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Add loose soft endstop state, apply to UBL fine-tune (#19681)

Browse Source 
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
Earle F. Philhower, III 2020-10-12 14:48:04 -07:00 committed by Scott Lahteine
parent 2b326ebc84
commit dffe7b9072
16 changed files with 106 additions and 133 deletions
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4
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
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@ -1009,6 +1009,8 @@
lcd_mesh_edit_setup(new_z);
SET_SOFT_ENDSTOP_LOOSE(true);
do {
idle();
new_z = lcd_mesh_edit();
@ -1016,6 +1018,8 @@
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (!ui.button_pressed());
SET_SOFT_ENDSTOP_LOOSE(false);
if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status
if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing

16
Marlin/src/gcode/bedlevel/abl/G29.cpp
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@ -201,10 +201,6 @@ G29_TYPE GcodeSuite::G29() {
ABL_VAR int abl_probe_index;
#endif
#if BOTH(HAS_SOFTWARE_ENDSTOPS, PROBE_MANUALLY)
ABL_VAR bool saved_soft_endstops_state = true;
#endif
#if ABL_GRID
#if ENABLED(PROBE_MANUALLY)
@ -461,7 +457,7 @@ G29_TYPE GcodeSuite::G29() {
// Abort current G29 procedure, go back to idle state
if (seenA && g29_in_progress) {
SERIAL_ECHOLNPGM("Manual G29 aborted");
TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
SET_SOFT_ENDSTOP_LOOSE(false);
set_bed_leveling_enabled(abl_should_enable);
g29_in_progress = false;
TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
@ -482,7 +478,7 @@ G29_TYPE GcodeSuite::G29() {
if (abl_probe_index == 0) {
// For the initial G29 S2 save software endstop state
TERN_(HAS_SOFTWARE_ENDSTOPS, saved_soft_endstops_state = soft_endstops_enabled);
SET_SOFT_ENDSTOP_LOOSE(true);
// Move close to the bed before the first point
do_blocking_move_to_z(0);
}
@ -552,14 +548,14 @@ G29_TYPE GcodeSuite::G29() {
_manual_goto_xy(probePos); // Can be used here too!
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
SET_SOFT_ENDSTOP_LOOSE(true);
G29_RETURN(false);
}
else {
// Leveling done! Fall through to G29 finishing code below
SERIAL_ECHOLNPGM("Grid probing done.");
// Re-enable software endstops, if needed
TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
SET_SOFT_ENDSTOP_LOOSE(false);
}
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
@ -570,7 +566,7 @@ G29_TYPE GcodeSuite::G29() {
_manual_goto_xy(probePos);
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
SET_SOFT_ENDSTOP_LOOSE(true);
G29_RETURN(false);
}
else {
@ -578,7 +574,7 @@ G29_TYPE GcodeSuite::G29() {
SERIAL_ECHOLNPGM("3-point probing done.");
// Re-enable software endstops, if needed
TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
SET_SOFT_ENDSTOP_LOOSE(false);
if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();

14
Marlin/src/gcode/bedlevel/mbl/G29.cpp
View File

@ -61,7 +61,6 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM("
void GcodeSuite::G29() {
static int mbl_probe_index = -1;
TERN_(HAS_SOFTWARE_ENDSTOPS, static bool saved_soft_endstops_state);
MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
if (!WITHIN(state, 0, 5)) {
@ -98,26 +97,19 @@ void GcodeSuite::G29() {
}
// For each G29 S2...
if (mbl_probe_index == 0) {
#if HAS_SOFTWARE_ENDSTOPS
// For the initial G29 S2 save software endstop state
saved_soft_endstops_state = soft_endstops_enabled;
#endif
// Move close to the bed before the first point
do_blocking_move_to_z(0);
}
else {
// Save Z for the previous mesh position
mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z);
TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
SET_SOFT_ENDSTOP_LOOSE(false);
}
// If there's another point to sample, move there with optional lift.
if (mbl_probe_index < GRID_MAX_POINTS) {
#if HAS_SOFTWARE_ENDSTOPS
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
soft_endstops_enabled = false;
#endif
// If G29 is left hanging without completion they won't be re-enabled!
SET_SOFT_ENDSTOP_LOOSE(true);
mbl.zigzag(mbl_probe_index++, ix, iy);
_manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] });
}

