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@ -103,7 +103,7 @@ xyz_pos_t Probe::offset; // Initialized by settings.load() |
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#endif |
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#if ENABLED(SENSORLESS_PROBING) |
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Probe::sense_bool_t Probe::test_sensitivity; |
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Probe::sense_bool_t Probe::test_sensitivity = { true, true, true }; |
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#endif |
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#if ENABLED(Z_PROBE_SLED) |
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@ -531,12 +531,12 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) { |
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#if ENABLED(SENSORLESS_PROBING) |
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sensorless_t stealth_states { false }; |
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#if HAS_DELTA_SENSORLESS_PROBING |
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if (test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
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if (test_sensitivity.x) stealth_states.x = tmc_enable_stallguard(stepperX); // Delta watches all DIAG pins for a stall
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if (test_sensitivity.y) stealth_states.y = tmc_enable_stallguard(stepperY); |
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#endif |
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if (test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
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if (test_sensitivity.z) stealth_states.z = tmc_enable_stallguard(stepperZ); // All machines will check Z-DIAG for stall
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endstops.set_homing_current(true); // The "homing" current also applies to probing
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endstops.enable(true); |
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set_homing_current(true); // The "homing" current also applies to probing
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#endif |
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TERN_(HAS_QUIET_PROBING, set_probing_paused(true)); |
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@ -553,6 +553,11 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) { |
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#endif |
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; |
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// Offset sensorless probing
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#if HAS_DELTA_SENSORLESS_PROBING |
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if (probe_triggered) probe.refresh_largest_sensorless_adj(); |
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#endif |
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TERN_(HAS_QUIET_PROBING, set_probing_paused(false)); |
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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@ -563,7 +568,7 @@ bool Probe::probe_down_to_z(const_float_t z, const_feedRate_t fr_mm_s) { |
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if (test_sensitivity.y) tmc_disable_stallguard(stepperY, stealth_states.y); |
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#endif |
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if (test_sensitivity.z) tmc_disable_stallguard(stepperZ, stealth_states.z); |
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set_homing_current(false); |
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endstops.set_homing_current(false); |
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#endif |
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#if ENABLED(BLTOUCH) |
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@ -666,8 +671,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { |
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if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s, |
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sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN; |
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const float first_probe_z = current_position.z; |
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const float first_probe_z = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", first_probe_z); |
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// Raise to give the probe clearance
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@ -709,7 +713,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { |
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TERN_(MEASURE_BACKLASH_WHEN_PROBING, backlash.measure_with_probe()); |
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const float z = current_position.z; |
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const float z = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj); |
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#if EXTRA_PROBING > 0 |
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// Insert Z measurement into probes[]. Keep it sorted ascending.
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@ -760,7 +764,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) { |
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#elif TOTAL_PROBING == 2 |
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const float z2 = current_position.z; |
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const float z2 = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2); |
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@ -842,7 +846,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai |
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SERIAL_ERROR_MSG(STR_ERR_PROBING_FAILED); |
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#endif |
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} |
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DEBUG_ECHOLNPGM("measured_z: ", measured_z); |
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return measured_z; |
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} |
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@ -895,58 +899,39 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai |
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} |
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/**
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* Change the current in the TMC drivers to N##_CURRENT_HOME. And we save the current configuration of each TMC driver. |
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* Set the sensorless Z offset |
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*/ |
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void Probe::set_homing_current(const bool onoff) { |
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#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT) |
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#if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Z) |
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#if ENABLED(DELTA) |
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static int16_t saved_current_X, saved_current_Y; |
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#endif |
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#if HAS_CURRENT_HOME(Z) |
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static int16_t saved_current_Z; |
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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 ((ENABLED(DELTA) && (HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y))) || HAS_CURRENT_HOME(Z)) |
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auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) { |
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if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); } |
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}; |
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if (test_sensitivity.z) offset_sensorless_adj.c = sz; |
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#endif |
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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 (onoff) { |
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#if ENABLED(DELTA) |
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#if HAS_CURRENT_HOME(X) |
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saved_current_X = stepperX.getMilliamps(); |
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stepperX.rms_current(X_CURRENT_HOME); |
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debug_current_on(PSTR("X"), saved_current_X, X_CURRENT_HOME); |
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#endif |
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#if HAS_CURRENT_HOME(Y) |
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saved_current_Y = stepperY.getMilliamps(); |
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stepperY.rms_current(Y_CURRENT_HOME); |
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debug_current_on(PSTR("Y"), saved_current_Y, Y_CURRENT_HOME); |
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#endif |
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#endif |
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#if HAS_CURRENT_HOME(Z) |
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saved_current_Z = stepperZ.getMilliamps(); |
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stepperZ.rms_current(Z_CURRENT_HOME); |
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debug_current_on(PSTR("Z"), saved_current_Z, Z_CURRENT_HOME); |
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#endif |
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TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(true)); |
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} |
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else { |
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#if ENABLED(DELTA) |
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#if HAS_CURRENT_HOME(X) |
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stepperX.rms_current(saved_current_X); |
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debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_X); |
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#endif |
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#if HAS_CURRENT_HOME(Y) |
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stepperY.rms_current(saved_current_Y); |
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debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_Y); |
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#endif |
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#endif |
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#if HAS_CURRENT_HOME(Z) |
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stepperZ.rms_current(saved_current_Z); |
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debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_Z); |
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#endif |
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TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(false)); |
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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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} |
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lujios
3 years ago
Scott Lahteine