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[2.0.x] DELTA + TMC + sensorless homing + SPI endstops #18811

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Jul 28, 2020
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[2.0.x] DELTA + TMC + sensorless homing + SPI endstops #18811

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3f13e50
export {start,end}_sensorless_homing_per_axis in motion.h
Palatis Jul 27, 2020
83eee77
use sensorless homing functions in motion.h for delta
Palatis Jul 27, 2020
02848a9
Update motion.h
thinkyhead Jul 28, 2020
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14 changes: 6 additions & 8 deletions Marlin/src/module/delta.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand All @@ -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();
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6 changes: 6 additions & 0 deletions Marlin/src/module/motion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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