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✨ SENSORLESS_HOMING_VALIDATION #27556

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✨ SENSORLESS_HOMING_VALIDATION #27556

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7 changes: 7 additions & 0 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3453,6 +3453,13 @@
//#define W_STALL_SENSITIVITY 8
//#define SPI_ENDSTOPS // TMC2130/TMC5160 only
//#define IMPROVE_HOMING_RELIABILITY

// When homing a "trusted" axis, verify Stallguard results by timing the move
//#define SENSORLESS_HOMING_VALIDATION
#if ENABLED(SENSORLESS_HOMING_VALIDATION)
#define SHV_STARTUP_COMPENSATION 200 // (ms)
#define SHV_ERROR_MARGIN 50 // (mm)
#endif
#endif

// @section tmc/config
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33 changes: 32 additions & 1 deletion Marlin/src/module/motion.cpp
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Expand Up @@ -2439,8 +2439,30 @@ void prepare_line_to_destination() {
const bool is_home_dir = (axis_home_dir > 0) == (distance > 0);

#if ENABLED(SENSORLESS_HOMING)

sensorless_t stealth_states;
#endif

#if ENABLED(SENSORLESS_HOMING_VALIDATION)

static float expected_distance = 0; // Known coordinates after homing routine sets to 0

if (is_home_dir) {
// Sensorless homing moves by a backoff. This accounts for that distance.
expected_distance += -axis_home_dir * planner.get_axis_position_mm(axis);
}
else {
// In Stallguard context, a backoff distance is done first,
// so this is where the expected printer position is captured.
const float axis_pos = planner.get_axis_position_mm(axis),
expected_distance = axis_home_dir > 0 ? (base_max_pos(axis) - axis_pos) : (base_min_pos(axis) + axis_pos);
}

const millis_t time_to_stop = static_cast<millis_t>((expected_distance / home_fr_mm_s) * 1000.0f),
expected_stop_time = millis() + time_to_stop + SHV_STARTUP_COMPENSATION;

#endif

#endif // SENSORLESS_HOMING

if (is_home_dir) {

Expand Down Expand Up @@ -2493,6 +2515,15 @@ void prepare_line_to_destination() {

if (is_home_dir) {

#if ENABLED(SENSORLESS_HOMING_VALIDATION)
const int32_t time_delta = static_cast<int32_t>(millis() - expected_stop_time);
const bool bad_home = !WITHIN(time_delta, -SHV_ERROR_MARGIN, SHV_ERROR_MARGIN);
if (DEBUGGING(INFO))
SERIAL_ECHOLNPGM("Axis:", C(AXIS_CHAR(axis)), " Distance:", expected_distance, " Feedrate:", home_fr_mm_s, " Expected stop time:", time_to_stop, " Difference:", time_delta);
if (DEBUGGING(ERRORS) && bad_home)
SERIAL_ECHOLNPGM("Homing fault! Time difference: ", time_delta, ", Axis: ", C(AXIS_CHAR(axis)));
#endif

#if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING
if (axis == Z_AXIS && final_approach) probe.set_probing_paused(false);
#endif
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2 changes: 1 addition & 1 deletion buildroot/tests/teensy35
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Expand Up @@ -91,7 +91,7 @@ opt_set MOTHERBOARD BOARD_TEENSY35_36 \
X_CURRENT_HOME 750 Y_CURRENT_HOME 750 \
X_MIN_ENDSTOP_HIT_STATE LOW Y_MIN_ENDSTOP_HIT_STATE LOW \
X_CS_PIN 46 Y_CS_PIN 47
opt_enable COREXY MONITOR_DRIVER_STATUS SENSORLESS_HOMING X_STALL_SENSITIVITY Y_STALL_SENSITIVITY
opt_enable COREXY MONITOR_DRIVER_STATUS SENSORLESS_HOMING SENSORLESS_HOMING_VALIDATION X_STALL_SENSITIVITY Y_STALL_SENSITIVITY
exec_test $1 $2 "Teensy 3.5/3.6 COREXY" "$3"

#
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