Apply leveling for DELTA,
- Fix `prepare_move` function not calling `adjust_delta` - Add more shorthand for plan_buffer_line. - Fix wrong `federate` usage, assuming they are all mm/m - Minor `stepper.cpp` cleanup
This commit is contained in:
Scott Lahteine
parent
ce44bee28b
commit
d73b169de3
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@ -79,7 +79,7 @@
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// G4 - Dwell S<seconds> or P<milliseconds>
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// G10 - retract filament according to settings of M207
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// G11 - retract recover filament according to settings of M208
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// G28 - Home all Axis
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// G28 - Home one or more axes
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// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
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// G30 - Single Z Probe, probes bed at current XY location.
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// G31 - Dock sled (Z_PROBE_SLED only)
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@ -477,8 +477,6 @@ bool enquecommand(const char *cmd)
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return true;
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}
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void setup_killpin()
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{
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#if defined(KILL_PIN) && KILL_PIN > -1
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@ -966,10 +964,10 @@ static void axis_is_at_home(int axis) {
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return;
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}
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else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
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current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
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min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS];
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max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
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max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
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float xoff = home_offset[X_AXIS];
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current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
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min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
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max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
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return;
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}
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}
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@ -1023,16 +1021,27 @@ static void axis_is_at_home(int axis) {
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}
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/**
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* Shorthand to tell the planner our current position (in mm).
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* Some planner shorthand inline functions
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*/
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inline void line_to_current_position() {
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
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}
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inline void line_to_z(float zPosition) {
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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}
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inline void line_to_destination() {
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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}
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inline void sync_plan_position() {
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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#ifdef ENABLE_AUTO_BED_LEVELING
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#ifdef AUTO_BED_LEVELING_GRID
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#ifndef DELTA
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#ifdef AUTO_BED_LEVELING_GRID
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#ifndef DELTA
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static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
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vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
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planeNormal.debug("planeNormal");
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@ -1051,11 +1060,12 @@ inline void sync_plan_position() {
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sync_plan_position();
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}
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#endif
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#else // not AUTO_BED_LEVELING_GRID
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#endif // !DELTA
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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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#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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plan_bed_level_matrix.set_to_identity();
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@ -1078,11 +1088,12 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
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current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
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sync_plan_position();
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}
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}
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#endif // AUTO_BED_LEVELING_GRID
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#endif // !AUTO_BED_LEVELING_GRID
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static void run_z_probe() {
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static void run_z_probe() {
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#ifdef DELTA
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float start_z = current_position[Z_AXIS];
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@ -1102,14 +1113,14 @@ static void run_z_probe() {
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calculate_delta(current_position);
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plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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#else
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#else // !DELTA
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plan_bed_level_matrix.set_to_identity();
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feedrate = homing_feedrate[Z_AXIS];
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// move down until you find the bed
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float zPosition = -10;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_z(zPosition);
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st_synchronize();
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// we have to let the planner know where we are right now as it is not where we said to go.
