Updates to G29 for probe error handling
This commit is contained in:
Scott Lahteine
parent
f54e0fc90f
commit
6bd63d27b5
@ -2222,7 +2222,14 @@ static void clean_up_after_endstop_or_probe_move() {
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return false;
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}
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static bool do_probe_move(float z, float fr_mm_m) {
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/**
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* @brief Used by run_z_probe to do a single Z probe move.
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*
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* @param z Z destination
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* @param fr_mm_s Feedrate in mm/s
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* @return true to indicate an error
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*/
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static bool do_probe_move(const float z, const float fr_mm_m) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
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#endif
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@ -2241,7 +2248,7 @@ static void clean_up_after_endstop_or_probe_move() {
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// Check to see if the probe was triggered
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const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
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#ifdef Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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Z_MIN
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#else
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Z_MIN_PROBE
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@ -2273,9 +2280,14 @@ static void clean_up_after_endstop_or_probe_move() {
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return !probe_triggered;
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}
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// Do a single Z probe and return with current_position[Z_AXIS]
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// at the height where the probe triggered.
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static float run_z_probe(bool printable=true) {
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/**
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* @details Used by probe_pt to do a single Z probe.
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* Leaves current_position[Z_AXIS] at the height where the probe triggered.
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*
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* @param short_move Flag for a shorter probe move towards the bed
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* @return The raw Z position where the probe was triggered
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*/
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static float run_z_probe(const bool short_move=true) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
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@ -2313,7 +2325,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif
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// move down slowly to find bed
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if (do_probe_move(-10 + (printable ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
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if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
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@ -2410,6 +2422,12 @@ static void clean_up_after_endstop_or_probe_move() {
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feedrate_mm_s = old_feedrate_mm_s;
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if (isnan(measured_z)) {
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LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
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}
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return measured_z;
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}
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@ -3775,9 +3793,7 @@ inline void gcode_G4() {
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// If an endstop was not hit, then damage can occur if homing is continued.
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// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
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// not set correctly.
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if (!(TEST(Endstops::endstop_hit_bits, X_MAX) ||
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TEST(Endstops::endstop_hit_bits, Y_MAX) ||
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TEST(Endstops::endstop_hit_bits, Z_MAX))) {
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if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
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LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
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@ -4126,20 +4142,6 @@ void home_all_axes() { gcode_G28(true); }
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#endif
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#if HAS_BED_PROBE
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static bool nan_error(const float v) {
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const bool is_nan = isnan(v);
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if (is_nan) {
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LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
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}
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return is_nan;
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}
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#endif // HAS_BED_PROBE
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#if ENABLED(MESH_BED_LEVELING)
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// Save 130 bytes with non-duplication of PSTR
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@ -4675,18 +4677,16 @@ void home_all_axes() { gcode_G28(true); }
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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if (!faux) setup_for_endstop_or_probe_move();
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//xProbe = yProbe = measured_z = 0;
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#if HAS_BED_PROBE
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// Deploy the probe. Probe will raise if needed.
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if (DEPLOY_PROBE()) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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return;
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}
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#endif
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if (!faux) setup_for_endstop_or_probe_move();
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#if ENABLED(PROBE_MANUALLY)
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@ -4907,7 +4907,7 @@ void home_all_axes() { gcode_G28(true); }
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bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
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// Outer loop is Y with PROBE_Y_FIRST disabled
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for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
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for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
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int8_t inStart, inStop, inInc;
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@ -4944,9 +4944,9 @@ void home_all_axes() { gcode_G28(true); }
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measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
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if (nan_error(measured_z)) {
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if (isnan(measured_z)) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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break;
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}
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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@ -4980,14 +4980,14 @@ void home_all_axes() { gcode_G28(true); }
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xProbe = LOGICAL_X_POSITION(points[i].x);
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yProbe = LOGICAL_Y_POSITION(points[i].y);
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measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
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if (nan_error(measured_z)) {
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if (isnan(measured_z)) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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break;
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}
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points[i].z = measured_z;
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}
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if (!dryrun) {
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if (!dryrun && !isnan(measured_z)) {
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vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
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if (planeNormal.z < 0) {
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planeNormal.x *= -1;
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@ -5005,7 +5005,7 @@ void home_all_axes() { gcode_G28(true); }
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// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
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if (STOW_PROBE()) {
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planner.abl_enabled = abl_should_enable;
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goto FAIL;
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measured_z = NAN;
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}
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}
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#endif // !PROBE_MANUALLY
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@ -5032,6 +5032,7 @@ void home_all_axes() { gcode_G28(true); }
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#endif
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// Calculate leveling, print reports, correct the position
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if (!isnan(measured_z)) {
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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if (!dryrun) extrapolate_unprobed_bed_level();
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@ -5226,8 +5227,7 @@ void home_all_axes() { gcode_G28(true); }
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// Auto Bed Leveling is complete! Enable if possible.
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planner.abl_enabled = dryrun ? abl_should_enable : true;
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FAIL:
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} // !isnan(measured_z)
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// Restore state after probing
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if (!faux) clean_up_after_endstop_or_probe_move();
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@ -5272,7 +5272,7 @@ void home_all_axes() { gcode_G28(true); }
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const float measured_z = probe_pt(xpos, ypos, parser.boolval('S', true), 1);
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if (!nan_error(measured_z)) {
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if (!isnan(measured_z)) {
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SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
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SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
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SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
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