diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index c6e02e36..33a72fc8 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -246,6 +246,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
+
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 0c1a6384..8caef367 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -1762,40 +1762,90 @@ static float probe_pt(float x, float y, float z_before) {
void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
- if (axis==X_AXIS ? HOMEAXIS_DO(X) :
- axis==Y_AXIS ? HOMEAXIS_DO(Y) :
- axis==Z_AXIS ? HOMEAXIS_DO(Z) :
- 0) {
- int axis_home_dir = home_dir(axis);
-
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
- destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
- feedrate = homing_feedrate[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = -home_retract_mm(axis) * axis_home_dir;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
- feedrate = homing_feedrate[axis]/2 ;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- axis_is_at_home(axis);
- destination[axis] = current_position[axis];
- feedrate = 0.0;
- endstops_hit_on_purpose();
- axis_known_position[axis] = true;
- }
+((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
+
+ if (axis==X_AXIS ? HOMEAXIS_DO(X) :
+ axis==Y_AXIS ? HOMEAXIS_DO(Y) :
+ 0) {
+ int axis_home_dir = home_dir(axis);
+
+ #ifdef HAVE_TMC2130_DRIVERS
+ st_setSGHoming(axis);
+
+ // Configuration to spreadCycle
+ tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x01);
+
+ tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x6D,0,SG_THRESHOLD,0,0);
+
+ tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x14,0,0,0,TCOOLTHRS);
+ #endif
+
+ current_position[axis] = 0;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
+ destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
+ feedrate = homing_feedrate[axis];
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ current_position[axis] = 0;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = -home_retract_mm(axis) * axis_home_dir;
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
+ if(st_didLastHomingStall())
+ feedrate = homing_feedrate[axis];
+ else
+ feedrate = homing_feedrate[axis]/2 ;
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+ axis_is_at_home(axis);
+ destination[axis] = current_position[axis];
+ feedrate = 0.0;
+ endstops_hit_on_purpose();
+ axis_known_position[axis] = true;
+
+ #ifdef HAVE_TMC2130_DRIVERS
+ // Configuration back to stealthChop
+ tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x05);
+
+ st_setSGHoming(0xFF);
+ st_resetSGflags();
+ #endif
+ }
+ else if (axis==Z_AXIS ? HOMEAXIS_DO(Z) :
+ 0) {
+ int axis_home_dir = home_dir(axis);
+
+ current_position[axis] = 0;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
+ destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
+ feedrate = homing_feedrate[axis];
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ current_position[axis] = 0;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = -home_retract_mm(axis) * axis_home_dir;
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
+ feedrate = homing_feedrate[axis]/2 ;
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+ axis_is_at_home(axis);
+ destination[axis] = current_position[axis];
+ feedrate = 0.0;
+ endstops_hit_on_purpose();
+ axis_known_position[axis] = true;
+ }
}
+
void home_xy()
{
set_destination_to_current();
diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index 1743d5e3..85d13e8e 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -82,9 +82,18 @@ static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
-static bool check_endstops = true;
+#ifdef SG_HOMING
+ static bool check_endstops = false;
+#else
+ static bool check_endstops = true;
+#endif
+
static bool check_z_endstop = false;
+static uint8_t sg_homing_axis = 0xFF;
+static uint8_t sg_axis_stalled[2] = {0, 0};
+static uint8_t sg_lastHomingStalled = false;
+
int8_t SilentMode;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
@@ -399,6 +408,11 @@ ISR(TIMER1_COMPA_vect)
{
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
+ #ifdef SG_HOMING
+ x_min_endstop=false;
+ #endif
+ if(sg_homing_axis == X_AXIS && !x_min_endstop)
+ x_min_endstop = sg_axis_stalled[X_AXIS];
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
@@ -415,6 +429,8 @@ ISR(TIMER1_COMPA_vect)
{
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
+ if(sg_homing_axis == X_AXIS && !x_max_endstop)
+ x_max_endstop = sg_axis_stalled[X_AXIS];
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
@@ -435,6 +451,11 @@ ISR(TIMER1_COMPA_vect)
{
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
+ #ifdef SG_HOMING
+ y_min_endstop=false;
+ #endif
+ if(sg_homing_axis == Y_AXIS && !y_min_endstop)
+ y_min_endstop = sg_axis_stalled[Y_AXIS];
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
@@ -449,6 +470,8 @@ ISR(TIMER1_COMPA_vect)
{
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
+ if(sg_homing_axis == Y_AXIS && !y_max_endstop)
+ y_max_endstop = sg_axis_stalled[Y_AXIS];
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
@@ -765,6 +788,66 @@ ISR(TIMER1_COMPA_vect)
}
+ uint32_t tmc2130_readRegister(uint8_t chipselect, uint8_t address){
+
+ //datagram1 - write
+ SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
+ digitalWrite(chipselect,LOW);
+ SPI.transfer(address);
+ SPI.transfer(0x00);
+ SPI.transfer(0x00);
+ SPI.transfer(0x00);
+ SPI.transfer(0x00);
+ digitalWrite(chipselect, HIGH);
+ SPI.endTransaction();
+
+ uint32_t val0;
+
+ //datagram2 - response
+ SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
+ digitalWrite(chipselect,LOW);
+
+ SPI.transfer(0); // ignore status bits
+
+ val0 = SPI.transfer(0); // MSB
+ val0 = (val0 << 8) | SPI.transfer(0);
+ val0 = (val0 << 8) | SPI.transfer(0);
+ val0 = (val0 << 8) | SPI.transfer(0); //LSB
+
+ digitalWrite(chipselect, HIGH);
+ SPI.endTransaction();
+
+ return val0;
+ }
+
+ uint16_t tmc2130_readSG(uint8_t chipselect){
+
+ uint8_t address = 0x6F;
+
+ uint32_t registerValue = tmc2130_readRegister(chipselect, address);
+
+ uint16_t val0 = registerValue & 0x3ff;
+
+ return val0;
+ }
+
+ uint16_t tmc2130_readTStep(uint8_t chipselect){
+
+
+ uint8_t address = 0x12;
+
+ uint32_t registerValue = tmc2130_readRegister(chipselect, address);
+
+ uint16_t val0 = 0;
+ if(registerValue & 0x000f0000)
+ val0 = 0xffff;
+ else
+ val0 = registerValue & 0xffff;
+
+ return val0;
+ }
+
+
void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16)
{
uint8_t mres=0b0100;
@@ -793,6 +876,23 @@ ISR(TIMER1_COMPA_vect)
{
tmc2130_write(cs,0x13,0x00,0x00,0x00,0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
}
+
+
+ void st_setSGHoming(uint8_t axis){
+ sg_homing_axis = axis;
+ }
+
+ void st_resetSGflags(){
+ sg_axis_stalled[X_AXIS] = false;
+ sg_axis_stalled[Y_AXIS] = false;
+ }
+
+ uint8_t st_didLastHomingStall(){
+ uint8_t returnValue = sg_lastHomingStalled;
+ sg_lastHomingStalled = false;
+ return returnValue;
+ }
+
void tmc2130_disable_motor(uint8_t driver)
{
@@ -1063,11 +1163,53 @@ void st_init()
// Block until all buffered steps are executed
void st_synchronize()
{
- while( blocks_queued()) {
- manage_heater();
- // Vojtech: Don't disable motors inside the planner!
- manage_inactivity(true);
- lcd_update();
+ uint8_t delay = 0;
+ while( blocks_queued()) {
+ manage_heater();
+ // Vojtech: Don't disable motors inside the planner!
+ manage_inactivity(true);
+ lcd_update();
+
+ if(sg_homing_axis == X_AXIS || sg_homing_axis == Y_AXIS)
+ {
+ uint8_t axis;
+ if(sg_homing_axis == X_AXIS)
+ axis = X_TMC2130_CS;
+ else
+ axis = Y_TMC2130_CS;
+
+ uint16_t tstep = tmc2130_readTStep(axis);
+ // SERIAL_PROTOCOLLN(tstep);
+
+ if(tstep < TCOOLTHRS)
+ {
+ if(delay < 255) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
+ delay++;
+ else
+ {
+ uint16_t sg = tmc2130_readSG(axis);
+ if(sg==0)
+ {
+ sg_axis_stalled[sg_homing_axis] = true;
+ sg_lastHomingStalled = true;
+ }
+ else
+ sg_axis_stalled[sg_homing_axis] = false;
+ // SERIAL_PROTOCOLLN(sg);
+ }
+ }
+ else
+ {
+ sg_axis_stalled[sg_homing_axis] = false;
+ delay = 0;
+ }
+
+ }
+ else
+ {
+ sg_axis_stalled[X_AXIS] = false;
+ sg_axis_stalled[Y_AXIS] = false;
+ }
}
}
diff --git a/Firmware/stepper.h b/Firmware/stepper.h
index a56a341a..b8c35d62 100644
--- a/Firmware/stepper.h
+++ b/Firmware/stepper.h
@@ -90,6 +90,17 @@ void microstep_readings();
#ifdef HAVE_TMC2130_DRIVERS
void tmc2130_check_overtemp();
+
+void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4);
+uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address);
+uint16_t tmc2130_readSG(uint8_t chipselect);
+uint16_t tmc2130_readTStep(uint8_t chipselect);
+void tmc2130_PWMconf(uint8_t cs, uint8_t PWMgrad, uint8_t PWMampl);
+
+void st_setSGHoming(uint8_t axis);
+void st_resetSGflags();
+uint8_t st_didLastHomingStall();
+
#endif
#ifdef BABYSTEPPING