quick_home_xy sensorless homing
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@ -3618,10 +3618,26 @@ inline void gcode_G4() {
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mlratio = mlx > mly ? mly / mlx : mlx / mly,
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mlratio = mlx > mly ? mly / mlx : mlx / mly,
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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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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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#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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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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endstops.hit_on_purpose(); // clear endstop hit flags
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endstops.hit_on_purpose(); // clear endstop hit flags
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current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
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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(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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safe_delay(500); // Short delay needed to settle
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safe_delay(500); // Short delay needed to settle
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#endif
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#endif
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}
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}
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