From 4f660a18bca38d1b5eb228fa9fcbb473617f3d8e Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 8 Apr 2018 23:53:09 -0500 Subject: [PATCH] Add Z_PROBE_LOW_POINT to prevent damage --- Marlin/Configuration.h | 2 ++ Marlin/Marlin.h | 2 +- Marlin/Marlin_main.cpp | 37 +++++++++++++++++++++++++++++-------- Marlin/SanityCheck.h | 4 ++++ 4 files changed, 36 insertions(+), 9 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 08f8e00bd..17fa87171 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -744,6 +744,8 @@ #define Z_CLEARANCE_BETWEEN_PROBES 5 // Z Clearance between probe points //#define Z_AFTER_PROBING 5 // Z position after probing is done +#define Z_PROBE_LOW_POINT -2 // Farthest distance below the trigger-point to go before stopping + // For M851 give a range for adjusting the Z probe offset #define Z_PROBE_OFFSET_RANGE_MIN -20 #define Z_PROBE_OFFSET_RANGE_MAX 20 diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index a161682c5..4ffeed97a 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -392,7 +392,7 @@ void report_current_position(); PROBE_PT_STOW, // Do a complete stow after run_z_probe PROBE_PT_RAISE // Raise to "between" clearance after run_z_probe }; - float probe_pt(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_pt(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool is_calibration=false); #define DEPLOY_PROBE() set_probe_deployed(true) #define STOW_PROBE() set_probe_deployed(false) #else diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index e38129307..e337e69a8 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -2238,17 +2238,34 @@ static void clean_up_after_endstop_or_probe_move() { * * @return The raw Z position where the probe was triggered */ - static float run_z_probe() { + #define HAS_CALIBRATION_PROBE (ENABLED(DELTA_AUTO_CALIBRATION) && Z_PROBE_LOW_POINT < 0) + static float run_z_probe( + #if HAS_CALIBRATION_PROBE + const bool is_calibration + #endif + ) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position); #endif + #if Z_PROBE_LOW_POINT < 0 + // Stop the probe before it goes too low to prevent damage. + // If Z isn't known or this is a "calibration probe" then probe to -10mm. + #if !HAS_CALIBRATION_PROBE + constexpr bool is_calibration = false; + #endif + const float z_probe_low_point = !is_calibration && axis_known_position[Z_AXIS] ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0; + #else + // Assertively move down in all cases + constexpr float z_probe_low_point = -10.0; + #endif + // Double-probing does a fast probe followed by a slow probe #if MULTIPLE_PROBING == 2 // Do a first probe at the fast speed - if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN; + if (do_probe_move(z_probe_low_point, Z_PROBE_SPEED_FAST)) return NAN; float first_probe_z = current_position[Z_AXIS]; @@ -2279,7 +2296,7 @@ static void clean_up_after_endstop_or_probe_move() { #endif // move down slowly to find bed - if (do_probe_move(-10, Z_PROBE_SPEED_SLOW)) return NAN; + if (do_probe_move(z_probe_low_point, Z_PROBE_SPEED_SLOW)) return NAN; #if MULTIPLE_PROBING > 2 probes_total += current_position[Z_AXIS]; @@ -2327,14 +2344,14 @@ static void clean_up_after_endstop_or_probe_move() { * - Raise to the BETWEEN height * - Return the probed Z position */ - float probe_pt(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_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool is_calibration/*=false*/) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx)); SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry)); SERIAL_ECHOPAIR(", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none"); SERIAL_ECHOPAIR(", ", int(verbose_level)); - SERIAL_ECHOPAIR(", ", probe_relative ? "probe" : "nozzle"); + SERIAL_ECHOPAIR(", ", is_calibration ? "nozzle" : "probe"); SERIAL_ECHOLNPGM("_relative)"); DEBUG_POS("", current_position); } @@ -2342,7 +2359,7 @@ static void clean_up_after_endstop_or_probe_move() { // TODO: Adapt for SCARA, where the offset rotates float nx = rx, ny = ry; - if (probe_relative) { + if (!is_calibration) { if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe nx -= (X_PROBE_OFFSET_FROM_EXTRUDER); // Get the nozzle position ny -= (Y_PROBE_OFFSET_FROM_EXTRUDER); @@ -2366,7 +2383,11 @@ static void clean_up_after_endstop_or_probe_move() { float measured_z = NAN; if (!DEPLOY_PROBE()) { - measured_z = run_z_probe() + zprobe_zoffset; + measured_z = run_z_probe( + #if HAS_CALIBRATION_PROBE + is_calibration + #endif + ) + zprobe_zoffset; if (raise_after == PROBE_PT_RAISE) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); @@ -5436,7 +5457,7 @@ void home_all_axes() { gcode_G28(true); } inline float calibration_probe(const float nx, const float ny, const bool stow) { #if HAS_BED_PROBE - return probe_pt(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false); + return probe_pt(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true); #else UNUSED(stow); return lcd_probe_pt(nx, ny); diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h index 690ab4119..02db15509 100644 --- a/Marlin/SanityCheck.h +++ b/Marlin/SanityCheck.h @@ -759,6 +759,10 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE, #error "MULTIPLE_PROBING must be >= 2." #endif + #if Z_PROBE_LOW_POINT > 0 + #error "Z_PROBE_LOW_POINT must be less than or equal to 0." + #endif + #else /**