diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index b6d0d67278c4a3e3f951c185b2a09ac356dad23b..5eb7654ae13a9c88ca593340bae8a1c304ce7e8c 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1258,11 +1258,11 @@
#define E5_HYBRID_THRESHOLD 30
/**
- * Use stallGuard2 to sense an obstacle and trigger an endstop.
- * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
+ * Use StallGuard2 to sense an obstacle and trigger an endstop.
+ * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
* X, Y, and Z homing will always be done in spreadCycle mode.
*
- * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+ * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
* Higher values make the system LESS sensitive.
* Lower value make the system MORE sensitive.
* Too low values can lead to false positives, while too high values will collide the axis without triggering.
@@ -1271,10 +1271,18 @@
*/
//#define SENSORLESS_HOMING // TMC2130 only
- #if ENABLED(SENSORLESS_HOMING)
- #define X_HOMING_SENSITIVITY 8
- #define Y_HOMING_SENSITIVITY 8
- //#define Z_HOMING_SENSITIVITY 8
+ /**
+ * Use StallGuard2 to probe the bed with the nozzle.
+ *
+ * CAUTION: This could cause damage to machines that use a lead screw or threaded rod
+ * to move the Z axis. Take extreme care when attempting to enable this feature.
+ */
+ //#define SENSORLESS_PROBING // TMC2130 only
+
+ #if ENABLED(SENSORLESS_HOMING) || ENABLED(SENSORLESS_PROBING)
+ #define X_STALL_SENSITIVITY 8
+ #define Y_STALL_SENSITIVITY 8
+ //#define Z_STALL_SENSITIVITY 8
#endif
/**
diff --git a/Marlin/src/config/default/Configuration_adv.h b/Marlin/src/config/default/Configuration_adv.h
index b6d0d67278c4a3e3f951c185b2a09ac356dad23b..5eb7654ae13a9c88ca593340bae8a1c304ce7e8c 100755
--- a/Marlin/src/config/default/Configuration_adv.h
+++ b/Marlin/src/config/default/Configuration_adv.h
@@ -1258,11 +1258,11 @@
#define E5_HYBRID_THRESHOLD 30
/**
- * Use stallGuard2 to sense an obstacle and trigger an endstop.
- * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
+ * Use StallGuard2 to sense an obstacle and trigger an endstop.
+ * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
* X, Y, and Z homing will always be done in spreadCycle mode.
*
- * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+ * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
* Higher values make the system LESS sensitive.
* Lower value make the system MORE sensitive.
* Too low values can lead to false positives, while too high values will collide the axis without triggering.
@@ -1271,10 +1271,18 @@
*/
//#define SENSORLESS_HOMING // TMC2130 only
- #if ENABLED(SENSORLESS_HOMING)
- #define X_HOMING_SENSITIVITY 8
- #define Y_HOMING_SENSITIVITY 8
- //#define Z_HOMING_SENSITIVITY 8
+ /**
+ * Use StallGuard2 to probe the bed with the nozzle.
+ *
+ * CAUTION: This could cause damage to machines that use a lead screw or threaded rod
+ * to move the Z axis. Take extreme care when attempting to enable this feature.
+ */
+ //#define SENSORLESS_PROBING // TMC2130 only
+
+ #if ENABLED(SENSORLESS_HOMING) || ENABLED(SENSORLESS_PROBING)
+ #define X_STALL_SENSITIVITY 8
+ #define Y_STALL_SENSITIVITY 8
+ //#define Z_STALL_SENSITIVITY 8
#endif
/**
diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
index abfe4ba035ce88d024f54bd7fdb76cf66ec5d20b..e4c4872e2e9aa4f25195b051eebb4427be6e2092 100644
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/Marlin/src/feature/tmc_util.cpp
@@ -663,9 +663,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#endif // TMC_DEBUG
-#if ENABLED(SENSORLESS_HOMING)
+#if USE_SENSORLESS
- void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable/*=true*/) {
+ void tmc_stallguard(TMC2130Stepper &st, const bool enable/*=true*/) {
st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
#if ENABLED(STEALTHCHOP)
st.stealthChop(!enable);
@@ -673,7 +673,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
st.diag1_stall(enable ? 1 : 0);
}
-#endif // SENSORLESS_HOMING
+#endif // USE_SENSORLESS
#if HAS_DRIVER(TMC2130)
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index 514f603f18e0c9842977c9aa174d244892353c8e..b32da5aa3d6fda381b5a63a0119f4e348ca91e5f 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -128,8 +128,8 @@ void monitor_tmc_driver();
*
* Defined here because of limitations with templates and headers.
