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Merge pull request #4719 from thinkyhead/rc_delta_homing_patch

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Marlin patches for homing, esp. Delta
This commit is contained in:
Scott Lahteine 2016-08-27 20:46:50 -05:00 committed by GitHub
commit 2cb63f0bf7
1 changed files with 50 additions and 48 deletions
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82
Marlin/Marlin_main.cpp
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@ -1615,6 +1615,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
SERIAL_ECHOLNPGM(")");
}
#endif
axis_known_position[axis] = axis_homed[axis] = true;
}
/**
@ -2118,7 +2120,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
endstops.enable_z_probe( deploy );
endstops.enable_z_probe(deploy);
return false;
}
@ -2416,12 +2418,12 @@ static void clean_up_after_endstop_or_probe_move() {
*/
static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
float old_feedrate_mm_s = feedrate_mm_s;
current_position[axis] = 0;
sync_plan_position();
current_position[axis] = where;
feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis];
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
stepper.synchronize();
feedrate_mm_s = old_feedrate_mm_s;
endstops.hit_on_purpose();
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
@ -2430,7 +2432,7 @@ static void homeaxis(AxisEnum axis) {
#define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return;
if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : false)) return;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -2455,10 +2457,6 @@ static void homeaxis(AxisEnum axis) {
}
#endif
// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
// Set a flag for Z motor locking
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) stepper.set_homing_flag(true);
@ -2467,9 +2465,9 @@ static void homeaxis(AxisEnum axis) {
// Move towards the endstop until an endstop is triggered
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 1st Home", current_position[axis]);
#endif
// Move away from the endstop by the axis HOME_BUMP_MM
do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir);
@ -2477,12 +2475,8 @@ static void homeaxis(AxisEnum axis) {
// Move slowly towards the endstop until triggered
do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
// reset current_position to 0 to reflect hitting endpoint
current_position[axis] = 0;
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 2nd Home", current_position[axis]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
@ -2506,32 +2500,35 @@ static void homeaxis(AxisEnum axis) {
} // Z_AXIS
#endif
// Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
#if ENABLED(DELTA)
// retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * Z_HOME_DIR < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis] * Z_HOME_DIR);
DEBUG_POS("", current_position);
}
#endif
do_homing_move(axis, endstop_adj[axis]);
}
#endif
#else
// Set the axis position to its home position (plus home offsets)
set_axis_is_at_home(axis);
sync_plan_position();
SYNC_PLAN_POSITION_KINEMATIC();
destination[axis] = current_position[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
destination[axis] = current_position[axis];
endstops.hit_on_purpose(); // clear endstop hit flags
axis_known_position[axis] = true;
axis_homed[axis] = true;
#endif
// Put away the Z probe
#if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
@ -2979,25 +2976,34 @@ inline void gcode_G28() {
#if ENABLED(DELTA)
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
// Pretend the current position is 0,0,0
// This is like quick_home_xy() but for 3 towers.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
// Init the current position of all carriages to 0,0,0
memset(current_position, 0, sizeof(current_position));
sync_plan_position();
// Move all carriages up together until the first endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH);
feedrate_mm_s = 1.732 * homing_feedrate_mm_s[X_AXIS];
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
// take care of back off and rehome. Now one carriage is at the top.
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
// Probably not needed. Double-check this line:
memset(current_position, 0, sizeof(current_position));
// At least one carriage has reached the top.
// Now back off and re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
@ -3177,11 +3183,7 @@ inline void gcode_G28() {
#endif // !DELTA (gcode_G28)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.not_homing()");
#endif
endstops.not_homing();
endstops.hit_on_purpose(); // clear endstop hit flags
// Enable mesh leveling again
#if ENABLED(MESH_BED_LEVELING)