diff options
Diffstat (limited to 'klippy/extras/temperature_probe.py')
| -rw-r--r-- | klippy/extras/temperature_probe.py | 210 |
1 files changed, 93 insertions, 117 deletions
diff --git a/klippy/extras/temperature_probe.py b/klippy/extras/temperature_probe.py index c480ddae..1d5327d7 100644 --- a/klippy/extras/temperature_probe.py +++ b/klippy/extras/temperature_probe.py @@ -12,6 +12,7 @@ KELVIN_TO_CELSIUS = -273.15 # Polynomial Helper Classes and Functions ###################################################################### + def calc_determinant(matrix): m = matrix aei = m[0][0] * m[1][1] * m[2][2] @@ -22,6 +23,7 @@ def calc_determinant(matrix): afh = m[0][0] * m[2][1] * m[1][2] return aei + bfg + cdh - ceg - bdi - afh + class Polynomial2d: def __init__(self, a, b, c): self.a = a @@ -65,13 +67,9 @@ class Polynomial2d: sum_x3 = sum([x**3 for x in xlist]) sum_x4 = sum([x**4 for x in xlist]) sum_xy = sum([x * y for x, y in coords]) - sum_x2y = sum([y*x**2 for x, y in coords]) + sum_x2y = sum([y * x**2 for x, y in coords]) vector_b = [sum_y, sum_xy, sum_x2y] - m = [ - [count, sum_x, sum_x2], - [sum_x, sum_x2, sum_x3], - [sum_x2, sum_x3, sum_x4] - ] + m = [[count, sum_x, sum_x2], [sum_x, sum_x2, sum_x3], [sum_x2, sum_x3, sum_x4]] m0 = [vector_b, m[1], m[2]] m1 = [m[0], vector_b, m[2]] m2 = [m[0], m[1], vector_b] @@ -81,52 +79,47 @@ class Polynomial2d: a2 = calc_determinant(m2) / det_m return cls(a0, a1, a2) + class TemperatureProbe: def __init__(self, config): self.name = config.get_name() self.printer = config.get_printer() self.gcode = self.printer.lookup_object("gcode") - self.speed = config.getfloat("speed", None, above=0.) - self.horizontal_move_z = config.getfloat( - "horizontal_move_z", 2., above=0. - ) - self.resting_z = config.getfloat("resting_z", .4, above=0.) - self.cal_pos = config.getfloatlist( - "calibration_position", None, count=3 - ) - self.cal_bed_temp = config.getfloat( - "calibration_bed_temp", None, above=50. - ) + self.speed = config.getfloat("speed", None, above=0.0) + self.horizontal_move_z = config.getfloat("horizontal_move_z", 2.0, above=0.0) + self.resting_z = config.getfloat("resting_z", 0.4, above=0.0) + self.cal_pos = config.getfloatlist("calibration_position", None, count=3) + self.cal_bed_temp = config.getfloat("calibration_bed_temp", None, above=50.0) self.cal_extruder_temp = config.getfloat( - "calibration_extruder_temp", None, above=50. - ) - self.cal_extruder_z = config.getfloat( - "extruder_heating_z", 50., above=0. + "calibration_extruder_temp", None, above=50.0 ) + self.cal_extruder_z = config.getfloat("extruder_heating_z", 50.0, above=0.0) # Setup temperature sensor - smooth_time = config.getfloat("smooth_time", 2., above=0.) - self.inv_smooth_time = 1. / smooth_time + smooth_time = config.getfloat("smooth_time", 2.0, above=0.0) + self.inv_smooth_time = 1.0 / smooth_time self.min_temp = config.getfloat( "min_temp", KELVIN_TO_CELSIUS, minval=KELVIN_TO_CELSIUS ) - self.max_temp = config.getfloat( - "max_temp", 99999999.9, above=self.min_temp - ) + self.max_temp = config.getfloat("max_temp", 99999999.9, above=self.min_temp) pheaters = self.printer.load_object(config, "heaters") self.sensor = pheaters.setup_sensor(config) self.sensor.setup_minmax(self.min_temp, self.max_temp) self.sensor.setup_callback(self._temp_callback) pheaters.register_sensor(config, self) - self.last_temp_read_time = 0. - self.last_measurement = (0., 99999999., 0.,) + self.last_temp_read_time = 0.0 + self.last_measurement = ( + 0.0, + 99999999.0, + 0.0, + ) # Calibration State self.cal_helper = None - self.next_auto_temp = 99999999. + self.next_auto_temp = 99999999.0 self.target_temp = 0 self.expected_count = 0 self.sample_count = 0 self.in_calibration = False - self.step = 2. + self.step = 2.0 self.last_zero_pos = None self.total_expansion = 0 self.start_pos = [] @@ -134,15 +127,19 @@ class TemperatureProbe: # Register GCode Commands pname = self.name.split(maxsplit=1)[-1] self.gcode.register_mux_command( - "TEMPERATURE_PROBE_CALIBRATE", "PROBE", pname, + "TEMPERATURE_PROBE_CALIBRATE", + "PROBE", + pname, self.cmd_TEMPERATURE_PROBE_CALIBRATE, - desc=self.cmd_TEMPERATURE_PROBE_CALIBRATE_help + desc=self.cmd_TEMPERATURE_PROBE_CALIBRATE_help, ) self.gcode.register_mux_command( - "TEMPERATURE_PROBE_ENABLE", "PROBE", pname, + "TEMPERATURE_PROBE_ENABLE", + "PROBE", + pname, self.cmd_TEMPERATURE_PROBE_ENABLE, - desc=self.cmd_TEMPERATURE_PROBE_ENABLE_help + desc=self.cmd_TEMPERATURE_PROBE_ENABLE_help, ) # Register Drift Compensation Helper with probe @@ -166,20 +163,18 @@ class TemperatureProbe: time_diff = read_time - self.last_temp_read_time self.last_temp_read_time = read_time temp_diff = temp - smoothed_temp - adj_time = min(time_diff * self.inv_smooth_time, 1.) + adj_time = min(time_diff * self.inv_smooth_time, 1.0) smoothed_temp += temp_diff * adj_time measured_min = min(measured_min, smoothed_temp) measured_max = max(measured_max, smoothed_temp) self.last_measurement = (smoothed_temp, measured_min, measured_max) if self.in_calibration and smoothed_temp >= self.next_auto_temp: - self.printer.get_reactor().register_async_callback( - self._check_kick_next - ) + self.printer.get_reactor().register_async_callback(self._check_kick_next) def _check_kick_next(self, eventtime): smoothed_temp = self.last_measurement[0] if self.in_calibration and smoothed_temp >= self.next_auto_temp: - self.next_auto_temp = 99999999. + self.next_auto_temp = 99999999.0 self.gcode.run_script("TEMPERATURE_PROBE_NEXT") def get_temp(self, eventtime=None): @@ -204,8 +199,9 @@ class TemperatureProbe: # Register our own abort command now that the manual # probe has finished and unregistered self.gcode.register_command( - "ABORT", self.cmd_TEMPERATURE_PROBE_ABORT, - desc=self.cmd_TEMPERATURE_PROBE_ABORT_help + "ABORT", + self.cmd_TEMPERATURE_PROBE_ABORT, + desc=self.cmd_TEMPERATURE_PROBE_ABORT_help, ) probe_speed = self._get_speeds()[1] # Move tool down to the resting position @@ -217,8 +213,7 @@ class TemperatureProbe: self.next_auto_temp = last_temp + self.step self.gcode.respond_info( "%s: collected sample %d/%d at temp %.2fC, next sample scheduled " - "at temp %.2fC" - % (self.name, cnt, exp_cnt, last_temp, self.next_auto_temp) + "at temp %.2fC" % (self.name, cnt, exp_cnt, last_temp, self.next_auto_temp) ) def _manual_probe_finalize(self, kin_pos): @@ -230,8 +225,7 @@ class TemperatureProbe: z_diff = self.last_zero_pos[2] - kin_pos[2] self.total_expansion += z_diff logging.info( - "Estimated Total Thermal Expansion: %.6f" - % (self.total_expansion,) + "Estimated Total Thermal Expansion: %.6f" % (self.total_expansion,) ) self.last_zero_pos = kin_pos toolhead = self.printer.lookup_object("toolhead") @@ -255,11 +249,11 @@ class TemperatureProbe: raise def _finalize_drift_cal(self, success, msg=None): - self.next_auto_temp = 99999999. + self.next_auto_temp = 99999999.0 self.target_temp = 0 self.expected_count = 0 self.sample_count = 0 - self.step = 2. + self.step = 2.0 self.in_calibration = False self.last_zero_pos = None self.total_expansion = 0 @@ -293,21 +287,19 @@ class TemperatureProbe: toolhead = self.printer.lookup_object("toolhead") extr_name = toolhead.get_extruder().get_name() self.gcode.run_script_from_command( - "SET_HEATER_TEMPERATURE HEATER=%s TARGET=%f" - % (extr_name, temp) + "SET_HEATER_TEMPERATURE HEATER=%s TARGET=%f" % (extr_name, temp) ) if