Homing fixes
- Prevent `Z_SAFE_HOMING` from homing Z twice in some cases - Allow `G28` with XYZ values of 0 to explicitly set the position - Don’t add `home_offset` when setting XYZ explicitly in `G28` - Add `code_has_value` function to check for the presence of a numeric value (could just test for space or nul to allow other types of values)
This commit is contained in:
Scott Lahteine
parent
b089eb42eb
commit
ac2b23f574
1 changed files with 87 additions and 72 deletions
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@ -850,6 +850,11 @@ void get_command()
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}
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float code_has_value() {
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char c = *(strchr_pointer + 1);
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return (c >= '0' && c <= '9') || c == '-' || c == '+' || c == '.';
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}
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float code_value() {
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float ret;
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char *e = strchr(strchr_pointer, 'E');
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@ -1814,21 +1819,24 @@ inline void gcode_G28() {
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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 (home_all_axis || homeZ) {
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if (home_all_axis || homeZ) HOMEAXIS(Z);
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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#elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
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HOMEAXIS(Z);
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// Raise Z before homing any other axes
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if (home_all_axis || homeZ) {
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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#elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
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// Raise Z before homing any other axes
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// (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?)
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
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feedrate = max_feedrate[Z_AXIS] * 60;
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line_to_destination();
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st_synchronize();
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}
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#endif
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#endif
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} // home_all_axis || homeZ
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#ifdef QUICK_HOME
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@ -1897,97 +1905,104 @@ inline void gcode_G28() {
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if (home_all_axis || homeY) HOMEAXIS(Y);
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// Set the X position, if included
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// Adds the home_offset as well, which may be wrong
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if (code_seen(axis_codes[X_AXIS])) {
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float v = code_value();
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if (v) current_position[X_AXIS] = v
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#ifndef SCARA
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+ home_offset[X_AXIS]
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#endif
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;
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}
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if (code_seen(axis_codes[X_AXIS]) && code_has_value())
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current_position[X_AXIS] = code_value();
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// Set the Y position, if included
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// Adds the home_offset as well, which may be wrong
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if (code_seen(axis_codes[Y_AXIS])) {
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float v = code_value();
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if (v) current_position[Y_AXIS] = v
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#ifndef SCARA
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+ home_offset[Y_AXIS]
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#endif
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;
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}
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if (code_seen(axis_codes[Y_AXIS]) && code_has_value())
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current_position[Y_AXIS] = code_value();
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// Home Z last if homing towards the bed
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#if Z_HOME_DIR < 0
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#ifndef Z_SAFE_HOMING
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if (home_all_axis || homeZ) {
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if (home_all_axis || homeZ) HOMEAXIS(Z);
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#ifdef Z_SAFE_HOMING
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#else // Z_SAFE_HOMING
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if (home_all_axis) {
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if (home_all_axis) {
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destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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feedrate = XY_TRAVEL_SPEED;
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current_position[Z_AXIS] = 0;
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current_position[Z_AXIS] = 0;
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sync_plan_position();
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sync_plan_position();
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line_to_destination();
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st_synchronize();
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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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//
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// Set the probe (or just the nozzle) destination to the safe homing point
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//
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// NOTE: If current_position[X_AXIS] or current_position[Y_AXIS] were set above
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// then this may not work as expected.
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destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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feedrate = XY_TRAVEL_SPEED;
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// This could potentially move X, Y, Z all together
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line_to_destination();
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st_synchronize();
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HOMEAXIS(Z);
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}
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// Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
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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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// Let's see if X and Y are homed and probe is inside bed area.
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if (homeZ) {
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// Home the Z axis
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HOMEAXIS(Z);
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}
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if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
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else if (homeZ) { // Don't need to Home Z twice
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float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
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if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
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&& cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
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&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
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&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
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current_position[Z_AXIS] = 0;
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plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS] * 60; // max_feedrate is in mm/s. line_to_destination is feedrate/60.
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line_to_destination();
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st_synchronize();
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HOMEAXIS(Z);
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}
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else {
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// Let's see if X and Y are homed
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if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
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// Make sure the probe is within the physical limits
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// NOTE: This doesn't necessarily ensure the probe is also within the bed!
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float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
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if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
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&& cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
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&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
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&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
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// Set the plan current position to X, Y, 0
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current_position[Z_AXIS] = 0;
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plan_set_position(cpx, cpy, 0, current_position[E_AXIS]); // = sync_plan_position
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// Set Z destination away from bed and raise the axis
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// NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...???
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destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
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feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
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line_to_destination();
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st_synchronize();
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// Home the Z axis
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HOMEAXIS(Z);
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}
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else {
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LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
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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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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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}
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}
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else {
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LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
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}
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}
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#endif // Z_SAFE_HOMING
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} // !home_all_axes && homeZ
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#else // !Z_SAFE_HOMING
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HOMEAXIS(Z);
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#endif // !Z_SAFE_HOMING
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} // home_all_axis || homeZ
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#endif // Z_HOME_DIR < 0
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// Set the Z position, if included
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// Adds the home_offset as well, which may be wrong
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if (code_seen(axis_codes[Z_AXIS])) {
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float v = code_value();
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if (v) current_position[Z_AXIS] = v + home_offset[Z_AXIS];
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}
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if (code_seen(axis_codes[Z_AXIS]) && code_has_value())
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current_position[Z_AXIS] = code_value();
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#if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
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if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset; // Add Z_Probe offset (the distance is negative)
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#endif
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sync_plan_position();
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#endif // else DELTA
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