fixes for good sensorless (props to fbeauKmi and nielsvz)

KalicoCrew · Nov 6, 2023 · 5c1d8bb · 5c1d8bb
1 parent 5cccd3b
commit 5c1d8bb
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Showing 5 changed files with 19 additions and 6 deletions.
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
@@ -240,9 +240,9 @@ def _set_current_homing(self, homing_axes):
 
         for rail in affected_rails:
             ch = rail.get_tmc_current_helper()
-            if ch is not None:
+            if ch is not None and ch._home_current != ch.run_current:
                 ch.set_current_for_homing(print_time)
-                self.toolhead.dwell(0.5)
+                self.toolhead.dwell(ch.current_change_dwell_time)
 
     def _set_current_post_homing(self, homing_axes):
         print_time = self.toolhead.get_last_move_time()
@@ -254,9 +254,9 @@ def _set_current_post_homing(self, homing_axes):
 
         for rail in affected_rails:
             ch = rail.get_tmc_current_helper()
-            if ch is not None:
+            if ch is not None and ch._home_current != ch.run_current:
                 ch.set_current_for_normal(print_time)
-                self.toolhead.dwell(0.5)
+                self.toolhead.dwell(ch.current_change_dwell_time)
 
     def home_rails(self, rails, forcepos, movepos):
         # Notify of upcoming homing operation
@@ -284,7 +284,9 @@ def home_rails(self, rails, forcepos, movepos):
         # Perform second home
         if hi.retract_dist:
             needs_rehome = False
-            if any([dist < hi.retract_dist for dist in homing_axis_distances]):
+            if any(
+                [abs(dist) < hi.retract_dist for dist in homing_axis_distances]
+            ):
                 needs_rehome = True
 
             logging.info("needs rehome: %s", needs_rehome)
@@ -299,7 +301,6 @@ def home_rails(self, rails, forcepos, movepos):
             ]
             self.toolhead.move(retractpos, hi.retract_speed)
             if not hi.use_sensorless_homing or needs_rehome:
-                self.toolhead.dwell(0.5)
                 # Home again
                 startpos = [
                     rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)

diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
@@ -212,6 +212,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.run_current, above=0.0, maxval=MAX_CURRENT
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self.prev_current = self.run_current
         self.req_hold_current = self.hold_current
         self.sense_resistor = config.getfloat(

diff --git a/klippy/extras/tmc2240.py b/klippy/extras/tmc2240.py
@@ -281,6 +281,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.run_current, above=0.0, maxval=self.max_cur
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self.prev_current = self.run_current
         self.req_hold_current = self.hold_current
         current_range = self._calc_current_range(self.run_current)

diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py
@@ -126,6 +126,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.current, above=0.0, maxval=MAX_CURRENT
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self._prev_current = self.current
         self.sense_resistor = config.getfloat("sense_resistor")
         vsense, cs = self._calc_current(self.current)

diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
@@ -265,6 +265,9 @@ def __init__(self, config, mcu_tmc):
         self._home_current = config.getfloat(
             "home_current", self.run_current, above=0.0, maxval=MAX_CURRENT
         )
+        self.current_change_dwell_time = config.getfloat(
+            "current_change_dwell_time", 0.5, above=0.0
+        )
         self._prev_current = self.run_current
         self.req_hold_current = self.hold_current
         self.sense_resistor = config.getfloat(