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⚡️ Improve Sensorless homing/probing for G28, G33 (#21899)

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This commit is contained in:
lujios
2021-07-13 02:19:29 +02:00
committed by Scott Lahteine
parent 399a240f84
commit ee54cd4bd7
10 changed files with 197 additions and 25 deletions
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1
Marlin/src/module/delta.cpp
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@ -254,6 +254,7 @@ void home_delta() {
current_position.z = DIFF_TERN(HAS_BED_PROBE, delta_height + 10, probe.offset.z);
line_to_current_position(homing_feedrate(Z_AXIS));
planner.synchronize();
TERN_(SENSORLESS_PROBING,endstops.report_states());
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING) && DISABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)

12
Marlin/src/module/endstops.cpp
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@ -595,9 +595,15 @@ void _O2 Endstops::report_states() {
// The following routines are called from an ISR context. It could be the temperature ISR, the
// endstop ISR or the Stepper ISR.
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#if BOTH(DELTA, SENSORLESS_PROBING)
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_MAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_MAX_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_MAX_ENDSTOP_INVERTING
#else
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#endif
// Check endstops - Could be called from Temperature ISR!
void Endstops::update() {

28
Marlin/src/module/planner.cpp
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@ -1527,6 +1527,34 @@ void Planner::check_axes_activity() {
}
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
void Planner::enable_stall_prevention(const bool onoff) {
static motion_state_t saved_motion_state;
if (onoff) {
saved_motion_state.acceleration.x = settings.max_acceleration_mm_per_s2[X_AXIS];
saved_motion_state.acceleration.y = settings.max_acceleration_mm_per_s2[Y_AXIS];
settings.max_acceleration_mm_per_s2[X_AXIS] = settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
#if ENABLED(DELTA)
saved_motion_state.acceleration.z = settings.max_acceleration_mm_per_s2[Z_AXIS];
settings.max_acceleration_mm_per_s2[Z_AXIS] = 100;
#endif
#if HAS_CLASSIC_JERK
saved_motion_state.jerk_state = max_jerk;
max_jerk.set(0, 0 OPTARG(DELTA, 0));
#endif
}
else {
settings.max_acceleration_mm_per_s2[X_AXIS] = saved_motion_state.acceleration.x;
settings.max_acceleration_mm_per_s2[Y_AXIS] = saved_motion_state.acceleration.y;
TERN_(DELTA, settings.max_acceleration_mm_per_s2[Z_AXIS] = saved_motion_state.acceleration.z);
TERN_(HAS_CLASSIC_JERK, max_jerk = saved_motion_state.jerk_state);
}
reset_acceleration_rates();
}
#endif
#if HAS_LEVELING
constexpr xy_pos_t level_fulcrum = {

13
Marlin/src/module/planner.h
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@ -281,6 +281,15 @@ typedef struct {
min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
} planner_settings_t;
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
struct motion_state_t {
TERN(DELTA, xyz_ulong_t, xy_ulong_t) acceleration;
#if HAS_CLASSIC_JERK
TERN(DELTA, xyz_float_t, xy_float_t) jerk_state;
#endif
};
#endif
#if DISABLED(SKEW_CORRECTION)
#define XY_SKEW_FACTOR 0
#define XZ_SKEW_FACTOR 0
@ -532,6 +541,10 @@ class Planner {
}
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
void enable_stall_prevention(const bool onoff);
#endif
#if DISABLED(NO_VOLUMETRICS)
// Update multipliers based on new diameter measurements

