Fix SENSORLESS_HOMING for Core Kinematics (#9868)
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6 changed files with 74 additions and 50 deletions
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@ -63,12 +63,8 @@
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fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperY);
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#endif
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sensorless_homing_per_axis(X_AXIS);
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sensorless_homing_per_axis(Y_AXIS);
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#endif
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do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
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@ -76,12 +72,8 @@
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current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperY, false);
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#endif
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sensorless_homing_per_axis(X_AXIS, false);
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sensorless_homing_per_axis(Y_AXIS, false);
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safe_delay(500); // Short delay needed to settle
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#endif
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}
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@ -718,8 +718,13 @@
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#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
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// Disable Z axis sensorless homing if a probe is used to home the Z axis
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#if ENABLED(SENSORLESS_HOMING) && HOMING_Z_WITH_PROBE
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#if ENABLED(SENSORLESS_HOMING)
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#define X_SENSORLESS (ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY))
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#define Y_SENSORLESS (ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY))
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#define Z_SENSORLESS (ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY))
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#if HOMING_Z_WITH_PROBE
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#undef Z_HOMING_SENSITIVITY
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#endif
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#endif
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// Endstops and bed probe
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@ -1557,6 +1557,15 @@ static_assert(1 >= 0
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#error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP."
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#endif
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// Sensorless homing is required for both combined steppers in an H-bot
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#if CORE_IS_XY && X_SENSORLESS != Y_SENSORLESS
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#error "CoreXY requires both X and Y to use sensorless homing if either does."
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#elif CORE_IS_XZ && X_SENSORLESS != Z_SENSORLESS
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#error "CoreXZ requires both X and Z to use sensorless homing if either does."
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#elif CORE_IS_YZ && Y_SENSORLESS != Z_SENSORLESS
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#error "CoreYZ requires both Y and Z to use sensorless homing if either does."
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#endif
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#elif ENABLED(SENSORLESS_HOMING)
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#error "SENSORLESS_HOMING requires TMC2130 stepper drivers."
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@ -232,15 +232,9 @@ bool home_delta() {
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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(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperY);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperZ);
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#endif
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sensorless_homing_per_axis(X_AXIS);
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sensorless_homing_per_axis(Y_AXIS);
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sensorless_homing_per_axis(Z_AXIS);
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#endif
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// Move all carriages together linearly until an endstop is hit.
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@ -251,15 +245,9 @@ bool home_delta() {
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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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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperY, false);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperZ, false);
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#endif
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sensorless_homing_per_axis(X_AXIS, false);
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sensorless_homing_per_axis(Y_AXIS, false);
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sensorless_homing_per_axis(Z_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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@ -966,6 +966,48 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
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return homing_feedrate(axis) / hbd;
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}
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#if ENABLED(SENSORLESS_HOMING)
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/**
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* Set sensorless homing if the axis has it, accounting for Core Kinematics.
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*/
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void sensorless_homing_per_axis(const AxisEnum axis, const bool enable/*=true*/) {
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switch (axis) {
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#if X_SENSORLESS
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case X_AXIS:
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tmc_sensorless_homing(stepperX, enable);
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#if CORE_IS_XY && Y_SENSORLESS
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tmc_sensorless_homing(stepperY, enable);
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#elif CORE_IS_XZ && Z_SENSORLESS
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tmc_sensorless_homing(stepperZ, enable);
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#endif
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break;
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#endif
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#if Y_SENSORLESS
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case Y_AXIS:
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tmc_sensorless_homing(stepperY, enable);
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#if CORE_IS_XY && X_SENSORLESS
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tmc_sensorless_homing(stepperX, enable);
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#elif CORE_IS_YZ && Z_SENSORLESS
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tmc_sensorless_homing(stepperZ, enable);
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#endif
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break;
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#endif
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#if Z_SENSORLESS
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case Z_AXIS:
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tmc_sensorless_homing(stepperZ, enable);
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#if CORE_IS_XZ && X_SENSORLESS
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tmc_sensorless_homing(stepperX, enable);
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#elif CORE_IS_YZ && Y_SENSORLESS
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tmc_sensorless_homing(stepperY, enable);
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#endif
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break;
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#endif
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}
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}
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#endif // SENSORLESS_HOMING
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/**
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* Home an individual linear axis
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*/
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@ -992,15 +1034,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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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(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ);
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#endif
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sensorless_homing_per_axis(axis);
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#endif
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// Tell the planner the axis is at 0
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@ -1031,15 +1065,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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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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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ, false);
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#endif
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sensorless_homing_per_axis(axis, false);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -191,6 +191,10 @@ void set_axis_is_at_home(const AxisEnum axis);
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void homeaxis(const AxisEnum axis);
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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#if ENABLED(SENSORLESS_HOMING)
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void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true);
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#endif
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//
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// Macros
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//
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