TPARA - 3DOF robot arm IK (#21005)

Co-authored-by: Scott Lahteine <github@thinkyhead.com>

Marlin/src/gcode/calibrate/G28.cpp

@@ -311,7 +311,13 @@ void GcodeSuite::G28() {
 
     TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
 
-  #else // NOT DELTA
+  #elif ENABLED(AXEL_TPARA)
+
+    constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a TPARA
+
+    home_TPARA();
+
+  #else
 
     const bool homeZ = parser.seen('Z'),
                needX = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(X_AXIS))),
@@ -392,7 +398,7 @@ void GcodeSuite::G28() {
 
     sync_plan_position();
 
-  #endif // !DELTA (G28)
+  #endif
 
   /**
    * Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE.