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Code Issues Releases Wiki Activity

Move z safe homing to its own function

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This commit is contained in:
Scott Lahteine 2016-09-11 20:39:39 -05:00
parent c84b14c77a
commit b4034915f8
2 changed files with 57 additions and 69 deletions
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123
Marlin/Marlin_main.cpp
View File

@ -2749,6 +2749,57 @@ inline void gcode_G4() {
#endif // DELTA
#if ENABLED(Z_SAFE_HOMING)
inline void home_z_safely() {
// Disallow Z homing if X or Y are unknown
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
return;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
#endif
SYNC_PLAN_POSITION_KINEMATIC();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
float cpx = Z_SAFE_HOMING_X_POINT, cpy = Z_SAFE_HOMING_Y_POINT;
#if HAS_BED_PROBE
cpx -= X_PROBE_OFFSET_FROM_EXTRUDER;
cpy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Z_SAFE_HOMING X:", cpx);
SERIAL_ECHOLNPAIR(" Y:", cpy);
}
#endif
if (cpx >= X_MIN_POS && cpx <= X_MAX_POS && cpy >= Y_MIN_POS && cpy <= Y_MAX_POS) {
do_blocking_move_to_xy(LOGICAL_X_POSITION(destination[X_AXIS]), LOGICAL_Y_POSITION(destination[Y_AXIS]));
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#endif
}
#endif // Z_SAFE_HOMING
/**
* G28: Home all axes according to settings
*
@ -2824,7 +2875,6 @@ inline void gcode_G28() {
#endif
endstops.enable(true); // Enable endstops for next homing move
#if ENABLED(DELTA)
home_delta();
@ -2915,81 +2965,16 @@ inline void gcode_G28() {
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
if (home_all_axis || homeZ) {
#if ENABLED(Z_SAFE_HOMING)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
#endif
if (home_all_axis) {
/**
* At this point we already have Z at Z_HOMING_HEIGHT height
* No need to move Z any more as this height should already be safe
* enough to reach Z_SAFE_HOMING XY positions.
* Just make sure the planner is in sync.
*/
SYNC_PLAN_POSITION_KINEMATIC();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
#endif
// Move in the XY plane
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
}
// Let's see if X and Y are homed
if (axis_unhomed_error(true, true, false)) return;
/**
* Make sure the Z probe is within the physical limits
* NOTE: This doesn't necessarily ensure the Z probe is also
* within the bed!
*/
float cpx = RAW_CURRENT_POSITION(X_AXIS), cpy = RAW_CURRENT_POSITION(Y_AXIS);
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
// Home the Z axis
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
}
#endif
#else // !Z_SAFE_HOMING
home_z_safely();
#else
HOMEAXIS(Z);
#endif // !Z_SAFE_HOMING
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
#endif
} // home_all_axis || homeZ
#endif // Z_HOME_DIR < 0
SYNC_PLAN_POSITION_KINEMATIC();

3
Marlin/language_en.h
View File

@ -408,6 +408,9 @@
#ifndef MSG_ERR_MINTEMP_BED
#define MSG_ERR_MINTEMP_BED "Err: MINTEMP BED"
#endif
#ifndef MSG_ERR_Z_HOMING
#define MSG_ERR_Z_HOMING "G28 Z Forbidden"
#endif
#ifndef MSG_HALTED
#define MSG_HALTED "PRINTER HALTED"
#endif