Multi-stepper homing / probing current

MarlinFirmware · May 1, 2023 · a7245fd · a7245fd
1 parent df8f1f0
commit a7245fd
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Showing 6 changed files with 160 additions and 104 deletions.
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -2855,10 +2855,10 @@
   #endif
 
   #if AXIS_IS_TMC_CONFIG(X2)
-    #define X2_CURRENT      800
+    #define X2_CURRENT      X_CURRENT
     #define X2_CURRENT_HOME X2_CURRENT
-    #define X2_MICROSTEPS    X_MICROSTEPS
-    #define X2_RSENSE         0.11
+    #define X2_MICROSTEPS   X_MICROSTEPS
+    #define X2_RSENSE       X_RSENSE
     #define X2_CHAIN_POS     -1
     //#define X2_INTERPOLATE true
     //#define X2_HOLD_MULTIPLIER 0.5
@@ -2875,10 +2875,10 @@
   #endif
 
   #if AXIS_IS_TMC_CONFIG(Y2)
-    #define Y2_CURRENT      800
+    #define Y2_CURRENT      Y_CURRENT
     #define Y2_CURRENT_HOME Y2_CURRENT
-    #define Y2_MICROSTEPS    Y_MICROSTEPS
-    #define Y2_RSENSE         0.11
+    #define Y2_MICROSTEPS   Y_MICROSTEPS
+    #define Y2_RSENSE       Y_RSENSE
     #define Y2_CHAIN_POS     -1
     //#define Y2_INTERPOLATE true
     //#define Y2_HOLD_MULTIPLIER 0.5
@@ -2895,30 +2895,30 @@
   #endif
 
   #if AXIS_IS_TMC_CONFIG(Z2)
-    #define Z2_CURRENT      800
+    #define Z2_CURRENT      Z_CURRENT
     #define Z2_CURRENT_HOME Z2_CURRENT
-    #define Z2_MICROSTEPS    Z_MICROSTEPS
-    #define Z2_RSENSE         0.11
+    #define Z2_MICROSTEPS   Z_MICROSTEPS
+    #define Z2_RSENSE       Z_RSENSE
     #define Z2_CHAIN_POS     -1
     //#define Z2_INTERPOLATE true
     //#define Z2_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(Z3)
-    #define Z3_CURRENT      800
+    #define Z3_CURRENT      Z_CURRENT
     #define Z3_CURRENT_HOME Z3_CURRENT
-    #define Z3_MICROSTEPS    Z_MICROSTEPS
-    #define Z3_RSENSE         0.11
+    #define Z3_MICROSTEPS   Z_MICROSTEPS
+    #define Z3_RSENSE       Z_RSENSE
     #define Z3_CHAIN_POS     -1
     //#define Z3_INTERPOLATE true
     //#define Z3_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(Z4)
-    #define Z4_CURRENT      800
+    #define Z4_CURRENT      Z_CURRENT
     #define Z4_CURRENT_HOME Z4_CURRENT
-    #define Z4_MICROSTEPS    Z_MICROSTEPS
-    #define Z4_RSENSE         0.11
+    #define Z4_MICROSTEPS   Z_MICROSTEPS
+    #define Z4_RSENSE       Z_RSENSE
     #define Z4_CHAIN_POS     -1
     //#define Z4_INTERPOLATE true
     //#define Z4_HOLD_MULTIPLIER 0.5
@@ -2994,63 +2994,63 @@
   #endif
 
