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XYZ calibration first round: if least square error is bigger than threshold value, run another iteration

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This commit is contained in:
PavelSindler 2017-04-05 18:35:26 +02:00
parent d9fc29273e
commit 56f5975083
5 changed files with 234 additions and 134 deletions
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5
Firmware/language_all.cpp
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@ -971,6 +971,11 @@ const char * const MSG_FIL_TUNING_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_FIL_TUNING_DE
};
const char MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN[] PROGMEM = "Iteration ";
const char * const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[1] PROGMEM = {
MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN
};
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_EN[] PROGMEM = "Searching bed calibration point";
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_CZ[] PROGMEM = "Hledam kalibracni bod podlozky";
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_IT[] PROGMEM = "Ricerca del letto punto di calibraz.";

2
Firmware/language_all.h
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@ -203,6 +203,8 @@ extern const char* const MSG_FIL_LOADED_CHECK_LANG_TABLE[LANG_NUM];
#define MSG_FIL_LOADED_CHECK LANG_TABLE_SELECT(MSG_FIL_LOADED_CHECK_LANG_TABLE)
extern const char* const MSG_FIL_TUNING_LANG_TABLE[LANG_NUM];
#define MSG_FIL_TUNING LANG_TABLE_SELECT(MSG_FIL_TUNING_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[1];
#define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION LANG_TABLE_SELECT_EXPLICIT(MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE, 0)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE[LANG_NUM];
#define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1 LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE2_LANG_TABLE[LANG_NUM];

1
Firmware/language_en.h
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@ -208,6 +208,7 @@
#define(length=14) MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2 " of 9"
#define(length=60) MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1 "Measuring reference height of calibration point"
#define(length=14) MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2 " of 9"
#define(length=20) MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION "Iteration "
#define(length=20,lines=8) MSG_BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND "XYZ calibration failed. Bed calibration point was not found."
#define(length=20,lines=8) MSG_BED_SKEW_OFFSET_DETECTION_FITTING_FAILED "XYZ calibration failed. Please consult the manual."

358
Firmware/mesh_bed_calibration.cpp
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@ -383,6 +383,10 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
MYSERIAL.print(pgm_read_float(true_pts + i * 2 + 1), 5);
SERIAL_ECHOPGM("), error: ");
MYSERIAL.print(err);
SERIAL_ECHOPGM(", error X: ");
MYSERIAL.print(errX);
SERIAL_ECHOPGM(", error Y: ");
MYSERIAL.print(errY);
SERIAL_ECHOLNPGM("");
}
}
@ -1586,11 +1590,51 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
float *vec_y = vec_x + 2;
float *cntr = vec_y + 2;
memset(pts, 0, sizeof(float) * 7 * 7);
uint8_t iteration = 0;
BedSkewOffsetDetectionResultType result;
// SERIAL_ECHOLNPGM("find_bed_offset_and_skew verbosity level: ");
// SERIAL_ECHO(int(verbosity_level));
// SERIAL_ECHOPGM("");
while (iteration < 3) {
SERIAL_ECHOPGM("Iteration: ");
MYSERIAL.println(int(iteration + 1));
if (iteration > 0) {
// Cache the current correction matrix.
world2machine_initialize();
vec_x[0] = world2machine_rotation_and_skew[0][0];
vec_x[1] = world2machine_rotation_and_skew[1][0];
vec_y[0] = world2machine_rotation_and_skew[0][1];
vec_y[1] = world2machine_rotation_and_skew[1][1];
cntr[0] = world2machine_shift[0];
cntr[1] = world2machine_shift[1];
if (verbosity_level >= 20) {
SERIAL_ECHOPGM("vec_x[0]:");
MYSERIAL.print(vec_x[0], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("vec_x[1]:");
MYSERIAL.print(vec_x[1], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("vec_y[0]:");
MYSERIAL.print(vec_y[0], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("vec_y[1]:");
MYSERIAL.print(vec_y[1], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("cntr[0]:");
MYSERIAL.print(cntr[0], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("cntr[1]:");
MYSERIAL.print(cntr[1], 5);
SERIAL_ECHOLNPGM("");
}
// and reset the correction matrix, so the planner will not do anything.
