Initial commit

2 files changed, 252 insertions, 0 deletions

diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
new file mode 100644
index 0000000..cf27c14
--- /dev/null
+++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
@@ -0,0 +1,193 @@
+/**
+ * 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_ECHOPAIR("I out of range (0-", int(GRID_MAX_POINTS_X - 1));
+          SERIAL_ECHOLNPGM(")");
+          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_ECHOPAIR("J out of range (0-", int(GRID_MAX_POINTS_Y - 1));
+          SERIAL_ECHOLNPGM(")");
+          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_ECHOPAIR("MBL G29 point ", _MIN(mbl_probe_index, GRID_MAX_POINTS));
+    SERIAL_ECHOLNPAIR(" of ", int(GRID_MAX_POINTS));
+  }
+
+  report_current_position();
+}
+
+#endif // MESH_BED_LEVELING
diff --git a/Marlin/src/gcode/bedlevel/mbl/M421.cpp b/Marlin/src/gcode/bedlevel/mbl/M421.cpp
new file mode 100644
index 0000000..1368ab0
--- /dev/null
+++ b/Marlin/src/gcode/bedlevel/mbl/M421.cpp
@@ -0,0 +1,59 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M421.cpp - Mesh Bed Leveling
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(MESH_BED_LEVELING)
+
+#include "../../gcode.h"
+#include "../../../module/motion.h"
+#include "../../../feature/bedlevel/mbl/mesh_bed_leveling.h"
+
+/**
+ * M421: Set a single Mesh Bed Leveling Z coordinate
+ *
+ * Usage:
+ *   M421 X<linear> Y<linear> Z<linear>
+ *   M421 X<linear> Y<linear> Q<offset>
+ *   M421 I<xindex> J<yindex> Z<linear>
+ *   M421 I<xindex> J<yindex> Q<offset>
+ */
+void GcodeSuite::M421() {
+  const bool hasX = parser.seen('X'), hasI = parser.seen('I');
+  const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1;
+  const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
+  const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1;
+  const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q');
+
+  if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ))
+    SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS);
+  else if (ix < 0 || iy < 0)
+    SERIAL_ERROR_MSG(STR_ERR_MESH_XY);
+  else
+    mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
+}
+
+#endif // MESH_BED_LEVELING