zaubentrucker/muele-marlin
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

Fix MIN_PROBE_EDGE bug in default ABL G29 (#16367)

Browse source
This commit is contained in:
Jason Smith 2020-01-03 17:46:26 -06:00 committed by Scott Lahteine
parent d7aee3b7b6
commit 3cade6245e
17 changed files with 175 additions and 110 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

15
Marlin/src/core/utility.cpp
View file

@ -81,6 +81,10 @@ void safe_delay(millis_t ms) {
);
#if HAS_BED_PROBE
#if !HAS_PROBE_XY_OFFSET
SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe_offset.z, " (");
#else
SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
if (probe_offset.x > 0)
SERIAL_ECHOPGM(" (Right");
@ -108,13 +112,18 @@ void safe_delay(millis_t ms) {
else if (probe_offset.x != 0)
SERIAL_ECHOPGM("-Center");
SERIAL_ECHOPGM(" & ");
#endif
if (probe_offset.z < 0)
SERIAL_ECHOPGM(" & Below");
SERIAL_ECHOPGM("Below");
else if (probe_offset.z > 0)
SERIAL_ECHOPGM(" & Above");
SERIAL_ECHOPGM("Above");
else
SERIAL_ECHOPGM(" & Same Z as");
SERIAL_ECHOPGM("Same Z as");
SERIAL_ECHOLNPGM(" Nozzle)");
#endif
#if HAS_ABL_OR_UBL

2
Marlin/src/feature/bedlevel/ubl/ubl.cpp
View file

@ -176,7 +176,7 @@
// Add XY probe offset from extruder because probe_at_point() subtracts them when
// moving to the XY position to be measured. This ensures better agreement between
// the current Z position after G28 and the mesh values.
const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + xy_pos_t(probe_offset));
const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe_offset_xy);
if (!lcd) SERIAL_EOL();
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {

13
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View file

@ -450,7 +450,7 @@
SERIAL_ECHO(g29_pos.y);
SERIAL_ECHOLNPGM(").\n");
}
const xy_pos_t near = g29_pos + probe_offset;
const xy_pos_t near = g29_pos + probe_offset_xy;
probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
report_current_position();
@ -468,6 +468,7 @@
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (parser.seen('C') && !xy_seen) {
/**
* Use a good default location for the path.
* The flipped > and < operators in these comparisons is intentional.
@ -479,8 +480,8 @@
#if IS_KINEMATIC
X_HOME_POS, Y_HOME_POS
#else
probe_offset.x > 0 ? X_BED_SIZE : 0,
probe_offset.y < 0 ? Y_BED_SIZE : 0
probe_offset_xy.x > 0 ? X_BED_SIZE : 0,
probe_offset_xy.y < 0 ? Y_BED_SIZE : 0
#endif
);
}
@ -805,8 +806,8 @@
restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
constrain(near.x - probe_offset.x, MESH_MIN_X, MESH_MAX_X),
constrain(near.y - probe_offset.y, MESH_MIN_Y, MESH_MAX_Y)
constrain(near.x - probe_offset_xy.x, MESH_MIN_X, MESH_MAX_X),
constrain(near.y - probe_offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
);
}
@ -1293,7 +1294,7 @@
closest.distance = -99999.9f;
// Get the reference position, either nozzle or probe
const xy_pos_t ref = probe_relative ? pos + probe_offset : pos;
const xy_pos_t ref = probe_relative ? pos + probe_offset_xy : pos;
float best_so_far = 99999.99f;

9
Marlin/src/gcode/bedlevel/G42.cpp
View file

@ -45,20 +45,21 @@ void GcodeSuite::G42() {
return;
}
// Move to current_position, as modified by I, J, P parameters
destination = current_position;
if (hasI) destination.x = _GET_MESH_X(ix);
if (hasJ) destination.y = _GET_MESH_Y(iy);
#if HAS_BED_PROBE
#if HAS_PROBE_XY_OFFSET
if (parser.boolval('P')) {
if (hasI) destination.x -= probe_offset.x;
if (hasJ) destination.y -= probe_offset.y;
if (hasI) destination.x -= probe_offset_xy.x;
if (hasJ) destination.y -= probe_offset_xy.y;
}
#endif
const feedRate_t fval = parser.linearval('F'),
fr_mm_s = fval > 0 ? MMM_TO_MMS(fval) : 0.0f;
fr_mm_s = MMM_TO_MMS(fval > 0 ? fval : 0.0f);
// SCARA kinematic has "safe" XY raw moves
#if IS_SCARA

