Merge pull request #4100 from thinkyhead/rc_z_deploy
Use deploy/stow with FIX_MOUNTED_PROBE too
This commit is contained in:
Scott Lahteine
GitHub
commit
71534dc11f
26
.travis.yml
26
.travis.yml
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@ -90,13 +90,35 @@ script:
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- opt_enable PIDTEMPBED
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- build_marlin
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#
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# Test a Servo Probe without leveling
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# Test a "Fix Mounted" Probe
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#
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- restore_configs
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- opt_enable FIX_MOUNTED_PROBE
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- build_marlin
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#
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# ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE
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#
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- opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE
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- build_marlin
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#
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# Test a Mechanical Probe
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#
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- restore_configs
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- opt_enable MECHANICAL_PROBE
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- build_marlin
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#
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# ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE
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#
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- opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE
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- build_marlin
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#
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# Test a Servo Probe
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#
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- restore_configs
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- opt_enable NUM_SERVOS Z_ENDSTOP_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE
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- build_marlin
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#
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# Test AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE with a Servo Probe
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# ...with AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE
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#
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- opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE
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- build_marlin
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@ -1570,6 +1570,18 @@ inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[
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inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
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inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
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//
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// Prepare to do endstop or probe moves
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// with custom feedrates.
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//
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// - Save current feedrates
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// - Reset the rate multiplier
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// - Enable the endstops
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// - Reset the command timeout
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//
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// clean_up_after_endstop_move() restores
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// feedrates, sets endstops back to global state.
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//
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static void setup_for_endstop_move() {
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saved_feedrate = feedrate;
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saved_feedrate_multiplier = feedrate_multiplier;
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@ -1583,6 +1595,16 @@ static void setup_for_endstop_move() {
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#if HAS_BED_PROBE
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static void clean_up_after_endstop_move() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > endstops.not_homing()");
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#endif
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endstops.not_homing();
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feedrate = saved_feedrate;
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feedrate_multiplier = saved_feedrate_multiplier;
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refresh_cmd_timeout();
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}
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#if ENABLED(DELTA)
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/**
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* Calculate delta, start a line, and set current_position to destination
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@ -1655,6 +1677,10 @@ static void setup_for_endstop_move() {
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feedrate = old_feedrate;
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}
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inline void do_blocking_move_to_x(float x) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
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}
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inline void do_blocking_move_to_z(float z) {
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
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}
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@ -1684,174 +1710,7 @@ static void setup_for_endstop_move() {
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#endif
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#if DISABLED(DELTA)
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static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
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//planner.bed_level_matrix.debug("bed level before");
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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planner.bed_level_matrix.set_to_identity();
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if (DEBUGGING(LEVELING)) {
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vector_3 uncorrected_position = planner.adjusted_position();
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DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
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DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
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}
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#endif
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vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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vector_3 corrected_position = planner.adjusted_position();
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current_position[X_AXIS] = corrected_position.x;
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
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#endif
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sync_plan_position();
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}
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#endif // !DELTA
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#else // !AUTO_BED_LEVELING_GRID
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static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
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planner.bed_level_matrix.set_to_identity();
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vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
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vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
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vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
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vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
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if (planeNormal.z < 0) {
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planeNormal.x = -planeNormal.x;
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planeNormal.y = -planeNormal.y;
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planeNormal.z = -planeNormal.z;
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}
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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vector_3 corrected_position = planner.adjusted_position();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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vector_3 uncorrected_position = corrected_position;
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DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
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}
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#endif
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current_position[X_AXIS] = corrected_position.x;
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
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#endif
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sync_plan_position();
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}
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#endif // !AUTO_BED_LEVELING_GRID
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static void run_z_probe() {
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float old_feedrate = feedrate;
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/**
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* To prevent stepper_inactive_time from running out and
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* EXTRUDER_RUNOUT_PREVENT from extruding
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*/
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refresh_cmd_timeout();
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#if ENABLED(DELTA)
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float start_z = current_position[Z_AXIS];
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long start_steps = stepper.position(Z_AXIS);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
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#endif
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// move down slowly until you find the bed
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feedrate = homing_feedrate[Z_AXIS] / 4;
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destination[Z_AXIS] = -10;
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prepare_move_to_destination_raw(); // this will also set_current_to_destination
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stepper.synchronize();
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endstops.hit_on_purpose(); // clear endstop hit flags
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/**
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* We have to let the planner know where we are right now as it
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* is not where we said to go.
