Enable stealthChop for TMC2209 homing

[elementfoundry]

Description:
Enables stealthchop before homing axes when using TMC2209 and sensorless homing is enabled

Benefits:
This is to address bug #16091 where sensorless homing would fail if the driver was in spreadcycle mode for that axis.

Related Issues
#16091

[boelle]

you should change base to bugfix 2.0.x until version 2.0.1 is out

EDIT: did it for you

[elementfoundry]

@boelle - sorry, thought I had branched off bugfix. Thanks for taking care of that.

[boelle]

your welcome :-) its a common mistake since it selects the default branch, so no worries :-)

[Hukuma1]

Any chance of stealthchop being randomly disabled with other variables as well? Got the same board and it sounds a bit louder (like non-silent steppers/non-stealthchop) whenever I do a simple G28. No sensorless homing enabled, but stealthchop is on all motors in config files.

[elementfoundry]

@Hukuma1 The 2209 drivers that I had from bigtreetech were set to spreadcycle when freshly installed. You can check the mode of the installed drivers with an M569.

The only other thing that I could think of would be that HOME_USING_SPREADCYCLE is enabled in Configuration_adv.h

[Hukuma1]

@elementfoundry Drivers were set where? You mean the jumper on the board? Or their Github repo? I compiled from latest bugfix 2.0 here if it matters. And I did just check via M569 and it seems it's all turned on and I do not have HOME_USING_SPREADCYCLE enabled either.

Maybe I'm just hearing normal sounds? Just seems a bit loud compared to other movements it makes. Hmmm. :/

[elementfoundry]

@Hukuma1 - just what the drivers defaulted to when installed, no jumpers other than enabling uart and the x / y homing pins on the skr 1.3

Could be just the normal sound for homing on your machine.

[teemuatlut]

Do not merge.

[boelle]

why not?

[elementfoundry]

@teemuatlut - curious about the comment not to merge as well. can you share some insight into that? thanks.

[teemuatlut]

Use the mechanisms that are already in place, like the sensorless_t struct.
Something like this

teemuatlut@7e43915

https://github.com/teemuatlut/Marlin/tree/tmc2209_save_mode

[thinkyhead]

Use the mechanisms that are already in place, like the sensorless_t struct.

What is the best place to send users and developers for documentation on the TMCStepper API and its proper usage?

[thinkyhead]

Use the mechanisms that are already in place, like the sensorless_t struct.

The reason that this PR is using direct calls to the M569 G-code is to ensure that X/X2, Y/Y2, and Z/Z2/Z3 are synchronized, and this logic is handled at the level of M569 because it is not handled at any lower level.

If a more direct method ought to be used to deal with these linked axes, then it might be useful to have this method formally defined in tmc_util.* so that any other methods that want to modify the X, Y, or Z axes as a whole can make use of it.

The maintainer of tmc_util.* is @teemuatlut since he is the only individual aware of the latest changes and requirements connected to TMCStepper. So I leave it to him to decide where and how to implement handling for multiple stepper drivers whose settings need to be linked together.

[thinkyhead]

OK, so somebody just told me that sensorless homing should be done with stealthChop enabled for some TMC stepper driver models, but it should be disabled for others.

For each TMC stepper driver type, what are the most appropriate options to have enabled and disabled during sensorless homing?

[sl1pkn07]

with TMC2130

Marlin/src/feature/tmc_util.cpp: In function 'bool tmc_enable_stallguard(TMC2209Stepper&)':
Marlin/src/feature/tmc_util.cpp:1041:12: error: 'stealthchop_was_enabled' was not declared in this scope
     return stealthchop_was_enabled;
            ^~~~~~~~~~~~~~~~~~~~~~~

[hammerhead2k2]

@sl1pkn07 Same here with TMC2209 on Bigtreetech SKR 1.3

[sl1pkn07]

thanks for confirm

[lonelymyp]

Is there a possibility that when parking at a certain speed will play a role?
for example parking at 5 mm/s when # define Z_HYBRID_THRESHOLD 3 // [mm/s]

It looks like HYBRID_THRESHOLD must be higher than the parking speed for parking to work correctly.