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EinsyMini2 will now home to bottom.

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- Homing to bottom is accomplished by reducing current on Z motor and using stallguard
  to detect when the Z axis bottoms out.
- This is a lot faster than homing to Z_MAX (yah!)
master
Marcio Teixeira 7 years ago
parent f0afb13132
commit 017f89f0af
4 changed files with 136 additions and 30 deletions
Show Stats Download Patch File Download Diff File

136
Marlin/Conditionals_LulzBot.h
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@ -13,7 +13,7 @@
* got disabled.
*/
#define LULZBOT_FW_VERSION ".28" // Change this with each update
#define LULZBOT_FW_VERSION ".29" // Change this with each update
#if ( \
!defined(LULZBOT_Gladiola_Mini) && \
@ -118,6 +118,7 @@
#define LULZBOT_TWO_PIECE_BED
#define LULZBOT_USE_AUTOLEVELING
#define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_SENSORLESS_HOMING_Z
#define LULZBOT_USE_Z_BELT
#define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER
@ -135,6 +136,7 @@
#define LULZBOT_TWO_PIECE_BED
#define LULZBOT_USE_AUTOLEVELING
#define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_SENSORLESS_HOMING_Z
#define LULZBOT_USE_Z_BELT
#define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER
@ -299,6 +301,14 @@
// when z_probe_enabled is false. We added this special case
// to "endstops.cpp"
#define LULZBOT_Z_MIN_USES_Z_PROBE_ENABLED
#elif defined(LULZBOT_SENSORLESS_HOMING_Z)
/* When using stallguard for sensorless Z homing, "pins_EINSYRAMBO.h"
/* ties Z_MIN and Z_MAX to the diag output on the TMC. For the
/* electrical probe, we use the Z_MIN connector on the board. */
#define LULZBOT_Z_MIN_PROBE_ENDSTOP
#define LULZBOT_Z_MIN_PROBE_PIN BOARD_Z_MIN_PIN
#else
// The Mini and TAZ 7+ lack a home button and probe using the Z_MIN pin.
#define LULZBOT_Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
@ -313,14 +323,16 @@
#define LULZBOT_INVERT_E1_DIR true
#if defined(LULZBOT_IS_MINI)
#define LULZBOT_HOMING_Z_WITH_PROBE false
#define LULZBOT_INVERT_X_HOME_DIR -1 // Home left
#define LULZBOT_INVERT_Y_HOME_DIR 1 // Home bed forward
#if defined(LULZBOT_SENSORLESS_HOMING_Z)
#define LULZBOT_INVERT_Z_HOME_DIR -1 // Home to bottom
#else
#define LULZBOT_INVERT_Z_HOME_DIR 1 // Home to top
#endif
#define LULZBOT_QUICKHOME
#elif defined(LULZBOT_Juniper_TAZ5)
#define LULZBOT_HOMING_Z_WITH_PROBE false
#define LULZBOT_INVERT_X_HOME_DIR -1 // Home left
#define LULZBOT_INVERT_Y_HOME_DIR -1 // Home bed rear
#define LULZBOT_INVERT_Z_HOME_DIR -1 // Home towards bed
@ -362,6 +374,8 @@
#define LULZBOT_AFTER_Z_HOME_Z_RAISE 10
#define LULZBOT_AFTER_Z_HOME_Z_ORIGIN 0
#define LULZBOT_HOMING_USES_PROBE_PINS
#elif defined(LULZBOT_IS_TAZ) && !defined(LULZBOT_USE_HOME_BUTTON)
// TAZ 5 safe homing position so fan duct does not hit.
#define LULZBOT_Z_SAFE_HOMING
@ -481,6 +495,10 @@
* On TAZ:
* Z_MIN_PIN corresponds to the Z-Home push button.
* Z_MIN_PROBE_PIN are the bed washers.
*
* On TAZ or Mini with TMC2130 and Sensorless Homing on Z:
* Z_MIN_PIN corresponds to stallguard diag pin
* Z_MIN_PROBE_PIN are the bed washers.
*/
#define LULZBOT_SET_PIN_STATE(pin, enable) \
if(enable) { \
@ -493,7 +511,14 @@
WRITE(pin, LOW); \
}
#if defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_MINI_BED)
#if defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_SENSORLESS_HOMING_Z)
#define LULZBOT_ENABLE_PROBE_PINS(enable) { \
endstops.enable_z_probe(enable); \
LULZBOT_SET_PIN_STATE(LULZBOT_Z_MIN_PROBE_PIN, enable) \
LULZBOT_EXTRUDER_MOTOR_SHUTOFF_ON_PROBE(enable) \
}
#elif defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_MINI_BED)
#define LULZBOT_ENABLE_PROBE_PINS(enable) { \
endstops.enable_z_probe(enable); \
LULZBOT_SET_PIN_STATE(Z_MIN_PIN, enable) \
@ -963,6 +988,10 @@
#define LULZBOT_STANDARD_Z_MIN_POS -2
#define LULZBOT_STANDARD_Z_MAX_POS 159
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT) && defined(LULZBOT_SENSORLESS_HOMING_Z)
#define LULZBOT_STANDARD_Z_MIN_POS -3.5
#define LULZBOT_STANDARD_Z_MAX_POS 183
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
#define LULZBOT_STANDARD_Z_MIN_POS 0
#define LULZBOT_STANDARD_Z_MAX_POS 183
@ -1043,6 +1072,72 @@