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@ -1118,21 +1129,20 @@ static void run_z_probe() {
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// move up the retract distance
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zPosition += home_retract_mm(Z_AXIS);
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_z(zPosition);
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st_synchronize();
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endstops_hit_on_purpose();
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// move back down slowly to find bed
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if (homing_bump_divisor[Z_AXIS] >= 1) {
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feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
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}
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if (homing_bump_divisor[Z_AXIS] >= 1)
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feedrate = homing_feedrate[Z_AXIS] / homing_bump_divisor[Z_AXIS];
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else {
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feedrate = homing_feedrate[Z_AXIS]/10;
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feedrate = homing_feedrate[Z_AXIS] / 10;
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SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
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}
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zPosition -= home_retract_mm(Z_AXIS) * 2;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_z(zPosition);
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st_synchronize();
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endstops_hit_on_purpose();
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@ -1140,13 +1150,13 @@ static void run_z_probe() {
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// make sure the planner knows where we are as it may be a bit different than we last said to move to
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sync_plan_position();
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#endif
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}
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#endif // !DELTA
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}
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static void do_blocking_move_to(float x, float y, float z) {
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static void do_blocking_move_to(float x, float y, float z) {
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float oldFeedRate = feedrate;
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#ifdef DELTA
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#ifdef DELTA
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feedrate = XY_TRAVEL_SPEED;
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@ -1156,49 +1166,49 @@ static void do_blocking_move_to(float x, float y, float z) {
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prepare_move_raw();
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st_synchronize();
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#else
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#else
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feedrate = homing_feedrate[Z_AXIS];
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current_position[Z_AXIS] = z;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_current_position();
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st_synchronize();
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feedrate = xy_travel_speed;
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current_position[X_AXIS] = x;
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current_position[Y_AXIS] = y;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
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line_to_current_position();
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st_synchronize();
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#endif
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#endif
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feedrate = oldFeedRate;
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}
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}
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static void setup_for_endstop_move() {
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static void setup_for_endstop_move() {
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saved_feedrate = feedrate;
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saved_feedmultiply = feedmultiply;
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feedmultiply = 100;
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previous_millis_cmd = millis();
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enable_endstops(true);
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}
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}
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static void clean_up_after_endstop_move() {
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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static void clean_up_after_endstop_move() {
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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#endif
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#endif
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feedrate = saved_feedrate;
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feedmultiply = saved_feedmultiply;
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previous_millis_cmd = millis();
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}
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}
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static void engage_z_probe() {
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static void engage_z_probe() {
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// Engage Z Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS
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if (servo_endstops[Z_AXIS] > -1) {
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// Engage Z Servo endstop if enabled
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if (servo_endstops[Z_AXIS] >= 0) {
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#if SERVO_LEVELING
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servos[servo_endstops[Z_AXIS]].attach(0);
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#endif
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@ -1208,7 +1218,9 @@ static void engage_z_probe() {
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servos[servo_endstops[Z_AXIS]].detach();
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#endif
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}
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#elif defined(Z_PROBE_ALLEN_KEY)
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feedrate = homing_feedrate[X_AXIS];
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// Move to the start position to initiate deployment
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@ -1230,25 +1242,26 @@ static void engage_z_probe() {
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st_synchronize();
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bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
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if (z_min_endstop)
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{
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if (!Stopped)
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{
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if (z_min_endstop) {
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if (!Stopped) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
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LCD_ALERTMESSAGEPGM("Err: ZPROBE");
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}
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Stop();
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}
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#endif
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}
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#endif // Z_PROBE_ALLEN_KEY
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}
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static void retract_z_probe() {
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static void retract_z_probe() {
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// Retract Z Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS
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if (servo_endstops[Z_AXIS] > -1)
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{
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// Retract Z Servo endstop if enabled
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if (servo_endstops[Z_AXIS] >= 0) {
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#if Z_RAISE_AFTER_PROBING > 0
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
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st_synchronize();
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@ -1257,13 +1270,17 @@ static void retract_z_probe() {
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#if SERVO_LEVELING
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servos[servo_endstops[Z_AXIS]].attach(0);
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#endif
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servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
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#if SERVO_LEVELING
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delay(PROBE_SERVO_DEACTIVATION_DELAY);
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servos[servo_endstops[Z_AXIS]].detach();
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#endif
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}
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#elif defined(Z_PROBE_ALLEN_KEY)
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// Move up for safety
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feedrate = homing_feedrate[X_AXIS];
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destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
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@ -1294,29 +1311,28 @@ static void retract_z_probe() {
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st_synchronize();
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bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
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if (!z_min_endstop)
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{
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if (!Stopped)
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{
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if (!z_min_endstop) {
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if (!Stopped) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
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LCD_ALERTMESSAGEPGM("Err: ZPROBE");
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}
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Stop();
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}
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#endif
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}
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}
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enum ProbeAction {
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enum ProbeAction {
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ProbeStay = 0,
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ProbeEngage = BIT(0),
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ProbeRetract = BIT(1),
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ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
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};
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};
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/// Probe bed height at position (x,y), returns the measured z value
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static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
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// Probe bed height at position (x,y), returns the measured z value
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static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
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// move to right place
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
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do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
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@ -1343,10 +1359,15 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
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SERIAL_EOL;
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}
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return measured_z;
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}
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}
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#ifdef DELTA
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static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
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#ifdef DELTA
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/**
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* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
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*/
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static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
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if (bed_level[x][y] != 0.0) {
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return; // Don't overwrite good values.
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}
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@ -1362,11 +1383,11 @@ static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
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if (a < c) median = a;
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}
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bed_level[x][y] = median;
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}
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}
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// Fill in the unprobed points (corners of circular print surface)
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// using linear extrapolation, away from the center.
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static void extrapolate_unprobed_bed_level() {
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// Fill in the unprobed points (corners of circular print surface)
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// using linear extrapolation, away from the center.
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static void extrapolate_unprobed_bed_level() {
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int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
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for (int y = 0; y <= half; y++) {
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for (int x = 0; x <= half; x++) {
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@ -1377,10 +1398,10 @@ static void extrapolate_unprobed_bed_level() {
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extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
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}
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}
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}
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}
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// Print calibration results for plotting or manual frame adjustment.
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static void print_bed_level() {
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// Print calibration results for plotting or manual frame adjustment.
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static void print_bed_level() {
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for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
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for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
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SERIAL_PROTOCOL_F(bed_level[x][y], 2);
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@ -1388,80 +1409,82 @@ static void print_bed_level() {
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}
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SERIAL_ECHOLN("");
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}
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}
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}
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// Reset calibration results to zero.
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void reset_bed_level() {
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// Reset calibration results to zero.
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void reset_bed_level() {
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for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
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for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
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bed_level[x][y] = 0.0;
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}
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}
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}
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}
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#endif // DELTA
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#endif // DELTA
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#endif // ENABLE_AUTO_BED_LEVELING
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static void homeaxis(int axis) {
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#define HOMEAXIS_DO(LETTER) \
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#define HOMEAXIS_DO(LETTER) \
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
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if (axis==X_AXIS ? HOMEAXIS_DO(X) :
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axis==Y_AXIS ? HOMEAXIS_DO(Y) :
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axis==Z_AXIS ? HOMEAXIS_DO(Z) :
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0) {
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int axis_home_dir = home_dir(axis);
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#ifdef DUAL_X_CARRIAGE
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if (axis == X_AXIS)
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axis_home_dir = x_home_dir(active_extruder);
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#endif
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if (axis == X_AXIS ? HOMEAXIS_DO(X) :
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axis == Y_AXIS ? HOMEAXIS_DO(Y) :
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axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
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int axis_home_dir;
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#ifdef DUAL_X_CARRIAGE
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||||
if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
|
||||
#else
|
||||
axis_home_dir = home_dir(axis);
|
||||
#endif
|
||||
|
||||
current_position[axis] = 0;
|
||||
sync_plan_position();
|
||||
|
||||
|
||||
#ifndef Z_PROBE_SLED
|
||||
#ifndef Z_PROBE_SLED
|
||||
// Engage Servo endstop if enabled
|
||||
#ifdef SERVO_ENDSTOPS
|
||||
#if SERVO_LEVELING
|
||||
if (axis==Z_AXIS) {
|
||||
if (axis == Z_AXIS) {
|
||||
engage_z_probe();
|
||||
}
|
||||
else
|
||||
#endif
|
||||
if (servo_endstops[axis] > -1) {
|
||||
#endif // SERVO_LEVELING
|
||||
|
||||
if (servo_endstops[axis] > -1)
|
||||
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
|
||||
}
|
||||
#endif
|
||||
#endif // Z_PROBE_SLED
|
||||
|
||||
#endif // SERVO_ENDSTOPS
|
||||
|
||||
#endif // Z_PROBE_SLED
|
||||
|
||||
#ifdef Z_DUAL_ENDSTOPS
|
||||
if (axis==Z_AXIS) In_Homing_Process(true);
|
||||
if (axis == Z_AXIS) In_Homing_Process(true);
|
||||
#endif
|
||||
|
||||
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
|
||||
feedrate = homing_feedrate[axis];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
|
||||
current_position[axis] = 0;
|
||||
sync_plan_position();
|
||||
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
|
||||
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
|
||||
destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
|
||||
|
||||
if (homing_bump_divisor[axis] >= 1)
|
||||
{
|
||||
feedrate = homing_feedrate[axis]/homing_bump_divisor[axis];
|
||||
}
|
||||
else
|
||||
{
|
||||
feedrate = homing_feedrate[axis]/10;
|
||||
feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
|
||||
else {
|
||||
feedrate = homing_feedrate[axis] / 10;
|
||||
SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
|
||||
}
|
||||
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
#ifdef Z_DUAL_ENDSTOPS
|
||||
if (axis==Z_AXIS)
|
||||
|
|
@ -1476,7 +1499,7 @@ static void homeaxis(int axis) {
|
|||
destination[axis] = fabs(z_endstop_adj);
|
||||
if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
|
||||
}
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
Lock_z_motor(false);
|
||||
Lock_z2_motor(false);
|
||||
|
|
@ -1489,7 +1512,7 @@ static void homeaxis(int axis) {
|
|||
if (endstop_adj[axis] * axis_home_dir < 0) {
|
||||
sync_plan_position();
|
||||
destination[axis] = endstop_adj[axis];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
}
|
||||
#endif
|
||||
|
|
@ -1534,7 +1557,7 @@ void refresh_cmd_timeout(void)
|
|||
}
|
||||
plan_set_e_position(current_position[E_AXIS]);
|
||||
float oldFeedrate = feedrate;
|
||||
feedrate=retract_feedrate*60;
|
||||
feedrate = retract_feedrate * 60;
|
||||
retracted[active_extruder]=true;
|
||||
prepare_move();
|
||||
if(retract_zlift > 0.01) {
|
||||
|
|
@ -1570,8 +1593,8 @@ void refresh_cmd_timeout(void)
|
|||
}
|
||||
plan_set_e_position(current_position[E_AXIS]);
|
||||
float oldFeedrate = feedrate;
|
||||
feedrate=retract_recover_feedrate*60;
|
||||
retracted[active_extruder]=false;
|
||||
feedrate = retract_recover_feedrate * 60;
|
||||
retracted[active_extruder] = false;
|
||||
prepare_move();
|
||||
feedrate = oldFeedrate;
|
||||
}
|
||||
|
|
@ -1725,17 +1748,16 @@ inline void gcode_G4() {
|
|||
*/
|
||||
inline void gcode_G28() {
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
|
||||
#ifdef DELTA
|
||||
reset_bed_level();
|
||||
#else
|
||||
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(MESH_BED_LEVELING)
|
||||
uint8_t mbl_was_active = mbl.active;
|
||||
mbl.active = 0;
|
||||
#endif // MESH_BED_LEVELING
|
||||
#endif
|
||||
|
||||
saved_feedrate = feedrate;
|
||||
saved_feedmultiply = feedmultiply;
|
||||
|
|
@ -1758,7 +1780,7 @@ inline void gcode_G28() {
|
|||
|
||||
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
|
||||
feedrate = 1.732 * homing_feedrate[X_AXIS];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
endstops_hit_on_purpose();
|
||||
|
||||
|
|
@ -1806,7 +1828,7 @@ inline void gcode_G28() {
|
|||
} else {
|
||||
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
|
||||
}
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
|
||||
axis_is_at_home(X_AXIS);
|
||||
|
|
@ -1814,7 +1836,7 @@ inline void gcode_G28() {
|
|||
sync_plan_position();
