fixes for good sensorless (props to fbeauKmi and nielsvz) (#90)

README.md

@@ -54,27 +54,33 @@ If I want my printer to light itself on fire, I should be able to make my printe
 
 - [temperature_mcu: add reference_voltage](https://github.com/DangerKlippers/danger-klipper/pull/99) ([klipper#5713](https://github.com/Klipper3d/klipper/pull/5713))
 
+- [stepper: current_change_dwell_time](https://github.com/DangerKlippers/danger-klipper/pull/90)
+
+- [homing: min_home_dist](https://github.com/DangerKlippers/danger-klipper/pull/90)
+
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge branch:
 
-  - [dmbutyugin's advanced-features branch](https://github.com/DangerKlippers/danger-klipper/pull/69) [dmbutyugin/advanced-features](https://github.com/dmbutyugin/klipper/commits/advanced-features)
+- [dmbutyugin's advanced-features branch](https://github.com/DangerKlippers/danger-klipper/pull/69) [dmbutyugin/advanced-features](https://github.com/dmbutyugin/klipper/commits/advanced-features)
 
-  - [stepper: high precision stepping protocol](https://github.com/DangerKlippers/danger-klipper/pull/69)
+- [stepper: high precision stepping protocol](https://github.com/DangerKlippers/danger-klipper/pull/69)
 
-  - [extruder: sync extruder motion with input shaper](https://github.com/DangerKlippers/danger-klipper/pull/69)
+- [extruder: sync extruder motion with input shaper](https://github.com/DangerKlippers/danger-klipper/pull/69)
 
-  - [extruder: new print_pa_tower utility](https://github.com/DangerKlippers/danger-klipper/pull/69)
+- [extruder: new print_pa_tower utility](https://github.com/DangerKlippers/danger-klipper/pull/69)
 
-  - [input_shaper: smooth input shapers](https://github.com/DangerKlippers/danger-klipper/pull/69)
+- [input_shaper: smooth input shapers](https://github.com/DangerKlippers/danger-klipper/pull/69)
 
-  - [input_shaper: new print_ringing_tower utility](https://github.com/DangerKlippers/danger-klipper/pull/69)
+- [input_shaper: new print_ringing_tower utility](https://github.com/DangerKlippers/danger-klipper/pull/69)
 
 ## Switch to Danger Klipper
+
 > [!NOTE]
 > Any add-on modules you are using will need to be reinstalled after switching to Danger Klipper. This includes things like Beacon support, led-effect, etc.
 >
 > Any data in ~/printer_data such as printer configs and macros will be unaffected.
 
 ### Manually clone the repository
+
 If desired, make a backup copy of your existing Klipper installation by running:
 
 ```bash
@@ -89,6 +95,7 @@ sudo systemctl restart klipper
 ```
 
 ### Using KIAUH
+
 For users that are not comfortable using Git directly, [KIAUH](https://github.com/dw-0/kiauh) is able to use custom repositories.
 
