From e8ae51bfe329b4d510ddfce705bb78fc6c2adb82 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 29 Mar 2015 18:06:59 -0700
Subject: [PATCH] Fix G28 homing Y with X
- Fixed a typo causing G28 to home incorrectly
- Added documentation to G28
- Added homeXYZ bools to neaten the code
- Added a note about home_offsets being questionable
---
Marlin/Marlin_main.cpp | 90 ++++++++++++++++++++++++++++--------------
1 file changed, 60 insertions(+), 30 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 222ad08b0a..20bd963b59 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1703,7 +1703,25 @@ inline void gcode_G4() {
#endif //FWRETRACT
/**
- * G28: Home all axes, one at a time
+ * G28: Home all axes according to settings
+ *
+ * Parameters
+ *
+ * None Home to all axes with no parameters.
+ * With QUICK_HOME enabled XY will home together, then Z.
+ *
+ * Cartesian parameters
+ *
+ * X Home to the X endstop
+ * Y Home to the Y endstop
+ * Z Home to the Z endstop
+ *
+ * If numbers are included with XYZ set the position as with G92
+ * Currently adds the home_offset, which may be wrong and removed soon.
+ *
+ * Xn Home X, setting X to n + home_offset[X_AXIS]
+ * Yn Home Y, setting Y to n + home_offset[Y_AXIS]
+ * Zn Home Z, setting Z to n + home_offset[Z_AXIS]
*/
inline void gcode_G28() {
#ifdef ENABLE_AUTO_BED_LEVELING
@@ -1726,7 +1744,7 @@ inline void gcode_G28() {
enable_endstops(true);
- for (int i = X_AXIS; i < NUM_AXIS; i++) destination[i] = current_position[i];
+ for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i]; // includes E_AXIS
feedrate = 0.0;
@@ -1757,23 +1775,25 @@ inline void gcode_G28() {
#else // NOT DELTA
- home_all_axis = !(code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen(axis_codes[Z_AXIS]));
+ bool homeX = code_seen(axis_codes[X_AXIS]),
+ 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
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
- if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
- HOMEAXIS(Z);
- }
+ if (home_all_axis || homeZ) HOMEAXIS(Z);
#endif
#ifdef QUICK_HOME
- if (home_all_axis || code_seen(axis_codes[X_AXIS] && code_seen(axis_codes[Y_AXIS]))) { //first diagonal move
+ if (home_all_axis || (homeX && homeY)) { //first diagonal move
current_position[X_AXIS] = current_position[Y_AXIS] = 0;
- #ifndef DUAL_X_CARRIAGE
- int x_axis_home_dir = home_dir(X_AXIS);
- #else
+ #ifdef DUAL_X_CARRIAGE
int x_axis_home_dir = x_home_dir(active_extruder);
extruder_duplication_enabled = false;
+ #else
+ int x_axis_home_dir = home_dir(X_AXIS);
#endif
sync_plan_position();
@@ -1807,7 +1827,8 @@ inline void gcode_G28() {
}
#endif //QUICK_HOME
- if ((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) {
+ // Home X
+ if (home_all_axis || homeX) {
#ifdef DUAL_X_CARRIAGE
int tmp_extruder = active_extruder;
extruder_duplication_enabled = false;
@@ -1825,31 +1846,38 @@ inline void gcode_G28() {
#endif
}
- if (home_all_axis || code_seen(axis_codes[Y_AXIS])) HOMEAXIS(Y);
+ // Home Y
+ if (home_all_axis || homeY) HOMEAXIS(Y);
+ // Set the X position, if included
+ // Adds the home_offset as well, which may be wrong
if (code_seen(axis_codes[X_AXIS])) {
- if (code_value_long() != 0) {
- current_position[X_AXIS] = code_value()
- #ifndef SCARA
- + home_offset[X_AXIS]
- #endif
- ;
- }
+ float v = code_value();
+ if (v) current_position[X_AXIS] = v
+ #ifndef SCARA
+ + home_offset[X_AXIS]
+ #endif
+ ;
}
- if (code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) {
- current_position[Y_AXIS] = code_value()
+ // Set the Y position, if included
+ // Adds the home_offset as well, which may be wrong
+ if (code_seen(axis_codes[Y_AXIS])) {
+ float v = code_value();
+ if (v) current_position[Y_AXIS] = v
#ifndef SCARA
+ home_offset[Y_AXIS]
#endif
;
}
- #if Z_HOME_DIR < 0 // If homing towards BED do Z last
+ // Home Z last if homing towards the bed
+ #if Z_HOME_DIR < 0
#ifndef Z_SAFE_HOMING
- if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
+ if (home_all_axis || homeZ) {
+ // Raise Z before homing Z? Shouldn't this happen before homing X or Y?
#if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
@@ -1878,7 +1906,7 @@ inline void gcode_G28() {
}
// Let's see if X and Y are homed and probe is inside bed area.
- if (code_seen(axis_codes[Z_AXIS])) {
+ if (homeZ) {
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
@@ -1912,13 +1940,15 @@ inline void gcode_G28() {
#endif // Z_HOME_DIR < 0
-
- if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
- current_position[Z_AXIS] = code_value() + home_offset[Z_AXIS];
+ // Set the Z position, if included
+ // Adds the home_offset as well, which may be wrong
+ if (code_seen(axis_codes[Z_AXIS])) {
+ float v = code_value();
+ if (v) current_position[Z_AXIS] = v + home_offset[Z_AXIS];
+ }
#if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
- if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
- current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
+ if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset; // Add Z_Probe offset (the distance is negative)
#endif
sync_plan_position();
@@ -2741,7 +2771,7 @@ inline void gcode_M42() {
* E = Engage probe for each reading
* L = Number of legs of movement before probe
*
- * This function assumes the bed has been homed. Specificaly, that a G28 command
+ * This function assumes the bed has been homed. Specifically, that a G28 command
* as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated.
--
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