CMS/Marlin
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Debug messages for homing and leveling

Browse Source
This commit is contained in:
Scott Lahteine 2015-07-09 16:57:44 -07:00 committed by Richard Wackerbarth
parent 6292d9e815
commit 194f98ff95
1 changed files with 306 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

312
Marlin/Marlin_main.cpp
View File

@ -1033,6 +1033,19 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#endif //DUAL_X_CARRIAGE #endif //DUAL_X_CARRIAGE
#ifdef DEBUG_LEVELING
void print_xyz(const char *prefix, const float x, const float y, const float z) {
SERIAL_ECHO(prefix);
SERIAL_ECHOPAIR(": (", x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", z);
SERIAL_ECHOLNPGM(")");
}
void print_xyz(const char *prefix, const float xyz[]) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
#endif
static void set_axis_is_at_home(AxisEnum axis) { static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
@ -1098,6 +1111,12 @@ static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0 #if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset; if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset;
#endif #endif
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("set_axis_is_at_home ", (unsigned long)axis);
SERIAL_ECHOPAIR(" > (home_offset[axis]==", home_offset[axis]);
print_xyz(") > current_position", current_position);
#endif
} }
} }
@ -1143,6 +1162,9 @@ static void setup_for_endstop_move() {
saved_feedrate_multiplier = feedrate_multiplier; saved_feedrate_multiplier = feedrate_multiplier;
feedrate_multiplier = 100; feedrate_multiplier = 100;
refresh_cmd_timeout(); refresh_cmd_timeout();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
#endif
enable_endstops(true); enable_endstops(true);
} }
@ -1153,6 +1175,9 @@ static void setup_for_endstop_move() {
* Calculate delta, start a line, and set current_position to destination * Calculate delta, start a line, and set current_position to destination
*/ */
void prepare_move_raw() { void prepare_move_raw() {
#ifdef DEBUG_LEVELING
print_xyz("prepare_move_raw > destination", destination);
#endif
refresh_cmd_timeout(); refresh_cmd_timeout();
calculate_delta(destination); calculate_delta(destination);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder); plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder);
@ -1180,6 +1205,10 @@ static void setup_for_endstop_move() {
current_position[Y_AXIS] = corrected_position.y; current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z; current_position[Z_AXIS] = corrected_position.z;
#ifdef DEBUG_LEVELING
print_xyz("set_bed_level_equation_lsq > current_position", current_position);
#endif
sync_plan_position(); sync_plan_position();
} }
@ -1209,6 +1238,10 @@ static void setup_for_endstop_move() {
current_position[Y_AXIS] = corrected_position.y; current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z; current_position[Z_AXIS] = corrected_position.z;
#ifdef DEBUG_LEVELING
print_xyz("set_bed_level_equation_3pts > current_position", current_position);
#endif
sync_plan_position(); sync_plan_position();
} }
@ -1221,6 +1254,10 @@ static void setup_for_endstop_move() {
float start_z = current_position[Z_AXIS]; float start_z = current_position[Z_AXIS];
long start_steps = st_get_position(Z_AXIS); long start_steps = st_get_position(Z_AXIS);
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
#endif
// move down slowly until you find the bed // move down slowly until you find the bed
feedrate = homing_feedrate[Z_AXIS] / 4; feedrate = homing_feedrate[Z_AXIS] / 4;
destination[Z_AXIS] = -10; destination[Z_AXIS] = -10;
@ -1232,6 +1269,11 @@ static void setup_for_endstop_move() {
long stop_steps = st_get_position(Z_AXIS); long stop_steps = st_get_position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS]; float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm; current_position[Z_AXIS] = mm;
#ifdef DEBUG_LEVELING
print_xyz("run_z_probe (DELTA) 2 > current_position", current_position);
#endif
sync_plan_position_delta(); sync_plan_position_delta();
#else // !DELTA #else // !DELTA
@ -1265,6 +1307,10 @@ static void setup_for_endstop_move() {
// Get the current stepper position after bumping an endstop // Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
sync_plan_position(); sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("run_z_probe > current_position", current_position);
#endif
#endif // !DELTA #endif // !DELTA
} }
@ -1276,6 +1322,10 @@ static void setup_for_endstop_move() {
static void do_blocking_move_to(float x, float y, float z) { static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate; float oldFeedRate = feedrate;
#ifdef DEBUG_LEVELING
print_xyz("do_blocking_move_to", x, y, z);
#endif
#if ENABLED(DELTA) #if ENABLED(DELTA)
feedrate = XY_TRAVEL_SPEED; feedrate = XY_TRAVEL_SPEED;
@ -1312,6 +1362,9 @@ static void setup_for_endstop_move() {
static void clean_up_after_endstop_move() { static void clean_up_after_endstop_move() {
#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING) #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
#if ENABLED(DEBUG_LEVELING)
SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > enable_endstops(false)");
#endif
enable_endstops(false); enable_endstops(false);
#endif #endif
feedrate = saved_feedrate; feedrate = saved_feedrate;
@ -1321,6 +1374,10 @@ static void setup_for_endstop_move() {
static void deploy_z_probe() { static void deploy_z_probe() {
#ifdef DEBUG_LEVELING
print_xyz("deploy_z_probe > current_position", current_position);
#endif
#if HAS_SERVO_ENDSTOPS #if HAS_SERVO_ENDSTOPS
// Engage Z Servo endstop if enabled // Engage Z Servo endstop if enabled
@ -1411,6 +1468,10 @@ static void setup_for_endstop_move() {
static void stow_z_probe(bool doRaise=true) { static void stow_z_probe(bool doRaise=true) {
#ifdef DEBUG_LEVELING
print_xyz("stow_z_probe > current_position", current_position);
#endif
#if HAS_SERVO_ENDSTOPS #if HAS_SERVO_ENDSTOPS
// Retract Z Servo endstop if enabled // Retract Z Servo endstop if enabled
@ -1418,6 +1479,12 @@ static void setup_for_endstop_move() {
#if Z_RAISE_AFTER_PROBING > 0 #if Z_RAISE_AFTER_PROBING > 0
if (doRaise) { if (doRaise) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (after) by ", (float)Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
SERIAL_ECHOPAIR("> SERVO_ENDSTOPS > do_blocking_move_to_z ", current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
SERIAL_EOL;
#endif
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position
st_synchronize(); st_synchronize();
} }
@ -1506,19 +1573,51 @@ static void setup_for_endstop_move() {
// Probe bed height at position (x,y), returns the measured z value // Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) { static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("probe_pt >>>");
SERIAL_ECHOPAIR("> ProbeAction:", (unsigned long)probe_action);
SERIAL_EOL;
print_xyz("> current_position", current_position);
#endif
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
SERIAL_EOL;
SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
SERIAL_EOL;
#endif
// Move Z up to the z_before height, then move the Z probe to the given XY // Move Z up to the z_before height, then move the Z probe to the given XY
do_blocking_move_to_z(z_before); // this also updates current_position do_blocking_move_to_z(z_before); // this also updates current_position
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - X_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_ECHOPAIR(", ", y - Y_PROBE_OFFSET_FROM_EXTRUDER);
SERIAL_EOL;
#endif
do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position
#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY) #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeDeploy) deploy_z_probe(); if (probe_action & ProbeDeploy) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> ProbeDeploy");
#endif
deploy_z_probe();
}
#endif #endif
run_z_probe(); run_z_probe();
float measured_z = current_position[Z_AXIS]; float measured_z = current_position[Z_AXIS];
#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY) #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeStow) stow_z_probe(); if (probe_action & ProbeStow) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
#endif
stow_z_probe();
}
#endif #endif
if (verbose_level > 2) { if (verbose_level > 2) {
@ -1530,6 +1629,11 @@ static void setup_for_endstop_move() {
SERIAL_PROTOCOL_F(measured_z, 3); SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL; SERIAL_EOL;
} }
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
return measured_z; return measured_z;
} }
@ -1585,6 +1689,9 @@ static void setup_for_endstop_move() {
// Reset calibration results to zero. // Reset calibration results to zero.
