Multi sample homing

docs/Config_Reference.md

@@ -322,7 +322,8 @@ position_max:
 #   Minimum distance (in mm) for toolhead before sensorless homing. If closer
 #   than `min_home_dist` to endstop, it moves away to this distance, then homes.
 #   If further, it directly homes and retracts to `homing_retract_dist`.
-#   The default is equal to `homing_retract_dist`.
+#   The default is equal to `homing_retract_dist` or `sample_retract_dist`
+#   depending on which is lower.
 #second_homing_speed:
 #   Velocity (in mm/s) of the stepper when performing the second home.
 #   The default is homing_speed/2. If `use_sensorless_homing` is
@@ -336,6 +337,25 @@ position_max:
 #use_sensorless_homing:
 #   If true, disables the second home action if homing_retract_dist > 0.
 #   The default is true if endstop_pin is configured to use virtual_endstop
+#samples: 1
+#sample_retract_dist: 2.0
+#samples_result: average
+#samples_tolerance: 0.100
+#samples_tolerance_retries: 0
+#drop_first_result: False
+#   See the "probe" section for a description of the above parameters
+#   If the second homing is enabled, the first homing move will only be once and the
+#   second homing move will use samples.
+#sample_retract_speed: 
+#   Equals probes lift_speed, defaults to retract_speed
+#move_toolhead_after_adjusting: False
+#   Move the toolhead to the configured homing position after adjusting the coordinate
+#   system according to the samples.
+#retry_gcode:
+#   For some kinematics, like CoreXY, if one axis skips while homing it also throws off
+#   the other axis so it would be good to rehome that axis.
+#   If the homing procedure has to retry at least once, this code will be executed after
+#   homing is completed.
 ```
 
 ### Cartesian Kinematics

docs/G-Codes.md

@@ -1381,6 +1381,16 @@ not recommended:
 "triggered" or in an "open" state. This command is typically used to
 verify that an endstop is working correctly.
 
+### [homing_accuracy]
+
+#### HOMING_ACCURACY
+`HOMING_ACCURACY AXIS=<X|Y|Z> [DROP_FIRST_RESULT=<TRUE|FALSE>] [SPEED=<mm/s>] [SAMPLES=<count>]
+[RETRACT_DIST=<mm>] [RETRACT_SPEED=<mm>]`: Calculate the maximum, minimum, average,
+median, and standard deviation of multiple homing samples. By default,
+10 SAMPLES are taken. Otherwise the optional parameters default to
+their equivalent setting in the stepper config section.
+Speed defaults to `second_homing_speed`.
+
 ### [resonance_tester]
 
 The following commands are available when a