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Add G29_RETRY_AND_RECOVER feature

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- Add an option to retry G29, optionally executing a G-code procedure after each failed probe.
This commit is contained in:
Marcio Teixeira 2018-04-18 15:56:10 -06:00 committed by Scott Lahteine
parent 78ea4871f9
commit 5cc7916e69
5 changed files with 155 additions and 5 deletions
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24
Marlin/Configuration_adv.h
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@ -746,6 +746,30 @@
//#define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET)
#endif
/**
* Repeatedly attempt G29 leveling until it succeeds.
* Stop after G29_MAX_RETRIES attempts.
*/
//#define G29_RETRY_AND_RECOVER
#if ENABLED(G29_RETRY_AND_RECOVER)
#define G29_MAX_RETRIES 3
#define G29_HALT_ON_FAILURE
/**
* Specify the GCODE commands that will be executed when leveling succeeds,
* between attempts, and after the maximum number of retries have been tried.
*/
#define G29_SUCCESS_COMMANDS "M117 Bed leveling done."
#define G29_RECOVER_COMMANDS "M117 Probe failed. Rewiping.\nG28\nG12 P0 S12 T0"
#define G29_FAILURE_COMMANDS "M117 Bed leveling failed.\nG0 Z10\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nG4 S1"
/**
* Specify an action command to send to the host on a recovery attempt or failure.
* Will be sent in the form '//action:ACTION_ON_G29_FAILURE', e.g. '//action:probe_failed'.
* The host must be configured to handle the action command.
*/
#define G29_ACTION_ON_RECOVER "probe_rewipe"
#define G29_ACTION_ON_FAILURE "probe_failed"
#endif
// @section extras
//

24
Marlin/src/config/default/Configuration_adv.h
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@ -746,6 +746,30 @@
//#define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET)
#endif
/**
* Repeatedly attempt G29 leveling until it succeeds.
* Stop after G29_MAX_RETRIES attempts.
*/
//#define G29_RETRY_AND_RECOVER
#if ENABLED(G29_RETRY_AND_RECOVER)
#define G29_MAX_RETRIES 3
#define G29_HALT_ON_FAILURE
/**
* Specify the GCODE commands that will be executed when leveling succeeds,
* between attempts, and after the maximum number of retries have been tried.
*/
#define G29_SUCCESS_COMMANDS "M117 Bed leveling done."
#define G29_RECOVER_COMMANDS "M117 Probe failed. Rewiping.\nG28\nG12 P0 S12 T0"
#define G29_FAILURE_COMMANDS "M117 Bed leveling failed.\nG0 Z10\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nG4 S1"
/**
* Specify an action command to send to the host on a recovery attempt or failure.
* Will be sent in the form '//action:ACTION_ON_G29_FAILURE', e.g. '//action:probe_failed'.
* The host must be configured to handle the action command.
*/
#define G29_ACTION_ON_RECOVER "probe_rewipe"
#define G29_ACTION_ON_FAILURE "probe_failed"
#endif
// @section extras
//

95
Marlin/src/gcode/gcode.cpp
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@ -61,6 +61,11 @@ bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES;
float GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
#endif
#if HAS_LEVELING && ENABLED(G29_RETRY_AND_RECOVER)
#include "../feature/bedlevel/bedlevel.h"
#include "../module/planner.h"
#endif
/**
* Set target_extruder from the T parameter or the active_extruder
*
@ -125,6 +130,44 @@ void GcodeSuite::dwell(millis_t time) {
while (PENDING(millis(), time)) idle();
}
/**
* When G29_RETRY_AND_RECOVER is enabled, call G29() in
* a loop with recovery and retry handling.
*/
#if HAS_LEVELING && ENABLED(G29_RETRY_AND_RECOVER)
void GcodeSuite::G29_with_retry() {
set_bed_leveling_enabled(false);
for (uint8_t i = G29_MAX_RETRIES; i--;) {
G29();
if (planner.leveling_active) break;
#ifdef G29_ACTION_ON_RECOVER
SERIAL_ECHOLNPGM("//action:" G29_ACTION_ON_RECOVER);
#endif
#ifdef G29_RECOVERY_COMMANDS
process_subcommands_now_P(PSTR(G29_RECOVER_COMMANDS));
#endif
}
if (planner.leveling_active) {
#ifdef G29_SUCCESS_COMMANDS
process_subcommands_now_P(PSTR(G29_SUCCESS_COMMANDS));
#endif
}
else {
#ifdef G29_FAILURE_COMMANDS
process_subcommands_now_P(PSTR(G29_FAILURE_COMMANDS));
#endif
#ifdef G29_ACTION_ON_FAILURE
SERIAL_ECHOLNPGM("//action:" G29_ACTION_ON_FAILURE);
#endif
#if ENABLED(G29_HALT_ON_FAILURE)
kill(PSTR(MSG_ERR_PROBING_FAILED));
#endif
}
}
#endif // HAS_LEVELING && G29_RETRY_AND_RECOVER
//
// Placeholders for non-migrated codes
//
@ -135,7 +178,11 @@ void GcodeSuite::dwell(millis_t time) {
/**
* Process the parsed command and dispatch it to its handler
*/
void GcodeSuite::process_parsed_command() {
void GcodeSuite::process_parsed_command(
#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
const bool no_ok
#endif
) {
KEEPALIVE_STATE(IN_HANDLER);
// Handle a known G, M, or T
@ -190,8 +237,14 @@ void GcodeSuite::process_parsed_command() {
case 28: G28(false); break; // G28: Home all axes, one at a time
#if HAS_LEVELING
case 29: G29(); break; // G29: Bed leveling calibration
#endif
case 29: // G29: Bed leveling calibration
#if ENABLED(G29_RETRY_AND_RECOVER)
G29_with_retry();
#else
G29();
#endif
break;
#endif // HAS_LEVELING
#if HAS_BED_PROBE
case 30: G30(); break; // G30: Single Z probe
@ -612,7 +665,10 @@ void GcodeSuite::process_parsed_command() {
KEEPALIVE_STATE(NOT_BUSY);
ok_to_send();
#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
if (!no_ok)
#endif
ok_to_send();
}
/**
@ -638,6 +694,37 @@ void GcodeSuite::process_next_command() {
process_parsed_command();
}
#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
/**
* Run a series of commands, bypassing the command queue to allow
* G-code "macros" to be called from within other G-code handlers.
*/
void GcodeSuite::process_subcommands_now_P(const char *pgcode) {
// Save the parser state
char saved_cmd[strlen(parser.command_ptr) + 1];
strcpy(saved_cmd, parser.command_ptr);
// Process individual commands in string
while (pgm_read_byte_near(pgcode)) {
// Break up string at '\n' delimiters
const char *delim = strchr_P(pgcode, '\n');
size_t len = delim ? delim - pgcode : strlen_P(pgcode);
char cmd[len + 1];
strncpy_P(cmd, pgcode, len);
cmd[len] = '\0';
pgcode += len;
if (delim) pgcode++;
// Parse the next command in the string
parser.parse(cmd);
process_parsed_command(true);
}
// Restore the parser state
parser.parse(saved_cmd);
}
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**

13
Marlin/src/gcode/gcode.h
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@ -285,9 +285,17 @@ public:
static bool get_target_extruder_from_command();
static void get_destination_from_command();
static void process_parsed_command();
static void process_parsed_command(
#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
const bool no_ok = false
#endif
);
static void process_next_command();
#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
static void process_subcommands_now_P(const char *pgcode);
#endif
FORCE_INLINE static void home_all_axes() { G28(true); }
/**
@ -380,6 +388,9 @@ private:
#if HAS_LEVELING
static void G29();
#if ENABLED(G29_RETRY_AND_RECOVER)
static void G29_with_retry();
#endif
#endif
#if HAS_BED_PROBE

4
Marlin/src/inc/Conditionals_post.h
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@ -1448,4 +1448,8 @@
// If platform requires early initialization of watchdog to properly boot
#define EARLY_WATCHDOG (ENABLED(USE_WATCHDOG) && defined(ARDUINO_ARCH_SAM))
#if ENABLED(G29_RETRY_AND_RECOVER)
#define USE_EXECUTE_COMMANDS_IMMEDIATE
#endif
#endif // CONDITIONALS_POST_H