diff options
Diffstat (limited to 'Marlin/src/gcode/bedlevel/mbl/G29.cpp')
| -rw-r--r-- | Marlin/src/gcode/bedlevel/mbl/G29.cpp | 193 |
1 files changed, 193 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 |