Y Homing

MarlinBraille/Configuration.h

@@ -157,6 +157,8 @@
 //#define LCD_FEEDBACK_FREQUENCY_HZ 440
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 250
 
+#define PAPER_LOADING_HOME_Y 1 // homing Y load paper, you mut use YMIN endstop
+
 // FIN BRAILLE RAP CONFIG
 
 
@@ -505,7 +507,7 @@
 #define USE_YMIN_PLUG
 #define USE_ZMIN_PLUG
 //#define USE_XMAX_PLUG
-#define USE_YMAX_PLUG
+//#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 
 // coarse Endstop Settings
@@ -533,7 +535,7 @@
 
 // Enable this feature if all enabled endstop pins are interrupt-capable.
 // This will remove the need to poll the interrupt pins, saving many CPU cycles.
-//#define ENDSTOP_INTERRUPTS_FEATURE
+#define ENDSTOP_INTERRUPTS_FEATURE
 
 //=============================================================================
 //============================== Movement Settings ============================
@@ -780,7 +782,7 @@
 
 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
 #define INVERT_X_DIR false
-#define INVERT_Y_DIR true
+#define INVERT_Y_DIR false
 #define INVERT_Z_DIR false
 
 // Enable this option for Toshiba stepper drivers
@@ -805,7 +807,7 @@
 // Direction of endstops when homing; 1=MAX, -1=MIN
 // :[-1,1]
 #define X_HOME_DIR -1
-#define Y_HOME_DIR -1
+#define Y_HOME_DIR 1
 #define Z_HOME_DIR -1
 
 // @section machine
@@ -911,7 +913,7 @@
  * Turn on with the command 'M111 S32'.
  * NOTE: Requires a lot of PROGMEM!
  */
-//#define DEBUG_LEVELING_FEATURE
+#define DEBUG_LEVELING_FEATURE
 
 #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL)
   // Gradually reduce leveling correction until a set height is reached,
@@ -1050,7 +1052,7 @@
 // Manually set the home position. Leave these undefined for automatic settings.
 // For DELTA this is the top-center of the Cartesian print volume.
 //#define MANUAL_X_HOME_POS 0
-//#define MANUAL_Y_HOME_POS 0
+#define MANUAL_Y_HOME_POS 30
 //#define MANUAL_Z_HOME_POS 0
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.

MarlinBraille/Marlin_main.cpp

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

MarlinBraille/SanityCheck.h

@@ -1148,6 +1148,17 @@ static_assert(1 >= 0
 
 // Delta and Cartesian use 3 homing endstops
 #if !IS_SCARA
+#if PAPER_LOADING_HOME_Y
+  #if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
+    #error "Enable USE_XMIN_PLUG when homing X to MIN."
+  #elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
+    #error "Enable USE_XMAX_PLUG when homing X to MAX."
+  #elif Y_HOME_DIR < 0 && DISABLED(USE_YMIN_PLUG)
+    #error "Enable USE_YMIN_PLUG when homing Y to MIN."
+  #elif Y_HOME_DIR > 0 && DISABLED(USE_YMIN_PLUG)
+    #error "Enable USE_YMIN_PLUG when homing Y from MAX."
+  #endif
+  #else
   #if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
     #error "Enable USE_XMIN_PLUG when homing X to MIN."
   #elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
@@ -1157,6 +1168,7 @@ static_assert(1 >= 0
   #elif Y_HOME_DIR > 0 && DISABLED(USE_YMAX_PLUG)
     #error "Enable USE_YMAX_PLUG when homing Y to MAX."
   #endif
+  #endif
 #endif
 #if Z_HOME_DIR < 0 && DISABLED(USE_ZMIN_PLUG)
   #error "Enable USE_ZMIN_PLUG when homing Z to MIN."

MarlinBraille/endstops.cpp

@@ -465,18 +465,25 @@ void Endstops::update() {
       #endif
     }
     else { // +direction
-      #if HAS_Y_MAX
+		#if PAPER_LOADING_HOME_Y
-        #if ENABLED(Y_DUAL_ENDSTOPS)
+			#if HAS_Y_MIN
-          UPDATE_ENDSTOP_BIT(Y, MAX);
+				UPDATE_ENDSTOP(Y, MIN);
-          #if HAS_Y2_MAX
+			#endif
-            UPDATE_ENDSTOP_BIT(Y2, MAX);
+		#else		
-          #else
+			#if HAS_Y_MAX
-            COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
+			#if ENABLED(Y_DUAL_ENDSTOPS)
-          #endif
+			  UPDATE_ENDSTOP_BIT(Y, MAX);
-          test_dual_y_endstops(Y_MAX, Y2_MAX);
+			  #if HAS_Y2_MAX
-        #else
+				UPDATE_ENDSTOP_BIT(Y2, MAX);
-          UPDATE_ENDSTOP(Y, MAX);
+			  #else
-        #endif
+				COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
+			  #endif
+			  test_dual_y_endstops(Y_MAX, Y2_MAX);
+			#else
+					UPDATE_ENDSTOP(Y, MAX);
+				
+			#endif
+		#endif
       #endif
     }
   }