CoreXY sensorless homing (#17972)
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1d654b559d
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@ -1587,6 +1587,15 @@
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#if _HAS_STOP(Z,MAX)
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#define HAS_Z_MAX 1
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#endif
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#if _HAS_STOP(X,STOP)
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#define HAS_X_STOP 1
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#endif
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#if _HAS_STOP(Y,STOP)
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#define HAS_Y_STOP 1
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#endif
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#if _HAS_STOP(Z,STOP)
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#define HAS_Z_STOP 1
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#endif
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#if PIN_EXISTS(X2_MIN)
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#define HAS_X2_MIN 1
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#endif
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@ -742,7 +742,8 @@ void Endstops::update() {
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}
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#endif
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// Now, we must signal, after validation, if an endstop limit is pressed or not
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// Signal, after validation, if an endstop limit is pressed or not
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if (stepper.axis_is_moving(X_AXIS)) {
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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#if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
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@ -804,19 +805,37 @@ void Endstops::update() {
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bool Endstops::tmc_spi_homing_check() {
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bool hit = false;
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#if X_SPI_SENSORLESS
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if (tmc_spi_homing.x && stepperX.test_stall_status()) {
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if (tmc_spi_homing.x && (stepperX.test_stall_status()
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#if CORE_IS_XY && Y_SPI_SENSORLESS
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|| stepperY.test_stall_status()
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#elif CORE_IS_XZ && Z_SPI_SENSORLESS
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|| stepperZ.test_stall_status()
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#endif
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)) {
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SBI(live_state, X_STOP);
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hit = true;
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}
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#endif
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#if Y_SPI_SENSORLESS
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if (tmc_spi_homing.y && stepperY.test_stall_status()) {
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if (tmc_spi_homing.y && (stepperY.test_stall_status()
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#if CORE_IS_XY && X_SPI_SENSORLESS
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|| stepperX.test_stall_status()
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#elif CORE_IS_YZ && Z_SPI_SENSORLESS
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|| stepperZ.test_stall_status()
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#endif
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)) {
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SBI(live_state, Y_STOP);
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hit = true;
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}
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#endif
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#if Z_SPI_SENSORLESS
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if (tmc_spi_homing.z && stepperZ.test_stall_status()) {
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if (tmc_spi_homing.z && (stepperZ.test_stall_status()
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#if CORE_IS_XZ && X_SPI_SENSORLESS
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|| stepperX.test_stall_status()
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#elif CORE_IS_YZ && Y_SPI_SENSORLESS
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|| stepperY.test_stall_status()
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#endif
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)) {
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SBI(live_state, Z_STOP);
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hit = true;
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}
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@ -83,13 +83,14 @@ exec_test $1 $2 "Mixing Extruder"
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# opt_set NUM_SERVOS 1
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# opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER
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# exec_test $1 $2 "SWITCHING_EXTRUDER"
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#
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# Enable COREXY
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#
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restore_configs
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opt_set MOTHERBOARD BOARD_TEENSY35_36
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opt_enable COREXY
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exec_test $1 $2 "COREXY"
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exec_test $1 $2 "Teensy 3.5/3.6 COREXY"
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#
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# Enable COREXZ
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@ -97,7 +98,7 @@ exec_test $1 $2 "COREXY"
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restore_configs
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opt_set MOTHERBOARD BOARD_TEENSY35_36
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opt_enable COREXZ
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exec_test $1 $2 "COREXZ"
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exec_test $1 $2 "Teensy 3.5/3.6 COREXZ"
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#
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# Enable Dual Z with Dual Z endstops
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