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CoreXY sensorless homing #17972

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Merged
thinkyhead merged 2 commits into from
May 14, 2020
Merged

CoreXY sensorless homing #17972

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80ebb16
CoreXY sensorless homing
thinkyhead May 12, 2020
251ccb9
Cleaner solution
thinkyhead May 12, 2020
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9 changes: 9 additions & 0 deletions Marlin/src/inc/Conditionals_post.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1587,6 +1587,15 @@
#if _HAS_STOP(Z,MAX)
#define HAS_Z_MAX 1
#endif
#if _HAS_STOP(X,STOP)
#define HAS_X_STOP 1
#endif
#if _HAS_STOP(Y,STOP)
#define HAS_Y_STOP 1
#endif
#if _HAS_STOP(Z,STOP)
#define HAS_Z_STOP 1
#endif
#if PIN_EXISTS(X2_MIN)
#define HAS_X2_MIN 1
#endif
Expand Down
27 changes: 23 additions & 4 deletions Marlin/src/module/endstops.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -742,7 +742,8 @@ void Endstops::update() {
}
#endif

// Now, we must signal, after validation, if an endstop limit is pressed or not
// Signal, after validation, if an endstop limit is pressed or not

if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
Expand Down Expand Up @@ -804,19 +805,37 @@ void Endstops::update() {
bool Endstops::tmc_spi_homing_check() {
bool hit = false;
#if X_SPI_SENSORLESS
if (tmc_spi_homing.x && stepperX.test_stall_status()) {
if (tmc_spi_homing.x && (stepperX.test_stall_status()
#if CORE_IS_XY && Y_SPI_SENSORLESS
|| stepperY.test_stall_status()
#elif CORE_IS_XZ && Z_SPI_SENSORLESS
|| stepperZ.test_stall_status()
#endif
)) {
SBI(live_state, X_STOP);
hit = true;
}
#endif
#if Y_SPI_SENSORLESS
if (tmc_spi_homing.y && stepperY.test_stall_status()) {
if (tmc_spi_homing.y && (stepperY.test_stall_status()
#if CORE_IS_XY && X_SPI_SENSORLESS
|| stepperX.test_stall_status()
#elif CORE_IS_YZ && Z_SPI_SENSORLESS
|| stepperZ.test_stall_status()
#endif
)) {
SBI(live_state, Y_STOP);
hit = true;
}
#endif
#if Z_SPI_SENSORLESS
if (tmc_spi_homing.z && stepperZ.test_stall_status()) {
if (tmc_spi_homing.z && (stepperZ.test_stall_status()
#if CORE_IS_XZ && X_SPI_SENSORLESS
|| stepperX.test_stall_status()
#elif CORE_IS_YZ && Y_SPI_SENSORLESS
|| stepperY.test_stall_status()
#endif
)) {
SBI(live_state, Z_STOP);
hit = true;
}
Expand Down
5 changes: 3 additions & 2 deletions buildroot/share/tests/teensy35-tests
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Expand Up @@ -83,21 +83,22 @@ exec_test $1 $2 "Mixing Extruder"
# opt_set NUM_SERVOS 1
# opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER
# exec_test $1 $2 "SWITCHING_EXTRUDER"

#
# Enable COREXY
#
restore_configs
opt_set MOTHERBOARD BOARD_TEENSY35_36
opt_enable COREXY
exec_test $1 $2 "COREXY"
exec_test $1 $2 "Teensy 3.5/3.6 COREXY"

#
# Enable COREXZ
#
restore_configs
opt_set MOTHERBOARD BOARD_TEENSY35_36
opt_enable COREXZ
exec_test $1 $2 "COREXZ"
exec_test $1 $2 "Teensy 3.5/3.6 COREXZ"

#
# Enable Dual Z with Dual Z endstops
Expand Down