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Consolidate "bedlevel" code

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This commit is contained in:
Scott Lahteine
2017-09-08 15:35:25 -05:00
parent 71aefc2e22
commit 551752eac7
45 changed files with 3525 additions and 3851 deletions
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843
Marlin/src/module/motion.cpp
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@ -25,23 +25,38 @@
*/
#include "motion.h"
#include "endstops.h"
#include "stepper.h"
#include "planner.h"
#include "temperature.h"
#include "../gcode/gcode.h"
// #include "../module/planner.h"
// #include "../Marlin.h"
// #include "../inc/MarlinConfig.h"
#include "../core/serial.h"
#include "../module/stepper.h"
#include "../module/temperature.h"
#include "../inc/MarlinConfig.h"
#if IS_SCARA
#include "../libs/buzzer.h"
#include "../lcd/ultralcd.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "../feature/ubl/ubl.h"
// #if ENABLED(DUAL_X_CARRIAGE)
// #include "tool_change.h"
// #endif
#if HAS_BED_PROBE
#include "probe.h"
#endif
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
#if NEED_UNHOMED_ERR && ENABLED(ULTRA_LCD)
#include "../lcd/ultralcd.h"
#endif
#if ENABLED(SENSORLESS_HOMING)
#include "../feature/tmc2130.h"
#endif
#define XYZ_CONSTS(type, array, CONFIG) const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }
@ -72,15 +87,85 @@ float current_position[XYZE] = { 0.0 };
*/
float destination[XYZE] = { 0.0 };
// The active extruder (tool). Set with T<extruder> command.
uint8_t active_extruder = 0;
// Extruder offsets
#if HOTENDS > 1
float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
#endif
// The feedrate for the current move, often used as the default if
// no other feedrate is specified. Overridden for special moves.
// Set by the last G0 through G5 command's "F" parameter.
// Functions that override this for custom moves *must always* restore it!
float feedrate_mm_s = MMM_TO_MMS(1500.0);
int16_t feedrate_percentage = 100;
// Homing feedrate is const progmem - compare to constexpr in the header
const float homing_feedrate_mm_s[4] PROGMEM = {
#if ENABLED(DELTA)
MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
#else
MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
#endif
MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
};
// Cartesian conversion result goes here:
float cartes[XYZ];
// Until kinematics.cpp is created, create this here
#if IS_KINEMATIC
float delta[ABC];
#endif
/**
* The workspace can be offset by some commands, or
* these offsets may be omitted to save on computation.
*/
#if HAS_WORKSPACE_OFFSET
#if HAS_POSITION_SHIFT
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
#endif
#endif
#if OLDSCHOOL_ABL
float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
#endif
/**
* Output the current position to serial
*/
void report_current_position() {
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
stepper.report_positions();
#if IS_SCARA
scara_report_positions();
#endif
}
/**
* sync_plan_position
*
@ -96,6 +181,56 @@ void sync_plan_position() {
void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
/**
* Get the stepper positions in the cartes[] array.
* Forward kinematics are applied for DELTA and SCARA.
*
* The result is in the current coordinate space with
* leveling applied. The coordinates need to be run through
* unapply_leveling to obtain the "ideal" coordinates
* suitable for current_position, etc.
*/
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
forward_kinematics_DELTA(
stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS)
);
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
#elif IS_SCARA
forward_kinematics_SCARA(
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
);
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#else
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
}
/**
* Set the current_position for an axis based on
* the stepper positions, removing any leveling that
* may have been applied.
*/
void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
#if PLANNER_LEVELING
planner.unapply_leveling(cartes);
#endif
if (axis == ALL_AXES)
COPY(current_position, cartes);
else
current_position[axis] = cartes[axis];
}
/**
* Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located).
