QUICK_HOME_SECONDARY_AXES

Marlin/Configuration_adv.h

@@ -932,6 +932,9 @@
 //#define XY_COUNTERPART_BACKOFF_MM 0 // (mm) Backoff X after homing Y, and vice-versa
 
 //#define QUICK_HOME // If G28 contains XY do a diagonal move first
+#if ENABLED(QUICK_HOME)
+ //#define QUICK_HOME_SECONDARY_AXES // If G28 contains XYABCUVW, first do a coordinated move of axes XYABCUVW towards the limit used for homing.
+#endif
 //#define HOME_Y_BEFORE_X // If G28 contains XY home Y before X
 //#define HOME_Z_FIRST // Home Z first. Requires a real endstop (not a probe).
 //#define CODEPENDENT_XY_HOMING // If X/Y can't home without homing Y/X first

Marlin/src/gcode/calibrate/G28.cpp

@@ -103,6 +103,93 @@
 
 #endif // QUICK_HOME
 
+#if ENABLED(QUICK_HOME_SECONDARY_AXES)
+
+ static void quick_home_xyijkuvw() {
+
+ // Pretend the current position is 0,0
+ current_position.set(0.0, 0.0);
+ SECONDARY_AXIS_CODE(
+ current_position.i = 0.0,
+ current_position.j = 0.0,
+ current_position.k = 0.0,
+ current_position.u = 0.0,
+ current_position.v = 0.0,
+ current_position.w = 0.0
+ );
+
+ sync_plan_position();
+
+ const int x_axis_home_dir = TOOL_X_HOME_DIR(active_extruder);
+
+ // Use a higher diagonal feedrate so axes move at homing speed
+ const float minfr = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)),
+ fr_mm_s = HYPOT(minfr, minfr);
+
+ feedRate_t old_max_speeds[NUM_AXES];
+ LOOP_NUM_AXES(i) {
+ old_max_speeds[i] = planner.settings.max_feedrate_mm_s[i];
+ planner.set_max_feedrate((AxisEnum)i, homing_feedrate((AxisEnum)i));
+ }
+ #if ENABLED(SENSORLESS_HOMING)
+ sensorless_t stealth_states {
+ NUM_AXIS_LIST(
+ TERN0(X_SENSORLESS, tmc_enable_stallguard(stepperX), 
+ TERN0(Y_SENSORLESS, tmc_enable_stallguard(stepperY), 
+ false,
+ tmc_enable_stallguard(stepperI),
+ tmc_enable_stallguard(stepperJ),
+ tmc_enable_stallguard(stepperK),
+ tmc_enable_stallguard(stepperU),
+ tmc_enable_stallguard(stepperV),
+ tmc_enable_stallguard(stepperW)
+ )
+ , false
+ , TERN0(X2_SENSORLESS, tmc_enable_stallguard(stepperX2)),
+ , TERN0(Y2_SENSORLESS, tmc_enable_stallguard(stepperX2))
+ };
+ #endif
+
+ do_blocking_move_to(1.5 * max_length(X_AXIS) * x_axis_home_dir, 1.5 * max_length(Y_AXIS) * Y_HOME_DIR, current_position.z, 
+ SECONDARY_AXIS_LIST(1.5 * max_length(I_AXIS) * I_HOME_DIR, 1.5 * max_length(J_AXIS) * J_HOME_DIR , 1.5 * max_length(K_AXIS) * K_HOME_DIR, 1.5 * max_length(U_AXIS) * U_HOME_DIR, 1.5 * max_length(V_AXIS) * V_HOME_DIR, 1.5 * max_length(W_AXIS) * W_HOME_DIR), 
+ fr_mm_s
+ );
+
+ endstops.validate_homing_move();
+
+ current_position.set(0.0, 0.0);
+
+ SECONDARY_AXIS_CODE(
+ current_position.i = 0.0,
+ current_position.j = 0.0,
+ current_position.k = 0.0,
+ current_position.u = 0.0,
+ current_position.v = 0.0,
+ current_position.w = 0.0
+ );
+
+ LOOP_NUM_AXES(i) { 
+ planner.set_max_feedrate((AxisEnum)i, old_max_speeds[i]);
+ }
+
+ #if ENABLED(SENSORLESS_HOMING) && DISABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
+ TERN_(X_SENSORLESS, tmc_disable_stallguard(stepperX, stealth_states.x));
+ TERN_(X2_SENSORLESS, tmc_disable_stallguard(stepperY, stealth_states.y));
+ TERN_(Y_SENSORLESS, tmc_disable_stallguard(stepperX2, stealth_states.x2));
+ TERN_(Y2_SENSORLESS, tmc_disable_stallguard(stepperY2, stealth_states.y2));
+ SECONDARY_AXIS_CODE(
+ tmc_disable_stallguard(stepperI, stealth_states.i),
+ tmc_disable_stallguard(stepperJ, stealth_states.j),
+ tmc_disable_stallguard(stepperK, stealth_states.k),
+ tmc_disable_stallguard(stepperU, stealth_states.u),
+ tmc_disable_stallguard(stepperV, stealth_states.v),
+ tmc_disable_stallguard(stepperW, stealth_states.w)
+ );
+ #endif
+ }
+
+#endif // QUICK_HOME_SECONDARY_AXES
+
 #if ENABLED(Z_SAFE_HOMING)
 
  inline void home_z_safely() {
@@ -435,7 +522,21 @@ void GcodeSuite::G28() {
  #endif // HAS_Z_AXIS
 
  // Diagonal move first if both are homing
- TERN_(QUICK_HOME, if (doX && doY) quick_home_xy());
+
+ #if ENABLED(QUICK_HOME)
+ if (doX && doY) {
+ #if ENABLED(QUICK_HOME_SECONDARY_AXES)
+ // move all axes except Z towards 0 first if all are homing
+ if (SECONDARY_AXIS_GANG(doI, && doJ, && doK, && doU, && doV, && doW))
+ quick_home_xyijkuvw();
+ else
+ quick_home_xy();
+ #else
+ // Diagonal move first if both x and y but not not all secondary axes are homing
+ quick_home_xy();
+ #endif
+ }
+ #endif
 
  #if HAS_Y_AXIS
  // Home Y (before X)