From 747bde7e648ddd7cf8404b5d7ce551804a4dc9e6 Mon Sep 17 00:00:00 2001 From: wmariz <11435639+wmariz@users.noreply.github.com> Date: Thu, 26 Nov 2020 10:58:19 -0300 Subject: [PATCH] Level Corners with Probe option (#20241) --- Marlin/Configuration.h | 6 + Marlin/src/feature/backlash.cpp | 10 +- Marlin/src/feature/bltouch.cpp | 11 +- Marlin/src/gcode/calibrate/G425.cpp | 8 +- Marlin/src/inc/SanityCheck.h | 4 +- Marlin/src/lcd/language/language_en.h | 3 + Marlin/src/lcd/menu/menu_bed_corners.cpp | 205 +++++++++++++++++++---- Marlin/src/module/endstops.cpp | 6 +- Marlin/src/module/probe.cpp | 20 +-- Marlin/src/module/probe.h | 6 + buildroot/tests/LPC1769-tests | 1 + 11 files changed, 211 insertions(+), 69 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index c64569d2bf..3320e18abc 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1392,6 +1392,12 @@ #define LEVEL_CORNERS_HEIGHT 0.0 // (mm) Z height of nozzle at leveling points #define LEVEL_CORNERS_Z_HOP 4.0 // (mm) Z height of nozzle between leveling points //#define LEVEL_CENTER_TOO // Move to the center after the last corner + //#define LEVEL_CORNERS_USE_PROBE + #if ENABLED(LEVEL_CORNERS_USE_PROBE) + #define LEVEL_CORNERS_PROBE_TOLERANCE 0.1 + #define LEVEL_CORNERS_VERIFY_RAISED // After adjustment triggers the probe, re-probe to verify + //#define LEVEL_CORNERS_AUDIO_FEEDBACK + #endif #endif /** diff --git a/Marlin/src/feature/backlash.cpp b/Marlin/src/feature/backlash.cpp index 867e9cdd21..b848214f0c 100644 --- a/Marlin/src/feature/backlash.cpp +++ b/Marlin/src/feature/backlash.cpp @@ -123,24 +123,22 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const } #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) - #if HAS_CUSTOM_PROBE_PIN - #define TEST_PROBE_PIN (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING) - #else - #define TEST_PROBE_PIN (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) - #endif + + #include "../module/probe.h" // Measure Z backlash by raising nozzle in increments until probe deactivates void Backlash::measure_with_probe() { if (measured_count.z == 255) return; const float start_height = current_position.z; - while (current_position.z < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN) + while (current_position.z < (start_height + BACKLASH_MEASUREMENT_LIMIT) && PROBE_TRIGGERED()) do_blocking_move_to_z(current_position.z + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE)); // The backlash from all probe points is averaged, so count the number of measurements measured_mm.z += current_position.z - start_height; measured_count.z++; } + #endif #endif // BACKLASH_COMPENSATION diff --git a/Marlin/src/feature/bltouch.cpp b/Marlin/src/feature/bltouch.cpp index d6b1f99c16..48eaf9efc4 100644 --- a/Marlin/src/feature/bltouch.cpp +++ b/Marlin/src/feature/bltouch.cpp @@ -31,6 +31,7 @@ BLTouch bltouch; bool BLTouch::last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain #include "../module/servo.h" +#include "../module/probe.h" void stop(); @@ -90,15 +91,7 @@ void BLTouch::clear() { _stow(); // STOW to be ready for meaningful work. Could fail, don't care } -bool BLTouch::triggered() { - return ( - #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) - READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING - #else - READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING - #endif - ); -} +bool BLTouch::triggered() { return