✨ EDITABLE_HOMING_FEEDRATE / M210

Marlin/Configuration.h

@@ -1610,7 +1610,8 @@
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
 #define PROBING_MARGIN 10
 
-// X and Y axis travel speed (mm/min) between probes
+// X and Y axis travel speed (mm/min) between probes.
+// Leave undefined to use the average of the current XY homing feedrate.
 #define XY_PROBE_FEEDRATE (133*60)
 
 // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
@@ -2304,6 +2305,9 @@
 // Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }
 
+// Edit homing feedrates with M210 and MarlinUI menu items
+//#define EDITABLE_HOMING_FEEDRATE
+
 // Validate that endstops are triggered on homing moves
 #define VALIDATE_HOMING_ENDSTOPS
 

Marlin/src/core/language.h

@@ -290,6 +290,7 @@
 #define STR_MAX_ACCELERATION                "Max Acceleration (units/s2)"
 #define STR_MAX_FEEDRATES                   "Max feedrates (units/s)"
 #define STR_ACCELERATION_P_R_T              "Acceleration (units/s2) (P<print-accel> R<retract-accel> T<travel-accel>)"
+#define STR_HOMING_FEEDRATE                 "Homing Feedrate"
 #define STR_TOOL_CHANGING                   "Tool-changing"
 #define STR_HOTEND_OFFSETS                  "Hotend offsets"
 #define STR_SERVO_ANGLES                    "Servo Angles"
@@ -323,6 +324,37 @@
 #define STR_USER_THERMISTORS                "User thermistors"
 #define STR_DELAYED_POWEROFF                "Delayed poweroff"
 
+//
+// General axis names
+//
+#if HAS_X_AXIS
+  #define AXIS1_NAME 'X'
+#endif
+#if HAS_Y_AXIS
+  #define AXIS2_NAME 'Y'
+#endif
+#if HAS_Z_AXIS
+  #define AXIS3_NAME 'Z'
+#endif
+#define STR_X "X"
+#define STR_Y "Y"
+#define STR_Z "Z"
+#define STR_E "E"
+#if IS_KINEMATIC
+  #define STR_A "A"
+  #define STR_B "B"
+  #define STR_C "C"
+#else
+  #define STR_A STR_X
+  #define STR_B STR_Y
+  #define STR_C STR_Z
+#endif
+#define STR_X2 STR_A "2"
+#define STR_Y2 STR_B "2"
+#define STR_Z2 STR_C "2"
+#define STR_Z3 STR_C "3"
+#define STR_Z4 STR_C "4"
+
 //
 // Endstop Names used by Endstops::report_states
 //
@@ -354,29 +386,8 @@
 #define STR_Z_PROBE                         "z_probe"
 #define STR_PROBE_EN                        "probe_en"
 #define STR_FILAMENT                        "filament"
-
 #define STR_CALIBRATION                     "calibration"
 
-// General axis names
-#define STR_X "X"
-#define STR_Y "Y"
-#define STR_Z "Z"
-#define STR_E "E"
-#if IS_KINEMATIC
-  #define STR_A "A"
-  #define STR_B "B"
-  #define STR_C "C"
-#else
-  #define STR_A "X"
-  #define STR_B "Y"
-  #define STR_C "Z"
-#endif
-#define STR_X2 "X2"
-#define STR_Y2 "Y2"
-#define STR_Z2 "Z2"
-#define STR_Z3 "Z3"
-#define STR_Z4 "Z4"
-
 // Extra Axis and Endstop Names
 #if HAS_I_AXIS
   #if AXIS4_NAME == 'A'

Marlin/src/gcode/calibrate/G28.cpp

@@ -322,9 +322,9 @@ void GcodeSuite::G28() {
 
     #else // !DELTA && !AXEL_TPARA
 
-      #define _UNSAFE(A) TERN0(Z_SAFE_HOMING, homeZ && axis_should_home(_AXIS(A)))
+      #define _UNSAFE(A) TERN0(Z_SAFE_HOMING, homeZZ && axis_should_home(_AXIS(A)))
 
-      const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')),
+      const bool homeZZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')),
                  NUM_AXIS_LIST_(             // Other axes should be homed before Z safe-homing
                    needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED
                    needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K),
@@ -333,7 +333,7 @@ void GcodeSuite::G28() {
                  NUM_AXIS_LIST_(             // Home each axis if needed or flagged
                    homeX = needX || parser.seen_test('X'),
                    homeY = needY || parser.seen_test('Y'),
-                   homeZZ = homeZ,
+                   homeZ = homeZZ,
                    homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME),
                    homeK = needK || parser.seen_test(AXIS6_NAME), homeU = needU || parser.seen_test(AXIS7_NAME),
                    homeV = needV || parser.seen_test(AXIS8_NAME), homeW = needW || parser.seen_test(AXIS9_NAME)
@@ -355,7 +355,7 @@ void GcodeSuite::G28() {
 
