|
|
@ -1470,7 +1470,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
|
|
|
|
* the software endstop positions must be refreshed to remain
|
|
|
|
* the software endstop positions must be refreshed to remain
|
|
|
|
* at the same positions relative to the machine.
|
|
|
|
* at the same positions relative to the machine.
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
static void update_software_endstops(AxisEnum axis) {
|
|
|
|
void update_software_endstops(AxisEnum axis) {
|
|
|
|
float offs = LOGICAL_POSITION(0, axis);
|
|
|
|
float offs = LOGICAL_POSITION(0, axis);
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
|
@ -1530,7 +1530,7 @@ static void set_home_offset(AxisEnum axis, float v) {
|
|
|
|
static void set_axis_is_at_home(AxisEnum axis) {
|
|
|
|
static void set_axis_is_at_home(AxisEnum axis) {
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis);
|
|
|
|
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
@ -1606,7 +1606,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis);
|
|
|
|
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
@ -1638,15 +1638,6 @@ inline void line_to_z(float zPosition) {
|
|
|
|
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate_mm_s, active_extruder);
|
|
|
|
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate_mm_s, active_extruder);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_s = 0.0) {
|
|
|
|
|
|
|
|
float old_feedrate_mm_s = feedrate_mm_s;
|
|
|
|
|
|
|
|
current_position[axis] = where;
|
|
|
|
|
|
|
|
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis];
|
|
|
|
|
|
|
|
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
|
|
|
|
|
|
|
|
stepper.synchronize();
|
|
|
|
|
|
|
|
feedrate_mm_s = old_feedrate_mm_s;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// line_to_destination
|
|
|
|
// line_to_destination
|
|
|
|
// Move the planner, not necessarily synced with current_position
|
|
|
|
// Move the planner, not necessarily synced with current_position
|
|
|
@ -2127,10 +2118,36 @@ static void clean_up_after_endstop_or_probe_move() {
|
|
|
|
return false;
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
static void do_probe_move(float z, float fr_mm_m) {
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Move down until probe triggered
|
|
|
|
|
|
|
|
do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Clear endstop flags
|
|
|
|
|
|
|
|
endstops.hit_on_purpose();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Get Z where the steppers were interrupted
|
|
|
|
|
|
|
|
set_current_from_steppers_for_axis(Z_AXIS);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Tell the planner where we actually are
|
|
|
|
|
|
|
|
SYNC_PLAN_POSITION_KINEMATIC();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// Do a single Z probe and return with current_position[Z_AXIS]
|
|
|
|
// Do a single Z probe and return with current_position[Z_AXIS]
|
|
|
|
// at the height where the probe triggered.
|
|
|
|
// at the height where the probe triggered.
|
|
|
|
static float run_z_probe() {
|
|
|
|
static float run_z_probe() {
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
|
|
|
|
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
refresh_cmd_timeout();
|
|
|
|
|
|
|
|
|
|
|
@ -2139,26 +2156,27 @@ static void clean_up_after_endstop_or_probe_move() {
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(PROBE_DOUBLE_TOUCH)
|
|
|
|
#if ENABLED(PROBE_DOUBLE_TOUCH)
|
|
|
|
do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
|
|
|
|
|
|
endstops.hit_on_purpose();
|
|
|
|
|
|
|
|
set_current_from_steppers_for_axis(Z_AXIS);
|
|
|
|
|
|
|
|
SYNC_PLAN_POSITION_KINEMATIC();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// move up the retract distance
|
|
|
|
// Do a first probe at the fast speed
|
|
|
|
|
|
|
|
do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// move up by the bump distance
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
|
|
|
|
|
|
|
|
|
|
#else
|
|
|
|
#else
|
|
|
|
|
|
|
|
|
|
|
|
// move fast, close to the bed
|
|
|
|
// move fast, close to the bed
|
|
|
|
do_blocking_move_to_z(home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
|
|
float z = LOGICAL_Z_POSITION(home_bump_mm(Z_AXIS));
|
|
|
|
|
|
|
|
if (zprobe_zoffset < 0) z -= zprobe_zoffset;
|
|
|
|
|
|
|
|
do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
|
|
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
// move down slowly to find bed
|
|
|
|
// move down slowly to find bed
|
|
|
|
do_blocking_move_to_z(current_position[Z_AXIS] -2.0*home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_SLOW));
|
|
|
|
do_probe_move(-10, Z_PROBE_SPEED_SLOW);
|
|
|
|
endstops.hit_on_purpose();
|
|
|
|
|
|
|
|
set_current_from_steppers_for_axis(Z_AXIS);
|
|
|
|
|
|
|
|
SYNC_PLAN_POSITION_KINEMATIC();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
|
|
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
return current_position[Z_AXIS];
|
|
|
|
return current_position[Z_AXIS];
|
|
|
@ -2393,6 +2411,15 @@ static void clean_up_after_endstop_or_probe_move() {
|
|
|
|
* Home an individual axis
|
|
|
|
* Home an individual axis
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
|
|
|
|
|
|
|
|
float old_feedrate_mm_s = feedrate_mm_s;
|
|
|
|
|
|
|
|
current_position[axis] = where;
|
|
|
|
|
|
|
|
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis];
|
|
|
|
|
|
|
|
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
|
|
|
|
|
|
|
|
stepper.synchronize();
|
|
|
|
|
|
|
|
feedrate_mm_s = old_feedrate_mm_s;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
|
|
|
|
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
|
|
|
|
|
|
|
|
|
|
|
|
static void homeaxis(AxisEnum axis) {
|
|
|
|
static void homeaxis(AxisEnum axis) {
|
|
|
@ -2403,7 +2430,7 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
SERIAL_ECHOPAIR(">>> homeaxis(", axis);
|
|
|
|
SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
@ -2415,8 +2442,8 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
home_dir(axis);
|
|
|
|
home_dir(axis);
|
|
|
|
|
|
|
|
|
|
|
|
// Homing Z towards the bed? Deploy the Z probe or endstop.
