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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../inc/MarlinConfigPre.h"
-
- #if HAS_PTC
-
- //#define DEBUG_PTC // Print extra debug output with 'M871'
-
- #include "probe_temp_comp.h"
- #include <math.h>
- #include "../module/temperature.h"
-
- ProbeTempComp ptc;
-
- #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(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] = {
- #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
- };
-
- constexpr temp_calib_t ProbeTempComp::cali_info[TSI_COUNT];
-
- uint8_t ProbeTempComp::calib_idx; // = 0
- float ProbeTempComp::init_measurement; // = 0.0
- bool ProbeTempComp::enabled = true;
-
- 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;
- calib_idx = 0;
- }
-
- bool ProbeTempComp::set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset) {
- if (idx >= cali_info[tsi].measurements) return false;
- sensor_z_offsets[tsi][idx] = offset;
- return true;
- }
-
- 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(
- TERN_(PTC_BED, s == TSI_BED ? F("Bed") :)
- TERN_(PTC_HOTEND, s == TSI_EXT ? F("Extruder") :)
- F("Probe")
- );
- SERIAL_ECHOLNPGM(
- " temp: ", temp,
- "C; Offset: ", i < 0 ? 0.0f : sensor_z_offsets[s][i], " um"
- );
- temp += cali_info[s].temp_resolution;
- }
- }
- #if ENABLED(DEBUG_PTC)
- float meas[4] = { 0, 0, 0, 0 };
- compensate_measurement(TSI_PROBE, 27.5, meas[0]);
- compensate_measurement(TSI_PROBE, 32.5, meas[1]);
- compensate_measurement(TSI_PROBE, 77.5, meas[2]);
- compensate_measurement(TSI_PROBE, 82.5, meas[3]);
- SERIAL_ECHOLNPGM("DEBUG_PTC 27.5:", meas[0], " 32.5:", meas[1], " 77.5:", meas[2], " 82.5:", meas[3]);
- #endif
- }
-
- void ProbeTempComp::prepare_new_calibration(const_float_t init_meas_z) {
- calib_idx = 0;
- init_measurement = init_meas_z;
- }
-
- void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const_float_t meas_z) {
- 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 (!calib_idx) {
- SERIAL_ECHOLNPGM("!No measurements.");
- clear_offsets(tsi);
- return false;
- }
-
- const uint8_t measurements = cali_info[tsi].measurements;
- const celsius_t start_temp = cali_info[tsi].start_temp,
- res_temp = cali_info[tsi].temp_resolution;
- int16_t * const data = sensor_z_offsets[tsi];
-
- // Extrapolate
- float k, d;
- if (calib_idx < measurements) {
- SERIAL_ECHOLNPGM("Got ", calib_idx, " measurements. ");
- if (linear_regression(tsi, k, d)) {
- SERIAL_ECHOPGM("Applying linear extrapolation");
- for (; calib_idx < measurements; ++calib_idx) {
- 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-1];
- for (; calib_idx < measurements; ++calib_idx)
- data[calib_idx] = last_val;
- }
- SERIAL_ECHOLNPGM(" for higher temperatures.");
- }
-
- // Sanity check
- for (calib_idx = 0; calib_idx < measurements; ++calib_idx) {
- // Restrict the max. offset
- if (ABS(data[calib_idx]) > 2000) {
- SERIAL_ECHOLNPGM("!Invalid Z-offset detected (0-2).");
- clear_offsets(tsi);
- return false;
- }
- // 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);
- return false;
- }
- }
-
- return true;
- }
-
- void ProbeTempComp::apply_compensation(float &meas_z) {
- if (!enabled) return;
- TERN_(PTC_BED, compensate_measurement(TSI_BED, thermalManager.degBed(), meas_z));
- TERN_(PTC_PROBE, compensate_measurement(TSI_PROBE, thermalManager.degProbe(), meas_z));
- TERN_(PTC_HOTEND, compensate_measurement(TSI_EXT, thermalManager.degHotend(0), meas_z));
- }
-
- 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,
- 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 }
- auto tpoint = [&](uint8_t i) -> xy_float_t {
- return xy_float_t({ static_cast<float>(start_temp) + i * res_temp, i ? static_cast<float>(data[i - 1]) : 0.0f });
- };
-
- // Interpolate Z based on a temperature being within a given range
- auto linear_interp = [](const_float_t x, xy_float_t p1, xy_float_t p2) {
- // zoffs1 + zoffset_per_toffset * toffset
- return p1.y + (p2.y - p1.y) / (p2.x - p1.x) * (x - p1.x);
- };
-
- // offset in µm
- float offset = 0.0f;
-
- #if PTC_LINEAR_EXTRAPOLATION
- if (temp < start_temp)
- offset = linear_interp(temp, tpoint(0), tpoint(PTC_LINEAR_EXTRAPOLATION));
- else if (temp >= end_temp)
- offset = linear_interp(temp, tpoint(measurements - PTC_LINEAR_EXTRAPOLATION), tpoint(measurements));
- #else
- if (temp < start_temp)
- offset = 0.0f;
- else if (temp >= end_temp)
- offset = static_cast<float>(data[measurements - 1]);
- #endif
- else {
- // Linear interpolation
- const int8_t idx = static_cast<int8_t>((temp - start_temp) / res_temp);
- offset = linear_interp(temp, tpoint(idx), tpoint(idx + 1));
- }
-
- // convert offset to mm and apply it
- meas_z -= offset / 1000.0f;
- }
-
- bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) {
- 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;
- const int16_t * const data = sensor_z_offsets[tsi];
-
- float sum_x = start_temp,
- sum_x2 = sq(start_temp),
- sum_xy = 0, sum_y = 0;
-
- float xi = static_cast<float>(start_temp);
- LOOP_L_N(i, calib_idx) {
- const float yi = static_cast<float>(data[i]);
- xi += res_temp;
- sum_x += xi;
- sum_x2 += sq(xi);
- sum_xy += xi * yi;
- sum_y += yi;
- }
-
- const float denom = static_cast<float>(calib_idx + 1) * sum_x2 - sq(sum_x);
- if (fabs(denom) <= 10e-5) {
- // Singularity - unable to solve
- k = d = 0.0;
- return false;
- }
-
- k = (static_cast<float>(calib_idx + 1) * sum_xy - sum_x * sum_y) / denom;
- d = (sum_y - k * sum_x) / static_cast<float>(calib_idx + 1);
-
- return true;
- }
-
- #endif // HAS_PTC
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