*/
-#if ENABLED(SENSORLESS_HOMING)
- void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable=true);
+#if USE_SENSORLESS
+ void tmc_stallguard(TMC2130Stepper &st, const bool enable=true);
#endif
#if HAS_DRIVER(TMC2130)
diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
index b24e901f82d1b4db5d21bd0fc17c7af033255725..1ab20ea522c3b07c1da81a78bfa468e3f3d744d1 100644
--- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
@@ -267,9 +267,9 @@ void GcodeSuite::M912() {
#endif // HYBRID_THRESHOLD
/**
- * M914: Set SENSORLESS_HOMING sensitivity.
+ * M914: Set StallGuard sensitivity.
*/
-#if ENABLED(SENSORLESS_HOMING)
+#if USE_SENSORLESS
void GcodeSuite::M914() {
#define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
#define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
@@ -346,7 +346,7 @@ void GcodeSuite::M912() {
#endif
}
}
-#endif // SENSORLESS_HOMING
+#endif // USE_SENSORLESS
/**
* TMC Z axis calibration routine
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 09786f81aa006605c111eb0535d9c128c3cb9e24..040a0df63ca532729a3de6228a86dc8e9f3319ed 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -637,8 +637,8 @@ void GcodeSuite::process_parsed_command(
#if ENABLED(HYBRID_THRESHOLD)
case 913: M913(); break; // M913: Set HYBRID_THRESHOLD speed.
#endif
- #if ENABLED(SENSORLESS_HOMING)
- case 914: M914(); break; // M914: Set SENSORLESS_HOMING sensitivity.
+ #if USE_SENSORLESS
+ case 914: M914(); break; // M914: Set StallGuard sensitivity.
#endif
#if ENABLED(TMC_Z_CALIBRATION)
case 915: M915(); break; // M915: TMC Z axis calibration.
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 908ac9e2f732cadf6071c0fbf1ffcba592c3688f..50de37ab4608fc36915d71cabc6def539979e9ef 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -229,7 +229,7 @@
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
- * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
+ * M914 - Set StallGuard sensitivity. (Requires SENSORLESS_HOMING or SENSORLESS_PROBING)
*
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
@@ -780,7 +780,7 @@ private:
#if ENABLED(HYBRID_THRESHOLD)
static void M913();
#endif
- #if ENABLED(SENSORLESS_HOMING)
+ #if USE_SENSORLESS
static void M914();
#endif
#if ENABLED(TMC_Z_CALIBRATION)
diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h
index aaa6d5462da873185292ca16bb5a3d5b6d952021..328410e60b769ccb1fc0749540f7154f3fcbcca1 100644
--- a/Marlin/src/inc/Conditionals_LCD.h
+++ b/Marlin/src/inc/Conditionals_LCD.h
@@ -528,7 +528,7 @@
/**
* Set flags for enabled probes
*/
-#define HAS_BED_PROBE (ENABLED(FIX_MOUNTED_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_PROBE || ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE))
+#define HAS_BED_PROBE (ENABLED(FIX_MOUNTED_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_PROBE || ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE) || ENABLED(SENSORLESS_PROBING))
#define PROBE_SELECTED (HAS_BED_PROBE || ENABLED(PROBE_MANUALLY) || ENABLED(MESH_BED_LEVELING))
#if !HAS_BED_PROBE
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 2591da491396154c430e36b316f91d4a8e55c943..0561c459a16cc54c506180775fd9e0eb605e4e00 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -869,14 +869,15 @@
#define AXIS_HAS_STEALTHCHOP(ST) ( AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2208) )
#define AXIS_HAS_STALLGUARD(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
-#if ENABLED(SENSORLESS_HOMING)
+#define USE_SENSORLESS (ENABLED(SENSORLESS_HOMING) || ENABLED(SENSORLESS_PROBING))
+#if USE_SENSORLESS
// Disable Z axis sensorless homing if a probe is used to home the Z axis
#if HOMING_Z_WITH_PROBE
- #undef Z_HOMING_SENSITIVITY
+ #undef Z_STALL_SENSITIVITY
#endif
- #define X_SENSORLESS (AXIS_HAS_STALLGUARD(X) && defined(X_HOMING_SENSITIVITY))
- #define Y_SENSORLESS (AXIS_HAS_STALLGUARD(Y) && defined(Y_HOMING_SENSITIVITY))
- #define Z_SENSORLESS (AXIS_HAS_STALLGUARD(Z) && defined(Z_HOMING_SENSITIVITY))
+ #define X_SENSORLESS (AXIS_HAS_STALLGUARD(X) && defined(X_STALL_SENSITIVITY))
+ #define Y_SENSORLESS (AXIS_HAS_STALLGUARD(Y) && defined(Y_STALL_SENSITIVITY))
+ #define Z_SENSORLESS (AXIS_HAS_STALLGUARD(Z) && defined(Z_STALL_SENSITIVITY))
#endif
// Endstops and bed probe
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 1ab23b6e7e66aba3dc37422320f92342d306e90f..7c8447c0034866917b03d8e4a93ce388d2e46b15 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -895,7 +895,13 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
/**
* Require pin options and pins to be defined
*/
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+ #if ENABLED(SENSORLESS_PROBING)
+ #if ENABLED(DELTA) && (!AXIS_DRIVER_TYPE_X(TMC2130) || !AXIS_DRIVER_TYPE_Y(TMC2130) || !AXIS_DRIVER_TYPE_Z(TMC2130))
+ #error "SENSORLESS_PROBING requires TMC2130 drivers on X, Y, and Z."
+ #elif !AXIS_DRIVER_TYPE_Z(TMC2130)
+ #error "SENSORLESS_PROBING requires a TMC2130 driver on Z."
+ #endif
+ #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#error "Enable only one option: Z_MIN_PROBE_ENDSTOP or Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN."
#elif DISABLED(USE_ZMIN_PLUG)
@@ -1746,19 +1752,18 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
#error "CoreYZ requires both Y and Z to use sensorless homing if either does."
#endif
+// Other TMC feature requirements
#if ENABLED(HYBRID_THRESHOLD) && DISABLED(STEALTHCHOP)
#error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
-#endif
-#if ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2) && !AXIS_IS_TMC(Z3)
+#elif ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2) && !AXIS_IS_TMC(Z3)
#error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
-#endif
-
-#if ENABLED(SENSORLESS_HOMING) && !HAS_STALLGUARD
- #error "SENSORLESS_HOMING requires TMC2130 or TMC2660 stepper drivers."
-#endif
-#if ENABLED(STEALTHCHOP) && !HAS_STEALTHCHOP
+#elif ENABLED(SENSORLESS_HOMING) && !HAS_STALLGUARD
+ #error "SENSORLESS_HOMING requires TMC2130 stepper drivers."
+#elif ENABLED(SENSORLESS_PROBING) && !HAS_STALLGUARD
+ #error "SENSORLESS_PROBING requires TMC2130 stepper drivers."
+#elif ENABLED(STEALTHCHOP) && !HAS_STEALTHCHOP
#error "STEALTHCHOP requires TMC2130 or TMC2208 stepper drivers."
- #endif
+#endif
/**
* Digipot requirement
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index 81dd1db206d986eed43ded27c0327421afa95331..eee30aba84205d51fb03219a66a92f6e21ba39bc 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -920,10 +920,10 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(tmc_hybrid_threshold);
//
- // TMC2130 Sensorless homing threshold
+ // TMC2130 StallGuard threshold
//
int16_t tmc_sgt[XYZ] = {
- #if ENABLED(SENSORLESS_HOMING)
+ #if USE_SENSORLESS
#if X_SENSORLESS
stepperX.sgt(),
#else
@@ -1530,16 +1530,16 @@ void MarlinSettings::postprocess() {
#endif
/*
- * TMC2130 Sensorless homing threshold.
