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TMC2130 dual-stepper Sensorless Homing (#13061)

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mattfredwill 2019-02-02 08:09:01 +08:00 • committed by Scott Lahteine
parent f6edd2c472
commit c3cb449990
5 changed files with 41 additions and 5 deletions
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14
Marlin/src/gcode/calibrate/G28.cpp
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@ -71,9 +71,15 @@
fr_mm_s = MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
#if ENABLED(SENSORLESS_HOMING)
sensorless_t stealth_states { false, false, false };
sensorless_t stealth_states { false, false, false, false, false, false, false };
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
#if AXIS_HAS_STALLGUARD(X2)
stealth_states.x2 = tmc_enable_stallguard(stepperX2);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
stealth_states.y2 = tmc_enable_stallguard(stepperY2);
#endif
#endif
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
@ -85,6 +91,12 @@
#if ENABLED(SENSORLESS_HOMING)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
#if AXIS_HAS_STALLGUARD(X2)
tmc_disable_stallguard(stepperX2, stealth_states.x2);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
tmc_disable_stallguard(stepperY2, stealth_states.y2);
#endif
#endif
}