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Concept: SENSORLESS_HOMING_VALIDATION

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Co-Authored-By: Skyelar Craver <8702309+arades79@users.noreply.github.com>
This commit is contained in:
Scott Lahteine 2024-11-30 15:38:49 -06:00
parent 59bcaca96b
commit 11269e312d
3 changed files with 40 additions and 2 deletions
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7
Marlin/Configuration_adv.h
View file

@ -3604,6 +3604,13 @@
//#define SPI_ENDSTOPS // TMC2130, TMC2240, and TMC5160
//#define IMPROVE_HOMING_RELIABILITY
//#define SENSORLESS_STALLGUARD_DELAY 0 // (ms) Delay to allow drivers to settle
// When homing a "trusted" axis, verify Stallguard results by timing the move
//#define SENSORLESS_HOMING_VALIDATION
#if ENABLED(SENSORLESS_HOMING_VALIDATION)
#define SHV_STARTUP_COMPENSATION 200 // (ms)
#define SHV_ERROR_MARGIN 50 // (mm)
#endif
#endif
// @section tmc/config

33
Marlin/src/module/motion.cpp
View file

@ -2239,8 +2239,30 @@ void Motion::prepare_line_to_destination() {
const bool is_home_dir = (axis_home_dir > 0) == (distance > 0);
#if ENABLED(SENSORLESS_HOMING)
sensorless_t stealth_states;
#endif
#if ENABLED(SENSORLESS_HOMING_VALIDATION)
static float expected_distance = 0; // Known coordinates after homing routine sets to 0
if (is_home_dir) {
// Sensorless homing moves by a backoff. This accounts for that distance.
expected_distance += -axis_home_dir * planner.get_axis_position_mm(axis);
}
else {
// In Stallguard context, a backoff distance is done first,
// so this is where the expected printer position is captured.
const float axis_pos = planner.get_axis_position_mm(axis),
expected_distance = axis_home_dir > 0 ? (base_max_pos(axis) - axis_pos) : (base_min_pos(axis) + axis_pos);
}
const millis_t time_to_stop = static_cast<millis_t>((expected_distance / home_fr_mm_s) * 1000.0f),
expected_stop_time = millis() + time_to_stop + SHV_STARTUP_COMPENSATION;
#endif
#endif // SENSORLESS_HOMING
if (is_home_dir) {
@ -2293,6 +2315,15 @@ void Motion::prepare_line_to_destination() {
if (is_home_dir) {
#if ENABLED(SENSORLESS_HOMING_VALIDATION)
const int32_t time_delta = static_cast<int32_t>(millis() - expected_stop_time);
const bool bad_home = !WITHIN(time_delta, -SHV_ERROR_MARGIN, SHV_ERROR_MARGIN);
if (DEBUGGING(INFO))
SERIAL_ECHOLNPGM("Axis:", C(AXIS_CHAR(axis)), " Distance:", expected_distance, " Feedrate:", home_fr_mm_s, " Expected stop time:", time_to_stop, " Difference:", time_delta);
if (DEBUGGING(ERRORS) && bad_home)
SERIAL_ECHOLNPGM("Homing fault! Time difference: ", time_delta, ", Axis: ", C(AXIS_CHAR(axis)));
#endif
#if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING
if (axis == Z_AXIS && final_approach) probe.set_devices_paused_for_probing(false);
#endif

2
buildroot/tests/teensy35
View file

@ -91,7 +91,7 @@ opt_set MOTHERBOARD BOARD_TEENSY35_36 \
X_CURRENT_HOME 750 Y_CURRENT_HOME 750 \
X_MIN_ENDSTOP_HIT_STATE LOW Y_MIN_ENDSTOP_HIT_STATE LOW \
X_CS_PIN 46 Y_CS_PIN 47
opt_enable COREXY MONITOR_DRIVER_STATUS SENSORLESS_HOMING X_STALL_SENSITIVITY Y_STALL_SENSITIVITY
opt_enable COREXY MONITOR_DRIVER_STATUS SENSORLESS_HOMING SENSORLESS_HOMING_VALIDATION X_STALL_SENSITIVITY Y_STALL_SENSITIVITY
exec_test $1 $2 "Teensy 3.5/3.6 COREXY" "$3"
#