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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/>.
- *
- */
-
- /**
- * 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/marlinui.h"
- #include "../../../module/motion.h"
- #include "../../../module/stepper.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../../lcd/extui/ui_api.h"
- #endif
-
- // 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;
-
- 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_move) {
- queue.inject_P(parser.seen('N') ? PSTR("G28" TERN(G28_L0_ENSURES_LEVELING_OFF, "L0", "") "\nG29S2") : PSTR("G29S2"));
- 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) {
- // 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);
- SET_SOFT_ENDSTOP_LOOSE(false);
- }
- // If there's another point to sample, move there with optional lift.
- if (mbl_probe_index < GRID_MAX_POINTS) {
- // Disable software endstops to allow manual adjustment
- // If G29 is left hanging without completion they won't be re-enabled!
- SET_SOFT_ENDSTOP_LOOSE(true);
- 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 = 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);
-
- home_all_axes();
- set_bed_leveling_enabled(true);
-
- #if ENABLED(MESH_G28_REST_ORIGIN)
- current_position.z = 0;
- line_to_current_position(homing_feedrate(Z_AXIS));
- planner.synchronize();
- #endif
-
- TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
- }
- break;
-
- case MeshSet:
- if (parser.seenval('I')) {
- ix = parser.value_int();
- if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) {
- SERIAL_ECHOLNPAIR("I out of range (0-", GRID_MAX_POINTS_X - 1, ")");
- 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_ECHOLNPAIR("J out of range (0-", GRID_MAX_POINTS_Y - 1, ")");
- return;
- }
- }
- else
- return echo_not_entered('J');
-
- if (parser.seenval('Z')) {
- mbl.z_values[ix][iy] = parser.value_linear_units();
- TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, mbl.z_values[ix][iy]));
- }
- 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_ECHOLNPAIR("MBL G29 point ", _MIN(mbl_probe_index, GRID_MAX_POINTS), " of ", GRID_MAX_POINTS);
-
- report_current_position();
- }
-
- #endif // MESH_BED_LEVELING
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