Replicape on BeagleBone, wont fit on pru

[gaby64]

Trying to build for the BeagleBone PRU, I get: region `imem' overflowed by 3236 bytes

I thought i might be able to get away with just building it for host since I would be using host pins, but that did not work, I get:

MCU Protocol error

...

mcu 'mcu': Unknown command: I2C_BD_send

Any way to reduce the size needed on the BeagleBone PRU?

[markniu]

seems the error : region imem overflowed by 3236 bytes comes from the make command. which board do you used for the BDsensor? and would you take screenshot about your make menuconfig ?

[gaby64]

I got around this by having the BD_sensor connected to host, it wasn't getting past mcu startup at first but then I found I had to specify host and gpiochip, I'm still having issues finding the right ones to use.

The hardware is the Replicape on BeagleBone Black.

[markniu]

we have not test that on host before, so don't connect to host. the BDsensor should connect to MCU on the board. I will try to compile with BeagleBone PRU like you did before.

[gaby64]

I think without bit-banging i2c won't be possible, it does not fit on the pru memory, maybe with some debugging features disabled/excluded.

[gaby64]

Also the Replicape inputs are connected to a logic level converter CD4050BM, as the BeagleBone Black pins are not 5V tolerant.

Can the BD_Sensor work with 3.3V?

[markniu]

Also the Replicape inputs are connected to a logic level converter CD4050BM, as the BeagleBone Black is not 5V tolerant.

Can the BD_Sensor work with 3.3V?

the power pins(5V) for the BD sensor must be 5V. the pins of CLK and SDA can be work with 3.3v to 5V.

[gaby64]

So it should fine to connect to BBB gpio pins directly SCL/SDA from BD_Sensor and power it with 5V. I will test this tomorrow, although it will be through host.

Since the pru "mcu" is inside the host cpu, I think the delay will be negligeable.

[gaby64]

Success with getting a connection returning the proper string, distance measurement works, but I am running into an issue. After successfully calibrating, I tried running PROBE_ACCURACY , I got:

PROBE_ACCURACY at X:-0.669 Y:0.373 Z:522.645 (samples=10 retract=2.000 speed=0.8 lift_speed=0.8)
Communication timeout during homing probe
.set_position Z is 10.150 mm

[markniu]

the probe_accuracy is used for proxmity probe sensor that will move the z axis up and down then check the accuacy of the probe sensor, so the command of probe_accuracy is actually no needed for BDsensor, you can check the accuacy of BDsensor by sending the M102 S-2 at the same points for several times.

and what type of printer do you have? delta ?

[gaby64]

Delta. I also get the error when issuing a PROBE command. The logs look normal, no high srtt, no invalid bytes.

PROBE_ACCURACY at X:-0.669 Y:0.373 Z:522.645 (samples=10 retract=2.000 speed=0.4 lift_speed=0.4)
Stats 236.2: gcodein=0  mcu: mcu_awake=0.000 mcu_task_avg=0.000001 mcu_task_stddev=0.000002 bytes_write=3779 bytes_read=6389 bytes_retransmit=0 bytes_invalid=0 send_seq=337 receive_seq=337 retransmit_seq=0 srtt=0.000 rttvar=0.000 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999995 host: mcu_awake=0.003 mcu_task_avg=0.000037 mcu_task_stddev=0.000037 bytes_write=2411 bytes_read=25515 bytes_retransmit=0 bytes_invalid=0 send_seq=325 receive_seq=325 retransmit_seq=0 srtt=0.002 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49997914 adj=49998206 heater_bed: target=0 temp=19.4 pwm=0.000  sysload=1.64 cputime=10.082 memavail=374428 print_time=181.939 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.7 pwm=0.000
Stats 237.2: gcodein=0  mcu: mcu_awake=0.000 mcu_task_avg=0.000001 mcu_task_stddev=0.000002 bytes_write=5590 bytes_read=8426 bytes_retransmit=0 bytes_invalid=0 send_seq=460 receive_seq=460 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999977 host: mcu_awake=0.051 mcu_task_avg=0.000370 mcu_task_stddev=0.000441 bytes_write=3617 bytes_read=27553 bytes_retransmit=0 bytes_invalid=0 send_seq=426 receive_seq=426 retransmit_seq=0 srtt=0.002 rttvar=0.000 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49997963 adj=49998350 heater_bed: target=0 temp=19.4 pwm=0.000  sysload=1.64 cputime=10.295 memavail=374440 print_time=182.939 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.2 pwm=0.000
Communication timeout during homing probe

[markniu]

did it report communication timeout during PROBE command?

[gaby64]

Yes

[gaby64]

It errors before it even has the chance to start moving down to the probing position.

Its not moving at all, I even increased the TRSYNC_TIMEOUT, no stepper movement during PROBE command.

[markniu]

It errors before it even has the chance to start moving down to the probing position.

Its not moving at all, I even increased the TRSYNC_TIMEOUT, no stepper movement during PROBE command.

how about using a normal proximity probe? the driver code of BDsensor will upload the data to host only it is triggered, so there is no data about BDsensor between mcu and host while probing.

[gaby64]

im not sure what you mean

how could I debug why I am getting "Communication timeout during homing probe"? Let me know where I could add logging to figure it out.

I tried to add more logging to the code, I use PROBE_ACCURACY because its more clear where the command begins in the log:

PROBE_ACCURACY at X:-0.669 Y:0.373 Z:522.645 (samples=10 retract=2.000 speed=40.0 lift_speed=40.0)

pos -0.669,0.373,522.645 -5.000
BD lower_probe0
BD home_start
Stats 133808.9: gcodein=0  mcu: mcu_awake=0.001 mcu_task_avg=0.000002 mcu_task_stddev=0.000003 bytes_write=3018 bytes_read=3526 bytes_retransmit=0 bytes_invalid=0 send_seq=183 receive_seq=183 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999959 host: mcu_awake=0.004 mcu_task_avg=0.000043 mcu_task_stddev=0.000045 bytes_write=1212 bytes_read=7973 bytes_retransmit=0 bytes_invalid=0 send_seq=138 receive_seq=138 retransmit_seq=0 srtt=0.002 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49998833 adj=49997787 heater_bed: target=0 temp=20.0 pwm=0.000  sysload=1.38 cputime=5.039 memavail=355064 print_time=133754.239 buffer_time=0.000 print_stall=0 extruder: target=0 temp=21.3 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
Communication timeout during homing probe, trigger_time: -1.0, move_end_print_time: 133754.51820993
get_position Z is 521.461 mm
.set_position Z is 10.150 mm

[gaby64]

Starting closer to the bed (5mm), I get a different result (TRSYNC_TIMEOUT still increased to 0.040)

PROBE_ACCURACY at X:-0.669 Y:0.373 Z:5.000 (samples=10 retract=2.000 speed=40.0 lift_speed=40.0)

pos -0.669,0.373,5.000 -5.000
BD lower_probe0
BD home_start
Stats 134494.1: gcodein=0  mcu: mcu_awake=0.000 mcu_task_avg=0.000001 mcu_task_stddev=0.000002 bytes_write=30506 bytes_read=26884 bytes_retransmit=0 bytes_invalid=0 send_seq=1607 receive_seq=1607 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=200000039 host: mcu_awake=0.003 mcu_task_avg=0.000037 mcu_task_stddev=0.000036 bytes_write=7222 bytes_read=91263 bytes_retransmit=0 bytes_invalid=0 send_seq=980 receive_seq=980 retransmit_seq=0 srtt=0.002 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49998209 adj=49998589 heater_bed: target=0 temp=20.0 pwm=0.000  sysload=1.15 cputime=29.275 memavail=354976 print_time=134439.416 buffer_time=0.000 print_stall=0 extruder: target=0 temp=21.1 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-3.450045 bd0.000  pos_new:-3.450045
pos -0.669,0.373,-1.450 -5.000
BD lower_probe0
BD home_start
BD home_wait0
BD raise_probe
BD raise_probe
Probe triggered prior to movement
get_position Z is -1.450 mm
.set_position Z is 0.920 mm

