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https://github.com/Klipper3d/klipper.git
synced 2026-01-11 18:33:11 -07:00
Add Z_CALIBRATE command for automatic Z-axis calibration
Features: - New Z_CALIBRATE command that performs full Z-axis calibration: 1. Executes G28 Z (home to Zmin endstop) 2. Probes upward to find Zmax using Y endstop (SKR3 hardware workaround) 3. Reports actual travel distance vs configured position_max 4. Auto-updates both NanoDLP ZLength and Klipper position_max if diff > 0.5mm 5. Automatically restarts Klipper to load new configuration Technical changes: - Fixed YEndstopWrapper to return Z steppers instead of Y steppers This allows probing_move() to correctly track Z-axis movement while using Y endstop for trigger detection - Temporarily expands Z limits during calibration to allow full travel - Updates NanoDLP machine.json CustomValues.ZLength directly (JSON modification) - Updates Klipper printer.cfg position_max via regex replacement Usage: Z_CALIBRATE # Use default speed Z_CALIBRATE SPEED=5 # Custom probe speed (mm/s) Z_CALIBRATE MAX_TRAVEL=200 # Custom max travel distance 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
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microlay
parent
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1 changed files with 265 additions and 17 deletions
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@ -7,17 +7,28 @@
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import logging
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class YEndstopWrapper:
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"""Wrapper para el endstop de Y que es compatible con probing_move()"""
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def __init__(self, y_endstop):
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"""Wrapper para el endstop de Y que es compatible con probing_move()
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Usa el endstop de Y para la detección, pero devuelve los steppers de Z
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para que probing_move mida correctamente el movimiento del eje Z.
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"""
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def __init__(self, y_endstop, z_steppers):
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self.y_endstop = y_endstop
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self.z_steppers = z_steppers
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# Delegar métodos del endstop original
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self.get_mcu = y_endstop.get_mcu
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self.add_stepper = y_endstop.add_stepper
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self.get_steppers = y_endstop.get_steppers
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self.home_start = y_endstop.home_start
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self.home_wait = y_endstop.home_wait
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self.query_endstop = y_endstop.query_endstop
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def get_steppers(self):
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# Devolver steppers de Z para que probing_move mida el eje correcto
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return self.z_steppers
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def add_stepper(self, stepper):
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# No añadir steppers al endstop Y original
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pass
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class ZMaxHomingAlt:
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def __init__(self, config):
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self.printer = config.get_printer()
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@ -46,7 +57,12 @@ class ZMaxHomingAlt:
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self.cmd_ZMAX_HOME,
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desc=self.cmd_ZMAX_HOME_help
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)
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self.gcode.register_command(
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'Z_CALIBRATE',
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self.cmd_Z_CALIBRATE,
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desc=self.cmd_Z_CALIBRATE_help
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)
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logging.info(f"ZMaxHoming: Initialized with speeds - homing:{self.speed} mm/s, second:{self.second_speed} mm/s")
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def _handle_connect(self):
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@ -54,31 +70,37 @@ class ZMaxHomingAlt:
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self.toolhead = self.printer.lookup_object('toolhead')
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self.phoming = self.printer.lookup_object('homing')
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# Obtener el endstop de Y usando la forma estándar
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# Obtener referencias de la cinemática
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kin = self.toolhead.get_kinematics()
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z_steppers = None
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if hasattr(kin, 'rails'):
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# Primero obtener el stepper Z
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for rail in kin.rails:
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if rail.get_name() == "stepper_z":
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self.z_stepper = rail
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z_steppers = rail.get_steppers()
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z_max_cfg = rail.get_range()[1]
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logging.info(f"ZMaxHoming: Z-max position from config: {z_max_cfg}mm")
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logging.info(f"ZMaxHoming: Z steppers: {[s.get_name() for s in z_steppers]}")
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break
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# Obtener el endstop de Y
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for rail in kin.rails:
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if rail.get_name() == "stepper_y":
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endstops = rail.get_endstops()
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if endstops:
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self.y_endstop = endstops[0][0]
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# Crear wrapper compatible con probing_move()
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self.y_endstop_wrapper = YEndstopWrapper(self.y_endstop)
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logging.info(f"ZMaxHoming: Using Y endstop for Z-max homing")
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break
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# Obtener el stepper Z
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for rail in kin.rails:
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if rail.get_name() == "stepper_z":
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self.z_stepper = rail
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z_max_cfg = self.z_stepper.get_range()[1]
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logging.info(f"ZMaxHoming: Z-max position from config: {z_max_cfg}mm")
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break
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if self.y_endstop is None:
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raise self.printer.config_error("No se encontró el endstop de Y")
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if self.z_stepper is None:
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raise self.printer.config_error("No se encontró el stepper Z")
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# Crear wrapper que usa endstop Y pero mide con steppers Z
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self.y_endstop_wrapper = YEndstopWrapper(self.y_endstop, z_steppers)
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def _continuous_probe_move(self, target_pos, speed):
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"""
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@ -318,5 +340,231 @@ class ZMaxHomingAlt:
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if not gcode_state:
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self.gcode.run_script_from_command("G91")
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cmd_Z_CALIBRATE_help = "Calibra el eje Z: hace G28 Z, sube hasta Zmax (endstop Y) y reporta la distancia real recorrida."