/******************************* SENSORLESS HOMING ******************************/
#if defined(LULZBOT_SENSORLESS_HOMING)
#define LULZBOT_X_HOMING_SENSITIVITY 5
#define LULZBOT_Y_HOMING_SENSITIVITY 3
#endif
#if defined(LULZBOT_SENSORLESS_HOMING_Z)
/* With sensorless Z homing, we position the head over a corner washer,
lower the Z current and push the head down until we detect a stall
(or electrical contact is made, if LULZBOT_HOMING_USES_PROBE_PINS).
Sensorless Z homing is not accurate enough for bed leveling, but it
is good enough to allow us to find the wiper pad and proceed to
probe electrically (as was done on previous generation machines).
*/
#define LULZBOT_Z_SAFE_HOMING
#define LULZBOT_Z_SAFE_HOMING_X_POINT 17 // LULZBOT_LEFT_PROBE_BED_POSITION
#define LULZBOT_Z_SAFE_HOMING_Y_POINT 180 // LULZBOT_BACK_PROBE_BED_POSITION
#define LULZBOT_Z_HOMING_SENSITIVITY 1
#define LULZBOT_Z_HOMING_CURRENT 500
#define LULZBOT_Z_HOMING_HEIGHT 5
//#define LULZBOT_HOMING_FEEDRATE_Z (3*60) // mm/m
/* Lower the current on Z, otherwise the gearing on the axis prevents
us from detecting a stall. */
#define LULZBOT_ADJUST_Z_HOMING_CURRENT(enable) \
{ \
if(enable) { \
stepperZ.setCurrent(LULZBOT_Z_HOMING_CURRENT, R_SENSE, HOLD_MULTIPLIER); \
stepperZ.sg_stall_value(LULZBOT_Z_HOMING_SENSITIVITY); \
stepperZ.diag1_stall(1); \
} else { \
stepperZ.setCurrent(LULZBOT_MOTOR_CURRENT_Z, R_SENSE, HOLD_MULTIPLIER); \
stepperZ.diag1_stall(0); \
} \
}
/* When this is enabled, the probe pin will also be used, in addition to stallguard,
to detect the X_MIN. Will generally keep the bed from flexing as far. */
//#define LULZBOT_HOMING_USES_PROBE_PINS
#define LULZBOT_SENSORLESS_HOMING_Z_INIT \
LULZBOT_ENABLE_STALLGUARD(stepperZ); \
/* Set stallguard value for Z sensing */ \
stepperZ.sg_stall_value(LULZBOT_Z_HOMING_SENSITIVITY); \
stepperZ.diag1_stall(0); /* Start disabled */
#else
#define LULZBOT_SENSORLESS_HOMING_Z_INIT
#endif
#if defined(LULZBOT_SENSORLESS_HOMING)
#define LULZBOT_X_HOME_BUMP_MM 0
#define LULZBOT_Y_HOME_BUMP_MM 0
#else
#define LULZBOT_X_HOME_BUMP_MM 5
#define LULZBOT_Y_HOME_BUMP_MM 5
#endif
#if defined(LULZBOT_SENSORLESS_HOMING_Z)
#define LULZBOT_Z_HOME_BUMP_MM 0
#else
#define LULZBOT_Z_HOME_BUMP_MM 2
#endif
#if defined(LULZBOT_USE_EINSYRAMBO)
#define LULZBOT_HAVE_TMC2130
@ -1156,9 +1251,7 @@
st.stealthChop(1);
#define LULZBOT_TMC2130_ADV { \
/* LULZBOT_ENABLE_STALLGUARD(stepperZ) */ \
/* Set stallguard value for Z sensing */ \
/* stepperZ.sg_stall_value(5); */ \
LULZBOT_SENSORLESS_HOMING_Z_INIT \
/* Set TOFF to reduce audible chopping noise */ \
stepperX.toff(3); \
stepperY.toff(3); \
@ -1173,16 +1266,20 @@
/* Leaving the toolhead resting on the endstops will likely cause
* chatter if the machine is immediately re-homed, so don't leave
* the head sitting on the endstop after homing. */
#define LULZBOT_BACKOFF_DIST 3
* the head sitting on the endstops after homing. */
#define LULZBOT_BACKOFF_DIST 5
#define LULZBOT_BACKOFF_FEEDRATE 5
#define LULZBOT_AFTER_Z_HOME_ACTION \
if(home_all || homeZ) { \
LULZBOT_G0_Z(LULZBOT_BACKOFF_DIST); \
} \
if(home_all || homeX || homeY) { \
int x = (LULZBOT_INVERT_X_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_X_MAX_POS - LULZBOT_BACKOFF_DIST); \
int y = (LULZBOT_INVERT_Y_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_Y_MAX_POS - LULZBOT_BACKOFF_DIST); \
do_blocking_move_to_xy( \
LULZBOT_INVERT_X_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_X_MAX_POS - LULZBOT_BACKOFF_DIST, \
LULZBOT_INVERT_Y_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_Y_MAX_POS - LULZBOT_BACKOFF_DIST, \
LULZBOT_BACKOFF_FEEDRATE \
);
homeX ? x : current_position[X_AXIS], homeY ? y : current_position[Y_AXIS], LULZBOT_BACKOFF_FEEDRATE \
); \
}
#else
#define LULZBOT_TMC_M119_STALLGUARD_REPORT
#define LULZBOT_TMC_STALLGUARD_AVG_VARS
@ -1220,17 +1317,6 @@
// Quickhome does not work with sensorless homing
#undef LULZBOT_QUICKHOME
#define LULZBOT_X_HOMING_SENSITIVITY 5
#define LULZBOT_Y_HOMING_SENSITIVITY 3
#endif
#if defined(LULZBOT_SENSORLESS_HOMING)
#define LULZBOT_X_HOME_BUMP_MM 0
#define LULZBOT_Y_HOME_BUMP_MM 0
#else
#define LULZBOT_X_HOME_BUMP_MM 5
#define LULZBOT_Y_HOME_BUMP_MM 5
#endif
/**************************** ADVANCED PAUSE FEATURE ****************************/

