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@@ -2297,43 +2297,43 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
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#endif //TMC2130
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- // Move right a bit, so that the print head does not touch the left end position,
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- // and the following left movement has a chance to achieve the required velocity
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+ // Move away a bit, so that the print head does not touch the end position,
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+ // and the following movement to endstop has a chance to achieve the required velocity
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// for the stall guard to work.
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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set_destination_to_current();
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// destination[axis] = 11.f;
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- destination[axis] = 3.f;
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+ destination[axis] = -3.f * axis_home_dir;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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- // Move left away from the possible collision with the collision detection disabled.
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+ // Move away from the possible collision with opposite endstop with the collision detection disabled.
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endstops_hit_on_purpose();
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enable_endstops(false);
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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- destination[axis] = - 1.;
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+ destination[axis] = 1. * axis_home_dir;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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// Now continue to move up to the left end stop with the collision detection enabled.
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enable_endstops(true);
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- destination[axis] = - 1.1 * max_length(axis);
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+ destination[axis] = 1.1 * axis_home_dir * max_length(axis);
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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for (uint8_t i = 0; i < cnt; i++)
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{
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- // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
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+ // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
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endstops_hit_on_purpose();
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enable_endstops(false);
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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- destination[axis] = 10.f;
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+ destination[axis] = -10.f * axis_home_dir;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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endstops_hit_on_purpose();
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// Now move left up to the collision, this time with a repeatable velocity.
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enable_endstops(true);
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- destination[axis] = - 11.f;
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+ destination[axis] = 11.f * axis_home_dir;
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#ifdef TMC2130
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feedrate = homing_feedrate[axis];
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#else //TMC2130
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@@ -2357,10 +2357,10 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
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{
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tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
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if (back > 0)
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- tmc2130_do_steps(axis, back, 1, 1000);
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+ tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
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}
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else
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- tmc2130_do_steps(axis, 8, 2, 1000);
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+ tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
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tmc2130_home_exit();
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#endif //TMC2130
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@@ -2368,9 +2368,9 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
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axis_known_position[axis] = true;
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// Move from minimum
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#ifdef TMC2130
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- float dist = 0.01f * tmc2130_home_fsteps[axis];
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+ float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
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#else //TMC2130
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- float dist = 0.01f * 64;
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+ float dist = - axis_home_dir * 0.01f * 64;
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#endif //TMC2130
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current_position[axis] -= dist;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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