diff options
Diffstat (limited to 'klippy/extras/probe_eddy_current.py')
| -rw-r--r-- | klippy/extras/probe_eddy_current.py | 22 |
1 files changed, 16 insertions, 6 deletions
diff --git a/klippy/extras/probe_eddy_current.py b/klippy/extras/probe_eddy_current.py index 848f4d79..dbb3f1d3 100644 --- a/klippy/extras/probe_eddy_current.py +++ b/klippy/extras/probe_eddy_current.py @@ -7,6 +7,8 @@ import logging, math, bisect import mcu from . import ldc1612, probe, manual_probe +OUT_OF_RANGE = 99.9 + # Tool for calibrating the sensor Z detection and applying that calibration class EddyCalibration: def __init__(self, config): @@ -38,9 +40,9 @@ class EddyCalibration: for i, (samp_time, freq, dummy_z) in enumerate(samples): pos = bisect.bisect(self.cal_freqs, freq) if pos >= len(self.cal_zpos): - zpos = -99.9 + zpos = -OUT_OF_RANGE elif pos == 0: - zpos = 99.9 + zpos = OUT_OF_RANGE else: # XXX - could further optimize and avoid div by zero this_freq = self.cal_freqs[pos] @@ -51,6 +53,10 @@ class EddyCalibration: offset = prev_zpos - prev_freq * gain zpos = freq * gain + offset samples[i] = (samp_time, freq, round(zpos, 6)) + def freq_to_height(self, freq): + dummy_sample = [(0., freq, 0.)] + self.apply_calibration(dummy_sample) + return dummy_sample[0][2] def height_to_freq(self, height): # XXX - could optimize lookup rev_zpos = list(reversed(self.cal_zpos)) @@ -220,8 +226,8 @@ class EddyGatherSamples: raise self._printer.command_error( "probe_eddy_current sensor outage") reactor.pause(systime + 0.010) - def _pull_position(self, start_time, end_time): - # Find average sensor position between time range + def _pull_freq(self, start_time, end_time): + # Find average sensor frequency between time range msg_num = discard_msgs = 0 samp_sum = 0. samp_count = 0 @@ -236,7 +242,7 @@ class EddyGatherSamples: continue for time, freq, z in data: if time >= start_time and time <= end_time: - samp_sum += z + samp_sum += freq samp_count += 1 del self._samples[:discard_msgs] if not samp_count: @@ -247,7 +253,11 @@ class EddyGatherSamples: results = [] for start_time, end_time, toolhead_pos in self._probe_times: self._await_samples(end_time) - sensor_z = self._pull_position(start_time, end_time) + freq = self._pull_freq(start_time, end_time) + sensor_z = self._calibration.freq_to_height(freq) + if sensor_z <= -OUT_OF_RANGE or sensor_z >= OUT_OF_RANGE: + raise self._printer.command_error( + "probe_eddy_current sensor not in valid range") # Callers expect position relative to z_offset, so recalculate bed_deviation = toolhead_pos[2] - sensor_z toolhead_pos[2] = self._z_offset + bed_deviation |