123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207 |
- /**
- * 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/>.
- *
- */
-
- /**
- * G29.cpp - Mesh Bed Leveling
- */
-
- #include "../../../inc/MarlinConfig.h"
-
- #if ENABLED(MESH_BED_LEVELING)
-
- #include "../../../feature/bedlevel/bedlevel.h"
-
- #include "../../gcode.h"
- #include "../../queue.h"
-
- #include "../../../libs/buzzer.h"
- #include "../../../lcd/ultralcd.h"
- #include "../../../module/motion.h"
- #include "../../../module/stepper.h"
-
- // Save 130 bytes with non-duplication of PSTR
- inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM(" not entered."); }
-
- /**
- * G29: Mesh-based Z probe, probes a grid and produces a
- * mesh to compensate for variable bed height
- *
- * Parameters With MESH_BED_LEVELING:
- *
- * S0 Report the current mesh values
- * S1 Start probing mesh points
- * S2 Probe the next mesh point
- * S3 In Jn Zn.nn Manually modify a single point
- * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
- * S5 Reset and disable mesh
- *
- */
- void GcodeSuite::G29() {
-
- static int mbl_probe_index = -1;
- #if HAS_SOFTWARE_ENDSTOPS
- static bool enable_soft_endstops;
- #endif
-
- MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
- if (!WITHIN(state, 0, 5)) {
- SERIAL_ECHOLNPGM("S out of range (0-5).");
- return;
- }
-
- int8_t ix, iy;
-
- switch (state) {
- case MeshReport:
- SERIAL_ECHOPGM("Mesh Bed Leveling ");
- if (leveling_is_valid()) {
- serialprintln_onoff(planner.leveling_active);
- mbl.report_mesh();
- }
- else
- SERIAL_ECHOLNPGM("has no data.");
- break;
-
- case MeshStart:
- mbl.reset();
- mbl_probe_index = 0;
- if (!ui.wait_for_bl_move) {
- enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
- return;
- }
- state = MeshNext;
-
- case MeshNext:
- if (mbl_probe_index < 0) {
- SERIAL_ECHOLNPGM("Start mesh probing with \"G29 S1\" first.");
- return;
- }
- // For each G29 S2...
- if (mbl_probe_index == 0) {
- #if HAS_SOFTWARE_ENDSTOPS
- // For the initial G29 S2 save software endstop state
- enable_soft_endstops = soft_endstops_enabled;
- #endif
- // Move close to the bed before the first point
- do_blocking_move_to_z(0);
- }
- else {
- // Save Z for the previous mesh position
- mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
- #if HAS_SOFTWARE_ENDSTOPS
- soft_endstops_enabled = enable_soft_endstops;
- #endif
- }
- // If there's another point to sample, move there with optional lift.
- if (mbl_probe_index < GRID_MAX_POINTS) {
- #if HAS_SOFTWARE_ENDSTOPS
- // Disable software endstops to allow manual adjustment
- // If G29 is not completed, they will not be re-enabled
- soft_endstops_enabled = false;
- #endif
-
- mbl.zigzag(mbl_probe_index++, ix, iy);
- _manual_goto_xy(mbl.index_to_xpos[ix], mbl.index_to_ypos[iy]);
- }
- else {
- // One last "return to the bed" (as originally coded) at completion
- current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
- line_to_current_position();
- planner.synchronize();
-
- // After recording the last point, activate home and activate
- mbl_probe_index = -1;
- SERIAL_ECHOLNPGM("Mesh probing done.");
- BUZZ(100, 659);
- BUZZ(100, 698);
-
- gcode.home_all_axes();
- set_bed_leveling_enabled(true);
-
- #if ENABLED(MESH_G28_REST_ORIGIN)
- current_position[Z_AXIS] = 0;
- set_destination_from_current();
- buffer_line_to_destination(homing_feedrate(Z_AXIS));
- planner.synchronize();
- #endif
-
- #if ENABLED(LCD_BED_LEVELING)
- ui.wait_for_bl_move = false;
- #endif
- }
- break;
-
- case MeshSet:
- if (parser.seenval('I')) {
- ix = parser.value_int();
- if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) {
- SERIAL_ECHOPAIR("I out of range (0-", int(GRID_MAX_POINTS_X - 1));
- SERIAL_ECHOLNPGM(")");
- return;
- }
- }
- else
- return echo_not_entered('J');
-
- if (parser.seenval('J')) {
- iy = parser.value_int();
- if (!WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
- SERIAL_ECHOPAIR("J out of range (0-", int(GRID_MAX_POINTS_Y - 1));
- SERIAL_ECHOLNPGM(")");
- return;
- }
- }
- else
- return echo_not_entered('J');
-
- if (parser.seenval('Z')) {
- mbl.z_values[ix][iy] = parser.value_linear_units();
- #if ENABLED(EXTENSIBLE_UI)
- ExtUI::onMeshUpdate(ix, iy, mbl.z_values[ix][iy]);
- #endif
- }
- else
- return echo_not_entered('Z');
- break;
-
- case MeshSetZOffset:
- if (parser.seenval('Z'))
- mbl.z_offset = parser.value_linear_units();
- else
- return echo_not_entered('Z');
- break;
-
- case MeshReset:
- reset_bed_level();
- break;
-
- } // switch(state)
-
- if (state == MeshNext) {
- SERIAL_ECHOPAIR("MBL G29 point ", MIN(mbl_probe_index, GRID_MAX_POINTS));
- SERIAL_ECHOLNPAIR(" of ", int(GRID_MAX_POINTS));
- }
-
- report_current_position();
- }
-
- #endif // MESH_BED_LEVELING
|