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Consolidate "bedlevel" code

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This commit is contained in:
Scott Lahteine
2017-09-08 15:35:25 -05:00
parent 71aefc2e22
commit 551752eac7
45 changed files with 3525 additions and 3851 deletions
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20
Marlin/src/gcode/calibrate/M420.h → Marlin/src/gcode/bedlevel/M420.cpp
View File

@ -20,6 +20,18 @@
*
*/
#include "../../inc/MarlinConfig.h"
#if HAS_LEVELING
#include "../gcode.h"
#include "../../feature/bedlevel/bedlevel.h"
#include "../../module/planner.h"
#if ENABLED(EEPROM_SETTINGS)
#include "../../module/configuration_store.h"
#endif
/**
* M420: Enable/Disable Bed Leveling and/or set the Z fade height.
*
@ -31,7 +43,7 @@
*
* L[index] Load UBL mesh from index (0 is default)
*/
void gcode_M420() {
void GcodeSuite::M420() {
#if ENABLED(AUTO_BED_LEVELING_UBL)
@ -64,10 +76,10 @@ void gcode_M420() {
#endif
}
// L to load a mesh from the EEPROM
// L or V display the map info
if (parser.seen('L') || parser.seen('V')) {
ubl.display_map(0); // Currently only supports one map type
SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
SERIAL_ECHOLNPAIR("ubl.mesh_is_valid = ", ubl.mesh_is_valid());
SERIAL_ECHOLNPAIR("ubl.state.storage_slot = ", ubl.state.storage_slot);
}
@ -119,3 +131,5 @@ void gcode_M420() {
SERIAL_ECHOLNPGM(MSG_OFF);
#endif
}
#endif // HAS_LEVELING

41
Marlin/src/gcode/calibrate/G29-abl.h → Marlin/src/gcode/bedlevel/abl/G29.cpp
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@ -20,6 +20,29 @@
*
*/
/**
* G29.cpp - Auto Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if OLDSCHOOL_ABL
#include "../../gcode.h"
#include "../../../feature/bedlevel/bedlevel.h"
#include "../../../module/motion.h"
#include "../../../module/planner.h"
#include "../../../module/stepper.h"
#include "../../../module/probe.h"
#if ENABLED(LCD_BED_LEVELING) && ENABLED(PROBE_MANUALLY)
#include "../../../lcd/ultralcd.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include "../../../libs/least_squares_fit.h"
#endif
#if ABL_GRID
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
@ -106,7 +129,7 @@
* There's no extra effect if you have a fixed Z probe.
*
*/
void gcode_G29() {
void GcodeSuite::G29() {
// G29 Q is also available if debugging
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -176,12 +199,10 @@ void gcode_G29() {
abl_grid_points_y = GRID_MAX_POINTS_Y;
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int abl2;
#else // Bilinear
int constexpr abl2 = GRID_MAX_POINTS;
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
ABL_VAR int abl2;
#elif ENABLED(PROBE_MANUALLY) // Bilinear
int constexpr abl2 = GRID_MAX_POINTS;
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -199,7 +220,9 @@ void gcode_G29() {
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
int constexpr abl2 = 3;
#if ENABLED(PROBE_MANUALLY)
int constexpr abl2 = 3; // used to show total points
#endif
// Probe at 3 arbitrary points
ABL_VAR vector_3 points[3] = {
@ -944,3 +967,5 @@ void gcode_G29() {
if (planner.abl_enabled)
SYNC_PLAN_POSITION_KINEMATIC();
}
#endif // OLDSCHOOL_ABL

15
Marlin/src/gcode/calibrate/M421-abl.h → Marlin/src/gcode/bedlevel/abl/M421.cpp
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@ -20,6 +20,17 @@
*
*/
/**
* M421.cpp - Auto Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "../../gcode.h"
#include "../../../feature/bedlevel/abl/abl.h"
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
@ -27,7 +38,7 @@
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
*/
void gcode_M421() {
void GcodeSuite::M421() {
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
const bool hasI = ix >= 0,
hasJ = iy >= 0,
@ -49,3 +60,5 @@ void gcode_M421() {
#endif
}
}
#endif // AUTO_BED_LEVELING_BILINEAR

34
Marlin/src/gcode/calibrate/G29-mbl.h → Marlin/src/gcode/bedlevel/mbl/G29.cpp
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@ -20,26 +20,30 @@
*
*/
#include "../queue.h"
/**
* G29.cpp - Mesh Bed Leveling
*/
#include "../../libs/buzzer.h"
#include "../../lcd/ultralcd.h"
#include "../../../inc/MarlinConfig.h"
#if ENABLED(MESH_BED_LEVELING)
#include "../../../feature/bedlevel/bedlevel.h"
#include "../../gcode.h"
#include "../../queue.h"
#include "../../../libs/buzzer.h"
#include "../../../lcd/ultralcd.h"
#include "../../../module/motion.h"
#include "../../../module/stepper.h"
// Save 130 bytes with non-duplication of PSTR
void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
void mbl_mesh_report() {
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
);
}
void mesh_probing_done() {
mbl.set_has_mesh(true);
home_all_axes();
gcode.home_all_axes();
set_bed_leveling_enabled(true);
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
@ -70,7 +74,7 @@ void mesh_probing_done() {
* v Y-axis 1-n
*
*/
void gcode_G29() {
void GcodeSuite::G29() {
static int mbl_probe_index = -1;
#if HAS_SOFTWARE_ENDSTOPS
@ -200,3 +204,5 @@ void gcode_G29() {
report_current_position();
}
#endif // MESH_BED_LEVELING

16
Marlin/src/gcode/calibrate/M421-mbl.h → Marlin/src/gcode/bedlevel/mbl/M421.cpp
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@ -20,6 +20,18 @@
*
*/
/**
* M421.cpp - Mesh Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(MESH_BED_LEVELING)
#include "../../gcode.h"
#include "../../../module/motion.h"
#include "../../../feature/bedlevel/mbl/mesh_bed_leveling.h"
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
@ -29,7 +41,7 @@
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
*/
void gcode_M421() {
void GcodeSuite::M421() {
const bool hasX = parser.seen('X'), hasI = parser.seen('I');
const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1;
const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
@ -47,3 +59,5 @@ void gcode_M421() {
else
mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
}
#endif // MESH_BED_LEVELING

15
Marlin/src/gcode/calibrate/G29-ubl.h → Marlin/src/gcode/bedlevel/ubl/G26.cpp
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@ -20,8 +20,17 @@
*
*/
void gcode_G29() {
/**
* G26.cpp - Unified Bed Leveling
*/
ubl.G29();
#include "../../../inc/MarlinConfig.h"
}
#if ENABLED(UBL_G26_MESH_VALIDATION)
#include "../../gcode.h"
#include "../../../feature/bedlevel/ubl/ubl.h"
void GcodeSuite::G26() { ubl.G26(); }
#endif // UBL_G26_MESH_VALIDATION

15
Marlin/src/gcode/calibrate/G26.h → Marlin/src/gcode/bedlevel/ubl/G29.cpp
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@ -20,8 +20,17 @@
*
*/
void gcode_G26() {
/**
* G29.cpp - Unified Bed Leveling
*/
ubl.G26();
#include "../../../inc/MarlinConfig.h"
}
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "../../gcode.h"
#include "../../../feature/bedlevel/ubl/ubl.h"
void GcodeSuite::G29() { ubl.G29(); }
#endif // AUTO_BED_LEVELING_UBL

15
Marlin/src/gcode/calibrate/M421-ubl.h → Marlin/src/gcode/bedlevel/ubl/M421.cpp
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@ -20,6 +20,17 @@
*
*/
/**
* unified.cpp - Unified Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "../../gcode.h"
#include "../../../feature/bedlevel/ubl/ubl.h"
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
@ -29,7 +40,7 @@
* M421 C Z<linear>
* M421 C Q<offset>
*/
void gcode_M421() {
void GcodeSuite::M421() {
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
const bool hasI = ix >= 0,
hasJ = iy >= 0,
@ -54,3 +65,5 @@ void gcode_M421() {
else
ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
}
#endif // AUTO_BED_LEVELING_UBL

15
Marlin/src/gcode/calibrate/M49.h → Marlin/src/gcode/bedlevel/ubl/M49.cpp
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@ -20,8 +20,21 @@
*
*/
void gcode_M49() {
/**
* M49.cpp - Unified Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(UBL_G26_MESH_VALIDATION)
#include "../../gcode.h"
#include "../../../feature/bedlevel/bedlevel.h"
void GcodeSuite::M49() {
ubl.g26_debug_flag ^= true;
SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
}
#endif // UBL_G26_MESH_VALIDATION

23
Marlin/src/gcode/calibrate/G28.h → Marlin/src/gcode/calibrate/G28.cpp
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@ -20,12 +20,23 @@
*
*/
#include "common.h"
#include "../../inc/MarlinConfig.h"
#include "../gcode.h"
#include "../../module/stepper.h"
#include "../../module/endstops.h"
#if HOTENDS > 1
#include "../control/tool_change.h"
#include "../../module/tool_change.h"
#endif
#if HAS_LEVELING
#include "../../feature/bedlevel/bedlevel.h"
#endif
#include "../../lcd/ultralcd.h"
#if ENABLED(QUICK_HOME)
static void quick_home_xy() {
@ -126,11 +137,11 @@
* Z Home to the Z endstop
*
*/
void gcode_G28(const bool always_home_all) {
void GcodeSuite::G28(const bool always_home_all) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_G28");
SERIAL_ECHOLNPGM(">>> G28");
log_machine_info();
}
#endif
@ -288,7 +299,7 @@ void gcode_G28(const bool always_home_all) {
SYNC_PLAN_POSITION_KINEMATIC();
#endif // !DELTA (gcode_G28)
#endif // !DELTA (G28)
endstops.not_homing();
@ -319,6 +330,6 @@ void gcode_G28(const bool always_home_all) {
report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
#endif
}

65
Marlin/src/gcode/calibrate/G29.h
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@ -1,65 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
extern bool lcd_wait_for_move;
#endif
inline void _manual_goto_xy(const float &x, const float &y) {
const float old_feedrate_mm_s = feedrate_mm_s;
#if MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position[Z_AXIS];
feedrate_mm_s = homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = LOGICAL_Z_POSITION(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 MANUAL_PROBE_HEIGHT > 0
feedrate_mm_s = homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
line_to_current_position();
#endif
feedrate_mm_s = old_feedrate_mm_s;
stepper.synchronize();
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
lcd_wait_for_move = false;
#endif
}
#endif
#if ENABLED(MESH_BED_LEVELING)
#include "G29-mbl.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#include "G29-ubl.h"
#elif HAS_ABL
#include "G29-abl.h"
#endif

63
Marlin/src/gcode/calibrate/G33.h → Marlin/src/gcode/calibrate/G33.cpp
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@ -20,10 +20,21 @@
*
*/
#include "common.h"
#include "../../inc/MarlinConfig.h"
#if HOTENDS > 1
#include "../control/tool_change.h"
#if ENABLED(DELTA_AUTO_CALIBRATION)
#include "../gcode.h"
#include "../../module/delta.h"
#include "../../module/probe.h"
#include "../../module/motion.h"
#include "../../module/stepper.h"
#include "../../module/endstops.h"
#include "../../module/tool_change.h"
#include "../../lcd/ultralcd.h"
#if HAS_LEVELING
#include "../../feature/bedlevel/bedlevel.h"
#endif
/**
@ -54,7 +65,7 @@
* E Engage the probe for each point
*/
void print_signed_float(const char * const prefix, const float &f) {
static void print_signed_float(const char * const prefix, const float &f) {
SERIAL_PROTOCOLPGM(" ");
serialprintPGM(prefix);
SERIAL_PROTOCOLCHAR(':');
@ -62,12 +73,12 @@ void print_signed_float(const char * const prefix, const float &f) {
SERIAL_PROTOCOL_F(f, 2);
}
inline void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ???
static void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ???
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
if (end_stops) {
print_signed_float(PSTR(" Ex"), endstop_adj[A_AXIS]);
print_signed_float(PSTR("Ey"), endstop_adj[B_AXIS]);
print_signed_float(PSTR("Ez"), endstop_adj[C_AXIS]);
print_signed_float(PSTR(" Ex"), delta_endstop_adj[A_AXIS]);
print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
}
SERIAL_EOL();
@ -79,7 +90,7 @@ inline void print_G33_settings(const bool end_stops, const bool tower_angles){ /
}
}
void G33_cleanup(
static void G33_cleanup(
#if HOTENDS > 1
const uint8_t old_tool_index
#endif
@ -94,7 +105,7 @@ void G33_cleanup(
#endif
}
void gcode_G33() {
void GcodeSuite::G33() {
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
if (!WITHIN(probe_points, 1, 7)) {
@ -110,7 +121,7 @@ void gcode_G33() {
const float calibration_precision = parser.floatval('C');
if (calibration_precision < 0) {
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
return;
}
@ -121,7 +132,6 @@ void gcode_G33() {
}
const bool towers_set = parser.boolval('T', true),
stow_after_each = parser.boolval('E'),
_1p_calibration = probe_points == 1,
_4p_calibration = probe_points == 2,
_4p_towers_points = _4p_calibration && towers_set,
@ -133,18 +143,24 @@ void gcode_G33() {
_7p_quadruple_circle = probe_points == 7,
_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
_7p_intermed_points = _7p_calibration && !_7p_half_circle;
#if DISABLED(PROBE_MANUALLY)
const bool stow_after_each = parser.boolval('E');
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
#endif
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
int8_t iterations = 0;
float test_precision,
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
zero_std_dev_old = zero_std_dev,
zero_std_dev_min = zero_std_dev,
e_old[XYZ] = {
endstop_adj[A_AXIS],
endstop_adj[B_AXIS],
endstop_adj[C_AXIS]
delta_endstop_adj[A_AXIS],
delta_endstop_adj[B_AXIS],
delta_endstop_adj[C_AXIS]
},
dr_old = delta_radius,
zh_old = home_offset[Z_AXIS],
@ -167,6 +183,7 @@ void gcode_G33() {
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
stepper.synchronize();
#if HAS_LEVELING
reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
@ -274,7 +291,7 @@ void gcode_G33() {
if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) {
if (zero_std_dev < zero_std_dev_min) {
COPY(e_old, endstop_adj);
COPY(e_old, delta_endstop_adj);
dr_old = delta_radius;
zh_old = home_offset[Z_AXIS];
alpha_old = delta_tower_angle_trim[A_AXIS];
@ -337,20 +354,20 @@ void gcode_G33() {
break;
}
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
delta_radius += r_delta;
delta_tower_angle_trim[A_AXIS] += t_alpha;
delta_tower_angle_trim[B_AXIS] += t_beta;
// adjust delta_height and endstops by the max amount
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
LOOP_XYZ(i) delta_endstop_adj[i] -= z_temp;
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
else if (zero_std_dev >= test_precision) { // step one back
COPY(endstop_adj, e_old);
COPY(delta_endstop_adj, e_old);
delta_radius = dr_old;
home_offset[Z_AXIS] = zh_old;
delta_tower_angle_trim[A_AXIS] = alpha_old;
@ -449,3 +466,5 @@ void gcode_G33() {
G33_CLEANUP();
}
#endif // DELTA_AUTO_CALIBRATION

10
Marlin/src/gcode/calibrate/M666.h
View File

@ -33,11 +33,11 @@
#endif
LOOP_XYZ(i) {
if (parser.seen(axis_codes[i])) {
endstop_adj[i] = parser.value_linear_units();
delta_endstop_adj[i] = parser.value_linear_units();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
SERIAL_ECHOPAIR("delta_endstop_adj[", axis_codes[i]);
SERIAL_ECHOLNPAIR("] = ", delta_endstop_adj[i]);
}
#endif
}
@ -48,9 +48,9 @@
}
#endif
// normalize endstops so all are <=0; set the residue to delta height
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
home_offset[Z_AXIS] -= z_temp;
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
LOOP_XYZ(i) delta_endstop_adj[i] -= z_temp;
}
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)

81
Marlin/src/gcode/calibrate/common.h
View File

@ -1,81 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef CALIBRATE_COMMON_H
#define CALIBRATE_COMMON_H
#if ENABLED(DELTA)
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
inline bool home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif
// Init the current position of all carriages to 0,0,0
ZERO(current_position);
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
feedrate_mm_s = homing_feedrate(X_AXIS);
line_to_current_position();
stepper.synchronize();
// If an endstop was not hit, then damage can occur if homing is continued.
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
// not set correctly.
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
return false;
}
endstops.hit_on_purpose(); // clear endstop hit flags
// At least one carriage has reached the top.
// Now re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
#endif
return true;
}
#endif // DELTA
#endif // CALIBRATE_COMMON_H

2
Marlin/src/gcode/control/M18_M84.h
View File

@ -47,7 +47,7 @@ void gcode_M18_M84() {
}
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
ubl_lcd_map_control = defer_return_to_status = false;
ubl.lcd_map_control = defer_return_to_status = false;
#endif
}
}

48
Marlin/src/gcode/gcode.cpp
View File

@ -115,14 +115,10 @@ extern void gcode_G18();
extern void gcode_G19();
extern void gcode_G20();
extern void gcode_G21();
extern void gcode_G26();
extern void gcode_G27();
extern void gcode_G28(const bool always_home_all);
extern void gcode_G29();
extern void gcode_G30();
extern void gcode_G31();
extern void gcode_G32();
extern void gcode_G33();
extern void gcode_G38(bool is_38_2);
extern void gcode_G42();
extern void gcode_G92();
@ -149,7 +145,6 @@ extern void gcode_M34();
extern void gcode_M42();
extern void gcode_M43();
extern void gcode_M48();
extern void gcode_M49();
extern void gcode_M75();
extern void gcode_M76();
extern void gcode_M77();
@ -225,8 +220,6 @@ extern void gcode_M405();
extern void gcode_M406();
extern void gcode_M407();
extern void gcode_M410();
extern void gcode_M420();
extern void gcode_M421();
extern void gcode_M428();
extern void gcode_M500();
extern void gcode_M501();
@ -238,7 +231,6 @@ extern void gcode_M605();
extern void gcode_M665();
extern void gcode_M666();
extern void gcode_M702();
extern void gcode_M851();
extern void gcode_M900();
extern void gcode_M906();
extern void gcode_M911();
@ -348,9 +340,9 @@ void GcodeSuite::process_next_command() {
break;
#endif // INCH_MODE_SUPPORT
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
#if ENABLED(UBL_G26_MESH_VALIDATION)
case 26: // G26: Mesh Validation Pattern generation
gcode_G26();
G26();
break;
#endif // AUTO_BED_LEVELING_UBL
@ -361,13 +353,13 @@ void GcodeSuite::process_next_command() {
#endif // NOZZLE_PARK_FEATURE
case 28: // G28: Home all axes, one at a time
gcode_G28(false);
G28(false);
break;
#if HAS_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
// or provides access to the UBL System if enabled.
gcode_G29();
G29();
break;
#endif // HAS_LEVELING
@ -391,17 +383,11 @@ void GcodeSuite::process_next_command() {
#endif // HAS_BED_PROBE
#if PROBE_SELECTED
#if ENABLED(DELTA_AUTO_CALIBRATION)
case 33: // G33: Delta Auto-Calibration
gcode_G33();
break;
#endif // DELTA_AUTO_CALIBRATION
#endif // PROBE_SELECTED
#if ENABLED(DELTA_AUTO_CALIBRATION)
case 33: // G33: Delta Auto-Calibration
G33();
break;
#endif // DELTA_AUTO_CALIBRATION
#if ENABLED(G38_PROBE_TARGET)
case 38: // G38.2 & G38.3
@ -516,11 +502,9 @@ void GcodeSuite::process_next_command() {
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
case 49: // M49: Turn on or off G26 debug flag for verbose output
gcode_M49();
break;
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
#if ENABLED(UBL_G26_MESH_VALIDATION)
case 49: M49(); break; // M49: Turn on or off G26 debug flag for verbose output
#endif
case 75: // M75: Start print timer
gcode_M75(); break;
@ -901,13 +885,13 @@ void GcodeSuite::process_next_command() {
#if HAS_LEVELING
case 420: // M420: Enable/Disable Bed Leveling
gcode_M420();
M420();
break;
#endif
#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if HAS_MESH
case 421: // M421: Set a Mesh Bed Leveling Z coordinate
gcode_M421();
M421();
break;
#endif
@ -941,7 +925,7 @@ void GcodeSuite::process_next_command() {
#if HAS_BED_PROBE
case 851: // M851: Set Z Probe Z Offset
gcode_M851();
M851();
break;
#endif // HAS_BED_PROBE

42
Marlin/src/gcode/probe/M851.h → Marlin/src/gcode/probe/M851.cpp
View File

@ -20,43 +20,15 @@
*
*/
void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
static float last_zoffset = NAN;
#include "../../inc/MarlinConfig.h"
if (!isnan(last_zoffset)) {
#if HAS_BED_PROBE
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
const float diff = zprobe_zoffset - last_zoffset;
#endif
#include "../gcode.h"
#include "../../feature/bedlevel/bedlevel.h"
#include "../../module/probe.h"
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Correct bilinear grid for new probe offset
if (diff) {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
z_values[x][y] -= diff;
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
#endif
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
if (!no_babystep && leveling_is_active())
thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
#else
UNUSED(no_babystep);
#endif
#if ENABLED(DELTA) // correct the delta_height
home_offset[Z_AXIS] -= diff;
#endif
}
last_zoffset = zprobe_zoffset;
}
void gcode_M851() {
void GcodeSuite::M851() {
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
if (parser.seen('Z')) {
@ -74,3 +46,5 @@ void gcode_M851() {
SERIAL_EOL();
}
#endif // HAS_BED_PROBE