Initial commit

6 files changed, 456 insertions, 0 deletions

diff --git a/Marlin/src/gcode/probe/G30.cpp b/Marlin/src/gcode/probe/G30.cpp
new file mode 100644
index 0000000..4347f55
--- /dev/null
+++ b/Marlin/src/gcode/probe/G30.cpp
@@ -0,0 +1,66 @@
+/**
+ * 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 HAS_BED_PROBE
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../module/probe.h"
+#include "../../feature/bedlevel/bedlevel.h"
+
+/**
+ * G30: Do a single Z probe at the current XY
+ *
+ * Parameters:
+ *
+ *   X   Probe X position (default current X)
+ *   Y   Probe Y position (default current Y)
+ *   E   Engage the probe for each probe (default 1)
+ */
+void GcodeSuite::G30() {
+
+  const xy_pos_t pos = { parser.linearval('X', current_position.x + probe.offset_xy.x),
+                         parser.linearval('Y', current_position.y + probe.offset_xy.y) };
+
+  if (!probe.can_reach(pos)) return;
+
+  // Disable leveling so the planner won't mess with us
+  TERN_(HAS_LEVELING, set_bed_leveling_enabled(false));
+
+  remember_feedrate_scaling_off();
+
+  const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
+  const float measured_z = probe.probe_at_point(pos, raise_after, 1);
+  if (!isnan(measured_z))
+    SERIAL_ECHOLNPAIR("Bed X: ", pos.x, " Y: ", pos.y, " Z: ", measured_z);
+
+  restore_feedrate_and_scaling();
+
+  if (raise_after == PROBE_PT_STOW)
+    probe.move_z_after_probing();
+
+  report_current_position();
+}
+
+#endif // HAS_BED_PROBE
diff --git a/Marlin/src/gcode/probe/G31_G32.cpp b/Marlin/src/gcode/probe/G31_G32.cpp
new file mode 100644
index 0000000..af44257
--- /dev/null
+++ b/Marlin/src/gcode/probe/G31_G32.cpp
@@ -0,0 +1,40 @@
+/**
+ * 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(Z_PROBE_SLED)
+
+#include "../gcode.h"
+#include "../../module/probe.h"
+
+/**
+ * G31: Deploy the Z probe
+ */
+void GcodeSuite::G31() { probe.deploy(); }
+
+/**
+ * G32: Stow the Z probe
+ */
+void GcodeSuite::G32() { probe.stow(); }
+
+#endif // Z_PROBE_SLED
diff --git a/Marlin/src/gcode/probe/G38.cpp b/Marlin/src/gcode/probe/G38.cpp
new file mode 100644
index 0000000..b06cd47
--- /dev/null
+++ b/Marlin/src/gcode/probe/G38.cpp
@@ -0,0 +1,133 @@
+/**
+ * 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(G38_PROBE_TARGET)
+
+#include "../gcode.h"
+
+#include "../../module/endstops.h"
+#include "../../module/motion.h"
+#include "../../module/stepper.h"
+#include "../../module/probe.h"
+
+inline void G38_single_probe(const uint8_t move_value) {
+  endstops.enable(true);
+  G38_move = move_value;
+  prepare_line_to_destination();
+  planner.synchronize();
+  G38_move = 0;
+  endstops.hit_on_purpose();
+  set_current_from_steppers_for_axis(ALL_AXES);
+  sync_plan_position();
+}
+
+inline bool G38_run_probe() {
+
+  bool G38_pass_fail = false;
+
+  #if MULTIPLE_PROBING > 1
+    // Get direction of move and retract
+    xyz_float_t retract_mm;
+    LOOP_XYZ(i) {
+      const float dist = destination[i] - current_position[i];
+      retract_mm[i] = ABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
+    }
+  #endif
+
+  planner.synchronize();  // wait until the machine is idle
+
+  // Move flag value
+  #if ENABLED(G38_PROBE_AWAY)
+    const uint8_t move_value = parser.subcode;
+  #else
+    constexpr uint8_t move_value = 1;
+  #endif
+
+  G38_did_trigger = false;
+
+  // Move until destination reached or target hit
+  G38_single_probe(move_value);
+
+  if (G38_did_trigger) {
+
+    G38_pass_fail = true;
+
+    #if MULTIPLE_PROBING > 1
+      // Move away by the retract distance
+      destination = current_position + retract_mm;
+      endstops.enable(false);
+      prepare_line_to_destination();
+      planner.synchronize();
+
+      REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25);
+
+      // Bump the target more slowly
+      destination -= retract_mm * 2;
+
+      G38_single_probe(move_value);
+    #endif
+  }
+
+  endstops.not_homing();
+  return G38_pass_fail;
+}
+
+/**
+ * G38 Probe Target
+ *
+ *  G38.2 - Probe toward workpiece, stop on contact, signal error if failure
+ *  G38.3 - Probe toward workpiece, stop on contact
+ *
+ * With G38_PROBE_AWAY:
+ *
+ *  G38.4 - Probe away from workpiece, stop on contact break, signal error if failure
+ *  G38.5 - Probe away from workpiece, stop on contact break
+ */
+void GcodeSuite::G38(const int8_t subcode) {
+  // Get X Y Z E F
+  get_destination_from_command();
+
+  remember_feedrate_scaling_off();
+
+  const bool error_on_fail =
+    #if ENABLED(G38_PROBE_AWAY)
+      !TEST(subcode, 0)
+    #else
+      (subcode == 2)
+    #endif
+  ;
+
+  // If any axis has enough movement, do the move
+  LOOP_XYZ(i)
+    if (ABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
+      if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
+      // If G38.2 fails throw an error
+      if (!G38_run_probe() && error_on_fail) SERIAL_ERROR_MSG("Failed to reach target");
+      break;
+    }
+
+  restore_feedrate_and_scaling();
+}
+
+#endif // G38_PROBE_TARGET
diff --git a/Marlin/src/gcode/probe/M401_M402.cpp b/Marlin/src/gcode/probe/M401_M402.cpp
new file mode 100644
index 0000000..bd9bb44
--- /dev/null
+++ b/Marlin/src/gcode/probe/M401_M402.cpp
@@ -0,0 +1,49 @@
+/**
+ * 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 HAS_BED_PROBE
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../module/probe.h"
+
+/**
+ * M401: Deploy and activate the Z probe
+ */
+void GcodeSuite::M401() {
+  probe.deploy();
+  TERN_(PROBE_TARE, probe.tare());
+  report_current_position();
+}
+
+/**
+ * M402: Deactivate and stow the Z probe
+ */
+void GcodeSuite::M402() {
+  probe.stow();
+  probe.move_z_after_probing();
+  report_current_position();
+}
+
+#endif // HAS_BED_PROBE
diff --git a/Marlin/src/gcode/probe/M851.cpp b/Marlin/src/gcode/probe/M851.cpp
new file mode 100644
index 0000000..04b293d
--- /dev/null
+++ b/Marlin/src/gcode/probe/M851.cpp
@@ -0,0 +1,97 @@
+/**
+ * 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 HAS_BED_PROBE
+
+#include "../gcode.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/probe.h"
+
+/**
+ * M851: Set the nozzle-to-probe offsets in current units
+ */
+void GcodeSuite::M851() {
+
+  // Show usage with no parameters
+  if (!parser.seen("XYZ")) {
+    SERIAL_ECHOLNPAIR_P(
+      #if HAS_PROBE_XY_OFFSET
+        PSTR(STR_PROBE_OFFSET " X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR
+      #else
+        PSTR(STR_PROBE_OFFSET " X0 Y0 Z")
+      #endif
+      , probe.offset.z
+    );
+    return;
+  }
+
+  // Start with current offsets and modify
+  xyz_pos_t offs = probe.offset;
+
+  // Assume no errors
+  bool ok = true;
+
+  if (parser.seenval('X')) {
+    const float x = parser.value_float();
+    #if HAS_PROBE_XY_OFFSET
+      if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
+        offs.x = x;
+      else {
+        SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
+        ok = false;
+      }
+    #else
+      if (x) SERIAL_ECHOLNPAIR("?X must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
+    #endif
+  }
+
+  if (parser.seenval('Y')) {
+    const float y = parser.value_float();
+    #if HAS_PROBE_XY_OFFSET
+      if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
+        offs.y = y;
+      else {
+        SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
+        ok = false;
+      }
+    #else
+      if (y) SERIAL_ECHOLNPAIR("?Y must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
+    #endif
+  }
+
+  if (parser.seenval('Z')) {
+    const float z = parser.value_float();
+    if (WITHIN(z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
+      offs.z = z;
+    else {
+      SERIAL_ECHOLNPAIR("?Z out of range (", int(Z_PROBE_OFFSET_RANGE_MIN), " to ", int(Z_PROBE_OFFSET_RANGE_MAX), ")");
+      ok = false;
+    }
+  }
+
+  // Save the new offsets
+  if (ok) probe.offset = offs;
+}
+
+#endif // HAS_BED_PROBE
diff --git a/Marlin/src/gcode/probe/M951.cpp b/Marlin/src/gcode/probe/M951.cpp
new file mode 100644
index 0000000..f461fc2
--- /dev/null
+++ b/Marlin/src/gcode/probe/M951.cpp
@@ -0,0 +1,71 @@
+/**
+ * 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/MarlinConfigPre.h"
+
+#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
+
+#include "../gcode.h"
+#include "../../module/tool_change.h"
+#include "../../module/motion.h"
+
+mpe_settings_t mpe_settings;
+
+inline void mpe_settings_report() {
+  SERIAL_ECHO_MSG("Magnetic Parking Extruder");
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("L: Left parking  :", mpe_settings.parking_xpos[0]);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("R: Right parking :", mpe_settings.parking_xpos[1]);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("I: Grab Offset   :", mpe_settings.grab_distance);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("J: Normal speed  :", long(MMS_TO_MMM(mpe_settings.slow_feedrate)));
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("H: High speed    :", long(MMS_TO_MMM(mpe_settings.fast_feedrate)));
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("D: Distance trav.:", mpe_settings.travel_distance);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("C: Compenstion   :", mpe_settings.compensation_factor);
+}
+
+void mpe_settings_init() {
+  constexpr float pex[2] = PARKING_EXTRUDER_PARKING_X;
+  mpe_settings.parking_xpos[0]      = pex[0];                         // M951 L
+  mpe_settings.parking_xpos[1]      = pex[1];                         // M951 R
+  mpe_settings.grab_distance        = PARKING_EXTRUDER_GRAB_DISTANCE; // M951 I
+  TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, mpe_settings.grab_distance * -1));
+  mpe_settings.slow_feedrate        = MMM_TO_MMS(MPE_SLOW_SPEED);     // M951 J
+  mpe_settings.fast_feedrate        = MMM_TO_MMS(MPE_FAST_SPEED);     // M951 H
+  mpe_settings.travel_distance      = MPE_TRAVEL_DISTANCE;            // M951 D
+  mpe_settings.compensation_factor  = MPE_COMPENSATION;               // M951 C
+  mpe_settings_report();
+}
+
+void GcodeSuite::M951() {
+  if (parser.seenval('L')) mpe_settings.parking_xpos[0] = parser.value_linear_units();
+  if (parser.seenval('R')) mpe_settings.parking_xpos[1] = parser.value_linear_units();
+  if (parser.seenval('I')) {
+    mpe_settings.grab_distance = parser.value_linear_units();
+    TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, mpe_settings.grab_distance * -1));
+  }
+  if (parser.seenval('J')) mpe_settings.slow_feedrate       = MMM_TO_MMS(parser.value_linear_units());
+  if (parser.seenval('H')) mpe_settings.fast_feedrate       = MMM_TO_MMS(parser.value_linear_units());
+  if (parser.seenval('D')) mpe_settings.travel_distance     = parser.value_linear_units();
+  if (parser.seenval('C')) mpe_settings.compensation_factor = parser.value_float();
+  if (!parser.seen("CDHIJLR")) mpe_settings_report();
+}
+
+#endif // MAGNETIC_PARKING_EXTRUDER