Firmware2/Marlin/src/module/probe.h

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/**
* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
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/**
* probe.h - Move, deploy, enable, etc.
*/
#include "../inc/MarlinConfig.h"
#if HAS_BED_PROBE
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extern xyz_pos_t probe_offset;
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#if HAS_PROBE_XY_OFFSET
extern xyz_pos_t &probe_offset_xy;
#else
constexpr xy_pos_t probe_offset_xy{0};
#endif
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bool set_probe_deployed(const bool deploy);
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#ifdef Z_AFTER_PROBING
void move_z_after_probing();
#endif
enum ProbePtRaise : unsigned char {
PROBE_PT_NONE, // No raise or stow after run_z_probe
PROBE_PT_STOW, // Do a complete stow after run_z_probe
PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
};
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);
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inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
}
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#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
extern const char msg_wait_for_bed_heating[25];
#endif
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#else
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constexpr xyz_pos_t probe_offset{0};
constexpr xy_pos_t probe_offset_xy{0};
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#define DEPLOY_PROBE()
#define STOW_PROBE()
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#endif
#if HAS_BED_PROBE || HAS_LEVELING
#if IS_KINEMATIC
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constexpr float printable_radius = (
#if ENABLED(DELTA)
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DELTA_PRINTABLE_RADIUS
#elif IS_SCARA
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SCARA_PRINTABLE_RADIUS
#endif
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);
inline float probe_radius() {
return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
}
#endif
inline float probe_min_x() {
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return (
#if IS_KINEMATIC
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(X_CENTER) - probe_radius()
#else
_MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset_xy.x)
#endif
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);
}
inline float probe_max_x() {
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return (
#if IS_KINEMATIC
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(X_CENTER) + probe_radius()
#else
_MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset_xy.x)
#endif
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);
}
inline float probe_min_y() {
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return (
#if IS_KINEMATIC
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(Y_CENTER) - probe_radius()
#else
_MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset_xy.y)
#endif
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);
}
inline float probe_max_y() {
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return (
#if IS_KINEMATIC
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(Y_CENTER) + probe_radius()
#else
_MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset_xy.y)
#endif
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);
}
#if NEEDS_THREE_PROBE_POINTS
// Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
template <typename T>
inline void get_three_probe_points(T points[3]) {
#if ENABLED(HAS_FIXED_3POINT)
points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
#else
#if IS_KINEMATIC
constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
#else
points[0].set(probe_min_x(), probe_min_y());
points[1].set(probe_max_x(), probe_min_y());
points[2].set((probe_max_x() - probe_min_x()) / 2, probe_max_y());
#endif
#endif
}
#endif
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#endif
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#if HAS_Z_SERVO_PROBE
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void servo_probe_init();
#endif
#if QUIET_PROBING
void probing_pause(const bool p);
#endif