|
||||
destination[X_AXIS] = current_position[X_AXIS];
|
||||
destination[Y_AXIS] = current_position[Y_AXIS];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
feedrate = 0.0;
|
||||
st_synchronize();
|
||||
endstops_hit_on_purpose();
|
||||
|
|
@ -1881,7 +1903,7 @@ inline void gcode_G28() {
|
|||
#if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
|
||||
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
|
||||
feedrate = max_feedrate[Z_AXIS];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
#endif
|
||||
HOMEAXIS(Z);
|
||||
|
|
@ -1893,11 +1915,11 @@ inline void gcode_G28() {
|
|||
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
|
||||
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
||||
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
|
||||
feedrate = XY_TRAVEL_SPEED / 60;
|
||||
feedrate = XY_TRAVEL_SPEED;
|
||||
current_position[Z_AXIS] = 0;
|
||||
|
||||
sync_plan_position();
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
current_position[X_AXIS] = destination[X_AXIS];
|
||||
current_position[Y_AXIS] = destination[Y_AXIS];
|
||||
|
|
@ -1919,7 +1941,7 @@ inline void gcode_G28() {
|
|||
plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
|
||||
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
|
||||
feedrate = max_feedrate[Z_AXIS];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
HOMEAXIS(Z);
|
||||
}
|
||||
|
|
@ -1972,7 +1994,7 @@ inline void gcode_G28() {
|
|||
destination[Z_AXIS] = current_position[Z_AXIS];
|
||||
destination[E_AXIS] = current_position[E_AXIS];
|
||||
feedrate = homing_feedrate[X_AXIS];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
|
||||
sync_plan_position();
|
||||
|
|
@ -1986,6 +2008,19 @@ inline void gcode_G28() {
|
|||
endstops_hit_on_purpose();
|
||||
}
|
||||
|
||||
#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
|
||||
|
||||
// Check for known positions in X and Y
|
||||
bool can_run_bed_leveling() {
|
||||
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) return true;
|
||||
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif // MESH_BED_LEVELING || ENABLE_AUTO_BED_LEVELING
|
||||
|
||||
#ifdef MESH_BED_LEVELING
|
||||
|
||||
/**
|
||||
|
|
@ -2000,6 +2035,10 @@ inline void gcode_G28() {
|
|||
*
|
||||
*/
|
||||
inline void gcode_G29() {
|
||||
|
||||
// Prevent leveling without first homing in X and Y
|
||||
if (!can_run_bed_leveling()) return;
|
||||
|
||||
static int probe_point = -1;
|
||||
int state = 0;
|
||||
if (code_seen('S') || code_seen('s')) {
|
||||
|
|
@ -2116,13 +2155,8 @@ inline void gcode_G28() {
|
|||
*/
|
||||
inline void gcode_G29() {
|
||||
|
||||
// Prevent user from running a G29 without first homing in X and Y
|
||||
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
|
||||
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
|
||||
return;
|
||||
}
|
||||
// Prevent leveling without first homing in X and Y
|
||||
if (!can_run_bed_leveling()) return;
|
||||
|
||||
int verbose_level = 1;
|
||||
|
||||
|
|
@ -2204,16 +2238,15 @@ inline void gcode_G28() {
|
|||
|
||||
st_synchronize();
|
||||
|
||||
if (!dryrun)
|
||||
{
|
||||
if (!dryrun) {
|
||||
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
|
||||
plan_bed_level_matrix.set_to_identity();
|
||||
|
||||
#ifdef DELTA
|
||||
reset_bed_level();
|
||||
#else //!DELTA
|
||||
|
||||
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
|
||||
//vector_3 corrected_position = plan_get_position_mm();
|
||||
//corrected_position.debug("position before G29");
|
||||
plan_bed_level_matrix.set_to_identity();
|
||||
vector_3 uncorrected_position = plan_get_position();
|
||||
//uncorrected_position.debug("position during G29");
|
||||
current_position[X_AXIS] = uncorrected_position.x;
|
||||
|
|
@ -2221,7 +2254,7 @@ inline void gcode_G28() {
|
|||
current_position[Z_AXIS] = uncorrected_position.z;
|
||||
sync_plan_position();
|
||||
|
||||
#endif
|
||||
#endif // !DELTA
|
||||
}
|
||||
|
||||
setup_for_endstop_move();
|
||||
|
|
@ -2287,8 +2320,7 @@ inline void gcode_G28() {
|
|||
#ifdef DELTA
|
||||
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
|
||||
float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
|
||||
if (distance_from_center > DELTA_PROBABLE_RADIUS)
|
||||
continue;
|
||||
if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;
|
||||
#endif //DELTA
|
||||
|
||||
// Enhanced G29 - Do not retract servo between probes
|
||||
|
|
@ -2316,6 +2348,11 @@ inline void gcode_G28() {
|
|||
#endif
|
||||
|
||||
probePointCounter++;
|
||||
|
||||
manage_heater();
|
||||
manage_inactivity();
|
||||
lcd_update();
|
||||
|
||||
} //xProbe
|
||||
} //yProbe
|
||||
|
||||
|
|
@ -2402,16 +2439,14 @@ inline void gcode_G28() {
|
|||
if (verbose_level > 0)
|
||||
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
|
||||
|
||||
if (!dryrun) {
|
||||
// Correct the Z height difference from z-probe position and hotend tip position.
