Merge pull request #4900 from thinkyhead/rc_g38_changes

Cleanup of G38.2 / G38.3

Marlin/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/Marlin.h

 
 #endif // !MIXING_EXTRUDER
 
+#if ENABLED(G38_PROBE_TARGET)
+  extern bool G38_move,        // flag to tell the interrupt handler that a G38 command is being run
+              G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
+#endif
+
 /**
  * The axis order in all axis related arrays is X, Y, Z, E
  */

Marlin/Marlin_main.cpp

  * G30 - Single Z probe, probes bed at current XY location.
  * G31 - Dock sled (Z_PROBE_SLED only)
  * G32 - Undock sled (Z_PROBE_SLED only)
+ * G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
  * G90 - Use Absolute Coordinates
  * G91 - Use Relative Coordinates
  * G92 - Set current position to coordinates given
   TWIBus i2c;
 #endif
 
+#if ENABLED(G38_PROBE_TARGET)
+  bool G38_move = false,
+       G38_endstop_hit = false;
+#endif
+
 bool Running = true;
 
 uint8_t marlin_debug_flags = DEBUG_NONE;
  * SCARA should wait until all XY homing is done before setting the XY
  * current_position to home, because neither X nor Y is at home until
  * both are at home. Z can however be homed individually.
- * 
+ *
  */
 static void set_axis_is_at_home(AxisEnum axis) {
   #if ENABLED(DEBUG_LEVELING_FEATURE)
 
 #endif // AUTO_BED_LEVELING_BILINEAR
 
+
 /**
  * Home an individual linear axis
  */
 
 #endif // HAS_BED_PROBE
 
+#if ENABLED(G38_PROBE_TARGET)
+
+  static bool G38_run_probe() {
+
+    bool G38_pass_fail = false;
+
+    // Get direction of move and retract
+    float retract_mm[XYZ];
+    LOOP_XYZ(i) {
+      float dist = destination[i] - current_position[i];
+      retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm(i) * (dist > 0 ? -1 : 1);
+    }
+
+    stepper.synchronize();  // wait until the machine is idle
+
+    // Move until destination reached or target hit
+    endstops.enable(true);
+    G38_move = true;
+    G38_endstop_hit = false;
+    prepare_move_to_destination();
+    stepper.synchronize();
+    G38_move = false;
+
+    endstops.hit_on_purpose();
+    set_current_from_steppers_for_axis(ALL_AXES);
+    SYNC_PLAN_POSITION_KINEMATIC();
+
+    // Only do remaining moves if target was hit
+    if (G38_endstop_hit) {
+
+      G38_pass_fail = true;
+
+      // Move away by the retract distance
+      set_destination_to_current();
+      LOOP_XYZ(i) destination[i] += retract_mm[i];
+      endstops.enable(false);
+      prepare_move_to_destination();
+      stepper.synchronize();
+
+      feedrate_mm_s /= 4;
+
+      // Bump the target more slowly
+      LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
+
+      endstops.enable(true);
+      G38_move = true;
+      prepare_move_to_destination();
+      stepper.synchronize();
+      G38_move = false;
+
+      set_current_from_steppers_for_axis(ALL_AXES);
+      SYNC_PLAN_POSITION_KINEMATIC();
+    }
+
+    endstops.hit_on_purpose();
+    endstops.not_homing();
+    return G38_pass_fail;
+  }
+
+  /**
+   * G38.2 - probe toward workpiece, stop on contact, signal error if failure
+   * G38.3 - probe toward workpiece, stop on contact
+   *
+   * Like G28 except uses Z min endstop for all axes
+   */
+  inline void gcode_G38(bool is_38_2) {
+    // Get X Y Z E F
+    gcode_get_destination();
+
+    setup_for_endstop_or_probe_move();
+
+    // If any axis has enough movement, do the move
+    LOOP_XYZ(i)
+      if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
+        if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
+        // If G38.2 fails throw an error
+        if (!G38_run_probe() && is_38_2) {
+          SERIAL_ERROR_START;
+          SERIAL_ERRORLNPGM("Failed to reach target");
+        }
+        break;
+      }
+
+    clean_up_after_endstop_or_probe_move();
+  }
+
+#endif // G38_PROBE_TARGET
+
 /**
  * G92: Set current position to given X Y Z E
  */
   // Skip spaces to get the numeric part
   while (*cmd_ptr == ' ') cmd_ptr++;
 
+  // Allow for decimal point in command
+  #if ENABLED(G38_PROBE_TARGET)
+    uint8_t subcode = 0;
+  #endif
+
   uint16_t codenum = 0; // define ahead of goto
 
   // Bail early if there's no code
     cmd_ptr++;
   } while (NUMERIC(*cmd_ptr));
 
+  // Allow for decimal point in command
+  #if ENABLED(G38_PROBE_TARGET)
+    if (*cmd_ptr == '.') {
+      cmd_ptr++;
+      while (NUMERIC(*cmd_ptr))
+        subcode = (subcode * 10) + (*cmd_ptr++ - '0');
+    }
+  #endif
+
   // Skip all spaces to get to the first argument, or nul
   while (*cmd_ptr == ' ') cmd_ptr++;
 
         #endif // Z_PROBE_SLED
       #endif // HAS_BED_PROBE
 
+      #if ENABLED(G38_PROBE_TARGET)
+        case 38: // G38.2 & G38.3
+          if (subcode == 2 || subcode == 3)
+            gcode_G38(subcode == 2);
+          break;
+      #endif
+
       case 90: // G90
         relative_mode = false;
         break;
    * Morgan SCARA Inverse Kinematics. Results in delta[].
    *
    * See http://forums.reprap.org/read.php?185,283327
-   * 
+   *
    * Maths and first version by QHARLEY.
    * Integrated into Marlin and slightly restructured by Joachim Cerny.
    */

Marlin/SanityCheck.h

 #endif
 
 /**
+ * G38 Probe Target
+ */
+#if ENABLED(G38_PROBE_TARGET)
+  #if !HAS_BED_PROBE
+    #error "G38_PROBE_TARGET requires a bed probe."
+  #elif !IS_CARTESIAN
+    #error "G38_PROBE_TARGET requires a Cartesian machine."
+  #endif
+#endif
+
+/**
  * Make sure only one display is enabled
  *
  * Note: BQ_LCD_SMART_CONTROLLER => REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER

Marlin/endstops.cpp

   // COPY_BIT: copy the value of COPY_BIT to BIT in bits
   #define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
 
-  #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
+  #define _UPDATE_ENDSTOP(AXIS,MINMAX,CODE) do { \
       UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
       if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
         _ENDSTOP_HIT(AXIS); \
         stepper.endstop_triggered(_AXIS(AXIS)); \
+        CODE; \
       } \
     } while(0)
 
+  #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN)  // If G38 command then check Z_MIN for every axis and every direction  
+
+    #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
+        _UPDATE_ENDSTOP(AXIS,MINMAX,NOOP); \
+        if (G38_move) _UPDATE_ENDSTOP(Z, MIN, G38_endstop_hit = true); \
+      } while(0)
+
+  #else	
+
+    #define UPDATE_ENDSTOP(AXIS,MINMAX) _UPDATE_ENDSTOP(AXIS,MINMAX,NOOP)
+
+  #endif
+
   #if ENABLED(COREXY) || ENABLED(COREXZ)
     // Head direction in -X axis for CoreXY and CoreXZ bots.
     // If DeltaA == -DeltaB, the movement is only in Y or Z axis

Marlin/example_configurations/Cartesio/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/Felix/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/Hephestos/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/Hephestos_2/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/K8200/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 3
 

Marlin/example_configurations/K8400/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/RigidBot/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/SCARA/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/TAZ4/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/WITBOX/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/delta/biv2.5/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/delta/generic/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/makibox/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 

Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h

 // Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
 //#define BEZIER_CURVE_SUPPORT
 
+// G38.2 and G38.3 Probe Target
+//#define G38_PROBE_TARGET
+#if ENABLED(G38_PROBE_TARGET)
+  #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+#endif
+
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6