void scara_set_axis_is_at_home(const AxisEnum axis) {
if (axis == Z_AXIS)
current_position[Z_AXIS] = Z_HOME_POS;
else {
/**
* SCARA homes XY at the same time
*/
float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
// SERIAL_ECHOLNPAIR("homeposition X:", homeposition[X_AXIS], " Y:", homeposition[Y_AXIS]);
/**
* Get Home position SCARA arm angles using inverse kinematics,
* and calculate homing offset using forward kinematics
*/
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
// SERIAL_ECHOLNPAIR("Cartesian X:", cartes[X_AXIS], " Y:", cartes[Y_AXIS]);
current_position[axis] = cartes[axis];
update_software_endstops(axis);
}
}
/**
* G28: Home all axes according to settings
*
* Parameters
*
* None Home to all axes with no parameters.
* With QUICK_HOME enabled XY will home together, then Z.
*
* O Home only if position is unknown
*
* Rn Raise by n mm/inches before homing
*
* Cartesian/SCARA parameters
*
* X Home to the X endstop
* Y Home to the Y endstop
* Z Home to the Z endstop
*
*/
void GcodeSuite::G28(const bool always_home_all) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> G28");
log_machine_info();
}
#endif
#if ENABLED(DUAL_X_CARRIAGE)
bool IDEX_saved_duplication_state = extruder_duplication_enabled;
DualXMode IDEX_saved_mode = dual_x_carriage_mode;
#endif
#if ENABLED(MARLIN_DEV_MODE)
if (parser.seen('S')) {
LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a);
sync_plan_position();
SERIAL_ECHOLNPGM("Simulated Homing");
report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
#endif
return;
}
#endif
if (parser.boolval('O')) {
if (
#if ENABLED(HOME_AFTER_DEACTIVATE)
all_axes_known() // homing needed anytime steppers deactivate
#else
all_axes_homed() // homing needed only if never homed
#endif
) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> homing not needed, skip");
SERIAL_ECHOLNPGM("<<< G28");
}
#endif
return;
}
}
// Wait for planner moves to finish!
planner.synchronize();
// Disable the leveling matrix before homing
#if HAS_LEVELING
// Cancel the active G29 session
#if ENABLED(PROBE_MANUALLY)
g29_in_progress = false;
#endif
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
const bool leveling_was_active = planner.leveling_active;
#endif
set_bed_leveling_enabled(false);
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
workspace_plane = PLANE_XY;
#endif
#if ENABLED(BLTOUCH)
bltouch_init();
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
slow_homing_t slow_homing{0};
slow_homing.acceleration.x = planner.settings.max_acceleration_mm_per_s2[X_AXIS];
slow_homing.acceleration.y = planner.settings.max_acceleration_mm_per_s2[Y_AXIS];
slow_homing.jerk.x = planner.max_jerk[X_AXIS];
slow_homing.jerk.y = planner.max_jerk[Y_AXIS];
planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
planner.max_jerk[X_AXIS] = 0;
planner.max_jerk[Y_AXIS] = 0;
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
planner.reset_acceleration_rates();
#endif
// Always home with tool 0 active
#if HOTENDS > 1
#if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
const uint8_t old_tool_index = active_extruder;
#endif
tool_change(0, 0, true);
#endif
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
extruder_duplication_enabled = false;
#endif
setup_for_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
#endif
endstops.enable(true); // Enable endstops for next homing move
#if ENABLED(DELTA)
home_delta();
UNUSED(always_home_all);
#else // NOT DELTA
const bool homeX = always_home_all || parser.seen('X'),
homeY = always_home_all || parser.seen('Y'),
homeZ = always_home_all || parser.seen('Z'),
home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
set_destination_from_current();
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if (home_all || homeZ) homeaxis(Z_AXIS);
#endif
const float z_homing_height = (
#if ENABLED(UNKNOWN_Z_NO_RAISE)
!TEST(axis_known_position, Z_AXIS) ? 0 :
#endif
(parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
);
if (z_homing_height && (home_all || homeX || homeY)) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
destination[Z_AXIS] = z_homing_height;
if (destination[Z_AXIS] > current_position[Z_AXIS]) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
#endif
do_blocking_move_to_z(destination[Z_AXIS]);
}
}
#if ENABLED(QUICK_HOME)
if (home_all || (homeX && homeY)) quick_home_xy();
#endif
// Home Y (before X)
#if ENABLED(HOME_Y_BEFORE_X)
if (home_all || homeY
#if ENABLED(CODEPENDENT_XY_HOMING)
|| homeX
#endif
) homeaxis(Y_AXIS);
#endif
// Home X
if (home_all || homeX
#if ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X)
|| homeY
#endif
) {
#if ENABLED(DUAL_X_CARRIAGE)
// Always home the 2nd (right) extruder first
active_extruder = 1;
homeaxis(X_AXIS);
// Remember this extruder's position for later tool change
inactive_extruder_x_pos = current_position[X_AXIS];
// Home the 1st (left) extruder
active_extruder = 0;
homeaxis(X_AXIS);
// Consider the active extruder to be parked
COPY(raised_parked_position, current_position);
delayed_move_time = 0;
active_extruder_parked = true;
#else
homeaxis(X_AXIS);
#endif
}
// Home Y (after X)
#if DISABLED(HOME_Y_BEFORE_X)
if (home_all || homeY) homeaxis(Y_AXIS);
#endif
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
if (home_all || homeZ) {
#if ENABLED(Z_SAFE_HOMING)
home_z_safely();
#else
homeaxis(Z_AXIS);
#endif
#if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
move_z_after_probing();
#endif
} // home_all || homeZ
#endif // Z_HOME_DIR < 0
sync_plan_position();
#endif // !DELTA (G28)
/**
* Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE.
* This is important because it lets a user use the LCD Panel to set an IDEX Duplication mode, and
* then print a standard GCode file that contains a single print that does a G28 and has no other
* IDEX specific commands in it.
*/
#if ENABLED(DUAL_X_CARRIAGE)
if (dxc_is_duplicating()) {
// Always home the 2nd (right) extruder first
active_extruder = 1;
homeaxis(X_AXIS);
// Remember this extruder's position for later tool change
inactive_extruder_x_pos = current_position[X_AXIS];
// Home the 1st (left) extruder
active_extruder = 0;
homeaxis(X_AXIS);
// Consider the active extruder to be parked
COPY(raised_parked_position, current_position);
delayed_move_time = 0;
active_extruder_parked = true;
extruder_duplication_enabled = IDEX_saved_duplication_state;
extruder_duplication_enabled = false;
dual_x_carriage_mode = IDEX_saved_mode;
stepper.set_directions();
}
#endif // DUAL_X_CARRIAGE
endstops.not_homing();
#if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
// move to a height where we can use the full xy-area
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_LEVELING && ENABLED(RESTORE_LEVELING_AFTER_G28)
set_bed_leveling_enabled(leveling_was_active);
#endif
clean_up_after_endstop_or_probe_move();
// Restore the active tool after homing
#if HOTENDS > 1 && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE))
#if ENABLED(PARKING_EXTRUDER)
#define NO_FETCH false // fetch the previous toolhead
#else
#define NO_FETCH true
#endif
tool_change(old_tool_index, 0, NO_FETCH);
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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;
planner.max_jerk[X_AXIS] = slow_homing.jerk.x;
planner.max_jerk[Y_AXIS] = slow_homing.jerk.y;
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
planner.reset_acceleration_rates();
#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 (home_all || homeZ) // Only for Z-axis
#endif
if (_HOME_SYNC)
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
#endif
#if HAS_DRIVER(L6470)
// Set L6470 absolute position registers to counts
for (uint8_t j = 1; j <= L6470::chain[0]; j++) {
const uint8_t cv = L6470::chain[j];
L6470.set_param(cv, L6470_ABS_POS, stepper.position((AxisEnum)L6470.axis_xref[cv]));
}
#endif
}
