From a9ce38df711485778ae1090c81df69f46f24e724 Mon Sep 17 00:00:00 2001 From: PavelSindler Date: Tue, 26 Mar 2019 17:14:05 +0100 Subject: [PATCH] Function for decision if we have valid Z-calibration data in eeprom fixed, mesh bed leveling: possible crash fix, temporaty debug info on serial line. --- Firmware/Marlin_main.cpp | 39 ++++++++++++++++---------- Firmware/mesh_bed_calibration.cpp | 46 ++++++++++++++++++++++--------- 2 files changed, 58 insertions(+), 27 deletions(-) diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 669008bd..76d26989 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -4438,7 +4438,10 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n"); } - #endif //SUPPORT_VERBOSITY + #else //SUPPORT_VERBOSITY + world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); + #endif //SUPPORT_VERBOSITY + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder); // Wait until the move is finished. st_synchronize(); @@ -4475,21 +4478,24 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) uint16_t z_offset_u = 0; if (nMeasPoints == 7) { z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1))); + printf_P(PSTR("[%d;%d]: Z_offset = %d \n"), ix, iy, z_offset_u); } else { z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1))); + printf_P(PSTR("[%d;%d]: Z_offset = %d \n"), ix, iy, z_offset_u); } z0 = mbl.z_values[0][0] + *reinterpret_cast(&z_offset_u) * 0.01; - #ifdef SUPPORT_VERBOSITY - if (verbosity_level >= 1) { + //#ifdef SUPPORT_VERBOSITY + //if (verbosity_level >= 1) { printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0); - } - #endif // SUPPORT_VERBOSITY + //} + //#endif // SUPPORT_VERBOSITY } // Move Z up to MESH_HOME_Z_SEARCH. if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster. + float init_z_bckp = current_position[Z_AXIS]; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); st_synchronize(); @@ -4497,43 +4503,48 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) current_position[X_AXIS] = BED_X(ix, nMeasPoints); current_position[Y_AXIS] = BED_Y(iy, nMeasPoints); - //printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]); + printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]); - world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); + #ifdef SUPPORT_VERBOSITY if (verbosity_level >= 1) { - + clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); SERIAL_PROTOCOL(mesh_point); clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n"); } + #else //SUPPORT_VERBOSITY + world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]); #endif // SUPPORT_VERBOSITY + printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder); st_synchronize(); // Go down until endstop is hit const float Z_CALIBRATION_THRESHOLD = 1.f; if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point - printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW)); + //printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW)); + printf_P("Point too low 1 \n"); break; } - if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases. - + if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases. + printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]); current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); st_synchronize(); if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point - printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW)); + //printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW)); + printf_P("Point too low 2 \n"); break; } if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) { - printf_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.\n")); + printf_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken.\n")); break; } } if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) { //if we have data from z calibration, max. allowed difference is 1mm for each point - printf_P(PSTR("Bed leveling failed. Sensor triggered too high. Waiting for reset.\n")); + printf_P(PSTR("Bed leveling failed. Sensor triggered too high.\n")); break; } #ifdef SUPPORT_VERBOSITY diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index 0aca64a5..e1cd51a9 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -678,11 +678,13 @@ void reset_bed_offset_and_skew() bool is_bed_z_jitter_data_valid() // offsets of the Z heiths of the calibration points from the first point are saved as 16bit signed int, scaled to tenths of microns -{ - for (int8_t i = 0; i < 8; ++ i) - if (eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER+i*2)) == 0x0FFFF) - return false; - return true; +// if at least one 16bit integer has different value then -1 (0x0FFFF), data are considered valid and function returns true, otherwise it returns false +{ + bool data_valid = false; + for (int8_t i = 0; i < 8; ++i) { + if (eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + i * 2)) != 0x0FFFF) data_valid = true; + } + return data_valid; } static void world2machine_update(const float vec_x[2], const float vec_y[2], const float cntr[2]) @@ -946,7 +948,7 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i #ifdef TMC2130 FORCE_HIGH_POWER_START; #endif - + printf_P(PSTR("Min. Z: %f\n"), minimum_z); #ifdef SUPPORT_VERBOSITY if(verbosity_level >= 10) SERIAL_ECHOLNPGM("find bed induction sensor point z"); #endif // SUPPORT_VERBOSITY @@ -961,9 +963,16 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i // we have to let the planner know where we are right now as it is not where we said to go. update_current_position_z(); if (! endstop_z_hit_on_purpose()) - goto error; + { + printf_P(PSTR("endstop not hit 1, current_pos[Z]: %f \n"), current_position[Z_AXIS]); + goto error; + } #ifdef TMC2130 - if (READ(Z_TMC2130_DIAG) != 0) goto error; //crash Z detected + if (READ(Z_TMC2130_DIAG) != 0) + { + printf_P(PSTR("crash detected 1, current_pos[Z]: %f \n"), current_position[Z_AXIS]); + goto error; //crash Z detected + } #endif //TMC2130 for (uint8_t i = 0; i < n_iter; ++ i) { @@ -973,12 +982,13 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i go_to_current(homing_feedrate[Z_AXIS]/60); // Move back down slowly to find bed. current_position[Z_AXIS] = minimum_z; + printf_P(PSTR("init Z = %f, min_z = %f\n"), z_bckp, minimum_z); go_to_current(homing_feedrate[Z_AXIS]/(4*60)); // we have to let the planner know where we are right now as it is not where we said to go. update_current_position_z(); //printf_P(PSTR("Zs: %f, Z: %f, delta Z: %f"), z_bckp, current_position[Z_AXIS], (z_bckp - current_position[Z_AXIS])); if (abs(current_position[Z_AXIS] - z_bckp) < 0.025) { - //printf_P(PSTR("PINDA triggered immediately, move Z higher and repeat measurement\n")); + printf_P(PSTR("PINDA triggered immediately, move Z higher and repeat measurement\n")); current_position[Z_AXIS] += 0.5; go_to_current(homing_feedrate[Z_AXIS]/60); current_position[Z_AXIS] = minimum_z; @@ -989,10 +999,16 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i - if (! endstop_z_hit_on_purpose()) - goto error; + if (!endstop_z_hit_on_purpose()) + { + printf_P(PSTR("i = %d, endstop not hit 2, current_pos[Z]: %f \n"), i, current_position[Z_AXIS]); + goto error; + } #ifdef TMC2130 - if (READ(Z_TMC2130_DIAG) != 0) goto error; //crash Z detected + if (READ(Z_TMC2130_DIAG) != 0) { + printf_P(PSTR("crash detected 2, current_pos[Z]: %f \n"), current_position[Z_AXIS]); + goto error; //crash Z detected + } #endif //TMC2130 // SERIAL_ECHOPGM("Bed find_bed_induction_sensor_point_z low, height: "); // MYSERIAL.print(current_position[Z_AXIS], 5); @@ -1000,7 +1016,11 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i float dz = i?abs(current_position[Z_AXIS] - (z / i)):0; z += current_position[Z_AXIS]; //printf_P(PSTR("Z[%d] = %d, dz=%d\n"), i, (int)(current_position[Z_AXIS] * 1000), (int)(dz * 1000)); - if (dz > 0.05) goto error;//deviation > 50um + if (dz > 0.05) { + printf_P(PSTR("big deviation \n")); + goto error;//deviation > 50um + } + printf_P(PSTR("PINDA triggered at %f\n"), current_position[Z_AXIS]); } current_position[Z_AXIS] = z; if (n_iter > 1)