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

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lujios 2021-07-13 02:19:29 +02:00 committed by GitHub
parent 4febb23521
commit 05ebde3812
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 197 additions and 25 deletions
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6
Marlin/src/MarlinCore.cpp
View file

@ -828,10 +828,8 @@ void idle(bool no_stepper_sleep/*=false*/) {
// Run StallGuard endstop checks
#if ENABLED(SPI_ENDSTOPS)
if (endstops.tmc_spi_homing.any
&& TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period))
) LOOP_L_N(i, 4) // Read SGT 4 times per idle loop
if (endstops.tmc_spi_homing_check()) break;
if (endstops.tmc_spi_homing.any && TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period)))
LOOP_L_N(i, 4) if (endstops.tmc_spi_homing_check()) break; // Read SGT 4 times per idle loop
#endif
// Handle SD Card insert / remove

7
Marlin/src/feature/tmc_util.h
View file

@ -360,13 +360,6 @@ void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
extern millis_t sg_guard_period;
constexpr uint16_t default_sg_guard_duration = 400;
struct motion_state_t {
xy_ulong_t acceleration;
#if HAS_CLASSIC_JERK
xy_float_t jerk_state;
#endif
};
#endif
bool tmc_enable_stallguard(TMC2130Stepper &st);

18
Marlin/src/gcode/calibrate/G28.cpp
View file

@ -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

16
Marlin/src/gcode/calibrate/G33.cpp
View file

@ -71,7 +71,9 @@ float lcd_probe_pt(const xy_pos_t &xy);
void ac_home() {
endstops.enable(true);
TERN_(SENSORLESS_HOMING, probe.set_homing_current(true));
home_delta();
TERN_(SENSORLESS_HOMING, probe.set_homing_current(false));
endstops.not_homing();
}
@ -384,6 +386,12 @@ static float auto_tune_a() {
* V3 Report settings and probe results
*
* E Engage the probe for each point
*
* With SENSORLESS_PROBING:
* Use these flags to calibrate stall sensitivity: (e.g., `G33 P1 Y Z` to calibrate X only.)
* X Don't activate stallguard on X.
* Y Don't activate stallguard on Y.
* Z Don't activate stallguard on Z.
*/
void GcodeSuite::G33() {
@ -417,6 +425,12 @@ void GcodeSuite::G33() {
const bool stow_after_each = parser.seen_test('E');
#if ENABLED(SENSORLESS_PROBING)
probe.test_sensitivity.x = !parser.seen_test('X');
TERN_(HAS_Y_AXIS, probe.test_sensitivity.y = !parser.seen_test('Y'));
TERN_(HAS_Z_AXIS, probe.test_sensitivity.z = !parser.seen_test('Z'));
#endif
const bool _0p_calibration = probe_points == 0,
_1p_calibration = probe_points == 1 || probe_points == -1,
_4p_calibration = probe_points == 2,
@ -587,7 +601,7 @@ void GcodeSuite::G33() {
// print report
if (verbose_level == 3)
if (verbose_level == 3 || verbose_level == 0)
print_calibration_results(z_at_pt, _tower_results, _opposite_results);
if (verbose_level != 0) { // !dry run

1
Marlin/src/module/delta.cpp
View file

@ -254,6 +254,7 @@ void home_delta() {
current_position.z = DIFF_TERN(HAS_BED_PROBE, delta_height + 10, probe.offset.z);
line_to_current_position(homing_feedrate(Z_AXIS));
planner.synchronize();
TERN_(SENSORLESS_PROBING,endstops.report_states());
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING) && DISABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)

12
Marlin/src/module/endstops.cpp
View file

@ -595,9 +595,15 @@ void _O2 Endstops::report_states() {
// The following routines are called from an ISR context. It could be the temperature ISR, the
// endstop ISR or the Stepper ISR.
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#if BOTH(DELTA, SENSORLESS_PROBING)
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_MAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_MAX_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_MAX_ENDSTOP_INVERTING
#else
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#endif
// Check endstops - Could be called from Temperature ISR!
void Endstops::update() {

28
Marlin/src/module/planner.cpp
View file

@ -1527,6 +1527,34 @@ void Planner::check_axes_activity() {
}
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
void Planner::enable_stall_prevention(const bool onoff) {
static motion_state_t saved_motion_state;
if (onoff) {
saved_motion_state.acceleration.x = settings.max_acceleration_mm_per_s2[X_AXIS];
saved_motion_state.acceleration.y = settings.max_acceleration_mm_per_s2[Y_AXIS];
settings.max_acceleration_mm_per_s2[X_AXIS] = settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
#if ENABLED(DELTA)
saved_motion_state.acceleration.z = settings.max_acceleration_mm_per_s2[Z_AXIS];
settings.max_acceleration_mm_per_s2[Z_AXIS] = 100;
#endif
#if HAS_CLASSIC_JERK
saved_motion_state.jerk_state = max_jerk;
max_jerk.set(0, 0 OPTARG(DELTA, 0));
#endif
}
else {
settings.max_acceleration_mm_per_s2[X_AXIS] = saved_motion_state.acceleration.x;
settings.max_acceleration_mm_per_s2[Y_AXIS] = saved_motion_state.acceleration.y;
TERN_(DELTA, settings.max_acceleration_mm_per_s2[Z_AXIS] = saved_motion_state.acceleration.z);
TERN_(HAS_CLASSIC_JERK, max_jerk = saved_motion_state.jerk_state);
}
reset_acceleration_rates();
}
#endif
#if HAS_LEVELING
constexpr xy_pos_t level_fulcrum = {