[gaby64]

Tweaked the printer.cfg and got success doing a PROBE_ACCURACY starting at 5mm

[printer]
minimum_z_position: -0.5

[BDsensor]
scl_pin: host:gpiochip3/gpio19
sda_pin: host:gpiochip0/gpio5
delay: 40
z_offset:0 # this `z_offset` must be set to 0.
x_offset: 0
y_offset: 18
speed: 4
samples:2
no_stop_probe: True # enable this for fast probe, the toolhead will not stop at the probe point.
position_endstop: 0.8 # the Z axis will stop at this position (mm) while homing z, recommend value is 0.4~1.0

[bed_mesh]
speed: 150
horizontal_move_z: 1
mesh_radius: 80
mesh_origin: 0, 0
round_probe_count: 5

[delta_calibrate]
radius:100
horizontal_move_z: 20
speed:50

pos -0.669,0.373,5.000 -0.500
BD lower_probe0
BD home_start
Stats 135053.6: gcodein=0  mcu: mcu_awake=0.000 mcu_task_avg=0.000001 mcu_task_stddev=0.000002 bytes_write=8553 bytes_read=7013 bytes_retransmit=0 bytes_invalid=0 send_seq=368 receive_seq=368 retransmit_seq=0 srtt=0.000 rttvar=0.000 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999947 host: mcu_awake=0.003 mcu_task_avg=0.000039 mcu_task_stddev=0.000037 bytes_write=1597 bytes_read=10853 bytes_retransmit=0 bytes_invalid=0 send_seq=194 receive_seq=194 retransmit_seq=0 srtt=0.002 rttvar=0.002 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49998334 adj=49999118 heater_bed: target=0 temp=20.3 pwm=0.000  sysload=0.82 cputime=24.107 memavail=353920 print_time=134998.990 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.9 pwm=0.000
Stats 135054.6: gcodein=0  mcu: mcu_awake=0.000 mcu_task_avg=0.000001 mcu_task_stddev=0.000002 bytes_write=9673 bytes_read=8102 bytes_retransmit=0 bytes_invalid=0 send_seq=438 receive_seq=438 retransmit_seq=0 srtt=0.002 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999932 host: mcu_awake=0.123 mcu_task_avg=0.000872 mcu_task_stddev=0.000945 bytes_write=2229 bytes_read=12003 bytes_retransmit=0 bytes_invalid=0 send_seq=246 receive_seq=246 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49998511 adj=49999158 heater_bed: target=0 temp=20.1 pwm=0.000  sysload=0.82 cputime=24.265 memavail=353912 print_time=134999.940 buffer_time=0.000 print_stall=0 extruder: target=0 temp=21.8 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.238555 bd0.700  pos_new:0.461445
pos -0.669,0.373,1.761 -0.500
BD lower_probe0
BD home_start
Stats 135055.6: gcodein=0  mcu: mcu_awake=0.000 mcu_task_avg=0.000001 mcu_task_stddev=0.000002 bytes_write=10300 bytes_read=8661 bytes_retransmit=0 bytes_invalid=0 send_seq=477 receive_seq=477 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999933 host: mcu_awake=0.123 mcu_task_avg=0.000872 mcu_task_stddev=0.000945 bytes_write=2602 bytes_read=12597 bytes_retransmit=0 bytes_invalid=0 send_seq=275 receive_seq=275 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49998712 adj=49999495 heater_bed: target=0 temp=20.1 pwm=0.000  sysload=0.82 cputime=24.393 memavail=353928 print_time=135000.954 buffer_time=0.000 print_stall=0 extruder: target=0 temp=21.6 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.234971 bd0.640  pos_new:0.405029
pos -0.669,0.373,1.765 -0.500
BD lower_probe0
BD home_start
Stats 135056.6: gcodein=0  mcu: mcu_awake=0.000 mcu_task_avg=0.000001 mcu_task_stddev=0.000002 bytes_write=11019 bytes_read=9244 bytes_retransmit=0 bytes_invalid=0 send_seq=518 receive_seq=518 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999944 host: mcu_awake=0.123 mcu_task_avg=0.000872 mcu_task_stddev=0.000945 bytes_write=2992 bytes_read=13244 bytes_retransmit=0 bytes_invalid=0 send_seq=306 receive_seq=306 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49998885 adj=49999876 heater_bed: target=0 temp=20.1 pwm=0.000  sysload=0.82 cputime=24.531 memavail=353928 print_time=135002.153 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.9 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.238850 bd0.600  pos_new:0.361150
