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@ -391,9 +391,8 @@ static uint8_t target_extruder;
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};
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#endif
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
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const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
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#if HAS_Z_ENDSTOP_SERVO
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const int z_servo_angle[2] = Z_SERVO_ANGLES;
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#endif
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#if ENABLED(BARICUDA)
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@ -488,10 +487,8 @@ static bool send_ok[BUFSIZE];
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#if HAS_SERVOS
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Servo servo[NUM_SERVOS];
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#define MOVE_SERVO(I, P) servo[I].move(P)
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#define SERVO_ENDSTOP_EXISTS(I) (servo_endstop_id[I] >= 0)
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#define MOVE_SERVO_ENDSTOP(I, J) MOVE_SERVO(servo_endstop_id[I], servo_endstop_angle[I][J])
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#define DEPLOY_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 0)
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#define STOW_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 1)
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#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
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#define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
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#endif
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#ifdef CHDK
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@ -749,14 +746,12 @@ void servo_init() {
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servo[3].detach();
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#endif
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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#if HAS_Z_ENDSTOP_SERVO
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endstops.enable_z_probe(false);
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/**
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* Set position of all defined Servo Endstops
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*
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* ** UNSAFE! - NEEDS UPDATE! **
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* Set position of Z Servo Endstop
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*
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* The servo might be deployed and positioned too low to stow
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* when starting up the machine or rebooting the board.
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@ -764,11 +759,8 @@ void servo_init() {
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* homing has been done - no homing with z-probe without init!
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*
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*/
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for (int i = 0; i < 3; i++)
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if (SERVO_ENDSTOP_EXISTS(i))
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STOW_SERVO_ENDSTOP(i);
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#endif // HAS_SERVO_ENDSTOPS
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STOW_Z_SERVO();
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#endif // HAS_Z_ENDSTOP_SERVO
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}
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@ -1837,11 +1829,10 @@ static void setup_for_endstop_move() {
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if (endstops.z_probe_enabled) return;
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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#if HAS_Z_ENDSTOP_SERVO
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// Engage Z Servo endstop if enabled
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if (SERVO_ENDSTOP_EXISTS(Z_AXIS))
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DEPLOY_SERVO_ENDSTOP(Z_AXIS);
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DEPLOY_Z_SERVO();
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
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@ -1925,7 +1916,7 @@ static void setup_for_endstop_move() {
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}
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static void stow_z_probe(bool doRaise = true) {
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#if !(ENABLED(HAS_SERVO_ENDSTOPS) && (Z_RAISE_AFTER_PROBING > 0))
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#if !(HAS_Z_ENDSTOP_SERVO && (Z_RAISE_AFTER_PROBING > 0))
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UNUSED(doRaise);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -1934,21 +1925,18 @@ static void setup_for_endstop_move() {
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if (!endstops.z_probe_enabled) return;
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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#if HAS_Z_ENDSTOP_SERVO
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// Retract Z Servo endstop if enabled
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if (SERVO_ENDSTOP_EXISTS(Z_AXIS)) {
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#if Z_RAISE_AFTER_PROBING > 0
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if (doRaise) {
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raise_z_after_probing(); // this also updates current_position
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stepper.synchronize();
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}
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#endif
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#if Z_RAISE_AFTER_PROBING > 0
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if (doRaise) {
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raise_z_after_probing(); // this also updates current_position
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stepper.synchronize();
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}
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#endif
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// Change the Z servo angle
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STOW_SERVO_ENDSTOP(Z_AXIS);
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}
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// Change the Z servo angle
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STOW_Z_SERVO();
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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@ -2168,16 +2156,25 @@ static void setup_for_endstop_move() {
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#endif // DELTA
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#if ENABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_SLED)
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#if HAS_Z_ENDSTOP_SERVO && DISABLED(Z_PROBE_SLED)
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void raise_z_for_servo() {
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float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
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/**
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* The zprobe_zoffset is negative any switch below the nozzle, so
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* multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
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*/
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z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
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if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
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/**
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* Raise Z to a minimum height to make room for a servo to move
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*
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* zprobe_zoffset: Negative of the Z height where the probe engages
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* z_dest: The before / after probing raise distance
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*
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* The zprobe_zoffset is negative for a switch below the nozzle, so
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* multiply by Z_HOME_DIR (-1) to move enough away from the bed.
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*/
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void raise_z_for_servo(float z_dest) {
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z_dest += home_offset[Z_AXIS];
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if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
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z_dest -= zprobe_zoffset;
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if (z_dest > current_position[Z_AXIS])
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do_blocking_move_to_z(z_dest); // also updates current_position
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}
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#endif
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@ -2277,23 +2274,24 @@ static void homeaxis(AxisEnum axis) {
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sync_plan_position();
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#if ENABLED(Z_PROBE_SLED)
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#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
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#define _Z_SERVO_SUBTEST false // Z will never be invoked
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#define _Z_DEPLOY (dock_sled(false))
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#define _Z_STOW (dock_sled(true))
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#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
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#define _Z_SERVO_SUBTEST false // Z will never be invoked
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#elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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#define _Z_DEPLOY (deploy_z_probe())
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#define _Z_STOW (stow_z_probe())
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#elif ENABLED(HAS_SERVO_ENDSTOPS)
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#define _Z_SERVO_TEST (axis != Z_AXIS) // already deployed Z
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#define _Z_SERVO_SUBTEST false // Z will never be invoked
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#elif HAS_Z_ENDSTOP_SERVO
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#define _Z_DEPLOY do{ raise_z_for_servo(Z_RAISE_BEFORE_PROBING); DEPLOY_Z_SERVO(); endstops.z_probe_enabled = true; }while(0)
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#define _Z_STOW do{ raise_z_for_servo(Z_RAISE_AFTER_PROBING); STOW_Z_SERVO(); endstops.z_probe_enabled = false; }while(0)
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#define _Z_SERVO_TEST true // Z not deployed yet
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#define _Z_SERVO_SUBTEST (axis == Z_AXIS) // Z is a probe
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#endif
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// If there's a Z probe that needs deployment...
