TMC SPI Endstops and Improved Sensorless Homing (#14044)
This commit is contained in:
teemuatlut
committed by
Scott Lahteine
Scott Lahteine
parent
d493cafc4a
commit
d4974ea719
@ -227,10 +227,11 @@ void home_delta() {
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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sensorless_t stealth_states { false };
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stealth_states.x = tmc_enable_stallguard(stepperX);
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stealth_states.y = tmc_enable_stallguard(stepperY);
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stealth_states.z = tmc_enable_stallguard(stepperZ);
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sensorless_t stealth_states {
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tmc_enable_stallguard(stepperX),
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tmc_enable_stallguard(stepperY),
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tmc_enable_stallguard(stepperZ)
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};
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#endif
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// Move all carriages together linearly until an endstop is hit.
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@ -76,6 +76,13 @@ Endstops::esbits_t Endstops::live_state = 0;
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float Endstops::z3_endstop_adj;
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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Endstops::tmc_spi_homing_t Endstops::tmc_spi_homing; // = 0
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#endif
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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millis_t sg_guard_period; // = 0
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#endif
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/**
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* Class and Instance Methods
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*/
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@ -699,7 +706,7 @@ void Endstops::update() {
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// Now, we must signal, after validation, if an endstop limit is pressed or not
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if (stepper.axis_is_moving(X_AXIS)) {
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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#if HAS_X_MIN
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#if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
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#if ENABLED(X_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(X, X2, MIN);
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#else
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@ -708,7 +715,7 @@ void Endstops::update() {
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#endif
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}
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else { // +direction
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#if HAS_X_MAX
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#if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0)
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#if ENABLED(X_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(X, X2, MAX);
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#else
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@ -720,7 +727,7 @@ void Endstops::update() {
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if (stepper.axis_is_moving(Y_AXIS)) {
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if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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#if HAS_Y_MIN
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#if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0)
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#if ENABLED(Y_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(Y, Y2, MIN);
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#else
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@ -729,7 +736,7 @@ void Endstops::update() {
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#endif
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}
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else { // +direction
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#if HAS_Y_MAX
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#if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0)
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#if ENABLED(Y_DUAL_ENDSTOPS)
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PROCESS_DUAL_ENDSTOP(Y, Y2, MAX);
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#else
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@ -741,7 +748,7 @@ void Endstops::update() {
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if (stepper.axis_is_moving(Z_AXIS)) {
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if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN
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#if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0)
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN);
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#elif ENABLED(Z_DUAL_ENDSTOPS)
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@ -763,7 +770,7 @@ void Endstops::update() {
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#endif
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}
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else { // Z +direction. Gantry up, bed down.
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#if HAS_Z_MAX
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#if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_DIR > 0)
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX);
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#elif ENABLED(Z_DUAL_ENDSTOPS)
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@ -778,6 +785,49 @@ void Endstops::update() {
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}
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} // Endstops::update()
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#if ENABLED(SPI_ENDSTOPS)
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#define X_STOP (X_HOME_DIR < 0 ? X_MIN : X_MAX)
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#define Y_STOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX)
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#define Z_STOP (Z_HOME_DIR < 0 ? Z_MIN : Z_MAX)
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bool Endstops::tmc_spi_homing_check() {
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bool hit = false;
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#if X_SPI_SENSORLESS
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if (tmc_spi_homing.x && stepperX.test_stall_status()) {
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SBI(live_state, X_STOP);
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hit = true;
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}
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#endif
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#if Y_SPI_SENSORLESS
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if (tmc_spi_homing.y && stepperY.test_stall_status()) {
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SBI(live_state, Y_STOP);
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hit = true;
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}
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#endif
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#if Z_SPI_SENSORLESS
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if (tmc_spi_homing.z && stepperZ.test_stall_status()) {
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SBI(live_state, Z_STOP);
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hit = true;
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}
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#endif
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return hit;
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}
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void Endstops::clear_endstop_state() {
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#if X_SPI_SENSORLESS
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CBI(live_state, X_STOP);
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#endif
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#if Y_SPI_SENSORLESS
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CBI(live_state, Y_STOP);
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#endif
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#if Z_SPI_SENSORLESS
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CBI(live_state, Z_STOP);
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#endif
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}
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#endif // SPI_ENDSTOPS
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#if ENABLED(PINS_DEBUGGING)
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bool Endstops::monitor_flag = false;
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@ -161,6 +161,18 @@ class Endstops {
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static void monitor();
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static void run_monitor();
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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typedef struct {
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union {
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bool any;
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struct { bool x:1, y:1, z:1; };
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};
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} tmc_spi_homing_t;
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static tmc_spi_homing_t tmc_spi_homing;
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static void clear_endstop_state();
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static bool tmc_spi_homing_check();
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#endif
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};
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extern Endstops endstops;
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@ -1121,6 +1121,26 @@ float get_homing_bump_feedrate(const AxisEnum axis) {
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break;
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#endif
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}
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#if ENABLED(SPI_ENDSTOPS)
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switch (axis) {
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#if X_SPI_SENSORLESS
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case X_AXIS: endstops.tmc_spi_homing.x = true; break;
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#endif
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#if Y_SPI_SENSORLESS
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case Y_AXIS: endstops.tmc_spi_homing.y = true; break;
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#endif
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#if Z_SPI_SENSORLESS
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case Z_AXIS: endstops.tmc_spi_homing.z = true; break;
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#endif
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default: break;
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}
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#endif
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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sg_guard_period = millis() + default_sg_guard_duration;
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#endif
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return stealth_states;
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}
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@ -1170,6 +1190,21 @@ float get_homing_bump_feedrate(const AxisEnum axis) {
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break;
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#endif
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}
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#if ENABLED(SPI_ENDSTOPS)
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switch (axis) {
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#if X_SPI_SENSORLESS
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case X_AXIS: endstops.tmc_spi_homing.x = false; break;
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#endif
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#if Y_SPI_SENSORLESS
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case Y_AXIS: endstops.tmc_spi_homing.y = false; break;
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#endif
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#if Z_SPI_SENSORLESS
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case Z_AXIS: endstops.tmc_spi_homing.z = false; break;
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#endif
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default: break;
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}
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#endif
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}
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#endif // SENSORLESS_HOMING
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@ -1383,9 +1418,24 @@ void homeaxis(const AxisEnum axis) {
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// Only Z homing (with probe) is permitted
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if (axis != Z_AXIS) { BUZZ(100, 880); return; }
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#else
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#define CAN_HOME(A) \
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#define _CAN_HOME(A) \
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(axis == _AXIS(A) && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
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if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
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#if X_SPI_SENSORLESS
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#define CAN_HOME_X true
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#else
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#define CAN_HOME_X _CAN_HOME(X)
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#endif
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#if Y_SPI_SENSORLESS
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#define CAN_HOME_Y true
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#else
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#define CAN_HOME_Y _CAN_HOME(Y)
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#endif
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#if Z_SPI_SENSORLESS
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#define CAN_HOME_Z true
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#else
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#define CAN_HOME_Z _CAN_HOME(Z)
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#endif
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if (!CAN_HOME_X && !CAN_HOME_Y && !CAN_HOME_Z) return;
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#endif
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", axis_codes[axis], ")");
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