From 2b24e9ceb32ba2cc5e23b19092b30e836d7f0833 Mon Sep 17 00:00:00 2001 From: Robert Pelnar Date: Thu, 6 Jul 2017 13:06:07 +0200 Subject: [PATCH] Changed jerks, disabled oversampling, debug code, commands for seting pwm_ampl and pwm_grad (M917, M918), changed configuration files --- Firmware/Configuration.h | 12 +- Firmware/Marlin_main.cpp | 28 +++- Firmware/planner.cpp | 2 +- Firmware/stepper.cpp | 34 +++- Firmware/tmc2130.cpp | 154 +++++++++++++----- Firmware/tmc2130.h | 9 +- .../variants/1_75mm_MK3-EINY03-E3Dv6full.h | 84 +++++----- .../variants/1_75mm_MK3-EINY04-E3Dv6full.h | 84 +++++----- 8 files changed, 271 insertions(+), 136 deletions(-) diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h index 5dfcc42a..a764e44c 100644 --- a/Firmware/Configuration.h +++ b/Firmware/Configuration.h @@ -433,14 +433,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of // #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously) -//#define DEFAULT_XJERK 5.0 // (mm/sec) -//#define DEFAULT_YJERK 5.0 // (mm/sec) -//#define DEFAULT_ZJERK 0.2 // (mm/sec) -//#define DEFAULT_EJERK 2.5 // (mm/sec) -#define DEFAULT_XJERK 0.5 // (mm/sec) -#define DEFAULT_YJERK 0.5 // (mm/sec) -#define DEFAULT_ZJERK 0.1 // (mm/sec) -#define DEFAULT_EJERK 0.5 // (mm/sec) +#define DEFAULT_XJERK 15 // (mm/sec) +#define DEFAULT_YJERK 15 // (mm/sec) +#define DEFAULT_ZJERK 0.4 // (mm/sec) +#define DEFAULT_EJERK 2.5 // (mm/sec) //=========================================================================== //=============================Additional Features=========================== diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 6506064b..34ffed9d 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -1204,7 +1204,7 @@ void setup() eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); } -#ifndef DEBUG_SKIP_STARTMSGS +#ifndef DEBUG_DISABLE_STARTMSGS check_babystep(); //checking if Z babystep is in allowed range if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED || @@ -1224,7 +1224,7 @@ void setup() // Show the message. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW); } -#endif //DEBUG_SKIP_STARTMSGS +#endif //DEBUG_DISABLE_STARTMSGS for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]); lcd_update_enable(true); @@ -1881,14 +1881,14 @@ void homeaxis(int axis) { feedrate = homing_feedrate[axis]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); -// sg_homing_delay = 0; + sg_homing_delay = 0; 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); -// sg_homing_delay = 0; + sg_homing_delay = 0; st_synchronize(); destination[axis] = 2*home_retract_mm(axis) * axis_home_dir; @@ -1899,7 +1899,7 @@ void homeaxis(int axis) { #endif feedrate = homing_feedrate[axis] / 2; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); -// sg_homing_delay = 0; + sg_homing_delay = 0; st_synchronize(); axis_is_at_home(axis); destination[axis] = current_position[axis]; @@ -5547,6 +5547,24 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp MYSERIAL.print(" sg_thrs_y="); MYSERIAL.println(sg_thrs_y, DEC); } + break; + + case 917: // M917 Set TMC2130 pwm_ampl + { + if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value()); + if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value()); + if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value()); + if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value()); + } + break; + + case 918: // M918 Set TMC2130 pwm_grad + { + if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value()); + if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value()); + if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value()); + if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value()); + } break; case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp index bdfc4ca2..c09ed555 100644 --- a/Firmware/planner.cpp +++ b/Firmware/planner.cpp @@ -978,7 +978,7 @@ Having the real displacement of the head, we can calculate the total movement le // Acceleration of the segment, in mm/sec^2 block->acceleration = block->acceleration_st / steps_per_mm; -#if 1 +#if 0 // Oversample diagonal movements by a power of 2 up to 8x // to achieve more accurate diagonal movements. uint8_t bresenham_oversample = 1; diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 380d1395..d07640a3 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -582,14 +582,23 @@ ISR(TIMER1_COMPA_vect) counter_x += current_block->steps_x; if (counter_x > 0) { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); +#ifdef DEBUG_XSTEP_DUP_PIN + WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); +#endif //DEBUG_XSTEP_DUP_PIN counter_x -= current_block->step_event_count; count_position[X_AXIS]+=count_direction[X_AXIS]; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); +#ifdef DEBUG_XSTEP_DUP_PIN + WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); +#endif //DEBUG_XSTEP_DUP_PIN } counter_y += current_block->steps_y; if (counter_y > 0) { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); +#ifdef DEBUG_YSTEP_DUP_PIN + WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); +#endif //DEBUG_YSTEP_DUP_PIN #ifdef Y_DUAL_STEPPER_DRIVERS WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN); @@ -598,6 +607,9 @@ ISR(TIMER1_COMPA_vect) counter_y -= current_block->step_event_count; count_position[Y_AXIS]+=count_direction[Y_AXIS]; WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); +#ifdef DEBUG_YSTEP_DUP_PIN + WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); +#endif //DEBUG_YSTEP_DUP_PIN #ifdef Y_DUAL_STEPPER_DRIVERS WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN); @@ -809,9 +821,13 @@ void st_init() //Initialize Step Pins - #if defined(X_STEP_PIN) && (X_STEP_PIN > -1) +#if defined(X_STEP_PIN) && (X_STEP_PIN > -1) SET_OUTPUT(X_STEP_PIN); WRITE(X_STEP_PIN,INVERT_X_STEP_PIN); +#ifdef DEBUG_XSTEP_DUP_PIN + SET_OUTPUT(DEBUG_XSTEP_DUP_PIN); + WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); +#endif //DEBUG_XSTEP_DUP_PIN disable_x(); #endif #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1) @@ -822,6 +838,10 @@ void st_init() #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) SET_OUTPUT(Y_STEP_PIN); WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN); +#ifdef DEBUG_YSTEP_DUP_PIN + SET_OUTPUT(DEBUG_YSTEP_DUP_PIN); + WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); +#endif //DEBUG_YSTEP_DUP_PIN #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1) SET_OUTPUT(Y2_STEP_PIN); WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN); @@ -980,10 +1000,16 @@ void babystep(const uint8_t axis,const bool direction) //perform step WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); +#ifdef DEBUG_XSTEP_DUP_PIN + WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); +#endif //DEBUG_XSTEP_DUP_PIN { volatile float x=1./float(axis+1)/float(axis+2); //wait a tiny bit } WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); +#ifdef DEBUG_XSTEP_DUP_PIN + WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); +#endif //DEBUG_XSTEP_DUP_PIN //get old pin state back. WRITE(X_DIR_PIN,old_x_dir_pin); @@ -999,10 +1025,16 @@ void babystep(const uint8_t axis,const bool direction) //perform step WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); +#ifdef DEBUG_YSTEP_DUP_PIN + WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); +#endif //DEBUG_YSTEP_DUP_PIN { volatile float x=1./float(axis+1)/float(axis+2); //wait a tiny bit } WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); +#ifdef DEBUG_YSTEP_DUP_PIN + WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); +#endif //DEBUG_YSTEP_DUP_PIN //get old pin state back. WRITE(Y_DIR_PIN,old_y_dir_pin); diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index f9f58bb4..52f9dc1f 100644 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -18,15 +18,26 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H; //running currents uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R; //axis stalled flags -uint8_t tmc2130_axis_stalled[4] = {0, 0, 0, 0}; +uint8_t tmc2130_axis_stalled[2] = {0, 0}; //last homing stalled uint8_t tmc2130_LastHomingStalled = 0; +//pwm_ampl +uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY}; +//pwm_grad +uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_XY, TMC2130_PWM_GRAD_XY}; +//pwm_auto +uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_XY, TMC2130_PWM_AUTO_XY}; +//pwm_freq +uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY}; + + uint8_t sg_homing_axis = 0xff; uint8_t sg_homing_delay = 0; uint8_t sg_thrs_x = TMC2130_SG_THRS_X; uint8_t sg_thrs_y = TMC2130_SG_THRS_Y; +bool