From 39f6e746dcaf782b2056da507ba074b86ddeb7dd Mon Sep 17 00:00:00 2001 From: Robert Pelnar Date: Tue, 26 Sep 2017 01:43:56 +0200 Subject: [PATCH] Crashdetection tunning. --- Firmware/Configuration_prusa.h | 32 ++++--- Firmware/Marlin_main.cpp | 36 +++++--- Firmware/tmc2130.cpp | 160 ++++++++++++++++++++++----------- Firmware/tmc2130.h | 2 +- 4 files changed, 154 insertions(+), 76 deletions(-) diff --git a/Firmware/Configuration_prusa.h b/Firmware/Configuration_prusa.h index 5433d164..36b1cd35 100644 --- a/Firmware/Configuration_prusa.h +++ b/Firmware/Configuration_prusa.h @@ -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 diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 627d9c3f..3b77c51a 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -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; diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 540799a0..6fe8adba 100644 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -4,6 +4,10 @@ #include "tmc2130.h" #include +#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(' '); + } } } diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h index 3e4ec11f..b76732b9 100644 --- a/Firmware/tmc2130.h +++ b/Firmware/tmc2130.h @@ -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;