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Add TMC2130 sensorless probing

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This commit is contained in:
Thomas Moore
2018-09-09 15:59:12 -04:00
committed by Scott Lahteine
parent 7d5c336c56
commit 3286325044
16 changed files with 149 additions and 85 deletions
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48
Marlin/src/module/probe.cpp
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@ -58,6 +58,11 @@ float zprobe_zoffset; // Initialized by settings.load()
#include "../module/servo.h"
#endif
#if ENABLED(SENSORLESS_PROBING)
#include "stepper.h"
#include "../feature/tmc_util.h"
#endif
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@ -527,31 +532,58 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
if (set_bltouch_deployed(true)) return true;
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_PROBING)
#if ENABLED(DELTA)
tmc_stallguard(stepperX);
tmc_stallguard(stepperY);
#endif
tmc_stallguard(stepperZ);
#endif
#if QUIET_PROBING
probing_pause(true);
#endif
endstops.enable(true);
// Move down until probe triggered
do_blocking_move_to_z(z, fr_mm_s);
// Check to see if the probe was triggered
const bool probe_triggered = TEST(endstops.trigger_state(),
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
Z_MIN
const bool probe_triggered =
#if ENABLED(DELTA) && ENABLED(SENSORLESS_PROBING)
endstops.trigger_state() & (_BV(X_MIN) | _BV(Y_MIN) | _BV(Z_MIN))
#else
Z_MIN_PROBE
TEST(endstops.trigger_state(),
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
Z_MIN
#else
Z_MIN_PROBE
#endif
)
#endif
);
;
#if QUIET_PROBING
probing_pause(false);
#endif
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_PROBING)
#if ENABLED(DELTA)
tmc_stallguard(stepperX, false);
tmc_stallguard(stepperY, false);
#endif
tmc_stallguard(stepperZ, false);
#endif
// Retract BLTouch immediately after a probe if it was triggered
#if ENABLED(BLTOUCH)
if (probe_triggered && set_bltouch_deployed(false)) return true;
#endif
// Clear endstop flags
endstops.hit_on_purpose();
// Get Z where the steppers were interrupted
@ -606,13 +638,11 @@ static float run_z_probe() {
// move up to make clearance for the probe
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
#else
#elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0;
if (zprobe_zoffset < 0) z -= zprobe_zoffset;
const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (zprobe_zoffset < 0 ? -zprobe_zoffset : 0);
if (current_position[Z_AXIS] > z) {
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))