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Merge pull request #2961 from espr14/PFW-1179

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Calibration: print skew results PFW-1179
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DRracer 2021-01-22 12:24:52 +01:00 committed by GitHub
commit ab59449b7c
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1 changed files with 18 additions and 9 deletions
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19
Firmware/mesh_bed_calibration.cpp
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@ -12,6 +12,8 @@
#include "tmc2130.h" #include "tmc2130.h"
#endif //TMC2130 #endif //TMC2130
#define DBG(args...) printf_P(args)
uint8_t world2machine_correction_mode; uint8_t world2machine_correction_mode;
float world2machine_rotation_and_skew[2][2]; float world2machine_rotation_and_skew[2][2];
float world2machine_rotation_and_skew_inv[2][2]; float world2machine_rotation_and_skew_inv[2][2];
@ -369,7 +371,9 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
BedSkewOffsetDetectionResultType result = BED_SKEW_OFFSET_DETECTION_PERFECT; BedSkewOffsetDetectionResultType result = BED_SKEW_OFFSET_DETECTION_PERFECT;
{ {
angleDiff = fabs(a2 - a1); angleDiff = fabs(a2 - a1);
eeprom_update_float((float*)(EEPROM_XYZ_CAL_SKEW), angleDiff); //storing xyz cal. skew to be able to show in support menu later /// XY skew and Y-bed skew
DBG(_n("Measured skews: %f %f\n"), degrees(a2 - a1), degrees(a2));
eeprom_update_float((float *)(EEPROM_XYZ_CAL_SKEW), angleDiff); //storing xyz cal. skew to be able to show in support menu later
if (angleDiff > bed_skew_angle_mild) if (angleDiff > bed_skew_angle_mild)
result = (angleDiff > bed_skew_angle_extreme) ? result = (angleDiff > bed_skew_angle_extreme) ?
BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME : BED_SKEW_OFFSET_DETECTION_SKEW_EXTREME :
@ -1380,7 +1384,7 @@ inline bool find_bed_induction_sensor_point_xy(int verbosity_level)
// go_xyz(current_position[X_AXIS], current_position[Y_AXIS], MESH_HOME_Z_SEARCH, homing_feedrate[Z_AXIS]/60); // 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); go_xyz(x0, y0, current_position[Z_AXIS], feedrate);
// Continously lower the Z axis. // Continuously lower the Z axis.
endstops_hit_on_purpose(); endstops_hit_on_purpose();
enable_z_endstop(true); enable_z_endstop(true);
while (current_position[Z_AXIS] > -10.f) { while (current_position[Z_AXIS] > -10.f) {
@ -2376,6 +2380,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
} }
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
} }
DBG(_n("All 4 calibration points found.\n"));
delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity
#ifdef SUPPORT_VERBOSITY #ifdef SUPPORT_VERBOSITY
@ -2386,7 +2391,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
// Don't let the manage_inactivity() function remove power from the motors. // Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout(); refresh_cmd_timeout();
// Go to the measurement point. // Go to the measurement point.
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew(). // Use the corrected coordinate, which is a result of find_bed_offset_and_skew().
current_position[X_AXIS] = pts[mesh_point * 2]; current_position[X_AXIS] = pts[mesh_point * 2];
current_position[Y_AXIS] = pts[mesh_point * 2 + 1]; current_position[Y_AXIS] = pts[mesh_point * 2 + 1];
go_to_current(homing_feedrate[X_AXIS] / 60); go_to_current(homing_feedrate[X_AXIS] / 60);
@ -2406,6 +2411,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity delay_keep_alive(0); //manage_heater, reset watchdog, manage inactivity
if (result >= 0) { if (result >= 0) {
DBG(_n("Calibration success.\n"));
world2machine_update(vec_x, vec_y, cntr); world2machine_update(vec_x, vec_y, cntr);
#if 1 #if 1
// Fearlessly store the calibration values into the eeprom. // Fearlessly store the calibration values into the eeprom.
@ -2450,7 +2456,7 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
// Don't let the manage_inactivity() function remove power from the motors. // Don't let the manage_inactivity() function remove power from the motors.
refresh_cmd_timeout(); refresh_cmd_timeout();
// Go to the measurement point. // Go to the measurement point.
// Use the coorrected coordinate, which is a result of find_bed_offset_and_skew(). // Use the corrected coordinate, which is a result of find_bed_offset_and_skew().
uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1 uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS; uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix;
@ -2463,7 +2469,10 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
#endif // SUPPORT_VERBOSITY #endif // SUPPORT_VERBOSITY
return result; return result;
} }
if (result == BED_SKEW_OFFSET_DETECTION_FITTING_FAILED && too_far_mask == 2) return result; //if fitting failed and front center point is out of reach, terminate calibration and inform user if (result == BED_SKEW_OFFSET_DETECTION_FITTING_FAILED && too_far_mask == 2){
DBG(_n("Fitting failed => calibration failed.\n"));
return result; //if fitting failed and front center point is out of reach, terminate calibration and inform user
}
iteration++; iteration++;
} }
return result; return result;