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@ -21,7 +21,7 @@
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*/
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/**
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* probe.cpp
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* module/probe.cpp
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*/
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#include "../inc/MarlinConfig.h"
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@ -84,14 +84,14 @@
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../core/debug_out.h"
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Probe probe;
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xyz_pos_t probe_offset; // Initialized by settings.load()
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xyz_pos_t Probe::offset; // Initialized by settings.load()
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#if HAS_PROBE_XY_OFFSET
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xyz_pos_t &probe_offset_xy = probe_offset;
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const xyz_pos_t &Probe::offset_xy = probe.offset;
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#endif
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#if ENABLED(Z_PROBE_SLED)
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#ifndef SLED_DOCKING_OFFSET
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@ -104,7 +104,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
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* stow[in] If false, move to MAX_X and engage the solenoid
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* If true, move to MAX_X and release the solenoid
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*/
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static void dock_sled(bool stow) {
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static void dock_sled(const bool stow) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")");
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// Dock sled a bit closer to ensure proper capturing
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@ -118,7 +118,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
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#elif ENABLED(TOUCH_MI_PROBE)
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// Move to the magnet to unlock the probe
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void run_deploy_moves_script() {
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inline void run_deploy_moves_script() {
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#ifndef TOUCH_MI_DEPLOY_XPOS
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#define TOUCH_MI_DEPLOY_XPOS X_MIN_POS
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#elif TOUCH_MI_DEPLOY_XPOS > X_MAX_BED
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@ -153,7 +153,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
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}
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// Move down to the bed to stow the probe
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void run_stow_moves_script() {
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inline void run_stow_moves_script() {
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const xyz_pos_t oldpos = current_position;
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endstops.enable_z_probe(false);
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do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z));
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@ -162,7 +162,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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void run_deploy_moves_script() {
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inline void run_deploy_moves_script() {
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#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_1
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
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@ -200,7 +200,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
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#endif
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}
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void run_stow_moves_script() {
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inline void run_stow_moves_script() {
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#ifdef Z_PROBE_ALLEN_KEY_STOW_1
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
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@ -241,7 +241,8 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
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#endif // Z_PROBE_ALLEN_KEY
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#if QUIET_PROBING
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void probing_pause(const bool p) {
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void Probe::set_probing_paused(const bool p) {
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#if ENABLED(PROBING_HEATERS_OFF)
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thermalManager.pause(p);
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#endif
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@ -262,16 +263,17 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
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#endif
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);
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}
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#endif // QUIET_PROBING
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/**
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* Raise Z to a minimum height to make room for a probe to move
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*/
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inline void do_probe_raise(const float z_raise) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
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void Probe::do_z_raise(const float z_raise) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::move_z(", z_raise, ")");
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float z_dest = z_raise;
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if (probe_offset.z < 0) z_dest -= probe_offset.z;
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if (offset.z < 0) z_dest -= offset.z;
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NOMORE(z_dest, Z_MAX_POS);
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@ -351,11 +353,15 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
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#endif
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}
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// returns false for ok and true for failure
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bool set_probe_deployed(const bool deploy) {
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/**
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* Attempt to deploy or stow the probe
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*
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* Return TRUE if the probe could not be deployed/stowed
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*/
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bool Probe::set_deployed(const bool deploy) {
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if (DEBUGGING(LEVELING)) {
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DEBUG_POS("set_probe_deployed", current_position);
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DEBUG_POS("Probe::set_deployed", current_position);
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DEBUG_ECHOLNPAIR("deploy: ", deploy);
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}
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@ -378,7 +384,7 @@ bool set_probe_deployed(const bool deploy) {
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#endif
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if (deploy_stow_condition && unknown_condition)
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do_probe_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
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do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
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#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
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if (axis_unhomed_error(
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@ -433,7 +439,7 @@ bool set_probe_deployed(const bool deploy) {
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#ifdef Z_AFTER_PROBING
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// After probing move to a preferred Z position
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void move_z_after_probing() {
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void Probe::move_z_after_probing() {
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if (current_position.z != Z_AFTER_PROBING) {
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do_blocking_move_to_z(Z_AFTER_PROBING);
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current_position.z = Z_AFTER_PROBING;
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@ -450,11 +456,11 @@ bool set_probe_deployed(const bool deploy) {
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*/
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#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
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const char msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
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PGM_P Probe::msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
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#endif
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static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
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bool Probe::move_to_z(const float z, const feedRate_t fr_mm_s) {
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::move_to_z", current_position);
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#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
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// Wait for bed to heat back up between probing points
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@ -482,7 +488,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
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#endif
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#if QUIET_PROBING
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probing_pause(true);
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set_probing_paused(true);
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#endif
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// Move down until the probe is triggered
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@ -504,7 +510,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
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;
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#if QUIET_PROBING
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probing_pause(false);
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set_probing_paused(false);
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#endif
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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@ -530,7 +536,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
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// Tell the planner where we actually are
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sync_plan_position();
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< Probe::move_to_z", current_position);
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return !probe_triggered;
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}
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@ -543,19 +549,19 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
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*
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* @return The Z position of the bed at the current XY or NAN on error.
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*/
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static float run_z_probe() {
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float Probe::run_z_probe() {
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::run_z_probe", current_position);
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// Stop the probe before it goes too low to prevent damage.
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// If Z isn't known then probe to -10mm.
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const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset.z + Z_PROBE_LOW_POINT : -10.0;
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const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -offset.z + Z_PROBE_LOW_POINT : -10.0;
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// Double-probing does a fast probe followed by a slow probe
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#if TOTAL_PROBING == 2
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// Do a first probe at the fast speed
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if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
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if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPGM("FAST Probe fail!");
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DEBUG_POS("<<< run_z_probe", current_position);
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@ -574,10 +580,10 @@ static float run_z_probe() {
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// If the nozzle is well over the travel height then
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// move down quickly before doing the slow probe
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const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset.z < 0 ? -probe_offset.z : 0);
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const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0);
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if (current_position.z > z) {
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// Probe down fast. If the probe never triggered, raise for probe clearance
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if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
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if (!move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
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do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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}
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#endif
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@ -587,7 +593,7 @@ static float run_z_probe() {
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#endif
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#if TOTAL_PROBING > 2
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float probes_total = 0;
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float probes_z_sum = 0;
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for (
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#if EXTRA_PROBING
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uint8_t p = 0; p < TOTAL_PROBING; p++
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@ -598,7 +604,7 @@ static float run_z_probe() {
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#endif
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{
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// Probe downward slowly to find the bed
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if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
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if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPGM("SLOW Probe fail!");
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DEBUG_POS("<<< run_z_probe", current_position);
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@ -622,7 +628,7 @@ static float run_z_probe() {
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}
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}
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#elif TOTAL_PROBING > 2
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probes_total += z;
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probes_z_sum += z;
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#else
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UNUSED(z);
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#endif
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@ -653,11 +659,11 @@ static float run_z_probe() {
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// Return the average value of all remaining probes.
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for (uint8_t i = min_avg_idx; i <= max_avg_idx; i++)
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probes_total += probes[i];
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probes_z_sum += probes[i];
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#endif
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const float measured_z = probes_total * RECIPROCAL(MULTIPLE_PROBING);
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const float measured_z = probes_z_sum * RECIPROCAL(MULTIPLE_PROBING);
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#elif TOTAL_PROBING == 2
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@ -689,10 +695,10 @@ static float run_z_probe() {
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* - Raise to the BETWEEN height
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* - Return the probed Z position
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*/
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float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
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float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPAIR(
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">>> probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
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">>> Probe::probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
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", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none",
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", ", int(verbose_level),
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", ", probe_relative ? "probe" : "nozzle", "_relative)"
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@ -702,9 +708,12 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
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// TODO: Adapt for SCARA, where the offset rotates
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xyz_pos_t npos = { rx, ry };
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if (probe_relative) {
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if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
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npos -= probe_offset_xy; // Get the nozzle position
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if (probe_relative) { // The given position is in terms of the probe
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if (!position_is_reachable_by_probe(npos)) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable");
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return NAN;
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}
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npos -= offset_xy; // Get the nozzle position
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}
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else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
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@ -724,38 +733,38 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
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do_blocking_move_to(npos);
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float measured_z = NAN;
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if (!DEPLOY_PROBE()) {
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measured_z = run_z_probe() + probe_offset.z;
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if (!deploy()) {
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measured_z = run_z_probe() + offset.z;
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const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
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if (big_raise || raise_after == PROBE_PT_RAISE)
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do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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else if (raise_after == PROBE_PT_STOW)
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if (STOW_PROBE()) measured_z = NAN;
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if (stow()) measured_z = NAN;
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}
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if (verbose_level > 2) {
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SERIAL_ECHOPAIR_F("Bed X: ", LOGICAL_X_POSITION(rx), 3);
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SERIAL_ECHOPAIR_F(" Y: ", LOGICAL_Y_POSITION(ry), 3);
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SERIAL_ECHOLNPAIR_F(" Z: ", measured_z, 3);
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SERIAL_ECHOPAIR_F( " Y: ", LOGICAL_Y_POSITION(ry), 3);
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SERIAL_ECHOLNPAIR_F( " Z: ", measured_z, 3);
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}
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feedrate_mm_s = old_feedrate_mm_s;
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if (isnan(measured_z)) {
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STOW_PROBE();
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stow();
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LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
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SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED);
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}
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< probe_at_point");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< Probe::probe_at_point");
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return measured_z;
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}
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#if HAS_Z_SERVO_PROBE
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void servo_probe_init() {
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void Probe::servo_probe_init() {
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/**
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* Set position of Z Servo Endstop
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*
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Scott Lahteine
5 years ago
committed by