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Limited backlash editing with Core kinematics (#17281)

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This commit is contained in:
Scott Lahteine
2020-03-27 22:00:27 -05:00
committed by GitHub
parent de648bfdc1
commit 53fe572bbd
6 changed files with 114 additions and 78 deletions
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20
Marlin/src/gcode/calibrate/G28.cpp
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@ -255,28 +255,28 @@ void GcodeSuite::G28() {
#define HAS_HOMING_CURRENT (HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2))
#if HAS_HOMING_CURRENT
auto debug_current = [](const char * const s, const int16_t a, const int16_t b){
DEBUG_ECHO(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b);
auto debug_current = [](PGM_P const s, const int16_t a, const int16_t b){
serialprintPGM(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b);
};
#if HAS_CURRENT_HOME(X)
const int16_t tmc_save_current_X = stepperX.getMilliamps();
stepperX.rms_current(X_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current("X", tmc_save_current_X, X_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("X"), tmc_save_current_X, X_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(X2)
const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
stepperX2.rms_current(X2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current("X2", tmc_save_current_X2, X2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("X2"), tmc_save_current_X2, X2_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Y)
const int16_t tmc_save_current_Y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current("Y", tmc_save_current_Y, Y_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("Y"), tmc_save_current_Y, Y_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Y2)
const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
stepperY2.rms_current(Y2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current("Y2", tmc_save_current_Y2, Y2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("Y2"), tmc_save_current_Y2, Y2_CURRENT_HOME);
#endif
#endif
@ -345,12 +345,8 @@ void GcodeSuite::G28() {
#endif
// Home Y (before X)
#if ENABLED(HOME_Y_BEFORE_X)
if (doY || (doX && ENABLED(CODEPENDENT_XY_HOMING)))
homeaxis(Y_AXIS);
#endif
if (ENABLED(HOME_Y_BEFORE_X) && (doY || (ENABLED(CODEPENDENT_XY_HOMING) && doX)))
homeaxis(Y_AXIS);
// Home X
if (doX || (doY && ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X))) {