Add integrated Axis Twist Compensation for BDsensor on Klipper

README.md

@@ -6,9 +6,9 @@ it can measure the bed distance at any point in real time without moving the z a
 Faster leveling, realtime compensation, high accuracy.
 
 1. No need to do probe points before every print, it will be automatically compensated for based on actual distance in real time.
- 
+
 2. You can do bed mesh leveling like a normal proximity sensor but much faster with this BDsensor.
-   
+
 3. Easy manual bed level adjustment thanks to ability to display the live sensor distance measurement on your screen.
 
 Sensor type: inductive, eddy, can only measure the metal plate.
@@ -24,8 +24,8 @@ Range: 4mm (for different metal the range should be different, the normal pei st
 * Support high temperature chamber(120C) with the long cable probe [BDsensorM](https://github.com/markniu/Bed_Distance_sensor/wiki/BDsensor-M).
 ### Hardware Version
  . | hardware | firmware/software
---- | --- |---  
-2022.6 | BDsensor VA, V1.0 | V1.0  
+--- | --- |---
+2022.6 | BDsensor VA, V1.0 | V1.0
 2023.4 | BDsensor VB, V1.1, the connector was changed | V1.1, support self reboot
 2023.11 | BDsensor VB, V1.3, Upgrade the MCU to STM32 | V1.2, for stm32
 2024.2  |              |V1.2c, [Support nozzle collision sensing](https://github.com/markniu/Bed_Distance_sensor/wiki/Collision-sensing)
@@ -35,15 +35,15 @@ Range: 4mm (for different metal the range should be different, the normal pei st
 
 ### Software
  . | Marlin | Klipper
---- | --- |---  
-Real Time leveling |:heavy_check_mark:| :heavy_check_mark:  
-Fast bed mesh |:heavy_check_mark:| :heavy_check_mark: 
-Fast bed mesh(No toolhead stop)|:heavy_check_mark: | :heavy_check_mark: 
-Distance display |:heavy_check_mark: | :heavy_check_mark: 
-Can bus toolhead|No | :heavy_check_mark: 
-standby mode automatic while printing|:heavy_check_mark: | :heavy_check_mark: 
-[KAMP](https://github.com/kyleisah/Klipper-Adaptive-Meshing-Purging) Adaptive Meshing & Purging |No | :heavy_check_mark: 
-nozzle collision sensing|[Detail](https://github.com/markniu/Bed_Distance_sensor/wiki/Collision-sensing-for-Marlin):heavy_check_mark:  | :heavy_check_mark: 
+--- | --- |---
+Real Time leveling |:heavy_check_mark:| :heavy_check_mark:
+Fast bed mesh |:heavy_check_mark:| :heavy_check_mark:
+Fast bed mesh(No toolhead stop)|:heavy_check_mark: | :heavy_check_mark:
+Distance display |:heavy_check_mark: | :heavy_check_mark:
+Can bus toolhead|No | :heavy_check_mark:
+standby mode automatic while printing|:heavy_check_mark: | :heavy_check_mark:
+[KAMP](https://github.com/kyleisah/Klipper-Adaptive-Meshing-Purging) Adaptive Meshing & Purging |No | :heavy_check_mark:
+nozzle collision sensing|[Detail](https://github.com/markniu/Bed_Distance_sensor/wiki/Collision-sensing-for-Marlin):heavy_check_mark:  | :heavy_check_mark:
 
 ### Benefit of Collision sensing
 1.  **Auto z offset calibration**.
@@ -70,5 +70,5 @@ nozzle collision sensing|[Detail](https://github.com/markniu/Bed_Distance_sensor
 #### Where to buy:
  [pandapi3d.com](https://www.pandapi3d.com) , [elecrow](https://www.elecrow.com/bd-sensor.html) , [淘宝店](https://item.taobao.com/item.htm?spm=a1z10.1-c.w4004-14344044600.5.60a16ff77NRBL5&id=684572042388)
 