|
||||
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
|
||||
// When the bed is uneven, this height must be corrected.
|
||||
if (!dryrun)
|
||||
{
|
||||
float x_tmp, y_tmp, z_tmp, real_z;
|
||||
real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
|
||||
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
|
||||
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
|
||||
z_tmp = current_position[Z_AXIS];
|
||||
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
|
||||
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
||||
z_tmp = current_position[Z_AXIS],
|
||||
real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
|
||||
|
||||
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
|
||||
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
|
||||
|
|
@ -4686,18 +4721,14 @@ void process_commands() {
|
|||
gcode_G28();
|
||||
break;
|
||||
|
||||
#if defined(MESH_BED_LEVELING)
|
||||
case 29: // G29 Handle mesh based leveling
|
||||
#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
|
||||
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
|
||||
gcode_G29();
|
||||
break;
|
||||
#endif
|
||||
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
|
||||
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
|
||||
gcode_G29();
|
||||
break;
|
||||
|
||||
#ifndef Z_PROBE_SLED
|
||||
|
||||
case 30: // G30 Single Z Probe
|
||||
|
|
@ -5392,28 +5423,27 @@ void prepare_move()
|
|||
|
||||
#ifdef SCARA //for now same as delta-code
|
||||
|
||||
float difference[NUM_AXIS];
|
||||
for (int8_t i=0; i < NUM_AXIS; i++) {
|
||||
difference[i] = destination[i] - current_position[i];
|
||||
}
|
||||
float difference[NUM_AXIS];
|
||||
for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
|
||||
|
||||
float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
|
||||
float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
|
||||
sq(difference[Y_AXIS]) +
|
||||
sq(difference[Z_AXIS]));
|
||||
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
|
||||
if (cartesian_mm < 0.000001) { return; }
|
||||
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
|
||||
int steps = max(1, int(scara_segments_per_second * seconds));
|
||||
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
|
||||
if (cartesian_mm < 0.000001) { return; }
|
||||
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
|
||||
int steps = max(1, int(scara_segments_per_second * seconds));
|
||||
|
||||
//SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
|
||||
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
|
||||
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
|
||||
for (int s = 1; s <= steps; s++) {
|
||||
|
||||
for (int s = 1; s <= steps; s++) {
|
||||
float fraction = float(s) / float(steps);
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
for(int8_t i = 0; i < NUM_AXIS; i++) {
|
||||
destination[i] = current_position[i] + difference[i] * fraction;
|
||||
}
|
||||
|
||||
|
||||
calculate_delta(destination);
|
||||
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
|
||||
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
|
||||
|
|
@ -5425,36 +5455,40 @@ for (int s = 1; s <= steps; s++) {
|
|||
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
|
||||
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
|
||||
active_extruder);
|
||||
}
|
||||
#endif // SCARA
|
||||
|
||||
#ifdef DELTA
|
||||
float difference[NUM_AXIS];
|
||||
for (int8_t i=0; i < NUM_AXIS; i++) {
|
||||
difference[i] = destination[i] - current_position[i];
|
||||
}
|
||||
|
||||
#endif // SCARA
|
||||
|
||||
#ifdef DELTA
|
||||
|
||||
float difference[NUM_AXIS];
|
||||
for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
|
||||
|
||||
float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
|
||||
