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⚡️ Improve Sensorless homing/probing for G28, G33 (#21899)

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This commit is contained in:
lujios
2021-07-13 02:19:29 +02:00
committed by Scott Lahteine
parent 399a240f84
commit ee54cd4bd7
10 changed files with 197 additions and 25 deletions
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18
Marlin/src/gcode/calibrate/G28.cpp
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@@ -167,12 +167,15 @@
motion_state_t begin_slow_homing() {
motion_state_t motion_state{0};
motion_state.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS],
planner.settings.max_acceleration_mm_per_s2[Y_AXIS]);
planner.settings.max_acceleration_mm_per_s2[Y_AXIS]
OPTARG(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS])
);
planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = 100);
#if HAS_CLASSIC_JERK
motion_state.jerk_state = planner.max_jerk;
planner.max_jerk.set(0, 0);
planner.max_jerk.set(0, 0 OPTARG(DELTA, 0));
#endif
planner.reset_acceleration_rates();
return motion_state;
@@ -181,6 +184,7 @@
void end_slow_homing(const motion_state_t &motion_state) {
planner.settings.max_acceleration_mm_per_s2[X_AXIS] = motion_state.acceleration.x;
planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = motion_state.acceleration.y;
TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = motion_state.acceleration.z);
TERN_(HAS_CLASSIC_JERK, planner.max_jerk = motion_state.jerk_state);
planner.reset_acceleration_rates();
}
@@ -259,7 +263,7 @@ void GcodeSuite::G28() {
reset_stepper_timeout();
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2)
#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z))
#define HAS_HOMING_CURRENT 1
#endif
@@ -287,6 +291,11 @@ void GcodeSuite::G28() {
stepperY2.rms_current(Y2_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("Y2"), tmc_save_current_Y2, Y2_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
const int16_t tmc_save_current_Z = stepperZ.getMilliamps();
stepperZ.rms_current(Z_CURRENT_HOME);
if (DEBUGGING(LEVELING)) debug_current(PSTR("Z"), tmc_save_current_Z, Z_CURRENT_HOME);
#endif
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
@@ -497,6 +506,9 @@ void GcodeSuite::G28() {
#if HAS_CURRENT_HOME(Y2)
stepperY2.rms_current(tmc_save_current_Y2);
#endif
#if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
stepperZ.rms_current(tmc_save_current_Z);
#endif
#if HAS_CURRENT_HOME(I)
stepperI.rms_current(tmc_save_current_I);
#endif