Introduce line_to_axis_pos(axis_codes axis, float where, float feed_r…

…ate = 0.0)

and use it in homeaxis instead of `do_blocking_move_to_axis_pos()`.

`do_blocking_move_to_axis_pos` was wrong because it performes subdevided, delta-corrected moves for x- and y-axis.

Marlin/Marlin_main.cpp

@@ -1616,6 +1616,14 @@ inline void line_to_current_position() {
 inline void line_to_z(float zPosition) {
   planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
 }
+inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
+  float old_feedrate_mm_m = feedrate_mm_m;
+  current_position[axis] = where;
+  feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
+  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
+  feedrate_mm_m = old_feedrate_mm_m;
+}
+
 //
 // line_to_destination
 // Move the planner, not necessarily synced with current_position
@@ -2425,19 +2433,19 @@ static void homeaxis(AxisEnum axis) {
   #endif
 
   // Move towards the endstop until an endstop is triggered
-  do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
+  line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
 
   // Set the axis position as setup for the move
   current_position[axis] = 0;
   sync_plan_position();
 
   // Move away from the endstop by the axis HOME_BUMP_MM
-  do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
+  line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
 
   // Slow down the feedrate for the next move
 
   // Move slowly towards the endstop until triggered
-  do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
+  line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
@@ -2475,7 +2483,7 @@ static void homeaxis(AxisEnum axis) {
           DEBUG_POS("", current_position);
         }
       #endif
-      do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis));
+      line_to_axis_pos(axis, endstop_adj[axis]);
     }
   #endif
 
@@ -2935,16 +2943,13 @@ inline void gcode_G28() {
     sync_plan_position();
 
     // Move all carriages up together until the first endstop is hit.
-    for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
+    for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 3 * (Z_MAX_LENGTH);
     feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
-    line_to_destination();
+    line_to_current_position();
     stepper.synchronize();
     endstops.hit_on_purpose(); // clear endstop hit flags
 
-    // Destination reached
-    for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
-
-    // take care of back off and rehome now we are all at the top
+    // take care of back off and rehome. Now one carriage is at the top.
     HOMEAXIS(X);
     HOMEAXIS(Y);
     HOMEAXIS(Z);