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828 lines
28 KiB
828 lines
28 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* probe.cpp
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*/
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#include "../inc/MarlinConfig.h"
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#if HAS_BED_PROBE
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#include "../libs/buzzer.h"
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#include "probe.h"
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#include "motion.h"
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#include "temperature.h"
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#include "endstops.h"
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#include "../gcode/gcode.h"
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#include "../lcd/ultralcd.h"
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#if ENABLED(BLTOUCH) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST) || (QUIET_PROBING && ENABLED(PROBING_STEPPERS_OFF))
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#include "../Marlin.h" // for stop(), disable_e_steppers
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#endif
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#if HAS_LEVELING
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#include "../feature/bedlevel/bedlevel.h"
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#endif
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#if ENABLED(DELTA)
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#include "delta.h"
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#endif
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#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
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#include "planner.h"
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#endif
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float zprobe_zoffset; // Initialized by settings.load()
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#if HAS_Z_SERVO_PROBE
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#include "servo.h"
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#endif
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#if ENABLED(SENSORLESS_PROBING)
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#include "stepper.h"
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#include "../feature/tmc_util.h"
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#endif
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#if QUIET_PROBING
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#include "stepper_indirection.h"
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#endif
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#if ENABLED(Z_PROBE_SLED)
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#ifndef SLED_DOCKING_OFFSET
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#define SLED_DOCKING_OFFSET 0
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#endif
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/**
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* Method to dock/undock a sled designed by Charles Bell.
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*
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* stow[in] If false, move to MAX_X and engage the solenoid
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* If true, move to MAX_X and release the solenoid
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*/
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static void dock_sled(bool stow) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("dock_sled(", stow);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
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#if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
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WRITE(SOL1_PIN, !stow); // switch solenoid
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#endif
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}
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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void run_deploy_moves_script() {
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
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#endif
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const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
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do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
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#endif
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const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
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do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
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#endif
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const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
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do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
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#endif
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const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
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do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
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#endif
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const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
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do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
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#endif
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}
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void run_stow_moves_script() {
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#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
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#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
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#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
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#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
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#endif
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const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
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do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
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#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
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#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
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#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
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#endif
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const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
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do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
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#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
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#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
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#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
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#endif
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const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
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do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
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#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
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#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
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#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
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#endif
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const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
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do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
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#endif
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#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
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#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
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#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
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#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
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#endif
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#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
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#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
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#endif
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const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
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do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
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#endif
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}
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#endif // Z_PROBE_ALLEN_KEY
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#if QUIET_PROBING
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void probing_pause(const bool p) {
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#if ENABLED(PROBING_HEATERS_OFF)
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thermalManager.pause(p);
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#endif
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#if ENABLED(PROBING_FANS_OFF)
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thermalManager.set_fans_paused(p);
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#endif
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#if ENABLED(PROBING_STEPPERS_OFF)
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disable_e_steppers();
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#if DISABLED(DELTA)
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disable_X(); disable_Y();
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#endif
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#endif
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if (p) safe_delay(
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#if DELAY_BEFORE_PROBING > 25
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DELAY_BEFORE_PROBING
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#else
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25
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#endif
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);
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}
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#endif // QUIET_PROBING
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#if ENABLED(BLTOUCH)
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void bltouch_command(const int angle) {
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MOVE_SERVO(Z_PROBE_SERVO_NR, angle); // Give the BL-Touch the command and wait
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safe_delay(BLTOUCH_DELAY);
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}
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bool set_bltouch_deployed(const bool deploy) {
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if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
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bltouch_command(BLTOUCH_RESET); // try to reset it.
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bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
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bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
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safe_delay(1500); // Wait for internal self-test to complete.
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// (Measured completion time was 0.65 seconds
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// after reset, deploy, and stow sequence)
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if (TEST_BLTOUCH()) { // If it still claims to be triggered...
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SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH);
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stop(); // punt!
