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Merge plus fixup zprobe_zoffset

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- Make `zprobe_zoffset` conditional
- Fix ConfigurationStore for `zprobe_zoffset`
This commit is contained in:
Scott Lahteine
2015-03-25 21:14:00 -07:00
parent 96b5da7198 02b4f5f9cd
commit fbf9b21e0c
5 changed files with 122 additions and 77 deletions
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83
Marlin/Marlin_main.cpp
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@ -203,7 +203,8 @@
float homing_feedrate[] = HOMING_FEEDRATE;
#ifdef ENABLE_AUTO_BED_LEVELING
int xy_travel_speed = XY_TRAVEL_SPEED;
int xy_travel_speed = XY_TRAVEL_SPEED;
float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
@ -255,7 +256,6 @@ float home_offset[3] = { 0, 0, 0 };
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
bool axis_known_position[3] = { false, false, false };
float zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
// Extruder offset
#if EXTRUDERS > 1
@ -1162,6 +1162,7 @@ static void run_z_probe() {
zPosition += home_retract_mm(Z_AXIS);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
// move back down slowly to find bed
@ -1179,6 +1180,7 @@ static void run_z_probe() {
zPosition -= home_retract_mm(Z_AXIS) * 2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
// make sure the planner knows where we are as it may be a bit different than we last said to move to
@ -1383,11 +1385,11 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(x + 0.0001);
SERIAL_PROTOCOL_F(x, 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(y + 0.0001);
SERIAL_PROTOCOL_F(y, 3);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(measured_z + 0.0001);
SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL;
}
return measured_z;
@ -2108,6 +2110,10 @@ inline void gcode_G28() {
*
* S Set the XY travel speed between probe points (in mm/min)
*
* D Dry-Run mode. Just evaluate the bed Topology - Don't apply
* or clean the rotation Matrix. Useful to check the topology
* after a first run of G29.
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
@ -2149,6 +2155,7 @@ inline void gcode_G28() {
}
}
bool dryrun = code_seen('D') || code_seen('d');
bool enhanced_g29 = code_seen('E') || code_seen('e');
#ifdef AUTO_BED_LEVELING_GRID
@ -2158,7 +2165,10 @@ inline void gcode_G28() {
#endif
if (verbose_level > 0)
{
SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
if (dryrun) SERIAL_ECHOLN("Running in DRY-RUN mode");
}
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
#ifndef DELTA
@ -2215,21 +2225,26 @@ inline void gcode_G28() {
st_synchronize();
#ifdef DELTA
reset_bed_level();
#else //!DELTA
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif //!DELTA
if (!dryrun)
{
#ifdef DELTA
reset_bed_level();
#else //!DELTA
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
}
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
@ -2330,9 +2345,12 @@ inline void gcode_G28() {
clean_up_after_endstop_move();
#ifdef DELTA
extrapolate_unprobed_bed_level();
if (!dryrun) extrapolate_unprobed_bed_level();
print_bed_level();
#else // !DELTA
// solve lsq problem
double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
@ -2380,10 +2398,10 @@ inline void gcode_G28() {
} //do_topography_map
set_bed_level_equation_lsq(plane_equation_coefficients);
if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
#endif // !DELTA
#endif //!DELTA
#else // !AUTO_BED_LEVELING_GRID
@ -2402,7 +2420,7 @@ inline void gcode_G28() {
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level);
}
clean_up_after_endstop_move();
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // !AUTO_BED_LEVELING_GRID
@ -2413,15 +2431,18 @@ inline void gcode_G28() {
// 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)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
if (!dryrun)
{
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)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#endif // !DELTA
#ifdef Z_PROBE_SLED
dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel