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Add Sensorless Homing current #15690

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merged 8 commits into from
Nov 11, 2019
Merged

Add Sensorless Homing current #15690

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77f84de
Update Configuration_adv.h
danym21 Oct 27, 2019
2c7184f
Update G28.cpp
danym21 Oct 27, 2019
afa37d2
Merge branch 'bugfix-2.0.x' into bugfix-2.0.x
danym21 Oct 27, 2019
0d5d524
Update Configuration_adv.h
thinkyhead Nov 10, 2019
5584f36
Apply home current to examples
thinkyhead Nov 10, 2019
0a3d0b4
Merge remote-tracking branch 'upstream/bugfix-2.0.x' into bf2_stall_c…
thinkyhead Nov 10, 2019
616def4
Option adjustments
thinkyhead Nov 10, 2019
aa640b5
Covered by end_slow_homing
thinkyhead Nov 11, 2019
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23 changes: 11 additions & 12 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1822,56 +1822,56 @@
#define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256

#if AXIS_IS_TMC(X)
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME 400 // (mA) RMS current for sensorless homing
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing
#define X_MICROSTEPS 16 // 0..256
#define X_RSENSE 0.11
#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
#endif

#if AXIS_IS_TMC(X2)
#define X2_CURRENT 800
#define X2_CURRENT_HOME 400
#define X2_CURRENT_HOME X2_CURRENT
#define X2_MICROSTEPS 16
#define X2_RSENSE 0.11
#define X2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Y)
#define Y_CURRENT 800
#define Y_CURRENT_HOME 400
#define Y_CURRENT_HOME Y_CURRENT
#define Y_MICROSTEPS 16
#define Y_RSENSE 0.11
#define Y_CHAIN_POS 0
#define Y_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Y2)
#define Y2_CURRENT 800
#define Y2_CURRENT_HOME 400
#define Y2_CURRENT_HOME Y2_CURRENT
#define Y2_MICROSTEPS 16
#define Y2_RSENSE 0.11
#define Y2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z)
#define Z_CURRENT 800
#define Z_CURRENT_HOME 400
#define Z_CURRENT_HOME Z_CURRENT
#define Z_MICROSTEPS 16
#define Z_RSENSE 0.11
#define Z_CHAIN_POS 0
#define Z_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z2)
#define Z2_CURRENT 800
#define Z2_CURRENT_HOME 400
#define Z2_CURRENT_HOME Z2_CURRENT
#define Z2_MICROSTEPS 16
#define Z2_RSENSE 0.11
#define Z2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z3)
#define Z3_CURRENT 800
#define Z3_CURRENT_HOME 400
#define Z3_CURRENT_HOME Z3_CURRENT
#define Z3_MICROSTEPS 16
#define Z3_RSENSE 0.11
#define Z3_CHAIN_POS -1
Expand Down Expand Up @@ -2090,8 +2090,7 @@
#define Y_STALL_SENSITIVITY 8
//#define Z_STALL_SENSITIVITY 8
//#define SPI_ENDSTOPS // TMC2130 only
#define USE_HOMING_CURRENT // Use different driver current for sensorless homing
#define USE_SPREADCYCLE_FOR_HOMING // Use spreadCycle when homing
//#define HOME_USING_SPREADCYCLE
//#define IMPROVE_HOMING_RELIABILITY
#endif

Expand Down
90 changes: 38 additions & 52 deletions Marlin/src/gcode/calibrate/G28.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,13 +54,6 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"

#if ENABLED(USE_HOMING_CURRENT)
int16_t TMC_SAVE_CURRENT_X;
int16_t TMC_SAVE_CURRENT_X2;
int16_t TMC_SAVE_CURRENT_Y;
int16_t TMC_SAVE_CURRENT_Y2;
#endif

#if ENABLED(QUICK_HOME)

static void quick_home_xy() {
Expand Down Expand Up @@ -263,42 +256,40 @@ void GcodeSuite::G28(const bool always_home_all) {
workspace_plane = PLANE_XY;
#endif

#if ENABLED(USE_HOMING_CURRENT)
#ifdef X_CURRENT_HOME
TMC_SAVE_CURRENT_X = stepperX.getMilliamps();
SERIAL_ECHOLN(TMC_SAVE_CURRENT_X);
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#define HAS_HOMING_CURRENT (HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2))

#if HAS_HOMING_CURRENT
auto debug_current = [](const char * const s, const int16_t a, const int16_t b){
DEBUG_ECHO(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b);
};
#if HAS_CURRENT_HOME(X)
const int16_t tmc_save_current_X = stepperX.getMilliamps();
stepperX.rms_current(X_CURRENT_HOME);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("changing X current:\n old: " STRINGIFY(TMC_SAVE_CURRENT_X) "\n new:" STRINGIFY(X_CURRENT_HOME));
if (DEBUGGING(LEVELING)) debug_current("X", tmc_save_current_X, X_CURRENT_HOME);
#endif

#ifdef X2_CURRENT_HOME
TMC_SAVE_CURRENT_X2 = stepperX2.getMilliamps();
SERIAL_ECHOLN(TMC_SAVE_CURRENT_X2);
#if HAS_CURRENT_HOME(X2)
const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
stepperX2.rms_current(X2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("changing X2 current:\n old: " STRINGIFY(TMC_SAVE_CURRENT_X2) "\n new:" STRINGIFY(X2_CURRENT_HOME));
if (DEBUGGING(LEVELING)) debug_current("X2", tmc_save_current_X2, X2_CURRENT_HOME);
#endif

#ifdef Y_CURRENT_HOME
TMC_SAVE_CURRENT_Y = stepperY.getMilliamps();
SERIAL_ECHOLN(TMC_SAVE_CURRENT_Y);
#if HAS_CURRENT_HOME(Y)
const int16_t tmc_save_current_Y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("changing Y current:\n old: " STRINGIFY(TMC_SAVE_CURRENT_Y) "\n new:" STRINGIFY(Y_CURRENT_HOME));
if (DEBUGGING(LEVELING)) debug_current("Y", tmc_save_current_Y, Y_CURRENT_HOME);
#endif

#ifdef Y2_CURRENT_HOME
TMC_SAVE_CURRENT_Y2 = stepperY2.getMilliamps();
SERIAL_ECHOLN(TMC_SAVE_CURRENT_Y2);
#if HAS_CURRENT_HOME(Y2)
const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
stepperY2.rms_current(Y2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("changing Y2 current:\n old: " STRINGIFY(TMC_SAVE_CURRENT_Y2) "\n new:" STRINGIFY(Y2_CURRENT_HOME))
if (DEBUGGING(LEVELING)) debug_current("Y2", tmc_save_current_Y2, Y2_CURRENT_HOME);
#endif
#endif

#if ENABLED(STEALTHCHOP_XY)
#if ENABLED(USE_SPREADCYCLE_FOR_HOMING)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("change driver XY to spreadCycle");
process_subcommands_now_P(PSTR("M569 S0 X Y"));
#endif
#if BOTH(STEALTHCHOP_XY, HOME_USING_SPREADCYCLE)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set XY to spreadCycle...");
process_subcommands_now_P(PSTR("M569S0XY"));
#endif

#if ENABLED(IMPROVE_HOMING_RELIABILITY)
slow_homing_t slow_homing = begin_slow_homing();
#endif
Expand Down Expand Up @@ -520,32 +511,27 @@ void GcodeSuite::G28(const bool always_home_all) {
planner.reset_acceleration_rates();
#endif

#if ENABLED(USE_HOMING_CURRENT)
#ifdef X_CURRENT_HOME
SERIAL_ECHOLN(TMC_SAVE_CURRENT_X);
stepperX.rms_current(TMC_SAVE_CURRENT_X);
#if HAS_HOMING_CURRENT
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore driver current...");
#if HAS_CURRENT_HOME(X)
stepperX.rms_current(tmc_save_current_X);
#endif
#ifdef X2_CURRENT_HOME
SERIAL_ECHOLN(TMC_SAVE_CURRENT_X2);
stepperX2.rms_current(TMC_SAVE_CURRENT_X2);
#if HAS_CURRENT_HOME(X2)
stepperX2.rms_current(tmc_save_current_X2);
#endif
#ifdef Y_CURRENT_HOME
SERIAL_ECHOLN(TMC_SAVE_CURRENT_Y);
stepperY.rms_current(TMC_SAVE_CURRENT_Y);
#if HAS_CURRENT_HOME(Y)
stepperY.rms_current(tmc_save_current_Y);
#endif
#ifdef Y2_CURRENT_HOME
SERIAL_ECHOLN(TMC_SAVE_CURRENT_Y2);
stepperY2.rms_current(TMC_SAVE_CURRENT_Y2);
#if HAS_CURRENT_HOME(Y2)
stepperY2.rms_current(tmc_save_current_Y2);
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Driver current restored.");
#endif

#if ENABLED(STEALTHCHOP_XY)
#if ENABLED(USE_SPREADCYCLE_FOR_HOMING)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("change driver XY back to StealthChop");
process_subcommands_now_P(PSTR("M569 S1 X Y"));
#endif

#if BOTH(STEALTHCHOP_XY, HOME_USING_SPREADCYCLE)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set XY to StealthChop...");
process_subcommands_now_P(PSTR("M569S1XY"));
#endif

ui.refresh();

report_current_position();
Expand Down
21 changes: 11 additions & 10 deletions config/default/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1822,56 +1822,56 @@
#define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256

#if AXIS_IS_TMC(X)
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME 400 // (mA) RMS current for sensorless homing
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing
#define X_MICROSTEPS 16 // 0..256
#define X_RSENSE 0.11
#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
#endif

#if AXIS_IS_TMC(X2)
#define X2_CURRENT 800
#define X2_CURRENT_HOME 400
#define X2_CURRENT_HOME X2_CURRENT
#define X2_MICROSTEPS 16
#define X2_RSENSE 0.11
#define X2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Y)
#define Y_CURRENT 800
#define Y_CURRENT_HOME 400
#define Y_CURRENT_HOME Y_CURRENT
#define Y_MICROSTEPS 16
#define Y_RSENSE 0.11
#define Y_CHAIN_POS 0
#define Y_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Y2)
#define Y2_CURRENT 800
#define Y2_CURRENT_HOME 400
#define Y2_CURRENT_HOME Y2_CURRENT
#define Y2_MICROSTEPS 16
#define Y2_RSENSE 0.11
#define Y2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z)
#define Z_CURRENT 800
#define Z_CURRENT_HOME 400
#define Z_CURRENT_HOME Z_CURRENT
#define Z_MICROSTEPS 16
#define Z_RSENSE 0.11
#define Z_CHAIN_POS 0
#define Z_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z2)
#define Z2_CURRENT 800
#define Z2_CURRENT_HOME 400
#define Z2_CURRENT_HOME Z2_CURRENT
#define Z2_MICROSTEPS 16
#define Z2_RSENSE 0.11
#define Z2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z3)
#define Z3_CURRENT 800
#define Z3_CURRENT_HOME 400
#define Z3_CURRENT_HOME Z3_CURRENT
#define Z3_MICROSTEPS 16
#define Z3_RSENSE 0.11
#define Z3_CHAIN_POS -1
Expand Down Expand Up @@ -2090,6 +2090,7 @@
#define Y_STALL_SENSITIVITY 8
//#define Z_STALL_SENSITIVITY 8
//#define SPI_ENDSTOPS // TMC2130 only
//#define HOME_USING_SPREADCYCLE
//#define IMPROVE_HOMING_RELIABILITY
#endif

Expand Down
21 changes: 11 additions & 10 deletions config/examples/3DFabXYZ/Migbot/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1822,56 +1822,56 @@
#define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256

#if AXIS_IS_TMC(X)
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME 400 // (mA) RMS current for sensorless homing
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing
#define X_MICROSTEPS 16 // 0..256
#define X_RSENSE 0.11
#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
#endif

#if AXIS_IS_TMC(X2)
#define X2_CURRENT 800
#define X2_CURRENT_HOME 400
#define X2_CURRENT_HOME X2_CURRENT
#define X2_MICROSTEPS 16
#define X2_RSENSE 0.11
#define X2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Y)
#define Y_CURRENT 800
#define Y_CURRENT_HOME 400
#define Y_CURRENT_HOME Y_CURRENT
#define Y_MICROSTEPS 16
#define Y_RSENSE 0.11
#define Y_CHAIN_POS 0
#define Y_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Y2)
#define Y2_CURRENT 800
#define Y2_CURRENT_HOME 400
#define Y2_CURRENT_HOME Y2_CURRENT
#define Y2_MICROSTEPS 16
#define Y2_RSENSE 0.11
#define Y2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z)
#define Z_CURRENT 800
#define Z_CURRENT_HOME 400
#define Z_CURRENT_HOME Z_CURRENT
#define Z_MICROSTEPS 16
#define Z_RSENSE 0.11
#define Z_CHAIN_POS 0
#define Z_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z2)
#define Z2_CURRENT 800
#define Z2_CURRENT_HOME 400
#define Z2_CURRENT_HOME Z2_CURRENT
#define Z2_MICROSTEPS 16
#define Z2_RSENSE 0.11
#define Z2_CHAIN_POS -1
#endif

#if AXIS_IS_TMC(Z3)
#define Z3_CURRENT 800
#define Z3_CURRENT_HOME 400
#define Z3_CURRENT_HOME Z3_CURRENT
#define Z3_MICROSTEPS 16
#define Z3_RSENSE 0.11
#define Z3_CHAIN_POS -1
Expand Down Expand Up @@ -2090,6 +2090,7 @@
#define Y_STALL_SENSITIVITY 8
//#define Z_STALL_SENSITIVITY 8
//#define SPI_ENDSTOPS // TMC2130 only
//#define HOME_USING_SPREADCYCLE
//#define IMPROVE_HOMING_RELIABILITY
#endif

Expand Down
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