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Cleanup, extend TMC2130 implementation
This commit is contained in:
Scott Lahteine
parent
d60c02c5b1
commit
4067d15c92
@ -409,7 +409,7 @@ script:
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- restore_configs
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- opt_enable_adv HAVE_TMC2130 X_IS_TMC2130 Y_IS_TMC2130 Z_IS_TMC2130
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- build_marlin
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- opt_enable_adv AUTOMATIC_CURRENT_CONTROL STEALTHCHOP
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- opt_enable_adv AUTOMATIC_CURRENT_CONTROL STEALTHCHOP HYBRID_THRESHOLD SENSORLESS_HOMING
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- build_marlin
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#
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# tvrrug Config need to check board type for sanguino atmega644p
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@ -198,6 +198,8 @@
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* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
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* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
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* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
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* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
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* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
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* M350 - Set microstepping mode. (Requires digital microstepping pins.)
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* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
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*
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@ -647,6 +649,10 @@ static bool send_ok[BUFSIZE];
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bool chdkActive = false;
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#endif
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#ifdef AUTOMATIC_CURRENT_CONTROL
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bool auto_current_control = 0;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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int lpq_len = 20;
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#endif
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@ -2756,6 +2762,28 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.
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#endif
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}
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/**
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* TMC2130 specific sensorless homing using stallGuard2.
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* stallGuard2 only works when in spreadCycle mode.
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* spreadCycle and stealthChop are mutually exclusive.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
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#if ENABLED(STEALTHCHOP)
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if (enable) {
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st.coolstep_min_speed(1024UL * 1024UL - 1UL);
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st.stealthChop(0);
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}
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else {
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st.coolstep_min_speed(0);
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st.stealthChop(1);
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}
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#endif
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st.diag1_stall(enable ? 1 : 0);
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}
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#endif
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/**
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* Home an individual "raw axis" to its endstop.
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* This applies to XYZ on Cartesian and Core robots, and
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@ -2804,6 +2832,16 @@ static void homeaxis(const AxisEnum axis) {
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if (axis == Z_AXIS) stepper.set_homing_flag(true);
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#endif
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
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#endif
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#endif
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// Fast move towards endstop until triggered
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
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@ -2888,6 +2926,16 @@ static void homeaxis(const AxisEnum axis) {
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#endif
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
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#endif
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#endif
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// Put away the Z probe
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#if HOMING_Z_WITH_PROBE
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if (axis == Z_AXIS && STOW_PROBE()) return;
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@ -6902,6 +6950,11 @@ inline void gcode_M140() {
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OUT_WRITE(SUICIDE_PIN, HIGH);
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#endif
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#if ENABLED(HAVE_TMC2130)
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delay(100);
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tmc2130_init(); // Settings only stick when the driver has power
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#endif
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#if ENABLED(ULTIPANEL)
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powersupply = true;
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LCD_MESSAGEPGM(WELCOME_MSG);
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@ -8770,22 +8823,21 @@ inline void gcode_M503() {
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#if ENABLED(HAVE_TMC2130)
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static void tmc2130_print_current(const int mA, const char name) {
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static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
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SERIAL_CHAR(name);
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SERIAL_ECHOPGM(" axis driver current: ");
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SERIAL_ECHOLN(mA);
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SERIAL_ECHOLN(st.getCurrent());
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}
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static void tmc2130_set_current(const int mA, TMC2130Stepper &st, const char name) {
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tmc2130_print_current(mA, name);
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st.setCurrent(mA, 0.11, 0.5);
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}
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static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
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tmc2130_print_current(st.getCurrent(), name);
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static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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tmc2130_get_current(st, name);
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}
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static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
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SERIAL_CHAR(name);
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
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serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
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SERIAL_EOL;
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}
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static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
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st.clear_otpw();
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@ -8793,10 +8845,32 @@ inline void gcode_M503() {
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
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SERIAL_CHAR(name);
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SERIAL_ECHOPGM(" stealthChop max speed set to ");
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SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
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}
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static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
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st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
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tmc2130_get_pwmthrs(st, name, spmm);
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}
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static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
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SERIAL_CHAR(name);
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SERIAL_ECHOPGM(" driver homing sensitivity set to ");
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SERIAL_ECHOLN(st.sgt());
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}
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static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
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st.sgt(sgt_val);
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tmc2130_get_sgt(st, name);
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}
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/**
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* M906: Set motor current in milliamps using axis codes X, Y, Z, E
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*
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* Report driver currents when no axis specified
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*
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* S1: Enable automatic current control
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* S0: Disable
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*/
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inline void gcode_M906() {
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uint16_t values[XYZE];
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@ -8804,21 +8878,25 @@ inline void gcode_M503() {
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values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
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#if ENABLED(X_IS_TMC2130)
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if (values[X_AXIS]) tmc2130_set_current(values[X_AXIS], stepperX, 'X');
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if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
