Homing backoff enhancements

- Define homing bump as an array
- Add pre and post homing backoff options
- Consolidate homing config options

Marlin/Configuration_adv.h

@@ -592,8 +592,7 @@
 
   // Default x offset in duplication mode (typically set to half print bed width)
   #define DEFAULT_DUPLICATION_X_OFFSET 100
-
-#endif // DUAL_X_CARRIAGE
+#endif
 
 // Activate a solenoid on the active extruder with M380. Disable all with M381.
 // Define SOL0_PIN, SOL1_PIN, etc., for each extruder that has a solenoid.
@@ -601,19 +600,24 @@
 
 // @section homing
 
-// Homing hits each endstop, retracts by these distances, then does a slower bump.
-#define X_HOME_BUMP_MM 5
-#define Y_HOME_BUMP_MM 5
-#define Z_HOME_BUMP_MM 2
+/**
+ * Homing Procedure
+ * Homing (G28) does an indefinite move towards the endstops to establish
+ * the position of the toolhead relative to the workspace.
+ */
+
+//#define SENSORLESS_BACKOFF_MM  { 2, 2 }     // (mm) Backoff from endstops before sensorless homing
+
+#define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm) Backoff from endstops after first bump
 #define HOMING_BUMP_DIVISOR { 2, 2, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
-//#define QUICK_HOME                     // If homing includes X and Y, do a diagonal move initially
-//#define HOMING_BACKOFF_MM { 2, 2, 2 }  // (mm) Move away from the endstops after homing
 
-// When G28 is called, this option will make Y home before X
-//#define HOME_Y_BEFORE_X
+//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing
 
-// Enable this if X or Y can't home without homing the other axis first.
-//#define CODEPENDENT_XY_HOMING
+//#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
+//#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
+//#define CODEPENDENT_XY_HOMING               // If X/Y can't home without homing Y/X first
+
+// @section bltouch
 
 #if ENABLED(BLTOUCH)
   /**
@@ -682,6 +686,8 @@
 
 #endif // BLTOUCH
 
+// @section extras
+
 /**
  * Z Steppers Auto-Alignment
  * Add the G34 command to align multiple Z steppers using a bed probe.
@@ -2319,7 +2325,7 @@
    *    HIGHEST       255      -64    (Too sensitive => False positive)
    *    LOWEST         0        63    (Too insensitive => No trigger)
    *
-   * It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
+   * It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }.
    *
    * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
    * Poll the driver through SPI to determine load when homing.

Marlin/src/inc/SanityCheck.h

@@ -493,6 +493,10 @@
   #error "ORIG_Ex_AUTO_FAN_PIN is now just Ex_AUTO_FAN_PIN. Make sure your pins are up to date."
 #elif defined(ORIG_CHAMBER_AUTO_FAN_PIN)
   #error "ORIG_CHAMBER_AUTO_FAN_PIN is now just CHAMBER_AUTO_FAN_PIN. Make sure your pins are up to date."
+#elif defined(HOMING_BACKOFF_MM)
+  #error "HOMING_BACKOFF_MM is now HOMING_BACKOFF_POST_MM. Please update Configuration_adv.h."
+#elif defined(X_HOME_BUMP_MM) || defined(Y_HOME_BUMP_MM) || defined(Z_HOME_BUMP_MM)
+  #error "[XYZ]_HOME_BUMP_MM is now HOMING_BUMP_MM. Please update Configuration_adv.h."
 #endif
 
 /**

Marlin/src/module/delta.cpp

@@ -280,8 +280,8 @@ void home_delta() {
 
   sync_plan_position();
 
-  #if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_MM)
-    constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_MM;
+  #if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_POST_MM)
+    constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM;
     if (endstop_backoff.z) {
       current_position.z -= ABS(endstop_backoff.z) * Z_HOME_DIR;
       line_to_current_position(homing_feedrate(Z_AXIS));

Marlin/src/module/motion.cpp

@@ -74,15 +74,6 @@
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../core/debug_out.h"
 
-#define XYZ_CONSTS(T, NAME, OPT) const PROGMEM XYZval<T> NAME##_P = { X_##OPT, Y_##OPT, Z_##OPT }
-
-XYZ_CONSTS(float, base_min_pos,   MIN_POS);
-XYZ_CONSTS(float, base_max_pos,   MAX_POS);
-XYZ_CONSTS(float, base_home_pos,  HOME_POS);
-XYZ_CONSTS(float, max_length,     MAX_LENGTH);
-XYZ_CONSTS(float, home_bump_mm,   HOME_BUMP_MM);
-XYZ_CONSTS(signed char, home_dir, HOME_DIR);
-
 /**
  * axis_homed
  *   Flags that each linear axis was homed.
@@ -1567,14 +1558,13 @@ void homeaxis(const AxisEnum axis) {
     if (axis == Z_AXIS && bltouch.deploy()) return; // The initial DEPLOY
   #endif
 
-  do_homing_move(axis, 1.5f * max_length(
-    #if ENABLED(DELTA)
-      Z_AXIS
-    #else
-      axis
+  #if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM)
+    const xy_float_t backoff = SENSORLESS_BACKOFF_MM;
+    if (((ENABLED(X_SENSORLESS) && axis == X_AXIS) || (ENABLED(Y_SENSORLESS) && axis == Y_AXIS)) && backoff[axis])
+      do_homing_move(axis, -ABS(backoff[axis]) * axis_home_dir, homing_feedrate(axis));
   #endif
-    ) * axis_home_dir
-  );
+
+  do_homing_move(axis, 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir);
 
   #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
     if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
@@ -1583,14 +1573,14 @@ void homeaxis(const AxisEnum axis) {
   // When homing Z with probe respect probe clearance
   const float bump = axis_home_dir * (
     #if HOMING_Z_WITH_PROBE
-      (axis == Z_AXIS && (Z_HOME_BUMP_MM)) ? _MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_HOME_BUMP_MM) :
+      (axis == Z_AXIS && home_bump_mm(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
+    // Move away from the endstop by the axis HOMING_BUMP_MM
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move Away:");
     do_homing_move(axis, -bump
       #if HOMING_Z_WITH_PROBE
@@ -1785,8 +1775,8 @@ void homeaxis(const AxisEnum axis) {
     if (axis == Z_AXIS && probe.stow()) return;
   #endif
 
-  #if DISABLED(DELTA) && defined(HOMING_BACKOFF_MM)
-    const xyz_float_t endstop_backoff = HOMING_BACKOFF_MM;
+  #if DISABLED(DELTA) && defined(HOMING_BACKOFF_POST_MM)
+    const xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM;
     if (endstop_backoff[axis]) {
       current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir;
       line_to_current_position(

Marlin/src/module/motion.h

@@ -114,20 +114,25 @@ extern int16_t feedrate_percentage;
   extern float e_move_accumulator;
 #endif
 
-FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); }
-FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
+inline float pgm_read_any(const float *p) { return pgm_read_float(p); }
+inline signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
 
 #define XYZ_DEFS(T, NAME, OPT) \
-  extern const XYZval<T> NAME##_P; \
-  FORCE_INLINE T NAME(AxisEnum axis) { return pgm_read_any(&NAME##_P[axis]); }
-
+  inline T NAME(const AxisEnum axis) { \
+    static const XYZval<T> NAME##_P PROGMEM = { X_##OPT, Y_##OPT, Z_##OPT }; \
+    return pgm_read_any(&NAME##_P[axis]); \
+  }
 XYZ_DEFS(float, base_min_pos,   MIN_POS);
 XYZ_DEFS(float, base_max_pos,   MAX_POS);
 XYZ_DEFS(float, base_home_pos,  HOME_POS);
 XYZ_DEFS(float, max_length,     MAX_LENGTH);
-XYZ_DEFS(float, home_bump_mm,   HOME_BUMP_MM);
 XYZ_DEFS(signed char, home_dir, HOME_DIR);
 
+inline float home_bump_mm(const AxisEnum axis) {
+  static const xyz_pos_t home_bump_mm_P PROGMEM = HOMING_BUMP_MM;
+  return pgm_read_any(&home_bump_mm_P[axis]);
+}
+
 #if HAS_WORKSPACE_OFFSET
   void update_workspace_offset(const AxisEnum axis);
 #else

buildroot/share/tests/SAMD51_grandcentral_m4-tests

@@ -22,9 +22,7 @@ opt_set E0_DRIVER_TYPE TMC2209
 opt_set RESTORE_LEVELING_AFTER_G28 false
 opt_set LCD_LANGUAGE it
 opt_set NUM_Z_STEPPER_DRIVERS 2
-opt_set X_HOME_BUMP_MM 0
-opt_set Y_HOME_BUMP_MM 0
-opt_set Z_HOME_BUMP_MM 0
+opt_set HOMING_BUMP_MM "{ 0, 0, 0 }"
 opt_set SDCARD_CONNECTION LCD
 opt_enable ENDSTOP_INTERRUPTS_FEATURE S_CURVE_ACCELERATION BLTOUCH Z_MIN_PROBE_REPEATABILITY_TEST \
            FILAMENT_RUNOUT_SENSOR G26_MESH_VALIDATION MESH_EDIT_GFX_OVERLAY Z_SAFE_HOMING \

buildroot/share/tests/mega1280-tests

@@ -18,6 +18,7 @@ set -e
 restore_configs
 opt_set LCD_LANGUAGE an
 opt_enable SPINDLE_FEATURE ULTIMAKERCONTROLLER LCD_BED_LEVELING \
+           SENSORLESS_BACKOFF_MM HOMING_BACKOFF_POST_MM HOME_Y_BEFORE_X CODEPENDENT_XY_HOMING \
            MESH_BED_LEVELING ENABLE_LEVELING_FADE_HEIGHT MESH_G28_REST_ORIGIN \
            G26_MESH_VALIDATION MESH_EDIT_MENU GCODE_QUOTED_STRINGS
 exec_test $1 $2 "Spindle, MESH_BED_LEVELING, and LCD"