world2machine_reset();
}
#ifdef MESH_BED_CALIBRATION_SHOW_LCD
uint8_t next_line;
lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1, next_line);
@ -1600,144 +1644,192 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
// Collect the rear 2x3 points.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
for (int k = 0; k < 4; ++ k) {
// Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout();
for (int k = 0; k < 4; ++k) {
// Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout();
#ifdef MESH_BED_CALIBRATION_SHOW_LCD
lcd_implementation_print_at(0, next_line, k+1);
lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
#endif /* MESH_BED_CALIBRATION_SHOW_LCD */
float *pt = pts + k * 2;
// Go up to z_initial.
go_to_current(homing_feedrate[Z_AXIS] / 60.f);
if (verbosity_level >= 20) {
// Go to Y0, wait, then go to Y-4.
current_position[Y_AXIS] = 0.f;
go_to_current(homing_feedrate[X_AXIS] / 60.f);
SERIAL_ECHOLNPGM("At Y0");
delay_keep_alive(5000);
current_position[Y_AXIS] = Y_MIN_POS;
go_to_current(homing_feedrate[X_AXIS] / 60.f);
SERIAL_ECHOLNPGM("At Y-4");
delay_keep_alive(5000);
}
// Go to the measurement point position.
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4+k*2);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4+k*2+1);
go_to_current(homing_feedrate[X_AXIS] / 60.f);
if (verbosity_level >= 10)
delay_keep_alive(3000);
if (! find_bed_induction_sensor_point_xy())
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
#if 1
if (k == 0) {
// Improve the position of the 1st row sensor points by a zig-zag movement.
find_bed_induction_sensor_point_z();
int8_t i = 4;
for (;;) {
if (improve_bed_induction_sensor_point3(verbosity_level))
break;
if (-- i == 0)
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
// Try to move the Z axis down a bit to increase a chance of the sensor to trigger.
current_position[Z_AXIS] -= 0.025f;
enable_endstops(false);
enable_z_endstop(false);
go_to_current(homing_feedrate[Z_AXIS]);
}
if (i == 0)
// not found
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
}
#endif
if (verbosity_level >= 10)
delay_keep_alive(3000);
// Save the detected point position and then clamp the Y coordinate, which may have been estimated
// to lie outside the machine working space.
pt[0] = current_position[X_AXIS];
pt[1] = current_position[Y_AXIS];
if (current_position[Y_AXIS] < Y_MIN_POS)
current_position[Y_AXIS] = Y_MIN_POS;
// Start searching for the other points at 3mm above the last point.
current_position[Z_AXIS] += 3.f;
cntr[0] += pt[0];
cntr[1] += pt[1];
if (verbosity_level >= 10 && k == 0) {
// Show the zero. Test, whether the Y motor skipped steps.
current_position[Y_AXIS] = MANUAL_Y_HOME_POS;
go_to_current(homing_feedrate[X_AXIS] / 60.f);
delay_keep_alive(3000);
}
}
lcd_implementation_print_at(0, next_line, k + 1);
lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
if (verbosity_level >= 20) {
// Test the positions. Are the positions reproducible? Now the calibration is active in the planner.
delay_keep_alive(3000);
for (int8_t mesh_point = 0; mesh_point < 4; ++ mesh_point) {
// Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout();
// Go to the measurement point.
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = pts[mesh_point*2];
current_position[Y_AXIS] = pts[mesh_point*2+1];
go_to_current(homing_feedrate[X_AXIS]/60);
delay_keep_alive(3000);
}
}
BedSkewOffsetDetectionResultType result = calculate_machine_skew_and_offset_LS(pts, 4, bed_ref_points_4, vec_x, vec_y, cntr, verbosity_level);
if (result >= 0) {
world2machine_update(vec_x, vec_y, cntr);
#if 1
// Fearlessly store the calibration values into the eeprom.
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0), cntr [0]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4), cntr [1]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +0), vec_x[0]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_X +4), vec_x[1]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +0), vec_y[0]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y +4), vec_y[1]);
#endif
if (verbosity_level >= 10) {
// Length of the vec_x
float l = sqrt(vec_x[0] * vec_x[0] + vec_x[1] * vec_x[1]);
SERIAL_ECHOLNPGM("X vector length:");
MYSERIAL.println(l);
// Length of the vec_y
l = sqrt(vec_y[0] * vec_y[0] + vec_y[1] * vec_y[1]);
SERIAL_ECHOLNPGM("Y vector length:");
MYSERIAL.println(l);
// Zero point correction
l = sqrt(cntr[0] * cntr[0] + cntr[1] * cntr[1]);
SERIAL_ECHOLNPGM("Zero point correction:");
MYSERIAL.println(l);
// vec_x and vec_y shall be nearly perpendicular.
