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Y Homing
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Team BrailleRap-SP Philippe Pacotte Stéphane Godin
parent
3336f77f89
commit
5f285579dd
@ -2894,6 +2894,218 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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}
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#endif
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#if PAPER_LOADING_HOME_Y
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static void homeaxis_paperload (const AxisEnum axis)
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{
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if (axis != Y_AXIS)
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return;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR(">>> homeaxis_paperload(", axis_codes[axis]);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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// update endstop
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do_homing_move(axis, -home_dir(axis), get_homing_bump_feedrate(axis));
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int ends = Endstops::current_endstop_bits;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR(">>> endstop status (", ends );
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SERIAL_CHAR(')');
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SERIAL_ECHOLN (ends);
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SERIAL_ECHOLN ("plop");
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SERIAL_EOL();
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}
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#endif
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const int axis_home_dir = home_dir(axis);
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while (Endstops::current_endstop_bits & _BV (Y_MIN))
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{
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR(">>> bumping move (", -Y_HOME_BUMP_MM );
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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endstops.enable(false);
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do_homing_move(axis, -Y_HOME_BUMP_MM, get_homing_bump_feedrate(axis));
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endstops.enable(true);
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do_homing_move(axis, -axis_home_dir, get_homing_bump_feedrate(axis));
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR(">>> postbump endstop status (", Endstops::current_endstop_bits );
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SERIAL_CHAR(')');
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SERIAL_ECHOLN (ends);
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SERIAL_ECHOLN ("plop");
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SERIAL_EOL();
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}
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#endif
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// Set flags for X, Y, Z motor locking
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#if ENABLED(X_DUAL_ENDSTOPS)
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if (axis == X_AXIS) stepper.set_homing_flag_x(true);
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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if (axis == Y_AXIS) stepper.set_homing_flag_y(true);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
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#endif
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
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#endif
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#endif
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// Fast move towards endstop until triggered
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
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#endif
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do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
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//sgn
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// For cartesian/core machines,
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// set the axis to its home position
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set_axis_is_at_home(axis);
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sync_plan_position();
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destination[axis] = current_position[axis];
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// fsgn
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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) ? 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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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
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#endif
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endstops.enable(false);
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do_homing_move(axis, -bump);
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// Slow move towards endstop until triggered
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
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#endif
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endstops.enable(true);
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do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
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}
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/**
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* Home axes that have dual endstops... differently
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*/
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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const bool pos_dir = axis_home_dir > 0;
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#if ENABLED(X_DUAL_ENDSTOPS)
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if (axis == X_AXIS) {
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const bool lock_x1 = pos_dir ? (x_endstop_adj > 0) : (x_endstop_adj < 0);
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const float adj = FABS(x_endstop_adj);
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if (lock_x1) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
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do_homing_move(axis, pos_dir ? -adj : adj);
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if (lock_x1) stepper.set_x_lock(false); else stepper.set_x2_lock(false);
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stepper.set_homing_flag_x(false);
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}
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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if (axis == Y_AXIS) {
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const bool lock_y1 = pos_dir ? (y_endstop_adj > 0) : (y_endstop_adj < 0);
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const float adj = FABS(y_endstop_adj);
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if (lock_y1) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
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do_homing_move(axis, pos_dir ? -adj : adj);
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if (lock_y1) stepper.set_y_lock(false); else stepper.set_y2_lock(false);
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stepper.set_homing_flag_y(false);
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}
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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if (axis == Z_AXIS) {
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const bool lock_z1 = pos_dir ? (z_endstop_adj > 0) : (z_endstop_adj < 0);
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const float adj = FABS(z_endstop_adj);
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if (lock_z1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
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do_homing_move(axis, pos_dir ? -adj : adj);
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if (lock_z1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
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stepper.set_homing_flag_z(false);
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}
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#endif
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#endif
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#if IS_SCARA
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set_axis_is_at_home(axis);
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SYNC_PLAN_POSITION_KINEMATIC();
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#elif ENABLED(DELTA)
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// Delta has already moved all three towers up in G28
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// so here it re-homes each tower in turn.
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// Delta homing treats the axes as normal linear axes.
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// retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps
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if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
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#endif
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do_homing_move(axis, delta_endstop_adj[axis] - 0.1 * Z_HOME_DIR);
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}
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#else
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// For cartesian/core machines,
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// set the axis to its home position
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set_axis_is_at_home(axis);
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sync_plan_position();
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destination[axis] = current_position[axis];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
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#endif
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#endif
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
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#endif
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#endif
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// Put away the Z probe
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#if HOMING_Z_WITH_PROBE
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if (axis == Z_AXIS && STOW_PROBE()) return;
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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}
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#endif
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}
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#endif
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/**
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* Home an individual "raw axis" to its endstop.
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* This applies to XYZ on Cartesian and Core robots, and
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@ -4061,8 +4273,12 @@ inline void gcode_G28(const bool always_home_all) {
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// Home Y
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if (home_all || homeY) {
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#if PAPER_LOADING_HOME_Y
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homeaxis_paperload(Y_AXIS);
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#else
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HOMEAXIS(Y);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
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#endif
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}
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@ -4104,7 +4320,11 @@ inline void gcode_G28(const bool always_home_all) {
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#if DISABLED(HOME_Y_BEFORE_X)
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// Home Y
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if (home_all || homeY) {
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#if PAPER_LOADING_HOME_Y
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homeaxis_paperload(Y_AXIS);
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#else
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HOMEAXIS(Y);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
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#endif
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