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Crashdetection tunning.

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This commit is contained in:
Robert Pelnar 2017-09-26 01:43:56 +02:00
parent ed0fe01bcc
commit 39f6e746dc
4 changed files with 154 additions and 76 deletions
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32
Firmware/Configuration_prusa.h
View File

@ -78,18 +78,18 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
//DEBUG
#define DEBUG_DCODES //D codes
#if 0
#define DEBUG_DISABLE_XMINLIMIT //x min limit ignored
#define DEBUG_DISABLE_XMAXLIMIT //x max limit ignored
#define DEBUG_DISABLE_YMINLIMIT //y min limit ignored
#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
#if 1
//#define DEBUG_DISABLE_XMINLIMIT //x min limit ignored
//#define DEBUG_DISABLE_XMAXLIMIT //x max limit ignored
//#define DEBUG_DISABLE_YMINLIMIT //y min limit ignored
//#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
//#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
//#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
#define DEBUG_DISABLE_STARTMSGS //no startup messages
#define DEBUG_DISABLE_MINTEMP //mintemp error ignored
#define DEBUG_DISABLE_SWLIMITS //sw limits ignored
//#define DEBUG_DISABLE_MINTEMP //mintemp error ignored
//#define DEBUG_DISABLE_SWLIMITS //sw limits ignored
#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line
#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
//#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
//#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)
@ -137,19 +137,23 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
#define TMC2130_THIGH 0 // THIGH - unused
#define TMC2130_TCOOLTHRS 500 // TCOOLTHRS - coolstep treshold
#define TMC2130_TCOOLTHRS_X 400 // TCOOLTHRS - coolstep treshold
#define TMC2130_TCOOLTHRS_Y 400 // TCOOLTHRS - coolstep treshold
#define TMC2130_TCOOLTHRS_Z 500 // TCOOLTHRS - coolstep treshold
#define TMC2130_TCOOLTHRS_E 500 // TCOOLTHRS - coolstep treshold
#define TMC2130_SG_HOMING 1 // stallguard homing
//#define TMC2130_SG_HOMING_SW_XY 1 // stallguard "software" homing for XY axes
#define TMC2130_SG_HOMING_SW_Z 1 // stallguard "software" homing for Z axis
#define TMC2130_SG_THRS_X 7 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 7 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_X 1 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 3 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 3 // stallguard sensitivity for Z axis
#define TMC2130_SG_THRS_E 3 // stallguard sensitivity for E axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
#define TMC2130_CURRENTS_H {3, 3, 5, 8} // default holding currents for all axes
#define TMC2130_CURRENTS_R {13, 31, 20, 22} // default running currents for all axes
#define TMC2130_CURRENTS_R {13, 20, 20, 22} // default running currents for all axes
//#define TMC2130_DEBUG
//#define TMC2130_DEBUG_WR

36
Firmware/Marlin_main.cpp
View File

@ -589,12 +589,23 @@ void crashdet_restore_print_and_continue()
}
void crashdet_stop_and_save_print2()
{
cli();
planner_abort_hard(); //abort printing
cmdqueue_reset(); //empty cmdqueue
card.sdprinting = false;
card.closefile();
sei();
}
#ifdef PAT9125
void fsensor_stop_and_save_print()
{
// stop_and_save_print_to_ram(10, -0.8); //XY - no change, Z 10mm up, E 0.8mm in
stop_and_save_print_to_ram(0, 0); //XY - no change, Z 10mm up, E 0.8mm in
stop_and_save_print_to_ram(0, 0); //XYZE - no change
}
void fsensor_restore_print_and_continue()
@ -1245,7 +1256,7 @@ void loop()
if (tmc2130_sg_crash)
{
tmc2130_sg_crash = false;
crashdet_stop_and_save_print();
// crashdet_stop_and_save_print();
enquecommand_P((PSTR("D999")));
}
#endif //TMC2130
@ -5475,15 +5486,18 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
case 916: // M916 Set sg_thrs
{
if (code_seen('X')) tmc2130_axis_sg_thr[X_AXIS] = code_value();
if (code_seen('Y')) tmc2130_axis_sg_thr[Y_AXIS] = code_value();
if (code_seen('Z')) tmc2130_axis_sg_thr[Z_AXIS] = code_value();
MYSERIAL.print("tmc2130_axis_sg_thr[X]=");
MYSERIAL.print(tmc2130_axis_sg_thr[X_AXIS], DEC);
MYSERIAL.print("tmc2130_axis_sg_thr[Y]=");
MYSERIAL.print(tmc2130_axis_sg_thr[Y_AXIS], DEC);
MYSERIAL.print("tmc2130_axis_sg_thr[Z]=");
MYSERIAL.print(tmc2130_axis_sg_thr[Z_AXIS], DEC);
if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
MYSERIAL.print("tmc2130_sg_thr[X]=");
MYSERIAL.println(tmc2130_sg_thr[X_AXIS], DEC);
MYSERIAL.print("tmc2130_sg_thr[Y]=");
MYSERIAL.println(tmc2130_sg_thr[Y_AXIS], DEC);
MYSERIAL.print("tmc2130_sg_thr[Z]=");
MYSERIAL.println(tmc2130_sg_thr[Z_AXIS], DEC);
MYSERIAL.print("tmc2130_sg_thr[E]=");
MYSERIAL.println(tmc2130_sg_thr[E_AXIS], DEC);
}
break;