@ -149,6 +284,167 @@ void line_to_destination(const float fr_mm_s) {
#endif // IS_KINEMATIC
/**
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) {
const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz);
#endif
#if ENABLED(DELTA)
if (!position_is_reachable_xy(lx, ly)) return;
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
set_destination_to_current(); // sync destination at the start
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
#endif
// when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) {
if (lz > delta_clip_start_height) { // staying in the danger zone
destination[X_AXIS] = lx; // move directly (uninterpolated)
destination[Y_AXIS] = ly;
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
#endif
return;
}
else {
destination[Z_AXIS] = delta_clip_start_height;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
#endif
}
}
if (lz > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
#endif
}
destination[X_AXIS] = lx;
destination[Y_AXIS] = ly;
prepare_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
#endif
if (lz < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
#endif
}
#elif IS_SCARA
if (!position_is_reachable_xy(lx, ly)) return;
set_destination_to_current();
// If Z needs to raise, do it before moving XY
if (destination[Z_AXIS] < lz) {
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
}
destination[X_AXIS] = lx;
destination[Y_AXIS] = ly;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
// If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > lz) {
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
}
#else
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < lz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = lz;
line_to_current_position();
}
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = lx;
current_position[Y_AXIS] = ly;
line_to_current_position();
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > lz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = lz;
line_to_current_position();
}
#endif
stepper.synchronize();
feedrate_mm_s = old_feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
}
void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
}
void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s);
}
void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s);
}
//
// Prepare to do endstop or probe moves
// with custom feedrates.
//
// - Save current feedrates
// - Reset the rate multiplier
// - Reset the command timeout
// - Enable the endstops (for endstop moves)
//
void bracket_probe_move(const bool before) {
static float saved_feedrate_mm_s;
static int16_t saved_feedrate_percentage;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("bracket_probe_move", current_position);
#endif
if (before) {
saved_feedrate_mm_s = feedrate_mm_s;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
gcode.refresh_cmd_timeout();
}
else {
feedrate_mm_s = saved_feedrate_mm_s;
feedrate_percentage = saved_feedrate_percentage;
gcode.refresh_cmd_timeout();
}
}
void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
// Software Endstops are based on the configured limits.
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
@ -189,73 +485,24 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
#define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
COPY(end, destination);
destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
CBI(y_splits, gcy);
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_AXIS] = LINE_SEGMENT_END(E);
// Do the split and look for more borders
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if IS_KINEMATIC && !UBL_DELTA
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(DELTA)
#define ADJUST_DELTA(V) \
if (planner.abl_enabled) { \
const float zadj = bilinear_z_offset(V); \
delta[A_AXIS] += zadj; \
delta[B_AXIS] += zadj; \
delta[C_AXIS] += zadj; \
}
#else
#define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
#endif
#else
#define ADJUST_DELTA(V) NOOP
#endif
/**
* Prepare a linear move in a DELTA or SCARA setup.
*
@ -572,3 +819,453 @@ void prepare_move_to_destination() {
set_current_to_destination();
}
#if NEED_UNHOMED_ERR
bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
#if ENABLED(HOME_AFTER_DEACTIVATE)
const bool xx = x && !axis_known_position[X_AXIS],
yy = y && !axis_known_position[Y_AXIS],
zz = z && !axis_known_position[Z_AXIS];
#else
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
zz = z && !axis_homed[Z_AXIS];
#endif
if (xx || yy || zz) {
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_HOME " ");
if (xx) SERIAL_ECHOPGM(MSG_X);
if (yy) SERIAL_ECHOPGM(MSG_Y);
if (zz) SERIAL_ECHOPGM(MSG_Z);
SERIAL_ECHOLNPGM(" " MSG_FIRST);
#if ENABLED(ULTRA_LCD)
lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
#endif
return true;
}
return false;
}
#endif
/**
* The homing feedrate may vary
*/
inline float get_homing_bump_feedrate(const AxisEnum axis) {
static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
if (hbd < 1) {
hbd = 10;
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
}
return homing_feedrate(axis) / hbd;
}
/**
* Home an individual linear axis
*/
static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPAIR(", ", fr_mm_s);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
if (deploy_bltouch) set_bltouch_deployed(true);
#endif
#if QUIET_PROBING
if (axis == Z_AXIS) probing_pause(true);
#endif
// Tell the planner we're at Z=0
current_position[axis] = 0;
#if IS_SCARA
SYNC_PLAN_POSITION_KINEMATIC();
current_position[axis] = distance;
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#else
sync_plan_position();
current_position[axis] = distance;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#endif
stepper.synchronize();
#if QUIET_PROBING
if (axis == Z_AXIS) probing_pause(false);
#endif
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
if (deploy_bltouch) set_bltouch_deployed(false);
#endif
endstops.hit_on_purpose();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
}
/**
* Set an axis' current position to its home position (after homing).
*
* For Core and Cartesian robots this applies one-to-one when an
* individual axis has been homed.
*
* DELTA should wait until all homing is done before setting the XYZ
* current_position to home, because homing is a single operation.