   #if AXIS_IS_TMC_CONFIG(E1)
-    #define E1_CURRENT      800
+    #define E1_CURRENT      E0_CURRENT
     #define E1_MICROSTEPS   E0_MICROSTEPS
-    #define E1_RSENSE         0.11
+    #define E1_RSENSE       E0_RSENSE
     #define E1_CHAIN_POS     -1
     //#define E1_INTERPOLATE true
     //#define E1_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(E2)
-    #define E2_CURRENT      800
+    #define E2_CURRENT      E0_CURRENT
     #define E2_MICROSTEPS   E0_MICROSTEPS
-    #define E2_RSENSE         0.11
+    #define E2_RSENSE       E0_RSENSE
     #define E2_CHAIN_POS     -1
     //#define E2_INTERPOLATE true
     //#define E2_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(E3)
-    #define E3_CURRENT      800
+    #define E3_CURRENT      E0_CURRENT
     #define E3_MICROSTEPS   E0_MICROSTEPS
-    #define E3_RSENSE         0.11
+    #define E3_RSENSE       E0_RSENSE
     #define E3_CHAIN_POS     -1
     //#define E3_INTERPOLATE true
     //#define E3_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(E4)
-    #define E4_CURRENT      800
+    #define E4_CURRENT      E0_CURRENT
     #define E4_MICROSTEPS   E0_MICROSTEPS
-    #define E4_RSENSE         0.11
+    #define E4_RSENSE       E0_RSENSE
     #define E4_CHAIN_POS     -1
     //#define E4_INTERPOLATE true
     //#define E4_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(E5)
-    #define E5_CURRENT      800
+    #define E5_CURRENT      E0_CURRENT
     #define E5_MICROSTEPS   E0_MICROSTEPS
-    #define E5_RSENSE         0.11
+    #define E5_RSENSE       E0_RSENSE
     #define E5_CHAIN_POS     -1
     //#define E5_INTERPOLATE true
     //#define E5_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(E6)
-    #define E6_CURRENT      800
+    #define E6_CURRENT      E0_CURRENT
     #define E6_MICROSTEPS   E0_MICROSTEPS
-    #define E6_RSENSE         0.11
+    #define E6_RSENSE       E0_RSENSE
     #define E6_CHAIN_POS     -1
     //#define E6_INTERPOLATE true
     //#define E6_HOLD_MULTIPLIER 0.5
   #endif
 
   #if AXIS_IS_TMC_CONFIG(E7)
-    #define E7_CURRENT      800
+    #define E7_CURRENT      E0_CURRENT
     #define E7_MICROSTEPS   E0_MICROSTEPS
-    #define E7_RSENSE         0.11
+    #define E7_RSENSE       E0_RSENSE
     #define E7_CHAIN_POS     -1
     //#define E7_INTERPOLATE true
     //#define E7_HOLD_MULTIPLIER 0.5

diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
@@ -265,69 +265,70 @@ void GcodeSuite::G28() {
   // Count this command as movement / activity
   reset_stepper_timeout();
 
-  #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
-  #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K) || HAS_CURRENT_HOME(U) || HAS_CURRENT_HOME(V) || HAS_CURRENT_HOME(W)
+  #define _OR_HAS_CURR_HOME(N) HAS_CURRENT_HOME(N) ||
+  #if  HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Z) \
+    || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K) \
+    || HAS_CURRENT_HOME(U) || HAS_CURRENT_HOME(V) || HAS_CURRENT_HOME(W) \
+    || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y2) || HAS_CURRENT_HOME(Z2) || HAS_CURRENT_HOME(Z3) || HAS_CURRENT_HOME(Z4)
     #define HAS_HOMING_CURRENT 1
   #endif
 
   #if HAS_HOMING_CURRENT
-    auto debug_current = [](FSTR_P const s, const int16_t a, const int16_t b) {
-      DEBUG_ECHOF(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b);
-    };
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      auto debug_current = [](FSTR_P const s, const int16_t a, const int16_t b) {
+        if (DEBUGGING(LEVELING)) { DEBUG_ECHOF(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); }
+      };
+    #else
+      #define debug_current(...)
+    #endif
+
+    #define _SAVE_SET_CURRENT(A) \
+      const int16_t tmc_save_current_##A = stepper##A.getMilliamps(); \
+      stepper##A.rms_current(A##_CURRENT_HOME); \
+      debug_current(F(STR_##A), tmc_save_current_##A, A##_CURRENT_HOME)
+
     #if HAS_CURRENT_HOME(X)
-      const int16_t tmc_save_current_X = stepperX.getMilliamps();
-      stepperX.rms_current(X_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_X), tmc_save_current_X, X_CURRENT_HOME);
+      _SAVE_SET_CURRENT(X);
     #endif
     #if HAS_CURRENT_HOME(X2)
-      const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
-      stepperX2.rms_current(X2_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_X2), tmc_save_current_X2, X2_CURRENT_HOME);
+      _SAVE_SET_CURRENT(X2);
     #endif
     #if HAS_CURRENT_HOME(Y)
-      const int16_t tmc_save_current_Y = stepperY.getMilliamps();
-      stepperY.rms_current(Y_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_Y), tmc_save_current_Y, Y_CURRENT_HOME);
+      _SAVE_SET_CURRENT(Y);
     #endif
     #if HAS_CURRENT_HOME(Y2)
-      const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
-      stepperY2.rms_current(Y2_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_Y2), tmc_save_current_Y2, Y2_CURRENT_HOME);
+      _SAVE_SET_CURRENT(Y2);
     #endif
-    #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
-      const int16_t tmc_save_current_Z = stepperZ.getMilliamps();
-      stepperZ.rms_current(Z_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_Z), tmc_save_current_Z, Z_CURRENT_HOME);
+    #if HAS_CURRENT_HOME(Z)
+      _SAVE_SET_CURRENT(Z);
+    #endif
+    #if HAS_CURRENT_HOME(Z2)
+      _SAVE_SET_CURRENT(Z2);
+    #endif
+    #if HAS_CURRENT_HOME(Z3)
+      _SAVE_SET_CURRENT(Z3);
+    #endif
+    #if HAS_CURRENT_HOME(Z4)
+      _SAVE_SET_CURRENT(Z4);
     #endif
     #if HAS_CURRENT_HOME(I)
-      const int16_t tmc_save_current_I = stepperI.getMilliamps();
-      stepperI.rms_current(I_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_I), tmc_save_current_I, I_CURRENT_HOME);
+      _SAVE_SET_CURRENT(I);
     #endif
     #if HAS_CURRENT_HOME(J)
-      const int16_t tmc_save_current_J = stepperJ.getMilliamps();
-      stepperJ.rms_current(J_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_J), tmc_save_current_J, J_CURRENT_HOME);
+      _SAVE_SET_CURRENT(J);
     #endif
     #if HAS_CURRENT_HOME(K)
-      const int16_t tmc_save_current_K = stepperK.getMilliamps();
-      stepperK.rms_current(K_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
+      _SAVE_SET_CURRENT(K);
     #endif
     #if HAS_CURRENT_HOME(U)
-      const int16_t tmc_save_current_U = stepperU.getMilliamps();
-      stepperU.rms_current(U_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_U), tmc_save_current_U, U_CURRENT_HOME);
+      _SAVE_SET_CURRENT(U);
     #endif
     #if HAS_CURRENT_HOME(V)
-      const int16_t tmc_save_current_V = stepperV.getMilliamps();
-      stepperV.rms_current(V_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_V), tmc_save_current_V, V_CURRENT_HOME);
+      _SAVE_SET_CURRENT(V);
     #endif
     #if HAS_CURRENT_HOME(W)
-      const int16_t tmc_save_current_W = stepperW.getMilliamps();
-      stepperW.rms_current(W_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_W), tmc_save_current_W, W_CURRENT_HOME);
+      _SAVE_SET_CURRENT(W);
     #endif
     #if SENSORLESS_STALLGUARD_DELAY
       safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
@@ -595,9 +596,18 @@ void GcodeSuite::G28() {
     #if HAS_CURRENT_HOME(Y2)
       stepperY2.rms_current(tmc_save_current_Y2);
     #endif
-    #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
+    #if HAS_CURRENT_HOME(Z)
       stepperZ.rms_current(tmc_save_current_Z);
     #endif
+    #if HAS_CURRENT_HOME(Z2)
+      stepperZ2.rms_current(tmc_save_current_Z2);
+    #endif
+    #if HAS_CURRENT_HOME(Z3)
+      stepperZ3.rms_current(tmc_save_current_Z3);
+    #endif
+    #if HAS_CURRENT_HOME(Z4)
+      stepperZ4.rms_current(tmc_save_current_Z4);
+    #endif
     #if HAS_CURRENT_HOME(I)
       stepperI.rms_current(tmc_save_current_I);
     #endif

diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
@@ -476,8 +476,7 @@ void GcodeSuite::G33() {
   #if HAS_DELTA_SENSORLESS_PROBING
     if (verbose_level > 0 && do_save_offset_adj) {
       offset_sensorless_adj.reset();
-
-      auto caltower = [&](Probe::sense_bool_t s){
+      auto caltower = [&](Probe::sense_bool_t s) {
         float z_at_pt[NPP + 1];
         LOOP_CAL_ALL(rad) z_at_pt[rad] = 0.0f;
         probe.test_sensitivity = s;

diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
@@ -1393,6 +1393,7 @@
   #endif
   #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
     #define USE_SENSORLESS 1
+    #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
   #endif
   // Disable Z axis sensorless homing if a probe is used to home the Z axis
   #if HOMING_Z_WITH_PROBE