From 97e87d82628840a7ee197225551a62f36bd4d95c Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 27 Feb 2020 22:47:44 -0600 Subject: [PATCH] Fix G76 reachable test (#17005) --- Marlin/src/gcode/calibrate/G76_M871.cpp | 178 ++++++++++-------------- 1 file changed, 70 insertions(+), 108 deletions(-) diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp index 90413b3215..2457bc9110 100644 --- a/Marlin/src/gcode/calibrate/G76_M871.cpp +++ b/Marlin/src/gcode/calibrate/G76_M871.cpp @@ -86,6 +86,33 @@ void GcodeSuite::G76() { return; #endif + auto report_temps = [](millis_t &ntr, millis_t timeout=0) { + idle_no_sleep(); + const millis_t ms = millis(); + if (ELAPSED(ms, ntr)) { + ntr = ms + 1000; + thermalManager.print_heater_states(active_extruder); + } + return (timeout && ELAPSED(ms, timeout)); + }; + + auto wait_for_temps = [&](const float tb, const float tp, millis_t &ntr, const millis_t timeout=0) { + SERIAL_ECHOLNPGM("Waiting for bed and probe temperature."); + while (fabs(thermalManager.degBed() - tb) > 0.1f || thermalManager.degProbe() > tp) + if (report_temps(ntr, timeout)) return true; + return false; + }; + + auto g76_probe = [](const xy_pos_t &xypos) { + do_blocking_move_to_z(5.0); // Raise nozzle before probing + const float measured_z = probe.probe_at_point(xypos, PROBE_PT_NONE, 0, false); // verbose=0, probe_relative=false + if (isnan(measured_z)) + SERIAL_ECHOLNPGM("!Received NAN. Aborting."); + else + SERIAL_ECHOLNPAIR_F("Measured: ", measured_z); + return measured_z; + }; + #if ENABLED(BLTOUCH) // Make sure any BLTouch error condition is cleared bltouch_command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); @@ -98,111 +125,76 @@ void GcodeSuite::G76() { // Synchronize with planner planner.synchronize(); - // Report temperatures every second and handle heating timeouts - millis_t next_temp_report = millis() + 1000; + const xyz_pos_t parkpos = { temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z }; + const xy_pos_t ppos = { temp_comp.measure_point_x, temp_comp.measure_point_y }; if (do_bed_cal || do_probe_cal) { // Ensure park position is reachable - if (!position_is_reachable(temp_comp.park_point_x, temp_comp.park_point_y) - || !(WITHIN(temp_comp.park_point_z, Z_MIN_POS - 0.001f, Z_MAX_POS + 0.001f)) - ) { - SERIAL_ECHOLNPGM("!Park position unreachable - aborting."); - return; + bool reachable = position_is_reachable(parkpos) || WITHIN(parkpos.z, Z_MIN_POS - fslop, Z_MAX_POS + fslop); + if (!reachable) + SERIAL_ECHOLNPGM("!Park"); + else { + // Ensure probe position is reachable + reachable = probe.can_reach(ppos); + if (!reachable) SERIAL_ECHOLNPGM("!Probe"); } - // Ensure probe position is reachable - destination.set( - temp_comp.measure_point_x - probe.offset_xy.x, - temp_comp.measure_point_y - probe.offset_xy.y - ); - if (!probe.can_reach(destination)) { - SERIAL_ECHOLNPGM("!Probe position unreachable - aborting."); + + if (!reachable) { + SERIAL_ECHOLNPGM(" position unreachable - aborting."); return; } process_subcommands_now_P(PSTR("G28")); } + remember_feedrate_scaling_off(); + + // Nozzle position based on probe position + const xy_pos_t noz_pos = ppos - probe.offset_xy; + /****************************************** * Calibrate bed temperature offsets ******************************************/ + // Report temperatures every second and handle heating timeouts + millis_t next_temp_report = millis() + 1000; + if (do_bed_cal) { uint16_t target_bed = temp_comp.cali_info_init[TSI_BED].start_temp, target_probe = temp_comp.bed_calib_probe_temp; SERIAL_ECHOLNPGM("Waiting for cooling."); - while (thermalManager.degBed() > target_bed || thermalManager.degProbe() > target_probe) { - idle_no_sleep(); - const millis_t ms = millis(); - if (ELAPSED(ms, next_temp_report)) { - thermalManager.print_heater_states(active_extruder); - next_temp_report = ms + 1000; - } - } + while (thermalManager.degBed() > target_bed || thermalManager.degProbe() > target_probe) + report_temps(next_temp_report); // Disable leveling so it won't mess with us #if HAS_LEVELING set_bed_leveling_enabled(false); #endif - bool timeout = false; for (;;) { thermalManager.setTargetBed(target_bed); SERIAL_ECHOLNPAIR("Target Bed:", target_bed, " Probe:", target_probe); // Park nozzle - do_blocking_move_to(temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z); + do_blocking_move_to(parkpos); // Wait for heatbed to reach target temp and probe to cool below target temp - SERIAL_ECHOLNPGM("Waiting for bed / probe to reach target."); - const millis_t probe_timeout_ms = millis() + 900UL * 1000UL; - while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1 || thermalManager.degProbe() > target_probe) { - idle_no_sleep(); - const millis_t ms = millis(); - if (ELAPSED(ms, next_temp_report)) { - thermalManager.print_heater_states(active_extruder); - next_temp_report = ms + 1000; - } - if (ELAPSED(ms, probe_timeout_ms)) { - SERIAL_ECHOLNPGM("!Bed heating timeout."); - timeout = true; - break; - } - } - - if (timeout) break; - - // Move the nozzle to the probing point and wait for the probe to reach target temp - destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y); - do_blocking_move_to(destination); - SERIAL_ECHOLNPGM("Waiting for probe heating."); - while (thermalManager.degProbe() < target_probe) { - idle_no_sleep(); - const millis_t ms = millis(); - if (ELAPSED(ms, next_temp_report)) { - thermalManager.print_heater_states(active_extruder); - next_temp_report = ms + 1000; - } - } - - // Raise nozzle before probing - destination.z = 5.0; - do_blocking_move_to_z(destination.z); - - // Do a single probe at the current position - remember_feedrate_scaling_off(); - const xy_pos_t probe_xy = destination + probe.offset_xy; - const float measured_z = probe.probe_at_point(probe_xy, PROBE_PT_NONE); - restore_feedrate_and_scaling(); - - if (isnan(measured_z)) { - SERIAL_ECHOLNPGM("!Received NAN. Aborting."); + if (wait_for_temps(target_bed, target_probe, next_temp_report, millis() + 900UL * 1000UL)) { + SERIAL_ECHOLNPGM("!Bed heating timeout."); break; } - else - SERIAL_ECHOLNPAIR_F("Measured: ", measured_z); + + // Move the nozzle to the probing point and wait for the probe to reach target temp + do_blocking_move_to_xy(noz_pos); + SERIAL_ECHOLNPGM("Waiting for probe heating."); + while (thermalManager.degProbe() < target_probe) + report_temps(next_temp_report); + + const float measured_z = g76_probe(noz_pos); + if (isnan(measured_z)) break; if (target_bed == temp_comp.cali_info_init[TSI_BED].start_temp) temp_comp.prepare_new_calibration(measured_z); @@ -233,7 +225,7 @@ void GcodeSuite::G76() { if (do_probe_cal) { // Park nozzle - do_blocking_move_to(temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z); + do_blocking_move_to(parkpos); // Initialize temperatures const uint16_t target_bed = temp_comp.probe_calib_bed_temp; @@ -241,17 +233,8 @@ void GcodeSuite::G76() { uint16_t target_probe = temp_comp.cali_info_init[TSI_PROBE].start_temp; - SERIAL_ECHOLNPGM("Waiting for bed and probe temperature."); - while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1f - || thermalManager.degProbe() > target_probe - ) { - idle_no_sleep(); - const millis_t ms = millis(); - if (ELAPSED(ms, next_temp_report)) { - thermalManager.print_heater_states(active_extruder); - next_temp_report = ms + 1000; - } - } + // Wait for heatbed to reach target temp and probe to cool below target temp + wait_for_temps(target_bed, target_probe, next_temp_report); // Disable leveling so it won't mess with us #if HAS_LEVELING @@ -261,44 +244,21 @@ void GcodeSuite::G76() { bool timeout = false; for (;;) { // Move probe to probing point and wait for it to reach target temperature - destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y); - do_blocking_move_to(destination); + do_blocking_move_to_xy(noz_pos); SERIAL_ECHOLNPAIR("Waiting for probe heating. Bed:", target_bed, " Probe:", target_probe); - const millis_t probe_timeout_ms = millis() + 900UL * 1000UL; while (thermalManager.degProbe() < target_probe) { - idle_no_sleep(); - const millis_t ms = millis(); - if (ELAPSED(ms, next_temp_report)) { - thermalManager.print_heater_states(active_extruder); - next_temp_report = ms + 1000; - } - if (ELAPSED(ms, probe_timeout_ms)) { + if (report_temps(next_temp_report, probe_timeout_ms)) { SERIAL_ECHOLNPGM("!Probe heating timed out."); timeout = true; break; } } - if (timeout) break; - // Raise nozzle before probing - destination.z = 5.0; - do_blocking_move_to_z(destination.z); - - // Do a single probe - remember_feedrate_scaling_off(); - const xy_pos_t probe_xy = destination + probe.offset_xy; - const float measured_z = probe.probe_at_point(probe_xy, PROBE_PT_NONE); - restore_feedrate_and_scaling(); - - if (isnan(measured_z)) { - SERIAL_ECHOLNPGM("!Received NAN measurement - aborting."); - break; - } - else - SERIAL_ECHOLNPAIR_F("Measured: ", measured_z); + const float measured_z = g76_probe(noz_pos); + if (isnan(measured_z)) break; if (target_probe == temp_comp.cali_info_init[TSI_PROBE].start_temp) temp_comp.prepare_new_calibration(measured_z); @@ -325,6 +285,8 @@ void GcodeSuite::G76() { SERIAL_ECHOLNPGM("Final compensation values:"); temp_comp.print_offsets(); } // do_probe_cal + + restore_feedrate_and_scaling(); } /**