good sensorless (#65)

* real sensorless v1 * flake * tests and docs * refactor current again to not wipe overrides * add min homing dist behavior * Remove unecessary logs * use stepper name instead * readme --------- Co-authored-by: Rogerio Goncalves <[email protected]>
KalicoCrew · Oct 12, 2023 · 72b9b99 · 72b9b99
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diff --git a/.gitignore b/.gitignore
@@ -8,3 +8,4 @@ klippy/.version
 .DS_Store
 ci_build/
 ci_cache/
+_test_.*
diff --git a/README.md b/README.md
@@ -32,6 +32,12 @@ Features merged into the master branch:
 
 - [core: danger_options](https://github.com/DangerKlippers/danger-klipper/pull/67)
 
+- [stepper: home_current](https://github.com/DangerKlippers/danger-klipper/pull/65)
+
+- [homing: post-home retract](https://github.com/DangerKlippers/danger-klipper/pull/65)
+
+- [homing: sensorless minimum home distance](https://github.com/DangerKlippers/danger-klipper/pull/65)
+
 "Dangerous Klipper for dangerous users"
 
 Klipper is a 3d-Printer firmware. It combines the power of a general

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
@@ -204,7 +204,9 @@ position_max:
 #   is 5mm/s.
 #homing_retract_dist: 5.0
 #   Distance to backoff (in mm) before homing a second time during
-#   homing. Set this to zero to disable the second home. The default
+#   homing. If `use_sensorless_homing` is false, this setting can be set
+#   to zero to disable the second home. If `use_sensorless_homing` is
+#   true, this setting can be > 0 to backoff after homing. The default
 #   is 5mm.
 #homing_retract_speed:
 #   Speed to use on the retract move after homing in case this should
@@ -219,6 +221,9 @@ position_max:
 #   better to use the default than to specify this parameter. The
 #   default is true if position_endstop is near position_max and false
 #   if near position_min.
+#use_sensorless_homing:
+#   If true, disables the second home action if homing_retract_dist > 0.
+#   The default is true if endstop_pin is configured to use virtual_endstop
 ```
 
 ### Cartesian Kinematics
@@ -3399,6 +3404,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor: 0.110
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.110 ohms.
@@ -3492,6 +3500,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor: 0.110
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.110 ohms.
@@ -3535,6 +3546,7 @@ uart_pin:
 #interpolate: True
 run_current:
 #hold_current:
+#home_current:
 #sense_resistor: 0.110
 #stealthchop_threshold: 0
 #   See the "tmc2208" section for the definition of these parameters.
@@ -3603,6 +3615,9 @@ cs_pin:
 run_current:
 #   The amount of current (in amps RMS) used by the driver during
 #   stepper movement. This parameter must be provided.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor:
 #   The resistance (in ohms) of the motor sense resistor. This
 #   parameter must be provided.
@@ -3680,6 +3695,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #rref: 12000
 #   The resistance (in ohms) of the resistor between IREF and GND. The
 #   default is 12000.
@@ -3801,6 +3819,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor: 0.075
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.075 ohms.

diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
@@ -4,11 +4,13 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math
+import logging
 
 HOMING_START_DELAY = 0.001
 ENDSTOP_SAMPLE_TIME = 0.000015
 ENDSTOP_SAMPLE_COUNT = 4
 
+
 # Return a completion that completes when all completions in a list complete
 def multi_complete(printer, completions):
     if len(completions) == 1:
@@ -47,6 +49,7 @@ def __init__(self, printer, endstops, toolhead=None):
             toolhead = printer.lookup_object("toolhead")
         self.toolhead = toolhead
         self.stepper_positions = []
+        self.distance_elapsed = []
 
     def get_mcu_endstops(self):
         return [es for es, name in self.endstops]
@@ -116,6 +119,7 @@ def homing_move(
             )
             endstop_triggers.append(wait)
         all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
+
         self.toolhead.dwell(HOMING_START_DELAY)
         # Issue move
         error = None
@@ -157,6 +161,16 @@ def homing_move(
                 sp.stepper_name: sp.halt_pos - sp.trig_pos
                 for sp in self.stepper_positions
             }
+            steps_moved = {
+                sp.stepper_name: (sp.halt_pos - sp.start_pos)
+                * sp.stepper.get_step_dist()
