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Code Issues Releases Wiki Activity

Fix SENSORLESS_HOMING for Core Kinematics (#9868)

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Scott Lahteine 2018-03-01 01:37:31 -06:00 committed by GitHub
parent 2d1233b86c
commit a446433c87
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 74 additions and 50 deletions
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16
Marlin/src/gcode/calibrate/G28.cpp
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@ -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
}

9
Marlin/src/inc/Conditionals_post.h
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@ -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

9
Marlin/src/inc/SanityCheck.h
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@ -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."

24
Marlin/src/module/delta.cpp
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@ -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.

62
Marlin/src/module/motion.cpp
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@ -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)

4
Marlin/src/module/motion.h
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@ -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
//