOMING_Z_WITH_PROBE
#if ENABLED(BD_SENSOR)
safe_delay(100);
current_position.z = bdl.read();
#else
current_position.z -= probe.offset.z;
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z homed with PROBE" TERN_(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, " (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)") " ***\n> (M851 Z", probe.offset.z, ")");
#else
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z homed to ENDSTOP ***");

1
Marlin/src/module/probe.cpp
View file

@ -980,6 +980,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
#if ENABLED(BD_SENSOR)
safe_delay(4);
return current_position.z - bdl.read(); // Difference between Z-home-relative Z and sensor reading
#else // !BD_SENSOR