491 lines
15 KiB
C++
491 lines
15 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#include "../gcode.h"
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#include "../../module/stepper.h"
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#include "../../module/endstops.h"
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#if HAS_MULTI_HOTEND
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#include "../../module/tool_change.h"
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#endif
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#if HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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#if ENABLED(SENSORLESS_HOMING)
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#include "../../feature/tmc_util.h"
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#endif
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#include "../../module/probe.h"
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#if ENABLED(BLTOUCH)
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#include "../../feature/bltouch.h"
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#endif
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#include "../../lcd/ultralcd.h"
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#if HAS_L64XX // set L6470 absolute position registers to counts
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#include "../../libs/L64XX/L64XX_Marlin.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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#if ENABLED(QUICK_HOME)
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static void quick_home_xy() {
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// Pretend the current position is 0,0
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current_position.set(0.0, 0.0);
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sync_plan_position();
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const int x_axis_home_dir = x_home_dir(active_extruder);
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const float mlx = max_length(X_AXIS),
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mly = max_length(Y_AXIS),
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mlratio = mlx > mly ? mly / mlx : mlx / mly,
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fr_mm_s = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
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#if ENABLED(SENSORLESS_HOMING)
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sensorless_t stealth_states {
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tmc_enable_stallguard(stepperX)
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, tmc_enable_stallguard(stepperY)
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, false
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, false
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#if AXIS_HAS_STALLGUARD(X2)
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|| tmc_enable_stallguard(stepperX2)
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#endif
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, false
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#if AXIS_HAS_STALLGUARD(Y2)
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|| tmc_enable_stallguard(stepperY2)
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#endif
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};
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#endif
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do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
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endstops.validate_homing_move();
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current_position.set(0.0, 0.0);
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#if ENABLED(SENSORLESS_HOMING)
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tmc_disable_stallguard(stepperX, stealth_states.x);
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tmc_disable_stallguard(stepperY, stealth_states.y);
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#if AXIS_HAS_STALLGUARD(X2)
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tmc_disable_stallguard(stepperX2, stealth_states.x2);
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#endif
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#if AXIS_HAS_STALLGUARD(Y2)
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tmc_disable_stallguard(stepperY2, stealth_states.y2);
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#endif
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#endif
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}
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#endif // QUICK_HOME
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#if ENABLED(Z_SAFE_HOMING)
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inline void home_z_safely() {
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// Disallow Z homing if X or Y are unknown
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if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
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LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
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SERIAL_ECHO_MSG(STR_ERR_Z_HOMING_SER);
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return;
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}
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("home_z_safely >>>");
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sync_plan_position();
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/**
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* Move the Z probe (or just the nozzle) to the safe homing point
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* (Z is already at the right height)
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*/
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destination.set(safe_homing_xy, current_position.z);
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TERN_(HOMING_Z_WITH_PROBE, destination -= probe.offset_xy);
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if (position_is_reachable(destination)) {
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if (DEBUGGING(LEVELING)) DEBUG_POS("home_z_safely", destination);
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// This causes the carriage on Dual X to unpark
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TERN_(DUAL_X_CARRIAGE, active_extruder_parked = false);
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TERN_(SENSORLESS_HOMING, safe_delay(500)); // Short delay needed to settle
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do_blocking_move_to_xy(destination);
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homeaxis(Z_AXIS);
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}
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else {
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LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
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SERIAL_ECHO_MSG(STR_ZPROBE_OUT_SER);
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}
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< home_z_safely");
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}
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#endif // Z_SAFE_HOMING
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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slow_homing_t begin_slow_homing() {
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slow_homing_t slow_homing{0};
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slow_homing.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS],
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planner.settings.max_acceleration_mm_per_s2[Y_AXIS]);
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planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
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planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
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#if HAS_CLASSIC_JERK
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slow_homing.jerk_xy = planner.max_jerk;
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planner.max_jerk.set(0, 0);
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#endif
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planner.reset_acceleration_rates();
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return slow_homing;
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}
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void end_slow_homing(const slow_homing_t &slow_homing) {
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planner.settings.max_acceleration_mm_per_s2[X_AXIS] = slow_homing.acceleration.x;
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planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y;
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TERN_(HAS_CLASSIC_JERK, planner.max_jerk = slow_homing.jerk_xy);
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planner.reset_acceleration_rates();
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}
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#endif // IMPROVE_HOMING_RELIABILITY
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/**
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* G28: Home all axes according to settings
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*
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* Parameters
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*
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* None Home to all axes with no parameters.
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* With QUICK_HOME enabled XY will home together, then Z.