sq(difference[Y_AXIS]) +
|
||||
sq(difference[Z_AXIS]));
|
||||
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
|
||||
if (cartesian_mm < 0.000001) { return; }
|
||||
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
|
||||
if (cartesian_mm < 0.000001) return;
|
||||
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
|
||||
int steps = max(1, int(delta_segments_per_second * seconds));
|
||||
|
||||
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
|
||||
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
|
||||
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
|
||||
|
||||
for (int s = 1; s <= steps; s++) {
|
||||
float fraction = float(s) / float(steps);
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
destination[i] = current_position[i] + difference[i] * fraction;
|
||||
}
|
||||
for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
|
||||
calculate_delta(destination);
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
adjust_delta(destination);
|
||||
#endif
|
||||
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
|
||||
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
|
||||
active_extruder);
|
||||
}
|
||||
|
||||
#endif // DELTA
|
||||
#endif // DELTA
|
||||
|
||||
#ifdef DUAL_X_CARRIAGE
|
||||
if (active_extruder_parked)
|
||||
|
|
@ -5500,13 +5534,13 @@ for (int s = 1; s <= steps; s++) {
|
|||
#if ! (defined DELTA || defined SCARA)
|
||||
// Do not use feedmultiply for E or Z only moves
|
||||
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
line_to_destination();
|
||||
} else {
|
||||
#if defined(MESH_BED_LEVELING)
|
||||
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
|
||||
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
|
||||
return;
|
||||
#else
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
|
||||
#endif // MESH_BED_LEVELING
|
||||
}
|
||||
#endif // !(DELTA || SCARA)
|
||||
|
|
|
|||
|
|
@ -507,83 +507,107 @@ ISR(TIMER1_COMPA_vect) {
|
|||
}
|
||||
|
||||
if (TEST(out_bits, Z_AXIS)) { // -direction
|
||||
|
||||
Z_APPLY_DIR(INVERT_Z_DIR,0);
|
||||
count_direction[Z_AXIS] = -1;
|
||||
if (check_endstops)
|
||||
{
|
||||
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
||||
#ifndef Z_DUAL_ENDSTOPS
|
||||
UPDATE_ENDSTOP(z, Z, min, MIN);
|
||||
|
||||
if (check_endstops) {
|
||||
|
||||
#if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
|
||||
|
||||
#ifdef Z_DUAL_ENDSTOPS
|
||||
|
||||
bool z_min_endstop = READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING,
|
||||
z2_min_endstop =
|
||||
#if defined(Z2_MIN_PIN) && Z2_MIN_PIN >= 0
|
||||
READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING
|
||||
#else
|
||||
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
|
||||
#if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1
|
||||
bool z2_min_endstop=(READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING);
|
||||
#else
|
||||
bool z2_min_endstop=z_min_endstop;
|
||||
z_min_endstop
|
||||
#endif
|
||||
if(((z_min_endstop && old_z_min_endstop) || (z2_min_endstop && old_z2_min_endstop)) && (current_block->steps[Z_AXIS] > 0))
|
||||
{
|
||||
;
|
||||
|
||||
bool z_min_both = z_min_endstop && old_z_min_endstop,
|
||||
z2_min_both = z2_min_endstop && old_z2_min_endstop;
|
||||
if ((z_min_both || z2_min_both) && current_block->steps[Z_AXIS] > 0) {
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_z_hit=true;
|
||||
if (!(performing_homing) || ((performing_homing)&&(z_min_endstop && old_z_min_endstop)&&(z2_min_endstop && old_z2_min_endstop))) //if not performing home or if both endstops were trigged during homing...
|
||||
{
|
||||
endstop_z_hit = true;
|
||||
if (!performing_homing || (performing_homing && z_min_both && z2_min_both)) //if not performing home or if both endstops were trigged during homing...