+ * TMC2130 StallGuard threshold.
* X and X2 use the same value
* Y and Y2 use the same value
* Z, Z2 and Z3 use the same value
*/
int16_t tmc_sgt[XYZ];
EEPROM_READ(tmc_sgt);
- #if ENABLED(SENSORLESS_HOMING)
+ #if USE_SENSORLESS
if (!validating) {
- #ifdef X_HOMING_SENSITIVITY
+ #ifdef X_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(X)
stepperX.sgt(tmc_sgt[0]);
#endif
@@ -1547,7 +1547,7 @@ void MarlinSettings::postprocess() {
stepperX2.sgt(tmc_sgt[0]);
#endif
#endif
- #ifdef Y_HOMING_SENSITIVITY
+ #ifdef Y_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Y)
stepperY.sgt(tmc_sgt[1]);
#endif
@@ -1555,7 +1555,7 @@ void MarlinSettings::postprocess() {
stepperY2.sgt(tmc_sgt[1]);
#endif
#endif
- #ifdef Z_HOMING_SENSITIVITY
+ #ifdef Z_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Z)
stepperZ.sgt(tmc_sgt[2]);
#endif
@@ -2120,7 +2120,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#if ENABLED(HYBRID_THRESHOLD)
void say_M913(PORTARG_SOLO) { SERIAL_ECHOPGM_P(port, " M913"); }
#endif
- #if ENABLED(SENSORLESS_HOMING)
+ #if USE_SENSORLESS
void say_M914(PORTARG_SOLO) { SERIAL_ECHOPGM_P(port, " M914"); }
#endif
#endif
@@ -2824,12 +2824,12 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#endif // HYBRID_THRESHOLD
/**
- * TMC2130 Sensorless homing thresholds
+ * TMC2130 Sensorless homing thresholds
*/
- #if ENABLED(SENSORLESS_HOMING)
+ #if USE_SENSORLESS
if (!forReplay) {
CONFIG_ECHO_START;
- SERIAL_ECHOLNPGM_P(port, "Sensorless homing threshold:");
+ SERIAL_ECHOLNPGM_P(port, "TMC2130 StallGuard threshold:");
}
CONFIG_ECHO_START;
#if X_SENSORLESS || Y_SENSORLESS || Z_SENSORLESS
@@ -2846,10 +2846,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
SERIAL_EOL_P(port);
#endif
- #define HAS_X2_SENSORLESS (defined(X_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(X2))
- #define HAS_Y2_SENSORLESS (defined(Y_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Y2))
- #define HAS_Z2_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z2))
- #define HAS_Z3_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z3))
+ #define HAS_X2_SENSORLESS (defined(X_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(X2))
+ #define HAS_Y2_SENSORLESS (defined(Y_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Y2))
+ #define HAS_Z2_SENSORLESS (defined(Z_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z2))
+ #define HAS_Z3_SENSORLESS (defined(Z_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z3))
#if HAS_X2_SENSORLESS || HAS_Y2_SENSORLESS || HAS_Z2_SENSORLESS
say_M914(PORTVAR_SOLO);
SERIAL_ECHOPGM_P(port, " I1");
@@ -2871,7 +2871,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
SERIAL_ECHOLNPAIR_P(port, " Z", stepperZ3.sgt());
#endif
- #endif // SENSORLESS_HOMING
+ #endif // USE_SENSORLESS
#endif // HAS_TRINAMIC
