MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

⚡️ Improve Sensorless homing/probing for G28, G33 (#21899)

Browse Source
This commit is contained in:
lujios 2021-07-13 02:19:29 +02:00 committed by Scott Lahteine
parent 399a240f84
commit ee54cd4bd7
10 changed files with 197 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
Marlin/src/MarlinCore.cpp
View File

@ -822,10 +822,8 @@ void idle(bool no_stepper_sleep/*=false*/) {
// Run StallGuard endstop checks
#if ENABLED(SPI_ENDSTOPS)
if (endstops.tmc_spi_homing.any
&& TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period))
) LOOP_L_N(i, 4) // Read SGT 4 times per idle loop
if (endstops.tmc_spi_homing_check()) break;
if (endstops.tmc_spi_homing.any && TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period)))
LOOP_L_N(i, 4) if (endstops.tmc_spi_homing_check()) break; // Read SGT 4 times per idle loop
#endif
// Handle SD Card insert / remove

7
Marlin/src/feature/tmc_util.h
View File

@ -360,13 +360,6 @@ void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
extern millis_t sg_guard_period;
constexpr uint16_t default_sg_guard_duration = 400;
struct motion_state_t {
xy_ulong_t acceleration;
#if HAS_CLASSIC_JERK
xy_float_t jerk_state;
#endif
};
#endif
bool tmc_enable_stallguard(TMC2130Stepper &st);

18
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -167,12 +167,15 @@
motion_state_t begin_slow_homing() {
motion_state_t motion_state{0};
motion_state.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS],
planner.settings.max_acceleration_mm_per_s2[Y_AXIS]);
planner.settings.max_acceleration_mm_per_s2[Y_AXIS]
OPTARG(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS])
);
planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = 100);
#if HAS_CLASSIC_JERK
motion_state.jerk_state = planner.max_jerk;
planner.max_jerk.set(0, 0);
planner.max_jerk.set(0, 0 OPTARG(DELTA, 0));
#endif
planner.reset_acceleration_rates();
return motion_state;
@ -181,6 +184,7 @@
void end_slow_homing(const motion_state_t &motion_state) {
planner.settings.max_acceleration_mm_per_s2[X_AXIS] = motion_state.acceleration.x;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = motion_state.acceleration.y;
TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = motion_state.acceleration.z);
TERN_(HAS_CLASSIC_JERK, planner.max_jerk = motion_state.jerk_state);
planner.reset_acceleration_rates();
}
@ -259,7 +263,7 @@ void GcodeSuite::G28() {
reset_stepper_timeout();
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2)
#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z))
#define HAS_HOMING_CURRENT 1
#endif
@ -287,6 +291,11 @@ void GcodeSuite::G28() {
stepperY2.rms_current(Y2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("Y2"), tmc_save_current_Y2, Y2_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
const int16_t tmc_save_current_Z = stepperZ.getMilliamps();
stepperZ.rms_current(Z_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("Z"), tmc_save_current_Z, Z_CURRENT_HOME);
#endif
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
@ -497,6 +506,9 @@ void GcodeSuite::G28() {
#if HAS_CURRENT_HOME(Y2)
stepperY2.rms_current(tmc_save_current_Y2);
#endif
#if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
stepperZ.rms_current(tmc_save_current_Z);
#endif
#if HAS_CURRENT_HOME(I)
stepperI.rms_current(tmc_save_current_I);
#endif

16
Marlin/src/gcode/calibrate/G33.cpp
View File

@ -71,7 +71,9 @@ float lcd_probe_pt(const xy_pos_t &xy);
void ac_home() {
endstops.enable(true);
TERN_(SENSORLESS_HOMING, probe.set_homing_current(true));
home_delta();
TERN_(SENSORLESS_HOMING, probe.set_homing_current(false));
endstops.not_homing();
}
@ -384,6 +386,12 @@ static float auto_tune_a() {
* V3 Report settings and probe results
*
* E Engage the probe for each point
*
* With SENSORLESS_PROBING:
* Use these flags to calibrate stall sensitivity: (e.g., `G33 P1 Y Z` to calibrate X only.)
* X Don't activate stallguard on X.
* Y Don't activate stallguard on Y.
* Z Don't activate stallguard on Z.
*/
void GcodeSuite::G33() {
@ -417,6 +425,12 @@ void GcodeSuite::G33() {
const bool stow_after_each = parser.seen_test('E');
#if ENABLED(SENSORLESS_PROBING)
probe.test_sensitivity.x = !parser.seen_test('X');
TERN_(HAS_Y_AXIS, probe.test_sensitivity.y = !parser.seen_test('Y'));
TERN_(HAS_Z_AXIS, probe.test_sensitivity.z = !parser.seen_test('Z'));
#endif
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
@ -587,7 +601,7 @@ void GcodeSuite::G33() {
// print report
if (verbose_level == 3)
if (verbose_level == 3 || verbose_level == 0)
print_calibration_results(z_at_pt, _tower_results, _opposite_results);
if (verbose_level != 0) { // !dry run

1
Marlin/src/module/delta.cpp
View File

@ -254,6 +254,7 @@ void home_delta() {
current_position.z = DIFF_TERN(HAS_BED_PROBE, delta_height + 10, probe.offset.z);
line_to_current_position(homing_feedrate(Z_AXIS));
planner.synchronize();
TERN_(SENSORLESS_PROBING,endstops.report_states());
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING) && DISABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)

12
Marlin/src/module/endstops.cpp
View File

@ -595,9 +595,15 @@ void _O2 Endstops::report_states() {
// The following routines are called from an ISR context. It could be the temperature ISR, the
// endstop ISR or the Stepper ISR.
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#if BOTH(DELTA, SENSORLESS_PROBING)
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_MAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_MAX_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_MAX_ENDSTOP_INVERTING
#else
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#endif
// Check endstops - Could be called from Temperature ISR!
void Endstops::update() {

28
Marlin/src/module/planner.cpp
View File

@ -1527,6 +1527,34 @@ void Planner::check_axes_activity() {
}
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
void Planner::enable_stall_prevention(const bool onoff) {
static motion_state_t saved_motion_state;
if (onoff) {
saved_motion_state.acceleration.x = settings.max_acceleration_mm_per_s2[X_AXIS];
saved_motion_state.acceleration.y = settings.max_acceleration_mm_per_s2[Y_AXIS];
settings.max_acceleration_mm_per_s2[X_AXIS] = settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
#if ENABLED(DELTA)
saved_motion_state.acceleration.z = settings.max_acceleration_mm_per_s2[Z_AXIS];
settings.max_acceleration_mm_per_s2[Z_AXIS] = 100;
#endif
#if HAS_CLASSIC_JERK
saved_motion_state.jerk_state = max_jerk;
max_jerk.set(0, 0 OPTARG(DELTA, 0));
#endif
}
else {
settings.max_acceleration_mm_per_s2[X_AXIS] = saved_motion_state.acceleration.x;
settings.max_acceleration_mm_per_s2[Y_AXIS] = saved_motion_state.acceleration.y;
TERN_(DELTA, settings.max_acceleration_mm_per_s2[Z_AXIS] = saved_motion_state.acceleration.z);
TERN_(HAS_CLASSIC_JERK, max_jerk = saved_motion_state.jerk_state);
}
reset_acceleration_rates();
}
#endif
#if HAS_LEVELING
constexpr xy_pos_t level_fulcrum = {

13
Marlin/src/module/planner.h
View File

@ -281,6 +281,15 @@ typedef struct {
min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
} planner_settings_t;
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
struct motion_state_t {
TERN(DELTA, xyz_ulong_t, xy_ulong_t) acceleration;
#if HAS_CLASSIC_JERK
TERN(DELTA, xyz_float_t, xy_float_t) jerk_state;
#endif
};
#endif
#if DISABLED(SKEW_CORRECTION)
#define XY_SKEW_FACTOR 0
#define XZ_SKEW_FACTOR 0
@ -532,6 +541,10 @@ class Planner {
}
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
void enable_stall_prevention(const bool onoff);
#endif
#if DISABLED(NO_VOLUMETRICS)
// Update multipliers based on new diameter measurements

109
Marlin/src/module/probe.cpp
View File

@ -68,7 +68,7 @@
#include "servo.h"
#endif
#if ENABLED(SENSORLESS_PROBING)
#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
#include "stepper.h"
#include "../feature/tmc_util.h"
#endif
@ -92,6 +92,10 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
const xy_pos_t &Probe::offset_xy = Probe::offset;
#endif
#if ENABLED(SENSORLESS_PROBING)
Probe::sense_bool_t Probe::test_sensitivity;
#endif
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@ -493,11 +497,12 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#if ENABLED(SENSORLESS_PROBING)
sensorless_t stealth_states { false };
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
if (probe.test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
if (probe.test_sensitivity.y) stealth_states.y = tmc_enable_stallguard(stepperY);
#endif
stealth_states.z = tmc_enable_stallguard(stepperZ);
if (probe.test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
endstops.enable(true);
set_homing_current(true); // The "homing" current also applies to probing
#endif
TERN_(HAS_QUIET_PROBING, set_probing_paused(true));
@ -520,10 +525,11 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#if ENABLED(SENSORLESS_PROBING)
endstops.not_homing();
#if ENABLED(DELTA)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
if (probe.test_sensitivity.x) tmc_disable_stallguard(stepperX, stealth_states.x);
if (probe.test_sensitivity.y) tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
tmc_disable_stallguard(stepperZ, stealth_states.z);
if (probe.test_sensitivity.z) tmc_disable_stallguard(stepperZ, stealth_states.z);
set_homing_current(false);
#endif
if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger
@ -815,4 +821,93 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
#endif // HAS_Z_SERVO_PROBE
#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
sensorless_t stealth_states { false };
/**
* Disable stealthChop if used. Enable diag1 pin on driver.
*/
void Probe::enable_stallguard_diag1() {
#if ENABLED(SENSORLESS_PROBING)
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
#endif
stealth_states.z = tmc_enable_stallguard(stepperZ);
endstops.enable(true);
#endif
}
/**
* Re-enable stealthChop if used. Disable diag1 pin on driver.
*/
void Probe::disable_stallguard_diag1() {
#if ENABLED(SENSORLESS_PROBING)
endstops.not_homing();
#if ENABLED(DELTA)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
tmc_disable_stallguard(stepperZ, stealth_states.z);
#endif
}
/**
* Change the current in the TMC drivers to N##_CURRENT_HOME. And we save the current configuration of each TMC driver.
*/
void Probe::set_homing_current(const bool onoff) {
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Z)
#if ENABLED(DELTA)
static int16_t saved_current_X, saved_current_Y;
#endif
#if HAS_CURRENT_HOME(Z)
static int16_t saved_current_Z;
#endif
auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) {
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b); }
};
if (onoff) {
#if ENABLED(DELTA)
#if HAS_CURRENT_HOME(X)
saved_current_X = stepperX.getMilliamps();
stepperX.rms_current(X_CURRENT_HOME);
debug_current_on(PSTR("X"), saved_current_X, X_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Y)
saved_current_Y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME);
debug_current_on(PSTR("Y"), saved_current_Y, Y_CURRENT_HOME);
#endif
#endif
#if HAS_CURRENT_HOME(Z)
saved_current_Z = stepperZ.getMilliamps();
stepperZ.rms_current(Z_CURRENT_HOME);
debug_current_on(PSTR("Z"), saved_current_Z, Z_CURRENT_HOME);
#endif
TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(true));
}
else {
#if ENABLED(DELTA)
#if HAS_CURRENT_HOME(X)
stepperX.rms_current(saved_current_X);
debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_X);
#endif
#if HAS_CURRENT_HOME(Y)
stepperY.rms_current(saved_current_Y);
debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_Y);
#endif
#endif
#if HAS_CURRENT_HOME(Z)
stepperZ.rms_current(saved_current_Z);
debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_Z);
#endif
TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(false));
}
#endif
}
#endif // SENSORLESS_PROBING
#endif // HAS_BED_PROBE

12
Marlin/src/module/probe.h
View File

@ -56,6 +56,11 @@
class Probe {
public:
#if ENABLED(SENSORLESS_PROBING)
typedef struct { bool x:1, y:1, z:1; } sense_bool_t;
static sense_bool_t test_sensitivity;
#endif
#if HAS_BED_PROBE
static xyz_pos_t offset;
@ -256,6 +261,13 @@ public:
static bool tare();
#endif
// Basic functions for Sensorless Homing and Probing
#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
static void enable_stallguard_diag1();
static void disable_stallguard_diag1();
static void set_homing_current(const bool onoff);
#endif
private:
static bool probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s);
static void do_z_raise(const float z_raise);