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Sanity Check TMC_HOME_PHASE and CORE / MARKFORGED Kinematics #26310

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Oct 7, 2023
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Sanity Check TMC_HOME_PHASE and CORE / MARKFORGED Kinematics #26310

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5f4c3f5
[FR] Sanity Check TMC_HOME_PHASE and CORE / MARKFORGED Kinematics
vlsi Sep 26, 2023
c27bf37
fix up
thinkyhead Oct 7, 2023
ade0bd8
less noise on too few phase values
thinkyhead Oct 7, 2023
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19 changes: 19 additions & 0 deletions Marlin/src/inc/SanityCheck.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3017,6 +3017,25 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
#error "STEALTHCHOP_XY and STEALTHCHOP_Z must be the same on DELTA."
#endif

// H-Bot kinematic axes can't use homing phases
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) && defined(TMC_HOME_PHASE)
constexpr float _phases[] = TMC_HOME_PHASE, _vphase[9] = TMC_HOME_PHASE;
constexpr int _nphase = COUNT(_phases);
static_assert(_nphase == NUM_AXES, "TMC_HOME_PHASE must have exactly " _NUM_AXES_STR " elements.");
static_assert(_nphase < 0 || _vphase[0] == -1 || NORMAL_AXIS == 0, "TMC_HOME_PHASE.x must be -1 for the selected kinematics.");
static_assert(_nphase < 1 || _vphase[1] == -1 || NORMAL_AXIS == 1, "TMC_HOME_PHASE.y must be -1 for the selected kinematics.");
static_assert(_nphase < 2 || _vphase[2] == -1 || NORMAL_AXIS == 2, "TMC_HOME_PHASE.z must be -1 for the selected kinematics.");
static_assert(_nphase < 0 || WITHIN(_vphase[0], -1, 1023), "TMC_HOME_PHASE.x must be between -1 and 1023.");
static_assert(_nphase < 1 || WITHIN(_vphase[1], -1, 1023), "TMC_HOME_PHASE.y must be between -1 and 1023.");
static_assert(_nphase < 2 || WITHIN(_vphase[2], -1, 1023), "TMC_HOME_PHASE.z must be between -1 and 1023.");
static_assert(_nphase < 3 || WITHIN(_vphase[3], -1, 1023), "TMC_HOME_PHASE.i must be between -1 and 1023.");
static_assert(_nphase < 4 || WITHIN(_vphase[4], -1, 1023), "TMC_HOME_PHASE.j must be between -1 and 1023.");
static_assert(_nphase < 5 || WITHIN(_vphase[5], -1, 1023), "TMC_HOME_PHASE.k must be between -1 and 1023.");
static_assert(_nphase < 6 || WITHIN(_vphase[6], -1, 1023), "TMC_HOME_PHASE.u must be between -1 and 1023.");
static_assert(_nphase < 7 || WITHIN(_vphase[7], -1, 1023), "TMC_HOME_PHASE.v must be between -1 and 1023.");
static_assert(_nphase < 8 || WITHIN(_vphase[8], -1, 1023), "TMC_HOME_PHASE.w must be between -1 and 1023.");
#endif

#if ENABLED(SENSORLESS_HOMING)
// Require STEALTHCHOP for SENSORLESS_HOMING on DELTA as the transition from spreadCycle to stealthChop
// is necessary in order to reset the stallGuard indication between the initial movement of all three
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