pos -0.669,0.373,1.761 -0.500
BD lower_probe0
BD home_start
Stats 135057.6: gcodein=0  mcu: mcu_awake=0.001 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=11795 bytes_read=9870 bytes_retransmit=0 bytes_invalid=0 send_seq=562 receive_seq=562 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999967 host: mcu_awake=0.123 mcu_task_avg=0.000872 mcu_task_stddev=0.000945 bytes_write=3382 bytes_read=13905 bytes_retransmit=0 bytes_invalid=0 send_seq=337 receive_seq=337 retransmit_seq=0 srtt=0.003 rttvar=0.002 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49998796 adj=50000205 heater_bed: target=0 temp=20.1 pwm=0.000  sysload=0.82 cputime=24.675 memavail=353928 print_time=135003.355 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.5 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
Stats 135058.7: gcodein=0  mcu: mcu_awake=0.001 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=12395 bytes_read=10443 bytes_retransmit=0 bytes_invalid=0 send_seq=601 receive_seq=601 retransmit_seq=0 srtt=0.002 rttvar=0.002 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999970 host: mcu_awake=0.123 mcu_task_avg=0.000872 mcu_task_stddev=0.000945 bytes_write=3718 bytes_read=14527 bytes_retransmit=0 bytes_invalid=0 send_seq=365 receive_seq=365 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999053 adj=50000026 heater_bed: target=0 temp=20.2 pwm=0.000  sysload=0.84 cputime=24.791 memavail=353928 print_time=135003.964 buffer_time=0.088 print_stall=0 extruder: target=0 temp=21.1 pwm=0.000
probe at -0.669,0.373 is z=-0.230045 bd0.610  pos_new:0.379955
pos -0.669,0.373,1.770 -0.500
BD lower_probe0
BD home_start
Stats 135059.7: gcodein=0  mcu: mcu_awake=0.001 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=13112 bytes_read=10938 bytes_retransmit=0 bytes_invalid=0 send_seq=639 receive_seq=639 retransmit_seq=0 srtt=0.002 rttvar=0.002 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999970 host: mcu_awake=0.628 mcu_task_avg=0.001784 mcu_task_stddev=0.000000 bytes_write=4020 bytes_read=15075 bytes_retransmit=0 bytes_invalid=0 send_seq=388 receive_seq=388 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999206 adj=50000537 heater_bed: target=0 temp=20.3 pwm=0.000  sysload=0.84 cputime=24.905 memavail=353928 print_time=135005.063 buffer_time=0.000 print_stall=0 extruder: target=0 temp=21.1 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.242434 bd0.660  pos_new:0.417566
pos -0.669,0.373,1.758 -0.500
BD lower_probe0
BD home_start
Stats 135060.7: gcodein=0  mcu: mcu_awake=0.001 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=13738 bytes_read=11327 bytes_retransmit=0 bytes_invalid=0 send_seq=672 receive_seq=672 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999965 host: mcu_awake=0.628 mcu_task_avg=0.001784 mcu_task_stddev=0.000000 bytes_write=4273 bytes_read=15493 bytes_retransmit=0 bytes_invalid=0 send_seq=407 receive_seq=407 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999333 adj=50000849 heater_bed: target=0 temp=20.2 pwm=0.000  sysload=0.84 cputime=25.019 memavail=353940 print_time=135006.090 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.2 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.228703 bd0.640  pos_new:0.411297
pos -0.669,0.373,1.771 -0.500
BD lower_probe0
BD home_start
Stats 135061.7: gcodein=0  mcu: mcu_awake=0.001 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=14290 bytes_read=11715 bytes_retransmit=0 bytes_invalid=0 send_seq=702 receive_seq=702 retransmit_seq=0 srtt=0.000 rttvar=0.000 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999963 host: mcu_awake=0.628 mcu_task_avg=0.001784 mcu_task_stddev=0.000000 bytes_write=4550 bytes_read=15950 bytes_retransmit=0 bytes_invalid=0 send_seq=428 receive_seq=428 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999428 adj=50001115 heater_bed: target=0 temp=20.1 pwm=0.000  sysload=0.84 cputime=25.138 memavail=353932 print_time=135007.088 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.8 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.233776 bd0.620  pos_new:0.386224
