Fix SENSORLESS_HOMING for Core Kinematics (#9868)

2018-03-01 01:37:31 -06:00 · 2018-03-01 01:37:31 -06:00 · a446433c87
commit a446433c87
parent 2d1233b86c
6 changed files with 74 additions and 50 deletions
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/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)
-        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
  }
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/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
-  #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
--- a/Marlin/src/inc/SanityCheck.h
+++ b/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."
--- a/Marlin/src/module/delta.cpp
+++ b/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)
-      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.
--- a/Marlin/src/module/motion.cpp
+++ b/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)
-      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)
--- a/Marlin/src/module/motion.h
+++ b/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
 //