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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/MarlinConfig.h"
-
- #if ENABLED(G38_PROBE_TARGET)
-
- #include "../gcode.h"
-
- #include "../../module/endstops.h"
- #include "../../module/motion.h"
- #include "../../module/stepper.h"
- #include "../../module/probe.h"
-
- inline void G38_single_probe(const uint8_t move_value) {
- endstops.enable(true);
- G38_move = move_value;
- prepare_line_to_destination();
- planner.synchronize();
- G38_move = 0;
- endstops.hit_on_purpose();
- set_current_from_steppers_for_axis(ALL_AXES_ENUM);
- sync_plan_position();
- }
-
- inline bool G38_run_probe() {
-
- bool G38_pass_fail = false;
-
- #if MULTIPLE_PROBING > 1
- // Get direction of move and retract
- xyz_float_t retract_mm;
- LOOP_NUM_AXES(i) {
- const float dist = destination[i] - current_position[i];
- retract_mm[i] = ABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
- }
- #endif
-
- planner.synchronize(); // wait until the machine is idle
-
- // Move flag value
- #if ENABLED(G38_PROBE_AWAY)
- const uint8_t move_value = parser.subcode;
- #else
- constexpr uint8_t move_value = 1;
- #endif
-
- G38_did_trigger = false;
-
- // Move until destination reached or target hit
- G38_single_probe(move_value);
-
- if (G38_did_trigger) {
-
- G38_pass_fail = true;
-
- #if MULTIPLE_PROBING > 1
- // Move away by the retract distance
- destination = current_position + retract_mm;
- endstops.enable(false);
- prepare_line_to_destination();
- planner.synchronize();
-
- REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25);
-
- // Bump the target more slowly
- destination -= retract_mm * 2;
-
- G38_single_probe(move_value);
- #endif
- }
-
- endstops.not_homing();
- return G38_pass_fail;
- }
-
- /**
- * G38 Probe Target
- *
- * G38.2 - Probe toward workpiece, stop on contact, signal error if failure
- * G38.3 - Probe toward workpiece, stop on contact
- *
- * With G38_PROBE_AWAY:
- *
- * G38.4 - Probe away from workpiece, stop on contact break, signal error if failure
- * G38.5 - Probe away from workpiece, stop on contact break
- */
- void GcodeSuite::G38(const int8_t subcode) {
- // Get X Y Z E F
- get_destination_from_command();
-
- remember_feedrate_scaling_off();
-
- const bool error_on_fail =
- #if ENABLED(G38_PROBE_AWAY)
- !TEST(subcode, 0)
- #else
- (subcode == 2)
- #endif
- ;
-
- // If any axis has enough movement, do the move
- LOOP_NUM_AXES(i)
- if (ABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
- if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
- // If G38.2 fails throw an error
- if (!G38_run_probe() && error_on_fail) SERIAL_ERROR_MSG("Failed to reach target");
- break;
- }
-
- restore_feedrate_and_scaling();
- }
-
- #endif // G38_PROBE_TARGET
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