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

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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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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 = {