Skip to content

Commit

Permalink
Make use of the good features of a sled probe for all probes.
Browse files Browse the repository at this point in the history 
Move and extend axis_unhomed test to deploy/stow_z_probe().
Move and extend position store/restore to deploy/stow_z_probe().

Now all kinds of probes can use the 'E' parameter in G29/M48.
Allen key probes can be used now for grid and 3-point levelling.

Deploying the Allen Key probe uses big moves in z direction.
Too dangerous for an unhomed z-axis.
Throw a compile time error when we try to configure an
Allen Key probe homing to z-min and having no other z-min-endstop.
  • Loading branch information
@AnHardt
AnHardt committed Jul 6, 2016
1 parent 8555816 commit 16c83d2
Show file tree
Hide file tree
Showing 2 changed files with 49 additions and 108 deletions.
146 changes: 45 additions & 101 deletions Marlin/Marlin_main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1735,7 +1735,7 @@ static void clean_up_after_endstop_or_probe_move() {

#endif //HAS_BED_PROBE

#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
Expand Down Expand Up @@ -1783,16 +1783,10 @@ static void clean_up_after_endstop_or_probe_move() {
}
#endif

if (axis_unhomed_error(true, false, false)) return;

float oldXpos = current_position[X_AXIS]; // save x position

// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
digitalWrite(SLED_PIN, !stow); // switch solenoid

do_blocking_move_to_x(oldXpos); // return to position before docking

}

#endif // Z_PROBE_SLED
Expand Down Expand Up @@ -1964,110 +1958,69 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
#endif

static void deploy_z_probe() {
#define DEPLOY_PROBE() set_probe_deployed( true )
#define STOW_PROBE() set_probe_deployed( false )

// returns false for ok and true for failure
static bool set_probe_deployed(bool deploy) {

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
SERIAL_ECHOPAIR("deploy: ", deploy);
}
#endif

if (endstops.z_probe_enabled) return;
if (endstops.z_probe_enabled == deploy) return false;

// Make room for probe
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);

#ifdef _TRIGGERED_WHEN_STOWED_TEST
// If endstop is already false, the Z probe is deployed
if (_TRIGGERED_WHEN_STOWED_TEST) { // closed after the probe specific actions.
// Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
// for a triggered when stowed manual probe.
#endif

#if ENABLED(Z_PROBE_SLED)

dock_sled(false);

#elif HAS_Z_SERVO_ENDSTOP

// Engage Z Servo endstop if enabled
DEPLOY_Z_SERVO();

if (axis_unhomed_error(true, false, false)) { stop(); return true; }
#elif ENABLED(Z_PROBE_ALLEN_KEY)

run_deploy_moves_script();

#else

// Nothing to be done. Just enable_z_probe below...

if (axis_unhomed_error(true, true, true )) { stop(); return true; }
#endif

#ifdef _TRIGGERED_WHEN_STOWED_TEST
}; // opened before the probe specific actions

if (_TRIGGERED_WHEN_STOWED_TEST) {
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
}
#endif

endstops.enable_z_probe();
}

static void stow_z_probe() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
#endif

if (!endstops.z_probe_enabled) return;

// Make more room for the servo
do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
float oldXpos = current_position[X_AXIS]; // save x position
float oldYpos = current_position[Y_AXIS]; // save y position

#ifdef _TRIGGERED_WHEN_STOWED_TEST
// If endstop is already false, the Z probe is deployed
if (!_TRIGGERED_WHEN_STOWED_TEST) { // closed after the probe specific actions.
// Would a goto be less ugly?
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
// Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
// for a triggered when stowed manual probe.
#endif

#if ENABLED(Z_PROBE_SLED)

dock_sled(true);

#if ENABLED(Z_PROBE_SLED)
dock_sled(!deploy);
#elif HAS_Z_SERVO_ENDSTOP

// Change the Z servo angle
STOW_Z_SERVO();

servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[((deploy) ? 0 : 1)]);
#elif ENABLED(Z_PROBE_ALLEN_KEY)

run_stow_moves_script();

#else

// Nothing to do here. Just clear endstops.z_probe_enabled

if (!deploy) run_stow_moves_script();
else run_deploy_moves_script();
#else
// Nothing to be done. Just enable_z_probe below...
#endif

#ifdef _TRIGGERED_WHEN_STOWED_TEST
}; // opened before the probe specific actions
if (!_TRIGGERED_WHEN_STOWED_TEST) {

if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {
if (IsRunning()) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed!");
SERIAL_ERRORLNPGM("Z-Probe failed");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
return true;
}
#endif

endstops.enable_z_probe(false);
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
endstops.enable_z_probe( deploy );
return false;
}

// Do a single Z probe and return with current_position[Z_AXIS]
Expand Down Expand Up @@ -2200,15 +2153,15 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
deploy_z_probe();
if (DEPLOY_PROBE()) return NAN;

float measured_z = run_z_probe();

if (stow) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
stow_z_probe();
if (STOW_PROBE()) return NAN;
}
else {
#if ENABLED(DEBUG_LEVELING_FEATURE)
Expand Down Expand Up @@ -2416,7 +2369,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
deploy_z_probe();
if (DEPLOY_PROBE()) return;
}
#endif

Expand Down Expand Up @@ -2543,7 +2496,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
stow_z_probe();
if (STOW_PROBE()) return;
}
#endif

Expand Down Expand Up @@ -3457,12 +3410,7 @@ inline void gcode_G28() {
}

bool dryrun = code_seen('D');

#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E');
#endif
bool stow_probe_after_each = code_seen('E');

#if ENABLED(AUTO_BED_LEVELING_GRID)

Expand Down Expand Up @@ -3561,8 +3509,8 @@ inline void gcode_G28() {

setup_for_endstop_or_probe_move();

// Deploy the probe. Servo will raise if needed.
deploy_z_probe();
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) return;

bed_leveling_in_progress = true;

Expand Down Expand Up @@ -3667,7 +3615,7 @@ inline void gcode_G28() {
#endif // !AUTO_BED_LEVELING_GRID

// Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe.
stow_z_probe();
if (STOW_PROBE()) return;

// Restore state after probing
clean_up_after_endstop_or_probe_move();
Expand Down Expand Up @@ -3874,12 +3822,12 @@ inline void gcode_G28() {
/**
* G31: Deploy the Z probe
*/
inline void gcode_G31() { deploy_z_probe(); }
inline void gcode_G31() { DEPLOY_PROBE(); }

/**
* G32: Stow the Z probe
*/
inline void gcode_G32() { stow_z_probe(); }
inline void gcode_G32() { STOW_PROBE(); }

#endif // Z_PROBE_SLED

Expand Down Expand Up @@ -4220,11 +4168,7 @@ inline void gcode_M42() {
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];

#if ENABLED(Z_PROBE_ALLEN_KEY)
const bool stow_probe_after_each = false;
#else
bool stow_probe_after_each = code_seen('E');
#endif
bool stow_probe_after_each = code_seen('E');

float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
#if DISABLED(DELTA)
Expand Down Expand Up @@ -4391,7 +4335,7 @@ inline void gcode_M42() {

} // End of probe loop

stow_z_probe();
if (STOW_PROBE()) return;

if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
Expand Down Expand Up @@ -5967,12 +5911,12 @@ inline void gcode_M400() { stepper.synchronize(); }
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() { deploy_z_probe(); }
inline void gcode_M401() { DEPLOY_PROBE(); }

/**
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() { stow_z_probe(); }
inline void gcode_M402() { STOW_PROBE(); }

#endif // HAS_BED_PROBE

Expand Down
11 changes: 4 additions & 7 deletions Marlin/SanityCheck.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -425,14 +425,11 @@
#endif

/**
* Allen Key Z probe requires Delta and Auto Bed Leveling grid
* Allen Key
* Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis.
*/
#if ENABLED(Z_PROBE_ALLEN_KEY)
#if !ENABLED(DELTA)
#error "Z_PROBE_ALLEN_KEY is only usable with DELTA."
#elif ENABLED(MESH_BED_LEVELING) || (ENABLED(AUTO_BED_LEVELING_FEATURE) && !ENABLED(AUTO_BED_LEVELING_GRID))
#error "Z_PROBE_ALLEN_KEY can only use AUTO_BED_LEVELING_GRID leveling."
#endif
#if ENABLED(Z_PROBE_ALLEN_KEY) && (Z_HOME_DIR < 0) && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#error "You can't home to a z min endstop with a Z_PROBE_ALLEN_KEY"
#endif

/**
Expand Down

0 comments on commit 16c83d2

Please sign in to comment.