diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h
index 5f626b9fbd16ffd149c821facff61f12c205d6d4..413e225629005b1188dba997de3216bb00e5d561 100644
--- a/Marlin/Conditionals.h
+++ b/Marlin/Conditionals.h
@@ -186,7 +186,7 @@
#define ENDSTOPPULLUP_ZMIN
#endif
#ifndef DISABLE_Z_PROBE_ENDSTOP
- #define ENDSTOPPULL_ZPROBE
+ #define ENDSTOPPULLUP_ZPROBE
#endif
#endif
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 13905683a5b774c0a170337e0cc68355f959d630..0683c67e711355d0e683ed77a13357c833621906 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -79,7 +79,7 @@
// G4 - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208
-// G28 - Home all Axis
+// G28 - Home one or more axes
// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location.
// G31 - Dock sled (Z_PROBE_SLED only)
@@ -170,10 +170,10 @@
// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
// M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
// M406 - Turn off Filament Sensor extrusion control
-// M407 - Display measured filament diameter
+// M407 - Displays measured filament diameter
// M500 - Store parameters in EEPROM
// M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
-// M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
+// M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
@@ -210,7 +210,6 @@ int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedmultiply = 100; //100->1 200->2
int saved_feedmultiply;
-int extrudemultiply = 100; //100->1 200->2
int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA);
@@ -273,7 +272,7 @@ int fanSpeed = 0;
#endif // FWRETRACT
-#if defined(ULTIPANEL) && HAS_POWER_SWITCH
+#ifdef ULTIPANEL
bool powersupply =
#ifdef PS_DEFAULT_OFF
false
@@ -306,19 +305,19 @@ int fanSpeed = 0;
#ifdef SCARA
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
static float delta[3] = { 0, 0, 0 };
-#endif
+#endif
bool cancel_heatup = false;
#ifdef FILAMENT_SENSOR
//Variables for Filament Sensor input
- float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
- bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
- float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
+ float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
+ bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
+ float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
- int delay_index1 = 0; //index into ring buffer
- int delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
- float delay_dist = 0; //delay distance counter
+ int delay_index1=0; //index into ring buffer
+ int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
+ float delay_dist=0; //delay distance counter
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif
@@ -477,8 +476,6 @@ bool enquecommand(const char *cmd)
return true;
}
-
-
void setup_killpin()
{
#if defined(KILL_PIN) && KILL_PIN > -1
@@ -519,8 +516,8 @@ void setup_powerhold()
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
- #if HAS_POWER_SWITCH
- #ifdef PS_DEFAULT_OFF
+ #if defined(PS_ON_PIN) && PS_ON_PIN > -1
+ #if defined(PS_DEFAULT_OFF)
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
@@ -932,7 +929,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static float x_home_pos(int extruder) {
if (extruder == 0)
- return base_home_pos(X_AXIS) + home_offset[X_AXIS];
+ return base_home_pos(X_AXIS) + home_offset[X_AXIS];
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
@@ -961,15 +958,15 @@ static void axis_is_at_home(int axis) {
if (axis == X_AXIS) {
if (active_extruder != 0) {
current_position[X_AXIS] = x_home_pos(active_extruder);
- min_pos[X_AXIS] = X2_MIN_POS;
- max_pos[X_AXIS] = max(extruder_offset[1][X_AXIS], X2_MAX_POS);
+ min_pos[X_AXIS] = X2_MIN_POS;
+ max_pos[X_AXIS] = max(extruder_offset[1][X_AXIS], X2_MAX_POS);
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
- min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS];
- max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
- max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
+ float xoff = home_offset[X_AXIS];
+ current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
+ min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
+ max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
return;
}
}
@@ -1023,178 +1020,189 @@ static void axis_is_at_home(int axis) {
}
/**
- * Shorthand to tell the planner our current position (in mm).