|
||||
step_events_completed = current_block->step_event_count;
|
||||
}
|
||||
}
|
||||
old_z_min_endstop = z_min_endstop;
|
||||
old_z2_min_endstop = z2_min_endstop;
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
#else // !Z_DUAL_ENDSTOPS
|
||||
|
||||
UPDATE_ENDSTOP(z, Z, min, MIN);
|
||||
|
||||
#endif // !Z_DUAL_ENDSTOPS
|
||||
|
||||
#endif // Z_MIN_PIN
|
||||
|
||||
} // check_endstops
|
||||
|
||||
}
|
||||
else { // +direction
|
||||
|
||||
Z_APPLY_DIR(!INVERT_Z_DIR,0);
|
||||
count_direction[Z_AXIS] = 1;
|
||||
|
||||
if (check_endstops) {
|
||||
|
||||
#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
|
||||
#ifndef Z_DUAL_ENDSTOPS
|
||||
UPDATE_ENDSTOP(z, Z, max, MAX);
|
||||
|
||||
#ifdef Z_DUAL_ENDSTOPS
|
||||
|
||||
bool z_max_endstop = READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING,
|
||||
z2_max_endstop =
|
||||
#if defined(Z2_MAX_PIN) && Z2_MAX_PIN >= 0
|
||||
READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING
|
||||
#else
|
||||
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
|
||||
#if defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1
|
||||
bool z2_max_endstop=(READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING);
|
||||
#else
|
||||
bool z2_max_endstop=z_max_endstop;
|
||||
z_max_endstop
|
||||
#endif
|
||||
if(((z_max_endstop && old_z_max_endstop) || (z2_max_endstop && old_z2_max_endstop)) && (current_block->steps[Z_AXIS] > 0))
|
||||
{
|
||||
;
|
||||
|
||||
bool z_max_both = z_max_endstop && old_z_max_endstop,
|
||||
z2_max_both = z2_max_endstop && old_z2_max_endstop;
|
||||
if ((z_max_both || z2_max_both) && current_block->steps[Z_AXIS] > 0) {
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_z_hit=true;
|
||||
endstop_z_hit = true;
|
||||
|
||||
// if (z_max_endstop && old_z_max_endstop) SERIAL_ECHOLN("z_max_endstop = true");
|
||||
// if (z2_max_endstop && old_z2_max_endstop) SERIAL_ECHOLN("z2_max_endstop = true");
|
||||
// if (z_max_both) SERIAL_ECHOLN("z_max_endstop = true");
|
||||
// if (z2_max_both) SERIAL_ECHOLN("z2_max_endstop = true");
|
||||
|
||||
|
||||
if (!(performing_homing) || ((performing_homing)&&(z_max_endstop && old_z_max_endstop)&&(z2_max_endstop && old_z2_max_endstop))) //if not performing home or if both endstops were trigged during homing...
|
||||
{
|
||||
if (!performing_homing || (performing_homing && z_max_both && z2_max_both)) //if not performing home or if both endstops were trigged during homing...
|
||||
step_events_completed = current_block->step_event_count;
|
||||
}
|
||||
}
|
||||
old_z_max_endstop = z_max_endstop;
|
||||
old_z2_max_endstop = z2_max_endstop;
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
#else // !Z_DUAL_ENDSTOPS
|
||||
|
||||
UPDATE_ENDSTOP(z, Z, max, MAX);
|
||||
|
||||
#endif // !Z_DUAL_ENDSTOPS
|
||||
|
||||
#endif // Z_MAX_PIN
|
||||
|
||||
} // check_endstops
|
||||
|
||||
} // +direction
|
||||
|
||||
#ifndef ADVANCE
|
||||
if (TEST(out_bits, E_AXIS)) { // -direction
|
||||
REV_E_DIR();
|
||||
count_direction[E_AXIS]=-1;
|
||||
count_direction[E_AXIS] = -1;
|
||||
}
|
||||
else { // +direction
|
||||
NORM_E_DIR();
|
||||
count_direction[E_AXIS]=1;
|
||||
count_direction[E_AXIS] = 1;
|
||||
}
|
||||
#endif //!ADVANCE
|
||||
|
||||
// Take multiple steps per interrupt (For high speed moves)
|
||||
for (int8_t i=0; i < step_loops; i++) {
|
||||
for (int8_t i = 0; i < step_loops; i++) {
|
||||
#ifndef AT90USB
|
||||
MSerial.checkRx(); // Check for serial chars.
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in a new issue