5
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -222,8 +222,9 @@ void GcodeSuite::G28() {
return;
}
// Wait for planner moves to finish!
planner.synchronize();
planner.synchronize(); // Wait for planner moves to finish!
SET_SOFT_ENDSTOP_LOOSE(false); // Reset a leftover 'loose' motion state
// Disable the leveling matrix before homing
#if HAS_LEVELING

4
Marlin/src/gcode/calibrate/G34.cpp
View File

@ -40,7 +40,7 @@ void GcodeSuite::G34() {
if (homing_needed()) return;
TEMPORARY_SOFT_ENDSTOP_STATE(false);
SET_SOFT_ENDSTOP_LOOSE(true);
TEMPORARY_BED_LEVELING_STATE(false);
TemporaryGlobalEndstopsState unlock_z(false);
@ -148,6 +148,8 @@ void GcodeSuite::G34() {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
#endif
SET_SOFT_ENDSTOP_LOOSE(false);
}
#endif // MECHANICAL_GANTRY_CALIBRATION

9
Marlin/src/gcode/calibrate/G425.cpp
View File

@ -581,13 +581,12 @@ void GcodeSuite::G425() {
GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_PRE));
#endif
TEMPORARY_SOFT_ENDSTOP_STATE(false);
TEMPORARY_BED_LEVELING_STATE(false);
if (homing_needed_error()) return;
measurements_t m;
TEMPORARY_BED_LEVELING_STATE(false);
SET_SOFT_ENDSTOP_LOOSE(true);
measurements_t m;
float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN;
if (parser.seen('B'))
@ -612,6 +611,8 @@ void GcodeSuite::G425() {
else
calibrate_all();
SET_SOFT_ENDSTOP_LOOSE(false);
#ifdef CALIBRATION_SCRIPT_POST
GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_POST));
#endif

4
Marlin/src/gcode/control/M211.cpp
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@ -37,8 +37,8 @@ void GcodeSuite::M211() {
l_soft_max = soft_endstop.max.asLogical();
SERIAL_ECHO_START();
SERIAL_ECHOPGM(STR_SOFT_ENDSTOPS);
if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
serialprint_onoff(soft_endstops_enabled);
if (parser.seen('S')) soft_endstop._enabled = parser.value_bool();
serialprint_onoff(soft_endstop._enabled);
print_xyz(l_soft_min, PSTR(STR_SOFT_MIN), PSTR(" "));
print_xyz(l_soft_max, PSTR(STR_SOFT_MAX));
}

4
Marlin/src/gcode/feature/clean/G12.cpp
View File

@ -70,9 +70,11 @@ void GcodeSuite::G12() {
TEMPORARY_BED_LEVELING_STATE(!TEST(cleans, Z_AXIS) && planner.leveling_active);
#endif
TEMPORARY_SOFT_ENDSTOP_STATE(parser.boolval('E'));
SET_SOFT_ENDSTOP_LOOSE(!parser.boolval('E'));
nozzle.clean(pattern, strokes, radius, objects, cleans);
SET_SOFT_ENDSTOP_LOOSE(false);
}
#endif // NOZZLE_CLEAN_FEATURE

28
Marlin/src/lcd/extui/ui_api.cpp
View File

@ -305,27 +305,9 @@ namespace ExtUI {
}
void setAxisPosition_mm(const float position, const axis_t axis, const feedRate_t feedrate/*=0*/) {
// Start with no limits to movement
float min = current_position[axis] - 1000,
max = current_position[axis] + 1000;
// Limit to software endstops, if enabled
#if HAS_SOFTWARE_ENDSTOPS
if (soft_endstops_enabled) switch (axis) {
case X_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
break;
case Y_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
break;
case Z_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
default: break;
}
#endif // HAS_SOFTWARE_ENDSTOPS
// Get motion limit from software endstops, if any
float min, max;
soft_endstop.get_manual_axis_limits((AxisEnum)axis, min, max);
// Delta limits XY based on the current offset from center
// This assumes the center is 0,0
@ -389,8 +371,8 @@ namespace ExtUI {
}
#if HAS_SOFTWARE_ENDSTOPS
bool getSoftEndstopState() { return soft_endstops_enabled; }
void setSoftEndstopState(const bool value) { soft_endstops_enabled = value; }
bool getSoftEndstopState() { return soft_endstop._enabled; }
void setSoftEndstopState(const bool value) { soft_endstop._enabled = value; }
#endif
#if HAS_TRINAMIC_CONFIG

