Merge pull request #1896 from thinkyhead/cold_extrude

Homing fixes

Marlin/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/Marlin_main.cpp

 
 }
 
+float code_has_value() {
+  char c = *(strchr_pointer + 1);
+  return (c >= '0' && c <= '9') || c == '-' || c == '+' || c == '.';
+}
+
 float code_value() {
   float ret;
   char *e = strchr(strchr_pointer, 'E');
 
     home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ);
 
-    #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
+    if (home_all_axis || homeZ) {
 
-      if (home_all_axis || homeZ) HOMEAXIS(Z);
+      #if Z_HOME_DIR > 0  // If homing away from BED do Z first
 
-    #elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
+        HOMEAXIS(Z);
 
-      // Raise Z before homing any other axes
-      if (home_all_axis || homeZ) {
-        destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);    // Set destination away from bed
+      #elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
+
+        // Raise Z before homing any other axes
+        // (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;
         line_to_destination();
         st_synchronize();
-      }
 
-    #endif
+      #endif
+
+    } // home_all_axis || homeZ
 
     #ifdef QUICK_HOME
 
     if (home_all_axis || homeY) HOMEAXIS(Y);
 
     // Set the X position, if included
-    // Adds the home_offset as well, which may be wrong
-    if (code_seen(axis_codes[X_AXIS])) {
-      float v = code_value();
-      if (v) current_position[X_AXIS] = v
-        #ifndef SCARA
-          + home_offset[X_AXIS]
-        #endif
-      ;
-    }
+    if (code_seen(axis_codes[X_AXIS]) && code_has_value())
+      current_position[X_AXIS] = code_value();
 
     // Set the Y position, if included
-    // Adds the home_offset as well, which may be wrong
-    if (code_seen(axis_codes[Y_AXIS])) {
-      float v = code_value();
-      if (v) current_position[Y_AXIS] = v
-        #ifndef SCARA
-          + home_offset[Y_AXIS]
-        #endif
-      ;
-    }
+    if (code_seen(axis_codes[Y_AXIS]) && code_has_value())
+      current_position[Y_AXIS] = code_value();
 
     // Home Z last if homing towards the bed
     #if Z_HOME_DIR < 0
 
-      #ifndef Z_SAFE_HOMING
+      if (home_all_axis || homeZ) {
 
-        if (home_all_axis || homeZ) HOMEAXIS(Z);
+        #ifdef Z_SAFE_HOMING
 
-      #else // Z_SAFE_HOMING
+          if (home_all_axis) {
 
-        if (home_all_axis) {
-          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;
-          current_position[Z_AXIS] = 0;
+            current_position[Z_AXIS] = 0;
+            sync_plan_position();
 
-          sync_plan_position();
-          line_to_destination();
-          st_synchronize();
-          current_position[X_AXIS] = destination[X_AXIS];
-          current_position[Y_AXIS] = destination[Y_AXIS];
+            //
+            // Set the probe (or just the nozzle) destination to the safe homing point
+            //
+            // NOTE: If current_position[X_AXIS] or current_position[Y_AXIS] were set above
+            // 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;
+            // This could potentially move X, Y, Z all together
+            line_to_destination();
+            st_synchronize();
 
-          HOMEAXIS(Z);
-        }
+            // Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
+            current_position[X_AXIS] = destination[X_AXIS];
+            current_position[Y_AXIS] = destination[Y_AXIS];
 
-        // Let's see if X and Y are homed and probe is inside bed area.
-        if (homeZ) {
-
-          if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
-
-            float cpx = current_position[X_AXIS], cpy = 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) {
-              current_position[Z_AXIS] = 0;
-              plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);
-              destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);    // Set destination away from bed
-              feedrate = max_feedrate[Z_AXIS] * 60;  // max_feedrate is in mm/s. line_to_destination is feedrate/60.
-              line_to_destination();
-              st_synchronize();
-              HOMEAXIS(Z);
-            }
-            else {
+            // Home the Z axis
+            HOMEAXIS(Z);
+          }
+
+          else if (homeZ) { // Don't need to Home Z twice
+
+            // Let's see if X and Y are homed
+            if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
+
+              // Make sure the probe is within the physical limits
+              // NOTE: This doesn't necessarily ensure the probe is also within the bed!
+              float cpx = current_position[X_AXIS], cpy = 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) {
+                // Set the plan current position to X, Y, 0
+                current_position[Z_AXIS] = 0;
+                plan_set_position(cpx, cpy, 0, current_position[E_AXIS]); // = sync_plan_position
+
+                // Set Z destination away from bed and raise the axis
+                // NOTE: This should always just be Z_RAISE_BEFORE_HOMING unless...???
+                destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
+                feedrate = max_feedrate[Z_AXIS] * 60;  // feedrate (mm/m) = max_feedrate (mm/s)
+                line_to_destination();
+                st_synchronize();
+
+                // Home the Z axis
+                HOMEAXIS(Z);
+              }
+              else {
                 LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
                 SERIAL_ECHO_START;
                 SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
+              }
             }
-          }
-          else {
-            LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
-            SERIAL_ECHO_START;
-            SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
-          }
-        }
+            else {
+              LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+              SERIAL_ECHO_START;
+              SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+            }
+
+          } // !home_all_axes && homeZ
 
-      #endif // Z_SAFE_HOMING
+        #else // !Z_SAFE_HOMING
+
+          HOMEAXIS(Z);
+
+        #endif // !Z_SAFE_HOMING
+
+      } // home_all_axis || homeZ
 
     #endif // Z_HOME_DIR < 0
 
     // Set the Z position, if included
-    // Adds the home_offset as well, which may be wrong
-    if (code_seen(axis_codes[Z_AXIS])) {
-      float v = code_value();
-      if (v) current_position[Z_AXIS] = v + home_offset[Z_AXIS];
-    }
+    if (code_seen(axis_codes[Z_AXIS]) && code_has_value())
+      current_position[Z_AXIS] = code_value();
 
     #if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
       if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset;  // Add Z_Probe offset (the distance is negative)
     #endif
+
     sync_plan_position();
 
   #endif // else DELTA

Marlin/configurator/config/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/example_configurations/Hephestos/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
  
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/example_configurations/K8200/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/example_configurations/SCARA/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/example_configurations/WITBOX/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/example_configurations/makibox/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/example_configurations/tvrrug/Round2/Configuration.h

 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-// #define CUSTOM_MACHINE_NAME "This RepRap"
+// #define CUSTOM_MACHINE_NAME "3D Printer"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)

Marlin/language.h

   #endif
 #else
   #ifndef MACHINE_NAME
-    #define MACHINE_NAME "Mendel"
+    #define MACHINE_NAME "3D Printer"
   #endif
 #endif
 

Marlin/planner.cpp

 
   #ifdef PREVENT_DANGEROUS_EXTRUDE
     if (de) {
-      if (degHotend(active_extruder) < extrude_min_temp) {
+      if (degHotend(extruder) < extrude_min_temp) {
         position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
         de = 0; // no difference
         SERIAL_ECHO_START;
 
   block->steps[Z_AXIS] = labs(dz);
   block->steps[E_AXIS] = labs(de);
-  block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
-  block->steps[E_AXIS] *= extruder_multiply[active_extruder];
+  block->steps[E_AXIS] *= volumetric_multiplier[extruder];
+  block->steps[E_AXIS] *= extruder_multiply[extruder];
   block->steps[E_AXIS] /= 100;
   block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
 
     delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
   #endif
   delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
-  delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[active_extruder] * extruder_multiply[active_extruder] / 100.0;
+  delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiply[extruder] / 100.0;
 
   if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
     block->millimeters = fabs(delta_mm[E_AXIS]);

Marlin/stepper.cpp

       TCCR0A &= ~BIT(WGM01);
       TCCR0A &= ~BIT(WGM00);
     #endif
-    e_steps[0] = 0;
-    e_steps[1] = 0;
-    e_steps[2] = 0;
-    e_steps[3] = 0;
+    e_steps[0] = e_steps[1] = e_steps[2] = e_steps[3] = 0;
     TIMSK0 |= BIT(OCIE0A);
   #endif //ADVANCE