|
|
|
|
// Homing Z towards the bed? Deploy the Z probe or endstop.
|
|
|
|
#if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
|
|
|
|
#if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
|
|
|
|
if (axis == Z_AXIS && axis_home_dir < 0) {
|
|
|
|
if (axis == Z_AXIS) {
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
@ -2434,17 +2461,17 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
// Move towards the endstop until an endstop is triggered
|
|
|
|
// Move towards the endstop until an endstop is triggered
|
|
|
|
line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
|
|
|
|
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
|
|
|
|
|
|
|
|
|
|
|
|
// Set the axis position as setup for the move
|
|
|
|
// Set the axis position as setup for the move
|
|
|
|
current_position[axis] = 0;
|
|
|
|
current_position[axis] = 0;
|
|
|
|
sync_plan_position();
|
|
|
|
sync_plan_position();
|
|
|
|
|
|
|
|
|
|
|
|
// Move away from the endstop by the axis HOME_BUMP_MM
|
|
|
|
// Move away from the endstop by the axis HOME_BUMP_MM
|
|
|
|
line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
|
|
|
|
do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir);
|
|
|
|
|
|
|
|
|
|
|
|
// Move slowly towards the endstop until triggered
|
|
|
|
// Move slowly towards the endstop until triggered
|
|
|
|
line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
|
|
|
|
do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
|
|
|
|
|
|
|
|
|
|
|
|
// reset current_position to 0 to reflect hitting endpoint
|
|
|
|
// reset current_position to 0 to reflect hitting endpoint
|
|
|
|
current_position[axis] = 0;
|
|
|
|
current_position[axis] = 0;
|
|
|
@ -2468,7 +2495,7 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
|
|
|
|
if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
|
|
|
|
|
|
|
|
|
|
|
|
// Move to the adjusted endstop height
|
|
|
|
// Move to the adjusted endstop height
|
|
|
|
line_to_axis_pos(axis, adj);
|
|
|
|
do_homing_move(axis, adj);
|
|
|
|
|
|
|
|
|
|
|
|
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
|
|
|
|
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
|
|
|
|
stepper.set_homing_flag(false);
|
|
|
|
stepper.set_homing_flag(false);
|
|
|
@ -2477,14 +2504,14 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DELTA)
|
|
|
|
#if ENABLED(DELTA)
|
|
|
|
// retrace by the amount specified in endstop_adj
|
|
|
|
// retrace by the amount specified in endstop_adj
|
|
|
|
if (endstop_adj[axis] * axis_home_dir < 0) {
|
|
|
|
if (endstop_adj[axis] * Z_HOME_DIR < 0) {
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
|
|
|
|
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
|
|
|
|
DEBUG_POS("", current_position);
|
|
|
|
DEBUG_POS("", current_position);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
line_to_axis_pos(axis, endstop_adj[axis]);
|
|
|
|
do_homing_move(axis, endstop_adj[axis]);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
@ -2503,8 +2530,8 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
axis_homed[axis] = true;
|
|
|
|
axis_homed[axis] = true;
|
|
|
|
|
|
|
|
|
|
|
|
// Put away the Z probe
|
|
|
|
// Put away the Z probe
|
|
|
|
#if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
|
|
|
|
#if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
|
|
|
|
if (axis == Z_AXIS && axis_home_dir < 0) {
|
|
|
|
if (axis == Z_AXIS) {
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
|
|
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
@ -2514,11 +2541,11 @@ static void homeaxis(AxisEnum axis) {
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
if (DEBUGGING(LEVELING)) {
|
|
|
|
SERIAL_ECHOPAIR("<<< homeaxis(", axis);
|
|
|
|
SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
SERIAL_ECHOLNPGM(")");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
} // homeaxis()
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
|
|
|
|
|
|
|
|
|
@ -3475,7 +3502,7 @@ inline void gcode_G28() {
|
|
|
|
|
|
|
|
|
|
|
|
int verbose_level = code_seen('V') ? code_value_int() : 1;
|
|
|
|
int verbose_level = code_seen('V') ? code_value_int() : 1;
|
|
|
|
if (verbose_level < 0 || verbose_level > 4) {
|
|
|
|
if (verbose_level < 0 || verbose_level > 4) {
|
|
|
|
SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4).");
|
|
|
|
SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
|
|
|
|
return;
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
@ -3587,12 +3614,12 @@ inline void gcode_G28() {
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_GRID)
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_GRID)
|
|
|
|
|
|
|
|
|
|
|
|
// probe at the points of a lattice grid
|
|
|
|
// probe at the points of a lattice grid
|
|
|
|
const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
|
|
|
|
const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
|
|
|
|
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
|
|
|
|
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DELTA)
|
|
|
|
#if ENABLED(DELTA)
|
|
|
|
delta_grid_spacing[0] = xGridSpacing;
|
|
|
|
delta_grid_spacing[X_AXIS] = xGridSpacing;
|
|
|
|
delta_grid_spacing[1] = yGridSpacing;
|
|
|
|
delta_grid_spacing[Y_AXIS] = yGridSpacing;
|
|
|
|
float zoffset = zprobe_zoffset;
|
|
|
|
float zoffset = zprobe_zoffset;
|
|
|
|
if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
|
|
|
|
if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
|
|
|
|
#else // !DELTA
|
|
|
|
#else // !DELTA
|
|
|
@ -3614,10 +3641,11 @@ inline void gcode_G28() {
|
|
|
|
#endif // !DELTA
|
|
|
|
#endif // !DELTA
|
|
|
|
|
|
|
|
|
|
|
|
int probePointCounter = 0;
|
|
|
|
int probePointCounter = 0;
|
|
|
|
bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
|
|
|
|
bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
|
|
|
|
|
|
|
|
|
|
|
|
for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
|
|
|
|
for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
|
|
|
|
double yProbe = front_probe_bed_position + yGridSpacing * yCount;
|
|
|
|
float yBase = front_probe_bed_position + yGridSpacing * yCount,
|
|
|
|
|
|
|
|
yProbe = floor(yProbe + (yProbe < 0 ? 0 : 0.5));
|
|
|
|
int xStart, xStop, xInc;
|
|
|
|
int xStart, xStop, xInc;
|
|
|
|
|
|
|
|
|
|
|
|
if (zig) {
|
|
|
|
if (zig) {
|
|
|
@ -3634,13 +3662,13 @@ inline void gcode_G28() {
|
|
|
|
zig = !zig;
|
|
|
|
zig = !zig;
|
|
|
|
|
|
|
|
|
|
|
|
for (int xCount = xStart; xCount != xStop; xCount += xInc) {
|
|
|
|
for (int xCount = xStart; xCount != xStop; xCount += xInc) {
|
|
|
|
double xProbe = left_probe_bed_position + xGridSpacing * xCount;
|
|
|
|
float xBase = left_probe_bed_position + xGridSpacing * xCount,
|
|
|
|
|
|
|
|
xProbe = floor(xProbe + (xProbe < 0 ? 0 : 0.5));
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(DELTA)
|
|
|
|
#if ENABLED(DELTA)
|
|
|
|
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
|
|
|
|
// Avoid probing outside the round or hexagonal area of a delta printer
|
|
|
|
float distance_from_center = HYPOT(xProbe, yProbe);
|
|
|
|
if (sq(xProbe) + sq(yProbe) > sq(DELTA_PROBEABLE_RADIUS)) continue;
|
|
|
|
if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
|
|
|
|
#endif
|
|
|
|
#endif //DELTA
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
|
|
|
|
float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
|
|
|
|
|
|
|
|
|
|
|
@ -7875,12 +7903,12 @@ void clamp_to_software_endstops(float target[3]) {
|
|
|
|
|
|
|
|
|
|
|
|
// Adjust print surface height by linear interpolation over the bed_level array.
|
|
|
|
// Adjust print surface height by linear interpolation over the bed_level array.
|
|
|
|
void adjust_delta(float cartesian[3]) {
|
|
|
|
void adjust_delta(float cartesian[3]) {
|
|
|
|
if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
|
|
|
|
if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
|
|
|
|
|
|
|
|
|
|
|
|
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
|
|
|
|
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
|
|
|
|
float h1 = 0.001 - half, h2 = half - 0.001,
|
|
|
|
float h1 = 0.001 - half, h2 = half - 0.001,
|
|
|
|
grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / delta_grid_spacing[0])),
|
|
|
|
grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / delta_grid_spacing[X_AXIS])),
|
|
|
|
grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / delta_grid_spacing[1]));
|
|
|
|
grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / delta_grid_spacing[Y_AXIS]));
|
|
|
|
int floor_x = floor(grid_x), floor_y = floor(grid_y);
|
|
|
|
int floor_x = floor(grid_x), floor_y = floor(grid_y);
|
|
|
|
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
|
|
|
|
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
|
|
|
|
z1 = bed_level[floor_x + half][floor_y + half],
|
|
|
|
z1 = bed_level[floor_x + half][floor_y + half],
|
|
|
|