From c84b14c77a5c1ae277a28e1dc0bd84094efc42ec Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 11 Sep 2016 20:25:44 -0500
Subject: [PATCH] Move delta homing to its own function
---
Marlin/Marlin_main.cpp | 78 +++++++++++++++++++++++-------------------
1 file changed, 43 insertions(+), 35 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index e0b19118c9..f9b0a5c714 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2707,6 +2707,48 @@ inline void gcode_G4() {
#endif // DEBUG_LEVELING_FEATURE
+#if ENABLED(DELTA)
+
+ /**
+ * A delta can only safely home all axes at the same time
+ * This is like quick_home_xy() but for 3 towers.
+ */
+ inline void home_delta() {
+ // Init the current position of all carriages to 0,0,0
+ memset(current_position, 0, sizeof(current_position));
+ sync_plan_position();
+
+ // Move all carriages together linearly until an endstop is hit.
+ current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
+ feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
+ line_to_current_position();
+ stepper.synchronize();
+ endstops.hit_on_purpose(); // clear endstop hit flags
+
+ // Probably not needed. Double-check this line:
+ memset(current_position, 0, sizeof(current_position));
+
+ // At least one carriage has reached the top.
+ // Now back off and re-home each carriage separately.
+ HOMEAXIS(A);
+ HOMEAXIS(B);
+ HOMEAXIS(C);
+
+ // 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
+ // give the impression that they are the same.
+ LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
+
+ SYNC_PLAN_POSITION_KINEMATIC();
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
+ #endif
+ }
+
+#endif // DELTA
+
/**
* G28: Home all axes according to settings
*
@@ -2784,42 +2826,8 @@ inline void gcode_G28() {
#if ENABLED(DELTA)
- /**
- * A delta can only safely home all axes at the same time
- * This is like quick_home_xy() but for 3 towers.
- */
- // Init the current position of all carriages to 0,0,0
- memset(current_position, 0, sizeof(current_position));
- sync_plan_position();
-
- // Move all carriages together linearly until an endstop is hit.
- current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
- feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
- line_to_current_position();
- stepper.synchronize();
- endstops.hit_on_purpose(); // clear endstop hit flags
-
- // Probably not needed. Double-check this line:
- memset(current_position, 0, sizeof(current_position));
-
- // At least one carriage has reached the top.
- // Now back off and re-home each carriage separately.
- HOMEAXIS(A);
- HOMEAXIS(B);
- HOMEAXIS(C);
-
- // 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
- // give the impression that they are the same.
- LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
-
- SYNC_PLAN_POSITION_KINEMATIC();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
- #endif
+ home_delta();
#else // NOT DELTA