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

Unify debugging output with debug_out.h (#13388)

pull/1/head
Scott Lahteine 5 years ago
committed by GitHub
parent
cc8a871705
commit
f5bcc00570
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
25 changed files with 634 additions and 911 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. 89
      Marlin/src/core/debug_out.h
  2. 15
      Marlin/src/core/serial.h
  3. 7
      Marlin/src/core/utility.cpp
  4. 2
      Marlin/src/core/utility.h
  5. 32
      Marlin/src/feature/bedlevel/abl/abl.cpp
  6. 7
      Marlin/src/feature/bedlevel/bedlevel.cpp
  7. 61
      Marlin/src/feature/bedlevel/ubl/ubl.h
  8. 187
      Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
  9. 119
      Marlin/src/feature/prusa_MMU2/mmu2.cpp
  10. 58
      Marlin/src/gcode/bedlevel/abl/G29.cpp
  11. 47
      Marlin/src/gcode/calibrate/G28.cpp
  12. 51
      Marlin/src/gcode/calibrate/G34_M422.cpp
  13. 22
      Marlin/src/gcode/calibrate/M666.cpp
  14. 4
      Marlin/src/gcode/control/M111.cpp
  15. 25
      Marlin/src/gcode/control/T.cpp
  16. 7
      Marlin/src/gcode/feature/L6470/M906.cpp
  17. 136
      Marlin/src/gcode/feature/L6470/M916-918.cpp
  18. 6
      Marlin/src/gcode/host/M114.cpp
  19. 45
      Marlin/src/libs/L6470/L6470_Marlin.cpp
  20. 20
      Marlin/src/libs/L6470/L6470_Marlin.h
  21. 77
      Marlin/src/module/configuration_store.cpp
  22. 11
      Marlin/src/module/delta.cpp
  23. 193
      Marlin/src/module/motion.cpp
  24. 95
      Marlin/src/module/probe.cpp
  25. 229
      Marlin/src/module/tool_change.cpp

89
Marlin/src/core/debug_out.h
View File

@ -0,0 +1,89 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
//
// Serial aliases for debugging.
// Include this header after defining DEBUG_OUT
// (or not) in a given .cpp file
//
#undef DEBUG_ECHO_START
#undef DEBUG_ERROR_START
#undef DEBUG_CHAR
#undef DEBUG_ECHO
#undef DEBUG_ECHO_F
#undef DEBUG_ECHOLN
#undef DEBUG_ECHOPGM
#undef DEBUG_ECHOLNPGM
#undef DEBUG_ECHOPAIR
#undef DEBUG_ECHOPAIR_F
#undef DEBUG_ECHOLNPAIR
#undef DEBUG_ECHOLNPAIR_F
#undef DEBUG_ECHO_MSG
#undef DEBUG_ERROR_MSG
#undef DEBUG_EOL
#undef DEBUG_POS
#undef DEBUG_XYZ
#undef DEBUG_DELAY
#if DEBUG_OUT
#define DEBUG_ECHO_START SERIAL_ECHO_START
#define DEBUG_ERROR_START SERIAL_ERROR_START
#define DEBUG_CHAR SERIAL_CHAR
#define DEBUG_ECHO SERIAL_ECHO
#define DEBUG_ECHO_F SERIAL_ECHO_F
#define DEBUG_ECHOLN SERIAL_ECHOLN
#define DEBUG_ECHOPGM SERIAL_ECHOPGM
#define DEBUG_ECHOLNPGM SERIAL_ECHOLNPGM
#define DEBUG_ECHOPAIR SERIAL_ECHOPAIR
#define DEBUG_ECHOPAIR_F SERIAL_ECHOPAIR_F
#define DEBUG_ECHOLNPAIR SERIAL_ECHOLNPAIR
#define DEBUG_ECHOLNPAIR_F SERIAL_ECHOLNPAIR_F
#define DEBUG_ECHO_MSG SERIAL_ECHO_MSG
#define DEBUG_ERROR_MSG SERIAL_ERROR_MSG
#define DEBUG_EOL SERIAL_EOL
#define DEBUG_POS SERIAL_POS
#define DEBUG_XYZ SERIAL_XYZ
#define DEBUG_DELAY(ms) serial_delay(ms)
#else
#define DEBUG_ECHO_START() NOOP
#define DEBUG_ERROR_START() NOOP
#define DEBUG_CHAR(...) NOOP
#define DEBUG_ECHO(...) NOOP
#define DEBUG_ECHO_F(...) NOOP
#define DEBUG_ECHOLN(...) NOOP
#define DEBUG_ECHOPGM(...) NOOP
#define DEBUG_ECHOLNPGM(...) NOOP
#define DEBUG_ECHOPAIR(...) NOOP
#define DEBUG_ECHOPAIR_F(...) NOOP
#define DEBUG_ECHOLNPAIR(...) NOOP
#define DEBUG_ECHOLNPAIR_F(...) NOOP
#define DEBUG_ECHO_MSG(...) NOOP
#define DEBUG_ERROR_MSG(...) NOOP
#define DEBUG_EOL() NOOP
#define DEBUG_POS(...) NOOP
#define DEBUG_XYZ(...) NOOP
#define DEBUG_DELAY(...) NOOP
#endif
#undef DEBUG_OUT

15
Marlin/src/core/serial.h
View File

@ -35,8 +35,13 @@ enum MarlinDebugFlags : uint8_t {
MARLIN_DEBUG_ERRORS = _BV(2), ///< Not implemented
MARLIN_DEBUG_DRYRUN = _BV(3), ///< Ignore temperature setting and E movement commands
MARLIN_DEBUG_COMMUNICATION = _BV(4), ///< Not implemented
MARLIN_DEBUG_LEVELING = _BV(5), ///< Print detailed output for homing and leveling
MARLIN_DEBUG_MESH_ADJUST = _BV(6), ///< UBL bed leveling
#if ENABLED(DEBUG_LEVELING_FEATURE)
MARLIN_DEBUG_LEVELING = _BV(5), ///< Print detailed output for homing and leveling
MARLIN_DEBUG_MESH_ADJUST = _BV(6), ///< UBL bed leveling
#else
MARLIN_DEBUG_LEVELING = 0,
MARLIN_DEBUG_MESH_ADJUST = 0,
#endif
MARLIN_DEBUG_ALL = 0xFF
};
@ -178,5 +183,9 @@ void print_bin(const uint16_t val);
#if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float x, const float y, const float z);
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]);
#define DEBUG_POS(SUFFIX,VAR) do { print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
#define SERIAL_XYZ(PREFIX,...) do { print_xyz(PSTR(PREFIX), NULL, __VA_ARGS__); } while(0)
#else
#define SERIAL_POS(...) NOOP
#define SERIAL_XYZ(...) NOOP
#endif

7
Marlin/src/core/utility.cpp
View File

@ -321,8 +321,11 @@ void safe_delay(millis_t ms) {
);
#if HAS_BED_PROBE
SERIAL_ECHOPGM("Probe Offset X:" STRINGIFY(X_PROBE_OFFSET_FROM_EXTRUDER) " Y:" STRINGIFY(Y_PROBE_OFFSET_FROM_EXTRUDER));
SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
SERIAL_ECHOPAIR(
"Probe Offset X:" STRINGIFY(X_PROBE_OFFSET_FROM_EXTRUDER)
" Y:" STRINGIFY(Y_PROBE_OFFSET_FROM_EXTRUDER)
" Z:", zprobe_zoffset
);
if ((X_PROBE_OFFSET_FROM_EXTRUDER) > 0)
SERIAL_ECHOPGM(" (Right");
else if ((X_PROBE_OFFSET_FROM_EXTRUDER) < 0)

2
Marlin/src/core/utility.h
View File

@ -118,6 +118,8 @@ inline void serial_delay(const millis_t ms) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
void log_machine_info();
#else
#define log_machine_info() NOOP
#endif
template<typename T>

32
Marlin/src/feature/bedlevel/abl/abl.cpp
View File

@ -29,6 +29,9 @@
#include "../../../module/motion.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../../core/debug_out.h"
int bilinear_grid_spacing[2], bilinear_start[2];
float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
@ -37,26 +40,21 @@ float bilinear_grid_factor[2],
* Extrapolate a single point from its neighbors
*/
static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Extrapolate [");
if (x < 10) SERIAL_CHAR(' ');
SERIAL_ECHO((int)x);
SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(' ');
if (y < 10) SERIAL_CHAR(' ');
SERIAL_ECHO((int)y);
SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(']');
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM("Extrapolate [");
if (x < 10) DEBUG_CHAR(' ');
DEBUG_ECHO((int)x);
DEBUG_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
DEBUG_CHAR(' ');
if (y < 10) DEBUG_CHAR(' ');
DEBUG_ECHO((int)y);
DEBUG_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
DEBUG_ECHOLNPGM("]");
}
if (!isnan(z_values[x][y])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(" (done)");
return; // Don't overwrite good values.
}
SERIAL_EOL();
// Get X neighbors, Y neighbors, and XY neighbors
const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;

7
Marlin/src/feature/bedlevel/bedlevel.cpp
View File

@ -39,6 +39,9 @@
#include "../../lcd/ultralcd.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
#if ENABLED(G26_MESH_VALIDATION)
bool g26_debug_flag; // = false
#endif
@ -122,9 +125,7 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
* Reset calibration results to zero.
*/
void reset_bed_level() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level");
set_bed_leveling_enabled(false);
#if ENABLED(MESH_BED_LEVELING)
mbl.reset();

61
Marlin/src/feature/bedlevel/ubl/ubl.h
View File

@ -29,6 +29,9 @@
#include "../../../lcd/ultralcd.h"
#include "../../../Marlin.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../../core/debug_out.h"
#define UBL_VERSION "1.01"
#define UBL_OK false
#define UBL_ERR true
@ -199,12 +202,11 @@ class unified_bed_leveling {
*/
static inline float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );
SERIAL_ECHOLNPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")");
}
#endif
if (DEBUGGING(LEVELING)) {
if (WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i");
DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")");
}
// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
return (
@ -229,12 +231,11 @@ class unified_bed_leveling {
//
static inline float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
serialprintPGM(!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i"));
SERIAL_ECHOLNPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")");
}
#endif
if (DEBUGGING(LEVELING)) {
if (WITHIN(xi, 0, GRID_MAX_POINTS_X - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi");
DEBUG_ECHOLNPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")");
}
// The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
return (
@ -285,17 +286,12 @@ class unified_bed_leveling {
mesh_index_to_ypos(cy), z1,
mesh_index_to_ypos(cy + 1), z2);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);
SERIAL_CHAR(','); SERIAL_ECHO(ry0);
SERIAL_ECHOPAIR_F(") = ", z0, 6);
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) SERIAL_ECHOLNPAIR_F(" >>>---> ", z0, 6);
#endif
if (DEBUGGING(MESH_ADJUST)) {
DEBUG_ECHOPAIR(" raw get_z_correction(", rx0);
DEBUG_CHAR(','); DEBUG_ECHO(ry0);
DEBUG_ECHOPAIR_F(") = ", z0, 6);
DEBUG_ECHOLNPAIR_F(" >>>---> ", z0, 6);
}
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
z0 = 0.0; // in ubl.z_values[][] and propagate through the
@ -303,15 +299,13 @@ class unified_bed_leveling {
// because part of the Mesh is undefined and we don't have the
// information we need to complete the height correction.
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0);
SERIAL_CHAR(',');
SERIAL_ECHO(ry0);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(MESH_ADJUST)) {
DEBUG_ECHOPAIR("??? Yikes! NAN in get_z_correction(", rx0);
DEBUG_CHAR(',');
DEBUG_ECHO(ry0);
DEBUG_CHAR(')');
DEBUG_EOL();
}
}
return z0;
}
@ -342,3 +336,6 @@ class unified_bed_leveling {
extern unified_bed_leveling ubl;
#define Z_VALUES(X,Y) ubl.z_values[X][Y]
// Prevent debugging propagating to other files
#include "../../../core/debug_out.h"

