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🚸 More flexible Probe Temperature Compensation (#23033)

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This commit is contained in:
tombrazier
2021-11-01 23:03:50 +00:00
committed by Scott Lahteine
parent efd9329c81
commit 0b84194127
15 changed files with 672 additions and 623 deletions
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86
Marlin/src/feature/probe_temp_comp.cpp
View File

@ -22,39 +22,53 @@
#include "../inc/MarlinConfigPre.h"
#if ENABLED(PROBE_TEMP_COMPENSATION)
#if HAS_PTC
//#define DEBUG_PTC // Print extra debug output with 'M871'
#include "probe_temp_comp.h"
#include <math.h>
ProbeTempComp temp_comp;
ProbeTempComp ptc;
int16_t ProbeTempComp::z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // = {0}
ProbeTempComp::z_offsets_bed[cali_info_init[TSI_BED].measurements]; // = {0}
#if ENABLED(PTC_PROBE)
constexpr int16_t z_offsets_probe_default[PTC_PROBE_COUNT] = PTC_PROBE_ZOFFS;
int16_t ProbeTempComp::z_offsets_probe[PTC_PROBE_COUNT] = PTC_PROBE_ZOFFS;
#endif
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
int16_t ProbeTempComp::z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // = {0}
#if ENABLED(PTC_BED)
constexpr int16_t z_offsets_bed_default[PTC_BED_COUNT] = PTC_BED_ZOFFS;
int16_t ProbeTempComp::z_offsets_bed[PTC_BED_COUNT] = PTC_BED_ZOFFS;
#endif
#if ENABLED(PTC_HOTEND)
constexpr int16_t z_offsets_hotend_default[PTC_HOTEND_COUNT] = PTC_HOTEND_ZOFFS;
int16_t ProbeTempComp::z_offsets_hotend[PTC_HOTEND_COUNT] = PTC_HOTEND_ZOFFS;
#endif
int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
ProbeTempComp::z_offsets_probe, ProbeTempComp::z_offsets_bed
OPTARG(USE_TEMP_EXT_COMPENSATION, ProbeTempComp::z_offsets_ext)
#if ENABLED(PTC_PROBE)
ProbeTempComp::z_offsets_probe,
#endif
#if ENABLED(PTC_BED)
ProbeTempComp::z_offsets_bed,
#endif
#if ENABLED(PTC_HOTEND)
ProbeTempComp::z_offsets_hotend,
#endif
};
const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = {
cali_info_init[TSI_PROBE], cali_info_init[TSI_BED]
OPTARG(USE_TEMP_EXT_COMPENSATION, cali_info_init[TSI_EXT])
};
constexpr xyz_pos_t ProbeTempComp::park_point;
constexpr xy_pos_t ProbeTempComp::measure_point;
constexpr celsius_t ProbeTempComp::probe_calib_bed_temp;
constexpr temp_calib_t ProbeTempComp::cali_info[TSI_COUNT];
uint8_t ProbeTempComp::calib_idx; // = 0
float ProbeTempComp::init_measurement; // = 0.0
void ProbeTempComp::reset() {
TERN_(PTC_PROBE, LOOP_L_N(i, PTC_PROBE_COUNT) z_offsets_probe[i] = z_offsets_probe_default[i]);
TERN_(PTC_BED, LOOP_L_N(i, PTC_BED_COUNT) z_offsets_bed[i] = z_offsets_bed_default[i]);
TERN_(PTC_HOTEND, LOOP_L_N(i, PTC_HOTEND_COUNT) z_offsets_hotend[i] = z_offsets_hotend_default[i]);
}
void ProbeTempComp::clear_offsets(const TempSensorID tsi) {
LOOP_L_N(i, cali_info[tsi].measurements)
sensor_z_offsets[tsi][i] = 0;
@ -71,10 +85,9 @@ void ProbeTempComp::print_offsets() {
LOOP_L_N(s, TSI_COUNT) {
celsius_t temp = cali_info[s].start_temp;
for (int16_t i = -1; i < cali_info[s].measurements; ++i) {
SERIAL_ECHOF(s == TSI_BED ? F("Bed") :
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
s == TSI_EXT ? F("Extruder") :
#endif
SERIAL_ECHOF(
TERN_(PTC_BED, s == TSI_BED ? F("Bed") :)
TERN_(PTC_HOTEND, s == TSI_EXT ? F("Extruder") :)
F("Probe")
);
SERIAL_ECHOLNPGM(
@ -100,21 +113,13 @@ void ProbeTempComp::prepare_new_calibration(const_float_t init_meas_z) {
}
void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const_float_t meas_z) {
switch (tsi) {
case TSI_PROBE:
case TSI_BED:
//case TSI_EXT:
if (calib_idx >= cali_info[tsi].measurements) return;
sensor_z_offsets[tsi][calib_idx++] = static_cast<int16_t>(meas_z * 1000.0f - init_measurement * 1000.0f);
default: break;
}
if (calib_idx >= cali_info[tsi].measurements) return;
sensor_z_offsets[tsi][calib_idx++] = static_cast<int16_t>((meas_z - init_measurement) * 1000.0f);
}
bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
if (calib_idx < 3) {
SERIAL_ECHOLNPGM("!Insufficient measurements (min. 3).");
if (!calib_idx) {
SERIAL_ECHOLNPGM("!No measurements.");
clear_offsets(tsi);
return false;
}
@ -130,16 +135,15 @@ bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
SERIAL_ECHOLNPGM("Got ", calib_idx, " measurements. ");
if (linear_regression(tsi, k, d)) {
SERIAL_ECHOPGM("Applying linear extrapolation");
calib_idx--;
for (; calib_idx < measurements; ++calib_idx) {
const celsius_float_t temp = start_temp + float(calib_idx) * res_temp;
const celsius_float_t temp = start_temp + float(calib_idx + 1) * res_temp;
data[calib_idx] = static_cast<int16_t>(k * temp + d);
}
}
else {
// Simply use the last measured value for higher temperatures
SERIAL_ECHOPGM("Failed to extrapolate");
const int16_t last_val = data[calib_idx];
const int16_t last_val = data[calib_idx-1];
for (; calib_idx < measurements; ++calib_idx)
data[calib_idx] = last_val;
}
@ -157,7 +161,7 @@ bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
// Restrict the max. offset difference between two probings
if (calib_idx > 0 && ABS(data[calib_idx - 1] - data[calib_idx]) > 800) {
SERIAL_ECHOLNPGM("!Invalid Z-offset between two probings detected (0-0.8).");
clear_offsets(TSI_PROBE);
clear_offsets(tsi);
return false;
}
}
@ -168,8 +172,8 @@ bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const celsius_t temp, float &meas_z) {
const uint8_t measurements = cali_info[tsi].measurements;
const celsius_t start_temp = cali_info[tsi].start_temp,
end_temp = cali_info[tsi].end_temp,
res_temp = cali_info[tsi].temp_resolution;
res_temp = cali_info[tsi].temp_resolution,
end_temp = start_temp + measurements * res_temp;
const int16_t * const data = sensor_z_offsets[tsi];
// Given a data index, return { celsius, zoffset } in the form { x, y }
@ -208,9 +212,7 @@ void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const celsius
}
bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) {
if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
if (!WITHIN(calib_idx, 2, cali_info[tsi].measurements)) return false;
if (!WITHIN(calib_idx, 1, cali_info[tsi].measurements)) return false;
const celsius_t start_temp = cali_info[tsi].start_temp,
res_temp = cali_info[tsi].temp_resolution;
@ -243,4 +245,4 @@ bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d
return true;
}
#endif // PROBE_TEMP_COMPENSATION
#endif // HAS_PTC

116
Marlin/src/feature/probe_temp_comp.h
View File

@ -24,9 +24,13 @@
#include "../inc/MarlinConfig.h"
enum TempSensorID : uint8_t {
TSI_PROBE,
TSI_BED,
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
#if ENABLED(PTC_PROBE)
TSI_PROBE,
#endif
#if ENABLED(PTC_BED)
TSI_BED,
#endif
#if ENABLED(PTC_HOTEND)
TSI_EXT,
#endif
TSI_COUNT
@ -35,8 +39,7 @@ enum TempSensorID : uint8_t {
typedef struct {
uint8_t measurements; // Max. number of measurements to be stored (35 - 80°C)
celsius_t temp_resolution, // Resolution in °C between measurements
start_temp, // Base measurement; z-offset == 0
end_temp;
start_temp; // Base measurement; z-offset == 0
} temp_calib_t;
/**
@ -45,93 +48,40 @@ typedef struct {
* measurement errors/shifts due to changed temperature.