27
Marlin/src/lcd/menu/menu_motion.cpp
View File

@ -57,28 +57,9 @@
static void _lcd_move_xyz(PGM_P const name, const AxisEnum axis) {
if (ui.use_click()) return ui.goto_previous_screen_no_defer();
if (ui.encoderPosition && !ui.manual_move.processing) {
// Start with no limits to movement
float min = current_position[axis] - 1000,
max = current_position[axis] + 1000;
// Limit to software endstops, if enabled
#if HAS_SOFTWARE_ENDSTOPS
if (soft_endstops_enabled) switch (axis) {
case X_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
break;
case Y_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
break;
case Z_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
default: break;
}
#endif // HAS_SOFTWARE_ENDSTOPS
// Get motion limit from software endstops, if any
float min, max;
soft_endstop.get_manual_axis_limits(axis, min, max);
// Delta limits XY based on the current offset from center
// This assumes the center is 0,0
@ -238,7 +219,7 @@ void menu_move() {
BACK_ITEM(MSG_MOTION);
#if BOTH(HAS_SOFTWARE_ENDSTOPS, SOFT_ENDSTOPS_MENU_ITEM)
EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstops_enabled);
EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstop._enabled);
#endif
if (NONE(IS_KINEMATIC, NO_MOTION_BEFORE_HOMING) || all_axes_homed()) {

8
Marlin/src/lcd/menu/menu_probe_offset.cpp
View File

@ -48,16 +48,12 @@
float z_offset_backup, calculated_z_offset;
TERN_(HAS_LEVELING, bool leveling_was_active);
TERN_(HAS_SOFTWARE_ENDSTOPS, bool store_soft_endstops_enabled);
void prepare_for_calibration() {
z_offset_backup = probe.offset.z;
// Disable soft endstops for free Z movement
#if HAS_SOFTWARE_ENDSTOPS
store_soft_endstops_enabled = soft_endstops_enabled;
soft_endstops_enabled = false;
#endif
SET_SOFT_ENDSTOP_LOOSE(true);
// Disable leveling for raw planner motion
#if HAS_LEVELING
@ -68,7 +64,7 @@ void prepare_for_calibration() {
void set_offset_and_go_back(const float &z) {
probe.offset.z = z;
TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = store_soft_endstops_enabled);
SET_SOFT_ENDSTOP_LOOSE(false);
TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active));
ui.goto_previous_screen_no_defer();
}

24
Marlin/src/lcd/tft/ui_480x320.cpp
View File

@ -813,27 +813,9 @@ static void moveAxis(AxisEnum axis, const int8_t direction) {
}
if (!ui.manual_move.processing) {
// Start with no limits to movement
float min = current_position[axis] - 1000,
max = current_position[axis] + 1000;
// Limit to software endstops, if enabled
#if HAS_SOFTWARE_ENDSTOPS
if (soft_endstops_enabled) switch (axis) {
case X_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
break;
case Y_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
break;
case Z_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
default: break;
}
#endif // HAS_SOFTWARE_ENDSTOPS
// Get motion limit from software endstops, if any
float min, max;
soft_endstop.get_manual_axis_limits(axis, min, max);
// Delta limits XY based on the current offset from center
// This assumes the center is 0,0

2
Marlin/src/libs/nozzle.cpp
View File

@ -161,7 +161,7 @@ Nozzle nozzle;
LIMIT( end[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \
}while(0)
if (soft_endstops_enabled) {
if (soft_endstop.enabled()) {
LIMIT_AXIS(x);
LIMIT_AXIS(y);

17
Marlin/src/module/motion.cpp
View File

@ -534,12 +534,11 @@ void restore_feedrate_and_scaling() {
#if HAS_SOFTWARE_ENDSTOPS
bool soft_endstops_enabled = true;
// Software Endstops are based on the configured limits.
axis_limits_t soft_endstop = {
soft_endstops_t soft_endstop = {
{ X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
{ X_MAX_POS, Y_MAX_POS, Z_MAX_POS }
{ X_MAX_POS, Y_MAX_POS, Z_MAX_POS },
{ true, false }
};
/**
@ -626,7 +625,7 @@ void restore_feedrate_and_scaling() {
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Axis ", XYZ_CHAR(axis), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
}
}
/**
* Constrain the given coordinates to the software endstops.
@ -636,7 +635,7 @@ void restore_feedrate_and_scaling() {
*/
void apply_motion_limits(xyz_pos_t &target) {
if (!soft_endstops_enabled) return;
if (!soft_endstop._enabled) return;
#if IS_KINEMATIC
@ -688,7 +687,11 @@ void restore_feedrate_and_scaling() {
}
}
#endif // HAS_SOFTWARE_ENDSTOPS
#else // !HAS_SOFTWARE_ENDSTOPS
soft_endstops_t soft_endstop;
#endif // !HAS_SOFTWARE_ENDSTOPS
#if !UBL_SEGMENTED

57
Marlin/src/module/motion.h
View File

@ -148,26 +148,61 @@ inline float home_bump_mm(const AxisEnum axis) {
constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
#endif
typedef struct { xyz_pos_t min, max; } axis_limits_t;
#if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled;
extern axis_limits_t soft_endstop;
typedef struct {
xyz_pos_t min, max;
struct {
bool _enabled:1;
bool _loose:1;
};
bool enabled() { return _enabled && !_loose; }
void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
amin = -100000; amax = 100000; // "No limits"
#if HAS_SOFTWARE_ENDSTOPS
if (enabled()) switch (axis) {
case X_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x);
TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x);
break;
case Y_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
break;
case Z_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
default: break;
}
#endif
}
} soft_endstops_t;
extern soft_endstops_t soft_endstop;
void apply_motion_limits(xyz_pos_t &target);
void update_software_endstops(const AxisEnum axis
#if HAS_HOTEND_OFFSET
, const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
#endif
);
#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
#else
constexpr bool soft_endstops_enabled = false;
//constexpr axis_limits_t soft_endstop = {
// { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
// { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } };
#define SET_SOFT_ENDSTOP_LOOSE(loose) (soft_endstop._loose = loose)
#else // !HAS_SOFTWARE_ENDSTOPS
typedef struct {
bool enabled() { return false; }
void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
// No limits
amin = current_position[axis] - 1000;
amax = current_position[axis] + 1000;
}
} soft_endstops_t;
extern soft_endstops_t soft_endstop;
#define apply_motion_limits(V) NOOP
#define update_software_endstops(...) NOOP
#define TEMPORARY_SOFT_ENDSTOP_STATE(...) NOOP
#endif
#define SET_SOFT_ENDSTOP_LOOSE() NOOP
#endif // !HAS_SOFTWARE_ENDSTOPS
void report_real_position();
void report_current_position();

8
Marlin/src/module/tool_change.cpp
View File

@ -1017,14 +1017,10 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
// Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
if (!no_move) {
#if HAS_SOFTWARE_ENDSTOPS
const float maxz = _MIN(soft_endstop.max.z, Z_MAX_POS);
#else
constexpr float maxz = Z_MAX_POS;
#endif
const float newz = current_position.z + _MAX(-diff.z, 0.0);
// Check if Z has space to compensate at least z_offset, and if not, just abort now
const float newz = current_position.z + _MAX(-diff.z, 0.0);
const float maxz = _MIN(TERN(HAS_SOFTWARE_ENDSTOPS, soft_endstop.max.z, Z_MAX_POS), Z_MAX_POS);
if (newz > maxz) return;
current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz);