From 6375829448eebe01b2835689aac69b73b63ebfd8 Mon Sep 17 00:00:00 2001 From: InsanityAutomation <38436470+InsanityAutomation@users.noreply.github.com> Date: Sun, 18 Oct 2020 16:53:12 -0400 Subject: [PATCH] Apply home offsets to probing, Z Safe Homing (#19423) Co-authored-by: Scott Lahteine --- Marlin/src/gcode/bedlevel/abl/G29.cpp | 26 +++++-------- Marlin/src/gcode/calibrate/G28.cpp | 10 ++++- Marlin/src/gcode/geometry/M206_M428.cpp | 12 +++++- Marlin/src/module/motion.h | 4 -- Marlin/src/module/probe.h | 52 +++++++++---------------- 5 files changed, 47 insertions(+), 57 deletions(-) diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp index fcdab742c..f387dd9bd 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -361,32 +361,24 @@ G29_TYPE GcodeSuite::G29() { if (parser.seen('H')) { const int16_t size = (int16_t)parser.value_linear_units(); - probe_position_lf.set( - _MAX(X_CENTER - size / 2, x_min), - _MAX(Y_CENTER - size / 2, y_min) - ); - probe_position_rb.set( - _MIN(probe_position_lf.x + size, x_max), - _MIN(probe_position_lf.y + size, y_max) - ); + probe_position_lf.set(_MAX((X_CENTER) - size / 2, x_min), _MAX((Y_CENTER) - size / 2, y_min)); + probe_position_rb.set(_MIN(probe_position_lf.x + size, x_max), _MIN(probe_position_lf.y + size, y_max)); } else { - probe_position_lf.set( - parser.seenval('L') ? RAW_X_POSITION(parser.value_linear_units()) : x_min, - parser.seenval('F') ? RAW_Y_POSITION(parser.value_linear_units()) : y_min - ); - probe_position_rb.set( - parser.seenval('R') ? RAW_X_POSITION(parser.value_linear_units()) : x_max, - parser.seenval('B') ? RAW_Y_POSITION(parser.value_linear_units()) : y_max - ); + probe_position_lf.set(parser.linearval('L', x_min), parser.linearval('F', y_min)); + probe_position_rb.set(parser.linearval('R', x_max), parser.linearval('B', y_max)); } if (!probe.good_bounds(probe_position_lf, probe_position_rb)) { + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOLNPAIR("G29 L", probe_position_lf.x, " R", probe_position_rb.x, + " F", probe_position_lf.y, " B", probe_position_rb.y); + } SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds."); G29_RETURN(false); } - // probe at the points of a lattice grid + // Probe at the points of a lattice grid gridSpacing.set((probe_position_rb.x - probe_position_lf.x) / (abl_grid_points.x - 1), (probe_position_rb.y - probe_position_lf.y) / (abl_grid_points.y - 1)); diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 06b9fee25..a91dd82a2 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -126,7 +126,15 @@ * Move the Z probe (or just the nozzle) to the safe homing point * (Z is already at the right height) */ - destination.set(safe_homing_xy, current_position.z); + constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT }; + #if HAS_HOME_OFFSET + xy_float_t okay_homing_xy = safe_homing_xy; + okay_homing_xy -= home_offset; + #else + constexpr xy_float_t okay_homing_xy = safe_homing_xy; + #endif + + destination.set(okay_homing_xy, current_position.z); TERN_(HOMING_Z_WITH_PROBE, destination -= probe.offset_xy); diff --git a/Marlin/src/gcode/geometry/M206_M428.cpp b/Marlin/src/gcode/geometry/M206_M428.cpp index 70cb1e19e..efb89fbcf 100644 --- a/Marlin/src/gcode/geometry/M206_M428.cpp +++ b/Marlin/src/gcode/geometry/M206_M428.cpp @@ -28,6 +28,13 @@ #include "../../module/motion.h" #include "../../lcd/marlinui.h" #include "../../libs/buzzer.h" +#include "../../MarlinCore.h" + +extern const char SP_Y_STR[], SP_Z_STR[]; + +void m206_report() { + SERIAL_ECHOLNPAIR_P(PSTR("M206 X"), home_offset.x, SP_Y_STR, home_offset.y, SP_Z_STR, home_offset.z); +} /** * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y @@ -46,7 +53,10 @@ void GcodeSuite::M206() { if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi #endif - report_current_position(); + if (!parser.seen("XYZ")) + m206_report(); + else + report_current_position(); } /** diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 5a8a8e004..abc59f92b 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -78,10 +78,6 @@ extern xyz_pos_t cartes; #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE() #endif -#if ENABLED(Z_SAFE_HOMING) - constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT }; -#endif - /** * Feed rates are often configured with mm/m * but the planner and stepper like mm/s units. diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h index f0f56ec19..98e6aff1b 100644 --- a/Marlin/src/module/probe.h +++ b/Marlin/src/module/probe.h @@ -133,53 +133,37 @@ public: #if HAS_BED_PROBE || HAS_LEVELING #if IS_KINEMATIC static constexpr float printable_radius = ( - #if ENABLED(DELTA) - DELTA_PRINTABLE_RADIUS - #elif IS_SCARA - SCARA_PRINTABLE_RADIUS - #endif + TERN_(DELTA, DELTA_PRINTABLE_RADIUS) + TERN_(IS_SCARA, SCARA_PRINTABLE_RADIUS) ); - static inline float probe_radius() { return printable_radius - _MAX(PROBING_MARGIN, HYPOT(offset_xy.x, offset_xy.y)); } #endif static inline float min_x() { - return ( - #if IS_KINEMATIC - (X_CENTER) - probe_radius() - #else - _MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + offset_xy.x) - #endif - ); + return TERN(IS_KINEMATIC, + (X_CENTER) - probe_radius(), + _MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + offset_xy.x) + ) - TERN0(NOZZLE_AS_PROBE, home_offset.x); } static inline float max_x() { - return ( - #if IS_KINEMATIC - (X_CENTER) + probe_radius() - #else - _MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + offset_xy.x) - #endif - ); + return TERN(IS_KINEMATIC, + (X_CENTER) + probe_radius(), + _MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + offset_xy.x) + ) - TERN0(NOZZLE_AS_PROBE, home_offset.x); } static inline float min_y() { - return ( - #if IS_KINEMATIC - (Y_CENTER) - probe_radius() - #else - _MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + offset_xy.y) - #endif - ); + return TERN(IS_KINEMATIC, + (Y_CENTER) - probe_radius(), + _MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + offset_xy.y) + ) - TERN0(NOZZLE_AS_PROBE, home_offset.y); } static inline float max_y() { - return ( - #if IS_KINEMATIC - (Y_CENTER) + probe_radius() - #else - _MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + offset_xy.y) - #endif - ); + return TERN(IS_KINEMATIC, + (Y_CENTER) + probe_radius(), + _MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + offset_xy.y) + ) - TERN0(NOZZLE_AS_PROBE, home_offset.y); } #if NEEDS_THREE_PROBE_POINTS