void checkHitEndstops() {
if (endstop_hit_bits) {
ECHO_SM(DB, MSG_ENDSTOPS_HIT);
if (endstop_hit_bits & BIT(X_MIN)) {
ECHO_MV(MSG_ENDSTOP_X, (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_XS);
}
if (endstop_hit_bits & BIT(Y_MIN)) {
ECHO_MV(MSG_ENDSTOP_Y, (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_YS);
}
if (endstop_hit_bits & BIT(Z_MIN)) {
ECHO_MV(MSG_ENDSTOP_Z, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZS);
}
#ifdef Z_PROBE_ENDSTOP
if (endstop_hit_bits & BIT(Z_PROBE)) {
ECHO_MV(MSG_ENDSTOP_ZPS, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZPS);
}
#endif
#ifdef NPR2
if (endstop_hit_bits & BIT(E_MIN)) {
ECHO_MV(MSG_ENDSTOP_E, (float)endstops_trigsteps[E_AXIS] / axis_steps_per_unit[E_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ES);
}
#endif
ECHO_E;
endstops_hit_on_purpose();
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit) {
card.sdprinting = false;
card.closeFile();
quickStop();
disable_all_heaters(); // switch off all heaters.
}
#endif
}
}
void checkHitEndstops() {
if (endstop_x_hit || endstop_y_hit || endstop_z_hit || endstop_z_probe_hit) { // #ifdef || endstop_z_probe_hit to save space if needed.
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if (endstop_x_hit) {
SERIAL_ECHOPAIR(" X:", (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
}
if (endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:", (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
}
if (endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
#ifdef Z_PROBE_ENDSTOP
if (endstop_z_probe_hit) {
SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
}
#endif
SERIAL_EOL;
endstops_hit_on_purpose();
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit) {
card.sdprinting = false;
card.closefile();
quickStop();
setTargetHotend0(0);
setTargetHotend1(0);
setTargetHotend2(0);
setTargetHotend3(0);
setTargetBed(0);
}
#endif
}
}
void checkHitEndstops() {
if (endstop_hit_bits) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if (endstop_hit_bits & BIT(X_MIN)) {
SERIAL_ECHOPAIR(" X:", (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
}
if (endstop_hit_bits & BIT(Y_MIN)) {
SERIAL_ECHOPAIR(" Y:", (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
}
if (endstop_hit_bits & BIT(Z_MIN)) {
SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
#ifdef Z_PROBE_ENDSTOP
if (endstop_hit_bits & BIT(Z_PROBE)) {
SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
}
#endif
SERIAL_EOL;
endstops_hit_on_purpose();
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit) {
card.sdprinting = false;
card.closefile();
quickStop();
disable_all_heaters(); // switch off all heaters.
}
#endif
}
}
float Probe_Bed(float x_pos, float y_pos, int n)
{
//returns Probed Z average height
float ProbeDepth[n];
float ProbeDepthAvg=0;
//force bed heater off for probing
int save_bed_targ = target_raw_bed;
target_raw_bed = 0;
WRITE(HEATER_BED_PIN,LOW);
if (Z_HOME_DIR==-1)
{
//int probe_flag =1;
float meas = 0;
int fails = 0;
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
//previous_millis_cmd = millis();
//Move to probe position
if (x_pos >= 0) destination[X_AXIS]=x_pos;
if (y_pos >= 0) destination[Y_AXIS]=y_pos;
//destination[Z_AXIS]=current_position[Z_AXIS];
destination[Z_AXIS]=Z_HOME_RETRACT_MM;
feedrate = 9000;
prepare_move();
enable_endstops(true);
SERIAL_ECHO("PRE-PROBE current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
SERIAL_ECHOLN("Ready to probe...");
//Probe bed n times
//*******************************************************************************************Bed Loop*************************************
for(int8_t i=0; i < n ; i++)
{
//int z = 0;
//fast probe
//plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = 1.1 * Z_MAX_LENGTH * Z_HOME_DIR;
feedrate = homing_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
//feedrate = 0.0;
SERIAL_ECHO("current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
if(endstop_z_hit == true)
{
SERIAL_ECHO("endstops_trigsteps[Z_AXIS]=");SERIAL_ECHOLN(endstops_trigsteps[Z_AXIS]);
ProbeDepth[i]= endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS];
meas = ProbeDepth[i];
SERIAL_ECHO("ProbeDepth[");SERIAL_ECHO(i);SERIAL_ECHO("]=");SERIAL_ECHOLN(ProbeDepth[i]);
//*************************************************************************************************************
if (i > 0 ) //Second probe has happened so compare results
{
if (abs(ProbeDepth[i] - ProbeDepth[i - 1]) > .05)
{ //keep going until readings match to avoid sticky bed
SERIAL_ECHO("Probing again: ");
SERIAL_ECHO(ProbeDepth[i]); SERIAL_ECHO(" - "); SERIAL_ECHO(ProbeDepth[i - 1]);SERIAL_ECHO(" = "); SERIAL_ECHOLN(abs(ProbeDepth[i] - ProbeDepth[i - 1]));
meas = ProbeDepth[i];
i--; i--; //Throw out both that don't match because we don't know which one is accurate
if(fails++ > 4) break;
}
}
}else{
SERIAL_ECHOLN("Probe not triggered.");
i=n-1;
}
//**************************************************************************************************************************************************
//fast move clear
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], meas, current_position[E_AXIS]);
destination[Z_AXIS] = Z_HOME_RETRACT_MM;
feedrate = fast_home_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
//check z stop isn't still triggered
if ( READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING )
{
SERIAL_ECHOLN("Poking Stuck Bed:");
destination[Z_AXIS] = -1; prepare_move();
destination[Z_AXIS] = Z_HOME_RETRACT_MM; prepare_move();
st_synchronize();
i--; //Throw out this meaningless measurement
}
feedrate = 0;
} //end probe loop
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
//previous_millis_cmd = millis();
endstops_hit_on_purpose();
}
for(int8_t i=0;i<n;i++)
{
ProbeDepthAvg += ProbeDepth[i];
}
ProbeDepthAvg /= n;
SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(ProbeDepthAvg);
SERIAL_ECHO("RAW current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], Z_HOME_RETRACT_MM, current_position[E_AXIS]);
current_position[Z_AXIS] = Z_HOME_RETRACT_MM;
target_raw_bed = save_bed_targ;
return ProbeDepthAvg;
}
