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🐛 Fix homing when FT Motion exists
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@thinkyhead
thinkyhead committed Jun 15, 2024
1 parent a1dc285 commit 0689251
Showing 1 changed file with 126 additions and 47 deletions.
173 changes: 126 additions & 47 deletions Marlin/src/module/endstops.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -786,7 +786,6 @@ void Endstops::update() {
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
#endif


#if ENABLED(G38_PROBE_TARGET)
// For G38 moves check the probe's pin for ALL movement
if (G38_move && TEST_ENDSTOP(Z_MIN_PROBE) == TERN1(G38_PROBE_AWAY, (G38_move < 4))) {
Expand All @@ -801,17 +800,20 @@ void Endstops::update() {
// Signal, after validation, if an endstop limit is pressed or not

#if HAS_X_AXIS
#if ENABLED(FT_MOTION)
const bool x_moving_pos = ftMotion.axis_moving_pos(X_AXIS_HEAD),
x_moving_neg = ftMotion.axis_moving_neg(X_AXIS_HEAD);
#define X_MOVE_TEST x_moving_pos || x_moving_neg
#define X_NEG_DIR_TEST x_moving_neg
#else
#define X_MOVE_TEST stepper.axis_is_moving(X_AXIS)
#define X_NEG_DIR_TEST !stepper.motor_direction(X_AXIS_HEAD)
#endif
if (X_MOVE_TEST) {
if (X_NEG_DIR_TEST) { // -direction
bool x_moving, x_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool x_moving_pos = ftMotion.axis_moving_pos(X_AXIS_HEAD);
x_moving_neg = ftMotion.axis_moving_neg(X_AXIS_HEAD);
x_moving = x_moving_pos || x_moving_neg;
#endif
}
else {
x_moving = stepper.axis_is_moving(X_AXIS);
x_moving_neg = !stepper.motor_direction(X_AXIS_HEAD);
}
if (x_moving) {
if (x_moving_neg) { // -direction
#if HAS_X_MIN_STATE
PROCESS_ENDSTOP_X(MIN);
#if CORE_DIAG(XY, Y, MIN)
Expand Down Expand Up @@ -843,17 +845,20 @@ void Endstops::update() {
#endif // HAS_X_AXIS

#if HAS_Y_AXIS
#if ENABLED(FT_MOTION)
const bool y_moving_pos = ftMotion.axis_moving_pos(Y_AXIS_HEAD),
y_moving_neg = ftMotion.axis_moving_neg(Y_AXIS_HEAD);
#define Y_MOVE_TEST y_moving_pos || y_moving_neg
#define Y_NEG_DIR_TEST y_moving_neg
#else
#define Y_MOVE_TEST stepper.axis_is_moving(Y_AXIS)
#define Y_NEG_DIR_TEST !stepper.motor_direction(Y_AXIS_HEAD)
#endif
if (Y_MOVE_TEST) {
if (Y_NEG_DIR_TEST) { // -direction
bool y_moving, y_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool y_moving_pos = ftMotion.axis_moving_pos(Y_AXIS_HEAD);
y_moving_neg = ftMotion.axis_moving_neg(Y_AXIS_HEAD);
y_moving = y_moving_pos || y_moving_neg;
#endif
}
else {
y_moving = stepper.axis_is_moving(Y_AXIS);
y_moving_neg = !stepper.motor_direction(Y_AXIS_HEAD);
}
if (y_moving) {
if (y_moving_neg) { // -direction
#if HAS_Y_MIN_STATE
PROCESS_ENDSTOP_Y(MIN);
#if CORE_DIAG(XY, X, MIN)
Expand Down Expand Up @@ -885,17 +890,20 @@ void Endstops::update() {
#endif // HAS_Y_AXIS

#if HAS_Z_AXIS
#if ENABLED(FT_MOTION)
const bool z_moving_pos = ftMotion.axis_moving_pos(Z_AXIS_HEAD),
z_moving_neg = ftMotion.axis_moving_neg(Z_AXIS_HEAD);
#define Z_MOVE_TEST z_moving_pos || z_moving_neg
#define Z_NEG_DIR_TEST z_moving_neg
#else
#define Z_MOVE_TEST stepper.axis_is_moving(Z_AXIS)
#define Z_NEG_DIR_TEST !stepper.motor_direction(Z_AXIS_HEAD)
#endif
if (Z_MOVE_TEST) {
if (Z_NEG_DIR_TEST) { // Z -direction. Gantry down, bed up.
bool z_moving, z_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool z_moving_pos = ftMotion.axis_moving_pos(Z_AXIS_HEAD);
z_moving_neg = ftMotion.axis_moving_neg(Z_AXIS_HEAD);
z_moving = z_moving_pos || z_moving_neg;
#endif
}
else {
z_moving = stepper.axis_is_moving(Z_AXIS);
z_moving_neg = !stepper.motor_direction(Z_AXIS_HEAD);
}
if (z_moving) {
if (z_moving_neg) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN_STATE
// If the Z_MIN_PIN is being used for the probe there's no
// separate Z_MIN endstop. But a Z endstop could be wired
Expand Down Expand Up @@ -939,9 +947,20 @@ void Endstops::update() {
#endif // HAS_Z_AXIS