l = vec_x[0] * vec_y[0] + vec_x[1] * vec_y[1];
SERIAL_ECHOLNPGM("Perpendicularity");
MYSERIAL.println(fabs(l));
SERIAL_ECHOLNPGM("Saving bed calibration vectors to EEPROM");
if (iteration > 0) {
lcd_print_at_PGM(0, next_line + 1, MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION);
lcd_implementation_print(int(iteration + 1));
}
// Correct the current_position to match the transformed coordinate system after world2machine_rotation_and_skew and world2machine_shift were set.
world2machine_update_current();
#endif /* MESH_BED_CALIBRATION_SHOW_LCD */
float *pt = pts + k * 2;
// Go up to z_initial.
if (verbosity_level >= 20) {
// Test the positions. Are the positions reproducible? Now the calibration is active in the planner.
delay_keep_alive(3000);
for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
// Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout();
// Go to the measurement point.
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = pgm_read_float(bed_ref_points+mesh_point*2);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points+mesh_point*2+1);
go_to_current(homing_feedrate[X_AXIS]/60);
delay_keep_alive(3000);
}
}
}
go_to_current(homing_feedrate[Z_AXIS] / 60.f);
if (verbosity_level >= 20) {
// Go to Y0, wait, then go to Y-4.
current_position[Y_AXIS] = 0.f;
go_to_current(homing_feedrate[X_AXIS] / 60.f);
SERIAL_ECHOLNPGM("At Y0");
delay_keep_alive(5000);
current_position[Y_AXIS] = Y_MIN_POS;
go_to_current(homing_feedrate[X_AXIS] / 60.f);
SERIAL_ECHOLNPGM("At Y-4");
delay_keep_alive(5000);
}
// Go to the measurement point position.
if (iteration == 0) {
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4 + k * 2);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + k * 2 + 1);
}
else {
// if first iteration failed, count corrected point coordinates as initial
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = vec_x[0] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[0] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[0];
current_position[Y_AXIS] = vec_x[1] * pgm_read_float(bed_ref_points_4 + k * 2) + vec_y[1] * pgm_read_float(bed_ref_points_4 + k * 2 + 1) + cntr[1];
return result;
// The calibration points are very close to the min Y.
if (current_position[Y_AXIS] < Y_MIN_POS_FOR_BED_CALIBRATION)
current_position[Y_AXIS] = Y_MIN_POS_FOR_BED_CALIBRATION;
}
if (verbosity_level >= 20) {
SERIAL_ECHOPGM("corrected current_position[X_AXIS]:");
MYSERIAL.print(current_position[X_AXIS], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("corrected current_position[Y_AXIS]:");
MYSERIAL.print(current_position[Y_AXIS], 5);
SERIAL_ECHOLNPGM("");
}
go_to_current(homing_feedrate[X_AXIS] / 60.f);
if (verbosity_level >= 10)
delay_keep_alive(3000);
if (!find_bed_induction_sensor_point_xy())
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
#if 1
if (k == 0) {
// Improve the position of the 1st row sensor points by a zig-zag movement.
find_bed_induction_sensor_point_z();
int8_t i = 4;
for (;;) {
if (improve_bed_induction_sensor_point3(verbosity_level))
break;
if (--i == 0)
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
// Try to move the Z axis down a bit to increase a chance of the sensor to trigger.
current_position[Z_AXIS] -= 0.025f;
enable_endstops(false);
enable_z_endstop(false);
go_to_current(homing_feedrate[Z_AXIS]);
}
if (i == 0)
// not found
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
}
#endif
if (verbosity_level >= 10)
delay_keep_alive(3000);
// Save the detected point position and then clamp the Y coordinate, which may have been estimated
// to lie outside the machine working space.
if (verbosity_level >= 20) {
SERIAL_ECHOLNPGM("Measured:");
MYSERIAL.println(current_position[X_AXIS]);
MYSERIAL.println(current_position[Y_AXIS]);
}
//pt[0] = (pt[0] * iteration) / (iteration + 1);
//pt[0] += (current_position[X_AXIS]/(iteration + 1)); //count average
//pt[1] = (pt[1] * iteration) / (iteration + 1);
//pt[1] += (current_position[Y_AXIS] / (iteration + 1));
pt[0] += current_position[X_AXIS];
if(iteration > 0) pt[0] = pt[0] / 2;
pt[1] += current_position[Y_AXIS];
if (iteration > 0) pt[1] = pt[1] / 2;
if (current_position[Y_AXIS] < Y_MIN_POS)
current_position[Y_AXIS] = Y_MIN_POS;
// Start searching for the other points at 3mm above the last point.
current_position[Z_AXIS] += 3.f;
//cntr[0] += pt[0];
//cntr[1] += pt[1];
if (verbosity_level >= 10 && k == 0) {
// Show the zero. Test, whether the Y motor skipped steps.
current_position[Y_AXIS] = MANUAL_Y_HOME_POS;
go_to_current(homing_feedrate[X_AXIS] / 60.f);
delay_keep_alive(3000);
}
}
if (verbosity_level >= 20) {
// Test the positions. Are the positions reproducible? Now the calibration is active in the planner.
delay_keep_alive(3000);
for (int8_t mesh_point = 0; mesh_point < 4; ++mesh_point) {
// Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout();
// Go to the measurement point.
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = pts[mesh_point * 2];
current_position[Y_AXIS] = pts[mesh_point * 2 + 1];
go_to_current(homing_feedrate[X_AXIS] / 60);
delay_keep_alive(3000);
}
}
result = calculate_machine_skew_and_offset_LS(pts, 4, bed_ref_points_4, vec_x, vec_y, cntr, verbosity_level);
if (result >= 0) {
world2machine_update(vec_x, vec_y, cntr);
#if 1
// Fearlessly store the calibration values into the eeprom.
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_CENTER + 0), cntr[0]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_CENTER + 4), cntr[1]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_X + 0), vec_x[0]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_X + 4), vec_x[1]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y + 0), vec_y[0]);
eeprom_update_float((float*)(EEPROM_BED_CALIBRATION_VEC_Y + 4), vec_y[1]);
#endif
if (verbosity_level >= 10) {
// Length of the vec_x
float l = sqrt(vec_x[0] * vec_x[0] + vec_x[1] * vec_x[1]);
SERIAL_ECHOLNPGM("X vector length:");
MYSERIAL.println(l);
// Length of the vec_y
l = sqrt(vec_y[0] * vec_y[0] + vec_y[1] * vec_y[1]);
SERIAL_ECHOLNPGM("Y vector length:");
MYSERIAL.println(l);
// Zero point correction
l = sqrt(cntr[0] * cntr[0] + cntr[1] * cntr[1]);
SERIAL_ECHOLNPGM("Zero point correction:");
MYSERIAL.println(l);
// vec_x and vec_y shall be nearly perpendicular.
l = vec_x[0] * vec_y[0] + vec_x[1] * vec_y[1];
SERIAL_ECHOLNPGM("Perpendicularity");
MYSERIAL.println(fabs(l));
SERIAL_ECHOLNPGM("Saving bed calibration vectors to EEPROM");
}
// Correct the current_position to match the transformed coordinate system after world2machine_rotation_and_skew and world2machine_shift were set.
world2machine_update_current();
if (verbosity_level >= 20) {
// Test the positions. Are the positions reproducible? Now the calibration is active in the planner.
delay_keep_alive(3000);
for (int8_t mesh_point = 0; mesh_point < 9; ++mesh_point) {
// Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout();
// Go to the measurement point.
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = pgm_read_float(bed_ref_points + mesh_point * 2);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points + mesh_point * 2 + 1);
go_to_current(homing_feedrate[X_AXIS] / 60);
delay_keep_alive(3000);
}
}
return result;
}
iteration++;
}
return result;
}
BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8_t verbosity_level, uint8_t &too_far_mask)

2
Firmware/ultralcd_implementation_hitachi_HD44780.h
View File

@ -792,7 +792,7 @@ static void lcd_implementation_status_screen()
lcd.print(LCD_STR_CLOCK[0]);
if(starttime != 0)
{
uint16_t time = (isPrintPaused || (!heating_status))? pause_time/60000 : (millis() + pause_time - start_time)/60000; //is print is paused, pause also print time
uint16_t time = (isPrintPaused || (!heating_status))? pause_time/60000 : (millis() + pause_time /*- start_time*/)/60000; //is print is paused, pause also print time
lcd.print(itostr2(time/60));
lcd.print(':');
lcd.print(itostr2(time%60));