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Replace MBL Z hacking

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This commit is contained in:
Scott Lahteine
2017-03-15 03:20:41 -05:00
parent 4e53124681
commit 3e927ff204
28 changed files with 148 additions and 195 deletions
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137
Marlin/Marlin_main.cpp
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@ -3450,7 +3450,7 @@ inline void gcode_G28() {
stepper.synchronize();
// Disable the leveling matrix before homing
#if PLANNER_LEVELING
#if PLANNER_LEVELING || ENABLED(MESH_BED_LEVELING)
set_bed_leveling_enabled(false);
#endif
@ -3464,31 +3464,6 @@ inline void gcode_G28() {
extruder_duplication_enabled = false;
#endif
/**
* For mesh bed leveling deactivate the mesh calculations, will be turned
* on again when homing all axis
*/
#if ENABLED(MESH_BED_LEVELING)
float pre_home_z = MESH_HOME_SEARCH_Z;
if (mbl.active()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
#endif
// Use known Z position if already homed
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
set_bed_leveling_enabled(false);
pre_home_z = current_position[Z_AXIS];
}
else {
mbl.set_active(false);
current_position[Z_AXIS] = pre_home_z;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
#endif
}
#endif
setup_for_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
@ -3620,43 +3595,14 @@ inline void gcode_G28() {
// Enable mesh leveling again
#if ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
#endif
if (mbl.reactivate()) {
set_bed_leveling_enabled(true);
if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
#endif
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
#if Z_HOME_DIR > 0
+ Z_MAX_POS
#endif
;
SYNC_PLAN_POSITION_KINEMATIC();
mbl.set_active(true);
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = 0.0;
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
set_destination_to_current();
line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
#endif
#else
planner.unapply_leveling(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
#endif
#endif
}
else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
current_position[Z_AXIS] = pre_home_z;
SYNC_PLAN_POSITION_KINEMATIC();
mbl.set_active(true);
planner.unapply_leveling(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
#endif
}
}
@ -3664,16 +3610,16 @@ inline void gcode_G28() {
clean_up_after_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
#endif
// Restore the active tool after homing
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
#endif
}
#if HAS_PROBING_PROCEDURE
@ -3690,25 +3636,21 @@ inline void gcode_G28() {
inline void _mbl_goto_xy(const float &x, const float &y) {
const float old_feedrate_mm_s = feedrate_mm_s;
feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
#if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
+ Z_CLEARANCE_BETWEEN_PROBES
#elif Z_HOMING_HEIGHT > 0
+ Z_HOMING_HEIGHT
#endif
;
line_to_current_position();
#if MANUAL_PROBE_HEIGHT > 0
feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
line_to_current_position();
#endif
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
current_position[X_AXIS] = LOGICAL_X_POSITION(x);
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
line_to_current_position();
#if Z_CLEARANCE_BETWEEN_PROBES > 0 || Z_HOMING_HEIGHT > 0
#if MANUAL_PROBE_HEIGHT > 0
feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + 0.2; // just slightly over the bed
line_to_current_position();
#endif
@ -3721,7 +3663,6 @@ inline void gcode_G28() {
void mbl_mesh_report() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (uint8_t py = 0; py < MESH_NUM_Y_POINTS; py++) {
@ -3757,6 +3698,10 @@ inline void gcode_G28() {
inline void gcode_G29() {
static int probe_index = -1;
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
static bool enable_soft_endstops;
#endif
const MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
if (state < 0 || state > 5) {
SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
@ -3788,33 +3733,34 @@ inline void gcode_G28() {
}
// For each G29 S2...
if (probe_index == 0) {
// For the initial G29 S2 make Z a positive value (e.g., 4.0)
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
#if Z_HOME_DIR > 0
+ Z_MAX_POS
#endif
;
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
// For the initial G29 S2 save software endstop state
enable_soft_endstops = soft_endstops_enabled;
#endif
}
else {
// For G29 S2 after adjusting Z.
mbl.set_zigzag_z(probe_index - 1, current_position[Z_AXIS]);
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
soft_endstops_enabled = enable_soft_endstops;
#endif
}
// If there's another point to sample, move there with optional lift.
if (probe_index < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
mbl.zigzag(probe_index, px, py);
_mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
#endif
probe_index++;
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
#if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
+ Z_CLEARANCE_BETWEEN_PROBES
#elif Z_HOMING_HEIGHT > 0
+ Z_HOMING_HEIGHT
#endif
;
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
line_to_current_position();
stepper.synchronize();
@ -3822,7 +3768,12 @@ inline void gcode_G28() {
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
probe_index = -1;
mbl.set_has_mesh(true);
mbl.set_reactivate(true);
enqueue_and_echo_commands_P(PSTR("G28"));
#if HAS_BUZZER
lcd_buzz(200, 659);
lcd_buzz(200, 698);
#endif
}
break;
@ -3871,14 +3822,8 @@ inline void gcode_G28() {
break;
case MeshReset:
if (mbl.active()) {
current_position[Z_AXIS] -= MESH_HOME_SEARCH_Z;
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
mbl.reset();
SYNC_PLAN_POSITION_KINEMATIC();
}
else
mbl.reset();
reset_bed_level();
break;
} // switch(state)