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Homing fixes

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- 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 2015-04-11 20:06:48 -07:00
parent b089eb42eb
commit ac2b23f574
1 changed files with 87 additions and 72 deletions
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159
Marlin/Marlin_main.cpp
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@ -850,6 +850,11 @@ void get_command()
} }
float code_has_value() {
char c = *(strchr_pointer + 1);
return (c >= '0' && c <= '9') || c == '-' || c == '+' || c == '.';
}
float code_value() { float code_value() {
float ret; float ret;
char *e = strchr(strchr_pointer, 'E'); char *e = strchr(strchr_pointer, 'E');
@ -1814,21 +1819,24 @@ inline void gcode_G28() {
home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ); home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ);
#if Z_HOME_DIR > 0 // If homing away from BED do Z first if (home_all_axis || homeZ) {
if (home_all_axis || homeZ) HOMEAXIS(Z); #if Z_HOME_DIR > 0 // If homing away from BED do Z first
#elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0 HOMEAXIS(Z);
// Raise Z before homing any other axes #elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
if (home_all_axis || homeZ) {
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed // Raise Z before homing any other axes
// (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?)
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
feedrate = max_feedrate[Z_AXIS] * 60; feedrate = max_feedrate[Z_AXIS] * 60;
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
}
#endif #endif
} // home_all_axis || homeZ
#ifdef QUICK_HOME #ifdef QUICK_HOME
@ -1897,97 +1905,104 @@ inline void gcode_G28() {
if (home_all_axis || homeY) HOMEAXIS(Y); if (home_all_axis || homeY) HOMEAXIS(Y);
// Set the X position, if included // Set the X position, if included
// Adds the home_offset as well, which may be wrong if (code_seen(axis_codes[X_AXIS]) && code_has_value())
if (code_seen(axis_codes[X_AXIS])) { current_position[X_AXIS] = code_value();
float v = code_value();
if (v) current_position[X_AXIS] = v
#ifndef SCARA
+ home_offset[X_AXIS]
#endif
;
}
// Set the Y position, if included // Set the Y position, if included
// Adds the home_offset as well, which may be wrong if (code_seen(axis_codes[Y_AXIS]) && code_has_value())
if (code_seen(axis_codes[Y_AXIS])) { current_position[Y_AXIS] = code_value();
float v = code_value();
if (v) current_position[Y_AXIS] = v
#ifndef SCARA
+ home_offset[Y_AXIS]
#endif
;
}
// Home Z last if homing towards the bed // Home Z last if homing towards the bed
#if Z_HOME_DIR < 0 #if Z_HOME_DIR < 0
#ifndef Z_SAFE_HOMING if (home_all_axis || homeZ) {
if (home_all_axis || homeZ) HOMEAXIS(Z); #ifdef Z_SAFE_HOMING
#else // Z_SAFE_HOMING if (home_all_axis) {
if (home_all_axis) { current_position[Z_AXIS] = 0;
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER); sync_plan_position();
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED;
current_position[Z_AXIS] = 0;
sync_plan_position(); //
line_to_destination(); // Set the probe (or just the nozzle) destination to the safe homing point
st_synchronize(); //
current_position[X_AXIS] = destination[X_AXIS]; // NOTE: If current_position[X_AXIS] or current_position[Y_AXIS] were set above
current_position[Y_AXIS] = destination[Y_AXIS]; // then this may not work as expected.
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED;
// This could potentially move X, Y, Z all together
line_to_destination();
st_synchronize();
HOMEAXIS(Z); // Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
} current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
// Let's see if X and Y are homed and probe is inside bed area. // Home the Z axis
if (homeZ) { HOMEAXIS(Z);
}
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) { else if (homeZ) { // Don't need to Home Z twice
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS]; // Let's see if X and Y are homed
if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
&& cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER // Make sure the probe is within the physical limits
&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) { // NOTE: This doesn't necessarily ensure the probe is also within the bed!
current_position[Z_AXIS] = 0; float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
plan_set_position(cpx, cpy, 0, current_position[E_AXIS]); if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed && cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
feedrate = max_feedrate[Z_AXIS] * 60; // max_feedrate is in mm/s. line_to_destination is feedrate/60. && cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
line_to_destination(); && cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
st_synchronize(); // Set the plan current position to X, Y, 0
HOMEAXIS(Z); current_position[Z_AXIS] = 0;
} plan_set_position(cpx, cpy, 0, current_position[E_AXIS]); // = sync_plan_position
else {
// Set Z destination away from bed and raise the axis
// NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...???
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
feedrate = max_feedrate[Z_AXIS] * 60; // feedrate (mm/m) = max_feedrate (mm/s)
line_to_destination();
st_synchronize();
// Home the Z axis
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT); LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
}
else {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
} }
}
else {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
}
}
#endif // Z_SAFE_HOMING } // !home_all_axes && homeZ
#else // !Z_SAFE_HOMING
HOMEAXIS(Z);
#endif // !Z_SAFE_HOMING
} // home_all_axis || homeZ
#endif // Z_HOME_DIR < 0 #endif // Z_HOME_DIR < 0
// Set the Z position, if included // Set the Z position, if included
// Adds the home_offset as well, which may be wrong if (code_seen(axis_codes[Z_AXIS]) && code_has_value())
if (code_seen(axis_codes[Z_AXIS])) { current_position[Z_AXIS] = code_value();
float v = code_value();
if (v) current_position[Z_AXIS] = v + home_offset[Z_AXIS];
}
#if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0) #if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset; // Add Z_Probe offset (the distance is negative) if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset; // Add Z_Probe offset (the distance is negative)
#endif #endif
sync_plan_position(); sync_plan_position();
#endif // else DELTA #endif // else DELTA