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Fix DELTA + TMC sensorless homing + SPI endstops (#18811)

Victor Tseng 4 years ago
parent
commit
5d14c3712f
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2 changed files with 12 additions and 8 deletions
  1. 6
    8
      Marlin/src/module/delta.cpp
  2. 6
    0
      Marlin/src/module/motion.h

+ 6
- 8
Marlin/src/module/delta.cpp View File

242
 
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   // Disable stealthChop if used. Enable diag1 pin on driver.
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   // Disable stealthChop if used. Enable diag1 pin on driver.
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   #if ENABLED(SENSORLESS_HOMING)
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   #if ENABLED(SENSORLESS_HOMING)
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-    sensorless_t stealth_states {
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-      tmc_enable_stallguard(stepperX),
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-      tmc_enable_stallguard(stepperY),
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-      tmc_enable_stallguard(stepperZ)
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-    };
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+  TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
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+  TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
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+  TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
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   #endif
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   #endif
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   // Move all carriages together linearly until an endstop is hit.
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   // Move all carriages together linearly until an endstop is hit.
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254
 
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   // Re-enable stealthChop if used. Disable diag1 pin on driver.
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   // Re-enable stealthChop if used. Disable diag1 pin on driver.
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   #if ENABLED(SENSORLESS_HOMING)
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   #if ENABLED(SENSORLESS_HOMING)
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-    tmc_disable_stallguard(stepperX, stealth_states.x);
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-    tmc_disable_stallguard(stepperY, stealth_states.y);
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-    tmc_disable_stallguard(stepperZ, stealth_states.z);
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+  TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
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+  TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
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+  TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
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   #endif
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   #endif
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   endstops.validate_homing_move();
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   endstops.validate_homing_move();

+ 6
- 0
Marlin/src/module/motion.h View File

395
 #if HAS_M206_COMMAND
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 #if HAS_M206_COMMAND
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   void set_home_offset(const AxisEnum axis, const float v);
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   void set_home_offset(const AxisEnum axis, const float v);
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 #endif
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 #endif
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+
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+#if USE_SENSORLESS
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+  struct sensorless_t;
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+  sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis);
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+  void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth);
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+#endif

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