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Patch G28 servo stow to use Conditionals, raise_z_after_probing

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This commit is contained in:
Scott Lahteine 2016-06-01 19:48:17 -07:00
parent 3aefa04386
commit b3a37b493d
3 changed files with 63 additions and 51 deletions
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6
Marlin/Conditionals.h
View file

@ -349,6 +349,10 @@
#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER)) #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#else
#ifndef Z_RAISE_AFTER_PROBING
#define Z_RAISE_AFTER_PROBING 15
#endif
#endif #endif
#define HAS_Z_ENDSTOP_SERVO (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0) #define HAS_Z_ENDSTOP_SERVO (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
@ -732,7 +736,7 @@
#define Z_ENDSTOP_SERVO_NR -1 #define Z_ENDSTOP_SERVO_NR -1
#endif #endif
#if X_ENDSTOP_SERVO_NR >= 0 || Y_ENDSTOP_SERVO_NR >= 0 || HAS_Z_ENDSTOP_SERVO #if X_ENDSTOP_SERVO_NR >= 0 || Y_ENDSTOP_SERVO_NR >= 0 || HAS_Z_ENDSTOP_SERVO
#define HAS_SERVO_ENDSTOPS true #define HAS_SERVO_ENDSTOPS
#define SERVO_ENDSTOP_IDS { X_ENDSTOP_SERVO_NR, Y_ENDSTOP_SERVO_NR, Z_ENDSTOP_SERVO_NR } #define SERVO_ENDSTOP_IDS { X_ENDSTOP_SERVO_NR, Y_ENDSTOP_SERVO_NR, Z_ENDSTOP_SERVO_NR }
#endif #endif
#endif #endif

106
Marlin/Marlin_main.cpp
View file

@ -372,7 +372,7 @@ static uint8_t target_extruder;
}; };
#endif #endif
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
const int servo_endstop_id[] = SERVO_ENDSTOP_IDS; const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES; const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
#endif #endif
@ -719,7 +719,7 @@ void servo_init() {
servo[3].detach(); servo[3].detach();
#endif #endif
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
endstops.enable_z_probe(false); endstops.enable_z_probe(false);
@ -1719,7 +1719,7 @@ static void setup_for_endstop_move() {
if (endstops.z_probe_enabled) return; if (endstops.z_probe_enabled) return;
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
// Engage Z Servo endstop if enabled // Engage Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]); if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
@ -1806,7 +1806,7 @@ static void setup_for_endstop_move() {
} }
static void stow_z_probe(bool doRaise = true) { static void stow_z_probe(bool doRaise = true) {
#if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0)) #if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0))
UNUSED(doRaise); UNUSED(doRaise);
#endif #endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -1815,7 +1815,7 @@ static void setup_for_endstop_move() {
if (!endstops.z_probe_enabled) return; if (!endstops.z_probe_enabled) return;
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
// Retract Z Servo endstop if enabled // Retract Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) { if (servo_endstop_id[Z_AXIS] >= 0) {
@ -2057,7 +2057,7 @@ static void setup_for_endstop_move() {
#endif // DELTA #endif // DELTA
#if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED) #if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED)
void raise_z_for_servo() { void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING; float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
@ -2168,33 +2168,36 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position(); sync_plan_position();
#if ENABLED(Z_PROBE_SLED) #if ENABLED(Z_PROBE_SLED)
#define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY #define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
#define _Z_PROBE_SUBTEST false // Z will never be invoked #define _Z_SERVO_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (dock_sled(false)) #define _Z_DEPLOY (dock_sled(false))
#define _Z_STOW (dock_sled(true)) #define _Z_STOW (dock_sled(true))
#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
#define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY #define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
#define _Z_PROBE_SUBTEST false // Z will never be invoked #define _Z_SERVO_SUBTEST false // Z will never be invoked
#define _Z_DEPLOY (deploy_z_probe()) #define _Z_DEPLOY (deploy_z_probe())
#define _Z_STOW (stow_z_probe()) #define _Z_STOW (stow_z_probe())
#elif HAS_SERVO_ENDSTOPS #elif ENABLED(HAS_SERVO_ENDSTOPS)
#define _Z_SERVO_TEST true // servo.move X, Y, Z #define _Z_SERVO_TEST true // Z not deployed yet
#define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe #define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe
#endif #endif
if (axis == Z_AXIS) { // If there's a Z probe that needs deployment...
// If there's a Z probe that needs deployment... #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) // ...and homing Z towards the bed? Deploy it.
// ...and homing Z towards the bed? Deploy it. if (axis == Z_AXIS && axis_home_dir < 0) {
if (axis_home_dir < 0) _Z_DEPLOY; #if ENABLED(DEBUG_LEVELING_FEATURE)
#endif if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
} #endif
_Z_DEPLOY;
}
#endif
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
// Engage an X or Y Servo endstop if enabled // Engage an X, Y (or Z) Servo endstop if enabled
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]); servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
if (_Z_PROBE_SUBTEST) endstops.z_probe_enabled = true; if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true;
} }
#endif #endif
@ -2311,7 +2314,7 @@ static void homeaxis(AxisEnum axis) {
axis_known_position[axis] = true; axis_known_position[axis] = true;
axis_homed[axis] = true; axis_homed[axis] = true;
// Put away the Z probe // Put away the Z probe with a function
#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
if (axis == Z_AXIS && axis_home_dir < 0) { if (axis == Z_AXIS && axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2321,27 +2324,32 @@ static void homeaxis(AxisEnum axis) {
} }
#endif #endif
// Retract Servo endstop if enabled // Retract X, Y (or Z) Servo endstop if enabled
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
// Raise the servo probe before stow outside ABL context.
// This is a workaround to allow use of a Servo Probe without
// ABL until more global probe handling is implemented.
#if Z_RAISE_AFTER_PROBING > 0
if (axis == Z_AXIS) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
#endif
current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING;
feedrate = homing_feedrate[Z_AXIS];
line_to_current_position();
stepper.synchronize();
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
#endif #endif
// Raise the servo probe before stow outside ABL context... This is a workaround that allows the use of a Servo Probe without ABL until a more global probe handling is implemented.
#if DISABLED(AUTO_BED_LEVELING_FEATURE)
#ifndef Z_RAISE_AFTER_PROBING
#define Z_RAISE_AFTER_PROBING 15 // default height
#endif
current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING;
feedrate = homing_feedrate[Z_AXIS];
line_to_current_position();
stepper.synchronize();
#endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]); servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
if (_Z_PROBE_SUBTEST) endstops.enable_z_probe(false); if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false);
} }
#endif
#endif // HAS_SERVO_ENDSTOPS
} }
@ -3630,7 +3638,7 @@ inline void gcode_G28() {
#endif #endif
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z) current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
#if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) #if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
+ Z_RAISE_AFTER_PROBING + Z_RAISE_AFTER_PROBING
#endif #endif
; ;
@ -3647,7 +3655,7 @@ inline void gcode_G28() {
dock_sled(true); // dock the sled dock_sled(true); // dock the sled
#elif Z_RAISE_AFTER_PROBING > 0 #elif Z_RAISE_AFTER_PROBING > 0
// Raise Z axis for non-delta and non servo based probes // Raise Z axis for non-delta and non servo based probes
#if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) #if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
raise_z_after_probing(); raise_z_after_probing();
#endif #endif
#endif #endif
@ -3691,7 +3699,7 @@ inline void gcode_G28() {
* G30: Do a single Z probe at the current XY * G30: Do a single Z probe at the current XY
*/ */
inline void gcode_G30() { inline void gcode_G30() {
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo(); raise_z_for_servo();
#endif #endif
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here. deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
@ -3713,7 +3721,7 @@ inline void gcode_G28() {
clean_up_after_endstop_move(); // Too early. must be done after the stowing. clean_up_after_endstop_move(); // Too early. must be done after the stowing.
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo(); raise_z_for_servo();
#endif #endif
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here. stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
@ -5822,13 +5830,13 @@ inline void gcode_M303() {
*/ */
inline void gcode_M400() { stepper.synchronize(); } inline void gcode_M400() { stepper.synchronize(); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY))
/** /**
* M401: Engage Z Servo endstop if available * M401: Engage Z Servo endstop if available
*/ */
inline void gcode_M401() { inline void gcode_M401() {
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo(); raise_z_for_servo();
#endif #endif
deploy_z_probe(); deploy_z_probe();
@ -5838,13 +5846,13 @@ inline void gcode_M400() { stepper.synchronize(); }
* M402: Retract Z Servo endstop if enabled * M402: Retract Z Servo endstop if enabled
*/ */
inline void gcode_M402() { inline void gcode_M402() {
#if HAS_SERVO_ENDSTOPS #if ENABLED(HAS_SERVO_ENDSTOPS)
raise_z_for_servo(); raise_z_for_servo();
#endif #endif
stow_z_probe(false); stow_z_probe(false);
} }
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED #endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#if ENABLED(FILAMENT_WIDTH_SENSOR) #if ENABLED(FILAMENT_WIDTH_SENSOR)
@ -7038,14 +7046,14 @@ void process_next_command() {
gcode_M400(); gcode_M400();
break; break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED) #if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
case 401: case 401:
gcode_M401(); gcode_M401();
break; break;
case 402: case 402:
gcode_M402(); gcode_M402();
break; break;
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED #endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#if ENABLED(FILAMENT_WIDTH_SENSOR) #if ENABLED(FILAMENT_WIDTH_SENSOR)
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width

2
Marlin/SanityCheck.h
View file

@ -174,7 +174,7 @@
/** /**
* Servo deactivation depends on servo endstops * Servo deactivation depends on servo endstops
*/ */
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_SERVO_ENDSTOPS #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && DISABLED(HAS_SERVO_ENDSTOPS)
#error "At least one of the ?_ENDSTOP_SERVO_NR is required for DEACTIVATE_SERVOS_AFTER_MOVE." #error "At least one of the ?_ENDSTOP_SERVO_NR is required for DEACTIVATE_SERVOS_AFTER_MOVE."
#endif #endif