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Create DEBUG_LEVELING_FEATURE

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master
Richard Wackerbarth 10 years ago
parent 194f98ff95
commit 20b4772155
4 changed files with 391 additions and 256 deletions
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5
Marlin/Configuration.h
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@ -510,8 +510,9 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
//#define Z_PROBE_SLED // Turn on if you have a Z probe mounted on a sled like those designed by Charles Bell.
//#define SLED_DOCKING_OFFSET 5 // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
// If you have enabled the bed auto leveling and are using the same Z probe for Z homing,
// it is highly recommended you let this Z_SAFE_HOMING enabled!!!
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
#define Z_SAFE_HOMING // This feature is meant to avoid Z homing with Z probe outside the bed area.
// When defined, it will:

3
Marlin/Marlin.h
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@ -221,7 +221,8 @@ enum DebugFlags {
DEBUG_INFO = BIT(1),
DEBUG_ERRORS = BIT(2),
DEBUG_DRYRUN = BIT(3),
DEBUG_COMMUNICATION = BIT(4)
DEBUG_COMMUNICATION = BIT(4),
DEBUG_LEVELING = BIT(5)
};
extern uint8_t marlin_debug_flags;

638
Marlin/Marlin_main.cpp
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@ -154,7 +154,7 @@
* M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
* M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
* M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
* M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
* M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
@ -341,7 +341,7 @@ bool target_direction;
#endif // FWRETRACT
#if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
bool powersupply =
bool powersupply =
#if ENABLED(PS_DEFAULT_OFF)
false
#else
@ -358,9 +358,9 @@ bool target_direction;
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * delta_radius; // front left tower
float delta_tower1_y = -COS_60 * delta_radius;
float delta_tower1_y = -COS_60 * delta_radius;
float delta_tower2_x = SIN_60 * delta_radius; // front right tower
float delta_tower2_y = -COS_60 * delta_radius;
float delta_tower2_y = -COS_60 * delta_radius;
float delta_tower3_x = 0; // back middle tower
float delta_tower3_y = delta_radius;
float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
@ -692,7 +692,7 @@ void setup() {
#endif // Z_PROBE_SLED
setup_homepin();
#ifdef STAT_LED_RED
pinMode(STAT_LED_RED, OUTPUT);
digitalWrite(STAT_LED_RED, LOW); // turn it off
@ -701,7 +701,7 @@ void setup() {
#ifdef STAT_LED_BLUE
pinMode(STAT_LED_BLUE, OUTPUT);
digitalWrite(STAT_LED_BLUE, LOW); // turn it off
#endif
#endif
}
/**
@ -775,11 +775,11 @@ void gcode_line_error(const char *err, bool doFlush=true) {
void get_command() {
if (drain_queued_commands_P()) return; // priority is given to non-serial commands
#if ENABLED(NO_TIMEOUTS)
static millis_t last_command_time = 0;
millis_t ms = millis();
if (!MYSERIAL.available() && commands_in_queue == 0 && ms - last_command_time > NO_TIMEOUTS) {
SERIAL_ECHOLNPGM(MSG_WAIT);
last_command_time = ms;
@ -870,7 +870,7 @@ void get_command() {
LCD_MESSAGEPGM(MSG_STOPPED);
break;
}
}
}
}
// If command was e-stop process now
@ -1033,7 +1033,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#endif //DUAL_X_CARRIAGE
#ifdef DEBUG_LEVELING
#if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(const char *prefix, const float x, const float y, const float z) {
SERIAL_ECHO(prefix);
SERIAL_ECHOPAIR(": (", x);
@ -1067,7 +1067,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
#endif
#if ENABLED(SCARA)
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[3];
@ -1075,28 +1075,28 @@ static void set_axis_is_at_home(AxisEnum axis) {
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
// Works out real Homeposition angles using inverse kinematics,
// Works out real Homeposition angles using inverse kinematics,
// and calculates homing offset using forward kinematics
calculate_delta(homeposition);
// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
calculate_SCARA_forward_Transform(delta);
// SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
current_position[axis] = delta[axis];
// SCARA home positions are based on configuration since the actual limits are determined by the
// SCARA home positions are based on configuration since the actual limits are determined by the
// inverse kinematic transform.
