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@ -372,7 +372,7 @@ static uint8_t target_extruder; |
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}; |
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#endif |
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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const int servo_endstop_id[] = SERVO_ENDSTOP_IDS; |
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const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES; |
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#endif |
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@ -724,7 +724,7 @@ void servo_init() { |
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servo[3].detach(); |
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#endif |
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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endstops.enable_z_probe(false); |
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@ -1701,7 +1701,12 @@ static void setup_for_endstop_move() { |
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} |
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inline void raise_z_after_probing() { |
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); |
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#if Z_RAISE_AFTER_PROBING > 0 |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()"); |
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#endif |
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); |
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#endif |
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} |
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static void clean_up_after_endstop_move() { |
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@ -1724,7 +1729,7 @@ static void setup_for_endstop_move() { |
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if (endstops.z_probe_enabled) return; |
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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// Engage Z Servo endstop if enabled
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if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]); |
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@ -1811,7 +1816,7 @@ static void setup_for_endstop_move() { |
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} |
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static void stow_z_probe(bool doRaise = true) { |
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#if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0)) |
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#if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0)) |
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UNUSED(doRaise); |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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@ -1820,21 +1825,13 @@ static void setup_for_endstop_move() { |
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if (!endstops.z_probe_enabled) return; |
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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// Retract Z Servo endstop if enabled
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if (servo_endstop_id[Z_AXIS] >= 0) { |
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#if Z_RAISE_AFTER_PROBING > 0 |
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if (doRaise) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING); |
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SERIAL_EOL; |
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SERIAL_ECHO("> SERVO_ENDSTOPS > raise_z_after_probing()"); |
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SERIAL_EOL; |
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} |
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#endif |
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raise_z_after_probing(); // this also updates current_position
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stepper.synchronize(); |
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} |
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@ -2062,7 +2059,7 @@ static void setup_for_endstop_move() { |
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#endif // DELTA
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#if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED) |
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#if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED) |
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void raise_z_for_servo() { |
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float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING; |
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@ -2122,9 +2119,7 @@ static void setup_for_endstop_move() { |
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float oldXpos = current_position[X_AXIS]; // save x position
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if (dock) { |
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#if Z_RAISE_AFTER_PROBING > 0 |
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raise_z_after_probing(); // raise Z
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#endif |
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raise_z_after_probing(); // raise Z
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); |
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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@ -2173,33 +2168,36 @@ static void homeaxis(AxisEnum axis) { |
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sync_plan_position(); |
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#if ENABLED(Z_PROBE_SLED) |
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#define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY
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#define _Z_PROBE_SUBTEST false // Z will never be invoked
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#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
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#define _Z_SERVO_SUBTEST false // Z will never be invoked
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#define _Z_DEPLOY (dock_sled(false)) |
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#define _Z_STOW (dock_sled(true)) |
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#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) |
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#define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY
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#define _Z_PROBE_SUBTEST false // Z will never be invoked
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#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
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#define _Z_SERVO_SUBTEST false // Z will never be invoked
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#define _Z_DEPLOY (deploy_z_probe()) |
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#define _Z_STOW (stow_z_probe()) |
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#elif HAS_SERVO_ENDSTOPS |
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#define _Z_SERVO_TEST true // servo.move X, Y, Z
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#define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe
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#elif ENABLED(HAS_SERVO_ENDSTOPS) |
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#define _Z_SERVO_TEST true // Z not deployed yet
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#define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe
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#endif |
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if (axis == Z_AXIS) { |
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// If there's a Z probe that needs deployment...
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) |
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// ...and homing Z towards the bed? Deploy it.
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if (axis_home_dir < 0) _Z_DEPLOY; |
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#endif |
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} |
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// If there's a Z probe that needs deployment...
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) |
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// ...and homing Z towards the bed? Deploy it.
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if (axis == Z_AXIS && axis_home_dir < 0) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY)); |
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#endif |
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_Z_DEPLOY; |
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} |
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#endif |
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#if HAS_SERVO_ENDSTOPS |
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// Engage an X or Y Servo endstop if enabled
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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// Engage an X, Y (or Z) Servo endstop if enabled
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if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { |
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servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]); |
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if (_Z_PROBE_SUBTEST) endstops.z_probe_enabled = true; |
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if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true; |
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} |
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#endif |
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@ -2316,7 +2314,7 @@ static void homeaxis(AxisEnum axis) { |
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axis_known_position[axis] = true; |
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axis_homed[axis] = true; |
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// Put away the Z probe
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// Put away the Z probe with a function
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) |
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if (axis == Z_AXIS && axis_home_dir < 0) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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@ -2326,16 +2324,32 @@ static void homeaxis(AxisEnum axis) { |
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} |
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#endif |
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// Retract Servo endstop if enabled
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#if HAS_SERVO_ENDSTOPS |
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// Retract X, Y (or Z) Servo endstop if enabled
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { |
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// Raise the servo probe before stow outside ABL context.
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// This is a workaround to allow use of a Servo Probe without
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// ABL until more global probe handling is implemented.
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#if Z_RAISE_AFTER_PROBING > 0 |
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if (axis == Z_AXIS) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING); |
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#endif |
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current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING; |
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feedrate = homing_feedrate[Z_AXIS]; |
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line_to_current_position(); |
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stepper.synchronize(); |
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} |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()"); |
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#endif |
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servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]); |
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if (_Z_PROBE_SUBTEST) endstops.enable_z_probe(false); |
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if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false); |
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} |
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#endif |
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#endif // HAS_SERVO_ENDSTOPS
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} |
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@ -3564,7 +3578,7 @@ inline void gcode_G28() { |
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// Allen Key Probe for Delta
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#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING |
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stow_z_probe(); |
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#elif Z_RAISE_AFTER_PROBING > 0 |
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#else |
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raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
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#endif |
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#else // !DELTA
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@ -3624,7 +3638,7 @@ inline void gcode_G28() { |
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#endif |
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current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z) |
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#if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) |
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#if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) |
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+ Z_RAISE_AFTER_PROBING |
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#endif |
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; |
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@ -3639,9 +3653,9 @@ inline void gcode_G28() { |
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// Sled assembly for Cartesian bots
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#if ENABLED(Z_PROBE_SLED) |
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dock_sled(true); // dock the sled
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#elif Z_RAISE_AFTER_PROBING > 0 |
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#else |
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// Raise Z axis for non-delta and non servo based probes
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#if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) |
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#if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) |
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raise_z_after_probing(); |
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#endif |
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#endif |
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@ -3685,7 +3699,7 @@ inline void gcode_G28() { |
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* G30: Do a single Z probe at the current XY |
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*/ |
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inline void gcode_G30() { |
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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raise_z_for_servo(); |
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#endif |
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deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
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@ -3707,7 +3721,7 @@ inline void gcode_G28() { |
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clean_up_after_endstop_move(); // Too early. must be done after the stowing.
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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raise_z_for_servo(); |
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#endif |
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stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
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@ -5816,13 +5830,13 @@ inline void gcode_M303() { |
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*/ |
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inline void gcode_M400() { stepper.synchronize(); } |
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) |
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) |
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/**
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* M401: Engage Z Servo endstop if available |
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*/ |
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inline void gcode_M401() { |
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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raise_z_for_servo(); |
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#endif |
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deploy_z_probe(); |
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@ -5832,13 +5846,13 @@ inline void gcode_M400() { stepper.synchronize(); } |
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* M402: Retract Z Servo endstop if enabled |
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*/ |
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inline void gcode_M402() { |
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#if HAS_SERVO_ENDSTOPS |
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#if ENABLED(HAS_SERVO_ENDSTOPS) |
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raise_z_for_servo(); |
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#endif |
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stow_z_probe(false); |
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} |
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#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#if ENABLED(FILAMENT_WIDTH_SENSOR) |
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@ -7054,14 +7068,14 @@ void process_next_command() { |
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gcode_M400(); |
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break; |
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED) |
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED) |
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case 401: |
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gcode_M401(); |
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break; |
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case 402: |
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gcode_M402(); |
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break; |
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#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#if ENABLED(FILAMENT_WIDTH_SENSOR) |
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case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
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Scott Lahteine
9 years ago