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TMC SPI Endstops and Improved Sensorless Homing (#14044)
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@ -1851,17 +1851,25 @@
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#define E5_HYBRID_THRESHOLD 30
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/**
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* Use StallGuard2 to home / probe X, Y, Z.
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*
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* TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
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* Use StallGuard2 to sense an obstacle and trigger an endstop.
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* Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
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* X, Y, and Z homing will always be done in spreadCycle mode.
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*
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* X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
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* Higher values make the system LESS sensitive.
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* Lower value make the system MORE sensitive.
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* Too low values can lead to false positives, while too high values will collide the axis without triggering.
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* It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
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* M914 X/Y/Z to live tune the setting
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* X/Y/Z_STALL_SENSITIVITY is used to tune the trigger sensitivity.
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* Use M914 X Y Z to live-adjust the sensitivity.
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* Higher: LESS sensitive. (Too high => failure to trigger)
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* Lower: MORE sensitive. (Too low => false positives)
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*
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* It is recommended to set [XYZ]_HOME_BUMP_MM to 0.
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*
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* SPI_ENDSTOPS *** Beta feature! *** TMC2130 Only ***
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* Poll the driver through SPI to determine load when homing.
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* Removes the need for a wire from DIAG1 to an endstop pin.
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*
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* IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
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* homing and adds a guard period for endstop triggering.
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*/
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//#define SENSORLESS_HOMING // StallGuard capable drivers only
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@ -1878,6 +1886,8 @@
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#define X_STALL_SENSITIVITY 8
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#define Y_STALL_SENSITIVITY 8
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//#define Z_STALL_SENSITIVITY 8
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//#define SPI_ENDSTOPS // TMC2130 only
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//#define IMPROVE_HOMING_RELIABILITY
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#endif
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/**
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@ -659,6 +659,13 @@ void idle(
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bool no_stepper_sleep/*=false*/
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#endif
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) {
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#if ENABLED(SPI_ENDSTOPS)
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if (endstops.tmc_spi_homing.any && ELAPSED(millis(), sg_guard_period))
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for (uint8_t i = 4; i--;) // Read SGT 4 times per idle loop
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if (endstops.tmc_spi_homing_check()) break;
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#endif
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#if ENABLED(MAX7219_DEBUG)
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max7219.idle_tasks();
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#endif
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@ -140,6 +140,9 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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this->stored.homing_thrs = sgt_val;
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#endif
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}
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#if ENABLED(SPI_ENDSTOPS)
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bool test_stall_status();
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#endif
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#endif
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#if HAS_LCD_MENU
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@ -355,9 +358,22 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
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* Defined here because of limitations with templates and headers.
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*/
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#if USE_SENSORLESS
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// Track enabled status of stealthChop and only re-enable where applicable
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struct sensorless_t { bool x, y, z, x2, y2, z2, z3; };
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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extern millis_t sg_guard_period;
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constexpr uint16_t default_sg_guard_duration = 400;
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struct slow_homing_t {
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struct { uint32_t x, y; } acceleration;
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#if HAS_CLASSIC_JERK
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struct { float x, y; } jerk;
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#endif
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};
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#endif
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bool tmc_enable_stallguard(TMC2130Stepper &st);
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void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
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@ -366,7 +382,42 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
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bool tmc_enable_stallguard(TMC2660Stepper);
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void tmc_disable_stallguard(TMC2660Stepper, const bool);
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
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uint16_t sg_result = 0;
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this->switchCSpin(LOW);
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if (this->TMC_SW_SPI != nullptr) {
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this->TMC_SW_SPI->transfer(TMC2130_n::DRV_STATUS_t::address);
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this->TMC_SW_SPI->transfer16(0);
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// We only care about the last 10 bits
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sg_result = this->TMC_SW_SPI->transfer(0);
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sg_result <<= 8;
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sg_result |= this->TMC_SW_SPI->transfer(0);
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}
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else {
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SPI.beginTransaction(SPISettings(16000000/8, MSBFIRST, SPI_MODE3));
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// Read DRV_STATUS
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SPI.transfer(TMC2130_n::DRV_STATUS_t::address);
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SPI.transfer16(0);
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// We only care about the last 10 bits
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sg_result = SPI.transfer(0);
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sg_result <<= 8;
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sg_result |= SPI.transfer(0);
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SPI.endTransaction();
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}
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this->switchCSpin(HIGH);
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return (sg_result & 0x3FF) == 0;
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}
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#endif // SPI_ENDSTOPS
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#endif // USE_SENSORLESS
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#if TMC_HAS_SPI
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void tmc_init_cs_pins();
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@ -78,15 +78,19 @@
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fr_mm_s = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
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#if ENABLED(SENSORLESS_HOMING)
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sensorless_t stealth_states { false };
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stealth_states.x = tmc_enable_stallguard(stepperX);
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stealth_states.y = tmc_enable_stallguard(stepperY);
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#if AXIS_HAS_STALLGUARD(X2)
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stealth_states.x2 = tmc_enable_stallguard(stepperX2);
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#endif
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#if AXIS_HAS_STALLGUARD(Y2)
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stealth_states.y2 = tmc_enable_stallguard(stepperY2);
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#endif
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sensorless_t stealth_states {
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tmc_enable_stallguard(stepperX)
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, tmc_enable_stallguard(stepperY)
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, false
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, false
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#if AXIS_HAS_STALLGUARD(X2)
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|| tmc_enable_stallguard(stepperX2)
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#endif
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, false
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#if AXIS_HAS_STALLGUARD(Y2)
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|| tmc_enable_stallguard(stepperY2)
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#endif
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};
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#endif
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do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
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@ -229,6 +233,22 @@ void GcodeSuite::G28(const bool always_home_all) {
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workspace_plane = PLANE_XY;
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#endif
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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slow_homing_t slow_homing { 0 };
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slow_homing.acceleration.x = planner.settings.max_acceleration_mm_per_s2[X_AXIS];
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slow_homing.acceleration.y = planner.settings.max_acceleration_mm_per_s2[Y_AXIS];
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planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
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planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
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#if HAS_CLASSIC_JERK
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slow_homing.jerk.x = planner.max_jerk[X_AXIS];
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slow_homing.jerk.y = planner.max_jerk[Y_AXIS];
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planner.max_jerk[X_AXIS] = 0;
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planner.max_jerk[Y_AXIS] = 0;
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#endif
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planner.reset_acceleration_rates();
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#endif
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// Always home with tool 0 active
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#if HOTENDS > 1
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#if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
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@ -393,6 +413,11 @@ void GcodeSuite::G28(const bool always_home_all) {
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endstops.not_homing();
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// Clear endstop state for polled stallGuard endstops
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#if ENABLED(SPI_ENDSTOPS)
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endstops.clear_endstop_state();
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#endif
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#if BOTH(DELTA, DELTA_HOME_TO_SAFE_ZONE)
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// move to a height where we can use the full xy-area
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do_blocking_move_to_z(delta_clip_start_height);
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@ -414,6 +439,17 @@ void GcodeSuite::G28(const bool always_home_all) {
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tool_change(old_tool_index, NO_FETCH);
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#endif
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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planner.settings.max_acceleration_mm_per_s2[X_AXIS] = slow_homing.acceleration.x;
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planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y;
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#if HAS_CLASSIC_JERK
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planner.max_jerk[X_AXIS] = slow_homing.jerk.x;
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planner.max_jerk[Y_AXIS] = slow_homing.jerk.y;
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#endif
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planner.reset_acceleration_rates();
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#endif
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ui.refresh();
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report_current_position();
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@ -920,6 +920,11 @@
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#define X_SENSORLESS (AXIS_HAS_STALLGUARD(X) && defined(X_STALL_SENSITIVITY))
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#define Y_SENSORLESS (AXIS_HAS_STALLGUARD(Y) && defined(Y_STALL_SENSITIVITY))
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#define Z_SENSORLESS (AXIS_HAS_STALLGUARD(Z) && defined(Z_STALL_SENSITIVITY))
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#if ENABLED(SPI_ENDSTOPS)
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#define X_SPI_SENSORLESS X_SENSORLESS
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#define Y_SPI_SENSORLESS Y_SENSORLESS
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#define Z_SPI_SENSORLESS Z_SENSORLESS
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#endif
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#endif
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// Endstops and bed probe
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@ -227,10 +227,11 @@ void home_delta() {
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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sensorless_t stealth_states { false };
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stealth_states.x = tmc_enable_stallguard(stepperX);
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stealth_states.y = tmc_enable_stallguard(stepperY);
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stealth_states.z = tmc_enable_stallguard(stepperZ);
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sensorless_t stealth_states {
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tmc_enable_stallguard(stepperX),
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tmc_enable_stallguard(stepperY),
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tmc_enable_stallguard(stepperZ)
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};
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#endif
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// Move all carriages together linearly until an endstop is hit.
