Homing backoff enhancements
- Define homing bump as an array - Add pre and post homing backoff options - Consolidate homing config options
This commit is contained in:
George Fu
Scott Lahteine
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cbf349b5eb
commit
a794538c54
@ -592,8 +592,7 @@
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// Default x offset in duplication mode (typically set to half print bed width)
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#define DEFAULT_DUPLICATION_X_OFFSET 100
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#endif // DUAL_X_CARRIAGE
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#endif
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// Activate a solenoid on the active extruder with M380. Disable all with M381.
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// Define SOL0_PIN, SOL1_PIN, etc., for each extruder that has a solenoid.
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@ -601,19 +600,24 @@
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// @section homing
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// Homing hits each endstop, retracts by these distances, then does a slower bump.
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#define X_HOME_BUMP_MM 5
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#define Y_HOME_BUMP_MM 5
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#define Z_HOME_BUMP_MM 2
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#define HOMING_BUMP_DIVISOR { 2, 2, 4 } // Re-Bump Speed Divisor (Divides the Homing Feedrate)
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//#define QUICK_HOME // If homing includes X and Y, do a diagonal move initially
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//#define HOMING_BACKOFF_MM { 2, 2, 2 } // (mm) Move away from the endstops after homing
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/**
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* Homing Procedure
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* Homing (G28) does an indefinite move towards the endstops to establish
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* the position of the toolhead relative to the workspace.
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*/
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// When G28 is called, this option will make Y home before X
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//#define HOME_Y_BEFORE_X
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//#define SENSORLESS_BACKOFF_MM { 2, 2 } // (mm) Backoff from endstops before sensorless homing
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// Enable this if X or Y can't home without homing the other axis first.
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//#define CODEPENDENT_XY_HOMING
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#define HOMING_BUMP_MM { 5, 5, 2 } // (mm) Backoff from endstops after first bump
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#define HOMING_BUMP_DIVISOR { 2, 2, 4 } // Re-Bump Speed Divisor (Divides the Homing Feedrate)
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//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 } // (mm) Backoff from endstops after homing
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//#define QUICK_HOME // If G28 contains XY do a diagonal move first
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//#define HOME_Y_BEFORE_X // If G28 contains XY home Y before X
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//#define CODEPENDENT_XY_HOMING // If X/Y can't home without homing Y/X first
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// @section bltouch
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#if ENABLED(BLTOUCH)
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/**
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@ -682,6 +686,8 @@
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#endif // BLTOUCH
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// @section extras
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/**
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* Z Steppers Auto-Alignment
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* Add the G34 command to align multiple Z steppers using a bed probe.
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@ -2319,7 +2325,7 @@
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* HIGHEST 255 -64 (Too sensitive => False positive)
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* LOWEST 0 63 (Too insensitive => No trigger)
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*
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* It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
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* It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }.
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*
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* SPI_ENDSTOPS *** Beta feature! *** TMC2130 Only ***
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* Poll the driver through SPI to determine load when homing.
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@ -493,6 +493,10 @@
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#error "ORIG_Ex_AUTO_FAN_PIN is now just Ex_AUTO_FAN_PIN. Make sure your pins are up to date."
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#elif defined(ORIG_CHAMBER_AUTO_FAN_PIN)
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#error "ORIG_CHAMBER_AUTO_FAN_PIN is now just CHAMBER_AUTO_FAN_PIN. Make sure your pins are up to date."
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#elif defined(HOMING_BACKOFF_MM)
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#error "HOMING_BACKOFF_MM is now HOMING_BACKOFF_POST_MM. Please update Configuration_adv.h."
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#elif defined(X_HOME_BUMP_MM) || defined(Y_HOME_BUMP_MM) || defined(Z_HOME_BUMP_MM)
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#error "[XYZ]_HOME_BUMP_MM is now HOMING_BUMP_MM. Please update Configuration_adv.h."
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#endif
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/**
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@ -280,8 +280,8 @@ void home_delta() {
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sync_plan_position();
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#if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_MM)
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constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_MM;
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#if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_POST_MM)
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constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM;
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if (endstop_backoff.z) {
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current_position.z -= ABS(endstop_backoff.z) * Z_HOME_DIR;
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line_to_current_position(homing_feedrate(Z_AXIS));
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@ -74,15 +74,6 @@
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../core/debug_out.h"
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#define XYZ_CONSTS(T, NAME, OPT) const PROGMEM XYZval<T> NAME##_P = { X_##OPT, Y_##OPT, Z_##OPT }
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XYZ_CONSTS(float, base_min_pos, MIN_POS);
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XYZ_CONSTS(float, base_max_pos, MAX_POS);
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XYZ_CONSTS(float, base_home_pos, HOME_POS);
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XYZ_CONSTS(float, max_length, MAX_LENGTH);
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XYZ_CONSTS(float, home_bump_mm, HOME_BUMP_MM);
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XYZ_CONSTS(signed char, home_dir, HOME_DIR);
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/**
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* axis_homed
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* Flags that each linear axis was homed.
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@ -1567,14 +1558,13 @@ void homeaxis(const AxisEnum axis) {
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if (axis == Z_AXIS && bltouch.deploy()) return; // The initial DEPLOY
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#endif
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do_homing_move(axis, 1.5f * max_length(
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#if ENABLED(DELTA)
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Z_AXIS
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#else
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axis
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#endif
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) * axis_home_dir
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);
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#if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM)
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const xy_float_t backoff = SENSORLESS_BACKOFF_MM;
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if (((ENABLED(X_SENSORLESS) && axis == X_AXIS) || (ENABLED(Y_SENSORLESS) && axis == Y_AXIS)) && backoff[axis])
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do_homing_move(axis, -ABS(backoff[axis]) * axis_home_dir, homing_feedrate(axis));
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#endif
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do_homing_move(axis, 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir);
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#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
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if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
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@ -1583,14 +1573,14 @@ void homeaxis(const AxisEnum axis) {
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// When homing Z with probe respect probe clearance
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const float bump = axis_home_dir * (
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#if HOMING_Z_WITH_PROBE
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(axis == Z_AXIS && (Z_HOME_BUMP_MM)) ? _MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_HOME_BUMP_MM) :
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(axis == Z_AXIS && home_bump_mm(Z_AXIS)) ? _MAX(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
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#endif
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home_bump_mm(axis)
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);
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// If a second homing move is configured...
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if (bump) {
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// Move away from the endstop by the axis HOME_BUMP_MM
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// Move away from the endstop by the axis HOMING_BUMP_MM
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move Away:");
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do_homing_move(axis, -bump
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#if HOMING_Z_WITH_PROBE
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@ -1785,8 +1775,8 @@ void homeaxis(const AxisEnum axis) {
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if (axis == Z_AXIS && probe.stow()) return;
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#endif
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#if DISABLED(DELTA) && defined(HOMING_BACKOFF_MM)
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const xyz_float_t endstop_backoff = HOMING_BACKOFF_MM;
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#if DISABLED(DELTA) && defined(HOMING_BACKOFF_POST_MM)
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const xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM;
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if (endstop_backoff[axis]) {
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current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir;
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line_to_current_position(
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@ -114,20 +114,25 @@ extern int16_t feedrate_percentage;
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extern float e_move_accumulator;
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#endif
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FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); }
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FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
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inline float pgm_read_any(const float *p) { return pgm_read_float(p); }
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inline signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
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#define XYZ_DEFS(T, NAME, OPT) \
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extern const XYZval<T> NAME##_P; \
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FORCE_INLINE T NAME(AxisEnum axis) { return pgm_read_any(&NAME##_P[axis]); }
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inline T NAME(const AxisEnum axis) { \
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static const XYZval<T> NAME##_P PROGMEM = { X_##OPT, Y_##OPT, Z_##OPT }; \
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return pgm_read_any(&NAME##_P[axis]); \
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}
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XYZ_DEFS(float, base_min_pos, MIN_POS);
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XYZ_DEFS(float, base_max_pos, MAX_POS);
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XYZ_DEFS(float, base_home_pos, HOME_POS);
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XYZ_DEFS(float, max_length, MAX_LENGTH);
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XYZ_DEFS(float, home_bump_mm, HOME_BUMP_MM);
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XYZ_DEFS(signed char, home_dir, HOME_DIR);
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inline float home_bump_mm(const AxisEnum axis) {
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static const xyz_pos_t home_bump_mm_P PROGMEM = HOMING_BUMP_MM;
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return pgm_read_any(&home_bump_mm_P[axis]);
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}
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#if HAS_WORKSPACE_OFFSET
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void update_workspace_offset(const AxisEnum axis);
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#else
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@ -22,9 +22,7 @@ opt_set E0_DRIVER_TYPE TMC2209
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opt_set RESTORE_LEVELING_AFTER_G28 false
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opt_set LCD_LANGUAGE it
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opt_set NUM_Z_STEPPER_DRIVERS 2
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opt_set X_HOME_BUMP_MM 0
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opt_set Y_HOME_BUMP_MM 0
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opt_set Z_HOME_BUMP_MM 0
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opt_set HOMING_BUMP_MM "{ 0, 0, 0 }"
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opt_set SDCARD_CONNECTION LCD
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opt_enable ENDSTOP_INTERRUPTS_FEATURE S_CURVE_ACCELERATION BLTOUCH Z_MIN_PROBE_REPEATABILITY_TEST \
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FILAMENT_RUNOUT_SENSOR G26_MESH_VALIDATION MESH_EDIT_GFX_OVERLAY Z_SAFE_HOMING \
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@ -18,6 +18,7 @@ set -e
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restore_configs
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opt_set LCD_LANGUAGE an
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opt_enable SPINDLE_FEATURE ULTIMAKERCONTROLLER LCD_BED_LEVELING \
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SENSORLESS_BACKOFF_MM HOMING_BACKOFF_POST_MM HOME_Y_BEFORE_X CODEPENDENT_XY_HOMING \
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MESH_BED_LEVELING ENABLE_LEVELING_FADE_HEIGHT MESH_G28_REST_ORIGIN \
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G26_MESH_VALIDATION MESH_EDIT_MENU GCODE_QUOTED_STRINGS
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exec_test $1 $2 "Spindle, MESH_BED_LEVELING, and LCD"
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