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@ -4975,19 +4975,26 @@ inline void gcode_M205() { |
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if (code_seen('E')) max_e_jerk = code_value(); |
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} |
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static void set_home_offset(AxisEnum axis, float v) { |
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min_pos[axis] = base_min_pos(axis) + v; |
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max_pos[axis] = base_max_pos(axis) + v; |
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current_position[axis] += v - home_offset[axis]; |
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home_offset[axis] = v; |
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} |
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/**
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y |
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*/ |
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inline void gcode_M206() { |
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for (int8_t i = X_AXIS; i <= Z_AXIS; i++) { |
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if (code_seen(axis_codes[i])) { |
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home_offset[i] = code_value(); |
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} |
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} |
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for (int8_t i = X_AXIS; i <= Z_AXIS; i++) |
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if (code_seen(axis_codes[i])) |
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set_home_offset((AxisEnum)i, code_value()); |
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#if ENABLED(SCARA) |
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if (code_seen('T')) home_offset[X_AXIS] = code_value(); // Theta
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if (code_seen('P')) home_offset[Y_AXIS] = code_value(); // Psi
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if (code_seen('T')) set_home_offset(X_AXIS, code_value()); // Theta
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if (code_seen('P')) set_home_offset(Y_AXIS, code_value()); // Psi
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#endif |
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sync_plan_position(); |
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} |
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#if ENABLED(DELTA) |
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@ -5674,16 +5681,12 @@ inline void gcode_M410() { quickStop(); } |
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*/ |
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inline void gcode_M428() { |
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bool err = false; |
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float new_offs[3], new_pos[3]; |
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memcpy(new_pos, current_position, sizeof(new_pos)); |
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memcpy(new_offs, home_offset, sizeof(new_offs)); |
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for (int8_t i = X_AXIS; i <= Z_AXIS; i++) { |
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if (axis_homed[i]) { |
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float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0, |
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diff = new_pos[i] - base; |
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float base = (current_position[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0, |
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diff = current_position[i] - base; |
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if (diff > -20 && diff < 20) { |
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new_offs[i] -= diff; |
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new_pos[i] = base; |
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set_home_offset((AxisEnum)i, home_offset[i] - diff); |
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} |
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else { |
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SERIAL_ERROR_START; |
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@ -5699,8 +5702,6 @@ inline void gcode_M428() { |
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} |
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if (!err) { |
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memcpy(current_position, new_pos, sizeof(new_pos)); |
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memcpy(home_offset, new_offs, sizeof(new_offs)); |
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sync_plan_position(); |
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LCD_ALERTMESSAGEPGM(MSG_HOME_OFFSETS_APPLIED); |
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#if HAS_BUZZER |
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