@ -248,7 +248,7 @@ float volumetric_multiplier[EXTRUDERS] = {1.0
# endif
} ;
float current_position [ NUM_AXIS ] = { 0.0 , 0.0 , 0.0 , 0.0 } ;
float add_homing [ 3 ] = { 0 , 0 , 0 } ;
float home_offset [ 3 ] = { 0 , 0 , 0 } ;
# ifdef DELTA
float endstop_adj [ 3 ] = { 0 , 0 , 0 } ;
# endif
@ -984,7 +984,7 @@ static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
static float x_home_pos ( int extruder ) {
if ( extruder = = 0 )
return base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
return base_home_pos ( X_AXIS ) + home_offset [ X_AXIS ] ;
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
@ -1016,9 +1016,9 @@ static void axis_is_at_home(int axis) {
return ;
}
else if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & active_extruder = = 0 ) {
current_position [ X_AXIS ] = base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
min_pos [ X_AXIS ] = base_min_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
max_pos [ X_AXIS ] = min ( base_max_pos ( X_AXIS ) + add_homing [ X_AXIS ] ,
current_position [ X_AXIS ] = base_home_pos ( X_AXIS ) + home_offset [ X_AXIS ] ;
min_pos [ X_AXIS ] = base_min_pos ( X_AXIS ) + home_offset [ X_AXIS ] ;
max_pos [ X_AXIS ] = min ( base_max_pos ( X_AXIS ) + home_offset [ X_AXIS ] ,
max ( extruder_offset [ X_AXIS ] [ 1 ] , X2_MAX_POS ) - duplicate_extruder_x_offset ) ;
return ;
}
@ -1046,11 +1046,11 @@ static void axis_is_at_home(int axis) {
for ( i = 0 ; i < 2 ; i + + )
{
delta [ i ] - = add_homing [ i ] ;
delta [ i ] - = home_offset [ i ] ;
}
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing [X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing [Y_AXIS]);
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset [X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset [Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
@ -1068,14 +1068,14 @@ static void axis_is_at_home(int axis) {
}
else
{
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
current_position [ axis ] = base_home_pos ( axis ) + home_offset [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + home_offset [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + home_offset [ axis ] ;
}
# else
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
current_position [ axis ] = base_home_pos ( axis ) + home_offset [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + home_offset [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + home_offset [ axis ] ;
# endif
}
@ -1309,7 +1309,13 @@ static void engage_z_probe() {
static void retract_z_probe ( ) {
// Retract Z Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ Z_AXIS ] > - 1 ) {
if ( servo_endstops [ Z_AXIS ] > - 1 )
{
# if Z_RAISE_AFTER_PROBING > 0
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , Z_RAISE_AFTER_PROBING ) ;
st_synchronize ( ) ;
# endif
# if SERVO_LEVELING
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
@ -1322,7 +1328,7 @@ static void retract_z_probe() {
# elif defined(Z_PROBE_ALLEN_KEY)
// Move up for safety
feedrate = homing_feedrate [ X_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + 20 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + Z_RAISE_AFTER_PROBING ;
prepare_move_raw ( ) ;
// Move to the start position to initiate retraction
@ -1364,10 +1370,15 @@ static void retract_z_probe() {
}
enum ProbeAction { ProbeStay , ProbeEngage , ProbeRetract , ProbeEngageRetract } ;
enum ProbeAction {
ProbeStay = 0 ,
ProbeEngage = BIT ( 0 ) ,
ProbeRetract = BIT ( 1 ) ,
ProbeEngageAndRetract = ( ProbeEngage | ProbeRetract )
} ;
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt ( float x , float y , float z_before , ProbeAction retract_action = ProbeEngageRetract , int verbose_level = 1 ) {
static float probe_pt ( float x , float y , float z_before , ProbeAction retract_action = ProbeEngageAnd Retract , int verbose_level = 1 ) {
// move to right place
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , z_before ) ;
do_blocking_move_to ( x - X_PROBE_OFFSET_FROM_EXTRUDER , y - Y_PROBE_OFFSET_FROM_EXTRUDER , current_position [ Z_AXIS ] ) ;
@ -1858,7 +1869,7 @@ inline void gcode_G28() {
if ( code_value_long ( ) ! = 0 ) {
current_position [ X_AXIS ] = code_value ( )
# ifndef SCARA
+ add_homing [ X_AXIS ]
+ home_offset [ X_AXIS ]
# endif
;
}
@ -1867,7 +1878,7 @@ inline void gcode_G28() {
if ( code_seen ( axis_codes [ Y_AXIS ] ) & & code_value_long ( ) ! = 0 ) {
current_position [ Y_AXIS ] = code_value ( )
# ifndef SCARA
+ add_homing [ Y_AXIS ]
+ home_offset [ Y_AXIS ]
# endif
;
}
@ -1941,7 +1952,7 @@ inline void gcode_G28() {
if ( code_seen ( axis_codes [ Z_AXIS ] ) & & code_value_long ( ) ! = 0 )
current_position [ Z_AXIS ] = code_value ( ) + add_homing [ Z_AXIS ] ;
current_position [ Z_AXIS ] = code_value ( ) + home_offset [ Z_AXIS ] ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( home_all_axis | | code_seen ( axis_codes [ Z_AXIS ] ) )
@ -2166,7 +2177,7 @@ inline void gcode_G28() {
# ifdef AUTO_BED_LEVELING_GRID
# ifndef DELTA
bool topo_flag = verbose_level > 2 | | code_seen ( ' T ' ) | | code_seen ( ' t ' ) ;
bool do_topography_map = verbose_level > 2 | | code_seen ( ' T ' ) | | code_seen ( ' t ' ) ;
# endif
if ( verbose_level > 0 )
@ -2221,7 +2232,7 @@ inline void gcode_G28() {
# ifdef Z_PROBE_SLED
dock_sled ( false ) ; // engage (un-dock) the probe
# elif not defined(SERVO_ENDSTOPS )
# elif defined(Z_PROBE_ALLEN_KEY )
engage_z_probe ( ) ;
# endif
@ -2271,28 +2282,23 @@ inline void gcode_G28() {
delta_grid_spacing [ 1 ] = yGridSpacing ;
float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) {
z_offset + = code_value ( ) ;
}
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) z_offset + = code_value ( ) ;
# endif
int probePointCounter = 0 ;
bool zig = true ;
for ( int yCount = 0 ; yCount < auto_bed_leveling_grid_points ; yCount + + )
{
for ( int yCount = 0 ; yCount < auto_bed_leveling_grid_points ; yCount + + ) {
double yProbe = front_probe_bed_position + yGridSpacing * yCount ;
int xStart , xStop , xInc ;
if ( zig )
{
if ( zig ) {
xStart = 0 ;
xStop = auto_bed_leveling_grid_points ;
xInc = 1 ;
zig = false ;
}
else
{
else {
xStart = auto_bed_leveling_grid_points - 1 ;
xStop = - 1 ;
xInc = - 1 ;
@ -2300,13 +2306,12 @@ inline void gcode_G28() {
}
# ifndef DELTA
// If topo_flag is set then don't zig-zag. Just scan in one direction.
// If do_topography_map is set then don't zig-zag. Just scan in one direction.
// This gets the probe points in more readable order.
if ( ! topo_flag ) zig = ! zig ;
if ( ! do_topography_map ) zig = ! zig ;
# endif
for ( int xCount = xStart ; xCount ! = xStop ; xCount + = xInc )
{
for ( int xCount = xStart ; xCount ! = xStop ; xCount + = xInc ) {
double xProbe = left_probe_bed_position + xGridSpacing * xCount ;
// raise extruder
@ -2331,7 +2336,7 @@ inline void gcode_G28() {
act = ProbeStay ;
}
else
act = ProbeEngageRetract ;
act = ProbeEngageAnd Retract ;
measured_z = probe_pt ( xProbe , yProbe , z_before , act , verbose_level ) ;
@ -2373,37 +2378,19 @@ inline void gcode_G28() {
}
}
if ( topo_flag ) {
int xx , yy ;
// Show the Topography map if enabled
if ( do_topography_map ) {
SERIAL_PROTOCOLPGM ( " \n Bed Height Topography: \n " ) ;
# if TOPO_ORIGIN == OriginFrontLeft
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Back....| \n " ) ;
SERIAL_PROTOCOLPGM ( " |Left..Right| \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Front...| \n " ) ;
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
for ( yy = auto_bed_leveling_grid_points - 1 ; yy > = 0 ; yy - - )
# else
for ( yy = 0 ; yy < auto_bed_leveling_grid_points ; yy + + )
# endif
{
# if TOPO_ORIGIN == OriginBackRight
for ( xx = 0 ; xx < auto_bed_leveling_grid_points ; xx + + )
# else
for ( xx = auto_bed_leveling_grid_points - 1 ; xx > = 0 ; xx - - )
# endif
{
int ind =
# if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
yy * auto_bed_leveling_grid_points + xx
# elif TOPO_ORIGIN == OriginBackLeft
xx * auto_bed_leveling_grid_points + yy
# elif TOPO_ORIGIN == OriginFrontRight
abl2 - xx * auto_bed_leveling_grid_points - yy - 1
# endif
;
for ( int yy = auto_bed_leveling_grid_points - 1 ; yy > = 0 ; yy - - ) {