skip_debug_msg = false; //TMC2130 registers #define TMC2130_REG_GCONF 0x00 // 17 bits @@ -65,14 +76,17 @@ uint8_t sg_thrs_y = TMC2130_SG_THRS_Y; uint16_t tmc2130_rd_TSTEP(uint8_t cs); uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect); -void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16); -void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale = TMC2130_PWM_AUTO, uint8_t PWMfreq = TMC2130_PWM_FREQ, uint8_t PWMgrad = TMC2130_PWM_GRAD, uint8_t PWMampl = TMC2130_PWM_AMPL); +void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0); +void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel); void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32); void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32); -uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval); +uint8_t tmc2130_axis_by_cs(uint8_t cs); +uint8_t tmc2130_mres(uint16_t microstep_resolution); + uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval); uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval); +uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval); @@ -91,30 +105,30 @@ void tmc2130_init() SPI.begin(); for (int i = 0; i < 2; i++) // X Y axes { - tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000); + uint8_t mres = tmc2130_mres(TMC2130_USTEPS_XY); + tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f)); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000); - tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480 + tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000); + tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0); tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS); //tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH); - tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_XY, TMC2130_USTEPS_XY); } for (int i = 2; i < 3; i++) // Z axis { - tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000); + uint8_t mres = tmc2130_mres(TMC2130_USTEPS_Z); + tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f)); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000); - tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480 - tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS); - //tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH); - tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_Z, TMC2130_USTEPS_Z); + tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000); } for (int i = 3; i < 4; i++) // E axis { - tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000004); //GCONF - bit 2 activate stealthChop + uint8_t mres = tmc2130_mres(TMC2130_USTEPS_E); + tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_E, 0, 0); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f)); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000); - tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_E, TMC2130_USTEPS_E); + tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000); } } @@ -165,6 +179,9 @@ void tmc2130_check_overtemp() for(int i=0;i<4;i++) { uint32_t drv_status = 0; + + skip_debug_msg = true; + tmc2130_rd(cs[i], TMC2130_REG_DRV_STATUS, &drv_status); if (drv_status & ((uint32_t)1<<26)) { // BIT 26 - over temp prewarning ~120C (+-20C) @@ -215,7 +232,7 @@ void tmc2130_home_exit() #endif } -extern uint8_t tmc2130_didLastHomingStall() +uint8_t tmc2130_didLastHomingStall() { uint8_t ret = tmc2130_LastHomingStalled; tmc2130_LastHomingStalled = false; @@ -228,7 +245,7 @@ void tmc2130_set_current_h(uint8_t axis, uint8_t current) MYSERIAL.print((int)axis); MYSERIAL.print(" "); MYSERIAL.println((int)current); - if (current > 15) current = 15; //current>15 is unsafe +// if (current > 15) current = 15; //current>15 is unsafe tmc2130_current_h[axis] = current; tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f)); } @@ -239,7 +256,7 @@ void tmc2130_set_current_r(uint8_t axis, uint8_t current) MYSERIAL.print((int)axis); MYSERIAL.print(" "); MYSERIAL.println((int)current); - if (current > 15) current = 15; //current>15 is unsafe +// if (current > 15) current = 15; //current>15 is unsafe tmc2130_current_r[axis] = current; tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f)); } @@ -266,6 +283,28 @@ void tmc2130_print_currents() MYSERIAL.println((int)tmc2130_current_r[3]); } +void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl) +{ + MYSERIAL.print("tmc2130_set_pwm_ampl "); + MYSERIAL.print((int)axis); + MYSERIAL.print(" "); + MYSERIAL.println((int)pwm_ampl); + tmc2130_pwm_ampl[axis] = pwm_ampl; + if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT)) + tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0); +} + +void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad) +{ + MYSERIAL.print("tmc2130_set_pwm_grad "); + MYSERIAL.print((int)axis); + MYSERIAL.print(" "); + MYSERIAL.println((int)pwm_grad); + tmc2130_pwm_grad[axis] = pwm_grad; + if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT)) + tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0); +} + uint16_t tmc2130_rd_TSTEP(uint8_t cs) { uint32_t val32 = 0; @@ -281,27 +320,40 @@ uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs) return val32; } -void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution) +void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t fd3, uint8_t disfdcc, uint8_t rndtf, uint8_t chm, uint8_t tbl, uint8_t vsense, uint8_t vhighfs, uint8_t vhighchm, uint8_t sync, uint8_t mres, uint8_t intpol, uint8_t dedge, uint8_t diss2g) { - uint8_t mres=0b0100; - if(microstep_resolution == 256) mres = 0b0000; - if(microstep_resolution == 128) mres = 0b0001; - if(microstep_resolution == 64) mres = 0b0010; - if(microstep_resolution == 32) mres = 0b0011; - if(microstep_resolution == 16) mres = 0b0100; - if(microstep_resolution == 8) mres = 0b0101; - if(microstep_resolution == 4) mres = 0b0110; - if(microstep_resolution == 2) mres = 0b0111; - if(microstep_resolution == 1) mres = 0b1000; - mres |= extrapolate256 << 4; //bit28 intpol - //tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3); -// tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3); - tmc2130_wr(cs,TMC2130_REG_CHOPCONF,((uint32_t)mres << 24) | 0x0100C3); + uint32_t val = 0; + val |= (uint32_t)(toff & 15); + val |= (uint32_t)(hstrt & 7) << 4; + val |= (uint32_t)(hend & 15) << 7; + val |= (uint32_t)(fd3 & 1) << 11; + val |= (uint32_t)(disfdcc & 1) << 12; + val |= (uint32_t)(rndtf & 1) << 13; + val |= (uint32_t)(chm & 1) << 14; + val |= (uint32_t)(tbl & 3) << 15; + val |= (uint32_t)(vsense & 1) << 17; + val |= (uint32_t)(vhighfs & 1) << 18; + val |= (uint32_t)(vhighchm & 1) << 19; + val |= (uint32_t)(sync & 15) << 20; + val |= (uint32_t)(mres & 15) << 24; + val |= (uint32_t)(intpol & 1) << 28; + val |= (uint32_t)(dedge & 1) << 29; + val |= (uint32_t)(diss2g & 1) << 30; + tmc2130_wr(cs, TMC2130_REG_CHOPCONF, val); } -void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl) +//void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl) +void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel) { - tmc2130_wr(cs, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq + uint32_t val = 0; + val |= (uint32_t)(pwm_ampl & 255); + val |= (uint32_t)(pwm_grad & 255) << 8; + val |= (uint32_t)(pwm_freq & 3) << 16; + val |= (uint32_t)(pwm_auto & 1) << 18; + val |= (uint32_t)(pwm_symm & 1) << 19; + val |= (uint32_t)(freewheel & 3) << 20; + tmc2130_wr(cs, TMC2130_REG_PWMCONF, val); +// tmc2130_wr(cs, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq } void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32) @@ -327,6 +379,20 @@ uint8_t tmc2130_axis_by_cs(uint8_t cs) return -1; } +uint8_t tmc2130_mres(uint16_t microstep_resolution) +{ + if (microstep_resolution == 256) return 0b0000; + if (microstep_resolution == 128) return 0b0001; + if (microstep_resolution == 64) return 0b0010; + if (microstep_resolution == 32) return 0b0011; + if (microstep_resolution == 16) return 0b0100; + if (microstep_resolution == 8) return 0b0101; + if (microstep_resolution == 4) return 0b0110; + if (microstep_resolution == 2) return 0b0111; + if (microstep_resolution == 1) return 0b1000; + return 0; +} + uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval) { uint8_t stat = tmc2130_txrx(cs, addr | 0x80, wval, 0); @@ -349,14 +415,18 @@ uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval) uint8_t stat = tmc2130_txrx(cs, addr, 0x00000000, &val32); if (rval != 0) *rval = val32; #ifdef TMC2130_DEBUG_RD - MYSERIAL.print("tmc2130_rd("); - MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC); - MYSERIAL.print(", 0x"); - MYSERIAL.print((unsigned char)addr, HEX); - MYSERIAL.print(", 