@ -41,6 +41,10 @@
# define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
# if defined(MESH_BED_LEVELING)
# include "mesh_bed_leveling.h"
# endif // MESH_BED_LEVELING
# include "ultralcd.h"
# include "planner.h"
# include "stepper.h"
@ -244,7 +248,7 @@ float volumetric_multiplier[EXTRUDERS] = {1.0
# endif
} ;
float current_position [ NUM_AXIS ] = { 0.0 , 0.0 , 0.0 , 0.0 } ;
float add_homing [ 3 ] = { 0 , 0 , 0 } ;
float home_offset [ 3 ] = { 0 , 0 , 0 } ;
# ifdef DELTA
float endstop_adj [ 3 ] = { 0 , 0 , 0 } ;
# endif
@ -980,7 +984,7 @@ static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
static float x_home_pos ( int extruder ) {
if ( extruder = = 0 )
return base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
return base_home_pos ( X_AXIS ) + home_offset [ X_AXIS ] ;
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
@ -1012,9 +1016,9 @@ static void axis_is_at_home(int axis) {
return ;
}
else if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & active_extruder = = 0 ) {
current_position [ X_AXIS ] = base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
min_pos [ X_AXIS ] = base_min_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
max_pos [ X_AXIS ] = min ( base_max_pos ( X_AXIS ) + add_homing [ X_AXIS ] ,
current_position [ X_AXIS ] = base_home_pos ( X_AXIS ) + home_offset [ X_AXIS ] ;
min_pos [ X_AXIS ] = base_min_pos ( X_AXIS ) + home_offset [ X_AXIS ] ;
max_pos [ X_AXIS ] = min ( base_max_pos ( X_AXIS ) + home_offset [ X_AXIS ] ,
max ( extruder_offset [ X_AXIS ] [ 1 ] , X2_MAX_POS ) - duplicate_extruder_x_offset ) ;
return ;
}
@ -1042,11 +1046,11 @@ static void axis_is_at_home(int axis) {
for ( i = 0 ; i < 2 ; i + + )
{
delta [ i ] - = add_homing [ i ] ;
delta [ i ] - = home_offset [ i ] ;
}
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO( add_homing [X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO( add_homing [Y_AXIS]);
// 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]);
@ -1064,14 +1068,14 @@ static void axis_is_at_home(int axis) {
}
else
{
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
current_position [ axis ] = base_home_pos ( axis ) + home_offset [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + home_offset [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + home_offset [ axis ] ;
}
# else
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
current_position [ axis ] = base_home_pos ( axis ) + home_offset [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + home_offset [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + home_offset [ axis ] ;
# endif
}
@ -1305,7 +1309,13 @@ static void engage_z_probe() {
static void retract_z_probe ( ) {
// Retract Z Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ Z_AXIS ] > - 1 ) {
if ( servo_endstops [ Z_AXIS ] > - 1 )
{
# if Z_RAISE_AFTER_PROBING > 0
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , Z_RAISE_AFTER_PROBING ) ;
st_synchronize ( ) ;
# endif
# if SERVO_LEVELING
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
@ -1318,7 +1328,7 @@ static void retract_z_probe() {
# elif defined(Z_PROBE_ALLEN_KEY)
// Move up for safety
feedrate = homing_feedrate [ X_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + 20 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + Z_RAISE_AFTER_PROBING ;
prepare_move_raw ( ) ;
// Move to the start position to initiate retraction
@ -1360,10 +1370,15 @@ static void retract_z_probe() {
}
enum ProbeAction { ProbeStay , ProbeEngage , ProbeRetract , ProbeEngageRetract } ;
enum ProbeAction {
ProbeStay = 0 ,
ProbeEngage = BIT ( 0 ) ,
ProbeRetract = BIT ( 1 ) ,
ProbeEngageAndRetract = ( ProbeEngage | ProbeRetract )
} ;
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt ( float x , float y , float z_before , ProbeAction retract_action = ProbeEngageRetract , int verbose_level = 1 ) {
static float probe_pt ( float x , float y , float z_before , ProbeAction retract_action = ProbeEngage And Retract, int verbose_level = 1 ) {
// move to right place
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , z_before ) ;
do_blocking_move_to ( x - X_PROBE_OFFSET_FROM_EXTRUDER , y - Y_PROBE_OFFSET_FROM_EXTRUDER , current_position [ Z_AXIS ] ) ;
@ -1737,6 +1752,11 @@ inline void gcode_G28() {
# endif
# endif
# if defined(MESH_BED_LEVELING)
uint8_t mbl_was_active = mbl . active ;
mbl . active = 0 ;
# endif // MESH_BED_LEVELING
saved_feedrate = feedrate ;
saved_feedmultiply = feedmultiply ;
feedmultiply = 100 ;
@ -1849,7 +1869,7 @@ inline void gcode_G28() {
if ( code_value_long ( ) ! = 0 ) {
current_position [ X_AXIS ] = code_value ( )
# ifndef SCARA
+ add_homing [ X_AXIS ]
+ home_offset [ X_AXIS ]
# endif
;
}
@ -1858,7 +1878,7 @@ inline void gcode_G28() {
if ( code_seen ( axis_codes [ Y_AXIS ] ) & & code_value_long ( ) ! = 0 ) {
current_position [ Y_AXIS ] = code_value ( )
# ifndef SCARA
+ add_homing [ Y_AXIS ]
+ home_offset [ Y_AXIS ]
# endif
;
}
@ -1932,7 +1952,7 @@ inline void gcode_G28() {
if ( code_seen ( axis_codes [ Z_AXIS ] ) & & code_value_long ( ) ! = 0 )
current_position [ Z_AXIS ] = code_value ( ) + add_homing [ Z_AXIS ] ;
current_position [ Z_AXIS ] = code_value ( ) + home_offset [ Z_AXIS ] ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( home_all_axis | | code_seen ( axis_codes [ Z_AXIS ] ) )
@ -1951,12 +1971,112 @@ inline void gcode_G28() {
enable_endstops ( false ) ;
# endif
# if defined(MESH_BED_LEVELING)
if ( mbl_was_active ) {
current_position [ X_AXIS ] = mbl . get_x ( 0 ) ;
current_position [ Y_AXIS ] = mbl . get_y ( 0 ) ;
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] ;
destination [ E_AXIS ] = current_position [ E_AXIS ] ;
feedrate = homing_feedrate [ X_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate , active_extruder ) ;
st_synchronize ( ) ;
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
mbl . active = 1 ;
}
# endif
feedrate = saved_feedrate ;
feedmultiply = saved_feedmultiply ;
previous_millis_cmd = millis ( ) ;
endstops_hit_on_purpose ( ) ;
}
# if defined(MESH_BED_LEVELING)
inline void gcode_G29 ( ) {
static int probe_point = - 1 ;
int state = 0 ;
if ( code_seen ( ' S ' ) | | code_seen ( ' s ' ) ) {
state = code_value_long ( ) ;
if ( state < 0 | | state > 2 ) {
SERIAL_PROTOCOLPGM ( " S out of range (0-2). \n " ) ;
return ;
}
}
if ( state = = 0 ) { // Dump mesh_bed_leveling
if ( mbl . active ) {
SERIAL_PROTOCOLPGM ( " Num X,Y: " ) ;
SERIAL_PROTOCOL ( MESH_NUM_X_POINTS ) ;
SERIAL_PROTOCOLPGM ( " , " ) ;
SERIAL_PROTOCOL ( MESH_NUM_Y_POINTS ) ;
SERIAL_PROTOCOLPGM ( " \n Z search height: " ) ;
SERIAL_PROTOCOL ( MESH_HOME_SEARCH_Z ) ;
SERIAL_PROTOCOLPGM ( " \n Measured points: \n " ) ;
for ( int y = 0 ; y < MESH_NUM_Y_POINTS ; y + + ) {
for ( int x = 0 ; x < MESH_NUM_X_POINTS ; x + + ) {
SERIAL_PROTOCOLPGM ( " " ) ;
SERIAL_PROTOCOL_F ( mbl . z_values [ y ] [ x ] , 5 ) ;
}
SERIAL_EOL ;
}
} else {
SERIAL_PROTOCOLPGM ( " Mesh bed leveling not active. \n " ) ;
}
} else if ( state = = 1 ) { // Begin probing mesh points
mbl . reset ( ) ;
probe_point = 0 ;
enquecommands_P ( PSTR ( " G28 " ) ) ;
enquecommands_P ( PSTR ( " G29 S2 " ) ) ;
} else if ( state = = 2 ) { // Goto next point
if ( probe_point < 0 ) {
SERIAL_PROTOCOLPGM ( " Mesh probing not started. \n " ) ;
return ;
}
int ix , iy ;
if ( probe_point = = 0 ) {
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
} else {
ix = ( probe_point - 1 ) % MESH_NUM_X_POINTS ;
iy = ( probe_point - 1 ) / MESH_NUM_X_POINTS ;
if ( iy & 1 ) { // Zig zag
ix = ( MESH_NUM_X_POINTS - 1 ) - ix ;
}
mbl . set_z ( ix , iy , current_position [ Z_AXIS ] ) ;
current_position [ Z_AXIS ] = MESH_HOME_SEARCH_Z ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , homing_feedrate [ X_AXIS ] / 60 , active_extruder ) ;
st_synchronize ( ) ;
}
if ( probe_point = = MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS ) {
SERIAL_PROTOCOLPGM ( " Mesh done. \n " ) ;
probe_point = - 1 ;
mbl . active = 1 ;
enquecommands_P ( PSTR ( " G28 " ) ) ;
return ;
}
ix = probe_point % MESH_NUM_X_POINTS ;
iy = probe_point / MESH_NUM_X_POINTS ;
if ( iy & 1 ) { // Zig zag
ix = ( MESH_NUM_X_POINTS - 1 ) - ix ;
}
current_position [ X_AXIS ] = mbl . get_x ( ix ) ;
current_position [ Y_AXIS ] = mbl . get_y ( iy ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , homing_feedrate [ X_AXIS ] / 60 , active_extruder ) ;
st_synchronize ( ) ;
probe_point + + ;
}
}
# endif
# ifdef ENABLE_AUTO_BED_LEVELING
// Define the possible boundaries for probing based on set limits
@ -2057,7 +2177,7 @@ inline void gcode_G28() {
# ifdef AUTO_BED_LEVELING_GRID
# ifndef DELTA
bool topo_flag = verbose_level > 2 | | code_seen ( ' T ' ) | | code_seen ( ' t ' ) ;
bool do_topography_map = verbose_level > 2 | | code_seen ( ' T ' ) | | code_seen ( ' t ' ) ;
# endif
if ( verbose_level > 0 )
@ -2112,15 +2232,16 @@ inline void gcode_G28() {
# ifdef Z_PROBE_SLED
dock_sled ( false ) ; // engage (un-dock) the probe
# elif not defined(SERVO_ENDSTOPS )
# elif defined(Z_PROBE_ALLEN_KEY )
engage_z_probe ( ) ;
# endif
st_synchronize ( ) ;
# ifdef DELTA
reset_bed_level ( ) ;
# else
# ifdef DELTA
reset_bed_level ( ) ;
# else
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
@ -2161,42 +2282,36 @@ inline void gcode_G28() {
delta_grid_spacing [ 1 ] = yGridSpacing ;
float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) {
z_offset + = code_value ( ) ;
}
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) z_offset + = code_value ( ) ;
# endif
int probePointCounter = 0 ;
bool zig = true ;
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 ;
int xStart , xStop , xInc ;
if ( zig )
{
if ( zig ) {
xStart = 0 ;
xStop = auto_bed_leveling_grid_points ;
xInc = 1 ;
zig = false ;
}
else
{
else {
xStart = auto_bed_leveling_grid_points - 1 ;
xStop = - 1 ;
xInc = - 1 ;
zig = true ;
}
# ifndef DELTA
// If topo_flag
// This gets the probe points in more readable order.
if ( ! topo_flag ) zig = ! zig ;
# endif
# ifndef DELTA
// If do_topography_map is set then don't zig-zag. Just scan in one direction.
// This gets the probe points in more readable order.
if ( ! do_topography_map ) zig = ! zig ;
# endif
for ( int xCount = xStart ; xCount ! = xStop ; xCount + = xInc )
{
for ( int xCount = xStart ; xCount ! = xStop ; xCount + = xInc ) {
double xProbe = left_probe_bed_position + xGridSpacing * xCount ;
// raise extruder
@ -2221,7 +2336,7 @@ inline void gcode_G28() {
act = ProbeStay ;
}
else
act = ProbeEngage Retract;
act = ProbeEngage And Retract;
measured_z = probe_pt ( xProbe , yProbe , z_before , act , verbose_level ) ;
@ -2263,49 +2378,31 @@ inline void gcode_G28() {
}
}
if ( topo_flag ) {
int xx , yy ;
// Show the Topography map if enabled
if ( do_topography_map ) {
SERIAL_PROTOCOLPGM ( " \n Bed Height Topography: \n " ) ;
# if TOPO_ORIGIN == OriginFrontLeft
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Back....| \n " ) ;
SERIAL_PROTOCOLPGM ( " |Left..Right| \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Front...| \n " ) ;
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
for ( yy = auto_bed_leveling_grid_points - 1 ; yy > = 0 ; yy - - )
# else
for ( yy = 0 ; yy < auto_bed_leveling_grid_points ; yy + + )
# endif
{
# if TOPO_ORIGIN == OriginBackRight
for ( xx = 0 ; xx < auto_bed_leveling_grid_points ; xx + + )
# else
for ( xx = auto_bed_leveling_grid_points - 1 ; xx > = 0 ; xx - - )
# endif
{
int ind =
# if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
yy * auto_bed_leveling_grid_points + xx
# elif TOPO_ORIGIN == OriginBackLeft
xx * auto_bed_leveling_grid_points + yy
# elif TOPO_ORIGIN == OriginFrontRight
abl2 - xx * auto_bed_leveling_grid_points - yy - 1
# endif
;
float diff = eqnBVector [ ind ] - mean ;
if ( diff > = 0.0 )
SERIAL_PROTOCOLPGM ( " + " ) ; // Include + for column alignment
else
SERIAL_PROTOCOLPGM ( " " ) ;
SERIAL_PROTOCOL_F ( diff , 5 ) ;
} // xx
SERIAL_EOL ;
} // yy
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Back....| \n " ) ;
SERIAL_PROTOCOLPGM ( " |Left..Right| \n " ) ;
SERIAL_PROTOCOLPGM ( " |...Front...| \n " ) ;
SERIAL_PROTOCOLPGM ( " +-----------+ \n " ) ;
for ( int yy = auto_bed_leveling_grid_points - 1 ; yy > = 0 ; yy - - ) {
for ( int xx = auto_bed_leveling_grid_points - 1 ; xx > = 0 ; xx - - ) {
int ind = yy * auto_bed_leveling_grid_points + xx ;
float diff = eqnBVector [ ind ] - mean ;
if ( diff > = 0.0 )
SERIAL_PROTOCOLPGM ( " + " ) ; // Include + for column alignment
else
SERIAL_PROTOCOLPGM ( " " ) ;
SERIAL_PROTOCOL_F ( diff , 5 ) ;
} // xx
SERIAL_EOL ;
} // yy
SERIAL_EOL ;
} //topo_flag
} //do_topography_map
set_bed_level_equation_lsq ( plane_equation_coefficients ) ;
@ -2327,18 +2424,15 @@ inline void gcode_G28() {
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeRetract , verbose_level ) ;
}
else {
z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING , verbose_level= verbose_level ) ;
z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , verbose_level= verbose_level ) ;
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , verbose_level= verbose_level ) ;
z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING , ProbeEngageAndRetract, verbose_level ) ;
z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeEngageAndRetract, verbose_level ) ;
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeEngageAndRetract, verbose_level ) ;
}
clean_up_after_endstop_move ( ) ;
set_bed_level_equation_3pts ( z_at_pt_1 , z_at_pt_2 , z_at_pt_3 ) ;
# endif // !AUTO_BED_LEVELING_GRID
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , Z_RAISE_AFTER_PROBING ) ;
st_synchronize ( ) ;
# ifndef DELTA
if ( verbose_level > 0 )
plan_bed_level_matrix . debug ( " \n \n Bed Level Correction Matrix: " ) ;
@ -2358,7 +2452,7 @@ inline void gcode_G28() {
# ifdef Z_PROBE_SLED
dock_sled ( true , - SLED_DOCKING_OFFSET ) ; // dock the probe, correcting for over-travel
# elif not defined(SERVO_ENDSTOPS )
# elif defined(Z_PROBE_ALLEN_KEY )
retract_z_probe ( ) ;
# endif
@ -2403,22 +2497,13 @@ inline void gcode_G92() {
if ( ! code_seen ( axis_codes [ E_AXIS ] ) )
st_synchronize ( ) ;
for ( int i = 0 ; i < NUM_AXIS ; i + + ) {
for ( int i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
if ( i = = E_AXIS ) {
current_position [ i ] = code_value ( ) ;
current_position [ i ] = code_value ( ) ;
if ( i = = E_AXIS )
plan_set_e_position ( current_position [ E_AXIS ] ) ;
}
else {
current_position [ i ] = code_value ( ) +
# ifdef SCARA
( ( i ! = X_AXIS & & i ! = Y_AXIS ) ? add_homing [ i ] : 0 )
# else
add_homing [ i ]
# endif
;
else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
}
}
}
@ -2562,13 +2647,13 @@ inline void gcode_M17() {
*/
inline void gcode_M28 ( ) {
char * codepos = strchr_pointer + 4 ;
char * starpos = strchr ( strchr_pointer + 4 , ' * ' ) ;
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . openFile ( strchr_pointer + 4 , false ) ;
card . openFile ( codepos , false ) ;
}
/**
@ -3355,9 +3440,9 @@ inline void gcode_M114() {
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA Cal - Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] + add_homing [ X_AXIS ] ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] + home_offset [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta (90): " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] - delta [ X_AXIS ] - 90 + add_homing [ Y_AXIS ] ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] - delta [ X_AXIS ] - 90 + home_offset [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA step Cal - Theta: " ) ;
@ -3575,12 +3660,12 @@ inline void gcode_M205() {
inline void gcode_M206 ( ) {
for ( int8_t i = X_AXIS ; i < = Z_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
add_homing [ i ] = code_value ( ) ;
home_offset [ i ] = code_value ( ) ;
}
}
# ifdef SCARA
if ( code_seen ( ' T ' ) ) add_homing [ X_AXIS ] = code_value ( ) ; // Theta
if ( code_seen ( ' P ' ) ) add_homing [ Y_AXIS ] = code_value ( ) ; // Psi
if ( code_seen ( ' T ' ) ) home_offset [ X_AXIS ] = code_value ( ) ; // Theta
if ( code_seen ( ' P ' ) ) home_offset [ Y_AXIS ] = code_value ( ) ; // Psi
# endif
}
@ -3967,18 +4052,13 @@ inline void gcode_M303() {
}
# ifdef SCARA
/**
* M360 : SCARA calibration : Move to cal - position ThetaA ( 0 deg calibration )
*/
inline bool gcode_M360 ( ) {
SERIAL_ECHOLN ( " Cal: Theta 0 " ) ;
bool SCARA_move_to_cal ( uint8_t delta_x , uint8_t delta_y ) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 0 ;
delta [ Y_AXIS ] = 120 ;
delta [ X_AXIS ] = delta_x ;
delta [ Y_AXIS ] = delta_y ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
@ -3989,25 +4069,20 @@ inline void gcode_M303() {
return false ;
}
/**
* M360 : SCARA calibration : Move to cal - position ThetaA ( 0 deg calibration )
*/
inline bool gcode_M360 ( ) {
SERIAL_ECHOLN ( " Cal: Theta 0 " ) ;
return SCARA_move_to_cal ( 0 , 120 ) ;
}
/**
* M361 : SCARA calibration : Move to cal - position ThetaB ( 90 deg calibration - steps per degree )
*/
inline bool gcode_M361 ( ) {
SERIAL_ECHOLN ( " Cal: Theta 90 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 90 ;
delta [ Y_AXIS ] = 130 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
return SCARA_move_to_cal ( 90 , 130 ) ;
}
/**
@ -4015,20 +4090,7 @@ inline void gcode_M303() {
*/
inline bool gcode_M362 ( ) {
SERIAL_ECHOLN ( " Cal: Psi 0 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 60 ;
delta [ Y_AXIS ] = 180 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
return SCARA_move_to_cal ( 60 , 180 ) ;
}
/**
@ -4036,20 +4098,7 @@ inline void gcode_M303() {
*/
inline bool gcode_M363 ( ) {
SERIAL_ECHOLN ( " Cal: Psi 90 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 50 ;
delta [ Y_AXIS ] = 90 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
return SCARA_move_to_cal ( 50 , 90 ) ;
}
/**
@ -4057,20 +4106,7 @@ inline void gcode_M303() {
*/
inline bool gcode_M364 ( ) {
SERIAL_ECHOLN ( " Cal: Theta-Psi 90 " ) ;
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 45 ;
delta [ Y_AXIS ] = 135 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
return SCARA_move_to_cal ( 45 , 135 ) ;
}
/**
@ -4661,6 +4697,12 @@ void process_commands() {
gcode_G28 ( ) ;
break ;
# if defined(MESH_BED_LEVELING)
case 29 : // G29 Handle mesh based leveling
gcode_G29 ( ) ;
break ;
# endif
# ifdef ENABLE_AUTO_BED_LEVELING
case 29 : // G29 Detailed Z-Probe, probes the bed at 3 or more points.
@ -5172,7 +5214,7 @@ void clamp_to_software_endstops(float target[3])
float negative_z_offset = 0 ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( Z_PROBE_OFFSET_FROM_EXTRUDER < 0 ) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( add_homing [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + add_homing [ Z_AXIS ] ;
if ( home_offset [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + home_offset [ Z_AXIS ] ;
# endif
if ( target [ Z_AXIS ] < min_pos [ Z_AXIS ] + negative_z_offset ) target [ Z_AXIS ] = min_pos [ Z_AXIS ] + negative_z_offset ;
@ -5280,6 +5322,81 @@ void prepare_move_raw()
}
# endif //DELTA
# if defined(MESH_BED_LEVELING)
# if !defined(MIN)
# define MIN(_v1, _v2) (((_v1) < (_v2)) ? (_v1) : (_v2))
# endif // ! MIN
// This function is used to split lines on mesh borders so each segment is only part of one mesh area
void mesh_plan_buffer_line ( float x , float y , float z , const float e , float feed_rate , const uint8_t & extruder , uint8_t x_splits = 0xff , uint8_t y_splits = 0xff )
{
if ( ! mbl . active ) {
plan_buffer_line ( x , y , z , e , feed_rate , extruder ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
return ;
}
int pix = mbl . select_x_index ( current_position [ X_AXIS ] ) ;
int piy = mbl . select_y_index ( current_position [ Y_AXIS ] ) ;
