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temp calibration initial version

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This commit is contained in:
PavelSindler 2017-02-27 17:24:26 +01:00
parent 590cc8f3e8
commit c441b4acdb
3 changed files with 182 additions and 1 deletions
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2
Firmware/Configuration.h
View File

@ -34,6 +34,8 @@
#define EEPROM_FARM_MODE (EEPROM_BED_CALIBRATION_Z_JITTER-4)
#define EEPROM_PROBE_TEMP_SHIFT (EEPROM_FARM_MODE - 2*5) //5 x int for storing pinda probe temp shift relative to 50 C; unit: motor steps
// Correction of the bed leveling, in micrometers.
// Maximum 50 micrometers allowed.
// Bed correction is valid if set to 1. If set to zero or 255, the successive 4 bytes are invalid.

4
Firmware/Marlin.h
View File

@ -326,4 +326,6 @@ void d_setup();
float d_ReadData();
void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
#endif
#endif
float temp_comp_interpolation(float temperature);
void temp_compensation_apply();

177
Firmware/Marlin_main.cpp
View File

@ -2767,6 +2767,87 @@ void process_commands()
*
*/
case 76: //PINDA probe temperature compensation
{
setTargetBed(PINDA_MIN_T);
float zero_z;
int z_shift = 0; //unit: steps
int t_c; // temperature
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
// We don't know where we are! HOME!
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
repeatcommand_front(); // repeat G76 with all its parameters
enquecommand_front_P((PSTR("G28 W0")));
break;
}
current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
current_position[Z_AXIS] = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
while (degBed() < PINDA_MIN_T) delay_keep_alive(1000);
//enquecommand_P(PSTR("M190 S50"));
delay_keep_alive(PINDA_HEAT_T * 1000);
current_position[Z_AXIS] = 5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
current_position[X_AXIS] = pgm_read_float(bed_ref_points);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
find_bed_induction_sensor_point_z(-1.f);
zero_z = current_position[Z_AXIS];
//current_position[Z_AXIS]
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("ZERO: ");
MYSERIAL.print(current_position[Z_AXIS]);
SERIAL_ECHOLNPGM("");
for (int i = 0; i<5; i++) {
t_c = 60 + i * 10;
setTargetBed(t_c);
current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
current_position[Z_AXIS] = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
while (degBed() < t_c) delay_keep_alive(1000);
delay_keep_alive(PINDA_HEAT_T * 1000);
current_position[Z_AXIS] = 5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
current_position[X_AXIS] = pgm_read_float(bed_ref_points);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
find_bed_induction_sensor_point_z(-1.f);
z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Temperature: ");
MYSERIAL.print(t_c);
SERIAL_ECHOPGM(" Z shift (mm):");
MYSERIAL.print(current_position[Z_AXIS] - zero_z);
SERIAL_ECHOLNPGM("");
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
}
setTargetBed(0); //set bed target temperature back to 0
}
break;
#ifdef DIS
case 77:
{
@ -2908,6 +2989,9 @@ void process_commands()
}
clean_up_after_endstop_move();
temp_compensation_apply(); //apply PINDA temperature compensation
// Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
babystep_apply();
@ -6063,4 +6147,97 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
}
void temp_compensation_apply() {
int i_add;
int compensation_value;
int z_shift = 0;
float z_shift_mm;
current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
current_position[Z_AXIS] = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
while (fabs(degBed() - target_temperature_bed) > 3) delay_keep_alive(1000);
delay_keep_alive(PINDA_HEAT_T * 1000);
if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
i_add = (target_temperature_bed - 60) / 10;
EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
}
else {
//interpolation
z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
}
SERIAL_PROTOCOLPGM("\n");
SERIAL_PROTOCOLPGM("Z shift applied:");
MYSERIAL.print(z_shift_mm);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - z_shift_mm, current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
plan_set_z_position(current_position[Z_AXIS]);
}
float temp_comp_interpolation(float temperature) {
//cubic spline interpolation
int i;
int shift[6];
float shift_f[6];
float temp_C[6];
shift[0] = 0; //shift for 50 C is 0
int n, j, k;
float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], p, m[10][10] = { 0 }, temp;
for (i = 0; i < 6; i++) {
EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &shift[i + 1]); //read shift in steps from EEPROM
temp_C[i] = 50 + i * 10; //temperature in C
shift_f[i] = (float)shift[i];
}
for (i = 5; i > 0; i--) {
F[i] = (shift_f[i] - shift_f[i - 1]) / (temp_C[i] - temp_C[i - 1]);
h[i - 1] = temp_C[i] - temp_C[i - 1];
}
//*********** formation of h, s , f matrix **************//
for (i = 1; i<5; i++) {
m[i][i] = 2 * (h[i - 1] + h[i]);
if (i != 1) {
m[i][i - 1] = h[i - 1];
m[i - 1][i] = h[i - 1];
}
m[i][5] = 6 * (F[i + 1] - F[i]);
}
//*********** forward elimination **************//
for (i = 1; i<4; i++) {
temp = (m[i + 1][i] / m[i][i]);
for (j = 1; j <= 5; j++)
m[i + 1][j] -= temp*m[i][j];
}
//*********** backward substitution *********//
for (i = 4; i>0; i--) {
sum = 0;
for (j = i; j <= 4; j++)
sum += m[i][j] * s[j];
s[i] = (m[i][n - 1] - sum) / m[i][i];
}
for (i = 0; i<5; i++)
if (temp_C[i] <= temperature&&temperature <= temp_C[i + 1]) {
a = (s[i + 1] - s[i]) / (6 * h[i]);
b = s[i] / 2;
c = (shift[i + 1] - shift[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
d = shift[i];
sum = a*pow((p - temp_C[i]), 3) + b*pow((p - temp_C[i]), 2) + c*(p - temp_C[i]) + d;
}
return(sum);
}
#endif