Use blocking_move, current_position in G28 homing
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@ -1594,7 +1594,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
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/**
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/**
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* Some planner shorthand inline functions
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* Some planner shorthand inline functions
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*/
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*/
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inline void set_homing_bump_feedrate(AxisEnum axis) {
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inline float set_homing_bump_feedrate(AxisEnum axis) {
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const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
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const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
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int hbd = homing_bump_divisor[axis];
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int hbd = homing_bump_divisor[axis];
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if (hbd < 1) {
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if (hbd < 1) {
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@ -1603,6 +1603,7 @@ inline void set_homing_bump_feedrate(AxisEnum axis) {
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SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
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SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
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}
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}
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feedrate_mm_m = homing_feedrate_mm_m[axis] / hbd;
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feedrate_mm_m = homing_feedrate_mm_m[axis] / hbd;
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return feedrate_mm_m;
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}
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}
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//
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//
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// line_to_current_position
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// line_to_current_position
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@ -1707,6 +1708,11 @@ static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0)
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feedrate_mm_m = old_feedrate_mm_m;
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feedrate_mm_m = old_feedrate_mm_m;
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}
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}
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inline void do_blocking_move_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
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current_position[axis] = where;
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
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}
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inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) {
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inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
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}
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}
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@ -2419,27 +2425,19 @@ static void homeaxis(AxisEnum axis) {
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#endif
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#endif
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// Move towards the endstop until an endstop is triggered
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// Move towards the endstop until an endstop is triggered
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destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
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do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
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feedrate_mm_m = homing_feedrate_mm_m[axis];
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line_to_destination();
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stepper.synchronize();
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// Set the axis position as setup for the move
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// Set the axis position as setup for the move
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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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// 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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do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
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line_to_destination();
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stepper.synchronize();
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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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// Move slowly towards the endstop until triggered
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// Move slowly towards the endstop until triggered
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destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
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do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
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line_to_destination();
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stepper.synchronize();
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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)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
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@ -2460,10 +2458,7 @@ static void homeaxis(AxisEnum axis) {
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sync_plan_position();
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sync_plan_position();
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// Move to the adjusted endstop height
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// Move to the adjusted endstop height
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feedrate_mm_m = homing_feedrate_mm_m[axis];
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do_blocking_move_to_z(adj, homing_feedrate_mm_m[axis]);
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destination[Z_AXIS] = adj;
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line_to_destination();
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stepper.synchronize();
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if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
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if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
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stepper.set_homing_flag(false);
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stepper.set_homing_flag(false);
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@ -2474,15 +2469,13 @@ static void homeaxis(AxisEnum axis) {
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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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sync_plan_position();
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sync_plan_position();
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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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if (DEBUGGING(LEVELING)) {
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
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SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
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DEBUG_POS("", destination);
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DEBUG_POS("", current_position);
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}
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}
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#endif
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#endif
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line_to_destination();
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do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis));
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stepper.synchronize();
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}
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}
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#endif
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#endif
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@ -2836,8 +2829,6 @@ inline void gcode_G4() {
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static void quick_home_xy() {
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static void quick_home_xy() {
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current_position[X_AXIS] = current_position[Y_AXIS] = 0;
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DUAL_X_CARRIAGE)
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int x_axis_home_dir = x_home_dir(active_extruder);
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int x_axis_home_dir = x_home_dir(active_extruder);
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extruder_duplication_enabled = false;
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extruder_duplication_enabled = false;
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@ -2845,17 +2836,15 @@ 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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float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
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float mlx = max_length(X_AXIS),
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mlratio = mlx > mly ? mly / mlx : mlx / mly;
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mly = max_length(Y_AXIS),
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mlratio = mlx > mly ? mly / mlx : mlx / mly,
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fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1);
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destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
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do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
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destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
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feedrate_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1);
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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] = current_position[Y_AXIS] = 0;
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destination[X_AXIS] = destination[Y_AXIS] = 0;
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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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