* In the case where the axis positions are already known and previously
* homed, DELTA could home to X or Y individually by moving either one
* to the center. However, homing Z always homes XY and Z.
*
* SCARA should wait until all XY homing is done before setting the XY
* current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually.
*
* Callers must sync the planner position after calling this!
*/
void set_axis_is_at_home(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
axis_known_position[axis] = axis_homed[axis] = true;
#if HAS_POSITION_SHIFT
position_shift[axis] = 0;
update_software_endstops(axis);
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
current_position[X_AXIS] = x_home_pos(active_extruder);
return;
}
#endif
#if ENABLED(MORGAN_SCARA)
scara_set_axis_is_at_home(axis);
#else
current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
#endif
/**
* Z Probe Z Homing? Account for the probe's Z offset.
*/
#if HAS_BED_PROBE && Z_HOME_DIR < 0
if (axis == Z_AXIS) {
#if HOMING_Z_WITH_PROBE
current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
}
#endif
#elif ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
#endif
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
#endif
DEBUG_POS("", current_position);
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.homed(axis);
#endif
}
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
* to the individual ABC steppers on DELTA and SCARA.
*
* At the end of the procedure the axis is marked as
* homed and the current position of that axis is updated.
* Kinematic robots should wait till all axes are homed
* before updating the current position.
*/
void homeaxis(const AxisEnum axis) {
#if IS_SCARA
// Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
#else
#define CAN_HOME(A) \
(axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
const int axis_home_dir =
#if ENABLED(DUAL_X_CARRIAGE)
(axis == X_AXIS) ? x_home_dir(active_extruder) :
#endif
home_dir(axis);
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && DEPLOY_PROBE()) return;
#endif
// Set a flag for Z motor locking
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) stepper.set_homing_flag(true);
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
#endif
#endif
// Fast move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
#endif
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
// When homing Z with probe respect probe clearance
const float bump = axis_home_dir * (
#if HOMING_Z_WITH_PROBE
(axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
#endif
home_bump_mm(axis)
);
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOME_BUMP_MM
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
#endif
do_homing_move(axis, -bump);
// Slow move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
#endif
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
}
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
float adj = FABS(z_endstop_adj);
bool lockZ1;
if (axis_home_dir > 0) {
adj = -adj;
lockZ1 = (z_endstop_adj > 0);
}
else
lockZ1 = (z_endstop_adj < 0);
if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
// Move to the adjusted endstop height
do_homing_move(axis, adj);
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag(false);
} // Z_AXIS
#endif
#if IS_SCARA
set_axis_is_at_home(axis);
SYNC_PLAN_POSITION_KINEMATIC();
#elif ENABLED(DELTA)
// Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
// retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps
if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
#endif
do_homing_move(axis, delta_endstop_adj[axis] - 0.1);
}
#else
// For cartesian/core machines,
// set the axis to its home position
set_axis_is_at_home(axis);
sync_plan_position();
destination[axis] = current_position[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
#endif
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
#endif
#endif
// Put away the Z probe
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && STOW_PROBE()) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
} // homeaxis()
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
* they can prevent axes from moving past endstops and grinding.
*
* To keep doing their job as the coordinate system changes,
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
void update_software_endstops(const AxisEnum axis) {
const float offs = 0.0
#if HAS_HOME_OFFSET
+ home_offset[axis]
#endif
#if HAS_POSITION_SHIFT
+ position_shift[axis]
#endif
;
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
workspace_offset[axis] = offs;
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
// In Dual X mode hotend_offset[X] is T1's home position
float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
soft_endstop_max[X_AXIS] = dual_max_x + offs;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
// In Duplication Mode, T0 can move as far left as X_MIN_POS
// but not so far to the right that T1 would move past the end
soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
}
else {
// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
}
#elif ENABLED(DELTA)
soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs);
soft_endstop_max[axis] = base_max_pos(axis) + offs;
#else
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
#endif
#if HAS_POSITION_SHIFT
SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
#endif
SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
}
#endif
#if ENABLED(DELTA)
if (axis == Z_AXIS)
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
#endif
}
#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
#if HAS_M206_COMMAND
/**
* Change the home offset for an axis, update the current
* position and the software endstops to retain the same
* relative distance to the new home.
*
* Since this changes the current_position, code should
* call sync_plan_position soon after this.
*/
void set_home_offset(const AxisEnum axis, const float v) {
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
update_software_endstops(axis);
}
#endif // HAS_M206_COMMAND