Consolidate "bedlevel" code
Scott Lahteine
7 years ago
parent
71aefc2e22
commit
551752eac7
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#include "abl.h"
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#include "../../../module/motion.h"
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int bilinear_grid_spacing[2], bilinear_start[2];
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float bilinear_grid_factor[2],
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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/**
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* Extrapolate a single point from its neighbors
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*/
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static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPGM("Extrapolate [");
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if (x < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO((int)x);
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SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
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SERIAL_CHAR(' ');
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if (y < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO((int)y);
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SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
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SERIAL_CHAR(']');
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}
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#endif
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if (!isnan(z_values[x][y])) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
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#endif
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return; // Don't overwrite good values.
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}
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SERIAL_EOL();
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// Get X neighbors, Y neighbors, and XY neighbors
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const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
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float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
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b1 = z_values[x ][y1], b2 = z_values[x ][y2],
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c1 = z_values[x1][y1], c2 = z_values[x2][y2];
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// Treat far unprobed points as zero, near as equal to far
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if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
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if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
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if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
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const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
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// Take the average instead of the median
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z_values[x][y] = (a + b + c) / 3.0;
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// Median is robust (ignores outliers).
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// z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
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// : ((c < b) ? b : (a < c) ? a : c);
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}
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//Enable this if your SCARA uses 180° of total area
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//#define EXTRAPOLATE_FROM_EDGE
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#if ENABLED(EXTRAPOLATE_FROM_EDGE)
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#if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
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#define HALF_IN_X
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#elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
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#define HALF_IN_Y
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#endif
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#endif
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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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*/
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void extrapolate_unprobed_bed_level() {
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#ifdef HALF_IN_X
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constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
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#else
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constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
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ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
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xlen = ctrx1;
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#endif
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#ifdef HALF_IN_Y
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constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
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#else
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constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
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ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
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ylen = ctry1;
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#endif
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for (uint8_t xo = 0; xo <= xlen; xo++)
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for (uint8_t yo = 0; yo <= ylen; yo++) {
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uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
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#ifndef HALF_IN_X
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const uint8_t x1 = ctrx1 - xo;
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#endif
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#ifndef HALF_IN_Y
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const uint8_t y1 = ctry1 - yo;
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#ifndef HALF_IN_X
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extrapolate_one_point(x1, y1, +1, +1); // left-below + +
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#endif
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extrapolate_one_point(x2, y1, -1, +1); // right-below - +
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#endif
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#ifndef HALF_IN_X
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extrapolate_one_point(x1, y2, +1, -1); // left-above + -
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#endif
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extrapolate_one_point(x2, y2, -1, -1); // right-above - -
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}
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}
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void print_bilinear_leveling_grid() {
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SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
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print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
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[](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
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);
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}
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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#define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
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#define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
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#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
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#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
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float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
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int bilinear_grid_spacing_virt[2] = { 0 };
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float bilinear_grid_factor_virt[2] = { 0 };
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void print_bilinear_leveling_grid_virt() {
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SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
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print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
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[](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
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);
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}
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#define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
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float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
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uint8_t ep = 0, ip = 1;
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if (!x || x == ABL_TEMP_POINTS_X - 1) {
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if (x) {
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ep = GRID_MAX_POINTS_X - 1;
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ip = GRID_MAX_POINTS_X - 2;
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}
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if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
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return LINEAR_EXTRAPOLATION(
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z_values[ep][y - 1],
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z_values[ip][y - 1]
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);
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else
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return LINEAR_EXTRAPOLATION(
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bed_level_virt_coord(ep + 1, y),
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bed_level_virt_coord(ip + 1, y)
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);
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}
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if (!y || y == ABL_TEMP_POINTS_Y - 1) {
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if (y) {
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ep = GRID_MAX_POINTS_Y - 1;
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ip = GRID_MAX_POINTS_Y - 2;
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}
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if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
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return LINEAR_EXTRAPOLATION(
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z_values[x - 1][ep],
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z_values[x - 1][ip]
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);
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else
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return LINEAR_EXTRAPOLATION(
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bed_level_virt_coord(x, ep + 1),
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bed_level_virt_coord(x, ip + 1)
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);
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}
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return z_values[x - 1][y - 1];
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}
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static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
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return (
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p[i-1] * -t * sq(1 - t)
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+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
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+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
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- p[i+2] * sq(t) * (1 - t)
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) * 0.5;
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}
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static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
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float row[4], column[4];
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for (uint8_t i = 0; i < 4; i++) {
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for (uint8_t j = 0; j < 4; j++) {
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column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
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}
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row[i] = bed_level_virt_cmr(column, 1, ty);
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}
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return bed_level_virt_cmr(row, 1, tx);
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}
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void bed_level_virt_interpolate() {
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bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
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bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
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bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
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bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
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for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
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for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
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for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
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for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
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if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
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continue;
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z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
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bed_level_virt_2cmr(
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x + 1,
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y + 1,
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(float)tx / (BILINEAR_SUBDIVISIONS),
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(float)ty / (BILINEAR_SUBDIVISIONS)
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);
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}
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}
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#endif // ABL_BILINEAR_SUBDIVISION
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// Refresh after other values have been updated
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void refresh_bed_level() {
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bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
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bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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bed_level_virt_interpolate();
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#endif
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}
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
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#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
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#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
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#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
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#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
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#else
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#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
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#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
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#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
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#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
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#define ABL_BG_GRID(X,Y) z_values[X][Y]
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#endif
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// Get the Z adjustment for non-linear bed leveling
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float bilinear_z_offset(const float logical[XYZ]) {
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static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
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last_x = -999.999, last_y = -999.999;
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// Whole units for the grid line indices. Constrained within bounds.
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static int8_t gridx, gridy, nextx, nexty,
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last_gridx = -99, last_gridy = -99;
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// XY relative to the probed area
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const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
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y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
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#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
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// Keep using the last grid box
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#define FAR_EDGE_OR_BOX 2
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#else
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// Just use the grid far edge
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#define FAR_EDGE_OR_BOX 1
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#endif
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if (last_x != x) {
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last_x = x;
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ratio_x = x * ABL_BG_FACTOR(X_AXIS);
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const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
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ratio_x -= gx; // Subtract whole to get the ratio within the grid box
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#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
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// Beyond the grid maintain height at grid edges
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NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
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#endif
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gridx = gx;
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nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
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}
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if (last_y != y || last_gridx != gridx) {
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if (last_y != y) {
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last_y = y;
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ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
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const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
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ratio_y -= gy;
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#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
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// Beyond the grid maintain height at grid edges
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NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
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#endif
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gridy = gy;
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nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
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}
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if (last_gridx != gridx || last_gridy != gridy) {
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last_gridx = gridx;
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last_gridy = gridy;
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// Z at the box corners
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z1 = ABL_BG_GRID(gridx, gridy); // left-front
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d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
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z3 = ABL_BG_GRID(nextx, gridy); // right-front
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d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
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}
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// Bilinear interpolate. Needed since y or gridx has changed.
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L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
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const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
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D = R - L;
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}
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const float offset = L + ratio_x * D; // the offset almost always changes
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/*
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static float last_offset = 0;
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if (FABS(last_offset - offset) > 0.2) {
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SERIAL_ECHOPGM("Sudden Shift at ");
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SERIAL_ECHOPAIR("x=", x);
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SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
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SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
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SERIAL_ECHOPAIR(" y=", y);
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SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
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SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
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SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
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SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
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SERIAL_ECHOPAIR(" z1=", z1);
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SERIAL_ECHOPAIR(" z2=", z2);
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SERIAL_ECHOPAIR(" z3=", z3);
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SERIAL_ECHOLNPAIR(" z4=", z4);
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SERIAL_ECHOPAIR(" L=", L);
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SERIAL_ECHOPAIR(" R=", R);
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SERIAL_ECHOLNPAIR(" offset=", offset);
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}
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last_offset = offset;
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//*/
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return offset;
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}
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#if !IS_KINEMATIC
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#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
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/**
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* Prepare a bilinear-leveled linear move on Cartesian,
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* splitting the move where it crosses grid borders.
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*/
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void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
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int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
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cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
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cx2 = CELL_INDEX(X, destination[X_AXIS]),
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cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
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cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
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cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
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cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
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cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
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|
||||
if (cx1 == cx2 && cy1 == cy2) {
|
||||
// Start and end on same mesh square
|
||||
line_to_destination(fr_mm_s);
|
||||
set_current_to_destination();
|
||||
return;
|
||||
}
|
||||
|
||||
#define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
|
||||
|
||||
float normalized_dist, end[XYZE];
|
||||
|
||||
// Split at the left/front border of the right/top square
|
||||
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
|
||||
if (cx2 != cx1 && TEST(x_splits, gcx)) {
|
||||
COPY(end, destination);
|
||||
destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
|
||||
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
|
||||
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
|
||||
CBI(x_splits, gcx);
|
||||
}
|
||||
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
|
||||
COPY(end, destination);
|
||||
destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
|
||||
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
|
||||
destination[X_AXIS] = LINE_SEGMENT_END(X);
|
||||
CBI(y_splits, gcy);
|
||||
}
|
||||
else {
|
||||
// Already split on a border
|
||||
line_to_destination(fr_mm_s);
|
||||
set_current_to_destination();
|
||||
return;
|
||||
}
|
||||
|
||||
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
|
||||
destination[E_AXIS] = LINE_SEGMENT_END(E);
|
||||
|
||||
// Do the split and look for more borders
|
||||
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
|
||||
|
||||
// Restore destination from stack
|
||||
COPY(destination, end);
|
||||
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
|
||||
}
|
||||
|
||||
#endif // !IS_KINEMATIC
|
||||
|
||||
#endif // AUTO_BED_LEVELING_BILINEAR
|
||||
@ -0,0 +1,51 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __ABL_H__
|
||||
#define __ABL_H__
|
||||
|
||||
#include "../../../inc/MarlinConfig.h"
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
|
||||
#include "../bedlevel.h"
|
||||
|
||||
extern int bilinear_grid_spacing[2], bilinear_start[2];
|
||||
extern float bilinear_grid_factor[2],
|
||||
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
|
||||
float bilinear_z_offset(const float logical[XYZ]);
|
||||
|
||||
void extrapolate_unprobed_bed_level();
|
||||
void print_bilinear_leveling_grid();
|
||||
void refresh_bed_level();
|
||||
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
|
||||
void print_bilinear_leveling_grid_virt();
|
||||
void bed_level_virt_interpolate();
|
||||
#endif
|
||||
|
||||
#if !IS_KINEMATIC
|
||||
void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
|
||||
#endif
|
||||
|
||||
#endif // AUTO_BED_LEVELING_BILINEAR
|
||||
|
||||
#endif // __ABL_H__
|
||||
@ -0,0 +1,314 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "../../inc/MarlinConfig.h"
|
||||
|
||||
#if HAS_LEVELING
|
||||
|
||||
#include "bedlevel.h"
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
|
||||
#include "../../module/stepper.h"
|
||||
#endif
|
||||
|
||||
#if PLANNER_LEVELING
|
||||
#include "../../module/planner.h"
|
||||
#endif
|
||||
|
||||
#if ENABLED(PROBE_MANUALLY)
|
||||
bool g29_in_progress = false;
|
||||
#if ENABLED(LCD_BED_LEVELING)
|
||||
#include "../../lcd/ultralcd.h"
|
||||
#endif
|
||||
#endif
|
||||
|
||||
bool leveling_is_valid() {
|
||||
return
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
mbl.has_mesh()
|
||||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
!!bilinear_grid_spacing[X_AXIS]
|
||||
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
true
|
||||
#else // 3POINT, LINEAR
|
||||
true
|
||||
#endif
|
||||
;
|
||||
}
|
||||
|
||||
bool leveling_is_active() {
|
||||
return
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
mbl.active()
|
||||
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
ubl.state.active
|
||||
#else // OLDSCHOOL_ABL
|
||||
planner.abl_enabled
|
||||
#endif
|
||||
;
|
||||
}
|
||||
|
||||
/**
|
||||
* Turn bed leveling on or off, fixing the current
|
||||
* position as-needed.
|
||||
*
|
||||
* Disable: Current position = physical position
|
||||
* Enable: Current position = "unleveled" physical position
|
||||
*/
|
||||
void set_bed_leveling_enabled(const bool enable/*=true*/) {
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
const bool can_change = (!enable || leveling_is_valid());
|
||||
#else
|
||||
constexpr bool can_change = true;
|
||||
#endif
|
||||
|
||||
if (can_change && enable != leveling_is_active()) {
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
if (!enable)
|
||||
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
|
||||
|
||||
const bool enabling = enable && leveling_is_valid();
|
||||
mbl.set_active(enabling);
|
||||
if (enabling) planner.unapply_leveling(current_position);
|
||||
|
||||
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
#if PLANNER_LEVELING
|
||||
if (ubl.state.active) { // leveling from on to off
|
||||
// change unleveled current_position to physical current_position without moving steppers.
|
||||
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
|
||||
ubl.state.active = false; // disable only AFTER calling apply_leveling
|
||||
}
|
||||
else { // leveling from off to on
|
||||
ubl.state.active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
|
||||
// change physical current_position to unleveled current_position without moving steppers.
|
||||
planner.unapply_leveling(current_position);
|
||||
}
|
||||
#else
|
||||
ubl.state.active = enable; // just flip the bit, current_position will be wrong until next move.
|
||||
#endif
|
||||
|
||||
#else // OLDSCHOOL_ABL
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
// Force bilinear_z_offset to re-calculate next time
|
||||
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
|
||||
(void)bilinear_z_offset(reset);
|
||||
#endif
|
||||
|
||||
// Enable or disable leveling compensation in the planner
|
||||
planner.abl_enabled = enable;
|
||||
|
||||
if (!enable)
|
||||
// When disabling just get the current position from the steppers.
|
||||
// This will yield the smallest error when first converted back to steps.
|
||||
set_current_from_steppers_for_axis(
|
||||
#if ABL_PLANAR
|
||||
ALL_AXES
|
||||
#else
|
||||
Z_AXIS
|
||||
#endif
|
||||
);
|
||||
else
|
||||
// When enabling, remove compensation from the current position,
|
||||
// so compensation will give the right stepper counts.
|
||||
planner.unapply_leveling(current_position);
|
||||
|
||||
#endif // OLDSCHOOL_ABL
|
||||
}
|
||||
}
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
|
||||
void set_z_fade_height(const float zfh) {
|
||||
|
||||
const bool level_active = leveling_is_active();
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
|
||||
if (level_active)
|
||||
set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
|
||||
planner.z_fade_height = zfh;
|
||||
planner.inverse_z_fade_height = RECIPROCAL(zfh);
|
||||
if (level_active)
|
||||
set_bed_leveling_enabled(true); // turn back on after changing fade height
|
||||
|
||||
#else
|
||||
|
||||
planner.z_fade_height = zfh;
|
||||
planner.inverse_z_fade_height = RECIPROCAL(zfh);
|
||||
|
||||
if (level_active) {
|
||||
set_current_from_steppers_for_axis(
|
||||
#if ABL_PLANAR
|
||||
ALL_AXES
|
||||
#else
|
||||
Z_AXIS
|
||||
#endif
|
||||
);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // ENABLE_LEVELING_FADE_HEIGHT
|
||||
|
||||
/**
|
||||
* Reset calibration results to zero.
|
||||
*/
|
||||
void reset_bed_level() {
|
||||
set_bed_leveling_enabled(false);
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
if (leveling_is_valid()) {
|
||||
mbl.reset();
|
||||
mbl.set_has_mesh(false);
|
||||
}
|
||||
#else
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
|
||||
#endif
|
||||
#if ABL_PLANAR
|
||||
planner.bed_level_matrix.set_to_identity();
|
||||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
|
||||
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
|
||||
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
||||
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
||||
z_values[x][y] = NAN;
|
||||
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
ubl.reset();
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
/**
|
||||
* Enable to produce output in JSON format suitable
|
||||
* for SCAD or JavaScript mesh visualizers.
|
||||
*
|
||||
* Visualize meshes in OpenSCAD using the included script.
|
||||
*
|
||||
* buildroot/shared/scripts/MarlinMesh.scad
|
||||
*/
|
||||
//#define SCAD_MESH_OUTPUT
|
||||
|
||||
/**
|
||||
* Print calibration results for plotting or manual frame adjustment.
|
||||
*/
|
||||
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
|
||||
#ifndef SCAD_MESH_OUTPUT
|
||||
for (uint8_t x = 0; x < sx; x++) {
|
||||
for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
|
||||
SERIAL_PROTOCOLCHAR(' ');
|
||||
SERIAL_PROTOCOL((int)x);
|
||||
}
|
||||
SERIAL_EOL();
|
||||
#endif
|
||||
#ifdef SCAD_MESH_OUTPUT
|
||||
SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
|
||||
#endif
|
||||
for (uint8_t y = 0; y < sy; y++) {
|
||||
#ifdef SCAD_MESH_OUTPUT
|
||||
SERIAL_PROTOCOLPGM(" ["); // open sub-array
|
||||
#else
|
||||
if (y < 10) SERIAL_PROTOCOLCHAR(' ');
|
||||
SERIAL_PROTOCOL((int)y);
|
||||
#endif
|
||||
for (uint8_t x = 0; x < sx; x++) {
|
||||
SERIAL_PROTOCOLCHAR(' ');
|
||||
const float offset = fn(x, y);
|
||||
if (!isnan(offset)) {
|
||||
if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
|
||||
SERIAL_PROTOCOL_F(offset, precision);
|
||||
}
|
||||
else {
|
||||
#ifdef SCAD_MESH_OUTPUT
|
||||
for (uint8_t i = 3; i < precision + 3; i++)
|
||||
SERIAL_PROTOCOLCHAR(' ');
|
||||
SERIAL_PROTOCOLPGM("NAN");
|
||||
#else
|
||||
for (uint8_t i = 0; i < precision + 3; i++)
|
||||
SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
|
||||
#endif
|
||||
}
|
||||
#ifdef SCAD_MESH_OUTPUT
|
||||
if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
|
||||
#endif
|
||||
}
|
||||
#ifdef SCAD_MESH_OUTPUT
|
||||
SERIAL_PROTOCOLCHAR(' ');
|
||||
SERIAL_PROTOCOLCHAR(']'); // close sub-array
|
||||
if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
|
||||
#endif
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#ifdef SCAD_MESH_OUTPUT
|
||||
SERIAL_PROTOCOLPGM("];"); // close 2D array
|
||||
#endif
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
|
||||
|
||||
void _manual_goto_xy(const float &x, const float &y) {
|
||||
const float old_feedrate_mm_s = feedrate_mm_s;
|
||||
#if MANUAL_PROBE_HEIGHT > 0
|
||||
const float prev_z = current_position[Z_AXIS];
|
||||
feedrate_mm_s = homing_feedrate(Z_AXIS);
|
||||
current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
|
||||
line_to_current_position();
|
||||
#endif
|
||||
|
||||
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
|
||||
current_position[X_AXIS] = LOGICAL_X_POSITION(x);
|
||||
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
|
||||
line_to_current_position();
|
||||
|
||||
#if MANUAL_PROBE_HEIGHT > 0
|
||||
feedrate_mm_s = homing_feedrate(Z_AXIS);
|
||||
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
|
||||
line_to_current_position();
|
||||
#endif
|
||||
|
||||
feedrate_mm_s = old_feedrate_mm_s;
|
||||
stepper.synchronize();
|
||||
|
||||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
|
||||
lcd_wait_for_move = false;
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if HAS_PROBING_PROCEDURE
|
||||
void out_of_range_error(const char* p_edge) {
|
||||
SERIAL_PROTOCOLPGM("?Probe ");
|
||||
serialprintPGM(p_edge);
|
||||
SERIAL_PROTOCOLLNPGM(" position out of range.");
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HAS_LEVELING
|
||||
@ -0,0 +1,72 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __BEDLEVEL_H__
|
||||
#define __BEDLEVEL_H__
|
||||
|
||||
#include "../../inc/MarlinConfig.h"
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
#include "mbl/mesh_bed_leveling.h"
|
||||
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
#include "ubl/ubl.h"
|
||||
#elif HAS_ABL
|
||||
#include "abl/abl.h"
|
||||
#endif
|
||||
|
||||
#if ENABLED(PROBE_MANUALLY)
|
||||
extern bool g29_in_progress;
|
||||
#else
|
||||
constexpr bool g29_in_progress = false;
|
||||
#endif
|
||||
|
||||
bool leveling_is_valid();
|
||||
bool leveling_is_active();
|
||||
void set_bed_leveling_enabled(const bool enable=true);
|
||||
void reset_bed_level();
|
||||
|
||||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
||||
void set_z_fade_height(const float zfh);
|
||||
#endif
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
typedef float (*element_2d_fn)(const uint8_t, const uint8_t);
|
||||
|
||||
/**
|
||||
* Print calibration results for plotting or manual frame adjustment.
|
||||
*/
|
||||
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn);
|
||||
|
||||
#endif
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
|
||||
void _manual_goto_xy(const float &x, const float &y);
|
||||
#endif
|
||||
|
||||
#if HAS_PROBING_PROCEDURE
|
||||
void out_of_range_error(const char* p_edge);
|
||||
#endif
|
||||
|
||||
#endif // __BEDLEVEL_H__
|
||||
@ -1,893 +0,0 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* Marlin Firmware -- G26 - Mesh Validation Tool
|
||||
*/
|
||||
|
||||
#include "../../inc/MarlinConfig.h"
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
|
||||
|
||||
#include "ubl.h"
|
||||
|
||||
#include "../../Marlin.h"
|
||||
#include "../../module/planner.h"
|
||||
#include "../../module/stepper.h"
|
||||
#include "../../module/motion.h"
|
||||
#include "../../module/temperature.h"
|
||||
#include "../../lcd/ultralcd.h"
|
||||
#include "../../gcode/parser.h"
|
||||
|
||||
#define EXTRUSION_MULTIPLIER 1.0
|
||||
#define RETRACTION_MULTIPLIER 1.0
|
||||
#define NOZZLE 0.4
|
||||
#define FILAMENT 1.75
|
||||
#define LAYER_HEIGHT 0.2
|
||||
#define PRIME_LENGTH 10.0
|
||||
#define BED_TEMP 60.0
|
||||
#define HOTEND_TEMP 205.0
|
||||
#define OOZE_AMOUNT 0.3
|
||||
|
||||
#define SIZE_OF_INTERSECTION_CIRCLES 5
|
||||
#define SIZE_OF_CROSSHAIRS 3
|
||||
|
||||
#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES
|
||||
#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES."
|
||||
#endif
|
||||
|
||||
/**
|
||||
* G26 Mesh Validation Tool
|
||||
*
|
||||
* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
|
||||
* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
|
||||
* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
|
||||
* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
|
||||
* the intersections of those lines (respectively).
|
||||
*
|
||||
* This action allows the user to immediately see where the Mesh is properly defined and where it needs to
|
||||
* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
|
||||
* the user can specify the X and Y position of interest with command parameters. This allows the user to
|
||||
* focus on a particular area of the Mesh where attention is needed.
|
||||
*
|
||||
* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
|
||||
*
|
||||
* C Current When searching for Mesh Intersection points to draw, use the current nozzle location
|
||||
* as the base for any distance comparison.
|
||||
*
|
||||
* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this
|
||||
* command to see how well a Mesh as been adjusted to match a print surface. In order to do
|
||||
* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
|
||||
* alters the command's normal behaviour and disables the Unified Bed Leveling System even if
|
||||
* it is on.
|
||||
*
|
||||
* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
|
||||
*
|
||||
* F # Filament Used to specify the diameter of the filament being used. If not specified
|
||||
* 1.75mm filament is assumed. If you are not getting acceptable results by using the
|
||||
* 'correct' numbers, you can scale this number up or down a little bit to change the amount
|
||||
* of filament that is being extruded during the printing of the various lines on the bed.
|
||||
*
|
||||
* K Keep-On Keep the heaters turned on at the end of the command.
|
||||
*
|
||||
* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.
|
||||
*
|
||||
* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
|
||||
* is over kill, but using this parameter will let you get the very first 'circle' perfect
|
||||
* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
|
||||
* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
|
||||
*
|
||||
* P # Prime Prime the nozzle with specified length of filament. If this parameter is not
|
||||
* given, no prime action will take place. If the parameter specifies an amount, that much
|
||||
* will be purged before continuing. If no amount is specified the command will start
|
||||
* purging filament until the user provides an LCD Click and then it will continue with
|
||||
* printing the Mesh. You can carefully remove the spent filament with a needle nose
|
||||
* pliers while holding the LCD Click wheel in a depressed state. If you do not have
|
||||
* an LCD, you must specify a value if you use P.
|
||||
*
|
||||
* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
|
||||
* un-retraction is at 1.2mm These numbers will be scaled by the specified amount
|
||||
*
|
||||
* R # Repeat Prints the number of patterns given as a parameter, starting at the current location.
|
||||
* If a parameter isn't given, every point will be printed unless G26 is interrupted.
|
||||
* This works the same way that the UBL G29 P4 R parameter works.
|
||||
*
|
||||
* NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are
|
||||
* aware that there's some risk associated with printing without the ability to abort in
|
||||
* cases where mesh point Z value may be inaccurate. As above, if you do not include a
|
||||
* parameter, every point will be printed.
|
||||
*
|
||||
* S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
|
||||
*
|
||||
* U # Random Randomize the order that the circles are drawn on the bed. The search for the closest
|
||||
* undrawn cicle is still done. But the distance to the location for each circle has a
|
||||
* random number of the size specified added to it. Specifying S50 will give an interesting
|
||||
* deviation from the normal behaviour on a 10 x 10 Mesh.
|
||||
*
|
||||
* X # X Coord. Specify the starting location of the drawing activity.
|
||||
*
|
||||
* Y # Y Coord. Specify the starting location of the drawing activity.
|
||||
*/
|
||||
|
||||
// External references
|
||||
|
||||
extern Planner planner;
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
extern char lcd_status_message[];
|
||||
#endif
|
||||
extern float destination[XYZE];
|
||||
extern void set_destination_to_current() { COPY(destination, current_position); }
|
||||
void prepare_move_to_destination();
|
||||
#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
|
||||
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
|
||||
inline void set_current_to_destination() { COPY(current_position, destination); }
|
||||
#else
|
||||
extern void sync_plan_position_e();
|
||||
extern void set_current_to_destination();
|
||||
#endif
|
||||
#if ENABLED(NEWPANEL)
|
||||
void lcd_setstatusPGM(const char* const message, const int8_t level);
|
||||
void chirp_at_user();
|
||||
#endif
|
||||
|
||||
// Private functions
|
||||
|
||||
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
|
||||
float g26_e_axis_feedrate = 0.020,
|
||||
random_deviation = 0.0;
|
||||
|
||||
static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
|
||||
// retracts/recovers won't result in a bad state.
|
||||
|
||||
float valid_trig_angle(float);
|
||||
|
||||
float unified_bed_leveling::g26_extrusion_multiplier,
|
||||
unified_bed_leveling::g26_retraction_multiplier,
|
||||
unified_bed_leveling::g26_nozzle,
|
||||
unified_bed_leveling::g26_filament_diameter,
|
||||
unified_bed_leveling::g26_layer_height,
|
||||
unified_bed_leveling::g26_prime_length,
|
||||
unified_bed_leveling::g26_x_pos,
|
||||
unified_bed_leveling::g26_y_pos,
|
||||
unified_bed_leveling::g26_ooze_amount;
|
||||
|
||||
int16_t unified_bed_leveling::g26_bed_temp,
|
||||
unified_bed_leveling::g26_hotend_temp;
|
||||
|
||||
int8_t unified_bed_leveling::g26_prime_flag;
|
||||
|
||||
bool unified_bed_leveling::g26_continue_with_closest,
|
||||
unified_bed_leveling::g26_keep_heaters_on;
|
||||
|
||||
int16_t unified_bed_leveling::g26_repeats;
|
||||
|
||||
void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) {
|
||||
const float save_feedrate = feedrate_mm_s;
|
||||
feedrate_mm_s = feed_rate; // use specified feed rate
|
||||
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
|
||||
feedrate_mm_s = save_feedrate; // restore global feed rate
|
||||
}
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
/**
|
||||
* Detect ubl_lcd_clicked, debounce it, and return true for cancel
|
||||
*/
|
||||
bool user_canceled() {
|
||||
if (!ubl_lcd_clicked()) return false;
|
||||
safe_delay(10); // Wait for click to settle
|
||||
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
|
||||
while (!ubl_lcd_clicked()) idle(); // Wait for button release
|
||||
|
||||
// If the button is suddenly pressed again,
|
||||
// ask the user to resolve the issue
|
||||
lcd_setstatusPGM(PSTR("Release button"), 99); // will never appear...
|
||||
while (ubl_lcd_clicked()) idle(); // unless this loop happens
|
||||
lcd_reset_status();
|
||||
|
||||
return true;
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* G26: Mesh Validation Pattern generation.
|
||||
*
|
||||
* Used to interactively edit UBL's Mesh by placing the
|
||||
* nozzle in a problem area and doing a G29 P4 R command.
|
||||
*/
|
||||
void unified_bed_leveling::G26() {
|
||||
SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
|
||||
float tmp, start_angle, end_angle;
|
||||
int i, xi, yi;
|
||||
mesh_index_pair location;
|
||||
|
||||
// Don't allow Mesh Validation without homing first,
|
||||
// or if the parameter parsing did not go OK, abort
|
||||
if (axis_unhomed_error() || parse_G26_parameters()) return;
|
||||
|
||||
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
|
||||
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
|
||||
stepper.synchronize();
|
||||
set_current_to_destination();
|
||||
}
|
||||
|
||||
if (turn_on_heaters()) goto LEAVE;
|
||||
|
||||
current_position[E_AXIS] = 0.0;
|
||||
sync_plan_position_e();
|
||||
|
||||
if (g26_prime_flag && prime_nozzle()) goto LEAVE;
|
||||
|
||||
/**
|
||||
* Bed is preheated
|
||||
*
|
||||
* Nozzle is at temperature
|
||||
*
|
||||
* Filament is primed!
|
||||
*
|
||||
* It's "Show Time" !!!
|
||||
*/
|
||||
|
||||
ZERO(circle_flags);
|
||||
ZERO(horizontal_mesh_line_flags);
|
||||
ZERO(vertical_mesh_line_flags);
|
||||
|
||||
// Move nozzle to the specified height for the first layer
|
||||
set_destination_to_current();
|
||||
destination[Z_AXIS] = g26_layer_height;
|
||||
move_to(destination, 0.0);
|
||||
move_to(destination, g26_ooze_amount);
|
||||
|
||||
has_control_of_lcd_panel = true;
|
||||
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
|
||||
|
||||
/**
|
||||
* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
|
||||
* the CPU load and make the arc drawing faster and more smooth
|
||||
*/
|
||||
float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1];
|
||||
for (i = 0; i <= 360 / 30; i++) {
|
||||
cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0)));
|
||||
sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0)));
|
||||
}
|
||||
|
||||
do {
|
||||
location = g26_continue_with_closest
|
||||
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
|
||||
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
|
||||
|
||||
if (location.x_index >= 0 && location.y_index >= 0) {
|
||||
const float circle_x = mesh_index_to_xpos(location.x_index),
|
||||
circle_y = mesh_index_to_ypos(location.y_index);
|
||||
|
||||
// If this mesh location is outside the printable_radius, skip it.
|
||||
|
||||
if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue;
|
||||
|
||||
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
|
||||
yi = location.y_index;
|
||||
|
||||
if (g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi);
|
||||
SERIAL_ECHOPAIR(", yi=", yi);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
start_angle = 0.0; // assume it is going to be a full circle
|
||||
end_angle = 360.0;
|
||||
if (xi == 0) { // Check for bottom edge
|
||||
start_angle = -90.0;
|
||||
end_angle = 90.0;
|
||||
if (yi == 0) // it is an edge, check for the two left corners
|
||||
start_angle = 0.0;
|
||||
else if (yi == GRID_MAX_POINTS_Y - 1)
|
||||
end_angle = 0.0;
|
||||
}
|
||||
else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
|
||||
start_angle = 90.0;
|
||||
end_angle = 270.0;
|
||||
if (yi == 0) // it is an edge, check for the two right corners
|
||||
end_angle = 180.0;
|
||||
else if (yi == GRID_MAX_POINTS_Y - 1)
|
||||
start_angle = 180.0;
|
||||
}
|
||||
else if (yi == 0) {
|
||||
start_angle = 0.0; // only do the top side of the cirlce
|
||||
end_angle = 180.0;
|
||||
}
|
||||
else if (yi == GRID_MAX_POINTS_Y - 1) {
|
||||
start_angle = 180.0; // only do the bottom side of the cirlce
|
||||
end_angle = 360.0;
|
||||
}
|
||||
|
||||
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
|
||||
#endif
|
||||
|
||||
int tmp_div_30 = tmp / 30.0;
|
||||
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
|
||||
if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
|
||||
|
||||
float x = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
|
||||
y = circle_y + sin_table[tmp_div_30],
|
||||
xe = circle_x + cos_table[tmp_div_30 + 1],
|
||||
ye = circle_y + sin_table[tmp_div_30 + 1];
|
||||
#if IS_KINEMATIC
|
||||
// Check to make sure this segment is entirely on the bed, skip if not.
|
||||
if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue;
|
||||
#else // not, we need to skip
|
||||
x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
|
||||
y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
#endif
|
||||
|
||||
//if (g26_debug_flag) {
|
||||
// char ccc, *cptr, seg_msg[50], seg_num[10];
|
||||
// strcpy(seg_msg, " segment: ");
|
||||
// strcpy(seg_num, " \n");
|
||||
// cptr = (char*) "01234567890ABCDEF????????";
|
||||
// ccc = cptr[tmp_div_30];
|
||||
// seg_num[1] = ccc;
|
||||
// strcat(seg_msg, seg_num);
|
||||
// debug_current_and_destination(seg_msg);
|
||||
//}
|
||||
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height);
|
||||
|
||||
}
|
||||
if (look_for_lines_to_connect())
|
||||
goto LEAVE;
|
||||
}
|
||||
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
|
||||
|
||||
LEAVE:
|
||||
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
|
||||
|
||||
retract_filament(destination);
|
||||
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
|
||||
|
||||
//debug_current_and_destination(PSTR("ready to do Z-Raise."));
|
||||
move_to(destination, 0); // Raise the nozzle
|
||||
//debug_current_and_destination(PSTR("done doing Z-Raise."));
|
||||
|
||||
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
|
||||
destination[Y_AXIS] = g26_y_pos;
|
||||
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
|
||||
|
||||
move_to(destination, 0); // Move back to the starting position
|
||||
//debug_current_and_destination(PSTR("done doing X/Y move."));
|
||||
|
||||
has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
|
||||
|
||||
if (!g26_keep_heaters_on) {
|
||||
#if HAS_TEMP_BED
|
||||
thermalManager.setTargetBed(0);
|
||||
#endif
|
||||
thermalManager.setTargetHotend(0, 0);
|
||||
}
|
||||
}
|
||||
|
||||
float valid_trig_angle(float d) {
|
||||
while (d > 360.0) d -= 360.0;
|
||||
while (d < 0.0) d += 360.0;
|
||||
return d;
|
||||
}
|
||||
|
||||
mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) {
|
||||
float closest = 99999.99;
|
||||
mesh_index_pair return_val;
|
||||
|
||||
return_val.x_index = return_val.y_index = -1;
|
||||
|
||||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
||||
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
||||
if (!is_bit_set(circle_flags, i, j)) {
|
||||
const float mx = mesh_index_to_xpos(i), // We found a circle that needs to be printed
|
||||
my = mesh_index_to_ypos(j);
|
||||
|
||||
// Get the distance to this intersection
|
||||
float f = HYPOT(X - mx, Y - my);
|
||||
|
||||
// It is possible that we are being called with the values
|
||||
// to let us find the closest circle to the start position.
|
||||
// But if this is not the case, add a small weighting to the
|
||||
// distance calculation to help it choose a better place to continue.
|
||||
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
|
||||
|
||||
// Add in the specified amount of Random Noise to our search
|
||||
if (random_deviation > 1.0)
|
||||
f += random(0.0, random_deviation);
|
||||
|
||||
if (f < closest) {
|
||||
closest = f; // We found a closer location that is still
|
||||
return_val.x_index = i; // un-printed --- save the data for it
|
||||
return_val.y_index = j;
|
||||
return_val.distance = closest;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
|
||||
return return_val;
|
||||
}
|
||||
|
||||
bool unified_bed_leveling::look_for_lines_to_connect() {
|
||||
float sx, sy, ex, ey;
|
||||
|
||||
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
|
||||
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation
|
||||
#endif
|
||||
|
||||
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
|
||||
// This is already a half circle because we are at the edge of the bed.
|
||||
|
||||
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
|
||||
if (!is_bit_set(horizontal_mesh_line_flags, i, j)) {
|
||||
|
||||
//
|
||||
// We found two circles that need a horizontal line to connect them
|
||||
// Print it!
|
||||
//
|
||||
sx = mesh_index_to_xpos( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
|
||||
ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
|
||||
|
||||
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
|
||||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
|
||||
|
||||
if (g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
|
||||
SERIAL_ECHOPAIR(", sy=", sy);
|
||||
SERIAL_ECHOPAIR(") -> (ex=", ex);
|
||||
SERIAL_ECHOPAIR(", ey=", ey);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
//debug_current_and_destination(PSTR("Connecting horizontal line."));
|
||||
}
|
||||
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
|
||||
}
|
||||
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
|
||||
}
|
||||
}
|
||||
|
||||
if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
|
||||
// This is already a half circle because we are at the edge of the bed.
|
||||
|
||||
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
|
||||
if (!is_bit_set( vertical_mesh_line_flags, i, j)) {
|
||||
//
|
||||
// We found two circles that need a vertical line to connect them
|
||||
// Print it!
|
||||
//
|
||||
sy = mesh_index_to_ypos( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
|
||||
ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
|
||||
|
||||
sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1);
|
||||
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
|
||||
|
||||
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
|
||||
|
||||
if (g26_debug_flag) {
|
||||
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
|
||||
SERIAL_ECHOPAIR(", sy=", sy);
|
||||
SERIAL_ECHOPAIR(") -> (ex=", ex);
|
||||
SERIAL_ECHOPAIR(", ey=", ey);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
debug_current_and_destination(PSTR("Connecting vertical line."));
|
||||
}
|
||||
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
|
||||
}
|
||||
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) {
|
||||
float feed_value;
|
||||
static float last_z = -999.99;
|
||||
|
||||
bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
|
||||
|
||||
if (z != last_z) {
|
||||
last_z = z;
|
||||
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
|
||||
|
||||
destination[X_AXIS] = current_position[X_AXIS];
|
||||
destination[Y_AXIS] = current_position[Y_AXIS];
|
||||
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
|
||||
destination[E_AXIS] = current_position[E_AXIS];
|
||||
|
||||
G26_line_to_destination(feed_value);
|
||||
|
||||
stepper.synchronize();
|
||||
set_destination_to_current();
|
||||
}
|
||||
|
||||
// Check if X or Y is involved in the movement.
|
||||
// Yes: a 'normal' movement. No: a retract() or recover()
|
||||
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
|
||||
|
||||
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
|
||||
|
||||
destination[X_AXIS] = x;
|
||||
destination[Y_AXIS] = y;
|
||||
destination[E_AXIS] += e_delta;
|
||||
|
||||
G26_line_to_destination(feed_value);
|
||||
|
||||
stepper.synchronize();
|
||||
set_destination_to_current();
|
||||
|
||||
}
|
||||
|
||||
void unified_bed_leveling::retract_filament(const float where[XYZE]) {
|
||||
if (!g26_retracted) { // Only retract if we are not already retracted!
|
||||
g26_retracted = true;
|
||||
move_to(where, -1.0 * g26_retraction_multiplier);
|
||||
}
|
||||
}
|
||||
|
||||
void unified_bed_leveling::recover_filament(const float where[XYZE]) {
|
||||
if (g26_retracted) { // Only un-retract if we are retracted.
|
||||
move_to(where, 1.2 * g26_retraction_multiplier);
|
||||
g26_retracted = false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
|
||||
* to the other. But there are really three sets of coordinates involved. The first coordinate
|
||||
* is the present location of the nozzle. We don't necessarily want to print from this location.
|
||||
* We first need to move the nozzle to the start of line segment where we want to print. Once
|
||||
* there, we can use the two coordinates supplied to draw the line.
|
||||
*
|
||||
* Note: Although we assume the first set of coordinates is the start of the line and the second
|
||||
* set of coordinates is the end of the line, it does not always work out that way. This function
|
||||
* optimizes the movement to minimize the travel distance before it can start printing. This saves
|
||||
* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does
|
||||
* cause a lot of very little short retracement of th nozzle when it draws the very first line
|
||||
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
|
||||
* cases where the optimization comes into play.
|
||||
*/
|
||||
void unified_bed_leveling::print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
|
||||
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
|
||||
dy_s = current_position[Y_AXIS] - sy,
|
||||
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
|
||||
// to save computation time
|
||||
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
|
||||
dy_e = current_position[Y_AXIS] - ey,
|
||||
dist_end = HYPOT2(dx_e, dy_e),
|
||||
|
||||
line_length = HYPOT(ex - sx, ey - sy);
|
||||
|
||||
// If the end point of the line is closer to the nozzle, flip the direction,
|
||||
// moving from the end to the start. On very small lines the optimization isn't worth it.
|
||||
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length)) {
|
||||
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
|
||||
}
|
||||
|
||||
// Decide whether to retract & bump
|
||||
|
||||
if (dist_start > 2.0) {
|
||||
retract_filament(destination);
|
||||
//todo: parameterize the bump height with a define
|
||||
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
|
||||
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
|
||||
}
|
||||
|
||||
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
|
||||
|
||||
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
|
||||
|
||||
recover_filament(destination);
|
||||
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
|
||||
}
|
||||
|
||||
/**
|
||||
* This function used to be inline code in G26. But there are so many
|
||||
* parameters it made sense to turn them into static globals and get
|
||||
* this code out of sight of the main routine.