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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// ...and homing Z towards the bed? Deploy it.
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// Homing Z towards the bed? Deploy the Z probe or endstop.
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_ENDSTOP_SERVO
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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_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_DEPLOY));
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@ -2302,14 +2300,6 @@ static void homeaxis(AxisEnum axis) {
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}
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#endif
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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// Engage an X, Y (or Z) Servo endstop if enabled
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if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
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DEPLOY_SERVO_ENDSTOP(axis);
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if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true;
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}
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#endif
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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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@ -2423,8 +2413,8 @@ static void homeaxis(AxisEnum axis) {
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axis_known_position[axis] = true;
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axis_homed[axis] = true;
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// Put away the Z probe with a function
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)
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// Put away the Z probe
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#if ENABLED(Z_PROBE_SLED) || SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE) || HAS_Z_ENDSTOP_SERVO
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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_ECHOLNPGM("> SERVO_LEVELING > " STRINGIFY(_Z_STOW));
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@ -2433,33 +2423,6 @@ static void homeaxis(AxisEnum axis) {
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}
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#endif
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// Retract X, Y (or Z) Servo endstop if enabled
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
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// Raise the servo probe before stow outside ABL context.
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// This is a workaround to allow use of a Servo Probe without
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// ABL until more global probe handling is implemented.
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#if Z_RAISE_AFTER_PROBING > 0
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if (axis == Z_AXIS) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Raise Z (after) by ", Z_RAISE_AFTER_PROBING);
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#endif
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current_position[Z_AXIS] = Z_RAISE_AFTER_PROBING;
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feedrate = homing_feedrate[Z_AXIS];
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line_to_current_position();
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stepper.synchronize();
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}
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
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#endif
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STOW_SERVO_ENDSTOP(axis);
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if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false);
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}
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#endif // HAS_SERVO_ENDSTOPS
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -3801,7 +3764,7 @@ inline void gcode_G28() {
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#endif
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current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
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#if ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
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#if HAS_Z_ENDSTOP_SERVO || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
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+ Z_RAISE_AFTER_PROBING
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#endif
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;
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@ -3816,11 +3779,9 @@ inline void gcode_G28() {
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// Sled assembly for Cartesian bots
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#if ENABLED(Z_PROBE_SLED)
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dock_sled(true); // dock the sled
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#else
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#elif !HAS_Z_ENDSTOP_SERVO && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
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// Raise Z axis for non-delta and non servo based probes
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#if DISABLED(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
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raise_z_after_probing();
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#endif
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raise_z_after_probing();
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#endif
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#endif // !DELTA
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@ -3862,8 +3823,8 @@ inline void gcode_G28() {
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* G30: Do a single Z probe at the current XY
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*/
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inline void gcode_G30() {
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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raise_z_for_servo();
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#if HAS_Z_ENDSTOP_SERVO
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raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
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#endif
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deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
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@ -3884,8 +3845,8 @@ inline void gcode_G28() {
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clean_up_after_endstop_move(); // Too early. must be done after the stowing.
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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raise_z_for_servo();
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#if HAS_Z_ENDSTOP_SERVO
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raise_z_for_servo(Z_RAISE_AFTER_PROBING);
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#endif
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stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed here.
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@ -6019,14 +5980,14 @@ inline void gcode_M303() {
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*/
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inline void gcode_M400() { stepper.synchronize(); }
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY))
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_Z_ENDSTOP_SERVO || ENABLED(Z_PROBE_ALLEN_KEY))
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/**
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* M401: Engage Z Servo endstop if available
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*/
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inline void gcode_M401() {
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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raise_z_for_servo();
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#if HAS_Z_ENDSTOP_SERVO
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raise_z_for_servo(Z_RAISE_BEFORE_PROBING);
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#endif
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deploy_z_probe();
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}
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@ -6035,13 +5996,13 @@ inline void gcode_M400() { stepper.synchronize(); }
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* M402: Retract Z Servo endstop if enabled
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*/
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inline void gcode_M402() {
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#if ENABLED(HAS_SERVO_ENDSTOPS)
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raise_z_for_servo();
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#if HAS_Z_ENDSTOP_SERVO
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raise_z_for_servo(Z_RAISE_AFTER_PROBING);
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#endif
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stow_z_probe(false);
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}
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#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_ENDSTOP_SERVO || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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@ -7338,14 +7299,14 @@ void process_next_command() {
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gcode_M400();
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break;
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (ENABLED(HAS_SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_Z_ENDSTOP_SERVO || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
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case 401:
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gcode_M401();
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break;
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case 402:
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gcode_M402();
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break;
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#endif // AUTO_BED_LEVELING_FEATURE && (ENABLED(HAS_SERVO_ENDSTOPS) || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#endif // AUTO_BED_LEVELING_FEATURE && (HAS_Z_ENDSTOP_SERVO || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
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Scott Lahteine
8 years ago