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selftest for axis improved (better code readibility) and no crash triggered

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This commit is contained in:
PavelSindler 2017-11-16 18:02:11 +01:00
parent 2199c84ec9
commit 5e4236dd2e
4 changed files with 80 additions and 57 deletions
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2
Firmware/Configuration_prusa.h
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@ -46,7 +46,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define MANUAL_Z_HOME_POS 0.2
// Travel limits after homing
#define X_MAX_POS 250
#define X_MAX_POS 255
#define X_MIN_POS 0
#define Y_MAX_POS 210
#define Y_MIN_POS -12 //orig -4

2
Firmware/tmc2130.cpp
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@ -219,7 +219,7 @@ uint8_t tmc2130_sample_diag()
void tmc2130_st_isr(uint8_t last_step_mask)
{
if (tmc2130_mode == TMC2130_MODE_SILENT) return;
if (tmc2130_mode == TMC2130_MODE_SILENT || tmc2130_sg_stop_on_crash == false) return;
bool crash = false;
uint8_t diag_mask = tmc2130_sample_diag();
// for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)

99
Firmware/ultralcd.cpp
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@ -5333,29 +5333,39 @@ static bool lcd_selftest()
{
//current_position[Z_AXIS] += 15; //move Z axis higher to avoid false triggering of Z end stop in case that we are very low - just above heatbed
_progress = lcd_selftest_screen(4, _progress, 3, true, 2000);
_result = lcd_selfcheck_axis_sg(X_AXIS);//, X_MAX_POS);
#ifdef TMC2130
_result = lcd_selfcheck_axis_sg(X_AXIS);
#else
_result = lcd_selfcheck_axis(X_AXIS, X_MAX_POS);
#endif //TMC2130
}
if (_result)
{
_progress = lcd_selftest_screen(4, _progress, 3, true, 0);
//_result = lcd_selfcheck_pulleys(X_AXIS);
#ifndef TMC2130
_result = lcd_selfcheck_pulleys(X_AXIS);
#endif
}
if (_result)
{
_progress = lcd_selftest_screen(5, _progress, 3, true, 1500);
#ifdef TMC2130
_result = lcd_selfcheck_axis_sg(Y_AXIS);
//_result = lcd_selfcheck_axis(Y_AXIS, Y_MAX_POS);
#else
_result = lcd_selfcheck_axis(Y_AXIS, Y_MAX_POS);
#endif // TMC2130
}
if (_result)
{
_progress = lcd_selftest_screen(5, _progress, 3, true, 0);
//_result = lcd_selfcheck_pulleys(Y_AXIS);
#ifndef TMC2130
_result = lcd_selfcheck_pulleys(Y_AXIS);
#endif // TMC2130
}
@ -5410,74 +5420,80 @@ static bool lcd_selftest()
return(_result);
}
#ifdef TMC2130
static void reset_crash_det(char axis) {
current_position[axis] += 10;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
st_synchronize();
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET)) tmc2130_sg_stop_on_crash = true;
}
static bool lcd_selfcheck_axis_sg(char axis) {
// each axis length is measured twice
float axis_length, current_position_init, current_position_final;
float measured_axis_length[2];
float margin = 100;
float margin = 60;
float max_error_mm = 10;
switch (axis) {
case 0: axis_length = X_MAX_POS; break;
case 1: axis_length = Y_MAX_POS + 8; break;
default: axis_length = 210; break;
}
//tmc2130_sg_stop_on_crash = false;
//crashdet_disable();
#ifdef TMC2130
tmc2130_sg_stop_on_crash = false;
tmc2130_home_exit();
enable_endstops(true);
#endif
for (char i = 0; i < 2; i++) {
#ifdef TMC2130
// first axis length measurement begin
tmc2130_home_enter(X_AXIS_MASK << axis);
#endif
current_position[axis] -= (axis_length + margin);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
st_synchronize();
#ifdef TMC2130
tmc2130_home_exit();
#endif
//current_position[axis] = st_get_position_mm(axis);
//plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position_init = st_get_position_mm(axis);
if (i < 1) {
current_position[axis] += 2 * margin;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
st_synchronize();
current_position[axis] += axis_length;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
#ifdef TMC2130
tmc2130_home_enter(X_AXIS_MASK << axis);
#endif
st_synchronize();
#ifdef TMC2130
tmc2130_home_exit();
#endif
//current_position[axis] = st_get_position_mm(axis);
//plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position_final = st_get_position_mm(axis);
measured_axis_length[0] = abs(current_position_final - current_position_init);
// first measurement end and second measurement begin
current_position[axis] -= margin;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
st_synchronize();
}
measured_axis_length[i] = abs(current_position_final - current_position_init);
tmc2130_home_enter(X_AXIS_MASK << axis);
current_position[axis] -= (axis_length + margin);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
st_synchronize();
tmc2130_home_exit();
current_position_init = st_get_position_mm(axis);
measured_axis_length[1] = abs(current_position_final - current_position_init);
//end of second measurement, now check for possible errors:
for(int i = 0; i < 2; i++){ //check if measured axis length corresponds to expected length
SERIAL_ECHOPGM("Measured axis length:");
MYSERIAL.println(measured_axis_length[i]);
if (abs(measured_axis_length[i] - axis_length) > max_error_mm) {
//axis length
#ifdef TMC2130
tmc2130_home_exit();
enable_endstops(false);
#endif
const char *_error_1;
const char *_error_2;
@ -5486,8 +5502,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
if (axis == Z_AXIS) _error_1 = "Z";
lcd_selftest_error(9, _error_1, _error_2);
//crashdet_enable();
//uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
reset_crash_det(axis);
return false;
}
}
@ -5495,7 +5510,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
SERIAL_ECHOPGM("Axis length difference:");
MYSERIAL.println(abs(measured_axis_length[0] - measured_axis_length[1]));
if (abs(measured_axis_length[0] - measured_axis_length[1]) > 1) {
if (abs(measured_axis_length[0] - measured_axis_length[1]) > 1) { //check if difference between first and second measurement is low
//loose pulleys
const char *_error_1;
const char *_error_2;
@ -5505,12 +5520,16 @@ static bool lcd_selfcheck_axis_sg(char axis) {
if (axis == Z_AXIS) _error_1 = "Z";
lcd_selftest_error(8, _error_1, _error_2);
//crashdet_enable();
reset_crash_det(axis);
return false;
}
//crashdet_enable();
reset_crash_det(axis);
return true;
}
#endif //TMC2130

6
Firmware/ultralcd.h
View File

@ -37,8 +37,12 @@ void lcd_mylang();
static void lcd_selftest_v();
static bool lcd_selftest();
static bool lcd_selfcheck_endstops();
static bool lcd_selfcheck_axis(int _axis, int _travel);
#ifdef TMC2130
static void reset_crash_det(char axis);
static bool lcd_selfcheck_axis_sg(char axis);
#endif //TMC2130
static bool lcd_selfcheck_axis(int _axis, int _travel);
static bool lcd_selfcheck_check_heater(bool _isbed);
static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bool _clear, int _delay);
static void lcd_selftest_screen_step(int _row, int _col, int _state, const char *_name, const char *_indicator);