2.0 IDEX Independent z offset and other fixes (#11862)

* Add Formbot Raptor board

Co-Authored-By: InsanityAutomation <insanityautomation@users.noreply.github.com>

* Add a second Z probe Z offset

Co-Authored-By: InsanityAutomation <insanityautomation@users.noreply.github.com>

* Modify method to utilize live adjustment of hotend z offset

Should probably move config option to babystepping and rename as it may now apply to all multiextruder systems

* Move config item and catchup other code to current method

Marlin/Configuration_adv.h

   #define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds.
                                         // Note: Extra time may be added to mitigate controller latency.
   //#define BABYSTEP_ZPROBE_GFX_OVERLAY // Enable graphical overlay on Z-offset editor
+
+  // Allow babystepping tool z offsets, allowing compensation for tools at different heights.
+  // Ignored in Independent X Carriage Duplicate mode, where tool 0 Z probe offset will be used.
+  //#define BABYSTEP_HOTEND_Z_OFFSET
 #endif
 
 // @section extruder

Marlin/src/config/examples/Formbot/T-Rex_2+/Configuration.h

 // The following define selects which electronics board you have.
 // Please choose the name from boards.h that matches your setup
 #ifndef MOTHERBOARD
-  #define MOTHERBOARD BOARD_FORMBOT_TREX2
+  #define MOTHERBOARD BOARD_FORMBOT_TREX2PLUS
 #endif
 
 // Optional custom name for your RepStrap or other custom machine

Marlin/src/core/boards.h

 #define BOARD_AZTEEG_X3_PRO     68    // Azteeg X3 Pro
 #define BOARD_ULTIMAIN_2        72    // Ultimainboard 2.x (Uses TEMP_SENSOR 20)
 #define BOARD_RUMBA             80    // Rumba
-#define BOARD_FORMBOT_TREX2     81    // Formbot version 1
-#define BOARD_FORMBOT_TREX3     82    // Formbot T-Rex 3 revision
+#define BOARD_FORMBOT_TREX2PLUS 95    // Formbot version 1
+#define BOARD_FORMBOT_TREX3     96    // Formbot T-Rex 3 revision
+#define BOARD_FORMBOT_RAPTOR    97    // Formbot version 1
 #define BOARD_BQ_ZUM_MEGA_3D    503   // bq ZUM Mega 3D
 #define BOARD_MAKEBOARD_MINI    431   // MakeBoard Mini v2.1.2 is a control board sold by MicroMake
 #define BOARD_TRIGORILLA_13     343   // TriGorilla Anycubic version 1.3 based on RAMPS EFB

Marlin/src/gcode/motion/M290.cpp

 
 #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
   FORCE_INLINE void mod_zprobe_zoffset(const float &offs) {
-    zprobe_zoffset += offs;
-    SERIAL_ECHO_START();
-    SERIAL_ECHOLNPAIR(MSG_PROBE_Z_OFFSET ": ", zprobe_zoffset);
+    #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
+      if (active_extruder == 0)
+      {
+        zprobe_zoffset += offs;
+        SERIAL_ECHO_START();
+        SERIAL_ECHOLNPAIR(MSG_PROBE_Z_OFFSET ": ", zprobe_zoffset);
+      } else {
+          hotend_offset[Z_AXIS][active_extruder] -= offs;
+          SERIAL_ECHO_START();
+          SERIAL_ECHOLNPAIR(MSG_IDEX_Z_OFFSET ": ", hotend_offset[Z_AXIS][active_extruder]);
+        }
+    #else
+      zprobe_zoffset += offs;
+      SERIAL_ECHO_START();
+      SERIAL_ECHOLNPAIR(MSG_PROBE_Z_OFFSET ": ", zprobe_zoffset);
+    #endif
+
   }
 #endif
 

Marlin/src/gcode/probe/M851.cpp

   if (parser.seenval('Z')) {
     const float value = parser.value_linear_units();
     if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
+    {
       zprobe_zoffset = value;
+    }
     else {
       SERIAL_ERROR_START();
       SERIAL_ERRORLNPGM("?Z out of range (" STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " to " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX) ")");

