|
|
@@ -678,11 +678,13 @@ void reset_bed_offset_and_skew()
|
|
|
|
|
|
bool is_bed_z_jitter_data_valid()
|
|
|
// offsets of the Z heiths of the calibration points from the first point are saved as 16bit signed int, scaled to tenths of microns
|
|
|
-{
|
|
|
- for (int8_t i = 0; i < 8; ++ i)
|
|
|
- if (eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER+i*2)) == 0x0FFFF)
|
|
|
- return false;
|
|
|
- return true;
|
|
|
+// if at least one 16bit integer has different value then -1 (0x0FFFF), data are considered valid and function returns true, otherwise it returns false
|
|
|
+{
|
|
|
+ bool data_valid = false;
|
|
|
+ for (int8_t i = 0; i < 8; ++i) {
|
|
|
+ if (eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + i * 2)) != 0x0FFFF) data_valid = true;
|
|
|
+ }
|
|
|
+ return data_valid;
|
|
|
}
|
|
|
|
|
|
static void world2machine_update(const float vec_x[2], const float vec_y[2], const float cntr[2])
|
|
|
@@ -943,10 +945,11 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i
|
|
|
#endif //SUPPORT_VERBOSITY
|
|
|
)
|
|
|
{
|
|
|
+ bool high_deviation_occured = false;
|
|
|
#ifdef TMC2130
|
|
|
FORCE_HIGH_POWER_START;
|
|
|
#endif
|
|
|
-
|
|
|
+ //printf_P(PSTR("Min. Z: %f\n"), minimum_z);
|
|
|
#ifdef SUPPORT_VERBOSITY
|
|
|
if(verbosity_level >= 10) SERIAL_ECHOLNPGM("find bed induction sensor point z");
|
|
|
#endif // SUPPORT_VERBOSITY
|
|
|
@@ -961,18 +964,26 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i
|
|
|
// we have to let the planner know where we are right now as it is not where we said to go.
|
|
|
update_current_position_z();
|
|
|
if (! endstop_z_hit_on_purpose())
|
|
|
- goto error;
|
|
|
+ {
|
|
|
+ //printf_P(PSTR("endstop not hit 1, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
|
|
|
+ goto error;
|
|
|
+ }
|
|
|
#ifdef TMC2130
|
|
|
- if (READ(Z_TMC2130_DIAG) != 0) goto error; //crash Z detected
|
|
|
+ if (READ(Z_TMC2130_DIAG) != 0)
|
|
|
+ {
|
|
|
+ //printf_P(PSTR("crash detected 1, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
|
|
|
+ goto error; //crash Z detected
|
|
|
+ }
|
|
|
#endif //TMC2130
|
|
|
for (uint8_t i = 0; i < n_iter; ++ i)
|
|
|
{
|
|
|
|
|
|
- current_position[Z_AXIS] += 0.2;
|
|
|
+ current_position[Z_AXIS] += high_deviation_occured ? 0.5 : 0.2;
|
|
|
float z_bckp = current_position[Z_AXIS];
|
|
|
go_to_current(homing_feedrate[Z_AXIS]/60);
|
|
|
// Move back down slowly to find bed.
|
|
|
current_position[Z_AXIS] = minimum_z;
|
|
|
+ //printf_P(PSTR("init Z = %f, min_z = %f, i = %d\n"), z_bckp, minimum_z, i);
|
|
|
go_to_current(homing_feedrate[Z_AXIS]/(4*60));
|
|
|
// we have to let the planner know where we are right now as it is not where we said to go.
|
|
|
update_current_position_z();
|
|
|
@@ -989,10 +1000,16 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i
|
|
|
|
|
|
|
|
|
|
|
|
- if (! endstop_z_hit_on_purpose())
|
|
|
- goto error;
|
|
|
+ if (!endstop_z_hit_on_purpose())
|
|
|
+ {
|
|
|
+ //printf_P(PSTR("i = %d, endstop not hit 2, current_pos[Z]: %f \n"), i, current_position[Z_AXIS]);
|
|
|
+ goto error;
|
|
|
+ }
|
|
|
#ifdef TMC2130
|
|
|
- if (READ(Z_TMC2130_DIAG) != 0) goto error; //crash Z detected
|
|
|
+ if (READ(Z_TMC2130_DIAG) != 0) {
|
|
|
+ //printf_P(PSTR("crash detected 2, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
|
|
|
+ goto error; //crash Z detected
|
|
|
+ }
|
|
|
#endif //TMC2130
|
|
|
// SERIAL_ECHOPGM("Bed find_bed_induction_sensor_point_z low, height: ");
|
|
|
// MYSERIAL.print(current_position[Z_AXIS], 5);
|
|
|
@@ -1000,7 +1017,21 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i
|
|
|
float dz = i?abs(current_position[Z_AXIS] - (z / i)):0;
|
|
|
z += current_position[Z_AXIS];
|
|
|
//printf_P(PSTR("Z[%d] = %d, dz=%d\n"), i, (int)(current_position[Z_AXIS] * 1000), (int)(dz * 1000));
|
|
|
- if (dz > 0.05) goto error;//deviation > 50um
|
|
|
+ //printf_P(PSTR("Z- measurement deviation from avg value %f um\n"), dz);
|
|
|
+ if (dz > 0.05) { //deviation > 50um
|
|
|
+ if (high_deviation_occured == false) { //first occurence may be caused in some cases by mechanic resonance probably especially if printer is placed on unstable surface
|
|
|
+ //printf_P(PSTR("high dev. first occurence\n"));
|
|
|
+ delay_keep_alive(500); //damping
|
|
|
+ //start measurement from the begining, but this time with higher movements in Z axis which should help to reduce mechanical resonance
|
|
|
+ high_deviation_occured = true;
|
|
|
+ i = -1;
|
|
|
+ z = 0;
|
|
|
+ }
|
|
|
+ else {
|
|
|
+ goto error;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ //printf_P(PSTR("PINDA triggered at %f\n"), current_position[Z_AXIS]);
|
|
|
}
|
|
|
current_position[Z_AXIS] = z;
|
|
|
if (n_iter > 1)
|
mkbel