diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 3ab978dc845233714aecc4b8099b2f63bd448dff..92526e1020d66a20e08638c78c2a13e865ccfcb5 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -63,12 +63,8 @@
fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
#if ENABLED(SENSORLESS_HOMING)
- #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperX);
- #endif
- #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperY);
- #endif
+ sensorless_homing_per_axis(X_AXIS);
+ sensorless_homing_per_axis(Y_AXIS);
#endif
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
@@ -76,12 +72,8 @@
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
#if ENABLED(SENSORLESS_HOMING)
- #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperX, false);
- #endif
- #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperY, false);
- #endif
+ sensorless_homing_per_axis(X_AXIS, false);
+ sensorless_homing_per_axis(Y_AXIS, false);
safe_delay(500); // Short delay needed to settle
#endif
}
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index d8c9f23a6c4d14258f127451e28142a350c011e2..ac5bd80e4ea6b6256e350c19c6ddba761b8ea915 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -718,8 +718,13 @@
#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
// Disable Z axis sensorless homing if a probe is used to home the Z axis
-#if ENABLED(SENSORLESS_HOMING) && HOMING_Z_WITH_PROBE
- #undef Z_HOMING_SENSITIVITY
+#if ENABLED(SENSORLESS_HOMING)
+ #define X_SENSORLESS (ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY))
+ #define Y_SENSORLESS (ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY))
+ #define Z_SENSORLESS (ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY))
+ #if HOMING_Z_WITH_PROBE
+ #undef Z_HOMING_SENSITIVITY
+ #endif
#endif
// Endstops and bed probe
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 46757044759a250e975d177a0a2387747003d862..af79dad8d3a8ffaf9601a1956b49ea8b19e10815 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -1557,6 +1557,15 @@ static_assert(1 >= 0
#error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP."
#endif
+ // Sensorless homing is required for both combined steppers in an H-bot
+ #if CORE_IS_XY && X_SENSORLESS != Y_SENSORLESS
+ #error "CoreXY requires both X and Y to use sensorless homing if either does."
+ #elif CORE_IS_XZ && X_SENSORLESS != Z_SENSORLESS
+ #error "CoreXZ requires both X and Z to use sensorless homing if either does."
+ #elif CORE_IS_YZ && Y_SENSORLESS != Z_SENSORLESS
+ #error "CoreYZ requires both Y and Z to use sensorless homing if either does."
+ #endif
+
#elif ENABLED(SENSORLESS_HOMING)
#error "SENSORLESS_HOMING requires TMC2130 stepper drivers."
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 1898c06065f2f16e51dbe93625cfacf25b002c45..3fb467d7e287addabf52c15dcc4b1fb091c01717 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -232,15 +232,9 @@ bool home_delta() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperX);
- #endif
- #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperY);
- #endif
- #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperZ);
- #endif
+ sensorless_homing_per_axis(X_AXIS);
+ sensorless_homing_per_axis(Y_AXIS);
+ sensorless_homing_per_axis(Z_AXIS);
#endif
// Move all carriages together linearly until an endstop is hit.
@@ -251,15 +245,9 @@ bool home_delta() {
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperX, false);
- #endif
- #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperY, false);
- #endif
- #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
- tmc_sensorless_homing(stepperZ, false);
- #endif
+ sensorless_homing_per_axis(X_AXIS, false);
+ sensorless_homing_per_axis(Y_AXIS, false);
+ sensorless_homing_per_axis(Z_AXIS, false);
#endif
// If an endstop was not hit, then damage can occur if homing is continued.
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index a3831ff98311386511cbcb28ea052c82397394db..819faf1ef65fb30fa9b0f8380656f41f6fd0b206 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -966,6 +966,48 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
return homing_feedrate(axis) / hbd;
}
+#if ENABLED(SENSORLESS_HOMING)
+
+ /**
+ * Set sensorless homing if the axis has it, accounting for Core Kinematics.
+ */
+ void sensorless_homing_per_axis(const AxisEnum axis, const bool enable/*=true*/) {
+ switch (axis) {
+ #if X_SENSORLESS
+ case X_AXIS:
+ tmc_sensorless_homing(stepperX, enable);
+ #if CORE_IS_XY && Y_SENSORLESS
+ tmc_sensorless_homing(stepperY, enable);
+ #elif CORE_IS_XZ && Z_SENSORLESS
+ tmc_sensorless_homing(stepperZ, enable);
+ #endif
+ break;
+ #endif
+ #if Y_SENSORLESS
+ case Y_AXIS:
+ tmc_sensorless_homing(stepperY, enable);
+ #if CORE_IS_XY && X_SENSORLESS
+ tmc_sensorless_homing(stepperX, enable);
+ #elif CORE_IS_YZ && Z_SENSORLESS
+ tmc_sensorless_homing(stepperZ, enable);
+ #endif
+ break;
+ #endif
+ #if Z_SENSORLESS
+ case Z_AXIS:
+ tmc_sensorless_homing(stepperZ, enable);
+ #if CORE_IS_XZ && X_SENSORLESS
+ tmc_sensorless_homing(stepperX, enable);
+ #elif CORE_IS_YZ && Y_SENSORLESS
+ tmc_sensorless_homing(stepperY, enable);
+ #endif
+ break;
+ #endif
+ }
+ }
+
+#endif // SENSORLESS_HOMING
+
/**
* Home an individual linear axis
*/
@@ -992,15 +1034,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
- if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
- #endif
- #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
- if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
- #endif
- #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
- if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ);
- #endif
+ sensorless_homing_per_axis(axis);
#endif
// Tell the planner the axis is at 0
@@ -1031,15 +1065,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
- if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
- #endif
- #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
- if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
- #endif
- #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
- if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ, false);
- #endif
+ sensorless_homing_per_axis(axis, false);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 3222f129905f669a973525aee167dee81390a99b..bb478d624b6940cee02e9018788763cab07d2ead 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -191,6 +191,10 @@ void set_axis_is_at_home(const AxisEnum axis);
void homeaxis(const AxisEnum axis);
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
+#if ENABLED(SENSORLESS_HOMING)
+ void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true);
+#endif
+
//
// Macros
//