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Updates to G29 for probe error handling

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This commit is contained in:
Scott Lahteine 2017-08-11 16:39:55 -05:00
parent f54e0fc90f
commit 6bd63d27b5
1 changed files with 182 additions and 182 deletions
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76
Marlin/Marlin_main.cpp
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@ -2222,7 +2222,14 @@ static void clean_up_after_endstop_or_probe_move() {
return false; return false;
} }
static bool do_probe_move(float z, float fr_mm_m) { /**
* @brief Used by run_z_probe to do a single Z probe move.
*
* @param z Z destination
* @param fr_mm_s Feedrate in mm/s
* @return true to indicate an error
*/
static bool do_probe_move(const float z, const float fr_mm_m) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#endif #endif
@ -2241,7 +2248,7 @@ static void clean_up_after_endstop_or_probe_move() {
// Check to see if the probe was triggered // Check to see if the probe was triggered
const bool probe_triggered = TEST(Endstops::endstop_hit_bits, const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
#ifdef Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
Z_MIN Z_MIN
#else #else
Z_MIN_PROBE Z_MIN_PROBE
@ -2273,9 +2280,14 @@ static void clean_up_after_endstop_or_probe_move() {
return !probe_triggered; return !probe_triggered;
} }
// Do a single Z probe and return with current_position[Z_AXIS] /**
// at the height where the probe triggered. * @details Used by probe_pt to do a single Z probe.
static float run_z_probe(bool printable=true) { * Leaves current_position[Z_AXIS] at the height where the probe triggered.
*
* @param short_move Flag for a shorter probe move towards the bed
* @return The raw Z position where the probe was triggered
*/
static float run_z_probe(const bool short_move=true) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
@ -2313,7 +2325,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif #endif
// move down slowly to find bed // move down slowly to find bed
if (do_probe_move(-10 + (printable ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN; if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
@ -2410,6 +2422,12 @@ static void clean_up_after_endstop_or_probe_move() {
feedrate_mm_s = old_feedrate_mm_s; feedrate_mm_s = old_feedrate_mm_s;
if (isnan(measured_z)) {
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
}
return measured_z; return measured_z;
} }
@ -3775,9 +3793,7 @@ inline void gcode_G4() {
// If an endstop was not hit, then damage can occur if homing is continued. // If an endstop was not hit, then damage can occur if homing is continued.
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
// not set correctly. // not set correctly.
if (!(TEST(Endstops::endstop_hit_bits, X_MAX) || if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
TEST(Endstops::endstop_hit_bits, Y_MAX) ||
TEST(Endstops::endstop_hit_bits, Z_MAX))) {
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED); LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
SERIAL_ERROR_START(); SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED); SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
@ -4126,20 +4142,6 @@ void home_all_axes() { gcode_G28(true); }
#endif #endif
#if HAS_BED_PROBE
static bool nan_error(const float v) {
const bool is_nan = isnan(v);
if (is_nan) {
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
}
return is_nan;
}
#endif // HAS_BED_PROBE
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
// Save 130 bytes with non-duplication of PSTR // Save 130 bytes with non-duplication of PSTR
@ -4675,18 +4677,16 @@ void home_all_axes() { gcode_G28(true); }
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
} }
if (!faux) setup_for_endstop_or_probe_move();
//xProbe = yProbe = measured_z = 0;
#if HAS_BED_PROBE #if HAS_BED_PROBE
// Deploy the probe. Probe will raise if needed. // Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) { if (DEPLOY_PROBE()) {
planner.abl_enabled = abl_should_enable; planner.abl_enabled = abl_should_enable;
goto FAIL; return;
} }
#endif #endif
if (!faux) setup_for_endstop_or_probe_move();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(PROBE_MANUALLY) #if ENABLED(PROBE_MANUALLY)
@ -4907,7 +4907,7 @@ void home_all_axes() { gcode_G28(true); }
bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
// Outer loop is Y with PROBE_Y_FIRST disabled // Outer loop is Y with PROBE_Y_FIRST disabled
for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) { for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc; int8_t inStart, inStop, inInc;
@ -4944,9 +4944,9 @@ void home_all_axes() { gcode_G28(true); }
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (nan_error(measured_z)) { if (isnan(measured_z)) {
planner.abl_enabled = abl_should_enable; planner.abl_enabled = abl_should_enable;
goto FAIL; break;
} }
#if ENABLED(AUTO_BED_LEVELING_LINEAR) #if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -4980,14 +4980,14 @@ void home_all_axes() { gcode_G28(true); }
xProbe = LOGICAL_X_POSITION(points[i].x); xProbe = LOGICAL_X_POSITION(points[i].x);
yProbe = LOGICAL_Y_POSITION(points[i].y); yProbe = LOGICAL_Y_POSITION(points[i].y);
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (nan_error(measured_z)) { if (isnan(measured_z)) {
planner.abl_enabled = abl_should_enable; planner.abl_enabled = abl_should_enable;
goto FAIL; break;
} }
points[i].z = measured_z; points[i].z = measured_z;
} }
if (!dryrun) { if (!dryrun && !isnan(measured_z)) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) { if (planeNormal.z < 0) {
planeNormal.x *= -1; planeNormal.x *= -1;
@ -5005,7 +5005,7 @@ void home_all_axes() { gcode_G28(true); }
// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
if (STOW_PROBE()) { if (STOW_PROBE()) {
planner.abl_enabled = abl_should_enable; planner.abl_enabled = abl_should_enable;
goto FAIL; measured_z = NAN;
} }
} }
#endif // !PROBE_MANUALLY #endif // !PROBE_MANUALLY
@ -5032,6 +5032,7 @@ void home_all_axes() { gcode_G28(true); }
#endif #endif
// Calculate leveling, print reports, correct the position // Calculate leveling, print reports, correct the position
if (!isnan(measured_z)) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) extrapolate_unprobed_bed_level(); if (!dryrun) extrapolate_unprobed_bed_level();
@ -5226,8 +5227,7 @@ void home_all_axes() { gcode_G28(true); }
// Auto Bed Leveling is complete! Enable if possible. // Auto Bed Leveling is complete! Enable if possible.
planner.abl_enabled = dryrun ? abl_should_enable : true; planner.abl_enabled = dryrun ? abl_should_enable : true;
} // !isnan(measured_z)
FAIL:
// Restore state after probing // Restore state after probing
if (!faux) clean_up_after_endstop_or_probe_move(); if (!faux) clean_up_after_endstop_or_probe_move();
@ -5272,7 +5272,7 @@ void home_all_axes() { gcode_G28(true); }
const float measured_z = probe_pt(xpos, ypos, parser.boolval('S', true), 1); const float measured_z = probe_pt(xpos, ypos, parser.boolval('S', true), 1);
if (!nan_error(measured_z)) { if (!isnan(measured_z)) {
SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos)); SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos)); SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z)); SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));