From a2e17db15230e6d5c986bfced546076320484819 Mon Sep 17 00:00:00 2001
From: James Gilliland <neclimdul@gmail.com>
Date: Sat, 11 Mar 2023 14:19:43 -0600
Subject: [PATCH 1/3] Offset XY movement during Z-Probe Wizard prep
Ensure Z-Probe Wizard follows probe offset logic to safely move to the
probe position.
Fixes #25491
---
Marlin/src/lcd/menu/menu_probe_offset.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/Marlin/src/lcd/menu/menu_probe_offset.cpp b/Marlin/src/lcd/menu/menu_probe_offset.cpp
index c7cbebaade82..7ea1f3b1c042 100644
--- a/Marlin/src/lcd/menu/menu_probe_offset.cpp
+++ b/Marlin/src/lcd/menu/menu_probe_offset.cpp
@@ -106,6 +106,7 @@ void prepare_for_probe_offset_wizard() {
// Probe for Z reference
ui.wait_for_move = true;
+ do_blocking_move_to_z(TERN(BLTOUCH, Z_CLEARANCE_DEPLOY_PROBE, Z_CLEARANCE_BETWEEN_PROBES));
z_offset_ref = probe.probe_at_point(wizard_pos, PROBE_PT_RAISE, 0, true);
ui.wait_for_move = false;
From 50a2094e3f2335498a540d693c6dbd1c0d09f452 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Tue, 14 Mar 2023 17:47:43 -0500
Subject: [PATCH 2/3] Safe height for all probe_at_point XY moves
---
Marlin/src/gcode/bedlevel/G35.cpp | 1 -
Marlin/src/gcode/calibrate/G76_M871.cpp | 1 -
Marlin/src/lcd/menu/menu_probe_offset.cpp | 1 -
Marlin/src/lcd/menu/menu_tramming.cpp | 4 +---
Marlin/src/module/probe.cpp | 20 ++++++++++++++------
5 files changed, 15 insertions(+), 12 deletions(-)
diff --git a/Marlin/src/gcode/bedlevel/G35.cpp b/Marlin/src/gcode/bedlevel/G35.cpp
index dd828bf0c873..ff0321e4aa5c 100644
--- a/Marlin/src/gcode/bedlevel/G35.cpp
+++ b/Marlin/src/gcode/bedlevel/G35.cpp
@@ -108,7 +108,6 @@ void GcodeSuite::G35() {
// length of the deployed pin (BLTOUCH stroke < 7mm)
// Unsure if this is even required. The probe seems to lift correctly after probe done.
- do_blocking_move_to_z(SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance()));
const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE, 0, true);
if (isnan(z_probed_height)) {
diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp
index c484d4f1b770..9bea0a0b863b 100644
--- a/Marlin/src/gcode/calibrate/G76_M871.cpp
+++ b/Marlin/src/gcode/calibrate/G76_M871.cpp
@@ -108,7 +108,6 @@
};
auto g76_probe = [](const TempSensorID sid, celsius_t &targ, const xy_pos_t &nozpos) {
- do_z_clearance(5.0); // Raise nozzle before probing
ptc.set_enabled(false);
const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false); // verbose=0, probe_relative=false
ptc.set_enabled(true);
diff --git a/Marlin/src/lcd/menu/menu_probe_offset.cpp b/Marlin/src/lcd/menu/menu_probe_offset.cpp
index 7ea1f3b1c042..c7cbebaade82 100644
--- a/Marlin/src/lcd/menu/menu_probe_offset.cpp
+++ b/Marlin/src/lcd/menu/menu_probe_offset.cpp
@@ -106,7 +106,6 @@ void prepare_for_probe_offset_wizard() {
// Probe for Z reference
ui.wait_for_move = true;
- do_blocking_move_to_z(TERN(BLTOUCH, Z_CLEARANCE_DEPLOY_PROBE, Z_CLEARANCE_BETWEEN_PROBES));
z_offset_ref = probe.probe_at_point(wizard_pos, PROBE_PT_RAISE, 0, true);
ui.wait_for_move = false;
diff --git a/Marlin/src/lcd/menu/menu_tramming.cpp b/Marlin/src/lcd/menu/menu_tramming.cpp
index 1dd8a1cab6fd..4ce2cd646018 100644
--- a/Marlin/src/lcd/menu/menu_tramming.cpp
+++ b/Marlin/src/lcd/menu/menu_tramming.cpp
@@ -53,9 +53,7 @@ static int8_t reference_index; // = 0
#endif
static bool probe_single_point() {
- do_blocking_move_to_z(TERN(BLTOUCH, Z_CLEARANCE_DEPLOY_PROBE, Z_CLEARANCE_BETWEEN_PROBES));
- // Stow after each point with BLTouch "HIGH SPEED" mode for push-pin safety
- const float z_probed_height = probe.probe_at_point(tramming_points[tram_index], TERN0(BLTOUCH, bltouch.high_speed_mode) ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
+ const float z_probed_height = probe.probe_at_point(tramming_points[tram_index], PROBE_PT_RAISE, 0, true);
z_measured[tram_index] = z_probed_height;
if (reference_index < 0) reference_index = tram_index;
move_to_tramming_wait_pos();
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index 7daafd113981..414a181e083d 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -878,13 +878,16 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