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*
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* O Home only if position is unknown
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*
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* Rn Raise by n mm/inches before homing
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*
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* Cartesian/SCARA parameters
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*
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* X Home to the X endstop
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* Y Home to the Y endstop
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* Z Home to the Z endstop
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*
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*/
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void GcodeSuite::G28() {
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPGM(">>> G28");
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log_machine_info();
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}
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#if ENABLED(DUAL_X_CARRIAGE)
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bool IDEX_saved_duplication_state = extruder_duplication_enabled;
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DualXMode IDEX_saved_mode = dual_x_carriage_mode;
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#endif
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#if ENABLED(MARLIN_DEV_MODE)
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if (parser.seen('S')) {
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LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a);
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sync_plan_position();
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SERIAL_ECHOLNPGM("Simulated Homing");
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report_current_position();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
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return;
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}
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#endif
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// Home (O)nly if position is unknown
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if (!homing_needed() && parser.boolval('O')) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip\n<<< G28");
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return;
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}
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// Wait for planner moves to finish!
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planner.synchronize();
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// Disable the leveling matrix before homing
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#if HAS_LEVELING
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// Cancel the active G29 session
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TERN_(PROBE_MANUALLY, g29_in_progress = false);
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TERN_(RESTORE_LEVELING_AFTER_G28, const bool leveling_was_active = planner.leveling_active);
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set_bed_leveling_enabled(false);
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#endif
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TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY);
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#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
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#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2)
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#define HAS_HOMING_CURRENT 1
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#endif
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#if HAS_HOMING_CURRENT
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auto debug_current = [](PGM_P const s, const int16_t a, const int16_t b){
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serialprintPGM(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b);
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};
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#if HAS_CURRENT_HOME(X)
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const int16_t tmc_save_current_X = stepperX.getMilliamps();
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stepperX.rms_current(X_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current(PSTR("X"), tmc_save_current_X, X_CURRENT_HOME);
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#endif
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#if HAS_CURRENT_HOME(X2)
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const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
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stepperX2.rms_current(X2_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current(PSTR("X2"), tmc_save_current_X2, X2_CURRENT_HOME);
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#endif
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#if HAS_CURRENT_HOME(Y)
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const int16_t tmc_save_current_Y = stepperY.getMilliamps();
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stepperY.rms_current(Y_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current(PSTR("Y"), tmc_save_current_Y, Y_CURRENT_HOME);
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#endif
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#if HAS_CURRENT_HOME(Y2)
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const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
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stepperY2.rms_current(Y2_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current(PSTR("Y2"), tmc_save_current_Y2, Y2_CURRENT_HOME);
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#endif
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#endif
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TERN_(IMPROVE_HOMING_RELIABILITY, slow_homing_t slow_homing = begin_slow_homing());
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// Always home with tool 0 active
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#if HAS_MULTI_HOTEND
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#if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
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const uint8_t old_tool_index = active_extruder;
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#endif
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tool_change(0, true);
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#endif
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TERN_(HAS_DUPLICATION_MODE, extruder_duplication_enabled = false);
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remember_feedrate_scaling_off();
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endstops.enable(true); // Enable endstops for next homing move
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#if ENABLED(DELTA)
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constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a DELTA
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home_delta();
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TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
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#else // NOT DELTA
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const bool homeZ = parser.seen('Z'),
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needX = homeZ && TERN0(Z_SAFE_HOMING, axes_need_homing(_BV(X_AXIS))),
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needY = homeZ && TERN0(Z_SAFE_HOMING, axes_need_homing(_BV(Y_AXIS))),
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homeX = needX || parser.seen('X'), homeY = needY || parser.seen('Y'),
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home_all = homeX == homeY && homeX == homeZ, // All or None
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doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
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destination = current_position;
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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if (doZ) homeaxis(Z_AXIS);
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#endif
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const float z_homing_height =
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(DISABLED(UNKNOWN_Z_NO_RAISE) || TEST(axis_known_position, Z_AXIS))
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? (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
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: 0;
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if (z_homing_height && (doX || doY || ENABLED(Z_SAFE_HOMING))) {
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// Raise Z before homing any other axes and z is not already high enough (never lower z)
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destination.z = z_homing_height + (TEST(axis_known_position, Z_AXIS) ? 0.0f : current_position.z);
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if (destination.z > current_position.z) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination.z);
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do_blocking_move_to_z(destination.z);
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}
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}
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#if ENABLED(QUICK_HOME)
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if (doX && doY) quick_home_xy();
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#endif
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// Home Y (before X)
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if (ENABLED(HOME_Y_BEFORE_X) && (doY || (ENABLED(CODEPENDENT_XY_HOMING) && doX)))
