From 73fc0778b864ab1f5e5c3f065f5d8db75a0bbb7c Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Wed, 8 Jul 2020 21:44:21 -0500
Subject: [PATCH] Consolidate probe clearance, add section debug (#18576)
* Better section / function log
* Add do_z_clearance motion function
---
Marlin/src/core/debug_out.h | 9 ++++
Marlin/src/core/debug_section.h | 49 +++++++++++++++++++++
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 21 +++------
Marlin/src/gcode/bedlevel/G26.cpp | 3 +-
Marlin/src/gcode/bedlevel/G35.cpp | 9 ++--
Marlin/src/gcode/bedlevel/abl/G29.cpp | 14 +++---
Marlin/src/gcode/calibrate/G28.cpp | 49 ++++++---------------
Marlin/src/gcode/calibrate/G34_M422.cpp | 8 +---
Marlin/src/gcode/calibrate/G76_M871.cpp | 2 +-
Marlin/src/gcode/calibrate/M666.cpp | 3 +-
Marlin/src/gcode/control/T.cpp | 11 +----
Marlin/src/gcode/probe/G30.cpp | 5 +--
Marlin/src/gcode/probe/M401_M402.cpp | 4 +-
Marlin/src/module/delta.cpp | 5 +--
Marlin/src/module/motion.cpp | 17 ++++---
Marlin/src/module/motion.h | 2 +
Marlin/src/module/probe.cpp | 35 +++------------
Marlin/src/module/probe.h | 17 +++++--
18 files changed, 132 insertions(+), 131 deletions(-)
create mode 100644 Marlin/src/core/debug_section.h
diff --git a/Marlin/src/core/debug_out.h b/Marlin/src/core/debug_out.h
index 8be6523ca7..73c1ae4b90 100644
--- a/Marlin/src/core/debug_out.h
+++ b/Marlin/src/core/debug_out.h
@@ -26,6 +26,7 @@
// (or not) in a given .cpp file
//
+#undef DEBUG_SECTION
#undef DEBUG_PRINT_P
#undef DEBUG_ECHO_START
#undef DEBUG_ERROR_START
@@ -53,6 +54,10 @@
#undef DEBUG_DELAY
#if DEBUG_OUT
+
+ #include "debug_section.h"
+ #define DEBUG_SECTION(N,S,D) SectionLog N(PSTR(S),D)
+
#define DEBUG_PRINT_P(P) serialprintPGM(P)
#define DEBUG_ECHO_START SERIAL_ECHO_START
#define DEBUG_ERROR_START SERIAL_ERROR_START
@@ -78,7 +83,10 @@
#define DEBUG_POS SERIAL_POS
#define DEBUG_XYZ SERIAL_XYZ
#define DEBUG_DELAY(ms) serial_delay(ms)
+
#else
+
+ #define DEBUG_SECTION(...) NOOP
#define DEBUG_PRINT_P(P) NOOP
#define DEBUG_ECHO_START() NOOP
#define DEBUG_ERROR_START() NOOP
@@ -104,6 +112,7 @@
#define DEBUG_POS(...) NOOP
#define DEBUG_XYZ(...) NOOP
#define DEBUG_DELAY(...) NOOP
+
#endif
#undef DEBUG_OUT
diff --git a/Marlin/src/core/debug_section.h b/Marlin/src/core/debug_section.h
new file mode 100644
index 0000000000..8181238890
--- /dev/null
+++ b/Marlin/src/core/debug_section.h
@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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
+
+#include "serial.h"
+#include "../module/motion.h"
+
+class SectionLog {
+public:
+ SectionLog(PGM_P const msg=nullptr, bool inbug=true) {
+ the_msg = msg;
+ if ((debug = inbug)) echo_msg(PSTR(">>>"));
+ }
+
+ ~SectionLog() { if (debug) echo_msg(PSTR("<<<")); }
+
+private:
+ PGM_P the_msg;
+ bool debug;
+
+ void echo_msg(PGM_P const pre) {
+ serialprintPGM(pre);
+ if (the_msg) {
+ SERIAL_CHAR(' ');
+ serialprintPGM(the_msg);
+ }
+ SERIAL_CHAR(' ');
+ print_xyz(current_position);
+ }
+};
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index da3477078a..7981600d0a 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -462,7 +462,7 @@
// Manually Probe Mesh in areas that can't be reached by the probe
//
SERIAL_ECHOLNPGM("Manually probing unreachable points.");
- do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
+ do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
if (parser.seen('C') && !xy_seen) {
@@ -780,9 +780,7 @@
probe.stow();
TERN_(HAS_LCD_MENU, ui.capture());
- #ifdef Z_AFTER_PROBING
- probe.move_z_after_probing();
- #endif
+ probe.move_z_after_probing();
restore_ubl_active_state_and_leave();
@@ -858,7 +856,6 @@
echo_and_take_a_measurement();
const float z2 = measure_point_with_encoder();
-
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
const float thickness = ABS(z1 - z2);
@@ -899,7 +896,7 @@
LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