       #if HAS_Z_AXIS
 
-        UNUSED(needZ); UNUSED(homeZZ);
+        UNUSED(needZ);
 
         // Z may home first, e.g., when homing away from the bed.
         // This is also permitted when homing with a Z endstop.
@@ -439,8 +439,7 @@ void GcodeSuite::G28() {
 
       #if HAS_Y_AXIS
         // Home Y (after X)
-        if (DISABLED(HOME_Y_BEFORE_X) && doY)
-          homeaxis(Y_AXIS);
+        if (DISABLED(HOME_Y_BEFORE_X) && doY) homeaxis(Y_AXIS);
       #endif
 
       #if ALL(FOAMCUTTER_XYUV, HAS_J_AXIS)

Marlin/src/gcode/config/M210.cpp

@@ -0,0 +1,100 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(EDITABLE_HOMING_FEEDRATE)
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+/**
+ * M210 - Set homing feedrate for one or more axes
+ *        in current units (in/mm) per minute
+ *
+ *  X[feedrate]  Set X axis homing feedrate
+ *  Y[feedrate]  Set Y axis homing feedrate
+ *  Z[feedrate]  Set Z axis homing feedrate
+ *  A[feedrate]  Set I axis homing feedrate (configured axis name applies)
+ *  B[feedrate]  Set J axis homing feedrate (configured axis name applies)
+ *  C[feedrate]  Set K axis homing feedrate (configured axis name applies)
+ *  U[feedrate]  Set U axis homing feedrate (configured axis name applies)
+ *  V[feedrate]  Set V axis homing feedrate (configured axis name applies)
+ *  W[feedrate]  Set W axis homing feedrate (configured axis name applies)
+ *
+ * With no arguments, report the current offsets.
+ */
+void GcodeSuite::M210() {
+  if (!parser.seen_any())
+    return M210_report();
+
+  #if HAS_X_AXIS
+    if (parser.floatval('X') > 0)        homing_feedrate_mm_m.x = parser.value_axis_units(X_AXIS);
+  #endif
+  #if HAS_Y_AXIS
+    if (parser.floatval('Y') > 0)        homing_feedrate_mm_m.y = parser.value_axis_units(Y_AXIS);
+  #endif
+  #if HAS_Z_AXIS
+    if (parser.floatval('Z') > 0)        homing_feedrate_mm_m.z = parser.value_axis_units(Z_AXIS);
+  #endif
+  #if HAS_I_AXIS
+    if (parser.floatval(AXIS4_NAME) > 0) homing_feedrate_mm_m.i = parser.value_axis_units(I_AXIS);
+  #endif
+  #if HAS_J_AXIS
+    if (parser.floatval(AXIS5_NAME) > 0) homing_feedrate_mm_m.j = parser.value_axis_units(J_AXIS);
+  #endif
+  #if HAS_K_AXIS
+    if (parser.floatval(AXIS6_NAME) > 0) homing_feedrate_mm_m.k = parser.value_axis_units(K_AXIS);
+  #endif
+  #if HAS_U_AXIS
+    if (parser.floatval(AXIS7_NAME) > 0) homing_feedrate_mm_m.u = parser.value_axis_units(U_AXIS);
+  #endif
+  #if HAS_V_AXIS
+    if (parser.floatval(AXIS8_NAME) > 0) homing_feedrate_mm_m.v = parser.value_axis_units(V_AXIS);
+  #endif
+  #if HAS_W_AXIS
+    if (parser.floatval(AXIS9_NAME) > 0) homing_feedrate_mm_m.w = parser.value_axis_units(W_AXIS);
+  #endif
+}
+
+void GcodeSuite::M210_report(const bool forReplay/*=true*/) {
+  TERN_(MARLIN_SMALL_BUILD, return);
+
+  report_heading_etc(forReplay, F(STR_HOMING_FEEDRATE));
+
+  SERIAL_ECHOPGM("  M210");
+  SERIAL_ECHOLNPGM_P(
+    LIST_N(DOUBLE(NUM_AXES)
+      , SP_X_STR, X_AXIS_UNIT(homing_feedrate_mm_m.x)
+      , SP_Y_STR, Y_AXIS_UNIT(homing_feedrate_mm_m.y)
+      , SP_Z_STR, Z_AXIS_UNIT(homing_feedrate_mm_m.z)
+      , SP_I_STR, I_AXIS_UNIT(homing_feedrate_mm_m.i)
+      , SP_J_STR, J_AXIS_UNIT(homing_feedrate_mm_m.j)
+      , SP_K_STR, K_AXIS_UNIT(homing_feedrate_mm_m.k)
+      , SP_U_STR, U_AXIS_UNIT(homing_feedrate_mm_m.u)
+      , SP_V_STR, V_AXIS_UNIT(homing_feedrate_mm_m.v)
+      , SP_W_STR, W_AXIS_UNIT(homing_feedrate_mm_m.w)
+    )
+  );
+}
+
+#endif // EDITABLE_HOMING_FEEDRATE

Marlin/src/gcode/gcode.cpp

@@ -200,9 +200,10 @@ void GcodeSuite::get_destination_from_command() {
   #endif
 
   if (parser.floatval('F') > 0) {
-    feedrate_mm_s = parser.value_feedrate();
+    const float fr_mm_min = parser.value_linear_units();
+    feedrate_mm_s = MMM_TO_MMS(fr_mm_min);
     // Update the cutter feed rate for use by M4 I set inline moves.
-    TERN_(LASER_FEATURE, cutter.feedrate_mm_m = MMS_TO_MMM(feedrate_mm_s));
+    TERN_(LASER_FEATURE, cutter.feedrate_mm_m = fr_mm_min);
   }
 
   #if ALL(PRINTCOUNTER, HAS_EXTRUDERS)
@@ -742,6 +743,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         #endif
       #endif
 
+      #if ENABLED(EDITABLE_HOMING_FEEDRATE)
+        case 210: M210(); break;                                  // M210: Set the homing feedrate
+      #endif
+
       #if HAS_SOFTWARE_ENDSTOPS
         case 211: M211(); break;                                  // M211: Enable, Disable, and/or Report software endstops
       #endif

Marlin/src/gcode/gcode.h

@@ -195,6 +195,7 @@
  * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT_AUTORETRACT)
           Every normal extrude-only move will be classified as retract depending on the direction.
+ * M210 - Set or Report the homing feedrate (Requires EDITABLE_HOMING_FEEDRATE)
  * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
  * M217 - Set filament swap parameters: "M217 S<length> P<feedrate> R<feedrate>". (Requires SINGLENOZZLE)
  * M218 - Set/get a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
@@ -897,8 +898,15 @@ class GcodeSuite {
     #endif
   #endif
 
-  static void M211();
-  static void M211_report(const bool forReplay=true);
+  #if ENABLED(EDITABLE_HOMING_FEEDRATE)
+    static void M210();
+    static void M210_report(const bool forReplay=true);
+  #endif
+
+  #if HAS_SOFTWARE_ENDSTOPS
+    static void M211();
+    static void M211_report(const bool forReplay=true);
+  #endif
 
   #if HAS_MULTI_EXTRUDER
     static void M217();

Marlin/src/gcode/parser.h

@@ -347,6 +347,9 @@ class GCodeParser {
   #define LINEAR_UNIT(V)     parser.mm_to_linear_unit(V)
   #define VOLUMETRIC_UNIT(V) parser.mm_to_volumetric_unit(V)
 
+  #define X_AXIS_UNIT LINEAR_UNIT
+  #define Y_AXIS_UNIT LINEAR_UNIT
+  #define Z_AXIS_UNIT LINEAR_UNIT
   #define I_AXIS_UNIT(V) TERN(AXIS4_ROTATES, (V), LINEAR_UNIT(V))
   #define J_AXIS_UNIT(V) TERN(AXIS5_ROTATES, (V), LINEAR_UNIT(V))
   #define K_AXIS_UNIT(V) TERN(AXIS6_ROTATES, (V), LINEAR_UNIT(V))

