Fix DELTA + TMC sensorless homing + SPI endstops (MarlinFirmware#18811)

vgadreau · Dec 9, 2020 · 3a3b132 · 3a3b132
1 parent 1553c78
commit 3a3b132
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 8 deletions.
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
@@ -242,11 +242,9 @@ void home_delta() {
 
   // Disable stealthChop if used. Enable diag1 pin on driver.
   #if ENABLED(SENSORLESS_HOMING)
-    sensorless_t stealth_states {
-      tmc_enable_stallguard(stepperX),
-      tmc_enable_stallguard(stepperY),
-      tmc_enable_stallguard(stepperZ)
-    };
+  TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
+  TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
+  TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
   #endif
 
   // Move all carriages together linearly until an endstop is hit.
@@ -256,9 +254,9 @@ void home_delta() {
 
   // Re-enable stealthChop if used. Disable diag1 pin on driver.
   #if ENABLED(SENSORLESS_HOMING)
-    tmc_disable_stallguard(stepperX, stealth_states.x);
-    tmc_disable_stallguard(stepperY, stealth_states.y);
-    tmc_disable_stallguard(stepperZ, stealth_states.z);
+  TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
+  TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
+  TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
   #endif
 
   endstops.validate_homing_move();

diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
@@ -395,3 +395,9 @@ void homeaxis(const AxisEnum axis);
 #if HAS_M206_COMMAND
   void set_home_offset(const AxisEnum axis, const float v);
 #endif
+
+#if USE_SENSORLESS
+  struct sensorless_t;
+  sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis);
+  void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth);
+#endif