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index a08482166a382f4a1a734fec3a768044988f9910..91487d28e52c08027fe9fbff7f24f665634cc228 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -981,31 +981,31 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
default: break;
#if X_SENSORLESS
case X_AXIS:
- tmc_sensorless_homing(stepperX, enable);
+ tmc_stallguard(stepperX, enable);
#if CORE_IS_XY && Y_SENSORLESS
- tmc_sensorless_homing(stepperY, enable);
+ tmc_stallguard(stepperY, enable);
#elif CORE_IS_XZ && Z_SENSORLESS
- tmc_sensorless_homing(stepperZ, enable);
+ tmc_stallguard(stepperZ, enable);
#endif
break;
#endif
#if Y_SENSORLESS
case Y_AXIS:
- tmc_sensorless_homing(stepperY, enable);
+ tmc_stallguard(stepperY, enable);
#if CORE_IS_XY && X_SENSORLESS
- tmc_sensorless_homing(stepperX, enable);
+ tmc_stallguard(stepperX, enable);
#elif CORE_IS_YZ && Z_SENSORLESS
- tmc_sensorless_homing(stepperZ, enable);
+ tmc_stallguard(stepperZ, enable);
#endif
break;
#endif
#if Z_SENSORLESS
case Z_AXIS:
- tmc_sensorless_homing(stepperZ, enable);
+ tmc_stallguard(stepperZ, enable);
#if CORE_IS_XZ && X_SENSORLESS
- tmc_sensorless_homing(stepperX, enable);
+ tmc_stallguard(stepperX, enable);
#elif CORE_IS_YZ && Y_SENSORLESS
- tmc_sensorless_homing(stepperY, enable);
+ tmc_stallguard(stepperY, enable);
#endif
break;
#endif
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index 251861fcfe6045db358f52d1ac8fc02e5f7a0b3b..0ebeaaaed5cb6ce158ad76c81793fe47fdd0c307 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -58,6 +58,11 @@ float zprobe_zoffset; // Initialized by settings.load()
#include "../module/servo.h"
#endif
+#if ENABLED(SENSORLESS_PROBING)
+ #include "stepper.h"
+ #include "../feature/tmc_util.h"
+#endif
+
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@@ -527,31 +532,58 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
if (set_bltouch_deployed(true)) return true;
#endif
+ // Disable stealthChop if used. Enable diag1 pin on driver.
+ #if ENABLED(SENSORLESS_PROBING)
+ #if ENABLED(DELTA)
+ tmc_stallguard(stepperX);
+ tmc_stallguard(stepperY);
+ #endif
+ tmc_stallguard(stepperZ);
+ #endif
+
#if QUIET_PROBING
probing_pause(true);
#endif
+ endstops.enable(true);
+
// Move down until probe triggered
do_blocking_move_to_z(z, fr_mm_s);
// Check to see if the probe was triggered
- const bool probe_triggered = TEST(endstops.trigger_state(),
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- Z_MIN
+ const bool probe_triggered =
+ #if ENABLED(DELTA) && ENABLED(SENSORLESS_PROBING)
+ endstops.trigger_state() & (_BV(X_MIN) | _BV(Y_MIN) | _BV(Z_MIN))
#else
- Z_MIN_PROBE
+ TEST(endstops.trigger_state(),
+ #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+ Z_MIN
+ #else
+ Z_MIN_PROBE
+ #endif
+ )
#endif
- );
+ ;
#if QUIET_PROBING
probing_pause(false);
#endif
+ // Re-enable stealthChop if used. Disable diag1 pin on driver.
+ #if ENABLED(SENSORLESS_PROBING)
+ #if ENABLED(DELTA)
+ tmc_stallguard(stepperX, false);
+ tmc_stallguard(stepperY, false);
+ #endif
+ tmc_stallguard(stepperZ, false);
+ #endif
+
// Retract BLTouch immediately after a probe if it was triggered
#if ENABLED(BLTOUCH)
if (probe_triggered && set_bltouch_deployed(false)) return true;
#endif
+ // Clear endstop flags
endstops.hit_on_purpose();
// Get Z where the steppers were interrupted
@@ -606,13 +638,11 @@ static float run_z_probe() {
// move up to make clearance for the probe
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
- #else
+ #elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
- float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0;
- if (zprobe_zoffset < 0) z -= zprobe_zoffset;
-
+ const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (zprobe_zoffset < 0 ? -zprobe_zoffset : 0);
if (current_position[Z_AXIS] > z) {
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
diff --git a/Marlin/src/module/stepper_indirection.cpp b/Marlin/src/module/stepper_indirection.cpp
index 1927cad23038b3424291e270a420d354d3fbd2c2..86cd7c3832795f2c55d46136fde16482b6f5ad33 100644
--- a/Marlin/src/module/stepper_indirection.cpp
+++ b/Marlin/src/module/stepper_indirection.cpp
@@ -273,33 +273,33 @@
{ constexpr uint8_t extruder = 5; _TMC2130_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
#endif
- #if ENABLED(SENSORLESS_HOMING)
- #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
+ #if USE_SENSORLESS
+ #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_STALL_SENSITIVITY);
#if X_SENSORLESS
#if AXIS_DRIVER_TYPE(X, TMC2130)
- stepperX.sgt(X_HOMING_SENSITIVITY);
+ stepperX.sgt(X_STALL_SENSITIVITY);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2130)
- stepperX2.sgt(X_HOMING_SENSITIVITY);
+ stepperX2.sgt(X_STALL_SENSITIVITY);
#endif
#endif
#if Y_SENSORLESS
#if AXIS_DRIVER_TYPE(Y, TMC2130)
- stepperY.sgt(Y_HOMING_SENSITIVITY);
+ stepperY.sgt(Y_STALL_SENSITIVITY);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
- stepperY2.sgt(Y_HOMING_SENSITIVITY);
+ stepperY2.sgt(Y_STALL_SENSITIVITY);
#endif
#endif
#if Z_SENSORLESS
#if AXIS_DRIVER_TYPE(Z, TMC2130)
- stepperZ.sgt(Z_HOMING_SENSITIVITY);
+ stepperZ.sgt(Z_STALL_SENSITIVITY);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
- stepperZ2.sgt(Z_HOMING_SENSITIVITY);
+ stepperZ2.sgt(Z_STALL_SENSITIVITY);
#endif
#if ENABLED(Z3_IS_TMC2130)
- stepperZ3.sgt(Z_HOMING_SENSITIVITY);
+ stepperZ3.sgt(Z_STALL_SENSITIVITY);
#endif
#endif
#endif
diff --git a/buildroot/share/tests/LPC1768_tests b/buildroot/share/tests/LPC1768_tests
index b9f1e0cf45abf1e9d64e1cdd19ad9764152e92ac..c7c22711d4293ee8ca5f72927144ccf2567dcfdf 100755
--- a/buildroot/share/tests/LPC1768_tests
+++ b/buildroot/share/tests/LPC1768_tests
@@ -60,5 +60,16 @@ opt_enable FAN_SOFT_PWM SDSUPPORT
opt_enable USE_XMAX_PLUG
exec_test $1 $2 "MKS SBASE Many less common options"
+restore_configs
+use_example_configs delta/generic
+opt_set MOTHERBOARD BOARD_COHESION3D_REMIX
+opt_enable AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 EEPROM_SETTINGS EEPROM_CHITCHAT
+opt_disable Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
+opt_set X_DRIVER_TYPE TMC2130
+opt_set Y_DRIVER_TYPE TMC2130
+opt_set Z_DRIVER_TYPE TMC2130
+opt_enable_adv TMC_USE_SW_SPI MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD TMC_DEBUG SENSORLESS_PROBING
+exec_test $1 $2 "Delta Config (generic) + BOARD_COHESION3D_REMIX + UBL + EEPROM_SETTINGS + SENSORLESS_PROBING"
+
#clean up
restore_configs
diff --git a/buildroot/share/tests/megaatmega2560_tests b/buildroot/share/tests/megaatmega2560_tests
index 443a5ce3df39056fba0ecc5ea2b74004d9a595eb..7a625e665b5300062a10dc69582d102463c7792d 100755
--- a/buildroot/share/tests/megaatmega2560_tests
+++ b/buildroot/share/tests/megaatmega2560_tests
@@ -296,6 +296,7 @@ opt_set X_DRIVER_TYPE TMC2208
opt_set Y_DRIVER_TYPE TMC2208
opt_set Z_DRIVER_TYPE TMC2208
opt_set E0_DRIVER_TYPE TMC2208
+opt_disable Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
opt_enable_adv MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD TMC_DEBUG
exec_test $1 $2 "TMC2208 Config"
#