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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 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/>.
- *
- */
-
- /**
- * probe.cpp
- */
-
- #include "../inc/MarlinConfig.h"
-
- #if HAS_BED_PROBE
-
- #include "../libs/buzzer.h"
-
- #include "probe.h"
- #include "motion.h"
- #include "temperature.h"
- #include "endstops.h"
-
- #include "../gcode/gcode.h"
- #include "../lcd/ultralcd.h"
-
- #include "../Marlin.h"
-
- #if HAS_LEVELING
- #include "../feature/bedlevel/bedlevel.h"
- #endif
-
- #if ENABLED(DELTA)
- #include "../module/delta.h"
- #endif
-
- #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
- #include "planner.h"
- #endif
-
- float zprobe_zoffset; // Initialized by settings.load()
-
- #if HAS_Z_SERVO_PROBE
- #include "../module/servo.h"
- #endif
-
- #if ENABLED(SENSORLESS_PROBING)
- #include "stepper.h"
- #include "../feature/tmc_util.h"
- #endif
-
- #if ENABLED(Z_PROBE_SLED)
-
- #ifndef SLED_DOCKING_OFFSET
- #define SLED_DOCKING_OFFSET 0
- #endif
-
- /**
- * Method to dock/undock a sled designed by Charles Bell.
- *
- * stow[in] If false, move to MAX_X and engage the solenoid
- * If true, move to MAX_X and release the solenoid
- */
- static void dock_sled(bool stow) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("dock_sled(", stow);
- SERIAL_CHAR(')');
- SERIAL_EOL();
- }
- #endif
-
- // Dock sled a bit closer to ensure proper capturing
- do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
-
- #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
- WRITE(SOL1_PIN, !stow); // switch solenoid
- #endif
- }
-
- #elif ENABLED(Z_PROBE_ALLEN_KEY)
-
- void run_deploy_moves_script() {
- #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
- #endif
- const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
- do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
- #endif
- const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
- do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
- #endif
- const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
- do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
- #endif
- const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
- do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
- #endif
- const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
- do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
- #endif
- }
-
- void run_stow_moves_script() {
- #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
- #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
- #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
- #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
- #endif
- const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
- do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
- #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
- #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
- #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
- #endif
- const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
- do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
- #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
- #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
- #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
- #endif
- const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
- do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
- #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
- #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
- #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
- #endif
- const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
- do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
- #endif
- #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
- #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
- #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
- #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
- #endif
- #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
- #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
- #endif
- const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
- do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
- #endif
- }
-
- #endif // Z_PROBE_ALLEN_KEY
-
- #if ENABLED(PROBING_FANS_OFF)
-
- void fans_pause(const bool p) {
- if (p != fans_paused) {
- fans_paused = p;
- if (p)
- for (uint8_t x = 0; x < FAN_COUNT; x++) {
- paused_fan_speed[x] = fan_speed[x];
- fan_speed[x] = 0;
- }
- else
- for (uint8_t x = 0; x < FAN_COUNT; x++)
- fan_speed[x] = paused_fan_speed[x];
- }
- }
-
- #endif // PROBING_FANS_OFF
-
- #if QUIET_PROBING
- void probing_pause(const bool p) {
- #if ENABLED(PROBING_HEATERS_OFF)
- thermalManager.pause(p);
- #endif
- #if ENABLED(PROBING_FANS_OFF)
- fans_pause(p);
- #endif
- #if ENABLED(PROBING_STEPPERS_OFF)
- disable_e_steppers();
- #if DISABLED(DELTA)
- disable_X(); disable_Y();
- #endif
- #endif
- if (p) safe_delay(
- #if DELAY_BEFORE_PROBING > 25
- DELAY_BEFORE_PROBING
- #else
- 25
- #endif
- );
- }
- #endif // QUIET_PROBING
-
- #if ENABLED(BLTOUCH)
-
- void bltouch_command(const int angle) {
- MOVE_SERVO(Z_PROBE_SERVO_NR, angle); // Give the BL-Touch the command and wait
- safe_delay(BLTOUCH_DELAY);
- }
-
- bool set_bltouch_deployed(const bool deploy) {
- if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
- bltouch_command(BLTOUCH_RESET); // try to reset it.
- bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
- bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
- safe_delay(1500); // Wait for internal self-test to complete.
- // (Measured completion time was 0.65 seconds
- // after reset, deploy, and stow sequence)
- if (TEST_BLTOUCH()) { // If it still claims to be triggered...
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
- stop(); // punt!
- return true;
- }
- }
-
- bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
- SERIAL_CHAR(')');
- SERIAL_EOL();
- }
- #endif
-
- return false;
- }
-
- #endif // BLTOUCH
-
- /**
- * Raise Z to a minimum height to make room for a probe to move
- */
- inline void do_probe_raise(const float z_raise) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
- SERIAL_CHAR(')');
- SERIAL_EOL();
- }
- #endif
-
- float z_dest = z_raise;
- if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
-
- NOMORE(z_dest, Z_MAX_POS);
-
- if (z_dest > current_position[Z_AXIS])
- do_blocking_move_to_z(z_dest);
- }
-
- FORCE_INLINE void probe_specific_action(const bool deploy) {
- #if ENABLED(PAUSE_BEFORE_DEPLOY_STOW)
-
- BUZZ(100, 659);
- BUZZ(100, 698);
-
- PGM_P const ds_str = deploy ? PSTR(MSG_MANUAL_DEPLOY) : PSTR(MSG_MANUAL_STOW);
- ui.return_to_status(); // To display the new status message
- ui.set_status_P(ds_str, 99);
- serialprintPGM(ds_str);
- SERIAL_EOL();
-
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- wait_for_user = true;
- while (wait_for_user) idle();
- ui.reset_status();
- KEEPALIVE_STATE(IN_HANDLER);
-
- #endif // PAUSE_BEFORE_DEPLOY_STOW
-
- #if ENABLED(SOLENOID_PROBE)
-
- #if HAS_SOLENOID_1
- WRITE(SOL1_PIN, deploy);
- #endif
-
- #elif ENABLED(Z_PROBE_SLED)
-
- dock_sled(!deploy);
-
- #elif HAS_Z_SERVO_PROBE && DISABLED(BLTOUCH)
-
- MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]);
-
- #elif ENABLED(Z_PROBE_ALLEN_KEY)
-
- deploy ? run_deploy_moves_script() : run_stow_moves_script();
-
- #elif ENABLED(RACK_AND_PINION_PROBE)
-
- do_blocking_move_to_x(deploy ? Z_PROBE_DEPLOY_X : Z_PROBE_RETRACT_X);
-
- #endif
- }
-
- // returns false for ok and true for failure
- bool set_probe_deployed(const bool deploy) {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- DEBUG_POS("set_probe_deployed", current_position);
- SERIAL_ECHOLNPAIR("deploy: ", deploy);
- }
- #endif
-
- if (endstops.z_probe_enabled == deploy) return false;
-
- // Make room for probe to deploy (or stow)
- // Fix-mounted probe should only raise for deploy
- // unless PAUSE_BEFORE_DEPLOY_STOW is enabled
- #if ENABLED(FIX_MOUNTED_PROBE) && DISABLED(PAUSE_BEFORE_DEPLOY_STOW)
- const bool deploy_stow_condition = deploy;
- #else
- constexpr bool deploy_stow_condition = true;
- #endif
-
- // For beds that fall when Z is powered off only raise for trusted Z
- #if ENABLED(UNKNOWN_Z_NO_RAISE)
- const bool unknown_condition = TEST(axis_known_position, Z_AXIS);
- #else
- constexpr float unknown_condition = true;
- #endif
-
- if (deploy_stow_condition && unknown_condition)
- do_probe_raise(MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
-
- #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
- #if ENABLED(Z_PROBE_SLED)
- #define _AUE_ARGS true, false, false
- #else
- #define _AUE_ARGS
- #endif
- if (axis_unhomed_error(_AUE_ARGS)) {
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
- stop();
- return true;
- }
- #endif
-
- const float oldXpos = current_position[X_AXIS],
- oldYpos = current_position[Y_AXIS];
-
- #if ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST)
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- #define PROBE_STOWED() (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
- #else
- #define PROBE_STOWED() (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
- #endif
- #endif
-
- #ifdef PROBE_STOWED
-
- // Only deploy/stow if needed
- if (PROBE_STOWED() == deploy) {
- if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
- // otherwise an Allen-Key probe can't be stowed.
- probe_specific_action(deploy);
- }
-
- if (PROBE_STOWED() == deploy) { // Unchanged after deploy/stow action?
