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Merge pull request #3946 from thinkyhead/rc_g28_servo_raise_before_stow
Raise the servo probe before stow outside ABL context
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -372,7 +372,7 @@ static uint8_t target_extruder; | |
| }; | ||
| #endif | ||
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| #if ENABLED(HAS_SERVO_ENDSTOPS) | ||
| const int servo_endstop_id[] = SERVO_ENDSTOP_IDS; | ||
| const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES; | ||
| #endif | ||
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@@ -724,7 +724,7 @@ void servo_init() { | |
| servo[3].detach(); | ||
| #endif | ||
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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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| inline void raise_z_after_probing() { | ||
| #if Z_RAISE_AFTER_PROBING > 0 | ||
| #if ENABLED(DEBUG_LEVELING_FEATURE) | ||
| if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("raise_z_after_probing()"); | ||
| #endif | ||
| do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); | ||
| #endif | ||
| } | ||
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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 ENABLED(HAS_SERVO_ENDSTOPS) | ||
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| // Engage Z Servo endstop if enabled | ||
| 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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| static void stow_z_probe(bool doRaise = true) { | ||
| #if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0)) | ||
| UNUSED(doRaise); | ||
| #endif | ||
| #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 ENABLED(HAS_SERVO_ENDSTOPS) | ||
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| // Retract Z Servo endstop if enabled | ||
| if (servo_endstop_id[Z_AXIS] >= 0) { | ||
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| #if Z_RAISE_AFTER_PROBING > 0 | ||
| if (doRaise) { | ||
| raise_z_after_probing(); // this also updates current_position | ||
| stepper.synchronize(); | ||
| } | ||
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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 ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED) | ||
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| void raise_z_for_servo() { | ||
| 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 | ||
| if (dock) { | ||
| raise_z_after_probing(); // raise Z | ||
| // Dock sled a bit closer to ensure proper capturing | ||
| do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); | ||
| digitalWrite(SLED_PIN, LOW); // turn off magnet | ||
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@@ -2173,33 +2168,36 @@ static void homeaxis(AxisEnum axis) { | |
| sync_plan_position(); | ||
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| #if ENABLED(Z_PROBE_SLED) | ||
| #define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z | ||
| #define _Z_SERVO_SUBTEST false // Z will never be invoked | ||
| #define _Z_DEPLOY (dock_sled(false)) | ||
| #define _Z_STOW (dock_sled(true)) | ||
| #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) | ||
| #define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z | ||
| #define _Z_SERVO_SUBTEST false // Z will never be invoked | ||
| #define _Z_DEPLOY (deploy_z_probe()) | ||
| #define _Z_STOW (stow_z_probe()) | ||
| #elif ENABLED(HAS_SERVO_ENDSTOPS) | ||
| #define _Z_SERVO_TEST true // Z not deployed yet | ||
| #define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe | ||
| #endif | ||
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| // If there's a Z probe that needs deployment... | ||
| #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) | ||
| // ...and homing Z towards the bed? Deploy it. | ||
| if (axis == Z_AXIS && axis_home_dir < 0) { | ||
| #if ENABLED(DEBUG_LEVELING_FEATURE) | ||
| if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY)); | ||
| #endif | ||
| _Z_DEPLOY; | ||
| } | ||
| #endif | ||
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| #if ENABLED(HAS_SERVO_ENDSTOPS) | ||
| // Engage an X, Y (or Z) Servo endstop if enabled | ||
| if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { | ||
| servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]); | ||
| if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true; | ||
| } | ||
| #endif | ||
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@@ -2316,7 +2314,7 @@ static void homeaxis(AxisEnum axis) { | |
| axis_known_position[axis] = true; | ||
| axis_homed[axis] = true; | ||
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| // Put away the Z probe with a function | ||
| #if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) | ||
| if (axis == Z_AXIS && axis_home_dir < 0) { | ||
| #if ENABLED(DEBUG_LEVELING_FEATURE) | ||
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@@ -2326,16 +2324,32 @@ static void homeaxis(AxisEnum axis) { | |
| } | ||
| #endif | ||
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| // Retract X, Y (or Z) Servo endstop if enabled | ||
| #if ENABLED(HAS_SERVO_ENDSTOPS) | ||
| if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { | ||
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thinkyhead
Author
Member
|
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| // Raise the servo probe before stow outside ABL context. | ||
| // This is a workaround to allow use of a Servo Probe without | ||
| // ABL until more global probe handling is implemented. | ||
| #if Z_RAISE_AFTER_PROBING > 0 | ||
| if (axis == Z_AXIS) { | ||
| #if ENABLED(DEBUG_LEVELING_FEATURE) | ||
| if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING); | ||
| #endif | ||
| current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING; | ||
| feedrate = homing_feedrate[Z_AXIS]; | ||
| line_to_current_position(); | ||
| stepper.synchronize(); | ||
| } | ||
| #endif | ||
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| #if ENABLED(DEBUG_LEVELING_FEATURE) | ||
| if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()"); | ||
| #endif | ||
| servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]); | ||
| if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false); | ||
| } | ||
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| #endif // HAS_SERVO_ENDSTOPS | ||
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| } | ||
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@@ -3564,7 +3578,7 @@ inline void gcode_G28() { | |
| // Allen Key Probe for Delta | ||
| #if ENABLED(Z_PROBE_ALLEN_KEY) || SERVO_LEVELING | ||
| stow_z_probe(); | ||
| #else | ||
| raise_z_after_probing(); // for non Allen Key probes, such as simple mechanical probe | ||
| #endif | ||
| #else // !DELTA | ||
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@@ -3624,7 +3638,7 @@ inline void gcode_G28() { | |
| #endif | ||
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| current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z) | ||
| #if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) | ||
| + Z_RAISE_AFTER_PROBING | ||
| #endif | ||
| ; | ||
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@@ -3639,9 +3653,9 @@ inline void gcode_G28() { | |
| // Sled assembly for Cartesian bots | ||
| #if ENABLED(Z_PROBE_SLED) | ||
| dock_sled(true); // dock the sled | ||
| #else | ||
| // Raise Z axis for non-delta and non servo based probes | ||
| #if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED) | ||
| raise_z_after_probing(); | ||
| #endif | ||
| #endif | ||
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@@ -3685,7 +3699,7 @@ inline void gcode_G28() { | |
| * G30: Do a single Z probe at the current XY | ||
| */ | ||
| inline void gcode_G30() { | ||
| #if ENABLED(HAS_SERVO_ENDSTOPS) | ||
| raise_z_for_servo(); | ||
| #endif | ||
| 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 ENABLED(HAS_SERVO_ENDSTOPS) | ||
| raise_z_for_servo(); | ||
| #endif | ||
| 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() { | |
| */ | ||
| inline void gcode_M400() { stepper.synchronize(); } | ||
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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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| /** | ||
| * M401: Engage Z Servo endstop if available | ||
| */ | ||
| inline void gcode_M401() { | ||
| #if ENABLED(HAS_SERVO_ENDSTOPS) | ||
| raise_z_for_servo(); | ||
| #endif | ||
| deploy_z_probe(); | ||
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@@ -5832,13 +5846,13 @@ inline void gcode_M400() { stepper.synchronize(); } | |
| * M402: Retract Z Servo endstop if enabled | ||
| */ | ||
| inline void gcode_M402() { | ||
| #if ENABLED(HAS_SERVO_ENDSTOPS) | ||
| raise_z_for_servo(); | ||
| #endif | ||
| stow_z_probe(false); | ||
| } | ||
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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() { | |
| gcode_M400(); | ||
| break; | ||
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| #if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED) | ||
| case 401: | ||
| gcode_M401(); | ||
| break; | ||
| case 402: | ||
| gcode_M402(); | ||
| break; | ||
| #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) | ||
| case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width | ||
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If I have the servo and the active abl, Z_SERVO_TEST = (axis! = Z_AXIS), so here goes only if axis is not Z_AXIS and then do not the Z_RAISE_AFTER_PROBING...