Add Sensorless Homing current (MarlinFirmware#15690)

Author: danym21

Marlin/Configuration_adv.h

@@ -1822,94 +1822,101 @@
   #define INTERPOLATE       true  // Interpolate X/Y/Z_MICROSTEPS to 256
 
   #if AXIS_IS_TMC(X)
-    #define X_CURRENT     580  // (mA) RMS current. Multiply by 1.414 for peak current.
-    #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, ...
+    #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_MICROSTEPS  16
-    #define X2_RSENSE    0.11
-    #define X2_CHAIN_POS   -1
+    #define X2_CURRENT      800
+    #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     650
-    #define Y_MICROSTEPS   16
-    #define Y_RSENSE     0.11
-    #define Y_CHAIN_POS    -1
+    #define Y_CURRENT       800
+    #define Y_CURRENT_HOME  Y_CURRENT
+    #define Y_MICROSTEPS     16
+    #define Y_RSENSE          0.11
+    #define Y_CHAIN_POS      -1
   #endif
 
   #if AXIS_IS_TMC(Y2)
-    #define Y2_CURRENT    800
-    #define Y2_MICROSTEPS  16
-    #define Y2_RSENSE    0.11
-    #define Y2_CHAIN_POS   -1
+    #define Y2_CURRENT      800
+    #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     580
-    #define Z_MICROSTEPS   16
-    #define Z_RSENSE     0.11
-    #define Z_CHAIN_POS    -1
+    #define Z_CURRENT       800
+    #define Z_CURRENT_HOME  Z_CURRENT
+    #define Z_MICROSTEPS     16
+    #define Z_RSENSE          0.11
+    #define Z_CHAIN_POS      -1
   #endif
 
   #if AXIS_IS_TMC(Z2)
-    #define Z2_CURRENT    800
-    #define Z2_MICROSTEPS  16
-    #define Z2_RSENSE    0.11
-    #define Z2_CHAIN_POS   -1
+    #define Z2_CURRENT      800
+    #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_MICROSTEPS  16
-    #define Z3_RSENSE    0.11
-    #define Z3_CHAIN_POS   -1
+    #define Z3_CURRENT      800
+    #define Z3_CURRENT_HOME Z3_CURRENT
+    #define Z3_MICROSTEPS    16
+    #define Z3_RSENSE         0.11
+    #define Z3_CHAIN_POS     -1
   #endif
 
   #if AXIS_IS_TMC(E0)
-    #define E0_CURRENT    650
-    #define E0_MICROSTEPS  16
-    #define E0_RSENSE    0.11
-    #define E0_CHAIN_POS   -1
+    #define E0_CURRENT      800
+    #define E0_MICROSTEPS    16
+    #define E0_RSENSE         0.11
+    #define E0_CHAIN_POS     -1
   #endif
 
   #if AXIS_IS_TMC(E1)
-    #define E1_CURRENT    800
-    #define E1_MICROSTEPS  16
-    #define E1_RSENSE    0.11
-    #define E1_CHAIN_POS   -1
+    #define E1_CURRENT      800
+    #define E1_MICROSTEPS    16
+    #define E1_RSENSE         0.11
+    #define E1_CHAIN_POS     -1
   #endif
 
   #if AXIS_IS_TMC(E2)
-    #define E2_CURRENT    800
-    #define E2_MICROSTEPS  16
-    #define E2_RSENSE    0.11
-    #define E2_CHAIN_POS   -1
+    #define E2_CURRENT      800
+    #define E2_MICROSTEPS    16
+    #define E2_RSENSE         0.11
+    #define E2_CHAIN_POS     -1
   #endif
 
   #if AXIS_IS_TMC(E3)
-    #define E3_CURRENT    800
-    #define E3_MICROSTEPS  16
-    #define E3_RSENSE    0.11
-    #define E3_CHAIN_POS   -1
+    #define E3_CURRENT      800
+    #define E3_MICROSTEPS    16
+    #define E3_RSENSE         0.11
+    #define E3_CHAIN_POS     -1
   #endif
 
   #if AXIS_IS_TMC(E4)
-    #define E4_CURRENT    800
-    #define E4_MICROSTEPS  16
-    #define E4_RSENSE    0.11
-    #define E4_CHAIN_POS   -1
+    #define E4_CURRENT      800
+    #define E4_MICROSTEPS    16
+    #define E4_RSENSE         0.11
+    #define E4_CHAIN_POS     -1
   #endif
 
   #if AXIS_IS_TMC(E5)
-    #define E5_CURRENT    800
-    #define E5_MICROSTEPS  16
-    #define E5_RSENSE    0.11
-    #define E5_CHAIN_POS   -1
+    #define E5_CURRENT      800
+    #define E5_MICROSTEPS    16
+    #define E5_RSENSE         0.11
+    #define E5_CHAIN_POS     -1
   #endif
 
   /**
@@ -2083,6 +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
 

Marlin/src/gcode/calibrate/G28.cpp

@@ -230,6 +230,7 @@ void GcodeSuite::G28(const bool always_home_all) {
     }
   #endif
 
+  // Home (O)nly if position is unknown
   if (!homing_needed() && parser.boolval('O')) {
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip\n<<< G28");
     return;
@@ -256,6 +257,40 @@ void GcodeSuite::G28(const bool always_home_all) {
     workspace_plane = PLANE_XY;
   #endif
 
+  #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_current("X", tmc_save_current_X, X_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(X2)
+      const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
+      stepperX2.rms_current(X2_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current("X2", tmc_save_current_X2, X2_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(Y)
+      const int16_t tmc_save_current_Y = stepperY.getMilliamps();
+      stepperY.rms_current(Y_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current("Y", tmc_save_current_Y, Y_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(Y2)
+      const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
+      stepperY2.rms_current(Y2_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current("Y2", tmc_save_current_Y2, Y2_CURRENT_HOME);
+    #endif
+  #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
@@ -466,6 +501,27 @@ void GcodeSuite::G28(const bool always_home_all) {
     tool_change(old_tool_index, NO_FETCH);
   #endif
 
+  #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
+    #if HAS_CURRENT_HOME(X2)
+      stepperX2.rms_current(tmc_save_current_X2);
+    #endif
+    #if HAS_CURRENT_HOME(Y)
+      stepperY.rms_current(tmc_save_current_Y);
+    #endif
+    #if HAS_CURRENT_HOME(Y2)
+      stepperY2.rms_current(tmc_save_current_Y2);
+    #endif
+  #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();