Fix home_delta for SENSORLESS_HOMING (#10145)
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1 changed files with 17 additions and 10 deletions
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@ -229,6 +229,14 @@ void forward_kinematics_DELTA(float z1, float z2, float z3) {
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cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
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cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
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}
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}
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#if ENABLED(SENSORLESS_HOMING)
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inline void delta_sensorless_homing(const bool on=true) {
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sensorless_homing_per_axis(A_AXIS, on);
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sensorless_homing_per_axis(B_AXIS, on);
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sensorless_homing_per_axis(C_AXIS, on);
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}
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#endif
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/**
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/**
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* A delta can only safely home all axes at the same time
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* A delta can only safely home all axes at the same time
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* This is like quick_home_xy() but for 3 towers.
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* This is like quick_home_xy() but for 3 towers.
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@ -243,9 +251,7 @@ bool home_delta() {
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// Disable stealthChop if used. Enable diag1 pin on driver.
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(SENSORLESS_HOMING)
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sensorless_homing_per_axis(A_AXIS);
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delta_sensorless_homing();
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sensorless_homing_per_axis(B_AXIS);
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sensorless_homing_per_axis(C_AXIS);
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#endif
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#endif
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// Move all carriages together linearly until an endstop is hit.
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// Move all carriages together linearly until an endstop is hit.
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@ -254,19 +260,15 @@ bool home_delta() {
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line_to_current_position();
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line_to_current_position();
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stepper.synchronize();
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stepper.synchronize();
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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sensorless_homing_per_axis(A_AXIS, false);
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sensorless_homing_per_axis(B_AXIS, false);
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sensorless_homing_per_axis(C_AXIS, false);
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#endif
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// If an endstop was not hit, then damage can occur if homing is continued.
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// If an endstop was not hit, then damage can occur if homing is continued.
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// This can occur if the delta height not set correctly.
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// This can occur if the delta height not set correctly.
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if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
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if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
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LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
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LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
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SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
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#if ENABLED(SENSORLESS_HOMING)
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delta_sensorless_homing(false);
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#endif
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return false;
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return false;
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}
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}
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@ -278,6 +280,11 @@ bool home_delta() {
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HOMEAXIS(B);
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HOMEAXIS(B);
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HOMEAXIS(C);
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HOMEAXIS(C);
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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delta_sensorless_homing(false);
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#endif
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// Set all carriages to their home positions
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// Set all carriages to their home positions
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// Do this here all at once for Delta, because
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// Do this here all at once for Delta, because
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// XYZ isn't ABC. Applying this per-tower would
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// XYZ isn't ABC. Applying this per-tower would
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