Repository: vvuk/eddy-ng
Branch: main
Commit: 1ed056b15feb
Files: 20
Total size: 258.4 KB
Directory structure:
gitextract_xnak314q/
├── .beads/
│ └── issues.jsonl
├── .github/
│ └── FUNDING.yml
├── .gitignore
├── .ruff.toml
├── LICENSE
├── README.md
├── __init__.py
├── eddy-ng/
│ ├── Kconfig
│ ├── Makefile
│ ├── printf.c
│ ├── printf.h
│ ├── printf_config.h
│ ├── pyproject.toml
│ └── sensor_ldc1612_ng.c
├── install.py
├── install.sh
├── klipper.patch
├── ldc1612_ng.py
├── probe_eddy_ng.py
└── pyrightconfig.json
================================================
FILE CONTENTS
================================================
================================================
FILE: .beads/issues.jsonl
================================================
================================================
FILE: .github/FUNDING.yml
================================================
# These are supported funding model platforms
github: [vvuk]
patreon: # Replace with a single Patreon username
open_collective: # Replace with a single Open Collective username
ko_fi: vvuk
tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
liberapay: # Replace with a single Liberapay username
issuehunt: # Replace with a single IssueHunt username
lfx_crowdfunding: # Replace with a single LFX Crowdfunding project-name e.g., cloud-foundry
polar: # Replace with a single Polar username
buy_me_a_coffee: # Replace with a single Buy Me a Coffee username
thanks_dev: # Replace with a single thanks.dev username
custom: # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']
================================================
FILE: .gitignore
================================================
.idea/
.vscode/
.DS_Store
*~
*.orig
*.rej
================================================
FILE: .ruff.toml
================================================
line-length = 140
indent-width = 4
================================================
FILE: LICENSE
================================================
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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 .
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
Copyright (C)
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
.
================================================
FILE: README.md
================================================
# eddy-ng
> ***Note: October 2025 -- life has gotten quite busy lately, so I've been much slower to respond to issues and make updates. Apologies, will get back to it soon!***
eddy-ng improves the Eddy current probe support in Klipper to add accurate Z-offset setting by physically making contact with the build surface. These probes are very accurate, but suffer from drifts due to changes in conductivity in the target surface as well as changes in coil parameters as temperatures change. Instead of doing temperature compensation (which is guesswork at best), eddy-ng takes a more physical approach:
1. Calibration is performed at any temperature (cold).
2. Z-homing via the sensor happens using this calibration, regardless of current temperatures. This is a "coarse" Z-home -- it is not accurate enough for printing, but is sufficient for homing, gantry leveling, and other preparation.
3. A precise Z-offset is taken with a "tap" just before printing, with the bed at print temps and the nozzle warm (but not hot -- you don't want filament drooling or damage to your build plate).
4. At the same time as the tap, the difference between the actual height (now known after the tap) and what the sensor reads at that height is saved. This offset then gets taken into account when doing a bed mesh, because it indicates the delta (due to temperatures) between what height the sensor thinks it is vs. where it actually is.
This is a standalone `eddy-ng` repository, intended to be integrated into your own Klipper installation.
## Support
Questions? Come ask on the Sovol 3D Printers Discord at `https://discord.gg/Zg45rA52G7` in the eddy-ng forum. (Nothing Sovol-specific in `eddy-ng`, just where all this work started! You can also find the server via the Discover tab in Discord, then Sovol 3D Printers)
You can also file issues in [this `eddy-ng` github repo](https://github.com/vvuk/eddy-ng/issues).
## Installation
1. Clone this repository:
```
cd ~
git clone https://github.com/vvuk/eddy-ng
```
2. Run the install script:
```
cd ~/eddy-ng
./install.sh
```
(If your klipper isn't installed in `~/klipper`, provide the path as the first argument, i.e. `./install.sh ~/my-klipper`.)
3. Follow the rest of the full `eddy-ng` setup instructions that are [available in the wiki](https://github.com/vvuk/eddy-ng/wiki).
## Updating
Run a `git pull` and then run `./install.sh` again:
```
cd ~/eddy-ng
git pull
./install.sh
```
================================================
FILE: __init__.py
================================================
from klippy.configfile import ConfigWrapper
from .probe_eddy_ng import ProbeEddy
def load_config_prefix(config: ConfigWrapper):
return ProbeEddy(config)
================================================
FILE: eddy-ng/Kconfig
================================================
config WANT_EDDY_NG
bool "Include eddy-ng ldc1612 support"
config WANT_EDDY_NG_DEBUG
bool "Enable verbose eddy-ng logging"
depends on WANT_EDDY_NG
================================================
FILE: eddy-ng/Makefile
================================================
dirs-y += src/extras/eddy-ng
src-$(CONFIG_WANT_EDDY_NG) += extras/eddy-ng/sensor_ldc1612_ng.c
src-$(CONFIG_WANT_EDDY_NG_DEBUG) += extras/eddy-ng/printf.c
================================================
FILE: eddy-ng/printf.c
================================================
///////////////////////////////////////////////////////////////////////////////
// \author (c) Marco Paland (info@paland.com)
// 2014-2019, PALANDesign Hannover, Germany
//
// \license The MIT License (MIT)
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
//
// \brief Tiny printf, sprintf and (v)snprintf implementation, optimized for speed on
// embedded systems with a very limited resources. These routines are thread
// safe and reentrant!
// Use this instead of the bloated standard/newlib printf cause these use
// malloc for printf (and may not be thread safe).
//
///////////////////////////////////////////////////////////////////////////////
#include
#include
#include "printf.h"
// define this globally (e.g. gcc -DPRINTF_INCLUDE_CONFIG_H ...) to include the
// printf_config.h header file
// default: undefined
#ifdef PRINTF_INCLUDE_CONFIG_H
#include "printf_config.h"
#endif
// 'ntoa' conversion buffer size, this must be big enough to hold one converted
// numeric number including padded zeros (dynamically created on stack)
// default: 32 byte
#ifndef PRINTF_NTOA_BUFFER_SIZE
#define PRINTF_NTOA_BUFFER_SIZE 32U
#endif
// 'ftoa' conversion buffer size, this must be big enough to hold one converted
// float number including padded zeros (dynamically created on stack)
// default: 32 byte
#ifndef PRINTF_FTOA_BUFFER_SIZE
#define PRINTF_FTOA_BUFFER_SIZE 32U
#endif
// support for the floating point type (%f)
// default: activated
#ifndef PRINTF_DISABLE_SUPPORT_FLOAT
#define PRINTF_SUPPORT_FLOAT
#endif
// support for exponential floating point notation (%e/%g)
// default: activated
#ifndef PRINTF_DISABLE_SUPPORT_EXPONENTIAL
#define PRINTF_SUPPORT_EXPONENTIAL
#endif
// define the default floating point precision
// default: 6 digits
#ifndef PRINTF_DEFAULT_FLOAT_PRECISION
#define PRINTF_DEFAULT_FLOAT_PRECISION 6U
#endif
// define the largest float suitable to print with %f
// default: 1e9
#ifndef PRINTF_MAX_FLOAT
#define PRINTF_MAX_FLOAT 1e9
#endif
// support for the long long types (%llu or %p)
// default: activated
#ifndef PRINTF_DISABLE_SUPPORT_LONG_LONG
#define PRINTF_SUPPORT_LONG_LONG
#endif
// support for the ptrdiff_t type (%t)
// ptrdiff_t is normally defined in as long or long long type
// default: activated
#ifndef PRINTF_DISABLE_SUPPORT_PTRDIFF_T
#define PRINTF_SUPPORT_PTRDIFF_T
#endif
///////////////////////////////////////////////////////////////////////////////
// internal flag definitions
#define FLAGS_ZEROPAD (1U << 0U)
#define FLAGS_LEFT (1U << 1U)
#define FLAGS_PLUS (1U << 2U)
#define FLAGS_SPACE (1U << 3U)
#define FLAGS_HASH (1U << 4U)
#define FLAGS_UPPERCASE (1U << 5U)
#define FLAGS_CHAR (1U << 6U)
#define FLAGS_SHORT (1U << 7U)
#define FLAGS_LONG (1U << 8U)
#define FLAGS_LONG_LONG (1U << 9U)
#define FLAGS_PRECISION (1U << 10U)
#define FLAGS_ADAPT_EXP (1U << 11U)
// import float.h for DBL_MAX
#if defined(PRINTF_SUPPORT_FLOAT)
#include
#endif
// output function type
typedef void (*out_fct_type)(char character, void* buffer, size_t idx, size_t maxlen);
// wrapper (used as buffer) for output function type
typedef struct {
void (*fct)(char character, void* arg);
void* arg;
} out_fct_wrap_type;
// internal buffer output
static inline void _out_buffer(char character, void* buffer, size_t idx, size_t maxlen)
{
if (idx < maxlen) {
((char*)buffer)[idx] = character;
}
}
// internal null output
static inline void _out_null(char character, void* buffer, size_t idx, size_t maxlen)
{
(void)character; (void)buffer; (void)idx; (void)maxlen;
}
// internal _putchar wrapper
static inline void _out_char(char character, void* buffer, size_t idx, size_t maxlen)
{
(void)buffer; (void)idx; (void)maxlen;
if (character) {
_putchar(character);
}
}
// internal output function wrapper
static inline void _out_fct(char character, void* buffer, size_t idx, size_t maxlen)
{
(void)idx; (void)maxlen;
if (character) {
// buffer is the output fct pointer
((out_fct_wrap_type*)buffer)->fct(character, ((out_fct_wrap_type*)buffer)->arg);
}
}
// internal secure strlen
// \return The length of the string (excluding the terminating 0) limited by 'maxsize'
static inline unsigned int _strnlen_s(const char* str, size_t maxsize)
{
const char* s;
for (s = str; *s && maxsize--; ++s);
return (unsigned int)(s - str);
}
// internal test if char is a digit (0-9)
// \return true if char is a digit
static inline bool _is_digit(char ch)
{
return (ch >= '0') && (ch <= '9');
}
// internal ASCII string to unsigned int conversion
static unsigned int _atoi(const char** str)
{
unsigned int i = 0U;
while (_is_digit(**str)) {
i = i * 10U + (unsigned int)(*((*str)++) - '0');
}
return i;
}
// output the specified string in reverse, taking care of any zero-padding
static size_t _out_rev(out_fct_type out, char* buffer, size_t idx, size_t maxlen, const char* buf, size_t len, unsigned int width, unsigned int flags)
{
const size_t start_idx = idx;
// pad spaces up to given width
if (!(flags & FLAGS_LEFT) && !(flags & FLAGS_ZEROPAD)) {
for (size_t i = len; i < width; i++) {
out(' ', buffer, idx++, maxlen);
}
}
// reverse string
while (len) {
out(buf[--len], buffer, idx++, maxlen);
}
// append pad spaces up to given width
if (flags & FLAGS_LEFT) {
while (idx - start_idx < width) {
out(' ', buffer, idx++, maxlen);
}
}
return idx;
}
// internal itoa format
static size_t _ntoa_format(out_fct_type out, char* buffer, size_t idx, size_t maxlen, char* buf, size_t len, bool negative, unsigned int base, unsigned int prec, unsigned int width, unsigned int flags)
{
// pad leading zeros
if (!(flags & FLAGS_LEFT)) {
if (width && (flags & FLAGS_ZEROPAD) && (negative || (flags & (FLAGS_PLUS | FLAGS_SPACE)))) {
width--;
}
while ((len < prec) && (len < PRINTF_NTOA_BUFFER_SIZE)) {
buf[len++] = '0';
}
while ((flags & FLAGS_ZEROPAD) && (len < width) && (len < PRINTF_NTOA_BUFFER_SIZE)) {
buf[len++] = '0';
}
}
// handle hash
if (flags & FLAGS_HASH) {
if (!(flags & FLAGS_PRECISION) && len && ((len == prec) || (len == width))) {
len--;
if (len && (base == 16U)) {
len--;
}
}
if ((base == 16U) && !(flags & FLAGS_UPPERCASE) && (len < PRINTF_NTOA_BUFFER_SIZE)) {
buf[len++] = 'x';
}
else if ((base == 16U) && (flags & FLAGS_UPPERCASE) && (len < PRINTF_NTOA_BUFFER_SIZE)) {
buf[len++] = 'X';
}
else if ((base == 2U) && (len < PRINTF_NTOA_BUFFER_SIZE)) {
buf[len++] = 'b';
}
if (len < PRINTF_NTOA_BUFFER_SIZE) {
buf[len++] = '0';
}
}
if (len < PRINTF_NTOA_BUFFER_SIZE) {
if (negative) {
buf[len++] = '-';
}
else if (flags & FLAGS_PLUS) {
buf[len++] = '+'; // ignore the space if the '+' exists
}
else if (flags & FLAGS_SPACE) {
buf[len++] = ' ';
}
}
return _out_rev(out, buffer, idx, maxlen, buf, len, width, flags);
}
// internal itoa for 'long' type
static size_t _ntoa_long(out_fct_type out, char* buffer, size_t idx, size_t maxlen, unsigned long value, bool negative, unsigned long base, unsigned int prec, unsigned int width, unsigned int flags)
{
char buf[PRINTF_NTOA_BUFFER_SIZE];
size_t len = 0U;
// no hash for 0 values
if (!value) {
flags &= ~FLAGS_HASH;
}
// write if precision != 0 and value is != 0
if (!(flags & FLAGS_PRECISION) || value) {
do {
const char digit = (char)(value % base);
buf[len++] = digit < 10 ? '0' + digit : (flags & FLAGS_UPPERCASE ? 'A' : 'a') + digit - 10;
value /= base;
} while (value && (len < PRINTF_NTOA_BUFFER_SIZE));
}
return _ntoa_format(out, buffer, idx, maxlen, buf, len, negative, (unsigned int)base, prec, width, flags);
}
// internal itoa for 'long long' type
#if defined(PRINTF_SUPPORT_LONG_LONG)
static size_t _ntoa_long_long(out_fct_type out, char* buffer, size_t idx, size_t maxlen, unsigned long long value, bool negative, unsigned long long base, unsigned int prec, unsigned int width, unsigned int flags)
{
char buf[PRINTF_NTOA_BUFFER_SIZE];
size_t len = 0U;
// no hash for 0 values
if (!value) {
flags &= ~FLAGS_HASH;
}
// write if precision != 0 and value is != 0
if (!(flags & FLAGS_PRECISION) || value) {
do {
const char digit = (char)(value % base);
buf[len++] = digit < 10 ? '0' + digit : (flags & FLAGS_UPPERCASE ? 'A' : 'a') + digit - 10;
value /= base;
} while (value && (len < PRINTF_NTOA_BUFFER_SIZE));
}
return _ntoa_format(out, buffer, idx, maxlen, buf, len, negative, (unsigned int)base, prec, width, flags);
}
#endif // PRINTF_SUPPORT_LONG_LONG
#if defined(PRINTF_SUPPORT_FLOAT)
#if defined(PRINTF_SUPPORT_EXPONENTIAL)
// forward declaration so that _ftoa can switch to exp notation for values > PRINTF_MAX_FLOAT
static size_t _etoa(out_fct_type out, char* buffer, size_t idx, size_t maxlen, double value, unsigned int prec, unsigned int width, unsigned int flags);
#endif
// internal ftoa for fixed decimal floating point
static size_t _ftoa(out_fct_type out, char* buffer, size_t idx, size_t maxlen, double value, unsigned int prec, unsigned int width, unsigned int flags)
{
char buf[PRINTF_FTOA_BUFFER_SIZE];
size_t len = 0U;
double diff = 0.0;
// powers of 10
static const double pow10[] = { 1, 10, 100, 1000, 10000, 100000, 1000000, 10000000, 100000000, 1000000000 };
// test for special values
if (value != value)
return _out_rev(out, buffer, idx, maxlen, "nan", 3, width, flags);
if (value < -DBL_MAX)
return _out_rev(out, buffer, idx, maxlen, "fni-", 4, width, flags);
if (value > DBL_MAX)
return _out_rev(out, buffer, idx, maxlen, (flags & FLAGS_PLUS) ? "fni+" : "fni", (flags & FLAGS_PLUS) ? 4U : 3U, width, flags);
// test for very large values
// standard printf behavior is to print EVERY whole number digit -- which could be 100s of characters overflowing your buffers == bad
if ((value > PRINTF_MAX_FLOAT) || (value < -PRINTF_MAX_FLOAT)) {
#if defined(PRINTF_SUPPORT_EXPONENTIAL)
return _etoa(out, buffer, idx, maxlen, value, prec, width, flags);
#else
return 0U;
#endif
}
// test for negative
bool negative = false;
if (value < 0) {
negative = true;
value = 0 - value;
}
// set default precision, if not set explicitly
if (!(flags & FLAGS_PRECISION)) {
prec = PRINTF_DEFAULT_FLOAT_PRECISION;
}
// limit precision to 9, cause a prec >= 10 can lead to overflow errors
while ((len < PRINTF_FTOA_BUFFER_SIZE) && (prec > 9U)) {
buf[len++] = '0';
prec--;
}
int whole = (int)value;
double tmp = (value - whole) * pow10[prec];
unsigned long frac = (unsigned long)tmp;
diff = tmp - frac;
if (diff > 0.5) {
++frac;
// handle rollover, e.g. case 0.99 with prec 1 is 1.0
if (frac >= pow10[prec]) {
frac = 0;
++whole;
}
}
else if (diff < 0.5) {
}
else if ((frac == 0U) || (frac & 1U)) {
// if halfway, round up if odd OR if last digit is 0
++frac;
}
if (prec == 0U) {
diff = value - (double)whole;
if ((!(diff < 0.5) || (diff > 0.5)) && (whole & 1)) {
// exactly 0.5 and ODD, then round up
// 1.5 -> 2, but 2.5 -> 2
++whole;
}
}
else {
unsigned int count = prec;
// now do fractional part, as an unsigned number
while (len < PRINTF_FTOA_BUFFER_SIZE) {
--count;
buf[len++] = (char)(48U + (frac % 10U));
if (!(frac /= 10U)) {
break;
}
}
// add extra 0s
while ((len < PRINTF_FTOA_BUFFER_SIZE) && (count-- > 0U)) {
buf[len++] = '0';
}
if (len < PRINTF_FTOA_BUFFER_SIZE) {
// add decimal
buf[len++] = '.';
}
}
// do whole part, number is reversed
while (len < PRINTF_FTOA_BUFFER_SIZE) {
buf[len++] = (char)(48 + (whole % 10));
if (!(whole /= 10)) {
break;
}
}
// pad leading zeros
if (!(flags & FLAGS_LEFT) && (flags & FLAGS_ZEROPAD)) {
if (width && (negative || (flags & (FLAGS_PLUS | FLAGS_SPACE)))) {
width--;
}
while ((len < width) && (len < PRINTF_FTOA_BUFFER_SIZE)) {
buf[len++] = '0';
}
}
if (len < PRINTF_FTOA_BUFFER_SIZE) {
if (negative) {
buf[len++] = '-';
}
else if (flags & FLAGS_PLUS) {
buf[len++] = '+'; // ignore the space if the '+' exists
}
else if (flags & FLAGS_SPACE) {
buf[len++] = ' ';
}
}
return _out_rev(out, buffer, idx, maxlen, buf, len, width, flags);
}
#if defined(PRINTF_SUPPORT_EXPONENTIAL)
// internal ftoa variant for exponential floating-point type, contributed by Martijn Jasperse
static size_t _etoa(out_fct_type out, char* buffer, size_t idx, size_t maxlen, double value, unsigned int prec, unsigned int width, unsigned int flags)
{
// check for NaN and special values
if ((value != value) || (value > DBL_MAX) || (value < -DBL_MAX)) {
return _ftoa(out, buffer, idx, maxlen, value, prec, width, flags);
}
// determine the sign
const bool negative = value < 0;
if (negative) {
value = -value;
}
// default precision
if (!(flags & FLAGS_PRECISION)) {
prec = PRINTF_DEFAULT_FLOAT_PRECISION;
}
// determine the decimal exponent
// based on the algorithm by David Gay (https://www.ampl.com/netlib/fp/dtoa.c)
union {
uint64_t U;
double F;
} conv;
conv.F = value;
int exp2 = (int)((conv.U >> 52U) & 0x07FFU) - 1023; // effectively log2
conv.U = (conv.U & ((1ULL << 52U) - 1U)) | (1023ULL << 52U); // drop the exponent so conv.F is now in [1,2)
// now approximate log10 from the log2 integer part and an expansion of ln around 1.5
int expval = (int)(0.1760912590558 + exp2 * 0.301029995663981 + (conv.F - 1.5) * 0.289529654602168);
// now we want to compute 10^expval but we want to be sure it won't overflow
exp2 = (int)(expval * 3.321928094887362 + 0.5);
const double z = expval * 2.302585092994046 - exp2 * 0.6931471805599453;
const double z2 = z * z;
conv.U = (uint64_t)(exp2 + 1023) << 52U;
// compute exp(z) using continued fractions, see https://en.wikipedia.org/wiki/Exponential_function#Continued_fractions_for_ex
conv.F *= 1 + 2 * z / (2 - z + (z2 / (6 + (z2 / (10 + z2 / 14)))));
// correct for rounding errors
if (value < conv.F) {
expval--;
conv.F /= 10;
}
// the exponent format is "%+03d" and largest value is "307", so set aside 4-5 characters
unsigned int minwidth = ((expval < 100) && (expval > -100)) ? 4U : 5U;
// in "%g" mode, "prec" is the number of *significant figures* not decimals
if (flags & FLAGS_ADAPT_EXP) {
// do we want to fall-back to "%f" mode?
if ((value >= 1e-4) && (value < 1e6)) {
if ((int)prec > expval) {
prec = (unsigned)((int)prec - expval - 1);
}
else {
prec = 0;
}
flags |= FLAGS_PRECISION; // make sure _ftoa respects precision
// no characters in exponent
minwidth = 0U;
expval = 0;
}
else {
// we use one sigfig for the whole part
if ((prec > 0) && (flags & FLAGS_PRECISION)) {
--prec;
}
}
}
// will everything fit?
unsigned int fwidth = width;
if (width > minwidth) {
// we didn't fall-back so subtract the characters required for the exponent
fwidth -= minwidth;
} else {
// not enough characters, so go back to default sizing
fwidth = 0U;
}
if ((flags & FLAGS_LEFT) && minwidth) {
// if we're padding on the right, DON'T pad the floating part
fwidth = 0U;
}
// rescale the float value
if (expval) {
value /= conv.F;
}
// output the floating part
const size_t start_idx = idx;
idx = _ftoa(out, buffer, idx, maxlen, negative ? -value : value, prec, fwidth, flags & ~FLAGS_ADAPT_EXP);
// output the exponent part
if (minwidth) {
// output the exponential symbol
out((flags & FLAGS_UPPERCASE) ? 'E' : 'e', buffer, idx++, maxlen);
// output the exponent value
idx = _ntoa_long(out, buffer, idx, maxlen, (expval < 0) ? -expval : expval, expval < 0, 10, 0, minwidth-1, FLAGS_ZEROPAD | FLAGS_PLUS);
// might need to right-pad spaces
if (flags & FLAGS_LEFT) {
while (idx - start_idx < width) out(' ', buffer, idx++, maxlen);
}
}
return idx;
}
#endif // PRINTF_SUPPORT_EXPONENTIAL
#endif // PRINTF_SUPPORT_FLOAT
// internal vsnprintf
static int _vsnprintf(out_fct_type out, char* buffer, const size_t maxlen, const char* format, va_list va)
{
unsigned int flags, width, precision, n;
size_t idx = 0U;
if (!buffer) {
// use null output function
out = _out_null;
}
while (*format)
{
// format specifier? %[flags][width][.precision][length]
if (*format != '%') {
// no
out(*format, buffer, idx++, maxlen);
format++;
continue;
}
else {
// yes, evaluate it
format++;
}
// evaluate flags
flags = 0U;
do {
switch (*format) {
case '0': flags |= FLAGS_ZEROPAD; format++; n = 1U; break;
case '-': flags |= FLAGS_LEFT; format++; n = 1U; break;
case '+': flags |= FLAGS_PLUS; format++; n = 1U; break;
case ' ': flags |= FLAGS_SPACE; format++; n = 1U; break;
case '#': flags |= FLAGS_HASH; format++; n = 1U; break;
default : n = 0U; break;
}
} while (n);
// evaluate width field
width = 0U;
if (_is_digit(*format)) {
width = _atoi(&format);
}
else if (*format == '*') {
const int w = va_arg(va, int);
if (w < 0) {
flags |= FLAGS_LEFT; // reverse padding
width = (unsigned int)-w;
}
else {
width = (unsigned int)w;
}
format++;
}
// evaluate precision field
precision = 0U;
if (*format == '.') {
flags |= FLAGS_PRECISION;
format++;
if (_is_digit(*format)) {
precision = _atoi(&format);
}
else if (*format == '*') {
const int prec = (int)va_arg(va, int);
precision = prec > 0 ? (unsigned int)prec : 0U;
format++;
}
}
// evaluate length field
switch (*format) {
case 'l' :
flags |= FLAGS_LONG;
format++;
if (*format == 'l') {
flags |= FLAGS_LONG_LONG;
format++;
}
break;
case 'h' :
flags |= FLAGS_SHORT;
format++;
if (*format == 'h') {
flags |= FLAGS_CHAR;
format++;
}
break;
#if defined(PRINTF_SUPPORT_PTRDIFF_T)
case 't' :
flags |= (sizeof(ptrdiff_t) == sizeof(long) ? FLAGS_LONG : FLAGS_LONG_LONG);
format++;
break;
#endif
case 'j' :
flags |= (sizeof(intmax_t) == sizeof(long) ? FLAGS_LONG : FLAGS_LONG_LONG);
format++;
break;
case 'z' :
flags |= (sizeof(size_t) == sizeof(long) ? FLAGS_LONG : FLAGS_LONG_LONG);
format++;
break;
default :
break;
}
// evaluate specifier
switch (*format) {
case 'd' :
case 'i' :
case 'u' :
case 'x' :
case 'X' :
case 'o' :
case 'b' : {
// set the base
unsigned int base;
if (*format == 'x' || *format == 'X') {
base = 16U;
}
else if (*format == 'o') {
base = 8U;
}
else if (*format == 'b') {
base = 2U;
}
else {
base = 10U;
flags &= ~FLAGS_HASH; // no hash for dec format
}
// uppercase
if (*format == 'X') {
flags |= FLAGS_UPPERCASE;
}
// no plus or space flag for u, x, X, o, b
if ((*format != 'i') && (*format != 'd')) {
flags &= ~(FLAGS_PLUS | FLAGS_SPACE);
}
// ignore '0' flag when precision is given
if (flags & FLAGS_PRECISION) {
flags &= ~FLAGS_ZEROPAD;
}
// convert the integer
if ((*format == 'i') || (*format == 'd')) {
// signed
if (flags & FLAGS_LONG_LONG) {
#if defined(PRINTF_SUPPORT_LONG_LONG)
const long long value = va_arg(va, long long);
idx = _ntoa_long_long(out, buffer, idx, maxlen, (unsigned long long)(value > 0 ? value : 0 - value), value < 0, base, precision, width, flags);
#endif
}
else if (flags & FLAGS_LONG) {
const long value = va_arg(va, long);
idx = _ntoa_long(out, buffer, idx, maxlen, (unsigned long)(value > 0 ? value : 0 - value), value < 0, base, precision, width, flags);
}
else {
const int value = (flags & FLAGS_CHAR) ? (char)va_arg(va, int) : (flags & FLAGS_SHORT) ? (short int)va_arg(va, int) : va_arg(va, int);
idx = _ntoa_long(out, buffer, idx, maxlen, (unsigned int)(value > 0 ? value : 0 - value), value < 0, base, precision, width, flags);
}
}
else {
// unsigned
if (flags & FLAGS_LONG_LONG) {
#if defined(PRINTF_SUPPORT_LONG_LONG)
idx = _ntoa_long_long(out, buffer, idx, maxlen, va_arg(va, unsigned long long), false, base, precision, width, flags);
#endif
}
else if (flags & FLAGS_LONG) {
idx = _ntoa_long(out, buffer, idx, maxlen, va_arg(va, unsigned long), false, base, precision, width, flags);
}
else {
const unsigned int value = (flags & FLAGS_CHAR) ? (unsigned char)va_arg(va, unsigned int) : (flags & FLAGS_SHORT) ? (unsigned short int)va_arg(va, unsigned int) : va_arg(va, unsigned int);
idx = _ntoa_long(out, buffer, idx, maxlen, value, false, base, precision, width, flags);
}
}
format++;
break;
}
#if defined(PRINTF_SUPPORT_FLOAT)
case 'f' :
case 'F' :
if (*format == 'F') flags |= FLAGS_UPPERCASE;
idx = _ftoa(out, buffer, idx, maxlen, va_arg(va, double), precision, width, flags);
format++;
break;
#if defined(PRINTF_SUPPORT_EXPONENTIAL)
case 'e':
case 'E':
case 'g':
case 'G':
if ((*format == 'g')||(*format == 'G')) flags |= FLAGS_ADAPT_EXP;
if ((*format == 'E')||(*format == 'G')) flags |= FLAGS_UPPERCASE;
idx = _etoa(out, buffer, idx, maxlen, va_arg(va, double), precision, width, flags);
format++;
break;
#endif // PRINTF_SUPPORT_EXPONENTIAL
#endif // PRINTF_SUPPORT_FLOAT
case 'c' : {
unsigned int l = 1U;
// pre padding
if (!(flags & FLAGS_LEFT)) {
while (l++ < width) {
out(' ', buffer, idx++, maxlen);
}
}
// char output
out((char)va_arg(va, int), buffer, idx++, maxlen);
// post padding
if (flags & FLAGS_LEFT) {
while (l++ < width) {
out(' ', buffer, idx++, maxlen);
}
}
format++;
break;
}
case 's' : {
const char* p = va_arg(va, char*);
unsigned int l = _strnlen_s(p, precision ? precision : (size_t)-1);
// pre padding
if (flags & FLAGS_PRECISION) {
l = (l < precision ? l : precision);
}
if (!(flags & FLAGS_LEFT)) {
while (l++ < width) {
out(' ', buffer, idx++, maxlen);
}
}
// string output
while ((*p != 0) && (!(flags & FLAGS_PRECISION) || precision--)) {
out(*(p++), buffer, idx++, maxlen);
}
// post padding
if (flags & FLAGS_LEFT) {
while (l++ < width) {
out(' ', buffer, idx++, maxlen);
}
}
format++;
break;
}
case 'p' : {
width = sizeof(void*) * 2U;
flags |= FLAGS_ZEROPAD | FLAGS_UPPERCASE;
#if defined(PRINTF_SUPPORT_LONG_LONG)
const bool is_ll = sizeof(uintptr_t) == sizeof(long long);
if (is_ll) {
idx = _ntoa_long_long(out, buffer, idx, maxlen, (uintptr_t)va_arg(va, void*), false, 16U, precision, width, flags);
}
else {
#endif
idx = _ntoa_long(out, buffer, idx, maxlen, (unsigned long)((uintptr_t)va_arg(va, void*)), false, 16U, precision, width, flags);
#if defined(PRINTF_SUPPORT_LONG_LONG)
}
#endif
format++;
break;
}
case '%' :
out('%', buffer, idx++, maxlen);
format++;
break;
default :
out(*format, buffer, idx++, maxlen);
format++;
break;
}
}
// termination
out((char)0, buffer, idx < maxlen ? idx : maxlen - 1U, maxlen);
// return written chars without terminating \0
return (int)idx;
}
///////////////////////////////////////////////////////////////////////////////
int printf_(const char* format, ...)
{
va_list va;
va_start(va, format);
char buffer[1];
const int ret = _vsnprintf(_out_char, buffer, (size_t)-1, format, va);
va_end(va);
return ret;
}
int sprintf_(char* buffer, const char* format, ...)
{
va_list va;
va_start(va, format);
const int ret = _vsnprintf(_out_buffer, buffer, (size_t)-1, format, va);
va_end(va);
return ret;
}
int snprintf_(char* buffer, size_t count, const char* format, ...)
{
va_list va;
va_start(va, format);
const int ret = _vsnprintf(_out_buffer, buffer, count, format, va);
va_end(va);
return ret;
}
int vprintf_(const char* format, va_list va)
{
char buffer[1];
return _vsnprintf(_out_char, buffer, (size_t)-1, format, va);
}
int vsnprintf_(char* buffer, size_t count, const char* format, va_list va)
{
return _vsnprintf(_out_buffer, buffer, count, format, va);
}
int fctprintf(void (*out)(char character, void* arg), void* arg, const char* format, ...)
{
va_list va;
va_start(va, format);
const out_fct_wrap_type out_fct_wrap = { out, arg };
const int ret = _vsnprintf(_out_fct, (char*)(uintptr_t)&out_fct_wrap, (size_t)-1, format, va);
va_end(va);
return ret;
}
================================================
FILE: eddy-ng/printf.h
================================================
///////////////////////////////////////////////////////////////////////////////
// \author (c) Marco Paland (info@paland.com)
// 2014-2019, PALANDesign Hannover, Germany
//
// \license The MIT License (MIT)
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
//
// \brief Tiny printf, sprintf and snprintf implementation, optimized for speed on
// embedded systems with a very limited resources.
// Use this instead of bloated standard/newlib printf.
// These routines are thread safe and reentrant.
//
///////////////////////////////////////////////////////////////////////////////
#ifndef _PRINTF_H_
#define _PRINTF_H_
#include
#include
#ifdef __cplusplus
extern "C" {
#endif
/**
* Output a character to a custom device like UART, used by the printf() function
* This function is declared here only. You have to write your custom implementation somewhere
* \param character Character to output
*/
void _putchar(char character);
/**
* Tiny printf implementation
* You have to implement _putchar if you use printf()
* To avoid conflicts with the regular printf() API it is overridden by macro defines
* and internal underscore-appended functions like printf_() are used
* \param format A string that specifies the format of the output
* \return The number of characters that are written into the array, not counting the terminating null character
*/
#define printf printf_
int printf_(const char* format, ...);
/**
* Tiny sprintf implementation
* Due to security reasons (buffer overflow) YOU SHOULD CONSIDER USING (V)SNPRINTF INSTEAD!
* \param buffer A pointer to the buffer where to store the formatted string. MUST be big enough to store the output!
* \param format A string that specifies the format of the output
* \return The number of characters that are WRITTEN into the buffer, not counting the terminating null character
*/
#define sprintf sprintf_
int sprintf_(char* buffer, const char* format, ...);
/**
* Tiny snprintf/vsnprintf implementation
* \param buffer A pointer to the buffer where to store the formatted string
* \param count The maximum number of characters to store in the buffer, including a terminating null character
* \param format A string that specifies the format of the output
* \param va A value identifying a variable arguments list
* \return The number of characters that COULD have been written into the buffer, not counting the terminating
* null character. A value equal or larger than count indicates truncation. Only when the returned value
* is non-negative and less than count, the string has been completely written.
*/
#define snprintf snprintf_
#define vsnprintf vsnprintf_
int snprintf_(char* buffer, size_t count, const char* format, ...);
int vsnprintf_(char* buffer, size_t count, const char* format, va_list va);
/**
* Tiny vprintf implementation
* \param format A string that specifies the format of the output
* \param va A value identifying a variable arguments list
* \return The number of characters that are WRITTEN into the buffer, not counting the terminating null character
*/
#define vprintf vprintf_
int vprintf_(const char* format, va_list va);
/**
* printf with output function
* You may use this as dynamic alternative to printf() with its fixed _putchar() output
* \param out An output function which takes one character and an argument pointer
* \param arg An argument pointer for user data passed to output function
* \param format A string that specifies the format of the output
* \return The number of characters that are sent to the output function, not counting the terminating null character
*/
int fctprintf(void (*out)(char character, void* arg), void* arg, const char* format, ...);
#ifdef __cplusplus
}
#endif
#endif // _PRINTF_H_
================================================
FILE: eddy-ng/printf_config.h
================================================
#ifndef PRINTF_CONFIG_H_
#define PRINTF_CONFIG_H_
#define PRINTF_DISABLE_SUPPORT_EXPONENTIAL
#define PRINTF_DISABLE_SUPPORT_LONG_LONG
#define PRINTF_DISABLE_SUPPORT_PTRDIFF_T
#endif
================================================
FILE: eddy-ng/pyproject.toml
================================================
[project]
name = "probe-eddy-ng"
version = "0.1.0"
description = "Add your description here"
requires-python = ">=3.12"
dependencies = [
"klippy>=0.0",
"plotly>=6.0.1",
"scipy>=1.15.2",
]
[tool.pyright]
executionEnvironments = [
{ root = "~/proj/k/kalico", extraPaths = [ ] },
]
================================================
FILE: eddy-ng/sensor_ldc1612_ng.c
================================================
// Support for eddy current sensor data from ldc1612 chip (v2)
//
// Copyright (C) 2023 Alan.Ma
// Copyright (C) 2024 Kevin O'Connor
// Copyright (C) 2025 Vladimir Vukicevic
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include // memcpy
#include
#include "autoconf.h"
#include "basecmd.h" // oid_alloc
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_read_time
#include "command.h" // DECL_COMMAND
#include "i2ccmds.h" // i2cdev_oid_lookup
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "trsync.h" // trsync_do_trigger
#if !defined(LDC_DEBUG)
#define LDC_DEBUG 0
#endif
#if CONFIG_MACH_STM32F0
// For Cartographer
#include "board/internal.h"
#include "board/gpio.h"
#define SUPPORT_CARTOGRAPHER 1
#else
#define SUPPORT_CARTOGRAPHER 0
#endif
#if LDC_DEBUG > 0
#include "printf.h"
void dprint(const char *fmt, ...);
#else
#define dprint(...) do { } while (0)
#endif
enum {
// There's a pending sample that needs to be read
LDC_PENDING = 1<<0,
// Use the intb pin to detect when a sample is ready
// vs. just polling
LDC_HAVE_INTB = 1<<1,
};
// Number of bytes in each ldc1612 sample. Always 4.
#define BYTES_PER_SAMPLE 4
// should match ldc1612_ng.py
#define HOME_MODE_NONE 0
#define HOME_MODE_HOME 1
#define HOME_MODE_WMA 2
#define HOME_MODE_SOS 3
// should match probe_eddy.py
#define REASON_ERROR_SENSOR 0
#define REASON_ERROR_PROBE_TOO_LOW 1
#define REASON_ERROR_TOO_EARLY 2
// should match ldc1612_ng.py
#define PRODUCT_UNKNOWN 0
#define PRODUCT_BTT_EDDY 1
#define PRODUCT_CARTOGRAPHER 2
#define PRODUCT_MELLOW_FLY 3
#define PRODUCT_LDC1612_INTERNAL_CLK 4
// Chip registers
#define REG_DATA0_MSB 0x00
#define REG_DATA0_LSB 0x01
#define REG_STATUS 0x18
// Error flags reported in samples: undeer range, over range, watchdog, amplitude
#define SAMPLE_ERR(data) ((data) >> 28)
#define SAMPLE_ERR_UR 0x8
#define SAMPLE_ERR_OR 0x4
#define SAMPLE_ERR_WD 0x2
#define SAMPLE_ERR_AE 0x1
// conversion under range
#define STATUS_ERR_UR 0x2000
// conversion over range
#define STATUS_ERR_OR 0x1000
// watchdog timeout
#define STATUS_ERR_WD 0x0800
// amplitude high error
#define STATUS_ERR_AHE 0x0400
// amplitude low error
#define STATUS_ERR_ALE 0x0200
// Homing configuration
#define FREQ_WINDOW_SIZE 16
#define WMA_D_WINDOW_SIZE 4
#define MAX_SOS_SECTIONS 4
struct sosfilter_sos {
uint8_t num_sections;
float sos[MAX_SOS_SECTIONS*6];
};
struct ldc1612_ng_homing_wma_tap {
// the tap detection threshold: specifically, the total downward
// change in the frequency derivative before we see a direction
// reveral (the windowed moving average of the derivative of the wmd
// to be exact)
int32_t tap_threshold;
// number of samples to ignore for detection (to avoid spikes before
// we fill buffers)
uint8_t init_sample_count;
// frequencies are always positive, as is their average
// the derivative however is signed
uint32_t freq_buffer[FREQ_WINDOW_SIZE];
int32_t wma_d_buf[WMA_D_WINDOW_SIZE];
// current index in freq/deriv buffers
uint8_t freq_i;
uint8_t wma_d_i;
uint32_t wma; // last computed weighted moving average
int32_t wma_d_avg; // last computed wma derivative average
// the wema_d_avg at the start
int32_t tap_start_value;
};
struct ldc1612_ng_homing_sos_tap {
float state[MAX_SOS_SECTIONS*4];
float tap_threshold;
float frequency_offset;
float tap_start_value;
float last_value;
};
struct ldc1612_ng_homing {
uint8_t mode;
// frequency we must pass through to have a valid home/tap
uint32_t safe_start_freq;
// and it must happen after this time
uint32_t safe_start_time;
// the frequency to trigger on for homing, or
// the second threshold before we start looking for a tap
uint32_t homing_trigger_freq;
// What time we fire with the trigger -- either the time homing
// triggered, or the computed time for the tap (which will be
// earlier than when the tap was detected).
uint32_t trigger_time;
// If it was a tap, the start of tap detection
uint32_t tap_start_time;
// Number of errors we've seen in a row
uint8_t error_count;
// Number we're allowed to see, from home setup
uint8_t error_threshold;
// The final error that caused an abort
uint32_t error;
union {
struct ldc1612_ng_homing_wma_tap wma_tap;
struct ldc1612_ng_homing_sos_tap sos_tap;
};
};
struct ldc1612_ng {
struct timer timer;
struct i2cdev_s *i2c;
struct sensor_bulk sb;
struct gpio_in intb_pin;
uint8_t product;
float sensor_cvt;
uint32_t rest_ticks;
uint8_t flags;
uint16_t last_status;
uint32_t last_read_value;
// Samples per second (configurable)
uint32_t data_rate;
// homing triggers
struct trsync *ts;
uint8_t success_reason;
uint8_t other_reason_base;
// active sosfilter
struct sosfilter_sos sos_filter;
// homing state
struct ldc1612_ng_homing homing;
#if SUPPORT_CARTOGRAPHER
struct gpio_out led_gpio;
#endif
};
void command_config_ldc1612_ng(uint32_t *args);
static void read_reg(struct ldc1612_ng* ld, uint8_t reg, uint8_t* res);
static uint16_t read_reg_status(struct ldc1612_ng* ld);
static uint_fast8_t ldc1612_ng_timer_event(struct timer* timer);
static void ldc1612_ng_update(struct ldc1612_ng* ld, uint8_t oid);
static void check_homing(struct ldc1612_ng* ld, uint32_t data, uint32_t time);
static void check_wma_tap(struct ldc1612_ng* ld, uint32_t data, uint32_t time);
static void check_sos_tap(struct ldc1612_ng* ld, uint32_t data, uint32_t time);
//
// Core sample timers and loop
//
static struct task_wake ldc1612_ng_wake;
static int
check_intb_asserted(struct ldc1612_ng *ld)
{
return !gpio_in_read(ld->intb_pin);
}
void
ldc1612_ng_task(void)
{
if (!sched_check_wake(&ldc1612_ng_wake))
return;
uint8_t oid;
struct ldc1612_ng *ld;
foreach_oid(oid, ld, command_config_ldc1612_ng) {
uint_fast8_t flags = ld->flags;
if (!(flags & LDC_PENDING))
continue;
ldc1612_ng_update(ld, oid);
}
}
DECL_TASK(ldc1612_ng_task);
uint_fast8_t
ldc1612_ng_timer_event(struct timer *timer)
{
struct ldc1612_ng *ld = container_of(timer, struct ldc1612_ng, timer);
if (ld->flags & LDC_PENDING)
ld->sb.possible_overflows++;
if (!(ld->flags & LDC_HAVE_INTB) || check_intb_asserted(ld)) {
ld->flags |= LDC_PENDING;
sched_wake_task(&ldc1612_ng_wake);
}
// reschedule to run in rest_ticks
ld->timer.waketime += ld->rest_ticks;
return SF_RESCHEDULE;
}
// Read a register on the ldc1612
void
read_reg(struct ldc1612_ng *ld, uint8_t reg, uint8_t *res)
{
int ret = i2c_dev_read(ld->i2c, sizeof(reg), ®, 2, res);
i2c_shutdown_on_err(ret);
}
// Read the status register on the ldc1612
uint16_t
read_reg_status(struct ldc1612_ng *ld)
{
uint8_t data_status[2];
read_reg(ld, REG_STATUS, data_status);
ld->last_status = (data_status[0] << 8) | data_status[1];
return ld->last_status;
}
// Notify trsync of event
static void
notify_trigger(struct ldc1612_ng *ld, uint32_t time, uint8_t reason)
{
ld->homing.mode = 0;
trsync_do_trigger(ld->ts, reason);
dprint("ZZZ notify_trigger: %u at %u", reason, time);
}
void
ldc1612_ng_shutdown(void)
{
// make sure we stop measurements on shutdown so we don't
// spam host on startup
uint8_t oid;
struct ldc1612_ng *ld;
foreach_oid(oid, ld, command_config_ldc1612_ng) {
sched_del_timer(&ld->timer);
ld->flags &= ~LDC_PENDING;
ld->rest_ticks = 0;
}
}
DECL_SHUTDOWN(ldc1612_ng_shutdown);
static void
config_ldc1612_ng(uint32_t oid, uint32_t i2c_oid, uint8_t product, int32_t intb_pin)
{
dprint("EDDYng cfg o=%u i=%u b=%d", oid, i2c_oid, intb_pin);
struct ldc1612_ng *ld = oid_alloc(oid, command_config_ldc1612_ng, sizeof(*ld));
ld->timer.func = ldc1612_ng_timer_event;
ld->i2c = i2cdev_oid_lookup(i2c_oid);
if (intb_pin != -1) {
ld->intb_pin = gpio_in_setup(intb_pin, 1);
ld->flags = LDC_HAVE_INTB;
}
ld->product = product;
switch (product) {
case PRODUCT_UNKNOWN:
case PRODUCT_BTT_EDDY:
ld->sensor_cvt = 12000000.0f / (float)(1<<28);
break;
case PRODUCT_MELLOW_FLY:
ld->sensor_cvt = 40000000.0f / (float)(1<<28);
break;
#if SUPPORT_CARTOGRAPHER
case PRODUCT_CARTOGRAPHER:
ld->sensor_cvt = 24000000.0f / (float)(1<<28);
// This enables the ldc1612 (CS?)
gpio_out_setup(GPIO('A', 15), 0);
// The Cartographer hardware uses a timer in the STM32F0
// to generate a 24MHz reference clock for the ldc1612.
// Uses a new _with_max setup here because otherwise we
// can't actually get to 24MHz from 48MHz. This could be
// configured from the python side but that requires
// adding a bunch of new commands.
gpio_pwm_setup_with_max(GPIO('B', 4), 1, 1, 2);
// There's a LED -- do something with it in the future,
// showing homing progress
ld->led_gpio = gpio_out_setup(GPIO('B', 5), 1);
gpio_out_write(ld->led_gpio, 1);
// There's also a temp sensor on A4, but we can
// pull that out on the python side.
break;
#endif
case PRODUCT_LDC1612_INTERNAL_CLK:
ld->sensor_cvt = 43400000.0f / (float)(1<<28);
break;
default:
shutdown("ldc1612_ng: unknown product");
}
}
void
command_config_ldc1612_ng(uint32_t *args)
{
uint32_t oid = args[0];
uint32_t i2c_oid = args[1];
uint8_t product = args[2];
config_ldc1612_ng(oid, i2c_oid, product, -1);
}
DECL_COMMAND(command_config_ldc1612_ng, "config_ldc1612_ng oid=%c i2c_oid=%c product=%i");
void
command_config_ldc1612_ng_with_intb(uint32_t *args)
{
uint32_t oid = args[0];
uint32_t i2c_oid = args[1];
uint8_t product = args[2];
uint32_t intb_pin = args[3];
config_ldc1612_ng(oid, i2c_oid, product, intb_pin);
}
DECL_COMMAND(command_config_ldc1612_ng_with_intb,
"config_ldc1612_ng_with_intb oid=%c i2c_oid=%c product=%i intb_pin=%c");
void
command_query_ldc1612_ng_latched_status(uint32_t *args)
{
struct ldc1612_ng *ld = oid_lookup(args[0], command_config_ldc1612_ng);
uint32_t status = ld->last_status;
uint32_t lastval = ld->last_read_value;
// If we're not actively running, then read the status and
// value directly
if (ld->rest_ticks == 0) {
status = read_reg_status(ld);
uint8_t d[4];
read_reg(ld, REG_DATA0_MSB, &d[0]);
read_reg(ld, REG_DATA0_LSB, &d[2]);
lastval = ((uint32_t)d[0] << 24)
| ((uint32_t)d[1] << 16)
| ((uint32_t)d[2] << 8)
| ((uint32_t)d[3]);
}
sendf("ldc1612_ng_latched_status oid=%c status=%u lastval=%u"
, args[0], status, lastval);
}
DECL_COMMAND(command_query_ldc1612_ng_latched_status,
"query_ldc1612_ng_latched_status_v2 oid=%c");
// ^ this command name is also used as an API version of sorts
void
command_ldc1612_ng_start_stop(uint32_t *args)
{
struct ldc1612_ng *ld = oid_lookup(args[0], command_config_ldc1612_ng);
sched_del_timer(&ld->timer);
ld->flags &= ~LDC_PENDING;
ld->rest_ticks = args[1];
if (ld->rest_ticks == 0) {
// End measurements
dprint("ZZZ stop");
return;
}
dprint("ZZZ start");
// Start new measurements query
sensor_bulk_reset(&ld->sb);
irq_disable();
ld->timer.waketime = timer_read_time() + ld->rest_ticks;
sched_add_timer(&ld->timer);
irq_enable();
}
DECL_COMMAND(command_ldc1612_ng_start_stop, "ldc1612_ng_start_stop oid=%c rest_ticks=%u");
void
command_ldc1612_ng_query_bulk_status(uint32_t *args)
{
struct ldc1612_ng *ld = oid_lookup(args[0], command_config_ldc1612_ng);
if (ld->flags & LDC_HAVE_INTB) {
// Check if a sample is pending in the chip via the intb line
irq_disable();
uint32_t time = timer_read_time();
int p = check_intb_asserted(ld);
irq_enable();
sensor_bulk_status(&ld->sb, args[0], time, 0, p ? BYTES_PER_SAMPLE : 0);
} else {
// Query sensor to see if a sample is pending
uint32_t time1 = timer_read_time();
uint16_t status = read_reg_status(ld);
uint32_t time2 = timer_read_time();
uint32_t fifo = status & 0x08 ? BYTES_PER_SAMPLE : 0;
sensor_bulk_status(&ld->sb, args[0], time1, time2-time1, fifo);
}
}
DECL_COMMAND(command_ldc1612_ng_query_bulk_status, "ldc1612_ng_query_bulk_status oid=%c");
#if defined(LDC_DEBUG) && LDC_DEBUG > 0
void dprint(const char *fmt, ...)
{
char buf[60];
va_list args;
va_start(args, fmt);
int len = vsnprintf(buf, sizeof(buf)-1, fmt, args);
va_end(args);
sendf("debug_print m=%*s", len, buf);
}
#endif
//
// Set up and start homing. This assumes the sensor has been started;
// it will error otherwise.
//
void
command_ldc1612_ng_setup_home(uint32_t *args)
{
struct ldc1612_ng *ld = oid_lookup(args[0], command_config_ldc1612_ng);
struct ldc1612_ng_homing *lh = &ld->homing;
uint32_t trsync_oid = args[1];
uint8_t trigger_reason = args[2];
uint8_t other_reason_base = args[3];
uint32_t trigger_freq = args[4];
uint32_t start_freq = args[5];
uint32_t start_time = args[6];
uint8_t mode = args[7];
int32_t tap_threshold = args[8];
uint8_t err_max = args[9];
if (trigger_freq == 0 || trsync_oid == 0) {
dprint("ZZZ resetting homing/tapping");
ld->ts = NULL;
lh->mode = 0;
return;
}
if (ld->rest_ticks == 0) {
notify_trigger(ld, 0, other_reason_base);
dprint("ZZZ sensor not started!");
return;
}
if (lh->mode > 0) {
notify_trigger(ld, 0, other_reason_base);
dprint("ZZZ homing already set up!");
return;
}
// Clear the homing state before setting up
memset(lh, 0, sizeof(*lh));
lh->safe_start_freq = start_freq;
lh->safe_start_time = start_time;
lh->homing_trigger_freq = trigger_freq;
lh->error_threshold = err_max;
ld->ts = trsync_oid_lookup(trsync_oid);
ld->success_reason = trigger_reason;
ld->other_reason_base = other_reason_base;
lh->mode = mode;
switch (mode) {
case HOME_MODE_HOME:
dprint("ZZZ setup home sf=%u tf=%u", start_freq, trigger_freq);
break;
case HOME_MODE_WMA:
lh->wma_tap.tap_threshold = tap_threshold >> 16;
lh->wma_tap.init_sample_count = FREQ_WINDOW_SIZE * 2;
dprint("ZZZ setup wma sf=%u tf=%u tap=%u", start_freq, trigger_freq, tap_threshold);
break;
case HOME_MODE_SOS:
lh->sos_tap.tap_threshold = tap_threshold / 65536.0f;
dprint("ZZZ setup sos sf=%u tf=%u tap=%f", start_freq, trigger_freq, lh->sos_tap.tap_threshold);
break;
default:
shutdown("bad homing mode");
}
}
DECL_COMMAND(command_ldc1612_ng_setup_home,
"ldc1612_ng_setup_home oid=%c"
" trsync_oid=%c trigger_reason=%c other_reason_base=%c"
" trigger_freq=%u start_freq=%u start_time=%u"
" mode=%c tap_threshold=%i err_max=%c");
//
// Once homing has finished, call this to clear the homing state and
// retrieve the tap end time and tap final threshold amount.
