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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
- *
- */
-
- #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
-
- #include "../../module/probe.h"
-
- #if ENABLED(BLTOUCH)
- #include "../../feature/bltouch.h"
- #endif
-
- #include "../../lcd/ultralcd.h"
-
- #if HAS_L64XX // set L6470 absolute position registers to counts
- #include "../../libs/L64XX/L64XX_Marlin.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../core/debug_out.h"
-
- #if ENABLED(QUICK_HOME)
-
- static void quick_home_xy() {
-
- // Pretend the current position is 0,0
- current_position.set(0.0, 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_t stealth_states {
- tmc_enable_stallguard(stepperX)
- , tmc_enable_stallguard(stepperY)
- , false
- , false
- #if AXIS_HAS_STALLGUARD(X2)
- || tmc_enable_stallguard(stepperX2)
- #endif
- , false
- #if AXIS_HAS_STALLGUARD(Y2)
- || tmc_enable_stallguard(stepperY2)
- #endif
- };
- #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.set(0.0, 0.0);
-
- #if ENABLED(SENSORLESS_HOMING)
- tmc_disable_stallguard(stepperX, stealth_states.x);
- tmc_disable_stallguard(stepperY, stealth_states.y);
- #if AXIS_HAS_STALLGUARD(X2)
- tmc_disable_stallguard(stepperX2, stealth_states.x2);
- #endif
- #if AXIS_HAS_STALLGUARD(Y2)
- tmc_disable_stallguard(stepperY2, stealth_states.y2);
- #endif
- #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_MSG(MSG_ERR_Z_HOMING_SER);
- return;
- }
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("home_z_safely >>>");
-
- sync_plan_position();
-
- /**
- * Move the Z probe (or just the nozzle) to the safe homing point
- * (Z is already at the right height)
- */
- destination.set(safe_homing_xy, current_position.z);
-
- #if HOMING_Z_WITH_PROBE
- destination -= probe_offset_xy;
- #endif
-
- if (position_is_reachable(destination)) {
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("home_z_safely", destination);
-
- // 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);
- homeaxis(Z_AXIS);
- }
- else {
- LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
- SERIAL_ECHO_MSG(MSG_ZPROBE_OUT_SER);
- }
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< home_z_safely");
- }
-
- #endif // Z_SAFE_HOMING
-
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
-
- slow_homing_t begin_slow_homing() {
- slow_homing_t slow_homing{0};
- slow_homing.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS],
- planner.settings.max_acceleration_mm_per_s2[Y_AXIS]);
- planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
- planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
- #if HAS_CLASSIC_JERK
- slow_homing.jerk_xy = planner.max_jerk;
- planner.max_jerk.set(0, 0);
- #endif
- planner.reset_acceleration_rates();
- return slow_homing;
- }
-
- void end_slow_homing(const slow_homing_t &slow_homing) {
- planner.settings.max_acceleration_mm_per_s2[X_AXIS] = slow_homing.acceleration.x;
- planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y;
- #if HAS_CLASSIC_JERK
- planner.max_jerk = slow_homing.jerk_xy;
- #endif
- planner.reset_acceleration_rates();
- }
-
- #endif // IMPROVE_HOMING_RELIABILITY
-
- /**
- * 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 (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM(">>> G28");
- log_machine_info();
- }
-
- #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 (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
- return;
- }
- #endif
-
- // Home (O)nly if position is unknown
- if (!homing_needed() && parser.boolval('O')) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip\n<<< G28");
- 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)
- 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
-
- #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
- #define HAS_HOMING_CURRENT (HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2))
-
- #if HAS_HOMING_CURRENT
- auto debug_current = [](const char * const s, const int16_t a, const int16_t b){
- DEBUG_ECHO(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b);
- };
- #if HAS_CURRENT_HOME(X)
- const int16_t tmc_save_current_X = stepperX.getMilliamps();
- stepperX.rms_current(X_CURRENT_HOME);
- if (DEBUGGING(LEVELING)) debug_current("X", tmc_save_current_X, X_CURRENT_HOME);
- #endif
- #if HAS_CURRENT_HOME(X2)
- const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
- stepperX2.rms_current(X2_CURRENT_HOME);
- if (DEBUGGING(LEVELING)) debug_current("X2", tmc_save_current_X2, X2_CURRENT_HOME);
- #endif
- #if HAS_CURRENT_HOME(Y)
- const int16_t tmc_save_current_Y = stepperY.getMilliamps();
- stepperY.rms_current(Y_CURRENT_HOME);
- if (DEBUGGING(LEVELING)) debug_current("Y", tmc_save_current_Y, Y_CURRENT_HOME);
- #endif
- #if HAS_CURRENT_HOME(Y2)
- const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
- stepperY2.rms_current(Y2_CURRENT_HOME);
- if (DEBUGGING(LEVELING)) debug_current("Y2", tmc_save_current_Y2, Y2_CURRENT_HOME);
- #endif
- #endif
-
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
- slow_homing_t slow_homing = begin_slow_homing();
- #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, true);
- #endif
-
- #if HAS_DUPLICATION_MODE
- extruder_duplication_enabled = false;
- #endif
-
- remember_feedrate_scaling_off();
-
- endstops.enable(true); // Enable endstops for next homing move
-
- #if ENABLED(DELTA)
-
- home_delta();
- UNUSED(always_home_all);
-
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
- end_slow_homing(slow_homing);
- #endif
-
- #else // NOT DELTA
-
- const bool homeX = parser.seen('X'), homeY = parser.seen('Y'), homeZ = parser.seen('Z'),
- home_all = always_home_all || (homeX == homeY && homeX == homeZ),
- doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
-
- destination = current_position;
-
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
-
- if (doZ) 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 && (doX || doY)) {
- // Raise Z before homing any other axes and z is not already high enough (never lower z)
- destination.z = z_homing_height + (TEST(axis_known_position, Z_AXIS) ? 0.0f : current_position.z);
- if (destination.z > current_position.z) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination.z);
- do_blocking_move_to_z(destination.z);
- }
- }
-
- #if ENABLED(QUICK_HOME)
-
- if (doX && doY) quick_home_xy();
-
- #endif
-
- // Home Y (before X)
- #if ENABLED(HOME_Y_BEFORE_X)
-
- if (doY
- #if ENABLED(CODEPENDENT_XY_HOMING)
- || doX
- #endif
- ) homeaxis(Y_AXIS);
-
- #endif
-
- // Home X
- if (doX
- #if ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X)
- || doY
- #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;
-
- // Home the 1st (left) extruder
- active_extruder = 0;
- homeaxis(X_AXIS);
-
- // Consider the active extruder to be parked
- 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 (doY) homeaxis(Y_AXIS);
- #endif
-
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
- end_slow_homing(slow_homing);
- #endif
-
- // Home Z last if homing towards the bed
- #if Z_HOME_DIR < 0
- if (doZ) {
- #if ENABLED(BLTOUCH)
- bltouch.init();
- #endif
- #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
-
- } // doZ
- #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()) {
-
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
- slow_homing = begin_slow_homing();
- #endif
-
- // 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;
-
- // Home the 1st (left) extruder
- active_extruder = 0;
- homeaxis(X_AXIS);
-
- // Consider the active extruder to be parked
- raised_parked_position = current_position;
- delayed_move_time = 0;
- active_extruder_parked = true;
- extruder_duplication_enabled = IDEX_saved_duplication_state;
- dual_x_carriage_mode = IDEX_saved_mode;
- stepper.set_directions();
-
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
- end_slow_homing(slow_homing);
- #endif
- }
-
- #endif // DUAL_X_CARRIAGE
-
- endstops.not_homing();
-
- // Clear endstop state for polled stallGuard endstops
- #if ENABLED(SPI_ENDSTOPS)
- endstops.clear_endstop_state();
- #endif
-
- #if BOTH(DELTA, 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
-
- restore_feedrate_and_scaling();
-
- // Restore the active tool after homing
- #if HOTENDS > 1 && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE))
- #if EITHER(PARKING_EXTRUDER, DUAL_X_CARRIAGE)
- #define NO_FETCH false // fetch the previous toolhead
- #else
- #define NO_FETCH true
- #endif
- tool_change(old_tool_index, NO_FETCH);
- #endif
-
- #if HAS_HOMING_CURRENT
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore driver current...");
- #if HAS_CURRENT_HOME(X)
- stepperX.rms_current(tmc_save_current_X);
- #endif
- #if HAS_CURRENT_HOME(X2)
- stepperX2.rms_current(tmc_save_current_X2);
- #endif
- #if HAS_CURRENT_HOME(Y)
- stepperY.rms_current(tmc_save_current_Y);
- #endif
- #if HAS_CURRENT_HOME(Y2)
- stepperY2.rms_current(tmc_save_current_Y2);
- #endif
- #endif
-
- ui.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 doZ // Only for Z-axis
- #endif
- if (_HOME_SYNC)
- SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
- #endif
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
-
- #if HAS_L64XX
- // Set L6470 absolute position registers to counts
- // constexpr *might* move this to PROGMEM.
- // If not, this will need a PROGMEM directive and an accessor.
- static constexpr AxisEnum L6470_axis_xref[MAX_L6470] = {
- X_AXIS, Y_AXIS, Z_AXIS,
- X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS,
- E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
- };
- for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
- const uint8_t cv = L64XX::chain[j];
- L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L6470_axis_xref[cv]));
- }
- #endif
- }
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