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Make use of the good features of a sled probe for all probes.

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Move and extend axis_unhomed test to deploy/stow_z_probe().
Move and extend position store/restore to deploy/stow_z_probe().

Now all kinds of probes can use the 'E' parameter in G29/M48.
Allen key probes can be used now for grid and 3-point levelling.

Deploying the Allen Key probe uses big moves in z direction.
Too dangerous for an unhomed z-axis.
Throw a compile time error when we try to configure an
Allen Key probe homing to z-min and having no other z-min-endstop.
This commit is contained in:
AnHardt 2016-07-06 03:40:21 +02:00
parent 8555816a11
commit 16c83d203b
2 changed files with 49 additions and 108 deletions
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138
Marlin/Marlin_main.cpp
View File

@ -1735,7 +1735,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif //HAS_BED_PROBE #endif //HAS_BED_PROBE
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
static bool axis_unhomed_error(const bool x, const bool y, const bool z) { static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS], const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS], yy = y && !axis_homed[Y_AXIS],
@ -1783,16 +1783,10 @@ static void clean_up_after_endstop_or_probe_move() {
} }
#endif #endif
if (axis_unhomed_error(true, false, false)) return;
float oldXpos = current_position[X_AXIS]; // save x position
// Dock sled a bit closer to ensure proper capturing // Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0)); do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
digitalWrite(SLED_PIN, !stow); // switch solenoid digitalWrite(SLED_PIN, !stow); // switch solenoid
do_blocking_move_to_x(oldXpos); // return to position before docking
} }
#endif // Z_PROBE_SLED #endif // Z_PROBE_SLED
@ -1964,110 +1958,69 @@ static void clean_up_after_endstop_or_probe_move() {
#endif #endif
#endif #endif
static void deploy_z_probe() { #define DEPLOY_PROBE() set_probe_deployed( true )
#define STOW_PROBE() set_probe_deployed( false )
// returns false for ok and true for failure
static bool set_probe_deployed(bool deploy) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position); if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
SERIAL_ECHOPAIR("deploy: ", deploy);
}
#endif #endif
if (endstops.z_probe_enabled) return; if (endstops.z_probe_enabled == deploy) return false;
// Make room for probe // Make room for probe
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW); do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
#if ENABLED(Z_PROBE_SLED)
if (axis_unhomed_error(true, false, false)) { stop(); return true; }
#elif ENABLED(Z_PROBE_ALLEN_KEY)
if (axis_unhomed_error(true, true, true )) { stop(); return true; }
#endif
float oldXpos = current_position[X_AXIS]; // save x position
float oldYpos = current_position[Y_AXIS]; // save y position
#ifdef _TRIGGERED_WHEN_STOWED_TEST #ifdef _TRIGGERED_WHEN_STOWED_TEST
// If endstop is already false, the Z probe is deployed // If endstop is already false, the Z probe is deployed
if (_TRIGGERED_WHEN_STOWED_TEST) { // closed after the probe specific actions. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
// Would a goto be less ugly? // Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity //while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
// for a triggered when stowed manual probe. // for a triggered when stowed manual probe.
#endif #endif
#if ENABLED(Z_PROBE_SLED) #if ENABLED(Z_PROBE_SLED)
dock_sled(!deploy);
dock_sled(false);
#elif HAS_Z_SERVO_ENDSTOP #elif HAS_Z_SERVO_ENDSTOP
servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[((deploy) ? 0 : 1)]);
// Engage Z Servo endstop if enabled
DEPLOY_Z_SERVO();
#elif ENABLED(Z_PROBE_ALLEN_KEY) #elif ENABLED(Z_PROBE_ALLEN_KEY)
if (!deploy) run_stow_moves_script();
run_deploy_moves_script(); else run_deploy_moves_script();
#else #else
// Nothing to be done. Just enable_z_probe below... // Nothing to be done. Just enable_z_probe below...
#endif #endif
#ifdef _TRIGGERED_WHEN_STOWED_TEST #ifdef _TRIGGERED_WHEN_STOWED_TEST
}; // opened before the probe specific actions }; // opened before the probe specific actions
if (_TRIGGERED_WHEN_STOWED_TEST) { if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {
if (IsRunning()) { if (IsRunning()) {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed"); SERIAL_ERRORLNPGM("Z-Probe failed");
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); LCD_ALERTMESSAGEPGM("Err: ZPROBE");
} }
stop(); stop();
}
#endif
endstops.enable_z_probe();
}
static void stow_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
#endif
if (!endstops.z_probe_enabled) return;
// Make more room for the servo
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
#ifdef _TRIGGERED_WHEN_STOWED_TEST
// If endstop is already false, the Z probe is deployed
if (!_TRIGGERED_WHEN_STOWED_TEST) { // closed after the probe specific actions.
// Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
// for a triggered when stowed manual probe.
#if ENABLED(Z_PROBE_SLED)
dock_sled(true);
#elif HAS_Z_SERVO_ENDSTOP
// Change the Z servo angle
STOW_Z_SERVO();
#elif ENABLED(Z_PROBE_ALLEN_KEY)
run_stow_moves_script();
#else
// Nothing to do here. Just clear endstops.z_probe_enabled
#endif
#ifdef _TRIGGERED_WHEN_STOWED_TEST
}; // opened before the probe specific actions
if (!_TRIGGERED_WHEN_STOWED_TEST) {
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
return true; return true;
} }
#endif #endif
endstops.enable_z_probe(false); do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
endstops.enable_z_probe( deploy );
return false;
} }
// Do a single Z probe and return with current_position[Z_AXIS] // Do a single Z probe and return with current_position[Z_AXIS]
@ -2200,7 +2153,7 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif #endif
deploy_z_probe(); if (DEPLOY_PROBE()) return NAN;
float measured_z = run_z_probe(); float measured_z = run_z_probe();
@ -2208,7 +2161,7 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif #endif
stow_z_probe(); if (STOW_PROBE()) return NAN;
} }
else { else {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2416,7 +2369,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif #endif
deploy_z_probe(); if (DEPLOY_PROBE()) return;
} }
#endif #endif
@ -2543,7 +2496,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif #endif
stow_z_probe(); if (STOW_PROBE()) return;
} }
#endif #endif
@ -3457,12 +3410,7 @@ inline void gcode_G28() {
} }
bool dryrun = code_seen('D'); bool dryrun = code_seen('D');
#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E'); bool stow_probe_after_each = code_seen('E');
#endif
#if ENABLED(AUTO_BED_LEVELING_GRID) #if ENABLED(AUTO_BED_LEVELING_GRID)
@ -3561,8 +3509,8 @@ inline void gcode_G28() {
setup_for_endstop_or_probe_move(); setup_for_endstop_or_probe_move();
// Deploy the probe. Servo will raise if needed. // Deploy the probe. Probe will raise if needed.
deploy_z_probe(); if (DEPLOY_PROBE()) return;
bed_leveling_in_progress = true; bed_leveling_in_progress = true;
@ -3667,7 +3615,7 @@ inline void gcode_G28() {
#endif // !AUTO_BED_LEVELING_GRID #endif // !AUTO_BED_LEVELING_GRID
// Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe. // Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe.
stow_z_probe(); if (STOW_PROBE()) return;
// Restore state after probing // Restore state after probing
clean_up_after_endstop_or_probe_move(); clean_up_after_endstop_or_probe_move();
@ -3874,12 +3822,12 @@ inline void gcode_G28() {
/** /**
* G31: Deploy the Z probe * G31: Deploy the Z probe
*/ */
inline void gcode_G31() { deploy_z_probe(); } inline void gcode_G31() { DEPLOY_PROBE(); }
/** /**
* G32: Stow the Z probe * G32: Stow the Z probe
*/ */
inline void gcode_G32() { stow_z_probe(); } inline void gcode_G32() { STOW_PROBE(); }
#endif // Z_PROBE_SLED #endif // Z_PROBE_SLED
@ -4220,11 +4168,7 @@ inline void gcode_M42() {
float X_current = current_position[X_AXIS], float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS]; Y_current = current_position[Y_AXIS];
#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E'); bool stow_probe_after_each = code_seen('E');
#endif
float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER; float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
#if DISABLED(DELTA) #if DISABLED(DELTA)
@ -4391,7 +4335,7 @@ inline void gcode_M42() {
} // End of probe loop } // End of probe loop
stow_z_probe(); if (STOW_PROBE()) return;
if (verbose_level > 0) { if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: "); SERIAL_PROTOCOLPGM("Mean: ");
@ -5967,12 +5911,12 @@ inline void gcode_M400() { stepper.synchronize(); }
/** /**
* M401: Engage Z Servo endstop if available * M401: Engage Z Servo endstop if available
*/ */
inline void gcode_M401() { deploy_z_probe(); } inline void gcode_M401() { DEPLOY_PROBE(); }
/** /**
* M402: Retract Z Servo endstop if enabled * M402: Retract Z Servo endstop if enabled
*/ */
inline void gcode_M402() { stow_z_probe(); } inline void gcode_M402() { STOW_PROBE(); }
#endif // HAS_BED_PROBE #endif // HAS_BED_PROBE

11
Marlin/SanityCheck.h
View File

@ -425,14 +425,11 @@
#endif #endif
/** /**
* Allen Key Z probe requires Delta and Auto Bed Leveling grid * Allen Key
* Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis.
*/ */
#if ENABLED(Z_PROBE_ALLEN_KEY) #if ENABLED(Z_PROBE_ALLEN_KEY) && (Z_HOME_DIR < 0) && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#if !ENABLED(DELTA) #error "You can't home to a z min endstop with a Z_PROBE_ALLEN_KEY"
#error "Z_PROBE_ALLEN_KEY is only usable with DELTA."
#elif ENABLED(MESH_BED_LEVELING) || (ENABLED(AUTO_BED_LEVELING_FEATURE) && !ENABLED(AUTO_BED_LEVELING_GRID))
#error "Z_PROBE_ALLEN_KEY can only use AUTO_BED_LEVELING_GRID leveling."
#endif
#endif #endif
/** /**