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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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6
Marlin/src/gcode/calibrate/G28.cpp
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@ -321,6 +321,9 @@ void GcodeSuite::G28() {
stepperK.rms_current(K_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
#endif
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
@ -542,6 +545,9 @@ void GcodeSuite::G28() {
#if HAS_CURRENT_HOME(K)
stepperK.rms_current(tmc_save_current_K);
#endif
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif // HAS_HOMING_CURRENT
ui.refresh();

47
Marlin/src/gcode/calibrate/G33.cpp
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@ -71,9 +71,9 @@ float lcd_probe_pt(const xy_pos_t &xy);
void ac_home() {
endstops.enable(true);
TERN_(HAS_DELTA_SENSORLESS_PROBING, probe.set_homing_current(true));
TERN_(SENSORLESS_HOMING, endstops.set_homing_current(true));
home_delta();
TERN_(HAS_DELTA_SENSORLESS_PROBING, probe.set_homing_current(false));
TERN_(SENSORLESS_HOMING, endstops.set_homing_current(false));
endstops.not_homing();
}
@ -390,6 +390,8 @@ static float auto_tune_a(const float dcr) {
* X Don't activate stallguard on X.
* Y Don't activate stallguard on Y.
* Z Don't activate stallguard on Z.
*
* S Save offset_sensorless_adj
*/
void GcodeSuite::G33() {
@ -411,7 +413,8 @@ void GcodeSuite::G33() {
dcr -= probe_at_offset ? _MAX(total_offset, PROBING_MARGIN) : total_offset;
#endif
NOMORE(dcr, DELTA_PRINTABLE_RADIUS);
if (parser.seenval('R')) dcr -= _MAX(parser.value_float(),0);
if (parser.seenval('R')) dcr -= _MAX(parser.value_float(), 0.0f);
TERN_(HAS_DELTA_SENSORLESS_PROBING, dcr *= sensorless_radius_factor);
const float calibration_precision = parser.floatval('C', 0.0f);
if (calibration_precision < 0) {
@ -434,9 +437,8 @@ void GcodeSuite::G33() {
const bool stow_after_each = parser.seen_test('E');
#if HAS_DELTA_SENSORLESS_PROBING
probe.test_sensitivity.x = !parser.seen_test('X');
TERN_(HAS_Y_AXIS, probe.test_sensitivity.y = !parser.seen_test('Y'));
TERN_(HAS_Z_AXIS, probe.test_sensitivity.z = !parser.seen_test('Z'));
probe.test_sensitivity.set(!parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z'));
const bool do_save_offset_adj = parser.seen_test('S');
#endif
const bool _0p_calibration = probe_points == 0,
@ -475,6 +477,25 @@ void GcodeSuite::G33() {
if (!_0p_calibration) ac_home();
#if HAS_DELTA_SENSORLESS_PROBING
if (verbose_level > 0 && do_save_offset_adj) {
offset_sensorless_adj.reset();
auto caltower = [&](Probe::sense_bool_t s){
float z_at_pt[NPP + 1];
LOOP_CAL_ALL(rad) z_at_pt[rad] = 0.0f;
probe.test_sensitivity = s;
if (probe_calibration_points(z_at_pt, 1, dcr, false, false, probe_at_offset))
probe.set_offset_sensorless_adj(z_at_pt[CEN]);
};
caltower({ true, false, false }); // A
caltower({ false, true, false }); // B
caltower({ false, false, true }); // C
probe.test_sensitivity = { true, true, true }; // reset to all
}
#endif
do { // start iterations
float z_at_pt[NPP + 1] = { 0.0f };
@ -598,8 +619,17 @@ void GcodeSuite::G33() {
// print report
if (verbose_level == 3 || verbose_level == 0)
if (verbose_level == 3 || verbose_level == 0) {
print_calibration_results(z_at_pt, _tower_results, _opposite_results);
#if HAS_DELTA_SENSORLESS_PROBING
if (verbose_level == 0 && probe_points == 1) {
if (do_save_offset_adj)
probe.set_offset_sensorless_adj(z_at_pt[CEN]);
else
probe.refresh_largest_sensorless_adj();
}
#endif
}
if (verbose_level != 0) { // !dry run
if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
@ -660,6 +690,9 @@ void GcodeSuite::G33() {
ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index));
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
#if HAS_DELTA_SENSORLESS_PROBING
probe.test_sensitivity = { true, true, true };
#endif
}
#endif // DELTA_AUTO_CALIBRATION

