diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 2c87bbd7fcb631ee9af6e6ef1411e6a6e4b1c319..07439309d46d817ccec4ca6a2bee0ed2823428c3 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1109,7 +1109,7 @@ inline void sync_plan_position() {
destination[Z_AXIS] = -10;
prepare_move_raw();
st_synchronize();
- endstops_hit_on_purpose();
+ endstops_hit_on_purpose(); // clear endstop hit flags
// we have to let the planner know where we are right now as it is not where we said to go.
long stop_steps = st_get_position(Z_AXIS);
@@ -1135,7 +1135,7 @@ inline void sync_plan_position() {
zPosition += home_retract_mm(Z_AXIS);
line_to_z(zPosition);
st_synchronize();
- endstops_hit_on_purpose();
+ endstops_hit_on_purpose(); // clear endstop hit flags
// move back down slowly to find bed
if (homing_bump_divisor[Z_AXIS] >= 1)
@@ -1148,7 +1148,7 @@ inline void sync_plan_position() {
zPosition -= home_retract_mm(Z_AXIS) * 2;
line_to_z(zPosition);
st_synchronize();
- endstops_hit_on_purpose();
+ endstops_hit_on_purpose(); // clear endstop hit flags
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
// make sure the planner knows where we are as it may be a bit different than we last said to move to
@@ -1435,13 +1435,17 @@ inline void sync_plan_position() {
#endif // ENABLE_AUTO_BED_LEVELING
+/**
+ * Home an individual axis
+ */
+
+#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
+
static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
- if (axis == X_AXIS ? HOMEAXIS_DO(X) :
- axis == Y_AXIS ? HOMEAXIS_DO(Y) :
- axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
+ if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
int axis_home_dir;
@@ -1451,108 +1455,112 @@ static void homeaxis(int axis) {
axis_home_dir = home_dir(axis);
#endif
+ // Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
- #ifndef Z_PROBE_SLED
- // Engage Servo endstop if enabled
- #ifdef SERVO_ENDSTOPS
- #if SERVO_LEVELING
- if (axis == Z_AXIS) {
- engage_z_probe();
- }
- else
- #endif // SERVO_LEVELING
-
- if (servo_endstops[axis] > -1)
- servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+ // Engage Servo endstop if enabled
+ #ifdef SERVO_ENDSTOPS && !defined(Z_PROBE_SLED)
- #endif // SERVO_ENDSTOPS
+ #if SERVO_LEVELING
+ if (axis == Z_AXIS) engage_z_probe(); else
+ #endif
+ {
+ if (servo_endstops[axis] > -1)
+ servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+ }
- #endif // Z_PROBE_SLED
+ #endif // SERVO_ENDSTOPS && !Z_PROBE_SLED
#ifdef Z_DUAL_ENDSTOPS
if (axis == Z_AXIS) In_Homing_Process(true);
#endif
+ // Move towards the endstop until an endstop is triggered
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
line_to_destination();
st_synchronize();
+ // Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
+
+ // Move away from the endstop by the axis HOME_RETRACT_MM
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
line_to_destination();
st_synchronize();
- destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
-
+ // Slow down the feedrate for the next move
if (homing_bump_divisor[axis] >= 1)
feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
else {
feedrate = homing_feedrate[axis] / 10;
- SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
+ SERIAL_ECHOLNPGM("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
}
+ // Move slowly towards the endstop until triggered
+ destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
line_to_destination();
st_synchronize();
+
#ifdef Z_DUAL_ENDSTOPS
- if (axis==Z_AXIS)
- {
- feedrate = homing_feedrate[axis];
- sync_plan_position();
- if (axis_home_dir > 0)
- {
- destination[axis] = (-1) * fabs(z_endstop_adj);
- if (z_endstop_adj > 0) Lock_z_motor(true); else Lock_z2_motor(true);
- } else {
- destination[axis] = fabs(z_endstop_adj);
- if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
+ if (axis == Z_AXIS) {
+ float adj = fabs(z_endstop_adj);
+ bool lockZ1;
+ if (axis_home_dir > 0) {
+ adj = -adj;
+ lockZ1 = (z_endstop_adj > 0);
}
+ else
+ lockZ1 = (z_endstop_adj < 0);
+
+ if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
+ sync_plan_position();
+
+ // Move to the adjusted endstop height
+ feedrate = homing_feedrate[axis];
+ destination[Z_AXIS] = adj;
line_to_destination();
st_synchronize();
- Lock_z_motor(false);
- Lock_z2_motor(false);
+
+ if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
In_Homing_Process(false);
+ } // Z_AXIS
+ #endif
+
+ #ifdef DELTA
+ // retrace by the amount specified in endstop_adj
+ if (endstop_adj[axis] * axis_home_dir < 0) {
+ sync_plan_position();
+ destination[axis] = endstop_adj[axis];
+ line_to_destination();
+ st_synchronize();
}
#endif
-#ifdef DELTA
- // retrace by the amount specified in endstop_adj
- if (endstop_adj[axis] * axis_home_dir < 0) {
- sync_plan_position();
- destination[axis] = endstop_adj[axis];
- line_to_destination();
- st_synchronize();
- }
-#endif
+ // Set the axis position to its home position (plus home offsets)
axis_is_at_home(axis);
+
destination[axis] = current_position[axis];
feedrate = 0.0;
- endstops_hit_on_purpose();
+ endstops_hit_on_purpose(); // clear endstop hit flags
axis_known_position[axis] = true;
// Retract Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
- if (servo_endstops[axis] > -1) {
+ if (servo_endstops[axis] > -1)
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
- }
#endif
-#if SERVO_LEVELING
- #ifndef Z_PROBE_SLED
- if (axis==Z_AXIS) retract_z_probe();
- #endif
-#endif
+
+ #if SERVO_LEVELING && !defined(Z_PROBE_SLED)
+ if (axis == Z_AXIS) retract_z_probe();
+ #endif
}
}
-#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
-void refresh_cmd_timeout(void)
-{
- previous_millis_cmd = millis();
-}
+void refresh_cmd_timeout(void) { previous_millis_cmd = millis(); }
#ifdef FWRETRACT
@@ -1780,7 +1788,7 @@ inline void gcode_G28() {
feedrate = 1.732 * homing_feedrate[X_AXIS];
line_to_destination();
st_synchronize();
- endstops_hit_on_purpose();
+ endstops_hit_on_purpose(); // clear endstop hit flags
// Destination reached
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
@@ -1798,7 +1806,7 @@ inline void gcode_G28() {
homeY = code_seen(axis_codes[Y_AXIS]),
homeZ = code_seen(axis_codes[Z_AXIS]);
- home_all_axis = !homeX && !homeY && !homeZ; // No parameters means home all axes
+ home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ);
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
@@ -1849,7 +1857,7 @@ inline void gcode_G28() {
line_to_destination();
feedrate = 0.0;
st_synchronize();
- endstops_hit_on_purpose();
+ endstops_hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
@@ -1857,6 +1865,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = destination[Z_AXIS];
#endif
}
+
#endif // QUICK_HOME
// Home X
@@ -2005,7 +2014,7 @@ inline void gcode_G28() {
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
- endstops_hit_on_purpose();
+ endstops_hit_on_purpose(); // clear endstop hit flags
}
#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)