/** * Marlin 3D Printer Firmware * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . * */ #include "../../inc/MarlinConfig.h" #include "../gcode.h" #include "../../module/stepper.h" #include "../../module/endstops.h" #if HOTENDS > 1 #include "../../module/tool_change.h" #endif #if HAS_LEVELING #include "../../feature/bedlevel/bedlevel.h" #endif #if ENABLED(SENSORLESS_HOMING) #include "../../feature/tmc_util.h" #endif #if HOMING_Z_WITH_PROBE || ENABLED(BLTOUCH) #include "../../module/probe.h" #endif #include "../../lcd/ultralcd.h" #if ENABLED(QUICK_HOME) static void quick_home_xy() { // Pretend the current position is 0,0 current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; sync_plan_position(); const int x_axis_home_dir = #if ENABLED(DUAL_X_CARRIAGE) x_home_dir(active_extruder) #else home_dir(X_AXIS) #endif ; const float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), mlratio = mlx > mly ? mly / mlx : mlx / mly, fr_mm_s = MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0); #if ENABLED(SENSORLESS_HOMING) sensorless_homing_per_axis(X_AXIS); sensorless_homing_per_axis(Y_AXIS); #endif do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); endstops.validate_homing_move(); current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; #if ENABLED(SENSORLESS_HOMING) sensorless_homing_per_axis(X_AXIS, false); sensorless_homing_per_axis(Y_AXIS, false); #endif } #endif // QUICK_HOME #if ENABLED(Z_SAFE_HOMING) inline void home_z_safely() { // Disallow Z homing if X or Y are unknown if (!TEST(axis_known_position, X_AXIS) || !TEST(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(); /** * Move the Z probe (or just the nozzle) to the safe homing point */ destination[X_AXIS] = Z_SAFE_HOMING_X_POINT; destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT; destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height #if HOMING_Z_WITH_PROBE destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER; destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER; #endif if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination); #endif // This causes the carriage on Dual X to unpark #if ENABLED(DUAL_X_CARRIAGE) active_extruder_parked = false; #endif #if ENABLED(SENSORLESS_HOMING) safe_delay(500); // Short delay needed to settle #endif do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]); homeaxis(Z_AXIS); } 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 * * Parameters * * None Home to all axes with no parameters. * With QUICK_HOME enabled XY will home together, then Z. * * O Home only if position is unknown * * Rn Raise by n mm/inches before homing * * Cartesian/SCARA parameters * * X Home to the X endstop * Y Home to the Y endstop * Z Home to the Z endstop * */ void GcodeSuite::G28(const bool always_home_all) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOLNPGM(">>> G28"); log_machine_info(); } #endif #if ENABLED(DUAL_X_CARRIAGE) bool IDEX_saved_duplication_state = extruder_duplication_enabled; DualXMode IDEX_saved_mode = dual_x_carriage_mode; #endif #if ENABLED(MARLIN_DEV_MODE) if (parser.seen('S')) { LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a); sync_plan_position(); SERIAL_ECHOLNPGM("Simulated Homing"); report_current_position(); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28"); #endif return; } #endif if (all_axes_known() && parser.boolval('O')) { // home only if needed #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOLNPGM("> homing not needed, skip"); SERIAL_ECHOLNPGM("<<< G28"); } #endif return; } // Wait for planner moves to finish! planner.synchronize(); // Disable the leveling matrix before homing #if HAS_LEVELING // Cancel the active G29 session #if ENABLED(PROBE_MANUALLY) extern bool g29_in_progress; g29_in_progress = false; #endif #if ENABLED(RESTORE_LEVELING_AFTER_G28) const bool leveling_was_active = planner.leveling_active; #endif set_bed_leveling_enabled(false); #endif #if ENABLED(CNC_WORKSPACE_PLANES) workspace_plane = PLANE_XY; #endif #if ENABLED(BLTOUCH) bltouch_init(); #endif // Always home with tool 0 active #if HOTENDS > 1 #if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE) const uint8_t old_tool_index = active_extruder; #endif tool_change(0, 0, true); #endif #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) extruder_duplication_enabled = false; #endif setup_for_endstop_or_probe_move(); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)"); #endif endstops.enable(true); // Enable endstops for next homing move #if ENABLED(DELTA) home_delta(); UNUSED(always_home_all); #else // NOT DELTA const bool homeX = always_home_all || parser.seen('X'), homeY = always_home_all || parser.seen('Y'), homeZ = always_home_all || parser.seen('Z'), home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ); set_destination_from_current(); #if Z_HOME_DIR > 0 // If homing away from BED do Z first if (home_all || homeZ) homeaxis(Z_AXIS); #endif const float z_homing_height = ( #if ENABLED(UNKNOWN_Z_NO_RAISE) !TEST(axis_known_position, Z_AXIS) ? 0 : #endif (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT) ); if (z_homing_height && (home_all || homeX || homeY)) { // Raise Z before homing any other axes and z is not already high enough (never lower z) destination[Z_AXIS] = z_homing_height; if (destination[Z_AXIS] > current_position[Z_AXIS]) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]); #endif do_blocking_move_to_z(destination[Z_AXIS]); } } #if ENABLED(QUICK_HOME) if (home_all || (homeX && homeY)) quick_home_xy(); #endif // Home Y (before X) #if ENABLED(HOME_Y_BEFORE_X) if (home_all || homeY #if ENABLED(CODEPENDENT_XY_HOMING) || homeX #endif ) homeaxis(Y_AXIS); #endif // Home X if (home_all || homeX #if ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X) || homeY #endif ) { #if ENABLED(DUAL_X_CARRIAGE) // Always home the 2nd (right) extruder first active_extruder = 1; homeaxis(X_AXIS); // Remember this extruder's position for later tool change inactive_extruder_x_pos = current_position[X_AXIS]; // Home the 1st (left) extruder active_extruder = 0; homeaxis(X_AXIS); // Consider the active extruder to be parked COPY(raised_parked_position, current_position); delayed_move_time = 0; active_extruder_parked = true; #else homeaxis(X_AXIS); #endif } // Home Y (after X) #if DISABLED(HOME_Y_BEFORE_X) if (home_all || homeY) homeaxis(Y_AXIS); #endif // Home Z last if homing towards the bed #if Z_HOME_DIR < 0 if (home_all || homeZ) { #if ENABLED(Z_SAFE_HOMING) home_z_safely(); #else homeaxis(Z_AXIS); #endif #if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING) move_z_after_probing(); #endif } // home_all || homeZ #endif // Z_HOME_DIR < 0 sync_plan_position(); #endif // !DELTA (G28) /** * Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE. * This is important because it lets a user use the LCD Panel to set an IDEX Duplication mode, and * then print a standard GCode file that contains a single print that does a G28 and has no other * IDEX specific commands in it. */ #if ENABLED(DUAL_X_CARRIAGE) if (dxc_is_duplicating()) { // Always home the 2nd (right) extruder first active_extruder = 1; homeaxis(X_AXIS); // Remember this extruder's position for later tool change inactive_extruder_x_pos = current_position[X_AXIS]; // Home the 1st (left) extruder active_extruder = 0; homeaxis(X_AXIS); // Consider the active extruder to be parked COPY(raised_parked_position, current_position); delayed_move_time = 0; active_extruder_parked = true; extruder_duplication_enabled = IDEX_saved_duplication_state; extruder_duplication_enabled = false; dual_x_carriage_mode = IDEX_saved_mode; stepper.set_directions(); } #endif // DUAL_X_CARRIAGE endstops.not_homing(); #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE) // move to a height where we can use the full xy-area do_blocking_move_to_z(delta_clip_start_height); #endif #if HAS_LEVELING && ENABLED(RESTORE_LEVELING_AFTER_G28) set_bed_leveling_enabled(leveling_was_active); #endif clean_up_after_endstop_or_probe_move(); // Restore the active tool after homing #if HOTENDS > 1 && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)) #if ENABLED(PARKING_EXTRUDER) #define NO_FETCH false // fetch the previous toolhead #else #define NO_FETCH true #endif tool_change(old_tool_index, 0, NO_FETCH); #endif lcd_refresh(); report_current_position(); #if ENABLED(NANODLP_Z_SYNC) #if ENABLED(NANODLP_ALL_AXIS) #define _HOME_SYNC true // For any axis, output sync text. #else #define _HOME_SYNC (home_all || homeZ) // Only for Z-axis #endif if (_HOME_SYNC) SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP); #endif #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28"); #endif }