min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
@ -1112,10 +1112,12 @@ static void set_axis_is_at_home(AxisEnum axis) {
if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset;
#endif
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("set_axis_is_at_home ", (unsigned long)axis);
SERIAL_ECHOPAIR(" > (home_offset[axis]==", home_offset[axis]);
print_xyz(") > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("set_axis_is_at_home ", (unsigned long)axis);
SERIAL_ECHOPAIR(" > (home_offset[axis]==", home_offset[axis]);
print_xyz(") > current_position", current_position);
}
#endif
}
}
@ -1162,8 +1164,10 @@ static void setup_for_endstop_move() {
saved_feedrate_multiplier = feedrate_multiplier;
feedrate_multiplier = 100;
refresh_cmd_timeout();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
}
#endif
enable_endstops(true);
}
@ -1175,8 +1179,10 @@ static void setup_for_endstop_move() {
* Calculate delta, start a line, and set current_position to destination
*/
void prepare_move_raw() {
#ifdef DEBUG_LEVELING
print_xyz("prepare_move_raw > destination", destination);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("prepare_move_raw > destination", destination);
}
#endif
refresh_cmd_timeout();
calculate_delta(destination);
@ -1205,8 +1211,10 @@ static void setup_for_endstop_move() {
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
#ifdef DEBUG_LEVELING
print_xyz("set_bed_level_equation_lsq > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("set_bed_level_equation_lsq > current_position", current_position);
}
#endif
sync_plan_position();
@ -1238,8 +1246,10 @@ static void setup_for_endstop_move() {
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
#ifdef DEBUG_LEVELING
print_xyz("set_bed_level_equation_3pts > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("set_bed_level_equation_3pts > current_position", current_position);
}
#endif
sync_plan_position();
@ -1250,12 +1260,14 @@ static void setup_for_endstop_move() {
static void run_z_probe() {
#if ENABLED(DELTA)
float start_z = current_position[Z_AXIS];
long start_steps = st_get_position(Z_AXIS);
#ifdef DEBUG_LEVELING
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
}
#endif
// move down slowly until you find the bed
@ -1264,18 +1276,20 @@ static void setup_for_endstop_move() {
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
// 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;
#ifdef DEBUG_LEVELING
print_xyz("run_z_probe (DELTA) 2 > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("run_z_probe (DELTA) 2 > current_position", current_position);
}
#endif
sync_plan_position_delta();
#else // !DELTA
plan_bed_level_matrix.set_to_identity();
@ -1308,10 +1322,12 @@ static void setup_for_endstop_move() {
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("run_z_probe > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("run_z_probe > current_position", current_position);
}
#endif
#endif // !DELTA
}
@ -1322,14 +1338,16 @@ static void setup_for_endstop_move() {
static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
#ifdef DEBUG_LEVELING
print_xyz("do_blocking_move_to", x, y, z);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("do_blocking_move_to", x, y, z);
}
#endif
#if ENABLED(DELTA)
feedrate = XY_TRAVEL_SPEED;
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
@ -1362,8 +1380,10 @@ static void setup_for_endstop_move() {
static void clean_up_after_endstop_move() {
#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
#if ENABLED(DEBUG_LEVELING)
SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > enable_endstops(false)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > enable_endstops(false)");
}
#endif
enable_endstops(false);
#endif
@ -1374,8 +1394,10 @@ static void setup_for_endstop_move() {
static void deploy_z_probe() {
#ifdef DEBUG_LEVELING
print_xyz("deploy_z_probe > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("deploy_z_probe > current_position", current_position);
}
#endif
#if HAS_SERVO_ENDSTOPS
@ -1468,8 +1490,10 @@ static void setup_for_endstop_move() {
static void stow_z_probe(bool doRaise=true) {
#ifdef DEBUG_LEVELING
print_xyz("stow_z_probe > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("stow_z_probe > current_position", current_position);
}
#endif
#if HAS_SERVO_ENDSTOPS
@ -1479,11 +1503,13 @@ static void setup_for_endstop_move() {
#if Z_RAISE_AFTER_PROBING > 0
if (doRaise) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (after) by ", (float)Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
SERIAL_ECHOPAIR("> SERVO_ENDSTOPS > do_blocking_move_to_z ", current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("Raise Z (after) by ", (float)Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
SERIAL_ECHOPAIR("> SERVO_ENDSTOPS > do_blocking_move_to_z ", current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
}
#endif
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position
st_synchronize();
@ -1522,7 +1548,7 @@ static void setup_for_endstop_move() {
}
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
prepare_move_raw();
// Move up for safety
