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Marlin/src/feature/tmc_util.h

@@ -368,9 +368,9 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
     constexpr uint16_t default_sg_guard_duration = 400;
 
     struct slow_homing_t {
-      xyz_ulong_t acceleration;
+      xy_ulong_t acceleration;
       #if ENABLED(HAS_CLASSIC_JERK)
-        xyz_float_t jerk_xyz;
+        xy_float_t jerk_xy;
       #endif
     };
   #endif

Marlin/src/gcode/calibrate/G28.cpp

@@ -167,14 +167,12 @@
   slow_homing_t begin_slow_homing() {
     slow_homing_t slow_homing{0};
     slow_homing.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS],
-                                 planner.settings.max_acceleration_mm_per_s2[Y_AXIS],
-                                 planner.settings.max_acceleration_mm_per_s2[Z_AXIS]);      
+                                 planner.settings.max_acceleration_mm_per_s2[Y_AXIS]);
     planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
     planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
-    TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = 100);  
     #if HAS_CLASSIC_JERK
-      slow_homing.jerk_xyz = planner.max_jerk;
-      TERN(DELTA, planner.max_jerk.set(0, 0, 0), planner.max_jerk.set(0, 0));  
+      slow_homing.jerk_xy = planner.max_jerk;
+      planner.max_jerk.set(0, 0);
     #endif
     planner.reset_acceleration_rates();
     return slow_homing;
@@ -183,8 +181,7 @@
   void end_slow_homing(const slow_homing_t &slow_homing) {
     planner.settings.max_acceleration_mm_per_s2[X_AXIS] = slow_homing.acceleration.x;
     planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y;
-    TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = slow_homing.acceleration.z);  
-    TERN_(HAS_CLASSIC_JERK, planner.max_jerk = slow_homing.jerk_xyz);
+    TERN_(HAS_CLASSIC_JERK, planner.max_jerk = slow_homing.jerk_xy);
     planner.reset_acceleration_rates();
   }
 
@@ -286,11 +283,6 @@ void GcodeSuite::G28() {
       stepperY2.rms_current(Y2_CURRENT_HOME);
       if (DEBUGGING(LEVELING)) debug_current(PSTR("Y2"), tmc_save_current_Y2, Y2_CURRENT_HOME);
     #endif
-    #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
-      const int16_t tmc_save_current_Z = stepperZ.getMilliamps();
-      stepperZ.rms_current(Z_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(PSTR("Z"), tmc_save_current_Z, Z_CURRENT_HOME);
-    #endif 
   #endif
 
   TERN_(IMPROVE_HOMING_RELIABILITY, slow_homing_t slow_homing = begin_slow_homing());
@@ -477,10 +469,6 @@ void GcodeSuite::G28() {
     #if HAS_CURRENT_HOME(Y2)
       stepperY2.rms_current(tmc_save_current_Y2);
     #endif
-    #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)       
-      stepperZ.rms_current(tmc_save_current_Z);
-    #endif
-
   #endif
 
   ui.refresh();

Marlin/src/gcode/calibrate/G33.cpp

@@ -71,9 +71,7 @@ float lcd_probe_pt(const xy_pos_t &xy);
 
 void ac_home() {
   endstops.enable(true);
-  TERN_(SENSORLESS_PROBING, probe.current_homing_on());  
   home_delta();
-  TERN_(SENSORLESS_PROBING, probe.current_homing_off());  
   endstops.not_homing();
 }
 

Marlin/src/module/probe.cpp

@@ -497,7 +497,6 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
     #endif
     stealth_states.z = tmc_enable_stallguard(stepperZ);
     endstops.enable(true);
-    probe.current_homing_on();
   #endif
 
   TERN_(HAS_QUIET_PROBING, set_probing_paused(true));
@@ -524,7 +523,6 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
       tmc_disable_stallguard(stepperY, stealth_states.y);
     #endif
     tmc_disable_stallguard(stepperZ, stealth_states.z);
-    probe.current_homing_off();
   #endif
 
   if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger
@@ -816,6 +814,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
 
 #endif // HAS_Z_SERVO_PROBE
 
+<<<<<<< HEAD
 //Lujsensorless_probing  Definimos todas las funciones necesarias para SENSORLESS_PROBING
 #if ENABLED(SENSORLESS_PROBING)  
   #if ENABLED(IMPROVE_HOMING_RELIABILITY)
@@ -946,4 +945,6 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
 		#endif
 	}
 #endif
+=======
+>>>>>>> parent of 58bf83a6f0 (Mejora SENSORLESS en DELTA)
 #endif // HAS_BED_PROBE

Marlin/src/module/probe.h

@@ -256,14 +256,6 @@ class Probe {
     static bool tare();
   #endif
 
-  //Lujsensorless  Creamos funciones basicas para SENSORLESS_PROBING
-  #if ENABLED(SENSORLESS_PROBING)    
-    static void enable_stallguard_diag1();
-    static void disable_stallguard_diag1();
-    static void current_homing_on();
-    static void current_homing_off();
-  #endif
-
 private:
   static bool probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s);
   static void do_z_raise(const float z_raise);