3DPrinting/Prusa-Firmware
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

M350 for E axis (8, 16, 32, 64, 128 microsteps)

Browse source
This commit is contained in:
Robert Pelnar 2018-02-15 15:40:49 +01:00
parent 79caf3d9c6
commit 57499dc6a0
6 changed files with 103 additions and 40 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

23
Firmware/Dcodes.cpp
View file

@ -446,6 +446,11 @@ void dcode_10()
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST); calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
} }
void dcode_12()
{//Time
LOG("D12 - Time\n");
}
#include "tmc2130.h" #include "tmc2130.h"
#include "Marlin.h" #include "Marlin.h"
#include "planner.h" #include "planner.h"
@ -495,7 +500,8 @@ void dcode_2130()
} }
else if (strchr_pointer[1+5] == '?') else if (strchr_pointer[1+5] == '?')
{ {
if (strcmp(strchr_pointer + 7, "step") == 0) printf_P(PSTR("%c step=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis) >> tmc2130_mres[axis]); if (strcmp(strchr_pointer + 7, "mres") == 0) printf_P(PSTR("%c mres=%d\n"), ch_axis, tmc2130_mres[axis]);
else if (strcmp(strchr_pointer + 7, "step") == 0) printf_P(PSTR("%c step=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis) >> tmc2130_mres[axis]);
else if (strcmp(strchr_pointer + 7, "mscnt") == 0) printf_P(PSTR("%c MSCNT=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis)); else if (strcmp(strchr_pointer + 7, "mscnt") == 0) printf_P(PSTR("%c MSCNT=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis));
else if (strcmp(strchr_pointer + 7, "mscuract") == 0) else if (strcmp(strchr_pointer + 7, "mscuract") == 0)
{ {
@ -519,6 +525,21 @@ void dcode_2130()
uint16_t res = tmc2130_get_res(axis); uint16_t res = tmc2130_get_res(axis);
tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res); tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
} }
else if (strncmp(strchr_pointer + 7, "mres", 4) == 0)
{
uint8_t mres = strchr_pointer[11] - '0';
if ((mres >= 0) && (mres <= 8))
{
st_synchronize();
uint16_t res = tmc2130_get_res(axis);
uint16_t res_new = tmc2130_mres2usteps(mres);
tmc2130_set_res(axis, res_new);
if (res_new > res)
axis_steps_per_unit[axis] *= (res_new / res);
else
axis_steps_per_unit[axis] /= (res / res_new);
}
}
else if (strncmp(strchr_pointer + 7, "wave", 4) == 0) else if (strncmp(strchr_pointer + 7, "wave", 4) == 0)
{ {
uint8_t fac200 = atoi(strchr_pointer + 11) & 0xfe; uint8_t fac200 = atoi(strchr_pointer + 11) & 0xfe;

26
Firmware/Marlin_main.cpp
View file

@ -6195,12 +6195,38 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{ {
#ifdef TMC2130
if(code_seen('E'))
{
uint16_t res_new = code_value();
if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
{
st_synchronize();
uint8_t axis = E_AXIS;
uint16_t res = tmc2130_get_res(axis);
tmc2130_set_res(axis, res_new);
if (res_new > res)
{
uint16_t fac = (res_new / res);
axis_steps_per_unit[axis] *= fac;
position[E_AXIS] *= fac;
}
else
{
uint16_t fac = (res / res_new);
axis_steps_per_unit[axis] /= fac;
position[E_AXIS] /= fac;
}
}
}
#else //TMC2130
#if defined(X_MS1_PIN) && X_MS1_PIN > -1 #if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value()); for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value()); if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings(); microstep_readings();
#endif #endif
#endif //TMC2130
} }
break; break;
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.

2
Firmware/planner.h
View file

@ -148,6 +148,8 @@ extern float max_jerk[NUM_AXIS];
extern float mintravelfeedrate; extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
extern long position[NUM_AXIS];
#ifdef AUTOTEMP #ifdef AUTOTEMP
extern bool autotemp_enabled; extern bool autotemp_enabled;
extern float autotemp_max; extern float autotemp_max;

4
Firmware/stepper.cpp
View file

@ -1433,6 +1433,9 @@ void microstep_init()
#endif #endif
} }
#ifndef TMC2130
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
{ {
if(ms1 > -1) switch(driver) if(ms1 > -1) switch(driver)
@ -1490,3 +1493,4 @@ void microstep_readings()
SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN)); SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
#endif #endif
} }
#endif //TMC2130

