Updates to G29 for probe error handling
This commit is contained in:
Scott Lahteine
parent
f54e0fc90f
commit
6bd63d27b5
@ -2222,7 +2222,14 @@ static void clean_up_after_endstop_or_probe_move() {
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return false;
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}
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static bool do_probe_move(float z, float fr_mm_m) {
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/**
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* @brief Used by run_z_probe to do a single Z probe move.
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*
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* @param z Z destination
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* @param fr_mm_s Feedrate in mm/s
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* @return true to indicate an error
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*/
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static bool do_probe_move(const float z, const float fr_mm_m) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
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#endif
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@ -2241,7 +2248,7 @@ static void clean_up_after_endstop_or_probe_move() {
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// Check to see if the probe was triggered
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const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
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#ifdef Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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Z_MIN
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#else
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Z_MIN_PROBE
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@ -2273,9 +2280,14 @@ static void clean_up_after_endstop_or_probe_move() {
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return !probe_triggered;
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}
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// Do a single Z probe and return with current_position[Z_AXIS]
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// at the height where the probe triggered.
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static float run_z_probe(bool printable=true) {
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/**
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* @details Used by probe_pt to do a single Z probe.
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* Leaves current_position[Z_AXIS] at the height where the probe triggered.
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*
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* @param short_move Flag for a shorter probe move towards the bed
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* @return The raw Z position where the probe was triggered
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*/
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static float run_z_probe(const bool short_move=true) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
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@ -2313,7 +2325,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif
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// move down slowly to find bed
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if (do_probe_move(-10 + (printable ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
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if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
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@ -2410,6 +2422,12 @@ static void clean_up_after_endstop_or_probe_move() {
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feedrate_mm_s = old_feedrate_mm_s;
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if (isnan(measured_z)) {
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LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
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}
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return measured_z;
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}
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@ -3775,9 +3793,7 @@ inline void gcode_G4() {
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// If an endstop was not hit, then damage can occur if homing is continued.
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// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
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// not set correctly.
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if (!(TEST(Endstops::endstop_hit_bits, X_MAX) ||
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TEST(Endstops::endstop_hit_bits, Y_MAX) ||
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TEST(Endstops::endstop_hit_bits, Z_MAX))) {
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if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
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LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
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@ -4126,20 +4142,6 @@ void home_all_axes() { gcode_G28(true); }
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#endif
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#if HAS_BED_PROBE
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static bool nan_error(const float v) {
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const bool is_nan = isnan(v);
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if (is_nan) {
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LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
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}
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return is_nan;
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}
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#endif // HAS_BED_PROBE
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#if ENABLED(MESH_BED_LEVELING)
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// Save 130 bytes with non-duplication of PSTR
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@ -4675,18 +4677,16 @@ void home_all_axes() { gcode_G28(true); }
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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if (!faux) setup_for_endstop_or_probe_move();
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//xProbe = yProbe = measured_z = 0;
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#if HAS_BED_PROBE
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// Deploy the probe. Probe will raise if needed.
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if (DEPLOY_PROBE()) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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return;
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}
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#endif
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if (!faux) setup_for_endstop_or_probe_move();
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#if ENABLED(PROBE_MANUALLY)
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@ -4907,7 +4907,7 @@ void home_all_axes() { gcode_G28(true); }
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bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
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// Outer loop is Y with PROBE_Y_FIRST disabled
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for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
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for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
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int8_t inStart, inStop, inInc;
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@ -4944,9 +4944,9 @@ void home_all_axes() { gcode_G28(true); }
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measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
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if (nan_error(measured_z)) {
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if (isnan(measured_z)) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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break;
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}
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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@ -4980,14 +4980,14 @@ void home_all_axes() { gcode_G28(true); }
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xProbe = LOGICAL_X_POSITION(points[i].x);
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yProbe = LOGICAL_Y_POSITION(points[i].y);
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measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
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if (nan_error(measured_z)) {
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if (isnan(measured_z)) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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break;
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}
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points[i].z = measured_z;
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}
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if (!dryrun) {
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if (!dryrun && !isnan(measured_z)) {
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vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
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if (planeNormal.z < 0) {
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planeNormal.x *= -1;
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@ -5005,7 +5005,7 @@ void home_all_axes() { gcode_G28(true); }
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// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
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if (STOW_PROBE()) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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measured_z = NAN;
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}
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}
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#endif // !PROBE_MANUALLY
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@ -5032,114 +5032,91 @@ void home_all_axes() { gcode_G28(true); }
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#endif
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// Calculate leveling, print reports, correct the position
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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if (!isnan(measured_z)) {
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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if (!dryrun) extrapolate_unprobed_bed_level();
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print_bilinear_leveling_grid();
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if (!dryrun) extrapolate_unprobed_bed_level();
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print_bilinear_leveling_grid();
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refresh_bed_level();
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refresh_bed_level();
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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bed_level_virt_print();
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#endif
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#if ENABLED(ABL_BILINEAR_SUBDIVISION)
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bed_level_virt_print();
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#endif
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#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
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#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
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// For LINEAR leveling calculate matrix, print reports, correct the position
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// For LINEAR leveling calculate matrix, print reports, correct the position
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/**
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* solve the plane equation ax + by + d = z
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* A is the matrix with rows [x y 1] for all the probed points
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* B is the vector of the Z positions
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* the normal vector to the plane is formed by the coefficients of the
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* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
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* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