if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE) {
feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
@ -1535,13 +1561,13 @@ static void setup_for_endstop_move() {
}
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
prepare_move_raw();
// Home XY for safety
feedrate = homing_feedrate[X_AXIS]/2;
destination[X_AXIS] = 0;
destination[Y_AXIS] = 0;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
@ -1574,35 +1600,43 @@ static void setup_for_endstop_move() {
// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("probe_pt >>>");
SERIAL_ECHOPAIR("> ProbeAction:", (unsigned long)probe_action);
SERIAL_EOL;
print_xyz("> current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("probe_pt >>>");
SERIAL_ECHOPAIR("> ProbeAction:", (unsigned long)probe_action);
SERIAL_EOL;
print_xyz("> current_position", current_position);
}
#endif
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
SERIAL_EOL;
SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
SERIAL_EOL;
SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
SERIAL_EOL;
}
#endif
// Move Z up to the z_before height, then move the Z probe to the given XY
do_blocking_move_to_z(z_before); // this also updates current_position
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - X_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_ECHOPAIR(", ", y - Y_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - X_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_ECHOPAIR(", ", y - Y_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_EOL;
}
#endif
do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position
#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeDeploy) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> ProbeDeploy");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> ProbeDeploy");
}
#endif
deploy_z_probe();
}
@ -1613,8 +1647,10 @@ static void setup_for_endstop_move() {
#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeStow) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
}
#endif
stow_z_probe();
}
@ -1630,8 +1666,10 @@ static void setup_for_endstop_move() {
SERIAL_EOL;
}
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< probe_pt");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("<<< probe_pt");
}
#endif
return measured_z;
@ -1689,8 +1727,10 @@ static void setup_for_endstop_move() {
// Reset calibration results to zero.
void reset_bed_level() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("reset_bed_level");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("reset_bed_level");
}
#endif
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
@ -1727,9 +1767,11 @@ static void setup_for_endstop_move() {
* offset[in] The additional distance to move to adjust docking location
*/
static void dock_sled(bool dock, int offset=0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("dock_sled", dock);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("dock_sled", dock);
SERIAL_EOL;
}
#endif
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
@ -1765,10 +1807,12 @@ static void setup_for_endstop_move() {
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
static void homeaxis(AxisEnum axis) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR(">>> homeaxis(", (unsigned long)axis);
SERIAL_CHAR(')');
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR(">>> homeaxis(", (unsigned long)axis);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
#define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
@ -1791,7 +1835,7 @@ static void homeaxis(AxisEnum axis) {
if (axis_home_dir < 0) dock_sled(false);
}
#endif
#if SERVO_LEVELING && DISABLED(Z_PROBE_SLED)
// Deploy a Z probe if there is one, and homing towards the bed
@ -1822,8 +1866,10 @@ static void homeaxis(AxisEnum axis) {
current_position[axis] = 0;
sync_plan_position();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(false)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> enable_endstops(false)");
}
#endif
enable_endstops(false); // Disable endstops while moving away
@ -1832,8 +1878,10 @@ static void homeaxis(AxisEnum axis) {
line_to_destination();
st_synchronize();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(true)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> enable_endstops(true)");
}
#endif
enable_endstops(true); // Enable endstops for next homing move
@ -1845,8 +1893,10 @@ static void homeaxis(AxisEnum axis) {
line_to_destination();
st_synchronize();
#ifdef DEBUG_LEVELING
print_xyz("> TRIGGER ENDSTOP > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> TRIGGER ENDSTOP > current_position", current_position);
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
@ -1877,27 +1927,35 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DELTA)
// retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * axis_home_dir < 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(false)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> enable_endstops(false)");
}
#endif
enable_endstops(false); // Disable endstops while moving away
sync_plan_position();
destination[axis] = endstop_adj[axis];
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
print_xyz(" > destination", destination);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
print_xyz(" > destination", destination);
}
#endif
line_to_destination();
st_synchronize();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(true)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> enable_endstops(true)");
}
#endif
enable_endstops(true); // Enable endstops for next homing move
}
#ifdef DEBUG_LEVELING
#if ENABLED(DEBUG_LEVELING_FEATURE)
else {
SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
SERIAL_EOL;
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
SERIAL_EOL;
}
}
#endif
#endif
@ -1906,8 +1964,10 @@ static void homeaxis(AxisEnum axis) {
set_axis_is_at_home(axis);
sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("> AFTER set_axis_is_at_home > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> AFTER set_axis_is_at_home > current_position", current_position);
}
#endif
destination[axis] = current_position[axis];
@ -1919,7 +1979,7 @@ static void homeaxis(AxisEnum axis) {
// bring Z probe back
if (axis == Z_AXIS) {
if (axis_home_dir < 0) dock_sled(true);
}
}
#endif
#if SERVO_LEVELING && DISABLED(Z_PROBE_SLED)
@ -1927,8 +1987,10 @@ static void homeaxis(AxisEnum axis) {
// Deploy a Z probe if there is one, and homing towards the bed
if (axis == Z_AXIS) {
if (axis_home_dir < 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> SERVO_LEVELING > stow_z_probe");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> SERVO_LEVELING > stow_z_probe");
}
#endif
stow_z_probe();
}
@ -1941,8 +2003,10 @@ static void homeaxis(AxisEnum axis) {
#if HAS_SERVO_ENDSTOPS
// Retract Servo endstop if enabled
if (servo_endstop_id[axis] >= 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
}
#endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
}
@ -1951,10 +2015,12 @@ static void homeaxis(AxisEnum axis) {
}
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("<<< homeaxis(", (unsigned long)axis);
SERIAL_CHAR(')');
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("<<< homeaxis(", (unsigned long)axis);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
}
@ -2157,8 +2223,10 @@ inline void gcode_G4() {
*/
inline void gcode_G28() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("gcode_G28 >>>");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("gcode_G28 >>>");
}
#endif
// Wait for planner moves to finish!
@ -2209,8 +2277,10 @@ inline void gcode_G28() {
sync_plan_position_delta();
#ifdef DEBUG_LEVELING
print_xyz("(DELTA) > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("(DELTA) > current_position", current_position);
}
#endif
#else // NOT DELTA
@ -2226,8 +2296,10 @@ inline void gcode_G28() {
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
HOMEAXIS(Z);
#ifdef DEBUG_LEVELING
print_xyz("> HOMEAXIS(Z) > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> HOMEAXIS(Z) > current_position", current_position);
}
#endif
#elif DISABLED(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
@ -2235,10 +2307,12 @@ inline void gcode_G28() {
// Raise Z before homing any other axes
// (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?)
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> (home_all_axis || homeZ) > destination", destination);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> (home_all_axis || homeZ) > destination", destination);
}
#endif
feedrate = max_feedrate[Z_AXIS] * 60;
line_to_destination();
@ -2276,8 +2350,10 @@ inline void gcode_G28() {
set_axis_is_at_home(Y_AXIS);
sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("> QUICK_HOME > current_position 1", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> QUICK_HOME > current_position 1", current_position);
}
#endif
destination[X_AXIS] = current_position[X_AXIS];
@ -2293,8 +2369,10 @@ inline void gcode_G28() {
current_position[Z_AXIS] = destination[Z_AXIS];
#endif
#ifdef DEBUG_LEVELING
print_xyz("> QUICK_HOME > current_position 2", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> QUICK_HOME > current_position 2", current_position);
}
#endif
}
@ -2322,8 +2400,10 @@ inline void gcode_G28() {
#else
HOMEAXIS(X);
#endif
#ifdef DEBUG_LEVELING
print_xyz("> homeX", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> homeX", current_position);
}
#endif
}
@ -2331,8 +2411,10 @@ inline void gcode_G28() {
// Home Y
if (home_all_axis || homeY) {
HOMEAXIS(Y);
#ifdef DEBUG_LEVELING
print_xyz("> homeY", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> homeY", current_position);
}
#endif
}
#endif
@ -2344,8 +2426,10 @@ inline void gcode_G28() {
#if ENABLED(Z_SAFE_HOMING)
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
}
#endif
if (home_all_axis) {
@ -2363,11 +2447,13 @@ inline void gcode_G28() {
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED;
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> home_all_axis > current_position", current_position);
print_xyz("> home_all_axis > destination", destination);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> home_all_axis > current_position", current_position);
print_xyz("> home_all_axis > destination", destination);
}
#endif
