[1.1.x] Enable Z axis and delta sensorless homing (#9532)
This commit is contained in:
Thomas Moore
Scott Lahteine
parent
f089bbbc93
commit
a471cd26e1
41 changed files with 347 additions and 212 deletions
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@ -2857,6 +2857,19 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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if (axis == Z_AXIS) probing_pause(true);
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#endif
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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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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ);
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#endif
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#endif
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// Tell the planner the axis is at 0
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current_position[axis] = 0;
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@ -2883,6 +2896,19 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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endstops.hit_on_purpose();
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ, false);
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#endif
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
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@ -2946,16 +2972,6 @@ static void homeaxis(const AxisEnum axis) {
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if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
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#endif
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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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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
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#endif
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#endif
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// Fast move towards endstop until triggered
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
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@ -3056,16 +3072,6 @@ static void homeaxis(const AxisEnum axis) {
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#endif
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
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#endif
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#endif
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// Put away the Z probe
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#if HOMING_Z_WITH_PROBE
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if (axis == Z_AXIS && STOW_PROBE()) return;
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@ -3757,12 +3763,38 @@ inline void gcode_G4() {
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ZERO(current_position);
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sync_plan_position();
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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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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperY);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperZ);
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#endif
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#endif
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// Move all carriages together linearly until an endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
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feedrate_mm_s = homing_feedrate(X_AXIS);
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buffer_line_to_current_position();
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stepper.synchronize();
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperY, false);
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#endif
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#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
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tmc_sensorless_homing(stepperZ, false);
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#endif
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#endif
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// If an endstop was not hit, then damage can occur if homing is continued.
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// This can occur if the delta height not set correctly.
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if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
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@ -10586,17 +10618,29 @@ inline void gcode_M502() {
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if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int()); \
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else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]); } while(0)
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SET_GET_SGT(X,X);
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#ifdef X_HOMING_SENSITIVITY
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SET_GET_SGT(X,X);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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TMC_SET_GET_SGT(X,X2);
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#endif
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#endif
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#if ENABLED(X2_IS_TMC2130)
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TMC_SET_GET_SGT(X,X2);
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#ifdef Y_HOMING_SENSITIVITY
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#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SET_GET_SGT(Y,Y);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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TMC_SET_GET_SGT(Y,Y2);
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#endif
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#endif
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#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SET_GET_SGT(Y,Y);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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TMC_SET_GET_SGT(Y,Y2);
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#ifdef Z_HOMING_SENSITIVITY
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#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SET_GET_SGT(Z,Z);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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TMC_SET_GET_SGT(Z,Z2);
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#endif
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#endif
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}
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#endif // SENSORLESS_HOMING
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