From c51e27d11d9ff0b7ed0c50d4895db322659023d4 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Sat, 30 Jun 2018 21:54:07 -0500
Subject: [PATCH] Do a hard kill for failed homing moves (#11161)
---
Marlin/src/gcode/calibrate/G28.cpp | 4 +++-
Marlin/src/gcode/calibrate/G33.cpp | 11 ++++-------
Marlin/src/module/delta.cpp | 15 ++-------------
Marlin/src/module/delta.h | 2 +-
Marlin/src/module/endstops.cpp | 6 ++++++
Marlin/src/module/endstops.h | 3 +++
Marlin/src/module/motion.cpp | 2 +-
Marlin/src/module/probe.cpp | 1 -
8 files changed, 20 insertions(+), 24 deletions(-)
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 166f4651e3..26cf2b0974 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -72,7 +72,9 @@
#endif
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
- endstops.hit_on_purpose(); // clear endstop hit flags
+
+ endstops.validate_homing_move();
+
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
#if ENABLED(SENSORLESS_HOMING)
diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
index 959da32d51..3169fe6c83 100644
--- a/Marlin/src/gcode/calibrate/G33.cpp
+++ b/Marlin/src/gcode/calibrate/G33.cpp
@@ -72,12 +72,10 @@ enum CalEnum : char { // the 7 main calibration points -
float lcd_probe_pt(const float &rx, const float &ry);
-bool ac_home() {
+void ac_home() {
endstops.enable(true);
- if (!home_delta())
- return false;
+ home_delta();
endstops.not_homing();
- return true;
}
void ac_setup(const bool reset_bed) {
@@ -530,8 +528,7 @@ void GcodeSuite::G33() {
ac_setup(!_0p_calibration && !_1p_calibration);
- if (!_0p_calibration)
- if (!ac_home()) return;
+ if (!_0p_calibration) ac_home();
do { // start iterations
@@ -724,7 +721,7 @@ void GcodeSuite::G33() {
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
lcd_setstatus(mess);
}
- if (!ac_home()) return;
+ ac_home();
}
while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 17f9cadc13..f6e2d65a2b 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -241,7 +241,7 @@ void forward_kinematics_DELTA(float z1, float z2, float z3) {
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
-bool home_delta() {
+void home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif
@@ -265,16 +265,7 @@ bool home_delta() {
delta_sensorless_homing(false);
#endif
- // If an endstop was not hit, then damage can occur if homing is continued.
- // This can occur if the delta height not set correctly.
- if (!(endstops.trigger_state() & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
- LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
- return false;
- }
-
- endstops.hit_on_purpose(); // clear endstop hit flags
+ endstops.validate_homing_move();
// At least one carriage has reached the top.
// Now re-home each carriage separately.
@@ -293,8 +284,6 @@ bool home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
#endif
-
- return true;
}
#endif // DELTA
diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h
index 59c01981fc..2c367fa8d4 100644
--- a/Marlin/src/module/delta.h
+++ b/Marlin/src/module/delta.h
@@ -128,6 +128,6 @@ FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
-bool home_delta();
+void home_delta();
#endif // __DELTA_H__
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 6da2f68e95..5e9940a090 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -256,6 +256,12 @@ void Endstops::not_homing() {
#endif
}
+// If the last move failed to trigger an endstop, call kill
+void Endstops::validate_homing_move() {
+ if (!trigger_state()) kill(PSTR(MSG_ERR_HOMING_FAILED));
+ hit_on_purpose();
+}
+
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
void Endstops::enable_z_probe(const bool onoff) {
diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h
index 526e252f8d..cf8d29f1f1 100644
--- a/Marlin/src/module/endstops.h
+++ b/Marlin/src/module/endstops.h
@@ -144,6 +144,9 @@ class Endstops {
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
static void not_homing();
+ // If the last move failed to trigger an endstop, call kill
+ static void validate_homing_move();
+
// Clear endstops (i.e., they were hit intentionally) to suppress the report
FORCE_INLINE static void hit_on_purpose() { hit_state = 0; }
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index edacc94d61..1b74694fd8 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1163,7 +1163,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
#endif
}
- endstops.hit_on_purpose();
+ endstops.validate_homing_move();
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index f3503cfad1..3cf79708dd 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -532,7 +532,6 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
if (probe_triggered && set_bltouch_deployed(false)) return true;
#endif
- // Clear endstop flags
endstops.hit_on_purpose();
// Get Z where the steppers were interrupted
--
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