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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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/>.
- *
- */
- #pragma once
-
- /**
- * probe.h - Move, deploy, enable, etc.
- */
-
- #include "../inc/MarlinConfig.h"
-
- #if HAS_BED_PROBE
-
- extern xyz_pos_t probe_offset;
-
- bool set_probe_deployed(const bool deploy);
- #ifdef Z_AFTER_PROBING
- void move_z_after_probing();
- #endif
- enum ProbePtRaise : unsigned char {
- PROBE_PT_NONE, // No raise or stow after run_z_probe
- PROBE_PT_STOW, // Do a complete stow after run_z_probe
- PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
- PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
- };
- float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
- inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
- return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
- }
- #define DEPLOY_PROBE() set_probe_deployed(true)
- #define STOW_PROBE() set_probe_deployed(false)
- #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
- extern const char msg_wait_for_bed_heating[25];
- #endif
-
- #else
-
- constexpr xyz_pos_t probe_offset{0};
-
- #define DEPLOY_PROBE()
- #define STOW_PROBE()
-
- #endif
-
- #if HAS_BED_PROBE || ENABLED(PROBE_MANUALLY)
- #if IS_KINEMATIC
- constexpr float printable_radius = (
- #if ENABLED(DELTA)
- DELTA_PRINTABLE_RADIUS
- #elif IS_SCARA
- SCARA_PRINTABLE_RADIUS
- #endif
- );
-
- inline float probe_radius() {
- return printable_radius - (
- #if HAS_BED_PROBE
- _MAX(MIN_PROBE_EDGE, HYPOT(probe_offset.x, probe_offset.y))
- #else
- MIN_PROBE_EDGE
- #endif
- );
- }
- #endif
-
- inline float probe_min_x() {
- return (
- #if IS_KINEMATIC
- (X_CENTER) - probe_radius()
- #elif ENABLED(NOZZLE_AS_PROBE)
- _MAX(MIN_PROBE_EDGE_LEFT, X_MIN_POS)
- #else
- _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset.x)
- #endif
- );
- }
- inline float probe_max_x() {
- return (
- #if IS_KINEMATIC
- (X_CENTER) + probe_radius()
- #elif ENABLED(NOZZLE_AS_PROBE)
- _MAX(MIN_PROBE_EDGE_RIGHT, X_MAX_POS)
- #else
- _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset.x)
- #endif
- );
- }
- inline float probe_min_y() {
- return (
- #if IS_KINEMATIC
- (Y_CENTER) - probe_radius()
- #elif ENABLED(NOZZLE_AS_PROBE)
- _MIN(MIN_PROBE_EDGE_FRONT, Y_MIN_POS)
- #else
- _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset.y)
- #endif
- );
- }
- inline float probe_max_y() {
- return (
- #if IS_KINEMATIC
- (Y_CENTER) + probe_radius()
- #elif ENABLED(NOZZLE_AS_PROBE)
- _MAX(MIN_PROBE_EDGE_BACK, Y_MAX_POS)
- #else
- _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset.y)
- #endif
- );
- }
-
- #if NEEDS_THREE_PROBE_POINTS
- // Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
- template <typename T>
- inline void get_three_probe_points(T points[3]) {
- #if ENABLED(HAS_FIXED_3POINT)
- points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
- points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
- points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
- #else
- #if IS_KINEMATIC
- constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
- COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
- points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
- points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
- points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
- #else
- points[0].set(probe_min_x(), probe_min_y());
- points[1].set(probe_max_x(), probe_min_y());
- points[2].set((probe_max_x() - probe_min_x()) / 2, probe_max_y());
- #endif
- #endif
- }
- #endif
- #endif
-
- #if HAS_Z_SERVO_PROBE
- void servo_probe_init();
- #endif
-
- #if QUIET_PROBING
- void probing_pause(const bool p);
- #endif
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