TMC2130 stallguard improovment - axis load monitoring, autocalibrate Z.

1 files changed, 21 insertions, 19 deletions

diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index b5fc90dee..d3f6d94fd 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -45,6 +45,8 @@ bool x_min_endstop = false;
 bool x_max_endstop = false;
 bool y_min_endstop = false;
 bool y_max_endstop = false;
+bool z_min_endstop = false;
+bool z_max_endstop = false;
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
@@ -85,11 +87,7 @@ static bool old_y_max_endstop=false;
 static bool old_z_min_endstop=false;
 static bool old_z_max_endstop=false;
 
-#ifdef TMC2130_SG_HOMING_SW
-static bool check_endstops = false;
-#else
 static bool check_endstops = true;
-#endif
 
 static bool check_z_endstop = false;
 
@@ -432,11 +430,11 @@ void isr() {
       {
         {
           #if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT)
-			#ifndef TMC2130_SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				x_min_endstop = tmc2130_axis_stalled[X_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
             if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -452,11 +450,11 @@ void isr() {
       {
         {
           #if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT)
-			#ifndef TMC2130_SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				x_max_endstop = tmc2130_axis_stalled[X_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
             if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -476,11 +474,11 @@ void isr() {
       CHECK_ENDSTOPS
       {
         #if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT)
-			#ifndef TMC2130_SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
           if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -494,11 +492,11 @@ void isr() {
       CHECK_ENDSTOPS
       {
         #if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT)
-			#ifndef TMC2130_SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
           if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -520,7 +518,7 @@ void isr() {
       if(check_endstops && ! check_z_endstop)
       {
         #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
-          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+          z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
           if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
@@ -541,7 +539,11 @@ void isr() {
       CHECK_ENDSTOPS
       {
         #if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
-          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
+			#ifndef TMC2130_SG_HOMING_SW_Z
+				z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
+			#else //TMC2130_SG_HOMING_SW_Z
+				z_max_endstop = tmc2130_axis_stalled[Z_AXIS];
+			#endif //TMC2130_SG_HOMING_SW_Z
           if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
@@ -557,7 +559,7 @@ void isr() {
     if(check_z_endstop) {
         // Check the Z min end-stop no matter what.
         // Good for searching for the center of an induction target.
-        bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+        z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
         if(z_min_endstop && old_z_min_endstop) {
           endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
           endstop_z_hit=true;