G34 Z stepper locking (#20091)
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
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@ -375,6 +375,11 @@ void GcodeSuite::G28() {
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// Home Z last if homing towards the bed
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// Home Z last if homing towards the bed
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#if DISABLED(HOME_Z_FIRST)
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#if DISABLED(HOME_Z_FIRST)
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if (doZ) {
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if (doZ) {
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#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
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stepper.set_all_z_lock(false);
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stepper.set_separate_multi_axis(false);
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#endif
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TERN_(BLTOUCH, bltouch.init());
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TERN_(BLTOUCH, bltouch.init());
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TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS));
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TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS));
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probe.move_z_after_homing();
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probe.move_z_after_homing();
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@ -22,7 +22,7 @@
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#include "../../inc/MarlinConfigPre.h"
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#include "../../inc/MarlinConfigPre.h"
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
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#include "../../feature/z_stepper_align.h"
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#include "../../feature/z_stepper_align.h"
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@ -51,15 +51,52 @@
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/**
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/**
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* G34: Z-Stepper automatic alignment
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* G34: Z-Stepper automatic alignment
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*
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*
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* I<iterations>
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* Manual stepper lock controls (reset by G28):
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* T<accuracy>
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* L Unlock all steppers
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* A<amplification>
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* Z<1-4> Z stepper to lock / unlock
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* R<recalculate> points based on current probe offsets
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* S<state> 0=UNLOCKED 1=LOCKED. If omitted, assume LOCKED.
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*
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* Examples:
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* G34 Z1 ; Lock Z1
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* G34 L Z2 ; Unlock all, then lock Z2
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* G34 Z2 S0 ; Unlock Z2
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*
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* With Z_STEPPER_AUTO_ALIGN:
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* I<iterations> Number of tests. If omitted, Z_STEPPER_ALIGN_ITERATIONS.
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* T<accuracy> Target Accuracy factor. If omitted, Z_STEPPER_ALIGN_ACC.
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* A<amplification> Provide an Amplification value. If omitted, Z_STEPPER_ALIGN_AMP.
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* R Flag to recalculate points based on current probe offsets
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*/
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*/
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void GcodeSuite::G34() {
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void GcodeSuite::G34() {
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DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
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DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
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if (DEBUGGING(LEVELING)) log_machine_info();
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if (DEBUGGING(LEVELING)) log_machine_info();
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planner.synchronize(); // Prevent damage
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const bool seenL = parser.seen('L');
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if (seenL) stepper.set_all_z_lock(false);
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const bool seenZ = parser.seenval('Z');
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if (seenZ) {
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const bool state = parser.boolval('S', true);
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switch (parser.intval('Z')) {
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case 1: stepper.set_z1_lock(state); break;
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case 2: stepper.set_z2_lock(state); break;
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#if NUM_Z_STEPPER_DRIVERS >= 3
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case 3: stepper.set_z3_lock(state); break;
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#if NUM_Z_STEPPER_DRIVERS >= 4
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case 4: stepper.set_z4_lock(state); break;
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#endif
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#endif
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}
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}
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if (seenL || seenZ) {
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stepper.set_separate_multi_axis(seenZ);
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return;
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}
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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do { // break out on error
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do { // break out on error
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#if NUM_Z_STEPPER_DRIVERS == 4
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#if NUM_Z_STEPPER_DRIVERS == 4
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@ -81,24 +118,16 @@ void GcodeSuite::G34() {
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break;
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break;
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}
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}
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const float z_auto_align_amplification =
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const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP));
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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Z_STEPPER_ALIGN_AMP;
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#else
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parser.floatval('A', Z_STEPPER_ALIGN_AMP);
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if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
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if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) {
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SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
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SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
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break;
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break;
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}
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}
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#endif
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if (parser.seen('R')) z_stepper_align.reset_to_default();
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if (parser.seen('R')) z_stepper_align.reset_to_default();
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const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
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const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
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// Wait for planner moves to finish!
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planner.synchronize();
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// Disable the leveling matrix before auto-aligning
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// Disable the leveling matrix before auto-aligning
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#if HAS_LEVELING
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#if HAS_LEVELING
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TERN_(RESTORE_LEVELING_AFTER_G34, const bool leveling_was_active = planner.leveling_active);
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TERN_(RESTORE_LEVELING_AFTER_G34, const bool leveling_was_active = planner.leveling_active);
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@ -407,8 +436,13 @@ void GcodeSuite::G34() {
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#endif
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#endif
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}while(0);
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}while(0);
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#endif
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}
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}
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#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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/**
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/**
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* M422: Set a Z-Stepper automatic alignment XY point.
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* M422: Set a Z-Stepper automatic alignment XY point.
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* Use repeatedly to set multiple points.
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* Use repeatedly to set multiple points.
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@ -327,7 +327,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
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case 33: G33(); break; // G33: Delta Auto-Calibration
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case 33: G33(); break; // G33: Delta Auto-Calibration
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#endif
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#endif
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#if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
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#if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
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case 34: G34(); break; // G34: Z Stepper automatic alignment using probe
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case 34: G34(); break; // G34: Z Stepper automatic alignment using probe
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#endif
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#endif
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@ -468,7 +468,7 @@ private:
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TERN_(DELTA_AUTO_CALIBRATION, static void G33());
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TERN_(DELTA_AUTO_CALIBRATION, static void G33());
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#if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
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#if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
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static void G34();
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static void G34();
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#endif
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#endif
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@ -2792,9 +2792,12 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
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#error "Z_STEPPER_AUTO_ALIGN requires NUM_Z_STEPPER_DRIVERS greater than 1."
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#error "Z_STEPPER_AUTO_ALIGN requires NUM_Z_STEPPER_DRIVERS greater than 1."
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#elif !HAS_BED_PROBE
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#elif !HAS_BED_PROBE
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#error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
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#error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
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#elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) && NUM_Z_STEPPER_DRIVERS < 3
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#elif ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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static_assert(WITHIN(Z_STEPPER_ALIGN_AMP, 0.5, 2.0), "Z_STEPPER_ALIGN_AMP must be between 0.5 and 2.0.");
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#if NUM_Z_STEPPER_DRIVERS < 3
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#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
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#error "Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS requires NUM_Z_STEPPER_DRIVERS to be 3 or 4."
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#endif
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#endif
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#endif
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#endif
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#endif
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#if ENABLED(MECHANICAL_GANTRY_CALIBRATION)
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#if ENABLED(MECHANICAL_GANTRY_CALIBRATION)
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@ -316,6 +316,7 @@ EXT_SOLENOID|MANUAL_SOLENOID_CONTROL = src_filter=+<src/feature/solenoid.cpp> +<
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HAS_CUTTER = src_filter=+<src/feature/spindle_laser.cpp> +<src/gcode/control/M3-M5.cpp>
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HAS_CUTTER = src_filter=+<src/feature/spindle_laser.cpp> +<src/gcode/control/M3-M5.cpp>
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EXPERIMENTAL_I2CBUS = src_filter=+<src/feature/twibus.cpp> +<src/gcode/feature/i2c>
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EXPERIMENTAL_I2CBUS = src_filter=+<src/feature/twibus.cpp> +<src/gcode/feature/i2c>
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MECHANICAL_GANTRY_CAL.+ = src_filter=+<src/gcode/calibrate/G34.cpp>
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MECHANICAL_GANTRY_CAL.+ = src_filter=+<src/gcode/calibrate/G34.cpp>
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Z_MULTI_ENDSTOPS = src_filter=+<src/gcode/calibrate/G34_M422.cpp>
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Z_STEPPER_AUTO_ALIGN = src_filter=+<src/feature/z_stepper_align.cpp> +<src/gcode/calibrate/G34_M422.cpp>
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Z_STEPPER_AUTO_ALIGN = src_filter=+<src/feature/z_stepper_align.cpp> +<src/gcode/calibrate/G34_M422.cpp>
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G26_MESH_VALIDATION = src_filter=+<src/gcode/bedlevel/G26.cpp>
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G26_MESH_VALIDATION = src_filter=+<src/gcode/bedlevel/G26.cpp>
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ASSISTED_TRAMMING = src_filter=+<src/gcode/bedlevel/G35.cpp>
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ASSISTED_TRAMMING = src_filter=+<src/gcode/bedlevel/G35.cpp>
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