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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/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(ASSISTED_TRAMMING)
#include "../gcode.h"
#include "../../module/planner.h"
#include "../../module/probe.h"
#include "../../feature/bedlevel/bedlevel.h"
#if HAS_MULTI_HOTEND
#include "../../module/tool_change.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
//
// Define tramming point names.
//
#include "../../feature/tramming.h"
/**
* G35: Read bed corners to help adjust bed screws
*
* S<screw_thread>
*
* Screw thread: 30 - Clockwise M3
* 31 - Counter-Clockwise M3
* 40 - Clockwise M4
* 41 - Counter-Clockwise M4
* 50 - Clockwise M5
* 51 - Counter-Clockwise M5
**/
void GcodeSuite::G35() {
DEBUG_SECTION(log_G35, "G35", DEBUGGING(LEVELING));
if (DEBUGGING(LEVELING)) log_machine_info();
float z_measured[G35_PROBE_COUNT] = { 0 };
const uint8_t screw_thread = parser.byteval('S', TRAMMING_SCREW_THREAD);
if (!WITHIN(screw_thread, 30, 51) || screw_thread % 10 > 1) {
SERIAL_ECHOLNPGM("?(S)crew thread must be 30, 31, 40, 41, 50, or 51.");
return;
}
// Wait for planner moves to finish!
planner.synchronize();
// Disable the leveling matrix before auto-aligning
#if HAS_LEVELING
TERN_(RESTORE_LEVELING_AFTER_G35, const bool leveling_was_active = planner.leveling_active);
set_bed_leveling_enabled(false);
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
workspace_plane = PLANE_XY;
#endif
// Always home with tool 0 active
#if HAS_MULTI_HOTEND
const uint8_t old_tool_index = active_extruder;
tool_change(0, true);
#endif
// Disable duplication mode on homing
TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
// Home all before this procedure
home_all_axes();
bool err_break = false;
// Probe all positions
LOOP_L_N(i, G35_PROBE_COUNT) {
// In BLTOUCH HS mode, the probe travels in a deployed state.
// Users of G35 might have a badly misaligned bed, so raise Z by the
// length of the deployed pin (BLTOUCH stroke < 7mm)
do_blocking_move_to_z((Z_CLEARANCE_BETWEEN_PROBES) + TERN0(BLTOUCH_HS_MODE, 7));
const float z_probed_height = probe.probe_at_point(screws_tilt_adjust_pos[i], PROBE_PT_RAISE, 0, true);
if (isnan(z_probed_height)) {
SERIAL_ECHOPAIR("G35 failed at point ", int(i), " (");
SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i]));
SERIAL_CHAR(')');
SERIAL_ECHOLNPAIR_P(SP_X_STR, screws_tilt_adjust_pos[i].x, SP_Y_STR, screws_tilt_adjust_pos[i].y);
err_break = true;
break;
}
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("Probing point ", int(i), " (");
DEBUG_PRINT_P((char *)pgm_read_ptr(&tramming_point_name[i]));
DEBUG_CHAR(')');
DEBUG_ECHOLNPAIR_P(SP_X_STR, screws_tilt_adjust_pos[i].x, SP_Y_STR, screws_tilt_adjust_pos[i].y, SP_Z_STR, z_probed_height);
}
z_measured[i] = z_probed_height;
}
if (!err_break) {
const float threads_factor[] = { 0.5, 0.7, 0.8 };
// Calculate adjusts
LOOP_S_L_N(i, 1, G35_PROBE_COUNT) {
const float diff = z_measured[0] - z_measured[i],
adjust = abs(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10];
const int full_turns = trunc(adjust);
const float decimal_part = adjust - float(full_turns);
const int minutes = trunc(decimal_part * 60.0f);
SERIAL_ECHOPGM("Turn ");
SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i]));
SERIAL_ECHOPAIR(" ", (screw_thread & 1) == (adjust > 0) ? "CCW" : "CW", " by ", abs(full_turns), " turns");
if (minutes) SERIAL_ECHOPAIR(" and ", abs(minutes), " minutes");
if (ENABLED(REPORT_TRAMMING_MM)) SERIAL_ECHOPAIR(" (", -diff, "mm)");
SERIAL_EOL();
}
}
else
SERIAL_ECHOLNPGM("G35 aborted.");
// Restore the active tool after homing
#if HAS_MULTI_HOTEND
tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER
#endif
#if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35)
set_bed_leveling_enabled(leveling_was_active);
#endif
// Stow the probe, as the last call to probe.probe_at_point(...) left
// the probe deployed if it was successful.
probe.stow();
move_to_tramming_wait_pos();
// After this operation the Z position needs correction
set_axis_never_homed(Z_AXIS);
}
#endif // ASSISTED_TRAMMING
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