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⚡️ Improve Sensorless homing/probing accuracy for G28, G33, M48 (#24220)

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Co-Authored-By: Robby Candra <robbycandra.mail@gmail.com>
Co-Authored-By: ellensp <530024+ellensp@users.noreply.github.com>
This commit is contained in:
lujios 2022-06-03 07:19:25 +02:00 committed by Scott Lahteine
parent 047d0264c5
commit b7b2286e49
2 changed files with 26 additions and 17 deletions
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5
Marlin/src/inc/Conditionals_adv.h
View file

@ -1033,3 +1033,8 @@
#if ANY(DISABLE_INACTIVE_X, DISABLE_INACTIVE_Y, DISABLE_INACTIVE_Z, DISABLE_INACTIVE_I, DISABLE_INACTIVE_J, DISABLE_INACTIVE_K, DISABLE_INACTIVE_U, DISABLE_INACTIVE_V, DISABLE_INACTIVE_W, DISABLE_INACTIVE_E) #if ANY(DISABLE_INACTIVE_X, DISABLE_INACTIVE_Y, DISABLE_INACTIVE_Z, DISABLE_INACTIVE_I, DISABLE_INACTIVE_J, DISABLE_INACTIVE_K, DISABLE_INACTIVE_U, DISABLE_INACTIVE_V, DISABLE_INACTIVE_W, DISABLE_INACTIVE_E)
#define HAS_DISABLE_INACTIVE_AXIS 1 #define HAS_DISABLE_INACTIVE_AXIS 1
#endif #endif
// Delay Sensorless Homing/Probing
#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) && !defined(SENSORLESS_STALLGUARD_DELAY)
#define SENSORLESS_STALLGUARD_DELAY 0
#endif

38
Marlin/src/module/endstops.cpp
View file

@ -1365,46 +1365,50 @@ void Endstops::update() {
*/ */
void Endstops::set_homing_current(const bool onoff) { void Endstops::set_homing_current(const bool onoff) {
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT) #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#define _HOME_ELEM(N) HAS_CURRENT_HOME(N) || #define HAS_DELTA_X_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(X))
#if MAIN_AXIS_MAP(_HOME_ELEM) 0 #define HAS_DELTA_Y_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(Y))
#if ENABLED(DELTA) #if HAS_DELTA_X_CURRENT || HAS_DELTA_Y_CURRENT || HAS_CURRENT_HOME(Z)
static int16_t saved_current_X, saved_current_Y; #if HAS_DELTA_X_CURRENT
static int16_t saved_current_x;
#endif
#if HAS_DELTA_Y_CURRENT
static int16_t saved_current_y;
#endif #endif
#if HAS_CURRENT_HOME(Z) #if HAS_CURRENT_HOME(Z)
static int16_t saved_current_Z; static int16_t saved_current_z;
#endif #endif
auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) { auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) {
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); } if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); }
}; };
if (onoff) { if (onoff) {
#if HAS_DELTA_X_CURRENT #if HAS_DELTA_X_CURRENT
saved_current_X = stepperX.getMilliamps(); saved_current_x = stepperX.getMilliamps();
stepperX.rms_current(X_CURRENT_HOME); stepperX.rms_current(X_CURRENT_HOME);
debug_current_on(PSTR("X"), saved_current_X, X_CURRENT_HOME); debug_current_on(PSTR("X"), saved_current_x, X_CURRENT_HOME);
#endif #endif
#if HAS_DELTA_Y_CURRENT #if HAS_DELTA_Y_CURRENT
saved_current_Y = stepperY.getMilliamps(); saved_current_y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME); stepperY.rms_current(Y_CURRENT_HOME);
debug_current_on(PSTR("Y"), saved_current_Y, Y_CURRENT_HOME); debug_current_on(PSTR("Y"), saved_current_y, Y_CURRENT_HOME);
#endif #endif
#if HAS_CURRENT_HOME(Z) #if HAS_CURRENT_HOME(Z)
saved_current_Z = stepperZ.getMilliamps(); saved_current_z = stepperZ.getMilliamps();
stepperZ.rms_current(Z_CURRENT_HOME); stepperZ.rms_current(Z_CURRENT_HOME);
debug_current_on(PSTR("Z"), saved_current_Z, Z_CURRENT_HOME); debug_current_on(PSTR("Z"), saved_current_z, Z_CURRENT_HOME);
#endif #endif
} }
else { else {
#if HAS_DELTA_X_CURRENT #if HAS_DELTA_X_CURRENT
stepperX.rms_current(saved_current_X); stepperX.rms_current(saved_current_x);
debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_X); debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_x);
#endif #endif
#if HAS_DELTA_Y_CURRENT #if HAS_DELTA_Y_CURRENT
stepperY.rms_current(saved_current_Y); stepperY.rms_current(saved_current_y);
debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_Y); debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_y);
#endif #endif
#if HAS_CURRENT_HOME(Z) #if HAS_CURRENT_HOME(Z)
stepperZ.rms_current(saved_current_Z); stepperZ.rms_current(saved_current_z);
debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_Z); debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_z);
#endif #endif
} }