From c3cb449990e037ca02826596d4b54aafa51db55c Mon Sep 17 00:00:00 2001
From: mattfredwill <mattfredwill@gmail.com>
Date: Sat, 2 Feb 2019 08:09:01 +0800
Subject: [PATCH] TMC2130 dual-stepper Sensorless Homing (#13061)
---
Marlin/src/feature/tmc_util.h | 2 +-
Marlin/src/gcode/calibrate/G28.cpp | 14 +++++++++++++-
Marlin/src/module/delta.cpp | 2 +-
Marlin/src/module/motion.cpp | 26 +++++++++++++++++++++++++-
Marlin/src/module/probe.cpp | 2 +-
5 files changed, 41 insertions(+), 5 deletions(-)
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index aa0962a2a2..a5cd94a0ab 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -278,7 +278,7 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
#if USE_SENSORLESS
// Track enabled status of stealthChop and only re-enable where applicable
struct sensorless_t {
- bool x, y, z;
+ bool x, y, z, x2, y2, z2, z3;
};
bool tmc_enable_stallguard(TMC2130Stepper &st);
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index defb0f62e7..149da19a8a 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -71,9 +71,15 @@
fr_mm_s = MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
#if ENABLED(SENSORLESS_HOMING)
- sensorless_t stealth_states { false, false, false };
+ sensorless_t stealth_states { false, false, false, false, false, false, false };
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
+ #if AXIS_HAS_STALLGUARD(X2)
+ stealth_states.x2 = tmc_enable_stallguard(stepperX2);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Y2)
+ stealth_states.y2 = tmc_enable_stallguard(stepperY2);
+ #endif
#endif
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
@@ -85,6 +91,12 @@
#if ENABLED(SENSORLESS_HOMING)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
+ #if AXIS_HAS_STALLGUARD(X2)
+ tmc_disable_stallguard(stepperX2, stealth_states.x2);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Y2)
+ tmc_disable_stallguard(stepperY2, stealth_states.y2);
+ #endif
#endif
}
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 114dfee198..7667c71344 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -222,7 +222,7 @@ void home_delta() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- sensorless_t stealth_states { false, false, false };
+ sensorless_t stealth_states { false, false, false, false, false, false, false };
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
stealth_states.z = tmc_enable_stallguard(stepperZ);
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 803ddbc8c0..3ec48b499f 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1050,13 +1050,16 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
* Set sensorless homing if the axis has it, accounting for Core Kinematics.
*/
sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) {
- sensorless_t stealth_states { false, false, false };
+ sensorless_t stealth_states { false, false, false, false, false, false, false };
switch (axis) {
default: break;
#if X_SENSORLESS
case X_AXIS:
stealth_states.x = tmc_enable_stallguard(stepperX);
+ #if AXIS_HAS_STALLGUARD(X2)
+ stealth_states.x2 = tmc_enable_stallguard(stepperX2);
+ #endif
#if CORE_IS_XY && Y_SENSORLESS
stealth_states.y = tmc_enable_stallguard(stepperY);
#elif CORE_IS_XZ && Z_SENSORLESS
@@ -1067,6 +1070,9 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
#if Y_SENSORLESS
case Y_AXIS:
stealth_states.y = tmc_enable_stallguard(stepperY);
+ #if AXIS_HAS_STALLGUARD(Y2)
+ stealth_states.y2 = tmc_enable_stallguard(stepperY2);
+ #endif
#if CORE_IS_XY && X_SENSORLESS
stealth_states.x = tmc_enable_stallguard(stepperX);
#elif CORE_IS_YZ && Z_SENSORLESS
@@ -1077,6 +1083,12 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
#if Z_SENSORLESS
case Z_AXIS:
stealth_states.z = tmc_enable_stallguard(stepperZ);
+ #if AXIS_HAS_STALLGUARD(Z2)
+ stealth_states.z2 = tmc_enable_stallguard(stepperZ2);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z3)
+ stealth_states.z3 = tmc_enable_stallguard(stepperZ3);
+ #endif
#if CORE_IS_XZ && X_SENSORLESS
stealth_states.x = tmc_enable_stallguard(stepperX);
#elif CORE_IS_YZ && Y_SENSORLESS
@@ -1094,6 +1106,9 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
#if X_SENSORLESS
case X_AXIS:
tmc_disable_stallguard(stepperX, enable_stealth.x);
+ #if AXIS_HAS_STALLGUARD(X2)
+ tmc_disable_stallguard(stepperX2, enable_stealth.x2);
+ #endif
#if CORE_IS_XY && Y_SENSORLESS
tmc_disable_stallguard(stepperY, enable_stealth.y);
#elif CORE_IS_XZ && Z_SENSORLESS
@@ -1104,6 +1119,9 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
#if Y_SENSORLESS
case Y_AXIS:
tmc_disable_stallguard(stepperY, enable_stealth.y);
+ #if AXIS_HAS_STALLGUARD(Y2)
+ tmc_disable_stallguard(stepperY2, enable_stealth.y2);
+ #endif
#if CORE_IS_XY && X_SENSORLESS
tmc_disable_stallguard(stepperX, enable_stealth.x);
#elif CORE_IS_YZ && Z_SENSORLESS
@@ -1114,6 +1132,12 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
#if Z_SENSORLESS
case Z_AXIS:
tmc_disable_stallguard(stepperZ, enable_stealth.z);
+ #if AXIS_HAS_STALLGUARD(Z2)
+ tmc_disable_stallguard(stepperZ2, enable_stealth.z2);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z3)
+ tmc_disable_stallguard(stepperZ3, enable_stealth.z3);
+ #endif
#if CORE_IS_XZ && X_SENSORLESS
tmc_disable_stallguard(stepperX, enable_stealth.x);
#elif CORE_IS_YZ && Y_SENSORLESS
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index a8b722feff..c3888f27f0 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -551,7 +551,7 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_PROBING)
- sensorless_t stealth_states { false, false, false };
+ sensorless_t stealth_states { false, false, false, false, false, false, false };
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
--
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