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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * motion.cpp
- */
-
- #include "motion.h"
- #include "endstops.h"
- #include "stepper.h"
- #include "planner.h"
- #include "temperature.h"
- #include "../gcode/gcode.h"
- #include "../lcd/marlinui.h"
- #include "../inc/MarlinConfig.h"
-
- #if IS_SCARA
- #include "../libs/buzzer.h"
- #include "../lcd/marlinui.h"
- #endif
-
- #if HAS_BED_PROBE
- #include "probe.h"
- #endif
-
- #if HAS_LEVELING
- #include "../feature/bedlevel/bedlevel.h"
- #endif
-
- #if ENABLED(BLTOUCH)
- #include "../feature/bltouch.h"
- #endif
-
- #if HAS_FILAMENT_SENSOR
- #include "../feature/runout.h"
- #endif
-
- #if ENABLED(SENSORLESS_HOMING)
- #include "../feature/tmc_util.h"
- #endif
-
- #if ENABLED(FWRETRACT)
- #include "../feature/fwretract.h"
- #endif
-
- #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
- #include "../feature/babystep.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../core/debug_out.h"
-
- // Relative Mode. Enable with G91, disable with G90.
- bool relative_mode; // = false;
-
- /**
- * Cartesian Current Position
- * Used to track the native machine position as moves are queued.
- * Used by 'line_to_current_position' to do a move after changing it.
- * Used by 'sync_plan_position' to update 'planner.position'.
- */
- #ifdef Z_IDLE_HEIGHT
- #define Z_INIT_POS Z_IDLE_HEIGHT
- #else
- #define Z_INIT_POS Z_HOME_POS
- #endif
-
- xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS, I_HOME_POS, J_HOME_POS, K_HOME_POS, U_HOME_POS, V_HOME_POS, W_HOME_POS);
-
- /**
- * Cartesian Destination
- * The destination for a move, filled in by G-code movement commands,
- * and expected by functions like 'prepare_line_to_destination'.
- * G-codes can set destination using 'get_destination_from_command'
- */
- xyze_pos_t destination; // {0}
-
- // G60/G61 Position Save and Return
- #if SAVED_POSITIONS
- uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
- xyze_pos_t stored_position[SAVED_POSITIONS];
- #endif
-
- // The active extruder (tool). Set with T<extruder> command.
- #if HAS_MULTI_EXTRUDER
- uint8_t active_extruder = 0; // = 0
- #endif
-
- #if ENABLED(LCD_SHOW_E_TOTAL)
- float e_move_accumulator; // = 0
- #endif
-
- // Extruder offsets
- #if HAS_HOTEND_OFFSET
- xyz_pos_t hotend_offset[HOTENDS]; // Initialized by settings.load()
- void reset_hotend_offsets() {
- constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
- static_assert(
- !tmp[X_AXIS][0] && !tmp[Y_AXIS][0] && !tmp[Z_AXIS][0],
- "Offsets for the first hotend must be 0.0."
- );
- // Transpose from [XYZ][HOTENDS] to [HOTENDS][XYZ]
- HOTEND_LOOP() LOOP_ABC(a) hotend_offset[e][a] = tmp[a][e];
- TERN_(DUAL_X_CARRIAGE, hotend_offset[1].x = _MAX(X2_HOME_POS, X2_MAX_POS));
- }
- #endif
-
- // The feedrate for the current move, often used as the default if
- // no other feedrate is specified. Overridden for special moves.
- // Set by the last G0 through G5 command's "F" parameter.
- // Functions that override this for custom moves *must always* restore it!
- feedRate_t feedrate_mm_s = MMM_TO_MMS(1500);
- int16_t feedrate_percentage = 100;
-
- // Cartesian conversion result goes here:
- xyz_pos_t cartes;
-
- #if IS_KINEMATIC
-
- abce_pos_t delta;
-
- #if HAS_SCARA_OFFSET
- abc_pos_t scara_home_offset;
- #endif
-
- #if HAS_SOFTWARE_ENDSTOPS
- float delta_max_radius, delta_max_radius_2;
- #elif IS_SCARA
- constexpr float delta_max_radius = SCARA_PRINTABLE_RADIUS,
- delta_max_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
- #else // DELTA
- constexpr float delta_max_radius = DELTA_PRINTABLE_RADIUS,
- delta_max_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
- #endif
-
- #endif
-
- /**
- * The workspace can be offset by some commands, or
- * these offsets may be omitted to save on computation.
- */
- #if HAS_POSITION_SHIFT
- // The distance that XYZ has been offset by G92. Reset by G28.
- xyz_pos_t position_shift{0};
- #endif
- #if HAS_HOME_OFFSET
- // This offset is added to the configured home position.
- // Set by M206, M428, or menu item. Saved to EEPROM.
- xyz_pos_t home_offset{0};
- #endif
- #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
- // The above two are combined to save on computes
- xyz_pos_t workspace_offset{0};
- #endif
-
- #if HAS_ABL_NOT_UBL
- feedRate_t xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_FEEDRATE);
- #endif
-
- /**
- * Output the current position to serial
- */
-
- inline void report_more_positions() {
- stepper.report_positions();
- TERN_(IS_SCARA, scara_report_positions());
- }
-
- // Report the logical position for a given machine position
- inline void report_logical_position(const xyze_pos_t &rpos) {
- const xyze_pos_t lpos = rpos.asLogical();
- SERIAL_ECHOPGM_P(
- LIST_N(DOUBLE(NUM_AXES),
- X_LBL, lpos.x,
- SP_Y_LBL, lpos.y,
- SP_Z_LBL, lpos.z,
- SP_I_LBL, lpos.i,
- SP_J_LBL, lpos.j,
- SP_K_LBL, lpos.k,
- SP_U_LBL, lpos.u,
- SP_V_LBL, lpos.v,
- SP_W_LBL, lpos.w
- )
- #if HAS_EXTRUDERS
- , SP_E_LBL, lpos.e
- #endif
- );
- }
-
- // Report the real current position according to the steppers.
- // Forward kinematics and un-leveling are applied.
- void report_real_position() {
- get_cartesian_from_steppers();
- xyze_pos_t npos = LOGICAL_AXIS_ARRAY(
- planner.get_axis_position_mm(E_AXIS),
- cartes.x, cartes.y, cartes.z,
- cartes.i, cartes.j, cartes.k,
- cartes.u, cartes.v, cartes.w
- );
-
- TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(npos, true));
-
- report_logical_position(npos);
- report_more_positions();
- }
-
- // Report the logical current position according to the most recent G-code command
- void report_current_position() {
- report_logical_position(current_position);
- report_more_positions();
- }
-
- /**
- * Report the logical current position according to the most recent G-code command.
- * The planner.position always corresponds to the last G-code too. This makes M114
- * suitable for debugging kinematics and leveling while avoiding planner sync that
- * definitively interrupts the printing flow.
- */
- void report_current_position_projected() {
- report_logical_position(current_position);
- stepper.report_a_position(planner.position);
- }
-
- #if ENABLED(AUTO_REPORT_POSITION)
- AutoReporter<PositionReport> position_auto_reporter;
- #endif
-
- #if EITHER(FULL_REPORT_TO_HOST_FEATURE, REALTIME_REPORTING_COMMANDS)
-
- M_StateEnum M_State_grbl = M_INIT;
-
- /**
- * Output the current grbl compatible state to serial while moving
- */
- void report_current_grblstate_moving() { SERIAL_ECHOLNPGM("S_XYZ:", int(M_State_grbl)); }
-
- /**
- * Output the current position (processed) to serial while moving
- */
- void report_current_position_moving() {
- get_cartesian_from_steppers();
- const xyz_pos_t lpos = cartes.asLogical();
-
- SERIAL_ECHOPGM_P(
- LIST_N(DOUBLE(NUM_AXES),
- X_LBL, lpos.x,
- SP_Y_LBL, lpos.y,
- SP_Z_LBL, lpos.z,
- SP_I_LBL, lpos.i,
- SP_J_LBL, lpos.j,
- SP_K_LBL, lpos.k,
- SP_U_LBL, lpos.u,
- SP_V_LBL, lpos.v,
- SP_W_LBL, lpos.w
- )
- #if HAS_EXTRUDERS
- , SP_E_LBL, current_position.e
- #endif
- );
-
- stepper.report_positions();
- TERN_(IS_SCARA, scara_report_positions());
- report_current_grblstate_moving();
- }
-
- /**
- * Set a Grbl-compatible state from the current marlin_state
- */
- M_StateEnum grbl_state_for_marlin_state() {
- switch (marlin_state) {
- case MF_INITIALIZING: return M_INIT;
- case MF_SD_COMPLETE: return M_ALARM;
- case MF_WAITING: return M_IDLE;
- case MF_STOPPED: return M_END;
- case MF_RUNNING: return M_RUNNING;
- case MF_PAUSED: return M_HOLD;
- case MF_KILLED: return M_ERROR;
- default: return M_IDLE;
- }
- }
-
- #endif
-
- void home_if_needed(const bool keeplev/*=false*/) {
- if (!all_axes_trusted()) gcode.home_all_axes(keeplev);
- }
-
- /**
- * Run out the planner buffer and re-sync the current
- * position from the last-updated stepper positions.
- */
- void quickstop_stepper() {
- planner.quick_stop();
- planner.synchronize();
- set_current_from_steppers_for_axis(ALL_AXES_ENUM);
- sync_plan_position();
- }
-
- #if ENABLED(REALTIME_REPORTING_COMMANDS)
-
- void quickpause_stepper() {
- planner.quick_pause();
- //planner.synchronize();
- }
-
- void quickresume_stepper() {
- planner.quick_resume();
- //planner.synchronize();
- }
-
- #endif
-
- /**
- * Set the planner/stepper positions directly from current_position with
- * no kinematic translation. Used for homing axes and cartesian/core syncing.
- */
- void sync_plan_position() {
- if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
- planner.set_position_mm(current_position);
- }
-
- #if HAS_EXTRUDERS
- void sync_plan_position_e() { planner.set_e_position_mm(current_position.e); }
- #endif
-
- /**
- * Get the stepper positions in the cartes[] array.
- * Forward kinematics are applied for DELTA and SCARA.
- *
- * The result is in the current coordinate space with
- * leveling applied. The coordinates need to be run through
- * unapply_leveling to obtain the "ideal" coordinates
- * suitable for current_position, etc.
- */
- void get_cartesian_from_steppers() {
- #if ENABLED(DELTA)
- forward_kinematics(planner.get_axis_positions_mm());
- #elif IS_SCARA
- forward_kinematics(
- planner.get_axis_position_degrees(A_AXIS), planner.get_axis_position_degrees(B_AXIS)
- OPTARG(AXEL_TPARA, planner.get_axis_position_degrees(C_AXIS))
- );
- cartes.z = planner.get_axis_position_mm(Z_AXIS);
- #else
- NUM_AXIS_CODE(
- cartes.x = planner.get_axis_position_mm(X_AXIS),
- cartes.y = planner.get_axis_position_mm(Y_AXIS),
- cartes.z = planner.get_axis_position_mm(Z_AXIS),
- cartes.i = planner.get_axis_position_mm(I_AXIS),
- cartes.j = planner.get_axis_position_mm(J_AXIS),
- cartes.k = planner.get_axis_position_mm(K_AXIS),
- cartes.u = planner.get_axis_position_mm(U_AXIS),
- cartes.v = planner.get_axis_position_mm(V_AXIS),
- cartes.w = planner.get_axis_position_mm(W_AXIS)
- );
- #endif
- }
-
- /**
- * Set the current_position for an axis based on
- * the stepper positions, removing any leveling that
- * may have been applied.
- *
- * To prevent small shifts in axis position always call
- * sync_plan_position after updating axes with this.
- *
- * To keep hosts in sync, always call report_current_position
- * after updating the current_position.
- */
- void set_current_from_steppers_for_axis(const AxisEnum axis) {
- get_cartesian_from_steppers();
- xyze_pos_t pos = cartes;
-
- TERN_(HAS_EXTRUDERS, pos.e = planner.get_axis_position_mm(E_AXIS));
-
- TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(pos, true));
-
- if (axis == ALL_AXES_ENUM)
- current_position = pos;
- else
- current_position[axis] = pos[axis];
- }
-
- /**
- * Move the planner to the current position from wherever it last moved
- * (or from wherever it has been told it is located).
- */
- void line_to_current_position(const_feedRate_t fr_mm_s/*=feedrate_mm_s*/) {
- planner.buffer_line(current_position, fr_mm_s);
- }
-
- #if HAS_EXTRUDERS
- void unscaled_e_move(const_float_t length, const_feedRate_t fr_mm_s) {
- TERN_(HAS_FILAMENT_SENSOR, runout.reset());
- current_position.e += length / planner.e_factor[active_extruder];
- line_to_current_position(fr_mm_s);
- planner.synchronize();
- }
- #endif
-
- #if IS_KINEMATIC
-
- /**
- * Buffer a fast move without interpolation. Set current_position to destination
- */
- void prepare_fast_move_to_destination(const_feedRate_t scaled_fr_mm_s/*=MMS_SCALED(feedrate_mm_s)*/) {
- if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_fast_move_to_destination", destination);
-
- #if UBL_SEGMENTED
- // UBL segmented line will do Z-only moves in single segment
- ubl.line_to_destination_segmented(scaled_fr_mm_s);
- #else
- if (current_position == destination) return;
-
- planner.buffer_line(destination, scaled_fr_mm_s);
- #endif
-
- current_position = destination;
- }
-
- #endif // IS_KINEMATIC
-
- /**
- * Do a fast or normal move to 'destination' with an optional FR.
- * - Move at normal speed regardless of feedrate percentage.
- * - Extrude the specified length regardless of flow percentage.
- */
- void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
- OPTARG(IS_KINEMATIC, const bool is_fast/*=false*/)
- ) {
- const feedRate_t old_feedrate = feedrate_mm_s;
- if (fr_mm_s) feedrate_mm_s = fr_mm_s;
-
- const uint16_t old_pct = feedrate_percentage;
- feedrate_percentage = 100;
-
- #if HAS_EXTRUDERS
- const float old_fac = planner.e_factor[active_extruder];
- planner.e_factor[active_extruder] = 1.0f;
- #endif
-
- if (TERN0(IS_KINEMATIC, is_fast))
- TERN(IS_KINEMATIC, prepare_fast_move_to_destination(), NOOP);
- else
- prepare_line_to_destination();
-
- feedrate_mm_s = old_feedrate;
- feedrate_percentage = old_pct;
- TERN_(HAS_EXTRUDERS, planner.e_factor[active_extruder] = old_fac);
- }
-
- /**
- * Plan a move to (X, Y, Z, [I, [J, [K...]]]) and set the current_position
- * Plan a move to (X, Y, Z, [I, [J, [K...]]]) with separation of Z from other components.
- *
- * - If Z is moving up, the Z move is done before XY, etc.
- * - If Z is moving down, the Z move is done after XY, etc.
- * - Delta may lower Z first to get into the free motion zone.
- * - Before returning, wait for the planner buffer to empty.
- */
- void do_blocking_move_to(NUM_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=0.0f*/) {
- DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
- if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", NUM_AXIS_ARGS());
-
- const feedRate_t xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
-
- #if HAS_Z_AXIS
- const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
- #endif
- SECONDARY_AXIS_CODE(
- const feedRate_t i_feedrate = fr_mm_s ?: homing_feedrate(I_AXIS),
- const feedRate_t j_feedrate = fr_mm_s ?: homing_feedrate(J_AXIS),
- const feedRate_t k_feedrate = fr_mm_s ?: homing_feedrate(K_AXIS),
- const feedRate_t u_feedrate = fr_mm_s ?: homing_feedrate(U_AXIS),
- const feedRate_t v_feedrate = fr_mm_s ?: homing_feedrate(V_AXIS),
- const feedRate_t w_feedrate = fr_mm_s ?: homing_feedrate(W_AXIS)
- );
-
- #if IS_KINEMATIC
- if (!position_is_reachable(x, y)) return;
- destination = current_position; // sync destination at the start
- #endif
-
- #if ENABLED(DELTA)
-
- REMEMBER(fr, feedrate_mm_s, xy_feedrate);
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("destination = current_position", destination);
-
- // when in the danger zone
- if (current_position.z > delta_clip_start_height) {
- if (z > delta_clip_start_height) { // staying in the danger zone
- destination.set(x, y, z); // move directly (uninterpolated)
- prepare_internal_fast_move_to_destination(); // set current_position from destination
- if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
- return;
- }
- destination.z = delta_clip_start_height;
- prepare_internal_fast_move_to_destination(); // set current_position from destination
- if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
- }
-
- if (z > current_position.z) { // raising?
- destination.z = z;
- prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination
- if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
- }
-
- destination.set(x, y);
- prepare_internal_move_to_destination(); // set current_position from destination
- if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
-
- if (z < current_position.z) { // lowering?
- destination.z = z;
- prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination
- if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
- }
-
- #elif IS_SCARA
-
- // If Z needs to raise, do it before moving XY
- if (destination.z < z) { destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); }
-
- destination.set(x, y); prepare_internal_fast_move_to_destination(xy_feedrate);
-
- // If Z needs to lower, do it after moving XY
- if (destination.z > z) { destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); }
-
- #else
-
- #if HAS_Z_AXIS // If Z needs to raise, do it before moving XY
- if (current_position.z < z) { current_position.z = z; line_to_current_position(z_feedrate); }
- #endif
-
- current_position.set(x, y); line_to_current_position(xy_feedrate);
-
- #if HAS_I_AXIS
- current_position.i = i; line_to_current_position(i_feedrate);
- #endif
- #if HAS_J_AXIS
- current_position.j = j; line_to_current_position(j_feedrate);
- #endif
- #if HAS_K_AXIS
- current_position.k = k; line_to_current_position(k_feedrate);
- #endif
- #if HAS_U_AXIS
- current_position.u = u; line_to_current_position(u_feedrate);
- #endif
- #if HAS_V_AXIS
- current_position.v = v; line_to_current_position(v_feedrate);
- #endif
- #if HAS_W_AXIS
- current_position.w = w; line_to_current_position(w_feedrate);
- #endif
-
- #if HAS_Z_AXIS
- // If Z needs to lower, do it after moving XY
- if (current_position.z > z) { current_position.z = z; line_to_current_position(z_feedrate); }
- #endif
-
- #endif
-
- planner.synchronize();
- }
-
- void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(NUM_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i, current_position.j, current_position.k,
- current_position.u, current_position.v, current_position.w), fr_mm_s);
- }
- void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(NUM_AXIS_ELEM(raw), fr_mm_s);
- }
- void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(NUM_AXIS_ELEM(raw), fr_mm_s);
- }
- void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k,
- current_position.u, current_position.v, current_position.w),
- fr_mm_s
- );
- }
-
- #if HAS_Y_AXIS
- void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k,
- current_position.u, current_position.v, current_position.w),
- fr_mm_s
- );
- }
- #endif
-
- #if HAS_Z_AXIS
- void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to_xy_z(current_position, rz, fr_mm_s);
- }
- #endif
-
- #if HAS_I_AXIS
- void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s);
- }
- void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(raw.x, raw.y, raw.z, i, raw.j, raw.k, raw.u, raw.v, raw.w),
- fr_mm_s
- );
- }
- #endif
-
- #if HAS_J_AXIS
- void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to_xyzi_j(current_position, rj, fr_mm_s);
- }
- void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, j, raw.k, raw.u, raw.v, raw.w),
- fr_mm_s
- );
- }
- #endif
-
- #if HAS_K_AXIS
- void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to_xyzij_k(current_position, rk, fr_mm_s);
- }
- void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, k, raw.u, raw.v, raw.w),
- fr_mm_s
- );
- }
- #endif
-
- #if HAS_U_AXIS
- void do_blocking_move_to_u(const_float_t ru, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to_xyzijk_u(current_position, ru, fr_mm_s);
- }
- void do_blocking_move_to_xyzijk_u(const xyze_pos_t &raw, const_float_t u, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, u, raw.v, raw.w),
- fr_mm_s
- );
- }
- #endif
-
- #if HAS_V_AXIS
- void do_blocking_move_to_v(const_float_t rv, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to_xyzijku_v(current_position, rv, fr_mm_s);
- }
- void do_blocking_move_to_xyzijku_v(const xyze_pos_t &raw, const_float_t v, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, v, raw.w),
- fr_mm_s
- );
- }
- #endif
-
- #if HAS_W_AXIS
- void do_blocking_move_to_w(const_float_t rw, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to_xyzijkuv_w(current_position, rw, fr_mm_s);
- }
- void do_blocking_move_to_xyzijkuv_w(const xyze_pos_t &raw, const_float_t w, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, raw.v, w),
- fr_mm_s
- );
- }
- #endif
-
- #if HAS_Y_AXIS
- void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k,
- current_position.u, current_position.v, current_position.w),
- fr_mm_s
- );
- }
- void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s);
- }
- #endif
-
- #if HAS_Z_AXIS
- void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) {
- do_blocking_move_to(
- NUM_AXIS_LIST(raw.x, raw.y, z, current_position.i, current_position.j, current_position.k,
- current_position.u, current_position.v, current_position.w),
- fr_mm_s
- );
- }
- void do_z_clearance(const_float_t zclear, const bool lower_allowed/*=false*/) {
- float zdest = zclear;
- if (!lower_allowed) NOLESS(zdest, current_position.z);
- do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS)));
- }
- #endif
-
- //
- // Prepare to do endstop or probe moves with custom feedrates.
- // - Save / restore current feedrate and multiplier
- //
- static float saved_feedrate_mm_s;
- static int16_t saved_feedrate_percentage;
- void remember_feedrate_and_scaling() {
- saved_feedrate_mm_s = feedrate_mm_s;
- saved_feedrate_percentage = feedrate_percentage;
- }
- void remember_feedrate_scaling_off() {
- remember_feedrate_and_scaling();
- feedrate_percentage = 100;
- }
- void restore_feedrate_and_scaling() {
- feedrate_mm_s = saved_feedrate_mm_s;
- feedrate_percentage = saved_feedrate_percentage;
- }
-
- #if HAS_SOFTWARE_ENDSTOPS
-
- // Software Endstops are based on the configured limits.
- soft_endstops_t soft_endstop = {
- true, false,
- NUM_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS, I_MIN_POS, J_MIN_POS, K_MIN_POS, U_MIN_POS, V_MIN_POS, W_MIN_POS),
- NUM_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS, I_MAX_POS, J_MAX_POS, K_MAX_POS, U_MAX_POS, V_MAX_POS, W_MAX_POS)
- };
-
- /**
- * Software endstops can be used to monitor the open end of
- * an axis that has a hardware endstop on the other end. Or
- * they can prevent axes from moving past endstops and grinding.
- *
- * To keep doing their job as the coordinate system changes,
- * the software endstop positions must be refreshed to remain
- * at the same positions relative to the machine.
- */
- void update_software_endstops(const AxisEnum axis
- OPTARG(HAS_HOTEND_OFFSET, const uint8_t old_tool_index/*=0*/, const uint8_t new_tool_index/*=0*/)
- ) {
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- if (axis == X_AXIS) {
-
- // In Dual X mode hotend_offset[X] is T1's home position
- const float dual_max_x = _MAX(hotend_offset[1].x, X2_MAX_POS);
-
- if (new_tool_index != 0) {
- // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
- soft_endstop.min.x = X2_MIN_POS;
- soft_endstop.max.x = dual_max_x;
- }
- else if (idex_is_duplicating()) {
- // In Duplication Mode, T0 can move as far left as X1_MIN_POS
- // but not so far to the right that T1 would move past the end
- soft_endstop.min.x = X1_MIN_POS;
- soft_endstop.max.x = _MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
- }
- else {
- // In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
- soft_endstop.min.x = X1_MIN_POS;
- soft_endstop.max.x = X1_MAX_POS;
- }
-
- }
-
- #elif ENABLED(DELTA)
-
- soft_endstop.min[axis] = base_min_pos(axis);
- soft_endstop.max[axis] = (axis == Z_AXIS) ? DIFF_TERN(HAS_BED_PROBE, delta_height, probe.offset.z) : base_max_pos(axis);
-
- switch (axis) {
- case X_AXIS:
- case Y_AXIS:
- // Get a minimum radius for clamping
- delta_max_radius = _MIN(ABS(_MAX(soft_endstop.min.x, soft_endstop.min.y)), soft_endstop.max.x, soft_endstop.max.y);
- delta_max_radius_2 = sq(delta_max_radius);
- break;
- case Z_AXIS:
- refresh_delta_clip_start_height();
- default: break;
- }
-
- #elif HAS_HOTEND_OFFSET
-
- // Software endstops are relative to the tool 0 workspace, so
- // the movement limits must be shifted by the tool offset to
- // retain the same physical limit when other tools are selected.
-
- if (new_tool_index == old_tool_index || axis == Z_AXIS) { // The Z axis is "special" and shouldn't be modified
- const float offs = (axis == Z_AXIS) ? 0 : hotend_offset[active_extruder][axis];
- soft_endstop.min[axis] = base_min_pos(axis) + offs;
- soft_endstop.max[axis] = base_max_pos(axis) + offs;
- }
- else {
- const float diff = hotend_offset[new_tool_index][axis] - hotend_offset[old_tool_index][axis];
- soft_endstop.min[axis] += diff;
- soft_endstop.max[axis] += diff;
- }
-
- #else
-
- soft_endstop.min[axis] = base_min_pos(axis);
- soft_endstop.max[axis] = base_max_pos(axis);
-
- #endif
-
- if (DEBUGGING(LEVELING))
- SERIAL_ECHOLNPGM("Axis ", AS_CHAR(AXIS_CHAR(axis)), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
- }
-
- /**
- * Constrain the given coordinates to the software endstops.
- *
- * For DELTA/SCARA the XY constraint is based on the smallest
- * radius within the set software endstops.
- */
- void apply_motion_limits(xyz_pos_t &target) {
-
- if (!soft_endstop._enabled) return;
-
- #if IS_KINEMATIC
-
- if (TERN0(DELTA, !all_axes_homed())) return;
-
- #if BOTH(HAS_HOTEND_OFFSET, DELTA)
- // The effector center position will be the target minus the hotend offset.
- const xy_pos_t offs = hotend_offset[active_extruder];
- #else
- // SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
- constexpr xy_pos_t offs{0};
- #endif
-
- if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
- const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
- if (dist_2 > delta_max_radius_2)
- target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
- }
-
- #else
-
- if (axis_was_homed(X_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
- NOLESS(target.x, soft_endstop.min.x);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
- NOMORE(target.x, soft_endstop.max.x);
- #endif
- }
-
- #if HAS_Y_AXIS
- if (axis_was_homed(Y_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
- NOLESS(target.y, soft_endstop.min.y);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
- NOMORE(target.y, soft_endstop.max.y);
- #endif
- }
- #endif
-
- #endif
-
- #if HAS_Z_AXIS
- if (axis_was_homed(Z_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
- NOLESS(target.z, soft_endstop.min.z);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
- NOMORE(target.z, soft_endstop.max.z);
- #endif
- }
- #endif
- #if HAS_I_AXIS
- if (axis_was_homed(I_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_I)
- NOLESS(target.i, soft_endstop.min.i);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_I)
- NOMORE(target.i, soft_endstop.max.i);
- #endif
- }
- #endif
- #if HAS_J_AXIS
- if (axis_was_homed(J_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_J)
- NOLESS(target.j, soft_endstop.min.j);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_J)
- NOMORE(target.j, soft_endstop.max.j);
- #endif
- }
- #endif
- #if HAS_K_AXIS
- if (axis_was_homed(K_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_K)
- NOLESS(target.k, soft_endstop.min.k);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_K)
- NOMORE(target.k, soft_endstop.max.k);
- #endif
- }
- #endif
- #if HAS_U_AXIS
- if (axis_was_homed(U_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_U)
- NOLESS(target.u, soft_endstop.min.u);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_U)
- NOMORE(target.u, soft_endstop.max.u);
- #endif
- }
- #endif
- #if HAS_V_AXIS
- if (axis_was_homed(V_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_V)
- NOLESS(target.v, soft_endstop.min.v);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_V)
- NOMORE(target.v, soft_endstop.max.v);
- #endif
- }
- #endif
- #if HAS_W_AXIS
- if (axis_was_homed(W_AXIS)) {
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_W)
- NOLESS(target.w, soft_endstop.min.w);
- #endif
- #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_W)
- NOMORE(target.w, soft_endstop.max.w);
- #endif
- }
- #endif
- }
-
- #else // !HAS_SOFTWARE_ENDSTOPS
-
- soft_endstops_t soft_endstop;
-
- #endif // !HAS_SOFTWARE_ENDSTOPS
-
- #if !UBL_SEGMENTED
-
- FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
- const millis_t ms = millis();
- if (ELAPSED(ms, next_idle_ms)) {
- next_idle_ms = ms + 200UL;
- return idle();
- }
- thermalManager.manage_heater(); // Returns immediately on most calls
- }
-
- #if IS_KINEMATIC
-
- #if IS_SCARA
- /**
- * Before raising this value, use M665 S[seg_per_sec] to decrease
- * the number of segments-per-second. Default is 200. Some deltas
- * do better with 160 or lower. It would be good to know how many
- * segments-per-second are actually possible for SCARA on AVR.
- *
- * Longer segments result in less kinematic overhead
- * but may produce jagged lines. Try 0.5mm, 1.0mm, and 2.0mm
- * and compare the difference.
- */
- #define SCARA_MIN_SEGMENT_LENGTH 0.5f
- #endif
-
- /**
- * Prepare a linear move in a DELTA or SCARA setup.
- *
- * Called from prepare_line_to_destination as the
- * default Delta/SCARA segmenter.
- *
- * This calls planner.buffer_line several times, adding
- * small incremental moves for DELTA or SCARA.
- *
- * For Unified Bed Leveling (Delta or Segmented Cartesian)
- * the ubl.line_to_destination_segmented method replaces this.
- *
- * For Auto Bed Leveling (Bilinear) with SEGMENT_LEVELED_MOVES
- * this is replaced by segmented_line_to_destination below.
- */
- inline bool line_to_destination_kinematic() {
-
- // Get the top feedrate of the move in the XY plane
- const float scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
-
- const xyze_float_t diff = destination - current_position;
-
- // If the move is only in Z/E don't split up the move
- if (!diff.x && !diff.y) {
- planner.buffer_line(destination, scaled_fr_mm_s);
- return false; // caller will update current_position
- }
-
- // Fail if attempting move outside printable radius
- if (!position_is_reachable(destination)) return true;
-
- // Get the linear distance in XYZ
- float cartesian_mm = diff.magnitude();
-
- // If the move is very short, check the E move distance
- TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));
-
- // No E move either? Game over.
- if (UNEAR_ZERO(cartesian_mm)) return true;
-
- // Minimum number of seconds to move the given distance
- const float seconds = cartesian_mm / scaled_fr_mm_s;
-
- // The number of segments-per-second times the duration
- // gives the number of segments
- uint16_t segments = segments_per_second * seconds;
-
- // For SCARA enforce a minimum segment size
- #if IS_SCARA
- NOMORE(segments, cartesian_mm * RECIPROCAL(SCARA_MIN_SEGMENT_LENGTH));
- #endif
-
- // At least one segment is required
- NOLESS(segments, 1U);
-
- // The approximate length of each segment
- const float inv_segments = 1.0f / float(segments),
- cartesian_segment_mm = cartesian_mm * inv_segments;
- const xyze_float_t segment_distance = diff * inv_segments;
-
- #if ENABLED(SCARA_FEEDRATE_SCALING)
- const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm;
- #endif
-
- /*
- SERIAL_ECHOPGM("mm=", cartesian_mm);
- SERIAL_ECHOPGM(" seconds=", seconds);
- SERIAL_ECHOPGM(" segments=", segments);
- SERIAL_ECHOPGM(" segment_mm=", cartesian_segment_mm);
- SERIAL_EOL();
- //*/
-
- // Get the current position as starting point
- xyze_pos_t raw = current_position;
-
- // Calculate and execute the segments
- millis_t next_idle_ms = millis() + 200UL;
- while (--segments) {
- segment_idle(next_idle_ms);
- raw += segment_distance;
- if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break;
- }
-
- // Ensure last segment arrives at target location.
- planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
-
- return false; // caller will update current_position
- }
-
- #else // !IS_KINEMATIC
-
- #if ENABLED(SEGMENT_LEVELED_MOVES)
-
- /**
- * Prepare a segmented move on a CARTESIAN setup.
- *
- * This calls planner.buffer_line several times, adding
- * small incremental moves. This allows the planner to
- * apply more detailed bed leveling to the full move.
- */
- inline void segmented_line_to_destination(const_feedRate_t fr_mm_s, const float segment_size=LEVELED_SEGMENT_LENGTH) {
-
- const xyze_float_t diff = destination - current_position;
-
- // If the move is only in Z/E don't split up the move
- if (!diff.x && !diff.y) {
- planner.buffer_line(destination, fr_mm_s);
- return;
- }
-
- // Get the linear distance in XYZ
- // If the move is very short, check the E move distance
- // No E move either? Game over.
- float cartesian_mm = diff.magnitude();
- TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));
- if (UNEAR_ZERO(cartesian_mm)) return;
-
- // The length divided by the segment size
- // At least one segment is required
- uint16_t segments = cartesian_mm / segment_size;
- NOLESS(segments, 1U);
-
- // The approximate length of each segment
- const float inv_segments = 1.0f / float(segments),
- cartesian_segment_mm = cartesian_mm * inv_segments;
- const xyze_float_t segment_distance = diff * inv_segments;
-
- #if ENABLED(SCARA_FEEDRATE_SCALING)
- const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm;
- #endif
-
- //SERIAL_ECHOPGM("mm=", cartesian_mm);
- //SERIAL_ECHOLNPGM(" segments=", segments);
- //SERIAL_ECHOLNPGM(" segment_mm=", cartesian_segment_mm);
-
- // Get the raw current position as starting point
- xyze_pos_t raw = current_position;
-
- // Calculate and execute the segments
- millis_t next_idle_ms = millis() + 200UL;
- while (--segments) {
- segment_idle(next_idle_ms);
- raw += segment_distance;
- if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break;
- }
-
- // Since segment_distance is only approximate,
- // the final move must be to the exact destination.
- planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
- }
-
- #endif // SEGMENT_LEVELED_MOVES
-
- /**
- * Prepare a linear move in a Cartesian setup.
- *
- * When a mesh-based leveling system is active, moves are segmented
- * according to the configuration of the leveling system.
- *
- * Return true if 'current_position' was set to 'destination'
- */
- inline bool line_to_destination_cartesian() {
- const float scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
- #if HAS_MESH
- if (planner.leveling_active && planner.leveling_active_at_z(destination.z)) {
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- ubl.line_to_destination_cartesian(scaled_fr_mm_s, active_extruder); // UBL's motion routine needs to know about
- return true; // all moves, including Z-only moves.
- #elif ENABLED(SEGMENT_LEVELED_MOVES)
- segmented_line_to_destination(scaled_fr_mm_s);
- return false; // caller will update current_position
- #else
- /**
- * For MBL and ABL-BILINEAR only segment moves when X or Y are involved.
- * Otherwise fall through to do a direct single move.
- */
- if (xy_pos_t(current_position) != xy_pos_t(destination)) {
- #if ENABLED(MESH_BED_LEVELING)
- mbl.line_to_destination(scaled_fr_mm_s);
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- bbl.line_to_destination(scaled_fr_mm_s);
- #endif
- return true;
- }
- #endif
- }
- #endif // HAS_MESH
-
- planner.buffer_line(destination, scaled_fr_mm_s);
- return false; // caller will update current_position
- }
-
- #endif // !IS_KINEMATIC
- #endif // !UBL_SEGMENTED
-
- #if HAS_DUPLICATION_MODE
- bool extruder_duplication_enabled;
- #if ENABLED(MULTI_NOZZLE_DUPLICATION)
- uint8_t duplication_e_mask; // = 0
- #endif
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
- float inactive_extruder_x = X2_MAX_POS, // Used in mode 0 & 1
- duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // Used in mode 2 & 3
- xyz_pos_t raised_parked_position; // Used in mode 1
- bool active_extruder_parked = false; // Used in mode 1, 2 & 3
- millis_t delayed_move_time = 0; // Used in mode 1
- celsius_t duplicate_extruder_temp_offset = 0; // Used in mode 2 & 3
- bool idex_mirrored_mode = false; // Used in mode 3
-
- float x_home_pos(const uint8_t extruder) {
- if (extruder == 0) return X_HOME_POS;
-
- /**
- * In dual carriage mode the extruder offset provides an override of the
- * second X-carriage position when homed - otherwise X2_HOME_POS is used.
- * This allows soft recalibration of the second extruder home position
- * (with M218 T1 Xn) without firmware reflash.
- */
- return hotend_offset[1].x > 0 ? hotend_offset[1].x : X2_HOME_POS;
- }
-
- void idex_set_mirrored_mode(const bool mirr) {
- idex_mirrored_mode = mirr;
- stepper.set_directions();
- }
-
- void set_duplication_enabled(const bool dupe, const int8_t tool_index/*=-1*/) {
- extruder_duplication_enabled = dupe;
- if (tool_index >= 0) active_extruder = tool_index;
- stepper.set_directions();
- }
-
- void idex_set_parked(const bool park/*=true*/) {
- delayed_move_time = 0;
- active_extruder_parked = park;
- if (park) raised_parked_position = current_position; // Remember current raised toolhead position for use by unpark
- }
-
- /**
- * Prepare a linear move in a dual X axis setup
- *
- * Return true if current_position[] was set to destination[]
- */
- inline bool dual_x_carriage_unpark() {
- if (active_extruder_parked) {
- switch (dual_x_carriage_mode) {
-
- case DXC_FULL_CONTROL_MODE: break;
-
- case DXC_AUTO_PARK_MODE: {
- if (current_position.e == destination.e) {
- // This is a travel move (with no extrusion)
- // Skip it, but keep track of the current position
- // (so it can be used as the start of the next non-travel move)
- if (delayed_move_time != 0xFFFFFFFFUL) {
- current_position = destination;
- NOLESS(raised_parked_position.z, destination.z);
- delayed_move_time = millis() + 1000UL;
- return true;
- }
- }
- //
- // Un-park the active extruder
- //
- const feedRate_t fr_zfast = planner.settings.max_feedrate_mm_s[Z_AXIS];
- // 1. Move to the raised parked XYZ. Presumably the tool is already at XY.
- xyze_pos_t raised = raised_parked_position; raised.e = current_position.e;
- if (planner.buffer_line(raised, fr_zfast)) {
- // 2. Move to the current native XY and raised Z. Presumably this is a null move.
- xyze_pos_t curpos = current_position; curpos.z = raised_parked_position.z;
- if (planner.buffer_line(curpos, PLANNER_XY_FEEDRATE())) {
- // 3. Lower Z back down
- line_to_current_position(fr_zfast);
- }
- }
- stepper.set_directions();
-
- idex_set_parked(false);
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("idex_set_parked(false)");
- } break;
-
- case DXC_MIRRORED_MODE:
- case DXC_DUPLICATION_MODE:
- if (active_extruder == 0) {
- set_duplication_enabled(false); // Clear stale duplication state
- // Restore planner to parked head (T1) X position
- float x0_pos = current_position.x;
- xyze_pos_t pos_now = current_position;
- pos_now.x = inactive_extruder_x;
- planner.set_position_mm(pos_now);
-
- // Keep the same X or add the duplication X offset
- xyze_pos_t new_pos = pos_now;
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
- new_pos.x = x0_pos + duplicate_extruder_x_offset;
- else
- new_pos.x = _MIN(X_BED_SIZE - x0_pos, X_MAX_POS);
-
- // Move duplicate extruder into the correct position
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set planner X", inactive_extruder_x, " ... Line to X", new_pos.x);
- if (!planner.buffer_line(new_pos, planner.settings.max_feedrate_mm_s[X_AXIS], 1)) break;
- planner.synchronize();
-
- sync_plan_position(); // Extra sync for good measure
- set_duplication_enabled(true); // Enable Duplication
- idex_set_parked(false); // No longer parked
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("set_duplication_enabled(true)\nidex_set_parked(false)");
- }
- else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Active extruder not 0");
- break;
- }
- }
- return false;
- }
-
- #endif // DUAL_X_CARRIAGE
-
- /**
- * Prepare a single move and get ready for the next one
- *
- * This may result in several calls to planner.buffer_line to
- * do smaller moves for DELTA, SCARA, mesh moves, etc.
- *
- * Make sure current_position.e and destination.e are good
- * before calling or cold/lengthy extrusion may get missed.
- *
- * Before exit, current_position is set to destination.
- */
- void prepare_line_to_destination() {
- apply_motion_limits(destination);
-
- #if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE)
-
- if (!DEBUGGING(DRYRUN) && destination.e != current_position.e) {
- bool ignore_e = false;
-
- #if ENABLED(PREVENT_COLD_EXTRUSION)
- ignore_e = thermalManager.tooColdToExtrude(active_extruder);
- if (ignore_e) SERIAL_ECHO_MSG(STR_ERR_COLD_EXTRUDE_STOP);
- #endif
-
- #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
- const float e_delta = ABS(destination.e - current_position.e) * planner.e_factor[active_extruder];
- if (e_delta > (EXTRUDE_MAXLENGTH)) {
- #if ENABLED(MIXING_EXTRUDER)
- float collector[MIXING_STEPPERS];
- mixer.refresh_collector(1.0, mixer.get_current_vtool(), collector);
- MIXER_STEPPER_LOOP(e) {
- if (e_delta * collector[e] > (EXTRUDE_MAXLENGTH)) {
- ignore_e = true;
- SERIAL_ECHO_MSG(STR_ERR_LONG_EXTRUDE_STOP);
- break;
- }
- }
- #else
- ignore_e = true;
- SERIAL_ECHO_MSG(STR_ERR_LONG_EXTRUDE_STOP);
- #endif
- }
- #endif
-
- if (ignore_e) {
- current_position.e = destination.e; // Behave as if the E move really took place
- planner.set_e_position_mm(destination.e); // Prevent the planner from complaining too
- }
- }
-
- #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
-
- if (TERN0(DUAL_X_CARRIAGE, dual_x_carriage_unpark())) return;
-
- if (
- #if UBL_SEGMENTED
- #if IS_KINEMATIC // UBL using Kinematic / Cartesian cases as a workaround for now.
- ubl.line_to_destination_segmented(MMS_SCALED(feedrate_mm_s))
- #else
- line_to_destination_cartesian()
- #endif
- #elif IS_KINEMATIC
- line_to_destination_kinematic()
- #else
- line_to_destination_cartesian()
- #endif
- ) return;
-
- current_position = destination;
- }
-
- #if HAS_ENDSTOPS
-
- linear_axis_bits_t axis_homed, axis_trusted; // = 0
-
- linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits/*=linear_bits*/) {
- auto set_should = [](linear_axis_bits_t &b, AxisEnum a) {
- if (TEST(b, a) && TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(a))
- CBI(b, a);
- };
- // Clear test bits that are trusted
- NUM_AXIS_CODE(
- set_should(axis_bits, X_AXIS), set_should(axis_bits, Y_AXIS), set_should(axis_bits, Z_AXIS),
- set_should(axis_bits, I_AXIS), set_should(axis_bits, J_AXIS), set_should(axis_bits, K_AXIS),
- set_should(axis_bits, U_AXIS), set_should(axis_bits, V_AXIS), set_should(axis_bits, W_AXIS)
- );
- return axis_bits;
- }
-
- bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) {
- if ((axis_bits = axes_should_home(axis_bits))) {
- PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
- char msg[30];
- sprintf_P(msg, home_first,
- NUM_AXIS_LIST(
- TEST(axis_bits, X_AXIS) ? STR_A : "",
- TEST(axis_bits, Y_AXIS) ? STR_B : "",
- TEST(axis_bits, Z_AXIS) ? STR_C : "",
- TEST(axis_bits, I_AXIS) ? STR_I : "",
- TEST(axis_bits, J_AXIS) ? STR_J : "",
- TEST(axis_bits, K_AXIS) ? STR_K : "",
- TEST(axis_bits, U_AXIS) ? STR_U : "",
- TEST(axis_bits, V_AXIS) ? STR_V : "",
- TEST(axis_bits, W_AXIS) ? STR_W : ""
- )
- );
- SERIAL_ECHO_START();
- SERIAL_ECHOLN(msg);
- ui.set_status(msg);
- return true;
- }
- return false;
- }
-
- /**
- * Homing bump feedrate (mm/s)
- */
- feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
- #if HOMING_Z_WITH_PROBE
- if (axis == Z_AXIS) return MMM_TO_MMS(Z_PROBE_FEEDRATE_SLOW);
- #endif
- static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
- uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
- if (hbd < 1) {
- hbd = 10;
- SERIAL_ECHO_MSG("Warning: Homing Bump Divisor < 1");
- }
- return homing_feedrate(axis) / float(hbd);
- }
-
- #if ENABLED(SENSORLESS_HOMING)
- /**
- * Set sensorless homing if the axis has it, accounting for Core Kinematics.
- */
- sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) {
- sensorless_t stealth_states { false };
-
- switch (axis) {
- default: break;
- #if X_SENSORLESS
- case X_AXIS:
- stealth_states.x = tmc_enable_stallguard(stepperX);
- TERN_(X2_SENSORLESS, stealth_states.x2 = tmc_enable_stallguard(stepperX2));
- #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
- stealth_states.y = tmc_enable_stallguard(stepperY);
- #elif CORE_IS_XZ && Z_SENSORLESS
- stealth_states.z = tmc_enable_stallguard(stepperZ);
- #endif
- break;
- #endif
- #if Y_SENSORLESS
- case Y_AXIS:
- stealth_states.y = tmc_enable_stallguard(stepperY);
- TERN_(Y2_SENSORLESS, stealth_states.y2 = tmc_enable_stallguard(stepperY2));
- #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
- stealth_states.x = tmc_enable_stallguard(stepperX);
- #elif CORE_IS_YZ && Z_SENSORLESS
- stealth_states.z = tmc_enable_stallguard(stepperZ);
- #endif
- break;
- #endif
- #if Z_SENSORLESS
- case Z_AXIS:
- stealth_states.z = tmc_enable_stallguard(stepperZ);
- TERN_(Z2_SENSORLESS, stealth_states.z2 = tmc_enable_stallguard(stepperZ2));
- TERN_(Z3_SENSORLESS, stealth_states.z3 = tmc_enable_stallguard(stepperZ3));
- TERN_(Z4_SENSORLESS, stealth_states.z4 = tmc_enable_stallguard(stepperZ4));
- #if CORE_IS_XZ && X_SENSORLESS
- stealth_states.x = tmc_enable_stallguard(stepperX);
- #elif CORE_IS_YZ && Y_SENSORLESS
- stealth_states.y = tmc_enable_stallguard(stepperY);
- #endif
- break;
- #endif
- #if I_SENSORLESS
- case I_AXIS: stealth_states.i = tmc_enable_stallguard(stepperI); break;
- #endif
- #if J_SENSORLESS
- case J_AXIS: stealth_states.j = tmc_enable_stallguard(stepperJ); break;
- #endif
- #if K_SENSORLESS
- case K_AXIS: stealth_states.k = tmc_enable_stallguard(stepperK); break;
- #endif
- #if U_SENSORLESS
- case U_AXIS: stealth_states.u = tmc_enable_stallguard(stepperU); break;
- #endif
- #if V_SENSORLESS
- case V_AXIS: stealth_states.v = tmc_enable_stallguard(stepperV); break;
- #endif
- #if W_SENSORLESS
- case W_AXIS: stealth_states.w = tmc_enable_stallguard(stepperW); break;
- #endif
- }
-
- #if ENABLED(SPI_ENDSTOPS)
- switch (axis) {
- case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break;
- #if HAS_Y_AXIS
- case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break;
- #endif
- #if HAS_Z_AXIS
- case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break;
- #endif
- #if HAS_I_AXIS
- case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = true; break;
- #endif
- #if HAS_J_AXIS
- case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = true; break;
- #endif
- #if HAS_K_AXIS
- case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = true; break;
- #endif
- #if HAS_U_AXIS
- case U_AXIS: if (ENABLED(U_SPI_SENSORLESS)) endstops.tmc_spi_homing.u = true; break;
- #endif
- #if HAS_V_AXIS
- case V_AXIS: if (ENABLED(V_SPI_SENSORLESS)) endstops.tmc_spi_homing.v = true; break;
- #endif
- #if HAS_W_AXIS
- case W_AXIS: if (ENABLED(W_SPI_SENSORLESS)) endstops.tmc_spi_homing.w = true; break;
- #endif
- default: break;
- }
- #endif
-
- TERN_(IMPROVE_HOMING_RELIABILITY, sg_guard_period = millis() + default_sg_guard_duration);
-
- return stealth_states;
- }
-
- void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth) {
- switch (axis) {
- default: break;
- #if X_SENSORLESS
- case X_AXIS:
- tmc_disable_stallguard(stepperX, enable_stealth.x);
- TERN_(X2_SENSORLESS, tmc_disable_stallguard(stepperX2, enable_stealth.x2));
- #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
- tmc_disable_stallguard(stepperY, enable_stealth.y);
- #elif CORE_IS_XZ && Z_SENSORLESS
- tmc_disable_stallguard(stepperZ, enable_stealth.z);
- #endif
- break;
- #endif
- #if Y_SENSORLESS
- case Y_AXIS:
- tmc_disable_stallguard(stepperY, enable_stealth.y);
- TERN_(Y2_SENSORLESS, tmc_disable_stallguard(stepperY2, enable_stealth.y2));
- #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
- tmc_disable_stallguard(stepperX, enable_stealth.x);
- #elif CORE_IS_YZ && Z_SENSORLESS
- tmc_disable_stallguard(stepperZ, enable_stealth.z);
- #endif
- break;
- #endif
- #if Z_SENSORLESS
- case Z_AXIS:
- tmc_disable_stallguard(stepperZ, enable_stealth.z);
- TERN_(Z2_SENSORLESS, tmc_disable_stallguard(stepperZ2, enable_stealth.z2));
- TERN_(Z3_SENSORLESS, tmc_disable_stallguard(stepperZ3, enable_stealth.z3));
- TERN_(Z4_SENSORLESS, tmc_disable_stallguard(stepperZ4, enable_stealth.z4));
- #if CORE_IS_XZ && X_SENSORLESS
- tmc_disable_stallguard(stepperX, enable_stealth.x);
- #elif CORE_IS_YZ && Y_SENSORLESS
- tmc_disable_stallguard(stepperY, enable_stealth.y);
- #endif
- break;
- #endif
- #if I_SENSORLESS
- case I_AXIS: tmc_disable_stallguard(stepperI, enable_stealth.i); break;
- #endif
- #if J_SENSORLESS
- case J_AXIS: tmc_disable_stallguard(stepperJ, enable_stealth.j); break;
- #endif
- #if K_SENSORLESS
- case K_AXIS: tmc_disable_stallguard(stepperK, enable_stealth.k); break;
- #endif
- #if U_SENSORLESS
- case U_AXIS: tmc_disable_stallguard(stepperU, enable_stealth.u); break;
- #endif
- #if V_SENSORLESS
- case V_AXIS: tmc_disable_stallguard(stepperV, enable_stealth.v); break;
- #endif
- #if W_SENSORLESS
- case W_AXIS: tmc_disable_stallguard(stepperW, enable_stealth.w); break;
- #endif
- }
-
- #if ENABLED(SPI_ENDSTOPS)
- switch (axis) {
- case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break;
- #if HAS_Y_AXIS
- case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break;
- #endif
- #if HAS_Z_AXIS
- case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break;
- #endif
- #if HAS_I_AXIS
- case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = false; break;
- #endif
- #if HAS_J_AXIS
- case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = false; break;
- #endif
- #if HAS_K_AXIS
- case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break;
- #endif
- #if HAS_U_AXIS
- case U_AXIS: if (ENABLED(U_SPI_SENSORLESS)) endstops.tmc_spi_homing.u = false; break;
- #endif
- #if HAS_V_AXIS
- case V_AXIS: if (ENABLED(V_SPI_SENSORLESS)) endstops.tmc_spi_homing.v = false; break;
- #endif
- #if HAS_W_AXIS
- case W_AXIS: if (ENABLED(W_SPI_SENSORLESS)) endstops.tmc_spi_homing.w = false; break;
- #endif
- default: break;
- }
- #endif
- }
-
- #endif // SENSORLESS_HOMING
-
- /**
- * Home an individual linear axis
- */
- void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0, const bool final_approach=true) {
- DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING));
-
- const feedRate_t home_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPGM("...(", AS_CHAR(AXIS_CHAR(axis)), ", ", distance, ", ");
- if (fr_mm_s)
- DEBUG_ECHO(fr_mm_s);
- else
- DEBUG_ECHOPGM("[", home_fr_mm_s, "]");
- DEBUG_ECHOLNPGM(")");
- }
-
- // Only do some things when moving towards an endstop
- const int8_t axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS)
- ? TOOL_X_HOME_DIR(active_extruder) : home_dir(axis);
- const bool is_home_dir = (axis_home_dir > 0) == (distance > 0);
-
- #if ENABLED(SENSORLESS_HOMING)
- sensorless_t stealth_states;
- #endif
-
- if (is_home_dir) {
-
- if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS)) {
- #if BOTH(HAS_HEATED_BED, WAIT_FOR_BED_HEATER)
- // Wait for bed to heat back up between probing points
- thermalManager.wait_for_bed_heating();
- #endif
-
- #if BOTH(HAS_HOTEND, WAIT_FOR_HOTEND)
- // Wait for the hotend to heat back up between probing points
- thermalManager.wait_for_hotend_heating(active_extruder);
- #endif
-
- TERN_(HAS_QUIET_PROBING, if (final_approach) probe.set_probing_paused(true));
- }
-
- // Disable stealthChop if used. Enable diag1 pin on driver.
- TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis));
- }
-
- #if EITHER(MORGAN_SCARA, MP_SCARA)
- // Tell the planner the axis is at 0
- current_position[axis] = 0;
- sync_plan_position();
- current_position[axis] = distance;
- line_to_current_position(home_fr_mm_s);
- #else
- // Get the ABC or XYZ positions in mm
- abce_pos_t target = planner.get_axis_positions_mm();
-
- target[axis] = 0; // Set the single homing axis to 0
- planner.set_machine_position_mm(target); // Update the machine position
-
- #if HAS_DIST_MM_ARG
- const xyze_float_t cart_dist_mm{0};
- #endif
-
- // Set delta/cartesian axes directly
- target[axis] = distance; // The move will be towards the endstop
- planner.buffer_segment(target OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), home_fr_mm_s, active_extruder);
- #endif
-
- planner.synchronize();
-
- if (is_home_dir) {
-
- #if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING
- if (axis == Z_AXIS && final_approach) probe.set_probing_paused(false);
- #endif
-
- endstops.validate_homing_move();
-
- // Re-enable stealthChop if used. Disable diag1 pin on driver.
- TERN_(SENSORLESS_HOMING, end_sensorless_homing_per_axis(axis, stealth_states));
- }
- }
-
- /**
- * Set an axis to be unhomed. (Unless we are on a machine - e.g. a cheap Chinese CNC machine -
- * that has no endstops. Such machines should always be considered to be in a "known" and
- * "trusted" position).
- */
- void set_axis_never_homed(const AxisEnum axis) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(">>> set_axis_never_homed(", AS_CHAR(AXIS_CHAR(axis)), ")");
-
- set_axis_untrusted(axis);
- set_axis_unhomed(axis);
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< set_axis_never_homed(", AS_CHAR(AXIS_CHAR(axis)), ")");
-
- TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis));
- }
-
- #ifdef TMC_HOME_PHASE
- /**
- * Move the axis back to its home_phase if set and driver is capable (TMC)
- *
- * Improves homing repeatability by homing to stepper coil's nearest absolute
- * phase position. Trinamic drivers use a stepper phase table with 1024 values
- * spanning 4 full steps with 256 positions each (ergo, 1024 positions).
- */
- void backout_to_tmc_homing_phase(const AxisEnum axis) {
- const xyz_long_t home_phase = TMC_HOME_PHASE;
-
- // check if home phase is disabled for this axis.
- if (home_phase[axis] < 0) return;
-
- int16_t phasePerUStep, // TMC µsteps(phase) per Marlin µsteps
- phaseCurrent, // The TMC µsteps(phase) count of the current position
- effectorBackoutDir, // Direction in which the effector mm coordinates move away from endstop.
- stepperBackoutDir; // Direction in which the TMC µstep count(phase) move away from endstop.
-
- #define PHASE_PER_MICROSTEP(N) (256 / _MAX(1, N##_MICROSTEPS))
-
- switch (axis) {
- #ifdef X_MICROSTEPS
- case X_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(X);
- phaseCurrent = stepperX.get_microstep_counter();
- effectorBackoutDir = -X_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_X_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef Y_MICROSTEPS
- case Y_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(Y);
- phaseCurrent = stepperY.get_microstep_counter();
- effectorBackoutDir = -Y_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_Y_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef Z_MICROSTEPS
- case Z_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(Z);
- phaseCurrent = stepperZ.get_microstep_counter();
- effectorBackoutDir = -Z_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_Z_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef I_MICROSTEPS
- case I_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(I);
- phaseCurrent = stepperI.get_microstep_counter();
- effectorBackoutDir = -I_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_I_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef J_MICROSTEPS
- case J_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(J);
- phaseCurrent = stepperJ.get_microstep_counter();
- effectorBackoutDir = -J_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_J_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef K_MICROSTEPS
- case K_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(K);
- phaseCurrent = stepperK.get_microstep_counter();
- effectorBackoutDir = -K_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_K_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef U_MICROSTEPS
- case U_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(U);
- phaseCurrent = stepperU.get_microstep_counter();
- effectorBackoutDir = -U_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_U_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef V_MICROSTEPS
- case V_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(V);
- phaseCurrent = stepperV.get_microstep_counter();
- effectorBackoutDir = -V_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_V_DIR, -)effectorBackoutDir;
- break;
- #endif
- #ifdef W_MICROSTEPS
- case W_AXIS:
- phasePerUStep = PHASE_PER_MICROSTEP(W);
- phaseCurrent = stepperW.get_microstep_counter();
- effectorBackoutDir = -W_HOME_DIR;
- stepperBackoutDir = IF_DISABLED(INVERT_W_DIR, -)effectorBackoutDir;
- break;
- #endif
- default: return;
- }
-
- // Phase distance to nearest home phase position when moving in the backout direction from endstop(may be negative).
- int16_t phaseDelta = (home_phase[axis] - phaseCurrent) * stepperBackoutDir;
-
- // Check if home distance within endstop assumed repeatability noise of .05mm and warn.
- if (ABS(phaseDelta) * planner.mm_per_step[axis] / phasePerUStep < 0.05f)
- SERIAL_ECHOLNPGM("Selected home phase ", home_phase[axis],
- " too close to endstop trigger phase ", phaseCurrent,
- ". Pick a different phase for ", AS_CHAR(AXIS_CHAR(axis)));
-
- // Skip to next if target position is behind current. So it only moves away from endstop.
- if (phaseDelta < 0) phaseDelta += 1024;
-
- // Convert TMC µsteps(phase) to whole Marlin µsteps to effector backout direction to mm
- const float mmDelta = int16_t(phaseDelta / phasePerUStep) * effectorBackoutDir * planner.mm_per_step[axis];
-
- // Optional debug messages
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM(
- "Endstop ", AS_CHAR(AXIS_CHAR(axis)), " hit at Phase:", phaseCurrent,
- " Delta:", phaseDelta, " Distance:", mmDelta
- );
- }
-
- if (mmDelta != 0) {
- // Retrace by the amount computed in mmDelta.
- do_homing_move(axis, mmDelta, get_homing_bump_feedrate(axis));
- }
- }
- #endif
-
- /**
- * Home an individual "raw axis" to its endstop.
- * This applies to XYZ on Cartesian and Core robots, and
- * to the individual ABC steppers on DELTA and SCARA.
- *
- * At the end of the procedure the axis is marked as
- * homed and the current position of that axis is updated.
- * Kinematic robots should wait till all axes are homed
- * before updating the current position.
- */
-
- void homeaxis(const AxisEnum axis) {
-
- #if EITHER(MORGAN_SCARA, MP_SCARA)
- // Only Z homing (with probe) is permitted
- if (axis != Z_AXIS) { BUZZ(100, 880); return; }
- #else
- #define _CAN_HOME(A) (axis == _AXIS(A) && ( \
- ENABLED(A##_SPI_SENSORLESS) \
- || TERN0(HAS_Z_AXIS, TERN0(HOMING_Z_WITH_PROBE, _AXIS(A) == Z_AXIS)) \
- || TERN0(A##_HOME_TO_MIN, A##_MIN_PIN > -1) \
- || TERN0(A##_HOME_TO_MAX, A##_MAX_PIN > -1) \
- ))
- if (NUM_AXIS_GANG(
- !_CAN_HOME(X),
- && !_CAN_HOME(Y),
- && !_CAN_HOME(Z),
- && !_CAN_HOME(I),
- && !_CAN_HOME(J),
- && !_CAN_HOME(K),
- && !_CAN_HOME(U),
- && !_CAN_HOME(V),
- && !_CAN_HOME(W))
- ) return;
- #endif
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(">>> homeaxis(", AS_CHAR(AXIS_CHAR(axis)), ")");
-
- const int axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS)
- ? TOOL_X_HOME_DIR(active_extruder) : home_dir(axis);
-
- //
- // Homing Z with a probe? Raise Z (maybe) and deploy the Z probe.
- //
- if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && probe.deploy()))
- return;
-
- // Set flags for X, Y, Z motor locking
- #if HAS_EXTRA_ENDSTOPS
- switch (axis) {
- TERN_(X_DUAL_ENDSTOPS, case X_AXIS:)
- TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:)
- TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:)
- stepper.set_separate_multi_axis(true);
- default: break;
- }
- #endif
-
- //
- // Deploy BLTouch or tare the probe just before probing
- //
- #if HOMING_Z_WITH_PROBE
- if (axis == Z_AXIS) {
- if (TERN0(BLTOUCH, bltouch.deploy())) return; // BLTouch was deployed above, but get the alarm state.
- if (TERN0(PROBE_TARE, probe.tare())) return;
- }
- #endif
-
- //
- // Back away to prevent an early sensorless trigger
- //
- #if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM)
- const xyz_float_t backoff = SENSORLESS_BACKOFF_MM;
- if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS) || TERN0(Z_SENSORLESS, axis == Z_AXIS) || TERN0(I_SENSORLESS, axis == I_AXIS) || TERN0(J_SENSORLESS, axis == J_AXIS) || TERN0(K_SENSORLESS, axis == K_AXIS)) && backoff[axis]) {
- const float backoff_length = -ABS(backoff[axis]) * axis_home_dir;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sensorless backoff: ", backoff_length, "mm");
- do_homing_move(axis, backoff_length, homing_feedrate(axis));
- }
- #endif
-
- // Determine if a homing bump will be done and the bumps distance
- // When homing Z with probe respect probe clearance
- const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(axis));
- const float bump = axis_home_dir * (
- use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(axis)) : home_bump_mm(axis)
- );
-
- //
- // Fast move towards endstop until triggered
- //
- const float move_length = 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home Fast: ", move_length, "mm");
- do_homing_move(axis, move_length, 0.0, !use_probe_bump);
-
- #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH)
- if (axis == Z_AXIS && !bltouch.high_speed_mode) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
- #endif
-
- // If a second homing move is configured...
- if (bump) {
- // Move away from the endstop by the axis HOMING_BUMP_MM
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move Away: ", -bump, "mm");
- do_homing_move(axis, -bump, TERN(HOMING_Z_WITH_PROBE, (axis == Z_AXIS ? z_probe_fast_mm_s : 0), 0), false);
-
- #if ENABLED(DETECT_BROKEN_ENDSTOP)
- // Check for a broken endstop
- EndstopEnum es;
- switch (axis) {
- default:
- case X_AXIS: es = X_ENDSTOP; break;
- #if HAS_Y_AXIS
- case Y_AXIS: es = Y_ENDSTOP; break;
- #endif
- #if HAS_Z_AXIS
- case Z_AXIS: es = Z_ENDSTOP; break;
- #endif
- #if HAS_I_AXIS
- case I_AXIS: es = I_ENDSTOP; break;
- #endif
- #if HAS_J_AXIS
- case J_AXIS: es = J_ENDSTOP; break;
- #endif
- #if HAS_K_AXIS
- case K_AXIS: es = K_ENDSTOP; break;
- #endif
- #if HAS_U_AXIS
- case U_AXIS: es = U_ENDSTOP; break;
- #endif
- #if HAS_V_AXIS
- case V_AXIS: es = V_ENDSTOP; break;
- #endif
- #if HAS_W_AXIS
- case W_AXIS: es = W_ENDSTOP; break;
- #endif
- }
- if (TEST(endstops.state(), es)) {
- SERIAL_ECHO_MSG("Bad ", AS_CHAR(AXIS_CHAR(axis)), " Endstop?");
- kill(GET_TEXT_F(MSG_KILL_HOMING_FAILED));
- }
- #endif
-
- #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH)
- if (axis == Z_AXIS && !bltouch.high_speed_mode && bltouch.deploy())
- return; // Intermediate DEPLOY (in LOW SPEED MODE)
- #endif
-
- // Slow move towards endstop until triggered
- const float rebump = bump * 2;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Re-bump: ", rebump, "mm");
- do_homing_move(axis, rebump, get_homing_bump_feedrate(axis), true);
-
- #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH)
- if (axis == Z_AXIS) bltouch.stow(); // The final STOW
- #endif
- }
-
- #if HAS_EXTRA_ENDSTOPS
- const bool pos_dir = axis_home_dir > 0;
- #if ENABLED(X_DUAL_ENDSTOPS)
- if (axis == X_AXIS) {
- const float adj = ABS(endstops.x2_endstop_adj);
- if (adj) {
- if (pos_dir ? (endstops.x2_endstop_adj > 0) : (endstops.x2_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
- do_homing_move(axis, pos_dir ? -adj : adj);
- stepper.set_x_lock(false);
- stepper.set_x2_lock(false);
- }
- }
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- if (axis == Y_AXIS) {
- const float adj = ABS(endstops.y2_endstop_adj);
- if (adj) {
- if (pos_dir ? (endstops.y2_endstop_adj > 0) : (endstops.y2_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
- do_homing_move(axis, pos_dir ? -adj : adj);
- stepper.set_y_lock(false);
- stepper.set_y2_lock(false);
- }
- }
- #endif
-
- #if ENABLED(Z_MULTI_ENDSTOPS)
- if (axis == Z_AXIS) {
-
- #if NUM_Z_STEPPERS == 2
-
- const float adj = ABS(endstops.z2_endstop_adj);
- if (adj) {
- if (pos_dir ? (endstops.z2_endstop_adj > 0) : (endstops.z2_endstop_adj < 0)) stepper.set_z1_lock(true); else stepper.set_z2_lock(true);
- do_homing_move(axis, pos_dir ? -adj : adj);
- stepper.set_z1_lock(false);
- stepper.set_z2_lock(false);
- }
-
- #else
-
- // Handy arrays of stepper lock function pointers
-
- typedef void (*adjustFunc_t)(const bool);
-
- adjustFunc_t lock[] = {
- stepper.set_z1_lock, stepper.set_z2_lock, stepper.set_z3_lock
- #if NUM_Z_STEPPERS >= 4
- , stepper.set_z4_lock
- #endif
- };
- float adj[] = {
- 0, endstops.z2_endstop_adj, endstops.z3_endstop_adj
- #if NUM_Z_STEPPERS >= 4
- , endstops.z4_endstop_adj
- #endif
- };
-
- adjustFunc_t tempLock;
- float tempAdj;
-
- // Manual bubble sort by adjust value
- if (adj[1] < adj[0]) {
- tempLock = lock[0], tempAdj = adj[0];
- lock[0] = lock[1], adj[0] = adj[1];
- lock[1] = tempLock, adj[1] = tempAdj;
- }
- if (adj[2] < adj[1]) {
- tempLock = lock[1], tempAdj = adj[1];
- lock[1] = lock[2], adj[1] = adj[2];
- lock[2] = tempLock, adj[2] = tempAdj;
- }
- #if NUM_Z_STEPPERS >= 4
- if (adj[3] < adj[2]) {
- tempLock = lock[2], tempAdj = adj[2];
- lock[2] = lock[3], adj[2] = adj[3];
- lock[3] = tempLock, adj[3] = tempAdj;
- }
- if (adj[2] < adj[1]) {
- tempLock = lock[1], tempAdj = adj[1];
- lock[1] = lock[2], adj[1] = adj[2];
- lock[2] = tempLock, adj[2] = tempAdj;
- }
- #endif
- if (adj[1] < adj[0]) {
- tempLock = lock[0], tempAdj = adj[0];
- lock[0] = lock[1], adj[0] = adj[1];
- lock[1] = tempLock, adj[1] = tempAdj;
- }
-
- if (pos_dir) {
- // normalize adj to smallest value and do the first move
- (*lock[0])(true);
- do_homing_move(axis, adj[1] - adj[0]);
- // lock the second stepper for the final correction
- (*lock[1])(true);
- do_homing_move(axis, adj[2] - adj[1]);
- #if NUM_Z_STEPPERS >= 4
- // lock the third stepper for the final correction
- (*lock[2])(true);
- do_homing_move(axis, adj[3] - adj[2]);
- #endif
- }
- else {
- #if NUM_Z_STEPPERS >= 4
- (*lock[3])(true);
- do_homing_move(axis, adj[2] - adj[3]);
- #endif
- (*lock[2])(true);
- do_homing_move(axis, adj[1] - adj[2]);
- (*lock[1])(true);
- do_homing_move(axis, adj[0] - adj[1]);
- }
-
- stepper.set_z1_lock(false);
- stepper.set_z2_lock(false);
- stepper.set_z3_lock(false);
- #if NUM_Z_STEPPERS >= 4
- stepper.set_z4_lock(false);
- #endif
-
- #endif
- }
- #endif
-
- // Reset flags for X, Y, Z motor locking
- switch (axis) {
- default: break;
- TERN_(X_DUAL_ENDSTOPS, case X_AXIS:)
- TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:)
- TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:)
- stepper.set_separate_multi_axis(false);
- }
-
- #endif // HAS_EXTRA_ENDSTOPS
-
- #ifdef TMC_HOME_PHASE
- // move back to homing phase if configured and capable
- backout_to_tmc_homing_phase(axis);
- #endif
-
- #if IS_SCARA
-
- set_axis_is_at_home(axis);
- sync_plan_position();
-
- #elif ENABLED(DELTA)
-
- // 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.
-
- const float adjDistance = delta_endstop_adj[axis],
- minDistance = (MIN_STEPS_PER_SEGMENT) * planner.mm_per_step[axis];
-
- // Retrace by the amount specified in delta_endstop_adj if more than min steps.
- if (adjDistance * (Z_HOME_DIR) < 0 && ABS(adjDistance) > minDistance) { // away from endstop, more than min distance
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("adjDistance:", adjDistance);
- do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis));
- }
-
- #else // CARTESIAN / CORE / MARKFORGED_XY / MARKFORGED_YX
-
- set_axis_is_at_home(axis);
- sync_plan_position();
-
- destination[axis] = current_position[axis];
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
-
- #endif
-
- // Put away the Z probe
- #if HOMING_Z_WITH_PROBE
- if (axis == Z_AXIS && probe.stow()) return;
- #endif
-
- #if DISABLED(DELTA) && defined(HOMING_BACKOFF_POST_MM)
- const xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM;
- if (endstop_backoff[axis]) {
- current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir;
- line_to_current_position(
- #if HOMING_Z_WITH_PROBE
- (axis == Z_AXIS) ? z_probe_fast_mm_s :
- #endif
- homing_feedrate(axis)
- );
-
- #if ENABLED(SENSORLESS_HOMING)
- planner.synchronize();
- if (false
- #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
- || axis != NORMAL_AXIS
- #endif
- ) safe_delay(200); // Short delay to allow belts to spring back
- #endif
- }
- #endif
-
- // Clear retracted status if homing the Z axis
- #if ENABLED(FWRETRACT)
- if (axis == Z_AXIS) fwretract.current_hop = 0.0;
- #endif
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< homeaxis(", AS_CHAR(AXIS_CHAR(axis)), ")");
-
- } // homeaxis()
-
- #endif // HAS_ENDSTOPS
-
- /**
- * Set an axis' current position to its home position (after homing).
- *
- * For Core and Cartesian robots this applies one-to-one when an
- * individual axis has been homed.
- *
- * DELTA should wait until all homing is done before setting the XYZ
- * current_position to home, because homing is a single operation.
- * In the case where the axis positions are trusted and previously
- * homed, DELTA could home to X or Y individually by moving either one
- * to the center. However, homing Z always homes XY and Z.
- *
- * SCARA should wait until all XY homing is done before setting the XY
- * current_position to home, because neither X nor Y is at home until
- * both are at home. Z can however be homed individually.
- *
- * Callers must sync the planner position after calling this!
- */
- void set_axis_is_at_home(const AxisEnum axis) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM(">>> set_axis_is_at_home(", AS_CHAR(AXIS_CHAR(axis)), ")");
-
- set_axis_trusted(axis);
- set_axis_homed(axis);
-
- #if ENABLED(DUAL_X_CARRIAGE)
- if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
- current_position.x = x_home_pos(active_extruder);
- return;
- }
- #endif
-
- #if EITHER(MORGAN_SCARA, AXEL_TPARA)
- scara_set_axis_is_at_home(axis);
- #elif ENABLED(DELTA)
- current_position[axis] = (axis == Z_AXIS) ? DIFF_TERN(HAS_BED_PROBE, delta_height, probe.offset.z) : base_home_pos(axis);
- #else
- current_position[axis] = base_home_pos(axis);
- #endif
-
- /**
- * Z Probe Z Homing? Account for the probe's Z offset.
- */
- #if HAS_BED_PROBE && Z_HOME_TO_MIN
- if (axis == Z_AXIS) {
- #if HOMING_Z_WITH_PROBE
-
- current_position.z -= probe.offset.z;
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe.offset.z = ", probe.offset.z);
-
- #else
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z HOMED TO ENDSTOP ***");
-
- #endif
- }
- #endif
-
- TERN_(I2C_POSITION_ENCODERS, I2CPEM.homed(axis));
-
- TERN_(BABYSTEP_DISPLAY_TOTAL, babystep.reset_total(axis));
-
- #if HAS_POSITION_SHIFT
- position_shift[axis] = 0;
- update_workspace_offset(axis);
- #endif
-
- if (DEBUGGING(LEVELING)) {
- #if HAS_HOME_OFFSET
- DEBUG_ECHOLNPGM("> home_offset[", AS_CHAR(AXIS_CHAR(axis)), "] = ", home_offset[axis]);
- #endif
- DEBUG_POS("", current_position);
- DEBUG_ECHOLNPGM("<<< set_axis_is_at_home(", AS_CHAR(AXIS_CHAR(axis)), ")");
- }
- }
-
- #if HAS_WORKSPACE_OFFSET
- void update_workspace_offset(const AxisEnum axis) {
- workspace_offset[axis] = home_offset[axis] + position_shift[axis];
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Axis ", AS_CHAR(AXIS_CHAR(axis)), " home_offset = ", home_offset[axis], " position_shift = ", position_shift[axis]);
- }
- #endif
-
- #if HAS_M206_COMMAND
- /**
- * Change the home offset for an axis.
- * Also refreshes the workspace offset.
- */
- void set_home_offset(const AxisEnum axis, const float v) {
- home_offset[axis] = v;
- update_workspace_offset(axis);
- }
- #endif
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