Add TMC2130 sensorless probing

Marlin/Configuration_adv.h

@@ -1258,11 +1258,11 @@
   #define E5_HYBRID_THRESHOLD     30
 
   /**
-   * Use stallGuard2 to sense an obstacle and trigger an endstop.
-   * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
+   * Use StallGuard2 to sense an obstacle and trigger an endstop.
+   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
    * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
@@ -1271,10 +1271,18 @@
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
-  #if ENABLED(SENSORLESS_HOMING)
-    #define X_HOMING_SENSITIVITY  8
-    #define Y_HOMING_SENSITIVITY  8
-    //#define Z_HOMING_SENSITIVITY  8
+  /**
+   * Use StallGuard2 to probe the bed with the nozzle.
+   * 
+   * CAUTION: This could cause damage to machines that use a lead screw or threaded rod
+   *          to move the Z axis. Take extreme care when attempting to enable this feature.
+   */
+  //#define SENSORLESS_PROBING // TMC2130 only
+
+  #if ENABLED(SENSORLESS_HOMING) || ENABLED(SENSORLESS_PROBING)
+    #define X_STALL_SENSITIVITY  8
+    #define Y_STALL_SENSITIVITY  8
+    //#define Z_STALL_SENSITIVITY  8
   #endif
 
   /**

Marlin/src/config/default/Configuration_adv.h

@@ -1258,11 +1258,11 @@
   #define E5_HYBRID_THRESHOLD     30
 
   /**
-   * Use stallGuard2 to sense an obstacle and trigger an endstop.
-   * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
+   * Use StallGuard2 to sense an obstacle and trigger an endstop.
+   * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
    * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_STALL_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
@@ -1271,10 +1271,18 @@
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
-  #if ENABLED(SENSORLESS_HOMING)
-    #define X_HOMING_SENSITIVITY  8
-    #define Y_HOMING_SENSITIVITY  8
-    //#define Z_HOMING_SENSITIVITY  8
+  /**
+   * Use StallGuard2 to probe the bed with the nozzle.
+   * 
+   * CAUTION: This could cause damage to machines that use a lead screw or threaded rod
+   *          to move the Z axis. Take extreme care when attempting to enable this feature.
+   */
+  //#define SENSORLESS_PROBING // TMC2130 only
+
+  #if ENABLED(SENSORLESS_HOMING) || ENABLED(SENSORLESS_PROBING)
+    #define X_STALL_SENSITIVITY  8
+    #define Y_STALL_SENSITIVITY  8
+    //#define Z_STALL_SENSITIVITY  8
   #endif
 
   /**

Marlin/src/feature/tmc_util.cpp

@@ -663,9 +663,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
 
 #endif // TMC_DEBUG
 
-#if ENABLED(SENSORLESS_HOMING)
+#if USE_SENSORLESS
 
-  void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable/*=true*/) {
+  void tmc_stallguard(TMC2130Stepper &st, const bool enable/*=true*/) {
     st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
     #if ENABLED(STEALTHCHOP)
       st.stealthChop(!enable);
@@ -673,7 +673,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
     st.diag1_stall(enable ? 1 : 0);
   }
 
-#endif // SENSORLESS_HOMING
+#endif // USE_SENSORLESS
 
 #if HAS_DRIVER(TMC2130)
   #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)

Marlin/src/feature/tmc_util.h

@@ -128,8 +128,8 @@ void monitor_tmc_driver();
  *
  * Defined here because of limitations with templates and headers.
  */
-#if ENABLED(SENSORLESS_HOMING)
-  void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable=true);
+#if USE_SENSORLESS
+  void tmc_stallguard(TMC2130Stepper &st, const bool enable=true);
 #endif
 
 #if HAS_DRIVER(TMC2130)

Marlin/src/gcode/feature/trinamic/M911-M915.cpp

@@ -267,9 +267,9 @@ void GcodeSuite::M912() {
 #endif // HYBRID_THRESHOLD
 
 /**
- * M914: Set SENSORLESS_HOMING sensitivity.
+ * M914: Set StallGuard sensitivity.
  */
-#if ENABLED(SENSORLESS_HOMING)
+#if USE_SENSORLESS
   void GcodeSuite::M914() {
     #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
     #define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
@@ -346,7 +346,7 @@ void GcodeSuite::M912() {
       #endif
     }
   }
-#endif // SENSORLESS_HOMING
+#endif // USE_SENSORLESS
 
 /**
  * TMC Z axis calibration routine

Marlin/src/gcode/gcode.cpp

@@ -637,8 +637,8 @@ void GcodeSuite::process_parsed_command(
         #if ENABLED(HYBRID_THRESHOLD)
           case 913: M913(); break;                                // M913: Set HYBRID_THRESHOLD speed.
         #endif
-        #if ENABLED(SENSORLESS_HOMING)
-          case 914: M914(); break;                                // M914: Set SENSORLESS_HOMING sensitivity.
+        #if USE_SENSORLESS
+          case 914: M914(); break;                                // M914: Set StallGuard sensitivity.
         #endif
         #if ENABLED(TMC_Z_CALIBRATION)
           case 915: M915(); break;                                // M915: TMC Z axis calibration.

Marlin/src/gcode/gcode.h

@@ -229,7 +229,7 @@
  * M911 - Report stepper driver overtemperature pre-warn condition. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
  * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires at least one _DRIVER_TYPE defined as TMC2130/TMC2208/TMC2660)
  * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
- * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
+ * M914 - Set StallGuard sensitivity. (Requires SENSORLESS_HOMING or SENSORLESS_PROBING)
  *
  * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
@@ -780,7 +780,7 @@ private:
     #if ENABLED(HYBRID_THRESHOLD)
       static void M913();
     #endif
-    #if ENABLED(SENSORLESS_HOMING)
+    #if USE_SENSORLESS
       static void M914();
     #endif
     #if ENABLED(TMC_Z_CALIBRATION)

Marlin/src/inc/Conditionals_LCD.h

@@ -528,7 +528,7 @@
 /**
  * Set flags for enabled probes
  */
-#define HAS_BED_PROBE (ENABLED(FIX_MOUNTED_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_PROBE || ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE))
+#define HAS_BED_PROBE (ENABLED(FIX_MOUNTED_PROBE) || ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_PROBE || ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE) || ENABLED(SENSORLESS_PROBING))
 #define PROBE_SELECTED (HAS_BED_PROBE || ENABLED(PROBE_MANUALLY) || ENABLED(MESH_BED_LEVELING))
 
 #if !HAS_BED_PROBE

Marlin/src/inc/Conditionals_post.h

@@ -869,14 +869,15 @@
 #define AXIS_HAS_STEALTHCHOP(ST) ( AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2208) )
 #define AXIS_HAS_STALLGUARD(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
 
-#if ENABLED(SENSORLESS_HOMING)
+#define USE_SENSORLESS (ENABLED(SENSORLESS_HOMING) || ENABLED(SENSORLESS_PROBING))
+#if USE_SENSORLESS
   // Disable Z axis sensorless homing if a probe is used to home the Z axis
   #if HOMING_Z_WITH_PROBE
-    #undef Z_HOMING_SENSITIVITY
+    #undef Z_STALL_SENSITIVITY
   #endif
-  #define X_SENSORLESS (AXIS_HAS_STALLGUARD(X) && defined(X_HOMING_SENSITIVITY))
-  #define Y_SENSORLESS (AXIS_HAS_STALLGUARD(Y) && defined(Y_HOMING_SENSITIVITY))
-  #define Z_SENSORLESS (AXIS_HAS_STALLGUARD(Z) && defined(Z_HOMING_SENSITIVITY))
+  #define X_SENSORLESS (AXIS_HAS_STALLGUARD(X) && defined(X_STALL_SENSITIVITY))
+  #define Y_SENSORLESS (AXIS_HAS_STALLGUARD(Y) && defined(Y_STALL_SENSITIVITY))
+  #define Z_SENSORLESS (AXIS_HAS_STALLGUARD(Z) && defined(Z_STALL_SENSITIVITY))
 #endif
 
 // Endstops and bed probe

Marlin/src/inc/SanityCheck.h

@@ -895,7 +895,13 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
   /**
    * Require pin options and pins to be defined
    */
-  #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+  #if ENABLED(SENSORLESS_PROBING)
+    #if ENABLED(DELTA) && (!AXIS_DRIVER_TYPE_X(TMC2130) || !AXIS_DRIVER_TYPE_Y(TMC2130) || !AXIS_DRIVER_TYPE_Z(TMC2130))
+      #error "SENSORLESS_PROBING requires TMC2130 drivers on X, Y, and Z."
+    #elif !AXIS_DRIVER_TYPE_Z(TMC2130)
+      #error "SENSORLESS_PROBING requires a TMC2130 driver on Z."
+    #endif
+  #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
     #if ENABLED(Z_MIN_PROBE_ENDSTOP)
       #error "Enable only one option: Z_MIN_PROBE_ENDSTOP or Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN."
     #elif DISABLED(USE_ZMIN_PLUG)
@@ -1746,19 +1752,18 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
   #error "CoreYZ requires both Y and Z to use sensorless homing if either does."
 #endif
 
+// Other TMC feature requirements
 #if ENABLED(HYBRID_THRESHOLD) && DISABLED(STEALTHCHOP)
   #error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
-#endif
-#if ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2) && !AXIS_IS_TMC(Z3)
+#elif ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2) && !AXIS_IS_TMC(Z3)
   #error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
-#endif
-
-#if ENABLED(SENSORLESS_HOMING) && !HAS_STALLGUARD
-  #error "SENSORLESS_HOMING requires TMC2130 or TMC2660 stepper drivers."
-#endif
-#if ENABLED(STEALTHCHOP) && !HAS_STEALTHCHOP
+#elif ENABLED(SENSORLESS_HOMING) && !HAS_STALLGUARD
+  #error "SENSORLESS_HOMING requires TMC2130 stepper drivers."
+#elif ENABLED(SENSORLESS_PROBING) && !HAS_STALLGUARD
+  #error "SENSORLESS_PROBING requires TMC2130 stepper drivers."
+#elif ENABLED(STEALTHCHOP) && !HAS_STEALTHCHOP
   #error "STEALTHCHOP requires TMC2130 or TMC2208 stepper drivers."
- #endif
+#endif
 
 /**
  * Digipot requirement

Marlin/src/module/configuration_store.cpp

@@ -920,10 +920,10 @@ void MarlinSettings::postprocess() {
     EEPROM_WRITE(tmc_hybrid_threshold);
 
     //
-    // TMC2130 Sensorless homing threshold
+    // TMC2130 StallGuard threshold
     //
     int16_t tmc_sgt[XYZ] = {
-      #if ENABLED(SENSORLESS_HOMING)
+      #if USE_SENSORLESS
         #if X_SENSORLESS
           stepperX.sgt(),
         #else
@@ -1530,16 +1530,16 @@ void MarlinSettings::postprocess() {
       #endif
 
       /*
-       * TMC2130 Sensorless homing threshold.
+       * TMC2130 StallGuard threshold.
        * X and X2 use the same value
        * Y and Y2 use the same value
        * Z, Z2 and Z3 use the same value
        */
       int16_t tmc_sgt[XYZ];
       EEPROM_READ(tmc_sgt);
-      #if ENABLED(SENSORLESS_HOMING)
+      #if USE_SENSORLESS
         if (!validating) {
-          #ifdef X_HOMING_SENSITIVITY
+          #ifdef X_STALL_SENSITIVITY
             #if AXIS_HAS_STALLGUARD(X)
               stepperX.sgt(tmc_sgt[0]);
             #endif
@@ -1547,7 +1547,7 @@ void MarlinSettings::postprocess() {
               stepperX2.sgt(tmc_sgt[0]);
             #endif
           #endif
-          #ifdef Y_HOMING_SENSITIVITY
+          #ifdef Y_STALL_SENSITIVITY
             #if AXIS_HAS_STALLGUARD(Y)
               stepperY.sgt(tmc_sgt[1]);
             #endif
@@ -1555,7 +1555,7 @@ void MarlinSettings::postprocess() {
               stepperY2.sgt(tmc_sgt[1]);
             #endif
           #endif
-          #ifdef Z_HOMING_SENSITIVITY
+          #ifdef Z_STALL_SENSITIVITY
             #if AXIS_HAS_STALLGUARD(Z)
               stepperZ.sgt(tmc_sgt[2]);
             #endif
@@ -2120,7 +2120,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
     #if ENABLED(HYBRID_THRESHOLD)
       void say_M913(PORTARG_SOLO) { SERIAL_ECHOPGM_P(port, "  M913"); }
     #endif
-    #if ENABLED(SENSORLESS_HOMING)
+    #if USE_SENSORLESS
       void say_M914(PORTARG_SOLO) { SERIAL_ECHOPGM_P(port, "  M914"); }
     #endif
   #endif
@@ -2824,12 +2824,12 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       #endif // HYBRID_THRESHOLD
 
       /**
-       * TMC2130 Sensorless homing thresholds
+     * TMC2130 Sensorless homing thresholds
        */
-      #if ENABLED(SENSORLESS_HOMING)
+      #if USE_SENSORLESS
         if (!forReplay) {
           CONFIG_ECHO_START;
-          SERIAL_ECHOLNPGM_P(port, "Sensorless homing threshold:");
+          SERIAL_ECHOLNPGM_P(port, "TMC2130 StallGuard threshold:");
         }
         CONFIG_ECHO_START;
         #if X_SENSORLESS || Y_SENSORLESS || Z_SENSORLESS
@@ -2846,10 +2846,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
           SERIAL_EOL_P(port);
         #endif
 
