⚡️ Improve Sensorless homing/probing for G28, G33 (#21899)
This commit is contained in:
lujios
Scott Lahteine
@ -68,7 +68,7 @@
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#include "servo.h"
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#endif
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#if ENABLED(SENSORLESS_PROBING)
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#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
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#include "stepper.h"
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#include "../feature/tmc_util.h"
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#endif
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@ -92,6 +92,10 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
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const xy_pos_t &Probe::offset_xy = Probe::offset;
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#endif
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#if ENABLED(SENSORLESS_PROBING)
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Probe::sense_bool_t Probe::test_sensitivity;
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#endif
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#if ENABLED(Z_PROBE_SLED)
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#ifndef SLED_DOCKING_OFFSET
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@ -493,11 +497,12 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
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#if ENABLED(SENSORLESS_PROBING)
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sensorless_t stealth_states { false };
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#if ENABLED(DELTA)
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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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if (probe.test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
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if (probe.test_sensitivity.y) stealth_states.y = tmc_enable_stallguard(stepperY);
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#endif
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stealth_states.z = tmc_enable_stallguard(stepperZ);
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if (probe.test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
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endstops.enable(true);
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set_homing_current(true); // The "homing" current also applies to probing
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#endif
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TERN_(HAS_QUIET_PROBING, set_probing_paused(true));
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@ -520,10 +525,11 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
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#if ENABLED(SENSORLESS_PROBING)
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endstops.not_homing();
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#if ENABLED(DELTA)
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tmc_disable_stallguard(stepperX, stealth_states.x);
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tmc_disable_stallguard(stepperY, stealth_states.y);
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if (probe.test_sensitivity.x) tmc_disable_stallguard(stepperX, stealth_states.x);
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if (probe.test_sensitivity.y) tmc_disable_stallguard(stepperY, stealth_states.y);
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#endif
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tmc_disable_stallguard(stepperZ, stealth_states.z);
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if (probe.test_sensitivity.z) tmc_disable_stallguard(stepperZ, stealth_states.z);
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set_homing_current(false);
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#endif
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if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger
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@ -815,4 +821,93 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
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#endif // HAS_Z_SERVO_PROBE
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#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
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sensorless_t stealth_states { false };
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/**
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* Disable stealthChop if used. Enable diag1 pin on driver.
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*/
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void Probe::enable_stallguard_diag1() {
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#if ENABLED(SENSORLESS_PROBING)
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#if ENABLED(DELTA)
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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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#endif
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stealth_states.z = tmc_enable_stallguard(stepperZ);
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endstops.enable(true);
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#endif
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}
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/**
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* Re-enable stealthChop if used. Disable diag1 pin on driver.
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*/
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void Probe::disable_stallguard_diag1() {
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#if ENABLED(SENSORLESS_PROBING)
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endstops.not_homing();
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#if ENABLED(DELTA)
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tmc_disable_stallguard(stepperX, stealth_states.x);
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tmc_disable_stallguard(stepperY, stealth_states.y);
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#endif
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tmc_disable_stallguard(stepperZ, stealth_states.z);
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#endif
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}
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/**
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* Change the current in the TMC drivers to N##_CURRENT_HOME. And we save the current configuration of each TMC driver.
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*/
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void Probe::set_homing_current(const bool onoff) {
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#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
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#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Z)
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#if ENABLED(DELTA)
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static int16_t saved_current_X, saved_current_Y;
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#endif
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#if HAS_CURRENT_HOME(Z)
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static int16_t saved_current_Z;
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#endif
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auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) {
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if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b); }
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};
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if (onoff) {
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#if ENABLED(DELTA)
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#if HAS_CURRENT_HOME(X)
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saved_current_X = stepperX.getMilliamps();
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stepperX.rms_current(X_CURRENT_HOME);
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debug_current_on(PSTR("X"), saved_current_X, X_CURRENT_HOME);
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#endif
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#if HAS_CURRENT_HOME(Y)
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saved_current_Y = stepperY.getMilliamps();
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stepperY.rms_current(Y_CURRENT_HOME);
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debug_current_on(PSTR("Y"), saved_current_Y, Y_CURRENT_HOME);
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#endif
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#endif
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#if HAS_CURRENT_HOME(Z)
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saved_current_Z = stepperZ.getMilliamps();
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stepperZ.rms_current(Z_CURRENT_HOME);
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debug_current_on(PSTR("Z"), saved_current_Z, Z_CURRENT_HOME);
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#endif
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TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(true));
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}
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else {
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#if ENABLED(DELTA)
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#if HAS_CURRENT_HOME(X)
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stepperX.rms_current(saved_current_X);
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debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_X);
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#endif
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#if HAS_CURRENT_HOME(Y)
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stepperY.rms_current(saved_current_Y);
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debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_Y);
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#endif
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#endif
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#if HAS_CURRENT_HOME(Z)
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stepperZ.rms_current(saved_current_Z);
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debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_Z);
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#endif
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TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(false));
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}
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#endif
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}
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#endif // SENSORLESS_PROBING
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#endif // HAS_BED_PROBE
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