Add Sensorless Homing current (#15690)
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danym21
Scott Lahteine
@ -1822,94 +1822,101 @@
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#define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256
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#if AXIS_IS_TMC(X)
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#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
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#define X_MICROSTEPS 16 // 0..256
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#define X_RSENSE 0.11
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#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
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#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
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#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing
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#define X_MICROSTEPS 16 // 0..256
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#define X_RSENSE 0.11
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#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
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#endif
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#if AXIS_IS_TMC(X2)
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#define X2_CURRENT 800
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#define X2_MICROSTEPS 16
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#define X2_RSENSE 0.11
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#define X2_CHAIN_POS -1
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#define X2_CURRENT 800
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#define X2_CURRENT_HOME X2_CURRENT
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#define X2_MICROSTEPS 16
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#define X2_RSENSE 0.11
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#define X2_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(Y)
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#define Y_CURRENT 800
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#define Y_MICROSTEPS 16
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#define Y_RSENSE 0.11
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#define Y_CHAIN_POS -1
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#define Y_CURRENT 800
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#define Y_CURRENT_HOME Y_CURRENT
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#define Y_MICROSTEPS 16
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#define Y_RSENSE 0.11
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#define Y_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(Y2)
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#define Y2_CURRENT 800
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#define Y2_MICROSTEPS 16
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#define Y2_RSENSE 0.11
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#define Y2_CHAIN_POS -1
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#define Y2_CURRENT 800
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#define Y2_CURRENT_HOME Y2_CURRENT
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#define Y2_MICROSTEPS 16
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#define Y2_RSENSE 0.11
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#define Y2_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(Z)
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#define Z_CURRENT 800
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#define Z_MICROSTEPS 16
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#define Z_RSENSE 0.11
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#define Z_CHAIN_POS -1
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#define Z_CURRENT 800
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#define Z_CURRENT_HOME Z_CURRENT
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#define Z_MICROSTEPS 16
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#define Z_RSENSE 0.11
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#define Z_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(Z2)
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#define Z2_CURRENT 800
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#define Z2_MICROSTEPS 16
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#define Z2_RSENSE 0.11
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#define Z2_CHAIN_POS -1
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#define Z2_CURRENT 800
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#define Z2_CURRENT_HOME Z2_CURRENT
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#define Z2_MICROSTEPS 16
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#define Z2_RSENSE 0.11
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#define Z2_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(Z3)
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#define Z3_CURRENT 800
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#define Z3_MICROSTEPS 16
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#define Z3_RSENSE 0.11
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#define Z3_CHAIN_POS -1
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#define Z3_CURRENT 800
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#define Z3_CURRENT_HOME Z3_CURRENT
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#define Z3_MICROSTEPS 16
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#define Z3_RSENSE 0.11
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#define Z3_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(E0)
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#define E0_CURRENT 800
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#define E0_MICROSTEPS 16
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#define E0_RSENSE 0.11
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#define E0_CHAIN_POS -1
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#define E0_CURRENT 800
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#define E0_MICROSTEPS 16
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#define E0_RSENSE 0.11
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#define E0_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(E1)
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#define E1_CURRENT 800
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#define E1_MICROSTEPS 16
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#define E1_RSENSE 0.11
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#define E1_CHAIN_POS -1
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#define E1_CURRENT 800
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#define E1_MICROSTEPS 16
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#define E1_RSENSE 0.11
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#define E1_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(E2)
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#define E2_CURRENT 800
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#define E2_MICROSTEPS 16
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#define E2_RSENSE 0.11
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#define E2_CHAIN_POS -1
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#define E2_CURRENT 800
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#define E2_MICROSTEPS 16
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#define E2_RSENSE 0.11
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#define E2_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(E3)
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#define E3_CURRENT 800
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#define E3_MICROSTEPS 16
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#define E3_RSENSE 0.11
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#define E3_CHAIN_POS -1
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#define E3_CURRENT 800
