Fix Delta

MK/module/MK_Main.h

@@ -48,7 +48,6 @@ void ok_to_send();
   void calibration_report();
   void bed_probe_all();
   void set_delta_constants();
-  void save_carriage_positions(int position_num);
   void calculate_delta(float cartesian[3]);
   void adjust_delta(float cartesian[3]);
   void adj_endstops();
@@ -71,7 +70,13 @@ void ok_to_send();
   void calculate_delta(float cartesian[3]);
   void calculate_SCARA_forward_Transform(float f_scara[3]);
 #endif
-void prepare_move();
+
+void prepare_move(
+  #if MECH(DELTA)
+    const bool delta_probe = false
+  #endif
+);
+
 void kill(const char *);
 void Stop();
 
@@ -130,9 +135,9 @@ extern float home_offset[3];
 extern float hotend_offset[3][HOTENDS];
 extern float sw_endstop_min[3];
 extern float sw_endstop_max[3];
+extern bool axis_known_position[3];
+extern bool axis_homed[3];
 extern float zprobe_zoffset;
-extern uint8_t axis_known_position;
-extern uint8_t axis_was_homed;
 
 #if HEATER_USES_AD595
   extern float ad595_offset[HOTENDS];

MK/module/language/language.h

@@ -50,9 +50,6 @@
 // 18 Japanese utf
 // 19 Chinese
 
-#define STRINGIFY_(n) #n
-#define STRINGIFY(n) STRINGIFY_(n)
-
 #define PROTOCOL_VERSION "2.0"
 
 #if MB(ULTIMAKER)|| MB(ULTIMAKER_OLD)|| MB(ULTIMAIN_2)

MK/module/lcd/dogm_lcd_implementation.h

@@ -349,6 +349,21 @@ FORCE_INLINE void _draw_heater_status(int x, int heater) {
   #endif
 }
 
+FORCE_INLINE void _draw_axis_label(AxisEnum axis, const char *pstr, bool blink) {
+  if (blink)
+    lcd_printPGM(pstr);
+  else {
+    if (!axis_homed[axis])
+      lcd_printPGM(PSTR("?"));
+    else {
+      if (!axis_known_position[axis])
+        lcd_printPGM(PSTR(" "));
+      else
+        lcd_printPGM(pstr);
+    }
+  }
+}
+
 static void lcd_implementation_status_screen() {
   u8g.setColorIndex(1); // black on white
 
@@ -458,34 +473,20 @@ static void lcd_implementation_status_screen() {
   u8g.setColorIndex(0); // white on black
 
   u8g.setPrintPos(2, XYZ_BASELINE);
-  lcd_print(TEST(axis_known_position, X_AXIS) || !TEST(axis_was_homed, X_AXIS) ? 'X' : '?');
-  u8g.drawPixel(8, XYZ_BASELINE - 5);
-  u8g.drawPixel(8, XYZ_BASELINE - 3);
+  _draw_axis_label(X_AXIS, PSTR(MSG_X), blink);
   u8g.setPrintPos(10, XYZ_BASELINE);
-  if (TEST(axis_was_homed, X_AXIS))
-    lcd_print(ftostr31ns(current_position[X_AXIS]));
-  else
-    lcd_printPGM(PSTR("---"));
+  lcd_print(ftostr4sign(current_position[X_AXIS]));
 
   u8g.setPrintPos(43, XYZ_BASELINE);
-  lcd_print(TEST(axis_known_position, Y_AXIS) || !TEST(axis_was_homed, Y_AXIS) ? 'Y' : '?');
-  u8g.drawPixel(49, XYZ_BASELINE - 5);
-  u8g.drawPixel(49, XYZ_BASELINE - 3);
+  _draw_axis_label(Y_AXIS, PSTR(MSG_Y), blink);
   u8g.setPrintPos(51, XYZ_BASELINE);
-  if (TEST(axis_was_homed, Y_AXIS))
-    lcd_print(ftostr31ns(current_position[Y_AXIS]));
-  else
-    lcd_printPGM(PSTR("---"));
+  lcd_print(ftostr4sign(current_position[Y_AXIS]));
 