|
||||
*/
|
||||
bool unified_bed_leveling::parse_G26_parameters() {
|
||||
|
||||
g26_extrusion_multiplier = EXTRUSION_MULTIPLIER;
|
||||
g26_retraction_multiplier = RETRACTION_MULTIPLIER;
|
||||
g26_nozzle = NOZZLE;
|
||||
g26_filament_diameter = FILAMENT;
|
||||
g26_layer_height = LAYER_HEIGHT;
|
||||
g26_prime_length = PRIME_LENGTH;
|
||||
g26_bed_temp = BED_TEMP;
|
||||
g26_hotend_temp = HOTEND_TEMP;
|
||||
g26_prime_flag = 0;
|
||||
|
||||
g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT);
|
||||
g26_keep_heaters_on = parser.boolval('K');
|
||||
g26_continue_with_closest = parser.boolval('C');
|
||||
|
||||
if (parser.seenval('B')) {
|
||||
g26_bed_temp = parser.value_celsius();
|
||||
if (!WITHIN(g26_bed_temp, 15, 140)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
|
||||
if (parser.seenval('L')) {
|
||||
g26_layer_height = parser.value_linear_units();
|
||||
if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
|
||||
if (parser.seen('Q')) {
|
||||
if (parser.has_value()) {
|
||||
g26_retraction_multiplier = parser.value_float();
|
||||
if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
else {
|
||||
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
|
||||
if (parser.seenval('S')) {
|
||||
g26_nozzle = parser.value_float();
|
||||
if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
|
||||
if (parser.seen('P')) {
|
||||
if (!parser.has_value()) {
|
||||
#if ENABLED(NEWPANEL)
|
||||
g26_prime_flag = -1;
|
||||
#else
|
||||
SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD.");
|
||||
return UBL_ERR;
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
g26_prime_flag++;
|
||||
g26_prime_length = parser.value_linear_units();
|
||||
if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (parser.seenval('F')) {
|
||||
g26_filament_diameter = parser.value_linear_units();
|
||||
if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
|
||||
// scale up or down the length needed to get the
|
||||
// same volume of filament
|
||||
|
||||
g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
|
||||
|
||||
if (parser.seenval('H')) {
|
||||
g26_hotend_temp = parser.value_celsius();
|
||||
if (!WITHIN(g26_hotend_temp, 165, 280)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
}
|
||||
|
||||
if (parser.seen('U')) {
|
||||
randomSeed(millis());
|
||||
// This setting will persist for the next G26
|
||||
random_deviation = parser.has_value() ? parser.value_float() : 50.0;
|
||||
}
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
|
||||
#else
|
||||
if (!parser.seen('R')) {
|
||||
SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
else
|
||||
g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
|
||||
#endif
|
||||
if (g26_repeats < 1) {
|
||||
SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
||||
g26_x_pos = parser.linearval('X', current_position[X_AXIS]);
|
||||
g26_y_pos = parser.linearval('Y', current_position[Y_AXIS]);
|
||||
if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) {
|
||||
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
|
||||
return UBL_ERR;
|
||||
}
|
||||
|
||||
/**
|
||||
* Wait until all parameters are verified before altering the state!
|
||||
*/
|
||||
set_bed_leveling_enabled(!parser.seen('D'));
|
||||
|
||||
return UBL_OK;
|
||||
}
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
bool unified_bed_leveling::exit_from_g26() {
|
||||
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
|
||||
while (ubl_lcd_clicked()) idle();
|
||||
return UBL_ERR;
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Turn on the bed and nozzle heat and
|
||||
* wait for them to get up to temperature.
|
||||
*/
|
||||
bool unified_bed_leveling::turn_on_heaters() {
|
||||
millis_t next = millis() + 5000UL;
|
||||
#if HAS_TEMP_BED
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
if (g26_bed_temp > 25) {
|
||||
lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
has_control_of_lcd_panel = true;
|
||||
thermalManager.setTargetBed(g26_bed_temp);
|
||||
while (abs(thermalManager.degBed() - g26_bed_temp) > 3) {
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
if (ubl_lcd_clicked()) return exit_from_g26();
|
||||
#endif
|
||||
|
||||
if (ELAPSED(millis(), next)) {
|
||||
next = millis() + 5000UL;
|
||||
print_heaterstates();
|
||||
SERIAL_EOL();
|
||||
}
|
||||
idle();
|
||||
}
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
}
|
||||
lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Start heating the nozzle and wait for it to reach temperature.
|
||||
thermalManager.setTargetHotend(g26_hotend_temp, 0);
|
||||
while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
if (ubl_lcd_clicked()) return exit_from_g26();
|
||||
#endif
|
||||
|
||||
if (ELAPSED(millis(), next)) {
|
||||
next = millis() + 5000UL;
|
||||
print_heaterstates();
|
||||
SERIAL_EOL();
|
||||
}
|
||||
idle();
|
||||
}
|
||||
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
lcd_reset_status();
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
|
||||
return UBL_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Prime the nozzle if needed. Return true on error.
|
||||
*/
|
||||
bool unified_bed_leveling::prime_nozzle() {
|
||||
|
||||
#if ENABLED(NEWPANEL)
|
||||
float Total_Prime = 0.0;
|
||||
|
||||
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
|
||||
|
||||
has_control_of_lcd_panel = true;
|
||||
lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);
|
||||
chirp_at_user();
|
||||
|
||||
set_destination_to_current();
|
||||
|
||||
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
|
||||
|
||||
while (!ubl_lcd_clicked()) {
|
||||
chirp_at_user();
|
||||
destination[E_AXIS] += 0.25;
|
||||
#ifdef PREVENT_LENGTHY_EXTRUDE
|
||||
Total_Prime += 0.25;
|
||||
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
|
||||
#endif
|
||||
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
|
||||
|
||||
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
|
||||
// but because the planner has a buffer, we won't be able
|
||||
// to stop as quickly. So we put up with the less smooth
|
||||
// action to give the user a more responsive 'Stop'.
|
||||
set_destination_to_current();
|
||||
idle();
|
||||
}
|
||||
|
||||
while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel
|
||||
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
|
||||
// So... We cheat to get a message up.
|
||||
lcd_setstatusPGM(PSTR("Done Priming"), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
|
||||
has_control_of_lcd_panel = false;
|
||||
|
||||
}
|
||||
else {
|
||||
#else
|
||||
{
|
||||
#endif
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);
|
||||
lcd_quick_feedback();
|
||||
#endif
|
||||
set_destination_to_current();
|
||||
destination[E_AXIS] += g26_prime_length;
|
||||
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
|
||||
stepper.synchronize();
|
||||
set_destination_to_current();
|
||||
retract_filament(destination);
|
||||
}
|
||||
|
||||
return UBL_OK;
|
||||
}
|
||||
|
||||
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
|
||||
@ -1,65 +0,0 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
|
||||
|
||||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
|
||||
extern bool lcd_wait_for_move;
|
||||
#endif
|
||||
|
||||
inline void _manual_goto_xy(const float &x, const float &y) {
|
||||
const float old_feedrate_mm_s = feedrate_mm_s;
|
||||
#if MANUAL_PROBE_HEIGHT > 0
|
||||
const float prev_z = current_position[Z_AXIS];
|
||||
feedrate_mm_s = homing_feedrate(Z_AXIS);
|
||||
current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
|
||||
line_to_current_position();
|
||||
#endif
|
||||
|
||||
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
|
||||
current_position[X_AXIS] = LOGICAL_X_POSITION(x);
|
||||
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
|
||||
line_to_current_position();
|
||||
|
||||
#if MANUAL_PROBE_HEIGHT > 0
|
||||
feedrate_mm_s = homing_feedrate(Z_AXIS);
|
||||
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
|
||||
line_to_current_position();
|
||||
#endif
|
||||
|
||||
feedrate_mm_s = old_feedrate_mm_s;
|
||||
stepper.synchronize();
|
||||
|
||||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
|
||||
lcd_wait_for_move = false;
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
#include "G29-mbl.h"
|
||||
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
#include "G29-ubl.h"
|
||||
#elif HAS_ABL
|
||||
#include "G29-abl.h"
|
||||
#endif
|
||||
@ -1,81 +0,0 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef CALIBRATE_COMMON_H
|
||||
#define CALIBRATE_COMMON_H
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
|
||||
/**
|
||||
* A delta can only safely home all axes at the same time
|
||||
* This is like quick_home_xy() but for 3 towers.
|
||||
*/
|
||||
inline bool home_delta() {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
|
||||
#endif
|
||||
// Init the current position of all carriages to 0,0,0
|
||||
ZERO(current_position);
|
||||
sync_plan_position();
|
||||
|
||||
// Move all carriages together linearly until an endstop is hit.
|
||||
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
|
||||
feedrate_mm_s = homing_feedrate(X_AXIS);
|
||||
line_to_current_position();
|
||||
stepper.synchronize();
|
||||
|
||||
// If an endstop was not hit, then damage can occur if homing is continued.
|
||||
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
|
||||
// not set correctly.
|
||||
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
|
||||
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
|
||||
SERIAL_ERROR_START();
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
|
||||
return false;
|
||||
}
|
||||
|
||||
endstops.hit_on_purpose(); // clear endstop hit flags
|
||||
|
||||
// At least one carriage has reached the top.
|
||||
// Now re-home each carriage separately.
|
||||
HOMEAXIS(A);
|
||||
HOMEAXIS(B);
|
||||
HOMEAXIS(C);
|
||||
|
||||
// Set all carriages to their home positions
|
||||
// Do this here all at once for Delta, because
|
||||
// XYZ isn't ABC. Applying this per-tower would
|
||||
// give the impression that they are the same.
|
||||
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
|
||||
|
||||
SYNC_PLAN_POSITION_KINEMATIC();
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
|
||||
#endif
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif // DELTA
|
||||
|
||||
#endif // CALIBRATE_COMMON_H
|
||||
@ -0,0 +1,269 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* delta.cpp
|
||||
*/
|
||||
|
||||
#include "../inc/MarlinConfig.h"
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
|
||||
#include "delta.h"
|
||||
#include "motion.h"
|
||||
|
||||
// For homing:
|
||||
#include "stepper.h"
|
||||
#include "endstops.h"
|
||||
#include "../lcd/ultralcd.h"
|
||||
#include "../Marlin.h"
|
||||
|
||||
// Initialized by settings.load()
|
||||
float delta_endstop_adj[ABC] = { 0 },
|
||||
delta_radius,
|
||||
delta_diagonal_rod,
|
||||
delta_segments_per_second,
|
||||
delta_calibration_radius,
|
||||
delta_tower_angle_trim[2];
|
||||
|
||||
float delta_tower[ABC][2],
|
||||
delta_diagonal_rod_2_tower[ABC],
|
||||
delta_clip_start_height = Z_MAX_POS;
|
||||
|
||||
float delta_safe_distance_from_top();
|
||||
|
||||
/**
|
||||
* Recalculate factors used for delta kinematics whenever
|
||||
* settings have been changed (e.g., by M665).
|
||||
*/
|
||||
void recalc_delta_settings(float radius, float diagonal_rod) {
|
||||
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
|
||||
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
|
||||
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
|
||||
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
|
||||
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
|
||||
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
|
||||
delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
|
||||
delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
|
||||
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
|
||||
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
|
||||
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
|
||||
}
|
||||
|
||||
/**
|
||||
* Delta Inverse Kinematics
|
||||
*
|
||||
* Calculate the tower positions for a given logical
|
||||
* position, storing the result in the delta[] array.
|
||||
*
|
||||
* This is an expensive calculation, requiring 3 square
|
||||
* roots per segmented linear move, and strains the limits
|
||||
* of a Mega2560 with a Graphical Display.
|
||||
*
|
||||
* Suggested optimizations include:
|
||||
*
|
||||
* - Disable the home_offset (M206) and/or position_shift (G92)
|
||||
* features to remove up to 12 float additions.
|
||||
*
|
||||
* - Use a fast-inverse-sqrt function and add the reciprocal.
|
||||
* (see above)
|
||||
*/
|
||||
|
||||
#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR)
|
||||
/**
|
||||
* Fast inverse sqrt from Quake III Arena
|
||||
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
|
||||
*/
|
||||
float Q_rsqrt(float number) {
|
||||
long i;
|
||||
float x2, y;
|
||||
const float threehalfs = 1.5f;
|
||||
x2 = number * 0.5f;
|
||||
y = number;
|
||||
i = * ( long * ) &y; // evil floating point bit level hacking
|
||||
i = 0x5F3759DF - ( i >> 1 ); // what the f***?