13
Marlin/src/module/planner.h
View file

@ -281,6 +281,15 @@ typedef struct {
min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
} planner_settings_t;
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
struct motion_state_t {
TERN(DELTA, xyz_ulong_t, xy_ulong_t) acceleration;
#if HAS_CLASSIC_JERK
TERN(DELTA, xyz_float_t, xy_float_t) jerk_state;
#endif
};
#endif
#if DISABLED(SKEW_CORRECTION)
#define XY_SKEW_FACTOR 0
#define XZ_SKEW_FACTOR 0
@ -532,6 +541,10 @@ class Planner {
}
#endif
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
void enable_stall_prevention(const bool onoff);
#endif
#if DISABLED(NO_VOLUMETRICS)
// Update multipliers based on new diameter measurements

109
Marlin/src/module/probe.cpp
View file

@ -68,7 +68,7 @@
#include "servo.h"
#endif
#if ENABLED(SENSORLESS_PROBING)
#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
#include "stepper.h"
#include "../feature/tmc_util.h"
#endif
@ -92,6 +92,10 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
const xy_pos_t &Probe::offset_xy = Probe::offset;
#endif
#if ENABLED(SENSORLESS_PROBING)
Probe::sense_bool_t Probe::test_sensitivity;
#endif
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@ -493,11 +497,12 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#if ENABLED(SENSORLESS_PROBING)
sensorless_t stealth_states { false };
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
if (probe.test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
if (probe.test_sensitivity.y) stealth_states.y = tmc_enable_stallguard(stepperY);
#endif
stealth_states.z = tmc_enable_stallguard(stepperZ);
if (probe.test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
endstops.enable(true);
set_homing_current(true); // The "homing" current also applies to probing
#endif
TERN_(HAS_QUIET_PROBING, set_probing_paused(true));
@ -520,10 +525,11 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) {
#if ENABLED(SENSORLESS_PROBING)
endstops.not_homing();
#if ENABLED(DELTA)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
if (probe.test_sensitivity.x) tmc_disable_stallguard(stepperX, stealth_states.x);
if (probe.test_sensitivity.y) tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
tmc_disable_stallguard(stepperZ, stealth_states.z);
if (probe.test_sensitivity.z) tmc_disable_stallguard(stepperZ, stealth_states.z);
set_homing_current(false);
#endif
if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger
@ -815,4 +821,93 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
#endif // HAS_Z_SERVO_PROBE
#if EITHER(SENSORLESS_PROBING, SENSORLESS_HOMING)
sensorless_t stealth_states { false };
/**
* Disable stealthChop if used. Enable diag1 pin on driver.
*/
void Probe::enable_stallguard_diag1() {
#if ENABLED(SENSORLESS_PROBING)
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
#endif
stealth_states.z = tmc_enable_stallguard(stepperZ);
endstops.enable(true);
#endif
}
/**
* Re-enable stealthChop if used. Disable diag1 pin on driver.
*/
void Probe::disable_stallguard_diag1() {
#if ENABLED(SENSORLESS_PROBING)
endstops.not_homing();
#if ENABLED(DELTA)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
tmc_disable_stallguard(stepperZ, stealth_states.z);
#endif
}
/**
* Change the current in the TMC drivers to N##_CURRENT_HOME. And we save the current configuration of each TMC driver.
*/
void Probe::set_homing_current(const bool onoff) {
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Z)
#if ENABLED(DELTA)
static int16_t saved_current_X, saved_current_Y;
#endif
#if HAS_CURRENT_HOME(Z)
static int16_t saved_current_Z;
#endif
auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) {
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b); }
};
if (onoff) {
#if ENABLED(DELTA)
#if HAS_CURRENT_HOME(X)
saved_current_X = stepperX.getMilliamps();
stepperX.rms_current(X_CURRENT_HOME);
debug_current_on(PSTR("X"), saved_current_X, X_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Y)
saved_current_Y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME);
debug_current_on(PSTR("Y"), saved_current_Y, Y_CURRENT_HOME);
#endif
#endif
#if HAS_CURRENT_HOME(Z)
saved_current_Z = stepperZ.getMilliamps();
stepperZ.rms_current(Z_CURRENT_HOME);
debug_current_on(PSTR("Z"), saved_current_Z, Z_CURRENT_HOME);
#endif
TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(true));
}
else {
#if ENABLED(DELTA)
#if HAS_CURRENT_HOME(X)
stepperX.rms_current(saved_current_X);
debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_X);
#endif
#if HAS_CURRENT_HOME(Y)
stepperY.rms_current(saved_current_Y);
debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_Y);
#endif
#endif
#if HAS_CURRENT_HOME(Z)
stepperZ.rms_current(saved_current_Z);
debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_Z);
#endif
TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(false));
}
#endif
}
#endif // SENSORLESS_PROBING
#endif // HAS_BED_PROBE

12
Marlin/src/module/probe.h
View file

@ -56,6 +56,11 @@
class Probe {
public:
#if ENABLED(SENSORLESS_PROBING)
typedef struct { bool x:1, y:1, z:1; } sense_bool_t;
static sense_bool_t test_sensitivity;
#endif
#if HAS_BED_PROBE
static xyz_pos_t offset;
@ -256,6 +261,13 @@ public:
static bool tare();
#endif
// Basic functions for Sensorless Homing and Probing
#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
static void enable_stallguard_diag1();
static void disable_stallguard_diag1();
static void set_homing_current(const bool onoff);
#endif
private:
static bool probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s);
static void do_z_raise(const float z_raise);