From 5d14c3712f96e0800cfe30e85036f4941a5a21ee Mon Sep 17 00:00:00 2001
From: Victor Tseng <palatis@gmail.com>
Date: Tue, 28 Jul 2020 09:15:14 +0800
Subject: [PATCH] Fix DELTA + TMC sensorless homing + SPI endstops (#18811)
---
Marlin/src/module/delta.cpp | 14 ++++++--------
Marlin/src/module/motion.h | 6 ++++++
2 files changed, 12 insertions(+), 8 deletions(-)
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 9361729462..df6cae6e0a 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -242,11 +242,9 @@ void home_delta() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- sensorless_t stealth_states {
- tmc_enable_stallguard(stepperX),
- tmc_enable_stallguard(stepperY),
- tmc_enable_stallguard(stepperZ)
- };
+ TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
+ TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
+ TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
#endif
// Move all carriages together linearly until an endstop is hit.
@@ -256,9 +254,9 @@ void home_delta() {
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- tmc_disable_stallguard(stepperX, stealth_states.x);
- tmc_disable_stallguard(stepperY, stealth_states.y);
- tmc_disable_stallguard(stepperZ, stealth_states.z);
+ TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
+ TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
+ TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
#endif
endstops.validate_homing_move();
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index d33ce623a4..38ce980dae 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -395,3 +395,9 @@ void homeaxis(const AxisEnum axis);
#if HAS_M206_COMMAND
void set_home_offset(const AxisEnum axis, const float v);
#endif
+
+#if USE_SENSORLESS
+ struct sensorless_t;
+ sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis);
+ void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth);
+#endif
--
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