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else tmc2130_get_current(stepperX, 'X');
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (values[Y_AXIS]) tmc2130_set_current(values[Y_AXIS], stepperY, 'Y');
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if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
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else tmc2130_get_current(stepperY, 'Y');
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#endif
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#if ENABLED(Z_IS_TMC2130)
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if (values[Z_AXIS]) tmc2130_set_current(values[Z_AXIS], stepperZ, 'Z');
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if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
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else tmc2130_get_current(stepperZ, 'Z');
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#endif
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#if ENABLED(E0_IS_TMC2130)
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if (values[E_AXIS]) tmc2130_set_current(values[E_AXIS], stepperE0, 'E');
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if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
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else tmc2130_get_current(stepperE0, 'E');
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#endif
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#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
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if (code_seen('S')) auto_current_control = code_value_bool();
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#endif
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}
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/**
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@ -8826,17 +8904,19 @@ inline void gcode_M503() {
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* The flag is held by the library and persist until manually cleared by M912
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*/
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inline void gcode_M911() {
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const bool reportX = code_seen('X'), reportY = code_seen('Y'), reportZ = code_seen('Z'), reportE = code_seen('E'),
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reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
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#if ENABLED(X_IS_TMC2130)
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tmc2130_report_otpw(stepperX, 'X');
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if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
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#endif
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#if ENABLED(Y_IS_TMC2130)
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tmc2130_report_otpw(stepperY, 'Y');
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if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
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#endif
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#if ENABLED(Z_IS_TMC2130)
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tmc2130_report_otpw(stepperZ, 'Z');
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if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
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#endif
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#if ENABLED(E0_IS_TMC2130)
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tmc2130_report_otpw(stepperE0, 'E');
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if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
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#endif
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}
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@ -8844,20 +8924,66 @@ inline void gcode_M503() {
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* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
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*/
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inline void gcode_M912() {
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const bool clearX = code_seen('X'), clearY = code_seen('Y'), clearZ = code_seen('Z'), clearE = code_seen('E'),
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clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
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#if ENABLED(X_IS_TMC2130)
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if (code_seen('X')) tmc2130_clear_otpw(stepperX, 'X');
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if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (code_seen('Y')) tmc2130_clear_otpw(stepperY, 'Y');
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if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
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#endif
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#if ENABLED(Z_IS_TMC2130)
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if (code_seen('Z')) tmc2130_clear_otpw(stepperZ, 'Z');
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if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
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#endif
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#if ENABLED(E0_IS_TMC2130)
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if (code_seen('E')) tmc2130_clear_otpw(stepperE0, 'E');
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if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
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#endif
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}
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/**
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* M913: Set HYBRID_THRESHOLD speed.
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*/
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#if ENABLED(HYBRID_THRESHOLD)
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inline void gcode_M913() {
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uint16_t values[XYZE];
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LOOP_XYZE(i)
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values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
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#if ENABLED(X_IS_TMC2130)
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if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
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else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
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else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if ENABLED(Z_IS_TMC2130)
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if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
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else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if ENABLED(E0_IS_TMC2130)
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if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
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else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
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#endif
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}
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#endif // HYBRID_THRESHOLD
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/**
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* M914: Set SENSORLESS_HOMING sensitivity.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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inline void gcode_M914() {
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#if ENABLED(X_IS_TMC2130)
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if (code_seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', code_value_int());
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else tmc2130_get_sgt(stepperX, 'X');
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (code_seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', code_value_int());
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else tmc2130_get_sgt(stepperY, 'Y');
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#endif
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}
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#endif // SENSORLESS_HOMING
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#endif // HAVE_TMC2130
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/**
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@ -8865,10 +8991,9 @@ inline void gcode_M503() {
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*/
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inline void gcode_M907() {
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#if HAS_DIGIPOTSS
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LOOP_XYZE(i)
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if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
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if (code_seen('B')) stepper.digipot_current(4, code_value_int());
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if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
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if (code_seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
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#elif HAS_MOTOR_CURRENT_PWM
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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if (code_seen('X')) stepper.digipot_current(0, code_value_int());
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@ -8884,11 +9009,11 @@ inline void gcode_M907() {
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// this one uses actual amps in floating point
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
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// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
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for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
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for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
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#endif
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#if ENABLED(DAC_STEPPER_CURRENT)
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if (code_seen('S')) {
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float dac_percent = code_value_float();
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const float dac_percent = code_value_float();
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for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
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}
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
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@ -10165,6 +10290,18 @@ void process_next_command() {
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case 912: // M911: Clear TMC2130 prewarn triggered flags
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gcode_M912();
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break;
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#if ENABLED(HYBRID_THRESHOLD)
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case 913: // M913: Set HYBRID_THRESHOLD speed.
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gcode_M913();
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break;
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#endif
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#if ENABLED(SENSORLESS_HOMING)
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case 914: // M914: Set SENSORLESS_HOMING sensitivity.
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gcode_M914();
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break;
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#endif
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#endif
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#if HAS_MICROSTEPS
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@ -11390,23 +11527,58 @@ void disable_all_steppers() {
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disable_e_steppers();
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}
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#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
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#if ENABLED(HAVE_TMC2130)
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void automatic_current_control(const TMC2130Stepper &st) {
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#if CURRENT_STEP > 0
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const bool is_otpw = st.checkOT(), // Check otpw even if we don't adjust. Allows for flag inspection.
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is_otpw_triggered = st.getOTPW();
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void automatic_current_control(TMC2130Stepper &st, String axisID) {
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// Check otpw even if we don't use automatic control. Allows for flag inspection.
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const bool is_otpw = st.checkOT();
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if (!is_otpw && !is_otpw_triggered) {
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// OTPW bit not triggered yet -> Increase current
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const uint16_t current = st.getCurrent() + CURRENT_STEP;
|
||||
if (current <= AUTO_ADJUST_MAX) st.SilentStepStick2130(current);
|
||||
// Report if a warning was triggered
|
||||
static bool previous_otpw = false;
|
||||
if (is_otpw && !previous_otpw) {
|
||||
char timestamp[10];
|
||||
duration_t elapsed = print_job_timer.duration();
|
||||
const bool has_days = (elapsed.value > 60*60*24L);
|
||||
(void)elapsed.toDigital(timestamp, has_days);
|
||||
SERIAL_ECHO(timestamp);
|
||||
SERIAL_ECHO(": ");
|
||||
SERIAL_ECHO(axisID);
|
||||
SERIAL_ECHOLNPGM(" driver overtemperature warning!");
|
||||
}
|
||||
previous_otpw = is_otpw;
|
||||
|
||||
#if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
|
||||
// Return if user has not enabled current control start with M906 S1.
|
||||
if (!auto_current_control) return;
|
||||
|
||||
/**
|
||||
* Decrease current if is_otpw is true.
|
||||
* Bail out if driver is disabled.
|
||||
* Increase current if OTPW has not been triggered yet.
|
||||
*/
|
||||
uint16_t current = st.getCurrent();
|
||||
if (is_otpw) {
|
||||
st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
|
||||
#if ENABLED(REPORT_CURRENT_CHANGE)
|
||||
SERIAL_ECHO(axisID);
|
||||
SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
|
||||
#endif
|
||||
}
|
||||
else if (is_otpw && is_otpw_triggered) {
|
||||
// OTPW bit triggered, triggered flag raised -> Decrease current
|
||||
st.SilentStepStick2130((float)st.getCurrent() - CURRENT_STEP);
|
||||
|
||||
else if (!st.isEnabled())
|
||||
return;
|
||||
|
||||
else if (!is_otpw && !st.getOTPW()) {
|
||||
current += CURRENT_STEP;
|
||||
if (current <= AUTO_ADJUST_MAX) {
|
||||
st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
|
||||
#if ENABLED(REPORT_CURRENT_CHANGE)
|
||||
SERIAL_ECHO(axisID);
|
||||
SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
|
||||
#endif
|
||||
}
|
||||
}
|
||||
// OTPW bit cleared (we've cooled down), triggered flag still raised until manually cleared -> Do nothing, we're good
|
||||
SERIAL_EOL;
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -11415,34 +11587,37 @@ void disable_all_steppers() {
|
||||
if (ELAPSED(millis(), next_cOT)) {
|
||||
next_cOT = millis() + 5000;
|
||||
#if ENABLED(X_IS_TMC2130)
|