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#define E3_MICROSTEPS 16
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#define E3_RSENSE 0.11
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#define E3_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(E4)
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#define E4_CURRENT 800
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#define E4_MICROSTEPS 16
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#define E4_RSENSE 0.11
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#define E4_CHAIN_POS -1
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#define E4_CURRENT 800
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#define E4_MICROSTEPS 16
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#define E4_RSENSE 0.11
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#define E4_CHAIN_POS -1
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#endif
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#if AXIS_IS_TMC(E5)
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#define E5_CURRENT 800
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#define E5_MICROSTEPS 16
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#define E5_RSENSE 0.11
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#define E5_CHAIN_POS -1
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#define E5_CURRENT 800
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#define E5_MICROSTEPS 16
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#define E5_RSENSE 0.11
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#define E5_CHAIN_POS -1
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#endif
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/**
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@ -2083,6 +2090,7 @@
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#define Y_STALL_SENSITIVITY 8
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//#define Z_STALL_SENSITIVITY 8
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//#define SPI_ENDSTOPS // TMC2130 only
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//#define HOME_USING_SPREADCYCLE
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//#define IMPROVE_HOMING_RELIABILITY
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#endif
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@ -230,6 +230,7 @@ void GcodeSuite::G28(const bool always_home_all) {
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}
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#endif
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// Home (O)nly if position is unknown
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if (!homing_needed() && parser.boolval('O')) {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip\n<<< G28");
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return;
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@ -256,6 +257,40 @@ void GcodeSuite::G28(const bool always_home_all) {
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workspace_plane = PLANE_XY;
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#endif
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#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
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#define HAS_HOMING_CURRENT (HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2))
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#if HAS_HOMING_CURRENT
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auto debug_current = [](const char * const s, const int16_t a, const int16_t b){
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DEBUG_ECHO(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b);
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};
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#if HAS_CURRENT_HOME(X)
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const int16_t tmc_save_current_X = stepperX.getMilliamps();
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stepperX.rms_current(X_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current("X", tmc_save_current_X, X_CURRENT_HOME);
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#endif
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#if HAS_CURRENT_HOME(X2)
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const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
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stepperX2.rms_current(X2_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current("X2", tmc_save_current_X2, X2_CURRENT_HOME);
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#endif
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#if HAS_CURRENT_HOME(Y)
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const int16_t tmc_save_current_Y = stepperY.getMilliamps();
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stepperY.rms_current(Y_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current("Y", tmc_save_current_Y, Y_CURRENT_HOME);
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#endif
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#if HAS_CURRENT_HOME(Y2)
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const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
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stepperY2.rms_current(Y2_CURRENT_HOME);
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if (DEBUGGING(LEVELING)) debug_current("Y2", tmc_save_current_Y2, Y2_CURRENT_HOME);
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#endif
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#endif
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#if BOTH(STEALTHCHOP_XY, HOME_USING_SPREADCYCLE)
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set XY to spreadCycle...");
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process_subcommands_now_P(PSTR("M569S0XY"));
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#endif
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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slow_homing_t slow_homing = begin_slow_homing();
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#endif
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@ -466,6 +501,27 @@ void GcodeSuite::G28(const bool always_home_all) {
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tool_change(old_tool_index, NO_FETCH);
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#endif
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#if HAS_HOMING_CURRENT
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore driver current...");
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#if HAS_CURRENT_HOME(X)
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stepperX.rms_current(tmc_save_current_X);
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#endif
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#if HAS_CURRENT_HOME(X2)
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stepperX2.rms_current(tmc_save_current_X2);
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#endif
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#if HAS_CURRENT_HOME(Y)
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stepperY.rms_current(tmc_save_current_Y);
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#endif
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#if HAS_CURRENT_HOME(Y2)
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stepperY2.rms_current(tmc_save_current_Y2);
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#endif
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#endif
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#if BOTH(STEALTHCHOP_XY, HOME_USING_SPREADCYCLE)
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set XY to StealthChop...");
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process_subcommands_now_P(PSTR("M569S1XY"));
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#endif
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ui.refresh();
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report_current_position();
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