Make use of the good features of a sled probe for all probes.
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.
This commit is contained in:
AnHardt
parent
8555816a11
commit
16c83d203b
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@ -1735,7 +1735,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif //HAS_BED_PROBE
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#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
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#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
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static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
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const bool xx = x && !axis_homed[X_AXIS],
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yy = y && !axis_homed[Y_AXIS],
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@ -1783,16 +1783,10 @@ static void clean_up_after_endstop_or_probe_move() {
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}
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#endif
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if (axis_unhomed_error(true, false, false)) return;
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float oldXpos = current_position[X_AXIS]; // save x position
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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 - ((stow) ? 1 : 0));
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digitalWrite(SLED_PIN, !stow); // switch solenoid
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do_blocking_move_to_x(oldXpos); // return to position before docking
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}
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#endif // Z_PROBE_SLED
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@ -1964,110 +1958,69 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif
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#endif
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static void deploy_z_probe() {
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#define DEPLOY_PROBE() set_probe_deployed( true )
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#define STOW_PROBE() set_probe_deployed( false )
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// returns false for ok and true for failure
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static bool set_probe_deployed(bool deploy) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
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if (DEBUGGING(LEVELING)) {
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DEBUG_POS("set_probe_deployed", current_position);
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SERIAL_ECHOPAIR("deploy: ", deploy);
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}
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#endif
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if (endstops.z_probe_enabled) return;
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if (endstops.z_probe_enabled == deploy) return false;
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// Make room for probe
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do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
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#if ENABLED(Z_PROBE_SLED)
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if (axis_unhomed_error(true, false, false)) { stop(); return true; }
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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if (axis_unhomed_error(true, true, true )) { stop(); return true; }
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#endif
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float oldXpos = current_position[X_AXIS]; // save x position
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float oldYpos = current_position[Y_AXIS]; // save y position
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#ifdef _TRIGGERED_WHEN_STOWED_TEST
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// If endstop is already false, the Z probe is deployed
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if (_TRIGGERED_WHEN_STOWED_TEST) { // closed after the probe specific actions.
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// Would a goto be less ugly?
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if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
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// Would a goto be less ugly?
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//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
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// for a triggered when stowed manual probe.
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#endif
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(false);
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dock_sled(!deploy);
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#elif HAS_Z_SERVO_ENDSTOP
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// Engage Z Servo endstop if enabled
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DEPLOY_Z_SERVO();
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servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[((deploy) ? 0 : 1)]);
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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run_deploy_moves_script();
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#else
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if (!deploy) run_stow_moves_script();
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else run_deploy_moves_script();
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#else
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// Nothing to be done. Just enable_z_probe below...
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#endif
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#ifdef _TRIGGERED_WHEN_STOWED_TEST
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}; // opened before the probe specific actions
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if (_TRIGGERED_WHEN_STOWED_TEST) {
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if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {
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if (IsRunning()) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed");
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LCD_ALERTMESSAGEPGM("Err: ZPROBE");
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}
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stop();
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}
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#endif
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endstops.enable_z_probe();
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}
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static void stow_z_probe() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
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#endif
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if (!endstops.z_probe_enabled) return;
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// Make more room for the servo
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do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
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#ifdef _TRIGGERED_WHEN_STOWED_TEST
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// If endstop is already false, the Z probe is deployed
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if (!_TRIGGERED_WHEN_STOWED_TEST) { // closed after the probe specific actions.
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// Would a goto be less ugly?
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//while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
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// for a triggered when stowed manual probe.
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(true);
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#elif HAS_Z_SERVO_ENDSTOP
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// Change the Z servo angle
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STOW_Z_SERVO();
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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run_stow_moves_script();
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#else
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// Nothing to do here. Just clear endstops.z_probe_enabled
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#endif
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#ifdef _TRIGGERED_WHEN_STOWED_TEST
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}; // opened before the probe specific actions
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if (!_TRIGGERED_WHEN_STOWED_TEST) {
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if (IsRunning()) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Z-Probe failed!");
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LCD_ALERTMESSAGEPGM("Err: ZPROBE");
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}
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stop();
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return true;
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}
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#endif
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endstops.enable_z_probe(false);
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do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
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endstops.enable_z_probe( deploy );
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return false;
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}
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// Do a single Z probe and return with current_position[Z_AXIS]
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@ -2200,7 +2153,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
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#endif
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deploy_z_probe();
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if (DEPLOY_PROBE()) return NAN;
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float measured_z = run_z_probe();
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@ -2208,7 +2161,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
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#endif
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stow_z_probe();
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if (STOW_PROBE()) return NAN;
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}
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else {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -2416,7 +2369,7 @@ static void homeaxis(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
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#endif
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deploy_z_probe();
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if (DEPLOY_PROBE()) return;
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}
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#endif
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@ -2543,7 +2496,7 @@ static void homeaxis(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
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#endif
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stow_z_probe();
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if (STOW_PROBE()) return;
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}
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#endif
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@ -3457,12 +3410,7 @@ inline void gcode_G28() {
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}
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bool dryrun = code_seen('D');
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#if ENABLED(Z_PROBE_ALLEN_KEY)
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const bool stow_probe_after_each = false;
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#else
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bool stow_probe_after_each = code_seen('E');
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#endif
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bool stow_probe_after_each = code_seen('E');
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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@ -3561,8 +3509,8 @@ inline void gcode_G28() {
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setup_for_endstop_or_probe_move();
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// Deploy the probe. Servo will raise if needed.
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deploy_z_probe();
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// Deploy the probe. Probe will raise if needed.
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if (DEPLOY_PROBE()) return;
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bed_leveling_in_progress = true;
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@ -3667,7 +3615,7 @@ inline void gcode_G28() {
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#endif // !AUTO_BED_LEVELING_GRID
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// Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe.
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stow_z_probe();
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if (STOW_PROBE()) return;
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// Restore state after probing
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clean_up_after_endstop_or_probe_move();
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@ -3874,12 +3822,12 @@ inline void gcode_G28() {
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/**
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* G31: Deploy the Z probe
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*/
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inline void gcode_G31() { deploy_z_probe(); }
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inline void gcode_G31() { DEPLOY_PROBE(); }
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/**
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* G32: Stow the Z probe
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*/
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inline void gcode_G32() { stow_z_probe(); }
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inline void gcode_G32() { STOW_PROBE(); }
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#endif // Z_PROBE_SLED
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@ -4220,11 +4168,7 @@ inline void gcode_M42() {
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float X_current = current_position[X_AXIS],
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Y_current = current_position[Y_AXIS];
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#if ENABLED(Z_PROBE_ALLEN_KEY)
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const bool stow_probe_after_each = false;
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#else
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bool stow_probe_after_each = code_seen('E');
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#endif
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bool stow_probe_after_each = code_seen('E');
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float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
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#if DISABLED(DELTA)
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@ -4391,7 +4335,7 @@ inline void gcode_M42() {
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} // End of probe loop
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stow_z_probe();
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if (STOW_PROBE()) return;
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if (verbose_level > 0) {
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SERIAL_PROTOCOLPGM("Mean: ");
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@ -5967,12 +5911,12 @@ inline void gcode_M400() { stepper.synchronize(); }
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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() { deploy_z_probe(); }
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inline void gcode_M401() { DEPLOY_PROBE(); }
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/**
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* M402: Retract Z Servo endstop if enabled
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*/
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inline void gcode_M402() { stow_z_probe(); }
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inline void gcode_M402() { STOW_PROBE(); }
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#endif // HAS_BED_PROBE
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@ -425,14 +425,11 @@
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#endif
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/**
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* Allen Key Z probe requires Delta and Auto Bed Leveling grid
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* Allen Key
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* Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis.
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*/
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#if ENABLED(Z_PROBE_ALLEN_KEY)
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#if !ENABLED(DELTA)
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#error "Z_PROBE_ALLEN_KEY is only usable with DELTA."
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#elif ENABLED(MESH_BED_LEVELING) || (ENABLED(AUTO_BED_LEVELING_FEATURE) && !ENABLED(AUTO_BED_LEVELING_GRID))
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#error "Z_PROBE_ALLEN_KEY can only use AUTO_BED_LEVELING_GRID leveling."
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#endif
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#if ENABLED(Z_PROBE_ALLEN_KEY) && (Z_HOME_DIR < 0) && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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#error "You can't home to a z min endstop with a Z_PROBE_ALLEN_KEY"
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#endif
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/**
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