- 
+
 

ardunio/bdsensor_mega328p/Panda_segmentBed_I2C.cpp

@@ -9,9 +9,9 @@ int delay_time=100;
 void    I2C_SegmentBED::setLow(unsigned char pin) {
       noInterrupts();
        pinMode(pin, OUTPUT);
-   // if (_pullup) 
+   // if (_pullup)
       digitalWrite(pin, LOW);
-    
+
 
     interrupts();
 }
@@ -25,7 +25,7 @@ void   I2C_SegmentBED::setHigh(unsigned char pin) {
  // digitalWrite(pin,1);
  // return;
      noInterrupts();
-    //if (_pullup) 
+    //if (_pullup)
       pinMode(pin, INPUT_PULLUP);
    // else
    //   pinMode(pin, INPUT);
@@ -50,7 +50,7 @@ int  I2C_SegmentBED::i2c_init(unsigned char _sda,unsigned char _scl,unsigned cha
 }
 
 // Start transfer function: <addr> is the 8-bit I2C address (including the R/W
-// bit). 
+// bit).
 // Return: true if the slave replies with an "acknowledge", false otherwise
 
 bool  I2C_SegmentBED::i2c_start(unsigned char addr) {
@@ -71,7 +71,7 @@ bool  I2C_SegmentBED::i2c_start(unsigned char addr) {
 }
 */
 // Repeated start function: After having claimed the bus with a start condition,
-// you can address another or the same chip again without an intervening 
+// you can address another or the same chip again without an intervening
 // stop condition.
 // Return: true if the slave replies with an "acknowledge", false otherwise
 bool  I2C_SegmentBED::i2c_rep_start(unsigned char addr) {
@@ -97,7 +97,7 @@ void  I2C_SegmentBED::i2c_stop(void) {
 // Return: true if the slave replies with an "acknowledge", false otherwise
 bool  I2C_SegmentBED::i2c_write(unsigned char value) {
   for (unsigned char curr = 0X80; curr != 0; curr >>= 1) {
-    if (curr & value) {setHigh(I2C_BED_SDA);} else  setLow(I2C_BED_SDA); 
+    if (curr & value) {setHigh(I2C_BED_SDA);} else  setLow(I2C_BED_SDA);
     setHigh(I2C_BED_SCL);
     delayMicroseconds(delay_time);
     setLow(I2C_BED_SCL);
@@ -109,13 +109,13 @@ bool  I2C_SegmentBED::i2c_write(unsigned char value) {
   delayMicroseconds(delay_time);
   unsigned char ack = digitalRead(I2C_BED_SDA);
   setLow(I2C_BED_SCL);
-  delayMicroseconds(delay_time);  
+  delayMicroseconds(delay_time);
   setLow(I2C_BED_SDA);
   return ack == 0;
 }
 
-// Read one byte. If <last> is true, we send a NAK after having received 
-// the byte in order to terminate the read sequence. 
+// Read one byte. If <last> is true, we send a NAK after having received
+// the byte in order to terminate the read sequence.
 unsigned char  I2C_SegmentBED::i2c_read(bool last) {
   unsigned char b = 0;
   setHigh(I2C_BED_SDA);
@@ -131,7 +131,7 @@ unsigned char  I2C_SegmentBED::i2c_read(bool last) {
   setHigh(I2C_BED_SCL);
   delayMicroseconds(delay_time);
   setLow(I2C_BED_SCL);
-  delayMicroseconds(delay_time);  
+  delayMicroseconds(delay_time);
   setLow(I2C_BED_SDA);
   return b;
 }
@@ -154,13 +154,13 @@ void  I2C_SegmentBED::I2C_send_str(char *dat_r,char send_now)
     }
     i2c_stop();
   }
-    
-  
+
+
 }
 
 void I2C_SegmentBED::I2C_read_str(char *dat_r,int addr)
 {
-  i2c_stop(); 
+  i2c_stop();
   if(i2c_start((I2C_7BITADDR<<1)|I2C_WRITE))
   {
     int i =0;
@@ -174,32 +174,32 @@ void I2C_SegmentBED::I2C_read_str(char *dat_r,int addr)
       i++;
     }
     i2c_read(true);
-    
+
   }
   i2c_stop();
 }
 ////////////////////////////
- 
+
 unsigned short I2C_SegmentBED::BD_Add_OddEven(unsigned short byte)
 {
 	unsigned char i;
-	unsigned char n; 
-	unsigned short r; 
+	unsigned char n;
+	unsigned short r;
 	n =0;
   for(i=0;i<10;i++)
 	{
 	  if(((byte >>i)&0x01) == 0x01)
 		{
 		   n++;
-		}	
+		}
 	}
 	if((n&0x01) == 0x01)
 	{
-		r = byte | 0x400; 
+		r = byte | 0x400;
 	}
 	else
 	{
-	  r = byte | 0x00;  
+	  r = byte | 0x00;
 	}
 	return r;
 }
@@ -212,26 +212,26 @@ unsigned short I2C_SegmentBED::BD_Add_OddEven(unsigned short byte)
 unsigned short I2C_SegmentBED::BD_Check_OddEven(unsigned short byte)
 {
 	unsigned char i;
-	unsigned char n;  
-	unsigned char r;  
+	unsigned char n;
+	unsigned char r;
 	n =0;
-   for(i=0;i<10;i++) 
+   for(i=0;i<10;i++)
 	{
 	  if(((byte >>i)&0x01) == 0x01)
 		{
-		   n++;  
-		}	
+		   n++;
+		}
 	}
-	if((byte>>10) == (n&0x01)) 
+	if((byte>>10) == (n&0x01))
 	{
-		r = BYTE_CHECK_OK;  
+		r = BYTE_CHECK_OK;
 	}
 	else
 	{
-	  r = BYTE_CHECK_ERR;  
+	  r = BYTE_CHECK_ERR;
 	}
 	return r;
-}	
+}
 
 void   I2C_SegmentBED::BD_setLow(unsigned char pin) {
       noInterrupts();
@@ -279,7 +279,7 @@ void  I2C_SegmentBED::BD_i2c_stop(void) {
 
 unsigned short I2C_SegmentBED::BD_i2c_read(void)
 {
-   
+
   BD_I2C_start();
   //// read
   BD_setHigh(I2C_BED_SDA);
@@ -309,7 +309,7 @@ unsigned short I2C_SegmentBED::BD_i2c_read(void)
 
 void I2C_SegmentBED::BD_i2c_write(unsigned int addr)
 {
- 
+
   BD_I2C_start();
   //// write
   BD_setLow(I2C_BED_SDA);
@@ -319,17 +319,17 @@ void I2C_SegmentBED::BD_i2c_write(unsigned int addr)
   addr=BD_Add_OddEven(addr);
   ///write address
   delayMicroseconds(delay_time);
-  for (int i=10; i >=0; i--) 
+  for (int i=10; i >=0; i--)
   {
-    if ((addr>>i)&0x01) {BD_set_force_High(I2C_BED_SDA);} else  BD_setLow(I2C_BED_SDA); 
-    //if (addr &curr) {set_force_High(I2C_BED_SDA);} else  setLow(I2C_BED_SDA); 
+    if ((addr>>i)&0x01) {BD_set_force_High(I2C_BED_SDA);} else  BD_setLow(I2C_BED_SDA);
+    //if (addr &curr) {set_force_High(I2C_BED_SDA);} else  setLow(I2C_BED_SDA);
     BD_set_force_High(I2C_BED_SCL);
     delayMicroseconds(delay_time);
     BD_setLow(I2C_BED_SCL);
     delayMicroseconds(delay_time);
   }
   ////////////
   BD_i2c_stop();
-  
+
 
 }

ardunio/bdsensor_mega328p/Panda_segmentBed_I2C.h

@@ -1,4 +1,4 @@
-// 
+//
 #ifndef Panda_segmentBed_I2C_h
 #define Panda_segmentBed_I2C_h
 
@@ -9,13 +9,13 @@
 #define I2C_MAXWAIT 5000
 //#define I2C_7BITADDR 0x3C// DS1307
 #define MEMLOC 0x0A
-#define ADDRLEN 1 
+#define ADDRLEN 1
 
 class I2C_SegmentBED{
 public:
 	int i2c_init(unsigned char _sda,unsigned char _scl,unsigned char _addr,int delay_m);
 	void I2C_read_str(char *dat_r,int addr);
-	void I2C_send_str(char *dat_r,char send_now);	 
+	void I2C_send_str(char *dat_r,char send_now);
 //////////////////////
 	void BD_i2c_write(unsigned int addr);
 	unsigned short BD_i2c_read(void);

ardunio/bdsensor_mega328p/bdsensor_mega328p.ino

@@ -9,28 +9,28 @@
 #endif
 
 I2C_SegmentBED BD_SENSOR_I2C;
-#define  I2C_BED_SDA  12  
-#define  I2C_BED_SCL  11  
+#define  I2C_BED_SDA  12
+#define  I2C_BED_SCL  11
 #define DELAY 100
 #define MAX_BD_HEIGHT 6.9
 #define CMD_START_READ_CALIBRATE_DATA   1017
 #define CMD_END_READ_CALIBRATE_DATA   1018
 #define CMD_START_CALIBRATE 1019
-#define CMD_END_CALIBRATE 1021  
+#define CMD_END_CALIBRATE 1021
 #define CMD_READ_VERSION  1016
 #define CMD_DISTANCD_RAWDATA_TYPE 1020       // switch output distance data type to raw data, default is mm (1 represent 0.01mm)
 
 char tmp_1[50];
 unsigned int n=0,i=0;
 float Distance=0.0;
 
-U8G2_SSD1306_128X32_UNIVISION_F_SW_I2C u8g2(U8G2_R0, /* clock=*/ SCL, /* data=*/ SDA, /* reset=*/ U8X8_PIN_NONE);  
+U8G2_SSD1306_128X32_UNIVISION_F_SW_I2C u8g2(U8G2_R0, /* clock=*/ SCL, /* data=*/ SDA, /* reset=*/ U8X8_PIN_NONE);
 
 
 
 void dis_text(char *tmp_d,char x,char y)
 {
-  
+
   u8g2.setFont(u8g2_font_ncenB08_tr); // choose a suitable font
   u8g2.drawStr(x,y,tmp_d);  // write something to the internal memory
   u8g2.sendBuffer();          // transfer internal memory to the display
@@ -40,7 +40,7 @@ void dis_text(char *tmp_d,char x,char y)
 unsigned short read_one_data()
 {
     unsigned short tmp=0;
-    tmp=BD_SENSOR_I2C.BD_i2c_read();    
+    tmp=BD_SENSOR_I2C.BD_i2c_read();
     if(BD_SENSOR_I2C.BD_Check_OddEven(tmp)==0)
       //printf("CRC error!\n");
      // sprintf(tmp_1,"CRC error");
@@ -83,21 +83,21 @@ void setup(void) {
   read_version(tmp_1+strlen(tmp_1));
   dis_text(tmp_1,0,10);
   ///
-  
+
 }
 
 void loop(void) {
-  u8g2.clearBuffer(); 
+  u8g2.clearBuffer();
   u8g2.setFont(u8g2_font_ncenB08_tr); // choose a suitable font
   //u8g2.drawStr(x,y,tmp_d);  // write something to the internal memory
-  //u8g2.sendBuffer();   
+  //u8g2.sendBuffer();
 
   sprintf(tmp_1,"");
   read_version(tmp_1+strlen(tmp_1));
   //dis_text(tmp_1,0,10);
   u8g2.drawStr(0,10,tmp_1);
-  
-  //delay(10);  
+
+  //delay(10);
   //read and display raw data
   n=read_raw_data();
   sprintf(tmp_1,"%d ",n);

ardunio/esp32_vscode/README.md

@@ -3,7 +3,7 @@ Arduino testing code
 
 This is a simple arduino testing code. It read the distance data from BDsensor after initial the communication port.
 
-If you want to do more code by yourself for other application here is the protocol of data 
+If you want to do more code by yourself for other application here is the protocol of data
 
 https://github.com/markniu/Bed_Distance_sensor/wiki/Data-Protocol
 

ardunio/esp32_vscode/platformio.ini

@@ -12,7 +12,7 @@
 platform = espressif32
 board = esp32dev
 framework = arduino
-lib_deps          = 
+lib_deps          =
   markyue/Panda_SoftMasterI2C