//
void
command_ldc1612_ng_finish_home(uint32_t *args)
{
struct ldc1612_ng *ld = oid_lookup(args[0], command_config_ldc1612_ng);
struct ldc1612_ng_homing *lh = &ld->homing;
uint32_t trigger_time = lh->trigger_time; // note: same as homing_clock in parent struct
uint32_t tap_start_time = lh->tap_start_time;
uint32_t error = lh->error;
ld->ts = NULL;
lh->mode = 0;
sendf("ldc1612_ng_finish_home_reply oid=%c trigger_clock=%u tap_start_clock=%u error=%u"
, args[0], trigger_time, tap_start_time, error);
dprint("ZZZ finish tap_s=%u trig_t=%u", tap_start_time, trigger_time);
}
DECL_COMMAND(command_ldc1612_ng_finish_home,
"ldc1612_ng_finish_home oid=%c");
// Read a value from the chip if one is ready, put it in the bulk data buffer,
// and do any processing if we're homing.
void
ldc1612_ng_update(struct ldc1612_ng *ld, uint8_t oid)
{
uint16_t status = read_reg_status(ld);
irq_disable();
ld->flags &= ~LDC_PENDING;
irq_enable();
if (!(status & 0x08)) // UNREADCONV1
return;
uint32_t time = timer_read_time();
// Read coil0 frequency
uint8_t *d = &ld->sb.data[ld->sb.data_count];
read_reg(ld, REG_DATA0_MSB, &d[0]);
read_reg(ld, REG_DATA0_LSB, &d[2]);
ld->sb.data_count += BYTES_PER_SAMPLE;
uint32_t data = ((uint32_t)d[0] << 24)
| ((uint32_t)d[1] << 16)
| ((uint32_t)d[2] << 8)
| ((uint32_t)d[3]);
ld->last_read_value = data;
switch (ld->homing.mode) {
case HOME_MODE_HOME: check_homing(ld, data, time); break;
case HOME_MODE_WMA: check_wma_tap(ld, data, time); break;
case HOME_MODE_SOS: check_sos_tap(ld, data, time); break;
}
// Flush local buffer if needed
if (ld->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ld->sb.data))
sensor_bulk_report(&ld->sb, oid);
}
static inline uint32_t
windowed_moving_average_u32(uint32_t* buf, uint8_t buf_size, uint8_t start_i)
{
// TODO: We can avoid 64-bit integers here by just offseting
// the input numbers to ensure that we can always add buf_size values
// without overflow into an uint32_t. For frequencies, it should be safe
// to subtract the safe_start_freq and just deal with offsets above that,
// because ultimately we only care about the derivative.
// But this 64-bit math is here for now to keep the logic simple
// during development.
uint64_t wma_sum = 0;
for (uint8_t i = 0; i < buf_size; i++) {
uint8_t j = (start_i + i) % buf_size;
wma_sum += buf[j] * (i+1);
}
uint32_t freq_weight_sum = (buf_size * (buf_size + 1)) / 2;
return (uint32_t)(wma_sum / freq_weight_sum);
}
static inline int32_t
simple_average_i32(int32_t* buf, uint8_t buf_size)
{
// This assumes that the sum can fit in an i32.
int32_t sum = 0;
for (uint8_t i = 0; i < buf_size; i++) {
sum += buf[i];
}
return sum / buf_size;
}
static float
sosfilter(float value, struct sosfilter_sos* filter, float* state)
{
const uint8_t num_sections = filter->num_sections;
const float* sos = filter->sos;
for (int k = 0; k < num_sections; k++) {
float w1 = state[2*k];
float w2 = state[2*k+1];
float b0 = *sos++; //sos[6*k];
float b1 = *sos++; //sos[6*k+1];
float b2 = *sos++; //sos[6*k+2];
sos++; // a0 unused
float a1 = *sos++; //sos[6*k+4];
float a2 = *sos++; //sos[6*k+5];
float w0 = value - a1 * w1 - a2 * w2;
value = b0 * w0 + b1 * w1 + b2 * w2;
state[2*k] = w0;
state[2*k+1] = w1;
}
return value;
}
// Check whether the sample has error bits set, and decide what to do
// if it does
bool
check_error(struct ldc1612_ng* ld, uint32_t data, uint32_t time)
{
struct ldc1612_ng_homing *lh = &ld->homing;
if (!SAMPLE_ERR(data)) {
lh->error_count = 0;
return true;
}
uint8_t is_tap = lh->mode > 0;
// Ignore amplitude too high errors for homing,
// because this is generally the probe being very
// far from the build plate.
if (!is_tap && (ld->last_status & STATUS_ERR_AHE) != 0) {
lh->error_count = 0;
return false;
}
lh->error_count++;
dprint("ZZZ err=%u t=%u s=%u cnt=%u", data, time, ld->last_status,
lh->error_count);
if (lh->error_count <= lh->error_threshold)
return false;
lh->error = data;
// Sensor reports an issue - cancel homing
notify_trigger(ld, 0, ld->other_reason_base + REASON_ERROR_SENSOR);
return false;
}
// Check whether we've passed the safety thresholds in order for the
// operation to proceed
bool
check_safe_start(struct ldc1612_ng* ld, uint32_t data, uint32_t time)
{
struct ldc1612_ng_homing *lh = &ld->homing;
uint8_t is_tap = lh->mode > 0;
if (lh->safe_start_freq == 0)
return true;
// We need to pass through this frequency threshold to be a valid dive.
// We just use the simple data value here.
if (data < lh->safe_start_freq)
return false;
// And we need to do it _after_ this time, to make sure we didn't
// start below the threshold
if (lh->safe_start_time != 0 && timer_is_before(time, lh->safe_start_time)) {
dprint("ZZZ EARLY! time=%u < %u", time, lh->safe_start_time);
notify_trigger(ld, 0, ld->other_reason_base + REASON_ERROR_TOO_EARLY);
return false;
}
if (is_tap && lh->homing_trigger_freq != 0) {
// If we're tapping, then make the homing trigger freq a second thershold.
// These would typically be set to something like the 3.0mm freq for the first,
// then the 2.0mm homing freq.
lh->safe_start_freq = lh->homing_trigger_freq;
lh->homing_trigger_freq = 0;
return false;
}
dprint("ZZZ safe start");
// Ok, we've passed all the safety thresholds. Values from this point on
// will be considered for homing/tapping
lh->safe_start_freq = 0;
return true;
}
//
// Basic homing (simple threshold)
//
void
check_homing(struct ldc1612_ng* ld, uint32_t data, uint32_t time)
{
struct ldc1612_ng_homing *lh = &ld->homing;
if (!check_error(ld, data, time))
return;
if (!check_safe_start(ld, data, time))
return;
if (data > lh->homing_trigger_freq) {
notify_trigger(ld, time, ld->success_reason);
lh->trigger_time = time;
dprint("ZZZ home t=%u f=%u", time, data);
}
}
//
// Tap detection using a windowed moving average of the frequency derivative
//
void
check_wma_tap(struct ldc1612_ng* ld, uint32_t data, uint32_t time)
{
struct ldc1612_ng_homing *lh = &ld->homing;
struct ldc1612_ng_homing_wma_tap *wma_tap = &lh->wma_tap;
if (!check_error(ld, data, time))
return;
if (!check_safe_start(ld, data, time))
return;
//
// Update the sensor averages and derivatives
//
// We use a windowed moving average for the frequencies. This seems to give a
// better signal after staring at a jupyter notebook with plotly plots
// for far too long. Because the values are always increasing as we probe,
// WMA undershoots the true value by by a bit but it does a great job of
// smoothing out the noise in the sensor.
//
// Because the sensor is always going to be used at the same ranges,
// we could calibrate a fixed offset to apply to the frequency values (by
// calculating the average offset between the true centered average vs.
// the WMA to get a more accurate number.
//
// However, the actual frequency value itself is only used for coarse homing;
// and because we're not doing any temperature calibration coarse homing
// is never going to be super accurate anyway.
//
// Tap detection is done by looking at the derivative of this value only.
//
// TODO: the below can absolutely be made more efficient, but I'm
// keeping it simple while things are dialed in.
// Helpers to clean up the adds/mods/etc. to make the below more readable
#define NEXT_FREQ_I(i) (((i) + 1) % FREQ_WINDOW_SIZE)
#define NEXT_WMA_D_I(i) (((i) + 1) % WMA_D_WINDOW_SIZE)
wma_tap->freq_buffer[wma_tap->freq_i] = data;
wma_tap->freq_i = NEXT_FREQ_I(wma_tap->freq_i);
uint32_t wma = windowed_moving_average_u32(wma_tap->freq_buffer, FREQ_WINDOW_SIZE, wma_tap->freq_i);
int32_t wma_d = wma - wma_tap->wma;
// A simple average of wma_d to smooth it out a bit. Without this,
// we'll see some small spikes which will reset the accumulator;
// I think this is due to the drip move.
wma_tap->wma_d_buf[wma_tap->wma_d_i] = wma_d;
wma_tap->wma_d_i = NEXT_WMA_D_I(wma_tap->wma_d_i);
int32_t wma_d_avg = simple_average_i32(wma_tap->wma_d_buf, WMA_D_WINDOW_SIZE);
int32_t last_wma_d_avg = wma_tap->wma_d_avg;
wma_tap->wma = wma;
wma_tap->wma_d_avg = wma_d_avg;
if (wma_tap->init_sample_count) {
wma_tap->init_sample_count--;
return;
}
// The core tap threshold computation. If the derivative is
// increasing, keep resetting the tap start until we hit a peak.
if (wma_d_avg > last_wma_d_avg) {
// derivative is increasing; reset the accumulator,
// and reset the tap time
lh->tap_start_time = time;
wma_tap->tap_start_value = wma_d_avg;
return;
}
if (wma_tap->tap_start_value - wma_d_avg >= wma_tap->tap_threshold) {
// Note: we notify with the time the tap started, not the current time
notify_trigger(ld, lh->tap_start_time, ld->success_reason);
lh->trigger_time = time;
dprint("ZZZ tap t=%u n=%u l=%u (f=%u)", lh->tap_start_time, time, wma_tap->tap_start_value - wma_d_avg, data);
}
}
void
check_sos_tap(struct ldc1612_ng* ld, uint32_t data, uint32_t time)
{
struct ldc1612_ng_homing *lh = &ld->homing;
struct ldc1612_ng_homing_sos_tap *sos_tap = &lh->sos_tap;
if (!check_error(ld, data, time))
return;
float freq = data * ld->sensor_cvt;
// We need to offset the frequencies by the first
// one we feed to the filter so we don't get a crazy
// response at the start.
// if we haven't even hit the safe_start_freq
if (lh->homing_trigger_freq != 0) {
sos_tap->frequency_offset = freq;
if (check_safe_start(ld, data, time))
shutdown("bug"); // this should never return true in here
return;
}
float val = sosfilter(freq - sos_tap->frequency_offset, &ld->sos_filter, sos_tap->state);
//dprint("%f,%f", freq, val);
// this is the second threshold; but we want to feed the filter values
// before this to avoid the initial impulse response
if (!check_safe_start(ld, data, time))
return;
// Note: == is explicitly excluded below. We don't want to
// overwrite the "start" time (so >= won't work), and
// it can't make a difference to the last diff check
if (val < sos_tap->last_value) {
float diff = sos_tap->tap_start_value - val;
if (diff >= sos_tap->tap_threshold) {
lh->trigger_time = time;
notify_trigger(ld, time, ld->success_reason);
dprint("ZZZ tap st=%u tt=%u l=%f (f=%f)", lh->tap_start_time, time, sos_tap->tap_start_value - val, freq);
return;
}
} else if (val > sos_tap->last_value) {
// This keeps getting updated even on the rise, so that
// the values are correct for the start of the tap (i.e. the peak)
// once we realize the value is falling.
sos_tap->tap_start_value = val;
lh->tap_start_time = time;
}
sos_tap->last_value = val;
}
void
command_ldc1612_ng_set_sos_section(uint32_t *args)
{
struct ldc1612_ng *ld = oid_lookup(args[0], command_config_ldc1612_ng);
uint8_t section = args[1];
uint8_t values_len = args[2];
if (values_len == 0) {
// reset filter
ld->sos_filter.num_sections = 0;
return;
}
uint8_t* data = command_decode_ptr(args[3]);
if (values_len != 4*6) {
shutdown("ldc1612_ng: wrong sos section length");
}
// these commands need to come in order of increasing section
ld->sos_filter.num_sections = section + 1;
memcpy(&ld->sos_filter.sos[section*6], data, values_len);
}
DECL_COMMAND(command_ldc1612_ng_set_sos_section,
"ldc1612_ng_set_sos_section oid=%c section=%c values=%*s");
================================================
FILE: install.py
================================================
#!/usr/bin/env python3
import os
import sys
import argparse
import shutil
from pathlib import Path
IS_MAC = os.path.isdir("/System/Library")
SED_IN_PLACE_ARG = "-i ''" if IS_MAC else "-i"
FILES_TO_COPY = {
"eddy-ng/sensor_ldc1612_ng.c": "src",
"probe_eddy_ng.py": "klippy/extras",
"ldc1612_ng.py": "klippy/extras"
}
def get_script_dir():
return os.path.dirname(os.path.realpath(__file__))
def uninstall_klipper(target_dir: str):
for src_file, dest_dir in FILES_TO_COPY.items():
dest_path = os.path.join(target_dir, dest_dir)
dest_file = os.path.join(dest_path, os.path.basename(src_file))
if os.path.islink(dest_file) or os.path.isfile(dest_file):
print(f"Removing {dest_file}")
os.remove(dest_file)
else:
print(f"File {dest_file} does not exist. Skipping.")
print("Unpatching src/Makefile...")
makefile_path = os.path.join(target_dir, "src/Makefile")
os.system(f"sed {SED_IN_PLACE_ARG} 's, sensor_ldc1612_ng.c,,' '{makefile_path}'")
print("Unpatching klippy/extras/bed-mesh.py...")
bed_mesh_path = os.path.join(target_dir, "klippy/extras/bed_mesh.py")
os.system(
f"sed {SED_IN_PLACE_ARG} 's,\"eddy\" in probe_name #eddy-ng,probe_name.startswith(\"probe_eddy_current\"),' '{bed_mesh_path}'"
)
return
def install_kalico(target_dir: str, uninstall: bool, copy: bool):
if not uninstall:
print("Congrats, you're running Kalico!")
print("================================")
python_module_path = os.path.join(target_dir, "klippy/plugins/probe_eddy_ng")
firmware_module_path = os.path.join(target_dir, "src/extras/eddy-ng")
old_module_path = os.path.join(target_dir, "klippy/extras/probe_eddy_ng.py")
if os.path.islink(old_module_path) or os.path.isfile(old_module_path):
print("Uninstalling old installation...")
uninstall_klipper(target_dir)
if os.path.exists(python_module_path) or os.path.islink(python_module_path):
if not os.path.islink(python_module_path):
print(f"{python_module_path} exists, but is not a symlink. Please remove it and try again.")
sys.exit(1)
os.unlink(python_module_path)
if os.path.exists(firmware_module_path) or os.path.islink(firmware_module_path):
if not os.path.islink(firmware_module_path):
print(f"{firmware_module_path} exists, but is not a symlink. Please remove it and try again.")
sys.exit(1)
os.unlink(firmware_module_path)
if uninstall:
print("Removed firmware and plugin module links.")
sys.exit(0)
if copy:
shutil.copytree(get_script_dir(), python_module_path)
shutil.copytree(os.path.join(get_script_dir(), "eddy-ng"), firmware_module_path)
else:
os.symlink(get_script_dir(), python_module_path)
os.symlink(os.path.join(get_script_dir(), "eddy-ng"), firmware_module_path)
print("Installed links to firmware and plugin modules.")
print("When rebuilding firmware, make sure to select eddy-ng")
print("from the firmware extras in menuconfig.")
print("(There's no need to run install again after eddy-ng updates.)")
def install_klipper(target_dir: str, uninstall: bool, copy: bool):
if uninstall:
print("Uninstalling files...")
uninstall_klipper(target_dir)
return
print("Installing files...")
for src_file, dest_dir in FILES_TO_COPY.items():
src_path = os.path.join(get_script_dir(), src_file)
dest_path = os.path.join(target_dir, dest_dir)
dest_file = os.path.join(dest_path, os.path.basename(src_file))
if copy:
print(f"Copying {src_file} to {dest_dir}/")
shutil.copyfile(src_file, dest_file)
else:
link_path = os.path.relpath(os.path.realpath(src_path), dest_path)
print(f"Linking {link_path} to {dest_dir}/")
if os.path.islink(dest_file) or os.path.exists(dest_file):
os.remove(dest_file)
os.symlink(link_path, dest_file)
print("Patching src/Makefile...")
makefile_path = os.path.join(target_dir, "src/Makefile")
os.system(f"sed {SED_IN_PLACE_ARG} 's,sensor_ldc1612.c$,sensor_ldc1612.c sensor_ldc1612_ng.c,' '{makefile_path}'")
print("Patching klippy/extras/bed-mesh.py...")
bed_mesh_path = os.path.join(target_dir, "klippy/extras/bed_mesh.py")
os.system(
f"sed {SED_IN_PLACE_ARG} 's,probe_name.startswith(\"probe_eddy_current\"),\"eddy\" in probe_name #eddy-ng,' '{bed_mesh_path}'"
)
def main():
parser = argparse.ArgumentParser(description="Install or uninstall components.")
parser.add_argument("-u", "--uninstall", action="store_true", help="Uninstall files")
parser.add_argument("--copy", action="store_true", help="Copy files instead of linking")
parser.add_argument("target_dir", nargs="?", help="Target directory")
args = parser.parse_args()
uninstall = args.uninstall
copy = args.copy
target_dir = args.target_dir
# If no target directory provided, try defaults
if not target_dir:
home_dir = str(Path.home())
if os.path.isdir(os.path.join(home_dir, "klipper")):
target_dir = os.path.join(home_dir, "klipper")
elif os.path.isdir(os.path.join(home_dir, "kalico")):
target_dir = os.path.join(home_dir, "kalico")
else:
print("Error: No target directory provided and no default directories found.")
parser.print_help()
sys.exit(1)
if not os.path.isdir(target_dir):
print(f"Error: Target directory '{target_dir}' does not exist.")
sys.exit(1)
if os.path.exists(os.path.join(target_dir, "klippy/extras/danger_options.py")):
install_kalico(target_dir, uninstall, copy)
else:
install_klipper(target_dir, uninstall, copy)
if __name__ == "__main__":
main()
================================================
FILE: install.sh
================================================
#!/bin/bash
exec python3 install.py $*
================================================
FILE: klipper.patch
================================================
diff --git src/Makefile src/Makefile
index cfedc56f7..422e0179e 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -20,6 +20,6 @@ src-$(CONFIG_WANT_LIS2DW) += sensor_lis2dw.c
src-$(CONFIG_WANT_MPU9250) += sensor_mpu9250.c
src-$(CONFIG_WANT_HX71X) += sensor_hx71x.c
src-$(CONFIG_WANT_ADS1220) += sensor_ads1220.c
-src-$(CONFIG_WANT_LDC1612) += sensor_ldc1612.c
+src-$(CONFIG_WANT_LDC1612) += sensor_ldc1612.c sensor_ldc1612_ng.c
src-$(CONFIG_WANT_SENSOR_ANGLE) += sensor_angle.c
src-$(CONFIG_NEED_SENSOR_BULK) += sensor_bulk.c
================================================
FILE: ldc1612_ng.py
================================================
# Support for reading frequency samples from ldc1612 (v2)
#
# Copyright (C) 2020-2024 Kevin O'Connor
# Copyright (C) 2025 Vladimir Vukicevic
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math
import logging
import struct
from dataclasses import dataclass
from typing import List, Optional
try:
from klippy.extras import bus, bulk_sensor
from klippy.printer import Printer
IS_KALICO = True
except ImportError:
from . import bus, bulk_sensor
from klippy import Printer
IS_KALICO = False
MIN_MSG_TIME = 0.100
BATCH_UPDATES = 0.100
LDC1612_ADDR = 0x2A
# TODO: configure these as part of calibration
DEGLITCH_1_0MHZ = 0x01
DEGLITCH_3_3MHZ = 0x04
DEGLITCH_10MHZ = 0x05
DEGLITCH_33MHZ = 0x07
LDC1612_MANUF_ID = 0x5449
LDC1612_DEV_ID = 0x3055
REG_RCOUNT0 = 0x08
REG_OFFSET0 = 0x0C
REG_SETTLECOUNT0 = 0x10
REG_CLOCK_DIVIDERS0 = 0x14
REG_ERROR_CONFIG = 0x19
REG_CONFIG = 0x1A
REG_MUX_CONFIG = 0x1B
REG_DRIVE_CURRENT0 = 0x1E
REG_MANUFACTURER_ID = 0x7E
REG_DEVICE_ID = 0x7F
# Device product (match sensor_ldc1612_ng.c)
PRODUCT_UNKNOWN = 0
PRODUCT_BTT_EDDY = 1
PRODUCT_CARTOGRAPHER = 2
PRODUCT_MELLOW_FLY = 3
PRODUCT_LDC1612_INTERNAL_CLK = 4
HOME_MODE_NONE = 0
HOME_MODE_HOME = 1
HOME_MODE_WMA = 2
HOME_MODE_SOS = 3
@dataclass
class LDC1612_ng_value:
status: int
freqval: int
freq: float
@dataclass
class LDC1612_ng_homing_result:
trigger_time: float
tap_start_time: float
error: int
# Interface class to LDC1612 mcu support
class LDC1612_ng:
def __init__(self, config):
self.printer: Printer = config.get_printer()
self._name = config.get_name().split()[-1]
self._verbose = config.getboolean("debug", False)
device_choices = {
"ldc1612": PRODUCT_UNKNOWN,
"btt_eddy": PRODUCT_BTT_EDDY,
"cartographer": PRODUCT_CARTOGRAPHER,
"mellow_fly": PRODUCT_MELLOW_FLY,
"ldc1612_internal_clk": PRODUCT_LDC1612_INTERNAL_CLK,
}
self._device_product = config.getchoice("sensor_type", device_choices, PRODUCT_UNKNOWN)
# Fin0 = Fsensor0 / FIN_DIVIDER0
# Fref0 = Fclk / FREF_DIVIDER0
if self._device_product == PRODUCT_CARTOGRAPHER:
self._ldc_freq_clk = 24_000_000
self._ldc_fin_divider = 1
self._ldc_fref_divider = 1
self._ldc_settle_time = 0.0001706
self._default_drive_current = 26
elif self._device_product == PRODUCT_MELLOW_FLY:
self._ldc_freq_clk = 40_000_000
self._ldc_fin_divider = 1
self._ldc_fref_divider = 2
self._ldc_settle_time = 0.00125
self._default_drive_current = 15
elif self._device_product == PRODUCT_LDC1612_INTERNAL_CLK:
# A generic setup that usees internal LDC1612 clock
# using LDC1612 internal typical clock frequency 43.4MHz
self._ldc_freq_clk = 43_400_000
self._ldc_fin_divider = 1
self._ldc_fref_divider = 1
self._ldc_settle_time = 0.00125
self._default_drive_current = 15
else: # Generic/BTT Eddy using external 12MHz clock source
self._ldc_freq_clk = 12_000_000
self._ldc_settle_time = 0.005
self._ldc_fin_divider = 1
self._ldc_fref_divider = 1
self._default_drive_current = 15
self._ldc_freq_ref = round(self._ldc_freq_clk / self._ldc_fref_divider)
drive_current: int = config.getint("reg_drive_current", 0, minval=0, maxval=31)
saved_drive_current: int = config.getint("saved_reg_drive_current", 0, minval=0, maxval=31)
if drive_current == 0:
drive_current = saved_drive_current
if drive_current == 0:
drive_current = self._default_drive_current
self._drive_current = drive_current
self._deglitch: str = config.get("ldc_deglitch", "default").lower()
self._data_rate: int = config.getint("samples_per_second", 250, minval=50)
self._ldc_settle_time = min(self._ldc_settle_time, 1.0 / self._data_rate)
# Setup mcu sensor_ldc1612 bulk query code
self._i2c = bus.MCU_I2C_from_config(config, default_addr=LDC1612_ADDR, default_speed=400000)
self._mcu = mcu = self._i2c.get_mcu()
self._oid = oid = mcu.create_oid()
logging.info(f"LDC1612ng {self._name} oid: {oid} i2c_oid {self._i2c.get_oid()}")
# params ending in "_pin" are magic and are a %s on this side, but %c on
# the native side. There doesn't seem to be a way to pass "no pin". So we
# need two separate config commands.
if config.get("intb_pin", None) is not None:
ppins = config.get_printer().lookup_object("pins")
pin_params = ppins.lookup_pin(config.get("intb_pin"))
if pin_params["chip"] != mcu:
raise config.error("ldc1612 intb_pin must be on same mcu")
mcu.add_config_cmd(
"config_ldc1612_ng_with_intb oid=%d i2c_oid=%d product=%i intb_pin=%s"
% (
oid,
self._i2c.get_oid(),
self._device_product,
pin_params["pin"],
)
)
else:
mcu.add_config_cmd("config_ldc1612_ng oid=%d i2c_oid=%d product=%i" % (oid, self._i2c.get_oid(), self._device_product))
# Make sure the sensor is stopped on restart
mcu.add_config_cmd(
"ldc1612_ng_start_stop oid=%d rest_ticks=0" % (oid,),
on_restart=True,
)
mcu.register_config_callback(self._build_config)
self._start_count = 0
self._chip_initialized = False
# Bulk sample message reading
chip_smooth = self._data_rate * BATCH_UPDATES * 2
self._ffreader = bulk_sensor.FixedFreqReader(mcu, chip_smooth, ">I")
# Process messages in batches
self._batch_bulk = bulk_sensor.BatchBulkHelper(
self.printer,
self._process_batch,
self._start_measurements,
self._finish_measurements,
BATCH_UPDATES,
)
hdr = ("time", "frequency", "z")
self._batch_bulk.add_mux_endpoint("ldc1612_ng/dump_ldc1612", "sensor", self._name, {"header": hdr})
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
"LDC_NG_CALIBRATE_DRIVE_CURRENT",
"CHIP",
self._name,
self.cmd_LDC_CALIBRATE,
desc=self.cmd_LDC_CALIBRATE_help,
)
gcode.register_mux_command(
"LDC_NG_SET_DRIVE_CURRENT",
"CHIP",
self._name,
self.cmd_LDC_SET_DC,
desc=self.cmd_LDC_SET_DC_help,
)
cmd_LDC_SET_DC_help = "Set LDC1612 DRIVE_CURRENT register (idrive value only)"
def cmd_LDC_SET_DC(self, gcmd):
drive_cur = gcmd.get_int("VAL", minval=0, maxval=31)
self.set_drive_current(drive_cur)
cmd_LDC_CALIBRATE_help = "Calibrate LDC1612 DRIVE_CURRENT register"
def cmd_LDC_CALIBRATE(self, gcmd):
is_in_progress = True
def handle_batch(msg):
return is_in_progress
self.add_bulk_sensor_data_client(handle_batch)
toolhead = self.printer.lookup_object("toolhead")
toolhead.dwell(0.100)
toolhead.wait_moves()
old_config = self.read_reg(REG_CONFIG)
if (self._device_product == PRODUCT_LDC1612_INTERNAL_CLK):
self.set_reg(REG_CONFIG, 0x001)
else:
self.set_reg(REG_CONFIG, 0x001 | (1 << 9))
toolhead.wait_moves()
toolhead.dwell(0.100)
toolhead.wait_moves()
reg_drive_current0 = self.read_reg(REG_DRIVE_CURRENT0)
self.set_reg(REG_CONFIG, old_config)
is_in_progress = False
# Report found value to user
drive_cur = (reg_drive_current0 >> 6) & 0x1F
gcmd.respond_info(
f"{self._name}: Estimated reg_drive_current: {drive_cur}\n"
"Add this to your config as either reg_drive_current or tap_drive_current\n"
"then restart."
)
def _build_config(self):
cmdqueue = self._i2c.get_command_queue()
self._ldc1612_ng_start_stop_cmd = self._mcu.lookup_command("ldc1612_ng_start_stop oid=%c rest_ticks=%u", cq=cmdqueue)
self._ffreader.setup_query_command("ldc1612_ng_query_bulk_status oid=%c", oid=self._oid, cq=cmdqueue)
self._ldc1612_ng_latched_status_cmd = self._mcu.lookup_query_command(
"query_ldc1612_ng_latched_status_v2 oid=%c",
"ldc1612_ng_latched_status oid=%c status=%u lastval=%u",
oid=self._oid,
cq=cmdqueue,
)
self._ldc1612_ng_setup_home_cmd = self._mcu.lookup_command(
"ldc1612_ng_setup_home oid=%c"
" trsync_oid=%c trigger_reason=%c other_reason_base=%c"
" trigger_freq=%u start_freq=%u start_time=%u mode=%c tap_threshold=%i"
" err_max=%c",
cq=cmdqueue,
)
self._ldc1612_ng_finish_home_cmd = self._mcu.lookup_query_command(
"ldc1612_ng_finish_home oid=%c",
"ldc1612_ng_finish_home_reply oid=%c trigger_clock=%u tap_start_clock=%u error=%u",
oid=self._oid,
cq=cmdqueue,
)
self._ldc1612_ng_set_sos_section = self._mcu.lookup_command(
"ldc1612_ng_set_sos_section oid=%c section=%c values=%*s",
cq=cmdqueue,
)
if hasattr(self._mcu, "register_serial_response"):
# infuriating: these used to be able to be registered for optional
# things (that the firmware never sends)
#self._mcu.register_serial_response(self._handle_debug_print, "debug_print m=%*s")
pass
else:
self._mcu.register_response(self._handle_debug_print, "debug_print")
def _handle_debug_print(self, params):
logging.info(params["m"])
def _clock32_to_print_time(self, clock) -> float:
return self._mcu.clock_to_print_time(self._mcu.clock32_to_clock64(clock))
def get_mcu(self):
return self._i2c.get_mcu()
def read_reg(self, reg):
params = self._i2c.i2c_read([reg], 2)
response = bytearray(params["response"])
return (response[0] << 8) | response[1]
def set_reg(self, reg, val, minclock=0):
self._i2c.i2c_write([reg, (val >> 8) & 0xFF, val & 0xFF], minclock=minclock)
def add_bulk_sensor_data_client(self, cb):
self._batch_bulk.add_client(cb)
def latched_status(self):
response = self._ldc1612_ng_latched_status_cmd.send([self._oid])
return response["status"]
def latched_status_str(self):
s = self.latched_status()
return self.status_to_str(s)
def status_to_str(self, s: int):
status_bits = [
"0",
"1",
"2",
"UNREADCONV1",
"4",
"5",
"DRDY",
"7",
"ERR_ZC",
"ERR_ALE",
"ERR_AHE",
"ERR_WD",
"ERR_OR",
"ERR_UR",
"14",
"ERR_CH1",
]
flags = []
for bit, flag in enumerate(status_bits):
if s & (1 << bit):
flags.append(flag)
return " ".join(flags)
def data_error_to_str(self, d: int):
err_bits = [
"Under-range Error",
"Over-range Error",
"Watchdog Error",
"Amplitude Error",
]
d = d >> 12 # shift out the data bits
errors = []
for bit, err in enumerate(err_bits):
if d & (1 << bit):
errors.append(err)
return " ".join(errors)
def read_one_value(self):
self._init_chip()
# the status command also returns the last value
res = self._ldc1612_ng_latched_status_cmd.send([self._oid])
status = res["status"]
lastval = res["lastval"]
freq = self.from_ldc_freqval(lastval) if lastval <= 0x0FFFFFFF else 0.0
return LDC1612_ng_value(
status=status,
freqval=lastval,
freq=freq,
)
def to_ldc_freqval(self, freq):
return int(freq * (1 << 28) / float(self._ldc_freq_ref) + 0.5)
def from_ldc_freqval(self, val, ignore_err=False):
if val > 0x0FFFFFFF and not ignore_err:
raise self.printer.command_error(f"LDC1612 frequency value has error bits: {hex(val)}")
return round(val * (float(self._ldc_freq_ref) / (1 << 28)), 3)
#
# Homing
#
def setup_home(
self,
trsync_oid: int,
hit_reason: int,
other_reason_base: int,
trigger_freq: float,
start_freq: float,
start_time: float,
mode: str = "home",
tap_threshold: Optional[float] = None,
max_errors: int = 0,
):
MODES = {
"home": HOME_MODE_HOME,
"wma": HOME_MODE_WMA,
"sos": HOME_MODE_SOS,
}
mode_val = MODES.get(mode.lower(), None)
if mode_val is None:
raise self.printer.command_error(f"Invalid mode: {mode}")
t_freqvl = self.to_ldc_freqval(trigger_freq)
s_freqval = self.to_ldc_freqval(start_freq)
start_time_mcu = self._mcu.print_time_to_clock(start_time) if start_time > 0 else 0
tap_threshold_val = int(tap_threshold * 65536.0) if tap_threshold is not None else 0
if self._verbose:
logging.info(
f"LDC1612_ng setup_home: {mode} trigger: {trigger_freq:.2f} ({t_freqvl}) "
f"safe: {start_freq:.2f} ({s_freqval}) @ {start_time:.2f} ({start_time_mcu}) "
f"trsync: {trsync_oid} {hit_reason} {other_reason_base} TAP: {tap_threshold} ({tap_threshold_val:x})"
)
self._ldc1612_ng_setup_home_cmd.send(
[
self._oid,
trsync_oid,
hit_reason,
other_reason_base,
t_freqvl,
s_freqval,
start_time_mcu,
mode_val,
tap_threshold_val,
max_errors,
]
)
def _convert_clock(self, c):
if c == 0:
return 0
return self._clock32_to_print_time(c)
def finish_home(self):
# "ldc1612_finish_home2_reply oid=%c homing=%c trigger_clock=%u tap_start_clock=%u",
reply = self._ldc1612_ng_finish_home_cmd.send([self._oid])
trigger_clock = reply["trigger_clock"]
tap_start_clock = reply["tap_start_clock"]
error = reply["error"]
trigger_time = self._convert_clock(trigger_clock)
tap_start_time = self._convert_clock(tap_start_clock)
return LDC1612_ng_homing_result(trigger_time, tap_start_time, error)
def set_sos_section(self, sect_num: int, sect_vals: List[float]):
# pack sect_vals into a byte array using struct.pack
sect_bytes = [b for b in struct.pack("<6f", *sect_vals)]
self._ldc1612_ng_set_sos_section.send([self._oid, sect_num, sect_bytes])
# The value that freqvals are multiplied by to get a float frequency
def freqval_conversion_value(self):
return float(self._ldc_freq_ref) / (1 << 28)
def _verify_chip(self):
# In case of miswiring, testing LDC1612 device ID prevents treating
# noise or wrong signal as a correctly initialized device
manuf_id = self.read_reg(REG_MANUFACTURER_ID)
dev_id = self.read_reg(REG_DEVICE_ID)
if manuf_id != LDC1612_MANUF_ID or dev_id != LDC1612_DEV_ID:
raise self.printer.command_error(
"Invalid ldc1612 id (got %x,%x vs %x,%x).\n"
"This is generally indicative of connection problems\n"
"(e.g. faulty wiring) or a faulty ldc1612 chip." % (manuf_id, dev_id, LDC1612_MANUF_ID, LDC1612_DEV_ID)
)
def _init_chip(self):
if self._chip_initialized:
return
self._verify_chip()
# TODO: have a max_frequency and pick the best deglitch for it
if self._deglitch == "1mhz":
deglitch = DEGLITCH_1_0MHZ
elif self._deglitch == "3.3mhz":
deglitch = DEGLITCH_3_3MHZ
elif self._deglitch == "10mhz" or self._deglitch == "default":
deglitch = DEGLITCH_10MHZ
elif self._deglitch == "33mhz":
deglitch = DEGLITCH_33MHZ
else:
raise self.printer.error(f"Invalid {self._name} deglitch value: {self._deglitch}")
# This is the TI-recommended register configuration order
# Setup chip in requested query rate
rcount0 = self._ldc_freq_ref / (16.0 * (self._data_rate - 4))
self.set_reg(REG_RCOUNT0, int(rcount0 + 0.5))
self.set_reg(REG_OFFSET0, 0)
self.set_reg(
REG_SETTLECOUNT0,
int(self._ldc_settle_time * self._ldc_freq_ref / 16.0 + 0.5),
)
self.set_reg(
REG_CLOCK_DIVIDERS0,
(self._ldc_fin_divider << 12) | (self._ldc_fref_divider),
)
self.set_reg(REG_ERROR_CONFIG, 0b1111_1100_1111_1001) # report everything to STATUS and INTB except ZC
self.set_reg(REG_MUX_CONFIG, 0x0208 | deglitch)
if (self._device_product == PRODUCT_LDC1612_INTERNAL_CLK):
# use internal oscillator
# RP_OVERRIDE_EN | AUTO_AMP_DIS | reserved
self.set_reg(REG_CONFIG, (1 << 12) | (1 << 10) | 0x001)
else:
# RP_OVERRIDE_EN | AUTO_AMP_DIS | REF_CLK_SRC=clkin | reserved
self.set_reg(REG_CONFIG, (1 << 12) | (1 << 10) | (1 << 9) | 0x001)
self.set_reg(REG_DRIVE_CURRENT0, self._drive_current << 11)
self._chip_initialized = True
def get_deglitch(self):
return self.read_reg(REG_MUX_CONFIG) & ~0x0208
def set_deglitch(self, val: int):
logging.info(f"LDC1612ng {self._name} deglitch set {val}")
self.set_reg(REG_MUX_CONFIG, val | 0x0208)
def get_drive_current(self) -> int:
return self._drive_current
def set_drive_current(self, cval: int, maxfreq: float = None):
if cval < 0 or cval > 31:
raise self.printer.command_error("Drive current must be between 0 and 31")
if self._drive_current == cval:
return
if maxfreq is not None:
if maxfreq < 1_000_000.0:
self.set_deglitch(DEGLITCH_1_0MHZ)
elif maxfreq < 3_300_000.0:
self.set_deglitch(DEGLITCH_3_3MHZ)
elif maxfreq < 10_000_000.0:
self.set_deglitch(DEGLITCH_10MHZ)
else:
self.set_deglitch(DEGLITCH_33MHZ)
logging.info(f"LDC1612ng {self._name} set drive current {cval}")
self._drive_current = cval
self.set_reg(REG_DRIVE_CURRENT0, cval << 11)
# Start, stop, and process message batches
def _start_measurements(self):
self._init_chip()
self._start_count += 1
if self._start_count > 1:
logging.info("LDC1612 start count: %d", self._start_count)
return
# Start bulk reading
rest_ticks = self._mcu.seconds_to_clock(0.5 / self._data_rate)
self._ldc1612_ng_start_stop_cmd.send([self._oid, rest_ticks])
# logging.info("LDC1612 starting '%s' measurements", self._name)
# Initialize clock tracking
self._ffreader.note_start()
def _finish_measurements(self):
self._start_count -= 1
if self._start_count > 0:
logging.info("LDC1612 stop, start count now: %d", self._start_count)
return
# Halt bulk reading
self._ldc1612_ng_start_stop_cmd.send_wait_ack([self._oid, 0])
self._ffreader.note_end()
# logging.info("LDC1612 finished '%s' measurements", self._name)
def _process_batch(self, eventtime):
samples = self._ffreader.pull_samples()
count = 0
err_count = 0
last_err_kind = 0
for ptime, val in samples:
if val > 0x0FFFFFFF: # high nibble indicates an error
err_kind = (val >> 28)
err_count += 1
if last_err_kind != err_kind:
if self._verbose:
logging.info(f"LDC1612 error: {hex(val)}")
last_err_kind = err_kind
else:
# val is a raw value
samples[count] = (ptime, val)
count += 1
# remove the samples we didn't fill in because of errors
del samples[count:]
return {
"data": samples,
"errors": err_count,
"overflows": self._ffreader.get_last_overflows(),
}
================================================
FILE: probe_eddy_ng.py
================================================
# EDDY-ng
#
# Copyright (C) 2025 Vladimir Vukicevic
#
# Based on original probe_eddy_current code by:
# Copyright (C) 2020-2024 Kevin O'Connor
#
# This file may be distributed under the terms of the GNU GPLv3 license.
from __future__ import annotations
import os
import logging
import math
import bisect
import re
import traceback
import pickle
import base64
import time
import numpy as np
import numpy.polynomial as npp
from itertools import combinations
from functools import cmp_to_key
from dataclasses import dataclass, field
from typing import (
Any,
Dict,
List,
Optional,
Tuple,
ClassVar,
final,
)
try:
from klippy import mcu, pins, chelper
from klippy.printer import Printer
from klippy.configfile import ConfigWrapper
from klippy.configfile import error as configerror
from klippy.gcode import GCodeCommand
from klippy.toolhead import ToolHead
from klippy.extras import probe, manual_probe, bed_mesh
from klippy.extras.homing import HomingMove
IS_KALICO = True
HAS_PROBE_RESULT_TYPE = False
except ImportError:
import mcu
import pins
import chelper
from klippy import Printer
from configfile import ConfigWrapper
from configfile import error as configerror
from gcode import GCodeCommand
from toolhead import ToolHead
from . import probe, manual_probe, bed_mesh
from .homing import HomingMove
IS_KALICO = False
HAS_PROBE_RESULT_TYPE = hasattr(manual_probe, "ProbeResult")
from . import ldc1612_ng
try:
import plotly # noqa
except ImportError:
plotly = None
try:
import scipy # noqa
except ImportError:
scipy = None
# In this file, a couple of conventions are used (for sanity).
# Variables are named according to:
# - "height" is always a physical height as detected by the probe in mm
# - "z" is always a z axis position (which may or may not match height)
# - "freq" is always a frequency value (float)
# - "freqval" is always an encoded frequency value, as communicated to/from the sensor (int)
# There are three distinct operations/phases. Homing Z via the virtual
# endstop is the only operation that can happen while Z is not homed:
#
# 1. Homing Z using a virtual probe endstop. This is largely handled by
# ProbeEddyEndstopWrapper. It sets up the sensor to trigger when a certain
# frequency is crossed, and then lets a HomingMove continue that moves the
# toolhead down. When that frequency is hit, it triggers, and Klipper stops
# the toolhead from moving down. The time point when it triggers is set as
# the z=trigger_height (which is home_trigger_height in the configurable
# params). Z should be accurate enough at this point. This operation can be run
# when the bed/toolhead are cold or hot.
#
# Once Z is homed, two additional operations become available:
#
# 2. Probing at either a single point or multiple points. This is used for
# Quad Gantry Leveling, Bed Mesh, and other similar operations. This is
# largely handled by the ProbeEddyScannigProbe class -- one is returned
# from the ProbeEddy `probe` object when `start_probe_session` is called.
# For Eddy probes, there is no reason to move the toolhead up and down at
# each probe point: the measured distance between the sensor and the build
# plate can be read directly. This class starts gathering sample data when
# the session starts and records the times when there's a sample that we
# care about, along with the toolhead position, whenever a caller calls
# `run_probe`. If this is a `rapid_scan` scan, then a callback is attached
# to the current motion so that we can save the movement's time and position
# without actually waiting for it. If it's in normal mode, then the toolhead
# will pause at each position. In both cases, the results are obtained by
# calling `pull_probed_results`, which returns an array of results at each
# point that `run_probe` was called for, in order.
#
# PROBE_STATIC HOME_Z=1 can be used to set the toolhead's Z position
# based on the current height reading from the probe while the toolhead is
# static, leading to a more accurate result than a regular homing operation
# (which involves movement).
#
# 3. A "tap" to fine-tune the Z offset. This should be run with the bed at print
# temperature and soaked for a bit. The nozzle should also be warm but not so
# hot that filament risks oozing out. The nozzle also must be clean. 150C
# is a good temperature to both clean and tap at.
#
# This operation will identify the exact position of the Z axis
# when the nozzle touches the bed, which means that a precise Z offset
# can be set.
#
# The eddy current response and readings depend on temperature of both the target
# (bed) and the sensor (coil). EddyNG does not do any temperature compensation. Instead
# it relies on the "tap" operation to get an accurate reference point for z=0 regardless
# of temperatures. Empirically, small offsets from a reference point can still be read
# accurately from the sensor, even if the absolute value is incorrect at temperature.
# For example, taking sensor readings at Z=2 when perfectly homed via tap may read as
# 1.9 due to temperatures, which is not correct. However, raising the toolhead to Z=2.1
# will raise the sensor reading to 2.0; likewise, lowering the toolhead to Z=1.9 will
# lower the sensor reading to 1.8.
#
# Care in macros should be taken to not invalidate the Z offset set after a tap
# by relying on absolute sensor readings.
#
@dataclass
class ProbeEddyParams:
# The speed at which to perform normal homing operations
probe_speed: float = 5.0
# The speed at which to lift the toolhead during probing operations
lift_speed: float = 10.0
# The speed at which to move in the xy plane (typically only for calibration)
move_speed: float = 50.0
# The height at which the virtual endstop should trigger. A value
# between 1.0 and 3.0 is recommended, with 2.0 or 2.5 being good
# choices.
home_trigger_height: float = 2.0
# The amount higher the probe needs to detect the toolhead is at in order to
# allow homing to begin. For example, if the trigger height is 2.0, and the
# start offset is 1.5, then homing will abort if the sensor detects the
# toolhead is below 3.5mm off the print bed.
home_trigger_safe_start_offset: float = 1.0
# The amount of time that must elapse from the start of probing until the
# safe start position is crossed. This is to make sure there are some values
# that are above the safe position before it's crossed, to ensure that homing
# doesn't begin with the toolhead too low.
home_trigger_safe_time_offset: float = 0.100
# The maximum z value to calibrate from. 15.0 is fine as a default, calibrating
# at higher values is not needed. Calibration will start with the first
# valid height.
calibration_z_max: float = 15.0
# The "drive current" for the LDC1612 sensor. This value is typically
# sensor specific and depends on the coil design and the operating distance.
# A good starting value for BTT Eddy is 15. A good value can be obtained
# by placing the toolhead ~10mm above the bed and running LDC_NG_CALIBRATE_
# DRIVE_CURRENT.
reg_drive_current: int = 0
# The drive current to use for tap operations. If not set, the `reg_drive_current`
# value will be used. Tapping involves reading values much closer to the print
# bed than basic homing, and may require a different, typically higher,
# drive current. For example, BTT Eddy performs best with this value at 16.
# Note that the sensor needs to be calibrated for both drive currents separately.
# Pass the DRIVE_CURRENT argument to EDDY_NG_CALIBRATE.
tap_drive_current: int = 0
# The Z position at which to start a tap-home operation. This height may
# need to be fine-tuned to ensure that the sensor can provide readings across the
# entire tap range (i.e. from this value down to tap_target_z), which in turn
# will depend on the tap_drive_current. When the tap_drive_current is
# increased, the sensor may not be able to read values at higher heights.
# For example, BTT Eddy typically cannot work with heights above 3.5mm with
# a drive current of 16.
#
# Note that all of these values are in terms of offsets from the nozzle
# to the toolhead. The actual sensor coil is mounted higher -- but must be placed
# between 2.5 and 3mm above the nozzle, ideally around 2.75mm. If there are
# amplitude errors, try raising or lowering the sensor coil slightly.
tap_start_z: float = 3.0
# The target Z position for a tap operation. This is the lowest position that
# the toolhead may travel to in case of a failed tap. Do not set this very low,
# as it will cause your toolhead to try to push through your build plate in
# the case of a failed tap. A value like -0.250 is no worse than moving the
# nozzle down one or two notches too far when doing manual Z adjustment.
tap_target_z: float = -0.250
# the tap mode to use. 'wma' is a derivative of weighted moving average,
# 'butter' is a butterworth filter
tap_mode: str = "butter"
# The threshold at which to detect a tap. This value is raw sensor value
# specific. A good value can be obtained by running [....] and examining
# the graph. See [calibration docs coming soon].
#
# The meaning of this depends on tap_mode, and the value will be different
# if a different tap_mode is used. You can experiment to arrive at this
# value. Typically, a lower value will make tap detection more sensitive,
# but might lead to false positives (too early detections). A higher value
# may cause the detection to wait too long or miss a tap entirely.
# You can pass a THRESHOLD parameter to the TAP command to experiment to
# find a good value.
#
# You may also need to use different thresholds for different build plates.
# Note that the default value of this threshold depends on the tap_mode.
tap_threshold: float = 250.0
# The speed at which a tap operation should be performed at. This shouldn't
# be much slower than 3.0, but you can experiment with lower or higher values.
# Don't go too high though, because Klipper needs some small amount of time
# to react to a tap trigger, and the toolhead will still be moving at this
# speed even past the tap point. So, consider any speed you'd feel comfortable
# triggering a toolhead move to tap_target_z at.
tap_speed: float = 3.0
# A static additional amount to add to the computed tap Z offset. Use this if
# the computed tap is a bit too high or too low for your taste. Positive
# values will raise the toolhead, negative values will lower it.
tap_adjust_z: float = 0.0
# The number of times to do a tap, averaging the results.
tap_samples: int = 3
# The maximum number of tap samples.
tap_max_samples: int = 5
# The maximum standard deviation for any 3 samples to be considered valid.
tap_samples_stddev: float = 0.020
# Use the median value instead of the mean
tap_use_median: bool = False
# Where in the time range of tap detection start to the time the threshold
# is crossed should the tap be placed. 0.0 places it at the earliest start
# of tap detection; 1.0 places it at the point where the threshold is hit.
# A value between 0.2-0.5 generally results in more consistent tap position detection,
# but you may want to adjust this for your configuration. This is a number
# in the range of 0.0 to 1.0.
tap_time_position: float = 0.3
# When probing multiple points (not rapid scan), how long to sample for at each probe point,
# after a scan_sample_time_delay delay. The total dwell time at each probe point is
# scan_sample_time + scan_sample_time_delay.
scan_sample_time: float = 0.100
# When probing multiple points (not rapid scan), how long to delay at each probe point
# before the scan_sample_time kicks in.
scan_sample_time_delay: float = 0.050
# number of points to save for calibration
calibration_points: int = 150
# configuration for butterworth filter
tap_butter_lowcut: float = 5.0
tap_butter_highcut: float = 25.0
tap_butter_order: int = 2
# Probe position relative to toolhead
x_offset: float = 0.0
y_offset: float = 0.0
# remove some safety checks, largely for testing/development
allow_unsafe: bool = False
# whether to write the tap plot for the last tap
write_tap_plot: bool = False
# whether to write the tap plot for every tap
write_every_tap_plot: bool = False
# maximum number of errors to allow in a row on the sensor
max_errors: int = 0
# whether to print lots of verbose debug info to the log
debug: bool = True
tap_trigger_safe_start_height: float = 1.5
_warning_msgs: List[str] = field(default_factory=list)
@staticmethod
def str_to_floatlist(s):
if s is None:
return None
try:
return [float(v) for v in re.split(r"\s*,\s*|\s+", s)]
except:
raise configerror(f"Can't parse '{s}' as list of floats")
def is_default_butter_config(self):
return self.tap_butter_lowcut == 5.0 and self.tap_butter_highcut == 25.0 and self.tap_butter_order == 2
def load_from_config(self, config: ConfigWrapper):
mode_choices = ["wma", "butter"]
self.probe_speed = config.getfloat("probe_speed", self.probe_speed, above=0.0)
self.lift_speed = config.getfloat("lift_speed", self.lift_speed, above=0.0)
self.move_speed = config.getfloat("move_speed", self.move_speed, above=0.0)
self.home_trigger_height = config.getfloat("home_trigger_height", self.home_trigger_height, minval=1.0)
self.home_trigger_safe_start_offset = config.getfloat(
"home_trigger_safe_start_offset",
self.home_trigger_safe_start_offset,
minval=0.5,
)
self.calibration_z_max = config.getfloat("calibration_z_max", self.calibration_z_max, above=0.0)
self.reg_drive_current = config.getint("reg_drive_current", 0, minval=0, maxval=31)
self.tap_drive_current = config.getint("tap_drive_current", 0, minval=0, maxval=31)
self.tap_start_z = config.getfloat("tap_start_z", self.tap_start_z, above=0.0)
self.tap_target_z = config.getfloat("tap_target_z", self.tap_target_z)
self.tap_speed = config.getfloat("tap_speed", self.tap_speed, above=0.0)
self.tap_adjust_z = config.getfloat("tap_adjust_z", self.tap_adjust_z)
self.calibration_points = config.getint("calibration_points", self.calibration_points)
self.tap_mode = config.getchoice("tap_mode", mode_choices, self.tap_mode)
default_tap_threshold = 1000.0 # for wma
if self.tap_mode == "butter":
default_tap_threshold = 250.0
self.tap_threshold = config.getfloat("tap_threshold", default_tap_threshold)
self.scan_sample_time = config.getfloat("scan_sample_time", self.scan_sample_time, above=0.0)
self.scan_sample_time_delay = config.getfloat("scan_sample_time_delay", self.scan_sample_time_delay, minval=0.0)
# for 'butter'
self.tap_butter_lowcut = config.getfloat("tap_butter_lowcut", self.tap_butter_lowcut, above=0.0)
self.tap_butter_highcut = config.getfloat(
"tap_butter_highcut",
self.tap_butter_highcut,
above=self.tap_butter_lowcut,
)
self.tap_butter_order = config.getint("tap_butter_order", self.tap_butter_order, minval=1)
self.tap_samples = config.getint("tap_samples", self.tap_samples, minval=1)
self.tap_max_samples = config.getint("tap_max_samples", self.tap_max_samples, minval=self.tap_samples)
self.tap_samples_stddev = config.getfloat("tap_samples_stddev", self.tap_samples_stddev, above=0.0)
self.tap_use_median = config.getboolean("tap_use_median", self.tap_use_median)
self.tap_trigger_safe_start_height = config.getfloat(
"tap_trigger_safe_start_height",
-1.0,
above=0.0,
)
self.tap_time_position = config.getfloat("tap_time_position", self.tap_time_position, minval=0.0, maxval=1.0)
if self.tap_trigger_safe_start_height == -1.0: # sentinel
self.tap_trigger_safe_start_height = self.home_trigger_height / 2.0
self.allow_unsafe = config.getboolean("allow_unsafe", self.allow_unsafe)
self.write_tap_plot = config.getboolean("write_tap_plot", self.write_tap_plot)
self.write_every_tap_plot = config.getboolean("write_every_tap_plot", self.write_every_tap_plot)
self.debug = config.getboolean("debug", self.debug)
self.max_errors = config.getint("max_errors", self.max_errors)
self.x_offset = config.getfloat("x_offset", self.x_offset)
self.y_offset = config.getfloat("y_offset", self.y_offset)
self.validate(config)
def validate(self, config: ConfigWrapper = None):
printer = config.get_printer()
req_cal_z_max = self.home_trigger_safe_start_offset + self.home_trigger_height + 1.0
if self.calibration_z_max < req_cal_z_max:
raise printer.config_error(
f"calibration_z_max must be at least home_trigger_safe_start_offset+home_trigger_height+1.0 ({self.home_trigger_safe_start_offset:.3f}+{self.home_trigger_height:.3f}+1.0={req_cal_z_max:.3f})"
)
if self.x_offset == 0.0 and self.y_offset == 0.0 and not self.allow_unsafe:
raise printer.config_error("ProbeEddy: x_offset and y_offset are both 0.0; is the sensor really mounted at the nozzle?")
if self.home_trigger_height <= self.tap_trigger_safe_start_height:
raise printer.config_error("ProbeEddy: home_trigger_height must be greater than tap_trigger_safe_start_height")
need_scipy = False
if self.tap_mode == "butter" and not self.is_default_butter_config():
need_scipy = True
if need_scipy and not scipy:
raise printer.config_error(
"ProbeEddy: butter mode with custom filter parameters requires scipy, which is not available; please install scipy, use the defaults, or use wma mode"
)
@dataclass
class ProbeEddyProbeResult:
samples: List[float]
mean: float = 0.0
median: float = 0.0
min_value: float = 0.0
max_value: float = 0.0
tstart: float = 0.0
tend: float = 0.0
errors: int = 0
USE_MEAN_FOR_VALUE: ClassVar[bool] = False
@property
def valid(self):
return len(self.samples) > 0
@property
def value(self):
return self.mean if self.USE_MEAN_FOR_VALUE else self.median
@property
def stddev(self):
stddev_sum = np.sum([(s - self.value) ** 2.0 for s in self.samples])
return float((stddev_sum / len(self.samples)) ** 0.5)
@classmethod
def make(cls, times: List[float], heights: List[float], errors: int = 0) -> ProbeEddyProbeResult:
h = np.array(heights)
return ProbeEddyProbeResult(
samples=h.tolist(),
mean=float(np.mean(h)),
median=float(np.median(h)),
min_value=float(np.min(h)),
max_value=float(np.max(h)),
tstart=float(times[0]),
tend=float(times[-1]),
errors=errors
)
def __format__(self, spec):
if spec == "v":
return f"{self.value:.3f}"
if self.USE_MEAN_FOR_VALUE:
value = f"{self.mean:.3f}"
extra = f"med={self.median:.3f}"
else:
value = f"{self.median:.3f}"
extra = f"avg={self.mean:.3f}"
return f"{value} ({extra}, {self.min_value:.3f} to {self.max_value:.3f}, [{self.stddev:.3f}])"
@final
class ProbeEddy:
def __init__(self, config: ConfigWrapper):
logging.info("Hello from ProbeEddyNG")
self._printer: Printer = config.get_printer()
self._reactor = self._printer.get_reactor()
self._gcode = self._printer.lookup_object("gcode")
self._full_name = config.get_name()
self._name = self._full_name.split()[-1]
sensors = {
"ldc1612": ldc1612_ng.LDC1612_ng,
"btt_eddy": ldc1612_ng.LDC1612_ng,
"cartographer": ldc1612_ng.LDC1612_ng,
"mellow_fly": ldc1612_ng.LDC1612_ng,
"ldc1612_internal_clk": ldc1612_ng.LDC1612_ng,
}
sensor_type = config.getchoice("sensor_type", {s: s for s in sensors})
self._sensor_type = sensor_type
self._sensor = sensors[sensor_type](config)
self._mcu = self._sensor.get_mcu()
self._toolhead: ToolHead = None # filled in _handle_connect
self._trapq = None
self.params = ProbeEddyParams()
self.params.load_from_config(config)
# figure out if either of these comes from the autosave section
# so we can sort out what we want to write out later on
asfc = self._printer.lookup_object("configfile").autosave.fileconfig
self._saved_reg_drive_current = asfc.getint(self._full_name, "reg_drive_current", fallback=None)
self._saved_tap_drive_current = asfc.getint(self._full_name, "tap_drive_current", fallback=None)
# in case there's legacy drive currents
old_saved_reg_drive_current = asfc.getint(self._full_name, "saved_reg_drive_current", fallback=0)
old_saved_tap_drive_current = asfc.getint(self._full_name, "saved_tap_drive_current", fallback=0)
self._reg_drive_current = self.params.reg_drive_current or old_saved_reg_drive_current or self._sensor._drive_current
self._tap_drive_current = self.params.tap_drive_current or old_saved_tap_drive_current or self._reg_drive_current
# at what minimum physical height to start homing. It must be above the safe start position,
# because we need to move from the start through the safe start position
self._home_start_height = self.params.home_trigger_height + self.params.home_trigger_safe_start_offset + 1.0
# physical offsets between probe and nozzle
self.offset = {
"x": self.params.x_offset,
"y": self.params.y_offset,
}
version = config.getint("calibration_version", default=-1)
calibration_bad = False
if version == -1:
if config.get("calibrated_drive_currents", None) is not None:
calibration_bad = True
elif version != ProbeEddyFrequencyMap.calibration_version:
calibration_bad = True
calibrated_drive_currents = config.getintlist("calibrated_drive_currents", [])
self._dc_to_fmap: Dict[int, ProbeEddyFrequencyMap] = {}
if not calibration_bad:
for dc in calibrated_drive_currents:
fmap = ProbeEddyFrequencyMap(self)
if fmap.load_from_config(config, dc):
self._dc_to_fmap[dc] = fmap
else:
for dc in calibrated_drive_currents:
# read so that there are no warnings about unknown fields
_ = config.get(f"calibration_{dc}")
self.params._warning_msgs.append("EDDYng calibration: calibration data invalid, please recalibrate")
# Our virtual endstop wrapper -- used for homing.
self._endstop_wrapper = ProbeEddyEndstopWrapper(self)
# There can only be one active sampler at a time
self._sampler: ProbeEddySampler = None
self._last_sampler: ProbeEddySampler = None
self.save_samples_path = None
# The last tap Z value, in absolute axis terms. Used for status.
self._last_tap_z = 0.0
# The last gcode offset applied after tap, either the tap
# value, or 0.0 if HOME_Z=1
self._last_tap_gcode_adjustment = 0.0
# This class emulates "PrinterProbe". We use some existing helpers to implement
# functionality like start_session
self._printer.add_object("probe", self)
self._bed_mesh_helper = BedMeshScanHelper(self, config)
# TODO: get rid of this
if hasattr(probe, "ProbeCommandHelper"):
self._cmd_helper = probe.ProbeCommandHelper(config, self, self._endstop_wrapper.query_endstop)
else:
self._cmd_helper = None
# when doing a scan, what's the offset between probe readings at the bed
# scan height and the accurate bed height, based on the last tap.
self._tap_offset = 0.0
self._last_probe_result = 0.0
# runtime configurable
self._tap_adjust_z = self.params.tap_adjust_z
# define our own commands
self._dummy_gcode_cmd: GCodeCommand = self._gcode.create_gcode_command("", "", {})
self.define_commands(self._gcode)
self._printer.register_event_handler("gcode:command_error", self._handle_command_error)
self._printer.register_event_handler("klippy:connect", self._handle_connect)
# patch bed_mesh because Klipper
if not IS_KALICO:
bed_mesh.ProbeManager.start_probe = bed_mesh_ProbeManager_start_probe_override
def _log_error(self, msg):
logging.error(f"{self._name}: {msg}")
self._gcode.respond_raw(f"!! EDDYng: {msg}\n")
def _log_warning(self, msg):
logging.warning(f"{self._name}: {msg}")
self._gcode.respond_raw(f"!! EDDYng: {msg}\n")
def _log_msg(self, msg):
logging.info(f"{self._name}: {msg}")
self._gcode.respond_info(f"{msg}", log=False)
def _log_info(self, msg):
logging.info(f"{self._name}: {msg}")
def _log_debug(self, msg):
if self.params.debug:
logging.info(f"{self._name}: {msg}")
def define_commands(self, gcode):
gcode.register_command("PROBE_EDDY_NG_STATUS", self.cmd_STATUS, self.cmd_STATUS_help)
gcode.register_command(
"PROBE_EDDY_NG_CALIBRATE",
self.cmd_CALIBRATE,
self.cmd_CALIBRATE_help,
)
gcode.register_command(
"PROBE_EDDY_NG_CALIBRATION_STATUS",
self.cmd_CALIBRATION_STATUS,
self.cmd_CALIBRATION_STATUS_help,
)
gcode.register_command(
"PROBE_EDDY_NG_SETUP",
self.cmd_SETUP,
self.cmd_SETUP_help,
)
gcode.register_command(
"PROBE_EDDY_NG_CLEAR_CALIBRATION",
self.cmd_CLEAR_CALIBRATION,
self.cmd_CLEAR_CALIBRATION_help,
)
gcode.register_command("PROBE_EDDY_NG_PROBE", self.cmd_PROBE, self.cmd_PROBE_help)
gcode.register_command(
"PROBE_EDDY_NG_PROBE_STATIC",
self.cmd_PROBE_STATIC,
self.cmd_PROBE_STATIC_help,
)
gcode.register_command(
"PROBE_EDDY_NG_PROBE_ACCURACY",
self.cmd_PROBE_ACCURACY,
self.cmd_PROBE_ACCURACY_help,
)
gcode.register_command("PROBE_EDDY_NG_TAP", self.cmd_TAP, self.cmd_TAP_help)
gcode.register_command(
"PROBE_EDDY_NG_SET_TAP_OFFSET",
self.cmd_SET_TAP_OFFSET,
"Set or clear the tap offset for the bed mesh scan and other probe operations",
)
gcode.register_command(
"PROBE_EDDY_NG_SET_TAP_ADJUST_Z",
self.cmd_SET_TAP_ADJUST_Z,
"Set the tap adjustment value",
)
gcode.register_command(
"PROBE_EDDY_NG_TEST_DRIVE_CURRENT",
self.cmd_TEST_DRIVE_CURRENT,
"Test a drive current.",
)
gcode.register_command("Z_OFFSET_APPLY_PROBE", None)
gcode.register_command(
"Z_OFFSET_APPLY_PROBE",
self.cmd_Z_OFFSET_APPLY_PROBE,
"Apply the current G-Code Z offset to tap_adjust_z",
)
# some handy aliases while I'm debugging things to save my fingers
gcode.register_command(
"PES",
self.cmd_STATUS,
self.cmd_STATUS_help + " (alias for PROBE_EDDY_NG_STATUS)",
)
gcode.register_command(
"PEP",
self.cmd_PROBE,
self.cmd_PROBE_help + " (alias for PROBE_EDDY_NG_PROBE)",
)
gcode.register_command(
"PEPS",
self.cmd_PROBE_STATIC,
self.cmd_PROBE_STATIC_help + " (alias for PROBE_EDDY_NG_PROBE_STATIC)",
)
gcode.register_command(
"PETAP",
self.cmd_TAP,
self.cmd_TAP_help + " (alias for PROBE_EDDY_NG_TAP)",
)
gcode.register_command("EDDYNG_BED_MESH_EXPERIMENTAL", self.cmd_MESH, "")
gcode.register_command("EDDYNG_START_STREAM_EXPERIMENTAL", self.cmd_START_STREAM, "")
gcode.register_command("EDDYNG_STOP_STREAM_EXPERIMENTAL", self.cmd_STOP_STREAM, "")
def _handle_command_error(self, gcmd=None):
try:
if self._sampler is not None:
self._sampler.finish()
except:
logging.exception("EDDYng handle_command_error: sampler.finish() failed")
def _handle_connect(self):
self._toolhead = self._printer.lookup_object("toolhead")
self._trapq = self._toolhead.get_trapq()
for msg in self.params._warning_msgs:
self._log_warning(msg)
def _get_trapq_position(self, print_time: float) -> Tuple[Tuple[float, float, float], float]:
ffi_main, ffi_lib = chelper.get_ffi()
data = ffi_main.new("struct pull_move[1]")
count = ffi_lib.trapq_extract_old(self._trapq, data, 1, 0.0, print_time)
if not count:
return None, None
move = data[0]
move_time = max(0.0, min(move.move_t, print_time - move.print_time))
dist = (move.start_v + 0.5 * move.accel * move_time) * move_time
pos = (
move.start_x + move.x_r * dist,
move.start_y + move.y_r * dist,
move.start_z + move.z_r * dist,
)
velocity = move.start_v + move.accel * move_time
return pos, velocity
def _get_trapq_height(self, print_time: float) -> float:
th_pos, _ = self._get_trapq_position(print_time)
if th_pos is None:
return None
return th_pos[2]
def current_drive_current(self) -> int:
return self._sensor.get_drive_current()
def reset_drive_current(self, tap=False):
dc = self._tap_drive_current if tap else self._reg_drive_current
if dc == 0:
raise self._printer.command_error(f"Unknown {'tap' if tap else 'homing'} drive current")
self._sensor.set_drive_current(dc)
def map_for_drive_current(self, dc: Optional[int] = None) -> ProbeEddyFrequencyMap:
if dc is None:
dc = self.current_drive_current()
if dc not in self._dc_to_fmap:
raise self._printer.command_error(f"Drive current {dc} not calibrated")
return self._dc_to_fmap[dc]
# helpers to forward to the map
def height_to_freq(self, height: float, drive_current: Optional[int] = None) -> float:
if drive_current is None:
drive_current = self.current_drive_current()
return self.map_for_drive_current(drive_current).height_to_freq(height)
def freq_to_height(self, freq: float, drive_current: Optional[int] = None) -> float:
if drive_current is None:
drive_current = self.current_drive_current()
return self.map_for_drive_current(drive_current).freq_to_height(freq)
def calibrated(self, drive_current: Optional[int] = None) -> bool:
if drive_current is None:
drive_current = self.current_drive_current()
return drive_current in self._dc_to_fmap and self._dc_to_fmap[drive_current].calibrated()
def _print_time_now(self):
return self._mcu.estimated_print_time(self._reactor.monotonic())
def _z_homed(self):
curtime = self._reactor.monotonic()
kin_status = self._printer.lookup_object("toolhead").get_kinematics().get_status(curtime)
return "z" in kin_status["homed_axes"]
def _xy_homed(self):
curtime = self._reactor.monotonic()
kin_status = self._printer.lookup_object("toolhead").get_kinematics().get_status(curtime)
return "x" in kin_status["homed_axes"] and "y" in kin_status["homed_axes"]
def _z_hop(self, by=5.0):
if by < 0.0:
raise self._printer.command_error("Z hop must be positive")
toolhead: ToolHead = self._printer.lookup_object("toolhead")
curpos = toolhead.get_position()
curpos[2] = curpos[2] + by
toolhead.manual_move(curpos, self.params.probe_speed)
def _set_toolhead_position(self, pos, homing_axes):
# klipper changed homing_axes to be a "xyz" string instead
# of a tuple randomly on jan10 without support for the old
# syntax
func = self._toolhead.set_position
kind = type(func.__defaults__[0])
if kind is str:
# new
homing_axes_str = "".join(["xyz"[axis] for axis in homing_axes])
return self._toolhead.set_position(pos, homing_axes=homing_axes_str)
else:
# old
return self._toolhead.set_position(pos, homing_axes=homing_axes)
def _z_not_homed(self):
kin = self._toolhead.get_kinematics()
# klipper got rid of this
if hasattr(kin, "note_z_not_homed"):
kin.note_z_not_homed()
else:
try:
kin.clear_homing_state("z")
except TypeError:
raise self._printer.command_error(
"clear_homing_state failed: please update Klipper, your klipper is from the brief 5 day window where this was broken"
)
def save_config(self):
configfile = self._printer.lookup_object("configfile")
configfile.remove_section(self._full_name)
configfile.set(
self._full_name,
"calibrated_drive_currents",
str.join(", ", [str(dc) for dc in self._dc_to_fmap.keys()]),
)
configfile.set(
self._full_name,
"calibration_version",
str(ProbeEddyFrequencyMap.calibration_version),
)
if self.params.reg_drive_current != self._reg_drive_current or self.params.reg_drive_current == self._saved_reg_drive_current:
configfile.set(self._full_name, "reg_drive_current", str(self._reg_drive_current))
if self.params.tap_drive_current != self._tap_drive_current or self.params.tap_drive_current == self._saved_tap_drive_current:
configfile.set(self._full_name, "tap_drive_current", str(self._tap_drive_current))
for _, fmap in self._dc_to_fmap.items():
fmap.save_calibration()
self._log_msg("Calibration saved. Issue a SAVE_CONFIG to write the values to your config file and restart Klipper.")
def start_sampler(self, *args, **kwargs) -> ProbeEddySampler:
if self._sampler:
raise self._printer.command_error("EDDYng: Already sampling! (This shouldn't happen; FIRMWARE_RESTART to fix)")
self._sampler = ProbeEddySampler(self, *args, **kwargs)
self._sampler.start()
return self._sampler
def sampler_is_active(self):
return self._sampler is not None and self._sampler.active()
# Called by samplers when they're finished
def _sampler_finished(self, sampler: ProbeEddySampler, **kwargs):
if self._sampler is not sampler:
raise self._printer.command_error("EDDYng finishing sampler that's not active")
self._last_sampler = sampler
self._sampler = None
if self.save_samples_path is not None:
with open(self.save_samples_path, "w") as data_file:
times = sampler.times
raw_freqs = sampler.raw_freqs
freqs = sampler.freqs
heights = sampler.heights
data_file.write("time,frequency,z,kin_z,kin_v,raw_f,trigger_time,tap_start_time\n")
trigger_time = kwargs.get("trigger_time", "")
tap_start_time = kwargs.get("tap_start_time", "")
for i in range(len(times)):
past_pos, past_v = self._get_trapq_position(times[i])
past_k_z = past_pos[2] if past_pos is not None else ""
past_v = past_v if past_v is not None else ""
data_file.write(f"{times[i]},{freqs[i]},{heights[i] if heights else ''},{past_k_z},{past_v},{raw_freqs[i]},{trigger_time},{tap_start_time}\n")
logging.info(f"Wrote {len(times)} samples to {self.save_samples_path}")
self.save_samples_path = None
def cmd_MESH(self, gcmd: GCodeCommand):
self._bed_mesh_helper.scan()
cmd_STATUS_help = "Query the last raw coil value and status"
def cmd_STATUS(self, gcmd: GCodeCommand):
result = self._sensor.read_one_value()
status = result.status
freqval = result.freqval
freq = result.freq
height = -math.inf
err = ""
if freqval > 0x0FFFFFFF:
height = -math.inf
freq = 0.0
err = f"ERROR: {bin(freqval >> 28)} "
elif freq <= 0.0:
err += "(Zero frequency) "
elif self.calibrated():
height = self.freq_to_height(freq)
else:
err += "(Not calibrated) "
gcmd.respond_info(
f"Last coil value: {freq:.2f} ({height:.3f}mm) raw: {hex(freqval)} {err}status: {hex(status)} {self._sensor.status_to_str(status)}"
)
cmd_PROBE_ACCURACY_help = "Probe accuracy"
def cmd_PROBE_ACCURACY(self, gcmd: GCodeCommand):
if not self._z_homed():
raise self._printer.command_error("Must home Z before PROBE_ACCURACY")
# How long to read at each sample time
duration: float = gcmd.get_float("DURATION", 0.100, above=0.0)
# whether to check +/- 1mm positions for accuracy
start_z: float = gcmd.get_float("Z", 5.0)
offsets: str = gcmd.get("OFFSETS", None)
probe_speed = gcmd.get_float("SPEED", self.params.probe_speed, above=0.0)
lift_speed = gcmd.get_float("LIFT_SPEED", self.params.lift_speed, above=0.0)
probe_zs = [start_z]
if offsets is not None:
probe_zs.extend([float(v) + start_z for v in offsets.split(",")])
else:
probe_zs.extend(np.arange(0.5, start_z, 0.5).tolist())
probe_zs.sort()
probe_zs.reverse()
# drive current to use
old_drive_current = self.current_drive_current()
drive_current: int = gcmd.get_int("DRIVE_CURRENT", old_drive_current, minval=0, maxval=31)
if not self.calibrated(drive_current):
raise self._printer.command_error(f"Drive current {drive_current} not calibrated")
th = self._toolhead
try:
self._sensor.set_drive_current(drive_current)
th.manual_move(
[None, None, probe_zs[0] + 1.0],
lift_speed,
)
th.wait_moves()
results = []
ranges = []
from_zs = []
stddev_sums = []
stddev_count = 0
for pz in probe_zs:
th.manual_move([None, None, pz], probe_speed)
th.dwell(0.050)
th.wait_moves()
result = self.probe_static_height(duration=duration)
rangev = result.max_value - result.min_value
from_z = result.value - pz
stddev_sum = np.sum([(s - result.value) ** 2.0 for s in result.samples])
self._log_msg(f"Probe at z={pz:.3f} is {result}")
stddev_sums.append(stddev_sum)
stddev_count += len(result.samples)
results.append(result)
ranges.append(rangev)
from_zs.append(from_z)
if len(results) > 1:
avg_range = np.mean(ranges)
avg_from_z = np.mean(from_zs)
stddev = (np.sum(stddev_sums) / stddev_count) ** 0.5
gcmd.respond_info(f"Probe spread: {avg_range:.3f}, z deviation: {avg_from_z:.3f}, stddev: {stddev:.3f}")
finally:
self._sensor.set_drive_current(old_drive_current)
th.manual_move(
[None, None, start_z],
lift_speed,
)
cmd_CLEAR_CALIBRATION_help = "Clear calibration for all drive currents"
def cmd_CLEAR_CALIBRATION(self, gcmd: GCodeCommand):
drive_current: int = gcmd.get_int("DRIVE_CURRENT", -1)
if drive_current == -1:
self._dc_to_fmap = {}
gcmd.respond_info("Cleared calibration for all drive currents")
else:
if drive_current not in self._dc_to_fmap:
raise self._printer.command_error(f"Drive current {drive_current} not calibrated")
del self._dc_to_fmap[drive_current]
gcmd.respond_info(f"Cleared calibration for drive current {drive_current}")
self.save_config()
cmd_CALIBRATION_STATUS_help = "Display information about EDDYng calibration"
def cmd_CALIBRATION_STATUS(self, gcmd: GCodeCommand):
for dc in self._dc_to_fmap:
m = self._dc_to_fmap[dc]
hmin, hmax = m.height_range
fmin, fmax = m.freq_range
fspread = m.freq_spread()
self._log_msg(
f"Drive current {dc}: {hmin:.3f} to {hmax:.3f} ({fmin:.1f} to {fmax:.1f}, {fspread:.2f}%; ftoh_high: {m._ftoh_high is not None})"
)
def cmd_SET_TAP_OFFSET(self, gcmd: GCodeCommand):
value = gcmd.get_float("VALUE", None)
adjust = gcmd.get_float("ADJUST", None)
tap_offset = self._tap_offset
if value is not None:
tap_offset = value
if adjust is not None:
tap_offset += adjust
self._tap_offset = tap_offset
gcmd.respond_info(f"Set tap offset: {tap_offset:.3f}")
def cmd_SET_TAP_ADJUST_Z(self, gcmd: GCodeCommand):
value = gcmd.get_float("VALUE", None)
adjust = gcmd.get_float("ADJUST", None)
tap_adjust_z = self._tap_adjust_z
if value is not None:
tap_adjust_z = value
if adjust is not None:
tap_adjust_z += adjust
self._tap_adjust_z = tap_adjust_z
if self.params.tap_adjust_z != self._tap_adjust_z:
configfile = self._printer.lookup_object("configfile")
configfile.set(self._full_name, "tap_adjust_z", str(float(self._tap_adjust_z)))
gcmd.respond_info(f"Set tap_adjust_z: {tap_adjust_z:.3f} (SAVE_CONFIG to make it permanent)")
def cmd_Z_OFFSET_APPLY_PROBE(self, gcmd: GCodeCommand):
gcode_move = self._printer.lookup_object("gcode_move")
offset = gcode_move.get_status()["homing_origin"].z
offset += self.params.tap_adjust_z
offset -= self._last_tap_gcode_adjustment
configfile = self._printer.lookup_object("configfile")
configfile.set(self._full_name, "tap_adjust_z", f"{offset:.3f}")
self._log_msg(
f"{self._name}: new tap_adjust_z: {offset:.3f}\n"
"The SAVE_CONFIG command will update the printer config file\n"
"with the above and restart the printer."
)
def probe_static_height(self, duration: float = 0.100) -> ProbeEddyProbeResult:
with self.start_sampler() as sampler:
now = self._print_time_now()
sampler.wait_for_sample_at_time(now + (duration + self._sensor._ldc_settle_time))
sampler.finish()
if sampler.height_count == 0:
return ProbeEddyProbeResult([])
etime = sampler.times[-1]
stime = etime - duration
first_idx = bisect.bisect_left(sampler.times, stime)
if first_idx == len(sampler.times):
raise self._printer.command_error(f"No samples in time range")
errors = sampler.error_count
return ProbeEddyProbeResult.make(sampler.times[first_idx:], sampler.heights[first_idx:], errors=errors)
cmd_PROBE_help = "Probe the height using the eddy current sensor, moving the toolhead to the home trigger height, or Z if specified."
def cmd_PROBE(self, gcmd: GCodeCommand):
if not self._z_homed():
raise self._printer.command_error("Must home Z before PROBE")
z: float = gcmd.get_float("Z", self.params.home_trigger_height)
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
if th_pos[2] < z:
th.manual_move([None, None, z + 3.0], self.params.lift_speed)
th.manual_move([None, None, z], self.params.probe_speed)
th.dwell(0.100)
th.wait_moves()
self.cmd_PROBE_STATIC(gcmd)
cmd_PROBE_STATIC_help = "Probe the current height using the eddy current sensor without moving the toolhead."
def cmd_PROBE_STATIC(self, gcmd: GCodeCommand):
old_drive_current = self.current_drive_current()
drive_current: int = gcmd.get_int("DRIVE_CURRENT", old_drive_current, minval=0, maxval=31)
duration: float = gcmd.get_float("DURATION", 0.100, above=0.0)
save: bool = gcmd.get_int("SAVE", 0) == 1
home_z: bool = gcmd.get_int("HOME_Z", 0) == 1
if not self.calibrated(drive_current):
raise self._printer.command_error(f"Drive current {drive_current} not calibrated")
try:
self._sensor.set_drive_current(drive_current)
if save:
self.save_samples_path = "/tmp/eddy-probe-static.csv"
r = self.probe_static_height(duration)
if self._cmd_helper is not None:
self._cmd_helper.last_z_result = float(r.value)
self._last_probe_result = float(r.value)
if home_z:
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
th_pos[2] = r.value
self._set_toolhead_position(th_pos, [2])
self._log_debug(f"Homed Z to {r}")
else:
self._log_msg(f"Probed {r}")
finally:
self._sensor.set_drive_current(old_drive_current)
cmd_SETUP_help = "Setup"
def cmd_SETUP(self, gcmd: GCodeCommand):
if not self._xy_homed():
raise self._printer.command_error("X and Y must be homed before setup")
if self._z_homed():
# z-hop so that manual probe helper doesn't complain if we're already
# at the right place
self._z_hop()
# Now reset the axis so that we have a full range to calibrate with
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
# XXX This is proably not correct for some printers?
zrange = th.get_kinematics().rails[2].get_range()
th_pos[2] = zrange[1] - 20.0
self._set_toolhead_position(th_pos, [2])
manual_probe.ManualProbeHelper(
self._printer,
gcmd,
lambda kin_pos: self.cmd_SETUP_next(gcmd, kin_pos),
)
def cmd_SETUP_next(self, gcmd: GCodeCommand, kin_pos: Optional[List[float]]):
if kin_pos is None:
# User cancelled ManualProbeHelper
self._z_not_homed()
return
debug = 1 if self.params.debug else 0
debug = gcmd.get_int("DEBUG", debug) == 1
# We just did a ManualProbeHelper, so we're going to zero the z-axis
# to make the following code easier, so it can assume z=0 is actually real zero.
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
th_pos[2] = 0.0
self._set_toolhead_position(th_pos, [2])
# Note that the default is the default drive current
drive_current: int = gcmd.get_int(
"DRIVE_CURRENT",
self._sensor._default_drive_current,
minval=0,
maxval=31,
)
max_dc_increase = 0
if self._sensor_type == "ldc1612" or self._sensor_type == "btt_eddy" or self._sensor_type == "ldc1612_internal_clk":
max_dc_increase = 5
max_dc_increase = gcmd.get_int("MAX_DC_INCREASE", max_dc_increase, minval=0, maxval=30)
# lift up above cal_z_max, and then move over so the probe
# is over the nozzle position
th.manual_move(
[None, None, self.params.calibration_z_max + 3.0],
self.params.lift_speed,
)
th.manual_move(
[
th_pos[0] - self.offset["x"],
th_pos[1] - self.offset["y"],
None,
],
self.params.move_speed,
)
# This is going to automate setup.
# The setup state machine looks like this:
# 1. Finding homing drive current
# 2. Finding tapping drive current
FINDING_HOMING = 1
FINDING_TAP = 2
DONE = 3
start_drive_current = drive_current
result_msg = None
self._log_msg("setup: calibrating homing")
state = FINDING_HOMING
while state < DONE:
mapping, fth_rms, htf_rms = self._create_mapping(
self.params.calibration_z_max,
0.0, # z_target
self.params.probe_speed,
self.params.lift_speed,
drive_current,
report_errors=debug,
write_debug_files=debug,
)
homing_req_min = 0.5
homing_req_max = 5.0
tap_req_min = 0.025
tap_req_max = 3.0
ok_for_homing = mapping is not None
ok_for_tap = mapping is not None
if ok_for_homing and (mapping.height_range[0] > homing_req_min or mapping.height_range[1] < homing_req_max):
ok_for_homing = False
if ok_for_tap and (mapping.height_range[0] > tap_req_min or mapping.height_range[1] < tap_req_max):
ok_for_tap = False
if ok_for_homing or ok_for_tap:
self._log_info(f"dc {drive_current} homing {ok_for_homing} tap {ok_for_tap}, {fth_rms} {htf_rms}")
if mapping.freq_spread() < 0.30:
self._log_warning(
f"frequency spread {mapping.freq_spread()} is very low at drive current {drive_current}. (The sensor is probably mounted too high; the height includes any case thickness.)"
)
ok_for_homing = ok_for_tap = False
if fth_rms is None or fth_rms > 0.025:
self._log_msg(f"calibration error rate is too high ({fth_rms}) at drive current {drive_current}.")
ok_for_homing = ok_for_tap = False
if state == FINDING_HOMING and ok_for_homing:
self._dc_to_fmap[drive_current] = mapping
self._reg_drive_current = drive_current
self._log_msg(f"using {drive_current} for homing.")
state = FINDING_TAP
if state == FINDING_TAP and ok_for_tap:
self._dc_to_fmap[drive_current] = mapping
self._tap_drive_current = drive_current
self._log_msg(f"using {drive_current} for tap.")
state = DONE
if state == DONE:
result_msg = "Setup success. Please check whether homing works with G28 Z, then check if tap works with PROBE_EDDY_NG_TAP."
break
if drive_current - start_drive_current >= max_dc_increase:
# we've failed completely
if state == FINDING_HOMING:
result_msg = "Failed to find homing drive current. (Have you checked the sensor height?)"
elif state == FINDING_TAP:
result_msg = "Failed to find tap drive current, but homing is set up. (Have you checked the sensor height?)"
else:
result_msg = "Unknown state?"
break
# increase DC and keep going
drive_current += 1
if state == DONE:
self._log_msg(result_msg)
else:
self._log_error(result_msg)
if state > FINDING_HOMING:
self.reset_drive_current()
self.save_config()
self._z_not_homed()
cmd_CALIBRATE_help = (
"Calibrate the eddy current sensor. Specify DRIVE_CURRENT to calibrate for a different drive current "
+ "than the default. Specify START_Z to set a different calibration start point."
)
def cmd_CALIBRATE(self, gcmd: GCodeCommand):
if not self._xy_homed():
raise self._printer.command_error("X and Y must be homed before calibrating")
if self._z_homed():
# z-hop so that manual probe helper doesn't complain if we're already
# at the right place
self._z_hop()
# Now reset the axis so that we have a full range to calibrate with
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
# XXX This is proably not correct for some printers?
zrange = th.get_kinematics().rails[2].get_range()
th_pos[2] = zrange[1] - 20.0
self._set_toolhead_position(th_pos, [2])
manual_probe.ManualProbeHelper(
self._printer,
gcmd,
lambda kin_pos: self.cmd_CALIBRATE_next(gcmd, kin_pos),
)
def cmd_CALIBRATE_next(self, gcmd: GCodeCommand, kin_pos: Optional[List[float]]):
th = self._printer.lookup_object("toolhead")
if kin_pos is None:
# User cancelled ManualProbeHelper
self._z_not_homed()
return
old_drive_current = self.current_drive_current()
drive_current: int = gcmd.get_int("DRIVE_CURRENT", old_drive_current, minval=0, maxval=31)
cal_z_max: float = gcmd.get_float("START_Z", self.params.calibration_z_max, above=2.0)
z_target: float = gcmd.get_float("TARGET_Z", 0.0)
probe_speed: float = gcmd.get_float("SPEED", self.params.probe_speed, above=0.0)
lift_speed: float = gcmd.get_float("LIFT_SPEED", self.params.lift_speed, above=0.0)
# We just did a ManualProbeHelper, so we're going to zero the z-axis
# to make the following code easier, so it can assume z=0 is actually real zero.
# The Eddy sensor calibration is done to nozzle height (not sensor or trigger height).
th_pos = th.get_position()
th_pos[2] = 0.0
self._set_toolhead_position(th_pos, [2])
th.wait_moves()
self._log_debug(f"calibrating from {kin_pos}, {th_pos}")
# lift up above cal_z_max, and then move over so the probe
# is over the nozzle position
th.manual_move([None, None, cal_z_max + 3.0], lift_speed)
th.manual_move(
[
th_pos[0] - self.offset["x"],
th_pos[1] - self.offset["y"],
None,
],
self.params.move_speed,
)
mapping, fth_fit, htf_fit = self._create_mapping(
cal_z_max,
z_target,
probe_speed,
lift_speed,
drive_current,
report_errors=True,
write_debug_files=True,
)
if mapping is None or fth_fit is None or htf_fit is None:
self._log_error("Calibration failed")
return
self._dc_to_fmap[drive_current] = mapping
self.save_config()
# reset the Z homing state after alibration
self._z_not_homed()
def _create_mapping(
self,
z_start: float,
z_target: float,
probe_speed: float,
lift_speed: float,
drive_current: int,
report_errors: bool,
write_debug_files: bool,
) -> Tuple[ProbeEddyFrequencyMap, float, float]:
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
# move to the start z of the mapping, going up first if we need to for backlash
if th_pos[2] < z_start:
th.manual_move([None, None, z_start + 3.0], lift_speed)
th.manual_move([None, None, z_start], lift_speed)
old_drive_current = self.current_drive_current()
try:
self._sensor.set_drive_current(drive_current)
times, freqs, heights, vels = self._capture_samples_down_to(z_target, probe_speed)
th.manual_move([None, None, z_start + 3.0], lift_speed)
finally:
self._sensor.set_drive_current(old_drive_current)
if times is None:
if report_errors:
self._log_error(f"Drive current {drive_current}: No samples collected. This could be a hardware issue or an incorrect drive current.")
else:
self._log_warning(f"Drive current {drive_current}: Warning: no samples collected.")
return None, None, None
# and build a map
mapping = ProbeEddyFrequencyMap(self)
fth_fit, htf_fit = mapping.calibrate_from_values(
drive_current,
times,
freqs,
heights,
vels,
report_errors,
write_debug_files,
)
return mapping, fth_fit, htf_fit
def _capture_samples_down_to(self, z_target: float, probe_speed: float) -> tuple[List[float], List[float], List[float], List[float]]:
th = self._printer.lookup_object("toolhead")
th.dwell(0.500) # give the sensor a bit to settle
th.wait_moves()
with self.start_sampler(calculate_heights=False) as sampler:
first_sample_time = th.get_last_move_time()
th.manual_move([None, None, z_target], probe_speed)
last_sample_time = th.get_last_move_time()
# Can't use wait_for_sample_at_time here, because the tail end of
# samples might be errors so they won't be passed to the sampler.
# Should fix that, but for now just wait an extra half second which
# should be more than enough.
# sampler.wait_for_sample_at_time(last_sample_time)
th.dwell(0.500)
th.wait_moves()
sampler.finish()
# the samples are a list of [print_time, freq, dummy_height] tuples
if sampler.raw_count == 0:
return None, None, None, None
freqs = []
heights = []
times = []
vels = []
for i in range(sampler.raw_count):
s_t = sampler.times[i]
s_freq = sampler.freqs[i]
s_pos, s_v = self._get_trapq_position(s_t)
s_z = s_pos[2]
if first_sample_time < s_t < last_sample_time and s_z >= z_target:
times.append(s_t)
freqs.append(s_freq)
heights.append(s_z)
vels.append(s_v)
return times, freqs, heights, vels
def cmd_TEST_DRIVE_CURRENT(self, gcmd: GCodeCommand):
drive_current: int = gcmd.get_int("DRIVE_CURRENT", self._reg_drive_current, minval=1, maxval=31)
z_start: float = gcmd.get_float("START_Z", self.params.calibration_z_max, above=2.0)
z_end: float = gcmd.get_float("TARGET_Z", 0.0)
debug: bool = gcmd.get_int("DEBUG", 0) == 1
self._log_msg(f"Testing Z={z_start:.3f} to Z={z_end:.3f}")
mapping, fth, htf = self._create_mapping(
z_start,
z_end,
self.params.probe_speed,
self.params.lift_speed,
drive_current,
report_errors=False,
write_debug_files=debug,
)
if mapping is None or fth is None or htf is None:
self._log_error(f"Test failed: drive current {drive_current} is not usable.")
#
# PrinterProbe interface
#
def get_offsets(self, *args, **kwargs):
# the z offset is the trigger height, because the probe will trigger
# at z=trigger_height (not at z=0)
return (
self.offset["x"],
self.offset["y"],
self.params.home_trigger_height,
)
def get_probe_params(self, gcmd=None):
return {
"probe_speed": self.params.probe_speed,
"lift_speed": self.params.lift_speed,
"sample_retract_dist": 0.0,
}
def start_probe_session(self, gcmd):
session = ProbeEddyScanningProbe(self, gcmd)
session._start_session()
return session
# method = gcmd.get('METHOD', 'automatic').lower()
# if method in ('scan', 'rapid_scan'):
# session = ProbeEddyScanningProbe(self, gcmd)
# session._start_session()
# return session
#
# return self._probe_session.start_probe_session(gcmd)
def get_status(self, eventtime):
if self._cmd_helper is not None:
status = self._cmd_helper.get_status(eventtime)
else:
status = dict()
status.update(
{
"name": self._full_name,
"home_trigger_height": float(self.params.home_trigger_height),
"tap_offset": float(self._tap_offset),
"tap_adjust_z": float(self._tap_adjust_z),
"last_probe_result": float(self._last_probe_result),
"last_tap_z": float(self._last_tap_z),
}
)
return status
# Old Probe interface, for Kalico
def get_lift_speed(self, gcmd=None):
if gcmd is not None:
return gcmd.get_float("LIFT_SPEED", self.params.lift_speed, above=0.0)
return self.params.lift_speed
def multi_probe_begin(self):
pass
def multi_probe_end(self):
pass
# This is a mishmash of cmd_PROBE and cmd_PROBE_STATIC. This run_probe
# is the old one, different than the scanning session run_probe.
def run_probe(self, gcmd=None, *args: Any, **kwargs: Any):
z = self.params.home_trigger_height
duration = 0.100
if not self._z_homed():
raise self._printer.command_error("Must home Z before PROBE")
if not self.calibrated():
raise self._printer.command_error("Eddy probe not calibrated!")
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
if th_pos[2] < z:
th.manual_move([None, None, z + 3.0], self.params.lift_speed)
th.manual_move([None, None, z], self.params.lift_speed)
th.dwell(0.100)
th.wait_moves()
r = self.probe_static_height(duration)
if not r.valid:
raise self._printer.command_error("Probe captured no samples!")
height = r.value
height += self._tap_offset
# At what Z position would the toolhead be at for the probe to read
# _home_trigger_height? In other words, if the probe tells us
# the height is 1.5 when the toolhead is at z=2.0, if the toolhead
# was moved up to 2.5, then the probe should read 2.0.
probe_z = z + (z - height)
return [th_pos[0], th_pos[1], probe_z]
#
# Moving the sensor to the correct position
#
def _probe_to_start_position_unhomed(self, move_home=False):
if not self._xy_homed():
raise self._printer.command_error("xy must be homed")
if not self.sampler_is_active():
raise self._printer.command_error("probe_to_start_position_unhomed: no sampler active")
if not self.calibrated():
raise self._printer.command_error("EDDYng not calibrated!")
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
# debug logging
th_kin = th.get_kinematics()
zlim = th_kin.limits[2]
rail_range = th_kin.rails[2].get_range()
self._log_debug(
f"probe to start unhomed: before movement: Z pos {th_pos[2]:.3f}, "
f"Z limits {zlim[0]:.2f}-{zlim[1]:.2f}, "
f"rail range {rail_range[0]:.2f}-{rail_range[1]:.2f}"
)
start_height_ok_factor = 0.100
# This is where we want to get to
start_height = self._home_start_height
# This is where the probe thinks we are
now_height = self._sampler.get_height_now()
# If we can't get a value at all for right now, for safety, just abort.
if now_height is None:
raise self._printer.command_error("Couldn't get any valid samples from sensor.")
self._log_debug(f"probe_to_start_position_unhomed: now: {now_height} (start {start_height})")
if abs(now_height - start_height) <= start_height_ok_factor:
return
th = self._printer.lookup_object("toolhead")
th_pos = th.get_position()
# If the sensor thinks we're too low we need to move back up before homing
if now_height < start_height:
move_up_by = min(start_height, start_height - now_height)
# give ourselves some room to do so, homing typically doesn't move up,
# and we should know that we have this room because the sensor tells us we're too low
th_pos[2] = rail_range[1] - (move_up_by + 10.0)
self._log_debug(f"probe_to_start_position_unhomed: resetting toolhead to z {th_pos[2]:.3f}")
self._set_toolhead_position(th_pos, [2])
n_pos = th.get_position()
zlim = th_kin.limits[2]
rail_range = th_kin.rails[2].get_range()
self._log_debug(
f"after reset: Z pos {n_pos[2]:.3f}, Z limits {zlim[0]:.2f}-{zlim[1]:.2f}, rail range {rail_range[0]:.2f}-{rail_range[1]:.2f}"
)
th_pos[2] += move_up_by
self._log_debug(f"probe_to_start_position_unhomed: moving toolhead up by {move_up_by:.3f} to {th_pos[2]:.3f}")
th.manual_move([None, None, th_pos[2]], self.params.probe_speed)
# TODO: this should just be th.wait_moves()
self._sampler.wait_for_sample_at_time(th.get_last_move_time())
def probe_to_start_position(self, z_pos=None):
self._log_debug(f"probe_to_start_position (tt: {self.params.tap_threshold}, z-homed: {self._z_homed()})")
# If we're not homed at all, rely on the sensor values to bring us to
# a good place to start a diving probe from
if not self._z_homed():
if z_pos is not None:
raise self._printer.command_error("Can't probe_to_start_position with an explicit Z without homed Z")
self._probe_to_start_position_unhomed()
return
th = self._printer.lookup_object("toolhead")
th.wait_moves()
th_pos = th.get_position()
# Note home_trigger_height and not home_start_height: if we're homed,
# we don't need to do another dive and we just want to move to
# the right position for probing.
if z_pos is not None:
start_z = z_pos
else:
start_z = self.params.home_trigger_height
# If we're below, move up a bit beyond and the back down
# to compensate for backlash
if th_pos[2] < start_z:
self._log_debug(f"probe_to_start_position: moving toolhead from {th_pos[2]:.3f} to {(start_z + 1.0):.3f}")
th_pos[2] = start_z + 1.0
th.manual_move(th_pos, self.params.lift_speed)
self._log_debug(f"probe_to_start_position: moving toolhead from {th_pos[2]:.3f} to {start_z:.3f}")
th_pos[2] = start_z
th.manual_move(th_pos, self.params.probe_speed)
th.wait_moves()
#
# Tap probe
#
cmd_TAP_help = "Calculate a z-offset by touching the build plate."
def cmd_TAP(self, gcmd: GCodeCommand):
drive_current = self._sensor.get_drive_current()
try:
self.cmd_TAP_next(gcmd)
finally:
self._sensor.set_drive_current(drive_current)
@dataclass
class TapResult:
error: Optional[Exception]
probe_z: float
toolhead_z: float
overshoot: float
tap_time: float
tap_start_time: float
tap_end_time: float
@dataclass
class TapConfig:
mode: str
threshold: float
sos: Optional[List[List[float]]] = None
def do_one_tap(
self,
start_z: float,
target_z: float,
tap_speed: float,
lift_speed: float,
tapcfg: ProbeEddy.TapConfig,
) -> TapResult:
self.probe_to_start_position(start_z)
th = self._printer.lookup_object("toolhead")
target_position = th.get_position()
target_position[2] = target_z
error = None
try:
# configure the endstop for tap (gets reset at the end of a tap sequence,
# also in finally just in case
self._endstop_wrapper.tap_config = tapcfg
endstops = [(self._endstop_wrapper, "probe")]
hmove = HomingMove(self._printer, endstops)
try:
probe_position = hmove.homing_move(target_position, tap_speed, probe_pos=True)
# raise toolhead as soon as tap ends
finish_z = th.get_position()[2]
if finish_z < 1.0:
th.manual_move([None, None, start_z], lift_speed)
if hmove.check_no_movement() is not None:
raise self._printer.command_error("Probe triggered prior to movement")
probe_z = probe_position[2]
self._log_debug(f"tap: probe_z: {probe_z:.3f} finish_z: {finish_z:.3f} moved up to {start_z:.3f}")
if probe_z - target_z < 0.050:
# we detected a tap but it was too close to our target z
# to be trusted
# TODO: use velocity to determine this
return ProbeEddy.TapResult(
error=Exception("Tap detected too close to target z"),
toolhead_z=finish_z,
probe_z=probe_z,
overshoot=0.0,
tap_time=0.0,
tap_start_time=0.0,
tap_end_time=0.0,
)
except self._printer.command_error as err:
if self._printer.is_shutdown():
raise self._printer.command_error("Probing failed due to printer shutdown")
# in case of failure don't leave the toolhead in a bad spot (i.e. in bed)
finish_z = th.get_position()[2]
if finish_z < 1.0:
th.manual_move([None, None, start_z], lift_speed)
# If just sensor errors, let the caller handle it
self._log_error(f"Tap failed with Z at {finish_z:.3f}: {err}")
if "Sensor error" or "Probe completed movement" or "Probe triggered prior" in str(err):
return ProbeEddy.TapResult(
error=err,
toolhead_z=finish_z,
probe_z=0.0,
overshoot=0.0,
tap_time=0.0,
tap_start_time=0.0,
tap_end_time=0.0,
)
else:
raise
finally:
self._endstop_wrapper.tap_config = None
# The toolhead ended at finish_z, but probe_z is the actual zero.
# finish_z should be below or equal to probe_z because there will always be
# a bit of overshoot due to trigger delay, and because we actually
# fire the trigger later than when the tap starts (and the tap start
# time is what's used to compute probe_position)
if finish_z > probe_z:
raise self._printer.command_error(f"Unexpected: finish_z {finish_z:.3f} is above probe_z {probe_z:.3f} after tap")
# How much the toolhead overshot the real z=0 position. This is the amount
# the toolhead is pushing into the build plate.
overshoot = probe_z - finish_z
tap_start_time = self._endstop_wrapper.last_tap_start_time
tap_end_time = self._endstop_wrapper.last_trigger_time
tap_time = tap_start_time + (tap_end_time - tap_start_time) * self.params.tap_time_position
return ProbeEddy.TapResult(
error=error,
probe_z=probe_z,
toolhead_z=finish_z,
overshoot=overshoot,
tap_time=tap_time,
tap_start_time=tap_start_time,
tap_end_time=tap_end_time,
)
def _compute_butter_tap(self, sampler):
if not scipy:
return None, None
trigger_freq = self.height_to_freq(self.params.home_trigger_height)
s_f = np.asarray(sampler.freqs)
first_one = np.argmax(s_f >= trigger_freq)
s_t = np.asarray(sampler.times[first_one:])
s_f = np.asarray(sampler.freqs[first_one:])
lowcut = self.params.tap_butter_lowcut
highcut = self.params.tap_butter_highcut
order = self.params.tap_butter_order
sos = scipy.signal.butter(
order,
[lowcut, highcut],
btype="bandpass",
fs=self._sensor._data_rate,
output="sos",
)
filtered = scipy.signal.sosfilt(sos, s_f - s_f[0])
return s_t, filtered
def cmd_TAP_next(self, gcmd: Optional[GCodeCommand] = None):
self._log_debug("\nEDDYng Tap begin")
if gcmd is None:
gcmd = self._dummy_gcode_cmd
orig_drive_current: int = self._sensor.get_drive_current()
tap_drive_current: int = gcmd.get_int(
name="DRIVE_CURRENT",
default=self._tap_drive_current,
minval=1,
maxval=31,
)
tap_speed: float = gcmd.get_float("SPEED", self.params.tap_speed, above=0.0)
lift_speed: float = gcmd.get_float("RETRACT_SPEED", self.params.lift_speed, above=0.0)
tap_start_z: float = gcmd.get_float("START_Z", self.params.tap_start_z, above=2.0)
target_z: float = gcmd.get_float("TARGET_Z", self.params.tap_target_z)
tap_threshold: float = gcmd.get_float("THRESHOLD", None) # None so we have a sentinel value
tap_threshold = gcmd.get_float("TT", tap_threshold) # alias for THRESHOLD
tap_adjust_z = gcmd.get_float("ADJUST_Z", self._tap_adjust_z)
do_retract = gcmd.get_int("RETRACT", 1) == 1
samples = gcmd.get_int("SAMPLES", self.params.tap_samples, minval=1)
max_samples = gcmd.get_int("MAX_SAMPLES", self.params.tap_max_samples, minval=samples)
samples_stddev = gcmd.get_float("SAMPLES_STDDEV", self.params.tap_samples_stddev, above=0.0)
use_median: bool = gcmd.get_int("USE_MEDIAN", 1 if self.params.tap_use_median else 0) == 1
home_z: bool = gcmd.get_int("HOME_Z", 1) == 1
write_plot_arg: int = gcmd.get_int("PLOT", None)
mode = gcmd.get("MODE", self.params.tap_mode).lower()
if mode not in ("wma", "butter"):
raise self._printer.command_error(f"Invalid mode: {mode}")
# if the mode is different than the params, then require
# specifying threshold
if tap_threshold is None:
if mode != self.params.tap_mode:
raise self._printer.command_error(
f"THRESHOLD required when mode ({mode}) is different than configured default ({self.params.tap_mode})"
)
tap_threshold = self.params.tap_threshold
if not self._z_homed():
raise self._printer.command_error("Z axis must be homed before tapping")
write_tap_plot = self.params.write_tap_plot
write_every_tap_plot = self.params.write_every_tap_plot and write_tap_plot
if write_plot_arg is not None:
write_tap_plot = write_plot_arg > 0
write_every_tap_plot = write_plot_arg > 1
tapcfg = ProbeEddy.TapConfig(mode=mode, threshold=tap_threshold)
# fmt: off
if mode == "butter":
if self.params.is_default_butter_config() and self._sensor._data_rate == 250:
sos = [
[ 0.046131802093312926, 0.09226360418662585, 0.046131802093312926, 1.0, -1.3297767184682712, 0.5693902189294331, ],
[ 1.0, -2.0, 1.0, 1.0, -1.845000600983779, 0.8637525213328747, ],
]
elif self.params.is_default_butter_config() and self._sensor._data_rate == 500:
sos = [
[ 0.013359200027856505, 0.02671840005571301, 0.013359200027856505, 1.0, -1.686278256753083, 0.753714473246724, ],
[ 1.0, -2.0, 1.0, 1.0, -1.9250515947328444, 0.9299234737648037, ],
]
elif scipy:
sos = scipy.signal.butter(
self.params.tap_butter_order,
[ self.params.tap_butter_lowcut, self.params.tap_butter_highcut, ],
btype="bandpass",
fs=self._sensor._data_rate,
output="sos",
).tolist()
else:
raise self._printer.command_error("Scipy is not available, cannot use custom filter, or data rate is not 250 or 500")
tapcfg.sos = sos
# fmt: on
results = []
tap_z = None
tap_stddev = None
tap_overshoot = None
sample_err_count = 0
tap = None
try:
self._sensor.set_drive_current(tap_drive_current)
sample_last_err = None
for sample_i in range(max_samples):
if self.params.debug:
self.save_samples_path = f"/tmp/tap-samples-{sample_i+1}.csv"
tap = self.do_one_tap(
start_z=tap_start_z,
target_z=target_z,
tap_speed=tap_speed,
lift_speed=lift_speed,
tapcfg=tapcfg,
)
if write_every_tap_plot:
try:
self._write_tap_plot(tap, sample_i)
except Exception as e:
self._log_error(f"Failed to write tap plot: {e}")
if tap.error:
if "too close to target z" in str(tap.error):
self._log_msg(f"Tap {sample_i+1}: failed: try lowering TARGET_Z by 0.100 (to {target_z - 0.100:.3f})")
else:
self._log_msg(f"Tap {sample_i+1}: failed ({tap.error})")
sample_err_count += 1
sample_last_err = tap
continue
results.append(tap)
self._log_msg(f"Tap {sample_i+1}: z={tap.probe_z:.3f}")
self._log_debug(
f"tap[{sample_i+1}]: {tap.probe_z:.3f} toolhead at: {tap.toolhead_z:.3f} overshoot: {tap.overshoot:.3f} at {tap.tap_time:.4f}s"
)
if samples == 1:
# only one sample, we're done
tap_z = tap.probe_z
tap_stddev = 0.0
tap_overshoot = tap.overshoot
break
if len(results) >= samples:
tap_z, tap_stddev, tap_overshoot = self._compute_tap_z(results, samples, samples_stddev, use_median)
if tap_z is not None:
break
finally:
self.reset_drive_current()
if write_tap_plot and not write_every_tap_plot and tap:
try:
self._write_tap_plot(tap)
except Exception as e:
self._log_error(f"Failed to write tap plot: {e}")
th = self._toolhead
# If we didn't compute a tap_z report the error
if tap_z is None:
# raise toolhead on failed tap
th.manual_move([None, None, tap_start_z], lift_speed)
err_msg = "Tap failed:"
if tap_stddev is not None:
err_msg += f" stddev {tap_stddev:.3f} > {samples_stddev:.3f}."
err_msg += " Consider adjusting tap_samples, tap_max_samples, or tap_samples_stddev."
if sample_err_count > 0:
err_msg += f" {sample_err_count} errors, last: {sample_last_err.error} at toolhead z={sample_last_err.toolhead_z:.3f}"
self._log_error(err_msg)
raise self._printer.command_error("Tap failed")
# Adjust the computed tap_z by the user's tap_adjust_z, typically to raise
# it to account for flex in the system (otherwise the Z would be too low)
computed_tap_z = adjusted_tap_z = tap_z + tap_adjust_z
self._last_tap_z = float(tap_z)
homed_to_str = ""
if home_z:
th_pos = th.get_position()
th_z = th_pos[2]
#true_z_zero = - (tap_adjust_z + tap_overshoot)
true_z_zero = - computed_tap_z
th_pos[2] = th_pos[2] + true_z_zero
homed_to_str = f"homed z with true_z_zero={true_z_zero:.3f}, thz={th_z:.3f}, setz={th_pos[2]:.3f}, overshoot={tap_overshoot:.3f}, "
self._set_toolhead_position(th_pos, [2])
self._last_tap_gcode_adjustment = 0.0
adjusted_tap_z = 0.0
gcode_move = self._printer.lookup_object("gcode_move")
gcode_delta = adjusted_tap_z - gcode_move.homing_position[2]
gcode_move.base_position[2] += gcode_delta
gcode_move.homing_position[2] = adjusted_tap_z
self._last_tap_gcode_adjustment = adjusted_tap_z
#
# Figure out the offset to apply to sensor readings at the home trigger height
# for future probes.
#
# This is actually unrelated to tap, but is related to temperature compensation.
# Bed mesh is going to read values relative to the probe's z_offset (home_trigger_height).
# But we can't trust the probe's values directly, because of temperature effects.
#
# What we can do though is move the toolhead to that height, take a probe reading,
# then save the delta there to apply as an offset for bed mesh in the future.
# That makes this bed height effectively "0", which is fine, because this is
# what we did tap at to get a height zero reading.
#
# Toolhead moves are absolute; they don't take into account the gcode offset.
# Probes happen at absolute z=z_offset, so this doesn't take into account the
# tap_z computed above. This does mean that the actual physical height probing happens at
# is not likely to be exactly the same as the Z position, but all we care about is
# variance from that position so this should be fine.
self._sensor.set_drive_current(orig_drive_current)
th_now = th.get_position()
th.manual_move([None, None, self.params.home_trigger_height + 1.0], lift_speed)
th.manual_move([th_now[0] - self.params.x_offset, th_now[1] - self.params.y_offset, None], self.params.move_speed)
th.manual_move([None, None, self.params.home_trigger_height], self.params.probe_speed)
th.dwell(0.500)
th.wait_moves()
result = self.probe_static_height()
self._tap_offset = float(self.params.home_trigger_height - result.value)
self._log_msg(
f"Probe computed tap at {computed_tap_z:.3f} (tap at z={tap_z:.3f}, "
f"stddev {tap_stddev:.3f}) with {samples} samples, {homed_to_str}"
f"sensor offset {self._tap_offset:.3f} at z={self.params.home_trigger_height:.3f}"
)
if do_retract:
th.manual_move([None, None, self._home_start_height], lift_speed)
th.wait_moves()
th.flush_step_generation()
self._log_debug("EDDYng Tap end\n")
# Compute the average tap_z from a set of tap results, taking a cluster of samples
# from the result that has the lowest standard deviation
def _compute_tap_z(self, taps: List[ProbeEddy.TapResult], samples: int, req_stddev: float, use_median: bool) -> Tuple[float, float, float]:
if len(taps) < samples:
return None, None, None
tap_z = math.inf
std_min = math.inf
overshoot = math.inf
for cluster in combinations(taps, samples):
tap_zs = np.array([t.probe_z for t in cluster])
overshoots = np.array([t.overshoot for t in cluster])
std = np.std(tap_zs)
if std < std_min:
std_min = std
if use_median:
# we need the corresponding overshoot as well, so
# can't just use np.median().
sorted_indices = np.argsort(tap_zs)
idx = len(tap_zs) // 2
tap_z = tap_zs[sorted_indices[idx]]
overshoot = overshoots[sorted_indices[idx]]
else:
tap_z = np.mean(tap_zs)
overshoot = np.mean(overshoots)
if std_min <= req_stddev:
return float(tap_z), float(std_min), float(overshoot)
else:
return None, float(std_min), None
# Write a tap plot. This also has logic to compute the averages
# and the filter mostly-exactly how it's done on the probe MCU itself
# (vs using numpy or similar) to make these graphs more reprensetative
def _write_tap_plot(self, tap: ProbeEddy.TapResult, tapnum: int = -1):
if not plotly:
return
if tapnum == -1:
filename_base = "tap"
else:
filename_base = f"tap-{tapnum+1}"
tapplot_path_png = f"/tmp/{filename_base}.png"
tapplot_path_html = f"/tmp/{filename_base}.html"
# delete any old plots to avoid confusion
if tapplot_path_html and os.path.exists(tapplot_path_html):
os.remove(tapplot_path_html)
if tapplot_path_png and os.path.exists(tapplot_path_png):
os.remove(tapplot_path_png)
if not self._last_sampler or not self._last_sampler.times:
return
s_t = np.asarray(self._last_sampler.times)
s_f = np.asarray(self._last_sampler.freqs)
s_z = np.asarray(self._last_sampler.heights)
s_kinz = np.vectorize(lambda t: self._get_trapq_height(t) or -10)(s_t)
# Any values below 0.0 are suspect because they were not calibrated,
# and so are just extrapolated from the fit. Show them differently.
s_lowz = np.ma.masked_where(s_z >= 0, s_z)
s_z = np.ma.masked_where(s_z < 0, s_z)
time_start = s_t.min()
# normalize times to start at 0
s_t = s_t - time_start
tap_start_time = self._last_sampler.memos.get("tap_start_time", time_start) - time_start
tap_end_time = self._last_sampler.memos.get("trigger_time", time_start) - time_start
trigger_time = tap_start_time + (tap_end_time - tap_start_time) * self.params.tap_time_position
tap_threshold = self._last_sampler.memos.get("tap_threshold", 0)
time_len = s_t.max()
# compute the butterworth filter, if we have scipy
if tap is not None and scipy:
butter_s_t, butter_s_v = self._compute_butter_tap(self._last_sampler)
butter_s_t = butter_s_t - time_start
else:
butter_s_t = butter_s_v = None
# Do this roughly how the C code does it, to keep the values identical
# TODO Just report the value from the mcu?
butter_accum = None
if butter_s_v is not None:
# Note: we don't handle freq offset or
# start this at same point as the C code does
butter_accum = np.zeros(len(butter_s_v))
last_value = butter_s_v[0]
falling = False
accum_val = 0.0
for bi, bv in enumerate(butter_s_v):
if bv <= last_value:
falling = True
accum_val += last_value - bv
elif falling and bv > last_value:
falling = False
accum_val = 0.0
butter_accum[bi] = accum_val
last_value = bv
import plotly.graph_objects as go
(c_red, c_lt_red) = ('#9e4058', '#C2697F')
(c_orange, c_lt_orange) = ('#d0641e', '#E68E54')
(c_yellow, c_lt_yellow) = ('#f9ab0e', '"#FBC559')
(c_green, c_lt_green) = ('#589e40', '#7FC269')
(c_blue, c_lt_blue) = ('#2c3778', '#4151B0')
(c_purple, c_lt_purple) = ('#513965', '#785596')
fig = go.Figure()
# fmt: off
if tap_start_time > 0:
fig.add_shape(type="line", x0=tap_start_time, x1=tap_start_time, y0=0, y1=1,
xref="x", yref="paper", line=dict(color=c_purple, width=2),)
if trigger_time > 0:
fig.add_shape(type="line", x0=trigger_time, x1=trigger_time, y0=0, y1=1,
xref="x", yref="paper", line=dict(color=c_lt_orange, width=2),)
if tap_end_time > 0:
fig.add_shape(type="line", x0=tap_end_time, x1=tap_end_time, y0=0, y1=1,
xref="x", yref="paper", line=dict(color=c_purple, width=2),)
if tap_threshold > 0:
fig.add_shape(type="line", x0=0, x1=1, y0=tap_threshold, y1=tap_threshold,
xref="paper", yref="y3", line=dict(color="gray", width=1, dash="dash"),)
fig.add_shape(type="line", x0=0, x1=1, y0=tap.probe_z, y1=tap.probe_z,
xref="paper", yref="y", line=dict(color=c_lt_orange, width=1),)
# Computed Z, Toolhead Z, Sensor F
fig.add_trace(go.Scatter(x=s_t, y=s_z, mode="lines", name="Z", line=dict(color=c_blue)))
fig.add_trace(go.Scatter(x=s_t, y=s_lowz, mode="lines", name="Z (low)", line=dict(color=c_lt_blue, dash="dash")))
fig.add_trace(go.Scatter(x=s_t, y=s_kinz, mode="lines", name="KinZ", line=dict(color=c_lt_red)))
fig.add_trace(go.Scatter(x=s_t, y=s_f, mode="lines", name="Freq", yaxis="y2", line=dict(color=c_orange)))
# the butter tap if we have the data
if butter_s_t is not None:
fig.add_trace(go.Scatter(x=butter_s_t, y=butter_s_v, mode="lines", name="signal", yaxis="y4", line=dict(color=c_green)))
fig.add_trace(go.Scatter(x=butter_s_t, y=butter_accum, mode="lines", name="threshold", yaxis="y3", line=dict(color="#626b73")))
fig.update_xaxes(range=[max(0.0, time_len - 0.60), time_len], autorange=False)
fig.update_layout(
hovermode="x unified",
title=dict(text=f"Tap {tapnum+1}: {tap.probe_z:.3f}"),
yaxis=dict(title="Z", side="right"), # Z axis
yaxis2=dict(overlaying="y", title="Freq", tickformat="d", side="left"), # Freq + WMA
yaxis3=dict(overlaying="y", side="left", tickformat="d", position=0.2), # derivatives, tap accum
yaxis4=dict(overlaying="y", side="right", showticklabels=False), # filter
height=800,
)
# fmt: on
timg = 0.0
thtml = 0.0
if tapplot_path_png:
t0 = time.time()
try:
fig.write_image(tapplot_path_png)
except:
tapplot_path_png = None
timg = time.time() - t0
if tapplot_path_html:
t0 = time.time()
fig.write_html(tapplot_path_html, include_plotlyjs="cdn")
thtml = time.time() - t0
self._log_info(f"Wrote tap plot to {tapplot_path_png or ''} {tapplot_path_html or ''} [took {timg:.1f}, {thtml:.1f}]")
def cmd_START_STREAM(self, gcmd):
self.save_samples_path = "/tmp/stream.csv"
self._log_info("Eddy sampling enabled")
self.start_sampler()
def cmd_STOP_STREAM(self, gcmd):
self._log_info("Eddy sampling finished")
self._sampler.finish()
self._sampler = None
# Probe interface that does only scanning, no up/down movement.
# It scans at whatever height the probe is, but returns values
# as if the probing happened (i.e. relative to
# z_offset/home_trigger_height).
@final
class ProbeEddyScanningProbe:
def __init__(self, eddy: ProbeEddy, gcmd: GCodeCommand):
self.eddy = eddy
self._printer = eddy._printer
self._toolhead = self._printer.lookup_object("toolhead")
self._toolhead_kin = self._toolhead.get_kinematics()
# we're going to scan at this height; pull_probed_results
# also expects to return values based on this height
self._scan_z = eddy.params.home_trigger_height
# sensor thinks is _home_trigger_height vs. what it actually is.
# For example, if we do a tap, adjust, and then we move the toolhead up
# to 2.0 but the sensor says 1.950, then this would be +0.050.
self._tap_offset = eddy._tap_offset
# how much to dwell at each sample position in addition to sample_time
self._sample_time_delay = self.eddy.params.scan_sample_time_delay
self._sample_time: float = gcmd.get_float("SAMPLE_TIME", self.eddy.params.scan_sample_time, above=0.0)
self._is_rapid = gcmd.get("METHOD", "automatic").lower() == "rapid_scan"
self._sampler: ProbeEddySampler = None
self._notes = []
def get_probe_params(self, gcmd):
# this seems to be all that external users of get_probe_params
# use (bed_mesh, axis_twist_compensation)
return {
"lift_speed": self.eddy.params.lift_speed,
"probe_speed": self.eddy.params.probe_speed,
}
def _start_session(self):
if not self.eddy._z_homed():
raise self._printer.command_error("Z axis must be homed before probing")
self.eddy.probe_to_start_position()
self._sampler = self.eddy.start_sampler()
def end_probe_session(self):
self._sampler.finish()
self._sampler = None
def _rapid_lookahead_cb(self, time, th_pos):
# The time passed here is the time when the move finishes;
# but this is super obnoxious because we don't get any info
# here about _where_ the move is to. So we explicitly pass
# in the last position in run_probe
start_time = time - self._sample_time / 2.0
self._notes.append([start_time, time, th_pos])
def run_probe(self, gcmd, *args: Any, **kwargs: Any):
th = self._toolhead
th_pos = th.get_position()
if self._is_rapid:
# this callback is attached to the last move in the queue, so that
# we can grab the toolhead position when the toolhead actually hits it
self._toolhead.register_lookahead_callback(lambda time: self._rapid_lookahead_cb(time, th_pos))
return
th.dwell(self._sample_time_delay)
start_time = th.get_last_move_time()
self._toolhead.dwell(self._sample_time + self._sample_time_delay)
self._notes.append((start_time, start_time + self._sample_time / 2.0, th_pos))
def pull_probed_results(self):
if self._is_rapid:
# Flush lookahead (so all lookahead callbacks are invoked)
self._toolhead.get_last_move_time()
# make sure we get the sample for the final move
self._sampler.wait_for_sample_at_time(self._notes[-1][0] + self._sample_time)
# note: we can't call finish() here! this session can continue to be used
# to probe additional points and pull them, because that's what QGL does.
results = []
logging.info(f"ProbeEddyScanningProbe: pulling {len(self._notes)} results")
for start_time, sample_time, th_pos in self._notes:
if th_pos is None:
th_pos, _ = self.eddy._get_trapq_position(sample_time)
if th_pos is None:
raise self._printer.command_error(f"No trapq history found for {sample_time:.3f} and no position!")
end_time = start_time + self._sample_time
height = self._sampler.find_height_at_time(start_time, end_time)
if not math.isclose(th_pos[2], self._scan_z, rel_tol=1e-3):
logging.info(
f"ProbeEddyScanningProbe warning: toolhead not at home_trigger_height ({self._scan_z:.3f}) during probes (saw {th_pos[2]:.3f})"
)
h_orig = height
tz_orig = th_pos[2]
# adjust the sensor height value based on the fine-tuned tap offset amount
height += self._tap_offset
# the delta between where the toolhead thinks it should be (since it
# should be homed), and the actual physical offset (height)
z_deviation = th_pos[2] - height
# what callers want to know is "what Z would the toolhead be at, if it was at the height
# the probe would 'trigger'", because this is all done in terms of klicky-type probes
z = float(self._scan_z + z_deviation)
if HAS_PROBE_RESULT_TYPE:
bed_x = th_pos[0] + self.eddy.params.x_offset
bed_y = th_pos[1] + self.eddy.params.y_offset
res = manual_probe.ProbeResult(bed_x, bed_y, z_deviation,
th_pos[0], th_pos[1], th_pos[2])
result_wrapper = [res]
self._printer.send_event("probe:update_results", result_wrapper)
res = result_wrapper[0]
else:
res = [th_pos[0], th_pos[1], z]
self._printer.send_event("probe:update_results", res)
results.append(res)
# reset notes so that this session can continue to be used
self._notes = []
return results
# This is a ProbeEndstopWrapper-compatible class,
# which also forwards the "mcu_probe" methods.
@final
class ProbeEddyEndstopWrapper:
REASON_BASE = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 1
REASON_ERROR_SENSOR = REASON_BASE + 0
REASON_ERROR_PROBE_TOO_LOW = REASON_BASE + 1
REASON_ERROR_TOO_EARLY = REASON_BASE + 2
def __init__(self, eddy: ProbeEddy):
self.eddy = eddy
self._sensor = eddy._sensor
self._printer = eddy._printer
self._mcu = eddy._mcu
self._reactor = eddy._reactor
# these two are filled in by the outside.
self.tap_config: Optional[ProbeEddy.TapConfig] = None
# if not None, after a probe session is finished we'll
# write all samples here
self.save_samples_path: Optional[str] = None
self._multi_probe_in_progress = False
self._dispatch = mcu.TriggerDispatch(self._mcu)
# the times of the last successful endstop home_wait
self.last_trigger_time = 0.0
self.last_tap_start_time = 0.0
self._homing_in_progress = False
self._sampler: ProbeEddySampler = None
# Register z_virtual_endstop pin
self._printer.lookup_object("pins").register_chip("probe", self)
# Register event handlers
self._printer.register_event_handler("klippy:mcu_identify", self._handle_mcu_identify)
self._printer.register_event_handler("homing:homing_move_begin", self._handle_homing_move_begin)
self._printer.register_event_handler("homing:homing_move_end", self._handle_homing_move_end)
self._printer.register_event_handler("homing:home_rails_begin", self._handle_home_rails_begin)
self._printer.register_event_handler("homing:home_rails_end", self._handle_home_rails_end)
self._printer.register_event_handler("gcode:command_error", self._handle_command_error)
# copy some things in for convenience
self._home_trigger_height = self.eddy.params.home_trigger_height
self._home_trigger_safe_start_offset = self.eddy.params.home_trigger_safe_start_offset
self._home_start_height = self.eddy._home_start_height # this is trigger + safe_start + 1.0
self._probe_speed = self.eddy.params.probe_speed
self._lift_speed = self.eddy.params.lift_speed
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)
def _handle_home_rails_begin(self, homing_state, rails):
endstops = [es for rail in rails for es, name in rail.get_endstops()]
if self not in endstops:
return
# Nothing to do
pass
def _handle_homing_move_begin(self, hmove):
if self not in hmove.get_mcu_endstops():
return
self._sampler = self.eddy.start_sampler()
self._homing_in_progress = True
# if we're doing a tap, we're already in the right position;
# otherwise move there
if self.tap_config is None:
self.eddy._probe_to_start_position_unhomed(move_home=True)
def _handle_homing_move_end(self, hmove):
if self not in hmove.get_mcu_endstops():
return
self._sampler.finish()
self._homing_in_progress = False
def _handle_home_rails_end(self, homing_state, rails):
endstops = [es for rail in rails for es, name in rail.get_endstops()]
if self not in endstops:
return
# Nothing to do
pass
def _handle_command_error(self, gcmd=None):
if self._homing_in_progress:
self._homing_in_progress = False
try:
if self._sampler is not None:
self._sampler.finish()
except:
logging.exception("EDDYng handle_command_error: sampler.finish() failed")
def setup_pin(self, pin_type, pin_params):
if pin_type != "endstop" or pin_params["pin"] != "z_virtual_endstop":
raise pins.error("Probe virtual endstop only useful as endstop pin")
if pin_params["invert"] or pin_params["pullup"]:
raise pins.error("Can not pullup/invert probe virtual endstop")
return self
# these are the "MCU Probe" methods
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 get_position_endstop(self):
if self.tap_config is None:
return self._home_trigger_height
else:
return 0.0
def home_start(self, print_time, sample_time, sample_count, rest_time, triggered=True):
if not self._sampler.active():
raise self._printer.command_error("home_start called without a sampler active")
self.last_trigger_time = 0.0
self.last_tap_start_time = 0.0
trigger_height = self._home_trigger_height
safe_height = trigger_height + self._home_trigger_safe_start_offset
if self.tap_config is None:
safe_time = print_time + self.eddy.params.home_trigger_safe_time_offset
trigger_freq = self.eddy.height_to_freq(trigger_height)
safe_freq = self.eddy.height_to_freq(safe_height)
else:
# TODO: the home trigger safe time won't work, because we'll pass
# the home_trigger_height maybe by default given where tap might
# start
safe_time = 0
# initial freq to pass through
safe_freq = self.eddy.height_to_freq(self._home_trigger_height)
# second freq to pass through; toolhead acceleration
# must be smooth after this point
trigger_freq = self.eddy.height_to_freq(self.eddy.params.tap_trigger_safe_start_height)
trigger_completion = self._dispatch.start(print_time)
if self.tap_config is not None:
if self.tap_config.mode == "butter":
sos = self.tap_config.sos
assert sos
for i in range(len(sos)):
self.eddy._sensor.set_sos_section(i, sos[i])
mode = "sos"
elif self.tap_config.mode == "wma":
mode = "wma"
else:
raise self._printer.command_error(f"Invalid tap mode: {self.tap_config.mode}")
tap_threshold = self.tap_config.threshold
else:
mode = "home"
tap_threshold = None
self.eddy._log_debug(
f"EDDYng home_start {mode}: {print_time:.3f} freq: {trigger_freq:.2f} safe-start: {safe_freq:.2f} @ {safe_time:.3f}"
)
# setup homing -- will start scanning and trigger when we hit
# trigger_freq
self._sensor.setup_home(
self._dispatch.get_oid(),
mcu.MCU_trsync.REASON_ENDSTOP_HIT,
self.REASON_BASE,
trigger_freq,
safe_freq,
safe_time,
mode=mode,
tap_threshold=tap_threshold,
max_errors=self.eddy.params.max_errors,
)
return trigger_completion
def home_wait(self, home_end_time):
self.eddy._log_debug(f"home_wait until {home_end_time:.3f}")
# logging.info(f"EDDYng home_wait {home_end_time} cur {curtime} ept {est_print_time} ehe {est_he_time}")
self._dispatch.wait_end(home_end_time)
# make sure homing is stopped, and grab the trigger_time from the mcu
home_result = self._sensor.finish_home()
trigger_time = home_result.trigger_time
tap_start_time = home_result.tap_start_time
error = self._sensor.data_error_to_str(home_result.error) if home_result.error != 0 else ""
is_tap = self.tap_config is not None
self._sampler.memo("trigger_time", trigger_time)
if is_tap:
self._sampler.memo("tap_start_time", tap_start_time)
self._sampler.memo("tap_threshold", self.tap_config.threshold)
self.eddy._log_debug(
f"trigger_time {trigger_time} (mcu: {self._mcu.print_time_to_clock(trigger_time)}) tap time: {tap_start_time}-{trigger_time} {error}"
)
# nb: _dispatch.stop() will treat anything >= REASON_COMMS_TIMEOUT as an error,
# and will only return those results. Fine for us since we only have one trsync,
# but annoying in general.
res = self._dispatch.stop()
# clean these up, and only update them if successful
self.last_trigger_time = 0.0
self.last_tap_start_time = 0.0
# always reset this; taps are one-shot usages of the endstop wrapper
self.tap_config = None
# if we're doing a tap, we wait for samples for the end as well so that we can get
# beter data for analysis
self._sampler.wait_for_sample_at_time(trigger_time)
# success?
if res == mcu.MCU_trsync.REASON_ENDSTOP_HIT:
self.last_trigger_time = trigger_time
self.last_tap_start_time = tap_start_time
if is_tap:
return tap_start_time + (trigger_time - tap_start_time) * self.eddy.params.tap_time_position
return trigger_time
# various errors
if res == mcu.MCU_trsync.REASON_COMMS_TIMEOUT:
raise self._printer.command_error("Communication timeout during homing")
if res == self.REASON_ERROR_SENSOR:
raise self._printer.command_error(f"Sensor error ({error})")
if res == self.REASON_ERROR_PROBE_TOO_LOW:
raise self._printer.command_error("Probe too low at start of homing, did not clear safe height.")
if res == self.REASON_ERROR_TOO_EARLY:
raise self._printer.command_error("Probe cleared safe height too early.")
if res == mcu.MCU_trsync.REASON_PAST_END_TIME:
raise self._printer.command_error(
"Probe completed movement before triggering. If this is a tap, try lowering TARGET_Z or adjusting the THRESHOLD."