-        #define HAS_X2_SENSORLESS (defined(X_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(X2))
-        #define HAS_Y2_SENSORLESS (defined(Y_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Y2))
-        #define HAS_Z2_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z2))
-        #define HAS_Z3_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z3))
+        #define HAS_X2_SENSORLESS (defined(X_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(X2))
+        #define HAS_Y2_SENSORLESS (defined(Y_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Y2))
+        #define HAS_Z2_SENSORLESS (defined(Z_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z2))
+        #define HAS_Z3_SENSORLESS (defined(Z_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z3))
         #if HAS_X2_SENSORLESS || HAS_Y2_SENSORLESS || HAS_Z2_SENSORLESS
           say_M914(PORTVAR_SOLO);
           SERIAL_ECHOPGM_P(port, " I1");
@@ -2871,7 +2871,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
           SERIAL_ECHOLNPAIR_P(port, " Z", stepperZ3.sgt());
         #endif
 
-      #endif // SENSORLESS_HOMING
+      #endif // USE_SENSORLESS
 
     #endif // HAS_TRINAMIC
 

Marlin/src/module/motion.cpp

@@ -981,31 +981,31 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
       default: break;
       #if X_SENSORLESS
         case X_AXIS:
-          tmc_sensorless_homing(stepperX, enable);
+          tmc_stallguard(stepperX, enable);
           #if CORE_IS_XY && Y_SENSORLESS
-            tmc_sensorless_homing(stepperY, enable);
+            tmc_stallguard(stepperY, enable);
           #elif CORE_IS_XZ && Z_SENSORLESS
-            tmc_sensorless_homing(stepperZ, enable);
+            tmc_stallguard(stepperZ, enable);
           #endif
           break;
       #endif
       #if Y_SENSORLESS
         case Y_AXIS:
-          tmc_sensorless_homing(stepperY, enable);
+          tmc_stallguard(stepperY, enable);
           #if CORE_IS_XY && X_SENSORLESS
-            tmc_sensorless_homing(stepperX, enable);
+            tmc_stallguard(stepperX, enable);
           #elif CORE_IS_YZ && Z_SENSORLESS
-            tmc_sensorless_homing(stepperZ, enable);
+            tmc_stallguard(stepperZ, enable);
           #endif
           break;
       #endif
       #if Z_SENSORLESS
         case Z_AXIS:
-          tmc_sensorless_homing(stepperZ, enable);
+          tmc_stallguard(stepperZ, enable);
           #if CORE_IS_XZ && X_SENSORLESS
-            tmc_sensorless_homing(stepperX, enable);
+            tmc_stallguard(stepperX, enable);
           #elif CORE_IS_YZ && Y_SENSORLESS
-            tmc_sensorless_homing(stepperY, enable);
+            tmc_stallguard(stepperY, enable);
           #endif
           break;
       #endif

Marlin/src/module/probe.cpp

@@ -58,6 +58,11 @@ float zprobe_zoffset; // Initialized by settings.load()
   #include "../module/servo.h"
 #endif
 
+#if ENABLED(SENSORLESS_PROBING)
+  #include "stepper.h"
+  #include "../feature/tmc_util.h"
+#endif
+
 #if ENABLED(Z_PROBE_SLED)
 
   #ifndef SLED_DOCKING_OFFSET
@@ -527,31 +532,58 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
     if (set_bltouch_deployed(true)) return true;
   #endif
 
+  // Disable stealthChop if used. Enable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_PROBING)
+    #if ENABLED(DELTA)
+      tmc_stallguard(stepperX);
+      tmc_stallguard(stepperY);
+    #endif
+    tmc_stallguard(stepperZ);
+  #endif
+
   #if QUIET_PROBING
     probing_pause(true);
   #endif
 
+  endstops.enable(true);
+
   // Move down until probe triggered
   do_blocking_move_to_z(z, fr_mm_s);
 
   // Check to see if the probe was triggered
-  const bool probe_triggered = TEST(endstops.trigger_state(),
-    #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
-      Z_MIN
+  const bool probe_triggered = 
+    #if ENABLED(DELTA) && ENABLED(SENSORLESS_PROBING)
+      endstops.trigger_state() & (_BV(X_MIN) | _BV(Y_MIN) | _BV(Z_MIN))
     #else
-      Z_MIN_PROBE
+      TEST(endstops.trigger_state(),
+        #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+          Z_MIN
+        #else
+          Z_MIN_PROBE
+        #endif
+      )
     #endif
-  );
+  ;
 
   #if QUIET_PROBING
     probing_pause(false);
   #endif
 
+  // Re-enable stealthChop if used. Disable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_PROBING)
+    #if ENABLED(DELTA)
+      tmc_stallguard(stepperX, false);
+      tmc_stallguard(stepperY, false);
+    #endif
+    tmc_stallguard(stepperZ, false);
+  #endif
+
   // Retract BLTouch immediately after a probe if it was triggered
   #if ENABLED(BLTOUCH)
     if (probe_triggered && set_bltouch_deployed(false)) return true;
   #endif
 
+  // Clear endstop flags
   endstops.hit_on_purpose();
 
   // Get Z where the steppers were interrupted
@@ -606,13 +638,11 @@ static float run_z_probe() {
     // move up to make clearance for the probe
     do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
 
-  #else
+  #elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
 
     // If the nozzle is well over the travel height then
     // move down quickly before doing the slow probe
-    float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0;
-    if (zprobe_zoffset < 0) z -= zprobe_zoffset;
-
+    const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (zprobe_zoffset < 0 ? -zprobe_zoffset : 0);
     if (current_position[Z_AXIS] > z) {
       // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
       if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))

Marlin/src/module/stepper_indirection.cpp

@@ -273,33 +273,33 @@
       { constexpr uint8_t extruder = 5; _TMC2130_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
     #endif
 
-    #if ENABLED(SENSORLESS_HOMING)
-      #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
+    #if USE_SENSORLESS
+      #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_STALL_SENSITIVITY);
       #if X_SENSORLESS
         #if AXIS_DRIVER_TYPE(X, TMC2130)
-          stepperX.sgt(X_HOMING_SENSITIVITY);
+          stepperX.sgt(X_STALL_SENSITIVITY);
         #endif
         #if AXIS_DRIVER_TYPE(X2, TMC2130)
-          stepperX2.sgt(X_HOMING_SENSITIVITY);
+          stepperX2.sgt(X_STALL_SENSITIVITY);
         #endif
       #endif
       #if Y_SENSORLESS
         #if AXIS_DRIVER_TYPE(Y, TMC2130)
-          stepperY.sgt(Y_HOMING_SENSITIVITY);
+          stepperY.sgt(Y_STALL_SENSITIVITY);
         #endif
         #if AXIS_DRIVER_TYPE(Y2, TMC2130)
-          stepperY2.sgt(Y_HOMING_SENSITIVITY);
+          stepperY2.sgt(Y_STALL_SENSITIVITY);
         #endif
       #endif
       #if Z_SENSORLESS
         #if AXIS_DRIVER_TYPE(Z, TMC2130)
-          stepperZ.sgt(Z_HOMING_SENSITIVITY);
+          stepperZ.sgt(Z_STALL_SENSITIVITY);
         #endif
         #if AXIS_DRIVER_TYPE(Z2, TMC2130)
-          stepperZ2.sgt(Z_HOMING_SENSITIVITY);
+          stepperZ2.sgt(Z_STALL_SENSITIVITY);
         #endif
         #if ENABLED(Z3_IS_TMC2130)
-          stepperZ3.sgt(Z_HOMING_SENSITIVITY);
+          stepperZ3.sgt(Z_STALL_SENSITIVITY);
         #endif
       #endif
     #endif

buildroot/share/tests/LPC1768_tests

@@ -60,5 +60,16 @@ opt_enable FAN_SOFT_PWM SDSUPPORT
 opt_enable USE_XMAX_PLUG
 exec_test $1 $2 "MKS SBASE Many less common options"
 
+restore_configs
+use_example_configs delta/generic
+opt_set MOTHERBOARD BOARD_COHESION3D_REMIX
+opt_enable AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 EEPROM_SETTINGS EEPROM_CHITCHAT
+opt_disable Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
+opt_set X_DRIVER_TYPE TMC2130
+opt_set Y_DRIVER_TYPE TMC2130
+opt_set Z_DRIVER_TYPE TMC2130
+opt_enable_adv TMC_USE_SW_SPI MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD TMC_DEBUG SENSORLESS_PROBING
+exec_test $1 $2 "Delta Config (generic) + BOARD_COHESION3D_REMIX + UBL + EEPROM_SETTINGS + SENSORLESS_PROBING"
+
 #clean up
 restore_configs

buildroot/share/tests/megaatmega2560_tests

@@ -296,6 +296,7 @@ opt_set X_DRIVER_TYPE TMC2208
 opt_set Y_DRIVER_TYPE TMC2208
 opt_set Z_DRIVER_TYPE TMC2208
 opt_set E0_DRIVER_TYPE TMC2208
+opt_disable Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
 opt_enable_adv MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD TMC_DEBUG
 exec_test $1 $2 "TMC2208 Config"
 #