From 3cade6245e851af9a33d1f395758b898c4a06a30 Mon Sep 17 00:00:00 2001
From: Jason Smith <jason.inet@gmail.com>
Date: Fri, 3 Jan 2020 17:46:26 -0600
Subject: [PATCH] Fix MIN_PROBE_EDGE bug in default ABL G29 (#16367)
---
Marlin/src/core/utility.cpp | 65 ++++++++++++---------
Marlin/src/feature/bedlevel/ubl/ubl.cpp | 2 +-
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 13 +++--
Marlin/src/gcode/bedlevel/G42.cpp | 9 +--
Marlin/src/gcode/bedlevel/abl/G29.cpp | 15 +++--
Marlin/src/gcode/calibrate/G28.cpp | 2 +-
Marlin/src/gcode/calibrate/M48.cpp | 9 +--
Marlin/src/gcode/probe/G30.cpp | 5 +-
Marlin/src/gcode/probe/M851.cpp | 43 +++++++++-----
Marlin/src/inc/Conditionals_LCD.h | 1 +
Marlin/src/inc/SanityCheck.h | 14 +++++
Marlin/src/module/configuration_store.cpp | 20 +++++--
Marlin/src/module/delta.cpp | 8 +--
Marlin/src/module/motion.h | 33 ++++++++---
Marlin/src/module/probe.cpp | 12 +++-
Marlin/src/module/probe.h | 31 ++++------
buildroot/share/tests/LPC1768-tests | 3 +-
17 files changed, 175 insertions(+), 110 deletions(-)
diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp
index 4d5f5b2c38..c2f7024320 100644
--- a/Marlin/src/core/utility.cpp
+++ b/Marlin/src/core/utility.cpp
@@ -81,40 +81,49 @@ void safe_delay(millis_t ms) {
);
#if HAS_BED_PROBE
- SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
- if (probe_offset.x > 0)
- SERIAL_ECHOPGM(" (Right");
- else if (probe_offset.x < 0)
- SERIAL_ECHOPGM(" (Left");
- else if (probe_offset.y != 0)
- SERIAL_ECHOPGM(" (Middle");
- else
- SERIAL_ECHOPGM(" (Aligned With");
- if (probe_offset.y > 0) {
- #if IS_SCARA
- SERIAL_ECHOPGM("-Distal");
- #else
- SERIAL_ECHOPGM("-Back");
- #endif
- }
- else if (probe_offset.y < 0) {
- #if IS_SCARA
- SERIAL_ECHOPGM("-Proximal");
- #else
- SERIAL_ECHOPGM("-Front");
- #endif
- }
- else if (probe_offset.x != 0)
- SERIAL_ECHOPGM("-Center");
+ #if !HAS_PROBE_XY_OFFSET
+ SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe_offset.z, " (");
+ #else
+ SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
+ if (probe_offset.x > 0)
+ SERIAL_ECHOPGM(" (Right");
+ else if (probe_offset.x < 0)
+ SERIAL_ECHOPGM(" (Left");
+ else if (probe_offset.y != 0)
+ SERIAL_ECHOPGM(" (Middle");
+ else
+ SERIAL_ECHOPGM(" (Aligned With");
+
+ if (probe_offset.y > 0) {
+ #if IS_SCARA
+ SERIAL_ECHOPGM("-Distal");
+ #else
+ SERIAL_ECHOPGM("-Back");
+ #endif
+ }
+ else if (probe_offset.y < 0) {
+ #if IS_SCARA
+ SERIAL_ECHOPGM("-Proximal");
+ #else
+ SERIAL_ECHOPGM("-Front");
+ #endif
+ }
+ else if (probe_offset.x != 0)
+ SERIAL_ECHOPGM("-Center");
+
+ SERIAL_ECHOPGM(" & ");
+
+ #endif
if (probe_offset.z < 0)
- SERIAL_ECHOPGM(" & Below");
+ SERIAL_ECHOPGM("Below");
else if (probe_offset.z > 0)
- SERIAL_ECHOPGM(" & Above");
+ SERIAL_ECHOPGM("Above");
else
- SERIAL_ECHOPGM(" & Same Z as");
+ SERIAL_ECHOPGM("Same Z as");
SERIAL_ECHOLNPGM(" Nozzle)");
+
#endif
#if HAS_ABL_OR_UBL
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp
index 66eff703c3..adafc6a194 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp
@@ -176,7 +176,7 @@
// Add XY probe offset from extruder because probe_at_point() subtracts them when
// moving to the XY position to be measured. This ensures better agreement between
// the current Z position after G28 and the mesh values.
- const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + xy_pos_t(probe_offset));
+ const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe_offset_xy);
if (!lcd) SERIAL_EOL();
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index ba494aefc5..203d7c7150 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -450,7 +450,7 @@
SERIAL_ECHO(g29_pos.y);
SERIAL_ECHOLNPGM(").\n");
}
- const xy_pos_t near = g29_pos + probe_offset;
+ const xy_pos_t near = g29_pos + probe_offset_xy;
probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
report_current_position();
@@ -468,6 +468,7 @@
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
if (parser.seen('C') && !xy_seen) {
+
/**
* Use a good default location for the path.
* The flipped > and < operators in these comparisons is intentional.
@@ -479,8 +480,8 @@
#if IS_KINEMATIC
X_HOME_POS, Y_HOME_POS
#else
- probe_offset.x > 0 ? X_BED_SIZE : 0,
- probe_offset.y < 0 ? Y_BED_SIZE : 0
+ probe_offset_xy.x > 0 ? X_BED_SIZE : 0,
+ probe_offset_xy.y < 0 ? Y_BED_SIZE : 0
#endif
);
}
@@ -805,8 +806,8 @@
restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
- constrain(near.x - probe_offset.x, MESH_MIN_X, MESH_MAX_X),
- constrain(near.y - probe_offset.y, MESH_MIN_Y, MESH_MAX_Y)
+ constrain(near.x - probe_offset_xy.x, MESH_MIN_X, MESH_MAX_X),
+ constrain(near.y - probe_offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
);
}
@@ -1293,7 +1294,7 @@
closest.distance = -99999.9f;
// Get the reference position, either nozzle or probe
- const xy_pos_t ref = probe_relative ? pos + probe_offset : pos;
+ const xy_pos_t ref = probe_relative ? pos + probe_offset_xy : pos;
float best_so_far = 99999.99f;
diff --git a/Marlin/src/gcode/bedlevel/G42.cpp b/Marlin/src/gcode/bedlevel/G42.cpp
index b285c798f6..28752cab8d 100644
--- a/Marlin/src/gcode/bedlevel/G42.cpp
+++ b/Marlin/src/gcode/bedlevel/G42.cpp
@@ -45,20 +45,21 @@ void GcodeSuite::G42() {
return;
}
+ // Move to current_position, as modified by I, J, P parameters
destination = current_position;
if (hasI) destination.x = _GET_MESH_X(ix);
if (hasJ) destination.y = _GET_MESH_Y(iy);
- #if HAS_BED_PROBE
+ #if HAS_PROBE_XY_OFFSET
if (parser.boolval('P')) {
- if (hasI) destination.x -= probe_offset.x;
- if (hasJ) destination.y -= probe_offset.y;
+ if (hasI) destination.x -= probe_offset_xy.x;
+ if (hasJ) destination.y -= probe_offset_xy.y;
}
#endif
const feedRate_t fval = parser.linearval('F'),
- fr_mm_s = fval > 0 ? MMM_TO_MMS(fval) : 0.0f;
+ fr_mm_s = MMM_TO_MMS(fval > 0 ? fval : 0.0f);
// SCARA kinematic has "safe" XY raw moves
#if IS_SCARA
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index 4503a51cb7..cf9cdf58e6 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -228,7 +228,7 @@ G29_TYPE GcodeSuite::G29() {
ABL_VAR xy_int8_t meshCount;
#endif
- ABL_VAR xy_float_t probe_position_lf, probe_position_rb;
+ ABL_VAR xy_pos_t probe_position_lf, probe_position_rb;
ABL_VAR xy_float_t gridSpacing = { 0, 0 };
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
@@ -403,14 +403,13 @@ G29_TYPE GcodeSuite::G29() {
}
else {
probe_position_lf.set(
- parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : (_MAX(x_min, X_CENTER - (X_BED_SIZE) / 2) + MIN_PROBE_EDGE_LEFT),
- parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : (_MAX(y_min, Y_CENTER - (Y_BED_SIZE) / 2) + MIN_PROBE_EDGE_FRONT)
+ parser.seenval('L') ? RAW_X_POSITION(parser.value_linear_units()) : x_min,
+ parser.seenval('F') ? RAW_Y_POSITION(parser.value_linear_units()) : y_min
);
probe_position_rb.set(
- parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : (_MIN(x_max, probe_position_lf.x + X_BED_SIZE) - MIN_PROBE_EDGE_RIGHT),
- parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : (_MIN(y_max, probe_position_lf.y + Y_BED_SIZE) - MIN_PROBE_EDGE_BACK)
+ parser.seenval('R') ? RAW_X_POSITION(parser.value_linear_units()) : x_max,
+ parser.seenval('B') ? RAW_Y_POSITION(parser.value_linear_units()) : y_max
);
- SERIAL_ECHOLN("Set Trail 1");
}
if (
@@ -911,8 +910,8 @@ G29_TYPE GcodeSuite::G29() {
planner.force_unapply_leveling(converted); // use conversion machinery
// Use the last measured distance to the bed, if possible
- if ( NEAR(current_position.x, probePos.x - probe_offset.x)
- && NEAR(current_position.y, probePos.y - probe_offset.y)
+ if ( NEAR(current_position.x, probePos.x - probe_offset_xy.x)
+ && NEAR(current_position.y, probePos.y - probe_offset_xy.y)
) {
const float simple_z = current_position.z - measured_z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z);
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index b6c0389b31..db6ae7a682 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -133,7 +133,7 @@
destination.set(safe_homing_xy, current_position.z);
#if HOMING_Z_WITH_PROBE
- destination -= probe_offset;
+ destination -= probe_offset_xy;
#endif
if (position_is_reachable(destination)) {
diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp
index 86b25d8240..f111de4b17 100644
--- a/Marlin/src/gcode/calibrate/M48.cpp
+++ b/Marlin/src/gcode/calibrate/M48.cpp
@@ -77,8 +77,8 @@ void GcodeSuite::M48() {
xy_float_t next_pos = current_position;
const xy_pos_t probe_pos = {
- parser.linearval('X', next_pos.x + probe_offset.x),
- parser.linearval('Y', next_pos.y + probe_offset.y)
+ parser.linearval('X', next_pos.x + probe_offset_xy.x),
+ parser.linearval('Y', next_pos.y + probe_offset_xy.y)
};
if (!position_is_reachable_by_probe(probe_pos)) {
@@ -166,8 +166,9 @@ void GcodeSuite::M48() {
while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with
// numbers outside of the range, but just to be safe we clamp them.
- next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
- probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
+ const xy_pos_t noz_pos = probe_pos - probe_offset_xy;
+ next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius,
+ noz_pos.y + sin(RADIANS(angle)) * radius);
#if DISABLED(DELTA)
LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
diff --git a/Marlin/src/gcode/probe/G30.cpp b/Marlin/src/gcode/probe/G30.cpp
index e91e3e9d8b..a236ce3edf 100644
--- a/Marlin/src/gcode/probe/G30.cpp
+++ b/Marlin/src/gcode/probe/G30.cpp
@@ -39,8 +39,9 @@
* E Engage the probe for each probe (default 1)
*/
void GcodeSuite::G30() {
- const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset.x),
- parser.linearval('Y', current_position.y + probe_offset.y) };
+
+ const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset_xy.x),
+ parser.linearval('Y', current_position.y + probe_offset_xy.y) };
if (!position_is_reachable_by_probe(pos)) return;
diff --git a/Marlin/src/gcode/probe/M851.cpp b/Marlin/src/gcode/probe/M851.cpp
index 431fe6fa09..b0a63041fe 100644
--- a/Marlin/src/gcode/probe/M851.cpp
+++ b/Marlin/src/gcode/probe/M851.cpp
@@ -37,32 +37,49 @@ void GcodeSuite::M851() {
// Show usage with no parameters
if (!parser.seen("XYZ")) {
- SERIAL_ECHOLNPAIR_P(PSTR(MSG_PROBE_OFFSET " X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
+ SERIAL_ECHOLNPAIR_P(
+ #if HAS_PROBE_XY_OFFSET
+ PSTR(MSG_PROBE_OFFSET " X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR
+ #else
+ PSTR(MSG_PROBE_OFFSET " X0 Y0 Z")
+ #endif
+ , probe_offset.z
+ );
return;
}
+ // Start with current offsets and modify
xyz_pos_t offs = probe_offset;
+ // Assume no errors
bool ok = true;
if (parser.seenval('X')) {
const float x = parser.value_float();
- if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
- offs.x = x;
- else {
- SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
- ok = false;
- }
+ #if HAS_PROBE_XY_OFFSET
+ if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
+ offs.x = x;
+ else {
+ SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
+ ok = false;
+ }
+ #else
+ if (x) SERIAL_ECHOLNPAIR("?X must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
+ #endif
}
if (parser.seenval('Y')) {
const float y = parser.value_float();
- if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
- offs.y = y;
- else {
- SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
- ok = false;
- }
+ #if HAS_PROBE_XY_OFFSET
+ if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
+ offs.y = y;
+ else {
+ SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
+ ok = false;
+ }
+ #else
+ if (y) SERIAL_ECHOLNPAIR("?Y must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
+ #endif
}
if (parser.seenval('Z')) {
diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h
index a471e3d8b1..a3cc222308 100644
--- a/Marlin/src/inc/Conditionals_LCD.h
+++ b/Marlin/src/inc/Conditionals_LCD.h
@@ -500,6 +500,7 @@
#define PROBE_SELECTED (HAS_BED_PROBE || EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
#if HAS_BED_PROBE
+ #define HAS_PROBE_XY_OFFSET DISABLED(NOZZLE_AS_PROBE)
#define HAS_CUSTOM_PROBE_PIN DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#define HOMING_Z_WITH_PROBE (Z_HOME_DIR < 0 && !HAS_CUSTOM_PROBE_PIN)
#ifndef Z_PROBE_LOW_POINT
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 9c5b7893fc..35a9ffc9b3 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -1149,6 +1149,20 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#error "Z_MIN_PROBE_PIN must be defined if Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN is not enabled."
#endif
+ #if ENABLED(NOZZLE_AS_PROBE)
+ constexpr float sanity_nozzle_to_probe_offset[] = NOZZLE_TO_PROBE_OFFSET;
+ static_assert(sanity_nozzle_to_probe_offset[0] == 0.0 && sanity_nozzle_to_probe_offset[1] == 0.0,
+ "NOZZLE_AS_PROBE requires the X,Y offsets in NOZZLE_TO_PROBE_OFFSET to be 0,0.");
+ #endif
+
+ #if DISABLED(NOZZLE_AS_PROBE)
+ static_assert(MIN_PROBE_EDGE >= 0, "MIN_PROBE_EDGE must be >= 0.");
+ static_assert(MIN_PROBE_EDGE_BACK >= 0, "MIN_PROBE_EDGE_BACK must be >= 0.");
+ static_assert(MIN_PROBE_EDGE_FRONT >= 0, "MIN_PROBE_EDGE_FRONT must be >= 0.");
+ static_assert(MIN_PROBE_EDGE_LEFT >= 0, "MIN_PROBE_EDGE_LEFT must be >= 0.");
+ static_assert(MIN_PROBE_EDGE_RIGHT >= 0, "MIN_PROBE_EDGE_RIGHT must be >= 0.");
+ #endif
+
/**
* Make sure Z raise values are set
*/
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index b4de08db78..b389741b79 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -2354,7 +2354,12 @@ void MarlinSettings::reset() {
#if HAS_BED_PROBE
constexpr float dpo[XYZ] = NOZZLE_TO_PROBE_OFFSET;
static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z.");
- LOOP_XYZ(a) probe_offset[a] = dpo[a];
+ #if HAS_PROBE_XY_OFFSET
+ LOOP_XYZ(a) probe_offset[a] = dpo[a];
+ #else
+ probe_offset.x = probe_offset.y = 0;
+ probe_offset.z = dpo[Z_AXIS];
+ #endif
#endif
//
@@ -3102,9 +3107,16 @@ void MarlinSettings::reset() {
say_units(true);
}
CONFIG_ECHO_START();
- SERIAL_ECHOLNPAIR_P(PSTR(" M851 X"), LINEAR_UNIT(probe_offset.x),
- SP_Y_STR, LINEAR_UNIT(probe_offset.y),
- SP_Z_STR, LINEAR_UNIT(probe_offset.z));
+ SERIAL_ECHOLNPAIR_P(
+ #if HAS_PROBE_XY_OFFSET
+ PSTR(" M851 X"), LINEAR_UNIT(probe_offset_xy.x),
+ SP_Y_STR, LINEAR_UNIT(probe_offset_xy.y),
+ SP_Z_STR
+ #else
+ PSTR(" M851 X0 Y0 Z")
+ #endif
+ , LINEAR_UNIT(probe_offset.z)
+ );
#endif
/**
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index bfedf25177..9a57442759 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -91,13 +91,7 @@ void recalc_delta_settings() {
#endif
float delta_calibration_radius() {
- return FLOOR((DELTA_PRINTABLE_RADIUS - (
- #if HAS_BED_PROBE
- _MAX(HYPOT(probe_offset.x, probe_offset.y), MIN_PROBE_EDGE)
- #else
- MIN_PROBE_EDGE
- #endif
- )) * calibration_radius_factor);
+ return FLOOR((DELTA_PRINTABLE_RADIUS - _MAX(HYPOT(probe_offset_xy.x, probe_offset_xy.y), MIN_PROBE_EDGE)) * calibration_radius_factor);
}
/**
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 2e8ff64f52..0128f66463 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -291,6 +291,7 @@ void homeaxis(const AxisEnum axis);
*/
#if IS_KINEMATIC // (DELTA or SCARA)
+
#if HAS_SCARA_OFFSET
extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset
#endif
@@ -315,13 +316,25 @@ void homeaxis(const AxisEnum axis);
}
#if HAS_BED_PROBE
- // Return true if the both nozzle and the probe can reach the given point.
- // Note: This won't work on SCARA since the probe offset rotates with the arm.
- inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
- return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
- && position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
- }
- #endif
+
+ #if HAS_PROBE_XY_OFFSET
+
+ // Return true if the both nozzle and the probe can reach the given point.
+ // Note: This won't work on SCARA since the probe offset rotates with the arm.
+ inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
+ return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
+ && position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
+ }
+
+ #else
+
+ FORCE_INLINE bool position_is_reachable_by_probe(const float &rx, const float &ry) {
+ return position_is_reachable(rx, ry, MIN_PROBE_EDGE);
+ }
+
+ #endif
+
+ #endif // HAS_BED_PROBE
#else // CARTESIAN
@@ -340,6 +353,7 @@ void homeaxis(const AxisEnum axis);
inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); }
#if HAS_BED_PROBE
+
/**
* Return whether the given position is within the bed, and whether the nozzle
* can reach the position required to put the probe at the given position.
@@ -348,11 +362,12 @@ void homeaxis(const AxisEnum axis);
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
- return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
+ return position_is_reachable(rx - probe_offset_xy.x, ry - probe_offset_xy.y)
&& WITHIN(rx, probe_min_x() - slop, probe_max_x() + slop)
&& WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop);
}
- #endif
+
+ #endif // HAS_BED_PROBE
#endif // CARTESIAN
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index efe8b8a2bd..31c1128369 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -56,8 +56,6 @@
#include "../feature/backlash.h"
#endif
-xyz_pos_t probe_offset; // Initialized by settings.load()
-
#if ENABLED(BLTOUCH)
#include "../feature/bltouch.h"
#endif
@@ -86,6 +84,14 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
+
+xyz_pos_t probe_offset; // Initialized by settings.load()
+
+#if HAS_PROBE_XY_OFFSET
+ xyz_pos_t &probe_offset_xy = probe_offset;
+#endif
+
+
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@@ -698,7 +704,7 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
xyz_pos_t npos = { rx, ry };
if (probe_relative) {
if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
- npos -= probe_offset; // Get the nozzle position
+ npos -= probe_offset_xy; // Get the nozzle position
}
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
index 9345787d44..cdb42170e5 100644
--- a/Marlin/src/module/probe.h
+++ b/Marlin/src/module/probe.h
@@ -31,6 +31,12 @@
extern xyz_pos_t probe_offset;
+ #if HAS_PROBE_XY_OFFSET
+ extern xyz_pos_t &probe_offset_xy;
+ #else
+ constexpr xy_pos_t probe_offset_xy{0};
+ #endif
+
bool set_probe_deployed(const bool deploy);
#ifdef Z_AFTER_PROBING
void move_z_after_probing();
@@ -54,6 +60,7 @@
#else
constexpr xyz_pos_t probe_offset{0};
+ constexpr xy_pos_t probe_offset_xy{0};
#define DEPLOY_PROBE()
#define STOW_PROBE()
@@ -71,13 +78,7 @@
);
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
- );
+ return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
}
#endif
@@ -85,10 +86,8 @@
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)
+ _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset_xy.x)
#endif
);
}
@@ -96,10 +95,8 @@
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)
+ _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset_xy.x)
#endif
);
}
@@ -107,10 +104,8 @@
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)
+ _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset_xy.y)
#endif
);
}
@@ -118,10 +113,8 @@
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)
+ _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset_xy.y)
#endif
);
}
diff --git a/buildroot/share/tests/LPC1768-tests b/buildroot/share/tests/LPC1768-tests
index 881e0534ee..566cbd27a6 100755
--- a/buildroot/share/tests/LPC1768-tests
+++ b/buildroot/share/tests/LPC1768-tests
@@ -45,7 +45,8 @@ opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT ADAPTIVE_FAN_
Z_SAFE_HOMING ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE \
LCD_INFO_MENU ARC_SUPPORT BEZIER_CURVE_SUPPORT EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES SDCARD_SORT_ALPHA
opt_set GRID_MAX_POINTS_X 16
-exec_test $1 $2 "Re-ARM with Many Features"
+opt_set NOZZLE_TO_PROBE_OFFSET "{ 0, 0, 0 }"
+exec_test $1 $2 "Re-ARM with NOZZLE_AS_PROBE and many features."
# clean up
restore_configs
--
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