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homeaxis(Y_AXIS);
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// Home X
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if (doX || (doY && ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X))) {
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#if ENABLED(DUAL_X_CARRIAGE)
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// Always home the 2nd (right) extruder first
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active_extruder = 1;
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homeaxis(X_AXIS);
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// Remember this extruder's position for later tool change
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inactive_extruder_x_pos = current_position.x;
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// Home the 1st (left) extruder
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active_extruder = 0;
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homeaxis(X_AXIS);
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// Consider the active extruder to be parked
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raised_parked_position = current_position;
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delayed_move_time = 0;
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active_extruder_parked = true;
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#else
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homeaxis(X_AXIS);
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#endif
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}
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// Home Y (after X)
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if (DISABLED(HOME_Y_BEFORE_X) && doY)
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homeaxis(Y_AXIS);
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TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
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// Home Z last if homing towards the bed
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#if Z_HOME_DIR < 0
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if (doZ) {
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TERN_(BLTOUCH, bltouch.init());
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TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS));
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#if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
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#if Z_AFTER_HOMING > Z_AFTER_PROBING
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do_blocking_move_to_z(Z_AFTER_HOMING);
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#else
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probe.move_z_after_probing();
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#endif
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#elif defined(Z_AFTER_HOMING)
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do_blocking_move_to_z(Z_AFTER_HOMING);
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#endif
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} // doZ
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#endif // Z_HOME_DIR < 0
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sync_plan_position();
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#endif // !DELTA (G28)
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/**
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* Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE.
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* This is important because it lets a user use the LCD Panel to set an IDEX Duplication mode, and
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* then print a standard GCode file that contains a single print that does a G28 and has no other
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* IDEX specific commands in it.
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*/
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#if ENABLED(DUAL_X_CARRIAGE)
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if (dxc_is_duplicating()) {
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TERN_(IMPROVE_HOMING_RELIABILITY, slow_homing = begin_slow_homing());
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// Always home the 2nd (right) extruder first
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active_extruder = 1;
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homeaxis(X_AXIS);
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// Remember this extruder's position for later tool change
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inactive_extruder_x_pos = current_position.x;
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// Home the 1st (left) extruder
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active_extruder = 0;
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homeaxis(X_AXIS);
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// Consider the active extruder to be parked
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raised_parked_position = current_position;
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delayed_move_time = 0;
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active_extruder_parked = true;
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extruder_duplication_enabled = IDEX_saved_duplication_state;
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dual_x_carriage_mode = IDEX_saved_mode;
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stepper.set_directions();
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TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
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}
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#endif // DUAL_X_CARRIAGE
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endstops.not_homing();
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// Clear endstop state for polled stallGuard endstops
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TERN_(SPI_ENDSTOPS, endstops.clear_endstop_state());
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#if BOTH(DELTA, DELTA_HOME_TO_SAFE_ZONE)
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// move to a height where we can use the full xy-area
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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TERN_(RESTORE_LEVELING_AFTER_G28, set_bed_leveling_enabled(leveling_was_active));
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restore_feedrate_and_scaling();
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// Restore the active tool after homing
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#if HAS_MULTI_HOTEND && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE))
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tool_change(old_tool_index, NONE(PARKING_EXTRUDER, DUAL_X_CARRIAGE)); // Do move if one of these
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#endif
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#if HAS_HOMING_CURRENT
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore driver current...");
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#if HAS_CURRENT_HOME(X)
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stepperX.rms_current(tmc_save_current_X);
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#endif
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#if HAS_CURRENT_HOME(X2)
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stepperX2.rms_current(tmc_save_current_X2);
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#endif
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#if HAS_CURRENT_HOME(Y)
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stepperY.rms_current(tmc_save_current_Y);
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#endif
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#if HAS_CURRENT_HOME(Y2)
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stepperY2.rms_current(tmc_save_current_Y2);
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#endif
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#endif
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ui.refresh();
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report_current_position();
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if (ENABLED(NANODLP_Z_SYNC) && (doZ || ENABLED(NANODLP_ALL_AXIS)))
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SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
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|
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
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|
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#if HAS_L64XX
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// Set L6470 absolute position registers to counts
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|
// constexpr *might* move this to PROGMEM.
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|
// If not, this will need a PROGMEM directive and an accessor.
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|
static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = {
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|
X_AXIS, Y_AXIS, Z_AXIS,
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|
X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS,
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|
E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
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|
};
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|
for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
|
|
const uint8_t cv = L64XX::chain[j];
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|
L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L64XX_axis_xref[cv]));
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|
}
|
|
#endif
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|
}
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