187
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View File

@ -46,6 +46,9 @@
#include "../../../module/tool_change.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../../core/debug_out.h"
#include <math.h>
#define UBL_G29_P31
@ -442,7 +445,7 @@
SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh.");
}
if (g29_verbose_level > 1) {
SERIAL_ECHOPAIR("Probing Mesh Points Closest to (", g29_x_pos);
SERIAL_ECHOPAIR("Probing around (", g29_x_pos);
SERIAL_CHAR(',');
SERIAL_ECHO(g29_y_pos);
SERIAL_ECHOLNPGM(").\n");
@ -1463,27 +1466,24 @@
abort_flag = isnan(measured_z);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_CHAR('(');
SERIAL_ECHO_F(rx, 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(ry, 7);
SERIAL_ECHOPGM(") logical: ");
SERIAL_CHAR('(');
SERIAL_ECHO_F(LOGICAL_X_POSITION(rx), 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(LOGICAL_Y_POSITION(ry), 7);
SERIAL_ECHOPAIR_F(") measured: ", measured_z, 7);
SERIAL_ECHOPAIR_F(" correction: ", get_z_correction(rx, ry), 7);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_CHAR('(');
DEBUG_ECHO_F(rx, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(ry, 7);
DEBUG_ECHOPGM(") logical: ");
DEBUG_CHAR('(');
DEBUG_ECHO_F(LOGICAL_X_POSITION(rx), 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(LOGICAL_Y_POSITION(ry), 7);
DEBUG_ECHOPAIR_F(") measured: ", measured_z, 7);
DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rx, ry), 7);
}
measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7);
if (g29_verbose_level > 3) {
serial_spaces(16);
SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
@ -1524,31 +1524,27 @@
y_tmp = mesh_index_to_ypos(j),
z_tmp = z_values[i][j];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR_F("before rotation = [", x_tmp, 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(y_tmp, 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(z_tmp, 7);
SERIAL_ECHOPGM("] ---> ");
serial_delay(20);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR_F("before rotation = [", x_tmp, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(y_tmp, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(z_tmp, 7);
DEBUG_ECHOPGM("] ---> ");
DEBUG_DELAY(20);
}
apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR_F("after rotation = [", x_tmp, 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(y_tmp, 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(z_tmp, 7);
SERIAL_ECHOLNPGM("]");
serial_delay(55);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR_F("after rotation = [", x_tmp, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(y_tmp, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(z_tmp, 7);
DEBUG_ECHOLNPGM("]");
DEBUG_DELAY(55);
}
z_values[i][j] = z_tmp - lsf_results.D;
#if ENABLED(EXTENSIBLE_UI)
@ -1557,62 +1553,59 @@
}
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
rotation.debug(PSTR("rotation matrix:\n"));
SERIAL_ECHOPAIR_F("LSF Results A=", lsf_results.A, 7);
SERIAL_ECHOPAIR_F(" B=", lsf_results.B, 7);
SERIAL_ECHOLNPAIR_F(" D=", lsf_results.D, 7);
serial_delay(55);
SERIAL_ECHOPAIR_F("bed plane normal = [", normal.x, 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(normal.y, 7);
SERIAL_CHAR(',');
SERIAL_ECHO_F(normal.z, 7);
SERIAL_ECHOLNPGM("]");
SERIAL_EOL();
/**
* The following code can be used to check the validity of the mesh tilting algorithm.
* When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting.
* The only difference is just 3 points are used in the calculations. That fact guarantees
* each probed point should have an exact match when a get_z_correction() for that location
* is calculated. The Z error between the probed point locations and the get_z_correction()
* numbers for those locations should be 0.
*/
#if 0
float t, t1, d;
t = normal.x * (PROBE_PT_1_X) + normal.y * (PROBE_PT_1_Y);
d = t + normal.z * z1;
SERIAL_ECHOPAIR_F("D from 1st point: ", d, 6);
SERIAL_ECHOLNPAIR_F(" Z error: ", normal.z*z1-get_z_correction(PROBE_PT_1_X, PROBE_PT_1_Y), 6);
t = normal.x * (PROBE_PT_2_X) + normal.y * (PROBE_PT_2_Y);
d = t + normal.z * z2;
SERIAL_EOL();
SERIAL_ECHOPAIR_F("D from 2nd point: ", d, 6);
SERIAL_ECHOLNPAIR_F(" Z error: ", normal.z*z2-get_z_correction(PROBE_PT_2_X, PROBE_PT_2_Y), 6);
t = normal.x * (PROBE_PT_3_X) + normal.y * (PROBE_PT_3_Y);
d = t + normal.z * z3;
SERIAL_ECHOPAIR_F("D from 3rd point: ", d, 6);
SERIAL_ECHOLNPAIR_F(" Z error: ", normal.z*z3-get_z_correction(PROBE_PT_3_X, PROBE_PT_3_Y), 6);
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + normal.z * 0;
SERIAL_ECHOLNPAIR_F("D from home location with Z=0 : ", d, 6);
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0;
SERIAL_ECHOPAIR_F("D from home location using mesh value for Z: ", d, 6);
SERIAL_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT);
SERIAL_ECHOPAIR(",", Z_SAFE_HOMING_Y_POINT);
SERIAL_ECHOLNPAIR_F(") = ", get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT), 6);
#endif
} // DEBUGGING(LEVELING)
#endif
if (DEBUGGING(LEVELING)) {
rotation.debug(PSTR("rotation matrix:\n"));
DEBUG_ECHOPAIR_F("LSF Results A=", lsf_results.A, 7);
DEBUG_ECHOPAIR_F(" B=", lsf_results.B, 7);
DEBUG_ECHOLNPAIR_F(" D=", lsf_results.D, 7);
DEBUG_DELAY(55);
DEBUG_ECHOPAIR_F("bed plane normal = [", normal.x, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(normal.y, 7);
DEBUG_CHAR(',');
DEBUG_ECHO_F(normal.z, 7);
DEBUG_ECHOLNPGM("]");
DEBUG_EOL();
/**
* The following code can be used to check the validity of the mesh tilting algorithm.
* When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting.
* The only difference is just 3 points are used in the calculations. That fact guarantees
* each probed point should have an exact match when a get_z_correction() for that location
* is calculated. The Z error between the probed point locations and the get_z_correction()
* numbers for those locations should be 0.
*/
#if 0
float t, t1, d;
t = normal.x * (PROBE_PT_1_X) + normal.y * (PROBE_PT_1_Y);
d = t + normal.z * z1;
DEBUG_ECHOPAIR_F("D from 1st point: ", d, 6);
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z*z1-get_z_correction(PROBE_PT_1_X, PROBE_PT_1_Y), 6);
t = normal.x * (PROBE_PT_2_X) + normal.y * (PROBE_PT_2_Y);
d = t + normal.z * z2;
DEBUG_EOL();
DEBUG_ECHOPAIR_F("D from 2nd point: ", d, 6);
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z*z2-get_z_correction(PROBE_PT_2_X, PROBE_PT_2_Y), 6);
t = normal.x * (PROBE_PT_3_X) + normal.y * (PROBE_PT_3_Y);
d = t + normal.z * z3;
DEBUG_ECHOPAIR_F("D from 3rd point: ", d, 6);
DEBUG_ECHOLNPAIR_F(" Z error: ", normal.z*z3-get_z_correction(PROBE_PT_3_X, PROBE_PT_3_Y), 6);
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + normal.z * 0;
DEBUG_ECHOLNPAIR_F("D from home location with Z=0 : ", d, 6);
t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0;
DEBUG_ECHOPAIR_F("D from home location using mesh value for Z: ", d, 6);
DEBUG_ECHOPAIR(" Z error: (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT);
DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT), 6);
#endif
} // DEBUGGING(LEVELING)
}

119
Marlin/src/feature/prusa_MMU2/mmu2.cpp
View File

@ -42,6 +42,9 @@ MMU2 mmu2;
#include "../../feature/host_actions.h"
#endif
#define DEBUG_OUT ENABLED(MMU2_DEBUG)
#include "../../core/debug_out.h"
#define MMU_TODELAY 100
#define MMU_TIMEOUT 10
#define MMU_CMD_TIMEOUT 60000ul //5min timeout for mmu commands (except P0)
@ -128,9 +131,7 @@ void MMU2::init() {
}
void MMU2::reset() {
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU <= reset");
#endif
DEBUG_ECHOLNPGM("MMU <= reset");
#if PIN_EXISTS(MMU2_RST)
WRITE(MMU2_RST_PIN, LOW);
@ -153,10 +154,8 @@ void MMU2::mmuLoop() {
case -1:
if (rx_start()) {
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU => 'start'");
SERIAL_ECHOLNPGM("MMU <= 'S1'");
#endif
DEBUG_ECHOLNPGM("MMU => 'start'");
DEBUG_ECHOLNPGM("MMU <= 'S1'");
// send "read version" request
tx_str_P(PSTR("S1\n"));
@ -173,9 +172,7 @@ void MMU2::mmuLoop() {
if (rx_ok()) {
sscanf(rx_buffer, "%uok\n", &version);
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPAIR("MMU => ", version, "\nMMU <= 'S2'");
#endif
DEBUG_ECHOLNPAIR("MMU => ", version, "\nMMU <= 'S2'");
tx_str_P(PSTR("S2\n")); // read build number
state = -3;
@ -185,24 +182,19 @@ void MMU2::mmuLoop() {
case -3:
if (rx_ok()) {
sscanf(rx_buffer, "%uok\n", &buildnr);
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPAIR("MMU => ", buildnr);
#endif
DEBUG_ECHOLNPAIR("MMU => ", buildnr);
checkVersion();
#if ENABLED(MMU2_MODE_12V)
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU <= 'M1'");
#endif
DEBUG_ECHOLNPGM("MMU <= 'M1'");
tx_str_P(PSTR("M1\n")); // switch to stealth mode
state = -5;
#else
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU <= 'P0'");
#endif
DEBUG_ECHOLNPGM("MMU <= 'P0'");
tx_str_P(PSTR("P0\n")); // read finda
state = -4;
@ -213,15 +205,11 @@ void MMU2::mmuLoop() {
case -5:
// response to M1
if (rx_ok()) {
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU => ok");
#endif
DEBUG_ECHOLNPGM("MMU => ok");
checkVersion();
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU <= 'P0'");
#endif
DEBUG_ECHOLNPGM("MMU <= 'P0'");
tx_str_P(PSTR("P0\n")); // read finda
state = -4;
@ -232,9 +220,7 @@ void MMU2::mmuLoop() {
if (rx_ok()) {
sscanf(rx_buffer, "%hhuok\n", &finda);
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPAIR("MMU => ", finda, "\nMMU - ENABLED");
#endif
DEBUG_ECHOLNPAIR("MMU => ", finda, "\nMMU - ENABLED");
enabled = true;
state = 1;
@ -246,40 +232,26 @@ void MMU2::mmuLoop() {
if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T4)) {
// tool change
int filament = cmd - MMU_CMD_T0;
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPAIR("MMU <= T", filament);
#endif
DEBUG_ECHOLNPAIR("MMU <= T", filament);
tx_printf_P(PSTR("T%d\n"), filament);
state = 3; // wait for response
}
else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L4)) {
// load
int filament = cmd - MMU_CMD_L0;
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPAIR("MMU <= L", filament);
#endif
DEBUG_ECHOLNPAIR("MMU <= L", filament);
tx_printf_P(PSTR("L%d\n"), filament);
state = 3; // wait for response
}
else if (cmd == MMU_CMD_C0) {
// continue loading
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU <= 'C0'");
#endif
DEBUG_ECHOLNPGM("MMU <= 'C0'");
tx_str_P(PSTR("C0\n"));
state = 3; // wait for response
}
else if (cmd == MMU_CMD_U0) {
// unload current
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU <= 'U0'");
#endif
DEBUG_ECHOLNPGM("MMU <= 'U0'");
tx_str_P(PSTR("U0\n"));
state = 3; // wait for response
@ -287,31 +259,22 @@ void MMU2::mmuLoop() {
else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E4)) {
// eject filament
int filament = cmd - MMU_CMD_E0;
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPAIR("MMU <= E", filament);
#endif
DEBUG_ECHOLNPAIR("MMU <= E", filament);
tx_printf_P(PSTR("E%d\n"), filament);
state = 3; // wait for response
}
else if (cmd == MMU_CMD_R0) {
// recover after eject
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU <= 'R0'");
#endif
DEBUG_ECHOLNPGM("MMU <= 'R0'");
tx_str_P(PSTR("R0\n"));
state = 3; // wait for response
}
else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F4)) {
// filament type
int filament = cmd - MMU_CMD_F0;
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOPAIR("MMU <= F", filament, " ");
SERIAL_ECHO_F(cmd_arg, DEC);
SERIAL_ECHOPGM("\n");
#endif
DEBUG_ECHOPAIR("MMU <= F", filament, " ");
DEBUG_ECHO_F(cmd_arg, DEC);
DEBUG_EOL();
tx_printf_P(PSTR("F%d %d\n"), filament, cmd_arg);
state = 3; // wait for response
}
@ -330,17 +293,8 @@ void MMU2::mmuLoop() {
if (rx_ok()) {
sscanf(rx_buffer, "%hhuok\n", &finda);
#if ENABLED(MMU2_DEBUG)
// This is super annoying. Only activate if necessary
/*
if (findaRunoutValid) {
SERIAL_ECHOLNPGM("MMU <= 'P0'");
SERIAL_ECHOPGM("MMU => ");
SERIAL_ECHO_F(finda, DEC);
SERIAL_ECHOPGM("\n");
}
*/
#endif
// This is super annoying. Only activate if necessary
// if (findaRunoutValid) DEBUG_ECHOLNPAIR_F("MMU <= 'P0'\nMMU => ", finda, 6);
state = 1;
@ -355,10 +309,7 @@ void MMU2::mmuLoop() {
case 3: // response to mmu commands
if (rx_ok()) {
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU => 'ok'");
#endif
DEBUG_ECHOLNPGM("MMU => 'ok'");
ready = true;
state = 1;
last_cmd = MMU_CMD_NONE;
@ -366,10 +317,7 @@ void MMU2::mmuLoop() {
else if (ELAPSED(millis(), last_request + MMU_CMD_TIMEOUT)) {
// resend request after timeout
if (last_cmd) {
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("MMU retry");
#endif
DEBUG_ECHOLNPGM("MMU retry");
cmd = last_cmd;
last_cmd = MMU_CMD_NONE;
}
@ -404,10 +352,7 @@ bool MMU2::rx_str_P(const char* str) {
rx_buffer[i] = '\0';
if (i == sizeof(rx_buffer) - 1) {
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHOLNPGM("rx buffer overrun");
#endif
DEBUG_ECHOLNPGM("rx buffer overrun");
break;
}
}
@ -876,12 +821,8 @@ void MMU2::filamentRunout() {
const float es = pgm_read_float(&(step->extrude)),
fr = pgm_read_float(&(step->feedRate));
#if ENABLED(MMU2_DEBUG)
SERIAL_ECHO_START();
SERIAL_ECHOPAIR("E step ", es);
SERIAL_CHAR('/');
SERIAL_ECHOLN(fr);
#endif
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("E step ", es, "/", fr);
current_position[E_AXIS] += es;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],

58
Marlin/src/gcode/bedlevel/abl/G29.cpp
View File

@ -48,6 +48,9 @@
#include "../../../libs/vector_3.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../../core/debug_out.h"
#if ABL_GRID
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
@ -187,12 +190,7 @@ G29_TYPE GcodeSuite::G29() {
if (axis_unhomed_error()) G29_RETURN(false);
if (!no_action && planner.leveling_active && parser.boolval('O')) { // Auto-level only if needed
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> Auto-level not needed, skip");
SERIAL_ECHOLNPGM("<<< G29");
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip\n<<< G29");
G29_RETURN(false);
}
@ -470,9 +468,7 @@ G29_TYPE GcodeSuite::G29() {
#if ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> 3-point Leveling");
// Probe at 3 arbitrary points
points[0].z = points[1].z = points[2].z = 0;
@ -555,13 +551,7 @@ G29_TYPE GcodeSuite::G29() {
ExtUI::onMeshUpdate(xCount, yCount, z_values[xCount][yCount]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Save X", xCount);
SERIAL_ECHOPAIR(" Y", yCount);
SERIAL_ECHOLNPAIR(" Z", measured_z + zoffset);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Save X", xCount, " Y", yCount, " Z", measured_z + zoffset);
#endif
}
@ -790,9 +780,7 @@ G29_TYPE GcodeSuite::G29() {
// return or loop before this point.
//
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#if ENABLED(PROBE_MANUALLY)
g29_in_progress = false;
@ -929,9 +917,7 @@ G29_TYPE GcodeSuite::G29() {
// Correct the current XYZ position based on the tilted plane.
//
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
float converted[XYZ];
COPY(converted, current_position);
@ -945,46 +931,32 @@ G29_TYPE GcodeSuite::G29() {
&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
) {
const float simple_z = current_position[Z_AXIS] - measured_z;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z from Probe:", simple_z);
SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted[Z_AXIS], " Discrepancy ", simple_z - converted[Z_AXIS]);
converted[Z_AXIS] = simple_z;
}
// The rotated XY and corrected Z are now current_position
COPY(current_position, converted);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!dryrun) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
// Unapply the offset because it is going to be immediately applied
// and cause compensation movement in Z
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
}
#endif // ABL_PLANAR
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
planner.synchronize();
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
#endif
@ -996,9 +968,7 @@ G29_TYPE GcodeSuite::G29() {
// Restore state after probing
if (!faux) clean_up_after_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G29");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G29");
KEEPALIVE_STATE(IN_HANDLER);

47
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -49,6 +49,9 @@
#include "../../libs/L6470/L6470_Marlin.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
#if ENABLED(QUICK_HOME)
static void quick_home_xy() {
@ -113,9 +116,7 @@
return;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z_SAFE_HOMING >>>");
sync_plan_position();
@ -133,9 +134,7 @@
if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
// This causes the carriage on Dual X to unpark
#if ENABLED(DUAL_X_CARRIAGE)
@ -154,9 +153,7 @@
SERIAL_ECHO_MSG(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< Z_SAFE_HOMING");
}
#endif // Z_SAFE_HOMING
@ -182,12 +179,10 @@
*/
void GcodeSuite::G28(const bool always_home_all) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> G28");
log_machine_info();
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM(">>> G28");
log_machine_info();
}
#if ENABLED(DUAL_X_CARRIAGE)
bool IDEX_saved_duplication_state = extruder_duplication_enabled;
@ -200,9 +195,7 @@ void GcodeSuite::G28(const bool always_home_all) {
sync_plan_position();
SERIAL_ECHOLNPGM("Simulated Homing");
report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
return;
}
#endif
@ -215,12 +208,7 @@ void GcodeSuite::G28(const bool always_home_all) {
all_axes_homed() // homing needed only if never homed
#endif
) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> homing not needed, skip");
SERIAL_ECHOLNPGM("<<< G28");
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip\n<<< G28");
return;
}
}
@ -297,12 +285,7 @@ void GcodeSuite::G28(const bool always_home_all) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
destination[Z_AXIS] = z_homing_height;
if (destination[Z_AXIS] > current_position[Z_AXIS]) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
do_blocking_move_to_z(destination[Z_AXIS]);
}
}
@ -451,9 +434,7 @@ void GcodeSuite::G28(const bool always_home_all) {
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
#if HAS_DRIVER(L6470)
// Set L6470 absolute position registers to counts

51
Marlin/src/gcode/calibrate/G34_M422.cpp
View File

@ -42,6 +42,9 @@
#include "../../feature/bedlevel/bedlevel.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
float z_auto_align_xpos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_X,
z_auto_align_ypos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_Y;
@ -59,19 +62,15 @@ inline void set_all_z_lock(const bool lock) {
* Parameters: I<iterations> T<accuracy> A<amplification>
*/
void GcodeSuite::G34() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> G34");
log_machine_info();
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM(">>> G34");
log_machine_info();
}
do { // break out on error
if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> XY homing required.");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> XY homing required.");
break;
}
@ -128,9 +127,7 @@ void GcodeSuite::G34() {
z_measured[Z_STEPPER_COUNT] = { 0 };
bool err_break = false;
for (uint8_t iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> probing all positions.");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions.");
// Reset minimum value
float z_measured_min = 100000.0f;
@ -141,19 +138,12 @@ void GcodeSuite::G34() {
// Stop on error
if (isnan(z_measured[zstepper])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> PROBING FAILED!");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> PROBING FAILED!");
err_break = true;
break;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> Z", int(zstepper + 1));
SERIAL_ECHOLNPAIR(" measured position is ", z_measured[zstepper]);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " measured position is ", z_measured[zstepper]);
// Remember the maximum position to calculate the correction
z_measured_min = MIN(z_measured_min, z_measured[zstepper]);
@ -178,9 +168,7 @@ void GcodeSuite::G34() {
// Check for lost accuracy compared to last move
if (last_z_align_move[zstepper] < z_align_abs - 1.0) {
// Stop here
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> detected decreasing accuracy.");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> detected decreasing accuracy.");
err_break = true;
break;
}
@ -190,12 +178,7 @@ void GcodeSuite::G34() {
// Only stop early if all measured points achieve accuracy target
if (z_align_abs > z_auto_align_accuracy) success_break = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> Z", int(zstepper + 1));
SERIAL_ECHOLNPAIR(" corrected by ", z_align_move);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", int(zstepper + 1), " corrected by ", z_align_move);
switch (zstepper) {
case 0: stepper.set_z_lock(false); break;
@ -219,9 +202,7 @@ void GcodeSuite::G34() {
stepper.set_separate_multi_axis(false);
if (success_break) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> achieved target accuracy.");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> achieved target accuracy.");
break;
}
}
@ -252,9 +233,7 @@ void GcodeSuite::G34() {
} while(0);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G34");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G34");
}
/**

22
Marlin/src/gcode/calibrate/M666.cpp
View File

@ -31,32 +31,22 @@
#include "../../module/delta.h"
#include "../../module/motion.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
/**
* M666: Set delta endstop adjustment
*/
void GcodeSuite::M666() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> M666");
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(">>> M666");
LOOP_XYZ(i) {
if (parser.seen(axis_codes[i])) {
const float v = parser.value_linear_units();
if (v * Z_HOME_DIR <= 0) delta_endstop_adj[i] = v;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("delta_endstop_adj[", axis_codes[i]);
SERIAL_ECHOLNPAIR("] = ", delta_endstop_adj[i]);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", axis_codes[i], "] = ", delta_endstop_adj[i]);
}
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< M666");
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< M666");
}
#elif HAS_EXTRA_ENDSTOPS

4
Marlin/src/gcode/control/M111.cpp
View File

@ -34,14 +34,14 @@ void GcodeSuite::M111() {
str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN,
str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION
#if ENABLED(DEBUG_LEVELING_FEATURE)
, str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING
, str_debug_lvl[] PROGMEM = MSG_DEBUG_LEVELING
#endif
;
static PGM_P const debug_strings[] PROGMEM = {
str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16
#if ENABLED(DEBUG_LEVELING_FEATURE)
, str_debug_32
, str_debug_lvl
#endif
};

25
Marlin/src/gcode/control/T.cpp
View File

@ -31,6 +31,9 @@
#include "../../feature/prusa_MMU2/mmu2.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
/**
* T0-T<n>: Switch tool, usually switching extruders
*
@ -45,14 +48,10 @@
*/
void GcodeSuite::T(const uint8_t tool_index) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> T(", tool_index);
SERIAL_CHAR(')');
SERIAL_EOL();
DEBUG_POS("BEFORE", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(">>> T(", tool_index, ")");
DEBUG_POS("BEFORE", current_position);
}
#if ENABLED(PRUSA_MMU2)
if (parser.string_arg) {
@ -75,10 +74,8 @@ void GcodeSuite::T(const uint8_t tool_index) {
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("AFTER", current_position);
SERIAL_ECHOLNPGM("<<< T()");
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_POS("AFTER", current_position);
DEBUG_ECHOLNPGM("<<< T()");
}
}

7
Marlin/src/gcode/feature/L6470/M906.cpp
View File

@ -29,6 +29,9 @@
#include "../../../module/stepper_indirection.h"
#include "../../../module/planner.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../../core/debug_out.h"
/**
*
* M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the
@ -93,7 +96,7 @@ void L6470_report_current(L6470 &motor, const uint8_t axis) {
L6470.say_axis(axis);
#if ENABLED(L6470_CHITCHAT)
sprintf_P(temp_buf, PSTR(" status: %4x "), status);
SERIAL_ECHO(temp_buf);
DEBUG_ECHO(temp_buf);
print_bin(status);
#endif
sprintf_P(temp_buf, PSTR("\n...OverCurrent Threshold: %2d (%4d mA)"), overcurrent_threshold, (overcurrent_threshold + 1) * 375);
@ -134,7 +137,7 @@ void L6470_report_current(L6470 &motor, const uint8_t axis) {
void GcodeSuite::M906() {
#define L6470_SET_KVAL_HOLD(Q) stepper##Q.SetParam(L6470_KVAL_HOLD, value)
L6470_ECHOLNPGM("M906");
DEBUG_ECHOLNPGM("M906");
bool report_current = true;

136
Marlin/src/gcode/feature/L6470/M916-918.cpp
View File

@ -29,6 +29,9 @@
#include "../../../module/planner.h"
#include "../../../libs/L6470/L6470_Marlin.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../../core/debug_out.h"
/**
*
* M916: increase KVAL_HOLD until get thermal warning
@ -59,7 +62,7 @@
void GcodeSuite::M916() {
L6470_ECHOLNPGM("M916");
DEBUG_ECHOLNPGM("M916");
// Variables used by L6470_get_user_input function - some may not be used
char axis_mon[3][3] = { " ", " ", " " }; // list of Axes to be monitored
@ -80,7 +83,7 @@ void GcodeSuite::M916() {
if (L6470.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, ocd_th_val, stall_th_val, over_current_threshold))
return; // quit if invalid user input
L6470_ECHOLNPAIR("feedrate = ", final_feedrate);
DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate);
planner.synchronize(); // wait for all current movement commands to complete
@ -92,11 +95,11 @@ void GcodeSuite::M916() {
char gcode_string[80];
uint16_t status_composite = 0;
L6470_ECHOLNPGM(".\n.");
DEBUG_ECHOLNPGM(".\n.");
do {
L6470_ECHOLNPAIR("kval_hold = ", kval_hold); // set & report KVAL_HOLD for this run
DEBUG_ECHOLNPAIR("kval_hold = ", kval_hold); // set & report KVAL_HOLD for this run
for (j = 0; j < driver_count; j++)
L6470.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
@ -119,9 +122,9 @@ void GcodeSuite::M916() {
}
if (status_composite && (status_composite & STATUS_UVLO)) {
L6470_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
for (j = 0; j < driver_count; j++) {
L6470_ECHOPGM("...");
DEBUG_ECHOPGM("...");
L6470.error_status_decode(axis_status[j], axis_index[j]);
}
return;
@ -133,18 +136,18 @@ void GcodeSuite::M916() {
} while (!(status_composite & (STATUS_TH_WRN | STATUS_TH_SD)) && kval_hold); // exit when kval_hold == 0 (rolls over)
L6470_ECHOPGM(".\n.\nThermal warning/shutdown ");
DEBUG_ECHOPGM(".\n.\nThermal warning/shutdown ");
if ((status_composite & (STATUS_TH_WRN | STATUS_TH_SD))) {
L6470_ECHOLNPGM("has occurred");
DEBUG_ECHOLNPGM("has occurred");
for (j = 0; j < driver_count; j++) {
L6470_ECHOPGM("...");
DEBUG_ECHOPGM("...");
L6470.error_status_decode(axis_status[j], axis_index[j]);
}
}
else
L6470_ECHOLNPGM("(Unable to get)");
DEBUG_ECHOLNPGM("(Unable to get)");
L6470_ECHOLNPGM(".");
DEBUG_ECHOLNPGM(".");
}
/**
@ -176,7 +179,7 @@ void GcodeSuite::M916() {
*/
void GcodeSuite::M917() {
L6470_ECHOLNPGM("M917");
DEBUG_ECHOLNPGM("M917");
char axis_mon[3][3] = { " ", " ", " " }; // list of axes to be monitored
uint8_t axis_index[3];
@ -196,7 +199,7 @@ void GcodeSuite::M917() {
if (L6470.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, ocd_th_val, stall_th_val, over_current_threshold))
return; // quit if invalid user input
L6470_ECHOLNPAIR("feedrate = ", final_feedrate);
DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate);
planner.synchronize(); // wait for all current movement commands to complete
for (j = 0; j < driver_count; j++)
@ -211,16 +214,16 @@ void GcodeSuite::M917() {
// 2 - OCD finalized - decreasing STALL - exit when STALL warning happens
// 3 - OCD finalized - increasing STALL - exit when STALL warning stop
// 4 - all testing completed
L6470_ECHOPAIR(".\n.\n.\nover_current threshold : ", (ocd_th_val + 1) * 375); // first status display
L6470_ECHOPAIR(" (OCD_TH: : ", ocd_th_val);
L6470_ECHOPAIR(") Stall threshold: ", (stall_th_val + 1) * 31.25);
L6470_ECHOPAIR(" (STALL_TH: ", stall_th_val);
L6470_ECHOLNPGM(")");
DEBUG_ECHOPAIR(".\n.\n.\nover_current threshold : ", (ocd_th_val + 1) * 375); // first status display
DEBUG_ECHOPAIR(" (OCD_TH: : ", ocd_th_val);
DEBUG_ECHOPAIR(") Stall threshold: ", (stall_th_val + 1) * 31.25);
DEBUG_ECHOPAIR(" (STALL_TH: ", stall_th_val);
DEBUG_ECHOLNPGM(")");
do {
L6470_ECHOPAIR("STALL threshold : ", (stall_th_val + 1) * 31.25);
L6470_ECHOLNPAIR(" OCD threshold : ", (ocd_th_val + 1) * 375);
DEBUG_ECHOPAIR("STALL threshold : ", (stall_th_val + 1) * 31.25);
DEBUG_ECHOLNPAIR(" OCD threshold : ", (ocd_th_val + 1) * 375);
sprintf_P(gcode_string, PSTR("G0 %s%4.3f F%4.3f"), temp_axis_string, position_min, final_feedrate);
gcode.process_subcommands_now_P(gcode_string);
@ -238,16 +241,16 @@ void GcodeSuite::M917() {
}
if (status_composite && (status_composite & STATUS_UVLO)) {
L6470_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
for (j = 0; j < driver_count; j++) {
L6470_ECHOPGM("...");
DEBUG_ECHOPGM("...");
L6470.error_status_decode(axis_status[j], axis_index[j]);
}
return;
}
if (status_composite & (STATUS_TH_WRN | STATUS_TH_SD)) {
L6470_ECHOLNPGM("thermal problem - waiting for chip(s) to cool down ");
DEBUG_ECHOLNPGM("thermal problem - waiting for chip(s) to cool down ");
uint16_t status_composite_temp = 0;
uint8_t k = 0;
do {
@ -255,11 +258,11 @@ void GcodeSuite::M917() {
if (!(k % 4)) {
kval_hold *= 0.95;
L6470_EOL();
L6470_ECHOLNPAIR("Lowering KVAL_HOLD by about 5% to ", kval_hold);
DEBUG_ECHOLNPAIR("Lowering KVAL_HOLD by about 5% to ", kval_hold);
for (j = 0; j < driver_count; j++)
L6470.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
}
L6470_ECHOLNPGM(".");
DEBUG_ECHOLNPGM(".");
gcode.reset_stepper_timeout(); // reset_stepper_timeout to keep steppers powered
watchdog_reset(); // beat the dog
safe_delay(5000);
@ -281,22 +284,22 @@ void GcodeSuite::M917() {
if (ocd_th_val >=15) {
ocd_th_val = 15; // limit to max
test_phase = 2; // at highest value so skip phase 1
L6470_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2");
DEBUG_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2");
}
else {
ocd_th_val++; // normal exit to next phase
test_phase = 1; // setup for first pass of phase 1
L6470_ECHOLNPGM("LOGIC E0B - inc OCD & go to 1");
DEBUG_ECHOLNPGM("LOGIC E0B - inc OCD & go to 1");
}
}
else { // phase 0 without OCD warning - keep on decrementing if can
if (ocd_th_val) {
ocd_th_val--; // try lower value
L6470_ECHOLNPGM("LOGIC E0C - dec OCD");
DEBUG_ECHOLNPGM("LOGIC E0C - dec OCD");
}
else {
test_phase = 2; // at lowest value without warning so skip phase 1
L6470_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2");
DEBUG_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2");
}
}
} break;
@ -307,16 +310,16 @@ void GcodeSuite::M917() {
if (ocd_th_val >= 15) {
ocd_th_val = 15; // limit to max
test_phase = 2; // at highest value so go to next phase
L6470_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2");
DEBUG_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2");
}
else {
ocd_th_val++; // try a higher value
L6470_ECHOLNPGM("LOGIC E1B - inc OCD");
DEBUG_ECHOLNPGM("LOGIC E1B - inc OCD");
}
}
else { // phase 1 without OCD warning - normal exit to phase 2
test_phase = 2;
L6470_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1");
DEBUG_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1");
}
} break;
@ -325,25 +328,25 @@ void GcodeSuite::M917() {
// phase 2 with stall warning - time to go to next phase
if (stall_th_val >= 127) {
stall_th_val = 127; // limit to max
L6470_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit");
L6470_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
DEBUG_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit");
DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
test_phase = 4;
}
else {
test_phase = 3; // normal exit to next phase (found failing value of STALL)
stall_th_val++; // setup for first pass of phase 3
L6470_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3");
DEBUG_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3");
}
}
else { // phase 2 without stall warning - decrement if can
if (stall_th_val) {
stall_th_val--; // try a lower value
L6470_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL");
DEBUG_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL");
}
else {
L6470_ECHOLNPGM("finished - STALL at lowest value but still do NOT have stall warning");
DEBUG_ECHOLNPGM("finished - STALL at lowest value but still do NOT have stall warning");
test_phase = 4;
L6470_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit");
DEBUG_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit");
}
}
} break;
@ -353,19 +356,19 @@ void GcodeSuite::M917() {
// phase 3 with stall warning - increment if can
if (stall_th_val >= 127) {
stall_th_val = 127; // limit to max
L6470_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
test_phase = 4;
L6470_ECHOLNPGM("LOGIC E3A - STALL, at max so quit");
DEBUG_ECHOLNPGM("LOGIC E3A - STALL, at max so quit");
}
else {
stall_th_val++; // still looking for passing value
L6470_ECHOLNPGM("LOGIC E3B - STALL, inc stall");
DEBUG_ECHOLNPGM("LOGIC E3B - STALL, inc stall");
}
}
else { //phase 3 without stall warning but have OCD warning
L6470_ECHOLNPGM("Hardware problem - OCD warning without STALL warning");
DEBUG_ECHOLNPGM("Hardware problem - OCD warning without STALL warning");
test_phase = 4;
L6470_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)");
DEBUG_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)");
}
} break;
@ -377,30 +380,30 @@ void GcodeSuite::M917() {
case 0: { // phase 0 without OCD warning - keep on decrementing if can
if (ocd_th_val) {
ocd_th_val--; // try lower value
L6470_ECHOLNPGM("LOGIC N0A - DEC OCD");
DEBUG_ECHOLNPGM("LOGIC N0A - DEC OCD");
}
else {
test_phase = 2; // at lowest value without warning so skip phase 1
L6470_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)");
DEBUG_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)");
}
} break;
case 1: L6470_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2
case 1: DEBUG_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2
case 2: { // phase 2 without stall warning - keep on decrementing if can
if (stall_th_val) {
stall_th_val--; // try a lower value (stay in phase 2)
L6470_ECHOLNPGM("LOGIC N2B - dec STALL");
DEBUG_ECHOLNPGM("LOGIC N2B - dec STALL");
}
else {
L6470_ECHOLNPGM("finished - STALL at lowest value but still no stall warning");
DEBUG_ECHOLNPGM("finished - STALL at lowest value but still no stall warning");
test_phase = 4;
L6470_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)");
DEBUG_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)");
}
} break;
case 3: { test_phase = 4;
L6470_ECHOLNPGM("LOGIC N3 - finished!");
DEBUG_ECHOLNPGM("LOGIC N3 - finished!");
} break; // phase 3 without any warnings - desired exit
} //
} // end of status checks
@ -409,22 +412,22 @@ void GcodeSuite::M917() {
for (j = 0; j < driver_count; j++) { // update threshold(s)
L6470.set_param(axis_index[j], L6470_OCD_TH, ocd_th_val);
L6470.set_param(axis_index[j], L6470_STALL_TH, stall_th_val);
if (L6470.get_param(axis_index[j], L6470_OCD_TH) != ocd_th_val) L6470_ECHOLNPGM("OCD mismatch");
if (L6470.get_param(axis_index[j], L6470_STALL_TH) != stall_th_val) L6470_ECHOLNPGM("STALL mismatch");
if (L6470.get_param(axis_index[j], L6470_OCD_TH) != ocd_th_val) DEBUG_ECHOLNPGM("OCD mismatch");
if (L6470.get_param(axis_index[j], L6470_STALL_TH) != stall_th_val) DEBUG_ECHOLNPGM("STALL mismatch");
}
}
} while (test_phase != 4);
if (status_composite) {
L6470_ECHOLNPGM("Completed with errors");
DEBUG_ECHOLNPGM("Completed with errors");
for (j = 0; j < driver_count; j++) {
L6470_ECHOPGM("...");
DEBUG_ECHOPGM("...");
L6470.error_status_decode(axis_status[j], axis_index[j]);
}
}
else
L6470_ECHOLNPGM("Completed with no errors");
DEBUG_ECHOLNPGM("Completed with no errors");
} // M917
@ -448,7 +451,7 @@ void GcodeSuite::M917() {
*/
void GcodeSuite::M918() {
L6470_ECHOLNPGM("M918");
DEBUG_ECHOLNPGM("M918");
char axis_mon[3][3] = { " ", " ", " " }; // List of axes to monitor
uint8_t axis_index[3];
@ -469,7 +472,7 @@ void GcodeSuite::M918() {
uint8_t m_steps = parser.byteval('M');
LIMIT(m_steps, 0, 128);
L6470_ECHOLNPAIR("M = ", m_steps);
DEBUG_ECHOLNPAIR("M = ", m_steps);
int8_t m_bits = -1;
if (m_steps > 85) m_bits = 7; // 128 (no synch output)
@ -484,15 +487,15 @@ void GcodeSuite::M918() {
if (m_bits >= 0) {
const int micros = _BV(m_bits);
if (micros < 100) { L6470_CHAR(' '); if (micros < 10) L6470_CHAR(' '); }
L6470_ECHO(micros);
L6470_ECHOPGM(" uSTEPS");
if (micros < 100) { DEBUG_CHAR(' '); if (micros < 10) DEBUG_CHAR(' '); }
DEBUG_ECHO(micros);
DEBUG_ECHOPGM(" uSTEPS");
}
for (j = 0; j < driver_count; j++)
L6470.set_param(axis_index[j], L6470_STEP_MODE, m_bits); // set microsteps
L6470_ECHOLNPAIR("target (maximum) feedrate = ",final_feedrate);
DEBUG_ECHOLNPAIR("target (maximum) feedrate = ",final_feedrate);
float feedrate_inc = final_feedrate / 10, // start at 1/10 of max & go up by 1/10 per step)
current_feedrate = 0;
@ -508,11 +511,11 @@ void GcodeSuite::M918() {
char gcode_string[80];
uint16_t status_composite = 0;
L6470_ECHOLNPGM(".\n.\n."); // make the feedrate prints easier to see
DEBUG_ECHOLNPGM(".\n.\n."); // make the feedrate prints easier to see
do {
current_feedrate += feedrate_inc;
L6470_ECHOLNPAIR("...feedrate = ", current_feedrate);
DEBUG_ECHOLNPAIR("...feedrate = ", current_feedrate);
sprintf_P(gcode_string, PSTR("G0 %s%4.3f F%4.3f"), temp_axis_string, position_min, current_feedrate);
gcode.process_subcommands_now_P(gcode_string);
@ -529,15 +532,16 @@ void GcodeSuite::M918() {
if (status_composite) break; // quit if any errors flags are raised
} while (current_feedrate < final_feedrate * 0.99);
DEBUG_ECHOPGM("Completed with errors");
if (status_composite) {
L6470_ECHOLNPGM("Completed with errors");
DEBUG_ECHOLNPGM("errors");
for (j = 0; j < driver_count; j++) {
L6470_ECHOPGM("...");
DEBUG_ECHOPGM("...");
L6470.error_status_decode(axis_status[j], axis_index[j]);
}
}
else
L6470_ECHOLNPGM("Completed with no errors");
DEBUG_ECHOLNPGM("no errors");
} // M918

6
Marlin/src/gcode/host/M114.cpp
View File

@ -32,6 +32,8 @@
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\gcode\host\M114.cpp
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\bob_L6470.cpp
#include "../../module/L6470/L6470_Marlin.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../core/debug_out.h"
#endif
void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
@ -95,10 +97,10 @@
temp = L6470_GETPARAM(L6470_ABS_POS,Q); \
if (temp & ABS_POS_SIGN_MASK) temp |= ABS_POS_SIGN_MASK; \
sprintf_P(temp_buf, PSTR(":%8ld "), temp); \
L6470_ECHO(temp_buf); \
DEBUG_ECHO(temp_buf); \
}while(0)
L6470_ECHOPGM("\nL6470:");
DEBUG_ECHOPGM("\nL6470:");
#if AXIS_DRIVER_TYPE_X(L6470)
REPORT_ABSOLUTE_POS(X);
#endif

45
Marlin/src/libs/L6470/L6470_Marlin.cpp
View File

@ -36,6 +36,9 @@ L6470_Marlin L6470;
#include "../../gcode/gcode.h"
#include "../planner.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../core/debug_out.h"
uint8_t L6470_Marlin::dir_commands[MAX_L6470]; // array to hold direction command for each driver
char L6470_Marlin::index_to_axis[MAX_L6470][3] = { "X ", "Y ", "Z ", "X2", "Y2", "Z2", "Z3", "E0", "E1", "E2", "E3", "E4", "E5" };
@ -286,16 +289,16 @@ void L6470_Marlin::set_param(uint8_t axis, uint8_t param, uint32_t value) {
}
inline void echo_min_max(const char a, const float &min, const float &max) {
L6470_CHAR(' '); L6470_CHAR(a);
L6470_ECHOPAIR(" min = ", min);
L6470_ECHOLNPAIR(" max = ", max);
DEBUG_CHAR(' '); DEBUG_CHAR(a);
DEBUG_ECHOPAIR(" min = ", min);
DEBUG_ECHOLNPAIR(" max = ", max);
}
inline void echo_oct_used(const float &oct, const bool stall) {
L6470_ECHOPAIR("over_current_threshold used : ", oct);
DEBUG_ECHOPAIR("over_current_threshold used : ", oct);
serialprintPGM(stall ? PSTR(" (Stall") : PSTR(" (OCD"));
L6470_ECHOLNPGM(" threshold)");
DEBUG_ECHOLNPGM(" threshold)");
}
inline void err_out_of_bounds() { L6470_ECHOLNPGM("ERROR - motion out of bounds"); }
inline void err_out_of_bounds() { DEBUG_ECHOLNPGM("ERROR - motion out of bounds"); }
bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3], char axis_mon[3][3],
float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
@ -307,7 +310,7 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
uint8_t j; // general purpose counter
if (!all_axes_homed()) {
L6470_ECHOLNPGM("ERROR - home all before running this command");
DEBUG_ECHOLNPGM("ERROR - home all before running this command");
//return true;
}
@ -424,12 +427,12 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
}
if (driver_count == 0) {
L6470_ECHOLNPGM("ERROR - not a L6470 axis");
DEBUG_ECHOLNPGM("ERROR - not a L6470 axis");
return true;
}
L6470_ECHOPGM("Monitoring:");
for (j = 0; j < driver_count; j++) L6470_ECHOPAIR(" ", axis_mon[j]);
DEBUG_ECHOPGM("Monitoring:");
for (j = 0; j < driver_count; j++) DEBUG_ECHOPAIR(" ", axis_mon[j]);
L6470_EOL();
// now have a list of driver(s) to monitor
@ -440,14 +443,14 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
kval_hold = parser.byteval('K');
if (kval_hold) {
L6470_ECHOLNPAIR("kval_hold = ", kval_hold);
DEBUG_ECHOLNPAIR("kval_hold = ", kval_hold);
for (j = 0; j < driver_count; j++)
set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
}
else {
// only print the KVAL_HOLD from one of the drivers
kval_hold = get_param(axis_index[0], L6470_KVAL_HOLD);
L6470_ECHOLNPAIR("KVAL_HOLD = ", kval_hold);
DEBUG_ECHOLNPAIR("KVAL_HOLD = ", kval_hold);
}
//
@ -474,7 +477,7 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
OCD_TH_actual = (OCD_TH_val_local + 1) * 375;
}
L6470_ECHOLNPAIR("over_current_threshold specified: ", over_current_threshold);
DEBUG_ECHOLNPAIR("over_current_threshold specified: ", over_current_threshold);
echo_oct_used(STALL_TH_actual, true);
echo_oct_used(OCD_TH_actual, false);
@ -547,13 +550,13 @@ void L6470_Marlin::error_status_decode(const uint16_t status, const uint8_t axis
char temp_buf[10];
say_axis(axis);
sprintf_P(temp_buf, PSTR(" %4x "), status);
L6470_ECHO(temp_buf);
DEBUG_ECHO(temp_buf);
print_bin(status);
L6470_ECHOPGM(" THERMAL: ");
DEBUG_ECHOPGM(" THERMAL: ");
serialprintPGM((status & STATUS_TH_SD) ? PSTR("SHUTDOWN") : (status & STATUS_TH_WRN) ? PSTR("WARNING ") : PSTR("OK "));
L6470_ECHOPGM(" OVERCURRENT: ");
DEBUG_ECHOPGM(" OVERCURRENT: ");
echo_yes_no(status & STATUS_OCD);
L6470_ECHOPGM(" STALL: ");
DEBUG_ECHOPGM(" STALL: ");
echo_yes_no(status & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B));
L6470_EOL();
#else
@ -642,14 +645,14 @@ void L6470_Marlin::error_status_decode(const uint16_t status, const uint8_t axis
if (driver_L6470_data[j].com_counter == 0) { // warn user when it first happens
driver_L6470_data[j].com_counter++;
append_stepper_err(p, stepper_index, PSTR(" - communications lost\n"));
L6470_ECHO(temp_buf);
DEBUG_ECHO(temp_buf);
}
else {
driver_L6470_data[j].com_counter++;
if (driver_L6470_data[j].com_counter > 240) { // remind of com problem about every 2 minutes
driver_L6470_data[j].com_counter = 1;
append_stepper_err(p, stepper_index, PSTR(" - still no communications\n"));
L6470_ECHO(temp_buf);
DEBUG_ECHO(temp_buf);
}
}
}
@ -657,7 +660,7 @@ void L6470_Marlin::error_status_decode(const uint16_t status, const uint8_t axis
if (driver_L6470_data[j].com_counter) { // comms re-established
driver_L6470_data[j].com_counter = 0;
append_stepper_err(p, stepper_index, PSTR(" - communications re-established\n.. setting all drivers to default values\n"));
L6470_ECHO(temp_buf);
DEBUG_ECHO(temp_buf);
init_to_defaults();
}
else {
@ -718,7 +721,7 @@ void L6470_Marlin::error_status_decode(const uint16_t status, const uint8_t axis
p += sprintf_P(p, PSTR("%c\n"), ' ');
#endif
L6470_ECHOLN(temp_buf); // print the error message
DEBUG_ECHOLN(temp_buf); // print the error message
}
else {
driver_L6470_data[j].is_ot = false;

20
Marlin/src/libs/L6470/L6470_Marlin.h
View File

@ -25,26 +25,6 @@
#include <L6470.h>
#if ENABLED(L6470_CHITCHAT)
#define L6470_EOL() SERIAL_EOL()
#define L6470_CHAR(C) SERIAL_CHAR(C)
#define L6470_ECHO(V) SERIAL_ECHO(V)
#define L6470_ECHOLN(V) SERIAL_ECHOLN(V)
#define L6470_ECHOPGM(S) SERIAL_ECHOPGM(S)
#define L6470_ECHOLNPGM(S) SERIAL_ECHOLNPGM(S)
#define L6470_ECHOPAIR(S,V) SERIAL_ECHOPAIR(S,V)
#define L6470_ECHOLNPAIR(S,V) SERIAL_ECHOLNPAIR(S,V)
#else
#define L6470_EOL() NOOP
#define L6470_CHAR(C) NOOP
#define L6470_ECHO(V) NOOP
#define L6470_ECHOLN(V) NOOP
#define L6470_ECHOPGM(S) NOOP
#define L6470_ECHOLNPGM(S) NOOP
#define L6470_ECHOPAIR(S,V) NOOP
#define L6470_ECHOLNPAIR(S,V) NOOP
#endif
#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
#define MAX_L6470 (7 + MAX_EXTRUDERS) // Maximum number of axes in Marlin

77
Marlin/src/module/configuration_store.cpp
View File

@ -379,27 +379,8 @@ void MarlinSettings::postprocess() {
#endif // SD_FIRMWARE_UPDATE
#if ENABLED(EEPROM_CHITCHAT)
#define CHITCHAT_ECHO(V) SERIAL_ECHO(V)
#define CHITCHAT_ECHOLNPGM(STR) SERIAL_ECHOLNPGM(STR)
#define CHITCHAT_ECHOPAIR(...) SERIAL_ECHOPAIR(__VA_ARGS__)
#define CHITCHAT_ECHOLNPAIR(...) SERIAL_ECHOLNPAIR(__VA_ARGS__)
#define CHITCHAT_ECHO_START() SERIAL_ECHO_START()
#define CHITCHAT_ERROR_START() SERIAL_ERROR_START()
#define CHITCHAT_ERROR_MSG(STR) SERIAL_ERROR_MSG(STR)
#define CHITCHAT_ECHOPGM(STR) SERIAL_ECHOPGM(STR)
#define CHITCHAT_EOL() SERIAL_EOL()
#else
#define CHITCHAT_ECHO(V) NOOP
#define CHITCHAT_ECHOLNPGM(STR) NOOP
#define CHITCHAT_ECHOPAIR(...) NOOP
#define CHITCHAT_ECHOLNPAIR(...) NOOP
#define CHITCHAT_ECHO_START() NOOP
#define CHITCHAT_ERROR_START() NOOP
#define CHITCHAT_ERROR_MSG(STR) NOOP
#define CHITCHAT_ECHOPGM(STR) NOOP
#define CHITCHAT_EOL() NOOP
#endif
#define DEBUG_OUT ENABLED(EEPROM_CHITCHAT)
#include "../core/debug_out.h"
#if ENABLED(EEPROM_SETTINGS)
@ -427,7 +408,7 @@ void MarlinSettings::postprocess() {
bool MarlinSettings::size_error(const uint16_t size) {
if (size != datasize()) {
CHITCHAT_ERROR_MSG("EEPROM datasize error.");
DEBUG_ERROR_MSG("EEPROM datasize error.");
return true;
}
return false;
@ -1103,8 +1084,8 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(final_crc);
// Report storage size
CHITCHAT_ECHO_START();
CHITCHAT_ECHOLNPAIR("Settings Stored (", eeprom_size, " bytes; crc ", (uint32_t)final_crc, ")");
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("Settings Stored (", eeprom_size, " bytes; crc ", (uint32_t)final_crc, ")");
eeprom_error |= size_error(eeprom_size);
}
@ -1141,8 +1122,8 @@ void MarlinSettings::postprocess() {
stored_ver[0] = '?';
stored_ver[1] = '\0';
}
CHITCHAT_ECHO_START();
CHITCHAT_ECHOLNPAIR("EEPROM version mismatch (EEPROM=", stored_ver, " Marlin=" EEPROM_VERSION ")");
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("EEPROM version mismatch (EEPROM=", stored_ver, " Marlin=" EEPROM_VERSION ")");
eeprom_error = true;
}
else {
@ -1807,18 +1788,18 @@ void MarlinSettings::postprocess() {
eeprom_error = size_error(eeprom_index - (EEPROM_OFFSET));
if (eeprom_error) {
CHITCHAT_ECHO_START();
CHITCHAT_ECHOLNPAIR("Index: ", int(eeprom_index - (EEPROM_OFFSET)), " Size: ", datasize());
DEBUG_ECHO_START();
DEBUG_ECHOLNPAIR("Index: ", int(eeprom_index - (EEPROM_OFFSET)), " Size: ", datasize());
}
else if (working_crc != stored_crc) {
eeprom_error = true;
CHITCHAT_ERROR_START();
CHITCHAT_ECHOLNPAIR("EEPROM CRC mismatch - (stored) ", stored_crc, " != ", working_crc, " (calculated)!");
DEBUG_ERROR_START();
DEBUG_ECHOLNPAIR("EEPROM CRC mismatch - (stored) ", stored_crc, " != ", working_crc, " (calculated)!");
}
else if (!validating) {
CHITCHAT_ECHO_START();
CHITCHAT_ECHO(version);
CHITCHAT_ECHOLNPAIR(" stored settings retrieved (", eeprom_index - (EEPROM_OFFSET), " bytes; crc ", (uint32_t)working_crc, ")");
DEBUG_ECHO_START();
DEBUG_ECHO(version);
DEBUG_ECHOLNPAIR(" stored settings retrieved (", eeprom_index - (EEPROM_OFFSET), " bytes; crc ", (uint32_t)working_crc, ")");
}
if (!validating && !eeprom_error) postprocess();
@ -1831,26 +1812,26 @@ void MarlinSettings::postprocess() {
SERIAL_EOL();
#if ENABLED(EEPROM_CHITCHAT)
ubl.echo_name();
CHITCHAT_ECHOLNPGM(" initialized.\n");
DEBUG_ECHOLNPGM(" initialized.\n");
#endif
}
else {
eeprom_error = true;
#if ENABLED(EEPROM_CHITCHAT)
CHITCHAT_ECHOPGM("?Can't enable ");
DEBUG_ECHOPGM("?Can't enable ");
ubl.echo_name();
CHITCHAT_ECHOLNPGM(".");
DEBUG_ECHOLNPGM(".");
#endif
ubl.reset();
}
if (ubl.storage_slot >= 0) {
load_mesh(ubl.storage_slot);
CHITCHAT_ECHOLNPAIR("Mesh ", ubl.storage_slot, " loaded from storage.");
DEBUG_ECHOLNPAIR("Mesh ", ubl.storage_slot, " loaded from storage.");
}
else {
ubl.reset();
CHITCHAT_ECHOLNPGM("UBL System reset()");
DEBUG_ECHOLNPGM("UBL System reset()");
}
}
#endif
@ -1881,9 +1862,9 @@ void MarlinSettings::postprocess() {
inline void ubl_invalid_slot(const int s) {
#if ENABLED(EEPROM_CHITCHAT)
CHITCHAT_ECHOLNPGM("?Invalid slot.");
CHITCHAT_ECHO(s);
CHITCHAT_ECHOLNPGM(" mesh slots available.");
DEBUG_ECHOLNPGM("?Invalid slot.");
DEBUG_ECHO(s);
DEBUG_ECHOLNPGM(" mesh slots available.");
#else
UNUSED(s);
#endif
@ -1912,8 +1893,8 @@ void MarlinSettings::postprocess() {
const int16_t a = calc_num_meshes();
if (!WITHIN(slot, 0, a - 1)) {
ubl_invalid_slot(a);
CHITCHAT_ECHOLNPAIR("E2END=", persistentStore.capacity() - 1, " meshes_end=", meshes_end, " slot=", slot);
CHITCHAT_EOL();
DEBUG_ECHOLNPAIR("E2END=", persistentStore.capacity() - 1, " meshes_end=", meshes_end, " slot=", slot);
DEBUG_EOL();
return;
}
@ -1926,7 +1907,7 @@ void MarlinSettings::postprocess() {
persistentStore.access_finish();
if (status) SERIAL_ECHOLNPGM("?Unable to save mesh data.");
else CHITCHAT_ECHOLNPAIR("Mesh saved in slot ", slot);
else DEBUG_ECHOLNPAIR("Mesh saved in slot ", slot);
#else
@ -1955,7 +1936,7 @@ void MarlinSettings::postprocess() {
persistentStore.access_finish();
if (status) SERIAL_ECHOLNPGM("?Unable to load mesh data.");
else CHITCHAT_ECHOLNPAIR("Mesh loaded from slot ", slot);
else DEBUG_ECHOLNPAIR("Mesh loaded from slot ", slot);
EEPROM_FINISH();
@ -1974,7 +1955,7 @@ void MarlinSettings::postprocess() {
#else // !EEPROM_SETTINGS
bool MarlinSettings::save() {
CHITCHAT_ERROR_MSG("EEPROM disabled");
DEBUG_ERROR_MSG("EEPROM disabled");
return false;
}
@ -2281,8 +2262,8 @@ void MarlinSettings::reset() {
postprocess();
CHITCHAT_ECHO_START();
CHITCHAT_ECHOLNPGM("Hardcoded Default Settings Loaded");
DEBUG_ECHO_START();
DEBUG_ECHOLNPGM("Hardcoded Default Settings Loaded");
}
#if DISABLED(DISABLE_M503)

11
Marlin/src/module/delta.cpp
View File

@ -46,6 +46,9 @@
#include "stepper_indirection.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
// Initialized by settings.load()
float delta_height,
delta_endstop_adj[ABC] = { 0 },
@ -216,9 +219,7 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
* This is like quick_home_xy() but for 3 towers.
*/
void home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
// Init the current position of all carriages to 0,0,0
ZERO(current_position);
ZERO(destination);
@ -264,9 +265,7 @@ void home_delta() {
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
}
#endif // DELTA

193
Marlin/src/module/motion.cpp
View File

@ -59,6 +59,9 @@
#include "../feature/fwretract.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#define XYZ_CONSTS(type, array, CONFIG) const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }
XYZ_CONSTS(float, base_min_pos, MIN_POS);
@ -205,9 +208,7 @@ void report_current_position() {
* no kinematic translation. Used for homing axes and cartesian/core syncing.
*/
void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
@ -294,9 +295,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
* Calculate delta, start a line, and set current_position to destination
*/
void prepare_uninterpolated_move_to_destination(const float &fr_mm_s/*=0.0*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#if UBL_SEGMENTED
// ubl segmented line will do z-only moves in single segment
@ -320,9 +319,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
* Plan a move to (X, Y, Z) and set the current_position
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s/*=0.0*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz);
#endif
if (DEBUGGING(LEVELING)) DEBUG_XYZ(">>> do_blocking_move_to", rx, ry, rz);
const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS),
xy_feedrate = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
@ -335,9 +332,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
set_destination_from_current(); // sync destination at the start
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_from_current", destination);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_from_current", destination);
// when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) {
@ -346,39 +341,29 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
destination[Y_AXIS] = ry;
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
return;
}
destination[Z_AXIS] = delta_clip_start_height;
prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
}
if (rz > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(z_feedrate); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
}
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
prepare_move_to_destination(); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
if (rz < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = rz;
prepare_uninterpolated_move_to_destination(z_feedrate); // set_current_from_destination()
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
}
#elif IS_SCARA
@ -423,9 +408,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< do_blocking_move_to");
planner.synchronize();
}
@ -938,19 +921,12 @@ void clean_up_after_endstop_or_probe_move() {
planner.buffer_line( CUR_X, CUR_Y, CUR_Z, CUR_E, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
delayed_move_time = 0;
active_extruder_parked = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Clear active_extruder_parked");
break;
case DXC_SCALED_DUPLICATION_MODE:
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Set planner X", inactive_extruder_x_pos);
SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x_pos, " ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
// move duplicate extruder into correct duplication position.
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
@ -964,15 +940,9 @@ void clean_up_after_endstop_or_probe_move() {
sync_plan_position();
extruder_duplication_enabled = true;
active_extruder_parked = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
#endif
}
else {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
}
else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Active extruder not 0");
break;
}
}
@ -1189,20 +1159,14 @@ float get_homing_bump_feedrate(const AxisEnum axis) {
*/
void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPGM(", ");
if (fr_mm_s)
SERIAL_ECHO(fr_mm_s);
else {
SERIAL_ECHOPAIR("[", homing_feedrate(axis));
SERIAL_CHAR(']');
}
SERIAL_ECHOLNPGM(")");
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR(">>> do_homing_move(", axis_codes[axis], ", ", distance, ", ");
if (fr_mm_s)
DEBUG_ECHO(fr_mm_s);
else
DEBUG_ECHOPAIR("[", homing_feedrate(axis), "]");
DEBUG_ECHOLNPGM(")");
}
#if HOMING_Z_WITH_PROBE && HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
@ -1279,13 +1243,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm
#endif
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< do_homing_move(", axis_codes[axis], ")");
}
/**
@ -1307,13 +1265,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm
* Callers must sync the planner position after calling this!
*/
void set_axis_is_at_home(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_at_home(", axis_codes[axis], ")");
SBI(axis_known_position, axis);
SBI(axis_homed, axis);
@ -1351,33 +1303,23 @@ void set_axis_is_at_home(const AxisEnum axis) {
current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> zprobe_zoffset = ", zprobe_zoffset);
#elif ENABLED(DEBUG_LEVELING_FEATURE)
#else
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP ***");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z HOMED TO ENDSTOP ***");
#endif
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
#endif
DEBUG_POS("", current_position);
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(LEVELING)) {
#if HAS_HOME_OFFSET
DEBUG_ECHOLNPAIR("> home_offset[", axis_codes[axis], "] = ", home_offset[axis]);
#endif
DEBUG_POS("", current_position);
DEBUG_ECHOLNPAIR("<<< set_axis_is_at_home(", axis_codes[axis], ")");
}
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.homed(axis);
@ -1388,24 +1330,12 @@ void set_axis_is_at_home(const AxisEnum axis) {
* Set an axis' to be unhomed.
*/
void set_axis_is_not_at_home(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> set_axis_is_not_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_not_at_home(", axis_codes[axis], ")");
CBI(axis_known_position, axis);
CBI(axis_homed, axis);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< set_axis_is_not_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_is_not_at_home(", axis_codes[axis], ")");
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.unhomed(axis);
@ -1434,13 +1364,7 @@ void homeaxis(const AxisEnum axis) {
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", axis_codes[axis], ")");
const int axis_home_dir = (
#if ENABLED(DUAL_X_CARRIAGE)
@ -1472,9 +1396,7 @@ void homeaxis(const AxisEnum axis) {
#endif
// Fast move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 1 Fast:");
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be deployed every time
@ -1506,9 +1428,7 @@ void homeaxis(const AxisEnum axis) {
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOME_BUMP_MM
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move Away:");
do_homing_move(axis, -bump
#if HOMING_Z_WITH_PROBE
, axis == Z_AXIS ? MMM_TO_MMS(Z_PROBE_SPEED_FAST) : 0.0
@ -1516,9 +1436,7 @@ void homeaxis(const AxisEnum axis) {
);
// Slow move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 2 Slow:");
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be deployed every time
@ -1644,9 +1562,7 @@ void homeaxis(const AxisEnum axis) {
// retrace by the amount specified in delta_endstop_adj + additional dist in order to have minimum steps
if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("delta_endstop_adj:");
do_homing_move(axis, delta_endstop_adj[axis] - (MIN_STEPS_PER_SEGMENT + 1) * planner.steps_to_mm[axis] * Z_HOME_DIR);
}
@ -1657,9 +1573,7 @@ void homeaxis(const AxisEnum axis) {
destination[axis] = current_position[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
@ -1673,25 +1587,14 @@ void homeaxis(const AxisEnum axis) {
if (axis == Z_AXIS) fwretract.current_hop = 0.0;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< homeaxis(", axis_codes[axis], ")");
} // homeaxis()
#if HAS_WORKSPACE_OFFSET
void update_workspace_offset(const AxisEnum axis) {
workspace_offset[axis] = home_offset[axis] + position_shift[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
SERIAL_ECHOLNPAIR("\n position_shift = ", position_shift[axis]);
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Axis ", axis_codes[axis], " home_offset = ", home_offset[axis], " position_shift = ", position_shift[axis]);
}
#endif