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@ -76,6 +76,13 @@ Endstops::esbits_t Endstops::live_state = 0;
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float Endstops::z3_endstop_adj;
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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Endstops::tmc_spi_homing_t Endstops::tmc_spi_homing; // = 0
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#endif
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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millis_t sg_guard_period; // = 0
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#endif
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/**
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* Class and Instance Methods
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*/
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@ -699,7 +706,7 @@ void Endstops::update() {
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// Now, we must signal, after validation, if an endstop limit is pressed or not
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if (stepper.axis_is_moving(X_AXIS)) {
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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#if HAS_X_MIN
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#if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
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#if ENABLED(X_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(X, X2, MIN);
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#else
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@ -708,7 +715,7 @@ void Endstops::update() {
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#endif
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}
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else { // +direction
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#if HAS_X_MAX
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#if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0)
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#if ENABLED(X_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(X, X2, MAX);
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#else
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@ -720,7 +727,7 @@ void Endstops::update() {
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if (stepper.axis_is_moving(Y_AXIS)) {
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if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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#if HAS_Y_MIN
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#if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0)
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#if ENABLED(Y_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(Y, Y2, MIN);
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#else
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@ -729,7 +736,7 @@ void Endstops::update() {
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#endif
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}
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else { // +direction
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#if HAS_Y_MAX
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#if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0)
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#if ENABLED(Y_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(Y, Y2, MAX);
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#else
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@ -741,7 +748,7 @@ void Endstops::update() {
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if (stepper.axis_is_moving(Z_AXIS)) {
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if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN
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#if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0)
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN);
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#elif ENABLED(Z_DUAL_ENDSTOPS)
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@ -763,7 +770,7 @@ void Endstops::update() {
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#endif
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}
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else { // Z +direction. Gantry up, bed down.