do_blocking_move_to(ppos);
- do_blocking_move_to_z(z_clearance);
+ do_z_clearance(z_clearance);
KEEPALIVE_STATE(PAUSED_FOR_USER);
ui.capture();
@@ -915,7 +912,7 @@
if (click_and_hold()) {
SERIAL_ECHOLNPGM("\nMesh only partially populated.");
- do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
+ do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
return restore_ubl_active_state_and_leave();
}
@@ -940,7 +937,7 @@
void abort_fine_tune() {
ui.return_to_status();
- do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
+ do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
set_message_with_feedback(GET_TEXT(MSG_EDITING_STOPPED));
}
@@ -1415,9 +1412,7 @@
}
probe.stow();
- #ifdef Z_AFTER_PROBING
- probe.move_z_after_probing();
- #endif
+ probe.move_z_after_probing();
if (abort_flag) {
SERIAL_ECHOLNPGM("?Error probing point. Aborting operation.");
@@ -1478,9 +1473,7 @@
}
}
probe.stow();
- #ifdef Z_AFTER_PROBING
- probe.move_z_after_probing();
- #endif
+ probe.move_z_after_probing();
if (abort_flag || finish_incremental_LSF(&lsf_results)) {
SERIAL_ECHOPGM("Could not complete LSF!");
diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp
index 4e2e94a714..b60e03fc90 100644
--- a/Marlin/src/gcode/bedlevel/G26.cpp
+++ b/Marlin/src/gcode/bedlevel/G26.cpp
@@ -622,8 +622,7 @@ void GcodeSuite::G26() {
*/
set_bed_leveling_enabled(!parser.seen('D'));
- if (current_position.z < Z_CLEARANCE_BETWEEN_PROBES)
- do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
+ do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
#if DISABLED(NO_VOLUMETRICS)
bool volumetric_was_enabled = parser.volumetric_enabled;
diff --git a/Marlin/src/gcode/bedlevel/G35.cpp b/Marlin/src/gcode/bedlevel/G35.cpp
index 0f7c9b9712..2d0ad3f64d 100755
--- a/Marlin/src/gcode/bedlevel/G35.cpp
+++ b/Marlin/src/gcode/bedlevel/G35.cpp
@@ -75,10 +75,9 @@ static_assert(G35_PROBE_COUNT > 2, "TRAMMING_POINT_XY requires at least 3 XY pos
* 51 - Counter-Clockwise M5
**/
void GcodeSuite::G35() {
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM(">>> G35");
- log_machine_info();
- }
+ DEBUG_SECTION(log_G35, "G35", DEBUGGING(LEVELING));
+
+ if (DEBUGGING(LEVELING)) log_machine_info();
float z_measured[G35_PROBE_COUNT] = { 0 };
@@ -181,8 +180,6 @@ void GcodeSuite::G35() {
// Home Z after the alignment procedure
process_subcommands_now_P(PSTR("G28Z"));
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G35");
}
#endif // ASSISTED_TRAMMING
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index dcb465f1d1..9a86118046 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -172,10 +172,8 @@ G29_TYPE GcodeSuite::G29() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
const uint8_t old_debug_flags = marlin_debug_flags;
if (seenQ) marlin_debug_flags |= MARLIN_DEBUG_LEVELING;
- if (DEBUGGING(LEVELING)) {
- DEBUG_POS(">>> G29", current_position);
- log_machine_info();
- }
+ DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING));
+ if (DEBUGGING(LEVELING)) log_machine_info();
marlin_debug_flags = old_debug_flags;
if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false);
#endif
@@ -188,7 +186,7 @@ G29_TYPE GcodeSuite::G29() {
if (axis_unhomed_error()) G29_RETURN(false);
if (!no_action && planner.leveling_active && parser.boolval('O')) { // Auto-level only if needed
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip\n<<< G29");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip");
G29_RETURN(false);
}
@@ -416,7 +414,7 @@ G29_TYPE GcodeSuite::G29() {
// Deploy certain probes before starting probing
#if HAS_BED_PROBE
if (ENABLED(BLTOUCH))
- do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
+ do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
else if (probe.deploy()) {
set_bed_leveling_enabled(abl_should_enable);
G29_RETURN(false);
@@ -884,7 +882,7 @@ G29_TYPE GcodeSuite::G29() {
// Sync the planner from the current_position
if (planner.leveling_active) sync_plan_position();
- #if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
+ #if HAS_BED_PROBE
probe.move_z_after_probing();
#endif
@@ -900,8 +898,6 @@ G29_TYPE GcodeSuite::G29() {
report_current_position();
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G29");
-
G29_RETURN(isnan(measured_z));
}
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index b97caa96e3..5ec8fd5af4 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -115,11 +115,11 @@
#if ENABLED(Z_SAFE_HOMING)
inline void home_z_safely() {
+ DEBUG_SECTION(log_G28, "home_z_safely", DEBUGGING(LEVELING));
+
// Disallow Z homing if X or Y homing is needed
if (axis_unhomed_error(_BV(X_AXIS) | _BV(Y_AXIS))) return;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("home_z_safely >>>");
-
sync_plan_position();
/**
@@ -146,8 +146,6 @@
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_MSG(STR_ZPROBE_OUT_SER);
}
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< home_z_safely");
}
#endif // Z_SAFE_HOMING
@@ -197,15 +195,10 @@
*
*/
void GcodeSuite::G28() {
+ DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
+ if (DEBUGGING(LEVELING)) log_machine_info();
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM(">>> G28");
- log_machine_info();
- }
-
- #if ENABLED(LASER_MOVE_G28_OFF)
- cutter.set_inline_enabled(false); // turn off laser
- #endif
+ TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false)); // turn off laser
TERN_(DWIN_CREALITY_LCD, HMI_flag.home_flag = true);
@@ -220,14 +213,13 @@ void GcodeSuite::G28() {
sync_plan_position();
SERIAL_ECHOLNPGM("Simulated Homing");
report_current_position();
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
return;
}
#endif
// Home (O)nly if position is unknown
if (!homing_needed() && parser.boolval('O')) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip\n<<< G28");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip");
return;
}
@@ -313,8 +305,6 @@ void GcodeSuite::G28() {
home_all = homeX == homeY && homeX == homeZ, // All or None
doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
- destination = current_position;
-
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if (doZ) homeaxis(Z_AXIS);
@@ -322,17 +312,14 @@ void GcodeSuite::G28() {
#endif
const float z_homing_height =
- (DISABLED(UNKNOWN_Z_NO_RAISE) || TEST(axis_known_position, Z_AXIS))
- ? (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
- : 0;
+ ENABLED(UNKNOWN_Z_NO_RAISE) && TEST(axis_known_position, Z_AXIS)
+ ? 0
+ : (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT);
- if (z_homing_height && (doX || doY || ENABLED(Z_SAFE_HOMING))) {
+ if (z_homing_height && (doX || doY || (ENABLED(Z_SAFE_HOMING) && doZ))) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
- destination.z = z_homing_height + (TEST(axis_known_position, Z_AXIS) ? 0.0f : current_position.z);
- if (destination.z > current_position.z) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination.z);
- do_blocking_move_to_z(destination.z);
- }
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height);
+ do_z_clearance(z_homing_height, TEST(axis_known_position, Z_AXIS), DISABLED(UNKNOWN_Z_NO_RAISE));
}
#if ENABLED(QUICK_HOME)
@@ -387,15 +374,7 @@ void GcodeSuite::G28() {
TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS));
- #if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
- #if Z_AFTER_HOMING > Z_AFTER_PROBING
- do_blocking_move_to_z(Z_AFTER_HOMING);
- #else
- probe.move_z_after_probing();
- #endif
- #elif defined(Z_AFTER_HOMING)
- do_blocking_move_to_z(Z_AFTER_HOMING);
- #endif
+ probe.move_z_after_homing();
} // doZ
@@ -485,8 +464,6 @@ void GcodeSuite::G28() {
if (ENABLED(NANODLP_Z_SYNC) && (doZ || ENABLED(NANODLP_ALL_AXIS)))
SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
-
#if HAS_L64XX
// Set L6470 absolute position registers to counts
// constexpr *might* move this to PROGMEM.
diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp
index d0fa84b9ad..6c85a7e021 100644
--- a/Marlin/src/gcode/calibrate/G34_M422.cpp
+++ b/Marlin/src/gcode/calibrate/G34_M422.cpp
@@ -56,10 +56,8 @@
* R<recalculate> points based on current probe offsets
*/
void GcodeSuite::G34() {
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM(">>> G34");
- log_machine_info();
- }
+ DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
+ if (DEBUGGING(LEVELING)) log_machine_info();
do { // break out on error
@@ -367,8 +365,6 @@ void GcodeSuite::G34() {
#endif
}while(0);
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G34");
}
/**
diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp
index bc7aee8f4d..660db32259 100644
--- a/Marlin/src/gcode/calibrate/G76_M871.cpp
+++ b/Marlin/src/gcode/calibrate/G76_M871.cpp
@@ -104,7 +104,7 @@ void GcodeSuite::G76() {
};
auto g76_probe = [](const TempSensorID sid, uint16_t &targ, const xy_pos_t &nozpos) {
- do_blocking_move_to_z(5.0); // Raise nozzle before probing
+ do_z_clearance(5.0); // Raise nozzle before probing
const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false); // verbose=0, probe_relative=false
if (isnan(measured_z))
SERIAL_ECHOLNPGM("!Received NAN. Aborting.");
diff --git a/Marlin/src/gcode/calibrate/M666.cpp b/Marlin/src/gcode/calibrate/M666.cpp
index 721cbcfaa0..7f8d917b63 100644
--- a/Marlin/src/gcode/calibrate/M666.cpp
+++ b/Marlin/src/gcode/calibrate/M666.cpp
@@ -38,7 +38,7 @@
* M666: Set delta endstop adjustment
*/
void GcodeSuite::M666() {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(">>> M666");
+ DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING));
LOOP_XYZ(i) {
if (parser.seen(XYZ_CHAR(i))) {
const float v = parser.value_linear_units();
@@ -46,7 +46,6 @@
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", XYZ_CHAR(i), "] = ", delta_endstop_adj[i]);
}
}
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< M666");
}
#elif HAS_EXTRA_ENDSTOPS
diff --git a/Marlin/src/gcode/control/T.cpp b/Marlin/src/gcode/control/T.cpp
index 872b3d5488..1d34cf4d58 100644
--- a/Marlin/src/gcode/control/T.cpp
+++ b/Marlin/src/gcode/control/T.cpp
@@ -48,10 +48,8 @@
*/
void GcodeSuite::T(const uint8_t tool_index) {
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPAIR(">>> T(", tool_index, ")");
- DEBUG_POS("BEFORE", current_position);
- }
+ DEBUG_SECTION(log_T, "T", DEBUGGING(LEVELING));
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("...(", tool_index, ")");
// Count this command as movement / activity
reset_stepper_timeout();
@@ -75,9 +73,4 @@ void GcodeSuite::T(const uint8_t tool_index) {
);
#endif
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_POS("AFTER", current_position);
- DEBUG_ECHOLNPGM("<<< T()");
- }
}
diff --git a/Marlin/src/gcode/probe/G30.cpp b/Marlin/src/gcode/probe/G30.cpp
index 0d8049158c..167e364fa7 100644
--- a/Marlin/src/gcode/probe/G30.cpp
+++ b/Marlin/src/gcode/probe/G30.cpp
@@ -57,9 +57,8 @@ void GcodeSuite::G30() {
restore_feedrate_and_scaling();
- #ifdef Z_AFTER_PROBING
- if (raise_after == PROBE_PT_STOW) probe.move_z_after_probing();
- #endif
+ if (raise_after == PROBE_PT_STOW)
+ probe.move_z_after_probing();
report_current_position();
}
diff --git a/Marlin/src/gcode/probe/M401_M402.cpp b/Marlin/src/gcode/probe/M401_M402.cpp
index a0a6c1cec5..af6a0cdbc9 100644
--- a/Marlin/src/gcode/probe/M401_M402.cpp
+++ b/Marlin/src/gcode/probe/M401_M402.cpp
@@ -41,9 +41,7 @@ void GcodeSuite::M401() {
*/
void GcodeSuite::M402() {
probe.stow();
- #ifdef Z_AFTER_PROBING
- probe.move_z_after_probing();
- #endif
+ probe.move_z_after_probing();
report_current_position();
}
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 1f80b7fe72..3e8b690455 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -233,7 +233,8 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
* This is like quick_home_xy() but for 3 towers.
*/
void home_delta() {
- if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
+ DEBUG_SECTION(log_home_delta, "home_delta", DEBUGGING(LEVELING));
+
// Init the current position of all carriages to 0,0,0
current_position.reset();
destination.reset();
@@ -283,8 +284,6 @@ void home_delta() {
line_to_current_position(homing_feedrate(Z_AXIS));
}
#endif
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
}
#endif // DELTA
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index cbf52bae22..5b7845e45b 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -387,7 +387,8 @@ void _internal_move_to_destination(const feedRate_t &fr_mm_s/*=0.0f*/
* Plan a move to (X, Y, Z) and set the current_position
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const feedRate_t &fr_mm_s/*=0.0*/) {
- if (DEBUGGING(LEVELING)) DEBUG_XYZ(">>> do_blocking_move_to", rx, ry, rz);
+ DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
+ if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", rx, ry, rz);
const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS),
xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
@@ -471,8 +472,6 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
#endif
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< do_blocking_move_to");
-
planner.synchronize();
}
@@ -507,6 +506,13 @@ void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &z, const feedRat
do_blocking_move_to(raw.x, raw.y, z, fr_mm_s);
}
+void do_z_clearance(const float &zclear, const bool z_known/*=true*/, const bool raise_on_unknown/*=true*/, const bool lower_allowed/*=false*/) {
+ const bool rel = raise_on_unknown && !z_known;
+ float zdest = zclear + (rel ? current_position.z : 0.0f);
+ if (!lower_allowed) NOLESS(zdest, current_position.z);
+ do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+}
+
//
// Prepare to do endstop or probe moves with custom feedrates.
// - Save / restore current feedrate and multiplier
@@ -1272,11 +1278,12 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
* Home an individual linear axis
*/
void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0) {
+ DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING));
const feedRate_t real_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR(">>> do_homing_move(", axis_codes[axis], ", ", distance, ", ");
+ DEBUG_ECHOPAIR("...(", axis_codes[axis], ", ", distance, ", ");
if (fr_mm_s)
DEBUG_ECHO(fr_mm_s);
else
@@ -1349,8 +1356,6 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
// Re-enable stealthChop if used. Disable diag1 pin on driver.
TERN_(SENSORLESS_HOMING, end_sensorless_homing_per_axis(axis, stealth_states));
}
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< do_homing_move(", axis_codes[axis], ")");
}
/**
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 1348adb3bd..f51b205b39 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -234,6 +234,8 @@ void remember_feedrate_and_scaling();
void remember_feedrate_scaling_off();
void restore_feedrate_and_scaling();
+void do_z_clearance(const float &zclear, const bool z_known=true, const bool raise_on_unknown=true, const bool lower_allowed=false);
+
//
// Homing
//
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index b077b3a0e3..524b6228bc 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -260,15 +260,10 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
* Raise Z to a minimum height to make room for a probe to move
*/
void Probe::do_z_raise(const float z_raise) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::move_z(", z_raise, ")");
-
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::do_z_raise(", z_raise, ")");
float z_dest = z_raise;
if (offset.z < 0) z_dest -= offset.z;
-
- NOMORE(z_dest, Z_MAX_POS);
-
- if (z_dest > current_position.z)
- do_blocking_move_to_z(z_dest);
+ do_z_clearance(z_dest);
}
FORCE_INLINE void probe_specific_action(const bool deploy) {
@@ -410,16 +405,6 @@ bool Probe::set_deployed(const bool deploy) {
return false;
}
-#ifdef Z_AFTER_PROBING
- // After probing move to a preferred Z position
- void Probe::move_z_after_probing() {
- if (current_position.z != Z_AFTER_PROBING) {
- do_blocking_move_to_z(Z_AFTER_PROBING);
- current_position.z = Z_AFTER_PROBING;
- }
- }
-#endif
-
/**
* @brief Used by run_z_probe to do a single Z probe move.
*
@@ -439,7 +424,7 @@ bool Probe::set_deployed(const bool deploy) {
* @return TRUE if the probe failed to trigger.
*/
bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) {
- if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::probe_down_to_z", current_position);
+ DEBUG_SECTION(log_probe, "Probe::probe_down_to_z", DEBUGGING(LEVELING));
#if BOTH(HAS_HEATED_BED, WAIT_FOR_BED_HEATER)
thermalManager.wait_for_bed_heating();
@@ -499,8 +484,6 @@ bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) {
// Tell the planner where we actually are
sync_plan_position();
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< Probe::probe_down_to_z", current_position);
-
return !probe_triggered;
}
@@ -513,8 +496,7 @@ bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) {
* @return The Z position of the bed at the current XY or NAN on error.
*/
float Probe::run_z_probe(const bool sanity_check/*=true*/) {
-
- if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::run_z_probe", current_position);
+ DEBUG_SECTION(log_probe, "Probe::run_z_probe", DEBUGGING(LEVELING));
auto try_to_probe = [&](PGM_P const plbl, const float &z_probe_low_point, const feedRate_t fr_mm_s, const bool scheck, const float clearance) {
// Do a first probe at the fast speed
@@ -527,7 +509,6 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (probe_fail) DEBUG_ECHOPGM(" No trigger.");
if (early_fail) DEBUG_ECHOPGM(" Triggered early.");
DEBUG_EOL();
- DEBUG_POS("<<< run_z_probe", current_position);
}
#else
UNUSED(plbl);
@@ -651,8 +632,6 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
#endif
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
-
return measured_z;
}
@@ -666,9 +645,11 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
* - Return the probed Z position
*/
float Probe::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*/, const bool sanity_check/*=true*/) {
+ DEBUG_SECTION(log_probe, "Probe::probe_at_point", DEBUGGING(LEVELING));
+
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(
- ">>> Probe::probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
+ "...(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none",
", ", int(verbose_level),
", ", probe_relative ? "probe" : "nozzle", "_relative)"
@@ -729,8 +710,6 @@ float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise
#endif
}
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< Probe::probe_at_point");
-
return measured_z;
}
diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
index abab33bf71..f8cb9e9d00 100644
--- a/Marlin/src/module/probe.h
+++ b/Marlin/src/module/probe.h
@@ -79,9 +79,18 @@ public:
#endif
- #ifdef Z_AFTER_PROBING
- static void move_z_after_probing();
- #endif
+ static inline void move_z_after_probing() {
+ #ifdef Z_AFTER_PROBING
+ do_z_clearance(Z_AFTER_PROBING, true, true, true); // Move down still permitted
+ #endif
+ }
+ static inline void move_z_after_homing() {
+ #ifdef Z_AFTER_HOMING
+ do_z_clearance(Z_AFTER_HOMING, true, true, true);
+ #elif defined(Z_AFTER_PROBING)
+ move_z_after_probing();
+ #endif
+ }
static 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, const bool sanity_check=true);
static 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, const bool sanity_check=true) {
return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative, sanity_check);
@@ -89,6 +98,8 @@ public:
#else
+ FORCE_INLINE static void move_z_after_homing() {}
+
static constexpr xyz_pos_t offset = xyz_pos_t({ 0, 0, 0 }); // See #16767
static bool set_deployed(const bool) { return false; }
--
GitLab