PINDA v2 temperature sensor / compensation (#16293)
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tompe-proj
committed by
Scott Lahteine
Scott Lahteine
parent
4108c5d01f
commit
a338dce83f
223
Marlin/src/feature/probe_temp_compensation.cpp
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223
Marlin/src/feature/probe_temp_compensation.cpp
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(PROBE_TEMP_COMPENSATION)
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#include "probe_temp_compensation.h"
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#include <math.h>
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ProbeTempComp temp_comp;
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int16_t ProbeTempComp::z_offsets_probe[ProbeTempComp::cali_info_init[TSI_PROBE].measurements], // = {0}
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ProbeTempComp::z_offsets_bed[ProbeTempComp::cali_info_init[TSI_BED].measurements]; // = {0}
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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int16_t ProbeTempComp::z_offsets_ext[ProbeTempComp::cali_info_init[TSI_EXT].measurements]; // = {0}
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#endif
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int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
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ProbeTempComp::z_offsets_probe, ProbeTempComp::z_offsets_bed
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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, ProbeTempComp::z_offsets_ext
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#endif
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};
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const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = {
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ProbeTempComp::cali_info_init[TSI_PROBE], ProbeTempComp::cali_info_init[TSI_BED]
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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, ProbeTempComp::cali_info_init[TSI_EXT]
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#endif
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};
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uint8_t ProbeTempComp::calib_idx; // = 0
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float ProbeTempComp::init_measurement; // = 0.0
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void ProbeTempComp::clear_offsets(const TempSensorID tsi) {
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for (uint8_t i = 0; i < cali_info[tsi].measurements; ++i)
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sensor_z_offsets[tsi][i] = 0;
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calib_idx = 0;
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}
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bool ProbeTempComp::set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset) {
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if (idx >= cali_info[tsi].measurements) return false;
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sensor_z_offsets[tsi][idx] = offset;
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return true;
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}
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void ProbeTempComp::print_offsets() {
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for (uint8_t s = 0; s < TSI_COUNT; s++) {
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float temp = cali_info[s].start_temp;
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for (int16_t i = -1; i < cali_info[s].measurements; ++i) {
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serialprintPGM(s == TSI_BED ? PSTR("Bed") :
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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s == TSI_EXT ? PSTR("Extruder") :
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#endif
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PSTR("Probe")
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);
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SERIAL_ECHOLNPAIR(
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" temp: ", temp,
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"C; Offset: ", i < 0 ? 0.0f : sensor_z_offsets[s][i], " um"
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);
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temp += cali_info[s].temp_res;
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}
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}
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}
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void ProbeTempComp::prepare_new_calibration(const float &init_meas_z) {
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calib_idx = 0;
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init_measurement = init_meas_z;
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}
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void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const float &meas_z) {
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switch (tsi) {
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case TSI_PROBE:
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case TSI_BED:
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//case TSI_EXT:
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if (calib_idx >= cali_info[tsi].measurements) return;
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sensor_z_offsets[tsi][calib_idx++] = static_cast<int16_t>(meas_z * 1000.0f - init_measurement * 1000.0f);
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default: break;
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}
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}
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bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
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if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
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if (calib_idx < 3) {
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SERIAL_ECHOLNPGM("!Insufficient measurements (min. 3).");
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clear_offsets(tsi);
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return false;
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}
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const uint8_t measurements = cali_info[tsi].measurements;
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const float start_temp = cali_info[tsi].start_temp,
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res_temp = cali_info[tsi].temp_res;
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int16_t * const data = sensor_z_offsets[tsi];
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// Extrapolate
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float k, d;
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if (calib_idx < measurements) {
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SERIAL_ECHOLNPAIR("Got ", calib_idx, " measurements. ");
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if (linear_regression(tsi, k, d)) {
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SERIAL_ECHOPGM("Applying linear extrapolation");
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calib_idx--;
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for (; calib_idx < measurements; ++calib_idx) {
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const float temp = start_temp + float(calib_idx) * res_temp;
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data[calib_idx] = static_cast<int16_t>(k * temp + d);
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}
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}
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else {
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// Simply use the last measured value for higher temperatures
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SERIAL_ECHOPGM("Failed to extrapolate");
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const int16_t last_val = data[calib_idx];
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for (; calib_idx < measurements; ++calib_idx)
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data[calib_idx] = last_val;
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}
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SERIAL_ECHOLNPGM(" for higher temperatures.");
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}
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// Sanity check
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for (calib_idx = 0; calib_idx < measurements; ++calib_idx) {
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// Restrict the max. offset
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if (abs(data[calib_idx]) > 2000) {
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SERIAL_ECHOLNPGM("!Invalid Z-offset detected (0-2).");
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clear_offsets(tsi);
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return false;
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}
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// Restrict the max. offset difference between two probings
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if (calib_idx > 0 && abs(data[calib_idx - 1] - data[calib_idx]) > 800) {
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SERIAL_ECHOLNPGM("!Invalid Z-offset between two probings detected (0-0.8).");
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clear_offsets(TSI_PROBE);
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return false;
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}
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}
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return true;
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}
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void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const float &temp, float &meas_z) {
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if (WITHIN(temp, cali_info[tsi].start_temp, cali_info[tsi].end_temp))
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meas_z -= get_offset_for_temperature(tsi, temp);
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}
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float ProbeTempComp::get_offset_for_temperature(const TempSensorID tsi, const float &temp) {
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const uint8_t measurements = cali_info[tsi].measurements;
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const float start_temp = cali_info[tsi].start_temp,
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end_temp = cali_info[tsi].end_temp,
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res_temp = cali_info[tsi].temp_res;
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const int16_t * const data = sensor_z_offsets[tsi];