 To do this, add the Danger Klipper repo to KIAUH's repo list and run the script with the following commands:
@@ -99,6 +106,7 @@ echo "DangerKlippers/danger-klipper" >> ~/kiauh/klipper_repos.txt
 ```
 
 From the KIAUH menu select:
+
 - 6 ) Settings
 - 1 ) Set custom Klipper repository
 - Select the number corresponding to DangerKlipper from the list shown
@@ -107,6 +115,7 @@ From the KIAUH menu select:
 - 'Q' to quit
 
 ### Adding a git-remote to the existing installation
+
 ```bash
 cd ~/klipper
 git remote add danger https://github.com/DangerKlippers/danger-klipper.git
@@ -118,6 +127,7 @@ sudo systemctl restart moonraker
 ```
 
 ---
+
 "Dangerous Klipper for dangerous users"
 
 Klipper is a 3d-Printer firmware. It combines the power of a general

docs/Config_Reference.md

@@ -218,6 +218,11 @@ position_max:
 #   Speed to use on the retract move after homing in case this should
 #   be different from the homing speed, which is the default for this
 #   parameter
+#min_home_dist:
+#   Minimum distance (in mm) for toolhead before sensorless homing. If closer
+#   than `min_home_dist` to endstop, it moves away to this distance, then homes.
+#   If further, it directly homes and retracts to `homing_retract_dist`.
+#   The default is equal to `homing_retract_dist`.
 #second_homing_speed:
 #   Velocity (in mm/s) of the stepper when performing the second home.
 #   The default is homing_speed/2.
@@ -3481,6 +3486,9 @@ run_current:
 #home_current:
 #   The amount of current (in amps RMS) to configure the driver to use
 #   during homing procedures. The default is to not reduce the current.
+#current_change_dwell_time:
+#   The amount of time (in seconds) to wait after changing homing current.
+#   The default is 0.5 seconds.
 #sense_resistor: 0.110
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.110 ohms.
@@ -3577,6 +3585,9 @@ run_current:
 #home_current:
 #   The amount of current (in amps RMS) to configure the driver to use
 #   during homing procedures. The default is to not reduce the current.
+#current_change_dwell_time:
+#   The amount of time (in seconds) to wait after changing homing current.
+#   The default is 0.5 seconds.
 #sense_resistor: 0.110
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.110 ohms.
@@ -3621,6 +3632,7 @@ uart_pin:
 run_current:
 #hold_current:
 #home_current:
+#current_change_dwell_time:
 #sense_resistor: 0.110
 #stealthchop_threshold: 0
 #   See the "tmc2208" section for the definition of these parameters.
@@ -3692,6 +3704,9 @@ run_current:
 #home_current:
 #   The amount of current (in amps RMS) to configure the driver to use
 #   during homing procedures. The default is to not reduce the current.
+#current_change_dwell_time:
+#   The amount of time (in seconds) to wait after changing homing current.
+#   The default is 0.5 seconds.
 #sense_resistor:
 #   The resistance (in ohms) of the motor sense resistor. This
 #   parameter must be provided.
@@ -3775,6 +3790,9 @@ run_current:
 #home_current:
 #   The amount of current (in amps RMS) to configure the driver to use
 #   during homing procedures. The default is to not reduce the current.
+#current_change_dwell_time:
+#   The amount of time (in seconds) to wait after changing homing current.
+#   The default is 0.5 seconds.
 #rref: 12000
 #   The resistance (in ohms) of the resistor between IREF and GND. The
 #   default is 12000.
@@ -3899,6 +3917,9 @@ run_current:
 #home_current:
 #   The amount of current (in amps RMS) to configure the driver to use
 #   during homing procedures. The default is to not reduce the current.
+#current_change_dwell_time:
+#   The amount of time (in seconds) to wait after changing homing current.
+#   The default is 0.5 seconds.
 #sense_resistor: 0.075
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.075 ohms.

klippy/extras/homing.py

@@ -240,9 +240,9 @@ def _set_current_homing(self, homing_axes):
 
         for rail in affected_rails:
             ch = rail.get_tmc_current_helper()
-            if ch is not None:
+            if ch is not None and ch.needs_home_current_change():
                 ch.set_current_for_homing(print_time)
-                self.toolhead.dwell(0.5)
+                self.toolhead.dwell(ch.current_change_dwell_time)
 
     def _set_current_post_homing(self, homing_axes):
         print_time = self.toolhead.get_last_move_time()
@@ -254,9 +254,9 @@ def _set_current_post_homing(self, homing_axes):
 
         for rail in affected_rails:
             ch = rail.get_tmc_current_helper()
-            if ch is not None:
+            if ch is not None and ch.needs_home_current_change():
                 ch.set_current_for_normal(print_time)
-                self.toolhead.dwell(0.5)
+                self.toolhead.dwell(ch.current_change_dwell_time)
 
     def home_rails(self, rails, forcepos, movepos):
         # Notify of upcoming homing operation
@@ -284,22 +284,25 @@ def home_rails(self, rails, forcepos, movepos):
         # Perform second home
         if hi.retract_dist:
             needs_rehome = False
-            if any([dist < hi.retract_dist for dist in homing_axis_distances]):
+            retract_dist = hi.retract_dist
+            if any(
+                [abs(dist) < hi.min_home_dist for dist in homing_axis_distances]
+            ):
                 needs_rehome = True
+                retract_dist = hi.min_home_dist
 
             logging.info("needs rehome: %s", needs_rehome)
             # Retract
             startpos = self._fill_coord(forcepos)
             homepos = self._fill_coord(movepos)
             axes_d = [hp - sp for hp, sp in zip(homepos, startpos)]
             move_d = math.sqrt(sum([d * d for d in axes_d[:3]]))
-            retract_r = min(1.0, hi.retract_dist / move_d)
+            retract_r = min(1.0, retract_dist / move_d)
             retractpos = [
                 hp - ad * retract_r for hp, ad in zip(homepos, axes_d)
             ]
             self.toolhead.move(retractpos, hi.retract_speed)
             if not hi.use_sensorless_homing or needs_rehome:
-                self.toolhead.dwell(0.5)
                 # Home again
                 startpos = [
                     rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)
@@ -309,6 +312,7 @@ def home_rails(self, rails, forcepos, movepos):
                 for endstop in endstops:
                     # re-querying a tmc endstop seems to reset the state
                     # otherwise it triggers almost immediately upon second home
+                    # this seems to be an adequate substitute for a 2 second dwell.
                     endstop[0].query_endstop(print_time)
                 hmove = HomingMove(self.printer, endstops)
                 hmove.homing_move(homepos, hi.second_homing_speed)

klippy/extras/tmc2130.py

@@ -212,6 +212,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.run_current, above=0.0, maxval=MAX_CURRENT
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self.prev_current = self.run_current
         self.req_hold_current = self.hold_current
         self.sense_resistor = config.getfloat(
@@ -224,6 +227,9 @@ def __init__(self, config, mcu_tmc):
         self.fields.set_field("ihold", ihold)
         self.fields.set_field("irun", irun)
 
+    def needs_home_current_change(self):
+        return self._home_current != self.run_current
+
     def set_home_current(self, new_home_current):
         self._home_current = min(MAX_CURRENT, new_home_current)
 

klippy/extras/tmc2240.py

@@ -281,6 +281,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.run_current, above=0.0, maxval=self.max_cur
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self.prev_current = self.run_current
         self.req_hold_current = self.hold_current
         current_range = self._calc_current_range(self.run_current)
@@ -292,6 +295,9 @@ def __init__(self, config, mcu_tmc):
         self.fields.set_field("ihold", ihold)
         self.fields.set_field("irun", irun)
 
+    def needs_home_current_change(self):
+        return self._home_current != self.run_current
+
     def set_home_current(self, new_home_current):
         self._home_current = min(self.max_cur, new_home_current)
 

klippy/extras/tmc2660.py

@@ -126,6 +126,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.current, above=0.0, maxval=MAX_CURRENT
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self._prev_current = self.current
         self.sense_resistor = config.getfloat("sense_resistor")
         vsense, cs = self._calc_current(self.current)
@@ -144,6 +147,9 @@ def __init__(self, config, mcu_tmc):
                 "idle_timeout:ready", self._handle_ready
             )
 
+    def needs_home_current_change(self):
+        return self._home_current != self.current
+
     def set_home_current(self, new_home_current):
         self._home_current = min(MAX_CURRENT, new_home_current)
 

klippy/extras/tmc5160.py

@@ -265,6 +265,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.run_current, above=0.0, maxval=MAX_CURRENT
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self._prev_current = self.run_current
         self.req_hold_current = self.hold_current
         self.sense_resistor = config.getfloat(
@@ -277,6 +280,9 @@ def __init__(self, config, mcu_tmc):
         self.fields.set_field("ihold", ihold)
         self.fields.set_field("irun", irun)
 
+    def needs_home_current_change(self):
+        return self._home_current != self.run_current
+
     def set_home_current(self, new_home_current):
         self._home_current = min(MAX_CURRENT, new_home_current)
 

klippy/stepper.py

@@ -454,6 +454,9 @@ def __init__(
         self.use_sensorless_homing = config.getboolean(
             "use_sensorless_homing", endstop_is_virtual
         )
+        self.min_home_dist = config.getfloat(
+            "min_home_dist", self.homing_retract_dist, minval=0.0
+        )
 
         if self.homing_positive_dir is None:
             axis_len = self.position_max - self.position_min
@@ -493,6 +496,7 @@ def get_homing_info(self):
                 "positive_dir",
                 "second_homing_speed",
                 "use_sensorless_homing",
+                "min_home_dist",
             ],
         )(
             self.homing_speed,
@@ -502,6 +506,7 @@ def get_homing_info(self):
             self.homing_positive_dir,
             self.second_homing_speed,
             self.use_sensorless_homing,
+            self.min_home_dist,
         )
         return homing_info
 

test/klippy/tmc.cfg

@@ -43,6 +43,7 @@ use_sensorless_homing: true
 cs_pin: PG2
 run_current: .7
 home_current: .5
+current_change_dwell_time: 1
 sense_resistor: 0.220
 diag1_pin: !PK7