PROBE_TRIGGERED(); } bool BLTouch::deploy_proc() { // Do a DEPLOY diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp index 6517e6b4bd..9510da7740 100644 --- a/Marlin/src/gcode/calibrate/G425.cpp +++ b/Marlin/src/gcode/calibrate/G425.cpp @@ -143,14 +143,16 @@ inline void park_above_object(measurements_t &m, const float uncertainty) { #endif +#if !PIN_EXISTS(CALIBRATION) + #include "../../module/probe.h" +#endif + inline bool read_calibration_pin() { return ( #if PIN_EXISTS(CALIBRATION) READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING - #elif HAS_CUSTOM_PROBE_PIN - READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING #else - READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING + PROBE_TRIGGERED() #endif ); } diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index 9f4c10dd53..eec9ff0844 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -357,6 +357,8 @@ #error "LEVEL_CORNERS_INSET is now LEVEL_CORNERS_INSET_LFRB." #elif ENABLED(LEVEL_BED_CORNERS) && !defined(LEVEL_CORNERS_INSET_LFRB) #error "LEVEL_BED_CORNERS requires LEVEL_CORNERS_INSET_LFRB values." +#elif BOTH(LEVEL_CORNERS_USE_PROBE, SENSORLESS_PROBING) + #error "LEVEL_CORNERS_USE_PROBE is incompatible with SENSORLESS_PROBING." #elif defined(BEZIER_JERK_CONTROL) #error "BEZIER_JERK_CONTROL is now S_CURVE_ACCELERATION." #elif HAS_JUNCTION_DEVIATION && defined(JUNCTION_DEVIATION_FACTOR) @@ -1603,7 +1605,7 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal * Allen Key * Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. */ -#if ENABLED(Z_PROBE_ALLEN_KEY) && (Z_HOME_DIR < 0) && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) +#if BOTH(Z_PROBE_ALLEN_KEY, Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && (Z_HOME_DIR < 0) #error "You can't home to a Z min endstop with a Z_PROBE_ALLEN_KEY." #endif diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h index af0903b916..2892f79df8 100644 --- a/Marlin/src/lcd/language/language_en.h +++ b/Marlin/src/lcd/language/language_en.h @@ -125,6 +125,8 @@ namespace Language_en { PROGMEM Language_Str MSG_BED_LEVELING = _UxGT("Bed Leveling"); PROGMEM Language_Str MSG_LEVEL_BED = _UxGT("Level Bed"); PROGMEM Language_Str MSG_LEVEL_CORNERS = _UxGT("Level Corners"); + PROGMEM Language_Str MSG_LEVEL_CORNERS_RAISE = _UxGT("Raise Bed Until Probe Triggered"); + PROGMEM Language_Str MSG_LEVEL_CORNERS_IN_RANGE = _UxGT("All Corners Within Tolerance. Level Bed"); PROGMEM Language_Str MSG_NEXT_CORNER = _UxGT("Next Corner"); PROGMEM Language_Str MSG_MESH_EDITOR = _UxGT("Mesh Editor"); PROGMEM Language_Str MSG_EDIT_MESH = _UxGT("Edit Mesh"); @@ -379,6 +381,7 @@ namespace Language_en { PROGMEM Language_Str MSG_BUTTON_DONE = _UxGT("Done"); PROGMEM Language_Str MSG_BUTTON_BACK = _UxGT("Back"); PROGMEM Language_Str MSG_BUTTON_PROCEED = _UxGT("Proceed"); + PROGMEM Language_Str MSG_BUTTON_SKIP = _UxGT("Skip"); PROGMEM Language_Str MSG_PAUSING = _UxGT("Pausing..."); PROGMEM Language_Str MSG_PAUSE_PRINT = _UxGT("Pause Print"); PROGMEM Language_Str MSG_RESUME_PRINT = _UxGT("Resume Print"); diff --git a/Marlin/src/lcd/menu/menu_bed_corners.cpp b/Marlin/src/lcd/menu/menu_bed_corners.cpp index 16f9992c18..52d2d0ec3d 100644 --- a/Marlin/src/lcd/menu/menu_bed_corners.cpp +++ b/Marlin/src/lcd/menu/menu_bed_corners.cpp @@ -44,53 +44,187 @@ #define LEVEL_CORNERS_HEIGHT 0.0 #endif +#if ENABLED(LEVEL_CORNERS_USE_PROBE) + #include "../../module/probe.h" + #include "../../module/endstops.h" + #if ENABLED(BLTOUCH) + #include "../../feature/bltouch.h" + #endif + #ifndef LEVEL_CORNERS_PROBE_TOLERANCE + #define LEVEL_CORNERS_PROBE_TOLERANCE 0.1 + #endif + #if ENABLED(LEVEL_CORNERS_AUDIO_FEEDBACK) + #include "../../libs/buzzer.h" + #define PROBE_BUZZ() BUZZ(200, 600) + #else + #define PROBE_BUZZ() NOOP + #endif + static float last_z; + static bool corner_probing_done; + static bool verify_corner; + static int good_points; +#endif + static_assert(LEVEL_CORNERS_Z_HOP >= 0, "LEVEL_CORNERS_Z_HOP must be >= 0. Please update your configuration."); +extern const char G28_STR[]; + #if HAS_LEVELING static bool leveling_was_active = false; #endif +static int8_t bed_corner; + /** * Level corners, starting in the front-left corner. */ -static int8_t bed_corner; -static inline void _lcd_goto_next_corner() { - constexpr float lfrb[4] = LEVEL_CORNERS_INSET_LFRB; - constexpr xy_pos_t lf { (X_MIN_BED) + lfrb[0], (Y_MIN_BED) + lfrb[1] }, - rb { (X_MAX_BED) - lfrb[2], (Y_MAX_BED) - lfrb[3] }; - line_to_z(LEVEL_CORNERS_Z_HOP); - switch (bed_corner) { - case 0: current_position = lf; break; // copy xy - case 1: current_position.x = rb.x; break; - case 2: current_position.y = rb.y; break; - case 3: current_position.x = lf.x; break; - #if ENABLED(LEVEL_CENTER_TOO) - case 4: current_position.set(X_CENTER, Y_CENTER); break; +#if ENABLED(LEVEL_CORNERS_USE_PROBE) + + static inline void _lcd_level_bed_corners_probing() { + ui.goto_screen([]{ MenuItem_static::draw((LCD_HEIGHT - 1) / 2, GET_TEXT(MSG_PROBING_MESH)); }); + + float lfrb[4] = LEVEL_CORNERS_INSET_LFRB; + xy_pos_t lf { (X_MIN_BED) + lfrb[0] - probe.offset_xy.x , (Y_MIN_BED) + lfrb[1] - probe.offset_xy.y }, + rb { (X_MAX_BED) - lfrb[2] - probe.offset_xy.x , (Y_MAX_BED) - lfrb[3] - probe.offset_xy.y }; + + do_blocking_move_to_z(LEVEL_CORNERS_Z_HOP - probe.offset.z); + + switch (bed_corner) { + case 0: current_position = lf; break; // copy xy + case 1: current_position.x = rb.x; break; + case 2: current_position.y = rb.y; break; + case 3: current_position.x = lf.x; break; + #if ENABLED(LEVEL_CENTER_TOO) + case 4: current_position.set(X_CENTER - probe.offset_xy.x, Y_CENTER - probe.offset_xy.y); good_points--; break; + #endif + } + + do_blocking_move_to_xy(current_position); + + #if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) + bltouch.deploy(); // DEPLOY in LOW SPEED MODE on every probe action #endif + TERN_(QUIET_PROBING, probe.set_probing_paused(true)); + + // Move down until the probe is triggered + do_blocking_move_to_z(last_z - (LEVEL_CORNERS_PROBE_TOLERANCE), manual_feedrate_mm_s.z); + + // Check to see if the probe was triggered + bool probe_triggered = TEST(endstops.trigger_state(), TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN, Z_MIN_PROBE)); + if (!probe_triggered) { + + static bool wait_for_probe; + + ui.goto_screen([]{ + MenuItem_confirm::select_screen( + GET_TEXT(MSG_BUTTON_DONE), GET_TEXT(MSG_BUTTON_SKIP) + , []{ corner_probing_done = true; + wait_for_probe = false; + TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); + ui.goto_previous_screen_no_defer(); + } + , []{ wait_for_probe = false; } + , GET_TEXT(MSG_LEVEL_CORNERS_RAISE) + , (const char*)nullptr, PSTR("") + ); + }); + ui.set_selection(true); + + wait_for_probe = true; + while (wait_for_probe && !probe_triggered) { + probe_triggered = PROBE_TRIGGERED(); + if (probe_triggered) PROBE_BUZZ(); + idle(); + } + wait_for_probe = false; + + TERN_(LEVEL_CORNERS_VERIFY_RAISED, verify_corner = true); + } + + TERN_(QUIET_PROBING, probe.set_probing_paused(false)); + + #if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) + bltouch.stow(); + #endif + + if (probe_triggered) { + endstops.hit_on_purpose(); + if (!WITHIN(current_position.z, last_z - (LEVEL_CORNERS_PROBE_TOLERANCE), last_z + (LEVEL_CORNERS_PROBE_TOLERANCE))) { + last_z = current_position.z; + good_points = 0; + } + if (!verify_corner) good_points++; + } + + if (!corner_probing_done) { + if (!verify_corner) bed_corner++; + if (bed_corner > 3) bed_corner = 0; + verify_corner = false; + if (good_points < 4) + _lcd_level_bed_corners_probing(); + else { + ui.goto_screen([]{ + MenuItem_confirm::confirm_screen( + []{ ui.goto_previous_screen_no_defer(); + queue.inject_P(TERN(HAS_LEVELING, PSTR("G28\nG29"), G28_STR)); + } + , []{ ui.goto_previous_screen_no_defer(); } + , GET_TEXT(MSG_LEVEL_CORNERS_IN_RANGE) + , (const char*)nullptr, PSTR("?") + ); + }); + ui.set_selection(true); + } + } } - line_to_current_position(manual_feedrate_mm_s.x); - line_to_z(LEVEL_CORNERS_HEIGHT); - if (++bed_corner > 3 + ENABLED(LEVEL_CENTER_TOO)) bed_corner = 0; -} + +#else + + static inline void _lcd_goto_next_corner() { + constexpr float lfrb[4] = LEVEL_CORNERS_INSET_LFRB; + constexpr xy_pos_t lf { (X_MIN_BED) + lfrb[0], (Y_MIN_BED) + lfrb[1] }, + rb { (X_MAX_BED) - lfrb[2], (Y_MAX_BED) - lfrb[3] }; + line_to_z(LEVEL_CORNERS_Z_HOP); + switch (bed_corner) { + case 0: current_position = lf; break; // copy xy + case 1: current_position.x = rb.x; break; + case 2: current_position.y = rb.y; break; + case 3: current_position.x = lf.x; break; + #if ENABLED(LEVEL_CENTER_TOO) + case 4: current_position.set(X_CENTER, Y_CENTER); break; + #endif + } + line_to_current_position(manual_feedrate_mm_s.x); + line_to_z(LEVEL_CORNERS_HEIGHT); + if (++bed_corner > 3 + ENABLED(LEVEL_CENTER_TOO)) bed_corner = 0; + } + +#endif static inline void _lcd_level_bed_corners_homing() { _lcd_draw_homing(); if (all_axes_homed()) { - bed_corner = 0; - ui.goto_screen([]{ - MenuItem_confirm::select_screen( - GET_TEXT(MSG_BUTTON_NEXT), GET_TEXT(MSG_BUTTON_DONE) - , _lcd_goto_next_corner - , []{ - TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); - ui.goto_previous_screen_no_defer(); - } - , GET_TEXT(TERN(LEVEL_CENTER_TOO, MSG_LEVEL_BED_NEXT_POINT, MSG_NEXT_CORNER)) - , (const char*)nullptr, PSTR("?") - ); - }); - ui.set_selection(true); - _lcd_goto_next_corner(); + #if ENABLED(LEVEL_CORNERS_USE_PROBE) + TERN_(LEVEL_CENTER_TOO, bed_corner = 4); + endstops.enable_z_probe(true); + ui.goto_screen(_lcd_level_bed_corners_probing); + #else + bed_corner = 0; + ui.goto_screen([]{ + MenuItem_confirm::select_screen( + GET_TEXT(MSG_BUTTON_NEXT), GET_TEXT(MSG_BUTTON_DONE) + , _lcd_goto_next_corner + , []{ + TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); + ui.goto_previous_screen_no_defer(); + } + , GET_TEXT(TERN(LEVEL_CENTER_TOO, MSG_LEVEL_BED_NEXT_POINT, MSG_NEXT_CORNER)) + , (const char*)nullptr, PSTR("?") + ); + }); + ui.set_selection(true); + _lcd_goto_next_corner(); + #endif } } @@ -107,6 +241,13 @@ void _lcd_level_bed_corners() { set_bed_leveling_enabled(false); #endif + #if ENABLED(LEVEL_CORNERS_USE_PROBE) + last_z = LEVEL_CORNERS_HEIGHT; + corner_probing_done = false; + verify_corner = false; + good_points = 0; + #endif + ui.goto_screen(_lcd_level_bed_corners_homing); } diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index 697ced7833..ef0b92a7ee 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -48,6 +48,10 @@ #include "../feature/joystick.h" #endif +#if HAS_BED_PROBE + #include "probe.h" +#endif + Endstops endstops; // private: @@ -455,7 +459,7 @@ void _O2 Endstops::report_states() { ES_REPORT(Z4_MAX); #endif #if HAS_CUSTOM_PROBE_PIN - print_es_state(READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING, PSTR(STR_Z_PROBE)); + print_es_state(PROBE_TRIGGERED(), PSTR(STR_Z_PROBE)); #endif #if HAS_FILAMENT_SENSOR #if NUM_RUNOUT_SENSORS == 1 diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index f02b909150..47c6f569b7 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -270,13 +270,7 @@ FORCE_INLINE void probe_specific_action(const bool deploy) { #if ENABLED(PAUSE_BEFORE_DEPLOY_STOW) do { #if ENABLED(PAUSE_PROBE_DEPLOY_WHEN_TRIGGERED) - if (deploy == ( - #if HAS_CUSTOM_PROBE_PIN - READ(Z_MIN_PROBE_PIN) == Z_MIN_PROBE_ENDSTOP_INVERTING - #else - READ(Z_MIN_PIN) == Z_MIN_ENDSTOP_INVERTING - #endif - )) break; + if (deploy == PROBE_TRIGGERED()) break; #endif BUZZ(100, 659); @@ -375,23 +369,15 @@ bool Probe::set_deployed(const bool deploy) { const xy_pos_t old_xy = current_position; #if ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST) - #if HAS_CUSTOM_PROBE_PIN - #define PROBE_STOWED() (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING) - #else - #define PROBE_STOWED() (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) - #endif - #endif - - #ifdef PROBE_STOWED // Only deploy/stow if needed - if (PROBE_STOWED() == deploy) { + if (PROBE_TRIGGERED() == deploy) { if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early // otherwise an Allen-Key probe can't be stowed. probe_specific_action(deploy); } - if (PROBE_STOWED() == deploy) { // Unchanged after deploy/stow action? + if (PROBE_TRIGGERED() == deploy) { // Unchanged after deploy/stow action? if (IsRunning()) { SERIAL_ERROR_MSG("Z-Probe failed"); LCD_ALERTMESSAGEPGM_P(PSTR("Err: ZPROBE")); diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h index cac106fed6..e5ad892e37 100644 --- a/Marlin/src/module/probe.h +++ b/Marlin/src/module/probe.h @@ -38,6 +38,12 @@ }; #endif +#if HAS_CUSTOM_PROBE_PIN + #define PROBE_TRIGGERED() (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING) +#else + #define PROBE_TRIGGERED() (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) +#endif + class Probe { public: diff --git a/buildroot/tests/LPC1769-tests b/buildroot/tests/LPC1769-tests index 702f8035ec..f661babc40 100755 --- a/buildroot/tests/LPC1769-tests +++ b/buildroot/tests/LPC1769-tests @@ -19,6 +19,7 @@ opt_set TEMP_SENSOR_1 -1 opt_set TEMP_SENSOR_BED 5 opt_enable VIKI2 SDSUPPORT ADAPTIVE_FAN_SLOWING NO_FAN_SLOWING_IN_PID_TUNING \ FIX_MOUNTED_PROBE AUTO_BED_LEVELING_BILINEAR G29_RETRY_AND_RECOVER Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE \ + LEVEL_BED_CORNERS LEVEL_CORNERS_USE_PROBE LEVEL_CORNERS_VERIFY_RAISED \ BABYSTEPPING BABYSTEP_XY BABYSTEP_ZPROBE_OFFSET BABYSTEP_ZPROBE_GFX_OVERLAY \ PRINTCOUNTER NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE SLOW_PWM_HEATERS PIDTEMPBED EEPROM_SETTINGS INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT \ Z_SAFE_HOMING ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE \