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@ -1713,27 +1713,37 @@ static void clean_up_after_endstop_or_probe_move() {
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z_dest -= zprobe_zoffset;
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if (z_dest > current_position[Z_AXIS]) {
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float old_feedrate = feedrate;
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feedrate = homing_feedrate[Z_AXIS];
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do_blocking_move_to_z(z_dest);
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feedrate = old_feedrate;
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}
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}
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#endif //HAS_BED_PROBE
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#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE
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static void axis_unhomed_error(bool xyz=false) {
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if (xyz) {
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LCD_MESSAGEPGM(MSG_XYZ_UNHOMED);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_XYZ_UNHOMED);
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}
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else {
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LCD_MESSAGEPGM(MSG_YX_UNHOMED);
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static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
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const bool xx = x && !axis_homed[X_AXIS],
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yy = y && !axis_homed[Y_AXIS],
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zz = z && !axis_homed[Z_AXIS];
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if (xx || yy || zz) {
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_YX_UNHOMED);
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SERIAL_ECHOPGM(MSG_HOME " ");
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if (xx) SERIAL_ECHOPGM(MSG_X);
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if (yy) SERIAL_ECHOPGM(MSG_Y);
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if (zz) SERIAL_ECHOPGM(MSG_Z);
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SERIAL_ECHOLNPGM(" " MSG_FIRST);
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#if ENABLED(ULTRA_LCD)
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char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
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strcat_P(message, PSTR(MSG_HOME " "));
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if (xx) strcat_P(message, PSTR(MSG_X));
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if (yy) strcat_P(message, PSTR(MSG_Y));
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if (zz) strcat_P(message, PSTR(MSG_Z));
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strcat_P(message, PSTR(" " MSG_FIRST));
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lcd_setstatus(message);
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#endif
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return true;
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}
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return false;
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}
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#endif
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@ -1746,45 +1756,27 @@ static void clean_up_after_endstop_or_probe_move() {
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/**
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* Method to dock/undock a sled designed by Charles Bell.
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*
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* dock[in] If true, move to MAX_X and engage the electromagnet
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* offset[in] The additional distance to move to adjust docking location
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* stow[in] If false, move to MAX_X and engage the solenoid
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* If true, move to MAX_X and release the solenoid
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*/
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static void dock_sled(bool dock, int offset = 0) {
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static void dock_sled(bool stow) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("dock_sled(", dock);
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SERIAL_ECHOPAIR("dock_sled(", stow);
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SERIAL_ECHOLNPGM(")");
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}
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#endif
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if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
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axis_unhomed_error(true);
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return;
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}
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if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
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if (axis_unhomed_error(true, false, false)) return;
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float oldXpos = current_position[X_AXIS]; // save x position
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float old_feedrate = feedrate;
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if (dock) {
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#if _Z_RAISE_PROBE_DEPLOY_STOW > 0
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do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
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#endif
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// Dock sled a bit closer to ensure proper capturing
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feedrate = XY_PROBE_FEEDRATE;
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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}
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else {
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feedrate = XY_PROBE_FEEDRATE;
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float z_loc = current_position[Z_AXIS];
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if (z_loc < _Z_RAISE_PROBE_DEPLOY_STOW + 5) z_loc = _Z_RAISE_PROBE_DEPLOY_STOW;
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do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
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digitalWrite(SLED_PIN, HIGH); // turn on magnet
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}
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
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digitalWrite(SLED_PIN, !stow); // switch solenoid
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do_blocking_move_to_x(oldXpos); // return to position before docking
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feedrate = old_feedrate;
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}
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#endif // Z_PROBE_SLED
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@ -1800,9 +1792,7 @@ static void clean_up_after_endstop_or_probe_move() {
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if (endstops.z_probe_enabled) return;
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// Make room for probe
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#if _Z_RAISE_PROBE_DEPLOY_STOW > 0
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do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
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#endif
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#if ENABLED(Z_PROBE_SLED)
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@ -1904,9 +1894,7 @@ static void clean_up_after_endstop_or_probe_move() {
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if (!endstops.z_probe_enabled) return;
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// Make more room for the servo
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#if _Z_RAISE_PROBE_DEPLOY_STOW > 0
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do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
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#endif
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#if ENABLED(Z_PROBE_SLED)
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@ -2844,6 +2832,10 @@ inline void gcode_G28() {
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#elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0
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#if HAS_BED_PROBE
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do_probe_raise(MIN_Z_HEIGHT_FOR_HOMING);
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destination[Z_AXIS] = current_position[Z_AXIS];
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#else
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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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if (current_position[Z_AXIS] <= MIN_Z_HEIGHT_FOR_HOMING) {
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destination[Z_AXIS] = MIN_Z_HEIGHT_FOR_HOMING;
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@ -2867,6 +2859,7 @@ inline void gcode_G28() {
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current_position[Z_AXIS] = destination[Z_AXIS];
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}
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#endif
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#endif
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#if ENABLED(QUICK_HOME)
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@ -2922,7 +2915,12 @@ inline void gcode_G28() {
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#if ENABLED(HOME_Y_BEFORE_X)
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// Home Y
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if (home_all_axis || homeY) HOMEAXIS(Y);
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if (home_all_axis || homeY) {
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HOMEAXIS(Y);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
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#endif
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}
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#endif
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// Home X
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@ -3015,7 +3013,7 @@ inline void gcode_G28() {
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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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if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
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if (axis_unhomed_error(true, true, false)) return;
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/**
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* Make sure the Z probe is within the physical limits
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@ -3036,11 +3034,6 @@ inline void gcode_G28() {
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
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}
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}
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else {
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axis_unhomed_error();
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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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@ -3381,10 +3374,7 @@ inline void gcode_G28() {
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#endif
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// Don't allow auto-leveling without homing first
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if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
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axis_unhomed_error(true);
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return;
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}
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if (axis_unhomed_error(true, true, true)) return;
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int verbose_level = code_seen('V') ? code_value_int() : 1;
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if (verbose_level < 0 || verbose_level > 4) {
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@ -3394,7 +3384,7 @@ inline void gcode_G28() {
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bool dryrun = code_seen('D');
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#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
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#if ENABLED(Z_PROBE_ALLEN_KEY)
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const bool stow_probe_after_each = false;
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#else
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bool stow_probe_after_each = code_seen('E');
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@ -4136,10 +4126,7 @@ inline void gcode_M42() {
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*/
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inline void gcode_M48() {
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if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
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axis_unhomed_error(true);
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return;
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}
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if (axis_unhomed_error(true, true, true)) return;
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int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
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if (verbose_level < 0 || verbose_level > 4) {
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@ -4159,7 +4146,7 @@ inline void gcode_M42() {
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float X_current = current_position[X_AXIS],
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Y_current = current_position[Y_AXIS];
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#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
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#if ENABLED(Z_PROBE_ALLEN_KEY)
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const bool stow_probe_after_each = false;
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#else
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bool stow_probe_after_each = code_seen('E');
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Scott Lahteine
9 years ago
committed by