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@ -1615,6 +1615,8 @@ static void set_axis_is_at_home(AxisEnum axis) { |
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SERIAL_ECHOLNPGM(")"); |
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} |
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#endif |
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axis_known_position[axis] = axis_homed[axis] = true; |
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} |
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/**
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@ -2118,7 +2120,7 @@ static void clean_up_after_endstop_or_probe_move() { |
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#endif |
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do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
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endstops.enable_z_probe( deploy ); |
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endstops.enable_z_probe(deploy); |
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return false; |
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} |
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@ -2416,12 +2418,12 @@ static void clean_up_after_endstop_or_probe_move() { |
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*/ |
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static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) { |
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float old_feedrate_mm_s = feedrate_mm_s; |
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current_position[axis] = 0; |
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sync_plan_position(); |
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current_position[axis] = where; |
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feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis]; |
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder); |
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder); |
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stepper.synchronize(); |
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feedrate_mm_s = old_feedrate_mm_s; |
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endstops.hit_on_purpose(); |
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} |
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) |
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@ -2430,7 +2432,7 @@ static void homeaxis(AxisEnum axis) { |
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#define HOMEAXIS_DO(LETTER) \ |
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1)) |
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if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return; |
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if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : false)) return; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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@ -2455,10 +2457,6 @@ static void homeaxis(AxisEnum axis) { |
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} |
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#endif |
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// Set the axis position as setup for the move
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current_position[axis] = 0; |
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sync_plan_position(); |
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// Set a flag for Z motor locking
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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if (axis == Z_AXIS) stepper.set_homing_flag(true); |
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@ -2467,9 +2465,9 @@ static void homeaxis(AxisEnum axis) { |
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// Move towards the endstop until an endstop is triggered
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do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir); |
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// Set the axis position as setup for the move
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current_position[axis] = 0; |
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sync_plan_position(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 1st Home", current_position[axis]); |
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#endif |
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// Move away from the endstop by the axis HOME_BUMP_MM
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do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir); |
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@ -2477,12 +2475,8 @@ static void homeaxis(AxisEnum axis) { |
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// Move slowly towards the endstop until triggered
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do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis)); |
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// reset current_position to 0 to reflect hitting endpoint
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current_position[axis] = 0; |
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sync_plan_position(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position); |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 2nd Home", current_position[axis]); |
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#endif |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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@ -2506,32 +2500,35 @@ static void homeaxis(AxisEnum axis) { |
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} // Z_AXIS
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#endif |
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// Delta has already moved all three towers up in G28
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// so here it re-homes each tower in turn.
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// Delta homing treats the axes as normal linear axes.
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#if ENABLED(DELTA) |
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// retrace by the amount specified in endstop_adj
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if (endstop_adj[axis] * Z_HOME_DIR < 0) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]); |
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SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis] * Z_HOME_DIR); |
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DEBUG_POS("", current_position); |
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} |
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#endif |
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do_homing_move(axis, endstop_adj[axis]); |
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} |
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#endif |
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// Set the axis position to its home position (plus home offsets)
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set_axis_is_at_home(axis); |
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#else |
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SYNC_PLAN_POSITION_KINEMATIC(); |
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// Set the axis position to its home position (plus home offsets)
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set_axis_is_at_home(axis); |
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sync_plan_position(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); |
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#endif |
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destination[axis] = current_position[axis]; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); |
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#endif |
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destination[axis] = current_position[axis]; |
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endstops.hit_on_purpose(); // clear endstop hit flags
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axis_known_position[axis] = true; |
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axis_homed[axis] = true; |
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#endif |
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// Put away the Z probe
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#if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP) |
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@ -2979,25 +2976,34 @@ inline void gcode_G28() { |
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#if ENABLED(DELTA) |
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/**
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* A delta can only safely home all axes at the same time |
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* This is like quick_home_xy() but for 3 towers. |
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*/ |
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// Pretend the current position is 0,0,0
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// This is like quick_home_xy() but for 3 towers.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0; |
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// Init the current position of all carriages to 0,0,0
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memset(current_position, 0, sizeof(current_position)); |
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sync_plan_position(); |
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// Move all carriages up together until the first endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH); |
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feedrate_mm_s = 1.732 * homing_feedrate_mm_s[X_AXIS]; |
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// Move all carriages together linearly until an endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10); |
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feedrate_mm_s = homing_feedrate_mm_s[X_AXIS]; |
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line_to_current_position(); |
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stepper.synchronize(); |
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endstops.hit_on_purpose(); // clear endstop hit flags
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0; |
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// take care of back off and rehome. Now one carriage is at the top.
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HOMEAXIS(X); |
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HOMEAXIS(Y); |
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HOMEAXIS(Z); |
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// Probably not needed. Double-check this line:
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memset(current_position, 0, sizeof(current_position)); |
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// At least one carriage has reached the top.
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// Now back off and re-home each carriage separately.
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HOMEAXIS(A); |
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HOMEAXIS(B); |
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HOMEAXIS(C); |
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// Set all carriages to their home positions
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// Do this here all at once for Delta, because
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// XYZ isn't ABC. Applying this per-tower would
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// give the impression that they are the same.
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LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); |
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SYNC_PLAN_POSITION_KINEMATIC(); |
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@ -3177,11 +3183,7 @@ inline void gcode_G28() { |
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#endif // !DELTA (gcode_G28)
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.not_homing()"); |
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#endif |
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endstops.not_homing(); |
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endstops.hit_on_purpose(); // clear endstop hit flags
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// Enable mesh leveling again
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#if ENABLED(MESH_BED_LEVELING) |
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