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Trinamic: Split stealthChop, improve driver monitoring, etc. (#12582)

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teemuatlut
2018-12-07 23:34:21 +02:00
committed by Scott Lahteine
parent 055cb2b956
commit 50b2fbd031
77 changed files with 1671 additions and 290 deletions
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17
Marlin/src/module/delta.cpp
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@@ -206,14 +206,6 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
}
#if ENABLED(SENSORLESS_HOMING)
inline void delta_sensorless_homing(const bool on=true) {
sensorless_homing_per_axis(A_AXIS, on);
sensorless_homing_per_axis(B_AXIS, on);
sensorless_homing_per_axis(C_AXIS, on);
}
#endif
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
@@ -229,7 +221,10 @@ void home_delta() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
delta_sensorless_homing();
sensorless_t stealth_states { false, false, false };
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
stealth_states.z = tmc_enable_stallguard(stepperZ);
#endif
// Move all carriages together linearly until an endstop is hit.
@@ -239,7 +234,9 @@ void home_delta() {
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
delta_sensorless_homing(false);
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
tmc_disable_stallguard(stepperZ, stealth_states.z);
#endif
endstops.validate_homing_move();