||||
automatic_current_control(stepperX);
|
||||
automatic_current_control(stepperX, "X");
|
||||
#endif
|
||||
#if ENABLED(Y_IS_TMC2130)
|
||||
automatic_current_control(stepperY);
|
||||
automatic_current_control(stepperY, "Y");
|
||||
#endif
|
||||
#if ENABLED(Z_IS_TMC2130)
|
||||
automatic_current_control(stepperZ);
|
||||
automatic_current_control(stepperZ, "Z");
|
||||
#endif
|
||||
#if ENABLED(X2_IS_TMC2130)
|
||||
automatic_current_control(stepperX2);
|
||||
automatic_current_control(stepperX2, "X2");
|
||||
#endif
|
||||
#if ENABLED(Y2_IS_TMC2130)
|
||||
automatic_current_control(stepperY2);
|
||||
automatic_current_control(stepperY2, "Y2");
|
||||
#endif
|
||||
#if ENABLED(Z2_IS_TMC2130)
|
||||
automatic_current_control(stepperZ2);
|
||||
automatic_current_control(stepperZ2, "Z2");
|
||||
#endif
|
||||
#if ENABLED(E0_IS_TMC2130)
|
||||
automatic_current_control(stepperE0);
|
||||
automatic_current_control(stepperE0, "E0");
|
||||
#endif
|
||||
#if ENABLED(E1_IS_TMC2130)
|
||||
automatic_current_control(stepperE1);
|
||||
automatic_current_control(stepperE1, "E1");
|
||||
#endif
|
||||
#if ENABLED(E2_IS_TMC2130)
|
||||
automatic_current_control(stepperE2);
|
||||
automatic_current_control(stepperE2, "E2");
|
||||
#endif
|
||||
#if ENABLED(E3_IS_TMC2130)
|
||||
automatic_current_control(stepperE3);
|
||||
automatic_current_control(stepperE3, "E3");
|
||||
#endif
|
||||
#if ENABLED(E4_IS_TMC2130)
|
||||
automatic_current_control(stepperE4, "E4");
|
||||
#endif
|
||||
#if ENABLED(E4_IS_TMC2130)
|
||||
automatic_current_control(stepperE4);
|
||||
@ -11450,7 +11625,7 @@ void disable_all_steppers() {
|
||||
}
|
||||
}
|
||||
|
||||
#endif // AUTOMATIC_CURRENT_CONTROL
|
||||
#endif // HAVE_TMC2130
|
||||
|
||||
/**
|
||||
* Manage several activities:
|
||||
@ -11648,7 +11823,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
|
||||
handle_status_leds();
|
||||
#endif
|
||||
|
||||
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
|
||||
#if ENABLED(HAVE_TMC2130)
|
||||
checkOverTemp();
|
||||
#endif
|
||||
|
||||
|
||||
@ -1124,34 +1124,34 @@ void MarlinSettings::reset() {
|
||||
|
||||
#if ENABLED(HAVE_TMC2130)
|
||||
#if ENABLED(X_IS_TMC2130)
|
||||
stepperX.setCurrent(X_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperX.setCurrent(X_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(Y_IS_TMC2130)
|
||||
stepperY.setCurrent(Y_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperY.setCurrent(Y_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(Z_IS_TMC2130)
|
||||
stepperZ.setCurrent(Z_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperZ.setCurrent(Z_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(X2_IS_TMC2130)
|
||||
stepperX2.setCurrent(X2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperX2.setCurrent(X2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(Y2_IS_TMC2130)
|
||||
stepperY2.setCurrent(Y2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperY2.setCurrent(Y2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(Z2_IS_TMC2130)
|
||||
stepperZ2.setCurrent(Z2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperZ2.setCurrent(Z2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(E0_IS_TMC2130)
|
||||
stepperE0.setCurrent(E0_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperE0.setCurrent(E0_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(E1_IS_TMC2130)
|
||||
stepperE1.setCurrent(E1_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperE1.setCurrent(E1_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(E2_IS_TMC2130)
|
||||
stepperE2.setCurrent(E2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperE2.setCurrent(E2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#if ENABLED(E3_IS_TMC2130)
|
||||
stepperE3.setCurrent(E3_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
stepperE3.setCurrent(E3_CURRENT, R_SENSE, HOLD_MULTIPLIER);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
@ -129,8 +129,9 @@
|
||||
|
||||
#include <SPI.h>
|
||||
#include <TMC2130Stepper.h>
|
||||
#include "enum.h"
|
||||
|
||||
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
|
||||
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
|
||||
|
||||
// Stepper objects of TMC2130 steppers used
|
||||
#if ENABLED(X_IS_TMC2130)
|
||||
@ -169,61 +170,74 @@
|
||||
|
||||
// Use internal reference voltage for current calculations. This is the default.
|
||||
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
|
||||
void tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) {
|
||||
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
|
||||
void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const uint32_t spmm) {
|
||||
st.begin();
|
||||
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
|
||||
st.microsteps(microsteps);
|
||||
st.blank_time(24);
|
||||
st.off_time(8);
|
||||
st.blank_time(36);
|
||||
st.off_time(5); // Only enables the driver if used with stealthChop
|
||||
st.interpolate(INTERPOLATE);
|
||||
st.power_down_delay(128); // ~2s until driver lowers to hold current
|
||||
st.hysterisis_start(0); // HSTRT = 1
|
||||
st.hysterisis_low(1); // HEND = -2
|
||||
st.diag1_active_high(1); // For sensorless homing
|
||||
#if ENABLED(STEALTHCHOP)
|
||||
st.stealth_freq(1); // f_pwm = 2/683 f_clk
|
||||
st.stealth_autoscale(1);
|
||||
st.stealth_gradient(5);
|
||||
st.stealth_amplitude(255);
|
||||
st.stealthChop(1);
|
||||
#endif
|
||||
#if ENABLED(SENSORLESS_HOMING)
|
||||
st.coolstep_min_speed(1048575);
|
||||
st.sg_stall_value(STALL_THRESHOLD);
|
||||
st.sg_filter(1);
|
||||
st.diag1_stall(1);
|
||||
st.diag1_active_high(1);
|
||||
#if ENABLED(HYBRID_THRESHOLD)
|
||||
st.stealth_max_speed(12650000UL*st.microsteps()/(256*thrs*spmm));
|
||||
#endif
|
||||
#elif ENABLED(SENSORLESS_HOMING)
|
||||
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
|
||||
#endif
|
||||
}
|
||||
|
||||
#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
|
||||
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
|
||||
|
||||
void tmc2130_init() {
|
||||
delay(500); // Let power stabilize before configuring the steppers
|
||||
constexpr uint16_t steps_per_mm[] = DEFAULT_AXIS_STEPS_PER_UNIT;
|
||||
#if ENABLED(X_IS_TMC2130)
|
||||
_TMC2130_INIT(X);
|
||||
_TMC2130_INIT( X, steps_per_mm[X_AXIS]);
|
||||
#if ENABLED(SENSORLESS_HOMING)
|
||||
stepperX.sg_stall_value(X_HOMING_SENSITIVITY);
|
||||
#endif
|
||||
#endif
|
||||
#if ENABLED(X2_IS_TMC2130)
|
||||
_TMC2130_INIT(X2);
|
||||
_TMC2130_INIT(X2, steps_per_mm[X_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(Y_IS_TMC2130)
|
||||
_TMC2130_INIT(Y);
|
||||
_TMC2130_INIT( Y, steps_per_mm[Y_AXIS]);
|
||||
#if ENABLED(SENSORLESS_HOMING)
|
||||
stepperY.sg_stall_value(Y_HOMING_SENSITIVITY);
|
||||
#endif
|
||||
#endif
|
||||
#if ENABLED(Y2_IS_TMC2130)
|
||||
_TMC2130_INIT(Y2);
|
||||
_TMC2130_INIT(Y2, steps_per_mm[Y_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(Z_IS_TMC2130)
|
||||
_TMC2130_INIT(Z);
|
||||
_TMC2130_INIT( Z, steps_per_mm[Z_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(Z2_IS_TMC2130)
|
||||
_TMC2130_INIT(Z2);
|
||||
_TMC2130_INIT(Z2, steps_per_mm[Z_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(E0_IS_TMC2130)
|
||||
_TMC2130_INIT(E0);
|
||||
_TMC2130_INIT(E0, steps_per_mm[E_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(E1_IS_TMC2130)
|
||||
_TMC2130_INIT(E1);
|
||||
{ constexpr int extruder = 1; _TMC2130_INIT(E1, steps_per_mm[E_AXIS_N]); }
|
||||
#endif
|
||||
#if ENABLED(E2_IS_TMC2130)
|
||||
_TMC2130_INIT(E2);
|
||||
{ constexpr int extruder = 2; _TMC2130_INIT(E2, steps_per_mm[E_AXIS_N]); }
|
||||
#endif
|
||||
#if ENABLED(E3_IS_TMC2130)
|
||||
_TMC2130_INIT(E3);
|
||||
{ constexpr int extruder = 3; _TMC2130_INIT(E3, steps_per_mm[E_AXIS_N]); }
|
||||
#endif
|
||||
#if ENABLED(E4_IS_TMC2130)
|
||||
_TMC2130_INIT(E4);
|
||||
{ constexpr int extruder = 4; _TMC2130_INIT(E4, steps_per_mm[E_AXIS_N]); }
|
||||
#endif
|
||||
|
||||
TMC2130_ADV()
|
||||
|
||||
Loading…
Reference in New Issue
Block a user