   u8g.setPrintPos(83, XYZ_BASELINE);
-  lcd_print(TEST(axis_known_position, Z_AXIS) || !TEST(axis_was_homed, Z_AXIS) ? 'Z' : '?');
-  u8g.drawPixel(89, XYZ_BASELINE - 5);
-  u8g.drawPixel(89, XYZ_BASELINE - 3);
+  _draw_axis_label(Z_AXIS, PSTR(MSG_Z), blink);
   u8g.setPrintPos(91, XYZ_BASELINE);
-   if (TEST(axis_was_homed, Z_AXIS))
-    lcd_print(ftostr32sp(current_position[Z_AXIS]));
-  else
-    lcd_printPGM(PSTR("---.--"));
+  lcd_print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
+
   u8g.setColorIndex(1); // black on white
 
   // Feedrate

MK/module/lcd/ultralcd.cpp

@@ -2034,6 +2034,17 @@ int lcd_strlen_P(const char* s) {
   return j;
 }
 
+bool lcd_blink() {
+  static uint8_t blink = 0;
+  static millis_t next_blink_ms = 0;
+  millis_t ms = millis();
+  if (ELAPSED(ms, next_blink_ms)) {
+    blink ^= 0xFF;
+    next_blink_ms = ms + 1000 - LCD_UPDATE_INTERVAL / 2;
+  }
+  return blink != 0;
+}
+
 /**
  * Update the LCD, read encoder buttons, etc.
  *   - Read button states
@@ -2096,7 +2107,7 @@ void lcd_update() {
 
       #if ENABLED(REPRAPWORLD_KEYPAD)
 
-        #if ENABLED(DELTA) || ENABLED(SCARA)
+        #if MECH(DELTA) || MECH(SCARA)
           #define _KEYPAD_MOVE_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
         #else
           #define _KEYPAD_MOVE_ALLOWED true

MK/module/lcd/ultralcd_implementation_hitachi_HD44780.h

@@ -575,6 +575,21 @@ unsigned lcd_print(char c) { return charset_mapper(c); }
   }
 #endif // SHOW_BOOTSCREEN
 
+FORCE_INLINE void _draw_axis_label(AxisEnum axis, const char *pstr, bool blink) {
+  if (blink)
+    lcd_printPGM(pstr);
+  else {
+    if (!axis_homed[axis])
+      lcd_printPGM(PSTR("?"));
+    else {
+      if (!axis_known_position[axis])
+        lcd_printPGM(PSTR(" "));
+      else
+        lcd_printPGM(pstr);
+    }
+  }
+}
+
 /*
 Possible status screens:
 16x2   |000/000 B000/000|
@@ -668,6 +683,8 @@ static void lcd_implementation_status_screen() {
 
   #if LCD_HEIGHT > 2
 
+    bool blink = lcd_blink();
+
     #if LCD_WIDTH < 20
 
       #if ENABLED(SDSUPPORT)
@@ -684,12 +701,6 @@ static void lcd_implementation_status_screen() {
 
       lcd.setCursor(0, 1);
 
-      //
-      // Print XYZ Coordinates
-      // If the axis was not homed, show "---"
-      // If the position is untrusted, show "?"
-      //
-
       #if HOTENDS > 1 && TEMP_SENSOR_BED != 0
 
         // If we both have a 2nd hotend and a heated bed,
@@ -698,29 +709,25 @@ static void lcd_implementation_status_screen() {
         LCD_TEMP(degBed(), degTargetBed(), LCD_STR_BEDTEMP[0]);
 
       #else
+        // Before homing the axis letters are blinking 'X' <-> '?'.
+        // When axis is homed but axis_known_position is false the axis letters are blinking 'X' <-> ' '.
+        // When everything is ok you see a constant 'X'.
 
-        lcd.print(TEST(axis_known_position, X_AXIS) || !TEST(axis_was_homed, X_AXIS) ? 'X' : '?');
-        if (TEST(axis_was_homed, X_AXIS))
-          lcd.print(ftostr4sign(current_position[X_AXIS]));
-        else
-          lcd_printPGM(PSTR(" ---"));
+        _draw_axis_label(X_AXIS, PSTR(MSG_X), blink);
+        lcd.print(ftostr4sign(current_position[X_AXIS]));
 
-        lcd_printPGM(TEST(axis_known_position, Y_AXIS) || !TEST(axis_was_homed, Y_AXIS) ? PSTR(" Y") : PSTR(" ?"));
-        if (TEST(axis_was_homed, Y_AXIS))
-          lcd.print(ftostr4sign(current_position[Y_AXIS]));
-        else
-          lcd_printPGM(PSTR(" ---"));
+        lcd_printPGM(PSTR(" "));
+
+        _draw_axis_label(Y_AXIS, PSTR(MSG_Y), blink);
+        lcd.print(ftostr4sign(current_position[Y_AXIS]));
 
       #endif // HOTENDS > 1 || TEMP_SENSOR_BED != 0
 
     #endif // LCD_WIDTH >= 20
 
     lcd.setCursor(LCD_WIDTH - 8, 1);
-    lcd_printPGM(TEST(axis_known_position, Z_AXIS) || !TEST(axis_was_homed, Z_AXIS) ? PSTR("Z ") : PSTR("? "));
-    if (TEST(axis_was_homed, Z_AXIS))
-      lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
-    else
-      lcd_printPGM(PSTR("---.--"));
+    _draw_axis_label(Z_AXIS, PSTR(MSG_Z), blink);
+    lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
 
   #endif // LCD_HEIGHT > 2
 
@@ -807,12 +814,12 @@ static void lcd_implementation_status_screen() {
 
   //Display both Status message line and Filament display on the last line
   #if HAS(LCD_FILAMENT_SENSOR) || HAS(LCD_POWER_SENSOR)
-    if (millis() >= previous_lcd_status_ms + 5000) {
+    if (millis() >= previous_lcd_status_ms + 5000UL) {
       lcd_print(lcd_status_message);
     }
     #if HAS(LCD_POWER_SENSOR)
       #if HAS(LCD_FILAMENT_SENSOR)
-        else if (millis() < message_millis + 10000)
+        else if (millis() < message_millis + 10000UL)
       #else
         else
       #endif
@@ -829,7 +836,7 @@ static void lcd_implementation_status_screen() {
         lcd_printPGM(PSTR("Dia "));
         lcd.print(ftostr12ns(filament_width_meas));
         lcd_printPGM(PSTR(" V"));
-        lcd.print(itostr3(100.0*volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]));
+        lcd.print(itostr3(100.0 * volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]));
         lcd.print('%');
         return;
       }
@@ -900,17 +907,20 @@ static void lcd_implementation_drawmenu_setting_edit_generic_P(bool sel, uint8_t
 #define lcd_implementation_drawmenu_setting_edit_callback_long5(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr5(*(data)))
 #define lcd_implementation_drawmenu_setting_edit_callback_bool(sel, row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
 
-void lcd_implementation_drawedit(const char* pstr, char* value) {
+void lcd_implementation_drawedit(const char* pstr, const char* value = NULL) {
   lcd.setCursor(1, 1);
   lcd_printPGM(pstr);
-  lcd.print(':');
-  lcd.setCursor(LCD_WIDTH - lcd_strlen(value), 1);
-  lcd_print(value);
+  if (value != NULL) {
+    lcd.print(':');
+    lcd.setCursor(LCD_WIDTH - lcd_strlen(value), 1);
+    lcd_print(value);
+  }
 }
 
 #if ENABLED(SDSUPPORT)
 
   static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* pstr, const char* longFilename, uint8_t concat, char post_char) {
+    UNUSED(pstr);
     char c;
     uint8_t n = LCD_WIDTH - concat;
     lcd.setCursor(0, row);

MK/module/macros.h

@@ -48,14 +48,9 @@
 #define ENABLED defined
 #define DISABLED !defined
 
-#define PIN_EXISTS(PN) (defined(PN##_PIN) && PN##_PIN >= 0)
-
 #define HAS(FE) (HAS_##FE)
 #define HASNT(FE) (!(HAS_##FE))
 
-#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0)
-#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON))
-
 // Macros to contrain values
 #define NUMERIC(a) ((a) >= '0' && '9' >= (a))
 #define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-')
@@ -73,4 +68,12 @@
 #define STRINGIFY_(n) #n
 #define STRINGIFY(n) STRINGIFY_(n)
 
+// Macro for varie
+#define PIN_EXISTS(PN) (defined(PN##_PIN) && PN##_PIN >= 0)
+
+#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0)
+#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON))
+
+#define NOOP do{}while(0)
+
 #endif //__MACROS_H

MK/module/motion/planner.cpp

@@ -532,12 +532,13 @@ float junction_deviation = 0.1;
 
   // The target position of the tool in absolute steps
   // Calculate target position in absolute steps
-  //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
-  int32_t target[NUM_AXIS];
-  target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
-  target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
-  target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
-  target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS + extruder]);
+  // this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
+  int32_t target[NUM_AXIS] = {
+    lround(x * axis_steps_per_unit[X_AXIS]),
+    lround(y * axis_steps_per_unit[Y_AXIS]),
+    lround(z * axis_steps_per_unit[Z_AXIS]),
+    lround(e * axis_steps_per_unit[E_AXIS + extruder])
+  };
 
   // If changing extruder have to recalculate current position based on 
   // the steps-per-mm value for the new extruder.

MK/module/motion/stepper.cpp

@@ -305,7 +305,7 @@ void checkHitEndstops() {
           card.sdprinting = false;
           card.closeFile();
         #endif
-        for (int i = 0; i < 3; i++) CBI(axis_known_position, i); // not homed anymore
+        for (int i = 0; i < 3; i++) axis_known_position[i] = true; // not homed anymore
         quickStop(); // kill the planner buffer
         Stop();      // restart by M999
       }
@@ -656,12 +656,11 @@ ISR(TIMER1_COMPA_vect) {
       trapezoid_generator_reset();
 
       // Initialize Bresenham counters to 1/2 the ceiling
-      long new_count = -(current_block->step_event_count >> 1);
-      counter_X = counter_Y = counter_Z = counter_E = new_count;
+      counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
 
       #if ENABLED(COLOR_MIXING_EXTRUDER)
         for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++)
-          counter_m[i] = new_count;
+          counter_m[i] = -(current_block->step_event_count >> 1);
       #endif
 
       step_events_completed = 0;

MK/module/motion/stepper_indirection.h

@@ -188,7 +188,7 @@
 #define E5_ENABLE_READ READ(E5_ENABLE_PIN)
 
 #if ENABLED(COLOR_MIXING_EXTRUDER)
-  #define E_STEP_WRITE(v) ; /* not used for mixing extruders! */
+  #define E_STEP_WRITE(v) NOOP /* not used for mixing extruders! */
   #if DRIVER_EXTRUDERS > 5
     #define En_STEP_WRITE(n,v) { switch (n) { case 0: E0_STEP_WRITE(v); break; case 1: E1_STEP_WRITE(v); break; case 2: E2_STEP_WRITE(v); break; case 3: E3_STEP_WRITE(v); break; case 4: E4_STEP_WRITE(v); break; case 5: E5_STEP_WRITE(v); } }
     #define NORM_E_DIR() { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); E2_DIR_WRITE(!INVERT_E2_DIR); E3_DIR_WRITE(!INVERT_E3_DIR); E4_DIR_WRITE(!INVERT_E4_DIR); E5_DIR_WRITE(!INVERT_E5_DIR); }
@@ -254,7 +254,7 @@
   #define disable_x() do { X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); CBI(axis_known_position, X_AXIS); } while (0)
 #elif HAS(X_ENABLE)
   #define  enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
-  #define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); CBI(axis_known_position, X_AXIS); }
+  #define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
 #else
   #define  enable_x() ;
   #define disable_x() ;
@@ -266,7 +266,7 @@
     #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); CBI(axis_known_position, Y_AXIS); }
   #else
     #define  enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
-    #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); CBI(axis_known_position, Y_AXIS); }
+    #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
   #endif
 #else
   #define  enable_y() ;
@@ -276,10 +276,10 @@
 #if HAS(Z_ENABLE)
   #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
     #define  enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
-    #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }
+    #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
   #else
     #define  enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
-    #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }
+    #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
   #endif
 #else
   #define  enable_z() ;
@@ -305,16 +305,16 @@
     #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
   #endif
 
-  #define  enable_e1() ;
-  #define disable_e1() ;
-  #define  enable_e2() ;
-  #define disable_e2() ;
-  #define  enable_e3() ;
-  #define disable_e3() ;
-  #define  enable_e4() ;
-  #define disable_e4() ;
-  #define  enable_e5() ;
-  #define disable_e5() ;
+  #define  enable_e1() NOOP
+  #define disable_e1() NOOP
+  #define  enable_e2() NOOP
+  #define disable_e2() NOOP
+  #define  enable_e3() NOOP
+  #define disable_e3() NOOP
+  #define  enable_e4() NOOP
+  #define disable_e4() NOOP
+  #define  enable_e5() NOOP
+  #define disable_e5() NOOP
 
 #else // !COLOR_MIXING_EXTRUDER
 
@@ -322,48 +322,48 @@
     #define  enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
     #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e0() /* nothing */
-    #define disable_e0() /* nothing */
+    #define  enable_e0() NOOP
+    #define disable_e0() NOOP
   #endif
 
   #if (DRIVER_EXTRUDERS > 1) && HAS(E1_ENABLE)
     #define  enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
     #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e1() /* nothing */
-    #define disable_e1() /* nothing */
+    #define  enable_e1() NOOP
+    #define disable_e1() NOOP
   #endif
 
   #if (DRIVER_EXTRUDERS > 2) && HAS(E2_ENABLE)
     #define  enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
     #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e2() /* nothing */
-    #define disable_e2() /* nothing */
+    #define  enable_e2() NOOP
+    #define disable_e2() NOOP
   #endif
 
   #if (DRIVER_EXTRUDERS > 3) && HAS(E3_ENABLE)
     #define  enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
     #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e3() /* nothing */
-    #define disable_e3() /* nothing */
+    #define  enable_e3() NOOP
+    #define disable_e3() NOOP
   #endif
 
   #if (DRIVER_EXTRUDERS > 4) && HAS(E4_ENABLE)
     #define  enable_e4() E4_ENABLE_WRITE( E_ENABLE_ON)
     #define disable_e4() E4_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e4() /* nothing */
-    #define disable_e4() /* nothing */
+    #define  enable_e4() NOOP
+    #define disable_e4() NOOP
   #endif
 
   #if (DRIVER_EXTRUDERS > 5) && HAS(E5_ENABLE)
     #define  enable_e5() E5_ENABLE_WRITE( E_ENABLE_ON)
     #define disable_e5() E5_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e5() /* nothing */
-    #define disable_e5() /* nothing */
+    #define  enable_e5() NOOP
+    #define disable_e5() NOOP
   #endif
 
 #endif

MK/module/nextion/Nextion_lcd.cpp

@@ -612,30 +612,24 @@
     char* valuetemp;
 
     memset(buffer, 0, sizeof(buffer));
-    strcat(buffer, TEST(axis_known_position, X_AXIS) || !TEST(axis_was_homed, X_AXIS) ? "X" : "?");
-    if (TEST(axis_was_homed, X_AXIS)) {
+    strcat(buffer, (axis_known_position[X_AXIS] ? "X" : "?"));
+    if (axis_homed[X_AXIS]) {
       valuetemp = ftostr4sign(current_position[X_AXIS]);
       strcat(buffer, valuetemp);
     }
-    else
-      strcat(buffer, "---");
 
-    strcat(buffer, TEST(axis_known_position, Y_AXIS) || !TEST(axis_was_homed, Y_AXIS) ? PSTR(" Y") : PSTR(" ?"));
-    if (TEST(axis_was_homed, Y_AXIS)) {
+    strcat(buffer, (axis_known_position[Y_AXIS] ? " Y" : " ?"));
+    if (axis_homed[Y_AXIS]) {
       valuetemp = ftostr4sign(current_position[Y_AXIS]);
       strcat(buffer, valuetemp);
     }
-    else
-      strcat(buffer, "---");
 
-    strcat(buffer, TEST(axis_known_position, Z_AXIS) || !TEST(axis_was_homed, Z_AXIS) ? PSTR(" Z ") : PSTR("? "));
-    if (TEST(axis_was_homed, Z_AXIS)) {
+    strcat(buffer, (axis_known_position[Z_AXIS] ? " Z " : " ? "));
+    if (axis_homed[Z_AXIS]) {
       valuetemp = ftostr32sp(current_position[Z_AXIS] + 0.00001);
       strcat(buffer, valuetemp);
     }
-    else
-      strcat(buffer, "---");
-    
+
     LedCoord1.setText(buffer);
     LedCoord6.setText(buffer);
   }