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#if HAS_Z_MAX
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#if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_DIR > 0)
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX);
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#elif ENABLED(Z_DUAL_ENDSTOPS)
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@ -778,6 +785,49 @@ void Endstops::update() {
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}
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} // Endstops::update()
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#if ENABLED(SPI_ENDSTOPS)
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#define X_STOP (X_HOME_DIR < 0 ? X_MIN : X_MAX)
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#define Y_STOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX)
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#define Z_STOP (Z_HOME_DIR < 0 ? Z_MIN : Z_MAX)
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bool Endstops::tmc_spi_homing_check() {
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bool hit = false;
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#if X_SPI_SENSORLESS
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if (tmc_spi_homing.x && stepperX.test_stall_status()) {
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SBI(live_state, X_STOP);
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hit = true;
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}
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#endif
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#if Y_SPI_SENSORLESS
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if (tmc_spi_homing.y && stepperY.test_stall_status()) {
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SBI(live_state, Y_STOP);
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hit = true;
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}
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#endif
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#if Z_SPI_SENSORLESS
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if (tmc_spi_homing.z && stepperZ.test_stall_status()) {
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SBI(live_state, Z_STOP);
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hit = true;
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}
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#endif
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return hit;
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}
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void Endstops::clear_endstop_state() {
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#if X_SPI_SENSORLESS
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CBI(live_state, X_STOP);
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#endif
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#if Y_SPI_SENSORLESS
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CBI(live_state, Y_STOP);
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#endif
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#if Z_SPI_SENSORLESS
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CBI(live_state, Z_STOP);
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#endif
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}
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#endif // SPI_ENDSTOPS
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#if ENABLED(PINS_DEBUGGING)
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bool Endstops::monitor_flag = false;
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@ -161,6 +161,18 @@ class Endstops {
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static void monitor();
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static void run_monitor();
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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typedef struct {
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union {
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bool any;
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struct { bool x:1, y:1, z:1; };
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};
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} tmc_spi_homing_t;
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static tmc_spi_homing_t tmc_spi_homing;
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static void clear_endstop_state();
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static bool tmc_spi_homing_check();
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#endif
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};
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extern Endstops endstops;
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@ -1121,6 +1121,26 @@ float get_homing_bump_feedrate(const AxisEnum axis) {
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break;
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#endif
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}
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#if ENABLED(SPI_ENDSTOPS)
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switch (axis) {
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#if X_SPI_SENSORLESS
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case X_AXIS: endstops.tmc_spi_homing.x = true; break;
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#endif
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#if Y_SPI_SENSORLESS
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case Y_AXIS: endstops.tmc_spi_homing.y = true; break;
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#endif
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#if Z_SPI_SENSORLESS
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case Z_AXIS: endstops.tmc_spi_homing.z = true; break;
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#endif
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default: break;
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}
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#endif
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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sg_guard_period = millis() + default_sg_guard_duration;
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#endif
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return stealth_states;
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}
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@ -1170,6 +1190,21 @@ float get_homing_bump_feedrate(const AxisEnum axis) {
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break;
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#endif
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}
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#if ENABLED(SPI_ENDSTOPS)
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switch (axis) {
|
||||
#if X_SPI_SENSORLESS
|
||||
case X_AXIS: endstops.tmc_spi_homing.x = false; break;
|
||||
#endif
|
||||
#if Y_SPI_SENSORLESS
|
||||
case Y_AXIS: endstops.tmc_spi_homing.y = false; break;
|
||||
#endif
|
||||
#if Z_SPI_SENSORLESS
|
||||
case Z_AXIS: endstops.tmc_spi_homing.z = false; break;
|
||||
#endif
|
||||
default: break;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // SENSORLESS_HOMING
|
||||
@ -1383,9 +1418,24 @@ void homeaxis(const AxisEnum axis) {
|
||||
// Only Z homing (with probe) is permitted
|
||||
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
|
||||
#else
|
||||
#define CAN_HOME(A) \
|
||||
#define _CAN_HOME(A) \
|
||||
(axis == _AXIS(A) && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
|
||||
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
|
||||
#if X_SPI_SENSORLESS
|
||||
#define CAN_HOME_X true
|
||||
#else
|
||||
#define CAN_HOME_X _CAN_HOME(X)
|
||||
#endif
|
||||
#if Y_SPI_SENSORLESS
|
||||
#define CAN_HOME_Y true
|
||||
#else
|
||||
#define CAN_HOME_Y _CAN_HOME(Y)
|
||||
#endif
|
||||
#if Z_SPI_SENSORLESS
|
||||
#define CAN_HOME_Z true
|
||||
#else
|
||||
#define CAN_HOME_Z _CAN_HOME(Z)
|
||||
#endif
|
||||
if (!CAN_HOME_X && !CAN_HOME_Y && !CAN_HOME_Z) return;
|
||||
#endif
|
||||
|
||||
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", axis_codes[axis], ")");
|
||||
|
Loading…
Reference in New Issue
Block a user