Clean up, document home_axis
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1c7391717e
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97a258b0b0
1 changed files with 71 additions and 62 deletions
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@ -1109,7 +1109,7 @@ inline void sync_plan_position() {
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destination[Z_AXIS] = -10;
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destination[Z_AXIS] = -10;
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prepare_move_raw();
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prepare_move_raw();
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st_synchronize();
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st_synchronize();
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endstops_hit_on_purpose();
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endstops_hit_on_purpose(); // clear endstop hit flags
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// we have to let the planner know where we are right now as it is not where we said to go.
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// we have to let the planner know where we are right now as it is not where we said to go.
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long stop_steps = st_get_position(Z_AXIS);
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long stop_steps = st_get_position(Z_AXIS);
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@ -1135,7 +1135,7 @@ inline void sync_plan_position() {
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zPosition += home_retract_mm(Z_AXIS);
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zPosition += home_retract_mm(Z_AXIS);
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line_to_z(zPosition);
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line_to_z(zPosition);
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st_synchronize();
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st_synchronize();
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endstops_hit_on_purpose();
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endstops_hit_on_purpose(); // clear endstop hit flags
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// move back down slowly to find bed
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// move back down slowly to find bed
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if (homing_bump_divisor[Z_AXIS] >= 1)
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if (homing_bump_divisor[Z_AXIS] >= 1)
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@ -1148,7 +1148,7 @@ inline void sync_plan_position() {
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zPosition -= home_retract_mm(Z_AXIS) * 2;
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zPosition -= home_retract_mm(Z_AXIS) * 2;
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line_to_z(zPosition);
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line_to_z(zPosition);
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st_synchronize();
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st_synchronize();
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endstops_hit_on_purpose();
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endstops_hit_on_purpose(); // clear endstop hit flags
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current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
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current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
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// make sure the planner knows where we are as it may be a bit different than we last said to move to
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// make sure the planner knows where we are as it may be a bit different than we last said to move to
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@ -1435,13 +1435,17 @@ inline void sync_plan_position() {
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#endif // ENABLE_AUTO_BED_LEVELING
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#endif // ENABLE_AUTO_BED_LEVELING
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/**
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* Home an individual axis
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*/
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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static void homeaxis(int axis) {
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static void homeaxis(int axis) {
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#define HOMEAXIS_DO(LETTER) \
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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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((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) :
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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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axis == Y_AXIS ? HOMEAXIS_DO(Y) :
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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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@ -1451,71 +1455,78 @@ static void homeaxis(int axis) {
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axis_home_dir = home_dir(axis);
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axis_home_dir = home_dir(axis);
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#endif
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#endif
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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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#ifndef Z_PROBE_SLED
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// Engage Servo endstop if enabled
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// Engage Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS
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#ifdef SERVO_ENDSTOPS && !defined(Z_PROBE_SLED)
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#if SERVO_LEVELING
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if (axis == Z_AXIS) {
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engage_z_probe();
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}
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else
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#endif // SERVO_LEVELING
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#if SERVO_LEVELING
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if (axis == Z_AXIS) engage_z_probe(); else
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#endif
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{
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if (servo_endstops[axis] > -1)
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if (servo_endstops[axis] > -1)
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servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
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servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
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}
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#endif // SERVO_ENDSTOPS
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#endif // SERVO_ENDSTOPS && !Z_PROBE_SLED
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#endif // Z_PROBE_SLED
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#ifdef Z_DUAL_ENDSTOPS
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#ifdef Z_DUAL_ENDSTOPS
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if (axis == Z_AXIS) In_Homing_Process(true);
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if (axis == Z_AXIS) In_Homing_Process(true);
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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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destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
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destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
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feedrate = homing_feedrate[axis];
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feedrate = homing_feedrate[axis];
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line_to_destination();
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line_to_destination();
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st_synchronize();
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st_synchronize();
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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_RETRACT_MM
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destination[axis] = -home_retract_mm(axis) * axis_home_dir;
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destination[axis] = -home_retract_mm(axis) * axis_home_dir;
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line_to_destination();
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line_to_destination();
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st_synchronize();
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st_synchronize();
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destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
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// Slow down the feedrate for the next move
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if (homing_bump_divisor[axis] >= 1)
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if (homing_bump_divisor[axis] >= 1)
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feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
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feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
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else {
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else {
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feedrate = homing_feedrate[axis] / 10;
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feedrate = homing_feedrate[axis] / 10;
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SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
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SERIAL_ECHOLNPGM("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
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}
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}
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// Move slowly towards the endstop until triggered
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destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
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line_to_destination();
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line_to_destination();
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st_synchronize();
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st_synchronize();
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#ifdef Z_DUAL_ENDSTOPS
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#ifdef Z_DUAL_ENDSTOPS
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if (axis==Z_AXIS)
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if (axis == Z_AXIS) {
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{
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float adj = fabs(z_endstop_adj);
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feedrate = homing_feedrate[axis];
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bool lockZ1;
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sync_plan_position();
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if (axis_home_dir > 0) {
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if (axis_home_dir > 0)
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adj = -adj;
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{
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lockZ1 = (z_endstop_adj > 0);
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destination[axis] = (-1) * fabs(z_endstop_adj);
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if (z_endstop_adj > 0) Lock_z_motor(true); else Lock_z2_motor(true);
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} else {
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destination[axis] = fabs(z_endstop_adj);
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if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
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}
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}
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else
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lockZ1 = (z_endstop_adj < 0);
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if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
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sync_plan_position();
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// Move to the adjusted endstop height
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feedrate = homing_feedrate[axis];
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destination[Z_AXIS] = adj;
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line_to_destination();
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line_to_destination();
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st_synchronize();
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st_synchronize();
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Lock_z_motor(false);
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Lock_z2_motor(false);
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if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
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In_Homing_Process(false);
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In_Homing_Process(false);
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}
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} // Z_AXIS
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#endif
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#endif
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#ifdef DELTA
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#ifdef DELTA
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@ -1527,32 +1538,29 @@ static void homeaxis(int axis) {
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st_synchronize();
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st_synchronize();
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}
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}
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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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axis_is_at_home(axis);
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axis_is_at_home(axis);
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destination[axis] = current_position[axis];
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destination[axis] = current_position[axis];
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feedrate = 0.0;
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feedrate = 0.0;
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endstops_hit_on_purpose();
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endstops_hit_on_purpose(); // clear endstop hit flags
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axis_known_position[axis] = true;
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axis_known_position[axis] = true;
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// Retract Servo endstop if enabled
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// Retract Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS
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#ifdef SERVO_ENDSTOPS
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if (servo_endstops[axis] > -1) {
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if (servo_endstops[axis] > -1)
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servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
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servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
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}
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#endif
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#endif
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#if SERVO_LEVELING
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#ifndef Z_PROBE_SLED
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#if SERVO_LEVELING && !defined(Z_PROBE_SLED)
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if (axis == Z_AXIS) retract_z_probe();
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if (axis == Z_AXIS) retract_z_probe();
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#endif
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#endif
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#endif
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}
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}
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}
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}
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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void refresh_cmd_timeout(void)
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void refresh_cmd_timeout(void) { previous_millis_cmd = millis(); }
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{
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previous_millis_cmd = millis();
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}
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#ifdef FWRETRACT
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#ifdef FWRETRACT
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@ -1780,7 +1788,7 @@ inline void gcode_G28() {
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feedrate = 1.732 * homing_feedrate[X_AXIS];
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feedrate = 1.732 * homing_feedrate[X_AXIS];
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line_to_destination();
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line_to_destination();
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st_synchronize();
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st_synchronize();
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endstops_hit_on_purpose();
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endstops_hit_on_purpose(); // clear endstop hit flags
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// Destination reached
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// Destination reached
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for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
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for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
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@ -1798,7 +1806,7 @@ inline void gcode_G28() {
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homeY = code_seen(axis_codes[Y_AXIS]),
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homeY = code_seen(axis_codes[Y_AXIS]),
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homeZ = code_seen(axis_codes[Z_AXIS]);
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homeZ = code_seen(axis_codes[Z_AXIS]);
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home_all_axis = !homeX && !homeY && !homeZ; // No parameters means home all axes
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home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ);
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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@ -1849,7 +1857,7 @@ inline void gcode_G28() {
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line_to_destination();
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line_to_destination();
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feedrate = 0.0;
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feedrate = 0.0;
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st_synchronize();
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st_synchronize();
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endstops_hit_on_purpose();
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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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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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@ -1857,6 +1865,7 @@ inline void gcode_G28() {
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current_position[Z_AXIS] = destination[Z_AXIS];
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current_position[Z_AXIS] = destination[Z_AXIS];
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#endif
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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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// Home X
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// Home X
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@ -2005,7 +2014,7 @@ inline void gcode_G28() {
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feedrate = saved_feedrate;
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feedrate = saved_feedrate;
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feedmultiply = saved_feedmultiply;
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feedmultiply = saved_feedmultiply;
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previous_millis_cmd = millis();
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previous_millis_cmd = millis();
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endstops_hit_on_purpose();
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endstops_hit_on_purpose(); // clear endstop hit flags
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}
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}
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#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
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#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
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