From 9ee891c4a602b8cbdf1f477e28b4e1bc9003fd99 Mon Sep 17 00:00:00 2001
From: Giuliano Zaro <3684609+GMagician@users.noreply.github.com>
Date: Tue, 7 Jul 2020 00:32:33 +0200
Subject: [PATCH] Fix TMC homing phase coils alignment (#18528)
Co-authored-by: Fabio Santos <fabiosan@live.com>
---
Marlin/src/feature/tmc_util.cpp | 22 +++++++++-
Marlin/src/module/motion.cpp | 71 +++++++++++++++++----------------
2 files changed, 57 insertions(+), 36 deletions(-)
diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
index fe8fe06d6f..a8a1f5075b 100644
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/Marlin/src/feature/tmc_util.cpp
@@ -480,6 +480,10 @@
TMC_GLOBAL_SCALER,
TMC_CS_ACTUAL,
TMC_PWM_SCALE,
+ TMC_PWM_SCALE_SUM,
+ TMC_PWM_SCALE_AUTO,
+ TMC_PWM_OFS_AUTO,
+ TMC_PWM_GRAD_AUTO,
TMC_VSENSE,
TMC_STEALTHCHOP,
TMC_MICROSTEPS,
@@ -492,7 +496,8 @@
TMC_TBL,
TMC_HEND,
TMC_HSTRT,
- TMC_SGT
+ TMC_SGT,
+ TMC_MSCNT
};
enum TMC_drv_status_enum : char {
TMC_DRV_CODES,
@@ -591,7 +596,10 @@
#if HAS_TMC220x
static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch (i) {
- case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
+ case TMC_PWM_SCALE_SUM: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
+ case TMC_PWM_SCALE_AUTO: SERIAL_PRINT(st.pwm_scale_auto(), DEC); break;
+ case TMC_PWM_OFS_AUTO: SERIAL_PRINT(st.pwm_ofs_auto(), DEC); break;
+ case TMC_PWM_GRAD_AUTO: SERIAL_PRINT(st.pwm_grad_auto(), DEC); break;
case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break;
@@ -680,6 +688,7 @@
case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
+ case TMC_MSCNT: SERIAL_PRINT(st.get_microstep_counter(), DEC); break;
default: _tmc_status(st, i); break;
}
}
@@ -900,11 +909,20 @@
#if ENABLED(MONITOR_DRIVER_STATUS)
TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED);
#endif
+
+ #if HAS_TMC220x
+ TMC_REPORT("pwm scale sum", TMC_PWM_SCALE_SUM);
+ TMC_REPORT("pwm scale auto", TMC_PWM_SCALE_AUTO);
+ TMC_REPORT("pwm offset auto", TMC_PWM_OFS_AUTO);
+ TMC_REPORT("pwm grad auto", TMC_PWM_GRAD_AUTO);
+ #endif
+
TMC_REPORT("off time", TMC_TOFF);
TMC_REPORT("blank time", TMC_TBL);
TMC_REPORT("hysteresis\n -end\t", TMC_HEND);
TMC_REPORT(" -start\t", TMC_HSTRT);
TMC_REPORT("Stallguard thrs", TMC_SGT);
+ TMC_REPORT("uStep count", TMC_MSCNT);
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
#if HAS_TMCX1X0 || HAS_TMC220x
DRV_REPORT("sg_result", TMC_SG_RESULT);
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 1994280a2c..f7732f577f 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1443,65 +1443,69 @@ void set_axis_not_trusted(const AxisEnum axis) {
TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis));
}
-/**
- * Move the axis back to its home_phase if set and driver is capable (TMC)
- *
- * Improves homing repeatability by homing to stepper coil's nearest absolute
- * phase position. Trinamic drivers use a stepper phase table with 1024 values
- * spanning 4 full steps with 256 positions each (ergo, 1024 positions).
- */
-void backout_to_tmc_homing_phase(const AxisEnum axis) {
- #ifdef TMC_HOME_PHASE
- const abc_long_t home_phase = TMC_HOME_PHASE;
+#ifdef TMC_HOME_PHASE
+ /**
+ * Move the axis back to its home_phase if set and driver is capable (TMC)
+ *
+ * Improves homing repeatability by homing to stepper coil's nearest absolute
+ * phase position. Trinamic drivers use a stepper phase table with 1024 values
+ * spanning 4 full steps with 256 positions each (ergo, 1024 positions).
+ */
+ void backout_to_tmc_homing_phase(const AxisEnum axis) {
+ const xyz_long_t home_phase = TMC_HOME_PHASE;
// check if home phase is disabled for this axis.
if (home_phase[axis] < 0) return;
- int16_t axisMicrostepSize;
- int16_t phaseCurrent;
- bool invertDir;
+ int16_t phasePerUStep, // TMC µsteps(phase) per Marlin µsteps
+ phaseCurrent, // The TMC µsteps(phase) count of the current position
+ effectorBackoutDir, // Direction in which the effector mm coordinates move away from endstop.
+ stepperBackoutDir; // Direction in which the TMC µstep count(phase) move away from endstop.
switch (axis) {
#ifdef X_MICROSTEPS
case X_AXIS:
- axisMicrostepSize = 256 / (X_MICROSTEPS);
+ phasePerUStep = 256 / (X_MICROSTEPS);
phaseCurrent = stepperX.get_microstep_counter();
- invertDir = INVERT_X_DIR;
+ effectorBackoutDir = -X_HOME_DIR;
+ stepperBackoutDir = INVERT_X_DIR ? effectorBackoutDir : -effectorBackoutDir;
break;
#endif
#ifdef Y_MICROSTEPS
case Y_AXIS:
- axisMicrostepSize = 256 / (Y_MICROSTEPS);
+ phasePerUStep = 256 / (Y_MICROSTEPS);
phaseCurrent = stepperY.get_microstep_counter();
- invertDir = INVERT_Y_DIR;
+ effectorBackoutDir = -Y_HOME_DIR;
+ stepperBackoutDir = INVERT_Y_DIR ? effectorBackoutDir : -effectorBackoutDir;
break;
#endif
#ifdef Z_MICROSTEPS
case Z_AXIS:
- axisMicrostepSize = 256 / (Z_MICROSTEPS);
+ phasePerUStep = 256 / (Z_MICROSTEPS);
phaseCurrent = stepperZ.get_microstep_counter();
- invertDir = INVERT_Z_DIR;
+ effectorBackoutDir = -Z_HOME_DIR;
+ stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir;
break;
#endif
default: return;
}
- // Depending on invert dir measure the distance to nearest home phase.
- int16_t phaseDelta = (invertDir ? -1 : 1) * (home_phase[axis] - phaseCurrent);
+ // Phase distance to nearest home phase position when moving in the backout direction from endstop(may be negative).
+ int16_t phaseDelta = (home_phase[axis] - phaseCurrent) * stepperBackoutDir;
// Check if home distance within endstop assumed repeatability noise of .05mm and warn.
- if (ABS(phaseDelta) * planner.steps_to_mm[axis] / axisMicrostepSize < 0.05f)
- DEBUG_ECHOLNPAIR("Selected home phase ", home_phase[axis],
+ if (ABS(phaseDelta) * planner.steps_to_mm[axis] / phasePerUStep < 0.05f)
+ SERIAL_ECHOLNPAIR("Selected home phase ", home_phase[axis],
" too close to endstop trigger phase ", phaseCurrent,
". Pick a different phase for ", axis_codes[axis]);
// Skip to next if target position is behind current. So it only moves away from endstop.
if (phaseDelta < 0) phaseDelta += 1024;
- // Get the integer µsteps to target. Unreachable phase? Consistently stop at the µstep before / after based on invertDir.
- const float mmDelta = -(int16_t(phaseDelta / axisMicrostepSize) * planner.steps_to_mm[axis] * (Z_HOME_DIR));
+ // Convert TMC µsteps(phase) to whole Marlin µsteps to effector backout direction to mm
+ const float mmDelta = int16_t(phaseDelta / phasePerUStep) * effectorBackoutDir * planner.steps_to_mm[axis];
- // optional debug messages.
+ // Optional debug messages
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(
"Endstop ", axis_codes[axis], " hit at Phase:", phaseCurrent,
@@ -1510,14 +1514,11 @@ void backout_to_tmc_homing_phase(const AxisEnum axis) {
}
if (mmDelta != 0) {
- // retrace by the amount computed in mmDelta.
+ // Retrace by the amount computed in mmDelta.
do_homing_move(axis, mmDelta, get_homing_bump_feedrate(axis));
}
- #else
- UNUSED(axis);
- #endif
-}
-
+ }
+#endif
/**
* Home an individual "raw axis" to its endstop.
@@ -1748,8 +1749,10 @@ void homeaxis(const AxisEnum axis) {
}
#endif
- // move back to homing phase if configured and capable
- backout_to_tmc_homing_phase(axis);
+ #ifdef TMC_HOME_PHASE
+ // move back to homing phase if configured and capable
+ backout_to_tmc_homing_phase(axis);
+ #endif
#if IS_SCARA