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@ -79,11 +79,11 @@ |
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* Flags that each linear axis was homed. |
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* XYZ on cartesian, ABC on delta, ABZ on SCARA. |
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* |
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* axis_known_position |
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* Flags that the position is known in each linear axis. Set when homed. |
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* axis_trusted |
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* Flags that the position is trusted in each linear axis. Set when homed. |
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* Cleared whenever a stepper powers off, potentially losing its position. |
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*/ |
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uint8_t axis_homed, axis_known_position; // = 0
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uint8_t axis_homed, axis_trusted; // = 0
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// Relative Mode. Enable with G91, disable with G90.
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bool relative_mode; // = false;
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@ -506,8 +506,8 @@ void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &z, const feedRat |
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do_blocking_move_to(raw.x, raw.y, z, fr_mm_s); |
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} |
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void do_z_clearance(const float &zclear, const bool z_known/*=true*/, const bool raise_on_unknown/*=true*/, const bool lower_allowed/*=false*/) { |
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const bool rel = raise_on_unknown && !z_known; |
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void do_z_clearance(const float &zclear, const bool z_trusted/*=true*/, const bool raise_on_untrusted/*=true*/, const bool lower_allowed/*=false*/) { |
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const bool rel = raise_on_untrusted && !z_trusted; |
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float zdest = zclear + (rel ? current_position.z : 0.0f); |
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if (!lower_allowed) NOLESS(zdest, current_position.z); |
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do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), MMM_TO_MMS(TERN(HAS_BED_PROBE, Z_PROBE_SPEED_FAST, HOMING_FEEDRATE_Z))); |
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@ -649,7 +649,7 @@ void restore_feedrate_and_scaling() { |
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constexpr xy_pos_t offs{0}; |
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#endif |
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if (TERN1(IS_SCARA, TEST(axis_homed, X_AXIS) && TEST(axis_homed, Y_AXIS))) { |
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if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) { |
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const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y); |
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if (dist_2 > delta_max_radius_2) |
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target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
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@ -657,7 +657,7 @@ void restore_feedrate_and_scaling() { |
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#else |
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if (TEST(axis_homed, X_AXIS)) { |
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if (axis_was_homed(X_AXIS)) { |
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X) |
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NOLESS(target.x, soft_endstop.min.x); |
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#endif |
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@ -666,7 +666,7 @@ void restore_feedrate_and_scaling() { |
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#endif |
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} |
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if (TEST(axis_homed, Y_AXIS)) { |
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if (axis_was_homed(Y_AXIS)) { |
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y) |
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NOLESS(target.y, soft_endstop.min.y); |
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#endif |
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@ -677,7 +677,7 @@ void restore_feedrate_and_scaling() { |
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#endif |
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if (TEST(axis_homed, Z_AXIS)) { |
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if (axis_was_homed(Z_AXIS)) { |
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z) |
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NOLESS(target.z, soft_endstop.min.z); |
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#endif |
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@ -1124,10 +1124,11 @@ void prepare_line_to_destination() { |
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} |
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uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) { |
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#define SHOULD_HOME(A) TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(A) |
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// Clear test bits that are trusted
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if (TEST(axis_bits, X_AXIS) && TEST(axis_homed, X_AXIS)) CBI(axis_bits, X_AXIS); |
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if (TEST(axis_bits, Y_AXIS) && TEST(axis_homed, Y_AXIS)) CBI(axis_bits, Y_AXIS); |
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if (TEST(axis_bits, Z_AXIS) && TEST(axis_homed, Z_AXIS)) CBI(axis_bits, Z_AXIS); |
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if (TEST(axis_bits, X_AXIS) && SHOULD_HOME(X_AXIS)) CBI(axis_bits, X_AXIS); |
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if (TEST(axis_bits, Y_AXIS) && SHOULD_HOME(Y_AXIS)) CBI(axis_bits, Y_AXIS); |
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if (TEST(axis_bits, Z_AXIS) && SHOULD_HOME(Z_AXIS)) CBI(axis_bits, Z_AXIS); |
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return axis_bits; |
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} |
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@ -1388,7 +1389,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t |
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* |
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* DELTA should wait until all homing is done before setting the XYZ |
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* current_position to home, because homing is a single operation. |
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* In the case where the axis positions are already known and previously |
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* In the case where the axis positions are trusted and previously |
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* homed, DELTA could home to X or Y individually by moving either one |
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* to the center. However, homing Z always homes XY and Z. |
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* |
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@ -1401,8 +1402,8 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t |
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void set_axis_is_at_home(const AxisEnum axis) { |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_at_home(", axis_codes[axis], ")"); |
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SBI(axis_known_position, axis); |
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SBI(axis_homed, axis); |
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set_axis_trusted(axis); |
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set_axis_homed(axis); |
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#if ENABLED(DUAL_X_CARRIAGE) |
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if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) { |
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@ -1462,8 +1463,8 @@ void set_axis_is_at_home(const AxisEnum axis) { |
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void set_axis_never_homed(const AxisEnum axis) { |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_never_homed(", axis_codes[axis], ")"); |
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CBI(axis_known_position, axis); |
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CBI(axis_homed, axis); |
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set_axis_untrusted(axis); |
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set_axis_unhomed(axis); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_never_homed(", axis_codes[axis], ")"); |
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Scott Lahteine
4 years ago