81 lines
2.7 KiB
C
81 lines
2.7 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef CALIBRATE_COMMON_H
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#define CALIBRATE_COMMON_H
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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 bool home_delta() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
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#endif
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// Init the current position of all carriages to 0,0,0
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ZERO(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] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
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feedrate_mm_s = homing_feedrate(X_AXIS);
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line_to_current_position();
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stepper.synchronize();
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// If an endstop was not hit, then damage can occur if homing is continued.
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// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
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// not set correctly.
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if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
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LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
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return false;
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}
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endstops.hit_on_purpose(); // clear endstop hit flags
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// At least one carriage has reached the top.
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// Now 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("<<< home_delta", current_position);
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#endif
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return true;
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}
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#endif // DELTA
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#endif // CALIBRATE_COMMON_H
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