andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Document, adjust some homing code

vanilla_fb_2.0.x
Scott Lahteine 4 years ago
committed by Scott Lahteine
parent
a42755a061
commit
eaeb9d1b20
3 changed files with 45 additions and 33 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      Marlin/src/feature/z_stepper_align.cpp
  2. 64
      Marlin/src/module/motion.cpp
  3. 10
      Marlin/src/module/probe.cpp

4
Marlin/src/feature/z_stepper_align.cpp
View File

@ -58,7 +58,7 @@ void ZStepperAlign::reset_to_default() {
"Z_STEPPER_ALIGN_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.")
VALIDATE_ALIGN_POINT(0); VALIDATE_ALIGN_POINT(1); VALIDATE_ALIGN_POINT(2); VALIDATE_ALIGN_POINT(3);
#else // !defined(Z_STEPPER_ALIGN_XY)
#else // !Z_STEPPER_ALIGN_XY
const xy_pos_t xy_init[] = {
#if NUM_Z_STEPPER_DRIVERS >= 3 // First probe point...
@ -99,7 +99,7 @@ void ZStepperAlign::reset_to_default() {
#endif
};
#endif // !defined(Z_STEPPER_ALIGN_XY)
#endif // !Z_STEPPER_ALIGN_XY
COPY(xy, xy_init);

64
Marlin/src/module/motion.cpp
View File

@ -1293,23 +1293,17 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0) {
DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING));
const feedRate_t real_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
const feedRate_t home_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("...(", axis_codes[axis], ", ", distance, ", ");
if (fr_mm_s)
DEBUG_ECHO(fr_mm_s);
else
DEBUG_ECHOPAIR("[", real_fr_mm_s, "]");
DEBUG_ECHOPAIR("[", home_fr_mm_s, "]");
DEBUG_ECHOLNPGM(")");
}
#if ALL(HOMING_Z_WITH_PROBE, HAS_HEATED_BED, WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
if (axis == Z_AXIS && distance < 0)
thermalManager.wait_for_bed_heating();
#endif
// Only do some things when moving towards an endstop
const int8_t axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS)
? x_home_dir(active_extruder) : home_dir(axis);
@ -1321,9 +1315,14 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
if (is_home_dir) {
#if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING
if (axis == Z_AXIS) probe.set_probing_paused(true);
#endif
if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS)) {
#if ALL(HAS_HEATED_BED, WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
thermalManager.wait_for_bed_heating();
#endif
TERN_(HAS_QUIET_PROBING, probe.set_probing_paused(true));
}
// Disable stealthChop if used. Enable diag1 pin on driver.
TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis));
@ -1334,7 +1333,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
current_position[axis] = 0;
sync_plan_position();
current_position[axis] = distance;
line_to_current_position(real_fr_mm_s);
line_to_current_position(home_fr_mm_s);
#else
// Get the ABC or XYZ positions in mm
abce_pos_t target = planner.get_axis_positions_mm();
@ -1352,7 +1351,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
#if HAS_DIST_MM_ARG
, cart_dist_mm
#endif
, real_fr_mm_s, active_extruder
, home_fr_mm_s, active_extruder
);
#endif
@ -1571,7 +1570,9 @@ void homeaxis(const AxisEnum axis) {
const int axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS)
? x_home_dir(active_extruder) : home_dir(axis);
// Homing Z towards the bed? Deploy the Z probe or endstop.
//
// Homing Z with a probe? Raise Z (maybe) and deploy the Z probe.
//
if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && probe.deploy()))
return;
@ -1586,23 +1587,34 @@ void homeaxis(const AxisEnum axis) {
}
#endif
// Fast move towards endstop until triggered
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 1 Fast:");
//
// Deploy BLTouch or tare the probe just before probing
//
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS) {
if (TERN0(BLTOUCH, bltouch.deploy())) return;
if (TERN0(BLTOUCH, bltouch.deploy())) return; // BLTouch was deployed above, but get the alarm state.
if (TERN0(PROBE_TARE, probe.tare())) return;
}
#endif
//
// Back away to prevent an early X/Y sensorless trigger
//
#if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM)
const xy_float_t backoff = SENSORLESS_BACKOFF_MM;
if (((ENABLED(X_SENSORLESS) && axis == X_AXIS) || (ENABLED(Y_SENSORLESS) && axis == Y_AXIS)) && backoff[axis])
do_homing_move(axis, -ABS(backoff[axis]) * axis_home_dir, homing_feedrate(axis));
if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS)) && backoff[axis]) {
const float backoff_length = -ABS(backoff[axis]) * axis_home_dir;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Sensorless backoff: ", backoff_length, "mm");
do_homing_move(axis, backoff_length, homing_feedrate(axis));
}
#endif
do_homing_move(axis, 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir);
//
// Fast move towards endstop until triggered
//
const float move_length = 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Home Fast: ", move_length, "mm");
do_homing_move(axis, move_length);
#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
@ -1617,7 +1629,7 @@ void homeaxis(const AxisEnum axis) {
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOMING_BUMP_MM
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move Away:");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Move Away: ", -bump, "mm");
do_homing_move(axis, -bump
#if HOMING_Z_WITH_PROBE
, MMM_TO_MMS(axis == Z_AXIS ? Z_PROBE_SPEED_FAST : 0)
@ -1639,14 +1651,14 @@ void homeaxis(const AxisEnum axis) {
}
#endif
// Slow move towards endstop until triggered
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 2 Slow:");
#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE)
#endif
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
// Slow move towards endstop until triggered
const float rebump = bump * 2;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Re-bump: ", rebump, "mm");
do_homing_move(axis, rebump, get_homing_bump_feedrate(axis));
#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH)
if (axis == Z_AXIS) bltouch.stow(); // The final STOW

10
Marlin/src/module/probe.cpp
View File

@ -373,19 +373,19 @@ bool Probe::set_deployed(const bool deploy) {
// Fix-mounted probe should only raise for deploy
// unless PAUSE_BEFORE_DEPLOY_STOW is enabled
#if EITHER(FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE) && DISABLED(PAUSE_BEFORE_DEPLOY_STOW)
const bool deploy_stow_condition = deploy;
const bool z_raise_wanted = deploy;
#else
constexpr bool deploy_stow_condition = true;
constexpr bool z_raise_wanted = true;
#endif
// For beds that fall when Z is powered off only raise for trusted Z
#if ENABLED(UNKNOWN_Z_NO_RAISE)
const bool unknown_condition = axis_is_trusted(Z_AXIS);
const bool z_is_trusted = axis_is_trusted(Z_AXIS);
#else
constexpr float unknown_condition = true;
constexpr float z_is_trusted = true;
#endif
if (deploy_stow_condition && unknown_condition)
if (z_is_trusted && z_raise_wanted)
do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)

Write Preview
Loading…
Cancel
Save