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@ -584,10 +584,12 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
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}
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/**
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* @details Used by probe_pt to do a single Z probe at the current position.
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* @brief Probe at the current XY (possibly more than once) to find the bed Z.
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*
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* @details Used by probe_pt to get the bed Z height at the current XY.
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* Leaves current_position[Z_AXIS] at the height where the probe triggered.
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*
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* @return The raw Z position where the probe was triggered
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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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@ -598,7 +600,7 @@ static float run_z_probe() {
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const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -zprobe_zoffset + 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 MULTIPLE_PROBING == 2
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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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@ -609,11 +611,11 @@ static float run_z_probe() {
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return NAN;
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}
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float first_probe_z = current_position[Z_AXIS];
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const float first_probe_z = current_position[Z_AXIS];
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("1st Probe Z:", first_probe_z);
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// move up to make clearance for the probe
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// Raise to give the probe clearance
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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#elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
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@ -622,18 +624,28 @@ static float run_z_probe() {
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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 + (zprobe_zoffset < 0 ? -zprobe_zoffset : 0);
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if (current_position[Z_AXIS] > z) {
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// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
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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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do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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}
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#endif
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#if MULTIPLE_PROBING > 2
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float probes_total = 0;
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for (uint8_t p = MULTIPLE_PROBING + 1; --p;) {
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#ifdef EXTRA_PROBING
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float probes[TOTAL_PROBING];
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#endif
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// move down slowly to find bed
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#if TOTAL_PROBING > 2
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float probes_total = 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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#else
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uint8_t p = TOTAL_PROBING; p--;
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#endif
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)
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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 (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPGM("SLOW Probe fail!");
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@ -646,18 +658,54 @@ static float run_z_probe() {
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backlash.measure_with_probe();
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#endif
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#if MULTIPLE_PROBING > 2
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probes_total += current_position[Z_AXIS];
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if (p > 1) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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const float z = current_position[Z_AXIS];
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#if EXTRA_PROBING
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// Insert Z measurement into probes[]. Keep it sorted ascending.
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for (uint8_t i = 0; i <= p; i++) { // Iterate the saved Zs to insert the new Z
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if (i == p || probes[i] > z) { // Last index or new Z is smaller than this Z
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for (int8_t m = p; --m >= i;) probes[m + 1] = probes[m]; // Shift items down after the insertion point
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probes[i] = z; // Insert the new Z measurement
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break; // Only one to insert. Done!
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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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#endif
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#if MULTIPLE_PROBING > 2
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#if TOTAL_PROBING > 2
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// Small Z raise after all but the last probe
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if (p
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#if EXTRA_PROBING
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< TOTAL_PROBING - 1
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#endif
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) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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#endif
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}
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#if TOTAL_PROBING > 2
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#if EXTRA_PROBING
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// Take the center value (or average the two middle values) as the median
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static constexpr int PHALF = (TOTAL_PROBING - 1) / 2;
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const float middle = probes[PHALF],
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median = ((TOTAL_PROBING) & 1) ? middle : (middle + probes[PHALF + 1]) * 0.5f;
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// Remove values farthest from the median
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uint8_t min_avg_idx = 0, max_avg_idx = TOTAL_PROBING - 1;
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for (uint8_t i = EXTRA_PROBING; i--;)
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if (ABS(probes[max_avg_idx] - median) > ABS(probes[min_avg_idx] - median))
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max_avg_idx--; else min_avg_idx++;
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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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#endif
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// Return the average value of all probes
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const float measured_z = probes_total * (1.0f / (MULTIPLE_PROBING));
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#elif MULTIPLE_PROBING == 2
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#elif TOTAL_PROBING == 2
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const float z2 = current_position[Z_AXIS];
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MrMabulous
6 years ago
committed by