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Code Issues Releases Wiki Activity

🐛 Fix homing when FT Motion exists (#27179)

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Scott Lahteine 2024-06-15 19:11:19 -05:00 committed by GitHub
parent 082dc24865
commit 2fc86ad836
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GPG key ID: B5690EEEBB952194
1 changed files with 27 additions and 46 deletions
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73
Marlin/src/module/endstops.cpp
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@ -786,7 +786,6 @@ void Endstops::update() {
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
#endif
#if ENABLED(G38_PROBE_TARGET)
// For G38 moves check the probe's pin for ALL movement
if (G38_move && TEST_ENDSTOP(Z_MIN_PROBE) == TERN1(G38_PROBE_AWAY, (G38_move < 4))) {
@ -800,18 +799,19 @@ void Endstops::update() {
// Signal, after validation, if an endstop limit is pressed or not
#if HAS_X_AXIS
bool moving_neg;
auto axis_moving_info = [](const AxisEnum axis, const AxisEnum head, bool &neg) -> bool {
#if ENABLED(FT_MOTION)
const bool x_moving_pos = ftMotion.axis_moving_pos(X_AXIS_HEAD),
x_moving_neg = ftMotion.axis_moving_neg(X_AXIS_HEAD);
#define X_MOVE_TEST x_moving_pos || x_moving_neg
#define X_NEG_DIR_TEST x_moving_neg
#else
#define X_MOVE_TEST stepper.axis_is_moving(X_AXIS)
#define X_NEG_DIR_TEST !stepper.motor_direction(X_AXIS_HEAD)
if (ftMotion.cfg.mode != ftMotionMode_DISABLED)
return (neg = ftMotion.axis_moving_neg(head)) || ftMotion.axis_moving_pos(head);
#endif
if (X_MOVE_TEST) {
if (X_NEG_DIR_TEST) { // -direction
neg = !stepper.motor_direction(head);
return stepper.axis_is_moving(axis);
};
#if HAS_X_AXIS
if (axis_moving_info(X_AXIS, X_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_X_MIN_STATE
PROCESS_ENDSTOP_X(MIN);
#if CORE_DIAG(XY, Y, MIN)
@ -843,17 +843,8 @@ void Endstops::update() {
#endif // HAS_X_AXIS
#if HAS_Y_AXIS
#if ENABLED(FT_MOTION)
const bool y_moving_pos = ftMotion.axis_moving_pos(Y_AXIS_HEAD),
y_moving_neg = ftMotion.axis_moving_neg(Y_AXIS_HEAD);
#define Y_MOVE_TEST y_moving_pos || y_moving_neg
#define Y_NEG_DIR_TEST y_moving_neg
#else
#define Y_MOVE_TEST stepper.axis_is_moving(Y_AXIS)
#define Y_NEG_DIR_TEST !stepper.motor_direction(Y_AXIS_HEAD)
#endif
if (Y_MOVE_TEST) {
if (Y_NEG_DIR_TEST) { // -direction
if (axis_moving_info(Y_AXIS, Y_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_Y_MIN_STATE
PROCESS_ENDSTOP_Y(MIN);
#if CORE_DIAG(XY, X, MIN)
@ -885,17 +876,8 @@ void Endstops::update() {
#endif // HAS_Y_AXIS
#if HAS_Z_AXIS
#if ENABLED(FT_MOTION)
const bool z_moving_pos = ftMotion.axis_moving_pos(Z_AXIS_HEAD),
z_moving_neg = ftMotion.axis_moving_neg(Z_AXIS_HEAD);
#define Z_MOVE_TEST z_moving_pos || z_moving_neg
#define Z_NEG_DIR_TEST z_moving_neg
#else
#define Z_MOVE_TEST stepper.axis_is_moving(Z_AXIS)
#define Z_NEG_DIR_TEST !stepper.motor_direction(Z_AXIS_HEAD)
#endif
if (Z_MOVE_TEST) {
if (Z_NEG_DIR_TEST) { // Z -direction. Gantry down, bed up.
if (axis_moving_info(Z_AXIS, Z_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN_STATE
// If the Z_MIN_PIN is being used for the probe there's no
// separate Z_MIN endstop. But a Z endstop could be wired
@ -939,9 +921,8 @@ void Endstops::update() {
#endif // HAS_Z_AXIS
#if HAS_I_AXIS
// TODO: FT_Motion logic.
if (stepper.axis_is_moving(I_AXIS)) {
if (!stepper.motor_direction(I_AXIS_HEAD)) { // -direction
if (axis_moving_info(I_AXIS, I_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_I_MIN_STATE
PROCESS_ENDSTOP(I, MIN);
#endif
@ -955,8 +936,8 @@ void Endstops::update() {
#endif // HAS_I_AXIS
#if HAS_J_AXIS
if (stepper.axis_is_moving(J_AXIS)) {
if (!stepper.motor_direction(J_AXIS_HEAD)) { // -direction
if (axis_moving_info(J_AXIS, J_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_J_MIN_STATE
PROCESS_ENDSTOP(J, MIN);
#endif
@ -970,8 +951,8 @@ void Endstops::update() {
#endif // HAS_J_AXIS
#if HAS_K_AXIS
if (stepper.axis_is_moving(K_AXIS)) {
if (!stepper.motor_direction(K_AXIS_HEAD)) { // -direction
if (axis_moving_info(K_AXIS, K_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_K_MIN_STATE
PROCESS_ENDSTOP(K, MIN);
#endif
@ -985,8 +966,8 @@ void Endstops::update() {
#endif // HAS_K_AXIS
#if HAS_U_AXIS
if (stepper.axis_is_moving(U_AXIS)) {
if (!stepper.motor_direction(U_AXIS_HEAD)) { // -direction
if (axis_moving_info(U_AXIS, U_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_U_MIN_STATE
PROCESS_ENDSTOP(U, MIN);
#endif
@ -1000,8 +981,8 @@ void Endstops::update() {
#endif // HAS_U_AXIS
#if HAS_V_AXIS
if (stepper.axis_is_moving(V_AXIS)) {
if (!stepper.motor_direction(V_AXIS_HEAD)) { // -direction
if (axis_moving_info(V_AXIS, V_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_V_MIN_STATE
PROCESS_ENDSTOP(V, MIN);
#endif
@ -1015,8 +996,8 @@ void Endstops::update() {
#endif // HAS_V_AXIS
#if HAS_W_AXIS
if (stepper.axis_is_moving(W_AXIS)) {
if (!stepper.motor_direction(W_AXIS_HEAD)) { // -direction
if (axis_moving_info(W_AXIS, W_AXIS_HEAD, moving_neg)) {
if (moving_neg) { // -direction
#if HAS_W_MIN_STATE
PROCESS_ENDSTOP(W, MIN);
#endif