// This could potentially move X, Y, Z all together
@ -2403,11 +2489,13 @@ inline void gcode_G28() {
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> homeZ > current_position", current_position);
print_xyz("> homeZ > destination", destination);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> homeZ > current_position", current_position);
print_xyz("> homeZ > destination", destination);
}
#endif
line_to_destination();
@ -2430,8 +2518,10 @@ inline void gcode_G28() {
} // !home_all_axes && homeZ
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
}
#endif
#else // !Z_SAFE_HOMING
@ -2440,8 +2530,10 @@ inline void gcode_G28() {
#endif // !Z_SAFE_HOMING
#ifdef DEBUG_LEVELING
print_xyz("> (home_all_axis || homeZ) > final", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> (home_all_axis || homeZ) > final", current_position);
}
#endif
} // home_all_axis || homeZ
@ -2457,8 +2549,10 @@ inline void gcode_G28() {
#endif
#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
}
#endif
enable_endstops(false);
#endif
@ -2475,8 +2569,10 @@ inline void gcode_G28() {
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position();
mbl.active = 1;
#ifdef DEBUG_LEVELING
print_xyz("mbl_was_active > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("mbl_was_active > current_position", current_position);
}
#endif
}
#endif
@ -2486,8 +2582,10 @@ inline void gcode_G28() {
refresh_cmd_timeout();
endstops_hit_on_purpose(); // clear endstop hit flags
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< gcode_G28");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("<<< gcode_G28");
}
#endif
}
@ -2513,7 +2611,7 @@ inline void gcode_G28() {
* |
* |
* v Y-axis
*
*
*/
inline void gcode_G29() {
@ -2640,7 +2738,7 @@ inline void gcode_G28() {
* Will fail if the printer has not been homed with G28.
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
*
* Parameters With AUTO_BED_LEVELING_GRID:
*
* P Set the size of the grid that will be probed (P x P points).
@ -2675,8 +2773,10 @@ inline void gcode_G28() {
*/
inline void gcode_G29() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("gcode_G29 >>>");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("gcode_G29 >>>");
}
#endif
// Don't allow auto-leveling without homing first
@ -2838,15 +2938,19 @@ inline void gcode_G28() {
z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;
if (probePointCounter) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("z_before = (between) ", (float)(Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("z_before = (between) ", (float)(Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
SERIAL_EOL;
}
#endif
}
else {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("z_before = (before) ", (float)Z_RAISE_BEFORE_PROBING);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("z_before = (before) ", (float)Z_RAISE_BEFORE_PROBING);
SERIAL_EOL;
}
#endif
}
@ -2887,8 +2991,10 @@ inline void gcode_G28() {
} //xProbe
} //yProbe
#ifdef DEBUG_LEVELING
print_xyz("> probing complete > current_position", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> probing complete > current_position", current_position);
}
#endif
clean_up_after_endstop_move();
@ -2987,8 +3093,10 @@ inline void gcode_G28() {
#else // !AUTO_BED_LEVELING_GRID
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> 3-point Leveling");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("> 3-point Leveling");
}
#endif
// Actions for each probe
@ -3020,11 +3128,13 @@ inline void gcode_G28() {
z_tmp = current_position[Z_AXIS],
real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
SERIAL_EOL;
}
#endif
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the Z probe offset
@ -3045,9 +3155,11 @@ inline void gcode_G28() {
// adjust for inaccurate endstops, not for reasonably accurate probes. If it were
// added here, it could be seen as a compensating factor for the Z probe.
//
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
}
#endif
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
@ -3058,8 +3170,10 @@ inline void gcode_G28() {
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("> corrected Z in G29", current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
print_xyz("> corrected Z in G29", current_position);
}
#endif
}
#endif // !DELTA
@ -3071,16 +3185,20 @@ inline void gcode_G28() {
#endif
#ifdef Z_PROBE_END_SCRIPT
#ifdef DEBUG_LEVELING
SERIAL_ECHO("Z Probe End Script: ");
SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHO("Z Probe End Script: ");
SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
}
#endif
enqueuecommands_P(PSTR(Z_PROBE_END_SCRIPT));
st_synchronize();
#endif
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< gcode_G29");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("<<< gcode_G29");
}
#endif
}
@ -3420,7 +3538,7 @@ inline void gcode_M42() {
* V = Verbose level (0-4, default=1)
* E = Engage Z probe for each reading
* L = Number of legs of movement before probe
*
*
* This function assumes the bed has been homed. Specifically, that a G28 command
* as been issued prior to invoking the M48 Z probe repeatability measurement function.