#if HAS_I_AXIS
// TODO: FT_Motion logic.
if (stepper.axis_is_moving(I_AXIS)) {
if (!stepper.motor_direction(I_AXIS_HEAD)) { // -direction
bool i_moving, i_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool i_moving_pos = ftMotion.axis_moving_pos(I_AXIS_HEAD);
i_moving_neg = ftMotion.axis_moving_neg(I_AXIS_HEAD);
i_moving = i_moving_pos || i_moving_neg;
#endif
}
else {
i_moving = stepper.axis_is_moving(I_AXIS);
i_moving_neg = !stepper.motor_direction(I_AXIS_HEAD);
}
if (i_moving) {
if (i_moving_neg) { // -direction
#if HAS_I_MIN_STATE
PROCESS_ENDSTOP(I, MIN);
#endif
Expand All @@ -955,8 +974,20 @@ void Endstops::update() {
#endif // HAS_I_AXIS

#if HAS_J_AXIS
if (stepper.axis_is_moving(J_AXIS)) {
if (!stepper.motor_direction(J_AXIS_HEAD)) { // -direction
bool j_moving, j_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool j_moving_pos = ftMotion.axis_moving_pos(J_AXIS_HEAD);
j_moving_neg = ftMotion.axis_moving_neg(J_AXIS_HEAD);
j_moving = j_moving_pos || j_moving_neg;
#endif
}
else {
j_moving = stepper.axis_is_moving(J_AXIS);
j_moving_neg = !stepper.motor_direction(J_AXIS_HEAD);
}
if (j_moving) {
if (j_moving_neg) { // -direction
#if HAS_J_MIN_STATE
PROCESS_ENDSTOP(J, MIN);
#endif
Expand All @@ -970,8 +1001,20 @@ void Endstops::update() {
#endif // HAS_J_AXIS

#if HAS_K_AXIS
if (stepper.axis_is_moving(K_AXIS)) {
if (!stepper.motor_direction(K_AXIS_HEAD)) { // -direction
bool k_moving, k_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool k_moving_pos = ftMotion.axis_moving_pos(K_AXIS_HEAD);
k_moving_neg = ftMotion.axis_moving_neg(K_AXIS_HEAD);
k_moving = k_moving_pos || k_moving_neg;
#endif
}
else {
k_moving = stepper.axis_is_moving(K_AXIS);
k_moving_neg = !stepper.motor_direction(K_AXIS_HEAD);
}
if (k_moving) {
if (k_moving_neg) { // -direction
#if HAS_K_MIN_STATE
PROCESS_ENDSTOP(K, MIN);
#endif
Expand All @@ -985,8 +1028,20 @@ void Endstops::update() {
#endif // HAS_K_AXIS

#if HAS_U_AXIS
if (stepper.axis_is_moving(U_AXIS)) {
if (!stepper.motor_direction(U_AXIS_HEAD)) { // -direction
bool u_moving, u_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool u_moving_pos = ftMotion.axis_moving_pos(U_AXIS_HEAD);
u_moving_neg = ftMotion.axis_moving_neg(U_AXIS_HEAD);
u_moving = u_moving_pos || u_moving_neg;
#endif
}
else {
u_moving = stepper.axis_is_moving(U_AXIS);
u_moving_neg = !stepper.motor_direction(U_AXIS_HEAD);
}
if (u_moving) {
if (u_moving_neg) { // -direction
#if HAS_U_MIN_STATE
PROCESS_ENDSTOP(U, MIN);
#endif
Expand All @@ -1000,8 +1055,20 @@ void Endstops::update() {
#endif // HAS_U_AXIS

#if HAS_V_AXIS
if (stepper.axis_is_moving(V_AXIS)) {
if (!stepper.motor_direction(V_AXIS_HEAD)) { // -direction
bool v_moving, v_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool v_moving_pos = ftMotion.axis_moving_pos(V_AXIS_HEAD);
v_moving_neg = ftMotion.axis_moving_neg(V_AXIS_HEAD);
v_moving = v_moving_pos || v_moving_neg;
#endif
}
else {
v_moving = stepper.axis_is_moving(V_AXIS);
v_moving_neg = !stepper.motor_direction(V_AXIS_HEAD);
}
if (v_moving) {
if (v_moving_neg) { // -direction
#if HAS_V_MIN_STATE
PROCESS_ENDSTOP(V, MIN);
#endif
Expand All @@ -1015,8 +1082,20 @@ void Endstops::update() {
#endif // HAS_V_AXIS

#if HAS_W_AXIS
if (stepper.axis_is_moving(W_AXIS)) {
if (!stepper.motor_direction(W_AXIS_HEAD)) { // -direction
bool w_moving, w_moving_neg;
if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
#if ENABLED(FT_MOTION)
const bool w_moving_pos = ftMotion.axis_moving_pos(W_AXIS_HEAD);
w_moving_neg = ftMotion.axis_moving_neg(W_AXIS_HEAD);
w_moving = w_moving_pos || w_moving_neg;
#endif
}
else {
w_moving = stepper.axis_is_moving(W_AXIS);
w_moving_neg = !stepper.motor_direction(W_AXIS_HEAD);
}
if (w_moving) {
if (w_moving_neg) { // -direction
#if HAS_W_MIN_STATE
PROCESS_ENDSTOP(W, MIN);
#endif
Expand Down

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