🐛 Fix init of delta safe height (for G29, G33, etc.) (MarlinFirmware#…

…23622)
LCh-77 · Feb 6, 2022 · 5d49d3b · 5d49d3b
1 parent 152c70d
commit 5d49d3b
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Showing 4 changed files with 14 additions and 1 deletion.
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -1339,6 +1339,10 @@ void setup() {
 
   SETUP_RUN(endstops.init());         // Init endstops and pullups
 
+  #if ENABLED(DELTA) && !HAS_SOFTWARE_ENDSTOPS
+    SETUP_RUN(refresh_delta_clip_start_height()); // Init safe delta height without soft endstops
+  #endif
+
   SETUP_RUN(stepper.init());          // Init stepper. This enables interrupts!
 
   #if HAS_SERVOS

diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
@@ -63,6 +63,13 @@ abc_float_t delta_diagonal_rod_trim;
 
 float delta_safe_distance_from_top();
 
+void refresh_delta_clip_start_height() {
+  delta_clip_start_height = TERN(HAS_SOFTWARE_ENDSTOPS,
+    soft_endstop.max.z,
+    DIFF_TERN(HAS_BED_PROBE, delta_height, probe.offset.z)
+  ) - delta_safe_distance_from_top();
+}
+
 /**
  * Recalculate factors used for delta kinematics whenever
  * settings have been changed (e.g., by M665).

diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h
@@ -82,6 +82,8 @@ void inverse_kinematics(const xyz_pos_t &raw);
  */
 float delta_safe_distance_from_top();
 
+void refresh_delta_clip_start_height();
+
 /**
  * Delta Forward Kinematics
  *

diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -743,7 +743,7 @@ void restore_feedrate_and_scaling() {
           delta_max_radius_2 = sq(delta_max_radius);
           break;
         case Z_AXIS:
-          delta_clip_start_height = soft_endstop.max[axis] - delta_safe_distance_from_top();
+          refresh_delta_clip_start_height();
         default: break;
       }