Merge pull request #4217 from thinkyhead/rc_fix_homing_raise

Don't do_probe_raise with MIN_Z_HEIGHT_FOR_HOMING

Marlin/Conditionals.h

@@ -783,14 +783,11 @@
         #define XY_PROBE_SPEED 4000
       #endif
     #endif
-    #ifndef Z_RAISE_PROBE_DEPLOY_STOW
+    #if Z_RAISE_BETWEEN_PROBINGS > Z_RAISE_PROBE_DEPLOY_STOW
-      #if defined(Z_RAISE_BEFORE_PROBING) && defined(Z_RAISE_AFTER_PROBING)
+      #define _Z_RAISE_PROBE_DEPLOY_STOW Z_RAISE_BETWEEN_PROBINGS
-        #define Z_RAISE_PROBE_DEPLOY_STOW (max(Z_RAISE_BEFORE_PROBING, Z_RAISE_AFTER_PROBING))
+    #else
-      #else
+      #define _Z_RAISE_PROBE_DEPLOY_STOW Z_RAISE_PROBE_DEPLOY_STOW
-        #error "You must set Z_RAISE_PROBE_DEPLOY_STOW in your configuration."
-      #endif
     #endif
-    #define _Z_RAISE_PROBE_DEPLOY_STOW (max(Z_RAISE_PROBE_DEPLOY_STOW, Z_RAISE_BETWEEN_PROBINGS))
   #endif
 
   /**

Marlin/Marlin_main.cpp

@@ -1728,9 +1728,8 @@ static void clean_up_after_endstop_or_probe_move() {
     if ((Z_HOME_DIR) < 0 && zprobe_zoffset < 0)
       z_dest -= zprobe_zoffset;
 
-    if (z_dest > current_position[Z_AXIS]) {
+    if (z_dest > current_position[Z_AXIS])
       do_blocking_move_to_z(z_dest);
-    }
   }
 
 #endif //HAS_BED_PROBE
@@ -2764,6 +2763,57 @@ inline void gcode_G4() {
   }
 #endif
 
+#if ENABLED(QUICK_HOME)
+
+  static void quick_home_xy() {
+
+    current_position[X_AXIS] = current_position[Y_AXIS] = 0;
+
+    #if ENABLED(DUAL_X_CARRIAGE)
+      int x_axis_home_dir = x_home_dir(active_extruder);
+      extruder_duplication_enabled = false;
+    #else
+      int x_axis_home_dir = home_dir(X_AXIS);
+    #endif
+
+    SYNC_PLAN_POSITION_KINEMATIC();
+
+    float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
+          mlratio = mlx > mly ? mly / mlx : mlx / mly;
+
+    destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
+    destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
+    feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
+    line_to_destination();
+    stepper.synchronize();
+
+    set_axis_is_at_home(X_AXIS);
+    set_axis_is_at_home(Y_AXIS);
+    SYNC_PLAN_POSITION_KINEMATIC();
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position);
+    #endif
+
+    destination[X_AXIS] = current_position[X_AXIS];
+    destination[Y_AXIS] = current_position[Y_AXIS];
+    line_to_destination();
+    stepper.synchronize();
+    endstops.hit_on_purpose(); // clear endstop hit flags
+
+    current_position[X_AXIS] = destination[X_AXIS];
+    current_position[Y_AXIS] = destination[Y_AXIS];
+    #if DISABLED(SCARA)
+      current_position[Z_AXIS] = destination[Z_AXIS];
+    #endif
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 2", current_position);
+    #endif
+  }
+
+#endif // QUICK_HOME
+
 /**
  * G28: Home all axes according to settings
  *
@@ -2815,16 +2865,9 @@ inline void gcode_G28() {
 
   setup_for_endstop_move();
 
-  /**
-   * Directly after a reset this is all 0. Later we get a hint if we have
-   * to raise z or not.
-   */
-  set_destination_to_current();
-
   #if ENABLED(DELTA)
     /**
-     * A delta can only safely home all axis at the same time
+     * A delta can only safely home all axes at the same time
-     * all axis have to home at the same time
      */
 
     // Pretend the current position is 0,0,0
@@ -2860,6 +2903,8 @@ inline void gcode_G28() {
 
     home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
 
+    set_destination_to_current();
+
     #if Z_HOME_DIR > 0  // If homing away from BED do Z first
 
       if (home_all_axis || homeZ) {
@@ -2871,98 +2916,51 @@ inline void gcode_G28() {
 
     #elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0
 
-      #if HAS_BED_PROBE
+      // Raise Z before homing any other axes and z is not already high enough (never lower z)
-        do_probe_raise(MIN_Z_HEIGHT_FOR_HOMING);
+      float z_dest = (current_position[Z_AXIS] += MIN_Z_HEIGHT_FOR_HOMING);
-        destination[Z_AXIS] = current_position[Z_AXIS];
+      #if ENABLED(DEBUG_LEVELING_FEATURE)
-      #else
+        if (DEBUGGING(LEVELING)) {
-        // Raise Z before homing any other axes and z is not already high enough (never lower z)
+          SERIAL_ECHOPAIR("Raise Z (before homing) to ", z_dest);
-        if (current_position[Z_AXIS] <= MIN_Z_HEIGHT_FOR_HOMING) {
+          SERIAL_EOL;
-          destination[Z_AXIS] = MIN_Z_HEIGHT_FOR_HOMING;
-          feedrate = planner.max_feedrate[Z_AXIS] * 60;  // feedrate (mm/m) = max_feedrate (mm/s)
-          #if ENABLED(DEBUG_LEVELING_FEATURE)
-            if (DEBUGGING(LEVELING)) {
-              SERIAL_ECHOPAIR("Raise Z (before homing) to ", (MIN_Z_HEIGHT_FOR_HOMING));
-              SERIAL_EOL;
-              DEBUG_POS("> (home_all_axis || homeZ)", current_position);
-              DEBUG_POS("> (home_all_axis || homeZ)", destination);
-            }
-          #endif
-          line_to_destination();
-          stepper.synchronize();
-
-          /**
-           * Update the current Z position even if it currently not real from
-           * Z-home otherwise each call to line_to_destination() will want to
-           * move Z-axis by MIN_Z_HEIGHT_FOR_HOMING.
-           */
-          current_position[Z_AXIS] = destination[Z_AXIS];
         }
       #endif
-    #endif
-
-    #if ENABLED(QUICK_HOME)
-
-      if (home_all_axis || (homeX && homeY)) {  // First diagonal move
-
-        current_position[X_AXIS] = current_position[Y_AXIS] = 0;
-
-        #if ENABLED(DUAL_X_CARRIAGE)
-          int x_axis_home_dir = x_home_dir(active_extruder);
-          extruder_duplication_enabled = false;
-        #else
-          int x_axis_home_dir = home_dir(X_AXIS);
-        #endif
 
-        SYNC_PLAN_POSITION_KINEMATIC();
+      feedrate = homing_feedrate[Z_AXIS];
-
-        float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
-              mlratio = mlx > mly ? mly / mlx : mlx / mly;
 
-        destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
+      #if HAS_BED_PROBE
-        destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
+        do_blocking_move_to_z(z_dest);
-        feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
+      #else
-        line_to_destination();
+        line_to_z(z_dest);
         stepper.synchronize();
+      #endif
 
-        set_axis_is_at_home(X_AXIS);
+    #endif // MIN_Z_HEIGHT_FOR_HOMING
-        set_axis_is_at_home(Y_AXIS);
-        SYNC_PLAN_POSITION_KINEMATIC();
 
-        #if ENABLED(DEBUG_LEVELING_FEATURE)
+    #if ENABLED(QUICK_HOME)
-          if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position);
-        #endif
 
-        destination[X_AXIS] = current_position[X_AXIS];
+      bool quick_homed = home_all_axis || (homeX && homeY);
-        destination[Y_AXIS] = current_position[Y_AXIS];
+      if (quick_homed) quick_home_xy();
-        line_to_destination();
-        stepper.synchronize();
-        endstops.hit_on_purpose(); // clear endstop hit flags
 
-        current_position[X_AXIS] = destination[X_AXIS];
+    #else
-        current_position[Y_AXIS] = destination[Y_AXIS];
-        #if DISABLED(SCARA)
-          current_position[Z_AXIS] = destination[Z_AXIS];
-        #endif
 
-        #if ENABLED(DEBUG_LEVELING_FEATURE)
+      const bool quick_homed = false;
-          if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 2", current_position);
-        #endif
-      }
 
-    #endif // QUICK_HOME
+    #endif
 
     #if ENABLED(HOME_Y_BEFORE_X)
+
       // Home Y
-      if (home_all_axis || homeY) {
+      if (!quick_homed && (home_all_axis || homeY)) {
         HOMEAXIS(Y);
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
         #endif
       }
+
     #endif
 
     // Home X
-    if (home_all_axis || homeX) {
+    if (!quick_homed && (home_all_axis || homeX)) {
       #if ENABLED(DUAL_X_CARRIAGE)
         int tmp_extruder = active_extruder;
         extruder_duplication_enabled = false;
@@ -2985,7 +2983,7 @@ inline void gcode_G28() {
 
     #if DISABLED(HOME_Y_BEFORE_X)
       // Home Y
-      if (home_all_axis || homeY) {
+      if (!quick_homed && (home_all_axis || homeY)) {
         HOMEAXIS(Y);
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);

Marlin/SanityCheck.h

@@ -293,6 +293,21 @@
     //#endif
   #endif
 
+  /**
+   * Make sure Z raise values are set
+   */
+  #if defined(Z_RAISE_BEFORE_PROBING) || defined(Z_RAISE_AFTER_PROBING)
+    #error "Z_RAISE_(BEFORE|AFTER)_PROBING are deprecated. Use Z_RAISE_PROBE_DEPLOY_STOW instead."
+  #elif !defined(Z_RAISE_PROBE_DEPLOY_STOW)
+    #error "You must set Z_RAISE_PROBE_DEPLOY_STOW in your configuration."
+  #elif !defined(Z_RAISE_BETWEEN_PROBINGS)
+    #error "You must set Z_RAISE_BETWEEN_PROBINGS in your configuration."
+  #elif Z_RAISE_PROBE_DEPLOY_STOW < 1
+    #error "Probes need Z_RAISE_PROBE_DEPLOY_STOW >= 1."
+  #elif Z_RAISE_BETWEEN_PROBINGS < 1
+    #error "Probes need Z_RAISE_BETWEEN_PROBINGS >= 1."
+  #endif
+
 #else
 
   /**