*/
// Probe temperature calibration constants
#ifndef PTC_SAMPLE_COUNT
#define PTC_SAMPLE_COUNT 10
#endif
#ifndef PTC_SAMPLE_RES
#define PTC_SAMPLE_RES 5
#endif
#ifndef PTC_SAMPLE_START
#define PTC_SAMPLE_START 30
#endif
#define PTC_SAMPLE_END (PTC_SAMPLE_START + (PTC_SAMPLE_COUNT) * PTC_SAMPLE_RES)
// Bed temperature calibration constants
#ifndef BTC_PROBE_TEMP
#define BTC_PROBE_TEMP 30
#endif
#ifndef BTC_SAMPLE_COUNT
#define BTC_SAMPLE_COUNT 10
#endif
#ifndef BTC_SAMPLE_RES
#define BTC_SAMPLE_RES 5
#endif
#ifndef BTC_SAMPLE_START
#define BTC_SAMPLE_START 60
#endif
#define BTC_SAMPLE_END (BTC_SAMPLE_START + (BTC_SAMPLE_COUNT) * BTC_SAMPLE_RES)
// Extruder temperature calibration constants
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
#ifndef ETC_SAMPLE_COUNT
#define ETC_SAMPLE_COUNT 20
#endif
#ifndef ETC_SAMPLE_RES
#define ETC_SAMPLE_RES 5
#endif
#ifndef ETC_SAMPLE_START
#define ETC_SAMPLE_START 180
#endif
#define ETC_SAMPLE_END (ETC_SAMPLE_START + (ETC_SAMPLE_COUNT) * ETC_SAMPLE_RES)
#endif
#ifndef PTC_PROBE_HEATING_OFFSET
#define PTC_PROBE_HEATING_OFFSET 0.5f
#endif
#ifndef PTC_PROBE_RAISE
#define PTC_PROBE_RAISE 10
#endif
static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
{ PTC_SAMPLE_COUNT, PTC_SAMPLE_RES, PTC_SAMPLE_START, PTC_SAMPLE_END }, // Probe
{ BTC_SAMPLE_COUNT, BTC_SAMPLE_RES, BTC_SAMPLE_START, BTC_SAMPLE_END }, // Bed
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
{ ETC_SAMPLE_COUNT, ETC_SAMPLE_RES, ETC_SAMPLE_START, ETC_SAMPLE_END }, // Extruder
#endif
};
class ProbeTempComp {
public:
static const temp_calib_t cali_info[TSI_COUNT];
static constexpr temp_calib_t cali_info[TSI_COUNT] = {
#if ENABLED(PTC_PROBE)
{ PTC_PROBE_COUNT, PTC_PROBE_RES, PTC_PROBE_START }, // Probe
#endif
#if ENABLED(PTC_BED)
{ PTC_BED_COUNT, PTC_BED_RES, PTC_BED_START }, // Bed
#endif
#if ENABLED(PTC_HOTEND)
{ PTC_HOTEND_COUNT, PTC_HOTEND_RES, PTC_HOTEND_START }, // Extruder
#endif
};
// Where to park nozzle to wait for probe cooldown
static constexpr xyz_pos_t park_point = PTC_PARK_POS;
// XY coordinates of nozzle for probing the bed
static constexpr xy_pos_t measure_point = PTC_PROBE_POS; // Coordinates to probe
//measure_point = { 12.0f, 7.3f }; // Coordinates for the MK52 magnetic heatbed
static constexpr celsius_t probe_calib_bed_temp = BED_MAX_TARGET, // Bed temperature while calibrating probe
bed_calib_probe_temp = BTC_PROBE_TEMP; // Probe temperature while calibrating bed
static int16_t *sensor_z_offsets[TSI_COUNT],
z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // (µm)
z_offsets_bed[cali_info_init[TSI_BED].measurements]; // (µm)
#if ENABLED(USE_TEMP_EXT_COMPENSATION)
static int16_t z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // (µm)
static int16_t *sensor_z_offsets[TSI_COUNT];
#if ENABLED(PTC_PROBE)
static int16_t z_offsets_probe[PTC_PROBE_COUNT]; // (µm)
#endif
#if ENABLED(PTC_BED)
static int16_t z_offsets_bed[PTC_BED_COUNT]; // (µm)
#endif
#if ENABLED(PTC_HOTEND)
static int16_t z_offsets_hotend[PTC_HOTEND_COUNT]; // (µm)
#endif
static inline void reset_index() { calib_idx = 0; };
static inline uint8_t get_index() { return calib_idx; }
static void reset();
static void clear_offsets(const TempSensorID tsi);
static inline void clear_all_offsets() {
clear_offsets(TSI_BED);
clear_offsets(TSI_PROBE);
TERN_(USE_TEMP_EXT_COMPENSATION, clear_offsets(TSI_EXT));
TERN_(PTC_PROBE, clear_offsets(TSI_PROBE));
TERN_(PTC_BED, clear_offsets(TSI_BED));
TERN_(PTC_HOTEND, clear_offsets(TSI_EXT));
}
static bool set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset);
static void print_offsets();
@ -156,4 +106,4 @@ class ProbeTempComp {
static bool linear_regression(const TempSensorID tsi, float &k, float &d);
};
extern ProbeTempComp temp_comp;
extern ProbeTempComp ptc;