From a87e5197cfb2f302c3eea9271b4c25c49df3ab6b Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 30 Dec 2020 19:13:47 -0600 Subject: [PATCH] Document, adjust some homing code --- Marlin/src/feature/z_stepper_align.cpp | 4 +- Marlin/src/module/motion.cpp | 64 +++++++++++++++----------- Marlin/src/module/probe.cpp | 10 ++-- 3 files changed, 45 insertions(+), 33 deletions(-) diff --git a/Marlin/src/feature/z_stepper_align.cpp b/Marlin/src/feature/z_stepper_align.cpp index 21fe54d0e666..1b4eb4474903 100644 --- a/Marlin/src/feature/z_stepper_align.cpp +++ b/Marlin/src/feature/z_stepper_align.cpp @@ -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... @@ -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); diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 9b6a0d913b0b..f2fdd7934dd5 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -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); @@ -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)); @@ -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(); @@ -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 @@ -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; @@ -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) @@ -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) @@ -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 diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 53c35d69f236..cc5c5e88152b 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -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)