Debug messages for homing and leveling
This commit is contained in:
Scott Lahteine
Richard Wackerbarth
parent
6292d9e815
commit
194f98ff95
@ -1033,6 +1033,19 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
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#endif //DUAL_X_CARRIAGE
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#ifdef DEBUG_LEVELING
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void print_xyz(const char *prefix, const float x, const float y, const float z) {
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SERIAL_ECHO(prefix);
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SERIAL_ECHOPAIR(": (", x);
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SERIAL_ECHOPAIR(", ", y);
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SERIAL_ECHOPAIR(", ", z);
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SERIAL_ECHOLNPGM(")");
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}
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void print_xyz(const char *prefix, const float xyz[]) {
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print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
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}
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#endif
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static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(DUAL_X_CARRIAGE)
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@ -1098,6 +1111,12 @@ static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
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if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset;
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#endif
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("set_axis_is_at_home ", (unsigned long)axis);
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SERIAL_ECHOPAIR(" > (home_offset[axis]==", home_offset[axis]);
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print_xyz(") > current_position", current_position);
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#endif
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}
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}
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@ -1143,6 +1162,9 @@ static void setup_for_endstop_move() {
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saved_feedrate_multiplier = feedrate_multiplier;
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feedrate_multiplier = 100;
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refresh_cmd_timeout();
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
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#endif
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enable_endstops(true);
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}
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@ -1153,6 +1175,9 @@ static void setup_for_endstop_move() {
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* Calculate delta, start a line, and set current_position to destination
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*/
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void prepare_move_raw() {
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#ifdef DEBUG_LEVELING
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print_xyz("prepare_move_raw > destination", destination);
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#endif
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refresh_cmd_timeout();
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calculate_delta(destination);
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plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder);
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@ -1180,6 +1205,10 @@ static void setup_for_endstop_move() {
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#ifdef DEBUG_LEVELING
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print_xyz("set_bed_level_equation_lsq > current_position", current_position);
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#endif
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sync_plan_position();
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}
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@ -1209,6 +1238,10 @@ static void setup_for_endstop_move() {
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current_position[Y_AXIS] = corrected_position.y;
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current_position[Z_AXIS] = corrected_position.z;
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#ifdef DEBUG_LEVELING
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print_xyz("set_bed_level_equation_3pts > current_position", current_position);
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#endif
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sync_plan_position();
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}
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@ -1221,6 +1254,10 @@ static void setup_for_endstop_move() {
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float start_z = current_position[Z_AXIS];
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long start_steps = st_get_position(Z_AXIS);
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
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#endif
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// move down slowly until you find the bed
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feedrate = homing_feedrate[Z_AXIS] / 4;
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destination[Z_AXIS] = -10;
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@ -1232,6 +1269,11 @@ static void setup_for_endstop_move() {
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long stop_steps = st_get_position(Z_AXIS);
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float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
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current_position[Z_AXIS] = mm;
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#ifdef DEBUG_LEVELING
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print_xyz("run_z_probe (DELTA) 2 > current_position", current_position);
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#endif
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sync_plan_position_delta();
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#else // !DELTA
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@ -1265,6 +1307,10 @@ static void setup_for_endstop_move() {
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// Get the current stepper position after bumping an endstop
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current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
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sync_plan_position();
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#ifdef DEBUG_LEVELING
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print_xyz("run_z_probe > current_position", current_position);
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#endif
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#endif // !DELTA
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}
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@ -1276,6 +1322,10 @@ static void setup_for_endstop_move() {
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static void do_blocking_move_to(float x, float y, float z) {
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float oldFeedRate = feedrate;
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#ifdef DEBUG_LEVELING
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print_xyz("do_blocking_move_to", x, y, z);
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#endif
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#if ENABLED(DELTA)
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feedrate = XY_TRAVEL_SPEED;
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@ -1312,6 +1362,9 @@ static void setup_for_endstop_move() {
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static void clean_up_after_endstop_move() {
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#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
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#if ENABLED(DEBUG_LEVELING)
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SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > enable_endstops(false)");
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#endif
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enable_endstops(false);
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#endif
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feedrate = saved_feedrate;
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@ -1321,6 +1374,10 @@ static void setup_for_endstop_move() {
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static void deploy_z_probe() {
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#ifdef DEBUG_LEVELING
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print_xyz("deploy_z_probe > current_position", current_position);
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#endif
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#if HAS_SERVO_ENDSTOPS
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// Engage Z Servo endstop if enabled
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@ -1411,6 +1468,10 @@ static void setup_for_endstop_move() {
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static void stow_z_probe(bool doRaise=true) {
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#ifdef DEBUG_LEVELING
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print_xyz("stow_z_probe > current_position", current_position);
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#endif
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#if HAS_SERVO_ENDSTOPS
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// Retract Z Servo endstop if enabled
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@ -1418,6 +1479,12 @@ static void setup_for_endstop_move() {
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#if Z_RAISE_AFTER_PROBING > 0
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if (doRaise) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("Raise Z (after) by ", (float)Z_RAISE_AFTER_PROBING);
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SERIAL_EOL;
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SERIAL_ECHOPAIR("> SERVO_ENDSTOPS > do_blocking_move_to_z ", current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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SERIAL_EOL;
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#endif
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position
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st_synchronize();
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}
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@ -1506,19 +1573,51 @@ static void setup_for_endstop_move() {
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// Probe bed height at position (x,y), returns the measured z value
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static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("probe_pt >>>");
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SERIAL_ECHOPAIR("> ProbeAction:", (unsigned long)probe_action);
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SERIAL_EOL;
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print_xyz("> current_position", current_position);
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#endif
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
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SERIAL_EOL;
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SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
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SERIAL_EOL;
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#endif
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// Move Z up to the z_before height, then move the Z probe to the given XY
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do_blocking_move_to_z(z_before); // this also updates current_position
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - X_PROBE_OFFSET_FROM_EXTRUDER);
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SERIAL_ECHOPAIR(", ", y - Y_PROBE_OFFSET_FROM_EXTRUDER);
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SERIAL_EOL;
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#endif
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do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position
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#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
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if (probe_action & ProbeDeploy) deploy_z_probe();
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if (probe_action & ProbeDeploy) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> ProbeDeploy");
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#endif
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deploy_z_probe();
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}
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#endif
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run_z_probe();
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float measured_z = current_position[Z_AXIS];
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#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
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if (probe_action & ProbeStow) stow_z_probe();
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if (probe_action & ProbeStow) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
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#endif
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stow_z_probe();
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}
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#endif
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if (verbose_level > 2) {
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@ -1530,6 +1629,11 @@ static void setup_for_endstop_move() {
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SERIAL_PROTOCOL_F(measured_z, 3);
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SERIAL_EOL;
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}
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("<<< probe_pt");
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#endif
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return measured_z;
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}
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@ -1585,6 +1689,9 @@ static void setup_for_endstop_move() {
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// Reset calibration results to zero.
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void reset_bed_level() {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("reset_bed_level");
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#endif
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for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
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for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
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bed_level[x][y] = 0.0;
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@ -1620,6 +1727,10 @@ static void setup_for_endstop_move() {
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* offset[in] The additional distance to move to adjust docking location
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*/
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static void dock_sled(bool dock, int offset=0) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("dock_sled", dock);
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SERIAL_EOL;
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#endif
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if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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@ -1654,6 +1765,11 @@ static void setup_for_endstop_move() {
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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static void homeaxis(AxisEnum axis) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR(">>> homeaxis(", (unsigned long)axis);
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SERIAL_CHAR(')');
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SERIAL_EOL;
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#endif
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#define HOMEAXIS_DO(LETTER) \
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
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@ -1706,6 +1822,9 @@ static void homeaxis(AxisEnum axis) {
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current_position[axis] = 0;
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sync_plan_position();
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> enable_endstops(false)");
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#endif
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enable_endstops(false); // Disable endstops while moving away
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// Move away from the endstop by the axis HOME_BUMP_MM
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@ -1713,6 +1832,9 @@ static void homeaxis(AxisEnum axis) {
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line_to_destination();
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st_synchronize();
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> enable_endstops(true)");
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#endif
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enable_endstops(true); // Enable endstops for next homing move
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// Slow down the feedrate for the next move
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@ -1723,6 +1845,10 @@ static void homeaxis(AxisEnum axis) {
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line_to_destination();
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st_synchronize();
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#ifdef DEBUG_LEVELING
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print_xyz("> TRIGGER ENDSTOP > current_position", current_position);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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if (axis == Z_AXIS) {
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float adj = fabs(z_endstop_adj);
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@ -1751,19 +1877,39 @@ static void homeaxis(AxisEnum axis) {
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#if ENABLED(DELTA)
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// retrace by the amount specified in endstop_adj
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if (endstop_adj[axis] * axis_home_dir < 0) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> enable_endstops(false)");
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#endif
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enable_endstops(false); // Disable endstops while moving away
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sync_plan_position();
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destination[axis] = endstop_adj[axis];
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
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print_xyz(" > destination", destination);
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#endif
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line_to_destination();
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st_synchronize();
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> enable_endstops(true)");
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#endif
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enable_endstops(true); // Enable endstops for next homing move
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}
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#ifdef DEBUG_LEVELING
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else {
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SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
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SERIAL_EOL;
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}
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#endif
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#endif
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// Set the axis position to its home position (plus home offsets)
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set_axis_is_at_home(axis);
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sync_plan_position();
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#ifdef DEBUG_LEVELING
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print_xyz("> AFTER set_axis_is_at_home > current_position", current_position);
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#endif
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destination[axis] = current_position[axis];
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feedrate = 0.0;
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endstops_hit_on_purpose(); // clear endstop hit flags
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@ -1780,7 +1926,12 @@ static void homeaxis(AxisEnum axis) {
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// Deploy a Z probe if there is one, and homing towards the bed
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if (axis == Z_AXIS) {
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if (axis_home_dir < 0) stow_z_probe();
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if (axis_home_dir < 0) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> SERVO_LEVELING > stow_z_probe");
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#endif
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stow_z_probe();
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}
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}
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else
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@ -1789,12 +1940,22 @@ static void homeaxis(AxisEnum axis) {
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{
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#if HAS_SERVO_ENDSTOPS
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// Retract Servo endstop if enabled
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if (servo_endstop_id[axis] >= 0)
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if (servo_endstop_id[axis] >= 0) {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
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#endif
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servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
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}
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#endif
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}
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}
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("<<< homeaxis(", (unsigned long)axis);
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SERIAL_CHAR(')');
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SERIAL_EOL;
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#endif
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}
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#if ENABLED(FWRETRACT)
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@ -1996,6 +2157,10 @@ inline void gcode_G4() {
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*/
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inline void gcode_G28() {
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOLNPGM("gcode_G28 >>>");
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#endif
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// Wait for planner moves to finish!
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st_synchronize();
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@ -2044,6 +2209,10 @@ inline void gcode_G28() {
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sync_plan_position_delta();
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#ifdef DEBUG_LEVELING
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print_xyz("(DELTA) > current_position", current_position);
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#endif
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#else // NOT DELTA
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bool homeX = code_seen(axis_codes[X_AXIS]),
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@ -2057,12 +2226,20 @@ inline void gcode_G28() {
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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HOMEAXIS(Z);
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#ifdef DEBUG_LEVELING
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print_xyz("> HOMEAXIS(Z) > current_position", current_position);
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#endif
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#elif DISABLED(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
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// Raise Z before homing any other axes
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// (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?)
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
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#ifdef DEBUG_LEVELING
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SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
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SERIAL_EOL;
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print_xyz("> (home_all_axis || homeZ) > destination", destination);
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#endif
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feedrate = max_feedrate[Z_AXIS] * 60;
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line_to_destination();
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st_synchronize();
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@ -2099,6 +2276,10 @@ inline void gcode_G28() {
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set_axis_is_at_home(Y_AXIS);
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sync_plan_position();
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#ifdef DEBUG_LEVELING
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print_xyz("> QUICK_HOME > current_position 1", current_position);
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#endif
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destination[X_AXIS] = current_position[X_AXIS];
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destination[Y_AXIS] = current_position[Y_AXIS];
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line_to_destination();
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@ -2111,6 +2292,10 @@ inline void gcode_G28() {
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#if DISABLED(SCARA)
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current_position[Z_AXIS] = destination[Z_AXIS];
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#endif
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|
||||
#ifdef DEBUG_LEVELING
|
||||
print_xyz("> QUICK_HOME > current_position 2", current_position);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // QUICK_HOME
|
||||
@ -2137,11 +2322,19 @@ inline void gcode_G28() {
|
||||
#else
|
||||
HOMEAXIS(X);
|
||||
#endif
|
||||
#ifdef DEBUG_LEVELING
|
||||
print_xyz("> homeX", current_position);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if DISABLED(HOME_Y_BEFORE_X)
|
||||
// Home Y
|
||||
if (home_all_axis || homeY) HOMEAXIS(Y);
|
||||
if (home_all_axis || homeY) {
|
||||
HOMEAXIS(Y);
|
||||
#ifdef DEBUG_LEVELING
|
||||
print_xyz("> homeY", current_position);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
// Home Z last if homing towards the bed
|
||||
@ -2151,6 +2344,10 @@ inline void gcode_G28() {
|
||||
|
||||
#if ENABLED(Z_SAFE_HOMING)
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
|
||||
#endif
|
||||
|
||||
if (home_all_axis) {
|
||||
|
||||
current_position[Z_AXIS] = 0;
|
||||
@ -2165,6 +2362,14 @@ inline void gcode_G28() {
|
||||
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
||||
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
|
||||
feedrate = XY_TRAVEL_SPEED;
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
|
||||
SERIAL_EOL;
|
||||
print_xyz("> home_all_axis > current_position", current_position);
|
||||
print_xyz("> home_all_axis > destination", destination);
|
||||
#endif
|
||||
|
||||
// This could potentially move X, Y, Z all together
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
@ -2197,6 +2402,14 @@ inline void gcode_G28() {
|
||||
// NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...???
|
||||
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
|
||||
feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
|
||||
SERIAL_EOL;
|
||||
print_xyz("> homeZ > current_position", current_position);
|
||||
print_xyz("> homeZ > destination", destination);
|
||||
#endif
|
||||
|
||||
line_to_destination();
|
||||
st_synchronize();
|
||||
|
||||
@ -2217,12 +2430,20 @@ inline void gcode_G28() {
|
||||
|
||||
} // !home_all_axes && homeZ
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
|
||||
#endif
|
||||
|
||||
#else // !Z_SAFE_HOMING
|
||||
|
||||
HOMEAXIS(Z);
|
||||
|
||||
#endif // !Z_SAFE_HOMING
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
print_xyz("> (home_all_axis || homeZ) > final", current_position);
|
||||
#endif
|
||||
|
||||
} // home_all_axis || homeZ
|
||||
|
||||
#endif // Z_HOME_DIR < 0
|
||||
@ -2236,6 +2457,9 @@ inline void gcode_G28() {
|
||||
#endif
|
||||
|
||||
#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
|
||||
#endif
|
||||
enable_endstops(false);
|
||||
#endif
|
||||
|
||||
@ -2251,6 +2475,9 @@ inline void gcode_G28() {
|
||||
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
|
||||
sync_plan_position();
|
||||
mbl.active = 1;
|
||||
#ifdef DEBUG_LEVELING
|
||||
print_xyz("mbl_was_active > current_position", current_position);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -2258,6 +2485,11 @@ inline void gcode_G28() {
