Sensorless home sanity check

[arades79]

Description

Adds a timing mechanism and debugging output to the homing procedure (G28) to check if the procedure takes significantly longer or shorter than expected from the current reported axis positions. This is only intended to work when axis are already in a trusted state from a valid home. This can be used to tune TMC sensorless homing parameters by giving feedback for false positive/negative scenarios while homing.

Requirements

This feature assumes usage of sensorless homing and may not work properly with traditional homing. This is also only tested on STM32 targets.

Benefits

Allows automated/assisted tuning of TMC sensorless homing parameters

Configurations

The following config block should be added (or uncommented) inside of the #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) block of configuration_adv.h file:

    // On axis home for trusted axis, check that a stallguard false positive or negative didn't occur by timing the move
    #define SENSORLESS_HOME_SANITY_CHECKING
    #if ENABLED(SENSORLESS_HOME_SANITY_CHECKING)
      #define HOME_SANITY_CHECKING_STARTUP_COMPENSATION 200
      #define HOME_SANITY_CHECKING_ERROR_MARGIN 50
    #endif

Related Issues

N/A

[thinkyhead]

This PR seems to be marked as not editable by maintainers. Do you see a checkbox on the page to allow edits by maintainers? If so, please enable that option.

[arades79]

I don't have that option... It's possible it's an organization rule. I'll add write access for you for now and see what I can do about getting that checkbox back. Apologies!

[arades79]

Just bumping to say this isn't abandoned, I have an implementation for sensorless homing autotuning, but I need to do some cleanup before I can cherry pick it here

[thinkyhead]

Moved to #27556