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Eliminate goto in gcode_G33

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This commit is contained in:
Scott Lahteine 2017-08-11 16:48:01 -05:00
parent 6bd63d27b5
commit 75e6ead5fd
1 changed files with 26 additions and 17 deletions
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43
Marlin/Marlin_main.cpp
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@ -5355,6 +5355,21 @@ void home_all_axes() { gcode_G28(true); }
}
}
void G33_cleanup(
#if HOTENDS > 1
const uint8_t old_tool_index
#endif
) {
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
do_blocking_move_to_z(delta_clip_start_height);
#endif
STOW_PROBE();
clean_up_after_endstop_or_probe_move();
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
}
inline void gcode_G33() {
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
@ -5431,10 +5446,15 @@ void home_all_axes() { gcode_G28(true); }
#if HAS_LEVELING
reset_bed_level(); // After calibration bed-level data is no longer valid
#endif
#if HOTENDS > 1
const uint8_t old_tool_index = active_extruder;
tool_change(0, 0, true);
#define G33_CLEANUP() G33_cleanup(old_tool_index)
#else
#define G33_CLEANUP() G33_cleanup()
#endif
setup_for_endstop_or_probe_move();
endstops.enable(true);
if (!home_delta())
@ -5453,10 +5473,8 @@ void home_all_axes() { gcode_G28(true); }
#if DISABLED(PROBE_MANUALLY)
const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
if (nan_error(measured_z))
goto FAIL;
else
home_offset[Z_AXIS] -= measured_z;
if (isnan(measured_z)) return G33_CLEANUP();
home_offset[Z_AXIS] -= measured_z;
#endif
do {
@ -5474,7 +5492,7 @@ void home_all_axes() { gcode_G28(true); }
z_at_pt[0] += lcd_probe_pt(0, 0);
#else
z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
if (nan_error(z_at_pt[0])) goto FAIL;
if (isnan(z_at_pt[0])) return G33_CLEANUP();
#endif
}
if (_7p_calibration) { // probe extra center points
@ -5484,7 +5502,7 @@ void home_all_axes() { gcode_G28(true); }
z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
#else
z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
if (nan_error(z_at_pt[0])) goto FAIL;
if (isnan(z_at_pt[0])) return G33_CLEANUP();
#endif
}
z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
@ -5505,7 +5523,7 @@ void home_all_axes() { gcode_G28(true); }
z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
#else
z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
if (nan_error(z_at_pt[axis])) goto FAIL;
if (isnan(z_at_pt[axis])) return G33_CLEANUP();
#endif
}
zig_zag = !zig_zag;
@ -5705,16 +5723,7 @@ void home_all_axes() { gcode_G28(true); }
}
while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations);
FAIL:
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
do_blocking_move_to_z(delta_clip_start_height);
#endif
STOW_PROBE();
clean_up_after_endstop_or_probe_move();
#if HOTENDS > 1
tool_change(old_tool_index, 0, true);
#endif
G33_CLEANUP();
}
#endif // DELTA_AUTO_CALIBRATION