|
||||
feedrate_multiplier = saved_feedrate_multiplier;
|
||||
refresh_cmd_timeout();
|
||||
endstops_hit_on_purpose(); // clear endstop hit flags
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("<<< gcode_G28");
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
@ -2443,6 +2675,10 @@ inline void gcode_G28() {
|
||||
*/
|
||||
inline void gcode_G29() {
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("gcode_G29 >>>");
|
||||
#endif
|
||||
|
||||
// Don't allow auto-leveling without homing first
|
||||
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
|
||||
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
||||
@ -2601,6 +2837,19 @@ inline void gcode_G28() {
|
||||
float measured_z,
|
||||
z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;
|
||||
|
||||
if (probePointCounter) {
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPAIR("z_before = (between) ", (float)(Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
|
||||
SERIAL_EOL;
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPAIR("z_before = (before) ", (float)Z_RAISE_BEFORE_PROBING);
|
||||
SERIAL_EOL;
|
||||
#endif
|
||||
}
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
|
||||
float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
|
||||
@ -2638,6 +2887,10 @@ inline void gcode_G28() {
|
||||
} //xProbe
|
||||
} //yProbe
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
print_xyz("> probing complete > current_position", current_position);
|
||||
#endif
|
||||
|
||||
clean_up_after_endstop_move();
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
@ -2734,6 +2987,10 @@ inline void gcode_G28() {
|
||||
|
||||
#else // !AUTO_BED_LEVELING_GRID
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("> 3-point Leveling");
|
||||
#endif
|
||||
|
||||
// Actions for each probe
|
||||
ProbeAction p1, p2, p3;
|
||||
if (deploy_probe_for_each_reading)
|
||||
@ -2763,6 +3020,13 @@ inline void gcode_G28() {
|
||||
z_tmp = current_position[Z_AXIS],
|
||||
real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
|
||||
SERIAL_EOL;
|
||||
SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
|
||||
SERIAL_EOL;
|
||||
#endif
|
||||
|
||||
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the Z probe offset
|
||||
|
||||
// Get the current Z position and send it to the planner.
|
||||
@ -2781,6 +3045,11 @@ inline void gcode_G28() {
|
||||
// adjust for inaccurate endstops, not for reasonably accurate probes. If it were
|
||||
// added here, it could be seen as a compensating factor for the Z probe.
|
||||
//
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
|
||||
SERIAL_EOL;
|
||||
#endif
|
||||
|
||||
current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
|
||||
#if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
|
||||
+ Z_RAISE_AFTER_PROBING
|
||||
@ -2788,6 +3057,10 @@ inline void gcode_G28() {
|
||||
;
|
||||
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
|
||||
sync_plan_position();
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
print_xyz("> corrected Z in G29", current_position);
|
||||
#endif
|
||||
}
|
||||
#endif // !DELTA
|
||||
|
||||
@ -2798,9 +3071,18 @@ inline void gcode_G28() {
|
||||
#endif
|
||||
|
||||
#ifdef Z_PROBE_END_SCRIPT
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHO("Z Probe End Script: ");
|
||||
SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
|
||||
#endif
|
||||
enqueuecommands_P(PSTR(Z_PROBE_END_SCRIPT));
|
||||
st_synchronize();
|
||||
#endif
|
||||
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("<<< gcode_G29");
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#if DISABLED(Z_PROBE_SLED)
|
||||
@ -4095,11 +4377,23 @@ inline void gcode_M206() {
|
||||
* M666: Set delta endstop adjustment
|
||||
*/
|
||||
inline void gcode_M666() {
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM(">>> gcode_M666");
|
||||
#endif
|
||||
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
|
||||
if (code_seen(axis_codes[i])) {
|
||||
endstop_adj[i] = code_value();
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPGM("endstop_adj[");
|
||||
SERIAL_ECHO(axis_codes[i]);
|
||||
SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
|
||||
SERIAL_EOL;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOLNPGM("<<< gcode_M666");
|
||||
#endif
|
||||
}
|
||||
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
|
||||
/**
|
||||
@ -5801,7 +6095,13 @@ void clamp_to_software_endstops(float target[3]) {
|
||||
float negative_z_offset = 0;
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
|
||||
if (home_offset[Z_AXIS] < 0) negative_z_offset += home_offset[Z_AXIS];
|
||||
if (home_offset[Z_AXIS] < 0) {
|
||||
#ifdef DEBUG_LEVELING
|
||||
SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
|
||||
SERIAL_EOL;
|
||||
#endif
|
||||
negative_z_offset += home_offset[Z_AXIS];
|
||||
}
|
||||
#endif
|
||||
NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user