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@ -372,7 +372,7 @@ static uint8_t target_extruder;
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};
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#endif
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#if HAS_SERVO_ENDSTOPS
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
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const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
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#endif
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@ -724,7 +724,7 @@ void servo_init() {
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servo[3].detach();
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#endif
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#if HAS_SERVO_ENDSTOPS
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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endstops.enable_z_probe(false);
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@ -1701,7 +1701,12 @@ static void setup_for_endstop_move() {
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}
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inline void raise_z_after_probing() {
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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#if Z_RAISE_AFTER_PROBING > 0
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()");
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#endif
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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#endif
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}
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static void clean_up_after_endstop_move() {
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@ -1724,7 +1729,7 @@ static void setup_for_endstop_move() {
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if (endstops.z_probe_enabled) return;
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#if HAS_SERVO_ENDSTOPS
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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// Engage Z Servo endstop if enabled
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if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
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@ -1811,7 +1816,7 @@ static void setup_for_endstop_move() {
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}
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static void stow_z_probe(bool doRaise = true) {
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#if !(HAS_SERVO_ENDSTOPS && (Z_RAISE_AFTER_PROBING > 0))
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#if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0))
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UNUSED(doRaise);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -1820,21 +1825,13 @@ static void setup_for_endstop_move() {
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if (!endstops.z_probe_enabled) return;
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#if HAS_SERVO_ENDSTOPS
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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// Retract Z Servo endstop if enabled
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if (servo_endstop_id[Z_AXIS] >= 0) {
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#if Z_RAISE_AFTER_PROBING > 0
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if (doRaise) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
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SERIAL_EOL;
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SERIAL_ECHO("> SERVO_ENDSTOPS > raise_z_after_probing()");
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SERIAL_EOL;
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}
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#endif
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raise_z_after_probing(); // this also updates current_position
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stepper.synchronize();
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}
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@ -2062,7 +2059,7 @@ static void setup_for_endstop_move() {
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#endif // DELTA
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#if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED)
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#if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED)
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void raise_z_for_servo() {
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float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
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@ -2122,9 +2119,7 @@ static void setup_for_endstop_move() {
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float oldXpos = current_position[X_AXIS]; // save x position
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if (dock) {
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#if Z_RAISE_AFTER_PROBING > 0
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raise_z_after_probing(); // raise Z
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#endif
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raise_z_after_probing(); // raise Z
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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@ -2173,33 +2168,36 @@ static void homeaxis(AxisEnum axis) {
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sync_plan_position();
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#if ENABLED(Z_PROBE_SLED)
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#define _Z_SERVO_TEST (axis != Z_AXIS) // deploy Z, servo.move XY
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#define _Z_PROBE_SUBTEST false // Z will never be invoked
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#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
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#define _Z_SERVO_SUBTEST false // Z will never be invoked
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#define _Z_DEPLOY (dock_sled(false))
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#define _Z_STOW (dock_sled(true))
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#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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#define _Z_SERVO_TEST (axis != Z_AXIS) // servo.move XY
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#define _Z_PROBE_SUBTEST false // Z will never be invoked
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#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
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#define _Z_SERVO_SUBTEST false // Z will never be invoked
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#define _Z_DEPLOY (deploy_z_probe())
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#define _Z_STOW (stow_z_probe())
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#elif HAS_SERVO_ENDSTOPS
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#define _Z_SERVO_TEST true // servo.move X, Y, Z
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#define _Z_PROBE_SUBTEST (axis == Z_AXIS) // Z is a probe
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#elif ENABLED(HAS_SERVO_ENDSTOPS)
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#define _Z_SERVO_TEST true // Z not deployed yet
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#define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe
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#endif
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if (axis == Z_AXIS) {
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// If there's a Z probe that needs deployment...
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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// ...and homing Z towards the bed? Deploy it.
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if (axis_home_dir < 0) _Z_DEPLOY;
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#endif
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}
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// If there's a Z probe that needs deployment...
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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// ...and homing Z towards the bed? Deploy it.
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if (axis == Z_AXIS && axis_home_dir < 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
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#endif
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_Z_DEPLOY;
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}
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#endif
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#if HAS_SERVO_ENDSTOPS
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// Engage an X or Y Servo endstop if enabled
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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// Engage an X, Y (or Z) Servo endstop if enabled
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if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
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servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
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if (_Z_PROBE_SUBTEST) endstops.z_probe_enabled = true;
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if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true;
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}
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#endif
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@ -2316,7 +2314,7 @@ static void homeaxis(AxisEnum axis) {
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axis_known_position[axis] = true;
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axis_homed[axis] = true;
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// Put away the Z probe
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// Put away the Z probe with a function
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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if (axis == Z_AXIS && axis_home_dir < 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -2326,16 +2324,32 @@ static void homeaxis(AxisEnum axis) {
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}
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#endif
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// Retract Servo endstop if enabled
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#if HAS_SERVO_ENDSTOPS
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// Retract X, Y (or Z) Servo endstop if enabled
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
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// Raise the servo probe before stow outside ABL context.
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// This is a workaround to allow use of a Servo Probe without
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// ABL until more global probe handling is implemented.
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#if Z_RAISE_AFTER_PROBING > 0
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if (axis == Z_AXIS) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
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#endif
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current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING;
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feedrate = homing_feedrate[Z_AXIS];
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line_to_current_position();
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stepper.synchronize();
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}
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
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#endif
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servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
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if (_Z_PROBE_SUBTEST) endstops.enable_z_probe(false);
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if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false);
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}
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#endif
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#endif // HAS_SERVO_ENDSTOPS
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}
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@ -3564,7 +3578,7 @@ inline void gcode_G28() {
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// Allen Key Probe for Delta
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#if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING
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stow_z_probe();
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#elif Z_RAISE_AFTER_PROBING > 0
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#else
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raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe
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#endif
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#else // !DELTA
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@ -3624,7 +3638,7 @@ inline void gcode_G28() {
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#endif
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current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
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#if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
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#if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
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+ Z_RAISE_AFTER_PROBING
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#endif
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;
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@ -3639,9 +3653,9 @@ inline void gcode_G28() {
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// Sled assembly for Cartesian bots
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(true); // dock the sled
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#elif Z_RAISE_AFTER_PROBING > 0
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#else
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// Raise Z axis for non-delta and non servo based probes
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#if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
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#if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
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raise_z_after_probing();
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#endif
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#endif
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@ -3685,7 +3699,7 @@ inline void gcode_G28() {
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* G30: Do a single Z probe at the current XY
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*/
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inline void gcode_G30() {
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#if HAS_SERVO_ENDSTOPS
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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|
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raise_z_for_servo();
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#endif
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|
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deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
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@ -3707,7 +3721,7 @@ inline void gcode_G28() {
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clean_up_after_endstop_move(); // Too early. must be done after the stowing.
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#if HAS_SERVO_ENDSTOPS
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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raise_z_for_servo();
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|
#endif
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|
|
stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
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|
@ -5816,13 +5830,13 @@ inline void gcode_M303() {
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*/
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inline void gcode_M400() { stepper.synchronize(); }
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))
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|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY))
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/**
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|
* M401: Engage Z Servo endstop if available
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*/
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|
|
inline void gcode_M401() {
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|
|
#if HAS_SERVO_ENDSTOPS
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|
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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|
|
raise_z_for_servo();
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|
#endif
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|
|
deploy_z_probe();
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|
@ -5832,13 +5846,13 @@ inline void gcode_M400() { stepper.synchronize(); }
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|
* M402: Retract Z Servo endstop if enabled
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|
*/
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|
|
inline void gcode_M402() {
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|
|
#if HAS_SERVO_ENDSTOPS
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|
|
#if ENABLED(HAS_SERVO_ENDSTOPS)
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|
|
raise_z_for_servo();
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|
|
#endif
|
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|
|
stow_z_probe(false);
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|
}
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|
#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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|
#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
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|
@ -7054,14 +7068,14 @@ void process_next_command() {
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|
gcode_M400();
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|
break;
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
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case 401:
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gcode_M401();
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break;
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case 402:
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gcode_M402();
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break;
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#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
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Scott Lahteine
10 years ago