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Diffstat (limited to 'Marlin/src/gcode/calibrate/G34.cpp')
| -rw-r--r-- | Marlin/src/gcode/calibrate/G34.cpp | 157 |
1 files changed, 157 insertions, 0 deletions
diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp new file mode 100644 index 0000000..bcca00d --- /dev/null +++ b/Marlin/src/gcode/calibrate/G34.cpp @@ -0,0 +1,157 @@ +/** + * 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(MECHANICAL_GANTRY_CALIBRATION) + +#include "../gcode.h" +#include "../../module/motion.h" +#include "../../module/stepper.h" +#include "../../module/endstops.h" + +#if HAS_LEVELING + #include "../../feature/bedlevel/bedlevel.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +void GcodeSuite::G34() { + + // Home before the alignment procedure + if (!all_axes_trusted()) home_all_axes(); + + TERN_(HAS_LEVELING, TEMPORARY_BED_LEVELING_STATE(false)); + + SET_SOFT_ENDSTOP_LOOSE(true); + TemporaryGlobalEndstopsState unlock_z(false); + + #ifdef GANTRY_CALIBRATION_COMMANDS_PRE + gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE)); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed"); + #endif + + #ifdef GANTRY_CALIBRATION_SAFE_POSITION + // Move XY to safe position + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY"); + const xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION; + do_blocking_move_to(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE)); + #endif + + const float move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT), + zbase = ENABLED(GANTRY_CALIBRATION_TO_MIN) ? Z_MIN_POS : Z_MAX_POS, + zpounce = zbase - move_distance, zgrind = zbase + move_distance; + + // Move Z to pounce position + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce"); + do_blocking_move_to_z(zpounce, homing_feedrate(Z_AXIS)); + + // Store current motor settings, then apply reduced value + + #define _REDUCE_CURRENT ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_DAC, HAS_MOTOR_CURRENT_I2C, HAS_TRINAMIC_CONFIG) + #if _REDUCE_CURRENT + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current"); + #endif + + #if HAS_MOTOR_CURRENT_SPI + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS]; + stepper.set_digipot_current(Z_AXIS, target_current); + #elif HAS_MOTOR_CURRENT_PWM + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS]; + stepper.set_digipot_current(1, target_current); + #elif ENABLED(HAS_MOTOR_CURRENT_DAC) + const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT); + const float previous_current = dac_amps(Z_AXIS, target_current); + stepper_dac.set_current_value(Z_AXIS, target_current); + #elif ENABLED(HAS_MOTOR_CURRENT_I2C) + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + previous_current = dac_amps(Z_AXIS); + digipot_i2c.set_current(Z_AXIS, target_current) + #elif HAS_TRINAMIC_CONFIG + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS]; + #if AXIS_IS_TMC(Z) + previous_current_arr[0] = stepperZ.getMilliamps(); + stepperZ.rms_current(target_current); + #endif + #if AXIS_IS_TMC(Z2) + previous_current_arr[1] = stepperZ2.getMilliamps(); + stepperZ2.rms_current(target_current); + #endif + #if AXIS_IS_TMC(Z3) + previous_current_arr[2] = stepperZ3.getMilliamps(); + stepperZ3.rms_current(target_current); + #endif + #if AXIS_IS_TMC(Z4) + previous_current_arr[3] = stepperZ4.getMilliamps(); + stepperZ4.rms_current(target_current); + #endif + #endif + + // Do Final Z move to adjust + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move"); + do_blocking_move_to_z(zgrind, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE)); + + // Back off end plate, back to normal motion range + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff"); + do_blocking_move_to_z(zpounce, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE)); + + #if _REDUCE_CURRENT + // Reset current to original values + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current"); + #endif + + #if HAS_MOTOR_CURRENT_SPI + stepper.set_digipot_current(Z_AXIS, previous_current); + #elif HAS_MOTOR_CURRENT_PWM + stepper.set_digipot_current(1, previous_current); + #elif ENABLED(HAS_MOTOR_CURRENT_DAC) + stepper_dac.set_current_value(Z_AXIS, previous_current); + #elif ENABLED(HAS_MOTOR_CURRENT_I2C) + digipot_i2c.set_current(Z_AXIS, previous_current) + #elif HAS_TRINAMIC_CONFIG + #if AXIS_IS_TMC(Z) + stepperZ.rms_current(previous_current_arr[0]); + #endif + #if AXIS_IS_TMC(Z2) + stepperZ2.rms_current(previous_current_arr[1]); + #endif + #if AXIS_IS_TMC(Z3) + stepperZ3.rms_current(previous_current_arr[2]); + #endif + #if AXIS_IS_TMC(Z4) + stepperZ4.rms_current(previous_current_arr[3]); + #endif + #endif + + #ifdef GANTRY_CALIBRATION_COMMANDS_POST + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands"); + gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST)); + #endif + + SET_SOFT_ENDSTOP_LOOSE(false); +} + +#endif // MECHANICAL_GANTRY_CALIBRATION |