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
@ -3495,7 +3613,7 @@ inline void gcode_M42() {
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if (verbose_level > 2)
@ -3512,7 +3630,7 @@ inline void gcode_M42() {
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = E_current = st_get_position_mm(E_AXIS);
//
//
// OK, do the initial probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
@ -3576,7 +3694,7 @@ inline void gcode_M42() {
} // n_legs
if (deploy_probe_for_each_reading) {
deploy_z_probe();
deploy_z_probe();
delay(1000);
}
@ -3848,7 +3966,7 @@ inline void gcode_M109() {
setTargetBed(code_value());
millis_t temp_ms = millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
@ -3878,7 +3996,7 @@ inline void gcode_M109() {
*/
inline void gcode_M111() {
marlin_debug_flags = code_seen('S') ? code_value_short() : DEBUG_INFO|DEBUG_COMMUNICATION;
if (marlin_debug_flags & DEBUG_ECHO) {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_DEBUG_ECHO);
@ -3891,6 +4009,12 @@ inline void gcode_M111() {
SERIAL_ECHOLNPGM(MSG_DEBUG_DRYRUN);
disable_all_heaters();
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_DEBUG_LEVELING);
}
#endif
}
/**
@ -4136,13 +4260,13 @@ inline void gcode_M114() {
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+home_offset[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);
SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
@ -4322,7 +4446,7 @@ inline void gcode_M204() {
SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration );
SERIAL_EOL;
}
}
/**
@ -4377,22 +4501,28 @@ inline void gcode_M206() {
* M666: Set delta endstop adjustment
*/
inline void gcode_M666() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM(">>> gcode_M666");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM(">>> gcode_M666");
}
#endif
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
endstop_adj[i] = code_value();
#ifdef DEBUG_LEVELING
SERIAL_ECHOPGM("endstop_adj[");
SERIAL_ECHO(axis_codes[i]);
SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPGM("endstop_adj[");
SERIAL_ECHO(axis_codes[i]);
SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
SERIAL_EOL;
}
#endif
}
}
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< gcode_M666");
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOLNPGM("<<< gcode_M666");
}
#endif
}
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
@ -4404,7 +4534,7 @@ inline void gcode_M206() {
SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
SERIAL_EOL;
}
#endif // !DELTA && Z_DUAL_ENDSTOPS
#if ENABLED(FWRETRACT)
@ -4576,7 +4706,7 @@ inline void gcode_M226() {
int servo_position = 0;
if (code_seen('S')) {
servo_position = code_value_short();
if (servo_index >= 0 && servo_index < NUM_SERVOS)
if (servo_index >= 0 && servo_index < NUM_SERVOS)
servo[servo_index].move(servo_position);
else {
SERIAL_ECHO_START;
@ -4628,7 +4758,7 @@ inline void gcode_M226() {
if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
#if ENABLED(PID_ADD_EXTRUSION_RATE)
if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
#endif
#endif
updatePID();
SERIAL_PROTOCOL(MSG_OK);
@ -4647,7 +4777,7 @@ inline void gcode_M226() {
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL(PID_PARAM(Kc, e));
#endif
SERIAL_EOL;
SERIAL_EOL;
}
else {
SERIAL_ECHO_START;
@ -4685,7 +4815,7 @@ inline void gcode_M226() {
*/
inline void gcode_M240() {
#ifdef CHDK
OUT_WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
@ -4919,7 +5049,7 @@ inline void gcode_M400() { st_synchronize(); }
}
#endif
}
/**
* M405: Turn on filament sensor for control
*/
@ -4948,13 +5078,13 @@ inline void gcode_M400() { st_synchronize(); }
* M406: Turn off filament sensor for control
*/
inline void gcode_M406() { filament_sensor = false; }
/**
* M407: Get measured filament diameter on serial output
*/
inline void gcode_M407() {
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
#endif // FILAMENT_SENSOR
@ -5222,7 +5352,7 @@ inline void gcode_M503() {
current_position[E_AXIS] = 0;
st_synchronize();
#endif
//return to normal
if (code_seen('L')) destination[E_AXIS] -= code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
@ -5250,12 +5380,12 @@ inline void gcode_M503() {
line_to_destination();
destination[E_AXIS] = lastpos[E_AXIS];
line_to_destination();
#endif
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
filrunoutEnqueued = false;
#endif
}
#endif // FILAMENTCHANGEENABLE
@ -6084,21 +6214,23 @@ void ok_to_send() {
SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - movesplanned() - 1));
SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
#endif
SERIAL_EOL;
SERIAL_EOL;
}
void clamp_to_software_endstops(float target[3]) {
if (min_software_endstops) {
NOLESS(target[X_AXIS], min_pos[X_AXIS]);
NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);
