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137 lines
5.8 KiB
137 lines
5.8 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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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* feature/z_stepper_align.cpp
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*/
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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#include "z_stepper_align.h"
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#include "../module/probe.h"
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ZStepperAlign z_stepper_align;
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xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS];
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS];
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#endif
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void ZStepperAlign::reset_to_default() {
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#ifdef Z_STEPPER_ALIGN_XY
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constexpr xy_pos_t xy_init[] = Z_STEPPER_ALIGN_XY;
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static_assert(COUNT(xy_init) == NUM_Z_STEPPER_DRIVERS,
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"Z_STEPPER_ALIGN_XY requires "
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#if NUM_Z_STEPPER_DRIVERS == 4
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"four {X,Y} entries (Z, Z2, Z3, and Z4)."
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#elif NUM_Z_STEPPER_DRIVERS == 3
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"three {X,Y} entries (Z, Z2, and Z3)."
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#else
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"two {X,Y} entries (Z and Z2)."
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#endif
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);
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constexpr xyz_pos_t dpo = NOZZLE_TO_PROBE_OFFSET;
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#define LTEST(N) (xy_init[N].x >= _MAX(X_MIN_BED + PROBING_MARGIN_LEFT, X_MIN_POS + dpo.x) - 0.00001f)
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#define RTEST(N) (xy_init[N].x <= _MIN(X_MAX_BED - PROBING_MARGIN_RIGHT, X_MAX_POS + dpo.x) + 0.00001f)
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#define FTEST(N) (xy_init[N].y >= _MAX(Y_MIN_BED + PROBING_MARGIN_FRONT, Y_MIN_POS + dpo.y) - 0.00001f)
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#define BTEST(N) (xy_init[N].y <= _MIN(Y_MAX_BED - PROBING_MARGIN_BACK, Y_MAX_POS + dpo.y) + 0.00001f)
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static_assert(LTEST(0) && RTEST(0), "The 1st Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
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static_assert(FTEST(0) && BTEST(0), "The 1st Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
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static_assert(LTEST(1) && RTEST(1), "The 2nd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
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static_assert(FTEST(1) && BTEST(1), "The 2nd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
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#if NUM_Z_STEPPER_DRIVERS >= 3
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static_assert(LTEST(2) && RTEST(2), "The 3rd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
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static_assert(FTEST(2) && BTEST(2), "The 3rd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
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#if NUM_Z_STEPPER_DRIVERS >= 4
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static_assert(LTEST(3) && RTEST(3), "The 4th Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
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static_assert(FTEST(3) && BTEST(3), "The 4th Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
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#endif
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#endif
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#else // !defined(Z_STEPPER_ALIGN_XY)
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const xy_pos_t xy_init[] = {
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#if NUM_Z_STEPPER_DRIVERS >= 3 // First probe point...
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#if !Z_STEPPERS_ORIENTATION
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{ probe.min_x(), probe.min_y() }, // SW
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#elif Z_STEPPERS_ORIENTATION == 1
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{ probe.min_x(), probe.max_y() }, // NW
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#elif Z_STEPPERS_ORIENTATION == 2
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{ probe.max_x(), probe.max_y() }, // NE
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#elif Z_STEPPERS_ORIENTATION == 3
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{ probe.max_x(), probe.min_y() }, // SE
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#else
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#error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)."
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#endif
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#if NUM_Z_STEPPER_DRIVERS == 4 // 3 more points...
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#if !Z_STEPPERS_ORIENTATION
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{ probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() } // SW
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#elif Z_STEPPERS_ORIENTATION == 1
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{ probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() } // NW
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#elif Z_STEPPERS_ORIENTATION == 2
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{ probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() } // NE
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#elif Z_STEPPERS_ORIENTATION == 3
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{ probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() } // SE
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#endif
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#elif !Z_STEPPERS_ORIENTATION // or 2 more points...
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{ probe.max_x(), probe.min_y() }, { X_CENTER, probe.max_y() } // SW
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#elif Z_STEPPERS_ORIENTATION == 1
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{ probe.min_x(), probe.min_y() }, { probe.max_x(), Y_CENTER } // NW
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#elif Z_STEPPERS_ORIENTATION == 2
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{ probe.min_x(), probe.max_y() }, { X_CENTER, probe.min_y() } // NE
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#elif Z_STEPPERS_ORIENTATION == 3
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{ probe.max_x(), probe.max_y() }, { probe.min_x(), Y_CENTER } // SE
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#endif
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#elif Z_STEPPERS_ORIENTATION
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{ X_CENTER, probe.min_y() }, { X_CENTER, probe.max_y() }
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#else
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{ probe.min_x(), Y_CENTER }, { probe.max_x(), Y_CENTER }
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#endif
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};
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#endif // !defined(Z_STEPPER_ALIGN_XY)
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COPY(xy, xy_init);
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY;
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static_assert(
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COUNT(stepper_xy_init) == NUM_Z_STEPPER_DRIVERS,
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"Z_STEPPER_ALIGN_STEPPER_XY requires "
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#if NUM_Z_STEPPER_DRIVERS == 4
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"four {X,Y} entries (Z, Z2, Z3, and Z4)."
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#elif NUM_Z_STEPPER_DRIVERS == 3
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"three {X,Y} entries (Z, Z2, and Z3)."
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#endif
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);
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COPY(stepper_xy, stepper_xy_init);
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#endif
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}
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#endif // Z_STEPPER_AUTO_ALIGN
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