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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(ASSISTED_TRAMMING)
-
- #include "../gcode.h"
- #include "../../module/planner.h"
- #include "../../module/probe.h"
- #include "../../feature/bedlevel/bedlevel.h"
-
- #if HAS_MULTI_HOTEND
- #include "../../module/tool_change.h"
- #endif
-
- #if ENABLED(BLTOUCH)
- #include "../../feature/bltouch.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../core/debug_out.h"
-
- //
- // Define tramming point names.
- //
-
- #include "../../feature/tramming.h"
-
- /**
- * G35: Read bed corners to help adjust bed screws
- *
- * S<screw_thread>
- *
- * Screw thread: 30 - Clockwise M3
- * 31 - Counter-Clockwise M3
- * 40 - Clockwise M4
- * 41 - Counter-Clockwise M4
- * 50 - Clockwise M5
- * 51 - Counter-Clockwise M5
- **/
- void GcodeSuite::G35() {
- DEBUG_SECTION(log_G35, "G35", DEBUGGING(LEVELING));
-
- if (DEBUGGING(LEVELING)) log_machine_info();
-
- float z_measured[G35_PROBE_COUNT] = { 0 };
-
- const uint8_t screw_thread = parser.byteval('S', TRAMMING_SCREW_THREAD);
- if (!WITHIN(screw_thread, 30, 51) || screw_thread % 10 > 1) {
- SERIAL_ECHOLNPGM("?(S)crew thread must be 30, 31, 40, 41, 50, or 51.");
- return;
- }
-
- // Wait for planner moves to finish!
- planner.synchronize();
-
- // Disable the leveling matrix before auto-aligning
- #if HAS_LEVELING
- #if ENABLED(RESTORE_LEVELING_AFTER_G35)
- const bool leveling_was_active = planner.leveling_active;
- #endif
- set_bed_leveling_enabled(false);
- #endif
-
- #if ENABLED(CNC_WORKSPACE_PLANES)
- workspace_plane = PLANE_XY;
- #endif
-
- // Always home with tool 0 active
- #if HAS_MULTI_HOTEND
- const uint8_t old_tool_index = active_extruder;
- tool_change(0, true);
- #endif
-
- // Disable duplication mode on homing
- TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
-
- // Home only Z axis when X and Y is trusted, otherwise all axes, if needed before this procedure
- if (!all_axes_trusted()) process_subcommands_now(F("G28Z"));
-
- bool err_break = false;
-
- // Probe all positions
- LOOP_L_N(i, G35_PROBE_COUNT) {
-
- // In BLTOUCH HS mode, the probe travels in a deployed state.
- // Users of G35 might have a badly misaligned bed, so raise Z by the
- // length of the deployed pin (BLTOUCH stroke < 7mm)
-
- // Unsure if this is even required. The probe seems to lift correctly after probe done.
- do_blocking_move_to_z(SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance()));
- const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE, 0, true);
-
- if (isnan(z_probed_height)) {
- SERIAL_ECHOPGM("G35 failed at point ", i + 1, " (");
- SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i]));
- SERIAL_CHAR(')');
- SERIAL_ECHOLNPGM_P(SP_X_STR, tramming_points[i].x, SP_Y_STR, tramming_points[i].y);
- err_break = true;
- break;
- }
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPGM("Probing point ", i + 1, " (");
- DEBUG_ECHOF(FPSTR(pgm_read_ptr(&tramming_point_name[i])));
- DEBUG_CHAR(')');
- DEBUG_ECHOLNPGM_P(SP_X_STR, tramming_points[i].x, SP_Y_STR, tramming_points[i].y, SP_Z_STR, z_probed_height);
- }
-
- z_measured[i] = z_probed_height;
- }
-
- if (!err_break) {
- const float threads_factor[] = { 0.5, 0.7, 0.8 };
-
- // Calculate adjusts
- LOOP_S_L_N(i, 1, G35_PROBE_COUNT) {
- const float diff = z_measured[0] - z_measured[i],
- adjust = ABS(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10];
-
- const int full_turns = trunc(adjust);
- const float decimal_part = adjust - float(full_turns);
- const int minutes = trunc(decimal_part * 60.0f);
-
- SERIAL_ECHOPGM("Turn ");
- SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i]));
- SERIAL_ECHOPGM(" ", (screw_thread & 1) == (adjust > 0) ? "CCW" : "CW", " by ", ABS(full_turns), " turns");
- if (minutes) SERIAL_ECHOPGM(" and ", ABS(minutes), " minutes");
- if (ENABLED(REPORT_TRAMMING_MM)) SERIAL_ECHOPGM(" (", -diff, "mm)");
- SERIAL_EOL();
- }
- }
- else
- SERIAL_ECHOLNPGM("G35 aborted.");
-
- // Restore the active tool after homing
- #if HAS_MULTI_HOTEND
- if (old_tool_index != 0) tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER
- #endif
-
- #if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35)
- set_bed_leveling_enabled(leveling_was_active);
- #endif
-
- // Stow the probe, as the last call to probe.probe_at_point(...) left
- // the probe deployed if it was successful.
- probe.stow();
-
- move_to_tramming_wait_pos();
-
- // After this operation the Z position needs correction
- set_axis_never_homed(Z_AXIS);
- }
-
- #endif // ASSISTED_TRAMMING
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