float negative_z_offset = 0;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
if (home_offset[Z_AXIS] < 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
SERIAL_EOL;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
SERIAL_EOL;
}
#endif
negative_z_offset += home_offset[Z_AXIS];
}
@ -6444,54 +6576,54 @@ void plan_arc(
r_axis1 = -offset[Y_AXIS],
rt_axis0 = target[X_AXIS] - center_axis0,
rt_axis1 = target[Y_AXIS] - center_axis1;
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
if (angular_travel < 0) { angular_travel += RADIANS(360); }
if (clockwise) { angular_travel -= RADIANS(360); }
// Make a circle if the angular rotation is 0
if (current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS] && angular_travel == 0)
angular_travel += RADIANS(360);
float mm_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
if (mm_of_travel < 0.001) { return; }
uint16_t segments = floor(mm_of_travel / MM_PER_ARC_SEGMENT);
if (segments == 0) segments = 1;
float theta_per_segment = angular_travel/segments;
float linear_per_segment = linear_travel/segments;
float extruder_per_segment = extruder_travel/segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
r_T = [cos(phi) -sin(phi);
sin(phi) cos(phi] * r ;
For arc generation, the center of the circle is the axis of rotation and the radius vector is
For arc generation, the center of the circle is the axis of rotation and the radius vector is
defined from the circle center to the initial position. Each line segment is formed by successive
vector rotations. This requires only two cos() and sin() computations to form the rotation
matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
all double numbers are single precision on the Arduino. (True double precision will not have
round off issues for CNC applications.) Single precision error can accumulate to be greater than
tool precision in some cases. Therefore, arc path correction is implemented.
tool precision in some cases. Therefore, arc path correction is implemented.
Small angle approximation may be used to reduce computation overhead further. This approximation
holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
issue for CNC machines with the single precision Arduino calculations.
This approximation also allows plan_arc to immediately insert a line segment into the planner
This approximation also allows plan_arc to immediately insert a line segment into the planner
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
This is important when there are successive arc motions.
a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
float sin_T = theta_per_segment;
float arc_target[NUM_AXIS];
float sin_Ti;
float cos_Ti;
@ -6501,7 +6633,7 @@ void plan_arc(
// Initialize the linear axis
arc_target[Z_AXIS] = current_position[Z_AXIS];
// Initialize the extruder axis
arc_target[E_AXIS] = current_position[E_AXIS];
@ -6622,49 +6754,49 @@ void plan_arc(
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
}
void calculate_delta(float cartesian[3]){
//reverse kinematics.
// Perform reversed kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float SCARA_pos[2];
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
#if (Linkage_1 == Linkage_2)
SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
#else
SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
#endif
SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
SCARA_K2 = Linkage_2 * SCARA_S2;
SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
SCARA_psi = atan2(SCARA_S2,SCARA_C2);
delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
delta[Z_AXIS] = cartesian[Z_AXIS];
/*
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
@ -6742,7 +6874,7 @@ void idle() {
* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
*/
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#if HAS_FILRUNOUT
if (IS_SD_PRINTING && !(READ(FILRUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
filrunout();
@ -6781,7 +6913,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#endif
#if HAS_KILL
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
@ -6814,7 +6946,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
homeDebounceCount = 0;
}
#endif
#if HAS_CONTROLLERFAN
controllerFan(); // Check if fan should be turned on to cool stepper drivers down
#endif
@ -6911,7 +7043,7 @@ void kill(const char *lcd_msg) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_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

1
Marlin/language.h
Unescape View File

@ -214,6 +214,7 @@
#define MSG_DEBUG_INFO "DEBUG INFO ENABLED"
#define MSG_DEBUG_ERRORS "DEBUG ERRORS ENABLED"
#define MSG_DEBUG_DRYRUN "DEBUG DRYRUN ENABLED"
#define MSG_DEBUG_LEVELING "DEBUG LEVELING ENABLED"
// LCD Menu Messages

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