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if (temp <= start_temp) return 0.0f;
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if (temp >= end_temp) return static_cast<float>(data[measurements - 1]) / 1000.0f;
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// Linear interpolation
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int16_t val1 = 0, val2 = data[0];
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uint8_t idx = 0;
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float meas_temp = start_temp + res_temp;
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while (meas_temp < temp) {
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if (++idx >= measurements) return static_cast<float>(val2) / 1000.0f;
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meas_temp += res_temp;
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val1 = val2;
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val2 = data[idx];
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}
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const float factor = (meas_temp - temp) / static_cast<float>(res_temp);
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return (static_cast<float>(val2) - static_cast<float>(val2 - val1) * factor) / 1000.0f;
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}
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bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) {
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if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
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if (!WITHIN(calib_idx, 2, cali_info[tsi].measurements)) return false;
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const float start_temp = cali_info[tsi].start_temp,
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res_temp = cali_info[tsi].temp_res;
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const int16_t * const data = sensor_z_offsets[tsi];
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float sum_x = start_temp,
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sum_x2 = sq(start_temp),
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sum_xy = 0, sum_y = 0;
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for (uint8_t i = 0; i < calib_idx; ++i) {
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const float xi = start_temp + (i + 1) * res_temp,
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yi = static_cast<float>(data[i]);
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sum_x += xi;
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sum_x2 += sq(xi);
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sum_xy += xi * yi;
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sum_y += yi;
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}
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const float denom = static_cast<float>(calib_idx + 1) * sum_x2 - sq(sum_x);
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if (fabs(denom) <= 10e-5) {
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// Singularity - unable to solve
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k = d = 0.0;
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return false;
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}
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k = (static_cast<float>(calib_idx + 1) * sum_xy - sum_x * sum_y) / denom;
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d = (sum_y - k * sum_x) / static_cast<float>(calib_idx + 1);
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return true;
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}
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#endif // PROBE_TEMP_COMPENSATION
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116
Marlin/src/feature/probe_temp_compensation.h
Normal file
116
Marlin/src/feature/probe_temp_compensation.h
Normal file
@ -0,0 +1,116 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfig.h"
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enum TempSensorID : uint8_t {
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TSI_PROBE,
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TSI_BED,
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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TSI_EXT,
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#endif
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TSI_COUNT
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};
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typedef struct {
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uint8_t measurements; // Max. number of measurements to be stored (35 - 80°C)
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float temp_res, // Resolution in °C between measurements
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start_temp, // Base measurement; z-offset == 0
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end_temp;
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} temp_calib_t;
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/**
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* Probe temperature compensation implementation.
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* Z-probes like the P.I.N.D.A V2 allow for compensation of
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* measurement errors/shifts due to changed temperature.
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*/
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class ProbeTempComp {
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public:
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static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
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{ 30, 10, 5, 30 + 10 * 5 }, // Probe
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{ 60, 10, 5, 60 + 10 * 5 }, // Bed
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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{ 180, 5, 20, 180 + 5 * 20 } // Extruder
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#endif
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};
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static const temp_calib_t cali_info[TSI_COUNT];
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// Where to park nozzle to wait for probe cooldown
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static constexpr xyz_pos_t park_point = { PTC_PARK_POS_X, PTC_PARK_POS_Y, PTC_PARK_POS_Z };
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static constexpr int max_bed_temp = PTC_MAX_BED_TEMP, // Max temperature to avoid heating errors
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// XY coordinates of nozzle for probing the bed
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measure_point_x = PTC_PROBE_POS_X, // X-coordinate to probe
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measure_point_y = PTC_PROBE_POS_Y, // Y-coordinate to probe
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//measure_point_x = 12.0f, // X-coordinate to probe on MK52 magnetic heatbed
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//measure_point_y = 7.3f, // Y-coordinate to probe on MK52 magnetic heatbed
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probe_calib_bed_temp = max_bed_temp, // Bed temperature while calibrating probe
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bed_calib_probe_temp = 30; // Probe temperature while calibrating bed
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static int16_t *sensor_z_offsets[TSI_COUNT],
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z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // (µm)
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z_offsets_bed[cali_info_init[TSI_BED].measurements]; // (µm)
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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static int16_t z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // (µm)
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#endif
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static inline void reset_index() { calib_idx = 0; };
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static inline uint8_t get_index() { return calib_idx; }
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static void clear_offsets(const TempSensorID tsi);
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static inline void clear_all_offsets() {
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clear_offsets(TSI_BED);
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clear_offsets(TSI_PROBE);
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#if ENABLED(USE_TEMP_EXT_COMPENSATION)
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clear_offsets(TSI_EXT);
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#endif
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}
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static bool set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset);
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static void print_offsets();
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static void prepare_new_calibration(const float &init_meas_z);
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static void push_back_new_measurement(const TempSensorID tsi, const float &meas_z);
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static bool finish_calibration(const TempSensorID tsi);
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static void compensate_measurement(const TempSensorID tsi, const float &temp, float &meas_z);
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private:
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static uint8_t calib_idx;
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/**
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* Base value. Temperature compensation values will be deltas
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* to this value, set at first probe.
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*/
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static float init_measurement;
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static float get_offset_for_temperature(const TempSensorID tsi, const float &temp);
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/**
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* Fit a linear function in measured temperature offsets
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* to allow generating values of higher temperatures.
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*/
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static bool linear_regression(const TempSensorID tsi, float &k, float &d);
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};
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extern ProbeTempComp temp_comp;
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