|
|
|
|
@ -391,9 +391,8 @@ static uint8_t target_extruder;
|
|
|
|
|
};
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
|
|
|
|
|
const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
const int z_servo_angle[2] = Z_SERVO_ANGLES;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(BARICUDA)
|
|
|
|
|
@ -488,10 +487,8 @@ static bool send_ok[BUFSIZE];
|
|
|
|
|
#if HAS_SERVOS
|
|
|
|
|
Servo servo[NUM_SERVOS];
|
|
|
|
|
#define MOVE_SERVO(I, P) servo[I].move(P)
|
|
|
|
|
#define SERVO_ENDSTOP_EXISTS(I) (servo_endstop_id[I] >= 0)
|
|
|
|
|
#define MOVE_SERVO_ENDSTOP(I, J) MOVE_SERVO(servo_endstop_id[I], servo_endstop_angle[I][J])
|
|
|
|
|
#define DEPLOY_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 0)
|
|
|
|
|
#define STOW_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 1)
|
|
|
|
|
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
|
|
|
|
|
#define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef CHDK
|
|
|
|
|
@ -749,14 +746,12 @@ void servo_init() {
|
|
|
|
|
servo[3].detach();
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
|
|
|
|
|
endstops.enable_z_probe(false);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Set position of all defined Servo Endstops
|
|
|
|
|
*
|
|
|
|
|
* ** UNSAFE! - NEEDS UPDATE! **
|
|
|
|
|
* 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.
|
|
|
|
|
@ -764,11 +759,8 @@ void servo_init() {
|
|
|
|
|
* homing has been done - no homing with z-probe without init!
|
|
|
|
|
*
|
|
|
|
|
*/
|
|
|
|
|
for (int i = 0; i < 3; i++)
|
|
|
|
|
if (SERVO_ENDSTOP_EXISTS(i))
|
|
|
|
|
STOW_SERVO_ENDSTOP(i);
|
|
|
|
|
|
|
|
|
|
#endif // HAS_SERVO_ENDSTOPS
|
|
|
|
|
STOW_Z_SERVO();
|
|
|
|
|
#endif // HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -1837,11 +1829,10 @@ static void setup_for_endstop_move() {
|
|
|
|
|
|
|
|
|
|
if (endstops.z_probe_enabled) return;
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
|
|
|
|
|
// Engage Z Servo endstop if enabled
|
|
|
|
|
if (SERVO_ENDSTOP_EXISTS(Z_AXIS))
|
|
|
|
|
DEPLOY_SERVO_ENDSTOP(Z_AXIS);
|
|
|
|
|
DEPLOY_Z_SERVO();
|
|
|
|
|
|
|
|
|
|
#elif ENABLED(Z_PROBE_ALLEN_KEY)
|
|
|
|
|
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
|
|
|
|
|
@ -1925,7 +1916,7 @@ static void setup_for_endstop_move() {
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static void stow_z_probe(bool doRaise = true) {
|
|
|
|
|
#if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0))
|
|
|
|
|
#if !(HAS_Z_SERVO_ENDSTOP && (Z_RAISE_AFTER_PROBING > 0))
|
|
|
|
|
UNUSED(doRaise);
|
|
|
|
|
#endif
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
@ -1934,11 +1925,9 @@ static void setup_for_endstop_move() {
|
|
|
|
|
|
|
|
|
|
if (!endstops.z_probe_enabled) return;
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
|
|
|
|
|
// Retract Z Servo endstop if enabled
|
|
|
|
|
if (SERVO_ENDSTOP_EXISTS(Z_AXIS)) {
|
|
|
|
|
|
|
|
|
|
#if Z_RAISE_AFTER_PROBING > 0
|
|
|
|
|
if (doRaise) {
|
|
|
|
|
raise_z_after_probing(); // this also updates current_position
|
|
|
|
|
@ -1947,8 +1936,7 @@ static void setup_for_endstop_move() {
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Change the Z servo angle
|
|
|
|
|
STOW_SERVO_ENDSTOP(Z_AXIS);
|
|
|
|
|
}
|
|
|
|
|
STOW_Z_SERVO();
|
|
|
|
|
|
|
|
|
|
#elif ENABLED(Z_PROBE_ALLEN_KEY)
|
|
|
|
|
|
|
|
|
|
@ -2168,16 +2156,25 @@ static void setup_for_endstop_move() {
|
|
|
|
|
|
|
|
|
|
#endif // DELTA
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED)
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
|
|
|
|
|
void raise_z_for_servo() {
|
|
|
|
|
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
|
|
|
|
|
/**
|
|
|
|
|
* The zprobe_zoffset is negative any switch below the nozzle, so
|
|
|
|
|
* multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
|
|
|
|
|
* Raise Z to a minimum height to make room for a servo to move
|
|
|
|
|
*
|
|
|
|
|
* zprobe_zoffset: Negative of the Z height where the probe engages
|
|
|
|
|
* z_dest: The before / after probing raise distance
|
|
|
|
|
*
|
|
|
|
|
* The zprobe_zoffset is negative for a switch below the nozzle, so
|
|
|
|
|
* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
|
|
|
|
|
*/
|
|
|
|
|
z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
|
|
|
|
|
if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
|
|
|
|
|
void raise_z_for_servo(float z_dest) {
|
|
|
|
|
z_dest += home_offset[Z_AXIS];
|
|
|
|
|
|
|
|
|
|
if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
|
|
|
|
|
z_dest -= zprobe_zoffset;
|
|
|
|
|
|
|
|
|
|
if (z_dest > current_position[Z_AXIS])
|
|
|
|
|
do_blocking_move_to_z(z_dest); // also updates current_position
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
@ -2277,23 +2274,24 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
|
sync_plan_position();
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED)
|
|
|
|
|
#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
|
|
|
|
|
#define _Z_SERVO_SUBTEST false // Z will never be invoked
|
|
|
|
|
#define _Z_DEPLOY (dock_sled(false))
|
|
|
|
|
#define _Z_STOW (dock_sled(true))
|
|
|
|
|
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
|
|
|
|
|
#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
|
|
|
|
|
#define _Z_SERVO_SUBTEST false // Z will never be invoked
|
|
|
|
|
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
|
|
|
|
|
#define _Z_DEPLOY (deploy_z_probe())
|
|
|
|
|
#define _Z_STOW (stow_z_probe())
|
|
|
|
|
#elif ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
|
|
|
|
|
#define _Z_SERVO_SUBTEST false // Z will never be invoked
|
|
|
|
|
#elif HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
#define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0)
|
|
|
|
|
#define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0)
|
|
|
|
|
#define _Z_SERVO_TEST true // Z not deployed yet
|
|
|
|
|
#define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// If there's a Z probe that needs deployment...
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
|
|
|
|
|
// ...and homing Z towards the bed? Deploy it.
|
|
|
|
|
// Homing Z towards the bed? Deploy the Z probe or endstop.
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
if (axis == Z_AXIS && axis_home_dir < 0) {
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
|
|
|
|
|
@ -2302,14 +2300,6 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
// Engage an X, Y (or Z) Servo endstop if enabled
|
|
|
|
|
if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
|
|
|
|
|
DEPLOY_SERVO_ENDSTOP(axis);
|
|
|
|
|
if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true;
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Set a flag for Z motor locking
|
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
|
|
|
if (axis == Z_AXIS) stepper.set_homing_flag(true);
|
|
|
|
|
@ -2423,8 +2413,8 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
|
axis_known_position[axis] = true;
|
|
|
|
|
axis_homed[axis] = true;
|
|
|
|
|
|
|
|
|
|
// Put away the Z probe with a function
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
|
|
|
|
|
// Put away the Z probe
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
if (axis == Z_AXIS && axis_home_dir < 0) {
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
|
|
|
|
|
@ -2433,33 +2423,6 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Retract X, Y (or Z) Servo endstop if enabled
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
|
|
|
|
|
// Raise the servo probe before stow outside ABL context.
|
|
|
|
|
// This is a workaround to allow use of a Servo Probe without
|
|
|
|
|
// ABL until more global probe handling is implemented.
|
|
|
|
|
#if Z_RAISE_AFTER_PROBING > 0
|
|
|
|
|
if (axis == Z_AXIS) {
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
|
|
|
|
|
#endif
|
|
|
|
|
current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING;
|
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
|
line_to_current_position();
|
|
|
|
|
stepper.synchronize();
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
|
|
|
|
|
#endif
|
|
|
|
|
STOW_SERVO_ENDSTOP(axis);
|
|
|
|
|
if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // HAS_SERVO_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
@ -3801,7 +3764,7 @@ inline void gcode_G28() {
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
|
|
|
|
|
+ Z_RAISE_AFTER_PROBING
|
|
|
|
|
#endif
|
|
|
|
|
;
|
|
|
|
|
@ -3816,12 +3779,10 @@ inline void gcode_G28() {
|
|
|
|
|
// Sled assembly for Cartesian bots
|
|
|
|
|
#if ENABLED(Z_PROBE_SLED)
|
|
|
|
|
dock_sled(true); // dock the sled
|
|
|
|
|
#else
|
|
|
|
|
#elif !HAS_Z_SERVO_ENDSTOP && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
|
|
|
|
|
// Raise Z axis for non-delta and non servo based probes
|
|
|
|
|
#if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
|
|
|
|
|
raise_z_after_probing();
|
|
|
|
|
#endif
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#endif // !DELTA
|
|
|
|
|
|
|
|
|
|
@ -3862,8 +3823,8 @@ inline void gcode_G28() {
|
|
|
|
|
* G30: Do a single Z probe at the current XY
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_G30() {
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
raise_z_for_servo();
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
|
|
|
|
|
#endif
|
|
|
|
|
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
|
|
|
|
|
|
|
|
|
|
@ -3884,8 +3845,8 @@ inline void gcode_G28() {
|
|
|
|
|
|
|
|
|
|
clean_up_after_endstop_move(); // Too early. must be done after the stowing.
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
raise_z_for_servo();
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
|
|
|
|
|
#endif
|
|
|
|
|
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
|
|
|
|
|
|
|
|
|
|
@ -6019,14 +5980,14 @@ inline void gcode_M303() {
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M400() { stepper.synchronize(); }
|
|
|
|
|
|
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY))
|
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY))
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* M401: Engage Z Servo endstop if available
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M401() {
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
raise_z_for_servo();
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
|
|
|
|
|
#endif
|
|
|
|
|
deploy_z_probe();
|
|
|
|
|
}
|
|
|
|
|
@ -6035,13 +5996,13 @@ inline void gcode_M400() { stepper.synchronize(); }
|
|
|
|
|
* M402: Retract Z Servo endstop if enabled
|
|
|
|
|
*/
|
|
|
|
|
inline void gcode_M402() {
|
|
|
|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
|
|
|
|
|
raise_z_for_servo();
|
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
|
|
|
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
|
|
|
|
|
#endif
|
|
|
|
|
stow_z_probe(false);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
|
|
|
|
|
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_SERVO_ENDSTOP || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
|
|
|
|
|
|
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
|
|
|
|
|
|
|
|
@ -7338,14 +7299,14 @@ void process_next_command() {
|
|
|
|
|
gcode_M400();
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
|
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
|
|
|
|
|
case 401:
|
|
|
|
|
gcode_M401();
|
|
|
|
|
break;
|
|
|
|
|
case 402:
|
|
|
|
|
gcode_M402();
|
|
|
|
|
break;
|
|
|
|
|
#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
|
|
|
|
|
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_SERVO_ENDSTOP || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
|
|
|
|
|
|
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
|
|
|
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
|
|
|
|
|
|
Scott Lahteine
9 years ago
committed by