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Encapsulate probe as singleton class (#16751)

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This commit is contained in:
Scott Lahteine
2020-02-01 04:21:36 -06:00
committed by GitHub
parent 43d3463d5d
commit 90b6324563
33 changed files with 341 additions and 303 deletions
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105
Marlin/src/module/probe.cpp
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@ -21,7 +21,7 @@
*/
/**
* probe.cpp
* module/probe.cpp
*/
#include "../inc/MarlinConfig.h"
@ -84,14 +84,14 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
Probe probe;
xyz_pos_t probe_offset; // Initialized by settings.load()
xyz_pos_t Probe::offset; // Initialized by settings.load()
#if HAS_PROBE_XY_OFFSET
xyz_pos_t &probe_offset_xy = probe_offset;
const xyz_pos_t &Probe::offset_xy = probe.offset;
#endif
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@ -104,7 +104,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
* stow[in] If false, move to MAX_X and engage the solenoid
* If true, move to MAX_X and release the solenoid
*/
static void dock_sled(bool stow) {
static void dock_sled(const bool stow) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")");
// Dock sled a bit closer to ensure proper capturing
@ -118,7 +118,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#elif ENABLED(TOUCH_MI_PROBE)
// Move to the magnet to unlock the probe
void run_deploy_moves_script() {
inline void run_deploy_moves_script() {
#ifndef TOUCH_MI_DEPLOY_XPOS
#define TOUCH_MI_DEPLOY_XPOS X_MIN_POS
#elif TOUCH_MI_DEPLOY_XPOS > X_MAX_BED
@ -153,7 +153,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
}
// Move down to the bed to stow the probe
void run_stow_moves_script() {
inline void run_stow_moves_script() {
const xyz_pos_t oldpos = current_position;
endstops.enable_z_probe(false);
do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z));
@ -162,7 +162,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#elif ENABLED(Z_PROBE_ALLEN_KEY)
void run_deploy_moves_script() {
inline void run_deploy_moves_script() {
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_1
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
@ -200,7 +200,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#endif
}
void run_stow_moves_script() {
inline void run_stow_moves_script() {
#ifdef Z_PROBE_ALLEN_KEY_STOW_1
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
@ -241,7 +241,8 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#endif // Z_PROBE_ALLEN_KEY
#if QUIET_PROBING
void probing_pause(const bool p) {
void Probe::set_probing_paused(const bool p) {
#if ENABLED(PROBING_HEATERS_OFF)
thermalManager.pause(p);
#endif
@ -262,16 +263,17 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#endif
);
}
#endif // QUIET_PROBING
/**
* Raise Z to a minimum height to make room for a probe to move
*/
inline void do_probe_raise(const float z_raise) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
void Probe::do_z_raise(const float z_raise) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::move_z(", z_raise, ")");
float z_dest = z_raise;
if (probe_offset.z < 0) z_dest -= probe_offset.z;
if (offset.z < 0) z_dest -= offset.z;
NOMORE(z_dest, Z_MAX_POS);
@ -351,11 +353,15 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
#endif
}
// returns false for ok and true for failure
bool set_probe_deployed(const bool deploy) {
/**
* Attempt to deploy or stow the probe
*
* Return TRUE if the probe could not be deployed/stowed
*/
bool Probe::set_deployed(const bool deploy) {
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
DEBUG_POS("Probe::set_deployed", current_position);
DEBUG_ECHOLNPAIR("deploy: ", deploy);
}
@ -378,7 +384,7 @@ bool set_probe_deployed(const bool deploy) {
#endif
if (deploy_stow_condition && unknown_condition)
do_probe_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
if (axis_unhomed_error(
@ -433,7 +439,7 @@ bool set_probe_deployed(const bool deploy) {
#ifdef Z_AFTER_PROBING
// After probing move to a preferred Z position
void move_z_after_probing() {
void Probe::move_z_after_probing() {
if (current_position.z != Z_AFTER_PROBING) {
do_blocking_move_to_z(Z_AFTER_PROBING);
current_position.z = Z_AFTER_PROBING;
@ -450,11 +456,11 @@ bool set_probe_deployed(const bool deploy) {
*/
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
const char msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
PGM_P Probe::msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
#endif
static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
bool Probe::move_to_z(const float z, const feedRate_t fr_mm_s) {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::move_to_z", current_position);
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
@ -482,7 +488,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
#endif
#if QUIET_PROBING
probing_pause(true);
set_probing_paused(true);
#endif
// Move down until the probe is triggered
@ -504,7 +510,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
;
#if QUIET_PROBING
probing_pause(false);
set_probing_paused(false);
#endif
// Re-enable stealthChop if used. Disable diag1 pin on driver.
@ -530,7 +536,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
// Tell the planner where we actually are
sync_plan_position();
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< Probe::move_to_z", current_position);
return !probe_triggered;
}
@ -543,19 +549,19 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
*
* @return The Z position of the bed at the current XY or NAN on error.
*/
static float run_z_probe() {
float Probe::run_z_probe() {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::run_z_probe", current_position);
// Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm.
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset.z + Z_PROBE_LOW_POINT : -10.0;
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -offset.z + Z_PROBE_LOW_POINT : -10.0;
// Double-probing does a fast probe followed by a slow probe
#if TOTAL_PROBING == 2
// Do a first probe at the fast speed
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("FAST Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
@ -574,10 +580,10 @@ static float run_z_probe() {
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset.z < 0 ? -probe_offset.z : 0);
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0);
if (current_position.z > z) {
// Probe down fast. If the probe never triggered, raise for probe clearance
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
if (!move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
#endif
@ -587,7 +593,7 @@ static float run_z_probe() {
#endif
#if TOTAL_PROBING > 2
float probes_total = 0;
float probes_z_sum = 0;
for (
#if EXTRA_PROBING
uint8_t p = 0; p < TOTAL_PROBING; p++
@ -598,7 +604,7 @@ static float run_z_probe() {
#endif
{
// Probe downward slowly to find the bed
if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("SLOW Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
@ -622,7 +628,7 @@ static float run_z_probe() {
}
}
#elif TOTAL_PROBING > 2
probes_total += z;
probes_z_sum += z;
#else
UNUSED(z);
#endif
@ -653,11 +659,11 @@ static float run_z_probe() {
// Return the average value of all remaining probes.
for (uint8_t i = min_avg_idx; i <= max_avg_idx; i++)
probes_total += probes[i];
probes_z_sum += probes[i];
#endif
const float measured_z = probes_total * RECIPROCAL(MULTIPLE_PROBING);
const float measured_z = probes_z_sum * RECIPROCAL(MULTIPLE_PROBING);
#elif TOTAL_PROBING == 2
@ -689,10 +695,10 @@ static float run_z_probe() {
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(
">>> probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
">>> Probe::probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none",
", ", int(verbose_level),
", ", probe_relative ? "probe" : "nozzle", "_relative)"
@ -702,9 +708,12 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
// TODO: Adapt for SCARA, where the offset rotates
xyz_pos_t npos = { rx, ry };
if (probe_relative) {
if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
npos -= probe_offset_xy; // Get the nozzle position
if (probe_relative) { // The given position is in terms of the probe
if (!position_is_reachable_by_probe(npos)) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable");
return NAN;
}
npos -= offset_xy; // Get the nozzle position
}
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
@ -724,38 +733,38 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
do_blocking_move_to(npos);
float measured_z = NAN;
if (!DEPLOY_PROBE()) {
measured_z = run_z_probe() + probe_offset.z;
if (!deploy()) {
measured_z = run_z_probe() + offset.z;
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
if (big_raise || raise_after == PROBE_PT_RAISE)
do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else if (raise_after == PROBE_PT_STOW)
if (STOW_PROBE()) measured_z = NAN;
if (stow()) measured_z = NAN;
}
if (verbose_level > 2) {
SERIAL_ECHOPAIR_F("Bed X: ", LOGICAL_X_POSITION(rx), 3);
SERIAL_ECHOPAIR_F(" Y: ", LOGICAL_Y_POSITION(ry), 3);
SERIAL_ECHOLNPAIR_F(" Z: ", measured_z, 3);
SERIAL_ECHOPAIR_F( " Y: ", LOGICAL_Y_POSITION(ry), 3);
SERIAL_ECHOLNPAIR_F( " Z: ", measured_z, 3);
}
feedrate_mm_s = old_feedrate_mm_s;
if (isnan(measured_z)) {
STOW_PROBE();
stow();
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED);
}
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< probe_at_point");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< Probe::probe_at_point");
return measured_z;
}
#if HAS_Z_SERVO_PROBE
void servo_probe_init() {
void Probe::servo_probe_init() {
/**
* Set position of Z Servo Endstop
*