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Fix G76 reachable test #17005

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merged 2 commits into from
Feb 28, 2020
Merged

Fix G76 reachable test #17005

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adb80a7
Fix G76 reachable test
thinkyhead Feb 27, 2020
f0cefb2
Reduce G76 code size
thinkyhead Feb 27, 2020
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172 changes: 67 additions & 105 deletions Marlin/src/gcode/calibrate/G76_M871.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,33 @@ void GcodeSuite::G76() {
return;
#endif

auto report_temps = [](millis_t &ntr, millis_t timeout=0) {
idle_no_sleep();
const millis_t ms = millis();
if (ELAPSED(ms, ntr)) {
ntr = ms + 1000;
thermalManager.print_heater_states(active_extruder);
}
return (timeout && ELAPSED(ms, timeout));
};

auto wait_for_temps = [&](const float tb, const float tp, millis_t &ntr, const millis_t timeout=0) {
SERIAL_ECHOLNPGM("Waiting for bed and probe temperature.");
while (fabs(thermalManager.degBed() - tb) > 0.1f || thermalManager.degProbe() > tp)
if (report_temps(ntr, timeout)) return true;
return false;
};

auto g76_probe = [](const xy_pos_t &xypos) {
do_blocking_move_to_z(5.0); // Raise nozzle before probing
const float measured_z = probe.probe_at_point(xypos, PROBE_PT_NONE, 0, false); // verbose=0, probe_relative=false
if (isnan(measured_z))
SERIAL_ECHOLNPGM("!Received NAN. Aborting.");
else
SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
return measured_z;
};

#if ENABLED(BLTOUCH)
// Make sure any BLTouch error condition is cleared
bltouch_command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY);
Expand All @@ -98,111 +125,76 @@ void GcodeSuite::G76() {
// Synchronize with planner
planner.synchronize();

// Report temperatures every second and handle heating timeouts
millis_t next_temp_report = millis() + 1000;
const xyz_pos_t parkpos = { temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z };
const xy_pos_t ppos = { temp_comp.measure_point_x, temp_comp.measure_point_y };

if (do_bed_cal || do_probe_cal) {
// Ensure park position is reachable
if (!position_is_reachable(temp_comp.park_point_x, temp_comp.park_point_y)
|| !(WITHIN(temp_comp.park_point_z, Z_MIN_POS - 0.001f, Z_MAX_POS + 0.001f))
) {
SERIAL_ECHOLNPGM("!Park position unreachable - aborting.");
return;
bool reachable = position_is_reachable(parkpos) || WITHIN(parkpos.z, Z_MIN_POS - fslop, Z_MAX_POS + fslop);
if (!reachable)
SERIAL_ECHOLNPGM("!Park");
else {
// Ensure probe position is reachable
reachable = probe.can_reach(ppos);
if (!reachable) SERIAL_ECHOLNPGM("!Probe");
}
// Ensure probe position is reachable
destination.set(
temp_comp.measure_point_x - probe.offset_xy.x,
temp_comp.measure_point_y - probe.offset_xy.y
);
if (!probe.can_reach(destination)) {
SERIAL_ECHOLNPGM("!Probe position unreachable - aborting.");

if (!reachable) {
SERIAL_ECHOLNPGM(" position unreachable - aborting.");
return;
}

process_subcommands_now_P(PSTR("G28"));
}

remember_feedrate_scaling_off();

// Nozzle position based on probe position
const xy_pos_t noz_pos = ppos - probe.offset_xy;

/******************************************
* Calibrate bed temperature offsets
******************************************/

// Report temperatures every second and handle heating timeouts
millis_t next_temp_report = millis() + 1000;

if (do_bed_cal) {

uint16_t target_bed = temp_comp.cali_info_init[TSI_BED].start_temp,
target_probe = temp_comp.bed_calib_probe_temp;

SERIAL_ECHOLNPGM("Waiting for cooling.");
while (thermalManager.degBed() > target_bed || thermalManager.degProbe() > target_probe) {
idle_no_sleep();
const millis_t ms = millis();
if (ELAPSED(ms, next_temp_report)) {
thermalManager.print_heater_states(active_extruder);
next_temp_report = ms + 1000;
}
}
while (thermalManager.degBed() > target_bed || thermalManager.degProbe() > target_probe)
report_temps(next_temp_report);

// Disable leveling so it won't mess with us
#if HAS_LEVELING
set_bed_leveling_enabled(false);
#endif

bool timeout = false;
for (;;) {
thermalManager.setTargetBed(target_bed);

SERIAL_ECHOLNPAIR("Target Bed:", target_bed, " Probe:", target_probe);

// Park nozzle
do_blocking_move_to(temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z);
do_blocking_move_to(parkpos);

