From fbcc07261d944222cca30ef8590fb387f53fcc70 Mon Sep 17 00:00:00 2001 From: rafaljot Date: Thu, 17 Dec 2020 13:02:05 +0100 Subject: [PATCH] Homing feedrates as XYZ array (#20426) Co-authored-by: Scott Lahteine --- Marlin/Configuration.h | 5 ++--- Marlin/src/inc/Conditionals_post.h | 6 +----- Marlin/src/inc/SanityCheck.h | 4 +++- Marlin/src/module/motion.cpp | 16 +++------------- Marlin/src/module/motion.h | 22 +++++++++++++++++++--- Marlin/src/module/probe.cpp | 12 ++++++------ 6 files changed, 34 insertions(+), 31 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 8b29a4ba80..adf6a3d536 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1001,7 +1001,7 @@ #define XY_PROBE_SPEED (133*60) // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2) -#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z +#define Z_PROBE_SPEED_FAST (4*60) // Feedrate (mm/min) for the "accurate" probe of each point #define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2) @@ -1458,8 +1458,7 @@ #endif // Homing speeds (mm/min) -#define HOMING_FEEDRATE_XY (50*60) -#define HOMING_FEEDRATE_Z (4*60) +#define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) } // Validate that endstops are triggered on homing moves #define VALIDATE_HOMING_ENDSTOPS diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 092dc818b8..3510cb2115 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -2317,11 +2317,7 @@ #define Z_PROBE_OFFSET_RANGE_MAX 20 #endif #ifndef XY_PROBE_SPEED - #ifdef HOMING_FEEDRATE_XY - #define XY_PROBE_SPEED HOMING_FEEDRATE_XY - #else - #define XY_PROBE_SPEED 4000 - #endif + #define XY_PROBE_SPEED ((homing_feedrate_mm_m.x + homing_feedrate_mm_m.y) / 2) #endif #ifndef NOZZLE_TO_PROBE_OFFSET #define NOZZLE_TO_PROBE_OFFSET { 0, 0, 0 } diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index c75cb1cd41..6c4c4cc340 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -189,7 +189,9 @@ #elif defined(ENDSTOPS_ONLY_FOR_HOMING) #error "ENDSTOPS_ONLY_FOR_HOMING is deprecated. Use (disable) ENDSTOPS_ALWAYS_ON_DEFAULT instead." #elif defined(HOMING_FEEDRATE) - #error "HOMING_FEEDRATE is deprecated. Set individual rates with HOMING_FEEDRATE_(XY|Z|E) instead." + #error "HOMING_FEEDRATE is now set using the HOMING_FEEDRATE_MM_M array instead." +#elif defined(HOMING_FEEDRATE_XY) || defined(HOMING_FEEDRATE_Z) + #error "HOMING_FEEDRATE_XY and HOMING_FEEDRATE_Z are now set using the HOMING_FEEDRATE_MM_M array instead." #elif defined(MANUAL_HOME_POSITIONS) #error "MANUAL_HOME_POSITIONS is deprecated. Set MANUAL_[XYZ]_HOME_POS as-needed instead." #elif defined(PID_ADD_EXTRUSION_RATE) diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 28bf16a310..127ba80788 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -143,16 +143,6 @@ xyze_pos_t destination; // {0} feedRate_t feedrate_mm_s = MMM_TO_MMS(1500); int16_t feedrate_percentage = 100; -// Homing feedrate is const progmem - compare to constexpr in the header -const feedRate_t homing_feedrate_mm_s[XYZ] PROGMEM = { - #if ENABLED(DELTA) - MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z), - #else - MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY), - #endif - MMM_TO_MMS(HOMING_FEEDRATE_Z) -}; - // Cartesian conversion result goes here: xyz_pos_t cartes; @@ -195,7 +185,7 @@ xyz_pos_t cartes; #endif #if HAS_ABL_NOT_UBL - float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); + feedRate_t xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); #endif /** @@ -510,7 +500,7 @@ void do_z_clearance(const float &zclear, const bool z_trusted/*=true*/, const bo const bool rel = raise_on_untrusted && !z_trusted; float zdest = zclear + (rel ? current_position.z : 0.0f); if (!lower_allowed) NOLESS(zdest, current_position.z); - do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST), homing_feedrate(Z_AXIS))); + do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS))); } // @@ -1841,7 +1831,7 @@ void homeaxis(const AxisEnum axis) { current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir; line_to_current_position( #if HOMING_Z_WITH_PROBE - (axis == Z_AXIS) ? MMM_TO_MMS(Z_PROBE_SPEED_FAST) : + (axis == Z_AXIS) ? z_probe_fast_mm_s : #endif homing_feedrate(axis) ); diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 2eb54f36fb..18d8aa9f2e 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -57,7 +57,7 @@ extern xyz_pos_t cartes; #endif #if HAS_ABL_NOT_UBL - extern float xy_probe_feedrate_mm_s; + extern feedRate_t xy_probe_feedrate_mm_s; #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s #elif defined(XY_PROBE_SPEED) #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED) @@ -65,12 +65,28 @@ extern xyz_pos_t cartes; #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE() #endif +constexpr feedRate_t z_probe_fast_mm_s = MMM_TO_MMS(Z_PROBE_SPEED_FAST); + /** * Feed rates are often configured with mm/m * but the planner and stepper like mm/s units. */ -extern const feedRate_t homing_feedrate_mm_s[XYZ]; -FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); } +constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M; +FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) { + float v; + #if ENABLED(DELTA) + v = homing_feedrate_mm_m.z; + #else + switch (a) { + case X_AXIS: v = homing_feedrate_mm_m.x; break; + case Y_AXIS: v = homing_feedrate_mm_m.y; break; + case Z_AXIS: + default: v = homing_feedrate_mm_m.z; + } + #endif + return MMM_TO_MMS(v); +} + feedRate_t get_homing_bump_feedrate(const AxisEnum axis); /** diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index edf7ba3e20..17949a4420 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -516,7 +516,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { #if TOTAL_PROBING == 2 // Do a first probe at the fast speed - if (try_to_probe(PSTR("FAST"), z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST), + if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s, sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN; const float first_probe_z = current_position.z; @@ -524,7 +524,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("1st Probe Z:", first_probe_z); // Raise to give the probe clearance - do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); + do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s); #elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW @@ -533,8 +533,8 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0); if (current_position.z > z) { // Probe down fast. If the probe never triggered, raise for probe clearance - if (!probe_down_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) - do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); + if (!probe_down_to_z(z, z_probe_fast_mm_s)) + do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, z_probe_fast_mm_s); } #endif @@ -582,7 +582,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { #if EXTRA_PROBING > 0 < TOTAL_PROBING - 1 #endif - ) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); + ) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s); #endif } @@ -672,7 +672,7 @@ float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise if (!isnan(measured_z)) { const bool big_raise = raise_after == PROBE_PT_BIG_RAISE; if (big_raise || raise_after == PROBE_PT_RAISE) - do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST)); + do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), z_probe_fast_mm_s); else if (raise_after == PROBE_PT_STOW) if (stow()) measured_z = NAN; // Error on stow?