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Fix home_delta for SENSORLESS_HOMING (#10144)

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Scott Lahteine 2018-03-17 20:52:14 -05:00 committed by GitHub
parent f7de05e50c
commit d16f443d33
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 17 additions and 10 deletions
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27
Marlin/Marlin_main.cpp
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@ -3776,6 +3776,14 @@ inline void gcode_G4() {
#if ENABLED(DELTA)
#if ENABLED(SENSORLESS_HOMING)
inline void delta_sensorless_homing(const bool on=true) {
sensorless_homing_per_axis(A_AXIS, on);
sensorless_homing_per_axis(B_AXIS, on);
sensorless_homing_per_axis(C_AXIS, on);
}
#endif
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
@ -3790,9 +3798,7 @@ inline void gcode_G4() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
sensorless_homing_per_axis(A_AXIS);
sensorless_homing_per_axis(B_AXIS);
sensorless_homing_per_axis(C_AXIS);
delta_sensorless_homing();
#endif
// Move all carriages together linearly until an endstop is hit.
@ -3801,19 +3807,15 @@ inline void gcode_G4() {
buffer_line_to_current_position();
stepper.synchronize();
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
sensorless_homing_per_axis(A_AXIS, false);
sensorless_homing_per_axis(B_AXIS, false);
sensorless_homing_per_axis(C_AXIS, false);
#endif
// If an endstop was not hit, then damage can occur if homing is continued.
// This can occur if the delta height not set correctly.
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
#if ENABLED(SENSORLESS_HOMING)
delta_sensorless_homing(false);
#endif
return false;
}
@ -3825,6 +3827,11 @@ inline void gcode_G4() {
HOMEAXIS(B);
HOMEAXIS(C);
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
delta_sensorless_homing(false);
#endif
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would