@ -1584,7 +1584,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
/**
* Some planner shorthand inline functions
*/
inline float s et_homing_bump_feedrate( AxisEnum axis ) {
inline float g et_homing_bump_feedrate( AxisEnum axis ) {
const int homing_bump_divisor [ ] = HOMING_BUMP_DIVISOR ;
int hbd = homing_bump_divisor [ axis ] ;
if ( hbd < 1 ) {
@ -1592,8 +1592,7 @@ inline float set_homing_bump_feedrate(AxisEnum axis) {
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( " Warning: Homing Bump Divisor < 1 " ) ;
}
feedrate_mm_m = homing_feedrate_mm_m [ axis ] / hbd ;
return feedrate_mm_m ;
return homing_feedrate_mm_m [ axis ] / hbd ;
}
//
// line_to_current_position
@ -1613,7 +1612,7 @@ inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
current_position [ axis ] = where ;
feedrate_mm_m = ( fr_mm_m ! = 0.0 ) ? fr_mm_m : homing_feedrate_mm_m [ axis ] ;
planner . buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , MMM_TO_MMS ( feedrate_mm_m ) , active_extruder ) ;
stepper . synchronize ( ) ; // The lost one
stepper . synchronize ( ) ;
feedrate_mm_m = old_feedrate_mm_m ;
}
@ -2061,85 +2060,35 @@ static void clean_up_after_endstop_or_probe_move() {
// at the height where the probe triggered.
static float run_z_probe ( ) {
float old_feedrate_mm_m = feedrate_mm_m ;
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
refresh_cmd_timeout ( ) ;
# if ENABLED(DELTA)
float start_z = current_position [ Z_AXIS ] ;
long start_steps = stepper . position ( Z_AXIS ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " run_z_probe (DELTA) 1 " , current_position ) ;
# endif
// move down slowly until you find the bed
feedrate_mm_m = homing_feedrate_mm_m [ Z_AXIS ] / 4 ;
destination [ Z_AXIS ] = - 10 ;
prepare_move_to_destination_raw ( ) ; // this will also set_current_to_destination
stepper . synchronize ( ) ;
endstops . hit_on_purpose ( ) ; // clear endstop hit flags
/**
* We have to let the planner know where we are right now as it
* is not where we said to go .
*/
long stop_steps = stepper . position ( Z_AXIS ) ;
float mm = start_z - float ( start_steps - stop_steps ) / planner . axis_steps_per_mm [ Z_AXIS ] ;
current_position [ Z_AXIS ] = mm ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " run_z_probe (DELTA) 2 " , current_position ) ;
# endif
# else // !DELTA
# if ENABLED(AUTO_BED_LEVELING_FEATURE)
planner . bed_level_matrix . set_to_identity ( ) ;
# endif
feedrate_mm_m = homing_feedrate_mm_m [ Z_AXIS ] ;
// Move down until the Z probe (or endstop?) is triggered
float zPosition = - ( Z_MAX_LENGTH + 10 ) ;
line_to_z ( zPosition ) ;
stepper . synchronize ( ) ;
// Tell the planner where we ended up - Get this from the stepper handler
zPosition = stepper . get_axis_position_mm ( Z_AXIS ) ;
planner . set_position_mm (
current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition ,
current_position [ E_AXIS ]
) ;
// move up the retract distance
zPosition + = home_bump_mm ( Z_AXIS ) ;
line_to_z ( zPosition ) ;
stepper . synchronize ( ) ;
endstops . hit_on_purpose ( ) ; // clear endstop hit flags
// move back down slowly to find bed
set_homing_bump_feedrate ( Z_AXIS ) ;
zPosition - = home_bump_mm ( Z_AXIS ) * 2 ;
line_to_z ( zPosition ) ;
stepper . synchronize ( ) ;
endstops . hit_on_purpose ( ) ; // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position [ Z_AXIS ] = stepper . get_axis_position_mm ( Z_AXIS ) ;
# if ENABLED(AUTO_BED_LEVELING_FEATURE)
planner . bed_level_matrix . set_to_identity ( ) ;
# endif
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " run_z_probe " , current_position ) ;
# endif
current_position [ Z_AXIS ] = - ( Z_MAX_LENGTH + 10 ) ;
do_blocking_move_to_z ( current_position [ Z_AXIS ] , Z_PROBE_SPEED_FAST ) ;
endstops . hit_on_purpose ( ) ; // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position [ Z_AXIS ] = stepper . get_axis_position_mm ( Z_AXIS ) ;
SYNC_PLAN_POSITION_KINEMATIC ( ) ; // tell the planner where we are feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];
# endif // !DELTA
// move up the retract distance
current_position [ Z_AXIS ] + = home_bump_mm ( Z_AXIS ) ;
do_blocking_move_to_z ( current_position [ Z_AXIS ] , Z_PROBE_SPEED_FAST ) ;
SYNC_PLAN_POSITION_KINEMATIC ( ) ;
// move back down slowly to find bed
current_position [ Z_AXIS ] - = home_bump_mm ( Z_AXIS ) * 2 ;
do_blocking_move_to_z ( current_position [ Z_AXIS ] , Z_PROBE_SPEED_SLOW ) ;
endstops . hit_on_purpose ( ) ; // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position [ Z_AXIS ] = stepper . get_axis_position_mm ( Z_AXIS ) ;
SYNC_PLAN_POSITION_KINEMATIC ( ) ; // tell the planner where we are
feedrate_mm_m = old_feedrate_mm_m ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " run_z_probe " , current_position ) ;
# endif
return current_position [ Z_AXIS ] ;
}
@ -2424,7 +2373,7 @@ static void homeaxis(AxisEnum axis) {
line_to_axis_pos ( axis , - home_bump_mm ( axis ) * axis_home_dir ) ;
// Move slowly towards the endstop until triggered
line_to_axis_pos ( axis , 2 * home_bump_mm ( axis ) * axis_home_dir , s et_homing_bump_feedrate( axis ) ) ;
line_to_axis_pos ( axis , 2 * home_bump_mm ( axis ) * axis_home_dir , g et_homing_bump_feedrate( axis ) ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( DEBUGGING ( LEVELING ) ) DEBUG_POS ( " > TRIGGER ENDSTOP " , current_position ) ;