15
Marlin/src/gcode/bedlevel/abl/G29.cpp
View file

@ -228,7 +228,7 @@ G29_TYPE GcodeSuite::G29() {
ABL_VAR xy_int8_t meshCount;
#endif
ABL_VAR xy_float_t probe_position_lf, probe_position_rb;
ABL_VAR xy_pos_t probe_position_lf, probe_position_rb;
ABL_VAR xy_float_t gridSpacing = { 0, 0 };
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -403,14 +403,13 @@ G29_TYPE GcodeSuite::G29() {
}
else {
probe_position_lf.set(
parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : (_MAX(x_min, X_CENTER - (X_BED_SIZE) / 2) + MIN_PROBE_EDGE_LEFT),
parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : (_MAX(y_min, Y_CENTER - (Y_BED_SIZE) / 2) + MIN_PROBE_EDGE_FRONT)
parser.seenval('L') ? RAW_X_POSITION(parser.value_linear_units()) : x_min,
parser.seenval('F') ? RAW_Y_POSITION(parser.value_linear_units()) : y_min
);
probe_position_rb.set(
parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : (_MIN(x_max, probe_position_lf.x + X_BED_SIZE) - MIN_PROBE_EDGE_RIGHT),
parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : (_MIN(y_max, probe_position_lf.y + Y_BED_SIZE) - MIN_PROBE_EDGE_BACK)
parser.seenval('R') ? RAW_X_POSITION(parser.value_linear_units()) : x_max,
parser.seenval('B') ? RAW_Y_POSITION(parser.value_linear_units()) : y_max
);
SERIAL_ECHOLN("Set Trail 1");
}
if (
@ -911,8 +910,8 @@ G29_TYPE GcodeSuite::G29() {
planner.force_unapply_leveling(converted); // use conversion machinery
// Use the last measured distance to the bed, if possible
if ( NEAR(current_position.x, probePos.x - probe_offset.x)
&& NEAR(current_position.y, probePos.y - probe_offset.y)
if ( NEAR(current_position.x, probePos.x - probe_offset_xy.x)
&& NEAR(current_position.y, probePos.y - probe_offset_xy.y)
) {
const float simple_z = current_position.z - measured_z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z);

2
Marlin/src/gcode/calibrate/G28.cpp
View file

@ -133,7 +133,7 @@
destination.set(safe_homing_xy, current_position.z);
#if HOMING_Z_WITH_PROBE
destination -= probe_offset;
destination -= probe_offset_xy;
#endif
if (position_is_reachable(destination)) {

9
Marlin/src/gcode/calibrate/M48.cpp
View file

@ -77,8 +77,8 @@ void GcodeSuite::M48() {
xy_float_t next_pos = current_position;
const xy_pos_t probe_pos = {
parser.linearval('X', next_pos.x + probe_offset.x),
parser.linearval('Y', next_pos.y + probe_offset.y)
parser.linearval('X', next_pos.x + probe_offset_xy.x),
parser.linearval('Y', next_pos.y + probe_offset_xy.y)
};
if (!position_is_reachable_by_probe(probe_pos)) {
@ -166,8 +166,9 @@ void GcodeSuite::M48() {
while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with
// numbers outside of the range, but just to be safe we clamp them.
next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
const xy_pos_t noz_pos = probe_pos - probe_offset_xy;
next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius,
noz_pos.y + sin(RADIANS(angle)) * radius);
#if DISABLED(DELTA)
LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);

5
Marlin/src/gcode/probe/G30.cpp
View file

@ -39,8 +39,9 @@
* E Engage the probe for each probe (default 1)
*/
void GcodeSuite::G30() {
const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset.x),
parser.linearval('Y', current_position.y + probe_offset.y) };
const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset_xy.x),
parser.linearval('Y', current_position.y + probe_offset_xy.y) };
if (!position_is_reachable_by_probe(pos)) return;

19
Marlin/src/gcode/probe/M851.cpp
View file

@ -37,32 +37,49 @@ void GcodeSuite::M851() {
// Show usage with no parameters
if (!parser.seen("XYZ")) {
SERIAL_ECHOLNPAIR_P(PSTR(MSG_PROBE_OFFSET " X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
SERIAL_ECHOLNPAIR_P(
#if HAS_PROBE_XY_OFFSET
PSTR(MSG_PROBE_OFFSET " X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR
#else
PSTR(MSG_PROBE_OFFSET " X0 Y0 Z")
#endif
, probe_offset.z
);
return;
}
// Start with current offsets and modify
xyz_pos_t offs = probe_offset;
// Assume no errors
bool ok = true;
if (parser.seenval('X')) {
const float x = parser.value_float();
#if HAS_PROBE_XY_OFFSET
if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
offs.x = x;
else {
SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
ok = false;
}
#else
if (x) SERIAL_ECHOLNPAIR("?X must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
#endif
}
if (parser.seenval('Y')) {
const float y = parser.value_float();
#if HAS_PROBE_XY_OFFSET
if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
offs.y = y;
else {
SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
ok = false;
}
#else
if (y) SERIAL_ECHOLNPAIR("?Y must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
#endif
}
if (parser.seenval('Z')) {

1
Marlin/src/inc/Conditionals_LCD.h
View file

@ -500,6 +500,7 @@
#define PROBE_SELECTED (HAS_BED_PROBE || EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
#if HAS_BED_PROBE
#define HAS_PROBE_XY_OFFSET DISABLED(NOZZLE_AS_PROBE)
#define HAS_CUSTOM_PROBE_PIN DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#define HOMING_Z_WITH_PROBE (Z_HOME_DIR < 0 && !HAS_CUSTOM_PROBE_PIN)
#ifndef Z_PROBE_LOW_POINT

14
Marlin/src/inc/SanityCheck.h
View file

@ -1149,6 +1149,20 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#error "Z_MIN_PROBE_PIN must be defined if Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN is not enabled."
#endif
#if ENABLED(NOZZLE_AS_PROBE)
constexpr float sanity_nozzle_to_probe_offset[] = NOZZLE_TO_PROBE_OFFSET;
static_assert(sanity_nozzle_to_probe_offset[0] == 0.0 && sanity_nozzle_to_probe_offset[1] == 0.0,
"NOZZLE_AS_PROBE requires the X,Y offsets in NOZZLE_TO_PROBE_OFFSET to be 0,0.");
#endif
#if DISABLED(NOZZLE_AS_PROBE)
static_assert(MIN_PROBE_EDGE >= 0, "MIN_PROBE_EDGE must be >= 0.");
static_assert(MIN_PROBE_EDGE_BACK >= 0, "MIN_PROBE_EDGE_BACK must be >= 0.");
static_assert(MIN_PROBE_EDGE_FRONT >= 0, "MIN_PROBE_EDGE_FRONT must be >= 0.");
static_assert(MIN_PROBE_EDGE_LEFT >= 0, "MIN_PROBE_EDGE_LEFT must be >= 0.");
static_assert(MIN_PROBE_EDGE_RIGHT >= 0, "MIN_PROBE_EDGE_RIGHT must be >= 0.");
#endif
/**
* Make sure Z raise values are set
*/

18
Marlin/src/module/configuration_store.cpp
View file

@ -2354,7 +2354,12 @@ void MarlinSettings::reset() {
#if HAS_BED_PROBE
constexpr float dpo[XYZ] = NOZZLE_TO_PROBE_OFFSET;
static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z.");
#if HAS_PROBE_XY_OFFSET
LOOP_XYZ(a) probe_offset[a] = dpo[a];
#else
probe_offset.x = probe_offset.y = 0;
probe_offset.z = dpo[Z_AXIS];
#endif
#endif
//
@ -3102,9 +3107,16 @@ void MarlinSettings::reset() {
say_units(true);
}
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR_P(PSTR(" M851 X"), LINEAR_UNIT(probe_offset.x),
SP_Y_STR, LINEAR_UNIT(probe_offset.y),
SP_Z_STR, LINEAR_UNIT(probe_offset.z));
SERIAL_ECHOLNPAIR_P(
#if HAS_PROBE_XY_OFFSET
PSTR(" M851 X"), LINEAR_UNIT(probe_offset_xy.x),
SP_Y_STR, LINEAR_UNIT(probe_offset_xy.y),
SP_Z_STR
#else
PSTR(" M851 X0 Y0 Z")
#endif
, LINEAR_UNIT(probe_offset.z)
);
#endif
/**

8
Marlin/src/module/delta.cpp
View file

@ -91,13 +91,7 @@ void recalc_delta_settings() {
#endif
float delta_calibration_radius() {
return FLOOR((DELTA_PRINTABLE_RADIUS - (
#if HAS_BED_PROBE
_MAX(HYPOT(probe_offset.x, probe_offset.y), MIN_PROBE_EDGE)
#else
MIN_PROBE_EDGE
#endif
)) * calibration_radius_factor);
return FLOOR((DELTA_PRINTABLE_RADIUS - _MAX(HYPOT(probe_offset_xy.x, probe_offset_xy.y), MIN_PROBE_EDGE)) * calibration_radius_factor);
}
/**

