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⚡️ Improve Sensorless homing/probing accuracy for G28, G33, M48 (#24220)

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Co-Authored-By: Robby Candra <robbycandra.mail@gmail.com>
Co-Authored-By: ellensp <530024+ellensp@users.noreply.github.com>
This commit is contained in:
lujios
2022-06-03 07:19:25 +02:00
committed by Scott Lahteine
parent 0253500ccd
commit fcef8d946c
12 changed files with 212 additions and 77 deletions
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103
Marlin/src/module/probe.cpp
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@ -103,7 +103,7 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
#endif
#if ENABLED(SENSORLESS_PROBING)
Probe::sense_bool_t Probe::test_sensitivity;
Probe::sense_bool_t Probe::test_sensitivity = { true, true, true };
#endif
#if ENABLED(Z_PROBE_SLED)
@ -531,12 +531,12 @@ 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 HAS_DELTA_SENSORLESS_PROBING
if (test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
if (test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
if (test_sensitivity.y) stealth_states.y = tmc_enable_stallguard(stepperY);
#endif
if (test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
if (test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
endstops.set_homing_current(true); // The "homing" current also applies to probing
endstops.enable(true);
set_homing_current(true); // The "homing" current also applies to probing
#endif
TERN_(HAS_QUIET_PROBING, set_probing_paused(true));
@ -553,6 +553,11 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#endif
;
// Offset sensorless probing
#if HAS_DELTA_SENSORLESS_PROBING
if (probe_triggered) probe.refresh_largest_sensorless_adj();
#endif
TERN_(HAS_QUIET_PROBING, set_probing_paused(false));
// Re-enable stealthChop if used. Disable diag1 pin on driver.
@ -563,7 +568,7 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
if (test_sensitivity.y) tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
if (test_sensitivity.z) tmc_disable_stallguard(stepperZ, stealth_states.z);
set_homing_current(false);
endstops.set_homing_current(false);
#endif
#if ENABLED(BLTOUCH)
@ -666,8 +671,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s,
sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN;
const float first_probe_z = current_position.z;
const float first_probe_z = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", first_probe_z);
// Raise to give the probe clearance
@ -709,7 +713,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
TERN_(MEASURE_BACKLASH_WHEN_PROBING, backlash.measure_with_probe());
const float z = current_position.z;
const float z = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj);
#if EXTRA_PROBING > 0
// Insert Z measurement into probes[]. Keep it sorted ascending.
@ -760,7 +764,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
#elif TOTAL_PROBING == 2
const float z2 = current_position.z;
const float z2 = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2);
@ -842,7 +846,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
SERIAL_ERROR_MSG(STR_ERR_PROBING_FAILED);
#endif
}
DEBUG_ECHOLNPGM("measured_z: ", measured_z);
return measured_z;
}
@ -895,58 +899,39 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
}
/**
* Change the current in the TMC drivers to N##_CURRENT_HOME. And we save the current configuration of each TMC driver.
* Set the sensorless Z offset
*/
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;
void Probe::set_offset_sensorless_adj(const_float_t sz) {
#if ENABLED(SENSORLESS_PROBING)
DEBUG_SECTION(pso, "Probe::set_offset_sensorless_adj", true);
#if HAS_DELTA_SENSORLESS_PROBING
if (test_sensitivity.x) offset_sensorless_adj.a = sz;
if (test_sensitivity.y) offset_sensorless_adj.b = sz;
#endif
#if HAS_CURRENT_HOME(Z)
static int16_t saved_current_Z;
if (test_sensitivity.z) offset_sensorless_adj.c = sz;
#endif
}
/**
* Refresh largest_sensorless_adj based on triggered endstops
*/
void Probe::refresh_largest_sensorless_adj() {
#if ENABLED(SENSORLESS_PROBING)
DEBUG_SECTION(rso, "Probe::refresh_largest_sensorless_adj", true);
largest_sensorless_adj = -3; // A reference away from any real probe height
#if HAS_DELTA_SENSORLESS_PROBING
if (TEST(endstops.state(), X_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.a);
DEBUG_ECHOLNPGM("Endstop_X: ", largest_sensorless_adj, " TowerX");
}
if (TEST(endstops.state(), Y_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.b);
DEBUG_ECHOLNPGM("Endstop_Y: ", largest_sensorless_adj, " TowerY");
}
#endif
#if ((ENABLED(DELTA) && (HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y))) || HAS_CURRENT_HOME(Z))
auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) {
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); }
};
#endif
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));
if (TEST(endstops.state(), Z_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.c);
DEBUG_ECHOLNPGM("Endstop_Z: ", largest_sensorless_adj, " TowerZ");
}
#endif
}