95
Marlin/src/module/probe.cpp
View File

@ -69,6 +69,9 @@ float zprobe_zoffset; // Initialized by settings.load()
#include "stepper_indirection.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@ -82,9 +85,7 @@ float zprobe_zoffset; // Initialized by settings.load()
* If true, move to MAX_X and release the solenoid
*/
static void dock_sled(bool stow) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("dock_sled(", stow, ")");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")");
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
@ -312,9 +313,7 @@ float zprobe_zoffset; // Initialized by settings.load()
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("set_bltouch_deployed(", deploy, ")");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("set_bltouch_deployed(", deploy, ")");
return false;
}
@ -325,9 +324,7 @@ float zprobe_zoffset; // Initialized by settings.load()
* Raise Z to a minimum height to make room for a probe to move
*/
inline void do_probe_raise(const float z_raise) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
float z_dest = z_raise;
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
@ -393,12 +390,10 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
// returns false for ok and true for failure
bool set_probe_deployed(const bool deploy) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
SERIAL_ECHOLNPAIR("deploy: ", deploy);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
DEBUG_ECHOLNPAIR("deploy: ", deploy);
}
if (endstops.z_probe_enabled == deploy) return false;
@ -521,9 +516,7 @@ bool set_probe_deployed(const bool deploy) {
#endif
static bool do_probe_move(const float z, const float fr_mm_s) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
@ -601,9 +594,7 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
// Tell the planner where we actually are
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
return !probe_triggered;
}
@ -616,9 +607,7 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
*/
static float run_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
// Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm.
@ -629,20 +618,16 @@ static float run_z_probe() {
// Do a first probe at the fast speed
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("FAST Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("FAST Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
}
return NAN;
}
float first_probe_z = current_position[Z_AXIS];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("1st Probe Z:", first_probe_z);
// move up to make clearance for the probe
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
@ -666,12 +651,10 @@ static float run_z_probe() {
// move down slowly to find bed
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("SLOW Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("SLOW Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
}
return NAN;
}
@ -694,9 +677,7 @@ static float run_z_probe() {
const float z2 = current_position[Z_AXIS];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2);
// Return a weighted average of the fast and slow probes
const float measured_z = (z2 * 3.0 + first_probe_z * 2.0) * 0.2;
@ -708,9 +689,7 @@ static float run_z_probe() {
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
return measured_z;
}
@ -725,19 +704,15 @@ static float run_z_probe() {
* - Return the probed Z position
*/
float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR(
">>> probe_pt(", LOGICAL_X_POSITION(rx),
", ", LOGICAL_Y_POSITION(ry),
", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none",
", ", int(verbose_level),
", ", probe_relative ? "probe" : "nozzle",
"_relative)"
);
DEBUG_POS("", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(
">>> probe_pt(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none",
", ", int(verbose_level),
", ", probe_relative ? "probe" : "nozzle", "_relative)"
);
DEBUG_POS("", current_position);
}
// TODO: Adapt for SCARA, where the offset rotates
float nx = rx, ny = ry;
@ -788,9 +763,7 @@ float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/
SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< probe_pt");
return measured_z;
}

229
Marlin/src/module/tool_change.cpp
View File

@ -31,6 +31,9 @@
#include "../Marlin.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#if EXTRUDERS > 1
toolchange_settings_t toolchange_settings; // Initialized by settings.load()
#endif
@ -169,12 +172,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[X_AXIS] = mpe_settings.parking_xpos[tmp_extruder] + offsetcompensation;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("(1) Move extruder ", int(tmp_extruder));
DEBUG_POS(" to new extruder ParkPos", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(1) Move extruder ", int(tmp_extruder));
DEBUG_POS(" to new extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, tmp_extruder);
planner.synchronize();
@ -183,12 +184,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[X_AXIS] = grabpos + offsetcompensation;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("(2) Couple extruder ", int(tmp_extruder));
DEBUG_POS(" to new extruder GrabPos", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(2) Couple extruder ", int(tmp_extruder));
DEBUG_POS(" to new extruder GrabPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, tmp_extruder);
planner.synchronize();
@ -199,12 +198,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// STEP 3
current_position[X_AXIS] = mpe_settings.parking_xpos[tmp_extruder] + offsetcompensation;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("(3) Move extruder ", int(tmp_extruder));
DEBUG_POS(" back to new extruder ParkPos", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(3) Move extruder ", int(tmp_extruder));
DEBUG_POS(" back to new extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, tmp_extruder);
planner.synchronize();
@ -212,12 +209,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// STEP 4
current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("(4) Move extruder ", int(tmp_extruder));
DEBUG_POS(" close to old extruder ParkPos", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(4) Move extruder ", int(tmp_extruder));
DEBUG_POS(" close to old extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, tmp_extruder);
planner.synchronize();
@ -226,12 +221,10 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("(5) Park extruder ", int(tmp_extruder));
DEBUG_POS(" at old extruder ParkPos", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(5) Park extruder ", int(tmp_extruder));
DEBUG_POS(" at old extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, tmp_extruder);
planner.synchronize();
@ -240,19 +233,15 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[X_AXIS] = oldx;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("(6) Move extruder ", int(tmp_extruder));
DEBUG_POS(" to starting position", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(6) Move extruder ", int(tmp_extruder));
DEBUG_POS(" to starting position", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, tmp_extruder);
planner.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Autopark done.");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Autopark done.");
}
#elif ENABLED(PARKING_EXTRUDER)
@ -302,15 +291,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// STEP 1
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
current_position[Z_AXIS] += toolchange_settings.z_raise;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
fast_line_to_current(Z_AXIS);
planner.synchronize();
@ -319,43 +304,33 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(2) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(2) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
}
fast_line_to_current(X_AXIS);
planner.synchronize();
// STEP 3
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Disengage magnet ");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Disengage magnet ");
pe_deactivate_solenoid(active_extruder);
// STEP 4
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Move to position near new extruder");
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
fast_line_to_current(X_AXIS);
planner.synchronize();
// STEP 5
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Engage magnetic field");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Engage magnetic field");
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_solenoid(active_extruder); //just save power for inverted magnets
@ -368,9 +343,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
fast_line_to_current(X_AXIS);
current_position[X_AXIS] = grabpos;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
planner.synchronize();
@ -382,16 +355,12 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
#endif
;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
fast_line_to_current(X_AXIS);
planner.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Autopark done.");
#endif
DEBUG_ECHOLNPGM("Autopark done.");
}
else { // nomove == true
// Only engage magnetic field for new extruder
@ -405,9 +374,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
}
#endif // PARKING_EXTRUDER
@ -433,15 +400,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// 1. Raise Z to give enough clearance
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
current_position[Z_AXIS] += toolchange_settings.z_raise;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
fast_line_to_current(Z_AXIS);
planner.synchronize();
@ -450,86 +413,66 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[X_AXIS] = placexpos;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
fast_line_to_current(X_AXIS);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
fast_line_to_current(Y_AXIS);
planner.synchronize();
// 3. Unlock tool and drop it in the dock
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Unlock and Place Toolhead");
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
planner.synchronize();
safe_delay(200);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize();
// 4. Move to the new toolhead
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Move to new toolhead position");
current_position[X_AXIS] = grabxpos;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
fast_line_to_current(X_AXIS);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
fast_line_to_current(Y_AXIS);
planner.synchronize();
// 5. Grab and lock the new toolhead
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead ");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Grab and lock new toolhead ");
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
planner.synchronize();
@ -540,16 +483,12 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Toolhead change done.");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done.");
}
#endif // SWITCHING_TOOLHEAD
@ -563,17 +502,15 @@ inline void invalid_extruder_error(const uint8_t e) {
#if ENABLED(DUAL_X_CARRIAGE)
inline void dualx_tool_change(const uint8_t tmp_extruder, bool &no_move) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
case DXC_SCALED_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_SCALED_DUPLICATION_MODE"); break;
}
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: DEBUG_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
case DXC_AUTO_PARK_MODE: DEBUG_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
case DXC_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
case DXC_SCALED_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DXC_SCALED_DUPLICATION_MODE"); break;
}
#endif
}
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
@ -581,9 +518,8 @@ inline void invalid_extruder_error(const uint8_t e) {
&& (delayed_move_time || current_position[X_AXIS] != xhome) && ! no_move
) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("MoveX to ", xhome);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome);
// Park old head
planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
@ -599,9 +535,7 @@ inline void invalid_extruder_error(const uint8_t e) {
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
@ -620,12 +554,10 @@ inline void invalid_extruder_error(const uint8_t e) {
break;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
#endif
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
}
#endif // DUAL_X_CARRIAGE
@ -680,9 +612,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
if (!no_move && !all_axes_homed()) {
no_move = true;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move on toolchange");
}
#if HAS_LCD_MENU
@ -777,10 +707,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
move_nozzle_servo(tmp_extruder);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Offset Tool XY by { ", xdiff, ", ", ydiff, ", ", zdiff, " }");
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", xdiff, ", ", ydiff, ", ", zdiff, " }");
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xdiff;
@ -802,9 +729,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// Return to position and lower again
if (safe_to_move && !no_move && IsRunning()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#if ENABLED(SINGLENOZZLE)
#if FAN_COUNT > 0

Write Preview
Loading…
Cancel
Save