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Fix DELTA + TMC sensorless homing + SPI endstops (#18811)

FLSUN-QQS
Victor Tseng 10 months ago
committed by GitHub
parent
commit
5d14c3712f
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 12 additions and 8 deletions
  1. +6
    -8
      Marlin/src/module/delta.cpp
  2. +6
    -0
      Marlin/src/module/motion.h

+ 6
- 8
Marlin/src/module/delta.cpp View File

@ -242,11 +242,9 @@ void home_delta() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
sensorless_t stealth_states {
tmc_enable_stallguard(stepperX),
tmc_enable_stallguard(stepperY),
tmc_enable_stallguard(stepperZ)
};
TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
#endif
// Move all carriages together linearly until an endstop is hit.
@ -256,9 +254,9 @@ void home_delta() {
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
tmc_disable_stallguard(stepperZ, stealth_states.z);
TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
#endif
endstops.validate_homing_move();


+ 6
- 0
Marlin/src/module/motion.h View File

@ -395,3 +395,9 @@ void homeaxis(const AxisEnum axis);
#if HAS_M206_COMMAND
void set_home_offset(const AxisEnum axis, const float v);
#endif
#if USE_SENSORLESS
struct sensorless_t;
sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis);
void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth);
#endif

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