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return true;
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}
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}
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bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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return false;
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}
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#endif // BLTOUCH
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/**
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* Raise Z to a minimum height to make room for a probe to move
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*/
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inline void do_probe_raise(const float z_raise) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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float z_dest = z_raise;
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if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
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NOMORE(z_dest, Z_MAX_POS);
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if (z_dest > current_position[Z_AXIS])
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do_blocking_move_to_z(z_dest);
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}
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FORCE_INLINE void probe_specific_action(const bool deploy) {
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#if ENABLED(PAUSE_BEFORE_DEPLOY_STOW)
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BUZZ(100, 659);
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BUZZ(100, 698);
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PGM_P const ds_str = deploy ? PSTR(MSG_MANUAL_DEPLOY) : PSTR(MSG_MANUAL_STOW);
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ui.return_to_status(); // To display the new status message
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ui.set_status_P(ds_str, 99);
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serialprintPGM(ds_str);
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SERIAL_EOL();
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KEEPALIVE_STATE(PAUSED_FOR_USER);
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wait_for_user = true;
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#if ENABLED(HOST_PROMPT_SUPPORT)
|
|
host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Stow Probe"), PSTR("Continue"));
|
|
#endif
|
|
while (wait_for_user) idle();
|
|
ui.reset_status();
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
#endif // PAUSE_BEFORE_DEPLOY_STOW
|
|
|
|
#if ENABLED(SOLENOID_PROBE)
|
|
|
|
#if HAS_SOLENOID_1
|
|
WRITE(SOL1_PIN, deploy);
|
|
#endif
|
|
|
|
#elif ENABLED(Z_PROBE_SLED)
|
|
|
|
dock_sled(!deploy);
|
|
|
|
#elif HAS_Z_SERVO_PROBE && DISABLED(BLTOUCH)
|
|
|
|
MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]);
|
|
|
|
#elif ENABLED(Z_PROBE_ALLEN_KEY)
|
|
|
|
deploy ? run_deploy_moves_script() : run_stow_moves_script();
|
|
|
|
#elif ENABLED(RACK_AND_PINION_PROBE)
|
|
|
|
do_blocking_move_to_x(deploy ? Z_PROBE_DEPLOY_X : Z_PROBE_RETRACT_X);
|
|
|
|
#elif DISABLED(PAUSE_BEFORE_DEPLOY_STOW)
|
|
|
|
UNUSED(deploy);
|
|
|
|
#endif
|
|
}
|
|
|
|
// 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 (endstops.z_probe_enabled == deploy) return false;
|
|
|
|
// Make room for probe to deploy (or stow)
|
|
// Fix-mounted probe should only raise for deploy
|
|
// unless PAUSE_BEFORE_DEPLOY_STOW is enabled
|
|
#if ENABLED(FIX_MOUNTED_PROBE) && DISABLED(PAUSE_BEFORE_DEPLOY_STOW)
|
|
const bool deploy_stow_condition = deploy;
|
|
#else
|
|
constexpr bool deploy_stow_condition = true;
|
|
#endif
|
|
|
|
// For beds that fall when Z is powered off only raise for trusted Z
|
|
#if ENABLED(UNKNOWN_Z_NO_RAISE)
|
|
const bool unknown_condition = TEST(axis_known_position, Z_AXIS);
|
|
#else
|
|
constexpr float unknown_condition = true;
|
|
#endif
|
|
|
|
if (deploy_stow_condition && unknown_condition)
|
|
do_probe_raise(MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
|
|
|
|
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
|
|
#if ENABLED(Z_PROBE_SLED)
|
|
#define _AUE_ARGS true, false, false
|
|
#else
|
|
#define _AUE_ARGS
|
|
#endif
|
|
if (axis_unhomed_error(_AUE_ARGS)) {
|
|
SERIAL_ERROR_MSG(MSG_STOP_UNHOMED);
|
|
stop();
|
|
return true;
|
|
}
|
|
#endif
|
|
|
|
const float oldXpos = current_position[X_AXIS],
|
|
oldYpos = current_position[Y_AXIS];
|
|
|
|
#if ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST)
|
|
#if USES_Z_MIN_PROBE_ENDSTOP
|
|
#define PROBE_STOWED() (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
|
|
#else
|
|
#define PROBE_STOWED() (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
|
|
#endif
|
|
#endif
|
|
|
|
#ifdef PROBE_STOWED
|
|
|
|
// Only deploy/stow if needed
|
|
if (PROBE_STOWED() == deploy) {
|
|
if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
|
|
// otherwise an Allen-Key probe can't be stowed.
|
|
probe_specific_action(deploy);
|
|
}
|
|
|
|
if (PROBE_STOWED() == deploy) { // Unchanged after deploy/stow action?
|
|
if (IsRunning()) {
|
|
SERIAL_ERROR_MSG("Z-Probe failed");
|
|
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
|
|
}
|
|
stop();
|
|
return true;
|
|
}
|
|
|
|
#else
|
|
|
|
probe_specific_action(deploy);
|
|
|
|
#endif
|
|
|
|
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
|
|
endstops.enable_z_probe(deploy);
|
|
return false;
|
|
}
|
|
|
|
#ifdef Z_AFTER_PROBING
|
|
// After probing move to a preferred Z position
|
|
void move_z_after_probing() {
|
|
if (current_position[Z_AXIS] != Z_AFTER_PROBING) {
|
|
do_blocking_move_to_z(Z_AFTER_PROBING);
|
|
current_position[Z_AXIS] = Z_AFTER_PROBING;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
|
|
#if USES_Z_MIN_PROBE_ENDSTOP
|
|
#define TEST_PROBE_PIN (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
|
|
#else
|
|
#define TEST_PROBE_PIN (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
|
|
#endif
|
|
|
|
extern float backlash_measured_mm[];
|
|
extern uint8_t backlash_measured_num[];
|
|
|
|
/* Measure Z backlash by raising nozzle in increments until probe deactivates */
|
|
static void measure_backlash_with_probe() {
|
|
if (backlash_measured_num[Z_AXIS] == 255) return;
|
|
|
|
float start_height = current_position[Z_AXIS];
|
|
while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
|
|
|
|
// The backlash from all probe points is averaged, so count the number of measurements
|
|
backlash_measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
|
|
backlash_measured_num[Z_AXIS]++;
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Used by run_z_probe to do a single Z probe move.
|
|
*
|
|
* @param z Z destination
|
|
* @param fr_mm_s Feedrate in mm/s
|
|
* @return true to indicate an error
|
|
*/
|
|
|
|
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
|
|
const char msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
|
|
#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 HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
|
|
// Wait for bed to heat back up between probing points
|
|
if (thermalManager.isHeatingBed()) {
|
|
serialprintPGM(msg_wait_for_bed_heating);
|
|
LCD_MESSAGEPGM(MSG_BED_HEATING);
|
|
thermalManager.wait_for_bed();
|
|
ui.reset_status();
|
|
}
|
|
#endif
|
|
|
|
// Deploy BLTouch at the start of any probe
|
|
#if ENABLED(BLTOUCH)
|
|
if (set_bltouch_deployed(true)) return true;
|
|
#endif
|
|
|
|
// Disable stealthChop if used. Enable diag1 pin on driver.
|
|
#if ENABLED(SENSORLESS_PROBING)
|
|
sensorless_t stealth_states { false, false, false, false, false, false, false };
|
|
#if ENABLED(DELTA)
|
|
stealth_states.x = tmc_enable_stallguard(stepperX);
|
|
stealth_states.y = tmc_enable_stallguard(stepperY);
|
|
#endif
|
|
stealth_states.z = tmc_enable_stallguard(stepperZ);
|
|
endstops.enable(true);
|
|
#endif
|
|
|
|
#if QUIET_PROBING
|
|
probing_pause(true);
|
|
#endif
|
|
|
|
// Move down until the probe is triggered
|
|
do_blocking_move_to_z(z, fr_mm_s);
|
|
|
|
// Check to see if the probe was triggered
|
|
const bool probe_triggered =
|
|
#if ENABLED(DELTA) && ENABLED(SENSORLESS_PROBING)
|
|
endstops.trigger_state() & (_BV(X_MIN) | _BV(Y_MIN) | _BV(Z_MIN))
|
|
#else
|
|
TEST(endstops.trigger_state(),
|
|
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
|
|
Z_MIN
|
|
#else
|
|
Z_MIN_PROBE
|
|
#endif
|
|
)
|
|
#endif
|
|
;
|
|
|
|
#if QUIET_PROBING
|
|
probing_pause(false);
|
|
#endif
|
|
|
|
// Re-enable stealthChop if used. Disable diag1 pin on driver.
|
|
#if ENABLED(SENSORLESS_PROBING)
|
|
endstops.not_homing();
|
|
#if ENABLED(DELTA)
|
|
tmc_disable_stallguard(stepperX, stealth_states.x);
|
|
tmc_disable_stallguard(stepperY, stealth_states.y);
|
|
#endif
|
|
tmc_disable_stallguard(stepperZ, stealth_states.z);
|
|
#endif
|
|
|
|
// Retract BLTouch immediately after a probe if it was triggered
|
|
#if ENABLED(BLTOUCH)
|
|
if (probe_triggered && set_bltouch_deployed(false)) return true;
|
|
#endif
|
|
|
|
// Clear endstop flags
|
|
endstops.hit_on_purpose();
|
|
|
|
// Get Z where the steppers were interrupted
|
|
set_current_from_steppers_for_axis(Z_AXIS);
|
|
|
|
// 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
|
|
|
|
return !probe_triggered;
|
|
}
|
|
|
|
/**
|
|
* @details Used by probe_pt to do a single Z probe at the current position.
|
|
* Leaves current_position[Z_AXIS] at the height where the probe triggered.
|
|
*
|
|
* @return The raw Z position where the probe was triggered
|
|
*/
|
|
static float run_z_probe() {
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
|
|
#endif
|
|
|
|
// Stop the probe before it goes too low to prevent damage.
|
|
// If Z isn't known then probe to -10mm.
|
|
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0;
|
|
|
|
// Double-probing does a fast probe followed by a slow probe
|
|
#if MULTIPLE_PROBING == 2
|
|
|
|
// 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
|
|
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
|
|
|
|
// 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));
|
|
|
|
#elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
|
|
|
|
// If the nozzle is well over the travel height then
|
|
// move down quickly before doing the slow probe
|
|
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (zprobe_zoffset < 0 ? -zprobe_zoffset : 0);
|
|
if (current_position[Z_AXIS] > z) {
|
|
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
|
|
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
}
|
|
#endif
|
|
|
|
#if MULTIPLE_PROBING > 2
|
|
float probes_total = 0;
|
|
for (uint8_t p = MULTIPLE_PROBING + 1; --p;) {
|
|
#endif
|
|
|
|
// 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
|
|
return NAN;
|
|
}
|
|
|
|
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
|
|
measure_backlash_with_probe();
|
|
#endif
|
|
|
|
#if MULTIPLE_PROBING > 2
|
|
probes_total += current_position[Z_AXIS];
|
|
if (p > 1) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
}
|
|
#endif
|
|
|
|
#if MULTIPLE_PROBING > 2
|
|
|
|
// Return the average value of all probes
|
|
const float measured_z = probes_total * (1.0f / (MULTIPLE_PROBING));
|
|
|
|
#elif MULTIPLE_PROBING == 2
|
|
|
|
const float z2 = current_position[Z_AXIS];
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPAIR("2nd Probe Z:", z2);
|
|
SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - z2);
|
|
}
|
|
#endif
|
|
|
|
// Return a weighted average of the fast and slow probes
|
|
const float measured_z = (z2 * 3.0 + first_probe_z * 2.0) * 0.2;
|
|
|
|
#else
|
|
|
|
// Return the single probe result
|
|
const float measured_z = current_position[Z_AXIS];
|
|
|
|
#endif
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
|
|
#endif
|
|
|
|
return measured_z;
|
|
}
|
|
|
|
/**
|
|
* - Move to the given XY
|
|
* - Deploy the probe, if not already deployed
|
|
* - Probe the bed, get the Z position
|
|
* - Depending on the 'stow' flag
|
|
* - Stow the probe, or
|
|
* - Raise to the BETWEEN height
|
|
* - 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_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
|
|
SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry));
|
|
SERIAL_ECHOPAIR(", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none");
|
|
SERIAL_ECHOPAIR(", ", int(verbose_level));
|
|
SERIAL_ECHOPAIR(", ", probe_relative ? "probe" : "nozzle");
|
|
SERIAL_ECHOLNPGM("_relative)");
|
|
DEBUG_POS("", current_position);
|
|
}
|
|
#endif
|
|
|
|
// TODO: Adapt for SCARA, where the offset rotates
|
|
float nx = rx, ny = ry;
|
|
if (probe_relative) {
|
|
if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
|
|
nx -= (X_PROBE_OFFSET_FROM_EXTRUDER); // Get the nozzle position
|
|
ny -= (Y_PROBE_OFFSET_FROM_EXTRUDER);
|
|
}
|
|
else if (!position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle
|
|
|
|
const float nz =
|
|
#if ENABLED(DELTA)
|
|
// Move below clip height or xy move will be aborted by do_blocking_move_to
|
|
MIN(current_position[Z_AXIS], delta_clip_start_height)
|
|
#else
|
|
current_position[Z_AXIS]
|
|
#endif
|
|
;
|
|
|
|
const float old_feedrate_mm_s = feedrate_mm_s;
|
|
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
|
|
|
|
// Move the probe to the starting XYZ
|
|
do_blocking_move_to(nx, ny, nz);
|
|
|
|
float measured_z = NAN;
|
|
if (!DEPLOY_PROBE()) {
|
|
measured_z = run_z_probe() + zprobe_zoffset;
|
|
|
|
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_AXIS] + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
else if (raise_after == PROBE_PT_STOW)
|
|
if (STOW_PROBE()) measured_z = NAN;
|
|
}
|
|
|
|
if (verbose_level > 2) {
|
|
SERIAL_ECHOPAIR_F("Bed X: ", LOGICAL_X_POSITION(rx), 3);
|
|
SERIAL_ECHOPAIR_F(" Y: ", LOGICAL_Y_POSITION(ry), 3);
|
|
SERIAL_ECHOLNPAIR_F(" Z: ", measured_z, 3);
|
|
}
|
|
|
|
feedrate_mm_s = old_feedrate_mm_s;
|
|
|
|
if (isnan(measured_z)) {
|
|
STOW_PROBE();
|
|
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
|
|
SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED);
|
|
}
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
|
|
#endif
|
|
|
|
return measured_z;
|
|
}
|
|
|
|
#if HAS_Z_SERVO_PROBE
|
|
|
|
void servo_probe_init() {
|
|
/**
|
|
* Set position of Z Servo Endstop
|
|
*
|
|
* The servo might be deployed and positioned too low to stow
|
|
* when starting up the machine or rebooting the board.
|
|
* There's no way to know where the nozzle is positioned until
|
|
* homing has been done - no homing with z-probe without init!
|
|
*
|
|
*/
|
|
STOW_Z_SERVO();
|
|
}
|
|
|
|
#endif // HAS_Z_SERVO_PROBE
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|