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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 <http://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- /**
- * module/probe.h - Move, deploy, enable, etc.
- */
-
- #include "../inc/MarlinConfig.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_RAISE, // Raise to "between" clearance after run_z_probe
- PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
- };
- #endif
-
- class Probe {
- public:
-
- #if HAS_BED_PROBE
-
- static xyz_pos_t offset;
-
- static bool set_deployed(const bool deploy);
-
- #ifdef Z_AFTER_PROBING
- static void move_z_after_probing();
- #endif
- static float probe_at_point(const float &rx, const float &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 inline 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);
- }
- #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
- static const char msg_wait_for_bed_heating[25];
- #endif
-
- #else
-
- static constexpr xyz_pos_t offset = xyz_pos_t({ 0, 0, 0 }); // See #16767
-
- static bool set_deployed(const bool) { return false; }
-
- #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 xyz_pos_t &offset_xy;
- #else
- static constexpr xy_pos_t offset_xy = xy_pos_t({ 0, 0 }); // See #16767
- #endif
-
- static inline bool deploy() { return set_deployed(true); }
- static inline bool stow() { return set_deployed(false); }
-
- #if HAS_BED_PROBE || HAS_LEVELING
- #if IS_KINEMATIC
- static constexpr float printable_radius = (
- #if ENABLED(DELTA)
- DELTA_PRINTABLE_RADIUS
- #elif IS_SCARA
- SCARA_PRINTABLE_RADIUS
- #endif
- );
-
- static inline float probe_radius() {
- return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(offset_xy.x, offset_xy.y));
- }
- #endif
-
- static inline float min_x() {
- return (
- #if IS_KINEMATIC
- (X_CENTER) - probe_radius()
- #else
- _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + offset_xy.x)
- #endif
- );
- }
- static inline float max_x() {
- return (
- #if IS_KINEMATIC
- (X_CENTER) + probe_radius()
- #else
- _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + offset_xy.x)
- #endif
- );
- }
- static inline float min_y() {
- return (
- #if IS_KINEMATIC
- (Y_CENTER) - probe_radius()
- #else
- _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + offset_xy.y)
- #endif
- );
- }
- static inline float max_y() {
- return (
- #if IS_KINEMATIC
- (Y_CENTER) + probe_radius()
- #else
- _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + offset_xy.y)
- #endif
- );
- }
-
- #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 inline void get_three_points(T points[3]) {
- #if ENABLED(HAS_FIXED_3POINT)
- points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
- points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
- points[2].set(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].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
- points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
- points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
- #else
- points[0].set(min_x(), min_y());
- points[1].set(max_x(), min_y());
- points[2].set((max_x() - min_x()) / 2, max_y());
- #endif
- #endif
- }
- #endif
-
- #endif // HAS_BED_PROBE
-
- #if HAS_Z_SERVO_PROBE
- static void servo_probe_init();
- #endif
-
- #if QUIET_PROBING
- static void set_probing_paused(const bool p);
- #endif
-
- private:
- static bool probe_down_to_z(const float 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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