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Fixed Z_PROBE_PIN pullup bug.

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Documented some additional areas that should be addressed if Z_PROBE is
fully separated from Z_MIN or Z_MAX.
Fixed a documentation error in sanity checks. Servos start at 0 not 1.
This commit is contained in:
Chris Roadfeldt 2015-03-31 02:56:41 -05:00
parent ec1d9c0b8f
commit 17707e7479
4 changed files with 581 additions and 413 deletions
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2
Marlin/Conditionals.h
View File

@ -186,7 +186,7 @@
#define ENDSTOPPULLUP_ZMIN #define ENDSTOPPULLUP_ZMIN
#endif #endif
#ifndef DISABLE_Z_PROBE_ENDSTOP #ifndef DISABLE_Z_PROBE_ENDSTOP
#define ENDSTOPPULL_ZPROBE #define ENDSTOPPULLUP_ZPROBE
#endif #endif
#endif #endif

407
Marlin/Marlin_main.cpp
View File

@ -79,7 +79,7 @@
// G4 - Dwell S<seconds> or P<milliseconds> // G4 - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207 // G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208 // G11 - retract recover filament according to settings of M208
// G28 - Home all Axis // G28 - Home one or more axes
// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location. // G30 - Single Z Probe, probes bed at current XY location.
// G31 - Dock sled (Z_PROBE_SLED only) // G31 - Dock sled (Z_PROBE_SLED only)
@ -170,7 +170,7 @@
// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
// M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
// M406 - Turn off Filament Sensor extrusion control // M406 - Turn off Filament Sensor extrusion control
// M407 - Display measured filament diameter // M407 - Displays measured filament diameter
// M500 - Store parameters in EEPROM // M500 - Store parameters in EEPROM
// M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily). // M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. // M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
@ -210,7 +210,6 @@ int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES; bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedmultiply = 100; //100->1 200->2 int feedmultiply = 100; //100->1 200->2
int saved_feedmultiply; int saved_feedmultiply;
int extrudemultiply = 100; //100->1 200->2
int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100); int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100);
bool volumetric_enabled = false; bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA); float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA);
@ -273,7 +272,7 @@ int fanSpeed = 0;
#endif // FWRETRACT #endif // FWRETRACT
#if defined(ULTIPANEL) && HAS_POWER_SWITCH #ifdef ULTIPANEL
bool powersupply = bool powersupply =
#ifdef PS_DEFAULT_OFF #ifdef PS_DEFAULT_OFF
false false
@ -477,8 +476,6 @@ bool enquecommand(const char *cmd)
return true; return true;
} }
void setup_killpin() void setup_killpin()
{ {
#if defined(KILL_PIN) && KILL_PIN > -1 #if defined(KILL_PIN) && KILL_PIN > -1
@ -519,8 +516,8 @@ void setup_powerhold()
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
OUT_WRITE(SUICIDE_PIN, HIGH); OUT_WRITE(SUICIDE_PIN, HIGH);
#endif #endif
#if HAS_POWER_SWITCH #if defined(PS_ON_PIN) && PS_ON_PIN > -1
#ifdef PS_DEFAULT_OFF #if defined(PS_DEFAULT_OFF)
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else #else
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
@ -966,10 +963,10 @@ static void axis_is_at_home(int axis) {
return; return;
} }
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS]; float xoff = home_offset[X_AXIS];
min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS]; current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS], min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset); max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
return; return;
} }
} }
@ -1023,16 +1020,27 @@ static void axis_is_at_home(int axis) {
} }
/** /**
* Shorthand to tell the planner our current position (in mm). * Some planner shorthand inline functions
*/ */
inline void line_to_current_position() {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
}
inline void line_to_z(float zPosition) {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
}
inline void line_to_destination() {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
}
inline void sync_plan_position() { inline void sync_plan_position() {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
} }
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
#ifndef DELTA #ifndef DELTA
static void set_bed_level_equation_lsq(double *plane_equation_coefficients) { static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
planeNormal.debug("planeNormal"); planeNormal.debug("planeNormal");
@ -1051,9 +1059,10 @@ inline void sync_plan_position() {
sync_plan_position(); sync_plan_position();
} }
#endif
#else // not AUTO_BED_LEVELING_GRID #endif // !DELTA
#else // !AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) { static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
@ -1080,9 +1089,10 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
sync_plan_position(); sync_plan_position();
} }
#endif // AUTO_BED_LEVELING_GRID #endif // !AUTO_BED_LEVELING_GRID
static void run_z_probe() { static void run_z_probe() {
#ifdef DELTA #ifdef DELTA
float start_z = current_position[Z_AXIS]; float start_z = current_position[Z_AXIS];
@ -1102,14 +1112,14 @@ static void run_z_probe() {
calculate_delta(current_position); calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else #else // !DELTA
plan_bed_level_matrix.set_to_identity(); plan_bed_level_matrix.set_to_identity();
feedrate = homing_feedrate[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS];
// move down until you find the bed // move down until you find the bed
float zPosition = -10; float zPosition = -10;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder); line_to_z(zPosition);
st_synchronize(); st_synchronize();
// we have to let the planner know where we are right now as it is not where we said to go. // we have to let the planner know where we are right now as it is not where we said to go.
@ -1118,21 +1128,20 @@ static void run_z_probe() {
// move up the retract distance // move up the retract distance
zPosition += home_retract_mm(Z_AXIS); 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); line_to_z(zPosition);
st_synchronize(); st_synchronize();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
// move back down slowly to find bed // move back down slowly to find bed
if (homing_bump_divisor[Z_AXIS] >= 1) { if (homing_bump_divisor[Z_AXIS] >= 1)
feedrate = homing_feedrate[Z_AXIS] / homing_bump_divisor[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS] / homing_bump_divisor[Z_AXIS];
}
else { else {
feedrate = homing_feedrate[Z_AXIS] / 10; feedrate = homing_feedrate[Z_AXIS] / 10;
SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1"); SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
} }
zPosition -= home_retract_mm(Z_AXIS) * 2; 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); line_to_z(zPosition);
st_synchronize(); st_synchronize();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
@ -1140,7 +1149,7 @@ static void run_z_probe() {
// make sure the planner knows where we are as it may be a bit different than we last said to move to // make sure the planner knows where we are as it may be a bit different than we last said to move to
sync_plan_position(); sync_plan_position();
#endif #endif // !DELTA
} }
static void do_blocking_move_to(float x, float y, float z) { static void do_blocking_move_to(float x, float y, float z) {
@ -1161,14 +1170,14 @@ static void do_blocking_move_to(float x, float y, float z) {
feedrate = homing_feedrate[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS];
current_position[Z_AXIS] = z; current_position[Z_AXIS] = z;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder); line_to_current_position();
st_synchronize(); st_synchronize();
feedrate = xy_travel_speed; feedrate = xy_travel_speed;
current_position[X_AXIS] = x; current_position[X_AXIS] = x;
current_position[Y_AXIS] = y; current_position[Y_AXIS] = y;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder); line_to_current_position();
st_synchronize(); st_synchronize();
#endif #endif
@ -1181,7 +1190,6 @@ static void setup_for_endstop_move() {
saved_feedmultiply = feedmultiply; saved_feedmultiply = feedmultiply;
feedmultiply = 100; feedmultiply = 100;
previous_millis_cmd = millis(); previous_millis_cmd = millis();
enable_endstops(true); enable_endstops(true);
} }
@ -1189,12 +1197,12 @@ static void clean_up_after_endstop_move() {
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false); enable_endstops(false);
#endif #endif
feedrate = saved_feedrate; feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply; feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis(); previous_millis_cmd = millis();
} }
<<<<<<< HEAD
static void engage_z_probe() { static void engage_z_probe() {
// Engage Z Servo endstop if enabled // Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
@ -1229,6 +1237,9 @@ static void engage_z_probe() {
st_synchronize(); st_synchronize();
// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
// it's own unique entity, then the following logic will need to be modified
// so it only uses the Z_PROBE
#if defined(Z_PROBE_AND_ENDSTOP) #if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop) if (z_probe_endstop)
@ -1242,13 +1253,59 @@ static void engage_z_probe() {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); LCD_ALERTMESSAGEPGM("Err: ZPROBE");
=======
static void engage_z_probe() {
#ifdef SERVO_ENDSTOPS
// Engage Z Servo endstop if enabled
if (servo_endstops[Z_AXIS] >= 0) {
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
}
#elif defined(Z_PROBE_ALLEN_KEY)
feedrate = homing_feedrate[X_AXIS];
// Move to the start position to initiate deployment
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
prepare_move_raw();
// Home X to touch the belt
feedrate = homing_feedrate[X_AXIS]/10;
destination[X_AXIS] = 0;
prepare_move_raw();
// Home Y for safety
feedrate = homing_feedrate[X_AXIS]/2;
destination[Y_AXIS] = 0;
prepare_move_raw();
st_synchronize();
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop) {
if (!Stopped) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
>>>>>>> MarlinFirmware/Development
} }
Stop(); Stop();
} }
#endif
} #endif // Z_PROBE_ALLEN_KEY
<<<<<<< HEAD
static void retract_z_probe() { static void retract_z_probe() {
// Retract Z Servo endstop if enabled // Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
@ -1298,6 +1355,9 @@ static void retract_z_probe() {
st_synchronize(); st_synchronize();
// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
// it's own unique entity, then the following logic will need to be modified
// so it only uses the Z_PROBE
#if defined(Z_PROBE_AND_ENDSTOP) #if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop) if (z_probe_endstop)
@ -1311,9 +1371,78 @@ static void retract_z_probe() {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!"); SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); LCD_ALERTMESSAGEPGM("Err: ZPROBE");
=======
}
static void retract_z_probe(const float z_after=Z_RAISE_AFTER_PROBING) {
#ifdef SERVO_ENDSTOPS
// Retract Z Servo endstop if enabled
if (servo_endstops[Z_AXIS] >= 0) {
if (z_after > 0) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_after);
st_synchronize();
>>>>>>> MarlinFirmware/Development
}
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
}
#elif defined(Z_PROBE_ALLEN_KEY)
// Move up for safety
feedrate = homing_feedrate[X_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
prepare_move_raw();
// Move to the start position to initiate retraction
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
prepare_move_raw();
// Move the nozzle down to push the probe into retracted position
feedrate = homing_feedrate[Z_AXIS]/10;
destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
prepare_move_raw();
// Move up for safety
feedrate = homing_feedrate[Z_AXIS]/2;
destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
prepare_move_raw();
// Home XY for safety
feedrate = homing_feedrate[X_AXIS]/2;
destination[X_AXIS] = 0;
destination[Y_AXIS] = 0;
prepare_move_raw();
st_synchronize();
// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
// it's own unique entity, then the following logic will need to be modified
// so it only uses the Z_PROBE
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (!z_min_endstop) {
if (!Stopped) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
} }
Stop(); Stop();
} }
#endif #endif
} }
@ -1325,7 +1454,7 @@ enum ProbeAction {
ProbeEngageAndRetract = (ProbeEngage | ProbeRetract) ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
}; };
/// Probe bed height at position (x,y), returns the measured z value // Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) { static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
// move to right place // move to right place
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
@ -1339,7 +1468,7 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
float measured_z = current_position[Z_AXIS]; float measured_z = current_position[Z_AXIS];
#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if (retract_action & ProbeRetract) retract_z_probe(); if (retract_action & ProbeRetract) retract_z_probe(z_before);
#endif #endif
if (verbose_level > 2) { if (verbose_level > 2) {
@ -1356,6 +1485,11 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
} }
#ifdef DELTA #ifdef DELTA
/**
* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
*/
static void extrapolate_one_point(int x, int y, int xdir, int ydir) { static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
if (bed_level[x][y] != 0.0) { if (bed_level[x][y] != 0.0) {
return; // Don't overwrite good values. return; // Don't overwrite good values.
@ -1419,18 +1553,37 @@ static void homeaxis(int axis) {
if (axis == X_AXIS ? HOMEAXIS_DO(X) : if (axis == X_AXIS ? HOMEAXIS_DO(X) :
axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Y_AXIS ? HOMEAXIS_DO(Y) :
axis==Z_AXIS ? HOMEAXIS_DO(Z) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
0) {
int axis_home_dir = home_dir(axis); int axis_home_dir;
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (axis == X_AXIS) if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
axis_home_dir = x_home_dir(active_extruder); #else
axis_home_dir = home_dir(axis);
#endif #endif
current_position[axis] = 0; current_position[axis] = 0;
sync_plan_position(); sync_plan_position();
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
#if SERVO_LEVELING
if (axis == Z_AXIS) {
engage_z_probe();
}
else
#endif // SERVO_LEVELING
if (servo_endstops[axis] > -1)
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
#endif // SERVO_ENDSTOPS
#endif // Z_PROBE_SLED
<<<<<<< HEAD
#ifndef Z_PROBE_SLED #ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled and we are not using Z_PROBE_AND_ENDSTOP unless we are using Z_SAFE_HOMING // Engage Servo endstop if enabled and we are not using Z_PROBE_AND_ENDSTOP unless we are using Z_SAFE_HOMING
#ifdef SERVO_ENDSTOPS && (defined (Z_SAFE_HOMING) || ! defined (Z_PROBE_AND_ENDSTOP)) #ifdef SERVO_ENDSTOPS && (defined (Z_SAFE_HOMING) || ! defined (Z_PROBE_AND_ENDSTOP))
@ -1445,33 +1598,33 @@ static void homeaxis(int axis) {
} }
#endif #endif
#endif // Z_PROBE_SLED #endif // Z_PROBE_SLED
=======
>>>>>>> MarlinFirmware/Development
#ifdef Z_DUAL_ENDSTOPS #ifdef Z_DUAL_ENDSTOPS
if (axis == Z_AXIS) In_Homing_Process(true); if (axis == Z_AXIS) In_Homing_Process(true);
#endif #endif
destination[axis] = 1.5 * max_length(axis) * axis_home_dir; destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis]; feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
current_position[axis] = 0; current_position[axis] = 0;
sync_plan_position(); sync_plan_position();
destination[axis] = -home_retract_mm(axis) * axis_home_dir; destination[axis] = -home_retract_mm(axis) * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir; destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
if (homing_bump_divisor[axis] >= 1) if (homing_bump_divisor[axis] >= 1)
{
feedrate = homing_feedrate[axis] / homing_bump_divisor[axis]; feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
} else {
else
{
feedrate = homing_feedrate[axis] / 10; feedrate = homing_feedrate[axis] / 10;
SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1"); SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
} }
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
#ifdef Z_DUAL_ENDSTOPS #ifdef Z_DUAL_ENDSTOPS
if (axis==Z_AXIS) if (axis==Z_AXIS)
@ -1486,7 +1639,7 @@ static void homeaxis(int axis) {
destination[axis] = fabs(z_endstop_adj); destination[axis] = fabs(z_endstop_adj);
if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true); if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
} }
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
Lock_z_motor(false); Lock_z_motor(false);
Lock_z2_motor(false); Lock_z2_motor(false);
@ -1499,7 +1652,7 @@ static void homeaxis(int axis) {
if (endstop_adj[axis] * axis_home_dir < 0) { if (endstop_adj[axis] * axis_home_dir < 0) {
sync_plan_position(); sync_plan_position();
destination[axis] = endstop_adj[axis]; destination[axis] = endstop_adj[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
} }
#endif #endif
@ -1735,17 +1888,16 @@ inline void gcode_G4() {
*/ */
inline void gcode_G28() { inline void gcode_G28() {
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#ifdef DELTA #ifdef DELTA
reset_bed_level(); reset_bed_level();
#else
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif #endif
#endif #endif
#if defined(MESH_BED_LEVELING) #if defined(MESH_BED_LEVELING)
uint8_t mbl_was_active = mbl.active; uint8_t mbl_was_active = mbl.active;
mbl.active = 0; mbl.active = 0;
#endif // MESH_BED_LEVELING #endif
saved_feedrate = feedrate; saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply; saved_feedmultiply = feedmultiply;
@ -1768,7 +1920,7 @@ inline void gcode_G28() {
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH; for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
feedrate = 1.732 * homing_feedrate[X_AXIS]; feedrate = 1.732 * homing_feedrate[X_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
@ -1816,7 +1968,7 @@ inline void gcode_G28() {
} else { } else {
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1); feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
} }
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
axis_is_at_home(X_AXIS); axis_is_at_home(X_AXIS);
@ -1824,7 +1976,7 @@ inline void gcode_G28() {
sync_plan_position(); sync_plan_position();
destination[X_AXIS] = current_position[X_AXIS]; destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS]; destination[Y_AXIS] = current_position[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
feedrate = 0.0; feedrate = 0.0;
st_synchronize(); st_synchronize();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
@ -1891,7 +2043,7 @@ inline void gcode_G28() {
#if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0 #if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
#endif #endif
HOMEAXIS(Z); HOMEAXIS(Z);
@ -1903,11 +2055,11 @@ inline void gcode_G28() {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER); destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER); destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED / 60; feedrate = XY_TRAVEL_SPEED;
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
sync_plan_position(); sync_plan_position();
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
current_position[X_AXIS] = destination[X_AXIS]; current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS];
@ -1929,7 +2081,7 @@ inline void gcode_G28() {
plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
HOMEAXIS(Z); HOMEAXIS(Z);
} }
@ -1982,7 +2134,7 @@ inline void gcode_G28() {
destination[Z_AXIS] = current_position[Z_AXIS]; destination[Z_AXIS] = current_position[Z_AXIS];
destination[E_AXIS] = current_position[E_AXIS]; destination[E_AXIS] = current_position[E_AXIS];
feedrate = homing_feedrate[X_AXIS]; feedrate = homing_feedrate[X_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); line_to_destination();
st_synchronize(); st_synchronize();
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position(); sync_plan_position();
@ -1996,6 +2148,19 @@ inline void gcode_G28() {
endstops_hit_on_purpose(); endstops_hit_on_purpose();
} }
#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
// Check for known positions in X and Y
inline bool can_run_bed_leveling() {
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) return true;
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
return false;
}
#endif // MESH_BED_LEVELING || ENABLE_AUTO_BED_LEVELING
#ifdef MESH_BED_LEVELING #ifdef MESH_BED_LEVELING
/** /**
@ -2010,6 +2175,10 @@ inline void gcode_G28() {
* *
*/ */
inline void gcode_G29() { inline void gcode_G29() {
// Prevent leveling without first homing in X and Y
if (!can_run_bed_leveling()) return;
static int probe_point = -1; static int probe_point = -1;
int state = 0; int state = 0;
if (code_seen('S') || code_seen('s')) { if (code_seen('S') || code_seen('s')) {
@ -2126,13 +2295,8 @@ inline void gcode_G28() {
*/ */
inline void gcode_G29() { inline void gcode_G29() {
// Prevent user from running a G29 without first homing in X and Y // Prevent leveling without first homing in X and Y
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { if (!can_run_bed_leveling()) return;
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
return;
}
int verbose_level = 1; int verbose_level = 1;
@ -2214,16 +2378,15 @@ inline void gcode_G28() {
st_synchronize(); st_synchronize();
if (!dryrun) if (!dryrun) {
{ // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
plan_bed_level_matrix.set_to_identity();
#ifdef DELTA #ifdef DELTA
reset_bed_level(); reset_bed_level();
#else //!DELTA #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(); //vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29"); //corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position(); vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29"); //uncorrected_position.debug("position during G29");
current_position[X_AXIS] = uncorrected_position.x; current_position[X_AXIS] = uncorrected_position.x;
@ -2231,7 +2394,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = uncorrected_position.z; current_position[Z_AXIS] = uncorrected_position.z;
sync_plan_position(); sync_plan_position();
#endif #endif // !DELTA
} }
setup_for_endstop_move(); setup_for_endstop_move();
@ -2292,13 +2455,12 @@ inline void gcode_G28() {
// raise extruder // raise extruder
float measured_z, float measured_z,
z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS; z_before = Z_RAISE_BETWEEN_PROBINGS + (probePointCounter ? current_position[Z_AXIS] : 0);
#ifdef DELTA #ifdef DELTA
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer. // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe); float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
if (distance_from_center > DELTA_PROBABLE_RADIUS) if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;
continue;
#endif //DELTA #endif //DELTA
// Enhanced G29 - Do not retract servo between probes // Enhanced G29 - Do not retract servo between probes
@ -2326,6 +2488,11 @@ inline void gcode_G28() {
#endif #endif
probePointCounter++; probePointCounter++;
manage_heater();
manage_inactivity();
lcd_update();
} //xProbe } //xProbe
} //yProbe } //yProbe
@ -2412,16 +2579,14 @@ inline void gcode_G28() {
if (verbose_level > 0) if (verbose_level > 0)
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
if (!dryrun) {
// Correct the Z height difference from z-probe position and hotend tip position. // 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. // 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. // When the bed is uneven, this height must be corrected.
if (!dryrun) float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
{ y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
float x_tmp, y_tmp, z_tmp, real_z; z_tmp = current_position[Z_AXIS],
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) 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 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. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
@ -2757,11 +2922,13 @@ inline void gcode_M42() {
} // code_seen('S') } // code_seen('S')
} }
// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
// it's own unique entity, then the following logic will need to be modified
// so it only uses the Z_PROBE
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST) #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
#if Z_MIN_PIN == -1 #if (Z_MIN_PIN == -1) && (! defined (Z_PROBE_PIN) || Z_PROBE_PIN == -1)
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability." #error "You must have a Z_MIN or Z_PROBE endstop in order to enable calculation of Z-Probe repeatability."
#endif #endif
/** /**
@ -3267,7 +3434,7 @@ inline void gcode_M140() {
if (code_seen('S')) setTargetBed(code_value()); if (code_seen('S')) setTargetBed(code_value());
} }
#if HAS_POWER_SWITCH #if defined(PS_ON_PIN) && PS_ON_PIN > -1
/** /**
* M80: Turn on Power Supply * M80: Turn on Power Supply
@ -3289,12 +3456,10 @@ inline void gcode_M140() {
#endif #endif
} }
#endif // HAS_POWER_SWITCH #endif // PS_ON_PIN
/** /**
* M81: Turn off Power, including Power Supply, if there is one. * M81: Turn off Power Supply
*
* This code should ALWAYS be available for EMERGENCY SHUTDOWN!
*/ */
inline void gcode_M81() { inline void gcode_M81() {
disable_heater(); disable_heater();
@ -3309,19 +3474,16 @@ inline void gcode_M81() {
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize(); st_synchronize();
suicide(); suicide();
#elif HAS_POWER_SWITCH #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif #endif
#ifdef ULTIPANEL #ifdef ULTIPANEL
#if HAS_POWER_SWITCH
powersupply = false; powersupply = false;
#endif
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF "."); LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
lcd_update(); lcd_update();
#endif #endif
} }
/** /**
* M82: Set E codes absolute (default) * M82: Set E codes absolute (default)
*/ */
@ -3794,7 +3956,7 @@ inline void gcode_M221() {
extruder_multiply[tmp_extruder] = sval; extruder_multiply[tmp_extruder] = sval;
} }
else { else {
extrudemultiply = sval; extruder_multiply[active_extruder] = sval;
} }
} }
} }
@ -4231,7 +4393,7 @@ inline void gcode_M400() { st_synchronize(); }
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas); //SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):"); //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply); //SERIAL_PROTOCOL(extruder_multiply[active_extruder]);
} }
/** /**
@ -4704,18 +4866,14 @@ void process_commands() {
gcode_G28(); gcode_G28();
break; break;
#if defined(MESH_BED_LEVELING) #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
case 29: // G29 Handle mesh based leveling case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29(); gcode_G29();
break; break;
#endif #endif
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29();
break;
#ifndef Z_PROBE_SLED #ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe case 30: // G30 Single Z Probe
@ -4862,15 +5020,15 @@ void process_commands() {
#endif //HEATER_2_PIN #endif //HEATER_2_PIN
#endif //BARICUDA #endif //BARICUDA
#if HAS_POWER_SWITCH #if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: // M80 - Turn on Power Supply case 80: // M80 - Turn on Power Supply
gcode_M80(); gcode_M80();
break; break;
#endif // HAS_POWER_SWITCH #endif // PS_ON_PIN
case 81: // M81 - Turn off Power, including Power Supply, if possible case 81: // M81 - Turn off Power Supply
gcode_M81(); gcode_M81();
break; break;
@ -5411,9 +5569,7 @@ void prepare_move()
#ifdef SCARA //for now same as delta-code #ifdef SCARA //for now same as delta-code
float difference[NUM_AXIS]; float difference[NUM_AXIS];
for (int8_t i=0; i < NUM_AXIS; i++) { for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
difference[i] = destination[i] - current_position[i];
}
float cartesian_mm = sqrt( sq(difference[X_AXIS]) + float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
sq(difference[Y_AXIS]) + sq(difference[Y_AXIS]) +
@ -5422,16 +5578,17 @@ if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
if (cartesian_mm < 0.000001) { return; } if (cartesian_mm < 0.000001) { return; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
int steps = max(1, int(scara_segments_per_second * seconds)); int steps = max(1, int(scara_segments_per_second * seconds));
//SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) { for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps); float fraction = float(s) / float(steps);
for(int8_t i = 0; i < NUM_AXIS; i++) { for(int8_t i = 0; i < NUM_AXIS; i++) {
destination[i] = current_position[i] + difference[i] * fraction; destination[i] = current_position[i] + difference[i] * fraction;
} }
calculate_delta(destination); calculate_delta(destination);
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]); //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]); //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
@ -5444,29 +5601,33 @@ for (int s = 1; s <= steps; s++) {
destination[E_AXIS], feedrate*feedmultiply/60/100.0, destination[E_AXIS], feedrate*feedmultiply/60/100.0,
active_extruder); active_extruder);
} }
#endif // SCARA #endif // SCARA
#ifdef DELTA #ifdef DELTA
float difference[NUM_AXIS]; float difference[NUM_AXIS];
for (int8_t i=0; i < NUM_AXIS; i++) { for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
difference[i] = destination[i] - current_position[i];
}
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
sq(difference[Y_AXIS]) + sq(difference[Y_AXIS]) +
sq(difference[Z_AXIS])); sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); } if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
if (cartesian_mm < 0.000001) { return; } if (cartesian_mm < 0.000001) return;
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
int steps = max(1, int(delta_segments_per_second * seconds)); int steps = max(1, int(delta_segments_per_second * seconds));
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) { for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps); float fraction = float(s) / float(steps);
for(int8_t i=0; i < NUM_AXIS; i++) { for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
destination[i] = current_position[i] + difference[i] * fraction;
}
calculate_delta(destination); calculate_delta(destination);
#ifdef ENABLE_AUTO_BED_LEVELING
adjust_delta(destination);
#endif
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
destination[E_AXIS], feedrate*feedmultiply/60/100.0, destination[E_AXIS], feedrate*feedmultiply/60/100.0,
active_extruder); active_extruder);
@ -5518,13 +5679,13 @@ for (int s = 1; s <= steps; s++) {
#if ! (defined DELTA || defined SCARA) #if ! (defined DELTA || defined SCARA)
// Do not use feedmultiply for E or Z only moves // Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); line_to_destination();
} else { } else {
#if defined(MESH_BED_LEVELING) #if defined(MESH_BED_LEVELING)
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
return; return;
#else #else
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
#endif // MESH_BED_LEVELING #endif // MESH_BED_LEVELING
} }
#endif // !(DELTA || SCARA) #endif // !(DELTA || SCARA)
@ -5844,17 +6005,19 @@ void kill()
disable_e2(); disable_e2();
disable_e3(); disable_e3();
#if HAS_POWER_SWITCH #if defined(PS_ON_PIN) && PS_ON_PIN > -1
pinMode(PS_ON_PIN,INPUT); pinMode(PS_ON_PIN,INPUT);
#endif #endif
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED); SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
LCD_ALERTMESSAGEPGM(MSG_KILLED); LCD_ALERTMESSAGEPGM(MSG_KILLED);
// FMC small patch to update the LCD before ending // FMC small patch to update the LCD before ending
sei(); // enable interrupts sei(); // enable interrupts
for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time for ( int i=5; i--; lcd_update())
{
delay(200);
}
cli(); // disable interrupts cli(); // disable interrupts
suicide(); suicide();
while(1) { /* Intentionally left empty */ } // Wait for reset while(1) { /* Intentionally left empty */ } // Wait for reset

2
Marlin/SanityCheck.h
View File

@ -116,7 +116,7 @@
#error You must have at least 1 servo defined for NUM_SERVOS to use Z_PROBE_AND_ENDSTOP #error You must have at least 1 servo defined for NUM_SERVOS to use Z_PROBE_AND_ENDSTOP
#endif #endif
#ifndef SERVO_ENDSTOPS #ifndef SERVO_ENDSTOPS
#error You must have SERVO_ENDSTOPS defined and have the Z index set to at least 1 to use Z_PROBE_AND_ENDSTOP #error You must have SERVO_ENDSTOPS defined and have the Z index set to at least 0 or above to use Z_PROBE_AND_ENDSTOP
#endif #endif
#ifndef SERVO_ENDSTOP_ANGLES #ifndef SERVO_ENDSTOP_ANGLES
#error You must have SERVO_ENDSTOP_ANGLES defined for Z Extend and Retract to use Z_PROBE_AND_ENSTOP #error You must have SERVO_ENDSTOP_ANGLES defined for Z Extend and Retract to use Z_PROBE_AND_ENSTOP

13
Marlin/stepper.cpp
View File

@ -76,6 +76,7 @@ volatile long endstops_stepsTotal, endstops_stepsDone;
static volatile bool endstop_x_hit = false; static volatile bool endstop_x_hit = false;
static volatile bool endstop_y_hit = false; static volatile bool endstop_y_hit = false;
static volatile bool endstop_z_hit = false; static volatile bool endstop_z_hit = false;
static volatile bool endstop_z_probe_hit = false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
bool abort_on_endstop_hit = false; bool abort_on_endstop_hit = false;
@ -258,11 +259,11 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A) #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A)
void endstops_hit_on_purpose() { void endstops_hit_on_purpose() {
endstop_x_hit = endstop_y_hit = endstop_z_hit = false; endstop_x_hit = endstop_y_hit = endstop_z_hit = endstop_z_probe_hit = false;
} }
void checkHitEndstops() { void checkHitEndstops() {
if (endstop_x_hit || endstop_y_hit || endstop_z_hit) { if (endstop_x_hit || endstop_y_hit || endstop_z_hit || endstop_z_probe_hit) {
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT); SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if (endstop_x_hit) { if (endstop_x_hit) {
@ -277,6 +278,10 @@ void checkHitEndstops() {
SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]); SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z"); LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
} }
if (endstop_z_probe_hit) {
SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
}
SERIAL_EOL; SERIAL_EOL;
endstops_hit_on_purpose(); endstops_hit_on_purpose();
@ -549,7 +554,7 @@ ISR(TIMER1_COMPA_vect) {
if(z_probe_endstop && old_z_probe_endstop) if(z_probe_endstop && old_z_probe_endstop)
{ {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_probe_hit=true;
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true"); // if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
} }
@ -596,7 +601,7 @@ ISR(TIMER1_COMPA_vect) {
if(z_probe_endstop && old_z_probe_endstop) if(z_probe_endstop && old_z_probe_endstop)
{ {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_probe_hit=true;
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true"); // if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
} }
old_z_probe_endstop = z_probe_endstop; old_z_probe_endstop = z_probe_endstop;