83
Firmware/tmc2130.cpp
View file

@ -565,11 +565,11 @@ void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32)
tmc2130_wr(axis, TMC2130_REG_THIGH, val32); tmc2130_wr(axis, TMC2130_REG_THIGH, val32);
} }
uint8_t tmc2130_usteps2mres(uint16_t usteps) uint8_t tmc2130_usteps2mres(uint16_t usteps)
{ {
uint8_t mres = 8; while (mres && (usteps >>= 1)) mres--; uint8_t mres = 8; while (mres && (usteps >>= 1)) mres--;
return mres; return mres;
} }
uint8_t tmc2130_wr(uint8_t axis, uint8_t addr, uint32_t wval) uint8_t tmc2130_wr(uint8_t axis, uint8_t addr, uint32_t wval)
{ {
@ -698,6 +698,15 @@ uint16_t tmc2130_get_res(uint8_t axis)
return tmc2130_mres2usteps(tmc2130_mres[axis]); return tmc2130_mres2usteps(tmc2130_mres[axis]);
} }
void tmc2130_set_res(uint8_t axis, uint16_t res)
{
tmc2130_mres[axis] = tmc2130_usteps2mres(res);
// uint32_t u = micros();
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
// u = micros() - u;
// printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
}
uint8_t tmc2130_get_pwr(uint8_t axis) uint8_t tmc2130_get_pwr(uint8_t axis)
{ {
switch (axis) switch (axis)
@ -872,26 +881,26 @@ void tmc2130_set_wave(uint8_t axis, uint8_t fac200)
break;*/ break;*/
case 216: //calculated wave 247/1.080 case 216: //calculated wave 247/1.080
tmc2130_wr_MSLUTSTART(axis, 0, 247); tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x9494911e); tmc2130_wr_MSLUT(axis, 0, 0x9494911e);
tmc2130_wr_MSLUT(axis, 1, 0x4a94a94a); tmc2130_wr_MSLUT(axis, 1, 0x4a94a94a);
tmc2130_wr_MSLUT(axis, 2, 0x92492929); tmc2130_wr_MSLUT(axis, 2, 0x92492929);
tmc2130_wr_MSLUT(axis, 3, 0x41044444); tmc2130_wr_MSLUT(axis, 3, 0x41044444);
tmc2130_wr_MSLUT(axis, 4, 0x00000040); tmc2130_wr_MSLUT(axis, 4, 0x00000040);
tmc2130_wr_MSLUT(axis, 5, 0xaedddf7f); tmc2130_wr_MSLUT(axis, 5, 0xaedddf7f);
tmc2130_wr_MSLUT(axis, 6, 0x94a956ad); tmc2130_wr_MSLUT(axis, 6, 0x94a956ad);
tmc2130_wr_MSLUT(axis, 7, 0x00808448); tmc2130_wr_MSLUT(axis, 7, 0x00808448);
tmc2130_wr_MSLUTSEL(axis, 4, 159, 255, 1, 2, 1, 1); tmc2130_wr_MSLUTSEL(axis, 4, 159, 255, 1, 2, 1, 1);
break; break;
case 218: //calculated wave 247/1.090 case 218: //calculated wave 247/1.090
tmc2130_wr_MSLUTSTART(axis, 0, 247); tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x4a49223e); tmc2130_wr_MSLUT(axis, 0, 0x4a49223e);
tmc2130_wr_MSLUT(axis, 1, 0x4a52a529); tmc2130_wr_MSLUT(axis, 1, 0x4a52a529);
tmc2130_wr_MSLUT(axis, 2, 0x49252529); tmc2130_wr_MSLUT(axis, 2, 0x49252529);
tmc2130_wr_MSLUT(axis, 3, 0x08422224); tmc2130_wr_MSLUT(axis, 3, 0x08422224);
tmc2130_wr_MSLUT(axis, 4, 0xfc008004); tmc2130_wr_MSLUT(axis, 4, 0xfc008004);
tmc2130_wr_MSLUT(axis, 5, 0xb6eef7df); tmc2130_wr_MSLUT(axis, 5, 0xb6eef7df);
tmc2130_wr_MSLUT(axis, 6, 0xa4aaaab5); tmc2130_wr_MSLUT(axis, 6, 0xa4aaaab5);
tmc2130_wr_MSLUT(axis, 7, 0x00808448); tmc2130_wr_MSLUT(axis, 7, 0x00808448);
tmc2130_wr_MSLUTSEL(axis, 5, 153, 255, 1, 2, 1, 1); tmc2130_wr_MSLUTSEL(axis, 5, 153, 255, 1, 2, 1, 1);
break; break;
case 220: //calculated wave 247/1.100 case 220: //calculated wave 247/1.100
@ -908,26 +917,26 @@ void tmc2130_set_wave(uint8_t axis, uint8_t fac200)
break; break;
case 222: //calculated wave 247/1.110 case 222: //calculated wave 247/1.110
tmc2130_wr_MSLUTSTART(axis, 0, 247); tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x524910fe); tmc2130_wr_MSLUT(axis, 0, 0x524910fe);
tmc2130_wr_MSLUT(axis, 1, 0xa5294a52); tmc2130_wr_MSLUT(axis, 1, 0xa5294a52);
tmc2130_wr_MSLUT(axis, 2, 0x24929294); tmc2130_wr_MSLUT(axis, 2, 0x24929294);
tmc2130_wr_MSLUT(axis, 3, 0x20844489); tmc2130_wr_MSLUT(axis, 3, 0x20844489);
tmc2130_wr_MSLUT(axis, 4, 0xc0004008); tmc2130_wr_MSLUT(axis, 4, 0xc0004008);
tmc2130_wr_MSLUT(axis, 5, 0xdbbbdf7f); tmc2130_wr_MSLUT(axis, 5, 0xdbbbdf7f);
tmc2130_wr_MSLUT(axis, 6, 0x252aab5a); tmc2130_wr_MSLUT(axis, 6, 0x252aab5a);
tmc2130_wr_MSLUT(axis, 7, 0x00808449); tmc2130_wr_MSLUT(axis, 7, 0x00808449);
tmc2130_wr_MSLUTSEL(axis, 7, 157, 255, 1, 2, 1, 1); tmc2130_wr_MSLUTSEL(axis, 7, 157, 255, 1, 2, 1, 1);
break; break;
case 224: //calculated wave 247/1.120 case 224: //calculated wave 247/1.120
tmc2130_wr_MSLUTSTART(axis, 0, 247); tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x292223fe); tmc2130_wr_MSLUT(axis, 0, 0x292223fe);
tmc2130_wr_MSLUT(axis, 1, 0x94a52949); tmc2130_wr_MSLUT(axis, 1, 0x94a52949);
tmc2130_wr_MSLUT(axis, 2, 0x92524a52); tmc2130_wr_MSLUT(axis, 2, 0x92524a52);
tmc2130_wr_MSLUT(axis, 3, 0x04222244); tmc2130_wr_MSLUT(axis, 3, 0x04222244);
tmc2130_wr_MSLUT(axis, 4, 0x00000101); tmc2130_wr_MSLUT(axis, 4, 0x00000101);
tmc2130_wr_MSLUT(axis, 5, 0x6dddefe0); tmc2130_wr_MSLUT(axis, 5, 0x6dddefe0);
tmc2130_wr_MSLUT(axis, 6, 0x254aad5b); tmc2130_wr_MSLUT(axis, 6, 0x254aad5b);
tmc2130_wr_MSLUT(axis, 7, 0x00810889); tmc2130_wr_MSLUT(axis, 7, 0x00810889);
tmc2130_wr_MSLUTSEL(axis, 9, 164, 255, 1, 2, 1, 1); tmc2130_wr_MSLUTSEL(axis, 9, 164, 255, 1, 2, 1, 1);
break; break;
/* case 230: //calculated wave 247/1.150 /* case 230: //calculated wave 247/1.150

5
Firmware/tmc2130.h
View file

@ -70,8 +70,8 @@ extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
extern uint16_t tmc2130_rd_MSCNT(uint8_t axis); extern uint16_t tmc2130_rd_MSCNT(uint8_t axis);
extern uint32_t tmc2130_rd_MSCURACT(uint8_t axis); extern uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
extern uint8_t tmc2130_usteps2mres(uint16_t usteps); extern uint8_t tmc2130_usteps2mres(uint16_t usteps);
#define tmc2130_mres2usteps(mres) ((uint16_t)256 >> mres) #define tmc2130_mres2usteps(mres) ((uint16_t)256 >> mres)
extern bool tmc2130_wait_standstill_xy(int timeout); extern bool tmc2130_wait_standstill_xy(int timeout);
@ -107,6 +107,7 @@ struct
#pragma pack(pop) #pragma pack(pop)
extern uint16_t tmc2130_get_res(uint8_t axis); extern uint16_t tmc2130_get_res(uint8_t axis);
extern void tmc2130_set_res(uint8_t axis, uint16_t res);
extern uint8_t tmc2130_get_pwr(uint8_t axis); extern uint8_t tmc2130_get_pwr(uint8_t axis);
extern void tmc2130_set_pwr(uint8_t axis, uint8_t pwr); extern void tmc2130_set_pwr(uint8_t axis, uint8_t pwr);
extern uint8_t tmc2130_get_inv(uint8_t axis); extern uint8_t tmc2130_get_inv(uint8_t axis);