160
Firmware/tmc2130.cpp
View File

@ -4,6 +4,10 @@
#include "tmc2130.h"
#include <SPI.h>
#include "LiquidCrystal.h"
#include "ultralcd.h"
extern LiquidCrystal lcd;
#define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
#define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
@ -14,6 +18,7 @@ extern float current_position[4];
extern void st_get_position_xy(long &x, long &y);
extern long st_get_position(uint8_t axis);
extern void crashdet_stop_and_save_print();
extern void crashdet_stop_and_save_print2();
//chipselect pins
uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
@ -44,16 +49,19 @@ uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
uint8_t tmc2130_axis_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, 0};
uint8_t tmc2130_axis_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, 0};
uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
uint32_t tmc2130_axis_sg_pos[4] = {0, 0, 0, 0};
uint32_t tmc2130_sg_pos[4] = {0, 0, 0, 0};
uint8_t sg_homing_axes_mask = 0x00;
bool tmc2130_sg_stop_on_crash = false;
bool tmc2130_sg_crash = false;
uint8_t tmc2130_diag_mask = 0x00;
uint16_t tmc2130_sg_err[4] = {0, 0, 0, 0};
uint16_t tmc2130_sg_cnt[4] = {0, 0, 0, 0};
bool tmc2130_sg_change = false;
bool skip_debug_msg = false;
@ -134,59 +142,69 @@ void tmc2130_init()
SET_INPUT(Z_TMC2130_DIAG);
SET_INPUT(E0_TMC2130_DIAG);
SPI.begin();
for (int i = 0; i < 2; i++) // X Y axes
for (int axis = 0; axis < 2; axis++) // X Y axes
{
/* if (tmc2130_current_r[i] <= 31)
/* if (tmc2130_current_r[axis] <= 31)
{
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_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
}
else
{
tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
tmc2130_wr_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[axis] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[axis] >> 1) & 0x1f));
}*/
tmc2130_setup_chopper(i, tmc2130_mres[i], tmc2130_current_h[i], tmc2130_current_r[i]);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
// 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(tmc2130_cs[i], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_axis_sg_thr[i]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:TMC2130_TCOOLTHRS);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
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[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
tmc2130_wr_TPWMTHRS(tmc2130_cs[axis], TMC2130_TPWMTHRS);
//tmc2130_wr_THIGH(tmc2130_cs[axis], TMC2130_THIGH);
}
for (int i = 2; i < 3; i++) // Z axis
for (int axis = 2; axis < 3; axis++) // Z axis
{
// uint8_t mres = tmc2130_mres(TMC2130_USTEPS_Z);
/* if (tmc2130_current_r[i] <= 31)
/* if (tmc2130_current_r[axis] <= 31)
{
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_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
}
else
{
tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
tmc2130_wr_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[axis] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[axis] >> 1) & 0x1f));
}*/
tmc2130_setup_chopper(i, tmc2130_mres[i], tmc2130_current_h[i], tmc2130_current_r[i]);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
}
for (int i = 3; i < 4; i++) // E axis
for (int axis = 3; axis < 4; axis++) // E axis
{
// uint8_t mres = tmc2130_mres(TMC2130_USTEPS_E);
tmc2130_setup_chopper(i, tmc2130_mres[i], tmc2130_current_h[i], tmc2130_current_r[i]);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
// 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_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_E, 0, 0);
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
}
tmc2130_sg_err[0] = 0;
tmc2130_sg_err[1] = 0;
tmc2130_sg_err[2] = 0;
tmc2130_sg_err[3] = 0;
tmc2130_sg_cnt[0] = 0;
tmc2130_sg_cnt[1] = 0;
tmc2130_sg_cnt[2] = 0;
tmc2130_sg_cnt[3] = 0;
}
uint8_t tmc2130_sample_diag()
@ -194,29 +212,52 @@ uint8_t tmc2130_sample_diag()
uint8_t mask = 0;
if (READ(X_TMC2130_DIAG)) mask |= X_AXIS_MASK;
if (READ(Y_TMC2130_DIAG)) mask |= Y_AXIS_MASK;
// if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
// if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
return mask;
}
void tmc2130_st_isr(uint8_t last_step_mask)
{
if (tmc2130_mode == TMC2130_MODE_SILENT) return;
bool error = false;
bool crash = false;
uint8_t diag_mask = tmc2130_sample_diag();
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++)
for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)
{
uint8_t mask = (X_AXIS_MASK << axis);
if ((diag_mask & mask) && !(tmc2130_diag_mask & mask))
error = true;
if (diag_mask & mask) tmc2130_sg_err[axis]++;
else
if (tmc2130_sg_err[axis] > 0) tmc2130_sg_err[axis]--;
if (tmc2130_sg_cnt[axis] < tmc2130_sg_err[axis])
{
tmc2130_sg_cnt[axis] = tmc2130_sg_err[axis];
tmc2130_sg_change = true;
if (tmc2130_sg_err[axis] >= 64)
{
tmc2130_sg_err[axis] = 0;
crash = true;
}
}
// if ((diag_mask & mask)/* && !(tmc2130_diag_mask & mask)*/)
// crash = true;
}
tmc2130_diag_mask = diag_mask;
if (sg_homing_axes_mask == 0)
if (tmc2130_sg_stop_on_crash && error)
{
/* if (crash)
{
if (diag_mask & 0x01) tmc2130_sg_cnt[0]++;
if (diag_mask & 0x02) tmc2130_sg_cnt[1]++;
if (diag_mask & 0x04) tmc2130_sg_cnt[2]++;
if (diag_mask & 0x08) tmc2130_sg_cnt[3]++;
}*/
if (tmc2130_sg_stop_on_crash && crash)
{
tmc2130_sg_crash = true;
tmc2130_sg_stop_on_crash = false;
crashdet_stop_and_save_print();
}
}
}
void tmc2130_update_sg_axis(uint8_t axis)
@ -225,10 +266,10 @@ void tmc2130_update_sg_axis(uint8_t axis)
{
uint8_t cs = tmc2130_cs[axis];
uint16_t tstep = tmc2130_rd_TSTEP(cs);
if (tstep < TMC2130_TCOOLTHRS)
if (tstep < TMC2130_TCOOLTHRS_Z)
{
long pos = st_get_position(axis);
if (abs(pos - tmc2130_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
if (abs(pos - tmc2130_sg_pos[axis]) > TMC2130_SG_DELTA)
{
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
if (sg == 0)
@ -240,6 +281,10 @@ void tmc2130_update_sg_axis(uint8_t axis)
bool tmc2130_update_sg()
{
// uint16_t tstep = tmc2130_rd_TSTEP(tmc2130_cs[0]);
// MYSERIAL.print("TSTEP_X=");
// MYSERIAL.println((int)tstep);
#ifdef TMC2130_SG_HOMING_SW_XY
if (sg_homing_axes_mask & X_AXIS_MASK) tmc2130_update_sg_axis(X_AXIS);
if (sg_homing_axes_mask & Y_AXIS_MASK) tmc2130_update_sg_axis(Y_AXIS);
@ -269,7 +314,7 @@ bool tmc2130_update_sg()
if (tstep < TMC2130_TCOOLTHRS)
{
long pos = st_get_position(axis);
if (abs(pos - tmc2130_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
if (abs(pos - tmc2130_sg_pos[axis]) > TMC2130_SG_DELTA)
{
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
if (sg == 0)
@ -304,13 +349,13 @@ void tmc2130_home_enter(uint8_t axes_mask)
if (axes_mask & mask)
{
sg_homing_axes_mask |= mask;
tmc2130_axis_sg_pos[axis] = st_get_position(axis);
tmc2130_sg_pos[axis] = st_get_position(axis);
tmc2130_axis_stalled[axis] = false;
//Configuration to spreadCycle
tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_axis_sg_thr_home[axis]) << 16));
// tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_axis_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
// tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, (axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
#ifndef TMC2130_SG_HOMING_SW_XY
if (mask & (X_AXIS_MASK | Y_AXIS_MASK))
@ -346,8 +391,11 @@ void tmc2130_home_exit()
#ifdef TMC2130_SG_HOMING_SW_XY
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
#else //TMC2130_SG_HOMING_SW_XY
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_axis_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#endif //TMC2130_SG_HOMING_SW_XY
}
@ -377,7 +425,7 @@ void tmc2130_home_resume(uint8_t axis)
void tmc2130_home_restart(uint8_t axis)
{
tmc2130_axis_sg_pos[axis] = st_get_position(axis);
tmc2130_sg_pos[axis] = st_get_position(axis);
tmc2130_axis_stalled[axis] = false;
}
@ -400,8 +448,20 @@ void tmc2130_check_overtemp()
tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000);
kill(TMC_OVERTEMP_MSG);
}
}
checktime = millis();
tmc2130_sg_change = true;
}
if (tmc2130_sg_change)
{
for (int i = 0; i < 4; i++)
{
tmc2130_sg_change = false;
lcd.setCursor(0 + i*4, 3);
lcd.print(itostr3(tmc2130_sg_cnt[i]));
lcd.print(' ');
}
}
}

2
Firmware/tmc2130.h
View File

@ -11,7 +11,7 @@ extern uint8_t tmc2130_current_r[4];
//flags for axis stall detection
extern uint8_t tmc2130_axis_stalled[4];
extern uint8_t tmc2130_axis_sg_thr[4];
extern uint8_t tmc2130_sg_thr[4];
extern bool tmc2130_sg_stop_on_crash;
extern bool tmc2130_sg_crash;