109
Marlin/src/module/probe.cpp
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@ -68,7 +68,7 @@
#include "servo.h"
#endif
#if ENABLED(SENSORLESS_PROBING)
#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
#include "stepper.h"
#include "../feature/tmc_util.h"
#endif
@ -92,6 +92,10 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
const xy_pos_t &Probe::offset_xy = Probe::offset;
#endif
#if ENABLED(SENSORLESS_PROBING)
Probe::sense_bool_t Probe::test_sensitivity;
#endif
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@ -493,11 +497,12 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#if ENABLED(SENSORLESS_PROBING)
sensorless_t stealth_states { false };
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
if (probe.test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
if (probe.test_sensitivity.y) stealth_states.y = tmc_enable_stallguard(stepperY);
#endif
stealth_states.z = tmc_enable_stallguard(stepperZ);
if (probe.test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
endstops.enable(true);
set_homing_current(true); // The "homing" current also applies to probing
#endif
TERN_(HAS_QUIET_PROBING, set_probing_paused(true));
@ -520,10 +525,11 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#if ENABLED(SENSORLESS_PROBING)
endstops.not_homing();
#if ENABLED(DELTA)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
if (probe.test_sensitivity.x) tmc_disable_stallguard(stepperX, stealth_states.x);
if (probe.test_sensitivity.y) tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
tmc_disable_stallguard(stepperZ, stealth_states.z);
if (probe.test_sensitivity.z) tmc_disable_stallguard(stepperZ, stealth_states.z);
set_homing_current(false);
#endif
if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger
@ -815,4 +821,93 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
#endif // HAS_Z_SERVO_PROBE
#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
sensorless_t stealth_states { false };
/**
* Disable stealthChop if used. Enable diag1 pin on driver.
*/
void Probe::enable_stallguard_diag1() {
#if ENABLED(SENSORLESS_PROBING)
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
#endif
stealth_states.z = tmc_enable_stallguard(stepperZ);
endstops.enable(true);
#endif
}
/**
* Re-enable stealthChop if used. Disable diag1 pin on driver.
*/
void Probe::disable_stallguard_diag1() {
#if ENABLED(SENSORLESS_PROBING)
endstops.not_homing();
#if ENABLED(DELTA)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
tmc_disable_stallguard(stepperZ, stealth_states.z);
#endif
}
/**
* Change the current in the TMC drivers to N##_CURRENT_HOME. And we save the current configuration of each TMC driver.
*/
void Probe::set_homing_current(const bool onoff) {
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Z)
#if ENABLED(DELTA)
static int16_t saved_current_X, saved_current_Y;
#endif
#if HAS_CURRENT_HOME(Z)
static int16_t saved_current_Z;
#endif
auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) {
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b); }
};
if (onoff) {
#if ENABLED(DELTA)
#if HAS_CURRENT_HOME(X)
saved_current_X = stepperX.getMilliamps();
stepperX.rms_current(X_CURRENT_HOME);
debug_current_on(PSTR("X"), saved_current_X, X_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Y)
saved_current_Y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME);
debug_current_on(PSTR("Y"), saved_current_Y, Y_CURRENT_HOME);
#endif
#endif
#if HAS_CURRENT_HOME(Z)
saved_current_Z = stepperZ.getMilliamps();
stepperZ.rms_current(Z_CURRENT_HOME);
debug_current_on(PSTR("Z"), saved_current_Z, Z_CURRENT_HOME);
#endif
TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(true));
}
else {
#if ENABLED(DELTA)
#if HAS_CURRENT_HOME(X)
stepperX.rms_current(saved_current_X);
debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_X);
#endif
#if HAS_CURRENT_HOME(Y)
stepperY.rms_current(saved_current_Y);
debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_Y);
#endif
#endif
#if HAS_CURRENT_HOME(Z)
stepperZ.rms_current(saved_current_Z);
debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_Z);
#endif
TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(false));
}
#endif
}
#endif // SENSORLESS_PROBING
#endif // HAS_BED_PROBE

12
Marlin/src/module/probe.h
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@ -56,6 +56,11 @@
class Probe {
public:
#if ENABLED(SENSORLESS_PROBING)
typedef struct { bool x:1, y:1, z:1; } sense_bool_t;
static sense_bool_t test_sensitivity;
#endif
#if HAS_BED_PROBE
static xyz_pos_t offset;
@ -256,6 +261,13 @@ public:
static bool tare();
#endif
// Basic functions for Sensorless Homing and Probing
#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
static void enable_stallguard_diag1();
static void disable_stallguard_diag1();
static void set_homing_current(const bool onoff);
#endif
private:
static bool probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s);
static void do_z_raise(const float z_raise);