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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/>.
- *
- */
-
- #include "../../inc/MarlinConfigPre.h"
-
- #if ENABLED(MECHANICAL_GANTRY_CALIBRATION)
-
- #include "../gcode.h"
- #include "../../module/motion.h"
- #include "../../module/stepper.h"
- #include "../../module/endstops.h"
-
- #if HAS_LEVELING
- #include "../../feature/bedlevel/bedlevel.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../core/debug_out.h"
-
- void GcodeSuite::G34() {
-
- if (homing_needed()) return;
-
- TEMPORARY_SOFT_ENDSTOP_STATE(false);
- TEMPORARY_BED_LEVELING_STATE(false);
- TemporaryGlobalEndstopsState unlock_z(false);
-
- #ifdef GANTRY_CALIBRATION_COMMANDS_PRE
- gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE));
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed");
- #endif
-
- #ifdef GANTRY_CALIBRATION_SAFE_POSITION
- // Move XY to safe position
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY");
- const xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION;
- do_blocking_move_to(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE));
- #endif
-
- const float move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT),
- zbase = ENABLED(GANTRY_CALIBRATION_TO_MIN) ? Z_MIN_POS : Z_MAX_POS,
- zpounce = zbase - move_distance, zgrind = zbase + move_distance;
-
- // Move Z to pounce position
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce");
- do_blocking_move_to_z(zpounce, MMM_TO_MMS(HOMING_FEEDRATE_Z));
-
- // Store current motor settings, then apply reduced value
-
- #define _REDUCE_CURRENT ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_DAC, HAS_MOTOR_CURRENT_I2C, HAS_TRINAMIC_CONFIG)
- #if _REDUCE_CURRENT
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current");
- #endif
-
- #if HAS_MOTOR_CURRENT_SPI
- const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
- const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
- stepper.set_digipot_current(Z_AXIS, target_current);
- #elif HAS_MOTOR_CURRENT_PWM
- const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
- const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
- stepper.set_digipot_current(1, target_current);
- #elif HAS_MOTOR_CURRENT_DAC
- const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT);
- const float previous_current = dac_amps(Z_AXIS, target_current);
- stepper_dac.set_current_value(Z_AXIS, target_current);
- #elif ENABLED(HAS_MOTOR_CURRENT_I2C)
- const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
- previous_current = dac_amps(Z_AXIS);
- digipot_i2c.set_current(Z_AXIS, target_current)
- #elif HAS_TRINAMIC_CONFIG
- const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
- static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
- #if AXIS_IS_TMC(Z)
- previous_current_arr[0] = stepperZ.getMilliamps();
- stepperZ.rms_current(target_current);
- #endif
- #if AXIS_IS_TMC(Z2)
- previous_current_arr[1] = stepperZ2.getMilliamps();
- stepperZ2.rms_current(target_current);
- #endif
- #if AXIS_IS_TMC(Z3)
- previous_current_arr[2] = stepperZ3.getMilliamps();
- stepperZ3.rms_current(target_current);
- #endif
- #if AXIS_IS_TMC(Z4)
- previous_current_arr[3] = stepperZ4.getMilliamps();
- stepperZ4.rms_current(target_current);
- #endif
- #endif
-
- // Do Final Z move to adjust
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move");
- do_blocking_move_to_z(zgrind, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
-
- // Back off end plate, back to normal motion range
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff");
- do_blocking_move_to_z(zpounce, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
-
- #if _REDUCE_CURRENT
- // Reset current to original values
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current");
- #endif
-
- #if HAS_MOTOR_CURRENT_SPI
- stepper.set_digipot_current(Z_AXIS, previous_current);
- #elif HAS_MOTOR_CURRENT_PWM
- stepper.set_digipot_current(1, previous_current);
- #elif HAS_MOTOR_CURRENT_DAC
- stepper_dac.set_current_value(Z_AXIS, previous_current);
- #elif ENABLED(HAS_MOTOR_CURRENT_I2C)
- digipot_i2c.set_current(Z_AXIS, previous_current)
- #elif HAS_TRINAMIC_CONFIG
- #if AXIS_IS_TMC(Z)
- stepperZ.rms_current(previous_current_arr[0]);
- #endif
- #if AXIS_IS_TMC(Z2)
- stepperZ2.rms_current(previous_current_arr[1]);
- #endif
- #if AXIS_IS_TMC(Z3)
- stepperZ3.rms_current(previous_current_arr[2]);
- #endif
- #if AXIS_IS_TMC(Z4)
- stepperZ4.rms_current(previous_current_arr[3]);
- #endif
- #endif
-
- #ifdef GANTRY_CALIBRATION_COMMANDS_POST
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
- gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
- #endif
- }
-
- #endif // MECHANICAL_GANTRY_CALIBRATION
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