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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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@ -2348,16 +2344,17 @@ 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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@ -2394,21 +2391,11 @@ static void homeaxis(AxisEnum axis) {
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current_position[axis] = 0;
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current_position[axis] = 0;
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sync_plan_position();
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sync_plan_position();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
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#endif
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endstops.enable(false); // Disable endstops while moving away
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// Move away from the endstop by the axis HOME_BUMP_MM
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// Move away from the endstop by the axis HOME_BUMP_MM
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destination[axis] = -home_bump_mm(axis) * axis_home_dir;
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destination[axis] = -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 (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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// 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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@ -2449,10 +2436,6 @@ static void homeaxis(AxisEnum axis) {
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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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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
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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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sync_plan_position();
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destination[axis] = endstop_adj[axis];
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destination[axis] = endstop_adj[axis];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -2463,20 +2446,8 @@ static void homeaxis(AxisEnum axis) {
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#endif
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#endif
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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 (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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else {
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
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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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// Set the axis position to its home position (plus home offsets)
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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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set_axis_is_at_home(axis);
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@ -2502,8 +2473,6 @@ static void homeaxis(AxisEnum axis) {
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}
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}
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#endif
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#endif
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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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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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@ -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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#if HAS_BED_PROBE
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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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line_to_z(z_dest);
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stepper.synchronize();
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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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@ -3044,13 +2989,8 @@ 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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// 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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if (axis_unhomed_error(true, true, false)) return;
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@ -3073,7 +3013,6 @@ inline void gcode_G28() {
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SERIAL_ECHO_START;
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
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SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
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}
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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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