}
#if ENABLED(BLTOUCH)
- if (bltouch.high_speed_mode && bltouch.triggered())
- bltouch._reset();
+ // Reset a BLTouch in HS mode if already triggered
+ if (bltouch.high_speed_mode && bltouch.triggered()) bltouch._reset();
#endif
+ // Use a safe Z height for the XY move
+ const float safe_z = _MAX(current_position.z, SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance()));
+
// On delta keep Z below clip height or do_blocking_move_to will abort
xyz_pos_t npos = NUM_AXIS_ARRAY(
- rx, ry, TERN(DELTA, _MIN(delta_clip_start_height, current_position.z), current_position.z),
+ rx, ry, TERN(DELTA, _MIN(delta_clip_start_height, safe_z), safe_z),
current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w
);
@@ -907,17 +910,22 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
TERN_(HAS_PTC, ptc.apply_compensation(measured_z));
TERN_(X_AXIS_TWIST_COMPENSATION, measured_z += xatc.compensation(npos + offset_xy));
}
+
+ // Deploy succeeded and a successful measurement was done.
+ // Raise and/or stow the probe depending on 'raise_after' and settings.
if (!isnan(measured_z)) {
- const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
- if (big_raise || raise_after == PROBE_PT_RAISE)
+ const ProbePtRaise raise_type = (TERN0(BLTOUCH, !bltouch.high_speed_mode) && raise_after == PROBE_PT_RAISE) ? PROBE_PT_STOW : raise_after;
+ const bool big_raise = raise_type == PROBE_PT_BIG_RAISE;
+ if (big_raise || raise_type == PROBE_PT_RAISE)
do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), z_probe_fast_mm_s);
- else if (raise_after == PROBE_PT_STOW || raise_after == PROBE_PT_LAST_STOW)
+ else if (raise_type == PROBE_PT_STOW || raise_type == PROBE_PT_LAST_STOW)
if (stow()) measured_z = NAN; // Error on stow?
if (verbose_level > 2)
SERIAL_ECHOLNPGM("Bed X: ", LOGICAL_X_POSITION(rx), " Y: ", LOGICAL_Y_POSITION(ry), " Z: ", measured_z);
}
+ // If any error occurred stow the probe and set an alert
if (isnan(measured_z)) {
stow();
LCD_MESSAGE(MSG_LCD_PROBING_FAILED);
From 27d3457bd9d663c21a001d96cebb9807ac64f43d Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Tue, 14 Mar 2023 19:02:06 -0500
Subject: [PATCH 3/3] Use do_z_clearance
---
Marlin/src/module/probe.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index 414a181e083d..f1281184fb73 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -147,7 +147,7 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
WRITE(MAGLEV_TRIGGER_PIN, LOW);
}
- inline void maglev_idle() { do_blocking_move_to_z(10); }
+ inline void maglev_idle() { do_z_clearance(10); }
#elif ENABLED(TOUCH_MI_PROBE)
@@ -749,7 +749,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", first_probe_z);
// Raise to give the probe clearance
- do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s);
+ do_z_clearance(current_position.z + Z_CLEARANCE_MULTI_PROBE);
#elif Z_PROBE_FEEDRATE_FAST != Z_PROBE_FEEDRATE_SLOW
@@ -759,7 +759,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (current_position.z > z) {
// Probe down fast. If the probe never triggered, raise for probe clearance
if (!probe_down_to_z(z, z_probe_fast_mm_s))
- do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, z_probe_fast_mm_s);
+ do_z_clearance(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
}
#endif
@@ -810,7 +810,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
#if EXTRA_PROBING > 0
< TOTAL_PROBING - 1
#endif
- ) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s);
+ ) do_z_clearance(z + Z_CLEARANCE_MULTI_PROBE);
#endif
}
@@ -917,7 +917,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
const ProbePtRaise raise_type = (TERN0(BLTOUCH, !bltouch.high_speed_mode) && raise_after == PROBE_PT_RAISE) ? PROBE_PT_STOW : raise_after;
const bool big_raise = raise_type == PROBE_PT_BIG_RAISE;
if (big_raise || raise_type == PROBE_PT_RAISE)
- do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), z_probe_fast_mm_s);
+ do_z_clearance(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES));
else if (raise_type == PROBE_PT_STOW || raise_type == PROBE_PT_LAST_STOW)
if (stow()) measured_z = NAN; // Error on stow?