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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 <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * G76_M871.cpp - Temperature calibration/compensation for z-probing
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(PROBE_TEMP_COMPENSATION)
-
- #include "../gcode.h"
- #include "../../module/motion.h"
- #include "../../module/planner.h"
- #include "../../module/probe.h"
- #include "../../feature/bedlevel/bedlevel.h"
- #include "../../module/temperature.h"
- #include "../../module/probe.h"
- #include "../../feature/probe_temp_compensation.h"
-
- /**
- * G76: calibrate probe and/or bed temperature offsets
- * Notes:
- * - When calibrating probe, bed temperature is held constant.
- * Compensation values are deltas to first probe measurement at probe temp. = 30°C.
- * - When calibrating bed, probe temperature is held constant.
- * Compensation values are deltas to first probe measurement at bed temp. = 60°C.
- * - The hotend will not be heated at any time.
- * - On my Prusa MK3S clone I put a piece of paper between the probe and the hotend
- * so the hotend fan would not cool my probe constantly. Alternativly you could just
- * make sure the fan is not running while running the calibration process.
- *
- * Probe calibration:
- * - Moves probe to cooldown point.
- * - Heats up bed to 100°C.
- * - Moves probe to probing point (1mm above heatbed).
- * - Waits until probe reaches target temperature (30°C).
- * - Does a z-probing (=base value) and increases target temperature by 5°C.
- * - Waits until probe reaches increased target temperature.
- * - Does a z-probing (delta to base value will be a compensation value) and increases target temperature by 5°C.
- * - Repeats last two steps until max. temperature reached or timeout (i.e. probe does not heat up any further).
- * - Compensation values of higher temperatures will be extrapolated (using linear regression first).
- * While this is not exact by any means it is still better than simply using the last compensation value.
- *
- * Bed calibration:
- * - Moves probe to cooldown point.
- * - Heats up bed to 60°C.
- * - Moves probe to probing point (1mm above heatbed).
- * - Waits until probe reaches target temperature (30°C).
- * - Does a z-probing (=base value) and increases bed temperature by 5°C.
- * - Moves probe to cooldown point.
- * - Waits until probe is below 30°C and bed has reached target temperature.
- * - Moves probe to probing point and waits until it reaches target temperature (30°C).
- * - Does a z-probing (delta to base value will be a compensation value) and increases bed temperature by 5°C.
- * - Repeats last four points until max. bed temperature reached (110°C) or timeout.
- * - Compensation values of higher temperatures will be extrapolated (using linear regression first).
- * While this is not exact by any means it is still better than simply using the last compensation value.
- *
- * G76 [B | P]
- * - no flag - Both calibration procedures will be run.
- * - `B` - Run bed temperature calibration.
- * - `P` - Run probe temperature calibration.
- */
- void GcodeSuite::G76() {
- // Check if heated bed is available and z-homing is done with probe
- #if TEMP_SENSOR_BED == 0 || !(HOMING_Z_WITH_PROBE)
- return;
- #endif
-
- #if ENABLED(BLTOUCH)
- // Make sure any BLTouch error condition is cleared
- bltouch_command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY);
- set_bltouch_deployed(false);
- #endif
-
- bool do_bed_cal = parser.boolval('B'),
- do_probe_cal = parser.boolval('P');
- if (!do_bed_cal && !do_probe_cal)
- do_bed_cal = do_probe_cal = true;
-
- // Synchronize with planner
- planner.synchronize();
-
- // Report temperatures every second and handle heating timeouts
- millis_t next_temp_report = millis() + 1000;
-
- if (do_bed_cal || do_probe_cal) {
- // Ensure park position is reachable
- if (!position_is_reachable(temp_comp.park_point_x, temp_comp.park_point_y)
- || !(WITHIN(temp_comp.park_point_z, Z_MIN_POS - 0.001f, Z_MAX_POS + 0.001f))
- ) {
- SERIAL_ECHOLNPGM("!Park position unreachable - aborting.");
- return;
- }
- // Ensure probe position is reachable
- destination.set(
- temp_comp.measure_point_x - probe.offset_xy.x,
- temp_comp.measure_point_y - probe.offset_xy.y
- );
- if (!probe.can_reach(destination)) {
- SERIAL_ECHOLNPGM("!Probe position unreachable - aborting.");
- return;
- }
-
- process_subcommands_now_P(PSTR("G28"));
- }
-
- /******************************************
