diff options
Diffstat (limited to 'klippy/extras/probe_eddy_current.py')
| -rw-r--r-- | klippy/extras/probe_eddy_current.py | 105 |
1 files changed, 104 insertions, 1 deletions
diff --git a/klippy/extras/probe_eddy_current.py b/klippy/extras/probe_eddy_current.py index 5dc0f08b..d140d3ed 100644 --- a/klippy/extras/probe_eddy_current.py +++ b/klippy/extras/probe_eddy_current.py @@ -28,6 +28,8 @@ class EddyCalibration: gcode.register_mux_command("PROBE_EDDY_CURRENT_CALIBRATE", "CHIP", cname, self.cmd_EDDY_CALIBRATE, desc=self.cmd_EDDY_CALIBRATE_help) + def is_calibrated(self): + return len(self.cal_freqs) > 2 def load_calibration(self, cal): cal = sorted([(c[1], c[0]) for c in cal]) self.cal_freqs = [c[0] for c in cal] @@ -40,7 +42,7 @@ class EddyCalibration: elif pos == 0: zpos = 99.9 else: - # XXX - optimize and avoid div by zero + # XXX - could further optimize and avoid div by zero this_freq = self.cal_freqs[pos] prev_freq = self.cal_freqs[pos - 1] this_zpos = self.cal_zpos[pos] @@ -49,6 +51,21 @@ class EddyCalibration: offset = prev_zpos - prev_freq * gain zpos = freq * gain + offset samples[i] = (samp_time, freq, round(zpos, 6)) + def height_to_freq(self, height): + # XXX - could optimize lookup + rev_zpos = list(reversed(self.cal_zpos)) + rev_freqs = list(reversed(self.cal_freqs)) + pos = bisect.bisect(rev_zpos, height) + if pos == 0 or pos >= len(rev_zpos): + raise self.printer.command_error( + "Invalid probe_eddy_current height") + this_freq = rev_freqs[pos] + prev_freq = rev_freqs[pos - 1] + this_zpos = rev_zpos[pos] + prev_zpos = rev_zpos[pos - 1] + gain = (this_freq - prev_freq) / (this_zpos - prev_zpos) + offset = prev_freq - prev_zpos * gain + return height * gain + offset def do_calibration_moves(self, move_speed): toolhead = self.printer.lookup_object('toolhead') kin = toolhead.get_kinematics() @@ -166,6 +183,88 @@ class EddyCalibration: manual_probe.ManualProbeHelper(self.printer, gcmd, self.post_manual_probe) +# Helper for implementing PROBE style commands +class EddyEndstopWrapper: + def __init__(self, config, sensor_helper, calibration): + self._printer = config.get_printer() + self._sensor_helper = sensor_helper + self._mcu = sensor_helper.get_mcu() + self._calibration = calibration + self._z_offset = config.getfloat('z_offset', minval=0.) + self._dispatch = mcu.TriggerDispatch(self._mcu) + self._samples = [] + self._is_sampling = self._start_from_home = self._need_stop = False + self._printer.register_event_handler('klippy:mcu_identify', + self._handle_mcu_identify) + def _handle_mcu_identify(self): + kin = self._printer.lookup_object('toolhead').get_kinematics() + for stepper in kin.get_steppers(): + if stepper.is_active_axis('z'): + self.add_stepper(stepper) + # Measurement gathering + def _start_measurements(self, is_home=False): + self._need_stop = False + if self._is_sampling: + return + self._is_sampling = True + self._is_from_home = is_home + self._sensor_helper.add_client(self._add_measurement) + def _stop_measurements(self, is_home=False): + if not self._is_sampling or (is_home and not self._start_from_home): + return + self._need_stop = True + def _add_measurement(self, msg): + if self._need_stop: + del self._samples[:] + self._is_sampling = self._need_stop = False + return False + self._samples.append(msg) + return True + # Interface for MCU_endstop + def get_mcu(self): + return self._mcu + def add_stepper(self, stepper): + self._dispatch.add_stepper(stepper) + def get_steppers(self): + return self._dispatch.get_steppers() + def home_start(self, print_time, sample_time, sample_count, rest_time, + triggered=True): + self._start_measurements(is_home=True) + trigger_freq = self._calibration.height_to_freq(self._z_offset) + trigger_completion = self._dispatch.start(print_time) + self._sensor_helper.setup_home( + print_time, trigger_freq, self._dispatch.get_oid(), + mcu.MCU_trsync.REASON_ENDSTOP_HIT) + return trigger_completion + def home_wait(self, home_end_time): + self._dispatch.wait_end(home_end_time) + trigger_time = self._sensor_helper.clear_home() + self._stop_measurements(is_home=True) + res = self._dispatch.stop() + if res == mcu.MCU_trsync.REASON_COMMS_TIMEOUT: + return -1. + if res != mcu.MCU_trsync.REASON_ENDSTOP_HIT: + return 0. + if self._mcu.is_fileoutput(): + return home_end_time + return trigger_time + def query_endstop(self, print_time): + return False # XXX + # Interface for ProbeEndstopWrapper + def multi_probe_begin(self): + if not self._calibration.is_calibrated(): + raise self._printer.command_error( + "Must calibrate probe_eddy_current first") + self._start_measurements() + def multi_probe_end(self): + self._stop_measurements() + def probe_prepare(self, hmove): + pass + def probe_finish(self, hmove): + pass + def get_position_endstop(self): + return self._z_offset + # Main "printer object" class PrinterEddyProbe: def __init__(self, config): @@ -175,6 +274,10 @@ class PrinterEddyProbe: sensors = { "ldc1612": ldc1612.LDC1612 } sensor_type = config.getchoice('sensor_type', {s: s for s in sensors}) self.sensor_helper = sensors[sensor_type](config, self.calibration) + # Probe interface + self.probe = EddyEndstopWrapper(config, self.sensor_helper, + self.calibration) + self.printer.add_object('probe', probe.PrinterProbe(config, self.probe)) def add_client(self, cb): self.sensor_helper.add_client(cb) |