From b3a37b493df59f0883c2e03fc987c48253206c3d Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 1 Jun 2016 19:48:17 -0700 Subject: [PATCH] Patch G28 servo stow to use Conditionals, raise_z_after_probing --- Marlin/Conditionals.h | 6 ++- Marlin/Marlin_main.cpp | 106 ++++++++++++++++++++++------------------- Marlin/SanityCheck.h | 2 +- 3 files changed, 63 insertions(+), 51 deletions(-) diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h index 599a1bf24b..45665f2d41 100644 --- a/Marlin/Conditionals.h +++ b/Marlin/Conditionals.h @@ -349,6 +349,10 @@ #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER)) #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) + #else + #ifndef Z_RAISE_AFTER_PROBING + #define Z_RAISE_AFTER_PROBING 15 + #endif #endif #define HAS_Z_ENDSTOP_SERVO (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0) @@ -732,7 +736,7 @@ #define Z_ENDSTOP_SERVO_NR -1 #endif #if X_ENDSTOP_SERVO_NR >= 0 || Y_ENDSTOP_SERVO_NR >= 0 || HAS_Z_ENDSTOP_SERVO - #define HAS_SERVO_ENDSTOPS true + #define HAS_SERVO_ENDSTOPS #define SERVO_ENDSTOP_IDS { X_ENDSTOP_SERVO_NR, Y_ENDSTOP_SERVO_NR, Z_ENDSTOP_SERVO_NR } #endif #endif diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index dcc7af09e2..38d7e70a89 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -372,7 +372,7 @@ static uint8_t target_extruder; }; #endif -#if HAS_SERVO_ENDSTOPS +#if ENABLED(HAS_SERVO_ENDSTOPS) const int servo_endstop_id[] = SERVO_ENDSTOP_IDS; const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES; #endif @@ -719,7 +719,7 @@ void servo_init() { servo[3].detach(); #endif - #if HAS_SERVO_ENDSTOPS + #if ENABLED(HAS_SERVO_ENDSTOPS) endstops.enable_z_probe(false); @@ -1719,7 +1719,7 @@ static void setup_for_endstop_move() { if (endstops.z_probe_enabled) return; - #if HAS_SERVO_ENDSTOPS + #if ENABLED(HAS_SERVO_ENDSTOPS) // Engage Z Servo endstop if enabled if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]); @@ -1806,7 +1806,7 @@ static void setup_for_endstop_move() { } static void stow_z_probe(bool doRaise = true) { - #if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0)) + #if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0)) UNUSED(doRaise); #endif #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -1815,7 +1815,7 @@ static void setup_for_endstop_move() { if (!endstops.z_probe_enabled) return; - #if HAS_SERVO_ENDSTOPS + #if ENABLED(HAS_SERVO_ENDSTOPS) // Retract Z Servo endstop if enabled if (servo_endstop_id[Z_AXIS] >= 0) { @@ -2057,7 +2057,7 @@ static void setup_for_endstop_move() { #endif // DELTA - #if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED) + #if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED) void raise_z_for_servo() { float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING; @@ -2168,33 +2168,36 @@ static void homeaxis(AxisEnum axis) { sync_plan_position(); #if ENABLED(Z_PROBE_SLED) - #define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY - #define _Z_PROBE_SUBTEST false // Z will never be invoked + #define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z + #define _Z_SERVO_SUBTEST false // Z will never be invoked #define _Z_DEPLOY (dock_sled(false)) #define _Z_STOW (dock_sled(true)) #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) - #define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY - #define _Z_PROBE_SUBTEST false // Z will never be invoked + #define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z + #define _Z_SERVO_SUBTEST false // Z will never be invoked #define _Z_DEPLOY (deploy_z_probe()) #define _Z_STOW (stow_z_probe()) - #elif HAS_SERVO_ENDSTOPS - #define _Z_SERVO_TEST true // servo.move X, Y, Z - #define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe + #elif ENABLED(HAS_SERVO_ENDSTOPS) + #define _Z_SERVO_TEST true // Z not deployed yet + #define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe #endif - if (axis == Z_AXIS) { - // If there's a Z probe that needs deployment... - #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) - // ...and homing Z towards the bed? Deploy it. - if (axis_home_dir < 0) _Z_DEPLOY; - #endif - } + // If there's a Z probe that needs deployment... + #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) + // ...and homing Z towards the bed? Deploy it. + if (axis == Z_AXIS && axis_home_dir < 0) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY)); + #endif + _Z_DEPLOY; + } + #endif - #if HAS_SERVO_ENDSTOPS - // Engage an X or Y Servo endstop if enabled + #if ENABLED(HAS_SERVO_ENDSTOPS) + // Engage an X, Y (or Z) Servo endstop if enabled if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]); - if (_Z_PROBE_SUBTEST) endstops.z_probe_enabled = true; + if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true; } #endif @@ -2311,7 +2314,7 @@ static void homeaxis(AxisEnum axis) { axis_known_position[axis] = true; axis_homed[axis] = true; - // Put away the Z probe + // Put away the Z probe with a function #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) if (axis == Z_AXIS && axis_home_dir < 0) { #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -2321,27 +2324,32 @@ static void homeaxis(AxisEnum axis) { } #endif - // Retract Servo endstop if enabled - #if HAS_SERVO_ENDSTOPS + // Retract X, Y (or Z) Servo endstop if enabled + #if ENABLED(HAS_SERVO_ENDSTOPS) if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { + // Raise the servo probe before stow outside ABL context. + // This is a workaround to allow use of a Servo Probe without + // ABL until more global probe handling is implemented. + #if Z_RAISE_AFTER_PROBING > 0 + if (axis == Z_AXIS) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING); + #endif + current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING; + feedrate = homing_feedrate[Z_AXIS]; + line_to_current_position(); + stepper.synchronize(); + } + #endif + #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()"); #endif - // Raise the servo probe before stow outside ABL context... This is a workaround that allows the use of a Servo Probe without ABL until a more global probe handling is implemented. - #if DISABLED(AUTO_BED_LEVELING_FEATURE) - #ifndef Z_RAISE_AFTER_PROBING - #define Z_RAISE_AFTER_PROBING 15 // default height - #endif - current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING; - feedrate = homing_feedrate[Z_AXIS]; - line_to_current_position(); - stepper.synchronize(); - #endif - servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]); - if (_Z_PROBE_SUBTEST) endstops.enable_z_probe(false); + if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false); } - #endif + + #endif // HAS_SERVO_ENDSTOPS } @@ -3630,7 +3638,7 @@ inline void gcode_G28() { #endif current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z) - #if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) + #if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) + Z_RAISE_AFTER_PROBING #endif ; @@ -3647,7 +3655,7 @@ inline void gcode_G28() { dock_sled(true); // dock the sled #elif Z_RAISE_AFTER_PROBING > 0 // Raise Z axis for non-delta and non servo based probes - #if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) + #if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) raise_z_after_probing(); #endif #endif @@ -3691,7 +3699,7 @@ inline void gcode_G28() { * G30: Do a single Z probe at the current XY */ inline void gcode_G30() { - #if HAS_SERVO_ENDSTOPS + #if ENABLED(HAS_SERVO_ENDSTOPS) raise_z_for_servo(); #endif deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here. @@ -3713,7 +3721,7 @@ inline void gcode_G28() { clean_up_after_endstop_move(); // Too early. must be done after the stowing. - #if HAS_SERVO_ENDSTOPS + #if ENABLED(HAS_SERVO_ENDSTOPS) raise_z_for_servo(); #endif stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here. @@ -5822,13 +5830,13 @@ inline void gcode_M303() { */ inline void gcode_M400() { stepper.synchronize(); } -#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) +#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) /** * M401: Engage Z Servo endstop if available */ inline void gcode_M401() { - #if HAS_SERVO_ENDSTOPS + #if ENABLED(HAS_SERVO_ENDSTOPS) raise_z_for_servo(); #endif deploy_z_probe(); @@ -5838,13 +5846,13 @@ inline void gcode_M400() { stepper.synchronize(); } * M402: Retract Z Servo endstop if enabled */ inline void gcode_M402() { - #if HAS_SERVO_ENDSTOPS + #if ENABLED(HAS_SERVO_ENDSTOPS) raise_z_for_servo(); #endif stow_z_probe(false); } -#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED +#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED #if ENABLED(FILAMENT_WIDTH_SENSOR) @@ -7038,14 +7046,14 @@ void process_next_command() { gcode_M400(); break; - #if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED) + #if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED) case 401: gcode_M401(); break; case 402: gcode_M402(); break; - #endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED + #endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED #if ENABLED(FILAMENT_WIDTH_SENSOR) case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h index 3fa6788a79..d2c53be149 100644 --- a/Marlin/SanityCheck.h +++ b/Marlin/SanityCheck.h @@ -174,7 +174,7 @@ /** * Servo deactivation depends on servo endstops */ -#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_SERVO_ENDSTOPS +#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && DISABLED(HAS_SERVO_ENDSTOPS) #error "At least one of the ?_ENDSTOP_SERVO_NR is required for DEACTIVATE_SERVOS_AFTER_MOVE." #endif