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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 <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- /**
- * module/probe.h - Move, deploy, enable, etc.
- */
-
- #include "../inc/MarlinConfig.h"
-
- #include "motion.h"
-
- #if HAS_BED_PROBE
- enum ProbePtRaise : uint8_t {
- PROBE_PT_NONE, // No raise or stow after run_z_probe
- PROBE_PT_STOW, // Do a complete stow after run_z_probe
- PROBE_PT_LAST_STOW, // Stow for sure, even in BLTouch HS mode
- PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
- PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
- };
- #endif
-
- #if USES_Z_MIN_PROBE_PIN
- #define PROBE_TRIGGERED() (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
- #else
- #define PROBE_TRIGGERED() (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
- #endif
-
- #ifdef Z_AFTER_HOMING
- #define Z_POST_CLEARANCE Z_AFTER_HOMING
- #elif defined(Z_HOMING_HEIGHT)
- #define Z_POST_CLEARANCE Z_HOMING_HEIGHT
- #else
- #define Z_POST_CLEARANCE 10
- #endif
-
- #if ENABLED(PREHEAT_BEFORE_LEVELING)
- #ifndef LEVELING_NOZZLE_TEMP
- #define LEVELING_NOZZLE_TEMP 0
- #endif
- #ifndef LEVELING_BED_TEMP
- #define LEVELING_BED_TEMP 0
- #endif
- #endif
-
- #if ENABLED(SENSORLESS_PROBING)
- extern abc_float_t offset_sensorless_adj;
- #endif
-
- class Probe {
- public:
-
- #if ENABLED(SENSORLESS_PROBING)
- typedef struct {
- bool x:1, y:1, z:1;
- } sense_bool_t;
- static sense_bool_t test_sensitivity;
- #endif
-
- #if HAS_BED_PROBE
-
- static xyz_pos_t offset;
-
- #if EITHER(PREHEAT_BEFORE_PROBING, PREHEAT_BEFORE_LEVELING)
- static void preheat_for_probing(const celsius_t hotend_temp, const celsius_t bed_temp);
- #endif
-
- static void probe_error_stop();
-
- static bool set_deployed(const bool deploy);
-
- #if IS_KINEMATIC
-
- #if HAS_PROBE_XY_OFFSET
- // Return true if the both nozzle and the probe can reach the given point.
- // Note: This won't work on SCARA since the probe offset rotates with the arm.
- static bool can_reach(const_float_t rx, const_float_t ry, const bool probe_relative=true) {
- if (probe_relative) {
- return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y) // The nozzle can go where it needs to go?
- && position_is_reachable(rx, ry, PROBING_MARGIN); // Can the probe also go near there?
- }
- else {
- return position_is_reachable(rx, ry)
- && position_is_reachable(rx + offset_xy.x, ry + offset_xy.y, PROBING_MARGIN);
- }
- }
- #else
- static bool can_reach(const_float_t rx, const_float_t ry, const bool=true) {
- return position_is_reachable(rx, ry)
- && position_is_reachable(rx, ry, PROBING_MARGIN);
- }
- #endif
-
- #else
-
- /**
- * Return whether the given position is within the bed, and whether the nozzle
- * can reach the position required to put the probe at the given position.
- *
- * Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the
- * nozzle must be be able to reach +10,-10.
- */
- static bool can_reach(const_float_t rx, const_float_t ry, const bool probe_relative=true) {
- if (probe_relative) {
- return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y)
- && COORDINATE_OKAY(rx, min_x() - fslop, max_x() + fslop)
- && COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop);
- }
- else {
- return position_is_reachable(rx, ry)
- && COORDINATE_OKAY(rx + offset_xy.x, min_x() - fslop, max_x() + fslop)
- && COORDINATE_OKAY(ry + offset_xy.y, min_y() - fslop, max_y() + fslop);
- }
- }
-
- #endif
-
- static void move_z_after_probing() {
- #ifdef Z_AFTER_PROBING
- do_z_clearance(Z_AFTER_PROBING, true); // Move down still permitted
- #endif
- }
- static float probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true);
- static 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, const bool sanity_check=true) {
- return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative, sanity_check);
- }
-
- #else
-
- static constexpr xyz_pos_t offset = xyz_pos_t(NUM_AXIS_ARRAY(0, 0, 0, 0, 0, 0)); // See #16767
-
- static bool set_deployed(const bool) { return false; }
-
- static bool can_reach(const_float_t rx, const_float_t ry, const bool=true) { return position_is_reachable(rx, ry); }
-
- #endif
-
- static void move_z_after_homing() {
- #ifdef Z_AFTER_HOMING
- do_z_clearance(Z_AFTER_HOMING, true);
- #elif BOTH(Z_AFTER_PROBING, HAS_BED_PROBE)
- move_z_after_probing();
- #endif
- }
-
- static bool can_reach(const xy_pos_t &pos, const bool probe_relative=true) { return can_reach(pos.x, pos.y, probe_relative); }
-
- static bool good_bounds(const xy_pos_t &lf, const xy_pos_t &rb) {
- return (
- #if IS_KINEMATIC
- can_reach(lf.x, 0) && can_reach(rb.x, 0) && can_reach(0, lf.y) && can_reach(0, rb.y)
- #else
- can_reach(lf) && can_reach(rb)
- #endif
- );
- }
-
- // Use offset_xy for read only access
- // More optimal the XY offset is known to always be zero.
- #if HAS_PROBE_XY_OFFSET
- static const xy_pos_t &offset_xy;
- #else
- static constexpr xy_pos_t offset_xy = xy_pos_t({ 0, 0 }); // See #16767
- #endif
-
- static bool deploy() { return set_deployed(true); }
- static bool stow() { return set_deployed(false); }
-
- #if HAS_BED_PROBE || HAS_LEVELING
- #if IS_KINEMATIC
- static constexpr float printable_radius = (
- TERN_(DELTA, DELTA_PRINTABLE_RADIUS)
- TERN_(IS_SCARA, SCARA_PRINTABLE_RADIUS)
- );
- static constexpr float probe_radius(const xy_pos_t &probe_offset_xy=offset_xy) {
- return printable_radius - _MAX(PROBING_MARGIN, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
- }
- #endif
-
- /**
- * The nozzle is only able to move within the physical bounds of the machine.
- * If the PROBE has an OFFSET Marlin may need to apply additional limits so
- * the probe can be prevented from going to unreachable points.
- *
- * e.g., If the PROBE is to the LEFT of the NOZZLE, it will be limited in how
- * close it can get the RIGHT edge of the bed (unless the nozzle is able move
- * far enough past the right edge).
- */
- static constexpr float _min_x(const xy_pos_t &probe_offset_xy=offset_xy) {
- return TERN(IS_KINEMATIC,
- (X_CENTER) - probe_radius(probe_offset_xy),
- _MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + probe_offset_xy.x)
- );
- }
- static constexpr float _max_x(const xy_pos_t &probe_offset_xy=offset_xy) {
- return TERN(IS_KINEMATIC,
- (X_CENTER) + probe_radius(probe_offset_xy),
- _MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + probe_offset_xy.x)
- );
- }
- static constexpr float _min_y(const xy_pos_t &probe_offset_xy=offset_xy) {
- return TERN(IS_KINEMATIC,
- (Y_CENTER) - probe_radius(probe_offset_xy),
- _MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + probe_offset_xy.y)
- );
- }
- static constexpr float _max_y(const xy_pos_t &probe_offset_xy=offset_xy) {
- return TERN(IS_KINEMATIC,
- (Y_CENTER) + probe_radius(probe_offset_xy),
- _MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + probe_offset_xy.y)
- );
- }
-
- static float min_x() { return _min_x() TERN_(NOZZLE_AS_PROBE, TERN_(HAS_HOME_OFFSET, - home_offset.x)); }
- static float max_x() { return _max_x() TERN_(NOZZLE_AS_PROBE, TERN_(HAS_HOME_OFFSET, - home_offset.x)); }
- static float min_y() { return _min_y() TERN_(NOZZLE_AS_PROBE, TERN_(HAS_HOME_OFFSET, - home_offset.y)); }
- static float max_y() { return _max_y() TERN_(NOZZLE_AS_PROBE, TERN_(HAS_HOME_OFFSET, - home_offset.y)); }
-
- // constexpr helpers used in build-time static_asserts, relying on default probe offsets.
- class build_time {
- static constexpr xyz_pos_t default_probe_xyz_offset = xyz_pos_t(
- #if HAS_BED_PROBE
- NOZZLE_TO_PROBE_OFFSET
- #else
- { 0 }
- #endif
- );
- static constexpr xy_pos_t default_probe_xy_offset = xy_pos_t({ default_probe_xyz_offset.x, default_probe_xyz_offset.y });
-
- public:
- static constexpr bool can_reach(float x, float y) {
- #if IS_KINEMATIC
- return HYPOT2(x, y) <= sq(probe_radius(default_probe_xy_offset));
- #else
- return COORDINATE_OKAY(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop)
- && COORDINATE_OKAY(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop);
- #endif
- }
-
- static constexpr bool can_reach(const xy_pos_t &point) { return can_reach(point.x, point.y); }
- };
-
- #if NEEDS_THREE_PROBE_POINTS
- // Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
- template <typename T>
- static void get_three_points(T points[3]) {
- #if HAS_FIXED_3POINT
- #define VALIDATE_PROBE_PT(N) static_assert(Probe::build_time::can_reach(xy_pos_t{PROBE_PT_##N##_X, PROBE_PT_##N##_Y}), \
- "PROBE_PT_" STRINGIFY(N) "_(X|Y) is unreachable using default NOZZLE_TO_PROBE_OFFSET and PROBING_MARGIN");
- VALIDATE_PROBE_PT(1); VALIDATE_PROBE_PT(2); VALIDATE_PROBE_PT(3);
- points[0] = xy_float_t({ PROBE_PT_1_X, PROBE_PT_1_Y });
- points[1] = xy_float_t({ PROBE_PT_2_X, PROBE_PT_2_Y });
- points[2] = xy_float_t({ 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] = xy_float_t({ (X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0 });
- points[1] = xy_float_t({ (X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120 });
- points[2] = xy_float_t({ (X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240 });
- #else
- points[0] = xy_float_t({ min_x(), min_y() });
- points[1] = xy_float_t({ max_x(), min_y() });
- points[2] = xy_float_t({ (min_x() + max_x()) / 2, max_y() });
- #endif
- #endif
- }
- #endif
-
- #endif // HAS_BED_PROBE
-
- #if HAS_Z_SERVO_PROBE
- static void servo_probe_init();
- #endif
-
- #if HAS_QUIET_PROBING
- static void set_probing_paused(const bool p);
- #endif
-
- #if ENABLED(PROBE_TARE)
- static void tare_init();
- static bool tare();
- #endif
-
- // Basic functions for Sensorless Homing and Probing
- #if HAS_DELTA_SENSORLESS_PROBING
- static void set_offset_sensorless_adj(const_float_t sz);
- static void refresh_largest_sensorless_adj();
- #endif
-
- private:
- static bool probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s);
- static void do_z_raise(const float z_raise);
- static float run_z_probe(const bool sanity_check=true);
- };
-
- extern Probe probe;
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