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def cmd_Z_CALIBRATE(self, gcmd):
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"""
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Comando de calibración del eje Z:
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1. Ejecuta G28 Z (homing normal hacia abajo con endstop Zmin)
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2. Sube buscando el endstop Y (Zmax) sin perder la posición
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3. Reporta la distancia real recorrida
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"""
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if not all([self.toolhead, self.y_endstop_wrapper, self.z_stepper, self.phoming]):
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raise gcmd.error("Z_CALIBRATE: Sistema no inicializado correctamente")
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# Parámetros opcionales
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speed = gcmd.get_float('SPEED', self.speed, above=0.)
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# Límite de seguridad: cuánto subir como máximo buscando el endstop
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max_travel = gcmd.get_float('MAX_TRAVEL', 150.0, above=0.)
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gcmd.respond_info("=== Z_CALIBRATE: Iniciando calibración del eje Z ===")
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# Guardar estado de coordenadas
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gcode_move = self.printer.lookup_object('gcode_move')
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gcode_state = gcode_move.get_status()['absolute_coordinates']
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self.gcode.run_script_from_command("G90")
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try:
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# --- PASO 1: Hacer homing normal hacia abajo (G28 Z) ---
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gcmd.respond_info("Paso 1: Ejecutando G28 Z (homing hacia Zmin)...")
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self.gcode.run_script_from_command("G28 Z")
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self.toolhead.wait_moves()
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# Obtener posición después del homing (debería ser position_endstop)
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pos_after_homing = self.toolhead.get_position()
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z_start = pos_after_homing[2]
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gcmd.respond_info(f" Posición después de G28 Z: {z_start:.3f}mm")
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# --- PASO 2: Subir buscando el endstop Y (Zmax) ---
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gcmd.respond_info(f"Paso 2: Subiendo hasta encontrar endstop Zmax (max {max_travel:.1f}mm)...")
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# Verificar si el endstop Y ya está activado (no debería estarlo abajo)
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self.toolhead.wait_moves()
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query_time = self.toolhead.get_last_move_time()
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if self.y_endstop.query_endstop(query_time):
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gcmd.respond_info(" ADVERTENCIA: Endstop Y ya activado en posición inicial!")
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gcmd.respond_info(" Esto indica un problema de cableado o configuración.")
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return
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# Expandir temporalmente los límites de Z para permitir el movimiento
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# Guardamos los límites originales para restaurarlos después
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kin = self.toolhead.get_kinematics()
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original_z_limits = kin.limits[2] # (min, max) para eje Z
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# Establecer nuevos límites temporales: desde posición actual hasta max_travel
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current_pos = self.toolhead.get_position()
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temp_z_max = current_pos[2] + max_travel
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kin.update_limits(2, (original_z_limits[0], temp_z_max))
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gcmd.respond_info(f" Límites Z temporales: {original_z_limits[0]:.1f} - {temp_z_max:.1f}mm")
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# Calcular posición objetivo
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target_pos = list(current_pos)
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target_pos[2] = temp_z_max
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# Usar probing_move para subir hasta que se active el endstop Y
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probing_error = None
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try:
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trigger_pos = self.phoming.probing_move(
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self.y_endstop_wrapper,
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target_pos,
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speed
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)
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# La distancia recorrida es la diferencia entre donde activó y donde empezó
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z_end = trigger_pos[2]
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travel_distance = z_end - z_start
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gcmd.respond_info(f" Endstop Y activado en Z={z_end:.3f}mm (recorrido: {travel_distance:.3f}mm)")
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except self.printer.command_error as e:
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if "No trigger" in str(e):
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probing_error = gcmd.error(
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f"El endstop Y (Zmax) no se activó después de {max_travel:.1f}mm. "
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"Aumenta MAX_TRAVEL o verifica el endstop."
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)
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elif "Probe triggered prior to movement" in str(e):
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# El endstop se activó inmediatamente
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travel_distance = 0.0
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z_end = z_start
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gcmd.respond_info(f" Endstop Y activado inmediatamente en Z={z_end:.3f}mm")
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else:
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probing_error = e
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# Restaurar límites originales de Z (siempre)
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kin.update_limits(2, original_z_limits)
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# Si hubo error, lanzarlo ahora
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if probing_error:
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raise probing_error
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# --- PASO 3: Calcular y reportar resultados ---
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gcmd.respond_info("")
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gcmd.respond_info("=== RESULTADOS DE CALIBRACIÓN ===")
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gcmd.respond_info(f" Posición inicial (Zmin): {z_start:.3f}mm")
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gcmd.respond_info(f" Posición final (Zmax): {z_end:.3f}mm")
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gcmd.respond_info(f" ----------------------------------------")
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gcmd.respond_info(f" DISTANCIA RECORRIDA: {travel_distance:.3f}mm")
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gcmd.respond_info("")
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# Obtener configuración actual para comparar
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z_min_cfg, z_max_cfg = self.z_stepper.get_range()
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config_range = z_max_cfg - z_min_cfg
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gcmd.respond_info(f" Configuración actual:")
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gcmd.respond_info(f" position_min: {z_min_cfg:.3f}mm")
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gcmd.respond_info(f" position_max: {z_max_cfg:.3f}mm")
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gcmd.respond_info(f" Rango config: {config_range:.3f}mm")
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gcmd.respond_info("")
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# Sugerencia de nuevo position_max
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# El nuevo position_max debería ser: position_endstop + distancia_recorrida
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# Pero position_endstop ya está incluido en z_start después del G28
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suggested_max = z_start + travel_distance
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diff = suggested_max - z_max_cfg
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if abs(diff) > 0.5:
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gcmd.respond_info(f" Diferencia con config actual: {diff:+.3f}mm")
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gcmd.respond_info("")
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gcmd.respond_info("=== ACTUALIZANDO CONFIGURACIÓN ===")
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# --- Actualizar NanoDLP CustomValues.ZLength ---
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nanodlp_updated = self._update_nanodlp_zlength(gcmd, suggested_max)
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# --- Actualizar Klipper printer.cfg position_max ---
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klipper_updated = self._update_klipper_position_max(gcmd, suggested_max)
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if klipper_updated:
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gcmd.respond_info("")
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gcmd.respond_info("=== REINICIANDO KLIPPER ===")
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gcmd.respond_info(" La nueva configuración se cargará automáticamente...")
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# Programar reinicio después de responder
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reactor = self.printer.get_reactor()
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reactor.register_callback(lambda e: self._restart_klipper())
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elif not nanodlp_updated and not klipper_updated:
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gcmd.respond_info("")
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gcmd.respond_info(" ⚠ No se pudo actualizar ninguna configuración")
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else:
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gcmd.respond_info(f" La configuración actual es correcta (diff: {diff:+.3f}mm)")
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gcmd.respond_info(" No se requieren cambios.")
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finally:
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# Restaurar estado Gcode
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if not gcode_state:
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self.gcode.run_script_from_command("G91")
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def _update_nanodlp_zlength(self, gcmd, new_zlength):
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"""Actualiza CustomValues.ZLength en NanoDLP modificando machine.json directamente"""
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import json
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machine_json_path = "/home/pi/nanodlp/db/machine.json"
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gcmd.respond_info(f" Actualizando NanoDLP ZLength a {new_zlength:.3f}mm...")
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try:
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# Leer archivo JSON actual
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with open(machine_json_path, 'r') as f:
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machine_config = json.load(f)
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# Asegurar que CustomValues existe
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if 'CustomValues' not in machine_config:
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machine_config['CustomValues'] = {}
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# Actualizar ZLength (como string, igual que los demás valores)
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old_value = machine_config['CustomValues'].get('ZLength', 'N/A')
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machine_config['CustomValues']['ZLength'] = f"{new_zlength:.3f}"
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# Escribir archivo actualizado
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with open(machine_json_path, 'w') as f:
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json.dump(machine_config, f, indent='\t')
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gcmd.respond_info(f" ✓ NanoDLP ZLength actualizado: {old_value} → {new_zlength:.3f}mm")
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return True
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except Exception as e:
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gcmd.respond_info(f" ✗ Error actualizando NanoDLP: {e}")
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return False
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def _update_klipper_position_max(self, gcmd, new_position_max):
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"""Actualiza position_max en printer.cfg"""
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import re
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config_path = "/home/pi/printer_data/config/printer.cfg"
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gcmd.respond_info(f" Actualizando Klipper position_max a {new_position_max:.3f}mm...")
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try:
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# Leer archivo actual
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with open(config_path, 'r') as f:
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content = f.read()
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# Buscar y reemplazar position_max en la sección [stepper_z]
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# Patrón: position_max: <número>
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pattern = r'(\[stepper_z\].*?position_max\s*:\s*)(\d+\.?\d*)'
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def replacer(match):
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return f"{match.group(1)}{new_position_max:.3f}"
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new_content, count = re.subn(pattern, replacer, content, count=1, flags=re.DOTALL)
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if count == 0:
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gcmd.respond_info(f" ✗ No se encontró position_max en [stepper_z]")
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return False
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# Escribir archivo actualizado
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with open(config_path, 'w') as f:
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f.write(new_content)
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gcmd.respond_info(f" ✓ Klipper position_max actualizado correctamente")
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return True
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except Exception as e:
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gcmd.respond_info(f" ✗ Error actualizando printer.cfg: {e}")
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return False
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def _restart_klipper(self):
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"""Reinicia Klipper para cargar la nueva configuración"""
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import subprocess
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try:
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subprocess.run(['sudo', 'systemctl', 'restart', 'klipper.service'],
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timeout=5, capture_output=True)
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except Exception as e:
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logging.error(f"Error reiniciando Klipper: {e}")
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def load_config(config):
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return ZMaxHomingAlt(config)
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