void reset_bed_level() { void reset_bed_level() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("reset_bed_level");
#endif
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) { for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) { for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
bed_level[x][y] = 0.0; bed_level[x][y] = 0.0;
@ -1620,6 +1727,10 @@ static void setup_for_endstop_move() {
* offset[in] The additional distance to move to adjust docking location * offset[in] The additional distance to move to adjust docking location
*/ */
static void dock_sled(bool dock, int offset=0) { static void dock_sled(bool dock, int offset=0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("dock_sled", dock);
SERIAL_EOL;
#endif
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START; SERIAL_ECHO_START;
@ -1654,6 +1765,11 @@ static void setup_for_endstop_move() {
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
static void homeaxis(AxisEnum axis) { static void homeaxis(AxisEnum axis) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR(">>> homeaxis(", (unsigned long)axis);
SERIAL_CHAR(')');
SERIAL_EOL;
#endif
#define HOMEAXIS_DO(LETTER) \ #define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1)) ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
@ -1706,6 +1822,9 @@ static void homeaxis(AxisEnum axis) {
current_position[axis] = 0; current_position[axis] = 0;
sync_plan_position(); sync_plan_position();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(false)");
#endif
enable_endstops(false); // Disable endstops while moving away enable_endstops(false); // Disable endstops while moving away
// Move away from the endstop by the axis HOME_BUMP_MM // Move away from the endstop by the axis HOME_BUMP_MM
@ -1713,6 +1832,9 @@ static void homeaxis(AxisEnum axis) {
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(true)");
#endif
enable_endstops(true); // Enable endstops for next homing move enable_endstops(true); // Enable endstops for next homing move
// Slow down the feedrate for the next move // Slow down the feedrate for the next move
@ -1723,6 +1845,10 @@ static void homeaxis(AxisEnum axis) {
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
#ifdef DEBUG_LEVELING
print_xyz("> TRIGGER ENDSTOP > current_position", current_position);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) { if (axis == Z_AXIS) {
float adj = fabs(z_endstop_adj); float adj = fabs(z_endstop_adj);
@ -1751,19 +1877,39 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DELTA) #if ENABLED(DELTA)
// retrace by the amount specified in endstop_adj // retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * axis_home_dir < 0) { if (endstop_adj[axis] * axis_home_dir < 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(false)");
#endif
enable_endstops(false); // Disable endstops while moving away enable_endstops(false); // Disable endstops while moving away
sync_plan_position(); sync_plan_position();
destination[axis] = endstop_adj[axis]; destination[axis] = endstop_adj[axis];
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
print_xyz(" > destination", destination);
#endif
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> enable_endstops(true)");
#endif
enable_endstops(true); // Enable endstops for next homing move enable_endstops(true); // Enable endstops for next homing move
} }
#ifdef DEBUG_LEVELING
else {
SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
SERIAL_EOL;
}
#endif
#endif #endif
// Set the axis position to its home position (plus home offsets) // Set the axis position to its home position (plus home offsets)
set_axis_is_at_home(axis); set_axis_is_at_home(axis);
sync_plan_position(); sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("> AFTER set_axis_is_at_home > current_position", current_position);
#endif
destination[axis] = current_position[axis]; destination[axis] = current_position[axis];
feedrate = 0.0; feedrate = 0.0;
endstops_hit_on_purpose(); // clear endstop hit flags endstops_hit_on_purpose(); // clear endstop hit flags
@ -1780,7 +1926,12 @@ static void homeaxis(AxisEnum axis) {
// Deploy a Z probe if there is one, and homing towards the bed // Deploy a Z probe if there is one, and homing towards the bed
if (axis == Z_AXIS) { if (axis == Z_AXIS) {
if (axis_home_dir < 0) stow_z_probe(); if (axis_home_dir < 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> SERVO_LEVELING > stow_z_probe");
#endif
stow_z_probe();
}
} }
else else
@ -1789,12 +1940,22 @@ static void homeaxis(AxisEnum axis) {
{ {
#if HAS_SERVO_ENDSTOPS #if HAS_SERVO_ENDSTOPS
// Retract Servo endstop if enabled // Retract Servo endstop if enabled
if (servo_endstop_id[axis] >= 0) if (servo_endstop_id[axis] >= 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
#endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]); servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
}
#endif #endif
} }
} }
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("<<< homeaxis(", (unsigned long)axis);
SERIAL_CHAR(')');
SERIAL_EOL;
#endif
} }
#if ENABLED(FWRETRACT) #if ENABLED(FWRETRACT)
@ -1996,6 +2157,10 @@ inline void gcode_G4() {
*/ */
inline void gcode_G28() { inline void gcode_G28() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("gcode_G28 >>>");
#endif
// Wait for planner moves to finish! // Wait for planner moves to finish!
st_synchronize(); st_synchronize();
@ -2044,6 +2209,10 @@ inline void gcode_G28() {
sync_plan_position_delta(); sync_plan_position_delta();
#ifdef DEBUG_LEVELING
print_xyz("(DELTA) > current_position", current_position);
#endif
#else // NOT DELTA #else // NOT DELTA
bool homeX = code_seen(axis_codes[X_AXIS]), bool homeX = code_seen(axis_codes[X_AXIS]),
@ -2057,12 +2226,20 @@ inline void gcode_G28() {
#if Z_HOME_DIR > 0 // If homing away from BED do Z first #if Z_HOME_DIR > 0 // If homing away from BED do Z first
HOMEAXIS(Z); HOMEAXIS(Z);
#ifdef DEBUG_LEVELING
print_xyz("> HOMEAXIS(Z) > current_position", current_position);
#endif
#elif DISABLED(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0 #elif DISABLED(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
// Raise Z before homing any other axes // Raise Z before homing any other axes
// (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?) // (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?)
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> (home_all_axis || homeZ) > destination", destination);
#endif
feedrate = max_feedrate[Z_AXIS] * 60; feedrate = max_feedrate[Z_AXIS] * 60;
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
@ -2099,6 +2276,10 @@ inline void gcode_G28() {
set_axis_is_at_home(Y_AXIS); set_axis_is_at_home(Y_AXIS);
sync_plan_position(); sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("> QUICK_HOME > current_position 1", current_position);
#endif
destination[X_AXIS] = current_position[X_AXIS]; destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS]; destination[Y_AXIS] = current_position[Y_AXIS];
line_to_destination(); line_to_destination();
@ -2111,6 +2292,10 @@ inline void gcode_G28() {
#if DISABLED(SCARA) #if DISABLED(SCARA)
current_position[Z_AXIS] = destination[Z_AXIS]; current_position[Z_AXIS] = destination[Z_AXIS];
#endif #endif
#ifdef DEBUG_LEVELING
print_xyz("> QUICK_HOME > current_position 2", current_position);
#endif
} }
#endif // QUICK_HOME #endif // QUICK_HOME
@ -2137,11 +2322,19 @@ inline void gcode_G28() {
#else #else
HOMEAXIS(X); HOMEAXIS(X);
#endif #endif
#ifdef DEBUG_LEVELING
print_xyz("> homeX", current_position);
#endif
} }
#if DISABLED(HOME_Y_BEFORE_X) #if DISABLED(HOME_Y_BEFORE_X)
// Home Y // Home Y
if (home_all_axis || homeY) HOMEAXIS(Y); if (home_all_axis || homeY) {
HOMEAXIS(Y);
#ifdef DEBUG_LEVELING
print_xyz("> homeY", current_position);
#endif
}
#endif #endif
// Home Z last if homing towards the bed // Home Z last if homing towards the bed
@ -2151,6 +2344,10 @@ inline void gcode_G28() {
#if ENABLED(Z_SAFE_HOMING) #if ENABLED(Z_SAFE_HOMING)
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
#endif
if (home_all_axis) { if (home_all_axis) {
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
@ -2165,6 +2362,14 @@ inline void gcode_G28() {
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER); destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED; feedrate = XY_TRAVEL_SPEED;
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> home_all_axis > current_position", current_position);
print_xyz("> home_all_axis > destination", destination);
#endif
// This could potentially move X, Y, Z all together // This could potentially move X, Y, Z all together
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
@ -2197,6 +2402,14 @@ inline void gcode_G28() {
// NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...??? // NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...???
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s) feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> homeZ > current_position", current_position);
print_xyz("> homeZ > destination", destination);
#endif
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
@ -2217,12 +2430,20 @@ inline void gcode_G28() {
} // !home_all_axes && homeZ } // !home_all_axes && homeZ
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#endif
#else // !Z_SAFE_HOMING #else // !Z_SAFE_HOMING
HOMEAXIS(Z); HOMEAXIS(Z);
#endif // !Z_SAFE_HOMING #endif // !Z_SAFE_HOMING
#ifdef DEBUG_LEVELING
print_xyz("> (home_all_axis || homeZ) > final", current_position);
#endif
} // home_all_axis || homeZ } // home_all_axis || homeZ
#endif // Z_HOME_DIR < 0 #endif // Z_HOME_DIR < 0
@ -2236,6 +2457,9 @@ inline void gcode_G28() {
#endif #endif
#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING) #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
#endif
enable_endstops(false); enable_endstops(false);
#endif #endif
@ -2251,6 +2475,9 @@ inline void gcode_G28() {
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position(); sync_plan_position();
mbl.active = 1; mbl.active = 1;
#ifdef DEBUG_LEVELING
print_xyz("mbl_was_active > current_position", current_position);
#endif
} }
#endif #endif
@ -2258,6 +2485,11 @@ inline void gcode_G28() {
feedrate_multiplier = saved_feedrate_multiplier; feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout(); refresh_cmd_timeout();
endstops_hit_on_purpose(); // clear endstop hit flags endstops_hit_on_purpose(); // clear endstop hit flags
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< gcode_G28");
#endif
} }
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
@ -2443,6 +2675,10 @@ inline void gcode_G28() {
*/ */
inline void gcode_G29() { inline void gcode_G29() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("gcode_G29 >>>");
#endif
// Don't allow auto-leveling without homing first // Don't allow auto-leveling without homing first
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
@ -2601,6 +2837,19 @@ inline void gcode_G28() {
float measured_z, float measured_z,
z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING; z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;
if (probePointCounter) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("z_before = (between) ", (float)(Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
SERIAL_EOL;
#endif
}
else {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("z_before = (before) ", (float)Z_RAISE_BEFORE_PROBING);
SERIAL_EOL;
#endif
}
#if ENABLED(DELTA) #if ENABLED(DELTA)
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer. // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe); float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
@ -2638,6 +2887,10 @@ inline void gcode_G28() {
} //xProbe } //xProbe
} //yProbe } //yProbe
#ifdef DEBUG_LEVELING
print_xyz("> probing complete > current_position", current_position);
#endif
clean_up_after_endstop_move(); clean_up_after_endstop_move();
#if ENABLED(DELTA) #if ENABLED(DELTA)
@ -2734,6 +2987,10 @@ inline void gcode_G28() {
#else // !AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
// Actions for each probe // Actions for each probe
ProbeAction p1, p2, p3; ProbeAction p1, p2, p3;
if (deploy_probe_for_each_reading) if (deploy_probe_for_each_reading)
@ -2763,6 +3020,13 @@ inline void gcode_G28() {
z_tmp = current_position[Z_AXIS], z_tmp = current_position[Z_AXIS],
real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane) real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
SERIAL_EOL;
#endif
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the Z probe offset apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the Z probe offset
// Get the current Z position and send it to the planner. // Get the current Z position and send it to the planner.
@ -2781,6 +3045,11 @@ inline void gcode_G28() {
// adjust for inaccurate endstops, not for reasonably accurate probes. If it were // adjust for inaccurate endstops, not for reasonably accurate probes. If it were
// added here, it could be seen as a compensating factor for the Z probe. // added here, it could be seen as a compensating factor for the Z probe.
// //
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
SERIAL_EOL;
#endif
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z) current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
#if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) #if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
+ Z_RAISE_AFTER_PROBING + Z_RAISE_AFTER_PROBING
@ -2788,6 +3057,10 @@ inline void gcode_G28() {
; ;
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home" // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
sync_plan_position(); sync_plan_position();
#ifdef DEBUG_LEVELING
print_xyz("> corrected Z in G29", current_position);
#endif
} }
#endif // !DELTA #endif // !DELTA
@ -2798,9 +3071,18 @@ inline void gcode_G28() {
#endif #endif
#ifdef Z_PROBE_END_SCRIPT #ifdef Z_PROBE_END_SCRIPT
#ifdef DEBUG_LEVELING
SERIAL_ECHO("Z Probe End Script: ");
SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
#endif
enqueuecommands_P(PSTR(Z_PROBE_END_SCRIPT)); enqueuecommands_P(PSTR(Z_PROBE_END_SCRIPT));
st_synchronize(); st_synchronize();
#endif #endif
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< gcode_G29");
#endif
} }
#if DISABLED(Z_PROBE_SLED) #if DISABLED(Z_PROBE_SLED)
@ -4095,11 +4377,23 @@ inline void gcode_M206() {
* M666: Set delta endstop adjustment * M666: Set delta endstop adjustment
*/ */
inline void gcode_M666() { inline void gcode_M666() {
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM(">>> gcode_M666");
#endif
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) { for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) { if (code_seen(axis_codes[i])) {
endstop_adj[i] = code_value(); endstop_adj[i] = code_value();
#ifdef DEBUG_LEVELING
SERIAL_ECHOPGM("endstop_adj[");
SERIAL_ECHO(axis_codes[i]);
SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
SERIAL_EOL;
#endif
} }
} }
#ifdef DEBUG_LEVELING
SERIAL_ECHOLNPGM("<<< gcode_M666");
#endif
} }
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
/** /**
@ -5801,7 +6095,13 @@ void clamp_to_software_endstops(float target[3]) {
float negative_z_offset = 0; float negative_z_offset = 0;
#if ENABLED(AUTO_BED_LEVELING_FEATURE) #if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset; if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
if (home_offset[Z_AXIS] < 0) negative_z_offset += home_offset[Z_AXIS]; if (home_offset[Z_AXIS] < 0) {
#ifdef DEBUG_LEVELING
SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
SERIAL_EOL;
#endif
negative_z_offset += home_offset[Z_AXIS];
}
#endif #endif
NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset); NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
} }