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

Co-Authored-By: Robby Candra <robbycandra.mail@gmail.com> Co-Authored-By: ellensp <530024+ellensp@users.noreply.github.com>
MarlinFirmware · Jul 1, 2022 · b3fe059 · b3fe059
1 parent b938d99
commit b3fe059
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Showing 2 changed files with 26 additions and 17 deletions.
diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h
@@ -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)
   #define HAS_DISABLE_INACTIVE_AXIS 1
 #endif
+
+// Delay Sensorless Homing/Probing
+#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) && !defined(SENSORLESS_STALLGUARD_DELAY)
+  #define SENSORLESS_STALLGUARD_DELAY 0
+#endif
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
@@ -1365,46 +1365,50 @@ void Endstops::update() {
    */
   void Endstops::set_homing_current(const bool onoff) {
     #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
-    #define _HOME_ELEM(N) HAS_CURRENT_HOME(N) ||
-    #if MAIN_AXIS_MAP(_HOME_ELEM) 0
-      #if ENABLED(DELTA)
-        static int16_t saved_current_X, saved_current_Y;
+    #define HAS_DELTA_X_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(X))
+    #define HAS_DELTA_Y_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(Y))
+    #if HAS_DELTA_X_CURRENT || HAS_DELTA_Y_CURRENT || HAS_CURRENT_HOME(Z)
+      #if HAS_DELTA_X_CURRENT
+        static int16_t saved_current_x;
+      #endif
+      #if HAS_DELTA_Y_CURRENT
+        static int16_t saved_current_y;
       #endif
       #if HAS_CURRENT_HOME(Z)
-        static int16_t saved_current_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_ECHOLNPGM(" current: ", a, " -> ", b); }
       };
       if (onoff) {
         #if HAS_DELTA_X_CURRENT
-          saved_current_X = stepperX.getMilliamps();
+          saved_current_x = stepperX.getMilliamps();
           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
         #if HAS_DELTA_Y_CURRENT
-          saved_current_Y = stepperY.getMilliamps();
+          saved_current_y = stepperY.getMilliamps();
           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
         #if HAS_CURRENT_HOME(Z)
-          saved_current_Z = stepperZ.getMilliamps();
+          saved_current_z = stepperZ.getMilliamps();
           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
       }
       else {
         #if HAS_DELTA_X_CURRENT
-          stepperX.rms_current(saved_current_X);
-          debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_X);
+          stepperX.rms_current(saved_current_x);
+          debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_x);
         #endif
         #if HAS_DELTA_Y_CURRENT
-          stepperY.rms_current(saved_current_Y);
-          debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_Y);
+          stepperY.rms_current(saved_current_y);
+          debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_y);
         #endif
         #if HAS_CURRENT_HOME(Z)
-          stepperZ.rms_current(saved_current_Z);
-          debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_Z);
+          stepperZ.rms_current(saved_current_z);
+          debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_z);
         #endif
       }