|
||||
y = * ( float * ) &i;
|
||||
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
|
||||
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
|
||||
return y;
|
||||
}
|
||||
#endif
|
||||
|
||||
#define DELTA_DEBUG() do { \
|
||||
SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
|
||||
SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
|
||||
SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
|
||||
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
|
||||
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
|
||||
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
|
||||
}while(0)
|
||||
|
||||
void inverse_kinematics(const float logical[XYZ]) {
|
||||
DELTA_LOGICAL_IK();
|
||||
// DELTA_DEBUG();
|
||||
}
|
||||
|
||||
/**
|
||||
* Calculate the highest Z position where the
|
||||
* effector has the full range of XY motion.
|
||||
*/
|
||||
float delta_safe_distance_from_top() {
|
||||
float cartesian[XYZ] = {
|
||||
LOGICAL_X_POSITION(0),
|
||||
LOGICAL_Y_POSITION(0),
|
||||
LOGICAL_Z_POSITION(0)
|
||||
};
|
||||
inverse_kinematics(cartesian);
|
||||
float distance = delta[A_AXIS];
|
||||
cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
|
||||
inverse_kinematics(cartesian);
|
||||
return FABS(distance - delta[A_AXIS]);
|
||||
}
|
||||
|
||||
/**
|
||||
* Delta Forward Kinematics
|
||||
*
|
||||
* See the Wikipedia article "Trilateration"
|
||||
* https://en.wikipedia.org/wiki/Trilateration
|
||||
*
|
||||
* Establish a new coordinate system in the plane of the
|
||||
* three carriage points. This system has its origin at
|
||||
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
|
||||
* plane with a Z component of zero.
|
||||
* We will define unit vectors in this coordinate system
|
||||
* in our original coordinate system. Then when we calculate
|
||||
* the Xnew, Ynew and Znew values, we can translate back into
|
||||
* the original system by moving along those unit vectors
|
||||
* by the corresponding values.
|
||||
*
|
||||
* Variable names matched to Marlin, c-version, and avoid the
|
||||
* use of any vector library.
|
||||
*
|
||||
* by Andreas Hardtung 2016-06-07
|
||||
* based on a Java function from "Delta Robot Kinematics V3"
|
||||
* by Steve Graves
|
||||
*
|
||||
* The result is stored in the cartes[] array.
|
||||
*/
|
||||
void forward_kinematics_DELTA(float z1, float z2, float z3) {
|
||||
// Create a vector in old coordinates along x axis of new coordinate
|
||||
float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
|
||||
|
||||
// Get the Magnitude of vector.
|
||||
float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
|
||||
|
||||
// Create unit vector by dividing by magnitude.
|
||||
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
|
||||
|
||||
// Get the vector from the origin of the new system to the third point.
|
||||
float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
|
||||
|
||||
// Use the dot product to find the component of this vector on the X axis.
|
||||
float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
|
||||
|
||||
// Create a vector along the x axis that represents the x component of p13.
|
||||
float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
|
||||
|
||||
// Subtract the X component from the original vector leaving only Y. We use the
|
||||
// variable that will be the unit vector after we scale it.
|
||||
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
|
||||
|
||||
// The magnitude of Y component
|
||||
float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
|
||||
|
||||
// Convert to a unit vector
|
||||
ey[0] /= j; ey[1] /= j; ey[2] /= j;
|
||||
|
||||
// The cross product of the unit x and y is the unit z
|
||||
// float[] ez = vectorCrossProd(ex, ey);
|
||||
float ez[3] = {
|
||||
ex[1] * ey[2] - ex[2] * ey[1],
|
||||
ex[2] * ey[0] - ex[0] * ey[2],
|
||||
ex[0] * ey[1] - ex[1] * ey[0]
|
||||
};
|
||||
|
||||
// We now have the d, i and j values defined in Wikipedia.
|
||||
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
|
||||
float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
|
||||
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
|
||||
Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
|
||||
|
||||
// Start from the origin of the old coordinates and add vectors in the
|
||||
// old coords that represent the Xnew, Ynew and Znew to find the point
|
||||
// in the old system.
|
||||
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
|
||||
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
|
||||
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
|
||||
}
|
||||
|
||||
/**
|
||||
* A delta can only safely home all axes at the same time
|
||||
* This is like quick_home_xy() but for 3 towers.
|
||||
*/
|
||||
bool home_delta() {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
|
||||
#endif
|
||||
// Init the current position of all carriages to 0,0,0
|
||||
ZERO(current_position);
|
||||
sync_plan_position();
|
||||
|
||||
// Move all carriages together linearly until an endstop is hit.
|
||||
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
|
||||
feedrate_mm_s = homing_feedrate(X_AXIS);
|
||||
line_to_current_position();
|
||||
stepper.synchronize();
|
||||
|
||||
// If an endstop was not hit, then damage can occur if homing is continued.
|
||||
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
|
||||
// not set correctly.
|
||||
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
|
||||
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
|
||||
SERIAL_ERROR_START();
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
|
||||
return false;
|
||||
}
|
||||
|
||||
endstops.hit_on_purpose(); // clear endstop hit flags
|
||||
|
||||
// At least one carriage has reached the top.
|
||||
// Now re-home each carriage separately.
|
||||
HOMEAXIS(A);
|
||||
HOMEAXIS(B);
|
||||
HOMEAXIS(C);
|
||||
|
||||
// Set all carriages to their home positions
|
||||
// Do this here all at once for Delta, because
|
||||
// XYZ isn't ABC. Applying this per-tower would
|
||||
// give the impression that they are the same.
|
||||
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
|
||||
|
||||
SYNC_PLAN_POSITION_KINEMATIC();
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
|
||||
#endif
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif // DELTA
|
||||
@ -0,0 +1,141 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* delta.h - Delta-specific functions
|
||||
*/
|
||||
|
||||
#ifndef __DELTA_H__
|
||||
#define __DELTA_H__
|
||||
|
||||
extern float delta_endstop_adj[ABC],
|
||||
delta_radius,
|
||||
delta_diagonal_rod,
|
||||
delta_segments_per_second,
|
||||
delta_calibration_radius,
|
||||
delta_tower_angle_trim[2];
|
||||
|
||||
extern float delta_tower[ABC][2],
|
||||
delta_diagonal_rod_2_tower[ABC],
|
||||
delta_clip_start_height;
|
||||
|
||||
/**
|
||||
* Recalculate factors used for delta kinematics whenever
|
||||
* settings have been changed (e.g., by M665).
|
||||
*/
|
||||
void recalc_delta_settings(float radius, float diagonal_rod);
|
||||
|
||||
/**
|
||||
* Delta Inverse Kinematics
|
||||
*
|
||||
* Calculate the tower positions for a given logical
|
||||
* position, storing the result in the delta[] array.
|
||||
*
|
||||
* This is an expensive calculation, requiring 3 square
|
||||
* roots per segmented linear move, and strains the limits
|
||||
* of a Mega2560 with a Graphical Display.
|
||||
*
|
||||
* Suggested optimizations include:
|
||||
*
|
||||
* - Disable the home_offset (M206) and/or position_shift (G92)
|
||||
* features to remove up to 12 float additions.
|
||||
*
|
||||
* - Use a fast-inverse-sqrt function and add the reciprocal.
|
||||
* (see above)
|
||||
*/
|
||||
|
||||
#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR)
|
||||
/**
|
||||
* Fast inverse sqrt from Quake III Arena
|
||||
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
|
||||
*/
|
||||
float Q_rsqrt(float number);
|
||||
#define _SQRT(n) (1.0f / Q_rsqrt(n))
|
||||
#else
|
||||
#define _SQRT(n) SQRT(n)
|
||||
#endif
|
||||
|
||||
// Macro to obtain the Z position of an individual tower
|
||||
#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
|
||||
delta_diagonal_rod_2_tower[T] - HYPOT2( \
|
||||
delta_tower[T][X_AXIS] - raw[X_AXIS], \
|
||||
delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
|
||||
) \
|
||||
)
|
||||
|
||||
#define DELTA_RAW_IK() do { \
|
||||
delta[A_AXIS] = DELTA_Z(A_AXIS); \
|
||||
delta[B_AXIS] = DELTA_Z(B_AXIS); \
|
||||
delta[C_AXIS] = DELTA_Z(C_AXIS); \
|
||||
}while(0)
|
||||
|
||||
#define DELTA_LOGICAL_IK() do { \
|
||||
const float raw[XYZ] = { \
|
||||
RAW_X_POSITION(logical[X_AXIS]), \
|
||||
RAW_Y_POSITION(logical[Y_AXIS]), \
|
||||
RAW_Z_POSITION(logical[Z_AXIS]) \
|
||||
}; \
|
||||
DELTA_RAW_IK(); \
|
||||
}while(0)
|
||||
|
||||
void inverse_kinematics(const float logical[XYZ]);
|
||||
|
||||
/**
|
||||
* Calculate the highest Z position where the
|
||||
* effector has the full range of XY motion.
|
||||
*/
|
||||
float delta_safe_distance_from_top();
|
||||
|
||||
/**
|
||||
* Delta Forward Kinematics
|
||||
*
|
||||
* See the Wikipedia article "Trilateration"
|
||||
* https://en.wikipedia.org/wiki/Trilateration
|
||||
*
|
||||
* Establish a new coordinate system in the plane of the
|
||||
* three carriage points. This system has its origin at
|
||||
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
|
||||
* plane with a Z component of zero.
|
||||
* We will define unit vectors in this coordinate system
|
||||
* in our original coordinate system. Then when we calculate
|
||||
* the Xnew, Ynew and Znew values, we can translate back into
|
||||
* the original system by moving along those unit vectors
|
||||
* by the corresponding values.
|
||||
*
|
||||
* Variable names matched to Marlin, c-version, and avoid the
|
||||
* use of any vector library.
|
||||
*
|
||||
* by Andreas Hardtung 2016-06-07
|
||||
* based on a Java function from "Delta Robot Kinematics V3"
|
||||
* by Steve Graves
|
||||
*
|
||||
* The result is stored in the cartes[] array.
|
||||
*/
|
||||
void forward_kinematics_DELTA(float z1, float z2, float z3);
|
||||
|
||||
FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
|
||||
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
|
||||
}
|
||||
|
||||
bool home_delta();
|
||||
|
||||
#endif // __DELTA_H__
|
||||
@ -0,0 +1,709 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* probe.cpp
|
||||
*/
|
||||
|
||||
#include "../inc/MarlinConfig.h"
|
||||
|
||||
#if HAS_BED_PROBE
|
||||
|
||||
#include "probe.h"
|
||||
#include "motion.h"
|
||||
#include "temperature.h"
|
||||
#include "endstops.h"
|
||||
|
||||
#include "../gcode/gcode.h"
|
||||
#include "../lcd/ultralcd.h"
|
||||
|
||||
#include "../Marlin.h"
|
||||
|
||||
#if HAS_LEVELING
|
||||
#include "../feature/bedlevel/bedlevel.h"
|
||||
#endif
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
#include "../module/delta.h"
|
||||
#endif
|
||||
|
||||
float zprobe_zoffset; // Initialized by settings.load()
|
||||
|
||||
#if HAS_Z_SERVO_ENDSTOP
|
||||
const int z_servo_angle[2] = Z_SERVO_ANGLES;
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Raise Z to a minimum height to make room for a probe to move
|
||||
*/
|
||||
inline void do_probe_raise(const float z_raise) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
|
||||
float z_dest = z_raise;
|
||||
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
|
||||
|
||||
if (z_dest > current_position[Z_AXIS])
|
||||
do_blocking_move_to_z(z_dest);
|
||||
}
|
||||
|
||||
#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.