0x"); - MYSERIAL.print((unsigned long)val32, HEX); - MYSERIAL.print(")=0x"); - MYSERIAL.println((unsigned char)stat, HEX); + if (!skip_debug_msg) + { + MYSERIAL.print("tmc2130_rd("); + MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC); + MYSERIAL.print(", 0x"); + MYSERIAL.print((unsigned char)addr, HEX); + MYSERIAL.print(", 0x"); + MYSERIAL.print((unsigned long)val32, HEX); + MYSERIAL.print(")=0x"); + MYSERIAL.println((unsigned char)stat, HEX); + } + skip_debug_msg = false; #endif //TMC2130_DEBUG_RD return stat; } diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h index f0bdc4cc..36c499a4 100644 --- a/Firmware/tmc2130.h +++ b/Firmware/tmc2130.h @@ -7,11 +7,13 @@ extern uint8_t tmc2130_mode; extern uint8_t tmc2130_current_h[4]; extern uint8_t tmc2130_current_r[4]; //flags for axis stall detection -extern uint8_t tmc2130_axis_stalled[4]; +extern uint8_t tmc2130_axis_stalled[2]; extern uint8_t sg_thrs_x; extern uint8_t sg_thrs_y; +extern uint8_t sg_homing_delay; + #define TMC2130_MODE_NORMAL 0 #define TMC2130_MODE_SILENT 1 @@ -35,5 +37,10 @@ extern void tmc2130_set_current_r(uint8_t axis, uint8_t current); //print currents (M913) extern void tmc2130_print_currents(); +//set PWM_AMPL for any axis (M917) +extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl); +//set PWM_GRAD for any axis (M918) +extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl); + #endif //TMC2130_H \ No newline at end of file diff --git a/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h index 17453ad4..a31eb5e1 100644 --- a/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h +++ b/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h @@ -66,25 +66,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000 //#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec) -#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec) -#define DEFAULT_MAX_ACCELERATION {1000, 1000, 100, 5000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot. +#define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {2000, 2000, 250, 5000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot. -#define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves -#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts +#define DEFAULT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves +#define DEFAULT_RETRACT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for retracts #define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min) -#define MAX_SILENT_FEEDRATE 2700 // +//#define MAX_SILENT_FEEDRATE 2700 // #define Z_AXIS_ALWAYS_ON 1 //DEBUG -//#define DEBUG_DISABLE_MINTEMP -//#define DEBUG_DISABLE_SWLIMITS -//#define DEBUG_DISABLE_PREVENT_EXTRUDER -#define DEBUG_BLINK_ACTIVE -//#define DEBUG_SKIP_STARTMSGS - +#if 0 +#define DEBUG_DISABLE_STARTMSGS //no startup messages +#define DEBUG_DISABLE_MINTEMP //mintemp error ignored +#define DEBUG_DISABLE_SWLIMITS //sw limits ignored +#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed +#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3) +//#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3) +//#define DEBUG_BLINK_ACTIVE +#endif /*------------------------------------ TMC2130 default settings @@ -92,32 +95,33 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define TMC2130_FCLK 12000000 // fclk = 12MHz -#define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes -#define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis -#define TMC2130_USTEPS_E 16 // microstep resolution for E axis -#define TMC2130_EXP256_XY 1 // extrapolate 256 for XY axes -#define TMC2130_EXP256_Z 1 // extrapolate 256 for Z axis -#define TMC2130_EXP256_E 1 // extrapolate 256 for E axis +#define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes +#define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis +#define TMC2130_USTEPS_E 16 // microstep resolution for E axis +#define TMC2130_INTPOL_XY 1 // extrapolate 256 for XY axes +#define TMC2130_INTPOL_Z 1 // extrapolate 256 for Z axis +#define TMC2130_INTPOL_E 1 // extrapolate 256 for E axis -// PWM register configuration -//#define TMC2130_PWM_GRAD 0x08 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated) -//#define TMC2130_PWM_AMPL 0xC8 // 0xFF - Sets PWM amplitude to 200 (max is 255) -#define TMC2130_PWM_GRAD 0x01 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated) -#define TMC2130_PWM_AMPL 0xc8 // 0xFF - Sets PWM amplitude to 200 (max is 255) -#define TMC2130_PWM_AUTO 0x04 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling) -//#define TMC2130_PWM_FREQ 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 35.1kHz -#define TMC2130_PWM_FREQ 0x01 // 0x02 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 46.9kHz +#define TMC2130_PWM_GRAD_XY 15 // PWMCONF +#define TMC2130_PWM_AMPL_XY 200 // PWMCONF +#define TMC2130_PWM_AUTO_XY 1 // PWMCONF +#define TMC2130_PWM_FREQ_XY 2 // PWMCONF -#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410) +/* //not used +#define TMC2130_PWM_GRAD_Z 4 // PWMCONF +#define TMC2130_PWM_AMPL_Z 200 // PWMCONF +#define TMC2130_PWM_AUTO_Z 1 // PWMCONF +#define TMC2130_PWM_FREQ_Z 2 // PWMCONF +#define TMC2130_PWM_GRAD_E 4 // PWMCONF +#define TMC2130_PWM_AMPL_E 200 // PWMCONF +#define TMC2130_PWM_AUTO_E 1 // PWMCONF +#define TMC2130_PWM_FREQ_E 2 // PWMCONF +*/ + +//#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410) +#define TMC2130_PWM_DIV 512 // PWM frequency divider (1024, 683, 512, 410) #define TMC2130_PWM_CLK (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk) -// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo -// RP: this settings does not work (overtemp) -//#define TMC2130_PWM_GRAD_XY 156 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated) -//#define TMC2130_PWM_AMPL_XY 63 // 0xFF - Sets PWM amplitude to 200 (max is 255) -//#define TMC2130_PWM_AUTO_XY 0x00 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling) -//#define TMC2130_PWM_FREQ_XY 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) - #define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode #define TMC2130_THIGH 0 // THIGH - unused @@ -125,15 +129,17 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define TMC2130_SG_HOMING 1 // stallguard homing #define TMC2130_SG_HOMING_SW 1 // stallguard "software" homing -#define TMC2130_SG_THRS_X 12 // stallguard sensitivity for X axis -#define TMC2130_SG_THRS_Y 12 // stallguard sensitivity for Y axis +#define TMC2130_SG_THRS_X 30 // stallguard sensitivity for X axis +#define TMC2130_SG_THRS_Y 30 // stallguard sensitivity for Y axis #define TMC2130_SG_DELAY 10 // stallguard delay (temporary solution) -#define TMC2130_CURRENTS_H {2, 2, 2, 4} // default holding currents for all axes -#define TMC2130_CURRENTS_R {6, 6, 8, 8} // default running currents for all axes +//new settings is possible for vsense = 1 +#define TMC2130_CURRENTS_H {3, 3, 5, 8} // default holding currents for all axes +#define TMC2130_CURRENTS_R {13, 13, 20, 20} // default running currents for all axes + #define TMC2130_DEBUG -#define TMC2130_DEBUG_WR -#define TMC2130_DEBUG_RD +//#define TMC2130_DEBUG_WR +//#define TMC2130_DEBUG_RD /*------------------------------------ diff --git a/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h index 7a6627c8..7c201d8b 100644 --- a/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h +++ b/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h @@ -66,25 +66,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000 //#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec) -#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec) -#define DEFAULT_MAX_ACCELERATION {1000, 1000, 100, 5000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot. +#define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {2000, 2000, 250, 5000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot. -#define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves -#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts +#define DEFAULT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves +#define DEFAULT_RETRACT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for retracts #define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min) -#define MAX_SILENT_FEEDRATE 2700 // +//#define MAX_SILENT_FEEDRATE 2700 // #define Z_AXIS_ALWAYS_ON 1 //DEBUG -//#define DEBUG_DISABLE_MINTEMP -//#define DEBUG_DISABLE_SWLIMITS -//#define DEBUG_DISABLE_PREVENT_EXTRUDER -#define DEBUG_BLINK_ACTIVE -//#define DEBUG_SKIP_STARTMSGS - +#if 0 +#define DEBUG_DISABLE_STARTMSGS //no startup messages +#define DEBUG_DISABLE_MINTEMP //mintemp error ignored +#define DEBUG_DISABLE_SWLIMITS //sw limits ignored +#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed +#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3) +//#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3) +//#define DEBUG_BLINK_ACTIVE +#endif /*------------------------------------ TMC2130 default settings @@ -92,32 +95,33 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define TMC2130_FCLK 12000000 // fclk = 12MHz -#define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes -#define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis -#define TMC2130_USTEPS_E 16 // microstep resolution for E axis -#define TMC2130_EXP256_XY 1 // extrapolate 256 for XY axes -#define TMC2130_EXP256_Z 1 // extrapolate 256 for Z axis -#define TMC2130_EXP256_E 1 // extrapolate 256 for E axis +#define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes +#define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis +#define TMC2130_USTEPS_E 16 // microstep resolution for E axis +#define TMC2130_INTPOL_XY 1 // extrapolate 256 for XY axes +#define TMC2130_INTPOL_Z 1 // extrapolate 256 for Z axis +#define TMC2130_INTPOL_E 1 // extrapolate 256 for E axis -// PWM register configuration -//#define TMC2130_PWM_GRAD 0x08 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated) -//#define TMC2130_PWM_AMPL 0xC8 // 0xFF - Sets PWM amplitude to 200 (max is 255) -#define TMC2130_PWM_GRAD 0x01 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated) -#define TMC2130_PWM_AMPL 0xc8 // 0xFF - Sets PWM amplitude to 200 (max is 255) -#define TMC2130_PWM_AUTO 0x04 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling) -//#define TMC2130_PWM_FREQ 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 35.1kHz -#define TMC2130_PWM_FREQ 0x01 // 0x02 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 46.9kHz +#define TMC2130_PWM_GRAD_XY 15 // PWMCONF +#define TMC2130_PWM_AMPL_XY 200 // PWMCONF +#define TMC2130_PWM_AUTO_XY 1 // PWMCONF +#define TMC2130_PWM_FREQ_XY 2 // PWMCONF -#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410) +/* //not used +#define TMC2130_PWM_GRAD_Z 4 // PWMCONF +#define TMC2130_PWM_AMPL_Z 200 // PWMCONF +#define TMC2130_PWM_AUTO_Z 1 // PWMCONF +#define TMC2130_PWM_FREQ_Z 2 // PWMCONF +#define TMC2130_PWM_GRAD_E 4 // PWMCONF +#define TMC2130_PWM_AMPL_E 200 // PWMCONF +#define TMC2130_PWM_AUTO_E 1 // PWMCONF +#define TMC2130_PWM_FREQ_E 2 // PWMCONF +*/ + +//#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410) +#define TMC2130_PWM_DIV 512 // PWM frequency divider (1024, 683, 512, 410) #define TMC2130_PWM_CLK (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk) -// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo -// RP: this settings does not work (overtemp) -//#define TMC2130_PWM_GRAD_XY 156 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated) -//#define TMC2130_PWM_AMPL_XY 63 // 0xFF - Sets PWM amplitude to 200 (max is 255) -//#define TMC2130_PWM_AUTO_XY 0x00 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling) -//#define TMC2130_PWM_FREQ_XY 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) - #define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode #define TMC2130_THIGH 0 // THIGH - unused @@ -125,15 +129,17 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o #define TMC2130_SG_HOMING 1 // stallguard homing #define TMC2130_SG_HOMING_SW 1 // stallguard "software" homing -#define TMC2130_SG_THRS_X 12 // stallguard sensitivity for X axis -#define TMC2130_SG_THRS_Y 12 // stallguard sensitivity for Y axis +#define TMC2130_SG_THRS_X 30 // stallguard sensitivity for X axis +#define TMC2130_SG_THRS_Y 30 // stallguard sensitivity for Y axis #define TMC2130_SG_DELAY 10 // stallguard delay (temporary solution) -#define TMC2130_CURRENTS_H {2, 2, 2, 4} // default holding currents for all axes -#define TMC2130_CURRENTS_R {6, 6, 8, 8} // default running currents for all axes +//new settings is possible for vsense = 1 +#define TMC2130_CURRENTS_H {3, 3, 5, 8} // default holding currents for all axes +#define TMC2130_CURRENTS_R {13, 13, 20, 20} // default running currents for all axes + #define TMC2130_DEBUG -#define TMC2130_DEBUG_WR -#define TMC2130_DEBUG_RD +//#define TMC2130_DEBUG_WR +//#define TMC2130_DEBUG_RD /*------------------------------------