Marlin/src/lcd/ultralcd.cpp

 
           const float new_zoffset = zprobe_zoffset + planner.steps_to_mm[Z_AXIS] * babystep_increment;
           if (WITHIN(new_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
-            thermalManager.babystep_axis(Z_AXIS, babystep_increment);
-            zprobe_zoffset = new_zoffset;
+
+
+            #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
+              if (active_extruder == 0)
+              {
+                thermalManager.babystep_axis(Z_AXIS, babystep_increment);
+                zprobe_zoffset = new_zoffset;
+              } else {
+                  thermalManager.babystep_axis(Z_AXIS, babystep_increment);
+                  hotend_offset[Z_AXIS][active_extruder] -= (planner.steps_to_mm[Z_AXIS] * babystep_increment);
+                }
+            #else
+              zprobe_zoffset = new_zoffset;
+            #endif
             lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
           }
         }
         if (lcdDrawUpdate) {
-          lcd_implementation_drawedit(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(zprobe_zoffset));
+          #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
+            if (active_extruder == 0) {
+              lcd_implementation_drawedit(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(zprobe_zoffset));
+            } else {
+              lcd_implementation_drawedit(PSTR(MSG_IDEX_Z_OFFSET), ftostr43sign(hotend_offset[Z_AXIS][active_extruder]));
+            }
+          #endif
           #if ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY)
-            _lcd_zoffset_overlay_gfx(zprobe_zoffset);
+            if (active_extruder == 0) {
+              _lcd_zoffset_overlay_gfx(zprobe_zoffset);
+            }
           #endif
         }
       }

Marlin/src/lcd/ultralcd.h

     #include "../module/motion.h" // for active_extruder
   #endif
 
+  void lcd_return_to_status();
   bool lcd_hasstatus();
   void lcd_setstatus(const char* message, const bool persist=false);
   void lcd_setstatusPGM(const char* message, const int8_t level=0);

Marlin/src/module/configuration_store.cpp

   //
   // HAS_BED_PROBE
   //
-  float zprobe_zoffset;                                 // M851 Z
+
+  float zprobe_zoffset;
 
   //
   // ABL_PLANAR
       for (uint8_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_WRITE(dummy);
     #endif // MESH_BED_LEVELING
 
-    _FIELD_TEST(zprobe_zoffset);
-
     #if !HAS_BED_PROBE
       const float zprobe_zoffset = 0;
     #endif
-    EEPROM_WRITE(zprobe_zoffset);
+
+      _FIELD_TEST(zprobe_zoffset);
+      EEPROM_WRITE(zprobe_zoffset);
 
     //
     // Planar Bed Leveling matrix
         for (uint16_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_READ(dummy);
       #endif // MESH_BED_LEVELING
 
-      _FIELD_TEST(zprobe_zoffset);
-
       #if !HAS_BED_PROBE
         float zprobe_zoffset;
       #endif
-      EEPROM_READ(zprobe_zoffset);
+
+        _FIELD_TEST(zprobe_zoffset);
+        EEPROM_READ(zprobe_zoffset);
 
       //
       // Planar Bed Leveling matrix

Marlin/src/module/motion.cpp

           soft_endstop_max[X_AXIS] = dual_max_x;
         }
         else if (dxc_is_duplicating()) {
-          // In Duplication Mode, T0 can move as far left as X_MIN_POS
+          // In Duplication Mode, T0 can move as far left as X1_MIN_POS
           // but not so far to the right that T1 would move past the end
-          soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS);
-          soft_endstop_max[X_AXIS] = MIN(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset);
+          soft_endstop_min[X_AXIS] = X1_MIN_POS;
+          soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
         }
         else {
-          // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
-          soft_endstop_min[axis] = base_min_pos(axis);
-          soft_endstop_max[axis] = base_max_pos(axis);
+          // In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
+          soft_endstop_min[X_AXIS] = X1_MIN_POS;
+          soft_endstop_max[X_AXIS] = X1_MAX_POS;
         }
       }
     #elif ENABLED(DELTA)

Marlin/src/module/tool_change.cpp

 
 #include "tool_change.h"
 
+#include "probe.h"
 #include "motion.h"
 #include "planner.h"
 
 #include "../Marlin.h"
 
-#include "../inc/MarlinConfig.h"
-
 #if ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
   #include "../gcode/gcode.h" // for dwell()
 #endif
   #include "../feature/fanmux.h"
 #endif
 
+#if ENABLED(ULTIPANEL)
+  #include "../lcd/ultralcd.h"
+#endif
+
 #if DO_SWITCH_EXTRUDER
 
   #if EXTRUDERS > 3
             active_extruder = tmp_extruder;
             update_software_endstops(X_AXIS);
             active_extruder = !tmp_extruder;
+
+            // Don't move the new extruder out of bounds
+            if (!WITHIN(current_position[X_AXIS], soft_endstop_min[X_AXIS], soft_endstop_max[X_AXIS]))
+              no_move = true;
+
+          #else
+              // No software endstops? Use the configured limits
+              if (active_extruder == 0) {
+                if (!WITHIN(current_position[X_AXIS], X2_MIN_POS, X2_MAX_POS))
+                  no_move = true;
+              }
+              else if (!WITHIN(current_position[X_AXIS], X1_MIN_POS, X1_MAX_POS))
+                no_move = true;
           #endif
 
-          // Don't move the new extruder out of bounds
-          if (!WITHIN(current_position[X_AXIS], soft_endstop_min[X_AXIS], soft_endstop_max[X_AXIS]))
-            no_move = true;
+          #if ENABLED(ULTIPANEL)
+            lcd_return_to_status();
+          #endif
 
           if (!no_move) set_destination_from_current();
           dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
           #if ENABLED(DEBUG_LEVELING_FEATURE)
             if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
           #endif
+          #if ENABLED(DUAL_X_CARRIAGE)
+            // Dual x carriage does not properly apply these to current position due to command ordering
+            // So we apply the offsets for y and z to the destination here. X cannot have an offset in this mode
+            // as it is utilized for X2 home position.
+            destination[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
+            destination[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
+          #endif
           // Move back to the original (or tweaked) position
           do_blocking_move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS]);
           #if ENABLED(DUAL_X_CARRIAGE)

Marlin/src/pins/pins.h

   #include "pins_AZTEEG_X3_PRO.h"     // ATmega2560                                 env:megaatmega2560
 #elif MB(ULTIMAIN_2)
   #include "pins_ULTIMAIN_2.h"        // ATmega2560                                 env:megaatmega2560
-#elif MB(FORMBOT_TREX2)
-  #include "pins_FORMBOT_TREX2.h"     // ATmega2560                                 env:megaatmega2560
+#elif MB(FORMBOT_RAPTOR)
+  #include "pins_FORMBOT_RAPTOR.h"    // ATmega2560                                 env:megaatmega2560
+#elif MB(FORMBOT_TREX2PLUS)
+  #include "pins_FORMBOT_TREX2PLUS.h" // ATmega2560                                 env:megaatmega2560
 #elif MB(FORMBOT_TREX3)
   #include "pins_FORMBOT_TREX3.h"     // ATmega2560                                 env:megaatmega2560
 #elif MB(RUMBA)

