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Merge pull request #3102 from jbrazio/bugfix-g28-multiple-z-movements

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Bugfix: G28 was lifting Z-axis multiple times
This commit is contained in:
Scott Lahteine 2016-03-07 03:52:00 -08:00
commit fac85f6fa1
1 changed files with 25 additions and 10 deletions
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35
Marlin/Marlin_main.cpp
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@ -2323,20 +2323,34 @@ inline void gcode_G28() {
#elif defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
// Raise Z before homing any other axes
// Consider the current Z-position as zero
// !!WARNING!! If the machine has no physical z-max endstops then we
// can move the axis more than it can physically travel.
current_position[Z_AXIS] = 0;
sync_plan_position();
// (Does this need to be "negative home direction?" Why not just use Z_RAISE_BEFORE_HOMING?)
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
feedrate = max_feedrate[Z_AXIS] * 60;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> (home_all_axis || homeZ) > current_position", current_position);
print_xyz("> (home_all_axis || homeZ) > destination", destination);
}
#endif
feedrate = max_feedrate[Z_AXIS] * 60;
// Raise Z-axis by Z_RAISE_BEFORE_HOMING before homing any other axis
line_to_destination();
st_synchronize();
// Update the current Z position even if it currently not real from Z-home
// otherwise each call to line_to_destination() will want to move Z-axis
// by Z_RAISE_BEFORE_HOMING.
current_position[Z_AXIS] = destination[Z_AXIS];
#endif
} // home_all_axis || homeZ
@ -2453,7 +2467,10 @@ inline void gcode_G28() {
if (home_all_axis) {
current_position[Z_AXIS] = 0;
// At this point we already have Z at Z_RAISE_BEFORE_HOMING 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();
//
@ -2463,23 +2480,21 @@ inline void gcode_G28() {
// then this may not work as expected.
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] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
SERIAL_EOL;
print_xyz("> home_all_axis > current_position", current_position);
print_xyz("> home_all_axis > destination", destination);
print_xyz("> Z_SAFE_HOMING > home_all_axis > current_position", current_position);
print_xyz("> Z_SAFE_HOMING > home_all_axis > destination", destination);
}
#endif
// This could potentially move X, Y, Z all together
// Move in the XY plane
line_to_destination();
st_synchronize();
// Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
// Update the current positions for XY, Z is still at
// Z_RAISE_BEFORE_HOMING height, no changes there.
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];