)
raise self._printer.command_error(f"Unknown homing error: {res}")
def query_endstop(self, print_time):
return False
def _setup_sampler(self):
self._sampler = self.eddy.start_sampler()
def _finish_sampler(self):
self._sampler.finish()
self._sampler = None
# Helper to gather samples and convert them to probe positions
@final
class ProbeEddySampler:
def __init__(
self,
eddy: ProbeEddy,
calculate_heights: bool = True,
):
self.eddy = eddy
self._sensor = eddy._sensor
self._printer = self.eddy._printer
self._reactor = self._printer.get_reactor()
self._mcu = self._sensor.get_mcu()
self._stopped = False
self._started = False
self._errors = 0
self._fmap = eddy.map_for_drive_current() if calculate_heights else None
self.times = []
self.raw_freqs = []
self.freqs = []
self.heights = [] if self._fmap is not None else None
self.memos = dict()
@property
def raw_count(self):
return len(self.times)
@property
def height_count(self):
return len(self.heights) if self.heights else 0
# this is just a handy way to communicate values between different parts of the system,
# specifically to record things like trigger times for plotting
def memo(self, name, value):
self.memos[name] = value
def __enter__(self):
self.start()
return self
def __exit__(self, exc_type, exc_value, traceback):
self.finish()
def active(self):
return self._started and not self._stopped
# bulk sample callback for when new data arrives
# from the probe
def _add_hw_measurement(self, msg):
if self._stopped:
return False
self._errors += msg["errors"]
data = msg["data"]
# data is (t, fv)
if data:
times, raw_freqs = zip(*data)
else:
times, raw_freqs = [], []
self.times.extend(times)
self.raw_freqs.extend(raw_freqs)
return True
def start(self):
if self._stopped:
raise self._printer.command_error("ProbeEddySampler.start() called after finish()")
if not self._started:
self._sensor.add_bulk_sensor_data_client(self._add_hw_measurement)
self._started = True
def finish(self):
if self._stopped:
return
if not self._started:
raise self._printer.command_error("ProbeEddySampler.finish() called without start()")
if self.eddy._sampler is not self:
raise self._printer.command_error("ProbeEddySampler.finish(): eddy._sampler is not us!")
self._update_samples()
self.eddy._sampler_finished(self)
self._stopped = True
def _update_samples(self):
if len(self.freqs) == len(self.raw_freqs):
return
conv_ratio = self._sensor.freqval_conversion_value()
start_idx = len(self.freqs)
freqs_np = np.asarray(self.raw_freqs[start_idx:]) * conv_ratio
self.freqs.extend(freqs_np.tolist())
if self._fmap is not None:
heights_np = self._fmap.freqs_to_heights_np(freqs_np)
self.heights.extend(heights_np.tolist())
@property
def error_count(self):
return self._errors
# get the last sampled height
def get_last_height(self) -> float:
if self.heights is None:
raise self._printer.command_error("ProbeEddySampler: no height mapping")
self._update_samples()
if len(self.heights) == 0:
raise self._printer.command_error("ProbeEddySampler: no samples")
return self.heights[-1]
# wait for a sample for the current time and get a new height
def get_height_now(self) -> Optional[float]:
now = self.eddy._print_time_now()
if not self.wait_for_sample_at_time(now, max_wait_time=1.000, raise_error=False):
return None
return self.get_last_height()
# Wait until a sample for the given time arrives
def wait_for_sample_at_time(self, sample_print_time, max_wait_time=0.250, raise_error=True) -> bool:
def report_no_samples():
if raise_error:
raise self._printer.command_error(f"No samples received for time {sample_print_time:.3f} (waited for {max_wait_time:.3f})")
return False
if self._stopped:
# if we're not getting any more samples, we can check directly
if len(self.times) == 0:
return report_no_samples()
return self.times[-1] >= sample_print_time
# quick check
if self.times and self.times[-1] >= sample_print_time:
return True
wait_start_time = self.eddy._print_time_now()
# if sample_print_time is in the future, make sure to wait max_wait_time
# past the expected time
if sample_print_time > wait_start_time:
max_wait_time = max_wait_time + (sample_print_time - wait_start_time)
# this is just a sanity check, there shouldn't be any reason to ever wait this long
if max_wait_time > 30.0:
traceback.print_stack()
msg = f"ProbeEddyFrequencySampler: max_wait_time {max_wait_time:.3f} is too far into the future"
raise self._printer.command_error(msg)
self.eddy._log_debug(
f"EDDYng waiting for sample at {sample_print_time:.3f} (now: {wait_start_time:.3f}, max_wait_time: {max_wait_time:.3f})"
)
now = self.eddy._print_time_now()
while len(self.times) == 0 or self.times[-1] < sample_print_time:
now = self.eddy._print_time_now()
if now - wait_start_time > max_wait_time:
return report_no_samples()
self._reactor.pause(self._reactor.monotonic() + 0.010)
if now - wait_start_time > 1.0:
self.eddy._log_info(f"note: waited {now - wait_start_time:.3f}s for sample")
return True
# Wait for some samples to be collected, even if errors
# TODO: there's a minimum wait time -- we need to fill up the buffer before data is sent, and that
# depends on the data rate
def wait_for_samples(
self,
max_wait_time=0.300,
count_errors=False,
min_samples=1,
new_only=False,
raise_error=True,
):
# Make sure enough samples have been collected
wait_start_time = self.eddy._print_time_now()
start_error_count = self._errors
start_count = 0
if new_only:
start_count = len(self.raw_freqs) + (self._errors if count_errors else 0)
while (len(self.raw_freqs) + (self._errors if count_errors else 0)) - start_count < min_samples:
now = self.eddy._print_time_now()
if now - wait_start_time > max_wait_time:
if raise_error:
raise self._printer.command_error(
f"probe_eddy_ng sensor outage: no samples for {max_wait_time:.2f}s (got {self._errors - start_error_count} errors)"
)
return False
self._reactor.pause(self._reactor.monotonic() + 0.010)
return True
def find_heights_at_times(self, intervals):
self._update_samples()
times = self.times
heights = np.asarray(self.heights)
num_samples = len(times)
interval_heights = []
i = 0
for iv_start, iv_end in intervals:
while i < num_samples and times[i] < iv_start:
i += 1
istart = i
while i < num_samples and times[i] < iv_end:
i += 1
iend = i
if istart == iend:
# no samples in this range
raise self._printer.command_error(f"No samples in time range {iv_start}-{iv_end}")
median = np.median(heights[istart:iend])
interval_heights.append(float(median))
return interval_heights
def find_height_at_time(self, start_time, end_time):
if end_time < start_time:
raise self._printer.command_error("find_height_at_time: end_time is before start_time")
self._update_samples()
if len(self.times) == 0:
raise self._printer.command_error("No samples at all, so none in time range")
if not self.heights:
raise self._printer.command_error("Update samples didn't compute heights")
self.eddy._log_debug(
f"find_height_at_time: looking between {start_time:.3f}s-{end_time:.3f}s, inside {len(self.times)} samples, time range {self.times[0]:.3f}s to {self.times[-1]:.3f}s"
)
# find the first sample that is >= start_time
start_idx = bisect.bisect_left(self.times, start_time)
if start_idx >= len(self.times):
raise self._printer.command_error("Nothing after start_time?")
# find the last sample that is < end_time
end_idx = start_idx
while end_idx < len(self.times) and self.times[end_idx] < end_time:
end_idx += 1
# average the heights of the samples in the range
heights = self.heights[start_idx:end_idx]
if len(heights) == 0:
raise self._printer.command_error(f"no samples between time {start_time:.1f} and {end_time:.1f}!")
hmin, hmax = np.min(heights), np.max(heights)
mean = np.mean(heights)
median = np.median(heights)
self.eddy._log_debug(
f"find_height_at_time: {len(heights)} samples, median: {median:.3f}, mean: {mean:.3f} (range {hmin:.3f}-{hmax:.3f})"
)
return float(median)
@final
class ProbeEddyFrequencyMap:
calibration_version = 5
low_z_threshold = 5.0
def __init__(self, eddy: ProbeEddy):
self._eddy = eddy
self._sensor = eddy._sensor
self.drive_current = 0
self.height_range = (math.inf, -math.inf)
self.freq_range = (math.inf, -math.inf)
self._ftoh: Optional[npp.Polynomial] = None
self._ftoh_high: Optional[npp.Polynomial] = None
self._htof: Optional[npp.Polynomial] = None
def _str_to_exact_floatlist(self, str):
return [float.fromhex(v) for v in str.split(",")]
def _exact_floatlist_to_str(self, vals):
return str.join(", ", [float.hex(v) for v in vals])
def _coefs_to_str(self, coefs):
return ", ".join([format(c, ".3f") for c in coefs])
def freq_spread(self) -> float:
return ((self.freq_range[1] / self.freq_range[0]) - 1.0) * 100.0
def load_from_config(self, config: ConfigWrapper, drive_current: int):
calibstr = config.get(f"calibration_{drive_current}", None)
if calibstr is None:
self.drive_current = 0
self._ftoh = None
self._htof = None
self.height_range = (math.inf, -math.inf)
self.freq_range = (math.inf, -math.inf)
return
data = pickle.loads(base64.b64decode(calibstr))
v = data.get("v", None)
if v is None or v < self.calibration_version:
self._eddy._log_info(f"Calibration for dc {drive_current} is old ({v}), needs recalibration")
return False
ftoh = data.get("ftoh", None)
ftoh_high = data.get("ftoh_high", None)
htof = data.get("htof", None)
dc = data.get("dc", None)
h_range = data.get("h_range", (math.inf, -math.inf))
f_range = data.get("f_range", (math.inf, -math.inf))
if dc != drive_current:
raise configerror(f"ProbeEddyFrequencyMap: drive current mismatch: loaded {dc} != requested {drive_current}")
self._ftoh = ftoh
self._ftoh_high = ftoh_high
self._htof = htof
self.height_range = h_range
self.freq_range = f_range
self.drive_current = drive_current
self._eddy._log_info(f"Loaded calibration for drive current {drive_current}")
return True
def save_calibration(self):
if self._ftoh is None or self._htof is None:
return
configfile = self._eddy._printer.lookup_object("configfile")
data = {
"v": self.calibration_version,
"ftoh": self._ftoh,
"ftoh_high": self._ftoh_high,
"htof": self._htof,
"h_range": self.height_range,
"f_range": self.freq_range,
"dc": self.drive_current,
}
calibstr = base64.b64encode(pickle.dumps(data)).decode()
configfile.set(self._eddy._full_name, f"calibration_{self.drive_current}", calibstr)
def calibrate_from_values(
self,
drive_current: int,
raw_times: List[float],
raw_freqs_list: List[float],
raw_heights_list: List[float],
raw_vels_list: List[float],
report_errors: bool,
write_debug_files: bool,
):
if len(raw_freqs_list) != len(raw_heights_list):
raise ValueError("freqs and heights must be the same length")
if len(raw_freqs_list) == 0:
self._eddy._log_info("calibrate_from_values: empty list")
return None, None
# everything must be a np.array or things get confused below
times = np.asarray(raw_times)
freqs = np.asarray(raw_freqs_list)
heights = np.asarray(raw_heights_list)
vels = np.asarray(raw_vels_list) if raw_vels_list else None
if write_debug_files:
with open("/tmp/eddy-calibration.csv", "w") as data_file:
data_file.write("time,frequency,avg_freq,z,avg_z,v\n")
for i in range(len(freqs)):
s_t = times[i]
s_f = freqs[i]
s_z = heights[i]
s_v = vels[i] if vels is not None else 0.0
data_file.write(f"{s_t},{s_f},{s_z},,{s_v}\n")
self._eddy._log_info(f"Wrote {len(freqs)} samples to /tmp/eddy-calibration.csv")
if len(freqs) == 0 or len(heights) == 0:
if report_errors:
self._eddy._log_error(
f"Drive current {drive_current}: Calibration failed, couldn't compute averages ({len(raw_freqs_list)}, {len(raw_heights_list)}), probably due to no valid samples received."
)
return None, None
max_height = float(heights.max())
min_height = float(heights.min())
min_freq = float(freqs.min())
max_freq = float(freqs.max())
freq_spread = ((max_freq / min_freq) - 1.0) * 100.0
# Check if our calibration is good enough
if report_errors:
if max_height < 2.5: # we really can't do anything with this
self._eddy._log_error(
f"Drive current {drive_current} error: max height for valid samples is too low: {max_height:.3f} < 2.5. Possible causes: bad drive current, bad sensor mount height."
)
if not self._eddy.params.allow_unsafe:
return None, None
if min_height > 0.65: # this is a bit arbitrary; but if it's this far off we shouldn't trust it
self._eddy._log_error(
f"Drive current {drive_current} error: min height for valid samples is too high: {min_height:.3f} > 0.65. Possible causes: bad drive current, bad sensor mount height."
)
if not self._eddy.params.allow_unsafe:
return None, None
if min_height > 0.025:
self._eddy._log_msg(
f"Drive current {drive_current} warning: min height is {min_height:.3f} (> 0.025) is too high for tap. This calibration will work fine for homing, but may not for tap."
)
# somewhat arbitrary spread
if freq_spread < 0.30:
extremely = "EXTREMELY " if freq_spread < 0.15 else ""
self._eddy._log_warning(
f"Drive current {drive_current} warning: frequency spread is {extremely}low ({freq_spread:.2f}%, {min_freq:.1f}-{max_freq:.1f}), which will greatly impact accuracy. Your sensor may be too high."
)
low_samples = heights <= ProbeEddyFrequencyMap.low_z_threshold
high_samples = heights >= ProbeEddyFrequencyMap.low_z_threshold - 0.5
ftoh_low_fn = npp.Polynomial.fit(1.0 / freqs[low_samples], heights[low_samples], deg=9)
htof_low_fn = npp.Polynomial.fit(heights[low_samples], 1.0 / freqs[low_samples], deg=9)
if np.count_nonzero(high_samples) > 50:
ftoh_high_fn = npp.Polynomial.fit(1.0 / freqs[high_samples], heights[high_samples], deg=9)
else:
self._eddy._log_debug(f"not computing ftoh_high, not enough high samples")
ftoh_high_fn = None
# Calculate rms, only for the low values (where error is most relevant)
rmse_fth = np_rmse(
ftoh_low_fn,
1.0 / freqs[low_samples],
heights[low_samples],
)
rmse_htf = np_rmse(
htof_low_fn,
heights[low_samples],
1.0 / freqs[low_samples],
)
if report_errors:
if rmse_fth > 0.050:
self._eddy._log_error(
f"Drive current {drive_current} error: calibration error margin is too high ({rmse_fth:.3f}). Possible causes: bad drive current, bad sensor mount height."
)
if not self._eddy.params.allow_unsafe:
return None, None
self._ftoh = ftoh_low_fn
self._htof = htof_low_fn
self._ftoh_high = ftoh_high_fn
self.drive_current = drive_current
self.height_range = [min_height, max_height]
self.freq_range = [min_freq, max_freq]
self._eddy._log_msg(
f"Drive current {drive_current}: valid height: {min_height:.3f} to {max_height:.3f}, "
f"freq spread {freq_spread:.2f}% ({min_freq:.1f} - {max_freq:.1f}), "
f"Fit {rmse_fth:.4f} ({rmse_htf:.2f})"
)
if write_debug_files:
self._write_calibration_plot(
times,
freqs,
heights,
rmse_fth,
rmse_htf,
vels=vels,
)
return rmse_fth, rmse_htf
def _write_calibration_plot(
self,
times,
freqs,
heights,
rmse_fth,
rmse_htf,
vels=None,
):
if not plotly:
return
if self._ftoh is None or self._htof is None:
logging.warning(f"write_calibration_plot: null calibration?")
return
import plotly.graph_objects as go
low_samples = heights <= ProbeEddyFrequencyMap.low_z_threshold
high_samples = heights >= ProbeEddyFrequencyMap.low_z_threshold - 0.5
f_to_z_low_err = heights[low_samples] - self._ftoh(1.0 / freqs[low_samples])
if self._ftoh_high is not None:
f_to_z_high_err = heights[high_samples] - self._ftoh_high(1.0 / freqs[high_samples])
else:
f_to_z_high_err = None
fig = go.Figure()
fig.add_trace(go.Scatter(x=times, y=heights, mode="lines", name="Z"))
fig.add_trace(
go.Scatter(
x=times[low_samples],
y=self._ftoh(1.0 / freqs[low_samples]),
mode="lines",
name=f"Z {rmse_fth:.4f}",
)
)
if self._ftoh_high is not None:
fig.add_trace(
go.Scatter(
x=times[high_samples],
y=self._ftoh_high(1.0 / freqs[high_samples]),
mode="lines",
name=f"Z (high)",
)
)
fig.add_trace(go.Scatter(x=times, y=freqs, mode="lines", name="F", yaxis="y2"))
fig.add_trace(
go.Scatter(
x=times[low_samples],
y=1.0 / self._htof(heights[low_samples]),
mode="lines",
name=f"F ({rmse_htf:.2f})",
yaxis="y2",
)
)
fig.add_trace(
go.Scatter(
x=times[low_samples],
y=f_to_z_low_err,
mode="lines",
name="Err",
yaxis="y3",
)
)
if f_to_z_high_err is not None:
fig.add_trace(
go.Scatter(
x=times[high_samples],
y=f_to_z_high_err,
mode="lines",
name="Err (high)",
yaxis="y3",
)
)
if vels is not None:
fig.add_trace(go.Scatter(x=times, y=vels, mode="lines", name="V", yaxis="y4"))
fig.update_layout(
hovermode="x unified",
title=f"Calibration for drive current {self.drive_current}",
yaxis2=dict(title="Freq", overlaying="y", tickformat="d", side="right"),
yaxis3=dict(overlaying="y", side="right", position=0.1),
yaxis4=dict(overlaying="y", side="right", position=0.2),
)
fig.write_html("/tmp/eddy-calibration.html")
def freq_to_height(self, freq: float) -> float:
if self._ftoh is None:
raise self._eddy._printer.command_error("Calling freq_to_height on uncalibrated map")
invfreq = 1.0 / freq
if self._ftoh_high is not None and invfreq < self._ftoh.domain[0]:
return float(self._ftoh_high(invfreq))
return float(self._ftoh(invfreq))
def freqs_to_heights_np(self, freqs: np.array) -> np.array:
if self._ftoh is None:
raise self._eddy._printer.command_error("Calling freqs_to_heights on uncalibrated map")
invfreqs = 1.0 / freqs
if self._ftoh_high is not None:
heights = np.zeros(len(invfreqs))
low_freq_vals = invfreqs > self._ftoh.domain[1]
heights[low_freq_vals] = np.vectorize(self._ftoh_high, otypes=[float])(invfreqs[low_freq_vals])
heights[~low_freq_vals] = np.vectorize(self._ftoh, otypes=[float])(invfreqs[~low_freq_vals])
else:
heights = self._ftoh(invfreqs)
return heights
def height_to_freq(self, height: float) -> float:
if self._htof is None:
raise self._eddy._printer.command_error("Calling height_to_freq on uncalibrated map")
return 1.0 / float(self._htof(height))
def calibrated(self) -> bool:
return self._ftoh is not None and self._htof is not None
@final
class BedMeshScanHelper:
def __init__(self, eddy, config):
self._eddy = eddy
self._printer = eddy._printer
bmc = config.getsection("bed_mesh")
self._bed_mesh = eddy._printer.load_object(bmc, "bed_mesh")
self._x_points, self._y_points = bmc.getintlist("probe_count", count=2, note_valid=False)
self._x_min, self._y_min = bmc.getfloatlist("mesh_min", count=2, note_valid=False)
self._x_max, self._y_max = bmc.getfloatlist("mesh_max", count=2, note_valid=False)
self._speed = bmc.getfloat("speed", 100.0, above=0.0, note_valid=False)
self._scan_z = bmc.getfloat("horizontal_move_z", self._eddy.params.home_trigger_height, above=0.0, note_valid=False)
self._x_offset = self._eddy.params.x_offset
self._y_offset = self._eddy.params.y_offset
self._mesh_points, self._mesh_path = self._generate_path()
def _generate_path(self):
x_vals = np.linspace(self._x_min, self._x_max, self._x_points)
y_vals = np.linspace(self._y_min, self._y_max, self._y_points)
path = []
reverse = False
for y in y_vals:
row = [(x, y, True) for x in (reversed(x_vals) if reverse else x_vals)]
path.extend(row)
reverse = not reverse
return path, path
def _scan_path(self):
th = self._eddy._toolhead
times = []
for pt in self._mesh_path:
# TODO bounds
th.manual_move([pt[0] - self._x_offset, pt[1] - self._y_offset, None], self._speed)
th.register_lookahead_callback(lambda t: times.append(t))
th.wait_moves()
return times
def _set_bed_mesh(self, heights):
# heights is in the order of the _mesh_path points; convert to
# be ordered min_y..max_y, min_x..max_x, then pull out the heights
indexed_points = []
i = 0
for x, y, include in self._mesh_path:
if not include:
continue
indexed_points.append((x, y, i))
i += 1
def sort_points(a, b):
if a[1] < b[1]: # y first
return -1
if a[1] > b[1]:
return 1
if a[0] < b[0]: # then x
return -1
if a[0] > b[0]:
return 1
return 0
indices = [ki for _, _, ki in sorted(indexed_points, key=cmp_to_key(sort_points))]
ki = 0
matrix = []
for _ in range(self._y_points):
row = []
for _ in range(self._x_points):
v = heights[indices[ki]]
row.append(self._scan_z - v)
ki += 1
matrix.append(row)
params = self._bed_mesh.bmc.mesh_config.copy()
params.update({
"min_x": self._x_min,
"max_x": self._x_max,
"min_y": self._y_min,
"max_y": self._y_max,
"x_count": self._x_points,
"y_count": self._y_points,
})
mesh = bed_mesh.ZMesh(params, None)
try:
mesh.build_mesh(matrix)
except bed_mesh.BedMeshError as e:
raise self._printer.command_error(str(e))
self._bed_mesh.set_mesh(mesh)
self._eddy._log_msg("Mesh scan complete")
def scan(self):
th = self._eddy._toolhead
# move to the start point
v = self._mesh_path[0]
th.manual_move([None, None, 10.0], self._eddy.params.lift_speed)
th.manual_move([v[0] - self._x_offset, v[1] - self._y_offset, None], self._speed)
th.manual_move([None, None, self._scan_z], self._eddy.params.probe_speed)
th.wait_moves()
heights = []
sample_time = self._eddy.params.scan_sample_time
with self._eddy.start_sampler() as sampler:
path_times = self._scan_path()
sampler.wait_for_sample_at_time(path_times[-1] + sample_time*2.)
sampler.finish()
heights = sampler.find_heights_at_times([(t - sample_time/2., t + sample_time/2.) for t in path_times])
# Note plus tap_offset here, vs -tap_offset when probing. These are actual
# heights, the other is "offset from real"
heights = [h + self._eddy._tap_offset for h in heights]
with open("/tmp/mesh.csv", "w") as mfile:
mfile.write("time,x,y,z\n")
for i in range(len(self._mesh_points)):
t = path_times[i]
x = self._mesh_points[i][0]
y = self._mesh_points[i][1]
z = heights[i]
mfile.write(f"{t},{x},{y},{z}\n")
self._set_bed_mesh(heights)
def np_rmse(p, x, y):
y_hat = p(x)
return np.sqrt(np.mean((y - y_hat) ** 2))
def bed_mesh_ProbeManager_start_probe_override(self, gcmd):
method = gcmd.get("METHOD", "automatic").lower()
can_scan = False
pprobe = self.printer.lookup_object("probe", None)
if pprobe is not None:
probe_name = pprobe.get_status(None).get("name", "")
can_scan = "eddy" in probe_name
if method == "rapid_scan" and can_scan:
self.rapid_scan_helper.perform_rapid_scan(gcmd)
else:
self.probe_helper.start_probe(gcmd)
def load_config_prefix(config: ConfigWrapper):
return ProbeEddy(config)
================================================
FILE: pyrightconfig.json
================================================
{
"reportOptionalMemberAccess": false
}