@ -414,7 +414,7 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI
# endif
// Software Endstops are based on the configured limits.
# if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
# if HAS_SOFTWARE_ENDSTOPS
bool soft_endstops_enabled = true ;
# endif
float soft_endstop_min [ XYZ ] = { X_MIN_POS , Y_MIN_POS , Z_MIN_POS } ,
@ -3450,7 +3450,7 @@ inline void gcode_G28() {
stepper . synchronize ( ) ;
// Disable the leveling matrix before homing
# if PLANNER_LEVELING
# if PLANNER_LEVELING || ENABLED(MESH_BED_LEVELING)
set_bed_leveling_enabled ( false ) ;
# endif
@ -3464,31 +3464,6 @@ inline void gcode_G28() {
extruder_duplication_enabled = false ;
# endif
/**
* For mesh bed leveling deactivate the mesh calculations , will be turned
* on again when homing all axis
*/
# if ENABLED(MESH_BED_LEVELING)
float pre_home_z = MESH_HOME_SEARCH_Z ;
if ( mbl . active ( ) ) {
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) SERIAL_ECHOLNPGM ( " MBL was active " ) ;
# endif
// Use known Z position if already homed
if ( axis_homed [ X_AXIS ] & & axis_homed [ Y_AXIS ] & & axis_homed [ Z_AXIS ] ) {
set_bed_leveling_enabled ( false ) ;
pre_home_z = current_position [ Z_AXIS ] ;
}
else {
mbl . set_active ( false ) ;
current_position [ Z_AXIS ] = pre_home_z ;
}
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " Set Z to pre_home_z " , current_position ) ;
# endif
}
# endif
setup_for_endstop_or_probe_move ( ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) SERIAL_ECHOLNPGM ( " > endstops.enable(true) " ) ;
@ -3620,43 +3595,14 @@ inline void gcode_G28() {
// Enable mesh leveling again
# if ENABLED(MESH_BED_LEVELING)
if ( mbl . has_mesh ( ) ) {
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) SERIAL_ECHOLNPGM ( " MBL has mesh " ) ;
# endif
if ( mbl . reactivate ( ) ) {
set_bed_leveling_enabled ( true ) ;
if ( home_all_axis | | ( axis_homed [ X_AXIS ] & & axis_homed [ Y_AXIS ] & & homeZ ) ) {
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) SERIAL_ECHOLNPGM ( " MBL Z homing " ) ;
# endif
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z
# if Z_HOME_DIR > 0
+ Z_MAX_POS
# endif
;
SYNC_PLAN_POSITION_KINEMATIC ( ) ;
mbl . set_active ( true ) ;
# if ENABLED(MESH_G28_REST_ORIGIN)
current_position [ Z_AXIS ] = 0.0 ;
current_position [ Z_AXIS ] = LOGICAL_Z_POSITION ( Z_MIN_POS ) ;
set_destination_to_current ( ) ;
line_to_destination ( homing_feedrate_mm_s [ Z_AXIS ] ) ;
stepper . synchronize ( ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " MBL Rest Origin " , current_position ) ;
# endif
# else
planner . unapply_leveling ( current_position ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " MBL adjusted MESH_HOME_SEARCH_Z " , current_position ) ;
# endif
# endif
}
else if ( ( axis_homed [ X_AXIS ] & & axis_homed [ Y_AXIS ] & & axis_homed [ Z_AXIS ] ) & & ( homeX | | homeY ) ) {
current_position [ Z_AXIS ] = pre_home_z ;
SYNC_PLAN_POSITION_KINEMATIC ( ) ;
mbl . set_active ( true ) ;
planner . unapply_leveling ( current_position ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " MBL Home X or Y " , current_position ) ;
# endif
}
}
@ -3664,16 +3610,16 @@ inline void gcode_G28() {
clean_up_after_endstop_or_probe_move ( ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) SERIAL_ECHOLNPGM ( " <<< gcode_G28 " ) ;
# endif
// Restore the active tool after homing
# if HOTENDS > 1
tool_change ( old_tool_index , 0 , true ) ;
# endif
report_current_position ( ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) SERIAL_ECHOLNPGM ( " <<< gcode_G28 " ) ;
# endif
}
# if HAS_PROBING_PROCEDURE
@ -3690,25 +3636,21 @@ inline void gcode_G28() {
inline void _mbl_goto_xy ( const float & x , const float & y ) {
const float old_feedrate_mm_s = feedrate_mm_s ;
feedrate_mm_s = homing_feedrate_mm_s [ Z_AXIS ] ;
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z
# if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
+ Z_CLEARANCE_BETWEEN_PROBES
# elif Z_HOMING_HEIGHT > 0
+ Z_HOMING_HEIGHT
# endif
;
line_to_current_position ( ) ;
# if MANUAL_PROBE_HEIGHT > 0
feedrate_mm_s = homing_feedrate_mm_s [ Z_AXIS ] ;
current_position [ Z_AXIS ] = LOGICAL_Z_POSITION ( Z_MIN_POS ) + MANUAL_PROBE_HEIGHT ;
line_to_current_position ( ) ;
# endif
feedrate_mm_s = MMM_TO_MMS ( XY_PROBE_SPEED ) ;
current_position [ X_AXIS ] = LOGICAL_X_POSITION ( x ) ;
current_position [ Y_AXIS ] = LOGICAL_Y_POSITION ( y ) ;
line_to_current_position ( ) ;
# if Z_CLEARANCE_BETWEEN_PROBES > 0 || Z_HOMING _HEIGHT > 0
# if MANUAL_PROBE _HEIGHT > 0
feedrate_mm_s = homing_feedrate_mm_s [ Z_AXIS ] ;
current_position [ Z_AXIS ] = LOGICAL_Z_POSITION ( MESH_HOME_SEARCH_Z ) ;
current_position [ Z_AXIS ] = LOGICAL_Z_POSITION ( Z_MIN_POS ) + 0.2 ; // just slightly over the bed
line_to_current_position ( ) ;
# endif
@ -3721,7 +3663,6 @@ inline void gcode_G28() {
void mbl_mesh_report ( ) {
SERIAL_PROTOCOLLNPGM ( " Num X,Y: " STRINGIFY ( MESH_NUM_X_POINTS ) " , " STRINGIFY ( MESH_NUM_Y_POINTS ) ) ;
SERIAL_PROTOCOLLNPGM ( " Z search height: " STRINGIFY ( MESH_HOME_SEARCH_Z ) ) ;
SERIAL_PROTOCOLPGM ( " Z offset: " ) ; SERIAL_PROTOCOL_F ( mbl . z_offset , 5 ) ;
SERIAL_PROTOCOLLNPGM ( " \n Measured points: " ) ;
for ( uint8_t py = 0 ; py < MESH_NUM_Y_POINTS ; py + + ) {
@ -3757,6 +3698,10 @@ inline void gcode_G28() {
inline void gcode_G29 ( ) {
static int probe_index = - 1 ;
# if HAS_SOFTWARE_ENDSTOPS
static bool enable_soft_endstops ;
# endif
const MeshLevelingState state = code_seen ( ' S ' ) ? ( MeshLevelingState ) code_value_byte ( ) : MeshReport ;
if ( state < 0 | | state > 5 ) {
SERIAL_PROTOCOLLNPGM ( " S out of range (0-5). " ) ;
@ -3788,33 +3733,34 @@ inline void gcode_G28() {
}
// For each G29 S2...
if ( probe_index = = 0 ) {
// For the initial G29 S2 make Z a positive value (e.g., 4.0)
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z
# if Z_HOME_DIR > 0
+ Z_MAX_POS
# endif
;
SYNC_PLAN_POSITION_KINEMATIC ( ) ;
# if HAS_SOFTWARE_ENDSTOPS
// For the initial G29 S2 save software endstop state
enable_soft_endstops = soft_endstops_enabled ;
# endif
}
else {
// For G29 S2 after adjusting Z.
mbl . set_zigzag_z ( probe_index - 1 , current_position [ Z_AXIS ] ) ;
# if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops ;
# endif
}
// If there's another point to sample, move there with optional lift.
if ( probe_index < ( MESH_NUM_X_POINTS ) * ( MESH_NUM_Y_POINTS ) ) {
mbl . zigzag ( probe_index , px , py ) ;
_mbl_goto_xy ( mbl . get_probe_x ( px ) , mbl . get_probe_y ( py ) ) ;
# if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false ;
# endif
probe_index + + ;
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z
# if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
+ Z_CLEARANCE_BETWEEN_PROBES
# elif Z_HOMING_HEIGHT > 0
+ Z_HOMING_HEIGHT
# endif
;
current_position [ Z_AXIS ] = LOGICAL_Z_POSITION ( Z_MIN_POS ) + MANUAL_PROBE_HEIGHT ;
line_to_current_position ( ) ;
stepper . synchronize ( ) ;
@ -3822,7 +3768,12 @@ inline void gcode_G28() {
SERIAL_PROTOCOLLNPGM ( " Mesh probing done. " ) ;
probe_index = - 1 ;
mbl . set_has_mesh ( true ) ;
mbl . set_reactivate ( true ) ;
enqueue_and_echo_commands_P ( PSTR ( " G28 " ) ) ;
# if HAS_BUZZER
lcd_buzz ( 200 , 659 ) ;
lcd_buzz ( 200 , 698 ) ;
# endif
}
break ;
@ -3871,14 +3822,8 @@ inline void gcode_G28() {
break ;
case MeshReset :
if ( mbl . active ( ) ) {
current_position [ Z_AXIS ] - = MESH_HOME_SEARCH_Z ;
planner . apply_leveling ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ) ;
mbl . reset ( ) ;
SYNC_PLAN_POSITION_KINEMATIC ( ) ;
}
else
mbl . reset ( ) ;
reset_bed_level ( ) ;
break ;
} // switch(state)
@ -6427,10 +6372,8 @@ inline void gcode_M205() {
*/
inline void gcode_M211 ( ) {
SERIAL_ECHO_START ;
# if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
# if HAS_SOFTWARE_ENDSTOPS
if ( code_seen ( ' S ' ) ) soft_endstops_enabled = code_value_bool ( ) ;
# endif
# if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
SERIAL_ECHOPGM ( MSG_SOFT_ENDSTOPS ) ;
serialprintPGM ( soft_endstops_enabled ? PSTR ( MSG_ON ) : PSTR ( MSG_OFF ) ) ;
# else
@ -7946,7 +7889,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
& & ( delayed_move_time | | current_position [ X_AXIS ] ! = xhome )
) {
float raised_z = current_position [ Z_AXIS ] + TOOLCHANGE_PARK_ZLIFT ;
# if ENABLED(max_software_endstops )
# if ENABLED(MAX_SOFTWARE_ENDSTOPS )
NOMORE ( raised_z , soft_endstop_max [ Z_AXIS ] ) ;
# endif
# if ENABLED(DEBUG_LEVELING_FEATURE)
@ -7997,7 +7940,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// record raised toolhead position for use by unpark
COPY ( raised_parked_position , current_position ) ;
raised_parked_position [ Z_AXIS ] + = TOOLCHANGE_UNPARK_ZLIFT ;
# if ENABLED(max_software_endstops )
# if ENABLED(MAX_SOFTWARE_ENDSTOPS )
NOMORE ( raised_parked_position [ Z_AXIS ] , soft_endstop_max [ Z_AXIS ] ) ;
# endif
active_extruder_parked = true ;
@ -9033,18 +8976,19 @@ void ok_to_send() {
SERIAL_EOL ;
}
# if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
# if HAS_SOFTWARE_ENDSTOPS
/**
* Constrain the given coordinates to the software endstops .
*/
void clamp_to_software_endstops ( float target [ XYZ ] ) {
# if ENABLED(min_software_endstops)
if ( ! soft_endstops_enabled ) return ;
# if ENABLED(MIN_SOFTWARE_ENDSTOPS)
NOLESS ( target [ X_AXIS ] , soft_endstop_min [ X_AXIS ] ) ;
NOLESS ( target [ Y_AXIS ] , soft_endstop_min [ Y_AXIS ] ) ;
NOLESS ( target [ Z_AXIS ] , soft_endstop_min [ Z_AXIS ] ) ;
# endif
# if ENABLED(max_software_endstops )
# if ENABLED(MAX_SOFTWARE_ENDSTOPS )
NOMORE ( target [ X_AXIS ] , soft_endstop_max [ X_AXIS ] ) ;
NOMORE ( target [ Y_AXIS ] , soft_endstop_max [ Y_AXIS ] ) ;
NOMORE ( target [ Z_AXIS ] , soft_endstop_max [ Z_AXIS ] ) ;
Scott Lahteine
8 years ago
GitHub