3
Marlin/src/lcd/extui/dgus/mks/DGUSScreenHandler.cpp
View File

@ -193,7 +193,6 @@ void DGUSScreenHandlerMKS::DGUSLCD_SendTMCStepValue(DGUS_VP_Variable &var) {
if (!ExtUI::isPrintingFromMedia()) return; // avoid race condition when user stays in this menu and printer finishes.
switch (swap16(*(uint16_t*)val_ptr)) {
case 0: { // Resume
auto cs = getCurrentScreen();
if (runout_mks.runout_status != RUNOUT_WAITING_STATUS && runout_mks.runout_status != UNRUNOUT_STATUS) {
if (cs == MKSLCD_SCREEN_PRINT || cs == MKSLCD_SCREEN_PAUSE)
@ -213,7 +212,6 @@ void DGUSScreenHandlerMKS::DGUSLCD_SendTMCStepValue(DGUS_VP_Variable &var) {
} break;
case 1: // Pause
GotoScreen(MKSLCD_SCREEN_PAUSE);
if (!ExtUI::isPrintingFromMediaPaused()) {
nozzle_park_mks.print_pause_start_flag = 1;
@ -222,6 +220,7 @@ void DGUSScreenHandlerMKS::DGUSLCD_SendTMCStepValue(DGUS_VP_Variable &var) {
//ExtUI::mks_pausePrint();
}
break;
case 2: // Abort
HandleUserConfirmationPopUp(VP_SD_AbortPrintConfirmed, nullptr, PSTR("Abort printing"), filelist.filename(), PSTR("?"), true, true, false, true);
break;

8
Marlin/src/lcd/menu/menu_delta_calibrate.cpp
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@ -41,6 +41,10 @@
#include "../extui/ui_api.h"
#endif
#if HAS_PROBE_XY_OFFSET
#include "../../module/probe.h"
#endif
void _man_probe_pt(const xy_pos_t &xy) {
if (!ui.wait_for_move) {
ui.wait_for_move = true;
@ -88,7 +92,9 @@ void _man_probe_pt(const xy_pos_t &xy) {
}
void _goto_tower_a(const_float_t a) {
constexpr float dcr = DELTA_PRINTABLE_RADIUS;
float dcr = DELTA_PRINTABLE_RADIUS - PROBING_MARGIN;
TERN_(HAS_PROBE_XY_OFFSET, dcr -= HYPOT(probe.offset_xy.x, probe.offset_xy.y));
TERN_(HAS_DELTA_SENSORLESS_PROBING, dcr *= sensorless_radius_factor);
xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
_man_probe_pt(tower_vec * dcr);
}

10
Marlin/src/module/delta.cpp
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@ -60,6 +60,10 @@ xy_float_t delta_tower[ABC];
abc_float_t delta_diagonal_rod_2_tower;
float delta_clip_start_height = Z_MAX_POS;
abc_float_t delta_diagonal_rod_trim;
#if HAS_DELTA_SENSORLESS_PROBING
abc_float_t offset_sensorless_adj{0};
float largest_sensorless_adj = 0;
#endif
float delta_safe_distance_from_top();
@ -233,6 +237,9 @@ void home_delta() {
TERN_(I_SENSORLESS, sensorless_t stealth_states_i = start_sensorless_homing_per_axis(I_AXIS));
TERN_(J_SENSORLESS, sensorless_t stealth_states_j = start_sensorless_homing_per_axis(J_AXIS));
TERN_(K_SENSORLESS, sensorless_t stealth_states_k = start_sensorless_homing_per_axis(K_AXIS));
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif
// Move all carriages together linearly until an endstop is hit.
@ -249,6 +256,9 @@ void home_delta() {
TERN_(I_SENSORLESS, end_sensorless_homing_per_axis(I_AXIS, stealth_states_i));
TERN_(J_SENSORLESS, end_sensorless_homing_per_axis(J_AXIS, stealth_states_j));
TERN_(K_SENSORLESS, end_sensorless_homing_per_axis(K_AXIS, stealth_states_k));
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif
endstops.validate_homing_move();

11
Marlin/src/module/delta.h
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@ -38,6 +38,10 @@ extern xy_float_t delta_tower[ABC];
extern abc_float_t delta_diagonal_rod_2_tower;
extern float delta_clip_start_height;
extern abc_float_t delta_diagonal_rod_trim;
#if HAS_DELTA_SENSORLESS_PROBING
extern abc_float_t offset_sensorless_adj;
extern float largest_sensorless_adj;
#endif
/**
* Recalculate factors used for delta kinematics whenever
@ -45,6 +49,13 @@ extern abc_float_t delta_diagonal_rod_trim;
*/
void recalc_delta_settings();
/**
* Get a safe radius for calibration
*/
#if HAS_DELTA_SENSORLESS_PROBING
static constexpr float sensorless_radius_factor = 0.7f;
#endif
/**
* Delta Inverse Kinematics
*

