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Refactor 'Level Corners with Probe' (MarlinFirmware#20460)
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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
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@wmariz @thinkyhead @zillarob
2 people authored and zillarob committed Feb 25, 2021
1 parent fe29e70 commit cc3f990
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Showing 4 changed files with 142 additions and 139 deletions.
4 changes: 4 additions & 0 deletions Marlin/src/feature/bltouch.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,10 @@

#include "../inc/MarlinConfigPre.h"

#if DISABLED(BLTOUCH_HS_MODE)
#define BLTOUCH_SLOW_MODE 1
#endif

// BLTouch commands are sent as servo angles
typedef unsigned char BLTCommand;

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261 changes: 131 additions & 130 deletions Marlin/src/lcd/menu/menu_bed_corners.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,18 +51,11 @@
#include "../../feature/bltouch.h"
#endif
#ifndef LEVEL_CORNERS_PROBE_TOLERANCE
#define LEVEL_CORNERS_PROBE_TOLERANCE 0.1
#define LEVEL_CORNERS_PROBE_TOLERANCE 0.2
#endif
#if ENABLED(LEVEL_CORNERS_AUDIO_FEEDBACK)
#include "../../libs/buzzer.h"
#define PROBE_BUZZ() BUZZ(200, 600)
#else
#define PROBE_BUZZ() NOOP
#endif
static float last_z;
static bool corner_probing_done;
static bool verify_corner;
static int good_points;
float last_z;
int good_points;
bool corner_probing_done, wait_for_probe;
#endif

static_assert(LEVEL_CORNERS_Z_HOP >= 0, "LEVEL_CORNERS_Z_HOP must be >= 0. Please update your configuration.");
Expand All @@ -75,115 +68,130 @@ extern const char G28_STR[];

static int8_t bed_corner;

constexpr float inset_lfrb[4] = LEVEL_CORNERS_INSET_LFRB;
constexpr xy_pos_t lf { (X_MIN_BED) + inset_lfrb[0], (Y_MIN_BED) + inset_lfrb[1] },
rb { (X_MAX_BED) - inset_lfrb[2], (Y_MAX_BED) - inset_lfrb[3] };

/**
* Level corners, starting in the front-left corner.
*/
#if ENABLED(LEVEL_CORNERS_USE_PROBE)

static inline void _lcd_level_bed_corners_probing() {
ui.goto_screen([]{ MenuItem_static::draw((LCD_HEIGHT - 1) / 2, GET_TEXT(MSG_PROBING_MESH)); });
void _lcd_draw_probing() {
if (ui.should_draw()) MenuItem_static::draw((LCD_HEIGHT - 1) / 2, GET_TEXT(MSG_PROBING_MESH));
}

float lfrb[4] = LEVEL_CORNERS_INSET_LFRB;
xy_pos_t lf { (X_MIN_BED) + lfrb[0] - probe.offset_xy.x , (Y_MIN_BED) + lfrb[1] - probe.offset_xy.y },
rb { (X_MAX_BED) - lfrb[2] - probe.offset_xy.x , (Y_MAX_BED) - lfrb[3] - probe.offset_xy.y };
void _lcd_draw_raise() {
if (!ui.should_draw()) return;
MenuItem_confirm::select_screen(
GET_TEXT(MSG_BUTTON_DONE), GET_TEXT(MSG_BUTTON_SKIP)
, []{ corner_probing_done = true; wait_for_probe = false; }
, []{ wait_for_probe = false; }
, GET_TEXT(MSG_LEVEL_CORNERS_RAISE)
, (const char*)nullptr, PSTR("")
);
}

do_blocking_move_to_z(LEVEL_CORNERS_Z_HOP - probe.offset.z);
void _lcd_draw_level_prompt() {
if (!ui.should_draw()) return;
MenuItem_confirm::confirm_screen(
[]{ queue.inject_P(TERN(HAS_LEVELING, PSTR("G28\nG29"), G28_STR));
ui.return_to_status();
}
, []{ ui.goto_previous_screen_no_defer(); }
, GET_TEXT(MSG_LEVEL_CORNERS_IN_RANGE)
, (const char*)nullptr, PSTR("?")
);
}

switch (bed_corner) {
case 0: current_position = lf; break; // copy xy
case 1: current_position.x = rb.x; break;
case 2: current_position.y = rb.y; break;
case 3: current_position.x = lf.x; break;
#if ENABLED(LEVEL_CENTER_TOO)
case 4: current_position.set(X_CENTER - probe.offset_xy.x, Y_CENTER - probe.offset_xy.y); good_points--; break;
#endif
bool _lcd_level_bed_corners_probe(bool verify=false) {
if (verify) do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP); // do clearance if needed
TERN_(BLTOUCH_SLOW_MODE, bltouch.deploy()); // Deploy in LOW SPEED MODE on every probe action
do_blocking_move_to_z(last_z - LEVEL_CORNERS_PROBE_TOLERANCE, manual_feedrate_mm_s.z); // Move down to lower tolerance
if (TEST(endstops.trigger_state(), TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN, Z_MIN_PROBE))) { // check if probe triggered
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(Z_AXIS);
sync_plan_position();
TERN_(BLTOUCH_SLOW_MODE, bltouch.stow()); // Stow in LOW SPEED MODE on every trigger
// Triggered outside tolerance range?
if (ABS(current_position.z - last_z) > LEVEL_CORNERS_PROBE_TOLERANCE) {
last_z = current_position.z; // Above tolerance. Set a new Z for subsequent corners.
good_points = 0; // ...and start over
}
return true; // probe triggered
}
do_blocking_move_to_z(last_z); // go back to tolerance middle point before raise
return false; // probe not triggered
}

do_blocking_move_to_xy(current_position);

#if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
bltouch.deploy(); // DEPLOY in LOW SPEED MODE on every probe action
#endif
TERN_(HAS_QUIET_PROBING, probe.set_probing_paused(true));

// Move down until the probe is triggered
do_blocking_move_to_z(last_z - (LEVEL_CORNERS_PROBE_TOLERANCE), manual_feedrate_mm_s.z);

// Check to see if the probe was triggered
bool probe_triggered = TEST(endstops.trigger_state(), TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN, Z_MIN_PROBE));
if (!probe_triggered) {

static bool wait_for_probe;

ui.goto_screen([]{
MenuItem_confirm::select_screen(
GET_TEXT(MSG_BUTTON_DONE), GET_TEXT(MSG_BUTTON_SKIP)
, []{ corner_probing_done = true;
wait_for_probe = false;
TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active));
ui.goto_previous_screen_no_defer();
}
, []{ wait_for_probe = false; }
, GET_TEXT(MSG_LEVEL_CORNERS_RAISE)
, (const char*)nullptr, PSTR("")
);
});
ui.set_selection(true);

wait_for_probe = true;
while (wait_for_probe && !probe_triggered) {
probe_triggered = PROBE_TRIGGERED();
if (probe_triggered) PROBE_BUZZ();
idle();
bool _lcd_level_bed_corners_raise() {
bool probe_triggered = false;
corner_probing_done = false;
wait_for_probe = true;
ui.goto_screen(_lcd_draw_raise); // show raise screen
ui.set_selection(true);
while (wait_for_probe && !probe_triggered) { //loop while waiting to bed raise and probe trigger
probe_triggered = PROBE_TRIGGERED();
if (probe_triggered) {
endstops.hit_on_purpose();
TERN_(LEVEL_CORNERS_AUDIO_FEEDBACK, ui.buzz(200, 600));
}
wait_for_probe = false;

TERN_(LEVEL_CORNERS_VERIFY_RAISED, verify_corner = true);
idle();
}
TERN_(BLTOUCH_SLOW_MODE, bltouch.stow());
ui.goto_screen(_lcd_draw_probing);
return (probe_triggered);
}

TERN_(HAS_QUIET_PROBING, probe.set_probing_paused(false));

#if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
bltouch.stow();
#endif
void _lcd_test_corners() {
ui.goto_screen(_lcd_draw_probing);
bed_corner = TERN(LEVEL_CENTER_TOO, 4, 0);
last_z = LEVEL_CORNERS_HEIGHT;
endstops.enable_z_probe(true);
good_points = 0;

if (probe_triggered) {
endstops.hit_on_purpose();
if (!WITHIN(current_position.z, last_z - (LEVEL_CORNERS_PROBE_TOLERANCE), last_z + (LEVEL_CORNERS_PROBE_TOLERANCE))) {
last_z = current_position.z;
good_points = 0;
do {
do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP); // clearance
// Select next corner coordinates
xy_pos_t plf = lf - probe.offset_xy, prb = rb - probe.offset_xy;
switch (bed_corner) {
case 0: current_position = plf; break; // copy xy
case 1: current_position.x = prb.x; break;
case 2: current_position.y = prb.y; break;
case 3: current_position.x = plf.x; break;
#if ENABLED(LEVEL_CENTER_TOO)
case 4: current_position.set(X_CENTER - probe.offset_xy.x, Y_CENTER - probe.offset_xy.y); break;
#endif
}
if (!verify_corner) good_points++;
}

if (!corner_probing_done) {
if (!verify_corner) bed_corner++;
if (bed_corner > 3) bed_corner = 0;
verify_corner = false;
if (good_points < 4)
_lcd_level_bed_corners_probing();
else {
ui.goto_screen([]{
MenuItem_confirm::confirm_screen(
[]{ ui.goto_previous_screen_no_defer();
queue.inject_P(TERN(HAS_LEVELING, PSTR("G28\nG29"), G28_STR));
do_blocking_move_to_xy(current_position); // Goto corner

if (!_lcd_level_bed_corners_probe()) { // Probe down to tolerance
if (_lcd_level_bed_corners_raise()) { // Prompt user to raise bed if needed
#if ENABLED(LEVEL_CORNERS_VERIFY_RAISED) // Verify
while (!_lcd_level_bed_corners_probe(true)) { // Loop while corner verified
if (!_lcd_level_bed_corners_raise()) { // Prompt user to raise bed if needed
if (corner_probing_done) return; // Done was selected
break; // Skip was selected
}
, []{ ui.goto_previous_screen_no_defer(); }
, GET_TEXT(MSG_LEVEL_CORNERS_IN_RANGE)
, (const char*)nullptr, PSTR("?")
);
});
ui.set_selection(true);
}
#endif
}
else if (corner_probing_done) // Done was selected
return;
}
}

if (bed_corner != 4) good_points++; // ignore center
if (++bed_corner > 3) bed_corner = 0;

} while (good_points < 4); // loop until all corners whitin tolerance

ui.goto_screen(_lcd_draw_level_prompt); // prompt for bed leveling
ui.set_selection(true);
}

#else
#else // !LEVEL_CORNERS_USE_PROBE

static inline void _lcd_goto_next_corner() {
constexpr float lfrb[4] = LEVEL_CORNERS_INSET_LFRB;
constexpr xy_pos_t lf { (X_MIN_BED) + lfrb[0], (Y_MIN_BED) + lfrb[1] },
rb { (X_MAX_BED) - lfrb[2], (Y_MAX_BED) - lfrb[3] };
line_to_z(LEVEL_CORNERS_Z_HOP);
switch (bed_corner) {
case 0: current_position = lf; break; // copy xy
Expand All @@ -199,33 +207,33 @@ static int8_t bed_corner;
if (++bed_corner > 3 + ENABLED(LEVEL_CENTER_TOO)) bed_corner = 0;
}

#endif
#endif // !LEVEL_CORNERS_USE_PROBE

static inline void _lcd_level_bed_corners_homing() {
_lcd_draw_homing();
if (all_axes_homed()) {
#if ENABLED(LEVEL_CORNERS_USE_PROBE)
TERN_(LEVEL_CENTER_TOO, bed_corner = 4);
endstops.enable_z_probe(true);
ui.goto_screen(_lcd_level_bed_corners_probing);
#else
bed_corner = 0;
ui.goto_screen([]{
MenuItem_confirm::select_screen(
GET_TEXT(MSG_BUTTON_NEXT), GET_TEXT(MSG_BUTTON_DONE)
, _lcd_goto_next_corner
, []{
TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active));
ui.goto_previous_screen_no_defer();
}
, GET_TEXT(TERN(LEVEL_CENTER_TOO, MSG_LEVEL_BED_NEXT_POINT, MSG_NEXT_CORNER))
, (const char*)nullptr, PSTR("?")
);
});
ui.set_selection(true);
_lcd_goto_next_corner();
#endif
}
if (!all_axes_homed()) return;
#if ENABLED(LEVEL_CORNERS_USE_PROBE)
_lcd_test_corners();
if (corner_probing_done) ui.goto_previous_screen_no_defer();
TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active));
endstops.enable_z_probe(false);
#else
bed_corner = 0;
ui.goto_screen([]{
MenuItem_confirm::select_screen(
GET_TEXT(MSG_BUTTON_NEXT), GET_TEXT(MSG_BUTTON_DONE)
, _lcd_goto_next_corner
, []{
TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active));
ui.goto_previous_screen_no_defer();
}
, GET_TEXT(TERN(LEVEL_CENTER_TOO, MSG_LEVEL_BED_NEXT_POINT, MSG_NEXT_CORNER))
, (const char*)nullptr, PSTR("?")
);
});
ui.set_selection(true);
_lcd_goto_next_corner();
#endif
}

void _lcd_level_bed_corners() {
Expand All @@ -241,13 +249,6 @@ void _lcd_level_bed_corners() {
set_bed_leveling_enabled(false);
#endif

#if ENABLED(LEVEL_CORNERS_USE_PROBE)
last_z = LEVEL_CORNERS_HEIGHT;
corner_probing_done = false;
verify_corner = false;
good_points = 0;
#endif

ui.goto_screen(_lcd_level_bed_corners_homing);
}

Expand Down
4 changes: 2 additions & 2 deletions Marlin/src/module/motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1581,7 +1581,7 @@ void homeaxis(const AxisEnum axis) {

do_homing_move(axis, 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir);

#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
#endif

Expand Down Expand Up @@ -1619,7 +1619,7 @@ void homeaxis(const AxisEnum axis) {
// Slow move towards endstop until triggered
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 2 Slow:");

#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE)
#endif

Expand Down
12 changes: 5 additions & 7 deletions Marlin/src/module/probe.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -455,9 +455,7 @@ bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) {
thermalManager.wait_for_bed_heating();
#endif

#if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
if (bltouch.deploy()) return true; // DEPLOY in LOW SPEED MODE on every probe action
#endif
if (TERN0(BLTOUCH_SLOW_MODE, bltouch.deploy())) return true; // Deploy in LOW SPEED MODE on every probe action

// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_PROBING)
Expand Down Expand Up @@ -496,9 +494,8 @@ bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) {
tmc_disable_stallguard(stepperZ, stealth_states.z);
#endif

#if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
if (probe_triggered && bltouch.stow()) return true; // STOW in LOW SPEED MODE on trigger on every probe action
#endif
if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger
return true;

// Clear endstop flags
endstops.hit_on_purpose();
Expand Down Expand Up @@ -578,9 +575,10 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
// Double-probing does a fast probe followed by a slow probe
#if TOTAL_PROBING == 2

// Do a first probe at the fast speed
// Attempt to tare the probe
if (TERN0(PROBE_TARE, tare())) return NAN;

// Do a first probe at the fast speed
if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s,
sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN;

Expand Down

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