Fix SENSORLESS_HOMING for Core Kinematics (#9871)

Marlin/Conditionals_post.h

@@ -650,8 +650,13 @@
   #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/Marlin_main.cpp

@@ -2852,6 +2852,48 @@ static void clean_up_after_endstop_or_probe_move() {
 
 #endif // AUTO_BED_LEVELING_BILINEAR
 
+#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
  */
@@ -2878,15 +2920,7 @@ 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
@@ -2917,15 +2951,7 @@ 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)
@@ -3619,12 +3645,8 @@ inline void gcode_G4() {
                 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);
@@ -3632,12 +3654,8 @@ inline void gcode_G4() {
     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
   }
@@ -3803,15 +3821,9 @@ inline void gcode_G4() {
 
     // 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(A_AXIS);
-        tmc_sensorless_homing(stepperX);
+      sensorless_homing_per_axis(B_AXIS);
-      #endif
+      sensorless_homing_per_axis(C_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.
@@ -3822,15 +3834,9 @@ inline void gcode_G4() {
 
     // 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(A_AXIS, false);
-        tmc_sensorless_homing(stepperX, false);
+      sensorless_homing_per_axis(B_AXIS, false);
-      #endif
+      sensorless_homing_per_axis(C_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/SanityCheck.h

@@ -1525,6 +1525,15 @@ 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."