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Calibration: detect biased PINDA and retry calibration

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PFW-1223
This commit is contained in:
espr14 2021-03-12 05:04:49 +01:00
parent eb4cf1a77f
commit 99206884b5
4 changed files with 84 additions and 37 deletions
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43
Firmware/mesh_bed_calibration.cpp
View File

@ -1,4 +1,3 @@
#include "Marlin.h"
#include "Configuration.h"
#include "ConfigurationStore.h"
#include "language.h"
@ -1065,7 +1064,7 @@ error:
}
#ifdef NEW_XYZCAL
bool xyzcal_find_bed_induction_sensor_point_xy();
BedSkewOffsetDetectionResultType xyzcal_find_bed_induction_sensor_point_xy();
#endif //NEW_XYZCAL
// Search around the current_position[X,Y],
// look for the induction sensor response.
@ -1081,7 +1080,7 @@ bool xyzcal_find_bed_induction_sensor_point_xy();
#endif //HEATBED_V2
#ifdef HEATBED_V2
bool find_bed_induction_sensor_point_xy(int
BedSkewOffsetDetectionResultType find_bed_induction_sensor_point_xy(int
#if !defined (NEW_XYZCAL) && defined (SUPPORT_VERBOSITY)
verbosity_level
#endif
@ -1137,7 +1136,7 @@ bool find_bed_induction_sensor_point_xy(int
// go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60);
go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
// Continously lower the Z axis.
// Continuously lower the Z axis.
endstops_hit_on_purpose();
enable_z_endstop(true);
bool direction = false;
@ -1335,7 +1334,7 @@ bool find_bed_induction_sensor_point_xy(int
#endif //NEW_XYZCAL
}
#else //HEATBED_V2
bool find_bed_induction_sensor_point_xy(int verbosity_level)
BedSkewOffsetDetectionResultType find_bed_induction_sensor_point_xy(int verbosity_level)
{
#ifdef NEW_XYZCAL
return xyzcal_find_bed_induction_sensor_point_xy();
@ -1531,7 +1530,9 @@ bool find_bed_induction_sensor_point_xy(int verbosity_level)
}
enable_z_endstop(false);
return found;
if (found)
return BED_SKEW_OFFSET_DETECTION_POINT_FOUND;
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
#endif //NEW_XYZCAL
}
@ -2238,9 +2239,15 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
// Collect the rear 2x3 points.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH + FIND_BED_INDUCTION_SENSOR_POINT_Z_STEP * iteration * 0.3;
for (int k = 0; k < 4; ++k) {
// Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout();
/// Retry point scanning if a point with bad data appears.
/// Bad data could be cause by "cold" sensor.
/// This behavior vanishes after few point scans so retry will help.
for (int retries = 0; retries <= 1; ++retries) {
bool retry = false;
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_set_cursor(0, next_line);
lcd_print(k + 1);
@ -2304,8 +2311,19 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
if (verbosity_level >= 10)
delay_keep_alive(3000);
#endif // SUPPORT_VERBOSITY
if (!find_bed_induction_sensor_point_xy(verbosity_level))
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
BedSkewOffsetDetectionResultType result;
result = find_bed_induction_sensor_point_xy(verbosity_level);
switch(result){
case BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND:
return BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
case BED_SKEW_OFFSET_DETECTION_POINT_SCAN_FAILED:
retry = true;
break;
default:
break;
}
#ifndef NEW_XYZCAL
#ifndef HEATBED_V2
@ -2380,6 +2398,9 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
}
#endif // SUPPORT_VERBOSITY
}
if (!retry)
break;
}
DBG(_n("All 4 calibration points found.\n"));
delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity

17
Firmware/mesh_bed_calibration.h
View File

@ -1,5 +1,6 @@
#ifndef MESH_BED_CALIBRATION_H
#define MESH_BED_CALIBRATION_H
#pragma once
#include "Marlin.h"
#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) // -22 + 23 = 1
#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER + 4.f) // -0.6 + 5 + 4 = 8.4
@ -145,11 +146,6 @@ inline bool world2machine_clamp(float &x, float &y)
machine2world(tmpx, tmpy, x, y);
return clamped;
}
bool find_bed_induction_sensor_point_z(float minimum_z = -10.f, uint8_t n_iter = 3, int verbosity_level = 0);
bool find_bed_induction_sensor_point_xy(int verbosity_level = 0);
void go_home_with_z_lift();
/**
* @brief Bed skew and offest detection result
*
@ -159,8 +155,10 @@ void go_home_with_z_lift();
enum BedSkewOffsetDetectionResultType {
// Detection failed, some point was not found.
BED_SKEW_OFFSET_DETECTION_POINT_FOUND = 0, //!< Point found
BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND = -1, //!< Point not found.
BED_SKEW_OFFSET_DETECTION_FITTING_FAILED = -2, //!< Fitting failed
BED_SKEW_OFFSET_DETECTION_POINT_SCAN_FAILED = -3, //!< Point scan failed, try again
// Detection finished with success.
BED_SKEW_OFFSET_DETECTION_PERFECT = 0, //!< Perfect.
@ -168,6 +166,10 @@ enum BedSkewOffsetDetectionResultType {
BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME = 2 //!< Extremely skewed.
};
bool find_bed_induction_sensor_point_z(float minimum_z = -10.f, uint8_t n_iter = 3, int verbosity_level = 0);
BedSkewOffsetDetectionResultType find_bed_induction_sensor_point_xy(int verbosity_level = 0);
void go_home_with_z_lift();
extern BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level, uint8_t &too_far_mask);
#ifndef NEW_XYZCAL
extern BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8_t verbosity_level, uint8_t &too_far_mask);
@ -213,4 +215,3 @@ extern void mbl_settings_init();
extern bool mbl_point_measurement_valid(uint8_t ix, uint8_t iy, uint8_t meas_points, bool zigzag);
extern void mbl_interpolation(uint8_t meas_points);
#endif /* MESH_BED_CALIBRATION_H */

