From 60aeed99c6377efbf522caa85dec2404f14bba16 Mon Sep 17 00:00:00 2001 From: wmariz <11435639+wmariz@users.noreply.github.com> Date: Wed, 23 Dec 2020 03:10:56 -0300 Subject: [PATCH] Refactor 'Level Corners with Probe' (#20460) Co-authored-by: Scott Lahteine --- Marlin/src/feature/bltouch.h | 4 + Marlin/src/lcd/menu/menu_bed_corners.cpp | 285 ++++++++++++----------- Marlin/src/module/motion.cpp | 4 +- Marlin/src/module/probe.cpp | 12 +- 4 files changed, 154 insertions(+), 151 deletions(-) diff --git a/Marlin/src/feature/bltouch.h b/Marlin/src/feature/bltouch.h index 40685af1b3..5880bdce75 100644 --- a/Marlin/src/feature/bltouch.h +++ b/Marlin/src/feature/bltouch.h @@ -23,6 +23,10 @@ #include "../inc/MarlinConfigPre.h" +#if DISABLED(BLTOUCH_HS_MODE) + #define BLTOUCH_SLOW_MODE 1 +#endif + // BLTouch commands are sent as servo angles typedef unsigned char BLTCommand; diff --git a/Marlin/src/lcd/menu/menu_bed_corners.cpp b/Marlin/src/lcd/menu/menu_bed_corners.cpp index acd19d69e4..56a97b5706 100644 --- a/Marlin/src/lcd/menu/menu_bed_corners.cpp +++ b/Marlin/src/lcd/menu/menu_bed_corners.cpp @@ -51,18 +51,11 @@ #include "../../feature/bltouch.h" #endif #ifndef LEVEL_CORNERS_PROBE_TOLERANCE - #define LEVEL_CORNERS_PROBE_TOLERANCE 0.1 + #define LEVEL_CORNERS_PROBE_TOLERANCE 0.2 #endif - #if ENABLED(LEVEL_CORNERS_AUDIO_FEEDBACK) - #include "../../libs/buzzer.h" - #define PROBE_BUZZ() BUZZ(200, 600) - #else - #define PROBE_BUZZ() NOOP - #endif - static float last_z; - static bool corner_probing_done; - static bool verify_corner; - static int good_points; + float last_z; + int good_points; + bool corner_probing_done, wait_for_probe; #endif static_assert(LEVEL_CORNERS_Z_HOP >= 0, "LEVEL_CORNERS_Z_HOP must be >= 0. Please update your configuration."); @@ -75,115 +68,130 @@ extern const char G28_STR[]; static int8_t bed_corner; +constexpr float inset_lfrb[4] = LEVEL_CORNERS_INSET_LFRB; +constexpr xy_pos_t lf { (X_MIN_BED) + inset_lfrb[0], (Y_MIN_BED) + inset_lfrb[1] }, + rb { (X_MAX_BED) - inset_lfrb[2], (Y_MAX_BED) - inset_lfrb[3] }; + /** * Level corners, starting in the front-left corner. */ #if ENABLED(LEVEL_CORNERS_USE_PROBE) - static inline void _lcd_level_bed_corners_probing() { - ui.goto_screen([]{ MenuItem_static::draw((LCD_HEIGHT - 1) / 2, GET_TEXT(MSG_PROBING_MESH)); }); - - float lfrb[4] = LEVEL_CORNERS_INSET_LFRB; - xy_pos_t lf { (X_MIN_BED) + lfrb[0] - probe.offset_xy.x , (Y_MIN_BED) + lfrb[1] - probe.offset_xy.y }, - rb { (X_MAX_BED) - lfrb[2] - probe.offset_xy.x , (Y_MAX_BED) - lfrb[3] - probe.offset_xy.y }; - - do_blocking_move_to_z(LEVEL_CORNERS_Z_HOP - probe.offset.z); - - switch (bed_corner) { - case 0: current_position = lf; break; // copy xy - case 1: current_position.x = rb.x; break; - case 2: current_position.y = rb.y; break; - case 3: current_position.x = lf.x; break; - #if ENABLED(LEVEL_CENTER_TOO) - case 4: current_position.set(X_CENTER - probe.offset_xy.x, Y_CENTER - probe.offset_xy.y); good_points--; break; - #endif - } - - do_blocking_move_to_xy(current_position); - - #if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) - bltouch.deploy(); // DEPLOY in LOW SPEED MODE on every probe action - #endif - TERN_(HAS_QUIET_PROBING, probe.set_probing_paused(true)); - - // Move down until the probe is triggered - do_blocking_move_to_z(last_z - (LEVEL_CORNERS_PROBE_TOLERANCE), manual_feedrate_mm_s.z); - - // Check to see if the probe was triggered - bool