int ix = mbl . select_x_index ( x ) ;
int iy = mbl . select_y_index ( y ) ;
pix = MIN ( pix , MESH_NUM_X_POINTS - 2 ) ;
piy = MIN ( piy , MESH_NUM_Y_POINTS - 2 ) ;
ix = MIN ( ix , MESH_NUM_X_POINTS - 2 ) ;
iy = MIN ( iy , MESH_NUM_Y_POINTS - 2 ) ;
if ( pix = = ix & & piy = = iy ) {
// Start and end on same mesh square
plan_buffer_line ( x , y , z , e , feed_rate , extruder ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
return ;
}
float nx , ny , ne , normalized_dist ;
if ( ix > pix & & ( x_splits ) & BIT ( ix ) ) {
nx = mbl . get_x ( ix ) ;
normalized_dist = ( nx - current_position [ X_AXIS ] ) / ( x - current_position [ X_AXIS ] ) ;
ny = current_position [ Y_AXIS ] + ( y - current_position [ Y_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
x_splits ^ = BIT ( ix ) ;
} else if ( ix < pix & & ( x_splits ) & BIT ( pix ) ) {
nx = mbl . get_x ( pix ) ;
normalized_dist = ( nx - current_position [ X_AXIS ] ) / ( x - current_position [ X_AXIS ] ) ;
ny = current_position [ Y_AXIS ] + ( y - current_position [ Y_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
x_splits ^ = BIT ( pix ) ;
} else if ( iy > piy & & ( y_splits ) & BIT ( iy ) ) {
ny = mbl . get_y ( iy ) ;
normalized_dist = ( ny - current_position [ Y_AXIS ] ) / ( y - current_position [ Y_AXIS ] ) ;
nx = current_position [ X_AXIS ] + ( x - current_position [ X_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
y_splits ^ = BIT ( iy ) ;
} else if ( iy < piy & & ( y_splits ) & BIT ( piy ) ) {
ny = mbl . get_y ( piy ) ;
normalized_dist = ( ny - current_position [ Y_AXIS ] ) / ( y - current_position [ Y_AXIS ] ) ;
nx = current_position [ X_AXIS ] + ( x - current_position [ X_AXIS ] ) * normalized_dist ;
ne = current_position [ E_AXIS ] + ( e - current_position [ E_AXIS ] ) * normalized_dist ;
y_splits ^ = BIT ( piy ) ;
} else {
// Already split on a border
plan_buffer_line ( x , y , z , e , feed_rate , extruder ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
return ;
}
// Do the split and look for more borders
destination [ X_AXIS ] = nx ;
destination [ Y_AXIS ] = ny ;
destination [ E_AXIS ] = ne ;
mesh_plan_buffer_line ( nx , ny , z , ne , feed_rate , extruder , x_splits , y_splits ) ;
destination [ X_AXIS ] = x ;
destination [ Y_AXIS ] = y ;
destination [ E_AXIS ] = e ;
mesh_plan_buffer_line ( x , y , z , e , feed_rate , extruder , x_splits , y_splits ) ;
}
# endif // MESH_BED_LEVELING
void prepare_move ( )
{
clamp_to_software_endstops ( destination ) ;
@ -5395,10 +5512,14 @@ for (int s = 1; s <= steps; s++) {
# if ! (defined DELTA || defined SCARA)
// Do not use feedmultiply for E or Z only moves
if ( ( current_position [ X_AXIS ] = = destination [ X_AXIS ] ) & & ( current_position [ Y_AXIS ] = = destination [ Y_AXIS ] ) ) {
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
}
else {
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
} else {
# if defined(MESH_BED_LEVELING)
mesh_plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 , active_extruder ) ;
return ;
# else
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 , active_extruder ) ;
# endif // MESH_BED_LEVELING
}
# endif // !(DELTA || SCARA)
CONSULitAS
10 years ago