2
Marlin/Configuration_adv.h
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@ -352,7 +352,7 @@
//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
#define X_HOME_BUMP_MM LULZBOT_X_HOME_BUMP_MM
#define Y_HOME_BUMP_MM LULZBOT_Y_HOME_BUMP_MM
#define Z_HOME_BUMP_MM 2
#define Z_HOME_BUMP_MM LULZBOT_Z_HOME_BUMP_MM
#define HOMING_BUMP_DIVISOR {2, 2, 4} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
#if defined(LULZBOT_QUICKHOME)
#define QUICK_HOME LULZBOT_QUICKHOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.

14
Marlin/Marlin_main.cpp
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@ -3033,6 +3033,10 @@ static void homeaxis(const AxisEnum axis) {
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
#endif
#if ENABLED(Z_IS_TMC2130) && defined(LULZBOT_SENSORLESS_HOMING_Z)
if (axis == Z_AXIS) tmc2130_sensorless_homing(stepperZ);
if (axis == Z_AXIS) LULZBOT_ADJUST_Z_HOMING_CURRENT(true);
#endif
#endif
// Fast move towards endstop until triggered
@ -3127,6 +3131,10 @@ static void homeaxis(const AxisEnum axis) {
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
#endif
#if ENABLED(Z_IS_TMC2130) && defined(LULZBOT_SENSORLESS_HOMING_Z)
if (axis == Z_AXIS) tmc2130_sensorless_homing(stepperZ, false);
if (axis == Z_AXIS) LULZBOT_ADJUST_Z_HOMING_CURRENT(false);
#endif
#endif
// Put away the Z probe
@ -3921,7 +3929,9 @@ inline void gcode_G4() {
*
*/
inline void gcode_G28(const bool always_home_all) {
#if defined(LULZBOT_HOMING_USES_PROBE_PINS)
LULZBOT_ENABLE_PROBE_PINS(true);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -4001,7 +4011,9 @@ inline void gcode_G28(const bool always_home_all) {
SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
#endif
LULZBOT_ADJUST_Z_HOMING_CURRENT(true)
do_blocking_move_to_z(destination[Z_AXIS]);
LULZBOT_ADJUST_Z_HOMING_CURRENT(false)
}
}
@ -4118,7 +4130,9 @@ inline void gcode_G28(const bool always_home_all) {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
#endif
#if defined(LULZBOT_HOMING_USES_PROBE_PINS)
LULZBOT_ENABLE_PROBE_PINS(false);
#endif
} // G28
void home_all_axes() { gcode_G28(true); }

8
Marlin/pins_EINSYRAMBO.h
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@ -67,10 +67,16 @@
#if defined(LULZBOT_USE_EARLY_EINSY) && defined(LULZBOT_SENSORLESS_HOMING)
#define X_MIN_PIN BOARD_X_DIAG_PIN
#define Y_MIN_PIN BOARD_Y_MIN_PIN
#define Z_MIN_PIN BOARD_Z_MIN_PIN
#define X_MAX_PIN BOARD_X_MAX_PIN
#define Y_MAX_PIN BOARD_Y_DIAG_PIN
#if defined(LULZBOT_SENSORLESS_HOMING_Z)
#define Z_MIN_PIN BOARD_Z_DIAG_PIN
#define Z_MAX_PIN BOARD_Z_MAX_PIN
#else
#define Z_MIN_PIN BOARD_Z_MIN_PIN
#define Z_MAX_PIN BOARD_Z_MAX_PIN
#endif
#elif defined(LULZBOT_USE_EARLY_EINSY)
#define X_MIN_PIN BOARD_X_MIN_PIN

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