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*/
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long stop_steps = stepper.position(Z_AXIS);
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float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_mm[Z_AXIS];
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current_position[Z_AXIS] = mm;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position);
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#endif
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sync_plan_position_delta();
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#else // !DELTA
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planner.bed_level_matrix.set_to_identity();
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feedrate = homing_feedrate[Z_AXIS];
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// Move down until the Z probe (or endstop?) is triggered
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float zPosition = -(Z_MAX_LENGTH + 10);
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line_to_z(zPosition);
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stepper.synchronize();
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// Tell the planner where we ended up - Get this from the stepper handler
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zPosition = stepper.get_axis_position_mm(Z_AXIS);
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planner.set_position_mm(
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current_position[X_AXIS], current_position[Y_AXIS], zPosition,
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current_position[E_AXIS]
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);
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// move up the retract distance
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zPosition += home_bump_mm(Z_AXIS);
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line_to_z(zPosition);
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stepper.synchronize();
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endstops.hit_on_purpose(); // clear endstop hit flags
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// move back down slowly to find bed
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set_homing_bump_feedrate(Z_AXIS);
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zPosition -= home_bump_mm(Z_AXIS) * 2;
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line_to_z(zPosition);
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stepper.synchronize();
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endstops.hit_on_purpose(); // clear endstop hit flags
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// Get the current stepper position after bumping an endstop
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current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
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sync_plan_position();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
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#endif
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#endif // !DELTA
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feedrate = old_feedrate;
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}
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inline void do_blocking_move_to_xy(float x, float y) {
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do_blocking_move_to(x, y, current_position[Z_AXIS]);
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}
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inline void do_blocking_move_to_x(float x) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
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}
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#if HAS_BED_PROBE
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inline void raise_z_after_probing() {
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#if Z_RAISE_AFTER_PROBING > 0
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@ -1861,18 +1720,54 @@ static void setup_for_endstop_move() {
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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#endif
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}
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#endif
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static void clean_up_after_endstop_move() {
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#if ENABLED(Z_PROBE_SLED)
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#ifndef SLED_DOCKING_OFFSET
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#define SLED_DOCKING_OFFSET 0
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#endif
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/**
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* Method to dock/undock a sled designed by Charles Bell.
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*
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* dock[in] If true, move to MAX_X and engage the electromagnet
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* offset[in] The additional distance to move to adjust docking location
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*/
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static void dock_sled(bool dock, int offset = 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()");
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("dock_sled(", dock);
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SERIAL_ECHOLNPGM(")");
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}
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#endif
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endstops.not_homing();
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feedrate = saved_feedrate;
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feedrate_multiplier = saved_feedrate_multiplier;
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refresh_cmd_timeout();
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if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
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axis_unhomed_error(true);
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return;
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}
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if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
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float oldXpos = current_position[X_AXIS]; // save x position
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if (dock) {
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raise_z_after_probing(); // raise Z
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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}
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else {
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float z_loc = current_position[Z_AXIS];
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if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
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digitalWrite(SLED_PIN, HIGH); // turn on magnet
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}
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do_blocking_move_to_x(oldXpos); // return to position before docking
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}
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#if HAS_BED_PROBE
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#endif // Z_PROBE_SLED
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#if HAS_BED_PROBE
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static void deploy_z_probe() {
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@ -1882,7 +1777,11 @@ static void setup_for_endstop_move() {
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if (endstops.z_probe_enabled) return;
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#if HAS_Z_SERVO_ENDSTOP
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(false);
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#elif HAS_Z_SERVO_ENDSTOP
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// Make room for Z Servo
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raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
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@ -1964,14 +1863,13 @@ static void setup_for_endstop_move() {
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stop();
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}
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#endif // Z_PROBE_ALLEN_KEY
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#elif ENABLED(FIX_MOUNTED_PROBE)
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#if ENABLED(FIX_MOUNTED_PROBE)
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// Nothing to be done. Just enable_z_probe below...
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#endif
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endstops.enable_z_probe();
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}
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static void stow_z_probe() {
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@ -1981,7 +1879,11 @@ static void setup_for_endstop_move() {
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if (!endstops.z_probe_enabled) return;
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#if HAS_Z_SERVO_ENDSTOP
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(true);
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#elif HAS_Z_SERVO_ENDSTOP
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// Make room for the servo
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raise_z_for_servo(Z_RAISE_AFTER_PROBING);
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@ -2052,13 +1954,193 @@ static void setup_for_endstop_move() {
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}
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stop();
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}
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#elif ENABLED(FIX_MOUNTED_PROBE)
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// Nothing to do here. Just clear endstops.z_probe_enabled
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#endif
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endstops.enable_z_probe(false);
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}
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#endif // HAS_BED_PROBE
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#endif // HAS_BED_PROBE
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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#if DISABLED(DELTA)
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static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
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//planner.bed_level_matrix.debug("bed level before");
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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planner.bed_level_matrix.set_to_identity();
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if (DEBUGGING(LEVELING)) {
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vector_3 uncorrected_position = planner.adjusted_position();
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DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
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DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
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}
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#endif
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vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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vector_3 corrected_position = planner.adjusted_position();
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current_position[X_AXIS] = corrected_position.x;
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
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#endif
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sync_plan_position();
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}
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#endif // !DELTA
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#else // !AUTO_BED_LEVELING_GRID
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static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
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planner.bed_level_matrix.set_to_identity();
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vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
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vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
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vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
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vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
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if (planeNormal.z < 0) {
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planeNormal.x = -planeNormal.x;
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planeNormal.y = -planeNormal.y;
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planeNormal.z = -planeNormal.z;
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}
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|
||||
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;
|
||||
|
|
|
|||
Loading…
Reference in a new issue