- if (IsRunning()) {
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM("Z-Probe failed");
- LCD_ALERTMESSAGEPGM("Err: ZPROBE");
- }
- stop();
- return true;
- }
-
- #else
-
- probe_specific_action(deploy);
-
- #endif
-
- do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
- endstops.enable_z_probe(deploy);
- return false;
- }
-
- #ifdef Z_AFTER_PROBING
- // After probing move to a preferred Z position
- void move_z_after_probing() {
- if (current_position[Z_AXIS] != Z_AFTER_PROBING) {
- do_blocking_move_to_z(Z_AFTER_PROBING);
- current_position[Z_AXIS] = Z_AFTER_PROBING;
- }
- }
- #endif
-
- /**
- * @brief Used by run_z_probe to do a single Z probe move.
- *
- * @param z Z destination
- * @param fr_mm_s Feedrate in mm/s
- * @return true to indicate an error
- */
-
- #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
- const char msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
- #endif
-
- static bool do_probe_move(const float z, const float fr_mm_s) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
- #endif
-
- #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
- // Wait for bed to heat back up between probing points
- if (thermalManager.isHeatingBed()) {
- serialprintPGM(msg_wait_for_bed_heating);
- LCD_MESSAGEPGM(MSG_BED_HEATING);
- while (thermalManager.isHeatingBed()) safe_delay(200);
- ui.reset_status();
- }
- #endif
-
- // Deploy BLTouch at the start of any probe
- #if ENABLED(BLTOUCH)
- if (set_bltouch_deployed(true)) return true;
- #endif
-
- // Disable stealthChop if used. Enable diag1 pin on driver.
- #if ENABLED(SENSORLESS_PROBING)
- #if ENABLED(DELTA)
- tmc_stallguard(stepperX);
- tmc_stallguard(stepperY);
- #endif
- tmc_stallguard(stepperZ);
- endstops.enable(true);
- #endif
-
- #if QUIET_PROBING
- probing_pause(true);
- #endif
-
- // Move down until the probe is triggered
- do_blocking_move_to_z(z, fr_mm_s);
-
- // Check to see if the probe was triggered
- const bool probe_triggered =
- #if ENABLED(DELTA) && ENABLED(SENSORLESS_PROBING)
- endstops.trigger_state() & (_BV(X_MIN) | _BV(Y_MIN) | _BV(Z_MIN))
- #else
- TEST(endstops.trigger_state(),
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- Z_MIN
- #else
- Z_MIN_PROBE
- #endif
- )
- #endif
- ;
-
- #if QUIET_PROBING
- probing_pause(false);
- #endif
-
- // Re-enable stealthChop if used. Disable diag1 pin on driver.
- #if ENABLED(SENSORLESS_PROBING)
- endstops.not_homing();
- #if ENABLED(DELTA)
- tmc_stallguard(stepperX, false);
- tmc_stallguard(stepperY, false);
- #endif
- tmc_stallguard(stepperZ, false);
- #endif
-
- // Retract BLTouch immediately after a probe if it was triggered
- #if ENABLED(BLTOUCH)
- if (probe_triggered && set_bltouch_deployed(false)) return true;
- #endif
-
- // Clear endstop flags
- endstops.hit_on_purpose();
-
- // Get Z where the steppers were interrupted
- set_current_from_steppers_for_axis(Z_AXIS);
-
- // Tell the planner where we actually are
- sync_plan_position();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
- #endif
-
- return !probe_triggered;
- }
-
- /**
- * @details Used by probe_pt to do a single Z probe at the current position.
- * Leaves current_position[Z_AXIS] at the height where the probe triggered.
- *
- * @return The raw Z position where the probe was triggered
- */
- static float run_z_probe() {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
- #endif
-
- // Stop the probe before it goes too low to prevent damage.
- // If Z isn't known then probe to -10mm.
- const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0;
-
- // Double-probing does a fast probe followed by a slow probe
- #if MULTIPLE_PROBING == 2
-
- // Do a first probe at the fast speed
- if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("FAST Probe fail!");
- DEBUG_POS("<<< run_z_probe", current_position);
- }
- #endif
- return NAN;
- }
-
- float first_probe_z = current_position[Z_AXIS];
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
- #endif
-
- // move up to make clearance for the probe
- do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
-
- #elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
-
- // If the nozzle is well over the travel height then
- // move down quickly before doing the slow probe
- const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (zprobe_zoffset < 0 ? -zprobe_zoffset : 0);
- if (current_position[Z_AXIS] > z) {
- // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
- if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
- do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
- }
- #endif
-
- #if MULTIPLE_PROBING > 2
- float probes_total = 0;
- for (uint8_t p = MULTIPLE_PROBING + 1; --p;) {
- #endif
-
- // move down slowly to find bed
- if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("SLOW Probe fail!");
- DEBUG_POS("<<< run_z_probe", current_position);
- }
- #endif
- return NAN;
- }
-
- #if MULTIPLE_PROBING > 2
- probes_total += current_position[Z_AXIS];
- if (p > 1) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
- }
- #endif
-
- #if MULTIPLE_PROBING > 2
-
- // Return the average value of all probes
- const float measured_z = probes_total * (1.0f / (MULTIPLE_PROBING));
-
- #elif MULTIPLE_PROBING == 2
-
- const float z2 = current_position[Z_AXIS];
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("2nd Probe Z:", z2);
- SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - z2);
- }
- #endif
-
- // Return a weighted average of the fast and slow probes
- const float measured_z = (z2 * 3.0 + first_probe_z * 2.0) * 0.2;
-
- #else
-
- // Return the single probe result
- const float measured_z = current_position[Z_AXIS];
-
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
- #endif
-
- return measured_z;
- }
-
- /**
- * - Move to the given XY
- * - Deploy the probe, if not already deployed
- * - Probe the bed, get the Z position
- * - Depending on the 'stow' flag
- * - Stow the probe, or
- * - Raise to the BETWEEN height
- * - Return the probed Z position
- */
- float probe_pt(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
- SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry));
- SERIAL_ECHOPAIR(", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none");
- SERIAL_ECHOPAIR(", ", int(verbose_level));
- SERIAL_ECHOPAIR(", ", probe_relative ? "probe" : "nozzle");
- SERIAL_ECHOLNPGM("_relative)");
- DEBUG_POS("", current_position);
- }
- #endif
-
- // TODO: Adapt for SCARA, where the offset rotates
- float nx = rx, ny = ry;
- if (probe_relative) {
- if (!position_is_reachable_by_probe(rx, ry)) return NAN; // The given position is in terms of the probe
- nx -= (X_PROBE_OFFSET_FROM_EXTRUDER); // Get the nozzle position
- ny -= (Y_PROBE_OFFSET_FROM_EXTRUDER);
- }
- else if (!position_is_reachable(nx, ny)) return NAN; // The given position is in terms of the nozzle
-
- const float nz =
- #if ENABLED(DELTA)
- // Move below clip height or xy move will be aborted by do_blocking_move_to
- MIN(current_position[Z_AXIS], delta_clip_start_height)
- #else
- current_position[Z_AXIS]
- #endif
- ;
-
- const float old_feedrate_mm_s = feedrate_mm_s;
- feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
-
- // Move the probe to the starting XYZ
- do_blocking_move_to(nx, ny, nz);
-
- float measured_z = NAN;
- if (!DEPLOY_PROBE()) {
- measured_z = run_z_probe() + zprobe_zoffset;
-
- const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
- if (big_raise || raise_after == PROBE_PT_RAISE)
- do_blocking_move_to_z(current_position[Z_AXIS] + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
- else if (raise_after == PROBE_PT_STOW)
- if (STOW_PROBE()) measured_z = NAN;
- }
-
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM("Bed X: ");
- SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 3);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 3);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL_F(measured_z, 3);
- SERIAL_EOL();
- }
-
- feedrate_mm_s = old_feedrate_mm_s;
-
- if (isnan(measured_z)) {
- STOW_PROBE();
- LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
- #endif
-
- return measured_z;
- }
-
- #if HAS_Z_SERVO_PROBE
-
- void servo_probe_init() {
- /**
- * Set position of Z Servo Endstop
- *
- * The servo might be deployed and positioned too low to stow
- * when starting up the machine or rebooting the board.
- * There's no way to know where the nozzle is positioned until
- * homing has been done - no homing with z-probe without init!
- *
- */
- STOW_Z_SERVO();
- }
-
- #endif // HAS_Z_SERVO_PROBE
-
- #endif // HAS_BED_PROBE
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