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Correct Sensorless Probing (cartesian printers broken by PR #24220) #24455

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merged 2 commits into from
Jul 6, 2022
Merged

Correct Sensorless Probing (cartesian printers broken by PR #24220) #24455

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d0d3116
move variables to PROBE from Delta, add cartesian items
Bob-the-Kuhn Jul 6, 2022
757c563
Remove dead code
thinkyhead Jul 6, 2022
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4 changes: 0 additions & 4 deletions Marlin/src/module/delta.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,10 +60,6 @@ xy_float_t delta_tower[ABC];
abc_float_t delta_diagonal_rod_2_tower;
float delta_clip_start_height = Z_MAX_POS;
abc_float_t delta_diagonal_rod_trim;
#if HAS_DELTA_SENSORLESS_PROBING
abc_float_t offset_sensorless_adj{0};
float largest_sensorless_adj = 0;
#endif

float delta_safe_distance_from_top();

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4 changes: 0 additions & 4 deletions Marlin/src/module/delta.h
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Expand Up @@ -38,10 +38,6 @@ extern xy_float_t delta_tower[ABC];
extern abc_float_t delta_diagonal_rod_2_tower;
extern float delta_clip_start_height;
extern abc_float_t delta_diagonal_rod_trim;
#if HAS_DELTA_SENSORLESS_PROBING
extern abc_float_t offset_sensorless_adj;
extern float largest_sensorless_adj;
#endif

/**
* Recalculate factors used for delta kinematics whenever
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83 changes: 25 additions & 58 deletions Marlin/src/module/probe.cpp
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Expand Up @@ -48,6 +48,11 @@
#include "delta.h"
#endif

#if ENABLED(SENSORLESS_PROBING)
abc_float_t offset_sensorless_adj{0};
float largest_sensorless_adj = 0;
#endif

#if ANY(HAS_QUIET_PROBING, USE_SENSORLESS)
#include "stepper/indirection.h"
#if BOTH(HAS_QUIET_PROBING, PROBING_ESTEPPERS_OFF)
Expand Down Expand Up @@ -867,76 +872,38 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai

#endif // HAS_Z_SERVO_PROBE

#if USE_SENSORLESS

sensorless_t stealth_states { false };

/**
* Disable stealthChop if used. Enable diag1 pin on driver.
*/
void Probe::enable_stallguard_diag1() {
#if ENABLED(SENSORLESS_PROBING)
#if HAS_DELTA_SENSORLESS_PROBING
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 HAS_DELTA_SENSORLESS_PROBING
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
#endif
tmc_disable_stallguard(stepperZ, stealth_states.z);
#endif
}
#if HAS_DELTA_SENSORLESS_PROBING

/**
* Set the sensorless Z offset
*/
void Probe::set_offset_sensorless_adj(const_float_t sz) {
#if ENABLED(SENSORLESS_PROBING)
DEBUG_SECTION(pso, "Probe::set_offset_sensorless_adj", true);
#if HAS_DELTA_SENSORLESS_PROBING
if (test_sensitivity.x) offset_sensorless_adj.a = sz;
if (test_sensitivity.y) offset_sensorless_adj.b = sz;
#endif
if (test_sensitivity.z) offset_sensorless_adj.c = sz;
#endif
DEBUG_SECTION(pso, "Probe::set_offset_sensorless_adj", true);
if (test_sensitivity.x) offset_sensorless_adj.a = sz;
if (test_sensitivity.y) offset_sensorless_adj.b = sz;
if (test_sensitivity.z) offset_sensorless_adj.c = sz;
}

/**
* Refresh largest_sensorless_adj based on triggered endstops
*/
void Probe::refresh_largest_sensorless_adj() {
#if ENABLED(SENSORLESS_PROBING)
DEBUG_SECTION(rso, "Probe::refresh_largest_sensorless_adj", true);
largest_sensorless_adj = -3; // A reference away from any real probe height
#if HAS_DELTA_SENSORLESS_PROBING
if (TEST(endstops.state(), X_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.a);
DEBUG_ECHOLNPGM("Endstop_X: ", largest_sensorless_adj, " TowerX");
}
if (TEST(endstops.state(), Y_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.b);
DEBUG_ECHOLNPGM("Endstop_Y: ", largest_sensorless_adj, " TowerY");
}
#endif
if (TEST(endstops.state(), Z_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.c);
DEBUG_ECHOLNPGM("Endstop_Z: ", largest_sensorless_adj, " TowerZ");
}
#endif
DEBUG_SECTION(rso, "Probe::refresh_largest_sensorless_adj", true);
largest_sensorless_adj = -3; // A reference away from any real probe height
if (TEST(endstops.state(), X_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.a);
DEBUG_ECHOLNPGM("Endstop_X: ", largest_sensorless_adj, " TowerX");
}
if (TEST(endstops.state(), Y_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.b);
DEBUG_ECHOLNPGM("Endstop_Y: ", largest_sensorless_adj, " TowerY");
}
if (TEST(endstops.state(), Z_MAX)) {
NOLESS(largest_sensorless_adj, offset_sensorless_adj.c);
DEBUG_ECHOLNPGM("Endstop_Z: ", largest_sensorless_adj, " TowerZ");
}
}

#endif // SENSORLESS_PROBING || SENSORLESS_HOMING
#endif

#endif // HAS_BED_PROBE
12 changes: 5 additions & 7 deletions Marlin/src/module/probe.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,16 +62,16 @@
#endif
#endif

#if ENABLED(SENSORLESS_PROBING)
extern abc_float_t offset_sensorless_adj;
#endif

class Probe {
public:

#if ENABLED(SENSORLESS_PROBING)
typedef struct {
#if HAS_DELTA_SENSORLESS_PROBING
bool x:1, y:1, z:1;
#else
bool z;
#endif
} sense_bool_t;
static sense_bool_t test_sensitivity;
#endif
Expand Down Expand Up @@ -302,9 +302,7 @@ class Probe {
#endif

// Basic functions for Sensorless Homing and Probing
#if USE_SENSORLESS
static void enable_stallguard_diag1();
static void disable_stallguard_diag1();
#if HAS_DELTA_SENSORLESS_PROBING
static void set_offset_sensorless_adj(const_float_t sz);
static void refresh_largest_sensorless_adj();
#endif
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