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Enable Z axis and delta sensorless homing (#9516)

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This commit is contained in:
Thomas Moore
2018-02-08 04:20:44 -06:00
committed by Scott Lahteine
parent b2f8b4ada5
commit 1541224a81
50 changed files with 437 additions and 288 deletions
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125
Marlin/src/module/configuration_store.cpp
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@@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V50"
#define EEPROM_VERSION "V51"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@@ -216,7 +216,7 @@ typedef struct SettingsDataStruct {
// HAS_TRINAMIC
//
uint16_t tmc_stepper_current[11]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
int16_t tmc_sgt[2]; // M914 X Y
int16_t tmc_sgt[3]; // M914 X Y Z
//
// LIN_ADVANCE
@@ -720,21 +720,27 @@ void MarlinSettings::postprocess() {
//
int16_t thrs;
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
thrs = stepperX.sgt();
#else
thrs = 0;
#endif
EEPROM_WRITE(thrs);
#if ENABLED(Y_IS_TMC2130)
#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
thrs = stepperY.sgt();
#else
thrs = 0;
#endif
EEPROM_WRITE(thrs);
#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
thrs = stepperZ.sgt();
#else
thrs = 0;
#endif
EEPROM_WRITE(thrs);
#else
thrs = 0;
for (uint8_t q = 2; q--;) EEPROM_WRITE(thrs);
for (uint8_t q = 3; q--;) EEPROM_WRITE(thrs);
#endif
//
@@ -1251,25 +1257,40 @@ void MarlinSettings::postprocess() {
int16_t thrs;
#if ENABLED(SENSORLESS_HOMING)
EEPROM_READ(thrs);
if (!validating) {
#if ENABLED(X_IS_TMC2130)
stepperX.sgt(thrs);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(thrs);
#endif
}
#ifdef X_HOMING_SENSITIVITY
if (!validating) {
#if ENABLED(X_IS_TMC2130)
stepperX.sgt(thrs);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(thrs);
#endif
}
#endif
EEPROM_READ(thrs);
if (!validating) {
#if ENABLED(Y_IS_TMC2130)
stepperY.sgt(thrs);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(thrs);
#endif
}
#ifdef Y_HOMING_SENSITIVITY
if (!validating) {
#if ENABLED(Y_IS_TMC2130)
stepperY.sgt(thrs);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(thrs);
#endif
}
#endif
EEPROM_READ(thrs);
#ifdef Z_HOMING_SENSITIVITY
if (!validating) {
#if ENABLED(Z_IS_TMC2130)
stepperZ.sgt(thrs);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(thrs);
#endif
}
#endif
#else
for (uint8_t q = 0; q < 2; q++) EEPROM_READ(thrs);
for (uint8_t q = 0; q < 3; q++) EEPROM_READ(thrs);
#endif
//
@@ -1780,17 +1801,29 @@ void MarlinSettings::reset(
#endif
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
stepperX.sgt(X_HOMING_SENSITIVITY);
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#if ENABLED(Y_IS_TMC2130)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
@@ -2336,17 +2369,29 @@ void MarlinSettings::reset(
}
CONFIG_ECHO_START;
SERIAL_ECHOPGM_P(port, " M914");
#if ENABLED(X_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt());
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt());
#endif
#if ENABLED(X2_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.sgt());
#endif
#endif
#if ENABLED(X2_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.sgt());
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt());
#endif
#if ENABLED(Y2_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.sgt());
#endif
#endif
#if ENABLED(Y_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt());
#endif
#if ENABLED(X2_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.sgt());
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " Z ", stepperZ.sgt());
#endif
#if ENABLED(Z2_IS_TMC2130)
SERIAL_ECHOPAIR_P(port, " Z2 ", stepperZ2.sgt());
#endif
#endif
SERIAL_EOL_P(port);
#endif