Marlin/src/lcd/language/language_en.h

@@ -99,6 +99,8 @@ namespace LanguageNarrow_en {
   LSTR MSG_ENDSTOP_TEST                   = _UxGT("Endstop Test");
   LSTR MSG_Z_PROBE                        = _UxGT("Z Probe");
   LSTR MSG_HOMING                         = _UxGT("Homing");
+  LSTR MSG_HOMING_FEEDRATE                = _UxGT("Homing Feedrate");
+  LSTR MSG_HOMING_FEEDRATE_N              = _UxGT("@ Homing FR");
   LSTR MSG_AUTO_HOME                      = _UxGT("Auto Home");
   LSTR MSG_HOME_ALL                       = _UxGT("Home All");
   LSTR MSG_AUTO_HOME_N                    = _UxGT("Home @");
@@ -1094,6 +1096,7 @@ namespace LanguageWide_en {
     LSTR MSG_INFO_PRINT_TIME              = _UxGT("Print Time");
     LSTR MSG_INFO_PRINT_LONGEST           = _UxGT("Longest Job Time");
     LSTR MSG_INFO_PRINT_FILAMENT          = _UxGT("Extruded Total");
+    LSTR MSG_HOMING_FEEDRATE_N            = _UxGT("@ Homing Feedrate");
   #endif
 }
 

Marlin/src/lcd/menu/menu_configuration.cpp

@@ -395,7 +395,40 @@ void menu_advanced_settings();
     END_MENU();
   }
 
-#endif
+#endif // FWRETRACT
+
+#if ENABLED(EDITABLE_HOMING_FEEDRATE)
+
+  #include "../../module/motion.h"
+  #include "../../module/planner.h"
+  #include "../../gcode/parser.h"
+
+  // Edit homing feedrates in inches- or degrees- or mm-per-minute
+  void menu_homing_feedrate() {
+    START_MENU();
+    BACK_ITEM(MSG_HOMING_FEEDRATE);
+
+    #if ENABLED(MENUS_ALLOW_INCH_UNITS)
+      #define _EDIT_HOMING_FR(A) do{ \
+        const float maxfr = MMS_TO_MMM(planner.settings.max_feedrate_mm_s[_AXIS(A)]); \
+        editable.decimal = A##_AXIS_UNIT(homing_feedrate_mm_m.A); \
+        EDIT_ITEM(float5, MSG_HOMING_FEEDRATE_N, &editable.decimal, \
+          A##_AXIS_UNIT(10), A##_AXIS_UNIT(maxfr), []{ \
+          homing_feedrate_mm_m.A = parser.axis_value_to_mm(_AXIS(A), editable.decimal); \
+        }); \
+      }while(0);
+    #else
+      #define _EDIT_HOMING_FR(A) do{ \
+        EDIT_ITEM(float5, MSG_HOMING_FEEDRATE_N, &homing_feedrate_mm_m.A, 10, MMS_TO_MMM(planner.settings.max_feedrate_mm_s[_AXIS(A)])); \
+      }while(0);
+    #endif
+
+    MAIN_AXIS_MAP(_EDIT_HOMING_FR);
+
+    END_MENU();
+  }
+
+#endif // EDITABLE_HOMING_FEEDRATE
 
 #if HAS_PREHEAT && DISABLED(SLIM_LCD_MENUS)
 
@@ -424,7 +457,7 @@ void menu_advanced_settings();
     END_MENU();
   }
 
-#endif
+#endif // HAS_PREHEAT && !SLIM_LCD_MENUS
 
 #if ENABLED(CUSTOM_MENU_CONFIG)
 
@@ -623,6 +656,10 @@ void menu_configuration() {
     #endif
   #endif
 
+  #if ENABLED(EDITABLE_HOMING_FEEDRATE)
+    SUBMENU(MSG_HOMING_FEEDRATE, menu_homing_feedrate);
+  #endif
+
   #if ENABLED(FWRETRACT)
     SUBMENU(MSG_RETRACT, menu_config_retract);
   #endif

Marlin/src/module/motion.cpp

@@ -146,6 +146,9 @@ xyze_pos_t destination; // {0}
 #endif
 feedRate_t feedrate_mm_s = MMM_TO_MMS(DEFAULT_FEEDRATE_MM_M);
 int16_t feedrate_percentage = 100;
+#if ENABLED(EDITABLE_HOMING_FEEDRATE)
+  xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
+#endif  
 
 // Cartesian conversion result goes here:
 xyz_pos_t cartes;

Marlin/src/module/motion.h

@@ -79,7 +79,12 @@ extern xyz_pos_t cartes;
  * Feed rates are often configured with mm/m
  * but the planner and stepper like mm/s units.
  */
-constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
+#if ENABLED(EDITABLE_HOMING_FEEDRATE)
+  extern xyz_feedrate_t homing_feedrate_mm_m;
+#else
+  constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
+#endif
+
 FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) {
   float v = TERN0(HAS_Z_AXIS, homing_feedrate_mm_m.z);
   #if DISABLED(DELTA)