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More sanity-checking for ABL

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- Moved sanity-checks to Marlin_main.cpp
- Applied to other configuration files
- Fixed formatting of ABL output
- Passing verbose level to probe_pt
- Miscellaneous cleanup
- Put CONFIG_STEPPERS_TOSHIBA into Configuration.h
This commit is contained in:
Scott Lahteine
2015-03-06 22:14:34 -08:00
parent ca4b36deda
commit d085725c86
12 changed files with 581 additions and 614 deletions
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200
Marlin/Marlin_main.cpp
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@@ -39,6 +39,8 @@
#endif
#endif // ENABLE_AUTO_BED_LEVELING
#define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
@@ -589,9 +591,9 @@ void servo_init()
}
#endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
}
@@ -1182,41 +1184,41 @@ static void clean_up_after_endstop_move() {
}
static void engage_z_probe() {
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
#endif
}
#endif
#endif
}
static void retract_z_probe() {
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
#endif
}
#endif
#endif
}
enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract) {
static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract, int verbose_level=1) {
// move to right place
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
@@ -1232,18 +1234,20 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
if (retract_action & ProbeRetract) retract_z_probe();
#endif
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(measured_z);
SERIAL_PROTOCOLPGM("\n");
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(x + 0.0001);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(y + 0.0001);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(measured_z + 0.0001);
SERIAL_EOL;
}
return measured_z;
}
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
#endif // ENABLE_AUTO_BED_LEVELING
static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
@@ -1266,7 +1270,7 @@ static void homeaxis(int axis) {
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
if (axis==Z_AXIS) {
engage_z_probe();
}
@@ -1317,7 +1321,7 @@ static void homeaxis(int axis) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
}
#endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
#ifndef Z_PROBE_SLED
if (axis==Z_AXIS) retract_z_probe();
#endif
@@ -1744,6 +1748,53 @@ inline void gcode_G28() {
#ifdef ENABLE_AUTO_BED_LEVELING
// Define the possible boundaries for probing based on set limits
#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#ifdef AUTO_BED_LEVELING_GRID
#define MIN_PROBE_EDGE 20 // The probe square sides can be no smaller than this
// Make sure probing points are reachable
#if LEFT_PROBE_BED_POSITION < MIN_PROBE_X
#error The given LEFT_PROBE_BED_POSITION can't be reached by the probe.
#elif RIGHT_PROBE_BED_POSITION > MAX_PROBE_X
#error The given RIGHT_PROBE_BED_POSITION can't be reached by the probe.
#elif FRONT_PROBE_BED_POSITION < MIN_PROBE_Y
#error The given FRONT_PROBE_BED_POSITION can't be reached by the probe.
#elif BACK_PROBE_BED_POSITION > MAX_PROBE_Y
#error The given BACK_PROBE_BED_POSITION can't be reached by the probe.
// Check if Probe_Offset * Grid Points is greater than Probing Range
#elif abs(X_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#elif abs(Y_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else // !AUTO_BED_LEVELING_GRID
#if ABL_PROBE_PT_1_X < MIN_PROBE_X || ABL_PROBE_PT_1_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_1_X can't be reached by the probe.
#elif ABL_PROBE_PT_2_X < MIN_PROBE_X || ABL_PROBE_PT_2_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_2_X can't be reached by the probe.
#elif ABL_PROBE_PT_3_X < MIN_PROBE_X || ABL_PROBE_PT_3_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_3_X can't be reached by the probe.
#elif ABL_PROBE_PT_1_Y < MIN_PROBE_Y || ABL_PROBE_PT_1_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_1_Y can't be reached by the probe.
#elif ABL_PROBE_PT_2_Y < MIN_PROBE_Y || ABL_PROBE_PT_2_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_2_Y can't be reached by the probe.
#elif ABL_PROBE_PT_3_Y < MIN_PROBE_Y || ABL_PROBE_PT_3_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_3_Y can't be reached by the probe.
#endif
#endif // !AUTO_BED_LEVELING_GRID
/**
* G29: Detailed Z-Probe, probes the bed at 3 or more points.
* Will fail if the printer has not been homed with G28.
@@ -1816,48 +1867,36 @@ inline void gcode_G28() {
return;
}
// Define the possible boundaries for probing based on the set limits.
