Merge pull request #4093 from thinkyhead/rc_probe_without_abl

Make Z Probe options independent of ABL
MarlinFirmware · Jun 20, 2016 · f215b30 · f215b30
2 parents 7b5cd31 + 42ccb5b
commit f215b30
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Showing 24 changed files with 1,461 additions and 1,236 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -90,13 +90,17 @@ script:
   - opt_enable PIDTEMPBED
   - build_marlin
   #
-  # Test AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE with a Servo Probe
+  # Test a Servo Probe without leveling
   #
   - restore_configs
-  - opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE
   - opt_enable NUM_SERVOS Z_ENDSTOP_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE
   - build_marlin
   #
+  # Test AUTO_BED_LEVELING_FEATURE & DEBUG_LEVELING_FEATURE with a Servo Probe
+  #
+  - opt_enable AUTO_BED_LEVELING_FEATURE DEBUG_LEVELING_FEATURE
+  - build_marlin
+  #
   # Test MESH_BED_LEVELING feature, with LCD
   #
   - restore_configs

diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h
@@ -371,6 +371,15 @@
     #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
     #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
     #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
+
+    #ifndef XY_TRAVEL_SPEED
+      #ifdef HOMING_FEEDRATE_XYZ
+        #define XY_TRAVEL_SPEED HOMING_FEEDRATE_XYZ
+      #else
+        #define XY_TRAVEL_SPEED 4000
+      #endif
+    #endif
+
   #endif
 
   #define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
@@ -758,7 +767,7 @@
   #define HAS_BED_PROBE (PROBE_SELECTED && PROBE_PIN_CONFIGURED)
 
   /**
-   * Probe dependencies
+   * Bed Probe dependencies
    */
   #if HAS_BED_PROBE
     #ifndef X_PROBE_OFFSET_FROM_EXTRUDER

diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -409,6 +409,57 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 //============================= Z Probe Options =============================
 //===========================================================================
 
+//
+// Probe Type
+// Probes are sensors/switches that are activated / deactivated before/after use.
+//
+// Allen Key Probes, Servo Probes, Z-Sled Probes, FIX_MOUNTED_PROBE, etc.
+// You must activate one of these to use AUTO_BED_LEVELING_FEATURE below.
+//
+// Use M851 to set the Z probe vertical offset from the nozzle. Store with M500.
+//
+
+// A fix mounted probe, like the normal inductive probe, must be deactivated to go
+// below Z_PROBE_OFFSET_FROM_EXTRUDER when the hardware endstops are active.
+//#define FIX_MOUNTED_PROBE
+
+// Z Servo Probe, such as an endstop switch on a rotating arm.
+//#define Z_ENDSTOP_SERVO_NR 0
+//#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
+
+// Enable if you have a Z probe mounted on a sled like those designed by Charles Bell.
+//#define Z_PROBE_SLED
+//#define SLED_DOCKING_OFFSET 5 // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
+
+// A Mechanical Probe is any probe that either doesn't deploy or needs manual deployment
+// For example any setup that uses the nozzle itself as a probe.
+//#define MECHANICAL_PROBE
+
+// Z Probe to nozzle (X,Y) offset, relative to (0, 0).
+// X and Y offsets must be integers.
+//
+// In the following example the X and Y offsets are both positive:
+// #define X_PROBE_OFFSET_FROM_EXTRUDER 10
+// #define Y_PROBE_OFFSET_FROM_EXTRUDER 10
+//
+//    +-- BACK ---+
+//    |           |
+//  L |    (+) P  | R <-- probe (20,20)
+//  E |           | I
+//  F | (-) N (+) | G <-- nozzle (10,10)
+//  T |           | H
+//    |    (-)    | T
+//    |           |
+//    O-- FRONT --+
+//  (0,0)
+#define X_PROBE_OFFSET_FROM_EXTRUDER 10  // X offset: -left  +right  [of the nozzle]
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 10  // Y offset: -front +behind [the nozzle]
+#define Z_PROBE_OFFSET_FROM_EXTRUDER 0   // Z offset: -below +above  [the nozzle]
+
+//
+// Allen Key Probe is defined in the Delta example configurations.
+//
+
 // Enable Z_MIN_PROBE_ENDSTOP to use _both_ a Z Probe and a Z-min-endstop on the same machine.
 // With this option the Z_MIN_PROBE_PIN will only be used for probing, never for homing.
 //
@@ -453,12 +504,20 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 // If you're using the Z MIN endstop connector for your Z probe, this has no effect.
 //#define DISABLE_Z_MIN_PROBE_ENDSTOP
 
+//
 // Probe Raise options provide clearance for the probe to deploy and stow.
+//
 // For G28 these apply when the probe deploys and stows.
 // For G29 these apply before and after the full procedure.
 #define Z_RAISE_BEFORE_PROBING 15   // Raise before probe deploy (e.g., the first probe).
 #define Z_RAISE_AFTER_PROBING 15    // Raise before probe stow (e.g., the last probe).
 
+//
+// For M851 give a range for adjusting the Z probe offset
+//
+#define Z_PROBE_OFFSET_RANGE_MIN -20
+#define Z_PROBE_OFFSET_RANGE_MAX 20
+
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 // :{0:'Low',1:'High'}
 #define X_ENABLE_ON 0
@@ -606,54 +665,13 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 
   #endif // !AUTO_BED_LEVELING_GRID
 
-  // Z Probe to nozzle (X,Y) offset, relative to (0, 0).
-  // X and Y offsets must be integers.
-  //
-  // In the following example the X and Y offsets are both positive:
-  // #define X_PROBE_OFFSET_FROM_EXTRUDER 10
-  // #define Y_PROBE_OFFSET_FROM_EXTRUDER 10
-  //
-  //    +-- BACK ---+
-  //    |           |
-  //  L |    (+) P  | R <-- probe (20,20)
-  //  E |           | I
-  //  F | (-) N (+) | G <-- nozzle (10,10)
-  //  T |           | H
-  //    |    (-)    | T
-  //    |           |
-  //    O-- FRONT --+
-  //  (0,0)
-  #define X_PROBE_OFFSET_FROM_EXTRUDER 10  // X offset: -left  +right  [of the nozzle]
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER 10  // Y offset: -front +behind [the nozzle]
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER 0   // Z offset: -below +above  [the nozzle]
-
   #define XY_TRAVEL_SPEED 8000         // X and Y axis travel speed between probes, in mm/min.
 
   #define Z_RAISE_BETWEEN_PROBINGS 5  // How much the Z axis will be raised when traveling from between next probing points.
 
   //#define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" // These commands will be executed in the end of G29 routine.
                                                                              // Useful to retract a deployable Z probe.
 
-  // Probes are sensors/switches that need to be activated before they can be used
-  // and deactivated after their use.
-  // Allen Key Probes, Servo Probes, Z-Sled Probes, FIX_MOUNTED_PROBE, ... . You have to activate one of these for the AUTO_BED_LEVELING_FEATURE
-
-  // A fix mounted probe, like the normal inductive probe, must be deactivated to go below Z_PROBE_OFFSET_FROM_EXTRUDER
-  // when the hardware endstops are active.
-  //#define FIX_MOUNTED_PROBE
-
-  // A Servo Probe can be defined in the servo section below.
-
-  // An Allen Key Probe is currently predefined only in the delta example configurations.
-
-  // Enable if you have a Z probe mounted on a sled like those designed by Charles Bell.
-  //#define Z_PROBE_SLED
-  //#define SLED_DOCKING_OFFSET 5 // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
-
-  // A Mechanical Probe is any probe that either doesn't deploy or needs manual deployment
-  // For example any setup that uses the nozzle itself as a probe.
-  //#define MECHANICAL_PROBE
-
   // If you've enabled AUTO_BED_LEVELING_FEATURE and are using the Z Probe for Z Homing,
   // it is highly recommended you also enable Z_SAFE_HOMING below!
 
@@ -1151,14 +1169,6 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 //
 //#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
 
-// Servo Endstops
-//
-// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M851 to set the Z probe vertical offset from the nozzle. Store that setting with M500.
-//
-//#define Z_ENDSTOP_SERVO_NR 0
-//#define Z_SERVO_ANGLES {70,0} // Z Servo Extend and Retract angles
-
 // Servo deactivation
 //
 // With this option servos are powered only during movement, then turned off to prevent jitter.

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
@@ -1581,7 +1581,7 @@ static void setup_for_endstop_move() {
   endstops.enable();
 }
 
-#if ENABLED(AUTO_BED_LEVELING_FEATURE)
+#if HAS_BED_PROBE
 
   #if ENABLED(DELTA)
     /**
@@ -1598,6 +1598,71 @@ static void setup_for_endstop_move() {
     }
   #endif
 
+  /**
+   *  Plan a move to (X, Y, Z) and set the current_position
+   *  The final current_position may not be the one that was requested
+   */
+  static void do_blocking_move_to(float x, float y, float z) {
+    float old_feedrate = feedrate;
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) print_xyz("do_blocking_move_to", x, y, z);
+    #endif
+
+    #if ENABLED(DELTA)
+
+      feedrate =
+        #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+          xy_travel_speed
+        #else
+          min(planner.max_feedrate[X_AXIS], planner.max_feedrate[Y_AXIS]) * 60
+        #endif
+      ;
+
+      destination[X_AXIS] = x;
+      destination[Y_AXIS] = y;
+      destination[Z_AXIS] = z;
+
+      if (x == current_position[X_AXIS] && y == current_position[Y_AXIS])
+        prepare_move_to_destination_raw(); // this will also set_current_to_destination
+      else
+        prepare_move_to_destination();     // this will also set_current_to_destination
+
+    #else
+
+      feedrate = homing_feedrate[Z_AXIS];
+
+      current_position[Z_AXIS] = z;
+      line_to_current_position();
+      stepper.synchronize();
+
+      feedrate =
+        #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+          xy_travel_speed
+        #else
+          min(planner.max_feedrate[X_AXIS], planner.max_feedrate[Y_AXIS]) * 60
+        #endif
+      ;
+
+      current_position[X_AXIS] = x;
+      current_position[Y_AXIS] = y;
+      line_to_current_position();
+
+    #endif
+
+    stepper.synchronize();
+
+    feedrate = old_feedrate;
+  }
+
+  inline void do_blocking_move_to_z(float z) {
+    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
+  }
+
+#endif //HAS_BED_PROBE
+
+#if ENABLED(AUTO_BED_LEVELING_FEATURE)
+
   #if ENABLED(AUTO_BED_LEVELING_GRID)
 
     #if DISABLED(DELTA)
@@ -1757,51 +1822,6 @@ static void setup_for_endstop_move() {
     feedrate = old_feedrate;
   }
 
-  /**
-   *  Plan a move to (X, Y, Z) and set the current_position
-   *  The final current_position may not be the one that was requested
-   */
-  static void do_blocking_move_to(float x, float y, float z) {
-    float old_feedrate = feedrate;
-
-    #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) print_xyz("do_blocking_move_to", x, y, z);
-    #endif
-
-    #if ENABLED(DELTA)
-
-      feedrate = xy_travel_speed;
-
-      destination[X_AXIS] = x;
-      destination[Y_AXIS] = y;
-      destination[Z_AXIS] = z;
-
-      if (x == current_position[X_AXIS] && y == current_position[Y_AXIS])
-        prepare_move_to_destination_raw(); // this will also set_current_to_destination
-      else
-        prepare_move_to_destination();     // this will also set_current_to_destination
-
-    #else
-
-      feedrate = homing_feedrate[Z_AXIS];
-
-      current_position[Z_AXIS] = z;
-      line_to_current_position();
-      stepper.synchronize();
-
-      feedrate = xy_travel_speed;
-
-      current_position[X_AXIS] = x;
-      current_position[Y_AXIS] = y;
-      line_to_current_position();
-
-    #endif
-
-    stepper.synchronize();
-
-    feedrate = old_feedrate;
-  }
-
   inline void do_blocking_move_to_xy(float x, float y) {
     do_blocking_move_to(x, y, current_position[Z_AXIS]);
   }
@@ -1810,10 +1830,6 @@ static void setup_for_endstop_move() {
     do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
   }
 
-  inline void do_blocking_move_to_z(float z) {
-    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
-  }
-
   inline void raise_z_after_probing() {
     #if Z_RAISE_AFTER_PROBING > 0
       #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -2177,30 +2193,30 @@ static void setup_for_endstop_move() {
 
   #endif // DELTA
 
-  #if HAS_Z_SERVO_ENDSTOP
+#endif // AUTO_BED_LEVELING_FEATURE
 
-    /**
-     * Raise Z to a minimum height to make room for a servo to move
-     *
-     * zprobe_zoffset: Negative of the Z height where the probe engages
-     *         z_dest: The before / after probing raise distance
-     *
-     * The zprobe_zoffset is negative for a switch below the nozzle, so
-     * multiply by Z_HOME_DIR (-1) to move enough away from the bed.
-     */
-    void raise_z_for_servo(float z_dest) {
-      z_dest += home_offset[Z_AXIS];
+#if HAS_Z_SERVO_ENDSTOP
 
-      if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
-        z_dest -= zprobe_zoffset;
+  /**
+   * Raise Z to a minimum height to make room for a servo to move
+   *
+   * zprobe_zoffset: Negative of the Z height where the probe engages
+   *         z_dest: The before / after probing raise distance
+   *
+   * The zprobe_zoffset is negative for a switch below the nozzle, so
+   * multiply by Z_HOME_DIR (-1) to move enough away from the bed.
+   */
+  void raise_z_for_servo(float z_dest) {
+    z_dest += home_offset[Z_AXIS];
 
-      if (z_dest > current_position[Z_AXIS])
-        do_blocking_move_to_z(z_dest); // also updates current_position
-    }
+    if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
+      z_dest -= zprobe_zoffset;
 
-  #endif
+    if (z_dest > current_position[Z_AXIS])
+      do_blocking_move_to_z(z_dest); // also updates current_position
+  }
 
-#endif // AUTO_BED_LEVELING_FEATURE
+#endif
 
 #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
   static void axis_unhomed_error(bool xyz=false) {