+                for sp in self.stepper_positions
+            }
+            filled_steps_moved = {
+                sname: steps_moved.get(sname, 0)
+                for sname in [s.get_name() for s in kin.get_steppers()]
+            }
+            self.distance_elapsed = kin.calc_position(filled_steps_moved)
             if any(over_steps.values()):
                 self.toolhead.set_position(movepos)
                 halt_kin_spos = {
@@ -216,10 +230,38 @@ def _fill_coord(self, coord):
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
 
+    def _set_current_homing(self, homing_axes):
+        print_time = self.toolhead.get_last_move_time()
+        affected_rails = set()
+        for axis in homing_axes:
+            axis_name = "xyz"[axis]  # only works for cartesian
+            partial_rails = self.toolhead.get_active_rails_for_axis(axis_name)
+            affected_rails = affected_rails | set(partial_rails)
+
+        for rail in affected_rails:
+            ch = rail.get_tmc_current_helper()
+            if ch is not None:
+                ch.set_current_for_homing(print_time)
+                self.toolhead.dwell(0.5)
+
+    def _set_current_post_homing(self, homing_axes):
+        print_time = self.toolhead.get_last_move_time()
+        affected_rails = set()
+        for axis in homing_axes:
+            axis_name = "xyz"[axis]  # only works for cartesian
+            partial_rails = self.toolhead.get_active_rails_for_axis(axis_name)
+            affected_rails = affected_rails | set(partial_rails)
+
+        for rail in affected_rails:
+            ch = rail.get_tmc_current_helper()
+            if ch is not None:
+                ch.set_current_for_normal(print_time)
+                self.toolhead.dwell(0.5)
+
     def home_rails(self, rails, forcepos, movepos):
         # Notify of upcoming homing operation
         self.printer.send_event("homing:home_rails_begin", self, rails)
-        # Alter kinematics class to think printer is at forcepos
+        # Alter kinematics class to think printer is at forcepo
         homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
         startpos = self._fill_coord(forcepos)
         homepos = self._fill_coord(movepos)
@@ -228,9 +270,24 @@ def home_rails(self, rails, forcepos, movepos):
         endstops = [es for rail in rails for es in rail.get_endstops()]
         hi = rails[0].get_homing_info()
         hmove = HomingMove(self.printer, endstops)
+
+        self._set_current_homing(homing_axes)
+
         hmove.homing_move(homepos, hi.speed)
+
+        homing_axis_distances = [
+            dist
+            for i, dist in enumerate(hmove.distance_elapsed)
+            if i in homing_axes
+        ]
+
         # Perform second home
         if hi.retract_dist:
+            needs_rehome = False
+            if any([dist < hi.retract_dist for dist in homing_axis_distances]):
+                needs_rehome = True
+
+            logging.info("needs rehome: %s", needs_rehome)
             # Retract
             startpos = self._fill_coord(forcepos)
             homepos = self._fill_coord(movepos)
@@ -241,18 +298,37 @@ def home_rails(self, rails, forcepos, movepos):
                 hp - ad * retract_r for hp, ad in zip(homepos, axes_d)
             ]
             self.toolhead.move(retractpos, hi.retract_speed)
-            # Home again
-            startpos = [
-                rp - ad * retract_r for rp, ad in zip(retractpos, axes_d)
-            ]
-            self.toolhead.set_position(startpos)
-            hmove = HomingMove(self.printer, endstops)
-            hmove.homing_move(homepos, hi.second_homing_speed)
-            if hmove.check_no_movement() is not None:
-                raise self.printer.command_error(
-                    "Endstop %s still triggered after retract"
-                    % (hmove.check_no_movement(),)
-                )
+            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)
+                ]
+                self.toolhead.set_position(startpos)
+                print_time = self.toolhead.get_last_move_time()
+                for endstop in endstops:
+                    # re-querying a tmc endstop seems to reset the state
+                    # otherwise it triggers almost immediately upon second home
+                    endstop[0].query_endstop(print_time)
+                hmove = HomingMove(self.printer, endstops)
+                hmove.homing_move(homepos, hi.second_homing_speed)
+                if hmove.check_no_movement() is not None:
