Version 1.00e

Fixed G32 so that it really does run macro file bed.g if it exists
Added H parameter to M558 command
Added bed.g file for Mini Kossel with mechanical Z probe

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "1.00d-dc42"
-#define DATE "2015-01-30"
+#define VERSION "1.00e-dc42"
+#define DATE "2015-01-31"
 #define AUTHORS "reprappro, dc42, zpl"
 
 #define FLASH_SAVE_ENABLED	(1)

GCodes.cpp

@@ -74,6 +74,7 @@ void GCodes::Init()
 	limitAxes = true;
 	SetAllAxesNotHomed();
 	toolChangeSequence = 0;
+	setBedState = 0;
 	coolingInverted = false;
 }
 
@@ -875,7 +876,7 @@ bool GCodes::DoSingleZProbeAtPoint(int probePointIndex)
 	switch (cannedCycleMoveCount)
 	{
 	case 0: // Raise Z to 5mm. This only does anything on the first move; on all the others Z is already there
-		moveToDo[Z_AXIS] = Z_DIVE;
+		moveToDo[Z_AXIS] = platform->GetZProbeDiveHeight();
 		activeDrive[Z_AXIS] = true;
 		moveToDo[DRIVES] = platform->MaxFeedrate(Z_AXIS);
 		activeDrive[DRIVES] = true;
@@ -924,7 +925,7 @@ bool GCodes::DoSingleZProbeAtPoint(int probePointIndex)
 		return false;
 
 	case 3:	// Raise the head 5mm
-		moveToDo[Z_AXIS] = Z_DIVE;
+		moveToDo[Z_AXIS] = platform->GetZProbeDiveHeight();
 		activeDrive[Z_AXIS] = true;
 		moveToDo[DRIVES] = platform->MaxFeedrate(Z_AXIS);
 		activeDrive[DRIVES] = true;
@@ -1026,38 +1027,62 @@ bool GCodes::SetBedEquationWithProbe(StringRef& reply)
 {
 	// zpl-2014-10-09: In order to stay compatible with old firmware versions, only execute bed.g
 	// if it is actually present in the sys directory
-	if (platform->GetMassStorage()->PathExists(SYS_DIR SET_BED_EQUATION))
+	switch (setBedState)
 	{
-		return DoFileMacro(SET_BED_EQUATION);
-	}
+	case 0:
+		{
+			FileStore *f = platform->GetFileStore(SYS_DIR, SET_BED_EQUATION, false);
+			if (f != NULL)
+			{
+				f->Close();
+				setBedState = 1;
+			}
+			else
+			{
+				setBedState = 2;
+			}
+		}
+		return false;
 
-	if (reprap.GetMove()->NumberOfXYProbePoints() < 3)
-	{
-		reply.copy("Bed probing: there needs to be 3 or more points set.\n");
-		return true;
-	}
+	case 1:
+		{
+			bool finished = DoFileMacro(SET_BED_EQUATION);
+			if (finished)
+			{
+				setBedState = 0;
+			}
+			return finished;
+		}
 
-	// zpl 2014-11-02: When calling G32, ensure bed compensation parameters are initially reset
-	if (!settingBedEquationWithProbe)
-	{
+	case 2:
+		if (reprap.GetMove()->NumberOfXYProbePoints() < 3)
+		{
+			reply.copy("Bed probing: there needs to be 3 or more points set.\n");
+			setBedState = 0;
+			return true;
+		}
+
+		// zpl 2014-11-02: When calling G32, ensure bed compensation parameters are initially reset
 		reprap.GetMove()->SetIdentityTransform();
-		settingBedEquationWithProbe = true;
-	}
+		++setBedState;
+		return false;
 
-	if (DoSingleZProbeAtPoint(probeCount))
-	{
-		probeCount++;
-	}
+	case 3:
+		if (DoSingleZProbeAtPoint(probeCount))
+		{
+			probeCount++;
+		}
 
-	if (probeCount >= reprap.GetMove()->NumberOfXYProbePoints())
-	{
-		probeCount = 0;
-		zProbesSet = true;
-		reprap.GetMove()->SetProbedBedEquation(reply);
-		settingBedEquationWithProbe = false;
-		return true;
+		if (probeCount >= reprap.GetMove()->NumberOfXYProbePoints())
+		{
+			probeCount = 0;
+			zProbesSet = true;
+			reprap.GetMove()->SetProbedBedEquation(reply);
+			setBedState = 0;
+			return true;
+		}
+		return false;
 	}
-	return false;
 }
 
 // This returns the (X, Y) points to probe the bed at probe point count.  When probing,
@@ -1286,7 +1311,7 @@ void GCodes::QueueFileToPrint(const char* fileName)
 
 void GCodes::DeleteFile(const char* fileName)
 {
-	if(!platform->GetMassStorage()->Delete(platform->GetGCodeDir(), fileName))
+	if (!platform->GetMassStorage()->Delete(platform->GetGCodeDir(), fileName))
 	{
 		platform->Message(BOTH_ERROR_MESSAGE, "Could not delete file \"%s\"\n", fileName);
 	}
@@ -3173,13 +3198,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 
     case 558: // Set or report Z probe type and for which axes it is used
 		{
-			bool seenP = false, seenR = false;
-			if (gb->Seen('P'))
-			{
-				platform->SetZProbeType(gb->GetIValue());
-				seenP = true;
-			}
-
+			bool seen = false;
 			bool zProbeAxes[AXES];
 			platform->GetZProbeAxes(zProbeAxes);
 			for (size_t axis=0; axis<AXES; axis++)
@@ -3187,24 +3206,38 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 				if (gb->Seen(axisLetters[axis]))
 				{
 					zProbeAxes[axis] = (gb->GetIValue() > 0);
-					seenP = true;
+					seen = true;
 				}
 			}
+			if (seen)
+			{
+				platform->SetZProbeAxes(zProbeAxes);
+			}
+
+			// We must get and set the Z probe type first before setting the dive height, because different probe types may have different dive heights
+			if (gb->Seen('P'))
+			{
+				platform->SetZProbeType(gb->GetIValue());
+				seen = true;
+			}
+
+			if (gb->Seen('H'))
+			{
+				platform->SetZProbeDiveHeight(gb->GetIValue());
+				seen = true;
+			}
 
 			if (gb->Seen('R'))
 			{
 				platform->SetZProbeChannel(gb->GetIValue());
-				seenR = true;
+				seen = true;
 			}
 
-			if (seenP)
+			if (!seen)
 			{
-				platform->SetZProbeAxes(zProbeAxes);
-			}
-			else if (!seenR)
-			{
-				reply.printf("Z Probe type is %d on channel %d and it is used for these axes:", platform->GetZProbeType(), platform->GetZProbeChannel());
-				for(size_t axis=0; axis<AXES; axis++)
+				reply.printf("Z Probe type is %d on channel %d with dive height %.1f and it is used for these axes:",
+						platform->GetZProbeType(), platform->GetZProbeChannel(), platform->GetZProbeDiveHeight());
+				for (size_t axis=0; axis<AXES; axis++)
 				{
 					if (zProbeAxes[axis])
 					{

GCodes.h

@@ -206,7 +206,6 @@ class GCodes
     int8_t cannedCycleMoveCount;				// Counts through internal (i.e. not macro) canned cycle moves
     bool cannedCycleMoveQueued;					// True if a canned cycle move has been set
     bool zProbesSet;							// True if all Z probing is done and we can set the bed equation
-    bool settingBedEquationWithProbe;			// True if we're executing G32 without a macro
     float longWait;								// Timer for things that happen occasionally (seconds)
     bool limitAxes;								// Don't think outside the box.
     bool axisIsHomed[AXES];						// These record which of the axes have been homed
@@ -216,7 +215,8 @@ class GCodes
     float speedFactorChange;					// factor by which we changed the speed factor since the last move
     float extrusionFactors[DRIVES - AXES];		// extrusion factors (normally 1.0)
     float lastProbedZ;							// the last height at which the Z probe stopped
-    int8_t toolChangeSequence;					// Steps through the tool change procedure
+    uint8_t toolChangeSequence;					// Steps through the tool change procedure
+    uint8_t setBedState;						// Steps through the setbed procedure
 
     bool simulating;
     float simulationTime;

Platform.cpp

@@ -322,10 +322,25 @@ void Platform::InitZProbe()
 	zProbeOnFilter.Init(0);
 	zProbeOffFilter.Init(0);
 
-	if (nvData.zProbeType >= 1 && nvData.zProbeType < 4)
+	switch (nvData.zProbeType)
 	{
+	case 1:
+	case 2:
 		pinModeNonDue(nvData.zProbeModulationPin, OUTPUT);
-		digitalWriteNonDue(nvData.zProbeModulationPin, (nvData.zProbeType < 3) ? HIGH : LOW);	// enable the IR LED or alternate sensor
+		digitalWriteNonDue(nvData.zProbeModulationPin, HIGH);	// enable the IR LED
+		break;
+
+	case 3:
+		pinModeNonDue(nvData.zProbeModulationPin, OUTPUT);
+		digitalWriteNonDue(nvData.zProbeModulationPin, LOW);	// enable the alternate sensor
+		break;
+
+	case 4:
+		pinModeNonDue(endStopPins[E0_AXIS], INPUT_PULLUP);
+		break;
+
+	default:
+		break;
 	}
 }
 
@@ -430,6 +445,41 @@ float Platform::ZProbeStopHeight() const
 	}
 }
 
+float Platform::GetZProbeDiveHeight() const
+{
+	switch (nvData.zProbeType)
+	{
+	case 1:
+	case 2:
+		return nvData.irZProbeParameters.diveHeight;
+	case 3:
+		return nvData.alternateZProbeParameters.diveHeight;
+	case 4:
+		return nvData.switchZProbeParameters.diveHeight;
+	default:
+		return Z_DIVE;
+	}
+}
+
+void Platform::SetZProbeDiveHeight(float h)
+{
+	switch (nvData.zProbeType)
+	{
+	case 1:
+	case 2:
+		nvData.irZProbeParameters.diveHeight = h;
+		break;
+	case 3:
+		nvData.alternateZProbeParameters.diveHeight = h;
+		break;
+	case 4:
+		nvData.switchZProbeParameters.diveHeight = h;
+		break;
+	default:
+		break;
+	}
+}
+
 void Platform::SetZProbeType(int pt)
 {
 	int newZProbeType = (pt >= 0 && pt <= 4) ? pt : 0;
@@ -866,7 +916,7 @@ void Platform::Tick()
 
 	case 2:			// last conversion started was the Z probe, with IR LED on
 		{
-			uint16_t reading = (nvData.zProbeType != 4) ? GetAdcReading(zProbeAdcChannel) : (digitalRead(endStopPins[AXES])) ? 1023 : 0;
+			uint16_t reading = (nvData.zProbeType != 4) ? GetAdcReading(zProbeAdcChannel) : (digitalRead(endStopPins[E0_AXIS])) ? 4000 : 0;
 			const_cast<ZProbeAveragingFilter&>(zProbeOnFilter).ProcessReading(reading);
 		}
 		StartAdcConversion(heaterAdcChannels[currentHeater]);		// read a thermistor
@@ -879,7 +929,7 @@ void Platform::Tick()
 
 	case 4:			// last conversion started was the Z probe, with IR LED off if modulation is enabled
 		{
-			uint16_t reading = (nvData.zProbeType != 4) ? GetAdcReading(zProbeAdcChannel) : (digitalRead(endStopPins[AXES])) ? 1023 : 0;
+			uint16_t reading = (nvData.zProbeType != 4) ? GetAdcReading(zProbeAdcChannel) : (digitalRead(endStopPins[E0_AXIS])) ? 4000 : 0;
 			const_cast<ZProbeAveragingFilter&>(zProbeOffFilter).ProcessReading(reading);
 		}
 		// no break

Platform.h

@@ -117,7 +117,7 @@ const float defaultDeltaHomedHeight = 200;		// mm
 
 #define HOME_FEEDRATES {50.0, 50.0, 100.0/60.0}	// mm/sec (dc42 increased Z because we slow down z-homing when approaching the target height)
 
-const size_t X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2;	// The indices of the Cartesian axes in drive arrays
+const size_t X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2, E0_AXIS = 3;	// The indices of the Cartesian axes in drive arrays
 const size_t A_AXIS = 0, B_AXIS = 1, C_AXIS = 2;	// The indices of the 3 tower motors of a delta printer in drive arrays
 
 // HEATERS - The bed is assumed to be the at index 0
@@ -418,6 +418,7 @@ struct ZProbeParameters
 	float height;					// the nozzle height at which the target ADC value is returned
 	float calibTemperature;			// the temperature at which we did the calibration
 	float temperatureCoefficient;	// the variation of height with bed temperature
+	float diveHeight;				// the dive height we use when probing
 
 	void Init(float h)
 	{
@@ -426,6 +427,7 @@ struct ZProbeParameters
 		height = h;
 		calibTemperature = 20.0;
 		temperatureCoefficient = 0.0;	// no default temperature correction
+		diveHeight = Z_DIVE;
 	}
 
 	float GetStopHeight(float temperature) const
@@ -650,8 +652,8 @@ public:
   // Z probe
 
   float ZProbeStopHeight() const;
-  float ZProbeXoffset() const;
-  float ZProbeYoffset() const;
+  float GetZProbeDiveHeight() const;
+  void SetZProbeDiveHeight(float h);
   int ZProbe() const;
   EndStopHit GetZProbeResult() const;
   int GetZProbeSecondaryValues(int& v1, int& v2);

SD-image/sys-MiniKossel/bed.g

@@ -0,0 +1,34 @@
+; Bed probing routine for Mini Kossel
+M561						; clear bed transform, otherwise homing may be at the wrong height
+
+; Macro files don't nest, so we can't do a G28 here. Include the code from homedelta.g instead.
+G91							; use relative positioning
+G1 S1 X320 Y320 Z320 F5000	; move all carriages up 320mm, stopping at the endstops
+G1 S2 X-4 Y-4 Z-4 F1000		; move all towers down 5mm
+G1 S1 X8 Y8 Z8 F500			; move towers up 8mm, stopping at the endstops
+G90							; back to absolute positioning
+
+M564 S0						; don't apply limits
+
+; Deploy probe
+G1 X25 Y93 Z50 F10000		; put probe arm next to belt
+G1 X-7 F500
+G1 X12 F2000
+
+G1 X0 Y0 Z10 F5000
+
+;*** Adjust the XY coordinates in the following M557 commands if necessary to suit your build and the position of the zprobe
+G30 P0 X-50 Y-50 Z-99999
+G30 P1 X-50 Y50 Z-99999
+G30 P2 X50 Y50 Z-99999
+G30 P3 X50 Y-50 Z-99999
+G30 P4 X0 Y0 Z-99999 S
+
+; Retract probe
+G1 Z40 F10000				; raise head
+G1 X-59 Y66 Z35				; move over the post
+G1 Z7 F500					; push probe down on post
+G1 Z35 F10000				; raise head again
+G1 X0 Y0					; move to somewhere sensible
+
+M564 S1						; apply limits again

SD-image/sys-MiniKossel/config.g

@@ -45,15 +45,10 @@ M92 E663:663                       	; Set extruder steps per mm
 ;G10 P2 S0 R0                       ; Set tool 2 operating and standby temperatures
 
 // Z probe and compensation definition
-;*** If you have an IR zprobe, change P0 to P1 in the following M558 command
-M558 P0 X0 Y0 Z0					; Z probe is a switch and is not used for homing any axes
-;G31 Z1.20 P500						; Set the IR zprobe height and threshold (put your own values here)
-;*** Adjust the XY coordinates in the following M557 commands if necessary to suit your build and the position of the zprobe
-M557 P0 X-50 Y-50                   ; Four... 
-M557 P1 X-50 Y50                    ; ...probe points...
-M557 P2 X50 Y50						; ...for bed...
-M557 P3 X50 Y-50					; ...levelling
-M557 P4 X0 Y0						; 5th probe point for levelling
+;*** If you have an IR zprobe instead of a switch, change P4 to P1 in the following M558 command
+M558 P4 X0 Y0 Z0 H8					; Z probe is a switch and is not used for homing any axes
+G31 X1.2 Y17.6 Z4.80 P500			; Set the zprobe height and threshold (put your own values here)
+
 ;*** If you are using axis compensation, put the figures in the following command
 M556 S78 X0 Y0 Z0                   ; Axis compensation here