pos -0.669,0.373,1.766 -0.500
BD lower_probe0
BD home_start
Stats 135062.7: gcodein=0  mcu: mcu_awake=0.002 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=14950 bytes_read=12307 bytes_retransmit=0 bytes_invalid=0 send_seq=742 receive_seq=742 retransmit_seq=0 srtt=0.001 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999969 host: mcu_awake=0.628 mcu_task_avg=0.001784 mcu_task_stddev=0.000000 bytes_write=4940 bytes_read=16597 bytes_retransmit=0 bytes_invalid=0 send_seq=459 receive_seq=459 retransmit_seq=0 srtt=0.004 rttvar=0.003 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999510 adj=50001318 heater_bed: target=0 temp=20.2 pwm=0.000  sysload=0.84 cputime=25.276 memavail=353940 print_time=135008.140 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.8 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.229292 bd0.440  pos_new:0.210708
pos -0.669,0.373,1.771 -0.500
BD lower_probe0
BD home_start
Stats 135063.7: gcodein=0  mcu: mcu_awake=0.002 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=15708 bytes_read=12957 bytes_retransmit=0 bytes_invalid=0 send_seq=788 receive_seq=788 retransmit_seq=0 srtt=0.002 rttvar=0.001 rto=0.025 ready_bytes=49 upcoming_bytes=0 freq=199999957 host: mcu_awake=0.628 mcu_task_avg=0.001784 mcu_task_stddev=0.000000 bytes_write=5361 bytes_read=17281 bytes_retransmit=0 bytes_invalid=0 send_seq=492 receive_seq=492 retransmit_seq=0 srtt=0.004 rttvar=0.003 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999369 adj=50001492 heater_bed: target=0 temp=20.0 pwm=0.000  sysload=0.85 cputime=25.422 memavail=353940 print_time=135009.454 buffer_time=0.000 print_stall=0 extruder: target=0 temp=21.6 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
Stats 135064.8: gcodein=0  mcu: mcu_awake=0.002 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=16376 bytes_read=13549 bytes_retransmit=0 bytes_invalid=0 send_seq=828 receive_seq=828 retransmit_seq=0 srtt=0.002 rttvar=0.002 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999957 host: mcu_awake=0.544 mcu_task_avg=0.001766 mcu_task_stddev=0.000000 bytes_write=5714 bytes_read=17955 bytes_retransmit=0 bytes_invalid=0 send_seq=522 receive_seq=522 retransmit_seq=0 srtt=0.004 rttvar=0.002 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999432 adj=50001184 heater_bed: target=0 temp=20.3 pwm=0.000  sysload=0.85 cputime=25.543 memavail=353940 print_time=135010.075 buffer_time=0.089 print_stall=0 extruder: target=0 temp=19.7 pwm=0.000
probe at -0.669,0.373 is z=-0.235118 bd0.590  pos_new:0.354882
pos -0.669,0.373,1.765 -0.500
BD lower_probe0
BD home_start
Stats 135065.8: gcodein=0  mcu: mcu_awake=0.002 mcu_task_avg=0.000003 mcu_task_stddev=0.000003 bytes_write=17018 bytes_read=14024 bytes_retransmit=0 bytes_invalid=0 send_seq=862 receive_seq=862 retransmit_seq=0 srtt=0.002 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=199999943 host: mcu_awake=0.544 mcu_task_avg=0.001766 mcu_task_stddev=0.000000 bytes_write=6028 bytes_read=18480 bytes_retransmit=0 bytes_invalid=0 send_seq=546 receive_seq=546 retransmit_seq=0 srtt=0.003 rttvar=0.001 rto=0.025 ready_bytes=0 upcoming_bytes=0 freq=49999520 adj=50001326 heater_bed: target=0 temp=20.1 pwm=0.000  sysload=0.85 cputime=25.653 memavail=353952 print_time=135011.180 buffer_time=0.000 print_stall=0 extruder: target=0 temp=20.6 pwm=0.000
BD home_wait0
BD raise_probe
BD raise_probe
probe at -0.669,0.373 is z=-0.232434 bd0.650  pos_new:0.417566
get_position Z is 1.768 mm
.set_position Z is 0.650 mm
probe accuracy results: maximum -0.228703, minimum -0.242434, range 0.013732, average -0.234418, median -0.234374, standard deviation 0.004292

Restoring TRSYNC_TIMEOUT to 0.025, I still get "Communication timeout during homing probe", its only working with TRSYNC_TIMEOUT at 0.040

[markniu]

I am also testing and debuging the delta printer with my stm32 board + raspberrypi, it just works, but not easy to calibrate.

[gaby64]

Btw, I have optical endstops at the top of my delta printer, I will never home with the probe. It is only for bed mesh.

[gaby64]

I've had success running M102 S-6 calibration, DELTA_CALIBRATE and BED_MESH_CALIBRATE and then printing. But this is all still with TRSYNC_TIMEOUT at 0.040.

[markniu]

I've had success running M102 S-6 calibration, DELTA_CALIBRATE and BED_MESH_CALIBRATE and then printing. But this is all still with TRSYNC_TIMEOUT at 0.040.

looks nice. about the timeout, maybe you can try to add this code in the BD_sensor.c and compile & flash this will reduce the frequency while probing.

    if(endtime_adjust>timer_read_time())
        return;
    endtime_adjust=timer_read_time() + timer_from_us(50000);`

[gaby64]

I just tested it, it made no difference.

PROBE_ACCURACY at X:-0.157 Y:0.715 Z:522.619 (samples=10 retract=2.000 speed=4.0 lift_speed=4.0)

pos -0.157,0.715,522.619 -0.500
BD lower_probe0
BD home_start
BD home_wait0
BD raise_probe
BD raise_probe
Communication timeout during homing probe, trigger_time: -1.0, move_end_print_time:  218.705203945
get_position Z is 521.164 mm
.set_position Z is 10.150 mm

[gaby64]

I was able to reduce TRSYNC_TIMEOUT to 0.030 with your changes.

[goeland86]

@gaby64 are you still using host for the i2c connection of the probe? If so, the timeout may be for you the round-trip between the pru and host communications.

[gaby64]

@gaby64 are you still using host for the i2c connection of the probe? If so, the timeout may be for you the round-trip between the pru and host communications.

Yes I am, can't run it on the pru. How would you debug the timeout? Is it expected to have higher then 25ms roundtrip?

[gaby64]

@markniu What if i2c bus was supported? Could it allow reducing blocking the main thread?

[goeland86]

@gaby64 are you still using host for the i2c connection of the probe? If so, the timeout may be for you the round-trip between the pru and host communications.

Yes I am, can't run it on the pru. How would you debug the timeout? Is it expected to have higher then 25ms roundtrip?

PRU communication goes through a rather slow memory buffer exchange from what I remember, so it's quite slow as a result. 25ms seems longer than it should be, but if you factor in that it's a single core, it wouldn't be all that surprising you'd get to that latency overall. Unfortunately the Beaglebone + Replicape combination is too limited in terms of computing capacity for what Klipper is doing. Redeem was a lot lighter, but also less feature-rich. The explosion of features in the newer Klipper code has outgrown what the Replicape can reasonably do with advanced hardware like the i2c BD sensor.