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🧑‍💻 Clarify G28 R / R0

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This commit is contained in:
Scott Lahteine 2023-04-11 18:43:18 -05:00
parent f53217b2c5
commit 8c0ae93d2a
1 changed files with 29 additions and 6 deletions
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35
Marlin/src/gcode/calibrate/G28.cpp
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@ -408,17 +408,40 @@ void GcodeSuite::G28() {
#endif
#endif
// Z may home first, e.g., when homing away from the bed
TERN_(HOME_Z_FIRST, if (doZ) homeaxis(Z_AXIS));
// 'R' to specify a specific raise. 'R0' indicates no raise, e.g., for recovery.resume
// When 'R0' is used, there should already be adequate clearance, e.g., from homing Z to max.
const bool seenR = parser.seenval('R');
const float z_homing_height = seenR ? parser.value_linear_units() : Z_HOMING_HEIGHT;
if (z_homing_height && (seenR || NUM_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK, || doU, || doV, || doW))) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z (before homing) by ", z_homing_height);
do_z_clearance(z_homing_height);
TERN_(BLTOUCH, bltouch.init());
// Use raise given by 'R' or Z_HOMING_HEIGHT (above the probe trigger point)
float z_homing_height = seenR ? parser.value_linear_units() : Z_HOMING_HEIGHT;
// Check for any lateral motion that might require clearance
const bool may_skate = seenR || NUM_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK, || doU, || doV, || doW);
if (seenR && z_homing_height == 0) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("R0 = No Z raise");
}
else {
bool with_probe = ENABLED(HOMING_Z_WITH_PROBE);
// Raise above the current Z (which should be synced in the planner)
// The "height" for Z is a coordinate. But if Z is not trusted/homed make it relative.
if (seenR || !TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(Z_AXIS)) {
z_homing_height += current_position.z;
with_probe = false;
}
if (may_skate) {
// Apply Z clearance before doing any lateral motion
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z before homing:");
do_z_clearance(z_homing_height, with_probe);
}
}
// Init BLTouch ahead of any lateral motion, even if not homing with the probe
TERN_(BLTOUCH, if (may_skate) bltouch.init());
// Diagonal move first if both are homing
TERN_(QUICK_HOME, if (doX && doY) quick_home_xy());