Consolidate "bedlevel" code
This commit is contained in:
Scott Lahteine
335
Marlin/src/gcode/calibrate/G28.cpp
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335
Marlin/src/gcode/calibrate/G28.cpp
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#include "../gcode.h"
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#include "../../module/stepper.h"
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#include "../../module/endstops.h"
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#if HOTENDS > 1
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#include "../../module/tool_change.h"
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#endif
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#if HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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#include "../../lcd/ultralcd.h"
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#if ENABLED(QUICK_HOME)
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static void quick_home_xy() {
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// Pretend the current position is 0,0
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current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
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sync_plan_position();
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const int x_axis_home_dir =
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#if ENABLED(DUAL_X_CARRIAGE)
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x_home_dir(active_extruder)
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#else
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home_dir(X_AXIS)
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#endif
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;
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const float mlx = max_length(X_AXIS),
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mly = max_length(Y_AXIS),
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mlratio = mlx > mly ? mly / mlx : mlx / mly,
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fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
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do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
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endstops.hit_on_purpose(); // clear endstop hit flags
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current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
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}
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#endif // QUICK_HOME
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#if ENABLED(Z_SAFE_HOMING)
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inline void home_z_safely() {
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// Disallow Z homing if X or Y are unknown
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if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
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LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
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SERIAL_ECHO_START();
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SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
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return;
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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/**
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* Move the Z probe (or just the nozzle) to the safe homing point
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*/
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destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
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destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
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destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
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#if HOMING_Z_WITH_PROBE
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destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
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destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
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#endif
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if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
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#endif
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// This causes the carriage on Dual X to unpark
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#if ENABLED(DUAL_X_CARRIAGE)
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active_extruder_parked = false;
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#endif
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do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
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HOMEAXIS(Z);
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}
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else {
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LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
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SERIAL_ECHO_START();
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SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
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#endif
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}
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#endif // Z_SAFE_HOMING
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/**
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* G28: Home all axes according to settings
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*
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* Parameters
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*
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* None Home to all axes with no parameters.
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* With QUICK_HOME enabled XY will home together, then Z.
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*
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* Cartesian parameters
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*
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* X Home to the X endstop
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* Y Home to the Y endstop
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* Z Home to the Z endstop
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*
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*/
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void GcodeSuite::G28(const bool always_home_all) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPGM(">>> G28");
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log_machine_info();
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}
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#endif
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// Wait for planner moves to finish!
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stepper.synchronize();
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// Cancel the active G29 session
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#if ENABLED(PROBE_MANUALLY)
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g29_in_progress = false;
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#endif
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// Disable the leveling matrix before homing
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#if HAS_LEVELING
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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const bool ubl_state_at_entry = leveling_is_active();
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#endif
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set_bed_leveling_enabled(false);
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#endif
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#if ENABLED(CNC_WORKSPACE_PLANES)
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workspace_plane = PLANE_XY;
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#endif
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// Always home with tool 0 active
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#if HOTENDS > 1
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const uint8_t old_tool_index = active_extruder;
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tool_change(0, 0, true);
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#endif
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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extruder_duplication_enabled = false;
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#endif
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setup_for_endstop_or_probe_move();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
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#endif
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endstops.enable(true); // Enable endstops for next homing move
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#if ENABLED(DELTA)
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home_delta();
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UNUSED(always_home_all);
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#else // NOT DELTA
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const bool homeX = always_home_all || parser.seen('X'),
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homeY = always_home_all || parser.seen('Y'),
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homeZ = always_home_all || parser.seen('Z'),
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home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
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set_destination_to_current();
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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if (home_all || homeZ) {
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HOMEAXIS(Z);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
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#endif
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}
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#else
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if (home_all || homeX || homeY) {
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// Raise Z before homing any other axes and z is not already high enough (never lower z)
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destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
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if (destination[Z_AXIS] > current_position[Z_AXIS]) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING))
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SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
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#endif
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do_blocking_move_to_z(destination[Z_AXIS]);
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}
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}
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#endif
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#if ENABLED(QUICK_HOME)
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if (home_all || (homeX && homeY)) quick_home_xy();
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#endif
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#if ENABLED(HOME_Y_BEFORE_X)
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// Home Y
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if (home_all || homeY) {
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HOMEAXIS(Y);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
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#endif
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}
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#endif
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// Home X
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if (home_all || homeX) {
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#if ENABLED(DUAL_X_CARRIAGE)
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// Always home the 2nd (right) extruder first
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active_extruder = 1;
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HOMEAXIS(X);
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// Remember this extruder's position for later tool change
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inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
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// Home the 1st (left) extruder
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active_extruder = 0;
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HOMEAXIS(X);
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// Consider the active extruder to be parked
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COPY(raised_parked_position, current_position);
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delayed_move_time = 0;
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active_extruder_parked = true;
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#else
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HOMEAXIS(X);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
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#endif
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}
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#if DISABLED(HOME_Y_BEFORE_X)
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// Home Y
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if (home_all || homeY) {
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HOMEAXIS(Y);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
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#endif
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}
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#endif
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// Home Z last if homing towards the bed
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#if Z_HOME_DIR < 0
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if (home_all || homeZ) {
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#if ENABLED(Z_SAFE_HOMING)
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home_z_safely();
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#else
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HOMEAXIS(Z);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position);
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#endif
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} // home_all || homeZ
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#endif // Z_HOME_DIR < 0
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SYNC_PLAN_POSITION_KINEMATIC();
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#endif // !DELTA (G28)
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endstops.not_homing();
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#if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
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// move to a height where we can use the full xy-area
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do_blocking_move_to_z(delta_clip_start_height);
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#endif
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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set_bed_leveling_enabled(ubl_state_at_entry);
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#endif
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clean_up_after_endstop_or_probe_move();
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// Restore the active tool after homing
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#if HOTENDS > 1
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tool_change(old_tool_index, 0,
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#if ENABLED(PARKING_EXTRUDER)
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false // fetch the previous toolhead
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#else
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true
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#endif
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);
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#endif
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lcd_refresh();
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report_current_position();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
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#endif
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}
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