// Wait for heatbed to reach target temp and probe to cool below target temp
SERIAL_ECHOLNPGM("Waiting for bed / probe to reach target.");
const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1 || thermalManager.degProbe() > target_probe) {
idle_no_sleep();
const millis_t ms = millis();
if (ELAPSED(ms, next_temp_report)) {
thermalManager.print_heater_states(active_extruder);
next_temp_report = ms + 1000;
}
if (ELAPSED(ms, probe_timeout_ms)) {
SERIAL_ECHOLNPGM("!Bed heating timeout.");
timeout = true;
break;
}
if (wait_for_temps(target_bed, target_probe, next_temp_report, millis() + 900UL * 1000UL)) {
SERIAL_ECHOLNPGM("!Bed heating timeout.");
break;
}

if (timeout) break;

// Move the nozzle to the probing point and wait for the probe to reach target temp
destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y);
do_blocking_move_to(destination);
do_blocking_move_to_xy(noz_pos);
SERIAL_ECHOLNPGM("Waiting for probe heating.");
while (thermalManager.degProbe() < target_probe) {
idle_no_sleep();
const millis_t ms = millis();
if (ELAPSED(ms, next_temp_report)) {
thermalManager.print_heater_states(active_extruder);
next_temp_report = ms + 1000;
}
}

// Raise nozzle before probing
destination.z = 5.0;
do_blocking_move_to_z(destination.z);
while (thermalManager.degProbe() < target_probe)
report_temps(next_temp_report);

// Do a single probe at the current position
remember_feedrate_scaling_off();
const xy_pos_t probe_xy = destination + probe.offset_xy;
const float measured_z = probe.probe_at_point(probe_xy, PROBE_PT_NONE);
restore_feedrate_and_scaling();

if (isnan(measured_z)) {
SERIAL_ECHOLNPGM("!Received NAN. Aborting.");
break;
}
else
SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
const float measured_z = g76_probe(noz_pos);
if (isnan(measured_z)) break;

if (target_bed == temp_comp.cali_info_init[TSI_BED].start_temp)
temp_comp.prepare_new_calibration(measured_z);
Expand Down Expand Up @@ -233,25 +225,16 @@ void GcodeSuite::G76() {
if (do_probe_cal) {

// Park nozzle
do_blocking_move_to(temp_comp.park_point_x, temp_comp.park_point_y, temp_comp.park_point_z);
do_blocking_move_to(parkpos);

// Initialize temperatures
const uint16_t target_bed = temp_comp.probe_calib_bed_temp;
thermalManager.setTargetBed(target_bed);

uint16_t target_probe = temp_comp.cali_info_init[TSI_PROBE].start_temp;

SERIAL_ECHOLNPGM("Waiting for bed and probe temperature.");
while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1f
|| thermalManager.degProbe() > target_probe
) {
idle_no_sleep();
const millis_t ms = millis();
if (ELAPSED(ms, next_temp_report)) {
thermalManager.print_heater_states(active_extruder);
next_temp_report = ms + 1000;
}
}
// Wait for heatbed to reach target temp and probe to cool below target temp
wait_for_temps(target_bed, target_probe, next_temp_report);

// Disable leveling so it won't mess with us
#if HAS_LEVELING
Expand All @@ -261,44 +244,21 @@ void GcodeSuite::G76() {
bool timeout = false;
for (;;) {
// Move probe to probing point and wait for it to reach target temperature
destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y);
do_blocking_move_to(destination);
do_blocking_move_to_xy(noz_pos);

SERIAL_ECHOLNPAIR("Waiting for probe heating. Bed:", target_bed, " Probe:", target_probe);

const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
while (thermalManager.degProbe() < target_probe) {
idle_no_sleep();
const millis_t ms = millis();
if (ELAPSED(ms, next_temp_report)) {
thermalManager.print_heater_states(active_extruder);
next_temp_report = ms + 1000;
}
if (ELAPSED(ms, probe_timeout_ms)) {
if (report_temps(next_temp_report, probe_timeout_ms)) {
SERIAL_ECHOLNPGM("!Probe heating timed out.");
timeout = true;
break;
}
}

if (timeout) break;

// Raise nozzle before probing
destination.z = 5.0;
do_blocking_move_to_z(destination.z);

// Do a single probe
remember_feedrate_scaling_off();
const xy_pos_t probe_xy = destination + probe.offset_xy;
const float measured_z = probe.probe_at_point(probe_xy, PROBE_PT_NONE);
restore_feedrate_and_scaling();

if (isnan(measured_z)) {
SERIAL_ECHOLNPGM("!Received NAN measurement - aborting.");
break;
}
else
SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
const float measured_z = g76_probe(noz_pos);
if (isnan(measured_z)) break;

if (target_probe == temp_comp.cali_info_init[TSI_PROBE].start_temp)
temp_comp.prepare_new_calibration(measured_z);
Expand All @@ -325,6 +285,8 @@ void GcodeSuite::G76() {
SERIAL_ECHOLNPGM("Final compensation values:");
temp_comp.print_offsets();
} // do_probe_cal

restore_feedrate_and_scaling();
}

/**
Expand Down