Firmware2/Marlin/src/module/probe.h
2019-12-24 00:03:08 -06:00

161 lines
5.0 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* probe.h - Move, deploy, enable, etc.
*/
#include "../inc/MarlinConfig.h"
#if HAS_BED_PROBE
extern xyz_pos_t probe_offset;
bool set_probe_deployed(const bool deploy);
#ifdef Z_AFTER_PROBING
void move_z_after_probing();
#endif
enum ProbePtRaise : unsigned char {
PROBE_PT_NONE, // No raise or stow after run_z_probe
PROBE_PT_STOW, // Do a complete stow after run_z_probe
PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
};
float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
}
#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
extern const char msg_wait_for_bed_heating[25];
#endif
#else
constexpr xyz_pos_t probe_offset{0};
#define DEPLOY_PROBE()
#define STOW_PROBE()
#endif
#if HAS_BED_PROBE || ENABLED(PROBE_MANUALLY)
#if IS_KINEMATIC
constexpr float printable_radius = (
#if ENABLED(DELTA)
DELTA_PRINTABLE_RADIUS
#elif IS_SCARA
SCARA_PRINTABLE_RADIUS
#endif
);
inline float probe_radius() {
return printable_radius - (
#if HAS_BED_PROBE
_MAX(MIN_PROBE_EDGE, HYPOT(probe_offset.x, probe_offset.y))
#else
MIN_PROBE_EDGE
#endif
);
}
#endif
inline float probe_min_x() {
return (
#if IS_KINEMATIC
(X_CENTER) - probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MAX(MIN_PROBE_EDGE_LEFT, X_MIN_POS)
#else
_MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset.x)
#endif
);
}
inline float probe_max_x() {
return (
#if IS_KINEMATIC
(X_CENTER) + probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MAX(MIN_PROBE_EDGE_RIGHT, X_MAX_POS)
#else
_MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset.x)
#endif
);
}
inline float probe_min_y() {
return (
#if IS_KINEMATIC
(Y_CENTER) - probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MIN(MIN_PROBE_EDGE_FRONT, Y_MIN_POS)
#else
_MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset.y)
#endif
);
}
inline float probe_max_y() {
return (
#if IS_KINEMATIC
(Y_CENTER) + probe_radius()
#elif ENABLED(NOZZLE_AS_PROBE)
_MAX(MIN_PROBE_EDGE_BACK, Y_MAX_POS)
#else
_MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset.y)
#endif
);
}
#if NEEDS_THREE_PROBE_POINTS
// Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
template <typename T>
inline void get_three_probe_points(T points[3]) {
#if ENABLED(HAS_FIXED_3POINT)
points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
#else
#if IS_KINEMATIC
constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
#else
points[0].set(probe_min_x(), probe_min_y());
points[1].set(probe_max_x(), probe_min_y());
points[2].set((probe_max_x() - probe_min_x()) / 2, probe_max_y());
#endif
#endif
}
#endif
#endif
#if HAS_Z_SERVO_PROBE
void servo_probe_init();
#endif
#if QUIET_PROBING
void probing_pause(const bool p);
#endif