Add loose soft endstop state, apply to UBL fine-tune (#19681)
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
parent
48a24202ef
commit
ea65e10dc7
@ -1009,6 +1009,8 @@
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lcd_mesh_edit_setup(new_z);
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SET_SOFT_ENDSTOP_LOOSE(true);
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do {
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idle();
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new_z = lcd_mesh_edit();
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@ -1016,6 +1018,8 @@
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SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
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} while (!ui.button_pressed());
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SET_SOFT_ENDSTOP_LOOSE(false);
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if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status
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if (click_and_hold(abort_fine_tune)) break; // Button held down? Abort editing
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@ -201,10 +201,6 @@ G29_TYPE GcodeSuite::G29() {
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ABL_VAR int abl_probe_index;
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#endif
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#if BOTH(HAS_SOFTWARE_ENDSTOPS, PROBE_MANUALLY)
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ABL_VAR bool saved_soft_endstops_state = true;
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#endif
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#if ABL_GRID
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#if ENABLED(PROBE_MANUALLY)
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@ -461,7 +457,7 @@ G29_TYPE GcodeSuite::G29() {
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// Abort current G29 procedure, go back to idle state
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if (seenA && g29_in_progress) {
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SERIAL_ECHOLNPGM("Manual G29 aborted");
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TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
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SET_SOFT_ENDSTOP_LOOSE(false);
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set_bed_leveling_enabled(abl_should_enable);
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g29_in_progress = false;
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TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
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@ -482,7 +478,7 @@ G29_TYPE GcodeSuite::G29() {
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if (abl_probe_index == 0) {
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// For the initial G29 S2 save software endstop state
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TERN_(HAS_SOFTWARE_ENDSTOPS, saved_soft_endstops_state = soft_endstops_enabled);
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SET_SOFT_ENDSTOP_LOOSE(true);
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// Move close to the bed before the first point
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do_blocking_move_to_z(0);
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}
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@ -552,14 +548,14 @@ G29_TYPE GcodeSuite::G29() {
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_manual_goto_xy(probePos); // Can be used here too!
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// Disable software endstops to allow manual adjustment
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// If G29 is not completed, they will not be re-enabled
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TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
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SET_SOFT_ENDSTOP_LOOSE(true);
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G29_RETURN(false);
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}
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else {
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// Leveling done! Fall through to G29 finishing code below
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SERIAL_ECHOLNPGM("Grid probing done.");
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// Re-enable software endstops, if needed
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TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
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SET_SOFT_ENDSTOP_LOOSE(false);
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}
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#elif ENABLED(AUTO_BED_LEVELING_3POINT)
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@ -570,7 +566,7 @@ G29_TYPE GcodeSuite::G29() {
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_manual_goto_xy(probePos);
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// Disable software endstops to allow manual adjustment
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// If G29 is not completed, they will not be re-enabled
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TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
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SET_SOFT_ENDSTOP_LOOSE(true);
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G29_RETURN(false);
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}
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else {
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@ -578,7 +574,7 @@ G29_TYPE GcodeSuite::G29() {
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SERIAL_ECHOLNPGM("3-point probing done.");
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// Re-enable software endstops, if needed
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TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
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SET_SOFT_ENDSTOP_LOOSE(false);
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if (!dryrun) {
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vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
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@ -61,7 +61,6 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM("
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void GcodeSuite::G29() {
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static int mbl_probe_index = -1;
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TERN_(HAS_SOFTWARE_ENDSTOPS, static bool saved_soft_endstops_state);
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MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
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if (!WITHIN(state, 0, 5)) {
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@ -98,26 +97,19 @@ void GcodeSuite::G29() {
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}
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// For each G29 S2...
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if (mbl_probe_index == 0) {
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#if HAS_SOFTWARE_ENDSTOPS
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// For the initial G29 S2 save software endstop state
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saved_soft_endstops_state = soft_endstops_enabled;
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#endif
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// Move close to the bed before the first point
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do_blocking_move_to_z(0);
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}
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else {
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// Save Z for the previous mesh position
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mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z);
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TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
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SET_SOFT_ENDSTOP_LOOSE(false);
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}
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// If there's another point to sample, move there with optional lift.
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if (mbl_probe_index < GRID_MAX_POINTS) {
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#if HAS_SOFTWARE_ENDSTOPS
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// Disable software endstops to allow manual adjustment
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// If G29 is not completed, they will not be re-enabled
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soft_endstops_enabled = false;
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#endif
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// If G29 is left hanging without completion they won't be re-enabled!
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SET_SOFT_ENDSTOP_LOOSE(true);
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mbl.zigzag(mbl_probe_index++, ix, iy);
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_manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] });
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}
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@ -222,8 +222,9 @@ void GcodeSuite::G28() {
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return;
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}
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// Wait for planner moves to finish!
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planner.synchronize();
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planner.synchronize(); // Wait for planner moves to finish!
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SET_SOFT_ENDSTOP_LOOSE(false); // Reset a leftover 'loose' motion state
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// Disable the leveling matrix before homing
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#if HAS_LEVELING
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@ -40,7 +40,7 @@ void GcodeSuite::G34() {
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if (homing_needed()) return;
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TEMPORARY_SOFT_ENDSTOP_STATE(false);
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SET_SOFT_ENDSTOP_LOOSE(true);
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TEMPORARY_BED_LEVELING_STATE(false);
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TemporaryGlobalEndstopsState unlock_z(false);
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@ -148,6 +148,8 @@ void GcodeSuite::G34() {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
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gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
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#endif
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SET_SOFT_ENDSTOP_LOOSE(false);
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}
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#endif // MECHANICAL_GANTRY_CALIBRATION
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@ -581,13 +581,12 @@ void GcodeSuite::G425() {
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GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_PRE));
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#endif
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TEMPORARY_SOFT_ENDSTOP_STATE(false);
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TEMPORARY_BED_LEVELING_STATE(false);
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if (homing_needed_error()) return;
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measurements_t m;
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TEMPORARY_BED_LEVELING_STATE(false);
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SET_SOFT_ENDSTOP_LOOSE(true);
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measurements_t m;
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float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN;
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if (parser.seen('B'))
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@ -612,6 +611,8 @@ void GcodeSuite::G425() {
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else
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calibrate_all();
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SET_SOFT_ENDSTOP_LOOSE(false);
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#ifdef CALIBRATION_SCRIPT_POST
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GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_POST));
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#endif
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@ -37,8 +37,8 @@ void GcodeSuite::M211() {
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l_soft_max = soft_endstop.max.asLogical();
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SERIAL_ECHO_START();
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SERIAL_ECHOPGM(STR_SOFT_ENDSTOPS);
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if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
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serialprint_onoff(soft_endstops_enabled);
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if (parser.seen('S')) soft_endstop._enabled = parser.value_bool();
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serialprint_onoff(soft_endstop._enabled);
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print_xyz(l_soft_min, PSTR(STR_SOFT_MIN), PSTR(" "));
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print_xyz(l_soft_max, PSTR(STR_SOFT_MAX));
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}
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@ -70,9 +70,11 @@ void GcodeSuite::G12() {
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TEMPORARY_BED_LEVELING_STATE(!TEST(cleans, Z_AXIS) && planner.leveling_active);
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#endif
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TEMPORARY_SOFT_ENDSTOP_STATE(parser.boolval('E'));
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SET_SOFT_ENDSTOP_LOOSE(!parser.boolval('E'));
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nozzle.clean(pattern, strokes, radius, objects, cleans);
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SET_SOFT_ENDSTOP_LOOSE(false);
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}
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#endif // NOZZLE_CLEAN_FEATURE
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@ -305,27 +305,9 @@ namespace ExtUI {
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}
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void setAxisPosition_mm(const float position, const axis_t axis, const feedRate_t feedrate/*=0*/) {
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// Start with no limits to movement
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float min = current_position[axis] - 1000,
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max = current_position[axis] + 1000;
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// Limit to software endstops, if enabled
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#if HAS_SOFTWARE_ENDSTOPS
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if (soft_endstops_enabled) switch (axis) {
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case X_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
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TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
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break;
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case Y_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
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TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
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break;
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case Z_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
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TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
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default: break;
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}
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#endif // HAS_SOFTWARE_ENDSTOPS
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// Get motion limit from software endstops, if any
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float min, max;
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soft_endstop.get_manual_axis_limits((AxisEnum)axis, min, max);
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// Delta limits XY based on the current offset from center
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// This assumes the center is 0,0
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@ -389,8 +371,8 @@ namespace ExtUI {
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}
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#if HAS_SOFTWARE_ENDSTOPS
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bool getSoftEndstopState() { return soft_endstops_enabled; }
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void setSoftEndstopState(const bool value) { soft_endstops_enabled = value; }
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bool getSoftEndstopState() { return soft_endstop._enabled; }
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void setSoftEndstopState(const bool value) { soft_endstop._enabled = value; }
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#endif
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#if HAS_TRINAMIC_CONFIG
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@ -57,28 +57,9 @@
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static void _lcd_move_xyz(PGM_P const name, const AxisEnum axis) {
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if (ui.use_click()) return ui.goto_previous_screen_no_defer();
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if (ui.encoderPosition && !ui.manual_move.processing) {
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// Start with no limits to movement
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float min = current_position[axis] - 1000,
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max = current_position[axis] + 1000;
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// Limit to software endstops, if enabled
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#if HAS_SOFTWARE_ENDSTOPS
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if (soft_endstops_enabled) switch (axis) {
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case X_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
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TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
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break;
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case Y_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
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TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
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break;
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case Z_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
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TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
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default: break;
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}
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#endif // HAS_SOFTWARE_ENDSTOPS
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// Get motion limit from software endstops, if any
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float min, max;
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soft_endstop.get_manual_axis_limits(axis, min, max);
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// Delta limits XY based on the current offset from center
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// This assumes the center is 0,0
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@ -238,7 +219,7 @@ void menu_move() {
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BACK_ITEM(MSG_MOTION);
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#if BOTH(HAS_SOFTWARE_ENDSTOPS, SOFT_ENDSTOPS_MENU_ITEM)
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EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstops_enabled);
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EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstop._enabled);
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#endif
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if (NONE(IS_KINEMATIC, NO_MOTION_BEFORE_HOMING) || all_axes_homed()) {
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@ -48,16 +48,12 @@
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float z_offset_backup, calculated_z_offset;
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TERN_(HAS_LEVELING, bool leveling_was_active);
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TERN_(HAS_SOFTWARE_ENDSTOPS, bool store_soft_endstops_enabled);
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void prepare_for_calibration() {
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z_offset_backup = probe.offset.z;
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// Disable soft endstops for free Z movement
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#if HAS_SOFTWARE_ENDSTOPS
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store_soft_endstops_enabled = soft_endstops_enabled;
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soft_endstops_enabled = false;
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#endif
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SET_SOFT_ENDSTOP_LOOSE(true);
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// Disable leveling for raw planner motion
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#if HAS_LEVELING
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@ -68,7 +64,7 @@ void prepare_for_calibration() {
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void set_offset_and_go_back(const float &z) {
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probe.offset.z = z;
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TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = store_soft_endstops_enabled);
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SET_SOFT_ENDSTOP_LOOSE(false);
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TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active));
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ui.goto_previous_screen_no_defer();
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}
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@ -813,27 +813,9 @@ static void moveAxis(AxisEnum axis, const int8_t direction) {
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}
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if (!ui.manual_move.processing) {
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// Start with no limits to movement
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float min = current_position[axis] - 1000,
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max = current_position[axis] + 1000;
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// Limit to software endstops, if enabled
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#if HAS_SOFTWARE_ENDSTOPS
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if (soft_endstops_enabled) switch (axis) {
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case X_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
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TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
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break;
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case Y_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
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TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
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break;
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case Z_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
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TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
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default: break;
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}
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#endif // HAS_SOFTWARE_ENDSTOPS
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// Get motion limit from software endstops, if any
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float min, max;
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soft_endstop.get_manual_axis_limits(axis, min, max);
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// Delta limits XY based on the current offset from center
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// This assumes the center is 0,0
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@ -161,7 +161,7 @@ Nozzle nozzle;
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LIMIT( end[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \
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}while(0)
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if (soft_endstops_enabled) {
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if (soft_endstop.enabled()) {
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LIMIT_AXIS(x);
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LIMIT_AXIS(y);
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@ -534,12 +534,11 @@ void restore_feedrate_and_scaling() {
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#if HAS_SOFTWARE_ENDSTOPS
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bool soft_endstops_enabled = true;
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// Software Endstops are based on the configured limits.
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axis_limits_t soft_endstop = {
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soft_endstops_t soft_endstop = {
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{ X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
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{ X_MAX_POS, Y_MAX_POS, Z_MAX_POS }
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{ X_MAX_POS, Y_MAX_POS, Z_MAX_POS },
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{ true, false }
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};
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/**
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@ -636,7 +635,7 @@ void restore_feedrate_and_scaling() {
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*/
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void apply_motion_limits(xyz_pos_t &target) {
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if (!soft_endstops_enabled) return;
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if (!soft_endstop._enabled) return;
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#if IS_KINEMATIC
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@ -688,7 +687,11 @@ void restore_feedrate_and_scaling() {
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}
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}
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#endif // HAS_SOFTWARE_ENDSTOPS
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#else // !HAS_SOFTWARE_ENDSTOPS
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soft_endstops_t soft_endstop;
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#endif // !HAS_SOFTWARE_ENDSTOPS
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#if !UBL_SEGMENTED
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@ -148,26 +148,61 @@ inline float home_bump_mm(const AxisEnum axis) {
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constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
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#endif
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typedef struct { xyz_pos_t min, max; } axis_limits_t;
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#if HAS_SOFTWARE_ENDSTOPS
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extern bool soft_endstops_enabled;
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extern axis_limits_t soft_endstop;
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typedef struct {
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xyz_pos_t min, max;
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struct {
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bool _enabled:1;
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bool _loose:1;
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};
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bool enabled() { return _enabled && !_loose; }
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void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
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amin = -100000; amax = 100000; // "No limits"
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#if HAS_SOFTWARE_ENDSTOPS
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if (enabled()) switch (axis) {
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case X_AXIS:
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TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x);
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TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x);
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break;
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case Y_AXIS:
|
||||
TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
|
||||
TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
|
||||
break;
|
||||
case Z_AXIS:
|
||||
TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
|
||||
TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
|
||||
default: break;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
} soft_endstops_t;
|
||||
|
||||
extern soft_endstops_t soft_endstop;
|
||||
void apply_motion_limits(xyz_pos_t &target);
|
||||
void update_software_endstops(const AxisEnum axis
|
||||
#if HAS_HOTEND_OFFSET
|
||||
, const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
|
||||
#endif
|
||||
);
|
||||
#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
|
||||
#else
|
||||
constexpr bool soft_endstops_enabled = false;
|
||||
//constexpr axis_limits_t soft_endstop = {
|
||||
// { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
|
||||
// { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } };
|
||||
#define SET_SOFT_ENDSTOP_LOOSE(loose) (soft_endstop._loose = loose)
|
||||
|
||||
#else // !HAS_SOFTWARE_ENDSTOPS
|
||||
|
||||
typedef struct {
|
||||
bool enabled() { return false; }
|
||||
void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
|
||||
// No limits
|
||||
amin = current_position[axis] - 1000;
|
||||
amax = current_position[axis] + 1000;
|
||||
}
|
||||
} soft_endstops_t;
|
||||
extern soft_endstops_t soft_endstop;
|
||||
#define apply_motion_limits(V) NOOP
|
||||
#define update_software_endstops(...) NOOP
|
||||
#define TEMPORARY_SOFT_ENDSTOP_STATE(...) NOOP
|
||||
#endif
|
||||
#define SET_SOFT_ENDSTOP_LOOSE() NOOP
|
||||
|
||||
#endif // !HAS_SOFTWARE_ENDSTOPS
|
||||
|
||||
void report_real_position();
|
||||
void report_current_position();
|
||||
|
@ -1017,14 +1017,10 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
|
||||
// Raise by a configured distance to avoid workpiece, except with
|
||||
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
|
||||
if (!no_move) {
|
||||
#if HAS_SOFTWARE_ENDSTOPS
|
||||
const float maxz = _MIN(soft_endstop.max.z, Z_MAX_POS);
|
||||
#else
|
||||
constexpr float maxz = Z_MAX_POS;
|
||||
#endif
|
||||
const float newz = current_position.z + _MAX(-diff.z, 0.0);
|
||||
|
||||
// Check if Z has space to compensate at least z_offset, and if not, just abort now
|
||||
const float newz = current_position.z + _MAX(-diff.z, 0.0);
|
||||
const float maxz = _MIN(TERN(HAS_SOFTWARE_ENDSTOPS, soft_endstop.max.z, Z_MAX_POS), Z_MAX_POS);
|
||||
if (newz > maxz) return;
|
||||
|
||||
current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz);
|
||||
|
Loading…
Reference in New Issue
Block a user