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TMC SPI Endstops and Improved Sensorless Homing (#14044)

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This commit is contained in:
teemuatlut
2019-08-05 06:22:58 +03:00
committed by Scott Lahteine
parent d493cafc4a
commit d4974ea719
9 changed files with 251 additions and 29 deletions
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62
Marlin/src/module/endstops.cpp
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@ -76,6 +76,13 @@ Endstops::esbits_t Endstops::live_state = 0;
float Endstops::z3_endstop_adj;
#endif
#if ENABLED(SPI_ENDSTOPS)
Endstops::tmc_spi_homing_t Endstops::tmc_spi_homing; // = 0
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
millis_t sg_guard_period; // = 0
#endif
/**
* Class and Instance Methods
*/
@ -699,7 +706,7 @@ void Endstops::update() {
// Now, we must signal, after validation, if an endstop limit is pressed or not
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
#if ENABLED(X_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(X, X2, MIN);
#else
@ -708,7 +715,7 @@ void Endstops::update() {
#endif
}
else { // +direction
#if HAS_X_MAX
#if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0)
#if ENABLED(X_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(X, X2, MAX);
#else
@ -720,7 +727,7 @@ void Endstops::update() {
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0)
#if ENABLED(Y_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Y, Y2, MIN);
#else
@ -729,7 +736,7 @@ void Endstops::update() {
#endif
}
else { // +direction
#if HAS_Y_MAX
#if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0)
#if ENABLED(Y_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Y, Y2, MAX);
#else
@ -741,7 +748,7 @@ void Endstops::update() {
if (stepper.axis_is_moving(Z_AXIS)) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN);
#elif ENABLED(Z_DUAL_ENDSTOPS)
@ -763,7 +770,7 @@ void Endstops::update() {
#endif
}
else { // Z +direction. Gantry up, bed down.
#if HAS_Z_MAX
#if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_DIR > 0)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX);
#elif ENABLED(Z_DUAL_ENDSTOPS)
@ -778,6 +785,49 @@ void Endstops::update() {
}
} // Endstops::update()
#if ENABLED(SPI_ENDSTOPS)
#define X_STOP (X_HOME_DIR < 0 ? X_MIN : X_MAX)
#define Y_STOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX)
#define Z_STOP (Z_HOME_DIR < 0 ? Z_MIN : Z_MAX)
bool Endstops::tmc_spi_homing_check() {
bool hit = false;
#if X_SPI_SENSORLESS
if (tmc_spi_homing.x && stepperX.test_stall_status()) {
SBI(live_state, X_STOP);
hit = true;
}
#endif
#if Y_SPI_SENSORLESS
if (tmc_spi_homing.y && stepperY.test_stall_status()) {
SBI(live_state, Y_STOP);
hit = true;
}
#endif
#if Z_SPI_SENSORLESS
if (tmc_spi_homing.z && stepperZ.test_stall_status()) {
SBI(live_state, Z_STOP);
hit = true;
}
#endif
return hit;
}
void Endstops::clear_endstop_state() {
#if X_SPI_SENSORLESS
CBI(live_state, X_STOP);
#endif
#if Y_SPI_SENSORLESS
CBI(live_state, Y_STOP);
#endif
#if Z_SPI_SENSORLESS
CBI(live_state, Z_STOP);
#endif
}
#endif // SPI_ENDSTOPS
#if ENABLED(PINS_DEBUGGING)
bool Endstops::monitor_flag = false;