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Enable Z axis and delta sensorless homing (#9516)

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This commit is contained in:
Thomas Moore
2018-02-08 04:20:44 -06:00
committed by Scott Lahteine
parent b2f8b4ada5
commit 1541224a81
50 changed files with 437 additions and 288 deletions
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46
Marlin/src/module/motion.cpp
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@ -990,6 +990,19 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
if (axis == Z_AXIS) probing_pause(true);
#endif
// 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
#endif
// Tell the planner the axis is at 0
current_position[axis] = 0;
@ -1016,6 +1029,19 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
endstops.hit_on_purpose();
// 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
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
@ -1168,16 +1194,6 @@ void homeaxis(const AxisEnum axis) {
if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
#endif
#endif
// Fast move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
@ -1278,16 +1294,6 @@ void homeaxis(const AxisEnum axis) {
#endif
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
#endif
#endif
// Put away the Z probe
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && STOW_PROBE()) return;