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/**
* 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/>.
*
*/
/**
* feature/z_stepper_align.cpp
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#include "z_stepper_align.h"
#include "../module/probe.h"
ZStepperAlign z_stepper_align;
xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS];
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS];
#endif
void ZStepperAlign::reset_to_default() {
#ifdef Z_STEPPER_ALIGN_XY
constexpr xy_pos_t xy_init[] = Z_STEPPER_ALIGN_XY;
static_assert(COUNT(xy_init) == NUM_Z_STEPPER_DRIVERS,
"Z_STEPPER_ALIGN_XY requires "
#if NUM_Z_STEPPER_DRIVERS == 4
"four {X,Y} entries (Z, Z2, Z3, and Z4)."
#elif NUM_Z_STEPPER_DRIVERS == 3
"three {X,Y} entries (Z, Z2, and Z3)."
#else
"two {X,Y} entries (Z and Z2)."
#endif
);
#define VALIDATE_ALIGN_POINT(N) static_assert(N >= NUM_Z_STEPPER_DRIVERS || Probe::build_time::can_reach(xy_init[N]), \
"Z_STEPPER_ALIGN_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.")
VALIDATE_ALIGN_POINT(0); VALIDATE_ALIGN_POINT(1); VALIDATE_ALIGN_POINT(2); VALIDATE_ALIGN_POINT(3);
#else // !Z_STEPPER_ALIGN_XY
const xy_pos_t xy_init[] = {
#if NUM_Z_STEPPER_DRIVERS >= 3 // First probe point...
#if !Z_STEPPERS_ORIENTATION
{ probe.min_x(), probe.min_y() }, // SW
#elif Z_STEPPERS_ORIENTATION == 1
{ probe.min_x(), probe.max_y() }, // NW
#elif Z_STEPPERS_ORIENTATION == 2
{ probe.max_x(), probe.max_y() }, // NE
#elif Z_STEPPERS_ORIENTATION == 3
{ probe.max_x(), probe.min_y() }, // SE
#else
#error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)."
#endif
#if NUM_Z_STEPPER_DRIVERS == 4 // 3 more points...
#if !Z_STEPPERS_ORIENTATION
{ probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() } // SW
#elif Z_STEPPERS_ORIENTATION == 1
{ probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() } // NW
#elif Z_STEPPERS_ORIENTATION == 2
{ probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() } // NE
#elif Z_STEPPERS_ORIENTATION == 3
{ probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() } // SE
#endif
#elif !Z_STEPPERS_ORIENTATION // or 2 more points...
{ probe.max_x(), probe.min_y() }, { X_CENTER, probe.max_y() } // SW
#elif Z_STEPPERS_ORIENTATION == 1
{ probe.min_x(), probe.min_y() }, { probe.max_x(), Y_CENTER } // NW
#elif Z_STEPPERS_ORIENTATION == 2
{ probe.min_x(), probe.max_y() }, { X_CENTER, probe.min_y() } // NE
#elif Z_STEPPERS_ORIENTATION == 3
{ probe.max_x(), probe.max_y() }, { probe.min_x(), Y_CENTER } // SE
#endif
#elif Z_STEPPERS_ORIENTATION
{ X_CENTER, probe.min_y() }, { X_CENTER, probe.max_y() }
#else
{ probe.min_x(), Y_CENTER }, { probe.max_x(), Y_CENTER }
#endif
};
#endif // !Z_STEPPER_ALIGN_XY
COPY(xy, xy_init);
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY;
static_assert(
COUNT(stepper_xy_init) == NUM_Z_STEPPER_DRIVERS,
"Z_STEPPER_ALIGN_STEPPER_XY requires "
#if NUM_Z_STEPPER_DRIVERS == 4
"four {X,Y} entries (Z, Z2, Z3, and Z4)."
#elif NUM_Z_STEPPER_DRIVERS == 3
"three {X,Y} entries (Z, Z2, and Z3)."
#endif
);
COPY(stepper_xy, stepper_xy_init);
#endif
}
#endif // Z_STEPPER_AUTO_ALIGN
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