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@ -48,6 +48,11 @@ |
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#include "delta.h" |
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#endif |
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#if ENABLED(SENSORLESS_PROBING) |
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abc_float_t offset_sensorless_adj{0}; |
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float largest_sensorless_adj = 0; |
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#endif |
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#if ANY(HAS_QUIET_PROBING, USE_SENSORLESS) |
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#include "stepper/indirection.h" |
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#if BOTH(HAS_QUIET_PROBING, PROBING_ESTEPPERS_OFF) |
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@ -867,76 +872,38 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai |
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#endif // HAS_Z_SERVO_PROBE
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#if USE_SENSORLESS |
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sensorless_t stealth_states { false }; |
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/**
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* Disable stealthChop if used. Enable diag1 pin on driver. |
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*/ |
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void Probe::enable_stallguard_diag1() { |
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#if ENABLED(SENSORLESS_PROBING) |
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#if HAS_DELTA_SENSORLESS_PROBING |
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stealth_states.x = tmc_enable_stallguard(stepperX); |
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stealth_states.y = tmc_enable_stallguard(stepperY); |
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#endif |
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stealth_states.z = tmc_enable_stallguard(stepperZ); |
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endstops.enable(true); |
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#endif |
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} |
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/**
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* Re-enable stealthChop if used. Disable diag1 pin on driver. |
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*/ |
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void Probe::disable_stallguard_diag1() { |
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#if ENABLED(SENSORLESS_PROBING) |
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endstops.not_homing(); |
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#if HAS_DELTA_SENSORLESS_PROBING |
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tmc_disable_stallguard(stepperX, stealth_states.x); |
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tmc_disable_stallguard(stepperY, stealth_states.y); |
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#endif |
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tmc_disable_stallguard(stepperZ, stealth_states.z); |
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#endif |
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} |
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#if HAS_DELTA_SENSORLESS_PROBING |
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/**
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* Set the sensorless Z offset |
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*/ |
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void Probe::set_offset_sensorless_adj(const_float_t sz) { |
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#if ENABLED(SENSORLESS_PROBING) |
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DEBUG_SECTION(pso, "Probe::set_offset_sensorless_adj", true); |
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#if HAS_DELTA_SENSORLESS_PROBING |
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if (test_sensitivity.x) offset_sensorless_adj.a = sz; |
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if (test_sensitivity.y) offset_sensorless_adj.b = sz; |
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#endif |
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if (test_sensitivity.z) offset_sensorless_adj.c = sz; |
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#endif |
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DEBUG_SECTION(pso, "Probe::set_offset_sensorless_adj", true); |
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if (test_sensitivity.x) offset_sensorless_adj.a = sz; |
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if (test_sensitivity.y) offset_sensorless_adj.b = sz; |
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if (test_sensitivity.z) offset_sensorless_adj.c = sz; |
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} |
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/**
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* Refresh largest_sensorless_adj based on triggered endstops |
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*/ |
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void Probe::refresh_largest_sensorless_adj() { |
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#if ENABLED(SENSORLESS_PROBING) |
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DEBUG_SECTION(rso, "Probe::refresh_largest_sensorless_adj", true); |
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largest_sensorless_adj = -3; // A reference away from any real probe height
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#if HAS_DELTA_SENSORLESS_PROBING |
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if (TEST(endstops.state(), X_MAX)) { |
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NOLESS(largest_sensorless_adj, offset_sensorless_adj.a); |
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DEBUG_ECHOLNPGM("Endstop_X: ", largest_sensorless_adj, " TowerX"); |
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} |
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if (TEST(endstops.state(), Y_MAX)) { |
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NOLESS(largest_sensorless_adj, offset_sensorless_adj.b); |
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DEBUG_ECHOLNPGM("Endstop_Y: ", largest_sensorless_adj, " TowerY"); |
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} |
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#endif |
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if (TEST(endstops.state(), Z_MAX)) { |
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NOLESS(largest_sensorless_adj, offset_sensorless_adj.c); |
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DEBUG_ECHOLNPGM("Endstop_Z: ", largest_sensorless_adj, " TowerZ"); |
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} |
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#endif |
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DEBUG_SECTION(rso, "Probe::refresh_largest_sensorless_adj", true); |
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largest_sensorless_adj = -3; // A reference away from any real probe height
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if (TEST(endstops.state(), X_MAX)) { |
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NOLESS(largest_sensorless_adj, offset_sensorless_adj.a); |
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DEBUG_ECHOLNPGM("Endstop_X: ", largest_sensorless_adj, " TowerX"); |
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} |
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if (TEST(endstops.state(), Y_MAX)) { |
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NOLESS(largest_sensorless_adj, offset_sensorless_adj.b); |
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DEBUG_ECHOLNPGM("Endstop_Y: ", largest_sensorless_adj, " TowerY"); |
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} |
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if (TEST(endstops.state(), Z_MAX)) { |
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NOLESS(largest_sensorless_adj, offset_sensorless_adj.c); |
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DEBUG_ECHOLNPGM("Endstop_Z: ", largest_sensorless_adj, " TowerZ"); |
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} |
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} |
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#endif // SENSORLESS_PROBING || SENSORLESS_HOMING
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#endif |
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#endif // HAS_BED_PROBE
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