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Consolidate probe clearance, add section debug (#18576)

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* Better section / function log
* Add do_z_clearance motion function
This commit is contained in:
Scott Lahteine
2020-07-08 21:44:21 -05:00
committed by GitHub
parent 0eab9fc08c
commit 73fc0778b8
18 changed files with 132 additions and 131 deletions
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17
Marlin/src/module/motion.cpp
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@ -387,7 +387,8 @@ void _internal_move_to_destination(const feedRate_t &fr_mm_s/*=0.0f*/
* Plan a move to (X, Y, Z) and set the current_position
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const feedRate_t &fr_mm_s/*=0.0*/) {
if (DEBUGGING(LEVELING)) DEBUG_XYZ(">>> do_blocking_move_to", rx, ry, rz);
DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", rx, ry, rz);
const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS),
xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
@ -471,8 +472,6 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< do_blocking_move_to");
planner.synchronize();
}
@ -507,6 +506,13 @@ void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &z, const feedRat
do_blocking_move_to(raw.x, raw.y, z, fr_mm_s);
}
void do_z_clearance(const float &zclear, const bool z_known/*=true*/, const bool raise_on_unknown/*=true*/, const bool lower_allowed/*=false*/) {
const bool rel = raise_on_unknown && !z_known;
float zdest = zclear + (rel ? current_position.z : 0.0f);
if (!lower_allowed) NOLESS(zdest, current_position.z);
do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
//
// Prepare to do endstop or probe moves with custom feedrates.
// - Save / restore current feedrate and multiplier
@ -1272,11 +1278,12 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
* Home an individual linear axis
*/
void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0) {
DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING));
const feedRate_t real_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR(">>> do_homing_move(", axis_codes[axis], ", ", distance, ", ");
DEBUG_ECHOPAIR("...(", axis_codes[axis], ", ", distance, ", ");
if (fr_mm_s)
DEBUG_ECHO(fr_mm_s);
else
@ -1349,8 +1356,6 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
// Re-enable stealthChop if used. Disable diag1 pin on driver.
TERN_(SENSORLESS_HOMING, end_sensorless_homing_per_axis(axis, stealth_states));
}
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< do_homing_move(", axis_codes[axis], ")");
}
/**