Firmware2/Marlin/src/gcode/bedlevel/mbl/G29.cpp

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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/>.
*
*/
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/**
* G29.cpp - Mesh Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(MESH_BED_LEVELING)
#include "../../../feature/bedlevel/bedlevel.h"
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#include "../../gcode.h"
#include "../../queue.h"
#include "../../../libs/buzzer.h"
#include "../../../lcd/ultralcd.h"
#include "../../../module/motion.h"
#include "../../../module/stepper.h"
// Save 130 bytes with non-duplication of PSTR
void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
void mesh_probing_done() {
mbl.set_has_mesh(true);
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gcode.home_all_axes();
set_bed_leveling_enabled(true);
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
set_destination_to_current();
line_to_destination(homing_feedrate(Z_AXIS));
stepper.synchronize();
#endif
}
/**
* G29: Mesh-based Z probe, probes a grid and produces a
* mesh to compensate for variable bed height
*
* Parameters With MESH_BED_LEVELING:
*
* S0 Produce a mesh report
* S1 Start probing mesh points
* S2 Probe the next mesh point
* S3 Xn Yn Zn.nn Manually modify a single point
* S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
* S5 Reset and disable mesh
*
* The S0 report the points as below
*
* +----> X-axis 1-n
* |
* |
* v Y-axis 1-n
*
*/
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void GcodeSuite::G29() {
static int mbl_probe_index = -1;
#if HAS_SOFTWARE_ENDSTOPS
static bool enable_soft_endstops;
#endif
const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
if (!WITHIN(state, 0, 5)) {
SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
return;
}
int8_t px, py;
switch (state) {
case MeshReport:
if (leveling_is_valid()) {
SERIAL_PROTOCOLLNPAIR("State: ", leveling_is_active() ? MSG_ON : MSG_OFF);
mbl_mesh_report();
}
else
SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
break;
case MeshStart:
mbl.reset();
mbl_probe_index = 0;
enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
break;
case MeshNext:
if (mbl_probe_index < 0) {
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
return;
}
// For each G29 S2...
if (mbl_probe_index == 0) {
#if HAS_SOFTWARE_ENDSTOPS
// For the initial G29 S2 save software endstop state
enable_soft_endstops = soft_endstops_enabled;
#endif
}
else {
// For G29 S2 after adjusting Z.
mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
#if HAS_SOFTWARE_ENDSTOPS
soft_endstops_enabled = enable_soft_endstops;
#endif
}
// If there's another point to sample, move there with optional lift.
if (mbl_probe_index < GRID_MAX_POINTS) {
mbl.zigzag(mbl_probe_index, px, py);
_manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
#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
mbl_probe_index++;
}
else {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
line_to_current_position();
stepper.synchronize();
// After recording the last point, activate home and activate
mbl_probe_index = -1;
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
BUZZ(100, 659);
BUZZ(100, 698);
mesh_probing_done();
}
break;
case MeshSet:
if (parser.seenval('X')) {
px = parser.value_int() - 1;
if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
return;
}
}
else {
SERIAL_CHAR('X'); echo_not_entered();
return;
}
if (parser.seenval('Y')) {
py = parser.value_int() - 1;
if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
return;
}
}
else {
SERIAL_CHAR('Y'); echo_not_entered();
return;
}
if (parser.seenval('Z')) {
mbl.z_values[px][py] = parser.value_linear_units();
}
else {
SERIAL_CHAR('Z'); echo_not_entered();
return;
}
break;
case MeshSetZOffset:
if (parser.seenval('Z')) {
mbl.z_offset = parser.value_linear_units();
}
else {
SERIAL_CHAR('Z'); echo_not_entered();
return;
}
break;
case MeshReset:
reset_bed_level();
break;
} // switch(state)
report_current_position();
}
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#endif // MESH_BED_LEVELING