probe_triggered = TEST(endstops.trigger_state(), TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN, Z_MIN_PROBE)); - if (!probe_triggered) { - - static bool wait_for_probe; - - ui.goto_screen([]{ - MenuItem_confirm::select_screen( - GET_TEXT(MSG_BUTTON_DONE), GET_TEXT(MSG_BUTTON_SKIP) - , []{ corner_probing_done = true; - wait_for_probe = false; - TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); - ui.goto_previous_screen_no_defer(); - } - , []{ wait_for_probe = false; } - , GET_TEXT(MSG_LEVEL_CORNERS_RAISE) - , (const char*)nullptr, PSTR("") - ); - }); - ui.set_selection(true); - - wait_for_probe = true; - while (wait_for_probe && !probe_triggered) { - probe_triggered = PROBE_TRIGGERED(); - if (probe_triggered) PROBE_BUZZ(); - idle(); - } - wait_for_probe = false; - - TERN_(LEVEL_CORNERS_VERIFY_RAISED, verify_corner = true); - } - - TERN_(HAS_QUIET_PROBING, probe.set_probing_paused(false)); - - #if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) - bltouch.stow(); - #endif - - if (probe_triggered) { - endstops.hit_on_purpose(); - if (!WITHIN(current_position.z, last_z - (LEVEL_CORNERS_PROBE_TOLERANCE), last_z + (LEVEL_CORNERS_PROBE_TOLERANCE))) { - last_z = current_position.z; - good_points = 0; - } - if (!verify_corner) good_points++; - } - - if (!corner_probing_done) { - if (!verify_corner) bed_corner++; - if (bed_corner > 3) bed_corner = 0; - verify_corner = false; - if (good_points < 4) - _lcd_level_bed_corners_probing(); - else { - ui.goto_screen([]{ - MenuItem_confirm::confirm_screen( - []{ ui.goto_previous_screen_no_defer(); - queue.inject_P(TERN(HAS_LEVELING, PSTR("G28\nG29"), G28_STR)); - } - , []{ ui.goto_previous_screen_no_defer(); } - , GET_TEXT(MSG_LEVEL_CORNERS_IN_RANGE) - , (const char*)nullptr, PSTR("?") - ); - }); - ui.set_selection(true); - } - } + void _lcd_draw_probing() { + if (ui.should_draw()) MenuItem_static::draw((LCD_HEIGHT - 1) / 2, GET_TEXT(MSG_PROBING_MESH)); } -#else + void _lcd_draw_raise() { + if (!ui.should_draw()) return; + MenuItem_confirm::select_screen( + GET_TEXT(MSG_BUTTON_DONE), GET_TEXT(MSG_BUTTON_SKIP) + , []{ corner_probing_done = true; wait_for_probe = false; } + , []{ wait_for_probe = false; } + , GET_TEXT(MSG_LEVEL_CORNERS_RAISE) + , (const char*)nullptr, PSTR("") + ); + } + + void _lcd_draw_level_prompt() { + if (!ui.should_draw()) return; + MenuItem_confirm::confirm_screen( + []{ queue.inject_P(TERN(HAS_LEVELING, PSTR("G28\nG29"), G28_STR)); + ui.return_to_status(); + } + , []{ ui.goto_previous_screen_no_defer(); } + , GET_TEXT(MSG_LEVEL_CORNERS_IN_RANGE) + , (const char*)nullptr, PSTR("?") + ); + } + + bool _lcd_level_bed_corners_probe(bool verify=false) { + if (verify) do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP); // do clearance if needed + TERN_(BLTOUCH_SLOW_MODE, bltouch.deploy()); // Deploy in LOW SPEED MODE on every probe action + do_blocking_move_to_z(last_z - LEVEL_CORNERS_PROBE_TOLERANCE, manual_feedrate_mm_s.z); // Move down to lower tolerance + if (TEST(endstops.trigger_state(), TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN, Z_MIN_PROBE))) { // check if probe triggered + endstops.hit_on_purpose(); + set_current_from_steppers_for_axis(Z_AXIS); + sync_plan_position(); + TERN_(BLTOUCH_SLOW_MODE, bltouch.stow()); // Stow in LOW SPEED MODE on every trigger + // Triggered outside tolerance range? + if (ABS(current_position.z - last_z) > LEVEL_CORNERS_PROBE_TOLERANCE) { + last_z = current_position.z; // Above tolerance. Set a new Z for subsequent corners. + good_points = 0; // ...and start over + } + return true; // probe triggered + } + do_blocking_move_to_z(last_z); // go back to tolerance middle point before raise + return false; // probe not triggered + } + + bool _lcd_level_bed_corners_raise() { + bool probe_triggered = false; + corner_probing_done = false; + wait_for_probe = true; + ui.goto_screen(_lcd_draw_raise); // show raise screen + ui.set_selection(true); + while (wait_for_probe && !probe_triggered) { //loop while waiting to bed raise and probe trigger + probe_triggered = PROBE_TRIGGERED(); + if (probe_triggered) { + endstops.hit_on_purpose(); + TERN_(LEVEL_CORNERS_AUDIO_FEEDBACK, ui.buzz(200, 600)); + } + idle(); + } + TERN_(BLTOUCH_SLOW_MODE, bltouch.stow()); + ui.goto_screen(_lcd_draw_probing); + return (probe_triggered); + } + + void _lcd_test_corners() { + ui.goto_screen(_lcd_draw_probing); + bed_corner = TERN(LEVEL_CENTER_TOO, 4, 0); + last_z = LEVEL_CORNERS_HEIGHT; + endstops.enable_z_probe(true); + good_points = 0; + + do { + do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP); // clearance + // Select next corner coordinates + xy_pos_t plf = lf - probe.offset_xy, prb = rb - probe.offset_xy; + switch (bed_corner) { + case 0: current_position = plf; break; // copy xy + case 1: current_position.x = prb.x; break; + case 2: current_position.y = prb.y; break; + case 3: current_position.x = plf.x; break; + #if ENABLED(LEVEL_CENTER_TOO) + case 4: current_position.set(X_CENTER - probe.offset_xy.x, Y_CENTER - probe.offset_xy.y); break; + #endif + } + do_blocking_move_to_xy(current_position); // Goto corner + + if (!_lcd_level_bed_corners_probe()) { // Probe down to tolerance + if (_lcd_level_bed_corners_raise()) { // Prompt user to raise bed if needed + #if ENABLED(LEVEL_CORNERS_VERIFY_RAISED) // Verify + while (!_lcd_level_bed_corners_probe(true)) { // Loop while corner verified + if (!_lcd_level_bed_corners_raise()) { // Prompt user to raise bed if needed + if (corner_probing_done) return; // Done was selected + break; // Skip was selected + } + } + #endif + } + else if (corner_probing_done) // Done was selected + return; + } + + if (bed_corner != 4) good_points++; // ignore center + if (++bed_corner > 3) bed_corner = 0; + + } while (good_points < 4); // loop until all corners whitin tolerance + + ui.goto_screen(_lcd_draw_level_prompt); // prompt for bed leveling + ui.set_selection(true); + } + +#else // !LEVEL_CORNERS_USE_PROBE static inline void _lcd_goto_next_corner() { - constexpr float lfrb[4] = LEVEL_CORNERS_INSET_LFRB; - constexpr xy_pos_t lf { (X_MIN_BED) + lfrb[0], (Y_MIN_BED) + lfrb[1] }, - rb { (X_MAX_BED) - lfrb[2], (Y_MAX_BED) - lfrb[3] }; line_to_z(LEVEL_CORNERS_Z_HOP); switch (bed_corner) { case 0: current_position = lf; break; // copy xy @@ -199,33 +207,33 @@ static int8_t bed_corner; if (++bed_corner > 3 + ENABLED(LEVEL_CENTER_TOO)) bed_corner = 0; } -#endif +#endif // !LEVEL_CORNERS_USE_PROBE static inline void _lcd_level_bed_corners_homing() { _lcd_draw_homing(); - if (all_axes_homed()) { - #if ENABLED(LEVEL_CORNERS_USE_PROBE) - TERN_(LEVEL_CENTER_TOO, bed_corner = 4); - endstops.enable_z_probe(true); - ui.goto_screen(_lcd_level_bed_corners_probing); - #else - bed_corner = 0; - ui.goto_screen([]{ - MenuItem_confirm::select_screen( - GET_TEXT(MSG_BUTTON_NEXT), GET_TEXT(MSG_BUTTON_DONE) - , _lcd_goto_next_corner - , []{ - TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); - ui.goto_previous_screen_no_defer(); - } - , GET_TEXT(TERN(LEVEL_CENTER_TOO, MSG_LEVEL_BED_NEXT_POINT, MSG_NEXT_CORNER)) - , (const char*)nullptr, PSTR("?") - ); - }); - ui.set_selection(true); - _lcd_goto_next_corner(); - #endif - } + if (!all_axes_homed()) return; + #if ENABLED(LEVEL_CORNERS_USE_PROBE) + _lcd_test_corners(); + if (corner_probing_done) ui.goto_previous_screen_no_defer(); + TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); + endstops.enable_z_probe(false); + #else + bed_corner = 0; + ui.goto_screen([]{ + MenuItem_confirm::select_screen( + GET_TEXT(MSG_BUTTON_NEXT), GET_TEXT(MSG_BUTTON_DONE) + , _lcd_goto_next_corner + , []{ + TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active)); + ui.goto_previous_screen_no_defer(); + } + , GET_TEXT(TERN(LEVEL_CENTER_TOO, MSG_LEVEL_BED_NEXT_POINT, MSG_NEXT_CORNER)) + , (const char*)nullptr, PSTR("?") + ); + }); + ui.set_selection(true); + _lcd_goto_next_corner(); + #endif } void _lcd_level_bed_corners() { @@ -241,13 +249,6 @@ void _lcd_level_bed_corners() { set_bed_leveling_enabled(false); #endif - #if ENABLED(LEVEL_CORNERS_USE_PROBE) - last_z = LEVEL_CORNERS_HEIGHT; - corner_probing_done = false; - verify_corner = false; - good_points = 0; - #endif - ui.goto_screen(_lcd_level_bed_corners_homing); } diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 3800bc6b0a..9b6a0d913b 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -1604,7 +1604,7 @@ void homeaxis(const AxisEnum axis) { do_homing_move(axis, 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir); - #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE) #endif @@ -1642,7 +1642,7 @@ void homeaxis(const AxisEnum axis) { // Slow move towards endstop until triggered if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 2 Slow:"); - #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE) #endif diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 261fde4913..02c1f55f4a 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -455,9 +455,7 @@ bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) { thermalManager.wait_for_bed_heating(); #endif - #if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) - if (bltouch.deploy()) return true; // DEPLOY in LOW SPEED MODE on every probe action - #endif + if (TERN0(BLTOUCH_SLOW_MODE, bltouch.deploy())) return true; // Deploy in LOW SPEED MODE on every probe action // Disable stealthChop if used. Enable diag1 pin on driver. #if ENABLED(SENSORLESS_PROBING) @@ -496,9 +494,8 @@ bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) { tmc_disable_stallguard(stepperZ, stealth_states.z); #endif - #if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE) - if (probe_triggered && bltouch.stow()) return true; // STOW in LOW SPEED MODE on trigger on every probe action - #endif + if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger + return true; // Clear endstop flags endstops.hit_on_purpose(); @@ -578,9 +575,10 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { // Double-probing does a fast probe followed by a slow probe #if TOTAL_PROBING == 2 - // Do a first probe at the fast speed + // Attempt to tare the probe if (TERN0(PROBE_TARE, tare())) return NAN; + // Do a first probe at the fast speed if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s, sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN;