From a446433c87dc8b715ed5b9d98a34104f90b676b2 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 1 Mar 2018 01:37:31 -0600 Subject: [PATCH] Fix SENSORLESS_HOMING for Core Kinematics (#9868) --- Marlin/src/gcode/calibrate/G28.cpp | 16 ++------ Marlin/src/inc/Conditionals_post.h | 9 ++++- Marlin/src/inc/SanityCheck.h | 9 +++++ Marlin/src/module/delta.cpp | 24 +++--------- Marlin/src/module/motion.cpp | 62 +++++++++++++++++++++--------- Marlin/src/module/motion.h | 4 ++ 6 files changed, 74 insertions(+), 50 deletions(-) diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 3ab978dc8..92526e102 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -63,12 +63,8 @@ fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0); #if ENABLED(SENSORLESS_HOMING) - #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperX); - #endif - #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperY); - #endif + sensorless_homing_per_axis(X_AXIS); + sensorless_homing_per_axis(Y_AXIS); #endif do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); @@ -76,12 +72,8 @@ current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; #if ENABLED(SENSORLESS_HOMING) - #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperX, false); - #endif - #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperY, false); - #endif + sensorless_homing_per_axis(X_AXIS, false); + sensorless_homing_per_axis(Y_AXIS, false); safe_delay(500); // Short delay needed to settle #endif } diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index d8c9f23a6..ac5bd80e4 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -718,8 +718,13 @@ #define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208)) // Disable Z axis sensorless homing if a probe is used to home the Z axis -#if ENABLED(SENSORLESS_HOMING) && HOMING_Z_WITH_PROBE - #undef Z_HOMING_SENSITIVITY +#if ENABLED(SENSORLESS_HOMING) + #define X_SENSORLESS (ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)) + #define Y_SENSORLESS (ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)) + #define Z_SENSORLESS (ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)) + #if HOMING_Z_WITH_PROBE + #undef Z_HOMING_SENSITIVITY + #endif #endif // Endstops and bed probe diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index 467570447..af79dad8d 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -1557,6 +1557,15 @@ static_assert(1 >= 0 #error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP." #endif + // Sensorless homing is required for both combined steppers in an H-bot + #if CORE_IS_XY && X_SENSORLESS != Y_SENSORLESS + #error "CoreXY requires both X and Y to use sensorless homing if either does." + #elif CORE_IS_XZ && X_SENSORLESS != Z_SENSORLESS + #error "CoreXZ requires both X and Z to use sensorless homing if either does." + #elif CORE_IS_YZ && Y_SENSORLESS != Z_SENSORLESS + #error "CoreYZ requires both Y and Z to use sensorless homing if either does." + #endif + #elif ENABLED(SENSORLESS_HOMING) #error "SENSORLESS_HOMING requires TMC2130 stepper drivers." diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index 1898c0606..3fb467d7e 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -232,15 +232,9 @@ bool home_delta() { // Disable stealthChop if used. Enable diag1 pin on driver. #if ENABLED(SENSORLESS_HOMING) - #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperX); - #endif - #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperY); - #endif - #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperZ); - #endif + sensorless_homing_per_axis(X_AXIS); + sensorless_homing_per_axis(Y_AXIS); + sensorless_homing_per_axis(Z_AXIS); #endif // Move all carriages together linearly until an endstop is hit. @@ -251,15 +245,9 @@ bool home_delta() { // Re-enable stealthChop if used. Disable diag1 pin on driver. #if ENABLED(SENSORLESS_HOMING) - #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperX, false); - #endif - #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperY, false); - #endif - #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY) - tmc_sensorless_homing(stepperZ, false); - #endif + sensorless_homing_per_axis(X_AXIS, false); + sensorless_homing_per_axis(Y_AXIS, false); + sensorless_homing_per_axis(Z_AXIS, false); #endif // If an endstop was not hit, then damage can occur if homing is continued. diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index a3831ff98..819faf1ef 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -966,6 +966,48 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) { return homing_feedrate(axis) / hbd; } +#if ENABLED(SENSORLESS_HOMING) + + /** + * Set sensorless homing if the axis has it, accounting for Core Kinematics. + */ + void sensorless_homing_per_axis(const AxisEnum axis, const bool enable/*=true*/) { + switch (axis) { + #if X_SENSORLESS + case X_AXIS: + tmc_sensorless_homing(stepperX, enable); + #if CORE_IS_XY && Y_SENSORLESS + tmc_sensorless_homing(stepperY, enable); + #elif CORE_IS_XZ && Z_SENSORLESS + tmc_sensorless_homing(stepperZ, enable); + #endif + break; + #endif + #if Y_SENSORLESS + case Y_AXIS: + tmc_sensorless_homing(stepperY, enable); + #if CORE_IS_XY && X_SENSORLESS + tmc_sensorless_homing(stepperX, enable); + #elif CORE_IS_YZ && Z_SENSORLESS + tmc_sensorless_homing(stepperZ, enable); + #endif + break; + #endif + #if Z_SENSORLESS + case Z_AXIS: + tmc_sensorless_homing(stepperZ, enable); + #if CORE_IS_XZ && X_SENSORLESS + tmc_sensorless_homing(stepperX, enable); + #elif CORE_IS_YZ && Y_SENSORLESS + tmc_sensorless_homing(stepperY, enable); + #endif + break; + #endif + } + } + +#endif // SENSORLESS_HOMING + /** * Home an individual linear axis */ @@ -992,15 +1034,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa // Disable stealthChop if used. Enable diag1 pin on driver. #if ENABLED(SENSORLESS_HOMING) - #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY) - if (axis == X_AXIS) tmc_sensorless_homing(stepperX); - #endif - #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY) - if (axis == Y_AXIS) tmc_sensorless_homing(stepperY); - #endif - #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY) - if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ); - #endif + sensorless_homing_per_axis(axis); #endif // Tell the planner the axis is at 0 @@ -1031,15 +1065,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa // Re-enable stealthChop if used. Disable diag1 pin on driver. #if ENABLED(SENSORLESS_HOMING) - #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY) - if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false); - #endif - #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY) - if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false); - #endif - #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY) - if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ, false); - #endif + sensorless_homing_per_axis(axis, false); #endif #if ENABLED(DEBUG_LEVELING_FEATURE) diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 3222f1299..bb478d624 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -191,6 +191,10 @@ void set_axis_is_at_home(const AxisEnum axis); void homeaxis(const AxisEnum axis); #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) +#if ENABLED(SENSORLESS_HOMING) + void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true); +#endif + // // Macros //