tap-sensorless-override.txt

# Accomplishes the following:
#  -If Z axis has not been homed, it will raise by 10mm and home all
#  -If Z axis has been homed, it will raise by 1mm before any movements
#  -Will grab max positions of X and Y from printer cofig to use for centering nozzle when homing Z
#  -Will store the insitu X and Y currents before changing them to home, and then set them back to what they were when done

#.................................................................................................................
[homing_override]
axes: xyz
gcode:
    STATUS_HOMING
    SET_NOZZLE_LEDS_ON
    {% set X_MID = printer.configfile.config["stepper_x"]["position_max"]|float / 2.0 %}
    {% set Y_MID = printer.configfile.config["stepper_y"]["position_max"]|float / 2.0 %}
    {% set home_all = 'X' not in params and 'Y' not in params and 'Z' not in params %}
    {% set Z_POS = printer.toolhead.position.z %}

#......Conditional Z-Hop
#      ! If the Z axis is not already homed, a full homed sequence will be run. If this is not desired, comment out the below line with !!!!!
#      The 'Safety On' line below crudely gets around the issue of a false homed state when either 'set_position_z: 0.0' or 'SET_KINEMATIC_POSITION Z=0'
#      The problem is that if either of these commands are issued, and the Z axis is not currently homed, it will now register as homed and potentially cause
#      issues with that false homed state later. Conditional flags could be set on the onset, saving which axes were already homed before using
#      'SET_KINEMATIC_POSITION Z=0' to then be followed by logic to execute M18 [AXIS that wasn't homed] to reflect the true state of things, but klipper
#      M18/M84 does not take axis flag - it's all or nothing.

    {% if "z" not in printer.toolhead.homed_axes %} ; Check if Z not already homed
        {% set home_all = 'Safety On' %} ; !!!!! THIS WILL HOME ALL AXIS IF Z IS NOT HOMED, COMMENT OUT IF THIS IS NOT DESIRED !!!!!
        SET_KINEMATIC_POSITION Z=0
        G0 Z10 F3600 ; Raise toolhead 10mm since unknown/not homed
      {% else %}
        {% if Z_POS < 10 %}
            G90
            G0 Z10 ; Make sure Z height is at least 10mm
          {% else %}
            G91
            G0 Z1 F3600 ; If Z was above 10mm, raise by 1mm for safety
            G90
        {% endif %}
    {% endif %} 


#......Sort X
    {% if home_all or 'X' in params %}
      _HOME_X
    {% endif %}
  
#......Sort Y
    {% if home_all or 'Y' in params %}
      _HOME_Y
    {% endif %}
  
#......Sort Z
    {% if home_all or 'Z' in params %}
      G90
      #......Go to printer center
      G0 X{X_MID} Y{Y_MID} F4000
      #......Finally perfrom actual G28 Z
      G28 Z
      G1 Z10
    {% endif %}
    STATUS_READY
    SET_NOZZLE_LEDS_ON

#.................................................................................................................
[gcode_macro _HOME_X]
gcode:
    # Always use consistent run_current on A/B steppers during sensorless homing
    {% set RUN_CURRENT_X = printer['tmc2209 stepper_x'].run_current|float %}
    {% set RUN_CURRENT_Y = printer['tmc2209 stepper_y'].run_current|float %}
    {% set HOME_CURRENT = 0.7 %}
    SET_TMC_CURRENT STEPPER=stepper_x CURRENT={HOME_CURRENT}
    SET_TMC_CURRENT STEPPER=stepper_y CURRENT={HOME_CURRENT}

    # Home
    G28 X
    # Move away
    G91
    G1 X-10 F1200
    
    # Wait just a second… (give StallGuard registers time to clear)
    G4 P1000
    # Set current during print
    SET_TMC_CURRENT STEPPER=stepper_x CURRENT={RUN_CURRENT_X}
    SET_TMC_CURRENT STEPPER=stepper_y CURRENT={RUN_CURRENT_Y}

#.................................................................................................................
[gcode_macro _HOME_Y]
gcode:
    # Set current for sensorless homing
    {% set RUN_CURRENT_X = printer['tmc2209 stepper_x'].run_current|float %}
    {% set RUN_CURRENT_Y = printer['tmc2209 stepper_y'].run_current|float %}
    {% set HOME_CURRENT = 0.7 %}
    SET_TMC_CURRENT STEPPER=stepper_x CURRENT={HOME_CURRENT}
    SET_TMC_CURRENT STEPPER=stepper_y CURRENT={HOME_CURRENT}

    # Home
    G28 Y
    # Move away
    G91
    G1 Y-10 F1200

    # Wait just a second… (give StallGuard registers time to clear)
    G4 P1000
    # Set current during print
    SET_TMC_CURRENT STEPPER=stepper_x CURRENT={RUN_CURRENT_X}
    SET_TMC_CURRENT STEPPER=stepper_y CURRENT={RUN_CURRENT_Y}