diff --git a/.travis.yml b/.travis.yml index ef027aa0b6..1916669c57 100644 --- a/.travis.yml +++ b/.travis.yml @@ -90,13 +90,35 @@ script: - opt_enable PIDTEMPBED - build_marlin # - # Test a Servo Probe without leveling + # Test a "Fix Mounted" Probe + # + - restore_configs + - opt_enable FIX_MOUNTED_PROBE + - build_marlin + # + # ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE + # + - opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE + - build_marlin + # + # Test a Mechanical Probe + # + - restore_configs + - opt_enable MECHANICAL_PROBE + - build_marlin + # + # ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE + # + - opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE + - build_marlin + # + # Test a Servo Probe # - restore_configs - opt_enable NUM_SERVOS Z_ENDSTOP_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE - build_marlin # - # Test AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE with a Servo Probe + # ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE # - opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE - build_marlin diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 8c6ef5c3fe..119131b411 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1570,6 +1570,18 @@ inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[ inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); } inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); } +// +// Prepare to do endstop or probe moves +// with custom feedrates. +// +// - Save current feedrates +// - Reset the rate multiplier +// - Enable the endstops +// - Reset the command timeout +// +// clean_up_after_endstop_move() restores +// feedrates, sets endstops back to global state. +// static void setup_for_endstop_move() { saved_feedrate = feedrate; saved_feedrate_multiplier = feedrate_multiplier; @@ -1583,6 +1595,16 @@ static void setup_for_endstop_move() { #if HAS_BED_PROBE + static void clean_up_after_endstop_move() { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > endstops.not_homing()"); + #endif + endstops.not_homing(); + feedrate = saved_feedrate; + feedrate_multiplier = saved_feedrate_multiplier; + refresh_cmd_timeout(); + } + #if ENABLED(DELTA) /** * Calculate delta, start a line, and set current_position to destination @@ -1655,6 +1677,10 @@ static void setup_for_endstop_move() { feedrate = old_feedrate; } + inline void do_blocking_move_to_x(float x) { + do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); + } + inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); } @@ -1684,174 +1710,7 @@ static void setup_for_endstop_move() { #endif -#if ENABLED(AUTO_BED_LEVELING_FEATURE) - - #if ENABLED(AUTO_BED_LEVELING_GRID) - - #if DISABLED(DELTA) - - static void set_bed_level_equation_lsq(double* plane_equation_coefficients) { - - //planner.bed_level_matrix.debug("bed level before"); - - #if ENABLED(DEBUG_LEVELING_FEATURE) - planner.bed_level_matrix.set_to_identity(); - if (DEBUGGING(LEVELING)) { - vector_3 uncorrected_position = planner.adjusted_position(); - DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position); - DEBUG_POS(">>> set_bed_level_equation_lsq", current_position); - } - #endif - - vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); - planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); - - vector_3 corrected_position = planner.adjusted_position(); - current_position[X_AXIS] = corrected_position.x; - current_position[Y_AXIS] = corrected_position.y; - current_position[Z_AXIS] = corrected_position.z; - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position); - #endif - - sync_plan_position(); - } - - #endif // !DELTA - - #else // !AUTO_BED_LEVELING_GRID - - static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) { - - planner.bed_level_matrix.set_to_identity(); - - vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1); - vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2); - vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3); - vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal(); - - if (planeNormal.z < 0) { - planeNormal.x = -planeNormal.x; - planeNormal.y = -planeNormal.y; - planeNormal.z = -planeNormal.z; - } - - planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); - - vector_3 corrected_position = planner.adjusted_position(); - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - vector_3 uncorrected_position = corrected_position; - DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position); - } - #endif - - current_position[X_AXIS] = corrected_position.x; - current_position[Y_AXIS] = corrected_position.y; - current_position[Z_AXIS] = corrected_position.z; - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position); - #endif - - sync_plan_position(); - } - - #endif // !AUTO_BED_LEVELING_GRID - - static void run_z_probe() { - - float old_feedrate = feedrate; - - /** - * To prevent stepper_inactive_time from running out and - * EXTRUDER_RUNOUT_PREVENT from extruding - */ - refresh_cmd_timeout(); - - #if ENABLED(DELTA) - - float start_z = current_position[Z_AXIS]; - long start_steps = stepper.position(Z_AXIS); - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1"); - #endif - - // move down slowly until you find the bed - feedrate = homing_feedrate[Z_AXIS] / 4; - destination[Z_AXIS] = -10; - prepare_move_to_destination_raw(); // this will also set_current_to_destination - stepper.synchronize(); - endstops.hit_on_purpose(); // clear endstop hit flags - - /** - * We have to let the planner know where we are right now as it - * is not where we said to go. - */ - long stop_steps = stepper.position(Z_AXIS); - float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_mm[Z_AXIS]; - current_position[Z_AXIS] = mm; - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position); - #endif - - sync_plan_position_delta(); - - #else // !DELTA - - planner.bed_level_matrix.set_to_identity(); - feedrate = homing_feedrate[Z_AXIS]; - - // Move down until the Z probe (or endstop?) is triggered - float zPosition = -(Z_MAX_LENGTH + 10); - line_to_z(zPosition); - stepper.synchronize(); - - // Tell the planner where we ended up - Get this from the stepper handler - zPosition = stepper.get_axis_position_mm(Z_AXIS); - planner.set_position_mm( - current_position[X_AXIS], current_position[Y_AXIS], zPosition, - current_position[E_AXIS] - ); - - // move up the retract distance - zPosition += home_bump_mm(Z_AXIS); - line_to_z(zPosition); - stepper.synchronize(); - endstops.hit_on_purpose(); // clear endstop hit flags - - // move back down slowly to find bed - set_homing_bump_feedrate(Z_AXIS); - - zPosition -= home_bump_mm(Z_AXIS) * 2; - line_to_z(zPosition); - stepper.synchronize(); - endstops.hit_on_purpose(); // clear endstop hit flags - - // Get the current stepper position after bumping an endstop - current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); - sync_plan_position(); - - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position); - #endif - - #endif // !DELTA - - feedrate = old_feedrate; - } - - inline void do_blocking_move_to_xy(float x, float y) { - do_blocking_move_to(x, y, current_position[Z_AXIS]); - } - - inline void do_blocking_move_to_x(float x) { - do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); - } +#if HAS_BED_PROBE inline void raise_z_after_probing() { #if Z_RAISE_AFTER_PROBING > 0 @@ -1861,18 +1720,54 @@ static void setup_for_endstop_move() { do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); #endif } +#endif - static void clean_up_after_endstop_move() { +#if ENABLED(Z_PROBE_SLED) + + #ifndef SLED_DOCKING_OFFSET + #define SLED_DOCKING_OFFSET 0 + #endif + + /** + * Method to dock/undock a sled designed by Charles Bell. + * + * dock[in] If true, move to MAX_X and engage the electromagnet + * offset[in] The additional distance to move to adjust docking location + */ + static void dock_sled(bool dock, int offset = 0) { #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()"); + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("dock_sled(", dock); + SERIAL_ECHOLNPGM(")"); + } #endif - endstops.not_homing(); - feedrate = saved_feedrate; - feedrate_multiplier = saved_feedrate_multiplier; - refresh_cmd_timeout(); + + if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) { + axis_unhomed_error(true); + return; + } + + if (endstops.z_probe_enabled == !dock) return; // already docked/undocked? + + float oldXpos = current_position[X_AXIS]; // save x position + if (dock) { + raise_z_after_probing(); // raise Z + // Dock sled a bit closer to ensure proper capturing + do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); + digitalWrite(SLED_PIN, LOW); // turn off magnet + } + else { + float z_loc = current_position[Z_AXIS]; + if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; + do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position + digitalWrite(SLED_PIN, HIGH); // turn on magnet + } + do_blocking_move_to_x(oldXpos); // return to position before docking } - #if HAS_BED_PROBE +#endif // Z_PROBE_SLED + +#if HAS_BED_PROBE static void deploy_z_probe() { @@ -1882,7 +1777,11 @@ static void setup_for_endstop_move() { if (endstops.z_probe_enabled) return; - #if HAS_Z_SERVO_ENDSTOP + #if ENABLED(Z_PROBE_SLED) + + dock_sled(false); + + #elif HAS_Z_SERVO_ENDSTOP // Make room for Z Servo raise_z_for_servo(Z_RAISE_BEFORE_PROBING); @@ -1964,14 +1863,13 @@ static void setup_for_endstop_move() { stop(); } - #endif // Z_PROBE_ALLEN_KEY + #elif ENABLED(FIX_MOUNTED_PROBE) - #if ENABLED(FIX_MOUNTED_PROBE) // Nothing to be done. Just enable_z_probe below... + #endif endstops.enable_z_probe(); - } static void stow_z_probe() { @@ -1981,7 +1879,11 @@ static void setup_for_endstop_move() { if (!endstops.z_probe_enabled) return; - #if HAS_Z_SERVO_ENDSTOP + #if ENABLED(Z_PROBE_SLED) + + dock_sled(true); + + #elif HAS_Z_SERVO_ENDSTOP // Make room for the servo raise_z_for_servo(Z_RAISE_AFTER_PROBING); @@ -2052,13 +1954,193 @@ static void setup_for_endstop_move() { } stop(); } + #elif ENABLED(FIX_MOUNTED_PROBE) + // Nothing to do here. Just clear endstops.z_probe_enabled + #endif endstops.enable_z_probe(false); } - #endif // HAS_BED_PROBE + +#endif // HAS_BED_PROBE + +#if ENABLED(AUTO_BED_LEVELING_FEATURE) + + #if ENABLED(AUTO_BED_LEVELING_GRID) + + #if DISABLED(DELTA) + + static void set_bed_level_equation_lsq(double* plane_equation_coefficients) { + + //planner.bed_level_matrix.debug("bed level before"); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + planner.bed_level_matrix.set_to_identity(); + if (DEBUGGING(LEVELING)) { + vector_3 uncorrected_position = planner.adjusted_position(); + DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position); + DEBUG_POS(">>> set_bed_level_equation_lsq", current_position); + } + #endif + + vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + vector_3 corrected_position = planner.adjusted_position(); + current_position[X_AXIS] = corrected_position.x; + current_position[Y_AXIS] = corrected_position.y; + current_position[Z_AXIS] = corrected_position.z; + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position); + #endif + + sync_plan_position(); + } + + #endif // !DELTA + + #else // !AUTO_BED_LEVELING_GRID + + static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) { + + planner.bed_level_matrix.set_to_identity(); + + vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1); + vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2); + vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3); + vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal(); + + if (planeNormal.z < 0) { + planeNormal.x = -planeNormal.x; + planeNormal.y = -planeNormal.y; + planeNormal.z = -planeNormal.z; + } + + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + vector_3 corrected_position = planner.adjusted_position(); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + vector_3 uncorrected_position = corrected_position; + DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position); + } + #endif + + current_position[X_AXIS] = corrected_position.x; + current_position[Y_AXIS] = corrected_position.y; + current_position[Z_AXIS] = corrected_position.z; + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position); + #endif + + sync_plan_position(); + } + + #endif // !AUTO_BED_LEVELING_GRID + +#endif // AUTO_BED_LEVELING_FEATURE + +#if HAS_BED_PROBE + + static void run_z_probe() { + + float old_feedrate = feedrate; + + /** + * To prevent stepper_inactive_time from running out and + * EXTRUDER_RUNOUT_PREVENT from extruding + */ + refresh_cmd_timeout(); + + #if ENABLED(DELTA) + + float start_z = current_position[Z_AXIS]; + long start_steps = stepper.position(Z_AXIS); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1"); + #endif + + // move down slowly until you find the bed + feedrate = homing_feedrate[Z_AXIS] / 4; + destination[Z_AXIS] = -10; + prepare_move_to_destination_raw(); // this will also set_current_to_destination + stepper.synchronize(); + endstops.hit_on_purpose(); // clear endstop hit flags + + /** + * We have to let the planner know where we are right now as it + * is not where we said to go. + */ + long stop_steps = stepper.position(Z_AXIS); + float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_mm[Z_AXIS]; + current_position[Z_AXIS] = mm; + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position); + #endif + + sync_plan_position_delta(); + + #else // !DELTA + + #if ENABLED(AUTO_BED_LEVELING_FEATURE) + planner.bed_level_matrix.set_to_identity(); + #endif + + feedrate = homing_feedrate[Z_AXIS]; + + // Move down until the Z probe (or endstop?) is triggered + float zPosition = -(Z_MAX_LENGTH + 10); + line_to_z(zPosition); + stepper.synchronize(); + + // Tell the planner where we ended up - Get this from the stepper handler + zPosition = stepper.get_axis_position_mm(Z_AXIS); + planner.set_position_mm( + current_position[X_AXIS], current_position[Y_AXIS], zPosition, + current_position[E_AXIS] + ); + + // move up the retract distance + zPosition += home_bump_mm(Z_AXIS); + line_to_z(zPosition); + stepper.synchronize(); + endstops.hit_on_purpose(); // clear endstop hit flags + + // move back down slowly to find bed + set_homing_bump_feedrate(Z_AXIS); + + zPosition -= home_bump_mm(Z_AXIS) * 2; + line_to_z(zPosition); + stepper.synchronize(); + endstops.hit_on_purpose(); // clear endstop hit flags + + // Get the current stepper position after bumping an endstop + current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); + sync_plan_position(); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position); + #endif + + #endif // !DELTA + + feedrate = old_feedrate; + } + +#endif // HAS_BED_PROBE + +#if ENABLED(AUTO_BED_LEVELING_FEATURE) + + inline void do_blocking_move_to_xy(float x, float y) { + do_blocking_move_to(x, y, current_position[Z_AXIS]); + } enum ProbeAction { ProbeStay = 0, @@ -2226,55 +2308,6 @@ static void setup_for_endstop_move() { } #endif -#if ENABLED(Z_PROBE_SLED) - - #ifndef SLED_DOCKING_OFFSET - #define SLED_DOCKING_OFFSET 0 - #endif - - /** - * Method to dock/undock a sled designed by Charles Bell. - * - * dock[in] If true, move to MAX_X and engage the electromagnet - * offset[in] The additional distance to move to adjust docking location - */ - static void dock_sled(bool dock, int offset = 0) { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("dock_sled(", dock); - SERIAL_ECHOLNPGM(")"); - } - #endif - - if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) { - axis_unhomed_error(true); - return; - } - - if (endstops.z_probe_enabled == !dock) return; // already docked/undocked? - - float oldXpos = current_position[X_AXIS]; // save x position - if (dock) { - raise_z_after_probing(); // raise Z - // Dock sled a bit closer to ensure proper capturing - do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); - digitalWrite(SLED_PIN, LOW); // turn off magnet - } - else { - float z_loc = current_position[Z_AXIS]; - if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING; - do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position - digitalWrite(SLED_PIN, HIGH); // turn on magnet - } - do_blocking_move_to_x(oldXpos); // return to position before docking - - endstops.enable_z_probe(!dock); // logically disable docked probe - } - -#endif // Z_PROBE_SLED - - - /** * Home an individual axis */ @@ -2303,24 +2336,13 @@ static void homeaxis(AxisEnum axis) { current_position[axis] = 0; sync_plan_position(); - #if ENABLED(Z_PROBE_SLED) - #define _Z_DEPLOY (dock_sled(false)) - #define _Z_STOW (dock_sled(true)) - #elif ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_Z_SERVO_ENDSTOP || ENABLED(FIX_MOUNTED_PROBE)) - #define _Z_DEPLOY (deploy_z_probe()) - #define _Z_STOW (stow_z_probe()) - #elif HAS_Z_SERVO_ENDSTOP - #define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0) - #define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0) - #endif - // Homing Z towards the bed? Deploy the Z probe or endstop. - #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE) + #if HAS_BED_PROBE if (axis == Z_AXIS && axis_home_dir < 0) { #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_DEPLOY)); + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > deploy_z_probe()"); #endif - _Z_DEPLOY; + deploy_z_probe(); } #endif @@ -2438,12 +2460,12 @@ static void homeaxis(AxisEnum axis) { axis_homed[axis] = true; // Put away the Z probe - #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED) || ENABLED(FIX_MOUNTED_PROBE) + #if HAS_BED_PROBE if (axis == Z_AXIS && axis_home_dir < 0) { #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > " STRINGIFY(_Z_STOW)); + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" > stow_z_probe()"); #endif - _Z_STOW; + stow_z_probe(); } #endif @@ -3465,9 +3487,7 @@ inline void gcode_G28() { #endif // !DELTA } - #if ENABLED(Z_PROBE_SLED) - dock_sled(false); // engage (un-dock) the Z probe - #elif ENABLED(FIX_MOUNTED_PROBE) || ENABLED(MECHANICAL_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || (ENABLED(DELTA) && HAS_Z_SERVO_ENDSTOP) + #if HAS_BED_PROBE deploy_z_probe(); #endif @@ -3718,14 +3738,7 @@ inline void gcode_G28() { #endif // !AUTO_BED_LEVELING_GRID - #if ENABLED(DELTA) - // Allen Key Probe for Delta - #if ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP - stow_z_probe(); - #else - raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe - #endif - #else // !DELTA + #if DISABLED(DELTA) if (verbose_level > 0) planner.bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); @@ -3785,7 +3798,7 @@ inline void gcode_G28() { #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) + Z_RAISE_AFTER_PROBING #endif - ; + ; // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home" sync_plan_position(); @@ -3793,19 +3806,16 @@ inline void gcode_G28() { if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position); #endif } - - // Sled assembly for Cartesian bots - #if ENABLED(Z_PROBE_SLED) - dock_sled(true); // dock the sled - #elif !HAS_Z_SERVO_ENDSTOP && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) - // Raise Z axis for non-delta and non servo based probes - raise_z_after_probing(); - #endif - #endif // !DELTA - #if ENABLED(MECHANICAL_PROBE) + #if DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) && !HAS_Z_SERVO_ENDSTOP + raise_z_after_probing(); + #endif + + #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(MECHANICAL_PROBE) stow_z_probe(); + #else + endstops.enable_z_probe(false); #endif #ifdef Z_PROBE_END_SCRIPT @@ -3816,9 +3826,6 @@ inline void gcode_G28() { } #endif enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT)); - #if HAS_BED_PROBE - endstops.enable_z_probe(false); - #endif stepper.synchronize(); #endif @@ -3835,39 +3842,41 @@ inline void gcode_G28() { KEEPALIVE_STATE(IN_HANDLER); } - #if DISABLED(Z_PROBE_SLED) // could be avoided - - /** - * G30: Do a single Z probe at the current XY - */ - inline void gcode_G30() { - deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here. - - stepper.synchronize(); - // TODO: clear the leveling matrix or the planner will be set incorrectly - setup_for_endstop_move(); // Too late. Must be done before deploying. - - run_z_probe(); - - SERIAL_PROTOCOLPGM("Bed X: "); - SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); - SERIAL_PROTOCOLPGM(" Y: "); - SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); - SERIAL_PROTOCOLPGM(" Z: "); - SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001); - SERIAL_EOL; - - clean_up_after_endstop_move(); // Too early. must be done after the stowing. - - stow_z_probe(); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here. - - report_current_position(); - } - - #endif //!Z_PROBE_SLED - #endif //AUTO_BED_LEVELING_FEATURE +#if HAS_BED_PROBE + + /** + * G30: Do a single Z probe at the current XY + */ + inline void gcode_G30() { + + setup_for_endstop_move(); + + deploy_z_probe(); + + stepper.synchronize(); + + // TODO: clear the leveling matrix or the planner will be set incorrectly + run_z_probe(); // clears the ABL non-delta matrix only + + SERIAL_PROTOCOLPGM("Bed X: "); + SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); + SERIAL_PROTOCOLPGM(" Y: "); + SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001); + SERIAL_PROTOCOLPGM(" Z: "); + SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001); + SERIAL_EOL; + + stow_z_probe(); + + clean_up_after_endstop_move(); + + report_current_position(); + } + +#endif // HAS_BED_PROBE + /** * G92: Set current position to given X Y Z E */ @@ -6872,24 +6881,24 @@ void process_next_command() { break; #endif - #if ENABLED(AUTO_BED_LEVELING_FEATURE) + #if HAS_BED_PROBE - #if DISABLED(Z_PROBE_SLED) + case 30: // G30 Single Z probe + gcode_G30(); + break; - case 30: // G30 Single Z probe - gcode_G30(); - break; - - #else // Z_PROBE_SLED + #if ENABLED(Z_PROBE_SLED) case 31: // G31: dock the sled + stow_z_probe(); + break; case 32: // G32: undock the sled - dock_sled(codenum == 31); + deploy_z_probe(); break; #endif // Z_PROBE_SLED - #endif // AUTO_BED_LEVELING_FEATURE + #endif // HAS_BED_PROBE case 90: // G90 relative_mode = false;