- * Calibrate bed temperature offsets
- ******************************************/
-
- if (do_bed_cal) {
-
- uint16_t target_bed = temp_comp.cali_info_init[TSI_BED].start_temp,
- target_probe = temp_comp.bed_calib_probe_temp;
-
- SERIAL_ECHOLNPGM("Waiting for printer to cool down.");
- while (thermalManager.degBed() > target_bed
- || thermalManager.degProbe() > target_probe
- ) {
- idle_no_sleep();
- const millis_t ms = millis();
- if (ELAPSED(ms, next_temp_report)) {
- thermalManager.print_heater_states(active_extruder);
- next_temp_report = ms + 1000;
- }
- }
-
- // Disable leveling so it won't mess with us
- #if HAS_LEVELING
- set_bed_leveling_enabled(false);
- #endif
-
- bool timeout = false;
- while (true) {
- thermalManager.setTargetBed(target_bed);
-
- SERIAL_ECHOLNPAIR("Target Bed: ", target_bed, "; Probe: ", target_probe);
-
- // Park nozzle
- do_blocking_move_to(temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z);
-
- // Wait for heatbed to reach target temp and probe to cool below target temp
- SERIAL_ECHOLNPGM("Waiting for bed and probe to reach target temp.");
- const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
- while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1 || thermalManager.degProbe() > target_probe) {
- idle_no_sleep();
- const millis_t ms = millis();
- if (ELAPSED(ms, next_temp_report)) {
- thermalManager.print_heater_states(active_extruder);
- next_temp_report = ms + 1000;
- }
- if (ELAPSED(ms, probe_timeout_ms)) {
- SERIAL_ECHOLNPGM("!Bed heating timeout.");
- timeout = true;
- break;
- }
- }
-
- if (timeout) break;
-
- // Move the nozzle to the probing point and wait for the probe to reach target temp
- destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y, 0.5);
- do_blocking_move_to(destination);
- SERIAL_ECHOLNPGM("Waiting for probe heating.");
- while (thermalManager.degProbe() < target_probe) {
- idle_no_sleep();
- const millis_t ms = millis();
- if (ELAPSED(ms, next_temp_report)) {
- thermalManager.print_heater_states(active_extruder);
- next_temp_report = ms + 1000;
- }
- }
-
- // Raise nozzle before probing
- destination.z = 5.0;
- do_blocking_move_to_z(destination.z);
-
- // Do a single probe at the current position
- remember_feedrate_scaling_off();
- const float measured_z = probe.probe_at_point(
- destination.x + probe.offset_xy.x,
- destination.y + probe.offset_xy.y,
- PROBE_PT_NONE
- );
- restore_feedrate_and_scaling();
-
- if (isnan(measured_z)) {
- SERIAL_ECHOLNPGM("!Received NAN measurement - aborting.");
- break;
- }
- else
- SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
-
- if (target_bed == temp_comp.cali_info_init[TSI_BED].start_temp)
- temp_comp.prepare_new_calibration(measured_z);
- else
- temp_comp.push_back_new_measurement(TSI_BED, measured_z);
-
- target_bed += temp_comp.cali_info_init[TSI_BED].temp_res;
- if (target_bed > temp_comp.max_bed_temp) break;
- }
-
- SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
- if (temp_comp.finish_calibration(TSI_BED))
- SERIAL_ECHOLNPGM("Successfully calibrated bed.");
- else
- SERIAL_ECHOLNPGM("!Failed to calibrated bed - reset calibration values.");
-
- // Cleanup
- thermalManager.setTargetBed(0);
- #if HAS_LEVELING
- set_bed_leveling_enabled(true);
- #endif
- } // do_bed_cal
-
- /********************************************
- * Calibrate probe temperature offsets
- ********************************************/
-
- if (do_probe_cal) {
-
- // Park nozzle
- do_blocking_move_to(temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z);
-
- // Initialize temperatures
- uint16_t target_bed = temp_comp.probe_calib_bed_temp,
- target_probe = temp_comp.cali_info_init[TSI_PROBE].start_temp;
- thermalManager.setTargetBed(target_bed);
- SERIAL_ECHOLNPGM("Waiting for bed and probe temperature.");
- while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1f
- || thermalManager.degProbe() > target_probe
- ) {
- idle_no_sleep();
- const millis_t ms = millis();
- if (ELAPSED(ms, next_temp_report)) {
- thermalManager.print_heater_states(active_extruder);
- next_temp_report = ms + 1000;
- }
- }
-
- // Disable leveling so it won't mess with us
- #if HAS_LEVELING
- set_bed_leveling_enabled(false);
- #endif
-
- bool timeout = false;
- while (true) {
- // Move probe to probing point and wait for it to reach target temperature
- destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y, 0.5);
- do_blocking_move_to(destination);
-
- SERIAL_ECHOLNPAIR(
- "Bed temp: ", target_bed,
- "; Probe temp: ", target_probe,
- " Waiting for probe heating."
