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@ -1620,10 +1620,6 @@ static void setup_for_endstop_or_probe_move() { |
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feedrate_multiplier = 100; |
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feedrate_multiplier = 100; |
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refresh_cmd_timeout(); |
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refresh_cmd_timeout(); |
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} |
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} |
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static void setup_for_endstop_move() { |
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setup_for_endstop_or_probe_move(); |
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endstops.enable(); |
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} |
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static void clean_up_after_endstop_or_probe_move() { |
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static void clean_up_after_endstop_or_probe_move() { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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@ -2348,161 +2344,134 @@ static void clean_up_after_endstop_or_probe_move() { |
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) |
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) |
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static void homeaxis(AxisEnum axis) { |
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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 ENABLED(DEBUG_LEVELING_FEATURE) |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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if (DEBUGGING(LEVELING)) { |
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SERIAL_ECHOPAIR(">>> homeaxis(", axis); |
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SERIAL_ECHOPAIR(">>> homeaxis(", axis); |
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SERIAL_ECHOLNPGM(")"); |
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SERIAL_ECHOLNPGM(")"); |
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} |
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} |
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#endif |
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#endif |
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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) { |
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int axis_home_dir = |
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int axis_home_dir = |
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#if ENABLED(DUAL_X_CARRIAGE) |
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#if ENABLED(DUAL_X_CARRIAGE) |
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(axis == X_AXIS) ? x_home_dir(active_extruder) : |
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(axis == X_AXIS) ? x_home_dir(active_extruder) : |
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#endif |
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home_dir(axis); |
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// Homing Z towards the bed? Deploy the Z probe or endstop.
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#if HAS_BED_PROBE |
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if (axis == Z_AXIS && axis_home_dir < 0) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); |
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#endif |
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if (DEPLOY_PROBE()) return; |
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} |
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#endif |
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#endif |
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home_dir(axis); |
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// Set the axis position as setup for the move
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// Homing Z towards the bed? Deploy the Z probe or endstop.
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current_position[axis] = 0; |
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#if HAS_BED_PROBE |
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sync_plan_position(); |
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if (axis == Z_AXIS && axis_home_dir < 0) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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// Set a flag for Z motor locking
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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#endif |
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if (axis == Z_AXIS) stepper.set_homing_flag(true); |
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if (DEPLOY_PROBE()) return; |
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#endif |
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} |
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#endif |
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// Move towards the endstop until an endstop is triggered
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// Set the axis position as setup for the move
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destination[axis] = 1.5 * max_length(axis) * axis_home_dir; |
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current_position[axis] = 0; |
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feedrate = homing_feedrate[axis]; |
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sync_plan_position(); |
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line_to_destination(); |
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stepper.synchronize(); |
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// Set the axis position as setup for the move
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// Set a flag for Z motor locking
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current_position[axis] = 0; |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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sync_plan_position(); |
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if (axis == Z_AXIS) stepper.set_homing_flag(true); |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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// Move towards the endstop until an endstop is triggered
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)"); |
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destination[axis] = 1.5 * max_length(axis) * axis_home_dir; |
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#endif |
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feedrate = homing_feedrate[axis]; |
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endstops.enable(false); // Disable endstops while moving away
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line_to_destination(); |
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stepper.synchronize(); |
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// Move away from the endstop by the axis HOME_BUMP_MM
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// Set the axis position as setup for the move
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destination[axis] = -home_bump_mm(axis) * axis_home_dir; |
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current_position[axis] = 0; |
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line_to_destination(); |
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sync_plan_position(); |
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stepper.synchronize(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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// Move away from the endstop by the axis HOME_BUMP_MM
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)"); |
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destination[axis] = -home_bump_mm(axis) * axis_home_dir; |
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#endif |
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line_to_destination(); |
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endstops.enable(true); // Enable endstops for next homing move
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stepper.synchronize(); |
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// Slow down the feedrate for the next move
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// Slow down the feedrate for the next move
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set_homing_bump_feedrate(axis); |
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set_homing_bump_feedrate(axis); |
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// Move slowly towards the endstop until triggered
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// Move slowly towards the endstop until triggered
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destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir; |
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destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir; |
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line_to_destination(); |
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line_to_destination(); |
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stepper.synchronize(); |
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stepper.synchronize(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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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)) DEBUG_POS("> TRIGGER ENDSTOP", current_position); |
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#endif |
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#endif |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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if (axis == Z_AXIS) { |
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if (axis == Z_AXIS) { |
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float adj = fabs(z_endstop_adj); |
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float adj = fabs(z_endstop_adj); |
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bool lockZ1; |
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bool lockZ1; |
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if (axis_home_dir > 0) { |
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if (axis_home_dir > 0) { |
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adj = -adj; |
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adj = -adj; |
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lockZ1 = (z_endstop_adj > 0); |
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lockZ1 = (z_endstop_adj > 0); |
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} |
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} |
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else |
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else |
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lockZ1 = (z_endstop_adj < 0); |
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lockZ1 = (z_endstop_adj < 0); |
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if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true); |
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if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true); |
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sync_plan_position(); |
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sync_plan_position(); |
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// Move to the adjusted endstop height
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// Move to the adjusted endstop height
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feedrate = homing_feedrate[axis]; |
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feedrate = homing_feedrate[axis]; |
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destination[Z_AXIS] = adj; |
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destination[Z_AXIS] = adj; |
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line_to_destination(); |
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line_to_destination(); |
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stepper.synchronize(); |
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stepper.synchronize(); |
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if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false); |
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if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false); |
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stepper.set_homing_flag(false); |
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stepper.set_homing_flag(false); |
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} // Z_AXIS
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} // Z_AXIS
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#endif |
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#endif |
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#if ENABLED(DELTA) |
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#if ENABLED(DELTA) |
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// retrace by the amount specified in endstop_adj
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// retrace by the amount specified in endstop_adj
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if (endstop_adj[axis] * axis_home_dir < 0) { |
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if (endstop_adj[axis] * axis_home_dir < 0) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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sync_plan_position(); |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)"); |
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destination[axis] = endstop_adj[axis]; |
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#endif |
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endstops.enable(false); // Disable endstops while moving away
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sync_plan_position(); |
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destination[axis] = endstop_adj[axis]; |
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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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DEBUG_POS("", destination); |
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} |
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#endif |
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line_to_destination(); |
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stepper.synchronize(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)"); |
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#endif |
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endstops.enable(true); // Enable endstops for next homing move
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} |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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else { |
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if (DEBUGGING(LEVELING)) { |
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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 * axis_home_dir = ", endstop_adj[axis] * axis_home_dir); |
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DEBUG_POS("", destination); |
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SERIAL_EOL; |
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} |
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} |
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} |
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#endif |
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#endif |
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#endif |
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line_to_destination(); |
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stepper.synchronize(); |
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// Set the axis position to its home position (plus home offsets)
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} |
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set_axis_is_at_home(axis); |
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#endif |
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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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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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SYNC_PLAN_POSITION_KINEMATIC(); |
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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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endstops.hit_on_purpose(); // clear endstop hit flags
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if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); |
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axis_known_position[axis] = true; |
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#endif |
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axis_homed[axis] = true; |
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// Put away the Z probe
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destination[axis] = current_position[axis]; |
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#if HAS_BED_PROBE |
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endstops.hit_on_purpose(); // clear endstop hit flags
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if (axis == Z_AXIS && axis_home_dir < 0) { |
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axis_known_position[axis] = true; |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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axis_homed[axis] = true; |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); |
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#endif |
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if (STOW_PROBE()) return; |
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} |
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#endif |
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} |
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// Put away the Z probe
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#if HAS_BED_PROBE |
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if (axis == Z_AXIS && axis_home_dir < 0) { |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> "); |
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#endif |
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if (STOW_PROBE()) return; |
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} |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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if (DEBUGGING(LEVELING)) { |
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@ -2779,8 +2748,6 @@ inline void gcode_G4() { |
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int x_axis_home_dir = home_dir(X_AXIS); |
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int x_axis_home_dir = home_dir(X_AXIS); |
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#endif |
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#endif |
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SYNC_PLAN_POSITION_KINEMATIC(); |
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float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), |
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float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), |
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mlratio = mlx > mly ? mly / mlx : mlx / mly; |
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mlratio = mlx > mly ? mly / mlx : mlx / mly; |
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@ -2789,30 +2756,9 @@ inline void gcode_G4() { |
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feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1); |
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feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1); |
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line_to_destination(); |
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line_to_destination(); |
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stepper.synchronize(); |
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stepper.synchronize(); |
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set_axis_is_at_home(X_AXIS); |
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set_axis_is_at_home(Y_AXIS); |
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SYNC_PLAN_POSITION_KINEMATIC(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position); |
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#endif |
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destination[X_AXIS] = current_position[X_AXIS]; |
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destination[Y_AXIS] = current_position[Y_AXIS]; |
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line_to_destination(); |
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stepper.synchronize(); |
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endstops.hit_on_purpose(); // clear endstop hit flags
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endstops.hit_on_purpose(); // clear endstop hit flags
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current_position[X_AXIS] = destination[X_AXIS]; |
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destination[X_AXIS] = destination[Y_AXIS] = 0; |
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current_position[Y_AXIS] = destination[Y_AXIS]; |
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#if DISABLED(SCARA) |
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current_position[Z_AXIS] = destination[Z_AXIS]; |
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#endif |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 2", current_position); |
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#endif |
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} |
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} |
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#endif // QUICK_HOME
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#endif // QUICK_HOME
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@ -2866,7 +2812,12 @@ inline void gcode_G28() { |
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} |
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} |
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#endif |
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#endif |
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setup_for_endstop_move(); |
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setup_for_endstop_or_probe_move(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)"); |
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#endif |
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endstops.enable(true); // Enable endstops for next homing move
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#if ENABLED(DELTA) |
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#if ENABLED(DELTA) |
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/**
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/**
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@ -2915,10 +2866,10 @@ inline void gcode_G28() { |
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#endif |
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#endif |
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} |
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} |
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#elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0 |
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#else |
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// Raise Z before homing X or Y, if specified
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if (home_all_axis || homeX || homeY) { |
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if (home_all_axis || homeX || homeY) { |
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// Raise Z before homing any other axes and z is not already high enough (never lower z)
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float z_dest = home_offset[Z_AXIS] + MIN_Z_HEIGHT_FOR_HOMING; |
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float z_dest = home_offset[Z_AXIS] + MIN_Z_HEIGHT_FOR_HOMING; |
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if (z_dest > current_position[Z_AXIS]) { |
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if (z_dest > current_position[Z_AXIS]) { |
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@ -2930,19 +2881,13 @@ inline void gcode_G28() { |
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#endif |
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#endif |
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feedrate = homing_feedrate[Z_AXIS]; |
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feedrate = homing_feedrate[Z_AXIS]; |
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line_to_z(z_dest); |
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#if HAS_BED_PROBE |
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stepper.synchronize(); |
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do_blocking_move_to_z(z_dest); |
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#else |
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line_to_z(z_dest); |
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stepper.synchronize(); |
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#endif |
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destination[Z_AXIS] = current_position[Z_AXIS] = z_dest; |
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destination[Z_AXIS] = current_position[Z_AXIS] = z_dest; |
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} |
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} |
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} |
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} |
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#endif // MIN_Z_HEIGHT_FOR_HOMING
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#endif |
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#if ENABLED(QUICK_HOME) |
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#if ENABLED(QUICK_HOME) |
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@ -3044,36 +2989,30 @@ inline void gcode_G28() { |
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*/ |
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*/ |
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current_position[X_AXIS] = destination[X_AXIS]; |
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current_position[X_AXIS] = destination[X_AXIS]; |
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current_position[Y_AXIS] = destination[Y_AXIS]; |
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current_position[Y_AXIS] = destination[Y_AXIS]; |
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// Home the Z axis
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HOMEAXIS(Z); |
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} |
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} |
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else if (homeZ) { // Don't need to Home Z twice
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// Let's see if X and Y are homed
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if (axis_unhomed_error(true, true, false)) return; |
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// Let's see if X and Y are homed
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/**
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if (axis_unhomed_error(true, true, false)) return; |
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* Make sure the Z probe is within the physical limits |
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* NOTE: This doesn't necessarily ensure the Z probe is also |
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* within the bed! |
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*/ |
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float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS]; |
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if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER) |
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&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER) |
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&& cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER) |
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&& cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) { |
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/**
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// Home the Z axis
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* Make sure the Z probe is within the physical limits |
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HOMEAXIS(Z); |
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* NOTE: This doesn't necessarily ensure the Z probe is also |
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} |
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* within the bed! |
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else { |
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*/ |
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LCD_MESSAGEPGM(MSG_ZPROBE_OUT); |
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float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS]; |
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SERIAL_ECHO_START; |
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if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER) |
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SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); |
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&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER) |
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} |
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&& cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER) |
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&& cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) { |
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// Home the Z axis
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HOMEAXIS(Z); |
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} |
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else { |
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LCD_MESSAGEPGM(MSG_ZPROBE_OUT); |
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SERIAL_ECHO_START; |
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SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); |
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} |
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} // !home_all_axes && homeZ
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) { |
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if (DEBUGGING(LEVELING)) { |
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@ -3099,7 +3038,11 @@ inline void gcode_G28() { |
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#endif // !DELTA (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.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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// Enable mesh leveling again
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#if ENABLED(MESH_BED_LEVELING) |
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#if ENABLED(MESH_BED_LEVELING) |
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@ -3139,8 +3082,6 @@ inline void gcode_G28() { |
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clean_up_after_endstop_or_probe_move(); |
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clean_up_after_endstop_or_probe_move(); |
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endstops.hit_on_purpose(); // clear endstop hit flags
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28"); |
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28"); |
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#endif |
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#endif |
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