wait: self.gcode.run_script_from_command( - "TEMPERATURE_WAIT SENSOR=%s MINIMUM=%f" - % (extr_name, temp) + "TEMPERATURE_WAIT SENSOR=%s MINIMUM=%f" % (extr_name, temp) ) + def _set_bed_temp(self, temp): if self.cal_bed_temp is None: # Bed temperature not configured return self.gcode.run_script_from_command( - "SET_HEATER_TEMPERATURE HEATER=heater_bed TARGET=%f" - % (temp,) + "SET_HEATER_TEMPERATURE HEATER=heater_bed TARGET=%f" % (temp,) ) def _check_homed(self): @@ -317,9 +309,7 @@ class TemperatureProbe: h_axes = status["homed_axes"] for axis in "xyz": if axis not in h_axes: - raise self.gcode.error( - "Printer must be homed before calibration" - ) + raise self.gcode.error("Printer must be homed before calibration") def _move_to_start(self): toolhead = self.printer.lookup_object("toolhead") @@ -348,20 +338,17 @@ class TemperatureProbe: cmd_TEMPERATURE_PROBE_CALIBRATE_help = ( "Calibrate probe temperature drift compensation" ) + def cmd_TEMPERATURE_PROBE_CALIBRATE(self, gcmd): if self.cal_helper is None: - raise gcmd.error( - "No calibration helper registered for [%s]" - % (self.name,) - ) + raise gcmd.error("No calibration helper registered for [%s]" % (self.name,)) self._check_homed() probe = self._get_probe() probe_name = probe.get_status(None)["name"] short_name = probe_name.split(maxsplit=1)[-1] if short_name != self.name.split(maxsplit=1)[-1]: raise self.gcode.error( - "[%s] not linked to registered probe [%s]." - % (self.name, probe_name) + "[%s] not linked to registered probe [%s]." % (self.name, probe_name) ) manual_probe.verify_no_manual_probe(self.printer) if self.in_calibration: @@ -371,25 +358,23 @@ class TemperatureProbe: ) cur_temp = self.last_measurement[0] target_temp = gcmd.get_float("TARGET", above=cur_temp) - step = gcmd.get_float("STEP", 2., minval=1.0) - expected_count = int( - (target_temp - cur_temp) / step + .5 - ) + step = gcmd.get_float("STEP", 2.0, minval=1.0) + expected_count = int((target_temp - cur_temp) / step + 0.5) if expected_count < 3: raise gcmd.error( "Invalid STEP and/or TARGET parameters resulted " - "in too few expected samples: %d" - % (expected_count,) + "in too few expected samples: %d" % (expected_count,) ) try: self.gcode.register_command( - "TEMPERATURE_PROBE_NEXT", self.cmd_TEMPERATURE_PROBE_NEXT, - desc=self.cmd_TEMPERATURE_PROBE_NEXT_help + "TEMPERATURE_PROBE_NEXT", + self.cmd_TEMPERATURE_PROBE_NEXT, + desc=self.cmd_TEMPERATURE_PROBE_NEXT_help, ) self.gcode.register_command( "TEMPERATURE_PROBE_COMPLETE", self.cmd_TEMPERATURE_PROBE_COMPLETE, - desc=self.cmd_TEMPERATURE_PROBE_NEXT_help + desc=self.cmd_TEMPERATURE_PROBE_NEXT_help, ) except self.printer.config_error: raise gcmd.error( @@ -411,14 +396,13 @@ class TemperatureProbe: # Capture start position and begin initial probe toolhead = self.printer.lookup_object("toolhead") self.start_pos = toolhead.get_position()[:2] - manual_probe.ManualProbeHelper( - self.printer, gcmd, self._manual_probe_finalize - ) + manual_probe.ManualProbeHelper(self.printer, gcmd, self._manual_probe_finalize) cmd_TEMPERATURE_PROBE_NEXT_help = "Sample next probe drift temperature" + def cmd_TEMPERATURE_PROBE_NEXT(self, gcmd): manual_probe.verify_no_manual_probe(self.printer) - self.next_auto_temp = 99999999. + self.next_auto_temp = 99999999.0 toolhead = self.printer.lookup_object("toolhead") # Lift and Move to nozzle back to start position curpos = toolhead.get_position() @@ -433,22 +417,23 @@ class TemperatureProbe: curpos[2] = start_z toolhead.manual_move(curpos, probe_speed) self.gcode.register_command("ABORT", None) - manual_probe.ManualProbeHelper( - self.printer, gcmd, self._manual_probe_finalize - ) + manual_probe.ManualProbeHelper(self.printer, gcmd, self._manual_probe_finalize) cmd_TEMPERATURE_PROBE_COMPLETE_help = "Finish Probe Drift Calibration" + def cmd_TEMPERATURE_PROBE_COMPLETE(self, gcmd): manual_probe.verify_no_manual_probe(self.printer) self._finalize_drift_cal(self.sample_count >= 3) cmd_TEMPERATURE_PROBE_ABORT_help = "Abort Probe Drift Calibration" + def cmd_TEMPERATURE_PROBE_ABORT(self, gcmd): self._finalize_drift_cal(False) cmd_TEMPERATURE_PROBE_ENABLE_help = ( "Set adjustment factor applied to drift correction" ) + def cmd_TEMPERATURE_PROBE_ENABLE(self, gcmd): if self.cal_helper is not None: self.cal_helper.set_enabled(gcmd) @@ -467,11 +452,11 @@ class TemperatureProbe: "measured_max_temp": round(measured_max, 2), "in_calibration": self.in_calibration, "estimated_expansion": self.total_expansion, - "compensation_enabled": dcomp_enabled + "compensation_enabled": dcomp_enabled, } def stats(self, eventtime): - return False, '%s: temp=%.1f' % (self.name, self.last_measurement[0]) + return False, "%s: temp=%.1f" % (self.name, self.last_measurement[0]) ##################################################################### @@ -482,26 +467,23 @@ class TemperatureProbe: DRIFT_SAMPLE_COUNT = 9 + class EddyDriftCompensation: def __init__(self, config, sensor): self.printer = config.get_printer() self.temp_sensor = sensor self.name = config.get_name() - self.cal_temp = config.getfloat("calibration_temp", 0.) + self.cal_temp = config.getfloat("calibration_temp", 0.0) self.drift_calibration = None self.calibration_samples = None - self.max_valid_temp = config.getfloat("max_validation_temp", 60.) - self.dc_min_temp = config.getfloat("drift_calibration_min_temp", 0.) - dc = config.getlists( - "drift_calibration", None, seps=(',', '\n'), parser=float - ) - self.min_freq = 999999999999. + self.max_valid_temp = config.getfloat("max_validation_temp", 60.0) + self.dc_min_temp = config.getfloat("drift_calibration_min_temp", 0.0) + dc = config.getlists("drift_calibration", None, seps=(",", "\n"), parser=float) + self.min_freq = 999999999999.0 if dc is not None: for coefs in dc: if len(coefs) != 3: - raise config.error( - "Invalid polynomial in drift calibration" - ) + raise config.error("Invalid polynomial in drift calibration") self.drift_calibration = [Polynomial2d(*coefs) for coefs in dc] cal = self.drift_calibration start_temp, end_temp = self.dc_min_temp, self.max_valid_temp @@ -517,16 +499,14 @@ class EddyDriftCompensation: else: logging.info( "%s: No drift calibration configured, disabling temperature " - "drift compensation" - % (self.name,) + "drift compensation" % (self.name,) ) self.enabled = has_dc = self.drift_calibration is not None if self.cal_temp < 1e-6 and has_dc: self.enabled = False logging.info( "%s: No temperature saved for eddy probe calibration, " - "disabling temperature drift compensation." - % (self.name,) + "disabling temperature drift compensation." % (self.name,) ) def is_enabled(self): @@ -552,21 +532,20 @@ class EddyDriftCompensation: def note_z_calibration_finish(self): self.cal_temp = (self.cal_temp + self.get_temperature()) / 2.0 - configfile = self.printer.lookup_object('configfile') + configfile = self.printer.lookup_object("configfile") configfile.set(self.name, "calibration_temp", "%.6f " % (self.cal_temp)) gcode = self.printer.lookup_object("gcode") gcode.respond_info( "%s: Z Calibration Temperature set to %.2f. " "The SAVE_CONFIG command will update the printer config " - "file and restart the printer." - % (self.name, self.cal_temp) + "file and restart the printer." % (self.name, self.cal_temp) ) def collect_sample(self, kin_pos, tool_zero_z, speeds): if self.calibration_samples is None: self.calibration_samples = [[] for _ in range(DRIFT_SAMPLE_COUNT)] move_times = [] - temps = [0. for _ in range(DRIFT_SAMPLE_COUNT)] + temps = [0.0 for _ in range(DRIFT_SAMPLE_COUNT)] probe_samples = [[] for _ in range(DRIFT_SAMPLE_COUNT)] toolhead = self.printer.lookup_object("toolhead") cur_pos = toolhead.get_position() @@ -588,39 +567,39 @@ class EddyDriftCompensation: temps[idx] = cur_temp probe_samples[idx].append(sample) return True + sect_name = "probe_eddy_current " + self.name.split(maxsplit=1)[-1] self.printer.lookup_object(sect_name).add_client(_on_bulk_data_recd) for i in range(DRIFT_SAMPLE_COUNT): if i == 0: # Move down to first sample location - cur_pos[2] = tool_zero_z + .05 + cur_pos[2] = tool_zero_z + 0.05 else: # Sample each .5mm in z - cur_pos[2] += 1. + cur_pos[2] += 1.0 toolhead.manual_move(cur_pos, lift_speed) - cur_pos[2] -= .5 + cur_pos[2] -= 0.5 toolhead.manual_move(cur_pos, probe_speed) - start = toolhead.get_last_move_time() + .05 - end = start + .1 + start = toolhead.get_last_move_time() + 0.05 + end = start + 0.1 move_times.append((i, start, end)) - toolhead.dwell(.2) + toolhead.dwell(0.2) toolhead.wait_moves() # Wait for sample collection to finish reactor = self.printer.get_reactor() evttime = reactor.monotonic() while move_times: - evttime = reactor.pause(evttime + .1) + evttime = reactor.pause(evttime + 0.1) sample_temp = sum(temps) / len(temps) for i, data in enumerate(probe_samples): freqs = [d[1] for d in data] zvals = [d[2] for d in data] avg_freq = sum(freqs) / len(freqs) avg_z = sum(zvals) / len(zvals) - kin_z = i * .5 + .05 + kin_pos[2] + kin_z = i * 0.5 + 0.05 + kin_pos[2] logging.info( "Probe Values at Temp %.2fC, Z %.4fmm: Avg Freq = %.6f, " - "Avg Measured Z = %.6f" - % (sample_temp, kin_z, avg_freq, avg_z) + "Avg Measured Z = %.6f" % (sample_temp, kin_z, avg_freq, avg_z) ) self.calibration_samples[i].append((sample_temp, avg_freq)) return sample_temp @@ -636,28 +615,25 @@ class EddyDriftCompensation: return gcode = self.printer.lookup_object("gcode") if len(cal_samples) < 3: - raise gcode.error( - "calibration error, not enough samples" - ) + raise gcode.error("calibration error, not enough samples") min_temp, _ = cal_samples[0][0] max_temp, _ = cal_samples[-1][0] polynomials = [] for i, coords in enumerate(cal_samples): - height = .05 + i * .5 + height = 0.05 + i * 0.5 poly = Polynomial2d.fit(coords) polynomials.append(poly) logging.info("Polynomial at Z=%.2f: %s" % (height, repr(poly))) end_vld_temp = max(self.max_valid_temp, max_temp) self._check_calibration(polynomials, min_temp, end_vld_temp) coef_cfg = "\n" + "\n".join([str(p) for p in polynomials]) - configfile = self.printer.lookup_object('configfile') + configfile = self.printer.lookup_object("configfile") configfile.set(self.name, "drift_calibration", coef_cfg) configfile.set(self.name, "drift_calibration_min_temp", min_temp) gcode.respond_info( "%s: generated %d 2D polynomials\n" "The SAVE_CONFIG command will update the printer config " - "file and restart the printer." - % (self.name, len(polynomials)) + "file and restart the printer." % (self.name, len(polynomials)) ) def _check_calibration(self, calibration, start_temp, end_temp, error=None): @@ -706,9 +682,9 @@ class EddyDriftCompensation: # Frequency above max calibration value err = poly(dest_temp) - low_freq return freq + err - t = min(1., max(0., (freq - low_freq) / (high_freq - low_freq))) + t = min(1.0, max(0.0, (freq - low_freq) / (high_freq - low_freq))) low_tgt_freq = poly(dest_temp) - high_tgt_freq = dc[pos-1](dest_temp) + high_tgt_freq = dc[pos - 1](dest_temp) return (1 - t) * low_tgt_freq + t * high_tgt_freq # Frequency below minimum, no correction return freq |