TMC2130 dual-stepper Sensorless Homing (#13061)

Marlin/src/feature/tmc_util.h

@@ -278,7 +278,7 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
 #if USE_SENSORLESS
   // Track enabled status of stealthChop and only re-enable where applicable
   struct sensorless_t {
-    bool x, y, z;
+    bool x, y, z, x2, y2, z2, z3;
   };
 
   bool tmc_enable_stallguard(TMC2130Stepper &st);

Marlin/src/gcode/calibrate/G28.cpp

@@ -71,9 +71,15 @@
                 fr_mm_s = MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
 
     #if ENABLED(SENSORLESS_HOMING)
-      sensorless_t stealth_states { false, false, false };
+      sensorless_t stealth_states { false, false, false, false, false, false, false };
       stealth_states.x = tmc_enable_stallguard(stepperX);
       stealth_states.y = tmc_enable_stallguard(stepperY);
+      #if AXIS_HAS_STALLGUARD(X2)
+        stealth_states.x2 = tmc_enable_stallguard(stepperX2);
+      #endif
+      #if AXIS_HAS_STALLGUARD(Y2)
+        stealth_states.y2 = tmc_enable_stallguard(stepperY2);
+      #endif
     #endif
 
     do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
@@ -85,6 +91,12 @@
     #if ENABLED(SENSORLESS_HOMING)
       tmc_disable_stallguard(stepperX, stealth_states.x);
       tmc_disable_stallguard(stepperY, stealth_states.y);
+      #if AXIS_HAS_STALLGUARD(X2)
+        tmc_disable_stallguard(stepperX2, stealth_states.x2);
+      #endif
+      #if AXIS_HAS_STALLGUARD(Y2)
+        tmc_disable_stallguard(stepperY2, stealth_states.y2);
+      #endif
     #endif
   }
 

Marlin/src/module/delta.cpp

@@ -222,7 +222,7 @@ void home_delta() {
 
   // Disable stealthChop if used. Enable diag1 pin on driver.
   #if ENABLED(SENSORLESS_HOMING)
-    sensorless_t stealth_states { false, false, false };
+    sensorless_t stealth_states { false, false, false, false, false, false, false };
     stealth_states.x = tmc_enable_stallguard(stepperX);
     stealth_states.y = tmc_enable_stallguard(stepperY);
     stealth_states.z = tmc_enable_stallguard(stepperZ);

Marlin/src/module/motion.cpp

@@ -1050,13 +1050,16 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
    * Set sensorless homing if the axis has it, accounting for Core Kinematics.
    */
   sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) {
-    sensorless_t stealth_states { false, false, false };
+    sensorless_t stealth_states { false, false, false, false, false, false, false };
 
     switch (axis) {
       default: break;
       #if X_SENSORLESS
         case X_AXIS:
           stealth_states.x = tmc_enable_stallguard(stepperX);
+          #if AXIS_HAS_STALLGUARD(X2)
+            stealth_states.x2 = tmc_enable_stallguard(stepperX2);
+          #endif
           #if CORE_IS_XY && Y_SENSORLESS
             stealth_states.y = tmc_enable_stallguard(stepperY);
           #elif CORE_IS_XZ && Z_SENSORLESS
@@ -1067,6 +1070,9 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
       #if Y_SENSORLESS
         case Y_AXIS:
           stealth_states.y = tmc_enable_stallguard(stepperY);
+          #if AXIS_HAS_STALLGUARD(Y2)
+            stealth_states.y2 = tmc_enable_stallguard(stepperY2);
+          #endif
           #if CORE_IS_XY && X_SENSORLESS
             stealth_states.x = tmc_enable_stallguard(stepperX);
           #elif CORE_IS_YZ && Z_SENSORLESS
@@ -1077,6 +1083,12 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
       #if Z_SENSORLESS
         case Z_AXIS:
           stealth_states.z = tmc_enable_stallguard(stepperZ);
+          #if AXIS_HAS_STALLGUARD(Z2)
+            stealth_states.z2 = tmc_enable_stallguard(stepperZ2);
+          #endif
+          #if AXIS_HAS_STALLGUARD(Z3)
+            stealth_states.z3 = tmc_enable_stallguard(stepperZ3);
+          #endif
           #if CORE_IS_XZ && X_SENSORLESS
             stealth_states.x = tmc_enable_stallguard(stepperX);
           #elif CORE_IS_YZ && Y_SENSORLESS
@@ -1094,6 +1106,9 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
       #if X_SENSORLESS
         case X_AXIS:
           tmc_disable_stallguard(stepperX, enable_stealth.x);
+          #if AXIS_HAS_STALLGUARD(X2)
+            tmc_disable_stallguard(stepperX2, enable_stealth.x2);
+          #endif
           #if CORE_IS_XY && Y_SENSORLESS
             tmc_disable_stallguard(stepperY, enable_stealth.y);
           #elif CORE_IS_XZ && Z_SENSORLESS
@@ -1104,6 +1119,9 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
       #if Y_SENSORLESS
         case Y_AXIS:
           tmc_disable_stallguard(stepperY, enable_stealth.y);
+          #if AXIS_HAS_STALLGUARD(Y2)
+            tmc_disable_stallguard(stepperY2, enable_stealth.y2);
+          #endif
           #if CORE_IS_XY && X_SENSORLESS
             tmc_disable_stallguard(stepperX, enable_stealth.x);
           #elif CORE_IS_YZ && Z_SENSORLESS
@@ -1114,6 +1132,12 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
       #if Z_SENSORLESS
         case Z_AXIS:
           tmc_disable_stallguard(stepperZ, enable_stealth.z);
+          #if AXIS_HAS_STALLGUARD(Z2)
+            tmc_disable_stallguard(stepperZ2, enable_stealth.z2);
+          #endif
+          #if AXIS_HAS_STALLGUARD(Z3)
+            tmc_disable_stallguard(stepperZ3, enable_stealth.z3);
+          #endif
           #if CORE_IS_XZ && X_SENSORLESS
             tmc_disable_stallguard(stepperX, enable_stealth.x);
           #elif CORE_IS_YZ && Y_SENSORLESS

Marlin/src/module/probe.cpp

@@ -551,7 +551,7 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
 
   // Disable stealthChop if used. Enable diag1 pin on driver.
   #if ENABLED(SENSORLESS_PROBING)
-    sensorless_t stealth_states { false, false, false };
+    sensorless_t stealth_states { false, false, false, false, false, false, false };
     #if ENABLED(DELTA)
       stealth_states.x = tmc_enable_stallguard(stepperX);
       stealth_states.y = tmc_enable_stallguard(stepperY);