for ( int xx = auto_bed_leveling_grid_points - 1 ; xx > = 0 ; xx - - ) {
int ind = yy * auto_bed_leveling_grid_points + xx ;
float diff = eqnBVector [ ind ] - mean ;
if ( diff > = 0.0 )
SERIAL_PROTOCOLPGM ( " + " ) ; // Include + for column alignment
@ -2415,7 +2402,7 @@ inline void gcode_G28() {
} // yy
SERIAL_EOL ;
} //topo_flag
} //do_topography_map
set_bed_level_equation_lsq ( plane_equation_coefficients ) ;
@ -2437,18 +2424,15 @@ inline void gcode_G28() {
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeRetract , verbose_level ) ;
}
else {
z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING , verbose_level = verbose_level ) ;
z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , verbose_level = verbose_level ) ;
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , verbose_level = verbose_level ) ;
z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING , ProbeEngageAndRetract , verbose_level ) ;
z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeEngageAndRetract , verbose_level ) ;
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeEngageAndRetract , verbose_level ) ;
}
clean_up_after_endstop_move ( ) ;
set_bed_level_equation_3pts ( z_at_pt_1 , z_at_pt_2 , z_at_pt_3 ) ;
# endif // !AUTO_BED_LEVELING_GRID
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , Z_RAISE_AFTER_PROBING ) ;
st_synchronize ( ) ;
# ifndef DELTA
if ( verbose_level > 0 )
plan_bed_level_matrix . debug ( " \n \n Bed Level Correction Matrix: " ) ;
@ -2468,7 +2452,7 @@ inline void gcode_G28() {
# ifdef Z_PROBE_SLED
dock_sled ( true , - SLED_DOCKING_OFFSET ) ; // dock the probe, correcting for over-travel
# elif not defined(SERVO_ENDSTOPS )
# elif defined(Z_PROBE_ALLEN_KEY )
retract_z_probe ( ) ;
# endif
@ -2513,24 +2497,15 @@ inline void gcode_G92() {
if ( ! code_seen ( axis_codes [ E_AXIS ] ) )
st_synchronize ( ) ;
for ( int i = 0 ; i < NUM_AXIS ; i + + ) {
for ( int i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
if ( i = = E_AXIS ) {
current_position [ i ] = code_value ( ) ;
if ( i = = E_AXIS )
plan_set_e_position ( current_position [ E_AXIS ] ) ;
}
else {
current_position [ i ] = code_value ( ) +
# ifdef SCARA
( ( i ! = X_AXIS & & i ! = Y_AXIS ) ? add_homing [ i ] : 0 )
# else
add_homing [ i ]
# endif
;
else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
}
}
}
# ifdef ULTIPANEL
@ -3465,9 +3440,9 @@ inline void gcode_M114() {
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA Cal - Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] + add_homing [ X_AXIS ] ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] + home_offset [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta (90): " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] - delta [ X_AXIS ] - 90 + add_homing [ Y_AXIS ] ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] - delta [ X_AXIS ] - 90 + home_offset [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA step Cal - Theta: " ) ;
@ -3685,12 +3660,12 @@ inline void gcode_M205() {
inline void gcode_M206 ( ) {
for ( int8_t i = X_AXIS ; i < = Z_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
add_homing [ i ] = code_value ( ) ;
home_offset [ i ] = code_value ( ) ;
}
}
# ifdef SCARA
if ( code_seen ( ' T ' ) ) add_homing [ X_AXIS ] = code_value ( ) ; // Theta
if ( code_seen ( ' P ' ) ) add_homing [ Y_AXIS ] = code_value ( ) ; // Psi
if ( code_seen ( ' T ' ) ) home_offset [ X_AXIS ] = code_value ( ) ; // Theta
if ( code_seen ( ' P ' ) ) home_offset [ Y_AXIS ] = code_value ( ) ; // Psi
# endif
}
@ -5288,7 +5263,7 @@ void clamp_to_software_endstops(float target[3])
float negative_z_offset = 0 ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( Z_PROBE_OFFSET_FROM_EXTRUDER < 0 ) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( add_homing [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + add_homing [ Z_AXIS ] ;
if ( home_offset [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + home_offset [ Z_AXIS ] ;
# endif
if ( target [ Z_AXIS ] < min_pos [ Z_AXIS ] + negative_z_offset ) target [ Z_AXIS ] = min_pos [ Z_AXIS ] + negative_z_offset ;
Scott Lahteine
10 years ago