@ -2268,7 +2268,7 @@ inline void gcode_G28() {
setup_for_endstop_move ( ) ;
set_destination_to_current ( ) ;
set_destination_to_current ( ) ; // Directly after a reset this is all 0. Later we get a hint if we have to raise z or not.
feedrate = 0.0 ;
@ -2311,50 +2311,40 @@ inline void gcode_G28() {
home_all_axis = ( ! homeX & & ! homeY & & ! homeZ ) | | ( homeX & & homeY & & homeZ ) ;
if ( home_all_axis | | homeZ ) {
# if Z_HOME_DIR > 0 // If homing away from BED do Z first
# if Z_HOME_DIR > 0 // If homing away from BED do Z first
if ( home_all_axis | | homeZ ) {
HOMEAXIS ( Z ) ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( marlin_debug_flags & DEBUG_LEVELING ) {
print_xyz ( " > HOMEAXIS(Z) > current_position " , current_position ) ;
}
# endif
}
# elif defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
// Consider the current Z-position as zero
// !!WARNING!! If the machine has no physical z-max endstops then we
// can move the axis more than it can physically travel.
current_position [ Z_AXIS ] = 0 ;
sync_plan_position ( ) ;
// (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?)
destination [ Z_AXIS ] = - Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) ;
feedrate = max_feedrate [ Z_AXIS ] * 60 ;
# elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0
// Raise Z before homing any other axes and z is not already high enough (never lower z)
if ( current_position [ Z_AXIS ] < = MIN_Z_HEIGHT_FOR_HOMING ) {
destination [ Z_AXIS ] = MIN_Z_HEIGHT_FOR_HOMING ;
feedrate = max_feedrate [ Z_AXIS ] * 60 ; // feedrate (mm/m) = max_feedrate (mm/s)
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( marlin_debug_flags & DEBUG_LEVELING ) {
SERIAL_ECHOPAIR ( " Raise Z (before homing) by " , ( float ) Z_RAISE_BEFORE_HOMING ) ;
SERIAL_ECHOPAIR ( " Raise Z (before homing) to " , ( float ) MIN_Z_HEIGHT_FOR_HOMING ) ;
SERIAL_EOL ;
print_xyz ( " > (home_all_axis || homeZ) > current_position " , current_position ) ;
print_xyz ( " > (home_all_axis || homeZ) > destination " , destination ) ;
}
# endif
// Raise Z-axis by Z_RAISE_BEFORE_HOMING before homing any other axis
line_to_destination ( ) ;
st_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 Z_RAISE_BEFORE _HOMING.
// by MIN_Z_HEIGHT_FOR _HOMING.
current_position [ Z_AXIS ] = destination [ Z_AXIS ] ;
# endif
} // home_all_axis || homeZ
}
# endif
# if ENABLED(QUICK_HOME)
@ -2468,19 +2458,18 @@ inline void gcode_G28() {
if ( home_all_axis ) {
// At this point we already have Z at Z_RAISE_BEFORE _HOMING height
// At this point we already have Z at MIN_Z_HEIGHT_FOR _HOMING height
// No need to move Z any more as this height should already be safe
// enough to reach Z_SAFE_HOMING XY positions ; just make sure the
// planner is in sync.
// enough to reach Z_SAFE_HOMING XY positions .
// Just make sure the planner is in sync.
sync_plan_position ( ) ;
//
// Set the Z probe (or just the nozzle) destination to the safe homing point
//
// NOTE: If current_position[X_AXIS] or current_position[Y_AXIS] were set above
// then this may not work as expected.
destination [ X_AXIS ] = round ( Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER ) ;
destination [ Y_AXIS ] = round ( Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER ) ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] ; //z is already at the right height
feedrate = XY_TRAVEL_SPEED ;
# if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2494,8 +2483,8 @@ inline void gcode_G28() {
line_to_destination ( ) ;
st_synchronize ( ) ;
// Update the current positions for XY, Z is still at
// Z_RAISE_BEFORE _HOMING height, no changes there.
// Update the current positions for XY, Z is still at least at
// MIN_Z_HEIGHT_FOR _HOMING height, no changes there.
current_position [ X_AXIS ] = destination [ X_AXIS ] ;
current_position [ Y_AXIS ] = destination [ Y_AXIS ] ;
@ -2515,26 +2504,6 @@ inline void gcode_G28() {
& & cpx < = X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
& & cpy > = Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
& & cpy < = Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER ) {
// Set the plan current position to X, Y, 0
current_position [ Z_AXIS ] = 0 ;
plan_set_position ( cpx , cpy , 0 , current_position [ E_AXIS ] ) ; // = sync_plan_position
// Set Z destination away from bed and raise the axis
// NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...???
destination [ Z_AXIS ] = - Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) ;
feedrate = max_feedrate [ Z_AXIS ] * 60 ; // feedrate (mm/m) = max_feedrate (mm/s)
# if ENABLED(DEBUG_LEVELING_FEATURE)
if ( marlin_debug_flags & DEBUG_LEVELING ) {
SERIAL_ECHOPAIR ( " Raise Z (before homing) by " , ( float ) Z_RAISE_BEFORE_HOMING ) ;
SERIAL_EOL ;
print_xyz ( " > homeZ > current_position " , current_position ) ;
print_xyz ( " > homeZ > destination " , destination ) ;
}
# endif
line_to_destination ( ) ;
st_synchronize ( ) ;
// Home the Z axis
HOMEAXIS ( Z ) ;
Scott Lahteine
9 years ago