66
Marlin/src/module/endstops.cpp
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@ -31,6 +31,9 @@
#include "temperature.h"
#include "../lcd/marlinui.h"
#define DEBUG_OUT BOTH(USE_SENSORLESS, DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include HAL_PATH(../HAL, endstop_interrupts.h)
#endif
@ -1355,3 +1358,66 @@ void Endstops::update() {
}
#endif // PINS_DEBUGGING
#if USE_SENSORLESS
/**
* Change TMC driver currents to N##_CURRENT_HOME, saving the current configuration of each.
*/
void Endstops::set_homing_current(const bool onoff) {
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#define HAS_DELTA_X_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(X))
#define HAS_DELTA_Y_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(Y))
#if HAS_DELTA_X_CURRENT || HAS_DELTA_Y_CURRENT || HAS_CURRENT_HOME(Z)
#if HAS_DELTA_X_CURRENT
static int16_t saved_current_x;
#endif
#if HAS_DELTA_Y_CURRENT
static int16_t 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_ECHOLNPGM(" current: ", a, " -> ", b); }
};
if (onoff) {
#if HAS_DELTA_X_CURRENT
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_DELTA_Y_CURRENT
saved_current_y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME);
debug_current_on(PSTR("Y"), saved_current_y, Y_CURRENT_HOME);
#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
}
else {
#if HAS_DELTA_X_CURRENT
stepperX.rms_current(saved_current_x);
debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_x);
#endif
#if HAS_DELTA_Y_CURRENT
stepperY.rms_current(saved_current_y);
debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_y);
#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(onoff));
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif // XYZ
}
#endif

5
Marlin/src/module/endstops.h
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@ -241,6 +241,11 @@ class Endstops {
static void clear_endstop_state();
static bool tmc_spi_homing_check();
#endif
public:
// Basic functions for Sensorless Homing
#if USE_SENSORLESS
static void set_homing_current(const bool onoff);
#endif
};
extern Endstops endstops;

14
Marlin/src/module/motion.cpp
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@ -1541,7 +1541,12 @@ void prepare_line_to_destination() {
}
// Disable stealthChop if used. Enable diag1 pin on driver.
TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis));
#if ENABLED(SENSORLESS_HOMING)
stealth_states = start_sensorless_homing_per_axis(axis);
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif
}
#if EITHER(MORGAN_SCARA, MP_SCARA)
@ -1577,7 +1582,12 @@ void prepare_line_to_destination() {
endstops.validate_homing_move();
// Re-enable stealthChop if used. Disable diag1 pin on driver.
TERN_(SENSORLESS_HOMING, end_sensorless_homing_per_axis(axis, stealth_states));
#if ENABLED(SENSORLESS_HOMING)
end_sensorless_homing_per_axis(axis, stealth_states);
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif
}
}

5
Marlin/src/module/planner.cpp
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@ -1657,10 +1657,7 @@ void Planner::quick_stop() {
// forced to empty, there's no risk the ISR will touch this.
delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE;
#if HAS_WIRED_LCD
// Clear the accumulated runtime
clear_block_buffer_runtime();
#endif
TERN_(HAS_WIRED_LCD, clear_block_buffer_runtime()); // Clear the accumulated runtime
// Make sure to drop any attempt of queuing moves for 1 second
cleaning_buffer_counter = TEMP_TIMER_FREQUENCY;

103
Marlin/src/module/probe.cpp
View File

@ -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
}

11
Marlin/src/module/probe.h
View File

@ -66,7 +66,13 @@ class Probe {
public:
#if ENABLED(SENSORLESS_PROBING)
typedef struct { bool x:1, y:1, z:1; } sense_bool_t;
typedef struct {
#if HAS_DELTA_SENSORLESS_PROBING
bool x:1, y:1, z:1;
#else
bool z;
#endif
} sense_bool_t;
static sense_bool_t test_sensitivity;
#endif
@ -299,7 +305,8 @@ public:
#if USE_SENSORLESS
static void enable_stallguard_diag1();
static void disable_stallguard_diag1();
static void set_homing_current(const bool onoff);
static void set_offset_sensorless_adj(const_float_t sz);
static void refresh_largest_sensorless_adj();
#endif
private: