Consolidate "bedlevel" code
This commit is contained in:
Scott Lahteine
208
Marlin/src/gcode/bedlevel/mbl/G29.cpp
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208
Marlin/src/gcode/bedlevel/mbl/G29.cpp
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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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* G29.cpp - Mesh Bed Leveling
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*/
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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(MESH_BED_LEVELING)
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#include "../../../feature/bedlevel/bedlevel.h"
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#include "../../gcode.h"
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#include "../../queue.h"
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#include "../../../libs/buzzer.h"
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#include "../../../lcd/ultralcd.h"
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#include "../../../module/motion.h"
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#include "../../../module/stepper.h"
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// Save 130 bytes with non-duplication of PSTR
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void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
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void mesh_probing_done() {
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mbl.set_has_mesh(true);
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gcode.home_all_axes();
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set_bed_leveling_enabled(true);
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#if ENABLED(MESH_G28_REST_ORIGIN)
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current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
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set_destination_to_current();
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line_to_destination(homing_feedrate(Z_AXIS));
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stepper.synchronize();
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#endif
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}
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/**
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* G29: Mesh-based Z probe, probes a grid and produces a
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* mesh to compensate for variable bed height
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*
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* Parameters With MESH_BED_LEVELING:
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*
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* S0 Produce a mesh report
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* S1 Start probing mesh points
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* S2 Probe the next mesh point
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* S3 Xn Yn Zn.nn Manually modify a single point
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* S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
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* S5 Reset and disable mesh
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*
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* The S0 report the points as below
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*
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* +----> X-axis 1-n
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* |
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* |
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* v Y-axis 1-n
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*
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*/
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void GcodeSuite::G29() {
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static int mbl_probe_index = -1;
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#if HAS_SOFTWARE_ENDSTOPS
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static bool enable_soft_endstops;
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#endif
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const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
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if (!WITHIN(state, 0, 5)) {
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SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
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return;
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}
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int8_t px, py;
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switch (state) {
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case MeshReport:
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if (leveling_is_valid()) {
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SERIAL_PROTOCOLLNPAIR("State: ", leveling_is_active() ? MSG_ON : MSG_OFF);
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mbl_mesh_report();
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}
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else
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SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
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break;
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case MeshStart:
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mbl.reset();
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mbl_probe_index = 0;
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enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
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break;
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case MeshNext:
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if (mbl_probe_index < 0) {
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SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
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return;
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}
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// For each G29 S2...
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if (mbl_probe_index == 0) {
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#if HAS_SOFTWARE_ENDSTOPS
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// For the initial G29 S2 save software endstop state
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enable_soft_endstops = soft_endstops_enabled;
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#endif
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}
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else {
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// For G29 S2 after adjusting Z.
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mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
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#if HAS_SOFTWARE_ENDSTOPS
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soft_endstops_enabled = enable_soft_endstops;
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#endif
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}
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// If there's another point to sample, move there with optional lift.
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if (mbl_probe_index < GRID_MAX_POINTS) {
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mbl.zigzag(mbl_probe_index, px, py);
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_manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
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#if HAS_SOFTWARE_ENDSTOPS
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// Disable software endstops to allow manual adjustment
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// If G29 is not completed, they will not be re-enabled
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soft_endstops_enabled = false;
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#endif
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mbl_probe_index++;
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}
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else {
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// One last "return to the bed" (as originally coded) at completion
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current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
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line_to_current_position();
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stepper.synchronize();
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// After recording the last point, activate home and activate
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mbl_probe_index = -1;
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SERIAL_PROTOCOLLNPGM("Mesh probing done.");
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BUZZ(100, 659);
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BUZZ(100, 698);
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mesh_probing_done();
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}
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break;
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case MeshSet:
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if (parser.seenval('X')) {
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px = parser.value_int() - 1;
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if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
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SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
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return;
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}
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}
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else {
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SERIAL_CHAR('X'); echo_not_entered();
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return;
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}
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if (parser.seenval('Y')) {
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py = parser.value_int() - 1;
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if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
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SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
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return;
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}
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}
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else {
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SERIAL_CHAR('Y'); echo_not_entered();
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return;
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}
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if (parser.seenval('Z')) {
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mbl.z_values[px][py] = parser.value_linear_units();
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}
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else {
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SERIAL_CHAR('Z'); echo_not_entered();
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return;
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}
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break;
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case MeshSetZOffset:
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if (parser.seenval('Z')) {
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mbl.z_offset = parser.value_linear_units();
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}
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else {
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SERIAL_CHAR('Z'); echo_not_entered();
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return;
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}
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break;
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case MeshReset:
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reset_bed_level();
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break;
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} // switch(state)
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report_current_position();
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}
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#endif // MESH_BED_LEVELING
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63
Marlin/src/gcode/bedlevel/mbl/M421.cpp
Normal file
63
Marlin/src/gcode/bedlevel/mbl/M421.cpp
Normal file
@@ -0,0 +1,63 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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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* M421.cpp - Mesh Bed Leveling
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*/
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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(MESH_BED_LEVELING)
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#include "../../gcode.h"
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#include "../../../module/motion.h"
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#include "../../../feature/bedlevel/mbl/mesh_bed_leveling.h"
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/**
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* M421: Set a single Mesh Bed Leveling Z coordinate
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*
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* Usage:
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* M421 X<linear> Y<linear> Z<linear>
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* M421 X<linear> Y<linear> Q<offset>
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* M421 I<xindex> J<yindex> Z<linear>
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* M421 I<xindex> J<yindex> Q<offset>
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*/
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void GcodeSuite::M421() {
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const bool hasX = parser.seen('X'), hasI = parser.seen('I');
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const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1;
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const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
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const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1;
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const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q');
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if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
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}
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else if (ix < 0 || iy < 0) {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
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}
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else
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mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
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}
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#endif // MESH_BED_LEVELING
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