G34 Mechanical Gantry Calibration (like Prusa M915) (#18972)
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>2.0.x
InsanityAutomation
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfigPre.h"
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#if ENABLED(MECHANICAL_GANTRY_CALIBRATION)
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/stepper.h"
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#include "../../module/endstops.h"
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#if HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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void GcodeSuite::G34() {
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if (homing_needed()) return;
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TEMPORARY_SOFT_ENDSTOP_STATE(false);
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TEMPORARY_BED_LEVELING_STATE(false);
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TemporaryGlobalEndstopsState unlock_z(false);
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#ifdef GANTRY_CALIBRATION_COMMANDS_PRE
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gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE));
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed");
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#endif
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#ifdef GANTRY_CALIBRATION_SAFE_POSITION
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// Move XY to safe position
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY");
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const xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION;
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do_blocking_move_to(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE));
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#endif
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const float move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT),
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zbase = ENABLED(GANTRY_CALIBRATION_TO_MIN) ? Z_MIN_POS : Z_MAX_POS,
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zpounce = zbase - move_distance, zgrind = zbase + move_distance;
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// Move Z to pounce position
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce");
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do_blocking_move_to_z(zpounce, MMM_TO_MMS(HOMING_FEEDRATE_Z));
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// Store current motor settings, then apply reduced value
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#define _REDUCE_CURRENT ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_DAC, HAS_MOTOR_CURRENT_I2C, HAS_TRINAMIC_CONFIG)
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#if _REDUCE_CURRENT
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current");
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#endif
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#if HAS_MOTOR_CURRENT_SPI
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
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stepper.set_digipot_current(Z_AXIS, target_current);
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#elif HAS_MOTOR_CURRENT_PWM
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
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stepper.set_digipot_current(1, target_current);
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#elif HAS_MOTOR_CURRENT_DAC
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const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT);
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const float previous_current = dac_amps(Z_AXIS, target_current);
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stepper_dac.set_current_value(Z_AXIS, target_current);
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#elif ENABLED(HAS_MOTOR_CURRENT_I2C)
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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previous_current = dac_amps(Z_AXIS);
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digipot_i2c.set_current(Z_AXIS, target_current)
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#elif HAS_TRINAMIC_CONFIG
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
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#if AXIS_IS_TMC(Z)
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previous_current_arr[0] = stepperZ.getMilliamps();
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stepperZ.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z2)
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previous_current_arr[1] = stepperZ2.getMilliamps();
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stepperZ2.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z3)
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previous_current_arr[2] = stepperZ3.getMilliamps();
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stepperZ3.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z4)
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previous_current_arr[3] = stepperZ4.getMilliamps();
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stepperZ4.rms_current(target_current);
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#endif
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#endif
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// Do Final Z move to adjust
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move");
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do_blocking_move_to_z(zgrind, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
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// Back off end plate, back to normal motion range
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff");
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do_blocking_move_to_z(zpounce, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
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#if _REDUCE_CURRENT
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// Reset current to original values
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current");
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#endif
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#if HAS_MOTOR_CURRENT_SPI
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stepper.set_digipot_current(Z_AXIS, previous_current);
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#elif HAS_MOTOR_CURRENT_PWM
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stepper.set_digipot_current(1, previous_current);
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#elif HAS_MOTOR_CURRENT_DAC
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stepper_dac.set_current_value(Z_AXIS, previous_current);
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#elif ENABLED(HAS_MOTOR_CURRENT_I2C)
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digipot_i2c.set_current(Z_AXIS, previous_current)
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#elif HAS_TRINAMIC_CONFIG
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#if AXIS_IS_TMC(Z)
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stepperZ.rms_current(previous_current_arr[0]);
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#endif
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#if AXIS_IS_TMC(Z2)
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stepperZ2.rms_current(previous_current_arr[1]);
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#endif
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#if AXIS_IS_TMC(Z3)
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stepperZ3.rms_current(previous_current_arr[2]);
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#endif
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#if AXIS_IS_TMC(Z4)
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stepperZ4.rms_current(previous_current_arr[3]);
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#endif
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#endif
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#ifdef GANTRY_CALIBRATION_COMMANDS_POST
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
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gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
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#endif
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}
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#endif // MECHANICAL_GANTRY_CALIBRATION
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