Do a hard kill for failed homing moves (#11161)

This commit is contained in:
Scott Lahteine 2018-06-30 21:54:07 -05:00 committed by GitHub
parent 90ba77ea0f
commit c51e27d11d
Signed by: GitHub
GPG key ID: 4AEE18F83AFDEB23
8 changed files with 20 additions and 24 deletions

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@ -72,7 +72,9 @@
#endif #endif
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
endstops.hit_on_purpose(); // clear endstop hit flags
endstops.validate_homing_move();
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
#if ENABLED(SENSORLESS_HOMING) #if ENABLED(SENSORLESS_HOMING)

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@ -72,12 +72,10 @@ enum CalEnum : char { // the 7 main calibration points -
float lcd_probe_pt(const float &rx, const float &ry); float lcd_probe_pt(const float &rx, const float &ry);
bool ac_home() { void ac_home() {
endstops.enable(true); endstops.enable(true);
if (!home_delta()) home_delta();
return false;
endstops.not_homing(); endstops.not_homing();
return true;
} }
void ac_setup(const bool reset_bed) { void ac_setup(const bool reset_bed) {
@ -530,8 +528,7 @@ void GcodeSuite::G33() {
ac_setup(!_0p_calibration && !_1p_calibration); ac_setup(!_0p_calibration && !_1p_calibration);
if (!_0p_calibration) if (!_0p_calibration) ac_home();
if (!ac_home()) return;
do { // start iterations do { // start iterations
@ -724,7 +721,7 @@ void GcodeSuite::G33() {
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev)); sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
lcd_setstatus(mess); lcd_setstatus(mess);
} }
if (!ac_home()) return; ac_home();
} }
while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision); while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);

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@ -241,7 +241,7 @@ void forward_kinematics_DELTA(float z1, float z2, float z3) {
* A delta can only safely home all axes at the same time * A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers. * This is like quick_home_xy() but for 3 towers.
*/ */
bool home_delta() { void home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif #endif
@ -265,16 +265,7 @@ bool home_delta() {
delta_sensorless_homing(false); delta_sensorless_homing(false);
#endif #endif
// If an endstop was not hit, then damage can occur if homing is continued. endstops.validate_homing_move();
// This can occur if the delta height not set correctly.
if (!(endstops.trigger_state() & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
return false;
}
endstops.hit_on_purpose(); // clear endstop hit flags
// At least one carriage has reached the top. // At least one carriage has reached the top.
// Now re-home each carriage separately. // Now re-home each carriage separately.
@ -293,8 +284,6 @@ bool home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
#endif #endif
return true;
} }
#endif // DELTA #endif // DELTA

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@ -128,6 +128,6 @@ FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]); forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
} }
bool home_delta(); void home_delta();
#endif // __DELTA_H__ #endif // __DELTA_H__

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@ -256,6 +256,12 @@ void Endstops::not_homing() {
#endif #endif
} }
// If the last move failed to trigger an endstop, call kill
void Endstops::validate_homing_move() {
if (!trigger_state()) kill(PSTR(MSG_ERR_HOMING_FAILED));
hit_on_purpose();
}
// Enable / disable endstop z-probe checking // Enable / disable endstop z-probe checking
#if HAS_BED_PROBE #if HAS_BED_PROBE
void Endstops::enable_z_probe(const bool onoff) { void Endstops::enable_z_probe(const bool onoff) {

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@ -144,6 +144,9 @@ class Endstops {
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable // Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
static void not_homing(); static void not_homing();
// If the last move failed to trigger an endstop, call kill
static void validate_homing_move();
// Clear endstops (i.e., they were hit intentionally) to suppress the report // Clear endstops (i.e., they were hit intentionally) to suppress the report
FORCE_INLINE static void hit_on_purpose() { hit_state = 0; } FORCE_INLINE static void hit_on_purpose() { hit_state = 0; }

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@ -1163,7 +1163,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
#endif #endif
} }
endstops.hit_on_purpose(); endstops.validate_homing_move();
// Re-enable stealthChop if used. Disable diag1 pin on driver. // Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING) #if ENABLED(SENSORLESS_HOMING)

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@ -532,7 +532,6 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
if (probe_triggered && set_bltouch_deployed(false)) return true; if (probe_triggered && set_bltouch_deployed(false)) return true;
#endif #endif
// Clear endstop flags
endstops.hit_on_purpose(); endstops.hit_on_purpose();
// Get Z where the steppers were interrupted // Get Z where the steppers were interrupted