- );
-
- const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
- while (thermalManager.degProbe() < target_probe) {
- idle_no_sleep();
- const millis_t ms = millis();
- if (ELAPSED(ms, next_temp_report)) {
- thermalManager.print_heater_states(active_extruder);
- next_temp_report = ms + 1000;
- }
- if (ELAPSED(ms, probe_timeout_ms)) {
- SERIAL_ECHOLNPGM("!Probe heating aborted due to timeout.");
- timeout = true;
- break;
- }
- }
-
- if (timeout) break;
-
- // Raise nozzle before probing
- destination.z = 5.0;
- do_blocking_move_to_z(destination.z);
-
- // Do a single probe
- remember_feedrate_scaling_off();
- const float measured_z = probe.probe_at_point(
- destination.x + probe.offset_xy.x,
- destination.y + probe.offset_xy.y,
- PROBE_PT_NONE
- );
- restore_feedrate_and_scaling();
-
- if (isnan(measured_z)) {
- SERIAL_ECHOLNPGM("!Received NAN measurement - aborting.");
- break;
- }
- else
- SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
-
- if (target_probe == temp_comp.cali_info_init[TSI_PROBE].start_temp)
- temp_comp.prepare_new_calibration(measured_z);
- else
- temp_comp.push_back_new_measurement(TSI_PROBE, measured_z);
-
- target_probe += temp_comp.cali_info_init[TSI_PROBE].temp_res;
- if (target_probe > temp_comp.cali_info_init[TSI_PROBE].end_temp) break;
- }
-
- SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
- if (temp_comp.finish_calibration(TSI_PROBE))
- SERIAL_ECHOLNPGM("Successfully calibrated probe.");
- else
- SERIAL_ECHOLNPGM("!Failed to calibrated probe.");
-
- // Cleanup
- thermalManager.setTargetBed(0);
- #if HAS_LEVELING
- set_bed_leveling_enabled(true);
- #endif
-
- SERIAL_ECHOLNPGM("Final compensation values:");
- temp_comp.print_offsets();
- } // do_probe_cal
- }
-
- /**
- * M871: Report / reset temperature compensation offsets.
- * Note: This does not affect values in EEPROM until M500.
- *
- * M871 [ R | B | P | E ]
- *
- * No Parameters - Print current offset values.
- *
- * Select only one of these flags:
- * R - Reset all offsets to zero (i.e., disable compensation).
- * B - Manually set offset for bed
- * P - Manually set offset for probe
- * E - Manually set offset for extruder
- *
- * With B, P, or E:
- * I[index] - Index in the array
- * V[value] - Adjustment in µm
- */
- void GcodeSuite::M871() {
-
- if (parser.seen('R')) {
- // Reset z-probe offsets to factory defaults
- temp_comp.clear_all_offsets();
- SERIAL_ECHOLNPGM("Offsets reset to default.");
- }
- else if (parser.seen("BPE")) {
- if (!parser.seenval('V')) return;
- const int16_t val = parser.value_int();
- if (!parser.seenval('I')) return;
- const int16_t idx = parser.value_int();
- const TempSensorID mod = (parser.seen('B') ? TSI_BED :
- #if ENABLED(USE_TEMP_EXT_COMPENSATION)
- parser.seen('E') ? TSI_EXT :
- #endif
- TSI_PROBE
- );
- if (idx > 0 && temp_comp.set_offset(mod, idx - 1, val))
- SERIAL_ECHOLNPAIR("Set value: ", val);
- else
- SERIAL_ECHOLNPGM("!Invalid index. Failed to set value (note: value at index 0 is constant).");
-
- }
- else // Print current Z-probe adjustments. Note: Values in EEPROM might differ.
- temp_comp.print_offsets();
- }
-
- #endif // PROBE_TEMP_COMPENSATION
|