G34 Z stepper locking (#20091)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/src/gcode/calibrate/G28.cpp

@@ -375,6 +375,11 @@ void GcodeSuite::G28() {
     // Home Z last if homing towards the bed
     #if DISABLED(HOME_Z_FIRST)
       if (doZ) {
+        #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
+          stepper.set_all_z_lock(false);
+          stepper.set_separate_multi_axis(false);
+        #endif
+
         TERN_(BLTOUCH, bltouch.init());
         TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS));
         probe.move_z_after_homing();

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -22,7 +22,7 @@
 
 #include "../../inc/MarlinConfigPre.h"
 
-#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
 
 #include "../../feature/z_stepper_align.h"
 
@@ -51,15 +51,52 @@
 /**
  * G34: Z-Stepper automatic alignment
  *
- *   I<iterations>
- *   T<accuracy>
- *   A<amplification>
- *   R<recalculate> points based on current probe offsets
+ * Manual stepper lock controls (reset by G28):
+ *   L                 Unlock all steppers
+ *   Z<1-4>            Z stepper to lock / unlock
+ *   S<state>          0=UNLOCKED 1=LOCKED. If omitted, assume LOCKED.
+ *
+ *   Examples:
+ *     G34 Z1     ; Lock Z1
+ *     G34 L Z2   ; Unlock all, then lock Z2
+ *     G34 Z2 S0  ; Unlock Z2
+ *
+ * With Z_STEPPER_AUTO_ALIGN:
+ *   I<iterations>     Number of tests. If omitted, Z_STEPPER_ALIGN_ITERATIONS.
+ *   T<accuracy>       Target Accuracy factor. If omitted, Z_STEPPER_ALIGN_ACC.
+ *   A<amplification>  Provide an Amplification value. If omitted, Z_STEPPER_ALIGN_AMP.
+ *   R                 Flag to recalculate points based on current probe offsets
  */
 void GcodeSuite::G34() {
   DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
   if (DEBUGGING(LEVELING)) log_machine_info();
 
+  planner.synchronize();  // Prevent damage
+
+  const bool seenL = parser.seen('L');
+  if (seenL) stepper.set_all_z_lock(false);
+
+  const bool seenZ = parser.seenval('Z');
+  if (seenZ) {
+    const bool state = parser.boolval('S', true);
+    switch (parser.intval('Z')) {
+      case 1: stepper.set_z1_lock(state); break;
+      case 2: stepper.set_z2_lock(state); break;
+      #if NUM_Z_STEPPER_DRIVERS >= 3
+        case 3: stepper.set_z3_lock(state); break;
+        #if NUM_Z_STEPPER_DRIVERS >= 4
+          case 4: stepper.set_z4_lock(state); break;
+        #endif
+      #endif
+    }
+  }
+
+  if (seenL || seenZ) {
+    stepper.set_separate_multi_axis(seenZ);
+    return;
+  }
+
+  #if ENABLED(Z_STEPPER_AUTO_ALIGN)
     do { // break out on error
 
       #if NUM_Z_STEPPER_DRIVERS == 4
@@ -81,24 +118,16 @@ void GcodeSuite::G34() {
         break;
       }
 
-    const float z_auto_align_amplification =
-      #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
-        Z_STEPPER_ALIGN_AMP;
-      #else
-        parser.floatval('A', Z_STEPPER_ALIGN_AMP);
+      const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
       if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
         SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
         break;
       }
-      #endif
 
       if (parser.seen('R')) z_stepper_align.reset_to_default();
 
       const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
 
-    // Wait for planner moves to finish!
-    planner.synchronize();
-
       // Disable the leveling matrix before auto-aligning
       #if HAS_LEVELING
         TERN_(RESTORE_LEVELING_AFTER_G34, const bool leveling_was_active = planner.leveling_active);
@@ -407,8 +436,13 @@ void GcodeSuite::G34() {
       #endif
 
     }while(0);
+  #endif
 }
 
+#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN
+
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+
 /**
  * M422: Set a Z-Stepper automatic alignment XY point.
  *       Use repeatedly to set multiple points.

Marlin/src/gcode/gcode.cpp

@@ -327,7 +327,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 33: G33(); break;                                    // G33: Delta Auto-Calibration
       #endif
 
-      #if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
+      #if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
         case 34: G34(); break;                                    // G34: Z Stepper automatic alignment using probe
       #endif
 

Marlin/src/gcode/gcode.h

@@ -468,7 +468,7 @@ private:
 
   TERN_(DELTA_AUTO_CALIBRATION, static void G33());
 
-  #if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
+  #if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
     static void G34();
   #endif
 

Marlin/src/inc/SanityCheck.h

@@ -2792,9 +2792,12 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
     #error "Z_STEPPER_AUTO_ALIGN requires NUM_Z_STEPPER_DRIVERS greater than 1."
   #elif !HAS_BED_PROBE
     #error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
-  #elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) && NUM_Z_STEPPER_DRIVERS < 3
+  #elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
+    static_assert(WITHIN(Z_STEPPER_ALIGN_AMP, 0.5, 2.0), "Z_STEPPER_ALIGN_AMP must be between 0.5 and 2.0.");
+    #if NUM_Z_STEPPER_DRIVERS < 3
       #error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
     #endif
+  #endif
 #endif
 
 #if ENABLED(MECHANICAL_GANTRY_CALIBRATION)

platformio.ini

@@ -316,6 +316,7 @@ EXT_SOLENOID|MANUAL_SOLENOID_CONTROL = src_filter=+<src/feature/solenoid.cpp> +<
 HAS_CUTTER              = src_filter=+<src/feature/spindle_laser.cpp> +<src/gcode/control/M3-M5.cpp>
 EXPERIMENTAL_I2CBUS     = src_filter=+<src/feature/twibus.cpp> +<src/gcode/feature/i2c>
 MECHANICAL_GANTRY_CAL.+ = src_filter=+<src/gcode/calibrate/G34.cpp>
+Z_MULTI_ENDSTOPS        = src_filter=+<src/gcode/calibrate/G34_M422.cpp>
 Z_STEPPER_AUTO_ALIGN    = src_filter=+<src/feature/z_stepper_align.cpp> +<src/gcode/calibrate/G34_M422.cpp>
 G26_MESH_VALIDATION     = src_filter=+<src/gcode/bedlevel/G26.cpp>
 ASSISTED_TRAMMING       = src_filter=+<src/gcode/bedlevel/G35.cpp>