Fix SENSORLESS_HOMING for Core Kinematics (#9868)

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)
+      sensorless_homing_per_axis(X_AXIS);
-        tmc_sensorless_homing(stepperX);
+      sensorless_homing_per_axis(Y_AXIS);
-      #endif
-      #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
-        tmc_sensorless_homing(stepperY);
-      #endif
     #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)
+      sensorless_homing_per_axis(X_AXIS, false);
-        tmc_sensorless_homing(stepperX, false);
+      sensorless_homing_per_axis(Y_AXIS, false);
-      #endif
-      #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
-        tmc_sensorless_homing(stepperY, false);
-      #endif
       safe_delay(500); // Short delay needed to settle
     #endif
   }

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
+#if ENABLED(SENSORLESS_HOMING)
-  #undef Z_HOMING_SENSITIVITY
+  #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

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."

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)
+    sensorless_homing_per_axis(X_AXIS);
-      tmc_sensorless_homing(stepperX);
+    sensorless_homing_per_axis(Y_AXIS);
-    #endif
+    sensorless_homing_per_axis(Z_AXIS);
-    #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
   #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)
+    sensorless_homing_per_axis(X_AXIS, false);
-      tmc_sensorless_homing(stepperX, false);
+    sensorless_homing_per_axis(Y_AXIS, false);
-    #endif
+    sensorless_homing_per_axis(Z_AXIS, false);
-    #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
   #endif
 
   // If an endstop was not hit, then damage can occur if homing is continued.

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)
+    sensorless_homing_per_axis(axis);
-      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
   #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)
+    sensorless_homing_per_axis(axis, false);
-      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
   #endif
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)

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
 //