fix extruder E values when in volumetric mode. this is a breaking change as it now...

[clinton/Smoothieware.git] / src / modules / tools / endstops / Endstops.cpp

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index ff102e9..bce3c74 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -103,6 +103,7 @@
 #define beta_limit_enable_checksum       CHECKSUM("beta_limit_enable")
 #define gamma_limit_enable_checksum      CHECKSUM("gamma_limit_enable")
 
+#define home_z_first_checksum            CHECKSUM("home_z_first")
 #define homing_order_checksum            CHECKSUM("homing_order")
 #define move_to_origin_checksum          CHECKSUM("move_to_origin_after_home")
 
@@ -206,6 +207,8 @@ void Endstops::load_config()
     this->is_rdelta                 =  THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
     this->is_scara                  =  THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool();
 
+    this->home_z_first              = THEKERNEL->config->value(home_z_first_checksum)->by_default(false)->as_bool();
+
     // see if an order has been specified, must be three characters, XYZ or YXZ etc
     string order = THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string();
     this->homing_order = 0;
@@ -438,24 +441,15 @@ uint32_t Endstops::read_endstops(uint32_t dummy)
     return 0;
 }
 
-void Endstops::home(std::bitset<3> a)
+void Endstops::home_xy()
 {
-    // reset debounce counts
-    debounce.fill(0);
-
-    this->axis_to_home= a;
-
-    // Start moving the axes to the origin
-    this->status = MOVING_TO_ENDSTOP_FAST;
-
-    THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled
     if(axis_to_home[X_AXIS] && axis_to_home[Y_AXIS]) {
         // Home XY first so as not to slow them down by homing Z at the same time
         float delta[3] {alpha_max*2, beta_max*2, 0};
         if(this->home_direction[X_AXIS]) delta[X_AXIS]= -delta[X_AXIS];
         if(this->home_direction[Y_AXIS]) delta[Y_AXIS]= -delta[Y_AXIS];
         float feed_rate = std::min(fast_rates[X_AXIS], fast_rates[Y_AXIS]);
-        THEROBOT->solo_move(delta, feed_rate);
+        THEROBOT->delta_move(delta, feed_rate, 3);
 
         // Wait for XY to have homed
         THECONVEYOR->wait_for_empty_queue();
@@ -464,7 +458,7 @@ void Endstops::home(std::bitset<3> a)
         // now home X only
         float delta[3] {alpha_max*2, 0, 0};
         if(this->home_direction[X_AXIS]) delta[X_AXIS]= -delta[X_AXIS];
-        THEROBOT->solo_move(delta, fast_rates[X_AXIS]);
+        THEROBOT->delta_move(delta, fast_rates[X_AXIS], 3);
         // wait for X
         THECONVEYOR->wait_for_empty_queue();
 
@@ -472,20 +466,37 @@ void Endstops::home(std::bitset<3> a)
         // now home Y only
         float delta[3] {0, beta_max*2, 0};
         if(this->home_direction[Y_AXIS]) delta[Y_AXIS]= -delta[Y_AXIS];
-        THEROBOT->solo_move(delta, fast_rates[Y_AXIS]);
+        THEROBOT->delta_move(delta, fast_rates[Y_AXIS], 3);
         // wait for Y
         THECONVEYOR->wait_for_empty_queue();
     }
+}
+
+void Endstops::home(std::bitset<3> a)
+{
+    // reset debounce counts
+    debounce.fill(0);
+
+    this->axis_to_home= a;
+
+    // Start moving the axes to the origin
+    this->status = MOVING_TO_ENDSTOP_FAST;
+
+    THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled
+
+    if(!home_z_first) home_xy();
 
     if(axis_to_home[Z_AXIS]) {
         // now home z
         float delta[3] {0, 0, gamma_max*2}; // we go twice the maxz just in case it was set incorrectly
         if(this->home_direction[Z_AXIS]) delta[Z_AXIS]= -delta[Z_AXIS];
-        THEROBOT->solo_move(delta, fast_rates[Z_AXIS]);
+        THEROBOT->delta_move(delta, fast_rates[Z_AXIS], 3);
         // wait for Z
         THECONVEYOR->wait_for_empty_queue();
     }
 
+    if(home_z_first) home_xy();
+
     // TODO should check that the endstops were hit and it did not stop short for some reason
 
     // Move back a small distance for all homing axis
@@ -501,7 +512,7 @@ void Endstops::home(std::bitset<3> a)
         }
     }
 
-    THEROBOT->solo_move(delta, feed_rate);
+    THEROBOT->delta_move(delta, feed_rate, 3);
     // wait until finished
     THECONVEYOR->wait_for_empty_queue();
 
@@ -515,7 +526,7 @@ void Endstops::home(std::bitset<3> a)
             delta[c]= 0;
         }
     }
-    THEROBOT->solo_move(delta, feed_rate);
+    THEROBOT->delta_move(delta, feed_rate, 3);
     // wait until finished
     THECONVEYOR->wait_for_empty_queue();