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*/
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float plane_equation_coefficients[3];
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/**
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* solve the plane equation ax + by + d = z
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* A is the matrix with rows [x y 1] for all the probed points
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* B is the vector of the Z positions
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* the normal vector to the plane is formed by the coefficients of the
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* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
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* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
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*/
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float plane_equation_coefficients[3];
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finish_incremental_LSF(&lsf_results);
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plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
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plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
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plane_equation_coefficients[2] = -lsf_results.D;
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finish_incremental_LSF(&lsf_results);
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plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
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plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
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plane_equation_coefficients[2] = -lsf_results.D;
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mean /= abl2;
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mean /= abl2;
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if (verbose_level) {
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SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
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SERIAL_PROTOCOLPGM(" b: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
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SERIAL_PROTOCOLPGM(" d: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
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SERIAL_EOL();
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if (verbose_level > 2) {
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SERIAL_PROTOCOLPGM("Mean of sampled points: ");
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SERIAL_PROTOCOL_F(mean, 8);
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if (verbose_level) {
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SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
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SERIAL_PROTOCOLPGM(" b: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
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SERIAL_PROTOCOLPGM(" d: ");
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SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
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SERIAL_EOL();
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if (verbose_level > 2) {
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SERIAL_PROTOCOLPGM("Mean of sampled points: ");
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SERIAL_PROTOCOL_F(mean, 8);
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SERIAL_EOL();
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}
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}
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}
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// Create the matrix but don't correct the position yet
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if (!dryrun)
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planner.bed_level_matrix = matrix_3x3::create_look_at(
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vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
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);
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// Create the matrix but don't correct the position yet
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if (!dryrun)
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planner.bed_level_matrix = matrix_3x3::create_look_at(
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vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
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);
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// Show the Topography map if enabled
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if (do_topography_map) {
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// Show the Topography map if enabled
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if (do_topography_map) {
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SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
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" +--- BACK --+\n"
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" | |\n"
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" L | (+) | R\n"
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" E | | I\n"
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" F | (-) N (+) | G\n"
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" T | | H\n"
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" | (-) | T\n"
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" | |\n"
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" O-- FRONT --+\n"
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" (0,0)");
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SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
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" +--- BACK --+\n"
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" | |\n"
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" L | (+) | R\n"
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" E | | I\n"
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" F | (-) N (+) | G\n"
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" T | | H\n"
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" | (-) | T\n"
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" | |\n"
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" O-- FRONT --+\n"
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" (0,0)");
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float min_diff = 999;
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for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
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for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
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int ind = indexIntoAB[xx][yy];
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float diff = eqnBVector[ind] - mean,
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x_tmp = eqnAMatrix[ind + 0 * abl2],
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y_tmp = eqnAMatrix[ind + 1 * abl2],
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z_tmp = 0;
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apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
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NOMORE(min_diff, eqnBVector[ind] - z_tmp);
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if (diff >= 0.0)
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SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
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else
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SERIAL_PROTOCOLCHAR(' ');
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SERIAL_PROTOCOL_F(diff, 5);
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} // xx
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SERIAL_EOL();
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} // yy
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SERIAL_EOL();
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if (verbose_level > 3) {
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SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
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float min_diff = 999;
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for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
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for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
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int ind = indexIntoAB[xx][yy];
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float x_tmp = eqnAMatrix[ind + 0 * abl2],
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float diff = eqnBVector[ind] - mean,
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x_tmp = eqnAMatrix[ind + 0 * abl2],
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y_tmp = eqnAMatrix[ind + 1 * abl2],
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z_tmp = 0;
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apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
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float diff = eqnBVector[ind] - z_tmp - min_diff;
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NOMORE(min_diff, eqnBVector[ind] - z_tmp);
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if (diff >= 0.0)
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SERIAL_PROTOCOLPGM(" +");
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// Include + for column alignment
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SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
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else
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SERIAL_PROTOCOLCHAR(' ');
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SERIAL_PROTOCOL_F(diff, 5);
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@ -5147,87 +5124,110 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_EOL();
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} // yy
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SERIAL_EOL();
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}
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} //do_topography_map
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#endif // AUTO_BED_LEVELING_LINEAR
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if (verbose_level > 3) {
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SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
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#if ABL_PLANAR
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for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
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for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
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int ind = indexIntoAB[xx][yy];
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float x_tmp = eqnAMatrix[ind + 0 * abl2],
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y_tmp = eqnAMatrix[ind + 1 * abl2],
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z_tmp = 0;
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// For LINEAR and 3POINT leveling correct the current position
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apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
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if (verbose_level > 0)
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planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
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float diff = eqnBVector[ind] - z_tmp - min_diff;
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if (diff >= 0.0)
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SERIAL_PROTOCOLPGM(" +");
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// Include + for column alignment
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else
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SERIAL_PROTOCOLCHAR(' ');
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SERIAL_PROTOCOL_F(diff, 5);
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} // xx
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SERIAL_EOL();
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} // yy
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SERIAL_EOL();
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}
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} //do_topography_map
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if (!dryrun) {
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//
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// Correct the current XYZ position based on the tilted plane.
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//
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#endif // AUTO_BED_LEVELING_LINEAR
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
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#endif
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#if ABL_PLANAR
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float converted[XYZ];
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COPY(converted, current_position);
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// For LINEAR and 3POINT leveling correct the current position
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planner.abl_enabled = true;
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planner.unapply_leveling(converted); // use conversion machinery
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planner.abl_enabled = false;
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if (verbose_level > 0)
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planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
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if (!dryrun) {
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//
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// Correct the current XYZ position based on the tilted plane.
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//
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// Use the last measured distance to the bed, if possible
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if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
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&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
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) {
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const float simple_z = current_position[Z_AXIS] - measured_z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("Z from Probe:", simple_z);
|
||||
SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
|
||||
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
|
||||
}
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
|
||||
#endif
|
||||
|
||||
float converted[XYZ];
|
||||
COPY(converted, current_position);
|
||||
|
||||
planner.abl_enabled = true;
|
||||
planner.unapply_leveling(converted); // use conversion machinery
|
||||
planner.abl_enabled = false;
|
||||
|
||||
// Use the last measured distance to the bed, if possible
|
||||
if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
|
||||
&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
|
||||
) {
|
||||
const float simple_z = current_position[Z_AXIS] - measured_z;
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) {
|
||||
SERIAL_ECHOPAIR("Z from Probe:", simple_z);
|
||||
SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
|
||||
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
|
||||
}
|
||||
#endif
|
||||
converted[Z_AXIS] = simple_z;
|
||||
}
|
||||
|
||||
// The rotated XY and corrected Z are now current_position
|
||||
COPY(current_position, converted);
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
|
||||
#endif
|
||||
converted[Z_AXIS] = simple_z;
|
||||
}
|
||||
|
||||
// The rotated XY and corrected Z are now current_position
|
||||
COPY(current_position, converted);
|
||||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
|
||||
if (!dryrun) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
|
||||
#endif
|
||||
|
||||
// Unapply the offset because it is going to be immediately applied
|
||||
// and cause compensation movement in Z
|
||||
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // ABL_PLANAR
|
||||
|
||||
#ifdef Z_PROBE_END_SCRIPT
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
|
||||
#endif
|
||||
}
|
||||
|
||||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
|
||||
if (!dryrun) {
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
|
||||
#endif
|
||||
|
||||
// Unapply the offset because it is going to be immediately applied
|
||||
// and cause compensation movement in Z
|
||||
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
|
||||
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // ABL_PLANAR
|
||||
|
||||
#ifdef Z_PROBE_END_SCRIPT
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
|
||||
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
|
||||
stepper.synchronize();
|
||||
#endif
|
||||
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
|
||||
stepper.synchronize();
|
||||
#endif
|
||||
|
||||
// Auto Bed Leveling is complete! Enable if possible.
|
||||
planner.abl_enabled = dryrun ? abl_should_enable : true;
|
||||
|
||||
FAIL:
|
||||
// Auto Bed Leveling is complete! Enable if possible.
|
||||
planner.abl_enabled = dryrun ? abl_should_enable : true;
|
||||
} // !isnan(measured_z)
|
||||
|
||||
// Restore state after probing
|
||||
if (!faux) clean_up_after_endstop_or_probe_move();
|
||||
@ -5272,7 +5272,7 @@ void home_all_axes() { gcode_G28(true); }
|
||||
|
||||
const float measured_z = probe_pt(xpos, ypos, parser.boolval('S', true), 1);
|
||||
|
||||
if (!nan_error(measured_z)) {
|
||||
if (!isnan(measured_z)) {
|
||||
SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
|
||||
SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
|
||||
SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
|
||||
|
||||
Loading…
Reference in New Issue
Block a user