Marlin/src/pins/pins_FORMBOT_RAPTOR.h

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Formbot pin assignments
+ */
+
+#ifndef __AVR_ATmega2560__
+  #error "Oops!  Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu."
+#endif
+
+#if E_STEPPERS > 3 || HOTENDS > 3
+  #error "Formbot supports up to 3 hotends / E-steppers. Comment this line to keep going."
+#endif
+
+#define DEFAULT_MACHINE_NAME "Formbot Raptor"
+#define BOARD_NAME           "Formbot Raptor"
+
+//
+// Servos
+//
+#define SERVO0_PIN         11
+#define SERVO1_PIN          6
+#define SERVO2_PIN          5
+#define SERVO3_PIN         -1
+
+//
+// Limit Switches
+//
+#define X_MIN_PIN           3
+#ifndef X_MAX_PIN
+  #define X_MAX_PIN         2
+#endif
+#define Y_MIN_PIN          14
+#define Y_MAX_PIN          15
+#define Z_MIN_PIN          18
+#define Z_MAX_PIN          19
+
+//
+// Z Probe (when not Z_MIN_PIN)
+//
+#ifndef Z_MIN_PROBE_PIN
+  #define Z_MIN_PROBE_PIN  32
+#endif
+
+//
+// Steppers
+//
+#define X_STEP_PIN         54
+#define X_DIR_PIN          55
+#define X_ENABLE_PIN       38
+#ifndef X_CS_PIN
+  #define X_CS_PIN         53
+#endif
+
+#define Y_STEP_PIN         60
+#define Y_DIR_PIN          61
+#define Y_ENABLE_PIN       56
+#ifndef Y_CS_PIN
+  #define Y_CS_PIN         49
+#endif
+
+#define Z_STEP_PIN         46
+#define Z_DIR_PIN          48
+#define Z_ENABLE_PIN       62
+#ifndef Z_CS_PIN
+  #define Z_CS_PIN         40
+#endif
+
+#define E0_STEP_PIN        26
+#define E0_DIR_PIN         28
+#define E0_ENABLE_PIN      24
+#ifndef E0_CS_PIN
+  #define E0_CS_PIN        42
+#endif
+
+#define E1_STEP_PIN        36
+#define E1_DIR_PIN         34
+#define E1_ENABLE_PIN      30
+#ifndef E1_CS_PIN
+  #define E1_CS_PIN        44
+#endif
+
+#define E2_STEP_PIN        42
+#define E2_DIR_PIN         43
+#define E2_ENABLE_PIN      44
+
+//
+// Temperature Sensors
+//
+#define TEMP_0_PIN         13   // Analog Input
+#define TEMP_1_PIN         15   // Analog Input
+#define TEMP_BED_PIN       14   // Analog Input
+
+// SPI for Max6675 or Max31855 Thermocouple
+#if DISABLED(SDSUPPORT)
+  #define MAX6675_SS       66 // Do not use pin 53 if there is even the remote possibility of using Display/SD card
+#else
+  #define MAX6675_SS       66 // Do not use pin 49 as this is tied to the switch inside the SD card socket to detect if there is an SD card present
+#endif
+
+//
+// Augmentation for auto-assigning RAMPS plugs
+//
+#if DISABLED(IS_RAMPS_EEB) && DISABLED(IS_RAMPS_EEF) && DISABLED(IS_RAMPS_EFB) && DISABLED(IS_RAMPS_EFF) && DISABLED(IS_RAMPS_SF) && !PIN_EXISTS(MOSFET_D)
+  #if HOTENDS > 1
+    #if TEMP_SENSOR_BED
+      #define IS_RAMPS_EEB
+    #else
+      #define IS_RAMPS_EEF
+    #endif
+  #elif TEMP_SENSOR_BED
+    #define IS_RAMPS_EFB
+  #else
+    #define IS_RAMPS_EFF
+  #endif
+#endif
+
+//
+// Heaters / Fans
+//
+#define HEATER_0_PIN       10
+#define HEATER_1_PIN        7
+#define HEATER_BED_PIN     8
+
+#define LED4_PIN            5
+
+#define FAN_PIN             9
+
+#if DISABLED(FILAMENT_RUNOUT_SENSOR)
+  #define FAN1_PIN          4
+#endif
+
+//
+// Misc. Functions
+//
+#define SDSS               53
+#define LED_PIN            13
+
+// Use the RAMPS 1.4 Analog input 5 on the AUX2 connector
+#define FILWIDTH_PIN        5   // Analog Input
+
+#ifndef PS_ON_PIN
+  #define PS_ON_PIN        12
+#endif
+
+//
+// LCD / Controller
+//
+// Formbot only supports REPRAP_DISCOUNT_SMART_CONTROLLER
+//
+#if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER)
+  #define LCD_PINS_RS      16
+  #define LCD_PINS_ENABLE  17
+  #define LCD_PINS_D4      23
+  #define LCD_PINS_D5      25
+  #define LCD_PINS_D6      27
+  #define LCD_PINS_D7      29
+  #define BEEPER_PIN       37
+  #define BTN_EN1          31
+  #define BTN_EN2          33
+  #define BTN_ENC          35
+  #define SD_DETECT_PIN    49
+  #define KILL_PIN         41
+#endif

Marlin/src/pins/pins_FORMBOT_TREX2.h → Marlin/src/pins/pins_FORMBOT_TREX2PLUS.h

 #define HEATER_BED_PIN     58
 
 #define FAN_PIN             9
-//#define FAN1_PIN            4
-
+#if(DISABLED(FILAMENT_RUNOUT_SENSOR))
+  // Though defined as a fan pin, it is utilized as a dedicated laser pin by Formbot. May
+  // swapped plug and play with a fil;ament runout sensor.
+  #define FAN1_PIN            4 
+#endif
 
-#if DISABLED(ICSP_PORT_SWITCHES)
-  //#define FIL_RUNOUT_PIN    22
-  //#define FIL_RUNOUT2_PIN   21
-#elif ENABLED(FILAMENT_RUNOUT_SENSOR)
-  #define FIL_RUNOUT_PIN   52
-  #define FIL_RUNOUT2_PIN  50
+#if ENABLED(FILAMENT_RUNOUT_SENSOR)
+  #define FIL_RUNOUT_PIN   4
+  //#define FIL_RUNOUT2_PIN  -1
 #endif
 
 //