+                    raise self.printer.command_error(
+                        "Endstop %s still triggered after retract"
+                        % (hmove.check_no_movement(),)
+                    )
+
+                # Retract (again)
+                startpos = self._fill_coord(forcepos)
+                homepos = self._fill_coord(movepos)
+                axes_d = [hp - sp for hp, sp in zip(homepos, startpos)]
+                move_d = math.sqrt(sum([d * d for d in axes_d[:3]]))
+                retract_r = min(1.0, hi.retract_dist / move_d)
+                retractpos = [
+                    hp - ad * retract_r for hp, ad in zip(homepos, axes_d)
+                ]
+                self.toolhead.move(retractpos, hi.retract_speed)
+        self._set_current_post_homing(homing_axes)
         # Signal home operation complete
         self.toolhead.flush_step_generation()
         self.trigger_mcu_pos = {

diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
@@ -11,6 +11,7 @@
 # Field helpers
 ######################################################################
 
+
 # Return the position of the first bit set in a mask
 def ffs(mask):
     return (mask & -mask).bit_length() - 1
@@ -345,29 +346,53 @@ def cmd_SET_TMC_FIELD(self, gcmd):
 
     def cmd_SET_TMC_CURRENT(self, gcmd):
         ch = self.current_helper
-        prev_cur, prev_hold_cur, req_hold_cur, max_cur = ch.get_current()
+        (
+            prev_cur,
+            prev_hold_cur,
+            req_hold_cur,
+            max_cur,
+            prev_home_cur,
+        ) = ch.get_current()
         run_current = gcmd.get_float(
             "CURRENT", None, minval=0.0, maxval=max_cur
         )
         hold_current = gcmd.get_float(
             "HOLDCURRENT", None, above=0.0, maxval=max_cur
         )
-        if run_current is not None or hold_current is not None:
+        home_current = gcmd.get_float(
+            "HOMECURRENT", None, above=0.0, maxval=max_cur
+        )
+        if (
+            run_current is not None
+            or hold_current is not None
+            or home_current is not None
+        ):
             if run_current is None:
                 run_current = prev_cur
             if hold_current is None:
                 hold_current = req_hold_cur
+            if home_current is not None:
+                ch.set_home_current(home_current)
             toolhead = self.printer.lookup_object("toolhead")
             print_time = toolhead.get_last_move_time()
             ch.set_current(run_current, hold_current, print_time)
-            prev_cur, prev_hold_cur, req_hold_cur, max_cur = ch.get_current()
+            (
+                prev_cur,
+                prev_hold_cur,
+                req_hold_cur,
+                max_cur,
+                prev_home_cur,
+            ) = ch.get_current()
         # Report values
         if prev_hold_cur is None:
-            gcmd.respond_info("Run Current: %0.2fA" % (prev_cur,))
+            gcmd.respond_info(
+                "Run Current: %0.2fA Home Current: %0.2fA"
+                % (prev_cur, prev_home_cur)
+            )
         else:
             gcmd.respond_info(
-                "Run Current: %0.2fA Hold Current: %0.2fA"
-                % (prev_cur, prev_hold_cur)
+                "Run Current: %0.2fA Hold Current: %0.2fA Home Current: %0.2fA"
+                % (prev_cur, prev_hold_cur, prev_home_cur)
             )
 
     # Stepper phase tracking
@@ -451,6 +476,8 @@ def _handle_mcu_identify(self):
         # Lookup stepper object
         force_move = self.printer.lookup_object("force_move")
         self.stepper = force_move.lookup_stepper(self.stepper_name)
+        self.stepper.set_tmc_current_helper(self.current_helper)
+
         # Note pulse duration and step_both_edge optimizations available
         self.stepper.setup_default_pulse_duration(0.000000100, True)
 
@@ -551,6 +578,7 @@ def cmd_DUMP_TMC(self, gcmd):
 # TMC virtual pins
 ######################################################################
 
+
 # Helper class for "sensorless homing"
 class TMCVirtualPinHelper:
     def __init__(self, config, mcu_tmc):
@@ -636,6 +664,7 @@ def handle_homing_move_end(self, hmove):
 # Config reading helpers
 ######################################################################
 
+
 # Helper to initialize the wave table from config or defaults
 def TMCWaveTableHelper(config, mcu_tmc):
     set_config_field = mcu_tmc.get_fields().set_config_field