// Code above (in G28) might have these limits wrong, or I am wrong here.
#define MIN_PROBE_EDGE 10 // Edges of the probe square can be no less
const int min_probe_x = max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER),
max_probe_x = min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER),
min_probe_y = max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER),
max_probe_y = min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER);
int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION,
right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION,
front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION,
back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION;
bool left_out_l = left_probe_bed_position < min_probe_x,
left_out_r = left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE,
left_out = left_out_l || left_out_r,
right_out_r = right_probe_bed_position > max_probe_x,
right_out_l =right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
right_out = right_out_l || right_out_r,
front_out_f = front_probe_bed_position < min_probe_y,
front_out_b = front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE,
front_out = front_out_f || front_out_b,
back_out_b = back_probe_bed_position > max_probe_y,
back_out_f = back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE,
back_out = back_out_f || back_out_b;
bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE,
right_out_r = right_probe_bed_position > MAX_PROBE_X,
right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
front_out_f = front_probe_bed_position < MIN_PROBE_Y,
front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE,
back_out_b = back_probe_bed_position > MAX_PROBE_Y,
back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
if (left_out || right_out || front_out || back_out) {
if (left_out) {
SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n");
left_probe_bed_position = left_out_l ? min_probe_x : right_probe_bed_position - MIN_PROBE_EDGE;
left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE;
}
if (right_out) {
SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n");
right_probe_bed_position = right_out_r ? max_probe_x : left_probe_bed_position + MIN_PROBE_EDGE;
right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
}
if (front_out) {
SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n");
front_probe_bed_position = front_out_f ? min_probe_y : back_probe_bed_position - MIN_PROBE_EDGE;
front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE;
}
if (back_out) {
SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n");
back_probe_bed_position = back_out_b ? max_probe_y : front_probe_bed_position + MIN_PROBE_EDGE;
back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
}
return;
}
@@ -1935,7 +1974,7 @@ inline void gcode_G28() {
else
act = ProbeEngageRetract;
measured_z = probe_pt(xProbe, yProbe, z_before, act);
measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
mean += measured_z;
@@ -1960,15 +1999,15 @@ inline void gcode_G28() {
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
SERIAL_PROTOCOL(plane_equation_coefficients[0] + 0.0001);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
SERIAL_PROTOCOL(plane_equation_coefficients[1] + 0.0001);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
SERIAL_PROTOCOLLN(plane_equation_coefficients[2] + 0.0001);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" \n");
SERIAL_EOL;
}
}
@@ -2000,14 +2039,14 @@ inline void gcode_G28() {
;
float diff = eqnBVector[ind] - mean;
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +"); // Watch column alignment in Pronterface
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
else
SERIAL_PROTOCOLPGM(" -");
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_PROTOCOLPGM("\n");
SERIAL_EOL;
} // yy
SERIAL_PROTOCOLPGM("\n");
SERIAL_EOL;
} //topo_flag
@@ -2022,14 +2061,14 @@ inline void gcode_G28() {
if (enhanced_g29) {
// Basic Enhanced G29
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage);
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay);
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract);
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage, verbose_level);
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay, verbose_level);
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract, verbose_level);
}
else {
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, verbose_level);
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level);
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level);
}
clean_up_after_endstop_move();
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
@@ -2041,7 +2080,7 @@ inline void gcode_G28() {
if (verbose_level > 0)
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
// The following code correct the Z height difference from z-probe position and hotend tip position.
// Correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
@@ -2071,12 +2110,12 @@ inline void gcode_G28() {
run_z_probe();
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM("\n");
SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
SERIAL_EOL;
clean_up_after_endstop_move();
retract_z_probe(); // Retract Z Servo endstop if available
@@ -2603,8 +2642,7 @@ inline void gcode_M42() {
SERIAL_PROTOCOL_F(sigma,6);
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("\n");
if (verbose_level > 0) SERIAL_EOL;
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
@@ -2626,12 +2664,12 @@ inline void gcode_M42() {
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM("\n");
SERIAL_EOL;
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM("\n\n");
SERIAL_EOL; SERIAL_EOL;
}
#endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
@@ -3438,11 +3476,11 @@ inline void gcode_M226() {
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
#if SERVO_LEVELING
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif