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Remove support for XY servo endstops

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This commit is contained in:
Scott Lahteine
2016-06-13 20:18:24 -07:00
parent cabb71ff38
commit 47ce810f52
23 changed files with 114 additions and 204 deletions
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165
Marlin/Marlin_main.cpp
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@@ -391,9 +391,8 @@ static uint8_t target_extruder;
};
#endif
#if ENABLED(HAS_SERVO_ENDSTOPS)
const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
#if HAS_Z_ENDSTOP_SERVO
const int z_servo_angle[2] = Z_SERVO_ANGLES;
#endif
#if ENABLED(BARICUDA)
@@ -488,10 +487,8 @@ static bool send_ok[BUFSIZE];
#if HAS_SERVOS
Servo servo[NUM_SERVOS];
#define MOVE_SERVO(I, P) servo[I].move(P)
#define SERVO_ENDSTOP_EXISTS(I) (servo_endstop_id[I] >= 0)
#define MOVE_SERVO_ENDSTOP(I, J) MOVE_SERVO(servo_endstop_id[I], servo_endstop_angle[I][J])
#define DEPLOY_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 0)
#define STOW_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 1)
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
#define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
#endif
#ifdef CHDK
@@ -749,14 +746,12 @@ void servo_init() {
servo[3].detach();
#endif
#if ENABLED(HAS_SERVO_ENDSTOPS)
#if HAS_Z_ENDSTOP_SERVO
endstops.enable_z_probe(false);
/**
* Set position of all defined Servo Endstops
*
* ** UNSAFE! - NEEDS UPDATE! **
* 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.
@@ -764,11 +759,8 @@ void servo_init() {
* homing has been done - no homing with z-probe without init!
*
*/
for (int i = 0; i < 3; i++)
if (SERVO_ENDSTOP_EXISTS(i))
STOW_SERVO_ENDSTOP(i);
#endif // HAS_SERVO_ENDSTOPS
STOW_Z_SERVO();
#endif // HAS_Z_ENDSTOP_SERVO
}
@@ -1837,11 +1829,10 @@ static void setup_for_endstop_move() {
if (endstops.z_probe_enabled) return;
#if ENABLED(HAS_SERVO_ENDSTOPS)
#if HAS_Z_ENDSTOP_SERVO
// Engage Z Servo endstop if enabled
if (SERVO_ENDSTOP_EXISTS(Z_AXIS))
DEPLOY_SERVO_ENDSTOP(Z_AXIS);
DEPLOY_Z_SERVO();
#elif ENABLED(Z_PROBE_ALLEN_KEY)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
@@ -1925,7 +1916,7 @@ static void setup_for_endstop_move() {
}
static void stow_z_probe(bool doRaise = true) {
#if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0))
#if !(HAS_Z_ENDSTOP_SERVO && (Z_RAISE_AFTER_PROBING > 0))
UNUSED(doRaise);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1934,21 +1925,18 @@ static void setup_for_endstop_move() {
if (!endstops.z_probe_enabled) return;
#if ENABLED(HAS_SERVO_ENDSTOPS)
#if HAS_Z_ENDSTOP_SERVO
// Retract Z Servo endstop if enabled
if (SERVO_ENDSTOP_EXISTS(Z_AXIS)) {
#if Z_RAISE_AFTER_PROBING > 0
if (doRaise) {
raise_z_after_probing(); // this also updates current_position
stepper.synchronize();
}
#endif
#if Z_RAISE_AFTER_PROBING > 0
if (doRaise) {
raise_z_after_probing(); // this also updates current_position
stepper.synchronize();
}
#endif
// Change the Z servo angle
STOW_SERVO_ENDSTOP(Z_AXIS);
}
// Change the Z servo angle
STOW_Z_SERVO();
#elif ENABLED(Z_PROBE_ALLEN_KEY)
@@ -2168,16 +2156,25 @@ static void setup_for_endstop_move() {
#endif // DELTA
#if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED)
#if HAS_Z_ENDSTOP_SERVO && DISABLED(Z_PROBE_SLED)
void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
/**
* The zprobe_zoffset is negative any switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
*/
z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
/**
* Raise Z to a minimum height to make room for a servo to move
*
* zprobe_zoffset: Negative of the Z height where the probe engages
* z_dest: The before / after probing raise distance
*
* The zprobe_zoffset is negative for a switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
*/
void raise_z_for_servo(float z_dest) {
z_dest += home_offset[Z_AXIS];
if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
z_dest -= zprobe_zoffset;
if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest); // also updates current_position
}
#endif
@@ -2277,23 +2274,24 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position();
#if ENABLED(Z_PROBE_SLED)
#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
#define _Z_SERVO_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (dock_sled(false))
#define _Z_STOW (dock_sled(true))
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
#define _Z_SERVO_SUBTEST false // Z will never be invoked
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
#define _Z_DEPLOY (deploy_z_probe())
#define _Z_STOW (stow_z_probe())
#elif ENABLED(HAS_SERVO_ENDSTOPS)
#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
#define _Z_SERVO_SUBTEST false // Z will never be invoked
#elif HAS_Z_ENDSTOP_SERVO
#define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0)
#define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0)
#define _Z_SERVO_TEST true // Z not deployed yet
#define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe
#endif
// If there's a Z probe that needs deployment...
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
// ...and homing Z towards the bed? Deploy it.
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_ENDSTOP_SERVO
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
@@ -2302,14 +2300,6 @@ static void homeaxis(AxisEnum axis) {
}
#endif
#if ENABLED(HAS_SERVO_ENDSTOPS)
// Engage an X, Y (or Z) Servo endstop if enabled
if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
DEPLOY_SERVO_ENDSTOP(axis);
if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true;
}
#endif
// Set a flag for Z motor locking
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) stepper.set_homing_flag(true);
@@ -2423,8 +2413,8 @@ static void homeaxis(AxisEnum axis) {
axis_known_position[axis] = true;
axis_homed[axis] = true;
// Put away the Z probe with a function
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
// Put away the Z probe
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_ENDSTOP_SERVO
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
@@ -2433,33 +2423,6 @@ static void homeaxis(AxisEnum axis) {
}
#endif
// Retract X, Y (or Z) Servo endstop if enabled
#if ENABLED(HAS_SERVO_ENDSTOPS)
if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
// Raise the servo probe before stow outside ABL context.
// This is a workaround to allow use of a Servo Probe without
// ABL until more global probe handling is implemented.
#if Z_RAISE_AFTER_PROBING > 0
if (axis == Z_AXIS) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
#endif
current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING;
feedrate = homing_feedrate[Z_AXIS];
line_to_current_position();
stepper.synchronize();
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
#endif
STOW_SERVO_ENDSTOP(axis);
if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false);
}
#endif // HAS_SERVO_ENDSTOPS
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -3801,7 +3764,7 @@ inline void gcode_G28() {
#endif
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
#if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
#if HAS_Z_ENDSTOP_SERVO || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
+ Z_RAISE_AFTER_PROBING
#endif
;
@@ -3816,11 +3779,9 @@ inline void gcode_G28() {
// Sled assembly for Cartesian bots
#if ENABLED(Z_PROBE_SLED)
dock_sled(true); // dock the sled
#else
#elif !HAS_Z_ENDSTOP_SERVO && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
// Raise Z axis for non-delta and non servo based probes
#if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
raise_z_after_probing();
#endif
raise_z_after_probing();
#endif
#endif // !DELTA
@@ -3862,8 +3823,8 @@ inline void gcode_G28() {
* G30: Do a single Z probe at the current XY
*/
inline void gcode_G30() {
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#if HAS_Z_ENDSTOP_SERVO
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
#endif
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
@@ -3884,8 +3845,8 @@ inline void gcode_G28() {
clean_up_after_endstop_move(); // Too early. must be done after the stowing.
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#if HAS_Z_ENDSTOP_SERVO
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
#endif
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
@@ -6019,14 +5980,14 @@ inline void gcode_M303() {
*/
inline void gcode_M400() { stepper.synchronize(); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY))
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_Z_ENDSTOP_SERVO || ENABLED(Z_PROBE_ALLEN_KEY))
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() {
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#if HAS_Z_ENDSTOP_SERVO
raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
#endif
deploy_z_probe();
}
@@ -6035,13 +5996,13 @@ inline void gcode_M400() { stepper.synchronize(); }
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() {
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#if HAS_Z_ENDSTOP_SERVO
raise_z_for_servo(Z_RAISE_AFTER_PROBING);
#endif
stow_z_probe(false);
}
#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_ENDSTOP_SERVO || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#if ENABLED(FILAMENT_WIDTH_SENSOR)
@@ -7338,14 +7299,14 @@ void process_next_command() {
gcode_M400();
break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_Z_ENDSTOP_SERVO || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
case 401:
gcode_M401();
break;
case 402:
gcode_M402();
break;
#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_ENDSTOP_SERVO || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width