+ * Some planner shorthand inline functions
*/
+inline void line_to_current_position() {
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+}
+inline void line_to_z(float zPosition) {
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+}
+inline void line_to_destination() {
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+}
inline void sync_plan_position() {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#ifdef ENABLE_AUTO_BED_LEVELING
-#ifdef AUTO_BED_LEVELING_GRID
-#ifndef DELTA
- static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
- vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
- planeNormal.debug("planeNormal");
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- //bedLevel.debug("bedLevel");
-
- //plan_bed_level_matrix.debug("bed level before");
- //vector_3 uncorrected_position = plan_get_position_mm();
- //uncorrected_position.debug("position before");
-
- vector_3 corrected_position = plan_get_position();
- //corrected_position.debug("position after");
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
+ #ifdef AUTO_BED_LEVELING_GRID
- sync_plan_position();
- }
-#endif
+ #ifndef DELTA
-#else // not AUTO_BED_LEVELING_GRID
+ static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
+ vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
+ planeNormal.debug("planeNormal");
+ plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+ //bedLevel.debug("bedLevel");
-static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
+ //plan_bed_level_matrix.debug("bed level before");
+ //vector_3 uncorrected_position = plan_get_position_mm();
+ //uncorrected_position.debug("position before");
- plan_bed_level_matrix.set_to_identity();
+ vector_3 corrected_position = plan_get_position();
+ //corrected_position.debug("position after");
+ current_position[X_AXIS] = corrected_position.x;
+ current_position[Y_AXIS] = corrected_position.y;
+ current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
- vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
- vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
- vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
- vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
+ sync_plan_position();
+ }
- if (planeNormal.z < 0) {
- planeNormal.x = -planeNormal.x;
- planeNormal.y = -planeNormal.y;
- planeNormal.z = -planeNormal.z;
- }
+ #endif // !DELTA
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+ #else // !AUTO_BED_LEVELING_GRID
- vector_3 corrected_position = plan_get_position();
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
+ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
- sync_plan_position();
-}
+ plan_bed_level_matrix.set_to_identity();
-#endif // AUTO_BED_LEVELING_GRID
+ vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
+ vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
+ vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
+ vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
-static void run_z_probe() {
- #ifdef DELTA
-
- float start_z = current_position[Z_AXIS];
- long start_steps = st_get_position(Z_AXIS);
-
- // move down slowly until you find the bed
- feedrate = homing_feedrate[Z_AXIS] / 4;
- destination[Z_AXIS] = -10;
- prepare_move_raw();
- st_synchronize();
- endstops_hit_on_purpose();
-
- // we have to let the planner know where we are right now as it is not where we said to go.
- long stop_steps = st_get_position(Z_AXIS);
- float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
- current_position[Z_AXIS] = mm;
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
-
- #else
+ if (planeNormal.z < 0) {
+ planeNormal.x = -planeNormal.x;
+ planeNormal.y = -planeNormal.y;
+ planeNormal.z = -planeNormal.z;
+ }
- plan_bed_level_matrix.set_to_identity();
- feedrate = homing_feedrate[Z_AXIS];
+ plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- // move down until you find the bed
- float zPosition = -10;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
+ vector_3 corrected_position = plan_get_position();
+ current_position[X_AXIS] = corrected_position.x;
+ current_position[Y_AXIS] = corrected_position.y;
+ current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
- // we have to let the planner know where we are right now as it is not where we said to go.
- zPosition = st_get_position_mm(Z_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
+ sync_plan_position();
+ }
- // move up the retract distance
- zPosition += home_retract_mm(Z_AXIS);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- endstops_hit_on_purpose();
+ #endif // !AUTO_BED_LEVELING_GRID
- // move back down slowly to find bed
- if (homing_bump_divisor[Z_AXIS] >= 1) {
- feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
- }
- else {
- feedrate = homing_feedrate[Z_AXIS]/10;
- SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
- }
+ static void run_z_probe() {
- zPosition -= home_retract_mm(Z_AXIS) * 2;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- endstops_hit_on_purpose();
+ #ifdef DELTA
- current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
- // make sure the planner knows where we are as it may be a bit different than we last said to move to
- sync_plan_position();
+ float start_z = current_position[Z_AXIS];
+ long start_steps = st_get_position(Z_AXIS);
- #endif
-}
+ // move down slowly until you find the bed
+ feedrate = homing_feedrate[Z_AXIS] / 4;
+ destination[Z_AXIS] = -10;
+ prepare_move_raw();
+ st_synchronize();
+ endstops_hit_on_purpose();
+
+ // we have to let the planner know where we are right now as it is not where we said to go.
+ long stop_steps = st_get_position(Z_AXIS);
+ float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
+ current_position[Z_AXIS] = mm;
+ calculate_delta(current_position);
+ plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+
+ #else // !DELTA
+
+ plan_bed_level_matrix.set_to_identity();
+ feedrate = homing_feedrate[Z_AXIS];
+
+ // move down until you find the bed
+ float zPosition = -10;
+ line_to_z(zPosition);
+ st_synchronize();
+
+ // we have to let the planner know where we are right now as it is not where we said to go.
+ zPosition = st_get_position_mm(Z_AXIS);
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
+
+ // move up the retract distance
+ zPosition += home_retract_mm(Z_AXIS);
+ line_to_z(zPosition);
+ st_synchronize();
+ endstops_hit_on_purpose();
+
+ // move back down slowly to find bed
+ if (homing_bump_divisor[Z_AXIS] >= 1)
+ feedrate = homing_feedrate[Z_AXIS] / homing_bump_divisor[Z_AXIS];
+ else {
+ feedrate = homing_feedrate[Z_AXIS] / 10;
+ SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
+ }
+
+ zPosition -= home_retract_mm(Z_AXIS) * 2;
+ line_to_z(zPosition);
+ st_synchronize();
+ endstops_hit_on_purpose();
+
+ current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
+ // make sure the planner knows where we are as it may be a bit different than we last said to move to
+ sync_plan_position();
+
+ #endif // !DELTA
+ }
-static void do_blocking_move_to(float x, float y, float z) {
+ static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
-#ifdef DELTA
+ #ifdef DELTA
- feedrate = XY_TRAVEL_SPEED;
-
- destination[X_AXIS] = x;
- destination[Y_AXIS] = y;
- destination[Z_AXIS] = z;
- prepare_move_raw();
- st_synchronize();
+ feedrate = XY_TRAVEL_SPEED;
-#else
+ destination[X_AXIS] = x;
+ destination[Y_AXIS] = y;
+ destination[Z_AXIS] = z;
+ prepare_move_raw();
+ st_synchronize();
- feedrate = homing_feedrate[Z_AXIS];
+ #else
- current_position[Z_AXIS] = z;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
+ feedrate = homing_feedrate[Z_AXIS];
- feedrate = xy_travel_speed;
+ current_position[Z_AXIS] = z;
+ line_to_current_position();
+ st_synchronize();
- current_position[X_AXIS] = x;
- current_position[Y_AXIS] = y;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
+ feedrate = xy_travel_speed;
-#endif
+ current_position[X_AXIS] = x;
+ current_position[Y_AXIS] = y;
+ line_to_current_position();
+ st_synchronize();
+
+ #endif
feedrate = oldFeedRate;
-}
+ }
-static void setup_for_endstop_move() {
+ static void setup_for_endstop_move() {
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
-
enable_endstops(true);
-}
-
-static void clean_up_after_endstop_move() {
-#ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
-#endif
+ }
+ static void clean_up_after_endstop_move() {
+ #ifdef ENDSTOPS_ONLY_FOR_HOMING
+ enable_endstops(false);
+ #endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
-}
+ }
+<<<<<<< HEAD
static void engage_z_probe() {
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
@@ -1229,6 +1237,9 @@ static void engage_z_probe() {
st_synchronize();
+ // If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
+ // it's own unique entity, then the following logic will need to be modified
+ // so it only uses the Z_PROBE
#if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
@@ -1242,13 +1253,59 @@ static void engage_z_probe() {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+=======
+ static void engage_z_probe() {
+
+ #ifdef SERVO_ENDSTOPS
+
+ // Engage Z Servo endstop if enabled
+ if (servo_endstops[Z_AXIS] >= 0) {
+ #if SERVO_LEVELING
+ servos[servo_endstops[Z_AXIS]].attach(0);
+ #endif
+ servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
+ #if SERVO_LEVELING
+ delay(PROBE_SERVO_DEACTIVATION_DELAY);
+ servos[servo_endstops[Z_AXIS]].detach();
+ #endif
+ }
+
+ #elif defined(Z_PROBE_ALLEN_KEY)
+
+ feedrate = homing_feedrate[X_AXIS];
+
+ // Move to the start position to initiate deployment
+ destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
+ destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
+ destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
+ prepare_move_raw();
+
+ // Home X to touch the belt
+ feedrate = homing_feedrate[X_AXIS]/10;
+ destination[X_AXIS] = 0;
+ prepare_move_raw();
+
+ // Home Y for safety
+ feedrate = homing_feedrate[X_AXIS]/2;
+ destination[Y_AXIS] = 0;
+ prepare_move_raw();
+
+ st_synchronize();
+
+ bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+ if (z_min_endstop) {
+ if (!Stopped) {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
+ LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+>>>>>>> MarlinFirmware/Development
}
Stop();
- }
- #endif
+ }
-}
+ #endif // Z_PROBE_ALLEN_KEY
+<<<<<<< HEAD
static void retract_z_probe() {
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
@@ -1298,6 +1355,9 @@ static void retract_z_probe() {
st_synchronize();
+ // If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
+ // it's own unique entity, then the following logic will need to be modified
+ // so it only uses the Z_PROBE
#if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
@@ -1311,126 +1371,219 @@ static void retract_z_probe() {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+=======
+ }
+
+ static void retract_z_probe(const float z_after=Z_RAISE_AFTER_PROBING) {
+
+ #ifdef SERVO_ENDSTOPS
+
+ // Retract Z Servo endstop if enabled
+ if (servo_endstops[Z_AXIS] >= 0) {
+
+ if (z_after > 0) {
+ do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_after);
+ st_synchronize();
+>>>>>>> MarlinFirmware/Development
}
- Stop();
- }
- #endif
-}
+ #if SERVO_LEVELING
+ servos[servo_endstops[Z_AXIS]].attach(0);
+ #endif
-enum ProbeAction {
- ProbeStay = 0,
- ProbeEngage = BIT(0),
- ProbeRetract = BIT(1),
- ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
-};
-
-/// Probe bed height at position (x,y), returns the measured z value
-static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
- // move to right place
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
- do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
-
- #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
- if (retract_action & ProbeEngage) engage_z_probe();
- #endif
+ servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
- run_z_probe();
- float measured_z = current_position[Z_AXIS];
+ #if SERVO_LEVELING
+ delay(PROBE_SERVO_DEACTIVATION_DELAY);
+ servos[servo_endstops[Z_AXIS]].detach();
+ #endif
+ }
- #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
- if (retract_action & ProbeRetract) retract_z_probe();
- #endif
+ #elif defined(Z_PROBE_ALLEN_KEY)
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM(MSG_BED);
- SERIAL_PROTOCOLPGM(" X: ");
- SERIAL_PROTOCOL_F(x, 3);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL_F(y, 3);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL_F(measured_z, 3);
- SERIAL_EOL;
- }
- return measured_z;
-}
+ // Move up for safety
+ feedrate = homing_feedrate[X_AXIS];
+ destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
+ prepare_move_raw();
+
+ // Move to the start position to initiate retraction
+ destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
+ destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
+ destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
+ prepare_move_raw();
+
+ // Move the nozzle down to push the probe into retracted position
+ feedrate = homing_feedrate[Z_AXIS]/10;
+ destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
+ prepare_move_raw();
+
+ // Move up for safety
+ feedrate = homing_feedrate[Z_AXIS]/2;
+ destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
+ prepare_move_raw();
+
+ // Home XY for safety
+ feedrate = homing_feedrate[X_AXIS]/2;
+ destination[X_AXIS] = 0;
+ destination[Y_AXIS] = 0;
+ prepare_move_raw();
+
+ st_synchronize();
+
+ // If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
+ // it's own unique entity, then the following logic will need to be modified
+ // so it only uses the Z_PROBE
+ bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+ if (!z_min_endstop) {
+ if (!Stopped) {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
+ LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+ }
+ Stop();
+ }
+
+ #endif
-#ifdef DELTA
-static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
- if (bed_level[x][y] != 0.0) {
- return; // Don't overwrite good values.
- }
- float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right.
- float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back.
- float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal.
- float median = c; // Median is robust (ignores outliers).
- if (a < b) {
- if (b < c) median = b;
- if (c < a) median = a;
- } else { // b <= a
- if (c < b) median = b;
- if (a < c) median = a;
}
- bed_level[x][y] = median;
-}
-// Fill in the unprobed points (corners of circular print surface)
-// using linear extrapolation, away from the center.
-static void extrapolate_unprobed_bed_level() {
- int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
- for (int y = 0; y <= half; y++) {
- for (int x = 0; x <= half; x++) {
- if (x + y < 3) continue;
- extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
- extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
- extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
- extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
+ enum ProbeAction {
+ ProbeStay = 0,
+ ProbeEngage = BIT(0),
+ ProbeRetract = BIT(1),
+ ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
+ };
+
+ // Probe bed height at position (x,y), returns the measured z value
+ static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
+ // move to right place
+ do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
+ do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
+
+ #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
+ if (retract_action & ProbeEngage) engage_z_probe();
+ #endif
+
+ run_z_probe();
+ float measured_z = current_position[Z_AXIS];
+
+ #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
+ if (retract_action & ProbeRetract) retract_z_probe(z_before);
+ #endif
+
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOLPGM(MSG_BED);
+ SERIAL_PROTOCOLPGM(" X: ");
+ SERIAL_PROTOCOL_F(x, 3);
+ SERIAL_PROTOCOLPGM(" Y: ");
+ SERIAL_PROTOCOL_F(y, 3);
+ SERIAL_PROTOCOLPGM(" Z: ");
+ SERIAL_PROTOCOL_F(measured_z, 3);
+ SERIAL_EOL;
}
+ return measured_z;
}
-}
-// Print calibration results for plotting or manual frame adjustment.
-static void print_bed_level() {
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- SERIAL_PROTOCOL_F(bed_level[x][y], 2);
- SERIAL_PROTOCOLPGM(" ");
+ #ifdef DELTA
+
+ /**
+ * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
+ */
+
+ static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
+ if (bed_level[x][y] != 0.0) {
+ return; // Don't overwrite good values.
+ }
+ float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right.
+ float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back.
+ float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal.
+ float median = c; // Median is robust (ignores outliers).
+ if (a < b) {
+ if (b < c) median = b;
+ if (c < a) median = a;
+ } else { // b <= a
+ if (c < b) median = b;
+ if (a < c) median = a;
+ }
+ bed_level[x][y] = median;
}
- SERIAL_ECHOLN("");
- }
-}
-// Reset calibration results to zero.
-void reset_bed_level() {
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- bed_level[x][y] = 0.0;
+ // Fill in the unprobed points (corners of circular print surface)
+ // using linear extrapolation, away from the center.
+ static void extrapolate_unprobed_bed_level() {
+ int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
+ for (int y = 0; y <= half; y++) {
+ for (int x = 0; x <= half; x++) {
+ if (x + y < 3) continue;
+ extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
+ extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
+ extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
+ extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
+ }
+ }
}
- }
-}
-#endif // DELTA
+ // Print calibration results for plotting or manual frame adjustment.
+ static void print_bed_level() {
+ for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
+ for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
+ SERIAL_PROTOCOL_F(bed_level[x][y], 2);
+ SERIAL_PROTOCOLPGM(" ");
+ }
+ SERIAL_ECHOLN("");
+ }
+ }
+
+ // Reset calibration results to zero.
+ void reset_bed_level() {
+ for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
+ for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
+ bed_level[x][y] = 0.0;
+ }
+ }
+ }
+
+ #endif // DELTA
#endif // ENABLE_AUTO_BED_LEVELING
static void homeaxis(int axis) {
-#define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
- if (axis==X_AXIS ? HOMEAXIS_DO(X) :
- axis==Y_AXIS ? HOMEAXIS_DO(Y) :
- axis==Z_AXIS ? HOMEAXIS_DO(Z) :
- 0) {
- int axis_home_dir = home_dir(axis);
-#ifdef DUAL_X_CARRIAGE
- if (axis == X_AXIS)
- axis_home_dir = x_home_dir(active_extruder);
-#endif
+ #define HOMEAXIS_DO(LETTER) \
+ ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
+
+ if (axis == X_AXIS ? HOMEAXIS_DO(X) :
+ axis == Y_AXIS ? HOMEAXIS_DO(Y) :
+ axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
+
+ int axis_home_dir;
+
+ #ifdef DUAL_X_CARRIAGE
+ if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
+ #else
+ axis_home_dir = home_dir(axis);
+ #endif
current_position[axis] = 0;
sync_plan_position();
+ #ifndef Z_PROBE_SLED
+ // Engage Servo endstop if enabled
+ #ifdef SERVO_ENDSTOPS
+ #if SERVO_LEVELING
+ if (axis == Z_AXIS) {
+ engage_z_probe();
+ }
+ else
+ #endif // SERVO_LEVELING
+
+ if (servo_endstops[axis] > -1)
+ servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+
+ #endif // SERVO_ENDSTOPS
+ #endif // Z_PROBE_SLED
+
+<<<<<<< HEAD
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled and we are not using Z_PROBE_AND_ENDSTOP unless we are using Z_SAFE_HOMING
#ifdef SERVO_ENDSTOPS && (defined (Z_SAFE_HOMING) || ! defined (Z_PROBE_AND_ENDSTOP))
@@ -1445,33 +1598,33 @@ static void homeaxis(int axis) {
}
#endif
#endif // Z_PROBE_SLED
+=======
+>>>>>>> MarlinFirmware/Development
#ifdef Z_DUAL_ENDSTOPS
- if (axis==Z_AXIS) In_Homing_Process(true);
+ if (axis == Z_AXIS) In_Homing_Process(true);
#endif
+
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
st_synchronize();
current_position[axis] = 0;
sync_plan_position();
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
st_synchronize();
- destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
+ destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
if (homing_bump_divisor[axis] >= 1)
- {
- feedrate = homing_feedrate[axis]/homing_bump_divisor[axis];
- }
- else
- {
- feedrate = homing_feedrate[axis]/10;
- SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
+ feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
+ else {
+ feedrate = homing_feedrate[axis] / 10;
+ SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
}
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
st_synchronize();
#ifdef Z_DUAL_ENDSTOPS
if (axis==Z_AXIS)
@@ -1486,7 +1639,7 @@ static void homeaxis(int axis) {
destination[axis] = fabs(z_endstop_adj);
if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
}
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
st_synchronize();
Lock_z_motor(false);
Lock_z2_motor(false);
@@ -1499,7 +1652,7 @@ static void homeaxis(int axis) {
if (endstop_adj[axis] * axis_home_dir < 0) {
sync_plan_position();
destination[axis] = endstop_adj[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
st_synchronize();
}
#endif
@@ -1544,7 +1697,7 @@ void refresh_cmd_timeout(void)
}
plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
- feedrate=retract_feedrate*60;
+ feedrate = retract_feedrate * 60;
retracted[active_extruder]=true;
prepare_move();
if(retract_zlift > 0.01) {
@@ -1580,8 +1733,8 @@ void refresh_cmd_timeout(void)
}
plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
- feedrate=retract_recover_feedrate*60;
- retracted[active_extruder]=false;
+ feedrate = retract_recover_feedrate * 60;
+ retracted[active_extruder] = false;
prepare_move();
feedrate = oldFeedrate;
}
@@ -1735,17 +1888,16 @@ inline void gcode_G4() {
*/
inline void gcode_G28() {
#ifdef ENABLE_AUTO_BED_LEVELING
+ plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#ifdef DELTA
reset_bed_level();
- #else
- plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif
#endif
#if defined(MESH_BED_LEVELING)
uint8_t mbl_was_active = mbl.active;
mbl.active = 0;
- #endif // MESH_BED_LEVELING
+ #endif
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
@@ -1768,7 +1920,7 @@ inline void gcode_G28() {
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
feedrate = 1.732 * homing_feedrate[X_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
st_synchronize();
endstops_hit_on_purpose();
@@ -1816,7 +1968,7 @@ inline void gcode_G28() {
} else {
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
}
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
st_synchronize();
axis_is_at_home(X_AXIS);
@@ -1824,7 +1976,7 @@ inline void gcode_G28() {
sync_plan_position();
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose();
@@ -1891,7 +2043,7 @@ inline void gcode_G28() {
#if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+ line_to_destination();
st_synchronize();
#endif
HOMEAXIS(Z);
@@ -1903,11 +2055,11 @@ inline void gcode_G28() {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
- feedrate = XY_TRAVEL_SPEED / 60;
+ feedrate = XY_TRAVEL_SPEED;
current_position[Z_AXIS] = 0;
sync_plan_position();
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+ line_to_destination();
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
@@ -1929,7 +2081,7 @@ inline void gcode_G28() {
plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+ line_to_destination();
st_synchronize();
HOMEAXIS(Z);
}
@@ -1982,7 +2134,7 @@ inline void gcode_G28() {
destination[Z_AXIS] = current_position[Z_AXIS];
destination[E_AXIS] = current_position[E_AXIS];
feedrate = homing_feedrate[X_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+ line_to_destination();
st_synchronize();
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position();
@@ -1996,6 +2148,19 @@ inline void gcode_G28() {
endstops_hit_on_purpose();
}
+#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
+
+ // Check for known positions in X and Y
+ inline bool can_run_bed_leveling() {
+ if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) return true;
+ LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ return false;
+ }
+
+#endif // MESH_BED_LEVELING || ENABLE_AUTO_BED_LEVELING
+
#ifdef MESH_BED_LEVELING
/**
@@ -2010,6 +2175,10 @@ inline void gcode_G28() {
*
*/
inline void gcode_G29() {
+
+ // Prevent leveling without first homing in X and Y
+ if (!can_run_bed_leveling()) return;
+
static int probe_point = -1;
int state = 0;
if (code_seen('S') || code_seen('s')) {
@@ -2126,13 +2295,8 @@ inline void gcode_G28() {
*/
inline void gcode_G29() {
- // Prevent user from running a G29 without first homing in X and Y
- if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
- LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
- return;
- }
+ // Prevent leveling without first homing in X and Y
+ if (!can_run_bed_leveling()) return;
int verbose_level = 1;
@@ -2214,16 +2378,15 @@ inline void gcode_G28() {
st_synchronize();
- if (!dryrun)
- {
+ if (!dryrun) {
+ // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
+ plan_bed_level_matrix.set_to_identity();
+
#ifdef DELTA
reset_bed_level();
#else //!DELTA
-
- // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
- plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29");
current_position[X_AXIS] = uncorrected_position.x;
@@ -2231,7 +2394,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = uncorrected_position.z;
sync_plan_position();
- #endif
+ #endif // !DELTA
}
setup_for_endstop_move();
@@ -2292,13 +2455,12 @@ inline void gcode_G28() {
// raise extruder
float measured_z,
- z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
+ z_before = Z_RAISE_BETWEEN_PROBINGS + (probePointCounter ? current_position[Z_AXIS] : 0);
#ifdef DELTA
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
- if (distance_from_center > DELTA_PROBABLE_RADIUS)
- continue;
+ if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;
#endif //DELTA
// Enhanced G29 - Do not retract servo between probes
@@ -2326,6 +2488,11 @@ inline void gcode_G28() {
#endif
probePointCounter++;
+
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+
} //xProbe
} //yProbe
@@ -2412,16 +2579,14 @@ inline void gcode_G28() {
if (verbose_level > 0)
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
- // Correct the Z height difference from z-probe position and hotend tip position.
- // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
- // When the bed is uneven, this height must be corrected.
- if (!dryrun)
- {
- float x_tmp, y_tmp, z_tmp, real_z;
- real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
- x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
- z_tmp = current_position[Z_AXIS];
+ if (!dryrun) {
+ // Correct the Z height difference from z-probe position and hotend tip position.
+ // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
+ // When the bed is uneven, this height must be corrected.
+ float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
+ y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
+ z_tmp = current_position[Z_AXIS],
+ real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
@@ -2757,11 +2922,13 @@ inline void gcode_M42() {
} // code_seen('S')
}
-
+// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
+// it's own unique entity, then the following logic will need to be modified
+// so it only uses the Z_PROBE
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
- #if Z_MIN_PIN == -1
- #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
+ #if (Z_MIN_PIN == -1) && (! defined (Z_PROBE_PIN) || Z_PROBE_PIN == -1)
+ #error "You must have a Z_MIN or Z_PROBE endstop in order to enable calculation of Z-Probe repeatability."
#endif
/**
@@ -3267,7 +3434,7 @@ inline void gcode_M140() {
if (code_seen('S')) setTargetBed(code_value());
}
-#if HAS_POWER_SWITCH
+#if defined(PS_ON_PIN) && PS_ON_PIN > -1
/**
* M80: Turn on Power Supply
@@ -3289,12 +3456,10 @@ inline void gcode_M140() {
#endif
}
-#endif // HAS_POWER_SWITCH
+#endif // PS_ON_PIN
/**
- * M81: Turn off Power, including Power Supply, if there is one.
- *
- * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
+ * M81: Turn off Power Supply
*/
inline void gcode_M81() {
disable_heater();
@@ -3309,19 +3474,16 @@ inline void gcode_M81() {
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
- #elif HAS_POWER_SWITCH
+ #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#ifdef ULTIPANEL
- #if HAS_POWER_SWITCH
- powersupply = false;
- #endif
+ powersupply = false;
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
lcd_update();
#endif
}
-
/**
* M82: Set E codes absolute (default)
*/
@@ -3490,7 +3652,7 @@ inline void gcode_M119() {
SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
- #if defined(Z_PROBE_PIN) && Z_PROBE_PIN >-1
+ #if defined(Z_PROBE_PIN) && Z_PROBE_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
SERIAL_PROTOCOLLN(((READ(Z_PROBE_PIN)^Z_PROBE_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
@@ -3794,7 +3956,7 @@ inline void gcode_M221() {
extruder_multiply[tmp_extruder] = sval;
}
else {
- extrudemultiply = sval;
+ extruder_multiply[active_extruder] = sval;
}
}
}
@@ -4231,7 +4393,7 @@ inline void gcode_M400() { st_synchronize(); }
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
- //SERIAL_PROTOCOL(extrudemultiply);
+ //SERIAL_PROTOCOL(extruder_multiply[active_extruder]);
}
/**
@@ -4704,18 +4866,14 @@ void process_commands() {
gcode_G28();
break;
- #if defined(MESH_BED_LEVELING)
- case 29: // G29 Handle mesh based leveling
+ #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
+ case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29();
break;
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
- case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
- gcode_G29();
- break;
-
#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
@@ -4862,15 +5020,15 @@ void process_commands() {
#endif //HEATER_2_PIN
#endif //BARICUDA
- #if HAS_POWER_SWITCH
+ #if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: // M80 - Turn on Power Supply
gcode_M80();
break;
- #endif // HAS_POWER_SWITCH
+ #endif // PS_ON_PIN
- case 81: // M81 - Turn off Power, including Power Supply, if possible
+ case 81: // M81 - Turn off Power Supply
gcode_M81();
break;
@@ -5410,69 +5568,72 @@ void prepare_move()
#ifdef SCARA //for now same as delta-code
-float difference[NUM_AXIS];
-for (int8_t i=0; i < NUM_AXIS; i++) {
- difference[i] = destination[i] - current_position[i];
-}
-
-float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
- sq(difference[Y_AXIS]) +
- sq(difference[Z_AXIS]));
-if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
-if (cartesian_mm < 0.000001) { return; }
-float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
-int steps = max(1, int(scara_segments_per_second * seconds));
- //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
-for (int s = 1; s <= steps; s++) {
- float fraction = float(s) / float(steps);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- destination[i] = current_position[i] + difference[i] * fraction;
- }
-
-
- calculate_delta(destination);
- //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
- //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
- //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
- //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
- //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
- //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
-
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
- destination[E_AXIS], feedrate*feedmultiply/60/100.0,
- active_extruder);
-}
-#endif // SCARA
+ float difference[NUM_AXIS];
+ for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
+
+ float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
+ sq(difference[Y_AXIS]) +
+ sq(difference[Z_AXIS]));
+ if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
+ if (cartesian_mm < 0.000001) { return; }
+ float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
+ int steps = max(1, int(scara_segments_per_second * seconds));
+
+ //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
+ //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
+ //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+
+ for (int s = 1; s <= steps; s++) {
+ float fraction = float(s) / float(steps);
+ for(int8_t i = 0; i < NUM_AXIS; i++) {
+ destination[i] = current_position[i] + difference[i] * fraction;
+ }
-#ifdef DELTA
- float difference[NUM_AXIS];
- for (int8_t i=0; i < NUM_AXIS; i++) {
- difference[i] = destination[i] - current_position[i];
- }
- float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
- sq(difference[Y_AXIS]) +
- sq(difference[Z_AXIS]));
- if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
- if (cartesian_mm < 0.000001) { return; }
- float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
- int steps = max(1, int(delta_segments_per_second * seconds));
- // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
- for (int s = 1; s <= steps; s++) {
- float fraction = float(s) / float(steps);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- destination[i] = current_position[i] + difference[i] * fraction;
+ calculate_delta(destination);
+ //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
+ //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
+ //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
+ //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
+ //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
+ //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
+
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
+ destination[E_AXIS], feedrate*feedmultiply/60/100.0,
+ active_extruder);
}
- calculate_delta(destination);
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
- destination[E_AXIS], feedrate*feedmultiply/60/100.0,
- active_extruder);
- }
+
+ #endif // SCARA
-#endif // DELTA
+ #ifdef DELTA
+
+ float difference[NUM_AXIS];
+ for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
+
+ float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
+ sq(difference[Y_AXIS]) +
+ sq(difference[Z_AXIS]));
+ if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
+ if (cartesian_mm < 0.000001) return;
+ float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
+ int steps = max(1, int(delta_segments_per_second * seconds));
+
+ // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
+ // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
+ // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+
+ for (int s = 1; s <= steps; s++) {
+ float fraction = float(s) / float(steps);
+ for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
+ calculate_delta(destination);
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ adjust_delta(destination);
+ #endif
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
+ destination[E_AXIS], feedrate*feedmultiply/60/100.0,
+ active_extruder);
+ }
+
+ #endif // DELTA
#ifdef DUAL_X_CARRIAGE
if (active_extruder_parked)
@@ -5518,13 +5679,13 @@ for (int s = 1; s <= steps; s++) {
#if ! (defined DELTA || defined SCARA)
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ line_to_destination();
} else {
#if defined(MESH_BED_LEVELING)
- mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+ mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
return;
#else
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
#endif // MESH_BED_LEVELING
}
#endif // !(DELTA || SCARA)
@@ -5844,17 +6005,19 @@ void kill()
disable_e2();
disable_e3();
- #if HAS_POWER_SWITCH
- pinMode(PS_ON_PIN, INPUT);
- #endif
-
+#if defined(PS_ON_PIN) && PS_ON_PIN > -1
+ pinMode(PS_ON_PIN,INPUT);
+#endif
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
LCD_ALERTMESSAGEPGM(MSG_KILLED);
// FMC small patch to update the LCD before ending
sei(); // enable interrupts
- for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time
+ for ( int i=5; i--; lcd_update())
+ {
+ delay(200);
+ }
cli(); // disable interrupts
suicide();
while(1) { /* Intentionally left empty */ } // Wait for reset
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 1427da212742419152fc72fe82c7df07f3bf8211..10b1d30cce4d06a3778c514d5f8e036026477654 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -116,7 +116,7 @@
#error You must have at least 1 servo defined for NUM_SERVOS to use Z_PROBE_AND_ENDSTOP
#endif
#ifndef SERVO_ENDSTOPS
- #error You must have SERVO_ENDSTOPS defined and have the Z index set to at least 1 to use Z_PROBE_AND_ENDSTOP
+ #error You must have SERVO_ENDSTOPS defined and have the Z index set to at least 0 or above to use Z_PROBE_AND_ENDSTOP
#endif
#ifndef SERVO_ENDSTOP_ANGLES
#error You must have SERVO_ENDSTOP_ANGLES defined for Z Extend and Retract to use Z_PROBE_AND_ENSTOP
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 0dbc2a297b4968c2d924ee97547a607586a1cced..6bd82cc68ef8323ac3f7253fdfba692249bf0376 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -76,6 +76,7 @@ volatile long endstops_stepsTotal, endstops_stepsDone;
static volatile bool endstop_x_hit = false;
static volatile bool endstop_y_hit = false;
static volatile bool endstop_z_hit = false;
+static volatile bool endstop_z_probe_hit = false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
bool abort_on_endstop_hit = false;
@@ -258,11 +259,11 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A)
void endstops_hit_on_purpose() {
- endstop_x_hit = endstop_y_hit = endstop_z_hit = false;
+ endstop_x_hit = endstop_y_hit = endstop_z_hit = endstop_z_probe_hit = false;
}
void checkHitEndstops() {
- if (endstop_x_hit || endstop_y_hit || endstop_z_hit) {
+ if (endstop_x_hit || endstop_y_hit || endstop_z_hit || endstop_z_probe_hit) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if (endstop_x_hit) {
@@ -277,6 +278,10 @@ void checkHitEndstops() {
SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
+ if (endstop_z_probe_hit) {
+ SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
+ LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
+ }
SERIAL_EOL;
endstops_hit_on_purpose();
@@ -549,7 +554,7 @@ ISR(TIMER1_COMPA_vect) {
if(z_probe_endstop && old_z_probe_endstop)
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_z_hit=true;
+ endstop_z_probe_hit=true;
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
}
@@ -596,7 +601,7 @@ ISR(TIMER1_COMPA_vect) {
if(z_probe_endstop && old_z_probe_endstop)
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_z_hit=true;
+ endstop_z_probe_hit=true;
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
}
old_z_probe_endstop = z_probe_endstop;