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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * feature/z_stepper_align.cpp
- */
-
- #include "../inc/MarlinConfigPre.h"
-
- #if ENABLED(Z_STEPPER_AUTO_ALIGN)
-
- #include "z_stepper_align.h"
- #include "../module/probe.h"
-
- ZStepperAlign z_stepper_align;
-
- xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS];
-
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS];
- #endif
-
- void ZStepperAlign::reset_to_default() {
- #ifdef Z_STEPPER_ALIGN_XY
-
- constexpr xy_pos_t xy_init[] = Z_STEPPER_ALIGN_XY;
- static_assert(COUNT(xy_init) == NUM_Z_STEPPER_DRIVERS,
- "Z_STEPPER_ALIGN_XY requires "
- #if NUM_Z_STEPPER_DRIVERS == 4
- "four {X,Y} entries (Z, Z2, Z3, and Z4)."
- #elif NUM_Z_STEPPER_DRIVERS == 3
- "three {X,Y} entries (Z, Z2, and Z3)."
- #else
- "two {X,Y} entries (Z and Z2)."
- #endif
- );
-
- constexpr xyz_pos_t dpo = NOZZLE_TO_PROBE_OFFSET;
-
- #define LTEST(N) (xy_init[N].x >= _MAX(X_MIN_BED + MIN_PROBE_EDGE_LEFT, X_MIN_POS + dpo.x) - 0.00001f)
- #define RTEST(N) (xy_init[N].x <= _MIN(X_MAX_BED - MIN_PROBE_EDGE_RIGHT, X_MAX_POS + dpo.x) + 0.00001f)
- #define FTEST(N) (xy_init[N].y >= _MAX(Y_MIN_BED + MIN_PROBE_EDGE_FRONT, Y_MIN_POS + dpo.y) - 0.00001f)
- #define BTEST(N) (xy_init[N].y <= _MIN(Y_MAX_BED - MIN_PROBE_EDGE_BACK, Y_MAX_POS + dpo.y) + 0.00001f)
-
- static_assert(LTEST(0) && RTEST(0), "The 1st Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
- static_assert(FTEST(0) && BTEST(0), "The 1st Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
- static_assert(LTEST(1) && RTEST(1), "The 2nd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
- static_assert(FTEST(1) && BTEST(1), "The 2nd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
- #if NUM_Z_STEPPER_DRIVERS >= 3
- static_assert(LTEST(2) && RTEST(2), "The 3rd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
- static_assert(FTEST(2) && BTEST(2), "The 3rd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
- #if NUM_Z_STEPPER_DRIVERS >= 4
- static_assert(LTEST(3) && RTEST(3), "The 4th Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
- static_assert(FTEST(3) && BTEST(3), "The 4th Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
- #endif
- #endif
-
- #else // !defined(Z_STEPPER_ALIGN_XY)
-
- const xy_pos_t xy_init[] = {
- #if NUM_Z_STEPPER_DRIVERS >= 3 // First probe point...
- #if !Z_STEPPERS_ORIENTATION
- { probe.min_x(), probe.min_y() }, // SW
- #elif Z_STEPPERS_ORIENTATION == 1
- { probe.min_x(), probe.max_y() }, // NW
- #elif Z_STEPPERS_ORIENTATION == 2
- { probe.max_x(), probe.max_y() }, // NE
- #elif Z_STEPPERS_ORIENTATION == 3
- { probe.max_x(), probe.min_y() }, // SE
- #else
- #error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)."
- #endif
- #if NUM_Z_STEPPER_DRIVERS == 4 // 3 more points...
- #if !Z_STEPPERS_ORIENTATION
- { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() } // SW
- #elif Z_STEPPERS_ORIENTATION == 1
- { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() } // NW
- #elif Z_STEPPERS_ORIENTATION == 2
- { probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() } // NE
- #elif Z_STEPPERS_ORIENTATION == 3
- { probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() } // SE
- #endif
- #elif !Z_STEPPERS_ORIENTATION // or 2 more points...
- { probe.max_x(), probe.min_y() }, { X_CENTER, probe.max_y() } // SW
- #elif Z_STEPPERS_ORIENTATION == 1
- { probe.min_x(), probe.min_y() }, { probe.max_x(), Y_CENTER } // NW
- #elif Z_STEPPERS_ORIENTATION == 2
- { probe.min_x(), probe.max_y() }, { X_CENTER, probe.min_y() } // NE
- #elif Z_STEPPERS_ORIENTATION == 3
- { probe.max_x(), probe.max_y() }, { probe.min_x(), Y_CENTER } // SE
- #endif
- #elif Z_STEPPERS_ORIENTATION
- { X_CENTER, probe.min_y() }, { X_CENTER, probe.max_y() }
- #else
- { probe.min_x(), Y_CENTER }, { probe.max_x(), Y_CENTER }
- #endif
- };
-
- #endif // !defined(Z_STEPPER_ALIGN_XY)
-
- COPY(xy, xy_init);
-
- #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
- constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY;
- static_assert(
- COUNT(stepper_xy_init) == NUM_Z_STEPPER_DRIVERS,
- "Z_STEPPER_ALIGN_STEPPER_XY requires "
- #if NUM_Z_STEPPER_DRIVERS == 4
- "four {X,Y} entries (Z, Z2, Z3, and Z4)."
- #elif NUM_Z_STEPPER_DRIVERS == 3
- "three {X,Y} entries (Z, Z2, and Z3)."
- #endif
- );
- COPY(stepper_xy, stepper_xy_init);
- #endif
- }
-
- #endif // Z_STEPPER_AUTO_ALIGN
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