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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/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
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