Sensorless homing improvements (#130)

Frix-x · Mar 27, 2023 · 38a9279 · 38a9279
1 parent f99b5e5
commit 38a9279
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Showing 4 changed files with 72 additions and 8 deletions.
diff --git a/config/hardware/axis/XY/default_speed.cfg b/config/hardware/axis/XY/default_speed.cfg
@@ -1,9 +1,9 @@
 [stepper_x]
 homing_speed: 60
-homing_retract_dist: 5
+homing_retract_dist: 0
 homing_positive_dir: true
 
 [stepper_y]
 homing_speed: 60
-homing_retract_dist: 5
+homing_retract_dist: 0
 homing_positive_dir: true
diff --git a/config/software/sensorless_homing.cfg b/config/software/sensorless_homing.cfg
@@ -1,28 +1,35 @@
 # This file add support for Sensorless homing using TMC2209 drivers
 # To use it, be sure to place the corresponding jumpers correctly on your MCU!
+[gcode_macro _USER_VARIABLES]
+variable_sensorless_homing_enabled: True
+gcode:
+
 
 [stepper_x]
+homing_speed: 40
 endstop_pin: tmc2209_stepper_x:virtual_endstop
 
 [tmc2209 stepper_x]
 diag_pin: ^X_STOP
 driver_SGTHRS: 255
 
 [stepper_y]
+homing_speed: 40
 endstop_pin: tmc2209_stepper_y:virtual_endstop
 
 [tmc2209 stepper_y]
 diag_pin: ^Y_STOP
 driver_SGTHRS: 255
 
 
-# PLEASE READ THE FOLLOWING:
-# 255 is the most sensitive value, 0 is the least sensitive. Here we set a default
-# value of 255 to avoid any trouble or crash. Your axes should not move with this parameter!
+## PLEASE READ THE FOLLOWING:
+## 255 is the most sensitive value, 0 is the least sensitive. Here we set a default
+## value of 255 to avoid any trouble or crash. Your axes should not move with this parameter!
+
+## Follow the Klipper documentation here: https://www.klipper3d.org/TMC_Drivers.html#sensorless-homing
+## to find the best suited SGTHRS value according to your machine. Then you can put it in your overrides
+## file like that:
 
-# Follow the Klipper documentation here: https://www.klipper3d.org/TMC_Drivers.html#sensorless-homing
-# to find the best suited SGTHRS value according to your machine. Then you can put it in your overrides
-# file like that:
 # [tmc2209 stepper_x]
 # driver_SGTHRS: new value for X
 

diff --git a/macros/base/homing/homing_overide.cfg b/macros/base/homing/homing_overide.cfg
@@ -7,6 +7,8 @@ gcode:
     {% set homing_zhop = printer["gcode_macro _USER_VARIABLES"].homing_zhop|float %}
     {% set homing_travel_speed = printer["gcode_macro _USER_VARIABLES"].homing_travel_speed * 60 %}
     {% set homing_travel_accel = printer["gcode_macro _USER_VARIABLES"].homing_travel_accel %}
+    {% set sensorless_homing_enabled = printer["gcode_macro _USER_VARIABLES"].sensorless_homing_enabled %}
+    {% set sensorless_current_factor = printer["gcode_macro _USER_VARIABLES"].sensorless_current_factor / 100 %}
     {% set z_drop_speed = printer["gcode_macro _USER_VARIABLES"].z_drop_speed * 60 %}
     {% set status_leds_enabled = printer["gcode_macro _USER_VARIABLES"].status_leds_enabled %}
     {% set bed_mesh_enabled = printer["gcode_macro _USER_VARIABLES"].bed_mesh_enabled %}
@@ -100,31 +102,83 @@ gcode:
             {% if verbose %}
                 { action_respond_info("Homing X") }
             {% endif %}
+            {% if sensorless_homing_enabled %}
+                {% set old_current_x = printer.configfile.config['tmc2209 stepper_x'].run_current %}
+                {% set old_current_y = printer.configfile.config['tmc2209 stepper_y'].run_current %}
+                {% set new_current_x = sensorless_current_factor * old_current_x %}
+                {% set new_current_y = sensorless_current_factor * old_current_y %}
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={new_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={new_current_y}
+            {% endif %}
             G28 X0
             G1 X{x_position_endstop + x_homing_backoff} F{homing_travel_speed}
+            {% if sensorless_homing_enabled %}
+                G4 P1000
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={old_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={old_current_y}
+            {% endif %}
         {% endif %}
         {% if Y %} # Home y
             {% if verbose %}
                 { action_respond_info("Homing Y") }
             {% endif %}
+            {% if sensorless_homing_enabled %}
+                {% set old_current_x = printer.configfile.config['tmc2209 stepper_x'].run_current %}
+                {% set old_current_y = printer.configfile.config['tmc2209 stepper_y'].run_current %}
+                {% set new_current_x = sensorless_current_factor * old_current_x %}
+                {% set new_current_y = sensorless_current_factor * old_current_y %}
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={new_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={new_current_y}
+            {% endif %}
             G28 Y0
             G1 Y{y_position_endstop + y_homing_backoff} F{homing_travel_speed}
+            {% if sensorless_homing_enabled %}
+                G4 P1000
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={old_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={old_current_y}
+            {% endif %}
         {% endif %}
 
     {% elif homing_first == "Y" %}
         {% if Y %} # Home y
             {% if verbose %}
                 { action_respond_info("Homing Y") }
             {% endif %}
+            {% if sensorless_homing_enabled %}
+                {% set old_current_x = printer.configfile.config['tmc2209 stepper_x'].run_current %}
+                {% set old_current_y = printer.configfile.config['tmc2209 stepper_y'].run_current %}
+                {% set new_current_x = sensorless_current_factor * old_current_x %}
+                {% set new_current_y = sensorless_current_factor * old_current_y %}
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={new_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={new_current_y}
+            {% endif %}
             G28 Y0
             G1 Y{y_position_endstop + y_homing_backoff} F{homing_travel_speed}
+            {% if sensorless_homing_enabled %}
+                G4 P1000
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={old_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={old_current_y}
+            {% endif %}
         {% endif %}
         {% if X %} # Home x
             {% if verbose %}
                 { action_respond_info("Homing X") }
             {% endif %}
+            {% if sensorless_homing_enabled %}
+                {% set old_current_x = printer.configfile.config['tmc2209 stepper_x'].run_current %}
+                {% set old_current_y = printer.configfile.config['tmc2209 stepper_y'].run_current %}
+                {% set new_current_x = sensorless_current_factor * old_current_x %}
+                {% set new_current_y = sensorless_current_factor * old_current_y %}
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={new_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={new_current_y}
+            {% endif %}
             G28 X0
             G1 X{x_position_endstop + x_homing_backoff} F{homing_travel_speed}
+            {% if sensorless_homing_enabled %}
+                G4 P1000
+                SET_TMC_CURRENT STEPPER=stepper_x CURRENT={old_current_x}
+                SET_TMC_CURRENT STEPPER=stepper_y CURRENT={old_current_y}
+            {% endif %}
         {% endif %}
 
     {% else %}

diff --git a/user_templates/variables.cfg b/user_templates/variables.cfg
@@ -45,6 +45,9 @@ variable_homing_zhop: 5
 variable_homing_first: "X" # can be set to "Y" first
 variable_homing_backoff_distance_xy: -5, -5 # move 5mm in negative direction on both axis
 
+## Percentage of run_current used while sensorless homing (if used)
+variable_sensorless_current_factor: 75
+
 ## margin to avoid the probe dock when homing
 variable_probe_dock_margin_xy: 0, 0