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@ -2707,6 +2707,48 @@ inline void gcode_G4() { |
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#endif // DEBUG_LEVELING_FEATURE
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#if ENABLED(DELTA) |
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/**
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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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*/ |
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inline void home_delta() { |
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// Init the current position of all carriages to 0,0,0
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memset(current_position, 0, sizeof(current_position)); |
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sync_plan_position(); |
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// Move all carriages together linearly until an endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10); |
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feedrate_mm_s = homing_feedrate_mm_s[X_AXIS]; |
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line_to_current_position(); |
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stepper.synchronize(); |
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endstops.hit_on_purpose(); // clear endstop hit flags
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// Probably not needed. Double-check this line:
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memset(current_position, 0, sizeof(current_position)); |
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// At least one carriage has reached the top.
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// Now back off and re-home each carriage separately.
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HOMEAXIS(A); |
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HOMEAXIS(B); |
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HOMEAXIS(C); |
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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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// XYZ isn't ABC. Applying this per-tower would
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// give the impression that they are the same.
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LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); |
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SYNC_PLAN_POSITION_KINEMATIC(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position); |
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#endif |
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} |
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#endif // DELTA
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/**
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* G28: Home all axes according to settings |
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* |
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@ -2784,42 +2826,8 @@ inline void gcode_G28() { |
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#if ENABLED(DELTA) |
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/**
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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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*/ |
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// Init the current position of all carriages to 0,0,0
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memset(current_position, 0, sizeof(current_position)); |
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sync_plan_position(); |
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// Move all carriages together linearly until an endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10); |
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feedrate_mm_s = homing_feedrate_mm_s[X_AXIS]; |
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line_to_current_position(); |
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stepper.synchronize(); |
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endstops.hit_on_purpose(); // clear endstop hit flags
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// Probably not needed. Double-check this line:
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memset(current_position, 0, sizeof(current_position)); |
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// At least one carriage has reached the top.
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// Now back off and re-home each carriage separately.
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HOMEAXIS(A); |
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HOMEAXIS(B); |
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HOMEAXIS(C); |
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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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// XYZ isn't ABC. Applying this per-tower would
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// give the impression that they are the same.
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LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); |
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SYNC_PLAN_POSITION_KINEMATIC(); |
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#if ENABLED(DEBUG_LEVELING_FEATURE) |
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if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position); |
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#endif |
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home_delta(); |
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#else // NOT DELTA
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