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Document, adjust some homing code
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@thinkyhead
thinkyhead committed Jan 2, 2021
1 parent 5b33afb commit a87e519
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Showing 3 changed files with 45 additions and 33 deletions.
4 changes: 2 additions & 2 deletions Marlin/src/feature/z_stepper_align.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ void ZStepperAlign::reset_to_default() {
"Z_STEPPER_ALIGN_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.")
VALIDATE_ALIGN_POINT(0); VALIDATE_ALIGN_POINT(1); VALIDATE_ALIGN_POINT(2); VALIDATE_ALIGN_POINT(3);

#else // !defined(Z_STEPPER_ALIGN_XY)
#else // !Z_STEPPER_ALIGN_XY

const xy_pos_t xy_init[] = {
#if NUM_Z_STEPPER_DRIVERS >= 3 // First probe point...
Expand Down Expand Up @@ -99,7 +99,7 @@ void ZStepperAlign::reset_to_default() {
#endif
};

#endif // !defined(Z_STEPPER_ALIGN_XY)
#endif // !Z_STEPPER_ALIGN_XY

COPY(xy, xy_init);

Expand Down
64 changes: 38 additions & 26 deletions Marlin/src/module/motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1293,23 +1293,17 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0) {
DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING));

const feedRate_t real_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
const feedRate_t home_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);

if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("...(", axis_codes[axis], ", ", distance, ", ");
if (fr_mm_s)
DEBUG_ECHO(fr_mm_s);
else
DEBUG_ECHOPAIR("[", real_fr_mm_s, "]");
DEBUG_ECHOPAIR("[", home_fr_mm_s, "]");
DEBUG_ECHOLNPGM(")");
}

#if ALL(HOMING_Z_WITH_PROBE, HAS_HEATED_BED, WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
if (axis == Z_AXIS && distance < 0)
thermalManager.wait_for_bed_heating();
#endif

// Only do some things when moving towards an endstop
const int8_t axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS)
? x_home_dir(active_extruder) : home_dir(axis);
Expand All @@ -1321,9 +1315,14 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t

if (is_home_dir) {

#if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING
if (axis == Z_AXIS) probe.set_probing_paused(true);
#endif
if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS)) {
#if ALL(HAS_HEATED_BED, WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
thermalManager.wait_for_bed_heating();
#endif

TERN_(HAS_QUIET_PROBING, probe.set_probing_paused(true));
}

// Disable stealthChop if used. Enable diag1 pin on driver.
TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis));
Expand All @@ -1334,7 +1333,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
current_position[axis] = 0;
sync_plan_position();
current_position[axis] = distance;
line_to_current_position(real_fr_mm_s);
line_to_current_position(home_fr_mm_s);
#else
// Get the ABC or XYZ positions in mm
abce_pos_t target = planner.get_axis_positions_mm();
Expand All @@ -1352,7 +1351,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
#if HAS_DIST_MM_ARG
, cart_dist_mm
#endif
, real_fr_mm_s, active_extruder
, home_fr_mm_s, active_extruder
);
#endif

Expand Down Expand Up @@ -1571,7 +1570,9 @@ void homeaxis(const AxisEnum axis) {
const int axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS)
? x_home_dir(active_extruder) : home_dir(axis);

// Homing Z towards the bed? Deploy the Z probe or endstop.
//
// Homing Z with a probe? Raise Z (maybe) and deploy the Z probe.
//
if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && probe.deploy()))
return;

Expand All @@ -1586,23 +1587,34 @@ void homeaxis(const AxisEnum axis) {
}
#endif

// Fast move towards endstop until triggered
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 1 Fast:");

//
// Deploy BLTouch or tare the probe just before probing
//
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS) {
if (TERN0(BLTOUCH, bltouch.deploy())) return;
if (TERN0(BLTOUCH, bltouch.deploy())) return; // BLTouch was deployed above, but get the alarm state.
if (TERN0(PROBE_TARE, probe.tare())) return;
}
#endif

//
// Back away to prevent an early X/Y sensorless trigger
//
#if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM)
const xy_float_t backoff = SENSORLESS_BACKOFF_MM;
if (((ENABLED(X_SENSORLESS) && axis == X_AXIS) || (ENABLED(Y_SENSORLESS) && axis == Y_AXIS)) && backoff[axis])
do_homing_move(axis, -ABS(backoff[axis]) * axis_home_dir, homing_feedrate(axis));
if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS)) && backoff[axis]) {
const float backoff_length = -ABS(backoff[axis]) * axis_home_dir;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Sensorless backoff: ", backoff_length, "mm");
do_homing_move(axis, backoff_length, homing_feedrate(axis));
}
#endif

do_homing_move(axis, 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir);
//
// Fast move towards endstop until triggered
//
const float move_length = 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Home Fast: ", move_length, "mm");
do_homing_move(axis, move_length);

#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
Expand All @@ -1617,7 +1629,7 @@ void homeaxis(const AxisEnum axis) {
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOMING_BUMP_MM
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move Away:");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Move Away: ", -bump, "mm");
do_homing_move(axis, -bump
#if HOMING_Z_WITH_PROBE
, MMM_TO_MMS(axis == Z_AXIS ? Z_PROBE_SPEED_FAST : 0)
Expand All @@ -1639,14 +1651,14 @@ void homeaxis(const AxisEnum axis) {
}
#endif

// Slow move towards endstop until triggered
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 2 Slow:");

#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE)
#endif

do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
// Slow move towards endstop until triggered
const float rebump = bump * 2;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Re-bump: ", rebump, "mm");
do_homing_move(axis, rebump, get_homing_bump_feedrate(axis));

#if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH)
if (axis == Z_AXIS) bltouch.stow(); // The final STOW
Expand Down
10 changes: 5 additions & 5 deletions Marlin/src/module/probe.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -373,19 +373,19 @@ bool Probe::set_deployed(const bool deploy) {
// Fix-mounted probe should only raise for deploy
// unless PAUSE_BEFORE_DEPLOY_STOW is enabled
#if EITHER(FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE) && DISABLED(PAUSE_BEFORE_DEPLOY_STOW)
const bool deploy_stow_condition = deploy;
const bool z_raise_wanted = deploy;
#else
constexpr bool deploy_stow_condition = true;
constexpr bool z_raise_wanted = true;
#endif

// For beds that fall when Z is powered off only raise for trusted Z
#if ENABLED(UNKNOWN_Z_NO_RAISE)
const bool unknown_condition = axis_is_trusted(Z_AXIS);
const bool z_is_trusted = axis_is_trusted(Z_AXIS);
#else
constexpr float unknown_condition = true;
constexpr float z_is_trusted = true;
#endif

if (deploy_stow_condition && unknown_condition)
if (z_is_trusted && z_raise_wanted)
do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));

#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
Expand Down

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