InsanityAutomation
4 years ago
committed by
Scott Lahteine
Scott Lahteine
10 changed files with 269 additions and 34 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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* |
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*/ |
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#include "../../inc/MarlinConfigPre.h" |
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#if ENABLED(MECHANICAL_GANTRY_CALIBRATION) |
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#include "../gcode.h" |
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#include "../../module/motion.h" |
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#include "../../module/stepper.h" |
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#include "../../module/endstops.h" |
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#if HAS_LEVELING |
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#include "../../feature/bedlevel/bedlevel.h" |
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#endif |
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) |
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#include "../../core/debug_out.h" |
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void GcodeSuite::G34() { |
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if (homing_needed()) return; |
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TEMPORARY_SOFT_ENDSTOP_STATE(false); |
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TEMPORARY_BED_LEVELING_STATE(false); |
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TemporaryGlobalEndstopsState unlock_z(false); |
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#ifdef GANTRY_CALIBRATION_COMMANDS_PRE |
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gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE)); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed"); |
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#endif |
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#ifdef GANTRY_CALIBRATION_SAFE_POSITION |
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// Move XY to safe position
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY"); |
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const xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION; |
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do_blocking_move_to(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE)); |
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#endif |
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const float move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT), |
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zbase = ENABLED(GANTRY_CALIBRATION_TO_MIN) ? Z_MIN_POS : Z_MAX_POS, |
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zpounce = zbase - move_distance, zgrind = zbase + move_distance; |
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// Move Z to pounce position
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce"); |
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do_blocking_move_to_z(zpounce, MMM_TO_MMS(HOMING_FEEDRATE_Z)); |
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// Store current motor settings, then apply reduced value
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#define _REDUCE_CURRENT ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_DAC, HAS_MOTOR_CURRENT_I2C, HAS_TRINAMIC_CONFIG) |
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#if _REDUCE_CURRENT |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current"); |
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#endif |
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#if HAS_MOTOR_CURRENT_SPI |
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); |
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const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS]; |
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stepper.set_digipot_current(Z_AXIS, target_current); |
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#elif HAS_MOTOR_CURRENT_PWM |
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); |
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const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS]; |
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stepper.set_digipot_current(1, target_current); |
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#elif HAS_MOTOR_CURRENT_DAC |
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const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT); |
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const float previous_current = dac_amps(Z_AXIS, target_current); |
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stepper_dac.set_current_value(Z_AXIS, target_current); |
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#elif ENABLED(HAS_MOTOR_CURRENT_I2C) |
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); |
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previous_current = dac_amps(Z_AXIS); |
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digipot_i2c.set_current(Z_AXIS, target_current) |
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#elif HAS_TRINAMIC_CONFIG |
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); |
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static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS]; |
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#if AXIS_IS_TMC(Z) |
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previous_current_arr[0] = stepperZ.getMilliamps(); |
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stepperZ.rms_current(target_current); |
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#endif |
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#if AXIS_IS_TMC(Z2) |
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previous_current_arr[1] = stepperZ2.getMilliamps(); |
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stepperZ2.rms_current(target_current); |
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#endif |
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#if AXIS_IS_TMC(Z3) |
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previous_current_arr[2] = stepperZ3.getMilliamps(); |
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stepperZ3.rms_current(target_current); |
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#endif |
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#if AXIS_IS_TMC(Z4) |
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previous_current_arr[3] = stepperZ4.getMilliamps(); |
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stepperZ4.rms_current(target_current); |
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#endif |
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#endif |
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// Do Final Z move to adjust
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move"); |
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do_blocking_move_to_z(zgrind, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE)); |
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// Back off end plate, back to normal motion range
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff"); |
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do_blocking_move_to_z(zpounce, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE)); |
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#if _REDUCE_CURRENT |
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// Reset current to original values
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current"); |
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#endif |
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#if HAS_MOTOR_CURRENT_SPI |
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stepper.set_digipot_current(Z_AXIS, previous_current); |
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#elif HAS_MOTOR_CURRENT_PWM |
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stepper.set_digipot_current(1, previous_current); |
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#elif HAS_MOTOR_CURRENT_DAC |
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stepper_dac.set_current_value(Z_AXIS, previous_current); |
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#elif ENABLED(HAS_MOTOR_CURRENT_I2C) |
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digipot_i2c.set_current(Z_AXIS, previous_current) |
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#elif HAS_TRINAMIC_CONFIG |
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#if AXIS_IS_TMC(Z) |
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stepperZ.rms_current(previous_current_arr[0]); |
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#endif |
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#if AXIS_IS_TMC(Z2) |
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stepperZ2.rms_current(previous_current_arr[1]); |
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#endif |
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#if AXIS_IS_TMC(Z3) |
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stepperZ3.rms_current(previous_current_arr[2]); |
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#endif |
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#if AXIS_IS_TMC(Z4) |
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stepperZ4.rms_current(previous_current_arr[3]); |
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#endif |
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#endif |
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#ifdef GANTRY_CALIBRATION_COMMANDS_POST |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands"); |
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gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST)); |
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#endif |
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} |
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#endif // MECHANICAL_GANTRY_CALIBRATION
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