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Merge pull request #3946 from thinkyhead/rc_g28_servo_raise_before_stow

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Raise the servo probe before stow outside ABL context
This commit is contained in:
Scott Lahteine
2016-06-03 15:45:36 -07:00
parent 0d793fb2be db0fd021d0
commit 8529122af1
22 changed files with 201 additions and 111 deletions
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118
Marlin/Marlin_main.cpp
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@@ -372,7 +372,7 @@ static uint8_t target_extruder;
};
#endif
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
#endif
@@ -724,7 +724,7 @@ void servo_init() {
servo[3].detach();
#endif
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
endstops.enable_z_probe(false);
@@ -1701,7 +1701,12 @@ static void setup_for_endstop_move() {
}
inline void raise_z_after_probing() {
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
#if Z_RAISE_AFTER_PROBING > 0
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
#endif
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
#endif
}
static void clean_up_after_endstop_move() {
@@ -1724,7 +1729,7 @@ static void setup_for_endstop_move() {
if (endstops.z_probe_enabled) return;
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
// Engage Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
@@ -1811,7 +1816,7 @@ static void setup_for_endstop_move() {
}
static void stow_z_probe(bool doRaise = true) {
#if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0))
#if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0))
UNUSED(doRaise);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1820,21 +1825,13 @@ static void setup_for_endstop_move() {
if (!endstops.z_probe_enabled) return;
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
// Retract Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) {
#if Z_RAISE_AFTER_PROBING > 0
if (doRaise) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
SERIAL_ECHO("> SERVO_ENDSTOPS > raise_z_after_probing()");
SERIAL_EOL;
}
#endif
raise_z_after_probing(); // this also updates current_position
stepper.synchronize();
}
@@ -2062,7 +2059,7 @@ static void setup_for_endstop_move() {
#endif // DELTA
#if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED)
#if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED)
void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
@@ -2122,9 +2119,7 @@ static void setup_for_endstop_move() {
float oldXpos = current_position[X_AXIS]; // save x position
if (dock) {
#if Z_RAISE_AFTER_PROBING > 0
raise_z_after_probing(); // raise Z
#endif
raise_z_after_probing(); // raise Z
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
digitalWrite(SLED_PIN, LOW); // turn off magnet
@@ -2173,33 +2168,36 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position();
#if ENABLED(Z_PROBE_SLED)
#define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY
#define _Z_PROBE_SUBTEST false // Z will never be invoked
#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) // servo.move XY
#define _Z_PROBE_SUBTEST false // Z will never be invoked
#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
#define _Z_SERVO_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (deploy_z_probe())
#define _Z_STOW (stow_z_probe())
#elif HAS_SERVO_ENDSTOPS
#define _Z_SERVO_TEST true // servo.move X, Y, Z
#define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe
#elif ENABLED(HAS_SERVO_ENDSTOPS)
#define _Z_SERVO_TEST true // Z not deployed yet
#define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe
#endif
if (axis == Z_AXIS) {
// 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.
if (axis_home_dir < 0) _Z_DEPLOY;
#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.
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
#endif
_Z_DEPLOY;
}
#endif
#if HAS_SERVO_ENDSTOPS
// Engage an X or Y Servo endstop if enabled
#if ENABLED(HAS_SERVO_ENDSTOPS)
// Engage an X, Y (or Z) Servo endstop if enabled
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
if (_Z_PROBE_SUBTEST) endstops.z_probe_enabled = true;
if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true;
}
#endif
@@ -2316,7 +2314,7 @@ static void homeaxis(AxisEnum axis) {
axis_known_position[axis] = true;
axis_homed[axis] = true;
// Put away the Z probe
// Put away the Z probe with a function
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -2326,16 +2324,32 @@ static void homeaxis(AxisEnum axis) {
}
#endif
// Retract Servo endstop if enabled
#if HAS_SERVO_ENDSTOPS
// Retract X, Y (or Z) Servo endstop if enabled
#if ENABLED(HAS_SERVO_ENDSTOPS)
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
// 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
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
if (_Z_PROBE_SUBTEST) endstops.enable_z_probe(false);
if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false);
}
#endif
#endif // HAS_SERVO_ENDSTOPS
}
@@ -3564,7 +3578,7 @@ inline void gcode_G28() {
// Allen Key Probe for Delta
#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
stow_z_probe();
#elif Z_RAISE_AFTER_PROBING > 0
#else
raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
#endif
#else // !DELTA
@@ -3624,7 +3638,7 @@ inline void gcode_G28() {
#endif
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
#if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
#if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
+ Z_RAISE_AFTER_PROBING
#endif
;
@@ -3639,9 +3653,9 @@ inline void gcode_G28() {
// Sled assembly for Cartesian bots
#if ENABLED(Z_PROBE_SLED)
dock_sled(true); // dock the sled
#elif Z_RAISE_AFTER_PROBING > 0
#else
// Raise Z axis for non-delta and non servo based probes
#if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
#if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
raise_z_after_probing();
#endif
#endif
@@ -3685,7 +3699,7 @@ inline void gcode_G28() {
* G30: Do a single Z probe at the current XY
*/
inline void gcode_G30() {
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#endif
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
@@ -3707,7 +3721,7 @@ inline void gcode_G28() {
clean_up_after_endstop_move(); // Too early. must be done after the stowing.
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#endif
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
@@ -5816,13 +5830,13 @@ inline void gcode_M303() {
*/
inline void gcode_M400() { stepper.synchronize(); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY))
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() {
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#endif
deploy_z_probe();
@@ -5832,13 +5846,13 @@ inline void gcode_M400() { stepper.synchronize(); }
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() {
#if HAS_SERVO_ENDSTOPS
#if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo();
#endif
stow_z_probe(false);
}
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#if ENABLED(FILAMENT_WIDTH_SENSOR)
@@ -7054,14 +7068,14 @@ void process_next_command() {
gcode_M400();
break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
case 401:
gcode_M401();
break;
case 402:
gcode_M402();
break;
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || 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