19
Marlin/src/module/motion.h
View file

@ -291,6 +291,7 @@ void homeaxis(const AxisEnum axis);
*/
#if IS_KINEMATIC // (DELTA or SCARA)
#if HAS_SCARA_OFFSET
extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset
#endif
@ -315,14 +316,26 @@ void homeaxis(const AxisEnum axis);
}
#if HAS_BED_PROBE
#if HAS_PROBE_XY_OFFSET
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
&& position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
}
#else
FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx, ry, MIN_PROBE_EDGE);
}
#endif
#endif // HAS_BED_PROBE
#else // CARTESIAN
// Return true if the given position is within the machine bounds.
@ -340,6 +353,7 @@ void homeaxis(const AxisEnum axis);
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
#if HAS_BED_PROBE
/**
* Return whether the given position is within the bed, and whether the nozzle
* can reach the position required to put the probe at the given position.
@ -348,11 +362,12 @@ void homeaxis(const AxisEnum axis);
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
return position_is_reachable(rx - probe_offset_xy.x, ry - probe_offset_xy.y)
&& WITHIN(rx, probe_min_x() - slop, probe_max_x() + slop)
&& WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop);
}
#endif
#endif // HAS_BED_PROBE
#endif // CARTESIAN

12
Marlin/src/module/probe.cpp
View file

@ -56,8 +56,6 @@
#include "../feature/backlash.h"
#endif
xyz_pos_t probe_offset; // Initialized by settings.load()
#if ENABLED(BLTOUCH)
#include "../feature/bltouch.h"
#endif
@ -86,6 +84,14 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
xyz_pos_t probe_offset; // Initialized by settings.load()
#if HAS_PROBE_XY_OFFSET
xyz_pos_t &probe_offset_xy = probe_offset;
#endif
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@ -698,7 +704,7 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
xyz_pos_t npos = { rx, ry };
if (probe_relative) {
if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
npos -= probe_offset; // Get the nozzle position
npos -= probe_offset_xy; // Get the nozzle position
}
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle

31
Marlin/src/module/probe.h
View file

@ -31,6 +31,12 @@
extern xyz_pos_t probe_offset;
#if HAS_PROBE_XY_OFFSET
extern xyz_pos_t &probe_offset_xy;
#else
constexpr xy_pos_t probe_offset_xy{0};
#endif
bool set_probe_deployed(const bool deploy);
#ifdef Z_AFTER_PROBING
void move_z_after_probing();
@ -54,6 +60,7 @@
#else
constexpr xyz_pos_t probe_offset{0};
constexpr xy_pos_t probe_offset_xy{0};
#define DEPLOY_PROBE()
#define STOW_PROBE()
@ -71,13 +78,7 @@
);
inline float probe_radius() {
return printable_radius - (
#if HAS_BED_PROBE
_MAX(MIN_PROBE_EDGE, HYPOT(probe_offset.x, probe_offset.y))
#else
MIN_PROBE_EDGE
#endif
);
return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
}
#endif
@ -85,10 +86,8 @@
return (
#if IS_KINEMATIC
(X_CENTER) - probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MAX(MIN_PROBE_EDGE_LEFT, X_MIN_POS)
#else
_MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset.x)
_MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset_xy.x)
#endif
);
}
@ -96,10 +95,8 @@
return (
#if IS_KINEMATIC
(X_CENTER) + probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MAX(MIN_PROBE_EDGE_RIGHT, X_MAX_POS)
#else
_MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset.x)
_MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset_xy.x)
#endif
);
}
@ -107,10 +104,8 @@
return (
#if IS_KINEMATIC
(Y_CENTER) - probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MIN(MIN_PROBE_EDGE_FRONT, Y_MIN_POS)
#else
_MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset.y)
_MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset_xy.y)
#endif
);
}
@ -118,10 +113,8 @@
return (
#if IS_KINEMATIC
(Y_CENTER) + probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MAX(MIN_PROBE_EDGE_BACK, Y_MAX_POS)
#else
_MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset.y)
_MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset_xy.y)
#endif
);
}

3
buildroot/share/tests/LPC1768-tests
View file

@ -45,7 +45,8 @@ opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT ADAPTIVE_FAN_
Z_SAFE_HOMING ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE \
LCD_INFO_MENU ARC_SUPPORT BEZIER_CURVE_SUPPORT EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES SDCARD_SORT_ALPHA
opt_set GRID_MAX_POINTS_X 16
exec_test $1 $2 "Re-ARM with Many Features"
opt_set NOZZLE_TO_PROBE_OFFSET "{ 0, 0, 0 }"
exec_test $1 $2 "Re-ARM with NOZZLE_AS_PROBE and many features."
# clean up
restore_configs