48
Firmware/xyzcal.cpp
View File

@ -837,7 +837,7 @@ void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t
for (int8_t i = iterations; i > 0; --i){
//@size=128B
DBG(_n(" [%f, %f][%f] circle\n"), x, y, r);
// DBG(_n(" [%f, %f][%f] circle\n"), x, y, r);
/// read points on the circle
for (uint8_t p = 0; p < num_points; ++p){
@ -904,12 +904,42 @@ uint8_t find_patterns(uint8_t *matrix32, uint16_t *pattern08, uint16_t *pattern1
return match10;
}
/// Scan should include normal data.
/// If it's too extreme (00, FF) it could be caused by biased sensor.
/// \return true if data looks normal
bool check_scan(uint8_t *matrix32){
/// magic constants that define normality
const int16_t threshold_total = 900;
const int threshold_extreme = 50;
int16_t mins = 0;
int16_t maxs = 0;
for (int16_t i = 0; i < 32*32;++i){
if (matrix32[i] == 0) {
++mins;
} else {
++maxs;
}
}
const int16_t rest = 1024 - mins - maxs;
if (mins + maxs > threshold_total
&& mins > threshold_extreme
&& maxs > threshold_extreme
&& mins > rest
&& maxs > rest)
return false;
return true;
}
/// scans area around the current head location and
/// searches for the center of the calibration pin
bool xyzcal_scan_and_process(void){
BedSkewOffsetDetectionResultType xyzcal_scan_and_process(){
//@size=44
DBG(_n("sizeof(block_buffer)=%d\n"), sizeof(block_t)*BLOCK_BUFFER_SIZE);
bool ret = false;
// DBG(_n("sizeof(block_buffer)=%d\n"), sizeof(block_t)*BLOCK_BUFFER_SIZE);
BedSkewOffsetDetectionResultType ret = BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
int16_t x = _X;
int16_t y = _Y;
const int16_t z = _Z;
@ -925,6 +955,8 @@ bool xyzcal_scan_and_process(void){
xyzcal_scan_pixels_32x32_Zhop(x, y, z, 2400, 200, matrix32);
print_image(matrix32);
if (!check_scan(matrix32))
return BED_SKEW_OFFSET_DETECTION_POINT_SCAN_FAILED;
/// SEARCH FOR BINARY CIRCLE
uint8_t uc = 0;
@ -955,7 +987,7 @@ bool xyzcal_scan_and_process(void){
x = round_to_i16(xf);
y = round_to_i16(yf);
xyzcal_lineXYZ_to(x, y, z, 200, 0);
ret = true;
ret = BED_SKEW_OFFSET_DETECTION_POINT_FOUND;
}
/// wipe buffer
@ -964,11 +996,11 @@ bool xyzcal_scan_and_process(void){
return ret;
}
bool xyzcal_find_bed_induction_sensor_point_xy(void){
bool ret = false;
BedSkewOffsetDetectionResultType xyzcal_find_bed_induction_sensor_point_xy(void){
BedSkewOffsetDetectionResultType ret = BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND;
//@size=258
DBG(_n("xyzcal_find_bed_induction_sensor_point_xy x=%ld y=%ld z=%ld\n"), count_position[X_AXIS], count_position[Y_AXIS], count_position[Z_AXIS]);
// DBG(_n("xyzcal_find_bed_induction_sensor_point_xy x=%ld y=%ld z=%ld\n"), count_position[X_AXIS], count_position[Y_AXIS], count_position[Z_AXIS]);
st_synchronize();
xyzcal_meassure_enter();

13
Firmware/xyzcal.h
View File

@ -1,9 +1,9 @@
//xyzcal.h - xyz calibration with image processing
#ifndef _XYZCAL_H
#define _XYZCAL_H
#pragma once
#include <inttypes.h>
#include "mesh_bed_calibration.h"
extern void xyzcal_meassure_enter(void);
@ -17,11 +17,4 @@ extern bool xyzcal_spiral8(int16_t cx, int16_t cy, int16_t z0, int16_t dz, int16
//extern int8_t xyzcal_meassure_pinda_hysterezis(int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t samples);
extern bool xyzcal_searchZ(void);
extern bool xyzcal_scan_and_process(void);
extern bool xyzcal_find_bed_induction_sensor_point_xy(void);
#endif //_XYZCAL_H
extern BedSkewOffsetDetectionResultType xyzcal_find_bed_induction_sensor_point_xy();