|
||||
*
|
||||
* stow[in] If false, move to MAX_X and engage the solenoid
|
||||
* If true, move to MAX_X and release the solenoid
|
||||
*/
|
||||
static void dock_sled(bool stow) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("dock_sled(", stow);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
|
||||
// Dock sled a bit closer to ensure proper capturing
|
||||
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
|
||||
|
||||
#if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
|
||||
WRITE(SOL1_PIN, !stow); // switch solenoid
|
||||
#endif
|
||||
}
|
||||
|
||||
#elif ENABLED(Z_PROBE_ALLEN_KEY)
|
||||
|
||||
FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) {
|
||||
do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s);
|
||||
}
|
||||
|
||||
void run_deploy_moves_script() {
|
||||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
|
||||
#endif
|
||||
const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
|
||||
do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
|
||||
#endif
|
||||
const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
|
||||
do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
|
||||
#endif
|
||||
const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
|
||||
do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
|
||||
#endif
|
||||
const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
|
||||
do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
|
||||
#endif
|
||||
const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
|
||||
do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
|
||||
#endif
|
||||
}
|
||||
|
||||
void run_stow_moves_script() {
|
||||
#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
|
||||
#endif
|
||||
const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
|
||||
do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
|
||||
#endif
|
||||
const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
|
||||
do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
|
||||
#endif
|
||||
const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
|
||||
do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
|
||||
#endif
|
||||
const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
|
||||
do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
|
||||
#endif
|
||||
#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
|
||||
#endif
|
||||
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
|
||||
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
|
||||
#endif
|
||||
const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
|
||||
do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if ENABLED(PROBING_FANS_OFF)
|
||||
|
||||
void fans_pause(const bool p) {
|
||||
if (p != fans_paused) {
|
||||
fans_paused = p;
|
||||
if (p)
|
||||
for (uint8_t x = 0; x < FAN_COUNT; x++) {
|
||||
paused_fanSpeeds[x] = fanSpeeds[x];
|
||||
fanSpeeds[x] = 0;
|
||||
}
|
||||
else
|
||||
for (uint8_t x = 0; x < FAN_COUNT; x++)
|
||||
fanSpeeds[x] = paused_fanSpeeds[x];
|
||||
}
|
||||
}
|
||||
|
||||
#endif // PROBING_FANS_OFF
|
||||
|
||||
#if QUIET_PROBING
|
||||
void probing_pause(const bool p) {
|
||||
#if ENABLED(PROBING_HEATERS_OFF)
|
||||
thermalManager.pause(p);
|
||||
#endif
|
||||
#if ENABLED(PROBING_FANS_OFF)
|
||||
fans_pause(p);
|
||||
#endif
|
||||
if (p) safe_delay(
|
||||
#if DELAY_BEFORE_PROBING > 25
|
||||
DELAY_BEFORE_PROBING
|
||||
#else
|
||||
25
|
||||
#endif
|
||||
);
|
||||
}
|
||||
#endif // QUIET_PROBING
|
||||
|
||||
#if ENABLED(BLTOUCH)
|
||||
|
||||
void bltouch_command(const int angle) {
|
||||
MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait
|
||||
safe_delay(BLTOUCH_DELAY);
|
||||
}
|
||||
|
||||
bool set_bltouch_deployed(const bool deploy) {
|
||||
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
|
||||
bltouch_command(BLTOUCH_RESET); // try to reset it.
|
||||
bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
|
||||
bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
|
||||
safe_delay(1500); // Wait for internal self-test to complete.
|
||||
// (Measured completion time was 0.65 seconds
|
||||
// after reset, deploy, and stow sequence)
|
||||
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
|
||||
SERIAL_ERROR_START();
|
||||
SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
|
||||
stop(); // punt!
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
|
||||
SERIAL_CHAR(')');
|
||||
SERIAL_EOL();
|
||||
}
|
||||
#endif
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif // BLTOUCH
|
||||
|
||||
// returns false for ok and true for failure
|
||||
bool set_probe_deployed(const bool deploy) {
|
||||
|
||||
// Can be extended to servo probes, if needed.
|
||||
#if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
|
||||
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
|
||||
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
|
||||
#else
|
||||
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
DEBUG_POS("set_probe_deployed", current_position);
|
||||
SERIAL_ECHOLNPAIR("deploy: ", deploy);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (endstops.z_probe_enabled == deploy) return false;
|
||||
|
||||
// Make room for probe
|
||||
do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
|
||||
|
||||
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
|
||||
#if ENABLED(Z_PROBE_SLED)
|
||||
#define _AUE_ARGS true, false, false
|
||||
#else
|
||||
#define _AUE_ARGS
|
||||
#endif
|
||||
if (axis_unhomed_error(_AUE_ARGS)) {
|
||||
SERIAL_ERROR_START();
|
||||
SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
|
||||
stop();
|
||||
return true;
|
||||
}
|
||||
#endif
|
||||
|
||||
const float oldXpos = current_position[X_AXIS],
|
||||
oldYpos = current_position[Y_AXIS];
|
||||
|
||||
#ifdef _TRIGGERED_WHEN_STOWED_TEST
|
||||
|
||||
// If endstop is already false, the Z probe is deployed
|
||||
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
|
||||
// Would a goto be less ugly?
|
||||
//while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
|
||||
// for a triggered when stowed manual probe.
|
||||
|
||||
if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
|
||||
// otherwise an Allen-Key probe can't be stowed.
|
||||
#endif
|
||||
|
||||
#if ENABLED(SOLENOID_PROBE)
|
||||
|
||||
#if HAS_SOLENOID_1
|
||||
WRITE(SOL1_PIN, deploy);
|
||||
#endif
|
||||
|
||||
#elif ENABLED(Z_PROBE_SLED)
|
||||
|
||||
dock_sled(!deploy);
|
||||
|
||||
#elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
|
||||
|
||||
MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
|
||||
|
||||
#elif ENABLED(Z_PROBE_ALLEN_KEY)
|
||||
|
||||
deploy ? run_deploy_moves_script() : run_stow_moves_script();
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef _TRIGGERED_WHEN_STOWED_TEST
|
||||
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
|
||||
|
||||
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
|
||||
|
||||
if (IsRunning()) {
|
||||
SERIAL_ERROR_START();
|
||||
SERIAL_ERRORLNPGM("Z-Probe failed");
|
||||
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
|
||||
}
|
||||
stop();
|
||||
return true;
|
||||
|
||||
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
|
||||
|
||||
#endif
|
||||
|
||||
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
|
||||
endstops.enable_z_probe(deploy);
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Used by run_z_probe to do a single Z probe move.
|
||||
*
|
||||
* @param z Z destination
|
||||
* @param fr_mm_s Feedrate in mm/s
|
||||
* @return true to indicate an error
|
||||
*/
|
||||
static bool do_probe_move(const float z, const float fr_mm_m) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
|
||||
#endif
|
||||
|
||||
// Deploy BLTouch at the start of any probe
|
||||
#if ENABLED(BLTOUCH)
|
||||
if (set_bltouch_deployed(true)) return true;
|
||||
#endif
|
||||
|
||||
#if QUIET_PROBING
|
||||
probing_pause(true);
|
||||
#endif
|
||||
|
||||
// Move down until probe triggered
|
||||
do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
|
||||
|
||||
// Check to see if the probe was triggered
|
||||
const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
|
||||
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
|
||||
Z_MIN
|
||||
#else
|
||||
Z_MIN_PROBE
|
||||
#endif
|
||||
);
|
||||
|
||||
#if QUIET_PROBING
|
||||
probing_pause(false);
|
||||
#endif
|
||||
|
||||
// Retract BLTouch immediately after a probe if it was triggered
|
||||
#if ENABLED(BLTOUCH)
|
||||
if (probe_triggered && set_bltouch_deployed(false)) return true;
|
||||
#endif
|
||||
|
||||
// Clear endstop flags
|
||||
endstops.hit_on_purpose();
|
||||
|
||||
// Get Z where the steppers were interrupted
|
||||
set_current_from_steppers_for_axis(Z_AXIS);
|
||||
|
||||
// Tell the planner where we actually are
|
||||
SYNC_PLAN_POSITION_KINEMATIC();
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
|
||||
#endif
|
||||
|
||||
return !probe_triggered;
|
||||
}
|
||||
|
||||
/**
|
||||
* @details Used by probe_pt to do a single Z probe.
|
||||
* Leaves current_position[Z_AXIS] at the height where the probe triggered.
|
||||
*
|
||||
* @param short_move Flag for a shorter probe move towards the bed
|
||||
* @return The raw Z position where the probe was triggered
|
||||
*/
|
||||
static float run_z_probe(const bool short_move=true) {
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
|
||||
#endif
|
||||
|
||||
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
|
||||
gcode.refresh_cmd_timeout();
|
||||
|
||||
#if ENABLED(PROBE_DOUBLE_TOUCH)
|
||||
|
||||
// Do a first probe at the fast speed
|
||||
if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
float first_probe_z = current_position[Z_AXIS];
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
|
||||
#endif
|
||||
|
||||
// move up to make clearance for the probe
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
||||
|
||||
#else
|
||||
|
||||
// If the nozzle is above the travel height then
|
||||
// move down quickly before doing the slow probe
|
||||
float z = Z_CLEARANCE_DEPLOY_PROBE;
|
||||
if (zprobe_zoffset < 0) z -= zprobe_zoffset;
|
||||
|
||||
if (z < current_position[Z_AXIS]) {
|
||||
|
||||
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
|
||||
if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
||||
}
|
||||
#endif
|
||||
|
||||
// move down slowly to find bed
|
||||
if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
|
||||
#endif
|
||||
|
||||
// Debug: compare probe heights
|
||||
#if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
|
||||
SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
|
||||
}
|
||||
#endif
|
||||
|
||||
return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
|
||||
#if ENABLED(DELTA)
|
||||
+ home_offset[Z_AXIS] // Account for delta height adjustment
|
||||
#endif
|
||||
;
|
||||
}
|
||||
|
||||
/**
|
||||
* - Move to the given XY
|
||||
* - Deploy the probe, if not already deployed
|
||||
* - Probe the bed, get the Z position
|
||||
* - Depending on the 'stow' flag
|
||||
* - Stow the probe, or
|
||||
* - Raise to the BETWEEN height
|
||||
* - Return the probed Z position
|
||||
*/
|
||||
float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR(">>> probe_pt(", lx);
|
||||
SERIAL_ECHOPAIR(", ", ly);
|
||||
SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
|
||||
SERIAL_ECHOLNPGM("stow)");
|
||||
DEBUG_POS("", current_position);
|
||||
}
|
||||
#endif
|
||||
|
||||
const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
|
||||
|
||||
if (printable
|
||||
? !position_is_reachable_xy(nx, ny)
|
||||
: !position_is_reachable_by_probe_xy(lx, ly)
|
||||
) return NAN;
|
||||
|
||||
|
||||
const float old_feedrate_mm_s = feedrate_mm_s;
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
if (current_position[Z_AXIS] > delta_clip_start_height)
|
||||
do_blocking_move_to_z(delta_clip_start_height);
|
||||
#endif
|
||||
|
||||
#if HAS_SOFTWARE_ENDSTOPS
|
||||
// Store the status of the soft endstops and disable if we're probing a non-printable location
|
||||
static bool enable_soft_endstops = soft_endstops_enabled;
|
||||
if (!printable) soft_endstops_enabled = false;
|
||||
#endif
|
||||
|
||||
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
|
||||
|
||||
// Move the probe to the given XY
|
||||
do_blocking_move_to_xy(nx, ny);
|
||||
|
||||
float measured_z = NAN;
|
||||
if (!DEPLOY_PROBE()) {
|
||||
measured_z = run_z_probe(printable);
|
||||
|
||||
if (!stow)
|
||||
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
||||
else
|
||||
if (STOW_PROBE()) measured_z = NAN;
|
||||
}
|
||||
|
||||
#if HAS_SOFTWARE_ENDSTOPS
|
||||
// Restore the soft endstop status
|
||||
soft_endstops_enabled = enable_soft_endstops;
|
||||
#endif
|
||||
|
||||
if (verbose_level > 2) {
|
||||
SERIAL_PROTOCOLPGM("Bed X: ");
|
||||
SERIAL_PROTOCOL_F(lx, 3);
|
||||
SERIAL_PROTOCOLPGM(" Y: ");
|
||||
SERIAL_PROTOCOL_F(ly, 3);
|
||||
SERIAL_PROTOCOLPGM(" Z: ");
|
||||
SERIAL_PROTOCOL_F(measured_z, 3);
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
|
||||
#endif
|
||||
|
||||
feedrate_mm_s = old_feedrate_mm_s;
|
||||
|
||||
if (isnan(measured_z)) {
|
||||
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
|
||||
SERIAL_ERROR_START();
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
|
||||
}
|
||||
|
||||
return measured_z;
|
||||
}
|
||||
|
||||
void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
|
||||
static float last_zoffset = NAN;
|
||||
|
||||
if (!isnan(last_zoffset)) {
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
|
||||
const float diff = zprobe_zoffset - last_zoffset;
|
||||
#endif
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
// Correct bilinear grid for new probe offset
|
||||
if (diff) {
|
||||
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
|
||||
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
|
||||
z_values[x][y] -= diff;
|
||||
}
|
||||
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
|
||||
bed_level_virt_interpolate();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
|
||||
if (!no_babystep && leveling_is_active())
|
||||
thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
|
||||
#else
|
||||
UNUSED(no_babystep);
|
||||
#endif
|
||||
|
||||
#if ENABLED(DELTA) // correct the delta_height
|
||||
home_offset[Z_AXIS] -= diff;
|
||||
#endif
|
||||
}
|
||||
|
||||
last_zoffset = zprobe_zoffset;
|
||||
}
|
||||
|
||||
#if HAS_Z_SERVO_ENDSTOP
|
||||
|
||||
void servo_probe_init() {
|
||||
/**
|
||||
* Set position of Z Servo Endstop
|
||||
*
|
||||
* The servo might be deployed and positioned too low to stow
|
||||
* when starting up the machine or rebooting the board.
|
||||
* There's no way to know where the nozzle is positioned until
|
||||
* homing has been done - no homing with z-probe without init!
|
||||
*
|
||||
*/
|
||||
STOW_Z_SERVO();
|
||||
}
|
||||
|
||||
#endif // HAS_Z_SERVO_ENDSTOP
|
||||
|
||||
#endif // HAS_BED_PROBE
|
||||
@ -0,0 +1,69 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* probe.h - Move, deploy, enable, etc.
|
||||
*/
|
||||
|
||||
#ifndef PROBE_H
|
||||
#define PROBE_H
|
||||
|
||||
#include "../inc/MarlinConfig.h"
|
||||
|
||||
bool set_probe_deployed(const bool deploy);
|
||||
float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool printable=true);
|
||||
|
||||
#if HAS_BED_PROBE
|
||||
extern float zprobe_zoffset;
|
||||
void refresh_zprobe_zoffset(const bool no_babystep=false);
|
||||
#define DEPLOY_PROBE() set_probe_deployed(true)
|
||||
#define STOW_PROBE() set_probe_deployed(false)
|
||||
#else
|
||||
#define DEPLOY_PROBE()
|
||||
#define STOW_PROBE()
|
||||
#endif
|
||||
|
||||
#if HAS_Z_SERVO_ENDSTOP
|
||||
extern const int z_servo_angle[2];
|
||||
void servo_probe_init();
|
||||
#endif
|
||||
|
||||
#if QUIET_PROBING
|
||||
void probing_pause(const bool p);
|
||||
#endif
|
||||
|
||||
#if ENABLED(PROBING_FANS_OFF)
|
||||
void fans_pause(const bool p);
|
||||
#endif
|
||||
|
||||
#if ENABLED(BLTOUCH)
|
||||
void bltouch_command(int angle);
|
||||
bool set_bltouch_deployed(const bool deploy);
|
||||
FORCE_INLINE void bltouch_init() {
|
||||
// Make sure any BLTouch error condition is cleared
|
||||
bltouch_command(BLTOUCH_RESET);
|
||||
set_bltouch_deployed(true);
|
||||
set_bltouch_deployed(false);
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // PROBE_H
|
||||
@ -0,0 +1,155 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* scara.cpp
|
||||
*/
|
||||
|
||||
#include "../inc/MarlinConfig.h"
|
||||
|
||||
#if IS_SCARA
|
||||
|
||||
#include "scara.h"
|
||||
#include "motion.h"
|
||||
#include "stepper.h"
|
||||
|
||||
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
|
||||
|
||||
void scara_set_axis_is_at_home(const AxisEnum axis) {
|
||||
if (axis == Z_AXIS)
|
||||
current_position[Z_AXIS] = LOGICAL_POSITION(Z_HOME_POS, Z_AXIS);
|
||||
else {
|
||||
|
||||
/**
|
||||
* SCARA homes XY at the same time
|
||||
*/
|
||||
float homeposition[XYZ];
|
||||
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
|
||||
|
||||
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
|
||||
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
|
||||
|
||||
/**
|
||||
* Get Home position SCARA arm angles using inverse kinematics,
|
||||
* and calculate homing offset using forward kinematics
|
||||
*/
|
||||
inverse_kinematics(homeposition);
|
||||
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
|
||||
|
||||
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
|
||||
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
|
||||
|
||||
current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
|
||||
|
||||
/**
|
||||
* SCARA home positions are based on configuration since the actual
|
||||
* limits are determined by the inverse kinematic transform.
|
||||
*/
|
||||
soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
|
||||
soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Morgan SCARA Forward Kinematics. Results in cartes[].
|
||||
* Maths and first version by QHARLEY.
|
||||
* Integrated into Marlin and slightly restructured by Joachim Cerny.
|
||||
*/
|
||||
void forward_kinematics_SCARA(const float &a, const float &b) {
|
||||
|
||||
const float a_sin = sin(RADIANS(a)) * L1,
|
||||
a_cos = cos(RADIANS(a)) * L1,
|
||||
b_sin = sin(RADIANS(b)) * L2,
|
||||
b_cos = cos(RADIANS(b)) * L2;
|
||||
|
||||
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
|
||||
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
|
||||
|
||||
/*
|
||||
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
|
||||
SERIAL_ECHOPAIR(" b=", b);
|
||||
SERIAL_ECHOPAIR(" a_sin=", a_sin);
|
||||
SERIAL_ECHOPAIR(" a_cos=", a_cos);
|
||||
SERIAL_ECHOPAIR(" b_sin=", b_sin);
|
||||
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
|
||||
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
|
||||
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
|
||||
//*/
|
||||
}
|
||||
|
||||
/**
|
||||
* Morgan SCARA Inverse Kinematics. Results in delta[].
|
||||
*
|
||||
* See http://forums.reprap.org/read.php?185,283327
|
||||
*
|
||||
* Maths and first version by QHARLEY.
|
||||
* Integrated into Marlin and slightly restructured by Joachim Cerny.
|
||||
*/
|
||||
void inverse_kinematics(const float logical[XYZ]) {
|
||||
|
||||
static float C2, S2, SK1, SK2, THETA, PSI;
|
||||
|
||||
float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
|
||||
sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
|
||||
|
||||
if (L1 == L2)
|
||||
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
|
||||
else
|
||||
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
|
||||
|
||||
S2 = SQRT(1 - sq(C2));
|
||||
|
||||
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
|
||||
SK1 = L1 + L2 * C2;
|
||||
|
||||
// Rotated Arm2 gives the distance from Arm1 to Arm2
|
||||
SK2 = L2 * S2;
|
||||
|
||||
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
|
||||
THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
|
||||
|
||||
// Angle of Arm2
|
||||
PSI = ATAN2(S2, C2);
|
||||
|
||||
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
|
||||
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
|
||||
delta[C_AXIS] = logical[Z_AXIS];
|
||||
|
||||
/*
|
||||
DEBUG_POS("SCARA IK", logical);
|
||||
DEBUG_POS("SCARA IK", delta);
|
||||
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
|
||||
SERIAL_ECHOPAIR(",", sy);
|
||||
SERIAL_ECHOPAIR(" C2=", C2);
|
||||
SERIAL_ECHOPAIR(" S2=", S2);
|
||||
SERIAL_ECHOPAIR(" Theta=", THETA);
|
||||
SERIAL_ECHOLNPAIR(" Phi=", PHI);
|
||||
//*/
|
||||
}
|
||||
|
||||
void scara_report_positions() {
|
||||
SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
|
||||
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
#endif // IS_SCARA
|
||||
@ -0,0 +1,46 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
* Based on Sprinter and grbl.
|
||||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* scara.h - SCARA-specific functions
|
||||
*/
|
||||
|
||||
#ifndef __SCARA_H__
|
||||
#define __SCARA_H__
|
||||
|
||||
#include "../core/macros.h"
|
||||
|
||||
extern float delta_segments_per_second;
|
||||
|
||||
// Float constants for SCARA calculations
|
||||
float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
|
||||
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
|
||||
L2_2 = sq(float(L2));
|
||||
|
||||
void scara_set_axis_is_at_home(const AxisEnum axis);
|
||||
|
||||
void inverse_kinematics(const float logical[XYZ]);
|
||||
void forward_kinematics_SCARA(const float &a, const float &b);
|
||||
|
||||
void scara_report_positions();
|
||||
|
||||
#endif // __SCARA_H__
|
||||
Loading…
Reference in New Issue